STATUS AXIS SCREENS


STATUS AXIS SCREENS

1. STATUS AXIS STATUS 1 SCREEN

The Status 1 screen displays the alarm status of the servo system. The status information consists of Flag Bits 1 (16 bits), shown on the upper row of bits for each axis, and Flag Bits 2 (16 bits), shown on the lower row of bits for each axis.

Table 1.  Status 1 Screen Items

ITEM DESCRIPTION

Flag Bits 1

This item provides servo alarm status 1 in 16 bits. The meanings of the bits are described in Table 2, " Servo Alarm Status 1; Address: FC80h (L-axis), FCC0h (M-axis) " .

Flag Bits 2

This item provides servo alarm status 2 in 16 bits. The meanings of the bits are described in Table 5, " Servo Alarm Status 2; Address: FC81h (L-axis), FCC1h (M-axis) " .

History

This item provides the most recent, non-current, values of the Flag Bits.

Table 2.  Servo Alarm Status 1; Address: FC80h (L-axis), FCC0h (M-axis)

MSB B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB

OHAL

LVAL

OVC

HCAL

HVAL

DCAL

FBAL

ALDF

MCAL

MOFAL

EROFL

CUER

SSTB

PAWT

SRDY

SCRDY


Table 3.  Alarm Terminology

Alarm Type

Alarm Description

OHAL

Amplifier overheat alarm

LVAL

It indicates a low voltage alarm.

OVC

It indicates an overcurrent (OVC) alarm.

HCAL

It indicates a high current alarm.

HVAL

It indicates a high voltage alarm.

DCAL

It indicates a regenerative discharge alarm.

FBAL

Disconnection alarm (ALDF indicates whether the disconnection is associated with the hardware or software.)

ALDF

Alarm distinction bit

If an amplifier alarm (OHAL, LVAL, HCAL, FSAL, IPMAL, or DCLVAL) is raised while ALSF is set to 1, the alarm is detected by PSM. When both FBAL and ALDF are set to 1, the disconnection alarm is detected by the hardware.

MCAL

Amplifier MCC adhesion alarm

MOFAL

Move command overflow alarm

When this bit is set to 1, it indicates that an overflow occurred when the move command was distributed.

EROFL

Error counter overflow alarm for line tracking

When this bit is set to 1, it indicates that the error counter has overflowed.

CUER

Current offset error

This bit is set to 1 when the current offset value of the A/D converter is higher than permitted.

SSTB

Servo standby signal

After POWON, this signal is set to 1, and the system waits for ITP. When SSTB is set to 1, the host outputs ITPCON and generates ITP.

PAWT

Parameter change completion signal

When the servo CPU finishes rewriting parameters, only 1 ITP is set to 1.

SRDY

Servo ready signal

While this flag is held to 1, a move command is accepted.

SCRDY

Servo communication flag

The servo CPU sets this flag to 1 once data writing to the shared RAM is completed. After reading the data, the host CPU resets the flag to 0.


Table 4.  Description of Alarm Combinations

OVL

FBAL

ALDF

Alarm

1

0

1

Motor overload alarm (not used for a serial pulse coder)

1

0

0

Amplifier overload alarm

0

1

1

Pulse coder disconnection alarm (not used for a serial pulse coder)


Table 5.  Servo Alarm Status 2; Address: FC81h (L-axis), FCC1h (M-axis)

MSB B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB

SRCMF

CLALM

FSAL

DCLVAL

BRAKE

IPMAL

SFVEL

GUN SET

FSSB DC

SCU CAL

AMU CAL

CHG AL

NOA MP

     

Table 6.  Alarm Terminology

Alarm Type

Alarm Description

SRCMF

Compensation warning flag

When part of the position data is missing because of noise or some other reason, data compensation is performed. This data, however, should not be used for mastering or other purposes. To inform the host of this state, the flag is set to 1.

CLALM

It indicates a collision detection alarm.

When the servo CPU detects a collision, the flag is set to 1. The host CPU starts alarm handling after a lapse of a predetermined period from when the flag is set to 1.

