Status and Flange LED Color for Each Mode

Manual

Manual Standby

• This is the default status of teaching.
• Robot Parameter and Task Editor can be used to configure the work condition or perform task programming.
• It monitors the stop status with Safe Operating Stop (SOS).

Blue

Manual Jogging

• The jog function is used to operate the robot.

Blue Flashing

Manual

Handguiding

• The manipulator can be operated directly by hand.

Light blue flashing

Recovery Standby

• Recovery in progress.
• All safety functions except for axis and TCP speed monitoring are disabled during recovery.
• It monitors the stop status with Safe Operating Stop (SOS).

Yellow Flashing

Recovery

Jogging

• The jogs of each axis can be used to correct the exceeded safety threshold.

Yellow Flashing

Recovery

Handguiding

• The manipulator can be moved directly by hand to correct the exceeded safety threshold.

Yellow Flashing

Interrupted

• Protective Stop is activated by a Protective Stop input or exceeding the safety threshold.
• It monitors the stop status with Safe Operating Stop (SOS).
• A yellow protective stop pop-up appears. After the cause of the protective stop is removed, pressing the Reset button will switch the robot status to Manual Standby and the pop-up will disappear.
• If the exceeded safety limit cannot be released without moving the robot, it can be released by pressing the Recovery button to enter safety recovery mode and moving the robot.
• If it is not possible to release the protective stop input from the protective device, pressing the Safety I/O button can cancel the protective stop input setting to release it.

Yellow

Servo Off

• The servo is turned off due to an emergency stop or Protective Stop input, or exceeding the safety threshold.
• It is identical to Safe Torque Off (STO).
• The servo can only be turned on when the cause of the emergency stop or protective stop has been cleared.
• If the exceeded safety limit cannot be released without moving the robot, it can be released by turning on the servo in the safety recovery mode screen and moving the robot.
• If it is not possible to release the protective stop input from the protective device, canceling the protective stop input setting in the Safety I/O setting menu releases it.

Auto

Auto Standby

• The UI of the Teach Pendant is the actual mode execution screen in the workspace.
• Press the Execute button to execute the task program.
• White is displayed for a single work area and green is displayed for a collaborative work area.

White / Green

Auto

Running

• The task program is being executed.
• White is displayed for a single work area, green is displayed for a collaborative work area, and white and yellow are displayed in turn for a priority work area.

White Flashing /

Green Flashing

White & yellow

Flashing in turn

HGC

(HandGuide
Control)
Standby

• The Handguiding command is executed during task program execution.
• The system waits until the user presses the "Handguiding" button.
• It monitors the stop status with Safe Operating Stop (SOS).

Light blue

HGC
Running

• The robot pose can be changed by pressing the Handguiding button.
• After the robot stops 3 times, if the HGC End & Resume signal is input via Safety IO, it switches to Auto Running and the task program is subsequently executed.

Light blue flashing

Auto-measure

• The weight center point of the end effector is measured automatically. Please note that the safety monitoring functions of the robot are disabled.

Yellow Flashing

Interrupted

• Protective Stop is activated by a Protective Stop input or exceeding the safety threshold.
• It monitors the stop status with Safe Operating Stop (SOS).
• A yellow protective stop pop-up appears. After the cause of the protective stop is removed, pressing the Reset button will switch the robot status to Manual Standby and the pop-up will disappear.
• If the exceeded safety limit cannot be released without moving the robot, it can be released by pressing the recovery button to enter safety recovery mode and moving the robot.
• If it is not possible to release the protective stop input from the protective device, pressing the Safety I/O button can cancel the protective stop input setting to release it.

Yellow

Servo Off

• The servo is turned off due to an emergency stop or Protective Stop input, or exceeding the safety threshold.
• It is identical to Safe Torque Off (STO).
• The servo can only be turned on when the cause of the emergency stop or protective stop has been cleared.
• If the exceeded safety limit cannot be released without moving the robot, it can be released by turning on the servo in the safety recovery mode screen and moving the robot.
• If it is not possible to release the protective stop input from the protective device, canceling the protective stop input setting in the Safety I/O setting menu releases it.

-

Backdrive Hold

• The brakes on all 6 axes are engaged, locking out unpowered operation.

Yellow Flashing

Backdrive Release

• Brake Release has been selected, causing 1 or more joints to be released.
• Note that if the robot is released without the brake being re-engaged, the axis will not be fixed and will fall.

Yellow Flashing

Backdrive

Servo Off

• Servo turned off due to an emergency stop or joint speed limit exceeded.
• It is identical to Safe Torque Off (STO).

Initializing

• This is the process of booting up the controller and initializing the robot.

Red flashing