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 |
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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 |
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OHAL |
Amplifier overheat alarm |
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LVAL |
It indicates a low voltage alarm. |
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OVC |
It indicates an overcurrent (OVC) alarm. |
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HCAL |
It indicates a high current alarm. |
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HVAL |
It indicates a high voltage alarm. |
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DCAL |
It indicates a regenerative discharge alarm. |
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FBAL |
Disconnection alarm (ALDF indicates whether the disconnection is associated with the hardware or software.) |
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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. |
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MCAL |
Amplifier MCC adhesion alarm |
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MOFAL |
Move command overflow alarm When this bit is set to 1, it indicates that an overflow occurred when the move command was distributed. |
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EROFL |
Error counter overflow alarm for line tracking When this bit is set to 1, it indicates that the error counter has overflowed. |
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CUER |
Current offset error This bit is set to 1 when the current offset value of the A/D converter is higher than permitted. |
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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. |
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PAWT |
Parameter change completion signal When the servo CPU finishes rewriting parameters, only 1 ITP is set to 1. |
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SRDY |
Servo ready signal While this flag is held to 1, a move command is accepted. |
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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 |
|
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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 |
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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. |
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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. |
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FSAL |
Fan stop alarm |
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DCLVAL |
Low DC Link voltage alarm |
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BRAKE |
Brake alarm of 6-axis amplifier |
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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. |
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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. |
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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. |
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FSSBDC |
FSSB disconnection alarm When a disconnection of FSSB is detected, this bit is set to 1. (Hardware detection by FSSBC) |
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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) |
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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) |
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CHGAL |
Amplifier charge alarm |
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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). |
The Status 2 screen indicates the pulse coder alarm status in 12 bits.
Table 7. Status 2 Screen Items
ITEM | DESCRIPTION |
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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 | |||
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SPHAL |
When this bit is 1, it indicates a soft phase alarm (abnormal acceleration). |
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STBERR |
When this bit is 1, it indicates a start/stop bit alarm. |
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CRCERR |
When this bit is 1, it indicates a CRC alarm. |
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DTERR |
When this bit is 1, it indicates a data alarm. |
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OHAL |
When this bit is 1, it indicates a over heat alarm. |
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CSAL |
When this bit is 1, it indicates a check sum alarm. |
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BLAL |
When this bit is 1, it indicates the low voltage alarm of the battery. |
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PHAL |
When this bit is 1, it indicates a phase alarm. |
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RCAL |
When this bit is 1, it indicates a rotating speed counter abnormal alarm |
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BZAL |
When this bit is 1, it indicates an exhausted battery alarm. |
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CKAL |
When this bit is 1, it indicates a clock alarm. |
The Pulse screen displays the servo delay, machine position, and status of the motion command.
Table 10. Pulse Screen Items
ITEM | DESCRIPTION |
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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. |
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 |
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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. |
The Tracking screen displays the status of the tracking servo system.
Table 12. Tracking Screen Items
ITEM | DESCRIPTION |
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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. |
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 |
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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. |
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 |
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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. |
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 |
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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. |
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. |
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. |
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. |
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. |
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. |
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. |