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4 SAFETY MONITORING FUNCTIONS
Error number
H8250
H8252
H8253
H8254
H8257
H8291
If an error that cannot be reset is occurring, cycle the power.
<2> Waiting for connection establishment
If the error is reset while safety connection is being disconnected, the robot controller will wait for a
request of safety connection establishment from the master station. In this situation, STO is enabled.
Therefore, it is not possible to run programs and turn ON the servos. All safety inputs SCNI are
recognized as OFF. When a request of safety connection establishment is received from the master
station, connection will be established.
<3> Established
After safety connection has been established, the robot controller is ready to turn ON the servos. Data
received during safety communication are SCNI inputs, and SCNO outputs of the robot controller are
send data for safety communication.
(1) At power-on of the controller
The robot controller waits for safety connection to be established when powered on. In this situation, STO is
enabled in the robot controller, but other safety monitoring functions are disabled (H220m (m: plane and area
numbers) of the position monitoring function (SLP) is not detected as well.). When safety connection is
established or a timeout causes safety connection to be disconnected, the safety monitoring functions will be
enabled.
(2) When safety connection is not established
When safety connection is disconnected or during waiting for connection establishment, all SCNI inputs are
recognized as OFF. Therefore, if the robot is in the limited area while the position monitoring function (SLP) is
set, H220m (m: plane and area numbers) will be detected. In this case, reset the error after safety connection
has been established.
When safety connection is not established, operation is restricted as shown in Table 4-15.
Table 4-15 Operation restrictions when safety connection is not established
Operation
Servo on
Program start
JOG operation
Opening/closing hand
4-70 Safety Communication Function
Table 4-14 List of resettable errors
Description
Safety comm. Received error info
Safety comm. timeout
Safety comm. data error
Safety connection timeout
Available
Not
available
✔
✔
✔
✔
Remarks
Error H8290 (Safety connection error) occurs.
Error H8290 (Safety connection error) occurs.
(Except the start condition ALWAYS and slots for
ERROR settings)
Only with the teaching pendant.
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