YASKAWA Motoman UP6, Инструкция по эксплуатации

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10.2 Alarm Display
10-3
10.2.2
Special Alarm Display
(1) Sub Data
Sub data such as data for the axis where the alarm occurred, may also be displayed for
some alarms.
• Decimal data
Without signs: 0 to 65535
With signs: -32768 to 32767
• Binary data
The alarm occurrence data becomes “1.”
With 8 bits: 0000_0001
With 16 bits: 00000001_00000001
• Axis data
The axis where the alarm occurred is highlighted.
With robot axis: Robots 1 to 3
With base axis: Robots 1 to 3
With station axis: Stations 1 to 6
• XYZ coordinate data
The coordinates when the alarm occurred are highlighted.
• 123 data
The data for the alarm that occurred is highlighted.
• Control group data
The control group where the alarm occurred is highlighted.
(2) Multiple Servopack System
In a system using more than one Servopack, the number of the Servopack where the
alarm occurred is also displayed. The S1 switch of the WRCA01 board shows the Servo-
pack number.
SV#1: Servopack 1 (WRCA01 board S1 switch: 0)
SV#2: Servopack 2 (WRCA01 board S1 switch: 1)
SV#3: Servopack 3 (WRCA01 board S1 switch: 2)
SV#4: Servopack 4 (WRCA01 board S1 switch: 3)
SV#5: Servopack 5 (WRCA01 board S1 switch: 4)
SV#6: Servopack 6 (WRCA01 board S1 switch: 5)
[ S L U R B T]
[ 1 2 3]
[ 1 2 3]
[ X Y Z ]
[ X Y Z Tx Ty Tz ]
[ 1 2 3 ]
[ R1 R2 S1 S2 S3 ]