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DOC No.
：
T202001006
can be conducted.
Note: After the emergency stop, the program
call
relations between the main program
and the subprogram will be cleared.
Stop Caused by Alarm
Except for program pause and emergency stop, when other system alarms occur during
program runtime, the program execution will be stopped, and the manipulator will stop
immediately. The programming pendant will display an alarm message simultaneously.
Other Stops
In addition to the above stop methods, there are two ways to stop the program:
1)
The mode switch is switched from PLAY mode to TEACH mode.
2)
The PAUSE instruction is executed in the program.
9.5 User Processes
The ERC-G200 control system includes user processes such as arc welding, reservation,
external axes, laser tracking, scripting, vision, tracking, palletizing, stamping, etc., which can be
enabled in
“
System - System Configuration - Manipulator Configuration
”
.
The configuration and operation instructions for above user processes are not described in
detail in this manual. Please refer to the corresponding application manual for more information.
9.6 Monitoring
The monitoring options in the main menu area are mainly used to view the current working
status of the manipulator and the variables of various data types. The system can monitor the
following contents: coordinates, variables, IO (input and output), motor, reservation, operational
monitoring, etc.
9.6.1 Coordinates
The coordinate monitors are used to monitor coordinate data, including joint coordinates and
