Denso RC5 - Manual (Page 53)

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3.2.7 Robot Failure (Output)
(1) Function
The signal outputs to the external device that a problem (such as a servo
error or a program error) occurs with the robot.
(2) Terminal number
No.3 of connector CN10.
(3) Usage
 The signal is used to light the robot external operating panel error
indicator lamp of an.
‚ The signal is used to help the PLC clear an error in response to a
ROBOT FAILURE signal.
(4) ON conditions
As shown below, the signal will be turned ON under the following
conditions.
 When an error, such as a servo error, a program error or program
undefined, occurs at the start of the program and during execution of
the program.
‚ When an error occurs during execution of the program in internal
operation by the operating panel or the teach pendant or in external
operation by the PLC.
Caution: The signal will not be outputted when an error, such as a
program input error occurs in manual operation, except when
a servo error occurs in manual operation. For further
information, see the "ERROR CODE TABLES."
(5) OFF conditions
As shown below, the signal will be turned OFF under the following
conditions.
 When a CLEAR ROBOT FAILURE command is inputted and the
existing error is cleared.
‚ When the existing error is cleared by operating the OK or Cancel key
on the operating panel or the teach pendant.
ƒ p ƒ Š ƒ e ƒ B [ ƒ G ƒ ‰ [ A
⋅
When a CLEAR ROBOT FAILURE command is inputted.
⋅
When the OK or Cancel key of the operating panel or teach
pendant is operated.
Robot Failure Output
Robot failure
⋅
Program number, parity error, or undefined program number, at
external start.
⋅
Robot failure during automatic operation (both internal operation
and external operation)