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UTILIZATION
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© Copyright SEPRO ROBOTIQUE, 2011, rights reserved.

The content of this document is the industrial, intellectual and commercial property of
SEPRO ROBOTIQUE. In accordance with article L122-4 of the intellectual property code,
any representation or reproduction, in whole or in part, made without the consent of the
author or his successors or assigns, is illegal and may lead to criminal sanctions.

For these purposes, the client undertakes to use the information and data included in this
document solely for its own needs, within the company, and not to carry out any
commercial exploitation with them, directly or indirectly. In particular, any reproduction to
communicate it to third parties, even free of charge, is prohibited.

This document will be delivered to the client at the time of delivery of the ordered product.
It may be modified later at the initiative of SEPRO ROBOTIQUE and without prior notice.
Therefore, it will be the customer's responsibility to inquire about any possible update
from the SEPRO ROBOTIQUE customer support service.

Definition of the special sections used in the brochure:

ÿ Attention! Risk of material or human damage. The user must read these instructions carefully.

Warning: The instruction given is of an important degree with regard to the use of the robot. Indicates a
operation that may cause a problem for the user, for example, an unwanted stop of the robot.

Note: Emphasizes an important precision about the current description.

Astuteness: Emphasizes bold operation that allows for comfort of use.

Example: Give a possible application of the current description.

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I - Familiarization 1

I - 1. The axes __________________________________________________________ 1

I - 2. Work areas ________________________________________________ 2
I - 3. Robot / press interface _______________________________________________ 3
I - 4. The console ________________________________________________________ 4

II - Change production 13
II - 1. Create a program ________________________________________________ 13
II - 2. Mold change _________________________________________________ 14

II - 3. Select a program ___________________________________________ 14

II - 4. Learn the points in cycle II - 5. Test ________________________________________ 15

the program________________________________________________ 17
II - 6. Modification of the cycle parameters II - 7. Adjustment_______________________________ 18

of the parts takers_______________________________________________ 22

II - 8. Return to origin _________________________________________________ 22

III - Production 23
III - 1. Start production _____________________________________ 23
III - 2. Stop production _______________________________________________ 25
III - 3. Production management____________________________________________________ 26
3 - 4. Monitors _______________________________________________________ 28

IV - Manual mode 29
IV - 1. Presentation ____________________________________________________ 29

IV - 2. Numerical movements____________________________________________ 29
IV - 3. Pneumatic movements___________________________________________ 30
IV - 4. Press authorizations____________________________________________ 31
IV - 5. Initialization of the axes ___________________________________________ 32
IV - 6. Scroll activation ______________________________________ 33

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V - Maintenance 34

V - 1. Maintenance information ______________________________________ 34

V - 2. Console configuration V - 3. Robot ________________________________________ 37

configuration ____________________________________________ 40
V - 4. Access to the USB key _____________________________________________ 40

V - 5. Inhibition of protectors ________________________________________ 41

VI - Help with diagnosis 43

6 - 1. Monitor ________________________________________________________ 43

VI - 2. List of faults and warnings __________________________________________ 46

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I - FAMILIARIZATION

ÿ Before any use, it is essential to become aware of the information cited in the product le
Warnings.

I - 1. The axes

WITH-

Y+

X+ AND-

X-

Z+
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I - 2. Work areas
These areas limit the movements of the robot, in order to avoid any mechanical interference.

There are 2 zones defined in the X axis, Machine Axis AMx and Clear Arm Zone ZBD.

There are 2 zones defined in the Z axis, Up Arm BH and Out of Mold Arm BHM.

AMx: the Machine Axis area is located on either side

WITH

of the press axis. It is indicated in the

X
Robot beam with a blue arrow. In this area, the robot
is authorized to work on the press.
ZBD: The Clear Arm Zone is located outside the press.
ZBD In this area is the unloading station. All movements
AMx are authorized.

BH: Upper Arm zone . The presence of the Z arm

below this zone is prohibited for robot movements
between AMx and ZBD.
BH BHM: Arm Outside Mold zone . This area is
BHM
used if the robot is located in the AMx zone. It allows
Position the waiting robot just above the mold to
decrease mold unloading time. Outside this zone, the
arm can only lower if the press gives the Mold Open
(MO) information.

Press Axis

The RVO zone: grip holder in a mandatory vertical position.

For Reduced Height (ER) type arms, a third zone is defined in the Z axis to avoid mechanical interference between the grip holder
and the fixed part of the arm. In this area, the grip holder must be in a vertical position. It is the area
RVO.

RVO

Z arm
stroke
The grip holder is in a
vertical position, the arm
can be in the RVO zone.

Risk of interference
©

between the grip holder

and the fixed part of the arm.

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I - 3. Robot / press interface

The robot/press interface is the definition of the exchanges between the robot and the press.

Example with a EUROMAP 67 interface:

- Clear Arm Safety

- Press cycle authorization
- Ejector entry authorization
Information sent by the robot to - Ejector Exit Authorization
the press - Noyo 1 authorization in position 1
- Noyo 1 authorization in position 2
- Noyo 2 authorization in position 1
- Noyo 2 authorization in position 2
- End of press opening authorization
- Open mold - Emergency stop - channel 1
- Door closed - channel 1 - Emergency stop - channel 2
- Door closed - channel 2 - Operation without robot
- Press in AUTO or SEMIAUTO
- Closed mold (Manufactured Piece)
- Ejectors inside
- Ejectors outside
- End of movement cores 1 in position 1 Information sent
- End of movement cores 1 in position 2 by the press to the robot
- End of movement cores 2 in position 1
- End of movement cores 2 in position 2
- Emergency Stop Press - channel 1
- Emergency Stop Press - channel 2
- Partial opening reached To view the status of the information, see:
- Bad piece
• Monitor Press, p.28.

• Press authorizations, page 31

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I - 4. The console
I - 4. 1. The console components

Indicator light
Joystick. See Using the Joystick, page 30.
connected Light indicator without robot

Emergency stop button Auto light indicator

Cycle light indicator

Work with the console outside your

Stand: When using the console outside of its

stand, only manual and test modes are

ÿ Touch screen: Do not authorized. Automatic mode is prohibited.

put too much pressure
on the screen. Avoid
any object that could
scratch or puncture it.
Simultaneous selection in multiple
places on the screen is prohibited.
It can
cause desired actions. no

Editor
Validation buttons:
See Inhibition of
ETHERNET
Keep USB 1 USB 2 protectors, page 41
Reserved
Rights
Update

USB 1 can also receive a USB mouse to navigate the interface.

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I - 4. 2. Navigation in the graphical interface

General organization

The graphical interface offers an access

Access to the Simple Download module:
page and 4 different
Simply create a program using 3D
environments, each corresponding to a specific animations.
task:

ACCESS

CHANGE OF
PRODUCTION PROGRAMMING MAINTENANCE
PRODUCTION
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Degraded gears:
- See Producing without a robot, page 24.
See User Profile, page 9
- See Inhibiting the protectors, page 41.
Program selected to be executed
Scheduled message
(WRITE) Test modes:
- Manual
Failure message
- Test step by step
- Continuous testing
Access to help about the defect

User message Robot speed

Production change
Return to previous menu

Icono Library: Help about the icons Navigation bar ECONOMIC MODE
of the current page / access to:
Automatic mode
The
online documentation, page 12. Features or tools

Stop mode
Minimonitor, page45

Start:
- cycle launch
- bug fix
Navigation bar between environments:
- Power reset
The current screen is memorized when another environment is selected.

See Modes of
Selecting an already active environment icon allows you to return directly to the
operation and shutdown, page 10
access page of said environment.

The 3 signal codes

A color code: a dominant color is associated with each environment:

•
Blue symbolizes the PRODUCTION environment.

•
Orange symbolizes the CHANGE PRODUCTION environment.

•
Green symbolizes the PROGRAMMING environment.

•
Purple symbolizes the MAINTENANCE environment.

•
An unavailable icon is hidden. An icon is not available:

- When your action no longer takes effect, often because it has already been requested
- When the user profile prohibits its use. See User Profile, page 9
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A code form:

•
Selecting an icon with an oval background has no direct impact on the operation of the robot.

•
Selecting an icon with a rectangular background can have a direct impact on the operation of the robot.

•
Selecting an icon with a square background has a direct impact on the operation of the robot.

A drawing code:

•
The drawing symbolizes the impact of the selection. Here, for example, the impact of selection is the

increased robot speed.

How lists work

Sorting by number Search in the list. Gives access to

Classification by graphic symbol Sorting by alphabetical order a keyboard that allows you to start the
search. See Keyboard
Operation, page 8.

Select the next found item

Confirm Selection

The selection can be confirmed by double clicking on the desired item.

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Keyboard operation

Action area: the cursor can be positioned anywhere in a character string. By

sliding your finger, you can select all or part of the displayed character string.

Numeric mode

Delete the character(s)

selected or the
Azerty way character placed before
of the cursor

Modo qwerty

Validate the choice

In qwerty or azerty modes,
this key allows you to change
from lowercase to uppercase. In
Move the cursor through the
numerical mode, you get a displayed character string
specific keyboard that allows
you to directly enter types of
variables or instructions
BIT 010

Use this mode to

quickly search for a type of

variable to display on the
monitor, IN, BIT, OUT,…
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I - 4. 3. User Profile
There are 4 different profiles. Depending on the profile, some features are or are not available. Each profile is represented by an
icon:

Profile 1 Profile 2 Profile 3 Profile 4

The profile can be saved to a USB key ( See Generating a profile key, page 40). In this case, as soon as the key is inserted, the
profile is automatically selected. You can also select the profile with the profile icon at the top left of the screen. You must then
enter the appropriate password.
Each profile is configured to respond to a type of controller use. See Modifying profiles, page 37.
I - 4. 4. Elemental icons

Access to online help. The online help provides an icon library and access to: Online documentation, page
12. The icon library shows a brief description of the function of each icon on the page.

Return to the previous menu.

Access to help about the defect. See List of faults and warnings, page 46.

Confirm a choice and answer positively to a question.

Respond negatively to a question or cancel the current function.

Grabar.

Cancel the last action.

Re-execute the canceled action.

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I - 4. 5. Elementary functions

Operating and stopping modes

MANUAL mode selection. See Manual Mode, page 29.

STEP BY STEP TEST mode selection. See Step-by-Step Test Mode, page 17.

Selection of CONTINUOUS TEST mode. See Continuous test mode, page 17.

AUTO ECO mode selection. The robot must be previously in automatic mode. The control then adjusts the speed of
the numerical axes so that the robot does not remain waiting on the press for more than 2 seconds.

AUTO ECO mode saves electrical energy and reduces wear on the robot's mechanical components.

AUTO mode selection. In this mode, pressing Start launches the cycle continuously. If necessary, the system can
order, before launching the cycle, the execution of a return to origin ( See Return to origin, page 22).

Stop program execution

Launch the cycle, give power, eliminate a defect. If there is a fault, the first press corrects the fault ( See List of faults
and warnings, page 46).
The integrated LED signals in order of priority:
• A fault -> red LED on steadily
• A suspended cycle -> yellow LED with rapid flashing
• An end of cycle or an end of production in progress -> green LED with slow flashing
• a cycle in progress -> green LED on steadily
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Robot speed

It is possible to adjust the speed of movement of the numerical axes. This adjustment is a percentage applied to the maximum value of each numerical axis. It
acts on all axes at the same time and can range from 15 to 100. It has no effect on pneumatic movements.

