Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
96
or triggered and
move away from
them.
6 One or more axes
are not homed yet
With this condition, the controller will
not allow a Move command on the
axes. Power up or disconnection of the
signal cable sets this bit to 1.
Get controller ready
to Home and then
HOME the robot.
7 Pre-Aligner error
on last alignment
Not used. See ALST
command.
8 A macro is
running
The bit is set to 0 after the macro
executes the last ENDM command.
Send the STOP
command.
9 One or more axes
are moving
Any Move command causes Bit 9 to be
set to 1.
Send the STOP
command.
10 Servo OFF on
one or more axes
Bit 10 is set to 1 when SVOF is issued
or a motor error condition is generated.
Send SVON
command
11 Error on COM2 There are several possible causes. Use
AST 2 command for more information.
Sending AST 2
usually clears Bit 11.
12 Not used Not used. Bit 12 is always set to 1. None
NVSRAM error
Any of the following caused this:
• NVSRAM is not installed.
• NVSRAM is not formatted.
•
The parameter file is corrupted.
• The coordinate file is corrupted.
• The macro file is corrupted or is an
incompatible version.
•Install NVSRAM.
•Format NVSRAM
(FRMT command)
•Re-download the
parameter file.
•Re-download the
coordinate file or re-
teach coordinates
and send the SAV
command.
•Re-download the
macro file and send
the SMCR
command.
13
To determine the reason for the error and the recovery for NVSRAM problems,
enter the RNCS command in the terminal mode and evaluate the response. See
“Checking NVSRAM with RNCS Command” on page 97.
14 Controller error
Internal motion controller
communication error. The Galil board
Send another STAT.
If it does not clear
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