IAI X-SEL PX, Operation Manual, Page: 529 / 560

501
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.
B83
Rc =
0
w
ait tim
eout error u
po
n Z
c-axis h
om
e return
Ti
meout
of
R-axis
0
po
siti
oni
ng
has
occurr
ed
. Check
for
ope
ration
restri
ctio
n, w
iri
ng,
enco
der, motor
, etc.
* SCARA only
.
B84
Arm length err
or
The arm length
is invali
d. Che
ck "Axis-s
pecifi
c parameter N
o. 138, Arm len
gth."
* SCARA only
.
B85
Operatio
n start-posit
io
n acq
ui
sition error i
nsi
de
w
ork ar
ea u
sing
appl
icati
on ser
vo
Operatio
n start positio
n cann
ot
be obt
ain
ed i
nside th
e
w
ork
area us
ing the
appl
icati
on ser
vo.
* SCARA only
.
B86
SEL PT
RQ co
mmand pr
epar
ation err
or
The set value of the PT
RQ
command is i
nv
alid. Ch
eck if the set valu
e is outsid
e the
specifie
d ran
ge
, among others
.
B87
Error due to tar
get locus err
or insid
e tool-c
ent
er entr
y
proh
ibi
tion
circle
The target position or movem
ent locus is
in
si
de
the
circl
e
w
here
en
try
of
th
e
tool
referenc
e poi
nt is pro
hi
bited.
* SCARA only
.
B88
Logic
error dur
ing calc
ulati
on
of valid targ
et data
An intern
al lo
gi
c error gen
era
ted d
ur
ing ca
lcu
lation
of valid t
arget da
ta.
* SCARA only
.
B89
SCARA CP lo
gi
c error
An intern
al lo
gi
c error
w
as det
ected dur
ing S
C
ARA CP proc
essing.
* SCARA only
.
B8C
Detectio
n of en
try
into simp
le i
nterferenc
e ch
eck zone
(Operatio
n-can
cellati
on
le
vel
specificati
on)
En
try
in
to
th
e s
im
pl
e i
nt
er
fere
nce check zo
ne
w
as detecte
d.
(Operation-ca
ncell
atio
n
level sp
ecific
ati
on)
* SCARA only
.
B8D
SLPR par
amet
er t
yp
e specific
ation err
or
The specified
SLPR par
amet
er t
yp
e is inva
lid.
* SCARA only
.
B8E
SEL ST
PR co
mmand pr
epar
ation err
or
An error eq
uiv
alent to error N
o. A3A, A39 or A35
w
as d
etec
ted.
* SCARA only
.
B8
F
Po
si
tio
ni
ng
ti
m
e c
al
cu
la
tio
n e
rro
r
A p
os
itio
nin
g time calcul
atio
n error occurre
d.
* SCARA only
.
B90
Passin
g distan
ce calcul
atio
n error
A pa
ssing distance calc
ul
ation error occurred.
* SCARA only
.
B91
Main ov
erspe
ed
requ
ireme
nt error
An e
xcessiv
e spee
d is
requ
ire
d.
Th
is error ma
y a
lso occ
ur w
hen
passi
ng
near the
singu
lar p
oint (
w
he
re
arms 1 and 2 form a straight li
ne) d
uri
ng CP op
eratio
n.
Program
CP
operati
on
by
av
oidi
ng
mov
eme
nts near the si
ngul
ar po
int. T
his error
m
ay
b
e p
re
ve
nt
ed
b
y
lo
w
erin
g the specifie
d spee
d.
* SCARA only
.
C02
Run pr
ogram c
ount over err
or
Requ
ests
w
ere
made to
run to
o man
y pro
gra
ms exce
ed
ing t
he num
ber of p
rograms
that can be ru
n simultan
eous
ly
.
C03
Non-re
gistere
d program sp
eci
fication err
or
The specified p
rogram
is not r
egister
ed.
C04
Program entry
point non-de
tection error
An undef
ined supported program number
w
as s
pecified via
I/O or in a program.
502
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.
C05
Program first-step BGSR erro
r
The program
specifie
d for e
xe
cution starts
w
ith BGSR.
C06
Exec
utab
le ste
p non-
detectio
n error
The program specifie
d f
or e
xe
cution d
oes
n
ot contain e
xecut
able
progr
am steps.
C07
Subro
utine n
on
-definiti
on err
or
The subr
outine
specifie
d for call is not d
efine
d.
C08
Subro
utine d
up
licate-d
efiniti
on
error
The same
subroutin
e numb
er i
s d
efin
ed
at multipl
e loc
ation
s.