For safety reasons, the robot speed is limited to 15% in the following cases:

• Step-by-step and continuous test mode.

• Inhibition of active protectors.

It is automatically positioned at 15% in the following cases:

• Switch to manual mode

• Selection of a new program in "production change".

• Return Origin.

By clicking once on this icon, you increase the speed by 1%. If pressed continuously, the speed increases until you stop pressing or until
the limit of 100%.

Use the arrow keys to vary the speed quickly.

By clicking once on this icon, you decrease the speed by 1%. If pressed continuously, the speed decreases until you stop pressing or until the
limit of 15%.

The program may contain instructions that have an impact on speed: VEL, ACC. In this case, even with the

cursor at 100%, the speed of an axis may not be maximum. See the Programming brochure. See The online documentation, page 12.
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I - 4. 6. Online documentation

Concept

The electronic documentation shipped on the console consists of 3 files: A file for the Use brochure, a file for the Programming brochure and a file for preventive
maintenance. Only one file can be opened at a time, which implies the automatic closing of one when opening another.

General access

Access to the documentation is made through the icon library.

Select this icon to access the How to Use booklet.

Select this icon to access the Programming brochure.

Contextual access

• Iconotheca

This icon is located after the description of an icon in the icon library. See Elementary Icons, page 9. If selected, this icon opens
the documentation in the chapter that describes the icon's function. When this icon is absent, it is because there is no additional information in the
documentation.
• Failed

This icon precedes the text of a fault. If selected, this icon opens the documentation to the chapter dealing with the bug. The icon will remain
flashing as long as it is not selected.

When there are several faults at the same time, it is possible to consult them in: Defect history, page 35.
Each fault is followed by this icon, which allows access to the corresponding chapter of the documentation.

Navigation

Access to the index of the open file

Access to the previously shown page of the open file

Access to the previous page of the open file

Access to the next page of the open file

Access to the index of the open file

Zoom +

Zoom -
©

The documentation also contains hyperlinks that allow you to quickly navigate through the content of the open file.

These hyperlinks are represented as follows: Hyperlink .

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II - CHANGE PRODUCTION
II - 1. Create a program
II - 1. 1. The 3 ways to create a program

The Simple Download module, to simply create a program using 3D animations.

EPS programs to create a program from an existing model.

Free programming can manage custom cycles.

II - 1. 2. Simple Download Module

The Simple Download module is accessible from the login page.

THEN

Then scroll through the program construction pages, making the choices corresponding to your application
on each page.

At the end of the build, test mode is automatically selected.

Launch the cycle and learn the points as the program develops.
See Learning Points in a Cycle, page 15.

II - 1st 3rd lot EPS

EPS are model programs inspired by standard applications. Adapting the model to your application consists only of modifying
positions. These positions are called "points."

THEN

Choose the EPS from the list, then identify it with a number and name, which will create the program and
make it available in the selection list.

Test mode is selected automatically.

Launch the cycle and learn the points as the program develops.
See Learning Points in a Cycle, page 15.

II - 1. 4. Free programming

See the Programming brochure. See The online documentation, page 12.
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II - 2. Mold change

Select this icon to position the robot in the Mold Change Position. (PCO)

If the icon is hidden, it is because this function has not been programmed (SR_99 empty).

Perform Origin Return and (Origin Return, page 22), then press and hold Start until the robot
stops in Mold Change Position.

When the icon contains the mention 999, the PCO function programmed in PRG 999 is used.
This case allows having a single and same PCO function for all the robot programs. If the
selected program also contains a PCO function, the latter will be valid, and the icon will not
contain the mention 999.

II - 3. Select a program

The selected program is identical at the top of the screen.

II - 3. 1. Selection on the console

Select this icon to access the program selection page. Available programs are displayed in a list.

When selecting a new program, the speed in AUTO mode is reduced to 15%. In case of
need, can be adjusted. See Robot speed, page 11.
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II - 4. Learn the points in a cycle

II - 4. 1. The beginning
Drive the robot using the manual controls to the desired point. When the point is found and confirmed, the system memorizes its
coordinate(s).
II - 4. 2. Procedure

1. Select continuous test mode.

2.Launch the cycle. When the loop finds a point to learn, the robot stops and displays
the following screen:

Each page that contains at least one

fact to learn is marked with a yellow box.

Only manual controls of the numerical axes that allow data

learning are available.
Learning: End of reverse after taking
The data to be learned is highlighted in yellow.

3.Drive the robot to the data to be learned using the manual controls of the numerical axes
corresponding.

4.When the point has been found, confirm its position.

5.Redo stage 2 until the end of the cycle.

If learning a point in cycle is impossible, switch to manual mode and then learn the point using the
cycle parameters. See Modifying Cycle Parameters, page 18.
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II - 4. 3. In the case of placement

When the program includes a placement, learning the first release point is requested.
See "1st release" in the following example:

Placement example

Z- Y-
X separation (between columns)
X+ X-

Y+ 12 11 10

Z+ Number of releases:
- 3 on the X axis
- 2 on the Y axis
Y spacing (between rows)
- 2 on the Z axis
4

9
8 7

Sense of separation:
- X axis: +
- Axis y: -
- eje Z: - 3 2 1 Z separation (between layers)

1st release

You can then modify the first release point, as well as the separations. See Modification of the
cycle parameters, page 18.
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II - 5. Test the program

It is advisable to carry out the first cycle in test mode, even if it has already been carried out to learn the points.
The test mode allows you to confirm the correct operation of the cycle.
In this mode, the user can interrupt and restart the cycle execution at any time.
There are 2 types of test mode, continuous and step by step.

Select this icon to test the program without taking into account the part taking controls.

II - 5. 1. Continuous test mode

Select test mode.

Launch the cycle. If Start is released, the cycle execution is interrupted. Press the Start key again to continue.

II - 5. 2. Step by step test mode

The cycle is automatically interrupted at each step change in the program. This mode is used when a stop at a specific point is
desired.

Select test mode.

Launch the cycle. Continue pressing until the message appears: Release START
Press the Start key again to execute the next step.

When the message "Press cycle validated" (or "Press not in AUTOMATIC") appears, stop pressing Start, release the press and,
as soon as the module opens, press Start again.
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II - 6. Modification of cycle parameters

II - 6. 1. Introduction

This function allows you to modify the parameters of the current cycle. Modifications are recorded and preserved when program changes are made.

There are several types of parameters:

Points Timed exits

Speeds (%) The relative movements

The timings The slow approaches

tolerances Absolute speeds (m/s)

The placements

The accountants

you take the pieces

To modify these parameters:

Select this icon and then choose a cycle parameter from the list.

The rest of the procedure is detailed below depending on each case.

II - 6. 2. Type screen
This screen is the same for most cycle parameters.
Refers to:

Speeds, timings, tolerances, counters.

Enter the value on the keyboard.

Confirm the modification

Cancel the last modification.

The adjacent screen shows a

timing with and parameter

example

Use the INC and DEC keys to increase or decrease,

respectively, the current value.

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II - 6. 3. The Points

If the selected program has been created from the Simple Download module, before being able to modify the points,
execute, at least 1 time, the procedure: Learn the points in a cycle, page 15.

Select a coordinate.
A keyboard appears to enter the new
value.
Enter TEACH to perform coordinate
learning in a cycle.

Confirm the modifications.

Go back to values
precedents.

Select this icon to

immediately perform
Use the INC and DEC keys to increase or decrease,
learning. See
respectively, the current value. Learning, page 19.

For safety reasons, modifications in automatic mode are limited to + or - 10 mm. For values of
higher modifications, repeat the operation several times or use learning.

Learning

Place the robot in the desired position.

The data to be learned is highlighted in
Learning: Take part in the mold yellow.

Confirm the modifications.

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II - 6. 4. The pieces taken

This chapter only refers to parts grippers with numerical vacuum switches (optional). For circuits equipped with TON vacuum
switches: See Adjusting the parts sockets, page 22.

Modify the level Modify the level value.

Confirm the modifications.

Go back to the
previous values.

Access advanced settings.

See Advanced settings,
page 20.

Advanced settings

Modify a value.

Take piece 1
Confirm the modifications.

Go back to the previous values.

Validate/invalidate a function:
- See Release Level, page 21.

- See Filter, page 21.

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Release level
Allows you to set a release level lower than the pickup level (hysteresis). This level is, by default,
equal to the socket level. It is also the maximum value.

Functioning:
When picking up the part, the vacuum level defined by the picking level must be reached. Afterwards, the part loss detection
will only be activated if the vacuum value drops below the release level.

Example of use: To release very light parts, a very low vacuum level is needed, so that the part can be detached from

the suction cups. By using a very low set release threshold, we can ensure that the vacuum level is low enough to
confirm that the part releases well and is not stuck to the

suckers.

Filter
Allows you to apply an adjustable filter to the control state change.

Functioning:
If part loss is detected during the time defined by the filter (0 to 500 ms), part loss detection will not be triggered.

Example of use: In case of specific drops in the vacuum level due, for example,

to the operation of a pneumatic actuator (rotation during transport of the piece).

II - 6. 5. Placements

Select in the header

placement of the line to be modified
Modify the placement
and then select this
STK 010 [My regular placement] icon.
A keyboard appears to enter
the new value.

Number of pieces in row 1. .... .... ........ . 04

.... .... ........ . 0010.0 mm
Confirm the modifications.
Distance between pieces row 1

Go back to the previous values.

Number of pieces in column 1. . . . . ........ . 05
Distance between colum.1 pieces. . ............ . 0010.0 mm

Number of layers. . . .... .... .... ........ . 06

Distance between layers. . . . . .... ............ . 0005.0 mm
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II - 7. Adjustment of the parts sockets

This chapter only refers to parts intake circuits equipped with TON vacuum switches (standard equipment). For circuits equipped
with numerical vacuum switches: See Modification of cycle parameters, , Parts sockets, page 20.

The vacuum switch signals the detection of a piece

through the visual indicator 2. The detection
limit is adjusted with the help of nut 1, to differentiate
a correct intake from a
incorrect.

Use the provided screwdriver:

Principle scheme 2

II - 8. Return to origin
The return to origin allows the robot to be placed in a position that authorizes starting in automatic mode. It should be used to remove
the robot after an incident that prevents the cycle from continuing. There are 2 types of return to origin.

II - 8. 1. Return to the simple origin

Select simple return to origin.

Hold Start until the beep sounds and the message "SIMPLE Origin Return Completed." is displayed.

Simple return to origin is selected automatically after the following operations:

- cabinet connection, -
selection of a new program, -
movement of the robot in manual mode,
- relaunch after putting into Mold Change Position.

The return to the simple origin is carried out automatically in case of part take-up failure in the mold.

II - 8. 2. Return to total origin

The return to the total origin has the peculiarity of returning the system to the start of production. After its execution, the pieces that
are being placed must be evacuated.

Select return to total origin.

©

Hold Start until the beep sounds and the message "Return origin TOTAL completed." is displayed.