FSAL

Fan stop alarm

DCLVAL

Low DC Link voltage alarm

BRAKE

Brake alarm of 6-axis amplifier

IPMAL

IPM alarm

IPM is an abbreviation for intelligent power module, which is a power component to replace IGBT. The IPM detects overheating and HC by itself.

SFVEL

Soft float start permission signal

When the velocity feedback falls below the velocity specified in a parameter, this flag is set to 1 to allow soft float to be started.

GUNSET

Servo gun switch completion signal

Once the resetting (initialization) of the pulse coder has been completed after the servo gun is switched, the signal is set to 1 only for 1 ITP.

FSSBDC

FSSB disconnection alarm

When a disconnection of FSSB is detected, this bit is set to 1. (Hardware detection by FSSBC)

SVUCAL

FSSB communication alarm

When two consecutive alarms are detected in data communication between the slave and a servo module, this bit is set to 1. (Detected by the servo software)

AMUCAL

FSSB communication alarm

When two consecutive alarms are detected in data communication between the servo module and a slave, this bit is set to 1. (Detected by the slave)

CHGAL

Amplifier charge alarm

NOAMP

No amplifier connection alarm

This bit is set to 1 when an amplifier is not connected while the presence of the corresponding axis is specified (B3 of AXIS register set to 0).


2. STATUS AXIS STATUS 2 SCREEN

The Status 2 screen indicates the pulse coder alarm status in 12 bits.

Table 7.  Status 2 Screen Items

ITEM DESCRIPTION

Alarm Status

This item provides the pulse coder alarm status in 12 bits. The meanings of the bits are described in Table 8, " Pulse Coder Alarm Status " .

History

This item provides the most recent, non-current, values of the alarm status bits.

Table 8.  Pulse Coder Alarm Status

MSB B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB

SPHAL

STBERR

CRCERR

DTERR

OHAL

CSAL

BLAL

PHAL

RCAL

BZAL

CKAL

 

Table 9.  Alarm Terminology

Alarm Type Alarm Description

SPHAL

When this bit is 1, it indicates a soft phase alarm (abnormal acceleration).

STBERR

When this bit is 1, it indicates a start/stop bit alarm.

CRCERR

When this bit is 1, it indicates a CRC alarm.

DTERR

When this bit is 1, it indicates a data alarm.

OHAL

When this bit is 1, it indicates a over heat alarm.

CSAL

When this bit is 1, it indicates a check sum alarm.

BLAL

When this bit is 1, it indicates the low voltage alarm of the battery.

PHAL

When this bit is 1, it indicates a phase alarm.

RCAL

When this bit is 1, it indicates a rotating speed counter abnormal alarm

BZAL

When this bit is 1, it indicates an exhausted battery alarm.

CKAL

When this bit is 1, it indicates a clock alarm.


3. STATUS AXIS PULSE SCREEN

The Pulse screen displays the servo delay, machine position, and status of the motion command.

Table 10.  Pulse Screen Items

ITEM DESCRIPTION

Position Error

units: pulses

This item is the servo delay. This item displays the difference between the commanded APC count versus the actual APC count.

Machine Pulse

units: pulses

This item is the machine position. These are actual absolute pulses. This item shows the actual APC count as read by the controller.

Motion Command

units: pulses

This item indicates the relative command pulses from the host. This item displays the desired value of the Absolute Pulse Coder (APC) when the robot gets to the position commanded by the controller.

4. STATUS AXIS TORQUE MONITOR SCREEN

The Torque Monitor screen displays the current values, and the status of the position, overtravel, and servo amplifier. Load to the motor and thermal loss can be estimated using the root-mean-square current values.

Table 11.  Torque Monitor Items

ITEM DESCRIPTION

Average

units: Amps

This item is the average of the root-mean-square current values.

Maximum

units: Amps

This item is the maximum of the root-mean-square current values.

Inposition

This item is the position status, 0 or 1. 0 means that the robot is not in position. 1 means that the robot is in position.

OT

This item is the overtravel status, 0 or 1. 0 means the robot is not in overtravel. 1 means the robot is in overtravel.

VRDY

This item is the servo amplifier ready status, ON or OFF. ON means the servo amplifier is ready, OFF means the servo amplifier is not ready.

