IAI X-SEL PX, Operation Manual, Page: 526 / 560

499
Appendix
(In the pan
el wind
ow, the thre
e digits
aft
er “E” in
dicate an erro
r nu
mber.
)
Error No.
Error name
Descripti
on, ac
tion, etc.
B1D
Ethernet no
n-o
pen err
or
An attempt
w
as made to use
a chan
nel n
ot
yet open
ed b
y o
w
n task.
B1E
Ethernet multi
ple WRIT ex
ecu
tion error
WRIT
commands
w
ere e
xecut
ed simult
ane
ou
sl
y i
n multip
le tasks for the same
chan
nel, or a
W
R
IT
command had fai
led (d
ue to a commu
nicatio
n error,
etc.) and
then
w
as retri
ed
w
ith
ou
t exec
uting a C
LOS command

O
PEN command first.
B1F
Ethernet jo
b bu
sy
error
An attempt
w
as made to star
t a ne
w
proc
ess
w
hen the Eth
ernet mailb
ox
co
ntrol jo
b
w
as bus
y.
B20
Ethernet no
n-i
nitial
izatio
n de
vice use err
or
An attempt
w
as made to use
the Ethernet s
ystem
w
hen Eth
ernet dev
ice in
itializa
tion
w
as not
ye
t complete. Check I/O parameter
Nos. 123
to 159, 14,
15, etc.,
depending
on the pur
pos
e of use.
B21
Ethernet IP ad
dress error
An error
w
ill ge
nerat
e u
nd
er
th
e f
ol
lo
w
in
g c
on
di
tio
ns
d
uri
ng n
or
m
al
u
se
.
W
hen IP addre
ss (H) (first octet) through IP
addr
ess (L) (fourth octet) are given
as
IP_H, IP_MH, IP_ML an
d IP_L, the error
co
ndi
tio
ns
a
re
d
es
cr
ib
ed
a
s f
ol
lo
w
s:
IP_H

0 or IP_H =
127 or IP_H >
255
or
IP_MH
<
0
or
IP_MH
>
255
or IP_ML <
0 or IP_ML >
255
or IP_L

0 or IP_L

25
5
Check I/O parameter Nos. 132 to 135, 149 to
1
52
, a
nd
1
54
to
1
57
, t
he
IP
a
dd
re
ss
o
f
conn
ection d
es
tinatio
n specifi
ed b
y an IPCN
command i
n a
n integ
er varia
ble, or the
like.
B22
Ethernet port n
umber error
An error
w
ill ge
nerate if
ow
n
po
rt number <
1
025, or o
w
n
po
rt number >
65
535, or
ow
n p
ort numb
er dup
licati
on, or conn
ec
tion-
destin
ation p
or
t number for cli
ent