C0A
Tag duplicate-
definiti
on err
or
The same t
ag numb
er is defi
ned at multi
ple
locatio
ns.
C0B
Tag non-defin
ition error
The tag s
pe
ci
fie
d a
s t
he
ju
m
p d
es
tin
at
io
n o
f a GOT
O
statement
is not defi
ned.
C0C
DW
/IF
/IS/SL pair-en
d mismat
ch error
The branchin
g command s
ynt
ax is i
nval
id. C
orrespo
nd
ence
w
ith th
e last a
ppe
arin
g
branc
hin
g com
m
and is i
nvali
d
w
hen EDIF
, EDDO or EDSL i
s used. Check
the
correspo
nd
enc
e bet
w
een IF
/IS command a
nd EDIF
, DO co
mmand a
nd E
DDO or SLCT
co
m
m
an
d a
nd
E
D
SL
.
C0D
DW
/IF
/IS/SL no pair-e
nd err
or
EDIF
, EDDO o
r EDSL is
not foun
d. Check th
e corresp
ond
en
ce bet
w
een I
F/IS command
and EDIF
, DO command
and
EDDO or SLC
T command an
d EDSL.
C0E
BGSR no pair-
end err
or
There is no EDSR for BGSR,
or no BGSR for EDSR. Check
the correspo
ndenc
e bet
w
een
BGSR and ED
SR.
C0F
DO/IF/IS over-nesting error
The number of nests in a
DO or IF/IS comm
and ex
ceeds the limit value. Check for
exc
essive
nesti
ng or bra
nchi
ng out of or
into
the s
ynta
x usin
g a GOT
O
command.
C10
SLCT
over-nes
ting error
The number of nests in a SL
C
T command e
xceeds the l
imit value. C
heck for exc
essiv
e
nestin
g or bran
ching
out of or into
the s
ynta
x
using
a GOT
O
command.
C
11
Su
br
out
in
e o
ve
r-n
es
tin
g
er
ro
r
Th
e n
um
be
r o
f n
es
ts
in
a
s
ubr
outin
e e
xcee
ds
the limit valu
e. Check for e
xc
essive n
esting
or branc
hin
g o
ut of or into the
s
ynta
x us
ing a
GOT
O
command.
C12
DO/IF/IS under
-nesting error
The EDIF
or E
DDO po
sition is inva
lid. Chec
k
the correspondence bet
w
een IF/IS comma
nd
and EDIF
or D
O
command a
nd EDDO, or b
ranchi
ng o
ut of or into the s
yn
tax usi
ng a
GOT
O
command.
C13
SLCT
under-n
esting err
or
The EDSL posi
tion is inv
ali
d. Check the corr
espo
nde
nce b
et
w
ee
n SLCT
and EDS
R
, or
branc
hin
g out of or into the
sy
nt
ax
us
in
g a
G
O
TO
c
om
m
an
d.
C14
Subro
utine u
nd
er-nestin
g erro
r
The EDSR position is in
va
lid.
Check
the
corr
espo
nde
nce
be
tw
ee
n
BGSR
and
EDS
R
, or
branc
hin
g out of or into the
sy
nt
ax
us
in
g a
G
O
TO
c
om
m
an
d.
C15
SLCT
next-ste
p comman
d c
od
e e
rror
The program step ne
xt
to SLCT must be WH
EQ, W
H
N
E,
W
H
G
T,
W
H
G
E,
W
H
LT
, W
H
LE
,
WSEQ,
WSNE, O
THE or ED
SL.
C
16
C
re
at
e s
ta
ck
fa
ile
d
In
iti
al
iz
at
io
n o
f t
he
in
pu
t-c
on
di
tio
n-s
tatus stor
age stuck has f
aile
d.
C17
Exte
nsio
n-con
dition c
ode err
or
Input progr
am step error. T
he exte
nsio
n con
dition c
ode is i
nvali
d.
C18
Exte
nsio
n-con
dition
LD
simul
taneo
us
proce
ssing
ov
er
error
The number of LDs proc
essed
simultan
eous
ly
e
xce
eds the l
imit value.
C19
Exte
nsio
n-con
dition
LD short
age err
or 1
There is
no
t e
no
ug
h L
D
w
he
n
ex
te
ns
io
n c
on
di
tio
n A
o
r O
is
u
sed
.
C1A
Exte
nsio
n-con
dition
LD short
age err
or 2
There is not
e
no
ug
h L
D
w
he
n
ex
te
ns
io
n c
on
di
tio
n A
B o
r O
B i
s u
se
d.
505