INTRODUCTION
There are situations where you may wish to generate an alarm or message on the teach pendant. This can help provide feedback to the operator on what is going on with the process. Before we continue, we need to differentiate between alarm and error.
An alarm will physically stop production. It will generate a fault number and text.
A message will simply display text in the lower portion of the screen to provide feedback.
There are 2 methods that you can use to generate these alarms and messages. Programmatically from within your robot job or through the ladder logic running in our concurrent I/O system. Using our concurrent I/O system is more complicated and the additional resource links below may be of help.
ADDITIONAL RESOURCES
| EXTERNAL DOCUMENT RESOURCES |
| DX100 Concurrent I/O instruction manual |
| DX200 Concurrent I/O instruction manual |
| YRC1000 Concurrent I/O instruction manual |
| YRC1000micro Concurrent I/O instruction manual |
| KNOWLEDGEBASE ARTICLES |
| Handling Controller Alarms |
PROGRAMMATICALLY
User Alarms from a robot program
The command SETUALM will allow you to generate a user alarm from within your robot code. In the example below, we are confirming vacuum was established and if no vacuum exists, a fault is generated for the user.
User Messages from a robot program
The command MSG will allow you to display a status message in the bottom portion of the teach pendant. This can be helpful to guide operators in situations that are not critical but still require attention. As an example, perhaps a message indicating that infeed parts are getting low is displayed to the user prior to the alarm condition being triggered.
CONCURRENT I/O
Another method to generate alarms is through the use of the concurrent I/O. The concurrent I/O ladder logic method is by far more complicated. It will require knowledge and familiarity with this part of our software.
User Alarms From the CIO
The CIO provides us with a “master” signal 40012 to request a user alarm however, for an alarm to be displayed correctly we must also specify what alarm number we want when making the alarm request. Selecting the alarm number is done through a binary number using 6 additional system inputs.
The chart below explains signals 40220 through 40225 and highlights a few inputs that need to be on to select a particular input. As an example, let’s assume we want user alarm #3 to be generated:
40012 = 1 (master request)
40220 = 1
40221 = 1
40222 = 0
40223 = 0
40224 = 0
40225 = 0
User Alarm Names
Note: I/O User Alarm Names are addressed from 9064 to 9127.
| User Alarm Name | User Alarm No. | Setting Value 0:OFF 1:ON | |||||
| 40225 | 40224 | 40223 | 40222 | 40221 | 40220 | ||
| 9064 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| 9065 | 1 | 0 | 0 | 0 | 0 | 0 | 1 |
| 9066 | 2 | 0 | 0 | 0 | 0 | 1 | 0 |
| 9067 | 3 | 0 | 0 | 0 | 0 | 1 | 1 |
| : | : | : | : | : | : | : | : |
| 9127 | 63 | 1 | 1 | 1 | 1 | 1 | 1 |
User Messages From the CIO
User messages work in very much the same way that user alarms do.
The CIO provides us with a “master” signal 40013 to request a user message however, for a message to be displayed correctly we must also specify what message number we want when making the message request. Selecting the message is done through a binary number using 6 additional system inputs.
The chart below explains signals 40240 through 40245 and highlights a few inputs that need to be on to select a particular input. As an example, let’s assume we want user message #3 to be generated:
40013 = 1 (master request)
40240 = 1
40241 = 1
40242 = 0
40243 = 0
40244 = 0
40245 = 0
User Message Names
Note: I/O User Message Names are addressed from 1 to 64.
| User Message Name | User Message No. | Setting Value 0:OFF 1:ON | |||||
| 40245 | 40244 | 40243 | 40242 | 40241 | 40240 | ||
| 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| 2 | 1 | 0 | 0 | 0 | 0 | 0 | 1 |
| 3 | 2 | 0 | 0 | 0 | 0 | 1 | 0 |
| 4 | 3 | 0 | 0 | 0 | 0 | 1 | 1 |
| : | : | : | : | : | : | : | : |
| 64 | 63 | 1 | 1 | 1 | 1 | 1 | 1 |
Simplified Operation (User Alarms)
If your robot has originated from North America, it has most likely been shipped with additional mappings in the concurrent I/O that hope to simplify the creation of user alarms and messages. It can often be challenging to create the necessary binary logic, especially if you wish to generate multiple alarms or messages.