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III - PRODUCTION

ÿ Before launching a production, the installation must be correctly adjusted by a specialized pe

III - 1. Start production

Initial conditions:

Press in manual mode

Robot stopped

Do you want to carry

NO
out previous series:
press without a robot?
See Launch the robot and press in
automatic mode, page 23.
AND

See Robotless Production, page 24.

III - 1. 1. Launch the robot and press in automatic mode

Select automatic mode.

Launch the cycle.

If a return to origin is necessary, it is selected automatically.
Hold Start until the beep sounds and the message SIMPLE Origin Return Completed is displayed.
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III - 1. 2. Produce without robot

ÿ The press settings may be different to work with or without a robot. This must be taken into account before
moving from one mode to another.

The robot is standing outside the press:

Authorize the press to operate without a robot.

If the press is in automatic mode, confirmation is required.

Release the press.

To restart the robot, select the key again. The press stops at the end of the cycle.
Launch again as indicated in: Launch the robot and press in automatic mode, page 23.

The robot and the press work in automatic mode:

Pressing this key causes the robot to stop at the end of the cycle.

Confirmation is requested to authorize the press to operate alone.

To restart the robot, select the key again.

Start the robot cycle.

Case of 2 presses: clicking on the icon without robot, a window opens giving access to 2 icons, 1 per press. The
cross allows the window to be closed again.
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III - 2. Stop production

III - 2. 1. Request an immediate stop

When the robot is operating in automatic mode, pressing this key causes the robot to stop immediately.

To restart the robot, select the key again.

III - 2. 2. Request an end of cycle stop

After pressing this key, the robot unloads the last manufactured part and the mold remains open.

Press Start to authorize a new press cycle and restart the robot.

III - 2. 3. Request an end of production

After pressing this key, the robot performs an end-of-cycle stop, plus some end-of-production actions, if the
program provides for it. This may include, for example, evacuating a cardboard box of parts that is being filled.

This icon only appears if it is managed in the program. See the Programming brochure
(BIT_218). See The online documentation, page 12.

Press Start to authorize a new press cycle and restart the robot.
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III - 3. Production management

This icon gives access to the production management table.

This table shows values generated by the system or written to the program. This table is specific to the selected program. It can be configured in the Programming
environment to meet your needs.
Some values, such as, typically, the number of pieces to be made, can be modified here by selecting the corresponding box. The abbreviated texts are described
below. The following table corresponds to the default table.

For more information about the production management table, see the Scheduling manual. See The

online documentation, page 12.

Production Adjustment Parts to be manufactured Rejections at the beginning Freq. Extractions Nm pieces/1 injection

End of cycle good parts bad parts

Pieces produced No. good pieces Nm bad parts Production end time

Off-press cycles T.min (VCM-attesa MO) T.med (VCM-attesa MO) T.max(VCM-attesa MO) T.ult(VCM-attesa MO)

intervention in Tpo min (MO-VCM) P%s Tpo medio (MO-VCM) Tpo max (MO-VCM) Last Type (MO-VCM)
press

Cycle time Tpo min (MO-MO) Average type (MO-MO) Tpo max (MO-MO) Last Type (MO-MO)
Application

Auto Time Last Start T.auto Latest C/voltage total T.C/voltage-mn

T. pa Ult. pa cycle T.pa Latest w/tension

Line 1: Production Adjustment

- Parts to be manufactured: When the indicated value is reached, the robot carries out an end of the cycle.
- Rejections at the beginning: Number of injections to reject at the beginning. Image of the value indicated in the Simple Download. Modifiable in the
Simple Download module only.
- Frequency Extractions: Frequency at which the molds are extracted for control. Image of the value indicated in the Simple Download. Modifiable in the
Simple Download module only.
- Nm pieces/1 injection. : Number of pieces per injected

Line 2: End of cycle

- Good pieces: Allows you to indicate the number of good pieces for which the robot will carry out an end of cycle. The sequence must be described in
the program.
- Bad pieces: Allows you to indicate the number of bad pieces for which the robot will carry out an end of cycle. The sequence must be described in the
program.

Line 3: Produced parts

- Number of good pieces: Number of good pieces.

©

- Nm bad pieces: Number of bad pieces.

- Production end time: Time in seconds to reach the number of pieces to be made.

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Line 4: Off-press cycles

"
Measured times between VCM " Press cycle authorization and wait MO "Wait for end of press cycle."
- T.min: minimum time measured
- Mean time: average measured time
- T.max: maximum time measured
- T.ult: time measured in the last cycle

Line 5: Intervention in press

"
Measured times between MO "Open mold" and VCM "Press cycle authorization - T.min:
minimum measured time
- Mean time: average measured time
- T.max: maximum time measured
- T.ult: time measured in the last cycle

Line 6: Application cycle time

Measured times between 2 MO informations "Open mold"
- T.min: minimum time measured
- Mean time: average measured time
- T.max: maximum time measured
- T.ult: time measured in the last cycle

Line 7:

- T.auto Last arr. : Auto operating time since the last start of the cycle
- T.auto Latest C/voltage: Total time in car since last connection
- Total time C/voltage-mn: Total operating time

Line 8:

- T. pa Last. pa cycle: Time elapsed since the last stop - T.pa Last. w/
voltage: Total stop time since last connection
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3 - 4. Monitors
III - 4. 1. Monitor robot

Circuit number
Display of the
Circuit status:
status of each
plug circuit Green: Piloted circuit and part present

part (empty >= level).

Red: Piloted circuit and missing part
Vacuum level (empty < level).
Yellow: Circuit not piloted and part present
(empty >= level).
White: Uncontrolled circuit and missing part
(empty < level).
Display of the current position of the program A thick cursor indicates operation with release and/or filter
and of each of the 3 SPPs (if they exist). Eyelashes
level.
See Modify a value, page 20

2 different viewing areas. Each

zone can display dynamics, that is,
the development of the PRG, the
development of an SPP, the position
of the axes, the information
expected in the

steps in progress.
The selection is made through the
tabs.

III - 4. 2. Monitor Press

This icon gives access to the press 2 monitor,

when it exists

List and states of the inputs/outputs of the

press interface:

Entrance to 1

Entry to 0

Output at 1

Output to 0
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IV - MANUAL MODE
IV - 1. Presentation
Selecting manual mode disables active mode and if the robot is in cycle, the robot stops. A new start
of the cycle will require a return origin.

Select this icon to activate manual mode.

There can be up to 9 manual pages:

Press page Mobile 2 arm 1 page

Press page Mobile 2 arm 2 page

Mobile 1 arm 1 page Custom Page 1

Mobile 1 arm 2 page Custom Page 2

Axes initialization page

IV - 2. Numerical movements
IV - 2. 1. The beginning

1 icon per direction of movement and then a window indicating:

- Name
- The active cam(s). See Work Areas, page 2.
- The position

The scroll icons can be replaced by an icon indicating that the axis is controlled by the joystick.
See Using the Joystick, page 30.

You can modify the type of movement. In the order of the icons:
- Continuous scrolling
- Displacement 1 mm by 1 mm
- Offset 0.1 mm by 0.1 mm
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IV - 2. 2. Use of the Joystick

The joystick can control 2 axes.

Select a manual page.

Select this icon to turn the joystick on/off.

Select this icon and then choose the axis that should be controlled by the horizontal movement
of the joystick by pressing one of the scroll keys for that axis.

Select this icon and then choose the axis that should be controlled by the vertical movement of
the joystick by pressing one of the scroll keys for that axis.

This icon replaces the icons of the axis controlled by the horizontal movement of the joystick.

This icon replaces the icons of the axis controlled by the vertical movement of the joystick.

A diagonal action of the joystick allows the 2 axes to be moved simultaneously. By pressing once additionally on an icon on the
screen, a third axis is moved at the same time.
IV - 3. Pneumatic movements
IV - 3. 1. Movement status LEDs
Some LEDs are integrated into the icons and give, through their color, information about the movement:

Green LED: the movement has been completed correctly.

Red LED: the movement is being controlled, but the end of movement detection is expected.

Gray LED: the movement is not programmed.

IV - 3. 2. Rotations

Placing the grip holder in a horizontal position.

Placing the grip holder in a vertical position.

Rotation of the grip holder in the plus direction.

Rotation of the grip holder in a minus direction.

Intermediate rotation of the grip holder

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IV - 3. 3. The pieces taken

1 piece taking circuit consists of 1 icon for taking, 1 icon for releasing and 1 icon that indicates the status of the piece taking.

Green suction cup: Correct part taking.

The last icon does not have a key, since it is a part socket circuit equipped with a
TON vacuum switch. The circuit adjustments are therefore carried out mechanically, directly on the pressure
switch. The settings are described in: Adjusting the workpiece sockets, page 22.

Green suction cup: Correct part taking.

The last icon has a key, since it is a part intake circuit equipped with a numerical vacuum switch. By pressing
this key, you can access the circuit settings. The settings are described in: The parts sockets, page 20.

Red suction cup: Wrong part pick-up.

White suction cup: Release piece.

Yellow suction cup: Release piece, but the piece is still present.

IV - 4. Press authorizations
The activation of a movement is carried out on the press. The press must be in manual mode. The robot gives the
movement authorizations.

Press authorizations 1 are available on this page:

Press opening command / Press closing command

Ejector inlet / Ejector outlet

Authorization Noyo 1 in position 1 / Authorization Noyo 1 in position 2

Noyo 2 authorization in position 1 / Noyo 2 authorization in position 2

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IV - 5. Initialization of the axes

In all cases where initialization must be performed, the execution of a loop is prohibited and a message is displayed:

EJE(s) AT INITIALIZED.
Initialization can be carried out either in manual mode, axis by axis, or in automatic mode, following a programmed sequence.

IV - 5. 1. Automatic initialization

ÿ Make sure that no obstacles are in the way of the robot moving.
By selecting this icon, the automatic initialization program is automatically selected, as well as the test mode.

If the auto-initialization program is empty, the icon is hidden. In this case,

Follow the procedure: Manual Initialization, page 33.

Launch the automatic initialization program.

Automatic initialization begins:

When an arm is not in a clear position (outside the BHM cam), the

asks "The robot is in the press?". If necessary, answer Yes and clear the arm, in manual mode, so that the steps
described below can be executed without the robot encountering obstacles.

1. If the arm is of the Reduced Height (ER) type, vertical placement of the grip holder.
2. Rise of Arm 1 in the Up Arm area.
3. If it exists, rise of Arm 2 in the Up Arm area.
4. X axis initialization.
5. Y axis initialization.
6. Initialization of Arm 1 in the Up Arm area.
7. If it exists, initialization of Arm 2 in the Up Arm area.

The procedure can be abandoned at any time by selecting 1 of these 2 icons or any axis shift icon.

At the end of the procedure, the PRG that was previously selected is automatically selected, and a return to the origin is
requested.

If the initialization sequence does not correspond to your application, it can be adapted by modifying PRG 999.
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IV - 5. 2. Manual initialization

ÿ Make sure that no obstacles are in the way of the robot moving.
Place the robot in the Clear Arm Zone, so that the arm(s) can lower.

Select this icon to activate manual mode.

Give power.

Select the axes initialization page.

