Alarm Occurrence And Clearing - Yamaha TS-P User Manual

Yamaha single-axis robot controller
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5.1.2 Alarm occurrence and clearing

The operation timing chart from "alarm occurrence" to "alarm clear" is shown below.
Point No. select
00h
(PIN0 to PIN7)
Point No. output
(POUT0 to POUT7)
Alarm
(/ALM)
Reset
(RESET)
Servo ON
(SERVO)
Servo status
(SRV-S)
Start
(START)
Operation-in-progress
(BUSY)
Operation end
(END)
(1) /ALM switches OFF if an error occurs during operation. BUSY and SRV-S also
switch OFF at this time, and the alarm No. is output. END remains OFF.
(2) The SERVO input switches OFF.
(3) The RESET input switches ON after the alarm cause has been eliminated.
(4) /ALM and END switch ON.
(5) The RESET input switches OFF, and the SERVO input switches ON.
(6) SRV-S switches ON and the START input is enabled.
*1 : RESET is enabled after the alarm cause has been eliminated. Although some alarms
can be cleared simply by eliminating the cause and executing a RESET, others
require a restart. For alarm details, see Chapter 6 "Troubleshooting".
*2 : The No. output at alarm occurrences can be enabled/disabled by the K30 (Alarm No.
output function) I/O parameter setting. For details, see "
section 3.4.2 "Parameter details".
Setting
00h
5.1 Operation procedure
00h
*2
Alarm No.
Alarm No.
Error occurrence
Error occurrence
*1
I/O Parameters" item in
Chapter 5 Operation
Setting
5-3
1
2
3
4
5
6
7

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