HC Series 6003 Alarm

Introduction

A 6003 UNDEFINED SPEED LIMIT(PFL) Alarm may occur when manually disabling PFL Mode through the Safety Logic Circuit.

Details

PFL Mode is disabled on HC Series robots by changing the Safety Logic Circuit.  As shipped, the Safety Logic Circuit will have a single line on the USER side.  This line states that if INPUT1 signal FSBIN01 is TRUE (ON) then OUTPUT signal MS-OUT54 is turned ON.  FSBIN01 is a System Reserved signal that is always ON.  MS-OUT54 is the System Reserved signal used to request PFL Mode be enabled.  As shipped, this line enables PFL Mode.

To disable PFL Mode a logical NOT modifier is added in front of the FSBIN01 INPUT1 signal.

Then the WRITE button must be selected.  When writing is complete the button will change to CONFIRM.  CONFIRM must be selected and a confirmation window will appear with the options YES and NO.  YES must be selected.  After a few moments the operation will be completed and the green PFL Mode indicator lamp on the manipulator will turn off.

A 6003 UNDEFINED SPEED LIMIT(PFL) Alarm may occur as PFL mode is disabled and is normal controller behavior.  A RESET button option on the bottom of the screen is an indication that this is a MINOR alarm.  Select the RESET button to clear the alarm.