System Setup
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9.29.4 Specific output and messages
When the system is started in Online mode and any axes (at least one axis) are detached,
the following specific output and message are output all the time.
• Specific output #50913 “AXES DETACHMENT”
• Message is displayed
The following message is output in the bottom right message area on the window of the
programming pendant.
“Axes detachment has been set [sub code]”
The control group including the detached axis is shown in [sub code].
9.29.5 Restrictions
1. Operation with restrictions
When the axes detachment function is set, the following operations are restricted. If
these operations are tried to be performed, an error or an alarm occurs.
• Playback
• Test run
• JOB registration (insert/modify/delete JOBS in the target control group)
• Variable registration
• Second home position registration
• Home position registration
• Work home position registration
NOTICE
Use the robot detachment function (chapter 9.28 ) when performing the playback operation
in the state that the specific manipulator, the base, or the station is detached.
Followings are the errors/alarms which may occur by the axes detachment.
Operation Alarm
Playback “ERROR 2762 This operation is not allowed, for
axes detachment has been set.”
“ALARM4916/4917 WRONG JOB EXEC OF DE-
TACHED AXIS”
Test run “ERROR 2762 This operation is not allowed, for
axes detachment has been set.”
JOB registration (insertion, modifi-
cation, deletion)
“ERROR 2763 can not modify, for axes detachment
has been set.”
Second home position registration
Home position registration
Work home position registration
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