Vacuum Robot Manual
4000-0315 Rev 1
62
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..
Review the
command and robot
condition.
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 and list of
macro names.
2 Not used. NA NA
3 Not used. NA NA
4 Motor error on
one or more axes
One or more axes have a position error
condition. 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 (SVOF).
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
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
Used only if pre-aligner is installed. See ALST
command.
8 A macro is The bit is set to 0 after the macro To stop the macro,
send the STOP
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