Mitsubishi Electric MELFA FR CR800 Series User Manual page 14

13.9.5. Safety Logic ..................................................................................................................... 13-268
13.9.6. SOS Parameter ............................................................................................................... 13-271
13.9.7. SLS .................................................................................................................................. 13-272
13.9.8. SLP .................................................................................................................................. 13-274
13.10. Additional Axis Cooperative Control Parameters .................................................................... 13-277
13.10.1. Base Coordinate Offset Data parameter ......................................................................... 13-277
13.10.2. Base Coordinate Cooperative parameter ........................................................................ 13-278
13.10.3. Additional Axis Tracking parameter ................................................................................. 13-279
13.11. Parameter printing ................................................................................................................... 13-280
14. Status Monitoring
14.1. Ribbon command for monitor screen ...................................................................................... 14-283
14.2. Robot Movement Monitoring ................................................................................................... 14-283
14.2.1. Slot operation status ........................................................................................................ 14-283
14.2.2. Program monitoring ......................................................................................................... 14-284
14.2.3. Program external variables ............................................................................................. 14-289
14.2.4. Movement status ............................................................................................................. 14-291
14.2.5. Event Hisyory .................................................................................................................. 14-292
14.2.6. Errors ............................................................................................................................... 14-294
14.3. Signal Monitoring .................................................................................................................... 14-299
14.3.1. General signals ................................................................................................................ 14-299
14.3.2. Named signals ................................................................................................................. 14-303
14.3.3. Stop signal ....................................................................................................................... 14-308
14.3.4. Register (CC-Link/EtherCAT) .......................................................................................... 14-309
14.3.5. IO unit monitor ................................................................................................................. 14-313
14.3.6. DSI CNUSER2 input signal monitor ................................................................................ 14-314
14.3.7. Device Monitor ................................................................................................................. 14-315
14.4. Operation Monitoring............................................................................................................... 14-317
14.4.1. Operating Information ...................................................................................................... 14-317
14.4.2. Production Information .................................................................................................... 14-317
14.5. Servo Monitor .......................................................................................................................... 14-318
14.5.1. Position (ABS) ................................................................................................................. 14-319
14.5.2. Speed .............................................................................................................................. 14-320
14.5.3. Current ............................................................................................................................. 14-321
14.5.4. Load ................................................................................................................................. 14-322
14.5.5. Power .............................................................................................................................. 14-323
15. Maintenance
15.1. Setting Origin Data .................................................................................................................. 15-324
15.1.1. Origin data input .............................................................................................................. 15-326
15.1.2. Mechanical stopper ......................................................................................................... 15-328
15.1.3. Tool .................................................................................................................................. 15-329
15.1.4. ABS.................................................................................................................................. 15-331
15.1.5. User Origin Method ......................................................................................................... 15-331
15.1.6. Origin Parameter Backup ................................................................................................ 15-333
15.2. Initialization ............................................................................................................................. 15-334
15.2.1. Starting ............................................................................................................................ 15-334
15.2.2. Setting the time in the robot controller ............................................................................. 15-334
15.2.3. Deletion of all robot programs ......................................................................................... 15-335
15.2.4. Initializing the battery remaining time .............................................................................. 15-336
15.2.5. Serial number .................................................................................................................. 15-336
15.3. Maintenance Forecasting ........................................................................................................ 15-337
15.3.1. Specifications ................................................................................................................... 15-337
15.3.2. Startup ............................................................................................................................. 15-337
15.3.3. Forecasting ...................................................................................................................... 15-338
15.3.4. Settings ............................................................................................................................ 15-339
15.3.5. Reset screen ................................................................................................................... 15-341
15.3.6. Resetting maintenance forecast information in Teaching Box ........................................ 15-343
15.3.7. Others .............................................................................................................................. 15-344
15.4. Position Repair Function ......................................................................................................... 15-345
15.4.1. Specifications ................................................................................................................... 15-346
15.4.2. Startup ............................................................................................................................. 15-346
14-282
15-324