Stop during tool change and send out tool change timeout fault alarm

1) According to the sequence diagram of tool change action, find out the steps to be executed in case of tool change fault

2) With the help of the signal change of the system ladder diagram, find out whether the previous action did not end or the next action did not start when the fault occurred

3) Discrimination of mechanical fault or electrical fault

4) After troubleshooting, manually turn the manipulator motor to return the manipulator to the original position

Kevin

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