Fault Recovery
When an error occurs, the robot stops by its stop mode option. Stop mode and its action when an error occurs are as in the table below.
| Stop Mode | Action | Controller State |
|---|---|---|
STO | Motor power is cut off immediately. | Servo Off |
SS1 | Motor power is cut off after the robot motion stops completely. | Servo Off |
SS2 | The robot motion stops without motor power off. | Safety Stop |
To recover the controller state from “Servo Off,” select Control on the main menu and click the Servo On button.
To recover the controller state from “Safety Stop,” select Control on the main menu and click the Reset Safety Stop button.
When a position-related error such as JOINT_SLP, TCP_SLP or TCP_SLO occurs, even if you click the Servo On or Reset Safety Stop button, the same fault occurs again and the state goes back to the fault state. In that case, you must change the robot pose to avoid the violation.