As a result, Yaskawa (North America) has assigned signals starting at 79700 for user alarms.
| User Alarm Name | User Alarm No. | Signal |
| 9064 | 0 | 79700 |
| 9065 | 1 | 79701 |
| 9066 | 2 | 79702 |
| 9067 | 3 | 79703 |
| 9068 | 4 | 79704 |
| 9069 | 5 | 79705 |
| 9070 | 6 | 79706 |
| 9071 | 7 | 79707 |
| 9072 | 8 | 79710 |
| 9073 | 9 | 79711 |
| 9074 | 10 | 79712 |
| 9075 | 11 | 79713 |
| 9076 | 12 | 79714 |
| 9077 | 13 | 79715 |
| 9078 | 14 | 79716 |
| 9079 | 15 | 79717 |
| 9080 | 16 | 79720 |
| 9081 | 17 | 79721 |
| 9082 | 18 | 79722 |
| 9083 | 19 | 79723 |
| 9084 | 20 | 79724 |
| 9085 | 21 | 79725 |
| 9086 | 22 | 79726 |
| 9087 | 23 | 79727 |
| 9088 | 24 | 79730 |
| 9089 | 25 | 79731 |
| 9090 | 26 | 79732 |
| 9091 | 27 | 79733 |
| 9092 | 28 | 79734 |
| 9093 | 29 | 79735 |
| 9094 | 30 | 79736 |
| 9095 | 31 | 79737 |
| 9096 | 32 | 79740 |
| 9097 | 33 | 79741 |
| 9098 | 34 | 79742 |
| 9099 | 35 | 79743 |
| 9100 | 36 | 79744 |
| 9101 | 37 | 79745 |
| 9102 | 38 | 79746 |
| 9103 | 39 | 79747 |
| 9104 | 40 | 79750 |
| 9105 | 41 | 79751 |
| 9106 | 42 | 79752 |
| 9107 | 43 | 79753 |
| 9108 | 44 | 79754 |
| 9109 | 45 | 79755 |
| 9110 | 46 | 79756 |
| 9111 | 47 | 79757 |
| 9112 | 48 | 79760 |
| 9113 | 49 | 79761 |
| 9114 | 50 | 79762 |
| 9115 | 51 | 79763 |
| 9116 | 52 | 79764 |
| 9117 | 53 | 79765 |
| 9118 | 54 | 79766 |
| 9119 | 55 | 79767 |
| 9120 | 56 | 79770 |
| 9121 | 57 | 79771 |
| 9122 | 58 | 79772 |
| 9123 | 59 | 79773 |
| 9124 | 60 | 79774 |
| 9125 | 61 | 79775 |
| 9126 | 62 | 79776 |
| 9127 | 63 | 79777 |
In this example, CIO relay address #79702 will automatically set the necessary binary logic to properly trigger User Alarm #2 with name from 9066.
Simplified Operation (User Messages)
As a result of this simplified operation, Yaskawa (North America) has assigned signals starting at 79810 for user messages.
| User Message Name | User Message No. | Signal |
| 1 | 0 | 79810 |
| 2 | 1 | 79811 |
| 3 | 2 | 79812 |
| 4 | 3 | 79813 |
| 5 | 4 | 79814 |
| 6 | 5 | 79815 |
| 7 | 6 | 79816 |
| 8 | 7 | 79817 |
| 9 | 8 | 79820 |
| 10 | 9 | 79821 |
| 11 | 10 | 79822 |
| 12 | 11 | 79823 |
| 13 | 12 | 79824 |
| 14 | 13 | 79825 |
| 15 | 14 | 79826 |
| 16 | 15 | 79827 |
| 17 | 16 | 79830 |
| 18 | 17 | 79831 |
| 19 | 18 | 79832 |
| 20 | 19 | 79833 |
| 21 | 20 | 79834 |
| 22 | 21 | 79835 |
| 23 | 22 | 79836 |
| 24 | 23 | 79837 |
| 25 | 24 | 79840 |
| 26 | 25 | 79841 |
| 27 | 26 | 79842 |
| 28 | 27 | 79843 |
| 29 | 28 | 79844 |
| 30 | 29 | 79845 |
| 31 | 30 | 79846 |
| 32 | 31 | 79847 |
| 33 | 32 | 79850 |
| 34 | 33 | 79851 |
| 35 | 34 | 79852 |
| 36 | 35 | 79853 |
| 37 | 36 | 79854 |
| 38 | 37 | 79855 |
| 39 | 38 | 79856 |
| 40 | 39 | 79857 |
| 41 | 40 | 79860 |
| 42 | 41 | 79861 |
| 43 | 42 | 79862 |
| 44 | 43 | 79863 |
| 45 | 44 | 79864 |
| 46 | 45 | 79865 |
| 47 | 46 | 79866 |
| 48 | 47 | 79867 |
| 49 | 48 | 79870 |
| 50 | 49 | 79871 |
| 51 | 50 | 79872 |
| 52 | 51 | 79873 |
| 53 | 52 | 79874 |
| 54 | 53 | 79875 |
| 55 | 54 | 79876 |
| 56 | 55 | 79877 |
| 57 | 56 | 79880 |
| 58 | 57 | 79881 |
| 59 | 58 | 79882 |
| 60 | 59 | 79883 |
| 61 | 60 | 79884 |
| 62 | 61 | 79885 |
| 63 | 62 | 79886 |
| 64 | 63 | 79887 |
In this example, CIO relay address #79812 will automatically set the necessary binary logic to properly trigger user message #2 with name.
ADDITIONAL SUPPORT
Creating custom user alarms and messages inside of the concurrent I/O will fall on the more complicated aspects of our software. Yaskawa technical support can help further guide you should you require any additional clarification.
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