IAI RoboNet, Operation Manual

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Part 3 Maintenance
1.3.2 Alarms, Causes and Actions
(1) Operation-cancellation alarms (These alarms can be reset with the reset signal.)
Code Alarm name Cause/action
080 Movement
command with
servo OFF
Cause: A movement command was issued as a numerical command when the servo
was OFF.
Action: Confirm that the servo is ON (SV or PEND is “1”) before issuing a movement
command.
083 Numerical
command before
home return
Cause: A numerical command involving an absolute position was issued before home
return was completed. (Simple direct or direct numerical command mode)
Action: Perform home return and confirm a completion signal (HEND) before issuing a
movement command.
084 Movement
command during
home return
Cause: A movement command was issued as a numerical command while home return
was in progress.
Action: Perform home return and confirm a completion signal (HEND) before issuing a
movement command.
085 Position number
error during
movement
Cause: A position number not yet registered in the position table was specified in the
positioner mode.
Action: Check the position table again.
090 Software reset
with servo ON
Cause: A software reset command was received when the servo was ON.
Action: Send a software reset command to the controller after confirming that the servo
is OFF (SV is “0”).
091 Position number
error during
teaching
Cause: An invalid position number was specified when writing the current position via
teaching operation.
Action: 768 position numbers from 0 to 767 can be used with the RACON and RPCON.
Use position numbers within this range.
092 PWRT signal
detection during
movement
Cause: The current position write signal (PWRT) was input during jogging when
teaching operation was performed in the positioner mode.
Action: Input the PWRT signal after confirming that no jog button is pressed and that
the axis is stopped (MOVE signal is “0”).
093 PWRT signal
detection before
home return
Cause: The current position write signal (PWRT) was input before home return was
completed when teaching operation was performed in the positioner mode.
Action: Input the HOME signal first to perform home return and confirm the completion
of home return (HEND signal is “1”) before inputting the PWRT signal.