11-13
< Relations with other functions >
Function Response of this “Error Handling” function
Arc overlapping
The robot performs the overlapping process when the operation is
restarted after the error handling process.
Resume
If the resume function is turned ON in the process of retraction, the
retraction is ignored even thought the preset input is turned on after
power has been newly turned on. The robot resumes operation after
returning to the point where the error occurred.
* The robot resumes the operation in the same manner if the resume
function is turned ON after the completion of the retraction or during
restart process.
External axis harmonic movement
If the “Error handling” function is used in the section this function is
applied, only the robot performs the retraction movement but not the
external axis. (i.e. the external axis maintains the current positioin.)
Multi-cooperative robot control
“Error Handling” function is not available.
RT Monitoring
Cube Monitoring
If a monitoring is turned ON in the process of retraction or re-start, the
monitoring function takes priority (over the error handling function) and
stops the robot.
* The robot will not automatically restart even though the auto restart is
set valid in the auto monitor function.
< Notes >
(1) Make sure that robot does not interfere with the jig or the work along the retraction route prior to starting operation.
(2) Even if the welding wire and the work are fused, the robot starts the retraction process when the preset input is
turned ON while the robot is in the welding error stop state.
(3) This error handling function is available only when the robot operation is terminated by the welding error. If the
robot operation is terminated due to other reasons such as hold or an error other than welding error, this function
does not function even though the preset input is turned ON.
(4) If the error dialog box is closed, this error handling function is deemed invalid. Therefore, even if the preset input is
turned ON, it won’t function.
(5) If the preset input has been in ON state when the welding error occurs, the robot won’t perform the retraction
movement. In that case, turn the preset input OFF and back ON again.
(6) If the preset input is turned ON again during or after the retraction movement, the robot won’t repeat the retraction
process.
(7) The retracted output is turned ON only when the robot reaches the preset idle position. The output won’t be turned
ON if the robot goes in hold stop or an error stop during the retraction process.
(8) The retraction movement will be interrupted by the following operations. At that time, with restart operation, the
robot moves to the point where the error occurred and resumes operation.
- The robot goes in hold stop or emergency stop in the process of the retraction movement.
- The robot goes in error stop such as soft-limit error in the process of the retraction movement.
- If manual operation is executed while the robot is in either one of the above state.
(9) The robot resumes the program from the idle position without returning to the point where the error occurred if the
following operation is executed.
- The robot reaches a teaching point in trace operation in the process of this function.
- A teaching point is changed in the process of this function.
(10) This function is not effective in a program test in TEACH mode.
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