Installation manual

Chapter 6 Programming
6-121
Communication control (master) CPU status:
bit Error details Movement when
in anomalous
status
15
１：Non control mode
14
Control
Mode
０：Control mode
１：limit switch off
13
Limit switch
status
０：limit switch on
１：Switch on during teaching
12
Switch status
during teaching
０：Switch off during teaching
0x00 Normal
0x01
0x02 Anomalous EEPROM
0x03 Anomalous ARCNET initialization
Do not convert to
control mode (*1)
11 0x04 Anomalous CPU
| Occurring alarm 0x05 Anomalous upper controller
communication cycle
4 0x06 Anomalous power supply temperature
0x07 Anomalous 100V output
Converts to
adjustment/ stop
mode. (*1)
：
0x10 Anomalous other CPU
0x11 Emergency stop switch on
0x12 Dead man switch off
0x13 Limit switch on
Converts to
adjustment/ stop
mode.
：
１：Emergency stop switch off
3
Emergency stop
switch status
０：Emergency stop switch on
１：Generating 100V power
2
100V
generating status
０：Stop generating 100V power
１：Anomalous power supply temperature
1
power supply
temperature
status
０：Normal
１：Dead man switch on
0
Dead man switch
status
０：Dead man switch off
(*1) If alarm at 0x02～0x07 occurs in communication control CPU, it is different
from any other CPU anomaly. Servo CPU instantly stops arm motion with
“brake on/servo off.”