System Setup
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9.24 Robot monitor function
With this function, the threshold values are set for the following items.
Torque, collision detect external force value, speed FB, and error pulse. When the values
is equal to the threshold values or more, the general purpose output signal is turned ON.
• Setting the threshold value and general purpose output signal
Perform the setting of the threshold value and general purpose output signal in accordance
with the following procedure.The data can be checked by following steps.
1. Select {=PM} in the main menu.
2. Select {ROBOT MONITOR}.
The ROBOT MONITOR window is shown.
3. Set the “CONTROL GOUP”.
Select the control group in the pull down menu.
4. Set the “ITEM”.
Select the item (Torque, collision detect external value, speed FB, error pulse) in the
pull down menu.
5. Set the threshold value.
Move the cursor to “VALUE” of the desired axis and input the threshold value.
6. Set the general purpose output number.
Move the cursor to “OUT#” of the desired axis and input the general purpose output
number.
• Management of data
The robot monitor data can be saved by the external memory menu.
For details of the external memory menu, refer to GENERAL OPERATOR'S MANUAL
(Document no.: E1102000220XX01 or higher) to chapter „External Memory Devices“.
1. Select {EX.MEMORY} in the main menu.
2. Select {LOAD} or {SAVE}.
The LOAD or SAVE window is shown.
3. Select “SYSTEM DATA”.
4. Select “ROBOT MONITOR DATA”.
The selected system data is displayed with “ ”.
5. Press [ENTER].
6. Select [YES].
“ROBOT MONITOR DATA” is saved.
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