Vacuum Robot Manual
4000-0315 Rev 1
64
determine if the files are corrupt. The controller can also verify the
general functionality of the NVSRAM chip. When you send the RNCS
command, you receive the following information in a 16-bit status word.
Bit
No.
Message Recovery
0 Checksum error
on parameter file
Re-download the parameter file.
1 Checksum error
on coordinate
file
• Use the RES command to reset the controller.
• Re-download coordinates.
• Use RSA to restore speed and acceleration.
• Use SAV to save the parameters.
2 Checksum error
on macro file
Re-download the macro file use SMCR to save the macros to
NVSRAM.
3-14 Not used Bits 3 through 14 are always set to 0.
15 NVSRAM is not
formatted or
does not exist
Reformat the existing NVSRAM chip and re-download all
files. If a problem still exists, reformat and re-download all
files.
For example, if the NVSRAM is not formatted, non-functional, not in
place, or unformatted after installing a new NVSRAM, the RNCS
command returns the status word 8007. This means that bits 0, 1, 2, and
15 are set to 1.
To recover from NVSRAM failure, download the files that are stored on
the host computer, using the EQT interface to upload and download files.
To ensure that the stored files are your most current files:
1. Upload a copy of the parameter files of each robot when you receive
them.
2. Upload all macros to the host computer.
3. After teaching all stations, upload the coordinate files to your host
computer.
4. Whenever you edit the macro file, upload the *.mac file to your host
computer.
Checking Limit Switch Status with the RLS Command
Limit switches prevent over-travel of the robot into the hard stops of each
axis of motion, and are normally activated just prior to contact with the
hard stops. The limit switches trigger the LLM macro to stop motion. In
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