Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
99
11 Track negative t in a four-axis system
12
13
14
15
Pre-aligner negative theta
Pre-aligner negative radial
Pre-aligner negative Z
Track negative w in eight-axis system
16
17
18
19
Robot positive theta triggered
Robot positive radial triggered
Robot positive Z triggered
Track positive t in a four-axis system triggered
20
21
22
23
Pre-aligner positive theta triggered
Pre-aligner positive radial triggered
Pre-aligner positive Z triggered
Track positive w in eight-axis system triggered
24
25
26
27
Robot negative theta triggered
Robot negative radial triggered
Robot negative Z triggered
Track negative t in a four-axis system triggered
28
29
30
31
Pre-aligner negative theta triggered
Pre-aligner negative radial triggered
Pre-aligner negative Z triggered
Track negative w in eight-axis system triggered
When a limit switch is triggered during robot operation, the robot stops its
motion and returns an error message. In this situation you should:
1. Send the RLS command to determine which switch was triggered.
2. Send the RLS command again to determine if the switch is still active.
3. If the limit switch remains on after the second RLS command, the
robot is probably at its travel limit. Manually move it away from this
limit. Send the RLS command again. If it clears, it is likely that the
robot was instructed by software to go too close to the limit.
This can occur even during teaching, if the position taught was beyond the
limit. This can also be caused by:
• Robot overshoot. The robot goes slightly beyond its taught position as
it decelerates at the end of a motion in a given axis and then returns to
its designated position.
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