Used Robots.com: Panasonic G Advanced Programming

Useful Functions (2) 8-6 < Remarks > (1) Make sure that robot does not interfere with the jig or the work along the retraction route prior to
starting operation. (2) Even if the welding wire and the work are fused, when the preset input is turned ON while the
robot is in the welding error stop state, the robot starts the retraction process. (3) This error handling function is available only when the robot operation is terminated by the
welding error. If the robot operation is terminated due to other reasons such as hold or an error
other than welding error, this function does not function even though the preset input is turned
ON. (4) If the preset input is turned ON after the error state has been corrected, the robot does not
perform the retraction movement. (5) If the preset input has been turned ON when the robot goes in the welding error state, the robot
does not perform the retraction movement. Turn OFF the preset input and newly turn it ON. (6) If the preset input is turned ON again during or after the retraction movement, the robot does
not repeat the retraction process. (7) The retracted output is turned ON when the robot reaches the idle position. The output is not
turned ON if the robot goes in hold stop or an error stop. (8) The retraction movement will be interrupted by the following operations. ・ The robot goes in hold stop of emergency stop in the process of the retraction movement. ・ The robot goes in error stop such as soft-limit error in the process of the retraction
movement. ・ If manual operation is executed while the robot is in either one of the above state. (9) The robot resumes the program from the current position without returning to the point where
the error occurred if the following operation is executed. ・ The robot reaches a teaching point in trace operation in the process of this function. ・ A teaching point is changed in the process of this function.


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