IAI RoboNet, Operation Manual

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349
Part 3 Maintenance
1.3 Alarms of the Controller Unit and Simple Absolute R Unit
1.3.1 Overview of Alarms
(1) The status monitor LEDs shown below are provided on the front face of the RACON and RPCON units. When an
alarm generates, the nature of the alarm can be checked using these LEDs.
Symbol Explanation
SV/ALM
This LED illuminates in red when an alarm is present or emergency stop
is actuated (if an emergency stop is actuated, STATUS0 to 3 remain
unlit).
The LED illuminates in green when the servo is ON, and remains unlit
when the servo is OFF.
TX/RX
Communication line status (This LED illuminates in green when data is
being sent, and in yellow when data is being received.)
STATUS3
STATUS2
STATUS1
STATUS0
When an alarm occurs, these LEDs indicate the applicable simple alarm
code.
(When the servo is ON, these LEDs are used to monitor current.)
BK (RLS)
This LED illuminates in yellow while the brake is released, and remains
unlit while the brake is actuated.
When an alarm occurs, the applicable simple alarm code is indicated as a binary code by the STATUS0 to STATUS3
LEDs.
To be able to check the nature of alarms in more details, connect the PC software or teaching pendant to the
GateWayR unit, select the target axis, and monitor alarms.
When the gateway unit is operating in the positioner mode or simple direct mode, a simple alarm code is output, only if
an alarm has occurred, in the completed position number area (PM1 to PM512) of the gateway unit. Accordingly,
alarms can be monitored by the host PLC through monitoring of this area. The host PLC can also read alarm codes
(not simple alarm codes) using commands.
If the gateway unit is operating in the direct numerical specification mode, alarm codes (not simple alarm codes) are
output in the alarm code area of the gateway unit. Accordingly, alarms can be monitored by the host PLC through
monitoring of this area.
(2) Three status monitor LEDs are provided on the front face of the simple absolute R unit. When an alarm has
generated or other problem has occurred, check the status of these LEDs.
The details are described in 5.4.2 of “ROBONET Operation Manual – Specification.” The tables below provide an
overview.
RDY/ALM RDY/ALM
Steady green Steady red
Operation
Blinking green Blinking red
Operation
{
- System normal
{ {
Update mode *
-
{
System abnormal
STATUS1 STATUS0
Steady green Steady red
Operation
Steady green Steady orange
Steady red
Operation
{
-
Absolute reset completed
(RDY illuminating in green)
{
- -
Battery fully
charged
-
{
Absolute reset not yet
completed (RDY illuminating
in green)
-
{
-
Battery
charging
-
{
FPGA notification error
(RDY illuminating in red)
- -
{
Battery not
connected
* The unit is in the update mode. Disconnect the battery and set piano switch 3 to the “OFF” position. For information
on how to set the piano switches, refer to 4.2, “Setting the Configuration Switches.”
Front face of unit