Select this icon (pressing continuously) until the following operations are performed:

1. Axis displacement.
2. Stopping the axis and changing the "No start" message. by a numerical value.
3. Raise the arm and stop in the Arm Up position.
4. If it exists, then initialize the Z2 axis, following the same principle.
5. Then initialize the horizontal axes according to the following principle:
Select a scroll arrow (press continuously) until the axis stops and the "No start" message changes. by a
numerical value

When an axis is initialized, its icon is hidden.

IV - 6. Scroll activation
When an axis enters an unauthorized area, a fault appears that prevents further movement of the axes. To cancel a fault, the axis
must be removed from said area.

1. Press this key to activate travel authorization.

2. When scroll authorization is enabled, the icon turns red. HE

You can then move the axis towards the authorized area.

If the fault axis is configured with the joystick, the use of the joystick is disabled.
Use the keys on the screen.

If the axis still has the error when you stop pressing the key, go to point 1.

When all axes are in authorized areas again, the

activation is no longer present.

ÿ This operation involves risks of collision, so it must be carried out with caution.
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V - MAINTENANCE
V - 1. Maintenance information

Select this icon to access maintenance information, then select one of the following submenus:

V - 1. 1. Numerical axes

Calibrated
This icon allows access to the axis calibration. Calibration is used to define the numerical position 0 of the axis.
This operation has been done by us before leaving the factory but in some cases it is necessary to do it again,
for example in the case of changing an engine. The procedure is described in the maintenance documentation.

Reset
This icon allows access to the axes uninitialization page.
To initialize the axis again: See Initializing the axes, page 32.
V - 1. 2. Robot identification
This icon gives access to the robot identification: robot number and software version. Likewise, a list of the
different components of the controller and their version is displayed.
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V - 1. 3. History of defects

This icon gives access to the history of defects in the form of a table. The table can contain 100 events.
Once the maximum number of events is reached, the oldest events are deleted.

The sort order can be modified to suit your needs by selecting the column heading that you want to define as
the sorting criterion. See How Lists Work, page 7.

This icon allows you to delete the history.

This icon allows you to search the list following a string of characters.

This icon indicates that the event is a defect.

This icon indicates that the event is a warning.

This icon indicates that the event corresponds to the disappearance of a defect or a warning.

This icon opens the documentation in the chapter that deals with the fault or warning.

Below the box the context in which the selected defect appears (PRG, SP, line number) is specified; but, for more
information, selecting this icon opens a temporary window detailing the selected event.

D048: The program waits for information. See "waiting info" on the monitor.

Appeared on Feb 5 13:44:25 - Corrected on Feb 5 13:45:00

PRG 004 Bumper Mold

SP1
STEP 1
IN 2

IN 161
/IN 160
SPP 81
STEP 0

SPP 82
STEP 0
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V - 1. 4. History of events

This icon gives access to the event history in the form of a table. The events listed are of the type: • Connection/Disconnection of a user

• Selection of a program for execution

• Modification of a cycle parameter

• Modification of a cycle option

• Modification of a variable on the monitor

• Modification of a variable in the production table

• Modification of a robot parameter

• Modification, deletion, creation of a PRG, EPS or PLC program

This icon allows you to delete the history.

This icon allows you to search the list following a string of characters.
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V - 2. Console configuration

Select this icon to access console settings, then select one of the following submenus:

V - 2. 1. Idiom
Select this icon to change the display language. You can choose from more than 20 languages.
V - 2. 2. Date and time
Select this icon to modify the date and time. The following screen is displayed:

Select the box you want to modify and use the keyboard to modify the value.

DAY MONTH AGAIN HOUR MINUTE

The selected time is associated with a selected time zone.

If another time zone is selected, the time changes automatically.

ÿ Use Daylight Savings time: This check box allows you to take into account the possible
summer time adjustment.

The time is automatically updated according to summer/winter changes.

First select your country's time zone with or without the daylight saving time adjustment, and then
Then, if necessary, adjust the time.
V - 2. 3. Declaration of options
This page indicates which options are valid for your robot.
Modifying the options requires a code that only our customer support service can
facilitate you.

V - 2. 4. Modification of profiles
The validity of the functions and password of each profile can be modified. To do this, the active profile must be at a
higher level than the profile to be modified.

If the active profile is profile 2, only profile 1 can be modified.

If the active profile is profile 4, only profiles 1, 2 and 3 can be modified.

Profile 4 cannot be modified.

For more information regarding profiles: See User Profile, page 9 and Generating a
©

profile key, page 40.

This icon gives access to modifying the password of the selected profile. The password allows you to identify yourself in
the absence of a profile key.

This icon allows you to restore the default configuration of the selected profile.

This icon allows you to save and make the modifications effective.

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List of features whose validity depends on profile settings

• Speed modification in Manual • Speed modification

in Test mode
• Speed modification in Auto mode

• Modification of cycle parameters

• Modify the profile password

• Modify a profile

• Calibration of the Electric Axes

• MANUAL mode selection

• AUTO ECO mode selection

• Displacement out of cam(s)

• Request for Return to Origin TOTAL

• Automatic initialization of the axes

• Manual initialization of the axes

• Acknowledge a failure. It allows you to correct errors and warnings whose correction depends on the profile (P). See
List of faults and warnings, page 46

• Access to the PROGRAMMING environment

• Create a Program

• Modify, copy, delete, print a program

• Change programs
©

• Create a DS (Simple Download)

• Modify a DS (Simple Download)

• Access the production table

• Reset a production counter

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List of features whose validity depends on profile settings

• Show/hide the mini-monitor

• Access to the CHANGE PRODUCTION environment

• Authorize a manual movement of the press

• Learning

• Access to the environment MAINTENANCE

• Force a variable, an output, an input on the monitor

• Access to modifying the robot parameter

• Terminal characteristics

• Update the metering system

• Updating software versions

• Reset the robot history

• Activate / deactivate the protection inhibition

• Disable protection inhibition without key or password

• Authorize profile key generation identical to the current profile

• Enable screen printing on a USB key

• Transfer a program to the program server (option)

V - 2. 5. Touch screen calibration

Perform this operation when you notice a position shift between the part selected by your finger and the part of the screen that reacts.

V - 2. 6. Joystick calibration
Carry out this operation when you notice a shift in the joystick position.
©

V - 2. 7. Update

Select this icon to update the software version.

Please contact our customer support in advance.

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V - 3. Robot configuration

Select this icon to access editing of the robot parameters. For more information about configuring the robot, refer to
the Configuration brochure.

The importance of the modifications of certain parameters may require a cut of the
general feeding.

ÿ Modifying the robot parameters can cause dangerous operation, and must,
therefore, be carried out by duly authorized personnel. Please do not
hesitate to contact our customer support before any modifications.
V - 4. Access to the USB key

Select this icon to access functions related to the USB key, and then select one of the following submenus:

V - 4. 1. Archive and restoration

Select this icon to make a backup copy to the key or to import the key information to the robot.

In both cases, the following data will be transferred:

• All programs, whatever their type.
• Personalized texts of the programs and the robot.
• The robot parameters.
• Custom icons.

ÿ When there is a risk of data being crushed, whether in a robot or in the key,
confirmation will be requested. However, improper handling could cause the
loss of data essential for the proper functioning of the robot.
V - 4. 2. Generation of a profile key
Only a lower level profile than the active profile can be generated in the key.

Any profile present in the key before generation is squashed without warning.

For more information regarding profiles: See User Profile, page 9 and Modifying profiles, page 37.
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V - 5. Inhibition of protectors
V - 5. 1. Description
This function authorizes robot movements in manual mode and in test mode (continuous or step by step), even if the protections
are not in place. Each movement command must be associated with the pressing of one of the 2 confirmation buttons. The speed
of the robot is automatically reduced and cannot be increased.

Validation buttons

To guarantee their safety function, these buttons are of the 3-state type:

1. Button not pressed: invalid axis movement.

2. Button in intermediate position: axis movement valid.
3. Button pressed fully: invalid axis movement.

ÿ The use of this function requires specially trained personnel, since the risks of accidents
are numerous. The pneumatic movements retain their full power. The presence of
peripherals can also cause accidents. Only the speed of the robot's numerical axes is con
V - 5. 2. Activate the function

The robot must not be in AUTO mode.

Select this icon to activate the function and then:

• Insert a profile key into USB 1 ( See Generating a profile key, page 40),
• or enter a password. Memorize this password as you will be prompted to exit the feature.

Confirmed.

This icon indicates that the function is active. Remove the profile key.
You can work with the guards open and guarantee a reduced speed of the robot.

The first confirmation button used becomes the reference button to use for the
robot movements. Then, if the second button is used, the movement of the axes is no longer authorized. To
authorize it again, it is necessary to reposition the console in its support or deactivate and then activate the
function again.
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V - 5. 3. Deactivate the function

Select this icon to override the function and then:

• Insert into USB 1 the profile key used during activation of the function,
• or enter the password created to activate the function.

Confirmed.

In case of loss of key or password:

This icon is present in the password entry box. Allows: Deactivate the inhibition of protectors without key or
password. A pop-up will appear indicating the following command: Enter the protected area. Is it empty? If so, close
the protector and validate.

ÿ Apply this slogan rigorously.

The function is inactive.
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VI - DIAGNOSIS HELP
The histories can be of great help in diagnoses. See Defect History, page 35 and Defect History.
the events, page 36.

6 - 1. Monitor

Select this icon to access the monitor.

VI - 1. 1. Variables block
The first block allows you to view and modify variables, as
well as choose the variables to be displayed on the minimonitor.
See Minimonitor, page 45.

A binary type variable is followed by the values of the following

7 variables.

A variable set to 1 is replaced by an "S" (Set), and

a variable set to "0" is replaced by an "R"
(Reset).

Show next variable

Access to choose the displayed variable. For easy access to
the desired variable: See List Operation, page 7 and Keyboard
Operation, page 8.

Show previous variable

Modify the variable:

This icon sets the selected variable

to 1. See Limitations, page 44.

This icon sets the variable to 0

selected. See Limitations, page 44.

This icon cancels the activation of the selected

variable.

This icon overrides all activations on

course.

This icon modifies the display of the selected variable

from hexadecimal to decimal or vice versa.

This visualization has an impact on the

These icons are hidden when the variable mini monitor. See Minimonitor, page 45.
©

selected does not allow them to be used.

This icon allows you to modify the value of
the selected variable.
When the variable is binary, its state is
modified.

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Limitations

Variable type Display Modification or activation

All outputs, except: • Press

cycle authorization
• End of press opening authorization
• Ejector entry authorization
• Ejector Exit Authorization
OUT: Salida OUT 000 a OUT 671 • Noyo 1 Validation
• Noyo 2 Validation
• Operation without robot

• Clear Arm Safety

• High speed pneumatic controls
• Output authorization for electricity replacement

• BIT 0 a BIT 199

BIT BIT 000 a BIT 512 • + some write-accessible system bits. See the Programming brochure

CNT: counter CNT 000 to CNT 999 • Modifiable: from 0 to 9 999

WORD WRD 0 to WRD 1023 • Refer to the Programming brochure

TIMER:
TEAM 0 a TEAM 15 • Modifiable: from 0 to 9,999 units of 0.1 sec
timing

All forces are canceled in the following cases:

- Total Origin Return - Selection of another program to execute

- Electric connection - Robot in cycle

VI - 1. 2. Program block

Display of the current position of the program

and of each of the 3 SPPs (if they exist).

