iv
Chapter 10 OTHER OPERATIONS ........................................................................................ 10-1
10-1 Initialization ........................................................................................................................10-2
10-2 DIO Monitor Display ...........................................................................................................10-4
10-2-1 Display from the monitor menu .................................................................................................................. 10-4
10-2-2 Display from the DIO key operation ........................................................................................................... 10-5
10-3 System Information Display .................................................................................................10-5
10-4 SERVICE mode function .......................................................................................................10-6
10-4-1 Safety settings for SERVICE mode ................................................................................................................ 10-7
10-4-2 Enabling/disabling the SERVICE mode function ........................................................................................... 10-9
10-4-3 Setting the SERVICE mode functions ......................................................................................................... 10-11
10-5 System utilities ................................................................................................................... 10-13
10-5-1 Viewing hidden parameters ....................................................................................................................... 10-13
10-6 Using a Memory Card ........................................................................................................10-14
10-6-1 Saving controller data to a memory card ................................................................................................... 10-14
10-6-2 Loading data from a memory card ............................................................................................................. 10-16
10-6-3 Formatting a memory card ........................................................................................................................ 10-18
10-6-4 Viewing the ID number for memory card data .......................................................................................... 10-19
10-7 Duty (load factor) monitor................................................................................................. 10-20
10-7-1 Measuring the duty (load factor) ............................................................................................................... 10-22
Chapter 11 COMMUNICATION WITH PC ........................................................................... 11-1
11-1 Communication Parameter Specifications............................................................................11-2
11-2 Communication Cable Specifications...................................................................................11-3
11-2-1 Connecting to the computer with a 25-pin D-sub connector ...................................................................... 11-3
11-2-2 Connecting to the computer with a 9-pin D-sub connector ........................................................................ 11-3
11-3 Communication Command Specifications ...........................................................................11-4
11-4 Communication Command List ............................................................................................ 11-5
11-5 Communication Command Description ............................................................................... 11-8
11-5-1 Robot movements ........................................................................................................................................ 11-8
11-5-2 Data handling ............................................................................................................................................ 11-17
11-5-3 Utilities ...................................................................................................................................................... 11-29
Chapter 12 MESSAGE TABLES............................................................................................... 12-1
12-1 Error Messages ..................................................................................................................... 12-2
12-1-1 Error message specifications ........................................................................................................................ 12-2
12-1-2 Command error message ............................................................................................................................. 12-2
12-1-3 Operation error message ............................................................................................................................. 12-3
12-1-4 Program error message ................................................................................................................................ 12-4
12-1-5 System error message .................................................................................................................................. 12-5
12-1-6 Multi-task error message ............................................................................................................................. 12-5
12-2 TPB Error Messages .............................................................................................................. 12-6
12-3 Stop Messages ...................................................................................................................... 12-7
12-3-1 Message specifications ................................................................................................................................ 12-7
12-3-2 Stop messages .............................................................................................................................................. 12-7
12-4 Displaying the Error History ................................................................................................12-8
Chapter 13 TROUBLESHOOTING ........................................................................................ 13-1
13-1 If A Trouble Occurs ..............................................................................................................13-2
13-2 Alarm and Countermeasures................................................................................................ 13-3
13-2-1 Alarm specifications .................................................................................................................................... 13-3
13-2-2 Alarm message list ....................................................................................................................................... 13-4
13-3 Troubleshooting for Specific Symptom.................................................................................13-7
13-3-1 Relating to the robot movement .................................................................................................................. 13-7
13-3-2 Relating to the I/O ...................................................................................................................................... 13-9
13-3-3 Other ......................................................................................................................................................... 13-10
13-4 Displaying the Alarm History ............................................................................................. 13-11
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