Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
106
Aftermath Analysis
An aftermath analysis is based on information from the controller. To collect relevant
information immediately after a robot failure, send the commands listed in the first
column and record the response in the second column. Do not reset the controller, power
off, or send any commands other than those listed. Send the commands in the order
listed. Send your Aftermath Analysis to Equipe for use in troubleshooting.
For your convenience, make copies of the Aftermath Analysis form for later use.
Commands to send Response
DMPAS 1
For version 3.xx only, write down the
last 5 non-blank lines in the same order
as they appear.
1.____________________________
2.____________________________
3.____________________________
4.____________________________
5.____________________________
RMCS ________
RLN ________
STAT ________
RLS ________
RCP A ________,________,_______
RNCS ________
RGN A ________,________,_______
RZR A ________,________,_______
RKI A ________,________,_______
RFA A ________,________,_______
RTL A ________,________,_______
RER A ________,________,_______
RSP A ________,________,_______
RAD A ________,________,_______
RSA A Restore speed and acceleration
RSP A ________,________,_______
RAD A
________,________,_______
? D,[R20] ________
? D,[R21] ________
GALIL Go to Galil mode
TE ________,________,_______
TS ________,________,_______
^I Return from controller mode
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