Eyelashes

2 different viewing areas. Each

zone can
visualize in dynamics, that is, the
development of the PRG, the
development of an SPP, the
position of the axes, the
©

information expected in the

steps in progress.
The selection is made by
middle of the eyelashes.

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VI - 1. 3. Mini monitor

This icon, accessible in all environments, allows you to view the mini-monitor. This window contains 8 dynamically
refreshed variables.
The mini-monitor can be placed anywhere on the screen by sliding it with your finger.

The selection and modification of the variables is carried out in the monitor: See Monitor, page 43.

Correspondence:
Monitor line 1 Monitor line 5
Monitor line 2 Monitor line 6
Monitor line 3 Monitor line 7
Monitor line 4 Monitor line 8

A binary type variable is followed by the values of the following 7 variables.

A variable set to 1 is replaced by an "S" (Set), and a variable set to "0" is replaced by an "R"
(Reset).

Select this icon again to hide the mini-monitor.

©

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VI - 2. List of faults and warnings

A fault interrupts the cycle, a warning does not block the cycle.

In the console, the "%s" are replaced by numbers and/or letters.

The first column of the following table indicates that it is a failure, and the second, that it is a warning.
The last column A indicates the type of bug fix. There are 3 types of corrections:
- L (Free): The correction is carried out without conditions with the Start key.
- P (Profile): The correction is carried out, if the profile allows it, with the Start key. See User Profile, page 9.
- S (System): The correction is carried out by restarting the cabinet.

One defect can hide another. The defect displayed at the top of the screen may not be the only defect present. Consult the defect history to view all active

defects. See Defect History, page 35.

Failed
Warning
Message Aid A

Write down the fault number and restart the cabinet.

D1 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D2 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D3 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D4 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D5 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D6 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D7 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D8 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Check the parameterization and then start the cabinet again.

D9 P%s - INCORRECT PARAMETERS S

The movement of the indicated axis has been programmed at the same
time in two different places: in the main program and in a parallel
D10 AXIS %s - SIMULTANEOUS CONTROLS L
subprogram (SPP 81 to 99) or in 2 parallel subprograms (SPP).
©

Write down the fault number and restart the cabinet.

D11 System failure. Precision: %s Report the appearance of said failure to our customer support service. L

Check program syntax - PRG %s

D12 The program contains a syntax error. L

The PRG selection is done by external coding and the code read in the
D13 Parity error encoding inputs L
inputs is wrong.

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Failed
Warning
Message Aid A

The status of the inputs affected when coding the program is incorrect. The
number of entries in state 1 must be even. Check the status of the inputs
W14 Prog %s Selected by Coding L
(not forgetting the parity input), parameters 9.20.x.

D15 SR 99 NOT FOUND The program goes to SR 99, but it does not exist. L

The program goes to the SR when it does not exist or its content is
D16 SR %s NOT FOUND or EMPTY L
null.

The entered value is outside the parameterized limits for this axis (x.0.0 et
D17 The value is out of bounds L
x.0.1)
No more than 10 successive subprograms can be called.
D18 Too many SPs one after another L
Modify the program.
Write down the fault number and correct it. Report the appearance of said
D19 W19 System failure. Precision: %s
failure to our customer support service.

The instruction to be executed is not authorized. Check your program.

D20 UNAUTHORIZED INSTRUCTION L

It is possible that the return label is in a subprogram not yet called. Check
D21 Poorly placed return label L
and correct the program.
Check the data of the indicated step (STEP), the value of the operands. If
D22 OPERAND: 0x%s INVALID the content of the step is normal, try deleting and rewriting the step. L

The parameters of the indicated axis prevent this movement.

D23 AXIS %s - UNAUTHORIZED MOVEMENT L
Check your program.
The indicated movement is protected by the PLC.
D24 W24 MOVEMENT %s PROTECTED BY PLC Check that your PLC conditions (WRD_398 to WRD_401) are consistent L

with the requested movement.

The indicated movement is protected by the PLC.
D25 W25 MOVEMENT %s PROTECTED BY PLC Check that the conditions of your PLC (WRD_397) are consistent with L
the requested movement.

Parallel SP (SPP) must end before relaunching. The launch of an SPP

D26 SP %s PARALLEL ALREADY RUNNING can be conditioned by testing the bit that has been attributed to it. See the L

Programming brochure.
The number of SPPs executable at the same time depends on the valid
D27 Too many SPP sent at once L
options on the robot.
OUT %s - unauthorized output activation
The PRG or a PLC tries to control the indicated output, while the system
D28 W28 (Euromap, Brake, Safe Zone, ...) L
prohibits it.

The temperature measured in the cabinet has reached the threshold

parameterized in 9.23.8. Check the cabinet ventilation system
and the condition of the filters.
In the cabinets fixed at the end of the beam, the filters are fixed to a
cassette that must be removed:

Cabinet temperature too high

W29 L
©

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Failed
Warning
Message Aid A

The temperature measured in the cabinet has reached the threshold

Cabinet temperature too high parameterized at 9.23.8 after more than 5 minutes. Check the cabinet
D30 W30 L
ventilation system and the condition of the filters.
See W29.

D31 Use a user bit (BIT 000 to BIT 199). See the Programming brochure in L
BIT %s (System bit) Write prohibited
the "variables" chapter.
Use a user word (WRD 000 to WRD 199). See the Programming
D32 WRD %s (System Wrd) Write prohibited L
brochure in the "variables" chapter.
The number of pieces in the placement exceeds the capacity of the
D33 CNT %s - Count limit reached L
counter.
Modify the program in such a way that a popup display cannot be ordered
D34 Can't show a second pop-up while a first popup is already being displayed. L

D35 Too many IFs one after another It is prohibited to make more than 10 IF statements happen. l
The control point (CTL) is not on the master axis path (MASTER).
INCORRECT CONTROL POINT OF THE Check the syntax of the indicated program step and the position of
D36 L
MASTER the robot at the start of the movement.

The position of the robot does not authorize the lowering of the arm.
D37 W37 Downward movement impossible Make sure the robot is on AMx or ZBD. See Work Areas, page 2. L

The movement cannot be performed. The RVO zone ( See Work

Zones, page 2) or the conditions programmed in the PLC
system prohibit the order (WRD_398 - WRD_399). These L
D38 W38 Rotation %s prohibited
conditions usually delimit a protected area. Place the robot
outside in an authorized area to perform the movement.

The position of the robot does not allow this axis to reach its
D39 Axis %s - Impossible destination destination without leaving an authorized area. See Work Areas, page L

2
Loading the program is impossible, since the program is incorrect or the
D40 program has been created with a version of the PC editor that is L
Loading error - PRG %s
incompatible with the version of the robot. Load another backup copy of
the program onto the robot.

D41 Write down the fault number and correct it. Report the appearance of
System failure. Precision: %s L
said failure to our customer support service.
The program resorts to the Subprogram or Parallel Subprogram,
D42 W42 SP/SPP %s NOT FOUND L
when it really does not exist.
Write down the fault number and restart the cabinet.
D43 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

D44 Axis %s - Destination out of bounds The requested destination is outside the parameterized limits. l
In a step (STEP), the tests (IN, BIT) and pneumatic actions
programmed between the MASTER instruction and the control point
D45 INFO MISSING AT CHECKPOINT (CTL) have to end when the master axis (MASTER) reaches this L
point. Review, if applicable, the syntax of the programmed step, the
speed of the master axis.
©

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Failed
Warning
Message Aid A

In a step (STEP), the tests (IN, BIT) and pneumatic actions

programmed between the MASTER instruction and the control point
D46 INFO MISSING AT CHECKPOINT (CTL) have to end when the master axis (MASTER) reaches this L
point. Review, if applicable, the syntax of the programmed step, the
speed of the master axis.

D47 Checkpoint outside the course

The programmed control point is outside the master move path. L

The deadline defined for the execution of a program step has been
exceeded. One or more conditions (input, bit) are missing to go to
the next step. To know the expected information, use the monitors:
D48 The program waits for information. View L
See Robot monitor, page 28, page 43. To ignore the control
"waiting info" on the monitor
period, add to the step in question the instruction: Step duration
not controlled.

Option: Removable axles. An axis shift is commanded, but it is

D49 Axis %s - Piloted axis not connected detected that it is not connected. Connect the axis or delete the move L

instruction in the program.

Arm 1 is not on the BHM cam. See Work Areas, page 2.
W50 Arm 1 not cleared L

Arm 2 is not on the BHM cam. See Work Areas, page 2.

W51 Arm 2 not cleared L

The part is not detected within the granted period. The deadline is given
by parameter 0.2.7.
A Return to Origin is automatically executed, followed by the question:
Should we try to pick up the piece again?
D52 Piece taking defect L

An affirmative answer allows the piece to be resumed; it

Otherwise it causes the launch of a new cycle.
It is imperative to evacuate the unloaded part.
The axis has reached the parameterized movement limit.
D53 W53 Movement limit reached Move the axis in the opposite direction or correct the L

parameterized limits (10.0.0 and 10.0.1 for axis 0).

The indicated movement is protected by the PLC.
D54 %s MOVEMENT PROTECTED BY PLC Check that your PLC conditions (WRD_397 to WRD_401) are L

consistent with the requested movement.

At least one axis is not initialized. Run the initialization
D55 W55 EJE(s) NOT INITIALIZED procedure. See Manual Mode, page 29. L

The requested destination is outside the parameterized limits.

D56 Axis %s - Destination out of bounds Check the validity of tracked axis position return. L

The free axis speed is too high for the robot to stop in the
D57 programmed position. Reduce the ejection speed or, if possible,
AXIS DISPLACEMENT %s IMPOSSIBLE L
change the programmed stop position.

An error has occurred during the initialization process: Initialization at

©

top: displacement of the top Zero outside the parameterized tolerance

D58 Incorrect initialization L
Physical cam initialization: drive failure occurred before the end of the
sequence

D59 Write down the fault number and correct it. Report the appearance of
System failure. Precision: %s L
said failure to our customer support service.

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Failed
Warning
Message Aid A

Write down the fault number and correct it. Report the appearance of said
D60 System failure. Precision: %s L
failure to our customer support service.

Check the memory contents:

- List of programs
D61 Memory full or insufficient! - Image and PDF library S

Delete or archive unused elements on a USB key.

Restart the closet.

W63 PRG %s - Contains errors L

Edit the program and run a syntax check: The file contains
errors. Replace it with a possible backup.
W64 Bad READ in file %s L

Write down the fault number and correct it. Report the appearance of said
D65 System failure. Precision: %s L
failure to our customer support service.

D66 W66 Numeric eje %s in initialized See Initializing the axes, page 32. L

Write down the fault number and correct it. Report the appearance of said
D67 System failure. Precision: %s L
failure to our customer support service.

Write down the fault number and correct it. Report the appearance of said
D68 System failure. Precision: %s L
failure to our customer support service.

Initialization position is out of range. This may be due to a new axis

calibration. Do an axis initialization again. See Initializing the axes, page 32.
D69 Incorrect initialization L

The robot has left the zones defined by the Clear Arm Zone, Machine Axis
or Arm Outside Mold cams. Switch to manual mode to reposition the robot
D70 W70 Offset cam(s) in one of these zones and check the associated inputs. See Work L

Areas, page 2.

