TM Palletizing Operator User’s Manual
Product Version: 1.1 Document Version: 1.2
173
Appendix
– A: Troubleshooting and Error Messages
Troubleshooting
Adjust pillar height
Issue
: How to adjust the pillar height?
Steps
:
1)
Press the reset button when the button light is on.
2)
In TMflow, click
≡
>
Setting
>
Controller
.
3)
Click
IO
tab.
4)
In the respective circles below
Control
Box
, proceed with the settings below:
Set DO_6 to H
（
high
）
and pause for a short while, and set DO_6 to L
（
low
）
to
have the pillar reset.
Set DO_0 to L to drop or H to lift the pillar.
Set DO_1 to H and drop the pillar drop to the rock bottom.
Recover from Emergency Stop
Issue
: How to recover from Emergency Stop?
Steps
:
1)
Release all emergency switches.
2)
Press the reset button when the button light is on.
3)
Wait 10 seconds to enter the Safe Start Up Mode. The Indication Light Ring will turn light
blue. The joints of the robot are still in the state without driving power.
4)
Press the FREE button continuously to release the joint axis brake and move the robot.
5)
After the issue is resolved, press the Stop button on the robot stick or the teach pendant
for about three seconds. The robot will perform the calibration in the startup process and
return to the original operating mode.
CAUTION
:
All personnel should be outside of the robot’s operational space (areas that robot can
reach) when recovering from the emergency stop.
Resume from Safety Input Discrepancy Status
Issue
: Safety Input Discrepancy Status is a safety mechanism that detects conflicting signals
from the dual channel input. When a discrepancy occurs, the system will enter and get locked
in the safety status of Cat. 1 Stop. To resume from the safety status, follow the steps below:
Steps
:
1)
Fix the safety input wirings.
Summary of Contents for TM Palletizing Operator
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