Robot Error (output)

Function

This signal tells the external device that a servo error, program error, or any other serious error has occurred in the robot.

Terminal number

#22 on Digital I/O connector

Usage

1. This signal is used to light the robot error indicator lamp on the external operating panel.
2. If this signal is turned ON, perform the error recovery with the PLC.

ON conditions

When a level 1 error or higher one occurs.

OFF conditions

1. When a Clear Robot Error (001) signal is inputted and the existing error is cleared.
2. When the existing error is cleared by operating the OK or Cancel key on the smart TP or the mini-pendant.

Timing chart