Status and Flange LED Color for Each Mode

Manual

Manual Standby

• This is the default status of teaching.

• Workcell Manager, Task Builder and Task Writer can be used to configure the work condition or perform task programming.

• It monitors the stop status with Safe Operating Stop (SOS).

Blue

Manual Jogging

• The jog function is used to operate the robot.

Blue Blinking

Manual

Handguiding

• The robot can be operated manually during teaching.

Cyan Blinking

Recovery Standby

• Recovery in progress.

• All safety functions except for axis and TCP speed monitoring are disabled during recovery.

• It monitors the stop status with Safe Operating Stop (SOS).

Yellow Blinking

Recovery

Jogging

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

Yellow Blinking

Recovery

Handguiding

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

Yellow Blinking

Interrupted

• The system is in a protective stop state due to protective stop input, exceeding the safety threshold, etc.

• It monitors the stop status with Safe Operating Stop (SOS).

• A yellow Protective stop pop-up will appear. After removing the cause of the protective stop, if you press the Reset button, the robot state will be converted to Manual Standby state and the pop-up will disappear.

• If it is not possible to release the safety limit exceeding without moving the robot, press the Recovery button to enter the safety recovery mode, and after moving the robot, Interrupted can be released.

• If it is impossible to release the protective stop input from the Protective Device, press the Safety I/O button to cancel the protective stop input setting.

Yellow

Servo Off

• The servo is off due to emergency, protective stop input, stop or exceeded safety threshold.

• It is identical to Safe Torque Off (STO).

• Servo On is possible only when all causes of emergency stop or protective stop are removed.

• If it is not possible to release the safety limit exceeding without moving the robot, it can be released by moving the robot after Servo On in the safety recovery mode screen.

• If it is impossible to release the protective stop input from the Protective Device, cancel the protective stop input setting in the Safety I/O setup menu.

Red (M/H-Series)

Auto

Auto Standby

• The Teach Pendant UI is in the actual mode execution screen in a single work space.

• Pressing the "Execute" button will execute the task program.

• White is displayed for a Standalone Zone, green is displayed for a Collaborative Zone..

White/Green

Auto

Running

• The task program is being executed.

• White is displayed for a Standalone Zone, green is displayed for a Collaborative Zone., and white and yellow are displayed by turns for a High Priority Zone

White Blinking /

Green Blinking / ss

White and yellow Flashing alternately

HGC (HandGuide Control)
Standby

• The Handguiding command is executed during task program execution.

• The system waits until the user presses the "Handguiding" button.

• It monitors the stop status with Safe Operating Stop (SOS).

Cyan

HGC Running

• The robot pose can be changed by pressing the "Handguiding" button.

• After the robot stops, enter HGC End & Resume signal through the Safety IO to set Auto Running and then continue executing the task program.

Cyan Blinking

Auto-measure

• The weight and center of gravity point of the end effector are measured automatically. Please note that the safety monitoring functions of the robot are disabled during auto-measuring.

Yellow Blinking

Interrupted

• The system is in a protective stop state due to protective stop input, exceeding the safety threshold, etc.

• It monitors the stop status with Safe Operating Stop (SOS).

• A yellow Protective stop pop-up will appear. After removing the cause of the protective stop, if you press the Reset button, the robot state will be converted to Manual Standby state and the pop-up will disappear.

• If it is not possible to release the safety limit exceeding without moving the robot, press the Recovery button to enter the safety recovery mode, and after moving the robot, Interrupted can be released.

• If it is impossible to release the protective stop input from the Protective Device, press the Safety I/O button to cancel the protective stop input setting.

Yellow

Servo Off

• The servo is off due to emergency, protective stop input, stop or exceeded safety threshold.

• It is identical to Safe Torque Off (STO).

• Servo On is possible only when all causes of emergency stop or protective stop are removed.

• If it is not possible to release the safety limit exceeding without moving the robot, it can be released by moving the robot after Servo On in the safety recovery mode screen.

• If it is impossible to release the protective stop input from the Protective Device, cancel the protective stop input setting in the Safety I/O setup menu.

Red (M/H-Series)

-

Backdrive Hold

• All brakes of 6 joints are engaged, and Backdrive motion is locked.

Yellow Blinking

Backdrive Release

• Break of one or more joint(s) is released due to the selection of brake release.

• The brake(s) will not lock by itself. Use caution as the robot and/or end-effector may fall unless all brakes are engaged again.

Yellow Blinking

Backdrive

Servo Off

• The servo is off due to emergency stop or exceeded joint speed threshold during Backdrive Motion.

• It is identical to Safe Torque Off (STO).

Red (M/H-Series)

Initializing

• The controller is booting and the robot is initialized.

Red Blinking