0, or
conn
ection-
des
tinatio
n port nu
mber for c
lient
> 65535, or co
nnecti
on-d
estin
ation
port numb
er for server <
0, or
conn
ection-
des
tinatio
n port nu
mber for server
>
655
35 is satisfi
ed.
C
he
ck
I/
O
p
ar
am
et
er
N
os
. 1
44
to
1
48
, 1
59
, 1
53
, a
nd
1
58
, the port num
ber
of
conn
ection
de
st
inatio
n
specifi
ed
by
an
IPCN
command
in
a
n
integ
er
varia
ble,
or
the
like.
B44
Loa
d mass setting error
The load mass
exce
eds the m
aximum lo
adi
ng
capac
ity
of th
e robot. Check
the set
mass.
B4
B
“L
oa
d m
as
s c
ha
ng
e p
ro
hi
bi
te
d
w
hi
le
s
er
vo i
s i
n u
se
” e
rro
r
The load mass
currentl
y
use
d b
y the serv
o system ca
nnot b
e chan
ge
d.
B70
Checksum
error in coordinate
sy
stem de
fin
iti
on
d
at
a
Th
e f
la
sh
ROM data is
damaged.
* SCARA only
.
B71
Coord
in
ate s
ys
tem number er
ror
The
coordinate
s
ystem num
be
r is invali
d.
* SCARA only
.
B72
Coord
in
ate s
ys
tem type err
or
The
coordinate
s
ystem t
ype is
invali
d.
* SCARA only
.
500
Appendix
(In the pan
el wind
ow, the thre
e digits
aft
er “E” in
dicate an erro
r nu
mber.
)
Error No.
Error name
Descripti
on, ac
tion, etc.
B73
Error due to pr
ohib
itio
n of cha
nge of coor
din
ate s
ystem d
ata used
by
se
rvo
Chan
gi
ng of co
ordin
ate s
yste
m
data curr
entl
y use
d b
y the s
ervo s
yst
em is
prohi
bite
d.
* SCARA only
.
B74
CP-oper
atio
n restriction z
on
e
entr
y
error (PT
P/jogg
ing of e
ac
h
axis en
abl
ed)
Entr
y int
o the CP-oper
atio
n restrict
ion zo
ne
w
as detecte
d. PT
P operatio
n and
jogg
in
g oper
ati
on of each
ax
is
are ena
ble
d.
* SCARA only
.
B75
Sing
ular-
poi
nt calcul
atio
n erro
r
CP
calcul
atio
n cann
ot be perf
ormed d
ue to the sin
gul
ar poi
nt. Check for in
valid
coordi
nate ca
us
ed b
y an i
na
pp
ropr
ia
te
h
om
e o
f a
rm
2
, e
tc
.
* SCARA only
.
B77
Current arm s
ystem setting er
ror
The target arm s
ystem
to be s
et does not ma
tch the actual a
ngle
of arm 2, or
coordi
nates ar
e not
yet deter
m
ined.
* SCARA only
.
B78
Current arm s
ystem indetermi
natio
n error
The
current
arm
sy
stem
is
in
determin
ab
le.
* SCARA only
.
B79
R-a
xis servo O
FF
detection
er
ror durin
g pos
ition co
ntrol
correction
R-a
xis servo O
FF
w
as detect
ed dur
ing p
ositi
on contro
l corr
ection.
* SCARA only
.
B7A
Z-
axis serv
o OF
F detection er
ror durin
g RZ
mecha
nism
correction
Z-
axis
serv
o
OF
F
w
as
detect
ed
dur
ing
RZ
mecha
nism
cor
rection.
* SCARA only
.
B7B
Error due to tar
get locus i
nsid
e rear entr
y pr
ohib
itio
n area
The target position or movem
ent
locus is i
nsi
de the rear e
nt
ry
pro
hib
itio
n a
rea.
* SCARA only
.
B7C
Error due to tar
get locus i
nsi
de
CP-op
eratio
n restriction zon
e
(PT
P/joggi
ng o
f each a
xis en
ab
led)
The target position or movem
ent locus is
in
si
de CP-o
perati
on restriction zo
ne. PT
P
oper
ation a
nd j
oggi
ng o
perati
on of each
ax
is
are ena
ble
d.
* SCARA only
.
B7D
Ph
ys
ical
ly
unr
ea
liza
ble tar
get error
The specified target
is unr
eal
iz
able
base
d on
the arm
length
compositi
on of
axes
1
and 2. Ch
eck "
Axis-s
pecific p
arameter No.
138,
Arm
length
" and
the
targ
et
value.
* SCARA only
.
B7F
Servo use p
urp
ose error
The use purpo
se of servo is i
nvali
d.
* SCARA only
.
B8
0
Sp
ec
ifi
ca
tio
n-
pr
oh
ib
ite
d a
xi
s e
rror
Specific
ation of
the axis is pro
hibite
d. Set an
axis that can b
e specifi
ed.
* SCARA only
.
B81
Axis-s
pecific P
TP multiple-a
xi
s specif
icati
on
error
Axis-s
pecific
PT
P
operatio
n
w
as specifi
ed for
multiple
axes. Axis-s
peci
fic PT
P
oper
ation ca
n be spec
ified o
nl
y for a si
ngl
e a
xis.
* SCARA only
.
B82
Joggi
ng mu
ltipl
e-a
xis sp
ecific
ation er
ro
r
Joggi
ng/i
nchi
ng
w
as spec
ifie
d for multip
le
a
xes. Jo
ggi
ng/in
ching c
an be s
pecifie
d
on
ly
fo
r a
s
in
gl
e a
xi
s.
* SCARA only
.
502