Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
95
Alternatively, you can send commands in Terminal mode from either a
Teach Pendant or EQT 32. If you send the commands from the Teach
Pendant, the response from the controller is displayed in hexadecimal
format.
Cause and Recovery for STAT Messages
The setting of each status bit is caused by one or more reasons. Sometimes
the cause is fatal and needs immediate action to recover, and sometimes
the cause is harmless and does not require any direct action. The
following table lists the probable cause of the problem and suggested
recovery for each of the 16 status bits.
Bit Message Cause Recovery
0 Previous
command not
executed
The command cannot be executed for
the current condition. For example, a
SVON command cannot execute while
axes are moving. Also see Bit 2.
Review the
command and the
conditions.
1 Previous
command invalid
The command is unknown or has
invalid syntax. When Bit 1 is set to 1,
Bit 0 is also set to 1.
Check command
syntax.
2 Vacuum sensor is
activated
Vacuum sensor is on; an object is
detected. When Bit 2 is set to 1, Bit 3
should be 1 (vacuum switch is on). If
Bit 2 is 1 regardless of presence of
object or status of Bit 3, the vacuum
sensor is too sensitive.
Adjust the vacuum
sensor.
3 Vacuum switch is
ON
A normal condition. For example, a
GET or PUT command turns Bit 3 on.
None.
4 Motor error on
one or more axes
One or more axes have a position error
condition. Excessive force has been
applied to the force generated by the
motor. An obstacle might be in the
robot path. Or, the Servo Error Limit
(ER) is too small. Setting Bit 4 to 1
sets Bit 10 to 1.
Clear the obstacle,
send the SVON
command, and
continue. If ER is too
small (usually about
100-200), change the
setup and increase.
5 One or more limit
switches are
triggered
There are two limit switches (positive
and negative) for the T and Z axes. The
RLS command shows detailed
information on limit switches.
Send the RLS
command to
determine which
limit switches are on
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