Write down the fault number and correct it. Report the appearance of said
D72 System failure. Precision: %s L
failure to our customer support service.

The robot is located in an unauthorized area (overtravel or area defined in

D73 Out of Zone the system PLC). See Activating scrolling, page 33. L

Write down the fault number and restart the cabinet.

D74 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Communication time out exceeded. The time out is 5

seconds Or, in the case of a disconnection phase of a disconnectable
D75 Loss of communication with the console P
console, the time out has the value indicated in parameter 0.4.0.

W76 No program selected See Select a program, page 14. L

Write down the fault number and correct it. Report the appearance of said
W78 System failure. Precision: %s L
failure to our customer support service.

Write down the fault number and restart the cabinet.

D79 System failure. Precision: %s Report the appearance of said failure to our customer support service. S
©

Write down the fault number and restart the cabinet.

W80 Fallo system. Accuracy: %s Report the appearance of said failure to our customer support service. L

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Failed
Warning
Message Aid A

Write down the fault number and restart the cabinet.

D81 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D82 System failure. Precision: %s Report the appearance of said failure to our customer support service. L

Write down the fault number and restart the cabinet.

D83 System failure. Precision: %s Report the appearance of said failure to our customer support service. L

This operation is only possible if the press is in manual mode.

D84 W84 Press %s not in manual mode L

The cam has been detected outside the parameterized area.

7.16.3 for mobile 1.
D85 Inconsistent ZBD position L
7.17.3 for mobile 2.
See Work Areas, page 2.
The cam has been detected outside the parameterized area.
7.16.0 for mobile 1.
D86 Incoherent ZHM position L
7.17.0 for mobile 2.
See Work Areas, page 2.
At least one of the information always remains at 1 (sensor blocked,
Inconsistencies in open mold and closed mold short circuit...) Check the status of the signals coming from the press in
D87 L
information - Press %s the robot/press interface, using the electrical diagrams.

$ indicates the part socket circuit number. The corresponding part

presence control input has dropped to 0 (perhaps stealthily). Check
LOSS OF THE PIECE IN THE MOLD - %s the adjustments of the gripping hands (clamp, suction cup) and
D88 L
vacuum switches, and the correct exit of the pieces from the mold. After
the appearance of this defect, a Return to Origin is automatically
selected.
Loss of End of Slow Approach (FAL) input. It is possible that the elastic
accompaniment of rotation is activated (collision, strong acceleration).
SECURITY END OF SLOW APPROACH
D90 Check the operation of the sensor, its adjustment and the air L
%s
supply to the device.

The affected input in the air pressure control is in state 0. Check the
pneumatic supply, connection and adjustment of the pressure
D91 W91 INCORRECT AIR PRESSURE switch, as well as the absence of leaks, wiring and parameterization L

(9.23.0).

D92 W92 ROTATION POSITION %s INCORRECT The grip holder must be vertical in this area L

D93 Write down the fault number and correct it. Report the appearance of
System failure. Precision: %s L
said failure to our customer support service.
The content of the indicated PLC does not allow its execution in the
parameterized time. Increase the PLC scrutiny period or lighten its
D94 PLC%s Impossible for %sms (Size) content. L

0.1.0 for monitoring PLC

0.1.1 for standard PLC
©

Modify the PLC by reducing the number of successive tests (<32).

D95 PLC (%s): NUMBER OF SUCCESSIVE IFs > 32 You can use intermediate bits. L
PLC (1) means that the PLC in question is that of the PRG.
PLC (2) means this is the monitoring PLC.
Check the data for the indicated step (STEP). If the content of
D96 UNKNOWN Instruction the step is normal, try deleting and rewriting the step. L

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Failed
Warning
Message Aid A

The program resorts to the Subprogram or Parallel Subprogram,

D97 SP/SPP %s NOT FOUND L
when it really does not exist.
In the PLC, the called subprogram is not an SPP. Modify the type of the
D98 Non-SPP type sub-programs L
applet in the PRG. %s indicates the part
socket circuit number. The corresponding part presence control input has
dropped to 0 (perhaps stealthily). Check the settings of the gripping hands
D99 W99 Part loss - %s
(clamp, suction cup) and vacuum switches.

Write down the fault number and restart the cabinet.

D100 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and restart the cabinet.

D101 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Write down the fault number and correct it. Report the appearance of said
D102 System failure. Precision: %s P
failure to our customer support service.

Write down the fault number and correct it. Report the appearance of said
D103 System failure. Precision: %s P
failure to our customer support service.

Write down the fault number and correct it. Report the appearance of said
D104 System failure. Precision: %s P
failure to our customer support service.

Write down the fault number and correct it. Report the appearance of said
D105 System failure. Precision: %s P
failure to our customer support service.

Write down the fault number and correct it. Report the appearance of said
D106 System failure. Precision: %s P
failure to our customer support service.

The card has detected an inconsistency in a safety device (Emergency

D107 Interface card security failure L
Stop, Protector,...).
CAN BUS (1+3) - Node %s has not sent its heartbeat Check the correct connection and correct operation of the
D108 P
node.
CAN BUS 2 - Node %s has not sent its heartbeat Check the correct connection and correct operation of the
D109 P
node.

This defect is a consequence of defects generated by the aforementioned

CAn BUS 1-3 - Node %s has not generated an node. Check the defect history (page 35) for these defects. Its resolution will
D110 L
emergency then nullify the presence of said defect.

This defect is a consequence of defects generated by the aforementioned

CAN Bus 2 - Node %s has generated an emergency node. Check the defect history (page 35) for these defects. Its resolution will
D111 L
situation then nullify the presence of said defect.

Inconsistency of information sent by the foremen One of the two sensors is faulty or the console is incorrectly positioned.
D112 P
"terminal on support"
Validation key active while the Check the operation of the buttons and the console-on-stand sensor.
D113 P
terminal is on the support
Inconsistencies in the information given by the left One of the two microswitches that make up the button is faulty One of the
D114 P
validation key two microswitches
Inconsistencies in information given by the right that make up the button is faulty
D115 P
validation key
©

The console must remain in its holder in automatic

D116 Position the console on its stand or go into test mode. l
mode
Unauthorized protector inhibition in auto mode
D117 See Guard Inhibition, page 41 L

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Failed
Warning
Message Aid A

Auto mode is not authorized when protectors are

D118 See Guard Inhibition, page 41 L
inhibited
Confirmation button change detected -
D119 See Guard Inhibition, page 41. L
refer to procedure
Interface card 1. Note down the fault number and rectify it.
D120 Interface card initialization defect P
Report the appearance of said failure to our customer support service.

Interface card 1. Note down the fault number and rectify it.
D121 Interface card initialization defect P
Report the appearance of said failure to our customer support service.

An inconsistency has been detected in the command

Interface card 1. Check the operation of the corresponding safety
D122 devices (emergency stop button, ...). P
line of relays K11 - K12

Interface card 1. Replace the Interface card after checking the relay
D123 Data sent by the link interface card is not P
consistent contacts for short circuit.

Data inconsistency has been detected in the K13 -

Interface card 1. Check the operation of the corresponding safety
D124 devices (emergency stop button, ...). P
K14 line control relay

Interface card 1. Replace the Interface card after checking the relay
D125 Data sent by the link interface card is not P
consistent contacts for short circuit.

Inconsistency detected in the Interface card 1. Check the operation of the protector inhibit. See
D126 operation of protector inhibition Guard Inhibition, page 41. P

Interface card 1. Check the operation of the corresponding safety

D127 Inconsistent security data detected on P
the line devices (press door, protectors,...)

An inconsistency has been detected in Interface card 1. Check the operation of the corresponding safety
D128 P
KM1 - KM2 devices (Protectors,...)

D129 The data sent by the KM1 - KM2 contractors Interface card 1. Check the operation of the contactors. P
is not consistent

D130 The Interface card has detected a defect Interface card 1. Check the CAN communication between the interface P
Watchdog card and the CPU.
An interface card power failure has
D131 Interface card 1. Check the power. P
been detected
Interface Board 1. Replace relays K8 and K9 on the interface board
D132 (as well as K10, if the second Clear Arm Safety contact is P
Clear Arm Safety Relay Defect
used). Disconnect the cabinet to correct the fault.

A short circuit has been detected on the Interface card 1. Check the wiring, current consumption, and status of
D133 L
int card user exits the user outputs.

A short circuit has been detected in the safe Interface card 1. Check the following card outputs:
D134 P
outputs of the interface card J11-5 / J11-17 / J6-4 / J6-5

A short circuit has been detected in the safe Interface card 1. Check the following card outputs:
D135
©

P
outputs of the interface card J10-5 / J10-6

D136 CAN communication defect %s Bus overload or failure. The CAN driver has detected a P
error.
Interface card 1. The emergency stop line is not closed on the robot
side. Check that the emergency stop button on the console has not
D137 Console emergency stop been pressed, the emergency stop line continuity and the interface L

card connections.

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Failed
Warning
Message Aid A

Interface card 1. The emergency stop line is open. If an emergency stop

button has been pressed, find out the cause. Has it been removed? If yes,
D138 Safety line K11-K12 open unlock the emergency stop and press Start to reset the power. L

Interface card 1. The emergency stop line is open. If an emergency stop

button has been pressed, find out the cause. Has it been removed? If yes,
D139 Safety line K11-K12 open unlock the emergency stop and press Start to reset the power. L

Interface card 1. The emergency stop line is not closed on the press. Check
that no emergency stop button has been pressed (Attention: the rear door
D140 Emergency Stop Press can act as an emergency stop), emergency stop line continuity. L

Interface card 1. Check the line safety devices.

D141 Safety line K13-K14 open L

Interface card 1. Check the line safety devices.

D142 Safety line K13-K14 open L

Interface card 1. Protective closure to operate in automatic mode. In manual

mode, use the Shields Inhibit mode. See Guard Inhibition, page 41.
D143 Open press guard L

Interface card 1. Protective closure to operate in automatic mode. In manual

mode, use the Shields Inhibit mode. See Guard Inhibition, page 41.
D144 Open line of protectors L

Interface card 1. Protective closure to operate in automatic mode. In manual

mode, use the Shields Inhibit mode. See Guard Inhibition, page 41.
D145 Open line of protectors L

Interface card 1. See Inhibiting the protectors, page 41.

D146 Loosened validation button L

Interface card 1. Check the line safety devices.

D147 Safety line KM1 - KM2 open L

Pulse Start.
Interface card 1. 24s missing. A link between the Interface card output and
D148 Non-Reset Power L
KM1 or KM2 is interrupted.
Consult the electrical diagram.
Write down the fault number and correct it. Report the appearance of said
D153 System failure. Precision: %s P
failure to our customer support service.

Write down the fault number and restart the cabinet.

D154 System failure. Precision: %s Report the appearance of said failure to our customer support service. S

Check the parameterization and connections of the indicated node.

Bus can 1-3 - Node %s - Incorrect direction
D155 S
or missing module
Restart the closet.
©

Check the parameterization and connections of the indicated node.

CAN Bus 2 - Node %s - Incorrect address
D156 S
to the missing module
Restart the closet.

