Vacuum Robot Manual
4000-0315 Rev 1
63
running executes the last ENDM command. 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 all
errors.
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 63.
14 Controller error
Internal motion controller
communication error. The Galil board
might be damaged or the jumper
configuration is wrong.
Send another STAT.
If it does not clear
Bit 14, check jumper
settings. If not
cleared, send RES
command.
15 Error on COM1
There are several possible causes. Use
AST 1 command for more information.
Sending AST 1
usually clears the
errors.
Checking NVSRAM with RNCS Command
The NVSRAM chip on the CPU board stores variable information in
parameter, coordinate, and macro files. The controller uses checksum to
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