iv
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
10-8 Using the internal flash ROM.............................................................................................10-23
10-8-1 Saving the parameter data onto the flash ROM ......................................................................................... 10-24
10-8-2 Manually loading the data from flash ROM ............................................................................................... 10-26
10-8-3 Initializing the flash ROM data .................................................................................................................. 10-28
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
Chapter 14 MAINTENANCE AND WARRANTY .................................................................... 14-1
14-1 Warranty ..............................................................................................................................14-2
14-1-1 Warranty description ................................................................................................................................... 14-2
14-1-2 Warranty Period .......................................................................................................................................... 14-2
14-1-3 Exceptions to the Warranty ......................................................................................................................... 14-2
14-2 Replacing the System Backup Battery .................................................................................. 14-3
14-3 Updating the System ............................................................................................................ 14-4
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