CAN Bus 1-3 - Node %s - Inconsistent module type The detected module does not correspond to the one that has been declared.
D157 S
Restart the closet.

CAN Bus 2- Node %s - Incoherent module type The detected module does not correspond to the one that has been declared.
D158 S
Restart the closet.

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Failed
Warning
Message Aid A

Check topology and I/O assignment parameters

CAN Bus 1-3 - Node %s - Inconsistency in
D159 S
the parameterization of the node
Restart the closet.
Check topology and I/O assignment parameters
CAN Bus 2 - Node %s - Inconsistency in node
D160 S
parameterization
Restart the closet.
Bus or system overload. Loss of incoming messages.
D161 CAN communication defect %s P

D162 CAN communication defect %s Bus overload or failure. Loss of outgoing messages. Q

D163 Bus overload or failure. The CAN driver has detected a

CAN communication defect %s P
error.
D164 Reception buffer overwrite - CAN %s Bus overload. P

D165 Position limit reached - Axis Variator %s L

Check the position of the axis and its parameterization.

Check: the movement of the axle (Mechanical Lock, Brake

D166 Overload in drive or motor - Drive L
Release...), the load (too heavy), the cadence of use (too high).
Eje %s

Check the wiring (encoders, drives, CAN bus...), the mechanics

(coupling, hard point), brake release, power supplies, the
D167 Counting failure – Axis drive %s initialization detector and its position (1.5 mm of the cam), P
parameters 10. xx to 25.xx

Distance too large between the real position of the axis and the
calculated position. Check mechanics Following distance
D168 – Variator Axis %s (coupling, hard point), brake release, wiring (encoder, drive, CAN L

bus...), power supplies, parameters 10.xx to 25.xx

D169 EEPROM problem - Drive Axis %s Internal problem to the drive. P

D170 Synchronization is not stable - Drive axis P

Check the charge and quality of the Can bus.
%s %s
The engine speed is higher than the low speed.
D171 VAGV input and axis speed inconsistency - Axis L
Check the parameterized speeds and the operation of
variator %s the VAGV input.
Problem in the execution of a specific cycle of the drive Process
D172 Execution Failure - Drive (self-test). Cut the cabinet, S
wait 30 seconds and return to Axis %s
connect the power supply.
Inconsistent drive parameters. Contact Customer Service.
D173 Current Offset L

Check the loaded load (too heavy), the axle mechanics (absence
D174 Engine temperature too high - of hard points, brake lift-off) and the wiring of the temperature probe L
%s Axis Variator using the electrical diagrams.

Turn off the power to the robot cabinet. Wait 30 Seconds.

D175 Start-up too fast P
Reconnect the power.
Check that the axle is not mechanically locked or that the load
D176 Motor overcurrent - Axis Variator %s L
carried is not too heavy.
©

Excessive supply voltage or braking resistance

D177 Power failure - Axis drive %s P
defective.
D178 Power failure - Axis Drive %s 24V circuit failure. Check the drive wiring. Q
D179 Motor short circuit - Drive Axis %s Check the motor winding and wiring. P

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Failed
Warning
Message Aid A

D180 Recovery of energy from faulty or Check that there is no short circuit and that the charge is dissipated P
overloaded circuit - Axis %s %s by the resistor.
Defective ventilation circuit - Variator
D181 Internal problem with the drive. P
Eje %s

D182 Check the operation of the engine brake and its control circuit P
defective braking - Axis %s

D183 Defective power transistors - Axis %s Problem Internal to the drive. P

D184 Power failure - Drive Axis %s Check the power supply to the drive. P

D185 Solve Check the wiring of the resolver using the electrical diagrams P

W197 The drive is not ready. Please wait... Press Start. L

The indicated output is the first output of an I/O module.

OUT %s. Said output or another output of the Determine which module is using the electrical diagram. Check
W198 each output of the module to determine which one is L
same module has a short circuit
faulty. Check the load of this output: < 500mA.

W199 Take the piece %s. Le vacuumostat de ce circuit Check the connection of the vacuum switch and parameter L
is detected absent. 4.x.1 (Connection detection voltage level)
This error is generated by the program. Contact the
D200 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D201 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D202 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D203 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D204 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D205 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D206 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D207 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D208 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D209 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D210 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

©

D211 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D212 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D213 Custom default %s programmer for information about this fault. L

This error is generated by the program. Contact the

D214 Custom default %s programmer for information about this fault. L

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Failed
Warning
Message Aid A

D215 Custom default %s

This error is generated by the program. Contact the programmer L
for information about this fault.
D216 Custom default %s
This error is generated by the program. Contact the programmer L
for information about this fault.
D217 Custom default %s
This error is generated by the program. Contact the programmer L
for information about this fault.
D218 Custom default %s
This error is generated by the program. Contact the programmer L
for information about this fault.
D219 Custom default %s
This error is generated by the program. Contact the programmer L
for information about this fault.
This warning is generated by the program. Contact the programmer
W220 Custom Warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W221 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W222 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W223 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W224 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W225 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W226 Custom Warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W227 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W228 Warning custom %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W229 Warning personalizado %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W230 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W231 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W232 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W233 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W234 Custom warning %s for information about this warning. L
©

This warning is generated by the program. Contact the programmer

W235 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W236 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the programmer

W237 Custom warning %s for information about this warning. L

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Failed
Warning
Message Aid A

This warning is generated by the program. Contact the programmer

W238 Custom warning %s for information about this warning. L

This warning is generated by the program. Contact the

W239 Custom warning %s programmer for information about this warning. L

Programmed rotation is not possible: intermediate position towards L

D250 W250 %s rotation prohibited
the most direction position, for example. The
execution of this instruction is impossible, since at least 2 of the
programmed movements correspond to distances to be L
W251 LINE movement impossible
traveled that are too different. Modify the program.

Check the list of your trading options ( See Declaration of

D252 Commercial options do not allow so many L
options, page 37) and the robot parameters.
axes to be parameterized

Check the list of your trading options ( See Declaration of

D253 Commercial options do not allow 2 mobiles L
options, page 37) and the robot parameters.
to be parameterized

Check the list of your trading options ( See Declaration of

D254 Trading options do not allow parameterizing L
options, page 37) and the robot parameters.
rotations

Check the list of your trading options ( See Declaration of

D255 Commercial options do not allow L
options, page 37) and the robot parameters.
parameterizing broachable axes

Check the list of your trading options ( See Declaration of

D256 Trading options do not allow you to L
options, page 37) and the robot parameters.
parameterize a purpose axis

Check the list of your trading options ( See Declaration of

D257 Trading options do not allow you to L
options, page 37) and the robot parameters.
parameterize a "torque"

Check the list of your trading options ( See Declaration of

D258 Trading options do not allow you to L
options, page 37) and the robot parameters.
parameterize the "smooth"

Check the list of your trading options ( See Declaration of

D259 Commercial options do not allow L
options, page 37) and the robot parameters.
parameterizing so many I/O modules

Check the list of your trading options ( See Declaration of

Commercial options do not allow so many
D260 options, page 37) and the robot parameters. L
vac.num parameters to be parameterized.

Check the list of your trading options ( See Declaration of

D261 Commercial options do not allow L
options, page 37) and the robot parameters.
parameterizing a mold code

Check the list of your trading options ( See Declaration of

D262 Trading options do not allow parameterizing L
options, page 37) and the robot parameters.
a delayed wait

Check the list of your trading options ( See Declaration of

D263 Trading options do not allow this PLC period L
options, page 37) and the robot parameters.
to be parameterized
©

Check the list of your trading options ( See Declaration of

D264 Trading options do not allow you to L
options, page 37) and the robot parameters.
parameterize a BRP

Check the list of your trading options ( See Declaration of

D265 Commercial options do not allow L
options, page 37) and the robot parameters.
parameterizing a press 2

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Failed
Warning
Message Aid A

Check the list of your trading options ( See Declaration of options,

Commercial options do not allow parameterizing
D266 page 37) and the robot parameters. L
an external axis

Check the automatic initialization program, since a programmed level cannot

D267 Incorrect initialization L
be reached.
Check the list of your trading options ( See Declaration of options,
Trading options do not allow geometric correction
D268 page 37) and the robot parameters. L

D269 Non-Reset Power Pulsar START. L

Write down the number and report the occurrence of said failure to our
D270 Communication problem number.with:%s L
customer support service.

Check the list of your trading options ( See Declaration of options,

Trading options do not allow the security pack
D271 page 37) and the robot parameters. L

Physical cams: At least one of the two pieces of information is

is always activated (detector blocked, short circuit...) Virtual
cams: the parameterized positions for these cams overlap. See Work
Cam inconsistency: ZBD and AMx at the same time
D272 Zones, page 2 and the Setup booklet. Also make sure that one of the two L

cams is not activated at 1 (IN 128) in parameters 9.18.x and 9.19.x.

Physical cams: At least one of the two pieces of information always

remains activated (detector blocked, short circuit...) Virtual cams:
the parameterized positions for said cams overlap. See Work Zones,
Cam inconsistency: Shifted standby cam and
D273 page 2 and the Setup booklet. Also make sure that one of the two cams is L
AMX at the same time
not activated at 1 (IN 128) in parameters 9.18.x and 9.19.x.

BH cam incorrectly parameterized or detection of BHM cam

Inconsistency of the cams of arm 1: BH and defective (sensor, cut wire, bad connection, ...). See not BHM
D274 L
Work Zones, page 2 and configuration booklet
.

BH cam incorrectly parameterized or faulty BHM cam detection

Arm 2 cam inconsistency: BH and not BHM (sensor, cut wire, bad connection,...). See Work Zones, page 2 and
D275 L
configuration booklet
.

Inconsistency of the cams: Machine axis cams Poor parameterization of the cams. See Work Zones, page 2 and the
D276 L
of the 2 presses at the same time configuration booklet.
Physical ZBD cam: detection of defective cam (sensor, cut wire, bad
connection,...). Virtual ZBD cam: poor parameterization of the cams.
D277 Cam inconsistency: PCO and not ZBD L
See Work Zones, page 2 and the configuration booklet.

A point must be learned in the program, but the selected profile does
Unauthorized learning request for profile
D278 not authorize this operation. See User Profile, page 9. L

It is prohibited to program more than 300 instructions in one step (STEP).

Modify the program by spreading the instructions over several
D279
©

Too many instructions in the step L

steps or by using applets.
See programming brochure.
The drive does not go into the expected state with Either an incorrect command has been sent to the drive, or the drive is faulty
D280 L
the end of the timeout and no longer responds correctly.

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Failed
Warning
Message Aid A

The indicated axis is outside the authorized area. Position the robot in an
authorized area in manual mode. See Activating movement,
D281 AXIS %s IN OVERTRAVEL page 33. If the defect occurred in automatic mode, check the L

programmed position.

D282 Call to a non-existent SP %s The requested applet does not exist. Correct the program. L

The called applet has the same number as the applet in which the
D283 Calling an SP %s is not allowed call is scheduled. Correct the program. L

The status of the inputs affected when coding the program is incorrect.
The number of entries in state 1 must be even. Check the status of the
D284 W284 Prog %s Selected by Coding L
inputs (not forgetting the parity input), parameters 9.20.x.

