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Operation Modes and Timing Diagrams
Error Handling Mode
The system is in error handling mode when an error
occurs that disables electrostatics. When an error
occurs, an error code is generated. This error code
is shown in red on the Electrostatic Controller user
interface in location A5 and Discrete I/O Error Output
signal is activated.
Handle an error with the following procedure:
1. Fix the condition that caused the error code (see
2. Acknowledge the error code:
a. If using the discrete I/O interface,
acknowledge the error code using Discrete
I/O Error Reset, (Pin 3).
b. If in local mode, acknowledge the error
code using the
button (T11) on the
Electrostatic Controller user interface.
3. Move the robot to SAFE POSITION. Satisfy the
SAFE POSITION interlock.
4. Activate the electrostatics.
5. The Blanking Time passes; Safe-to-Move output
is activated.
The diagram shows an example of error handling
using the discrete I/O interface.
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