ERROR RECOVERY SCREENS


ERROR RECOVERY SCREENS

1. ERROR RECOVERY MNF SCREEN

You can use the Manual Function screen to do the following:

  • Display the status of error recovery status DO

  • Display the resume program name defined by the original program

  • Select the operation mode

  • Monitor the conditions related to the status of the error recovery status DO

Table 1, " Auto Error Recovery Manual Function Screen Items " lists and describes the items on the Manual Function screen.

Table 1.  Auto Error Recovery Manual Function Screen Items

ITEMS DESCRIPTION

Error recovery DO status

This item displays the status of the error recovery status DO regardless of whether the error recovery status DO is defined in the Auto Error Recovery Setup screen.

Note

Status DO refers to an internal signal, not a digital output signal. When a digital output is configured, this internal signal will be reflected in the digital output.

Defined resume program

This item displays the resume program name defined by the original program.

Operation mode

Default: AUTO

This item has the following three modes. The default mode is AUTO and it is automatically changed to AUTO when you exit from this screen.

  • AUTO — This mode should be selected when the teach pendant is disabled. When this mode is selected, the Resume Program is executed according to the status of the alarm code feature and the error recovery approval DI feature. When this mode is selected and the teach pendant is enabled, the resume program is not executed but the original program is executed when SHIFT FWD is pressed.

  • NOEXEC— When this mode is selected, the error recovery status DO is always turned off regardless of whether the teach pendant is enabled. This means that the Resume Program is not executed by the next program execution.

  • TP_TEST — This mode should be selected when the teach pendant is enabled. When this mode is selected and the teach pendant is enabled, even if the alarm code feature and the error recovery approval DI feature are not satisfied, the error recovery status DO is turned on. This means the Resume Program is always executed by the next program execution.


2. ERROR RECOVERY MNF DETAIL SCREEN

When F2, DETAIL, is pressed on the Auto Error Recovery Manual Function screen, the conditions related to the error recovery status DO are displayed.

When all elements are Yes or None (not used), the error recovery status DO is turned ON.

When the error recovery status DO is OFF and you are not sure of the cause, check the information on this screen.

Table 2.  Auto Error Recovery Manual Function Detail Screen Items

ITEMS DESCRIPTION

Auto error recovery enabled

This item shows whether the Error Recovery function is enabled in the auto error recovery setup screen.

PAUSED & resume prog incomp

This item shows the following:

  • The original program exists.

  • The original program is paused.

  • The execution of the resume program selected by the original program has not been completed.

Program has motion group

This item shows whether the original program has motion control.

Not in single step mode

This item shows whether the single step mode is disabled. The single step LED on the teach pendant specifies the status of single step for the original program ($TP_DEFPROG). When the Resume Program is paused and then single step LED is turned on, the error recovery DO remains ON because single step for the Resume Program is disabled.

Resume program is defined

This item shows whether the resume program is defined by the original program.

Mode is ( xxxxxx )

This item shows whether the operation mode is the desired one for this current situation. If the teach pendant is disabled, AUTO is displayed in the field "xxxxxx". If the teach pendant is enabled, TP_TEST is displayed in the field.

Approval DI is ON

This item shows whether the status of the error recovery approval DI is ON. If the index of this DI is not defined or the teach pendant is enabled, "None" is displayed.

Defined alarm occurs

This item shows that the defined alarm has occurred and that the original program has been paused by the alarm, if the alarms are defined in the setup screen. If the alarm code is not defined or the teach pendant is enabled, "None" is displayed.

Remote when

$RMT_MASTER is 0

This item shows whether the remote condition is satisfied. This feature is available only when the teach pendant is disabled and $RMT_MASTER is 0 and $RSMPRG_SV.$CHK_REMOTE is TRUE. If you want to remove the remote condition, you can set $RSMPRG_SV.$CHK_REMOTE to FALSE .

No disabled options

The Error Recovery function is incompatible with certain options. It shows whether an incompatible option exists in the software.

User condition param enable

This item shows whether the user condition parameter (system variable) is TRUE. The default is TRUE. This system variable is $AUTORCV_ENB.