[Cause]
A chain alarm was detected through an SFDI signal. The message displays the name of the signal where the abnormality was detected, such as SFDI11. The displayed signal was detected to be ON while the other side of the redundant circuit was OFF. In a system connected to multiple safety I/O devices, the number of the safety I/O device where the alarm occurred is displayed at the end of the alarm message, as shown by (1). The safety I/O device number can be checked on the DCS safety I/O device screen. In a multi-arm system, if an abnormal state of the following signals occurs on the emergency stop board of the first slave controller, an abnormal state of the disconnect switch is displayed.
SFDI112 : Robot 1 Cut off switch chain 1 Abnormal status
SFDI212 : Robot 1 Cut off switch chain 2 Abnormal status
SFDI113 : Robot 2 Cut off switch chain 1 Abnormal status
SFDI213 : Robot 2 Cut off switch chain 2 Abnormal status
SFDI114 : Robot 3 Cut off switch chain 1 Abnormal status
SFDI214 : Robot 3 Cut off switch chain 2 Abnormal status
SFDI115 : Robot 4 Cut off switch chain 1 Abnormal status
SFDI215 : Robot 4 Cut off switch chain 2 Abnormal status
In a system using the teach pendant attachment/detachment function, if the states of SFDI11 and SFD21 become abnormal, the teach pendant may have been attached or detached without pressing the attachment/detachment switch, or it may have been attached or detached in T1/T2 mode.
[Countermeasures]
The alarm SFDI is not the case of the robot cutoff switch:
1. Confirm whether the circuit connected to the dual input signal (SFDI) is faulty.
2. Confirm whether the timing of the dual input signal (SFDI) is in accordance with the specified method.
3. Replace the emergency stop board. For a B cabinet, replace the safety I/O board. If the SFDI where the alarm occurred is the robot disconnect switch:
1. Replace the robot kill switch.
2. Replace the cable between the robot kill switch and the emergency stop board.
3. Replace the emergency stop board. In a system using the teach pendant attachment/detachment function, if the states of SFDI11 and SFD21 become abnormal:
1. The teach pendant may have been attached or detached without pressing the attachment/detachment switch, or it may have been attached or detached in T1/T2 mode. Attach or detach the teach pendant according to the teach pendant attachment/detachment function procedure. If the attachment/detachment operation was not performed using the correct procedure, refer to the entries for SRVO-230 (Chain 1 abnormality) and 231 (Chain 2 abnormality) to recover.
2. If the alarm still occurs even if the loading and unloading operation is performed according to the correct steps, please replace the emergency stop board and the teaching pendant loading and unloading hardware.
For recovery steps in the event of this alarm, please refer to SRVO-230 (chain 1 anomaly), 231 (chain 2 anomaly).
Note: When this alarm is issued, do not reset the chain abnormality alarm until the fault has been identified and repaired. If the robot continues to be used with one circuit of the redundant circuit system faulty, safety may be difficult to ensure if the other circuit also fails.SERVO SFDIxx Abnormal status %s
[Cause]
A chain alarm was detected through an SFDI signal. The message displays the name of the signal where the abnormality was detected, such as SFDI11. The displayed signal was detected to be ON while the other side of the redundant circuit was OFF. In a system connected to multiple safety I/O devices, the number of the safety I/O device where the alarm occurred is displayed at the end of the alarm message, as shown by (1). The safety I/O device number can be checked on the DCS safety I/O device screen. In a multi-arm system, if an abnormal state of the following signals occurs on the emergency stop board of the first slave controller, an abnormal state of the disconnect switch is displayed.
SFDI112 : Robot 1 Cut off switch chain 1 Abnormal status
SFDI212 : Robot 1 Cut off switch chain 2 Abnormal status
SFDI113 : Robot 2 Cut off switch chain 1 Abnormal status
SFDI213 : Robot 2 Cut off switch chain 2 Abnormal status
SFDI114 : Robot 3 Cut off switch chain 1 Abnormal status
SFDI214 : Robot 3 Cut off switch chain 2 Abnormal status
SFDI115 : Robot 4 Cut off switch chain 1 Abnormal status
SFDI215 : Robot 4 Cut off switch chain 2 Abnormal status
In a system using the teach pendant attachment/detachment function, if the states of SFDI11 and SFD21 become abnormal, the teach pendant may have been attached or detached without pressing the attachment/detachment switch, or it may have been attached or detached in T1/T2 mode.
[Countermeasures]
The alarm SFDI is not the case of the robot cutoff switch:
1. Confirm whether the circuit connected to the dual input signal (SFDI) is faulty.
2. Confirm whether the timing of the dual input signal (SFDI) is in accordance with the specified method.
3. Replace the emergency stop board. For a B cabinet, replace the safety I/O board. If the SFDI where the alarm occurred is the robot disconnect switch:
1. Replace the robot kill switch.
2. Replace the cable between the robot kill switch and the emergency stop board.
3. Replace the emergency stop board. In a system using the teach pendant attachment/detachment function, if the states of SFDI11 and SFD21 become abnormal:
1. The teach pendant may have been attached or detached without pressing the attachment/detachment switch, or it may have been attached or detached in T1/T2 mode. Attach or detach the teach pendant according to the teach pendant attachment/detachment function procedure. If the attachment/detachment operation was not performed using the correct procedure, refer to the entries for SRVO-230 (Chain 1 abnormality) and 231 (Chain 2 abnormality) to recover.
2. If the alarm still occurs even if the loading and unloading operation is performed according to the correct steps, please replace the emergency stop board and the teaching pendant loading and unloading hardware.
For recovery steps in the event of this alarm, please refer to SRVO-230 (chain 1 anomaly), 231 (chain 2 anomaly).
Note: When this alarm is issued, do not reset the chain abnormality alarm until the fault has been identified and repaired. If the robot continues to be used with one circuit of the redundant circuit system faulty, safety may be difficult to ensure if the other circuit also fails.