Alarm/Warning Information Reading (?Alm, ?Warn) - Yamaha TS-S User Manual

Yamaha single-axis robot controller ts series
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Alarm/warning information reading (?ALM, ?WARN)
Format
B
Meaning
Function
Reads the alarm/warning information currently occurring.
TIP
For details regarding the alarm and warning numbers and their contents, see Chapter 6 "Troubleshooting" of the
Controller Guide.
Setting
<Alarm/warning occurrence number> : 1 to 32
<Node number>
n
NOTE
If multiple alarms and warnings occur, the alarm/warning occurrence numbers are sequentially assigned to 1, 2,
and so on from a smaller alarm number.
Example) If overload (86) and emergency stop (C1) occur, the alarm occurrence numbers are assigned as follows.
Communication example
@?ALM1.1 c/r l/f
@?WARN1.1 c/r l/f
B-20
@?ALM<alarm occurrence number>[.<node number>] c/r l/f
@?WARN<warning occurrence number>[.<node number>] c/r l/f
Reads the alarm/warning information currently occurring.
Alarm occurrence number 1 = 86 (overload)
Alarm occurrence number 2 = C1 (emergency stop)
Transmission
Response
ALM1.1=86 c/r l/f
OK.1 c/r l/f
OK.1 c/r l/f
: 1 to 16 (This setting can be omitted when the same command is sent to all the
controllers connected with the host device, as by daisy chain connection.)
Reads the alarm information.
Receives the data. Alarm number 86: Overload error is occurring.
Normal end
Reads the warning information.
Normal end (No warning occurs.)

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