IAI R-unit RSEL, Instruction Manual, Page: 678 / 844

Chapter
11 T
roubleshooting
11.3 Error List
11-39
ME0392-4C
Error
No.
Error name Content and Cause / Countermeasure
O
per
at
io
n-
can
cel
lat
ion
466
Base-point / PX axis end-
point identical error
during palletize angle
acquisition
[Content & Cause]
1) Angle calculation cannot be held as the data other than the PZ-axis
components at the base point of the 3-point teaching and the PX-axis
end point are the same
[Countermeasure]
1) Check that the data other than the PZ-axis components at the base
point of the 3-point teaching and the PX-axis end point are not the
same
467
Palletize motion
calculation error
[Content & Cause]
1) Malfunction on SEL unit
2) Operation failure due to noise or others
[Countermeasure]
1) Replace SEL unit
2) Take a counteraction to noise
468
Palletize motion PZ axis
pattern undetected error
[Content & Cause]
1) There is no PZ-axis component in an axis pattern in the palletizing
movement
[Countermeasure]
1) Set the PZ-axis components in an axis pattern in the palletizing
movement
469
Arch motion related Z-
axis undeclared error
[Content & Cause]
1) The arch motion Z-axis is not declared
[Countermeasure]
1) Have the Z-axis Declaration performed by PCHZ or ACHZ
46A
Arch top end Z-axis
pattern undetected error
[Content & Cause]
1) There is no peak point arch motion related Z-axis component in an axis
pattern in the arch motion
[Countermeasure]
1) Set the peak point arch motion related Z-axis components in an axis
pattern in the arch motion
46B
Arch trigger Z-axis
pattern undetected error
[Content & Cause]
1) There is no arch motion related Z-axis component in an axis pattern in
the arch trigger declaration data
[Countermeasure]
1) Set the arch motion related Z-axis components in an axis pattern in the
arch trigger declaration data
46C
Arch highest point & end
point swapped error
[Content & Cause]
1) The relation of coordinates at the arch motion between the peak point
and end point is reversed
[Countermeasure]
1) Check that the relation of coordinates between the peak point and end
point is not reversed in the position data
46D
Arch start point & trigger
swapped error
[Content & Cause]
1) The relation of coordinates at the arch motion between the start point and
the start point arch trigger is reversed
[Countermeasure]
1) Check that the relation of coordinates between the start point and the
start point arch trigger is not reversed in the position data