Denso RC5 - Manual (Page 101)

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4.2.12 Robot Warning (Output)
(1) Function
The signal outputs to the external device that a minor error has occurred
with an I/O command or during servo processing.
Caution: The signal will not be output in case of a minor error, such as
a program selection error, caused by the operation of the
teach pendant or operating panel.
(2) Terminal number
No. 15 of connector CN10.
(3) Usage
 The signal is used to light the robot warning indicator lamp of an
external operating panel.
‚ The signal is used to help the PLC clear an error in response to a
ROBOT WARNING signal.
(4) ON conditions
As shown below, the signal will be turned ON when a minor error occurs
during I/O processing, execution of the program or servo processing,
irrespective of the operation mode.
(5) OFF conditions
As shown below, the robot-warning signal will be turned OFF under the
following conditions.
 When CLEAR ROBOT FAILURE and OPERATION PREPARATION
START signals are input from the external device and the existing error
is cleared.
‚ When the existing error is cleared by operating the OK or Cancel key
of the operating panel or the teach pendant.
Robot warning
⋅
When a CLEAR ROBOT FAILURE command is inputted from the
external device and the existing error is cleared.
⋅
When the existing error is cleared by operating the OK or Cancel key
of the operating panel or teach pendant.
⋅
When a slight error occurs during I/O processing, execution of the
program or servo processing.
Robot Warning Output