How to generate robot errors using AS language

Quote from Seongku Kim

I would like to generate a robot error or alarm using AS language. For example, I want to generate an alarm when the motor current or torque of axis 1 is outside a certain range, but I don't know how to program it. The after-sales service manual is too limited. Is there a way to read the robot's current motor current value and generate an alarm using that data?

How to display W error code without the robot stopping

I'm looking at the formula string of the PC software that checks the robot's current status, but I can't figure out how to create the formula or what data to load.

Also, I don't understand how to read the motor current values of the robot's 1-6 axes from the PC;;;;

Hello!

1. AFAIK, you can not generate errors and warnings by yourself (In some robots, there are some dedicated signals for custom errors, but it's not warnings). All you can do is show them as text in terminal or interface panel.

Btw, to get the motor current, you can use IQARM(axis number) command.

2. Which manuals do you have? Do you have an AS Language Reference Manual?

check:
  WAIT SIG(1073); Airblow_1 Supply Grant
  CASE block.model OF
   VALUE 3:
    POINT blow1 = blow1_r20
   VALUE 4:
    POINT blow1 = blow1_r22
   VALUE 5:
    POINT blow1 = blow1_a25
   VALUE 6:
    POINT blow1 = blow1_e29
   ANY :
    PRINT 2: " _ "
    PRINT 2: " PROGRAM airblow_ar "
    PRINT 2: " Unknown Airblow Model! "
    PRINT 2: " Check block.model value from I/F page!"
    PAUSE
    GOTO check
  END

Use "PRINT" function for customized message.
If you wanna get Robot "Error Logs" and Display, Use next Function

TYPE $ERRLOG(2)

It will be showing Error log's 2nd event.

HERE #joint01
DECOMPOSE .deg[1]=#joint01

IF .deg[1]>0 THEN
SIGNAL -61; Positive J1
ELSE
SIGNAL 61; Negative J1
END

IF .deg[2]>0 THEN
SIGNAL -62; Positive J2
ELSE
SIGNAL 62; Negative J2
END

IF .deg[3]>0 THEN
SIGNAL -63; Positive J3
ELSE
SIGNAL 63; Negative J3
END

IF .deg[4]>0 THEN
SIGNAL -64; Positive J4
ELSE
SIGNAL 64; Negative J4
END

IF .deg[5]>0 THEN
SIGNAL -65; Positive J5
ELSE
SIGNAL 65; Negative J5
END

IF .deg[6]>0 THEN
SIGNAL -61; Positive J6
ELSE
SIGNAL 66; Netative J6
END

BITS 1,10=.deg[1]
BITS 11,10=.deg[2]
BITS 21,10=.deg[3]
BITS 31,10=.deg[4]
BITS 41,10=.deg[5]
BITS 51,10=.deg[6]

If you use "Cartesian (XYZOAT)" value, Remove # parameter.