Manual, Control Module, PROFINET, DL10
Document #9620-20-C-DL10-04
Pinnacle Park • 1031 Goodworth Drive • Apex, NC 27539 • Tel: 919.772.0115 • Fax: 919.772.8259 • www.ati-ia.com
C-30
4.3 Error Conditions
The following describes the reported error conditions and explains how to reset the condition.
4.3.1 ERROR ON LATCH
This bit indicates that a short circuit or overload condition on the LATCH output has been detected.
The error condition can be reset with the Clear Errors bit.
4.3.2 ERROR ON UNLATCH
This bit indicates that a short circuit or overload condition on the UNLATCH output has been
detected. The error condition can be reset with the Clear Errors bit.
4.3.3 UNSAFE UNLATCH
An UNLATCH command shall only be performed if the following conditions are met:
• TSIV and TSRV must be ON indicating that the tool changer is nested safely in the Tool Stand.
• The LATCH bit must be OFF.
• The UNLOCKED bit must be OFF.
• Input/Logic Power Good bit must be ON.
• Output Power Available bit must be OFF.
The UNSAFE_UNLATCH bit will be ON when the user sends an unlatch command without the
all preceding conditions met. The status of module is monitored immediately after an UNLATCH
command and will disable the Unlatch and turn off Unlatch immediately. If UNLATCH is
inadvertently held ON during a power cycle the UNSAFE_UNLATCH error will be generated.
This error bit will be reset when a new UNLATCH command is received (UNLATCH command
removed and reapplied) and the UNLATCH_ENABLE conditions are met or with the rising edge
of the Clear Errors bit.
4.3.4 RTL/RTLV Mismatch
This bit indicates the RTL and RTLV inputs do not have the equivalent or complimentary inputs
during the same state. The error condition can be reset with the Clear Errors bit.
4.3.5 TSIV/TSRV Mismatch
This bit indicates the TSIV and TSRV inputs do not have the equivalent or complimentary inputs
during the same state. The error condition can be reset with the Clear Errors bit.
4.3.6 Lock/Unlock Sensor Fault
This error bit will be set if the Locked and Unlocked Sensors are on at the same time. If the
condition is not on anymore then the bit shall be automatically reset.
4.3.7 COMM Error
The Tool‑ID is available to the Master within 150 ms from the time the changer is coupled;
otherwise, a COMM Error is set in the bit map. COMM Error indicates that Tool‑ID
communication from the Tool to the Master has timed out. The error condition can be reset with a
Clear Errors bit.
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