System Setup
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9.27 Robot stop factor monitor function
The robot stop factor monitor function is a function to detect a robot stop, which is caused
by the SERVO OFF or the hold and so on. The factors, which caused to stop the robot, are
stored in chronological order and displayed on the screen.
9.27.1 The robot stop factor
This function detects the SERVO OFF status caused by the machine safety circuit board
instructions or the main CPU instructions and the hold status caused by programing
pendant operations or signals. The detection items are described as follows.
Tab. 9-1: The List of the SERVO OFF factors by main CPU instructions
Displayed item Secondary indication
EX.SERVO OFF1 (HOLD STOP) System input signal number (#40065)
EX.SERVO OFF2 (CATEGORY0 STOP) System input signal number (#40066)
EX.SERVO OFF3 (CATEGORY1 STOP) System input signal number (#40064)
TEACH PLAY MODE CHANGE None
PLAY TEACH MODE CHANGE None
MAIN CPU ALARM None
PARAMETER CHANGE None
INST SVOFF None
COMMAND SVON None
HOME POSITIONING CHANGE None
DATA FALSE RESTORE None
TOOL FILE CHANGE None
TOOL CALIBLATION None
ENCODER RESET None
ROBOT DETACHMENT None
GROUND FAULT (BRAKE LINE) None
MANUAL FULL SPEED None
SERVO OFF QUE None
SERVO ON ERROR None
SERVO OFF ERROR None
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