When the robot is in auto external and a motion error such as Axis Torque occurs, the user must use the teach pendant and switch to T1 in order to clear the error. Is there any way to clear these types of errors from the auto external interface without using the teach pendant?
KRC4 Acknowledging Motion Errors
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NortheyTech -
October 16, 2013 at 8:08 PM -
Thread is marked as Resolved.
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If you pulse $conf_mess does this clear the fault message?
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NO, $CONF_MESS signal won't clear it.
ALSO, TP buttons OK and Confirm All will not clear the message when mode is EXT.
OK and Confirm All will clear the message after going to mode T1.
BUT I'm trying to build a system where the operator is not required to touch the teach pendant.
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For safety reasons, certain serious errors are configured so that they cannot be cleared in any way but from the KCP in Teach mode. These are errors that you probably do not want to be cleared remotely. A properly configured system should never have an Axis Torque error unless something has gone seriously wrong with the robot -- a person crushed against a wall, to give one example that actually happened several years ago. In an event like that, you want to force someone to actually go to the robot and see the issue firsthand for themselves.