IAI TTA Series, Instruction Manual

Page: 240 / 378

Chapter 6 Error List
6.2 Error List (MAIN
Application)
230
Error No.
Error name
De
scription, action, etc.
CAA
Pall
etizin
g PASE/PAPS non-
decl
aratio
n err
or
N
eith
er PASE or
PAPS palletizing-s
etting command
is
s
et
. S
et
e
ith
er
c
om
m
an
d.
CAB
Pall
etizin
g pos
ition num
ber e
rror
The specified p
alletiz
in
g positi
on num
ber is i
nvali
d.
CAC
Pall
etizin
g pos
iti
on num
ber se
tting over
The specified p
alletiz
in
g pos
iti
on num
ber e
xc
eeds the
positi
on
num
ber ra
nge calc
ulat
ed for the
current palletizing setting.
CAD
Pall
etizin
g PX/
PY/PZ-axis
du
plicati
on err
or
An
y
tw
o
of the
specifi
ed P
X, PY and PZ
-a
xes
for
palletiz
ing
are the s
ame
axis.
CAE
Insufficient val
id
a
xes for pal
le
tizing 3-
poi
nt teachi
ng
positi
on d
ata
Th
e
nu
m
ber
o
f v
al
id
a
xe
s
is
in
su
ffi
ci
en
t in
th
e
pos
iti
on
d
at
a
for
palletiz
in
g
3-poi
nt
teachin
g.
Axes
to
comprise the palletizi
ng
PX/P
Y plan
es can
not be specifi
ed.
CAF
Ex
cess
ive valid ax
es for p
al
le
tizing 3-
poi
nt teachi
ng
positi
on d
at
a
The number of valid
axes is e
xce
ssive i
n th
e po
siti
on dat
a fo
r p
al
le
tiz
in
g
3-
po
in
t teaching. Ax
es to
comprise the palletizi
ng
PX/P
Y plan
es can
not be specifi
ed.
CB0
Mismatched valid axes for
pall
etizin
g 3-po
int teach
ing
positi
on d
ata
The valid a
xis
patterns do
not
mat
ch in the positi
on
data for
p
alletizing 3-point teach
in
g.
CB1
Offset setting error at
palletizing 3-point teaching
Zi
gzag offset (not zero) can
no
t be set in pa
lletizin
g 3-po
int t
each
ing, if the
referenc
e po
int
is the
same as the e
nd po
int of the PX-a
xis.
CB2
BGPA/EDPA pair-end mismat
ch error
Th
e
BG
PA
/E
D
PA
s
yn
ta
x
is
in
va
lid
. E
DPA
w
as decl
ared
be
fore BGPA,
or anoth
er BGPA w
as
declared after
BGPA
w
ithout first declaring EDPA.
CB4
Arch-motio
n Z
-axis no
n-dec
la
ra
tion err
or
Z-
axis h
as not
bee
n dec
lare
d b
y PC
H
Z
or ACHZ
.
CB5
BGPA non-d
ec
larati
on error
du
rin
g pal
letizi
ng
setting
Palletizing setting ca
nnot be performed
w
ith
out first declaring
BGPA.
Declar
e BGPA.
CB6
Pall
etizin
g po
in
t error
The
palletizi
ng
poi
nts
are inv
al
id
(non-Z-ax
is
components ar
e absent, etc.).
CB7
Arch-trigg
er no
n-dec
larati
on e
rror
Declar
e arch tri
ggers us
in
g
PT
R
G
o
r AT
R
G
.
CB8
No 3-p
oint teac
hin
g setting err
or at pall
etizin
g
angl
e
acqu
isitio
n
The palletizi
ng
ang
le ca
nnot b
e acqu
ired
until
setting b
y
pa
lle
tizing 3-point
teachi
ng is co
m
plete.
CB9
PX/PY-a
xis ind
etermin
abl
e
err
or at pall
etizin
g angl
e
acqu
isitio
n
Angl
e can
not b
e calcu
late
d be
caus
e ther
e ar
e too man
y val
id
a
xe
s in th
e 3
-poi
nt teachi
ng
data
and thus P
X/P
Y-axes ca
nnot
be spec
ifie
d.
CBA
Reference-axis
/PY/PY-ax
is mis
match error at
pall
etizin
g
ang
le ac
quis
iti
on
Angl
e can
not b
e calcu
late
d be
cause the ref
er
ence a
xis for angl
e calculation is neither of the ax
es
comprisi
ng the
PX/PY-a
xes as
set b
y
3-p
oint
teachi
ng.
CBB
Refere
nce-p
oi
nt/PX-a
xis end
-poi
nt dupl
icati
on error at
pall
etizi
ng a
ngl
e ac
qu
isitio
n
Angl
e can
not b
e calcu
late
d be
cause the ref
er
ence p
oi
nt of 3-poi
nt teachi
ng
is the same as
the
PX-a
xis en
d-p
oint data
other
than
the PZ
-a
xi
s compon
ent a
nd thu
s arc tan
gent can
not be
calcul
ated.
CBC
Pall
etizin
g moti
on calc
ulat
ion
error
Tr
apezoid cont
rol cal
culati
on
error for pal
leti
zing moti
on
CBD
MOD comman
d divis
or 0 erro
r
“0”
w
as spec
ifi
ed as the d
ivis
or in the MOD command.
CBE
Ta
rget-locus b
oun
dar
y ov
er e
rror
The target posi
tion or movem
en
t locus e
xc
eede
d th
e
pos
iti
oni
ng
boun
dar
y in th
e infin
ite-
stroke
mode. * Cartesi
an a
xi
s onl
y.
CBF
Positio
nin
g dist
ance ov
erfl
ow
e
rror
The positioni
ng
distance is to
o
la
rge
.
CC0
Axis mo
de err
or
The axis mod
e
is invali
d.
CC1
Spee
d cha
nge
cond
ition
error
An
a
tte
m
pt
w
as
ma
de
to
c
ha
ng
e
th
e
spee
d of an a
xis
w
ho
se spee
d
can
not be cha
nge
d (axis
op
er
at
in
g
in
S
-mo
tio
n,
e
tc
.).