Yamaha SRCP - Manual (Page 221)

13-
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13
TROUBLESHOOTING
13-2 Alarm and Countermeasures
13-2 Alarm and Countermeasures
If the READY signal is turned off except in cases of emergency stop, then an alarm has probably
been issued. The status LED on the front panel of the controller lights up in red.
13-2-1 Alarm specifications
■ If an alarm is issued:
If an alarm is issued, keep the power turned on and connect the TPB or set the POPCOM on-line
to check the contents of the alarm. An alarm message appears on the screen.
The transmission format for alarm messages is as follows.
<alarm number> : <alarm message> c/r l/f
The <alarm number> is displayed in two digits, so a one-digit number is prefixed with 0 like 01.
The <alarm message> is displayed in a 17 character string length. (Spaces are added until the
message contains 17 characters.) Therefore, an message including c/r and l/f consists of 22 char-
acters.
■ To cancel the alarm:
To cancel the alarm, turn the power off and after first eliminating the problem, turn it back on
again.
If an alarm is still issued while the power is turned on, then try turning the power on while the
robot is in emergency stop. No alarm detection is performed with this method, so that the data can
be checked, corrected or initialized. Normal alarm detection is performed when the servo is turned
on after cancelling emergency stop.