Denso RC5 - Manual (Page 100)

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4.2.11 Robot Failure (Output)
(1) Function
The signal outputs to the external device that a problem, such as a servo
error and a program error, occurs with the robot.
(2) Terminal number
No. 3 of connector CN10.
(3) Usage
 The signal is used to light the robot failure indicator lamp of an external
operating panel.
‚ The signal is used to help the PLC clear an error in response to a
ROBOT FAILURE signal.
(4) ON conditions
As shown below, the signal will be turned ON under the following
conditions.
 When an error, such as a servo error, a program error and undefined
program, occurs at the start of the program and during execution of the
program.
‚ When an error occurs during execution of the program in internal
operation by the operating panel or the teach pendant or in external
operation by the PLC.
ƒ When an error, such as undefined program, occurs at the start of the
program only in external operation.
Caution: The signal will not be output when an error, such as a
program input error occurs in manual operation, except when
a servo error occurs in manual operation. For further
information, see "ERROR CODE TABLES."
(5) OFF conditions
As shown below, the signal will be turned OFF under the following
conditions.
 When a CLEAR ROBOT FAILURE command is input from the external
device and the existing error is cleared.
‚ When the existing error is cleared by operating the Cancel key of the
operating panel or the teach pendant.
ƒ o ƒ Š ƒ e ƒ B [ ƒ G ƒ ‰ [ A
u Cancel v ƒ L [ ‘ € ì
Robot Failure Output
⋅
Program number, parity error, or an undefined program number at
external start.
⋅
The robot errors during automatic operation (both internal operation and
external operation).
⋅
When CLEAR ROBOT FAILURE and OPERATION PREPARATION
START signals are input.
⋅
When the Cancel key of the operating panel or the teach pendant is
operated.
Robot failure