5. STATUS AXIS TRACKING SCREEN

The Tracking screen displays the status of the tracking servo system.

Table 12.  Tracking Screen Items

ITEM DESCRIPTION

Flag Bits 1

This item is the servo alarm status 1, in 16 bits. The meanings of the bits are described in Table 2, " Servo Alarm Status 1; Address: FC80h (L-axis), FCC0h (M-axis) " .

Flag Bits 2

This item is the servo alarm status 2, in 16 bits. The meanings of the bits are described in Table 5, " Servo Alarm Status 2; Address: FC81h (L-axis), FCC1h (M-axis) " .

Alarm Status

This item is the pulse coder alarm status, in 12 bits. The meanings of the bits are described in Table 8, " Pulse Coder Alarm Status " .

Counter Value

This item is the line tracking counter.

6. STATUS AXIS DISTURBANCE TORQUE SCREEN

The Disturbance Torque screen displays the disturbance torque to each motor (current torque and maximum and minimum torque for each ITP) The disturbance torque is indicated with the current values estimated from the difference between the scheduled and actual values of the pulse coder. If the maximum or minimum value set for the disturbance torque is exceeded, the collision detection function of the servo system regards a collision as occurring and turns off the servo power.

Table 13.  Disturbance Torque Screen Items

ITEM DESCRIPTION

Current

units: Amps

This item is the current disturbance torque to the servomotor.

Maximum

units: Amps

This item is the maximum value of the disturbance torque.

Minimum

units: Amps

This item is the minimum value of the disturbance torque.

7. STATUS AXIS DUTY DIAGNOSIS SCREEN

You can display information about the physical load on the robot servomotors, or duty, on the STATUS Axis Duty Diagnosis screen.

Table 14.  Duty Diagnosis Screen Items

ITEM DESCRIPTION

Temperature

default: 25°C

This item is the ambient temperature, or the air temperature of your work environment. You must specify this temperature, and the units (°C or °F), to display accurate duty percentage values.

Jn : DUTY

This item displays the duty percentage value for the specified servomotor. If this value is greater than 100%, the servomotor might overheat in the future.

8. STATUS AXIS DIAGNOSIS SCREEN

The Servo Diagnosis Main screen displays the values of each of the diagnostic items for the robot axis that has the most out of range values. From this main screen, you can display more detailed, individual screens for each of the diagnostic items: reducer, motor overheat, transformer overheat, current, disturbance, OVC, collision detection, and discharge.

Table 15.  Servo Diagnosis Main Screen Items

ITEM DESCRIPTION

Group

This item displays the number of the motion group for the axes being displayed.

Reducer

This item displays the time remaining until the recommended overhaul of the reducers.

Over Heat (Motor)

This item displays the ratio of the root mean square current to the rated current for the motor.

Over Heat (Trans)

This item displays the ratio of the root mean square current to the rated current for the transformer.

Current

This item displays the ratio of the current torque to the maximum.

Disturbance

This item displays the ratio of the force observed by the servo software to the alarm threshold.

OVC

This item displays the ratio of the motor temperature simulated by the software to the alarm threshold.

Collision Detection

This item displays the number of collisions that have been detected and information from the last detected collision.

Discharge

This item displays the discharge value for the servo amplifier. Discharge is the power supplied from the motors to the amplifier. For example, when the robot swings downward, gravity supplies energy to the amplifier through the motors.

9. DIAGNOSIS REDUCER SCREEN

The Servo Diagnosis Reducer screen shows the percentage of time used and the estimated hours remaining until the recommended overhaul of the reducers for each axis in the selected motion group. If you want to increase the number of hours between overhauls, decrease the programmed speeds or override. Monitor the reducer time value after running for several days to determine the period between overhauls of the reducers.

This screen shows the estimated hours remaining until the next reducer overhaul. The overhaul time depends on the future motion of the reducer. The overhaul time is based on a prediction made by averaging the load on the reducer from robot motion during the time period displayed on the screen. As the motion load changes, the overhaul time will change.

The estimated result is calculated by using the average rotational speed and torque, and is defined as the time when failure probability of large quantities of reducers accumulates to 10%.