Write down the fault number and correct it. Report the appearance of
D285 System failure. Precision: %s L
said failure to our customer support service.
The position of the machine axis of the press is outside the area
Press %s machine axis is out
D286 parameterized in 7.16.6.. Correct this parameter or the position of the L
zone
machine axis.
The programmed absolute speed is higher than the speed parameterized
The programmed absolute speed exceeds the in 10.0.4. This limit applies to the test, but not to the car. To reach the
W287
maximum speed authorized in this mode programmed absolute speed, switch to auto mode.

The aforementioned movement is detected in an intermediate

position. In manual mode, position the movement in a known position
D288 W288 Position not detected %s and check that the end of movement detections work correctly ( See L

Movement status LEDs, page 30).

Rotation R1 is not in a position that allows

the initialization of the numerical rotation R2. The default agreed
D289 ROTATION POSITION %s INCORRECT position is 90º. It is indicated in parameter 15.4.1 for axis 5 (Colombia in L

which the axis must be positioned after initialization).

An axis not used in the program and, therefore, not regulated has been
D290 Axis movement protection moved. This may be due to violent clashes generated by the press. L

Select this icon on the parameters page to see the

new parameters.
New parameters have been added that must be
D291 Select this icon to assign a default value to the new L
checked
parameter. You can also enter a value of your choice.

Interface card 2. Note the fault number and rectify it.

Interface card initialization defect
D300 Report the appearance of said failure to our customer support service. P

Interface card 2. Note the fault number and rectify it.

Interface card initialization defect
D301 Report the appearance of said failure to our customer support service. P

Interface card 2. Check the operation of the corresponding safety

©

An inconsistency has been detected in the

D302 devices (emergency stop button, ...). P
command line relay K11 - K12

Interface card 2. Replace the Interface card after checking the relay
Data sent by the link interface card is not
D303 contacts for short circuit. P
consistent

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Failed
Warning
Message Aid A

Interface card 2. Check the operation of the corresponding safety devices

Data inconsistency has been detected in
D304 (emergency stop button, ...). P
the K13 - K14 line control relay

Interface card 2. Replace the Interface card after checking the relay contacts
Data sent by the link interface card is not consistent
D305 for short circuit. P

Inconsistency detected in the Interface card 2. Check the operation of the protector inhibit. See Guard
D306 inhibition performance Inhibition, page 41. P
protectors
Interface card 2. Check the operation of the corresponding safety devices
Inconsistent security data detected on the
D307 (press door, protectors,...) P
line

An inconsistency has been detected in Interface card 2. Check the operation of the corresponding safety devices
D308 P
KM1 - KM2 (Protectors,...)
The data sent by the KM1 - KM2 contractors is Interface card 2. Check the operation of the contactors.
D309 P
not consistent

The Interface card has detected a defect Interface card 2. Check the CAN communication between the interface card
D310 P
Watchdog and the CPU.
A failure has been detected in the
D311 Interface card 2. Check the power. P
interface card supplies
Interface Board 2. Replace relays K8 and K9 on the interface board (as well
as K10, if the second Clear Arm Safety contact is used). Disconnect
D312 Clear Arm Safety Relay Defect P
the cabinet to correct the fault.

A short circuit has been detected on the user outputs Interface card 2. Check the wiring, current consumption, and status of the
D313 L
of the internal card. user outputs.
Interface card 2. Check the following card outputs:

A short circuit has been detected in the safe J11-5

D314 P
outputs of the interface card J11-17
J6-4
J6-5

Interface card 2. Check the following card outputs:

A short circuit has been detected in the safe
D315 P
outputs of the interface card J10-5
J10-6

Interface card 2. The emergency stop line is not closed on the robot side.
Check that the emergency stop button on the console has not been pressed,
D317 Console emergency stop the emergency stop line continuity and the interface card connections. L

Interface card 2. Find the cause. Has it been removed? If yes, unlock the
D318 Pulsed Peripheral Emergency Stop emergency stop and press Start to reset the power. L

Interface card 2. Find the cause. Has it been removed? If yes, unlock the
D319 Pulsed Peripheral Emergency Stop emergency stop and press Start to reset the power. L
©

Interface card 2. The emergency stop line is not closed in the press. Check
that no emergency stop button has been pressed (Attention: the rear door
D320 Emergency Stop Press can act as an emergency stop), emergency stop line continuity. L

Interface card 2. Check the line safety devices.

D321 Safety line K13-K14 open L

Interface card 2. Check the line safety devices.

D322 Safety line K13-K14 open L

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Failed
Warning
Message Aid A

Interface card 2. Protective closure to operate in automatic mode. In

manual mode, use the Shields Inhibit mode. See Guard Inhibition,
D323 Open press guard L
page 41.

Interface card 2. Protective closure to operate in automatic mode. In

manual mode, use the Shields Inhibit mode. See Guard Inhibition,
D324 Open line of protectors L
page 41.

Interface card 2. Protective closure to operate in automatic mode. In

manual mode, use the Shields Inhibit mode. See Guard Inhibition,
D325 Open line of protectors L
page 41.

D326 Interface card 2. See Inhibiting the protectors, page 41. L

Loosened validation button

D327 Interface card 2. Check the line safety devices. L

Safety line KM1 - KM2 open

Interface card 2. 24s missing. A link between the Interface card

D328 Non-Reset Power output and KM1 or KM2 is interrupted. L

Consult the electrical diagram.

D333 The system receives a Start request and Check the valuation of WRD_402 in the program. P
Stop at the same time See programming brochure.

The node %s has detected some errors on Check the compliance and quality of the bus (presence of
W334 termination resistors, length appropriate to the flow...) L
the CAN 1 bus

Node %s has detected errors about the Check the compliance and quality of the bus (presence of
W335 termination resistors, length appropriate to the flow...) L
bus CAN 2

Node %s has detected some errors Check the compliance and quality of the bus (presence of
D336 termination resistors, length appropriate to the flow...) P
on CAN bus 1

Node %s has detected errors on the CAN 2 bus Check the compliance and quality of the bus (presence of
D337 termination resistors, length appropriate to the flow...) P

D338 CAN 1 reception buffer overwrite -

Node %s The throughput of incoming messages is too high P

D339 Receive buffer overwrite - CAN 2

- Node %s The throughput of incoming messages is too high P

D340 Stack Overflow - CAN 1 - Node %s P

CAN bus load is too high

D341
Stack Overflow - CAN 2 - Node %s P
CAN bus load is too high

In the case of an interface card, one of the CAN or SPI

D342 Error during self-test of node %s - CAN 1 communication buses fails. S
Restart the closet.
In the case of an interface card, one of the CAN or SPI
D343 Error during self-test of node %s - CAN 2 communication buses fails S
Restart the closet.
©

D344 Invalid firmware - Node %s - CAN 1 Please contact our customer support to install a valid firmware. S

D345 Invalid firmware - Node %s - CAN 2 Please contact our customer support to install a valid firmware. S

D346 Faulty node %s general power supply P

- CAN 1 The general power supply of the node is faulty

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Failed
Warning
Message Aid A

D347 General power supply of node %s P

defective - CAN 2 The general power supply of the node is faulty

Addressing error - Node %s - CAN 1 One of the nodes is incorrectly configured (strap on interface
D348 S
card or switch on I/O module and vacuum switch)
Addressing error - Node %s - CAN 2 One of the nodes is incorrectly configured (strap on interface
D349 S
card or switch on I/O module and vacuum switch)
It is detected that one of the validation buttons is active when switching
D350 Validation button active when switching to protector to Protector Inhibition mode. Check that none of the 2 buttons are P
inhibition mode stuck. See Guard Inhibition, page 41.

Node %s has detected errors on the CAN 3 bus Check the compliance and quality of the bus (presence of termination
W351 resistors, length appropriate to the flow...) L

Node %s has detected errors on the CAN 3 bus Check the compliance and quality of the bus (presence of termination
D352 resistors, length appropriate to the flow...) P

D353 Reception buffer overwrite - CAN 3 -

Node %s The throughput of incoming messages is too high P

D354 Stack Overflow - CAN 3 - Node %s P

Bus load is too high

D355 Error during self-test of node %s - CAN 3

In the case of an Interface card, one of the CAN or SPI S
communication buses fails
At least one of the Can knots is forced "without At least one of the bits in WRD_446 or WRD_447 is 1
D361 S
control"
It is impossible to submit or execute a command sequence Process
D370 Execution Failure - Drive drive. Release START during initialization in %s Axis mode L
manual.
Replace the indicated battery: TYPE CR2032 3V ref.
W371 Downloaded file stack (Stack number %s) AE06C03242__ L
Stack 1 is the console CPU stack
Battery 2 is that of the cabinet CPU (option)
A numerical external axis tracking has been parameterized
D372 External axis modulus (Parameter 3.x.2) and L
using a module (3.x.2), but the value of the module is null (3.x.5).
modulus value = 0! (Parameter 3.x.5)

Use the syntax check function to determine errors in the

D373 Incorrect PLC program. Check instructions program. See the Programming brochure. See The online L
documentation, page 12.

D374 Inter-robot communication Check the Ethernet link connections between the 2 robots. L

Check the Ethernet link connections between the 2 robots.

D375 Inter-robot communication S
Restart the closet.
2 robots work in tracking, and one of them is not initialized.
Initialize the robot in question to continue. If this is not possible, to use
D376 The second robot is not initialized the second robot independently of the first, the Tracking L
©

function must be deactivated.

The 2 robots work in tracking, and the system prevents the minimum
D377 The two robots are heading towards each other separation between said robots from being not respected L
and will exceed the minimum offset (parameterized offset 3.4.6). Modify the destinations of both robots
accordingly.

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Failed
Warning
Message Aid A

Write down the fault number and restart the cabinet.

D378 The console can no longer communicate with S
the data server Report the appearance of said failure to our customer support
service.
©

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A P

Learning, 16 Stop
Cycle Press Authorization (VCM), 3 End of cycle stop, 25

Aid End of production stop, 25

Helps with diagnosis 43 Immediate stop, 25

online documentation, 12 Cycle parameter

Points, 19

User Profile
B
Definition, 9
bit system 44
Generate a profile key, 40

Up Arm (BH), work area, 2

Modification, 37

Arm Out of Mold (BHM), work area, 2

Points
Modify, 19

C Points, 16, 19

Placement, 16, 22

Counter R
production management, 26
Return to origin
Counter, 44
Return to the origin, 22

Simple, 22

D Total, 22

online documentation, 12 RVO, Mandatory vertical position, 2

AND
S

Machine Axis (AM), work area, 2 Exit, Timed outputs, 44

Expulsions SBD, Clear Arm Safety, 3, 44

Entry and exit authorizations, 3 Security

safety instructions, 1

F
T
Failed
Piece taking failure, 22 Keyboard, 8

List of faults, 46 Timer, PLC timing, 44

Take a piece, 22

H
IN
History of defects, 35

History of events, 36 SPD, speed, 14

I
IN

Initialize, 32 Warnings 46

M WITH

Modify Clear Arm Zone (ZBD), work zone, 2

Points, 19 work areas, 2

Way
Continuous test mode, 17

Step by step test mode, 17

Operating and stopping modes, 10

Program name, 6, 7

Noyos, 3

OPA, Partial opening achieved, 3

OUT, 44

DD0000346603 - 25/3/2011