The life is a statistical value that distributes in big dispersion. The real life of each reducer is different. It is normal that the real life is much longer or shorter than the estimated result. Please treat this result as a reference.

If the following incidents occur, the real life will be shorter than the estimated result:

  • Collision with Robot arm or EOAT

  • Emergency stop is frequently used

  • Grease is not appropriately exchanged

According to the status of the reducer, the following maintenance measures should be adopted:

  • Increase frequency of checks

  • Prepare to exchange reducer

  • Exchange reducer

Table 16.  Diagnosis Reducer Screen Items

ITEM DESCRIPTION

used

This is the percentage already used of the recommended time until the next reducer overhaul.

until 100% (estmtd)

This shows the recommended number of hours remaining until the next reducer overhaul.

The overhaul time depends on the future motion of the reducer, based on a prediction made by averaging the load on the reducer from robot motion. As the motion load changes, the overhaul time will change.

If you want to increase the number of hours between overhauls, decrease the programmed speeds or override. Monitor the reducer time value after running for several days to determine the period between overhauls of the reducers.


10. DIAGNOSIS OVER HEAT SCREEN

The Servo Diagnosis Over Heat screen shows the ratio of the root mean square current to the rated current. If you want to decrease this value, decrease the override value or reduce program speed.

Table 17.  Diagnosis Over Heat Screen Items

ITEM DESCRIPTION

trans

This item is the ratio of the root mean square current to the rated current for the transformer.

Current ratio

Units: %

This item is the ratio of the root mean square current to the rated current for the motor on the selected axis. If you want to decrease this value, decrease the override value or reduce program speed.

11. DIAGNOSIS TORQUE SCREEN

The Servo Diagnosis Torque screen shows the ratio of the current torque to the maximum torque allowed. If this number is greater than 100%, confirm that the combined weight of the end-of-arm-tooling and workpiece does not exceed the maximum payload of the robot.

Table 18.  Diagnosis Torque Screen Items

ITEM DESCRIPTION

Torque ratio

Units: %

This item is the ratio of the current torque to the maximum torque allowed. If this number is greater than 100%, confirm that the combined weight of the end-of-arm-tooling and workpiece does not exceed the maximum payload of the robot.

12. DIAGNOSIS DISTURBANCE SCREEN

The Servo Diagnosis Disturbance screen shows the ratio of the force observed by the servo software to the alarm threshold. If the maximum or minimum value is greater than 100%, confirm that the payload has been set correctly.

Table 19.  Diagnosis Disturbance Screen Items

ITEM DESCRIPTION

Current

Units: %

This item is the current value of the ratio of the force observed by the servo software to the alarm threshold.

Max (%)

Units: %

This item is the maximum value of the ratio of the force observed by the servo software to the alarm threshold. If the maximum value is greater than 100%, confirm that the payload has been set correctly and correct the setting if necessary.

Min (%)

Units: %

This item is the minimum value of the ratio of the force observed by the servo software to the alarm threshold. If the minimum value is greater than 100%, confirm that the payload has been set correctly and correct the setting if necessary.

13. DIAGNOSIS OVC SCREEN

The Servo Diagnosis OVC screen shows the ratio of the temperature simulated by the software to the alarm threshold. The temperatures of the motors are simulated by the software to protected them from overheating. If this value is 100 or greater, decrease the value by using the override command to decrease the override.

Table 20.  Diagnosis OVC Screen Items

ITEM DESCRIPTION

Ratio

Units: %

This item is the ratio of the temperature simulated by the software to the alarm threshold. The temperatures of the motors are simulated by the software to protected them from overheating. If this value is 100 or greater, decrease the value by using the override command to decrease the override.

14. DIAGNOSIS LAST DETECTION SCREEN

The Servo Diagnosis Last Detection screen shows the number of collisions that have been detected and information from the last detected collision. If many collisions are detected, perform an overhaul to correct the problem.

Table 21.  Diagnosis Last Detection Screen Items

ITEM DESCRIPTION

Date and time

year / month / day

HH: MM: SS

This item is the date and time of the last detected collision.

Count

This item is the number of times a collision has occurred on the selected axis.

Position

Units: degrees

This item is the position of the selected axis the last time a collision occurred.