IAI X-SEL PX, Operation Manual, Page: 536 / 560

509
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.
CB9
PX/PY-a
xis ind
etermina
bl
e err
or at pall
et
izin
g angl
e acq
uisi
tion
Angl
e cann
ot b
e calcul
ated
be
cause
ther
e
ar
e
too
man
y
val
id
a
xe
s i
n t
he
3
-p
oi
nt
teachi
ng dat
a and thus P
X/P
Y-ax
es can
not be spec
ified.
CBA
Reference-axis
/PY/PY-ax
is mism
atch error at
palletiz
in
g ang
le
acquis
itio
n
Angl
e cann
ot b
e calcul
ated b
ec
ause the re
fe
ren
ce
a
xis
fo
r a
ng
le
c
al
cu
la
tio
n i
s
neith
er of the a
xes com
prisi
ng
the PX
/PY-a
xes as set b
y 3-
point teac
hin
g.
CBB
Refere
nce-p
oi
nt/PX-a
xis end
-point
d
up
lic
at
io
n e
rro
r a
t p
al
le
tiz
ing
angl
e acq
uisiti
on
An
gl
e c
an
no
t b
e c
al
cu
la
te
d b
ec
au
se
th
e r
ef
er
ence p
oint of 3
-point teac
hin
g is the
same as the P
X-a
xis en
d-po
in
t data other
th
an the PZ
-a
xis
compo
nent an
d thus arc
ta
ng
en
t c
an
no
t b
e c
al
cu
la
te
d.
CBC
Palletiz
in
g moti
on calc
ulati
on
error
Tr
apezoid
cont
rol calcu
latio
n
error for pall
eti
zing moti
on
CBD
MOD comman
d divisor
0 erro
r
“0”
w
as spec
ifi
ed
as
the
div
is
or
in
the
MOD
command.
CBE
Ta
rget track bound
ar
y
over err
or
The target position or movem
ent locus
ex
ce
eds the pos
itio
ning
bou
nd
ar
y
in the
infinite-strok
e
mode. Cartes
ia
n axis on
ly
.
C
BF
Po
si
tio
ni
ng
d
is
ta
nc
e o
ve
rfl
ow
e
rro
r
Th
e p
os
iti
on
in
g d
is
ta
nc
e i
s t
oo
la
rg
e.
If,
w
ith
an abs
olute enc
oder s
pecification,
this error occurred
after relocating the
sy
stem or
w
he
n an “Error No.
C74, Actual
-p
osition s
oft limit over error” is also
prese
nt, a servo packet calc
ul
ation ov
erflo
w
ma
y h
ave occ
urred du
e to an i
nvali
d
current pos
itio
n beca
use a
n absol
ute rese
t w
as not e
xec
uted correctl
y. E
xec
ute an
absol
ute reset
agai
n b
y foll
ow
ing the
pr
oced
ure in the o
per
ation ma
nua
l.
(“Resetting
an
enco
der error”
in the abs
olut
e reset
w
in
do
w
a
lone
w
ill n
ot ca
use the
controll
er to re
cogniz
e the cur
rent posit
ion
co
rrectl
y.
Al
w
ays
execute
an
abs
olute
reset b
y fo
llo
w
ing the spec
ifie
d proce
dure.)
CC0
Axis mo
de err
or
The axis mod
e is invali
d.
CC1
Spee
d cha
nge
conditi
on err
or
An attempt
w
as made to
cha
nge the sp
ee
d of an a
xis
w
ho
se spee
d can
not be
chan
ged (a
xis oper
ating i
n S-motion, etc.).
CC2
Driver par
amet
er list numb
er error
The
driver para
m
eter list num
ber is inv
alid.
CC3
Angl
e error
The angle is in
valid.
C
C
4
SE
L d
at
a e
rro
r
Th
e S
EL
d
at
a i
s i
nv
al
id
.
C
C
5
Po
si
tio
ni
ng
b
ou
nd
ar
y
pu
ll-
ou
t e
rro
r
An
a
tte
m
pt
w
as
m
ad
e t
o e
xe
cu
te
a
c
om
m
an
d n
ot
p
er
m
itt
ed
o
ut
si
de
th
e
po
si
tio
ni
ng
bou
ndar
y.
CC6
Driver error pr
im
ar
y d
etectio
n
A driver error
w
as foun
d b
y
pr
imar
y
detectio
n.
CC7
Palletiz
in
g
mov
ement
PZ
-a
xis
pattern
no
n-d
etection
err
or
PZ
-a
xis com
po
nent is not fou
nd in the a
xis p
attern duri
ng p
alletiz
ing mov
ement.
C
C
8
Ar
ch
to
p Z
-a
xi
s p
at
te
rn
n
on
-de
te
ct
io
n e
rro
r
Z-
ax
is
c
om
po
ne
nt
relati
ng to the hi
ghest p
oin
t of arch motion is not foun
d i
n t
he a
xis
pattern dur
ing
arch motio
n op
eratio
n.
CC9
Arch trigger Z
-axis pattern n
on
-detecti
on err
or
Z-
axis com
pon
ent relati
ng to arch motio
n is not found i
n th
e axis pattern
of the
arch-trigg
er de
claratio
n po
int data.
CCA
Arch top/end-
po
int reversi
ng
error
The coordinate
s of
highest p
oi
nt and en
d po
in
t are reverse
d durin
g arch m
otion
oper
ation.
510
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.
CCB
Arch start-point
/trigger reversi
ng error
The coordinate
s of
start point and start-po
int arch trigg
er are
reversed d
urin
g ar
ch
m
ot
io
n o
pe
ra
tio
n.
CCC
Arch end-
point/trigger revers
ing error
The coordinates of end point
and end-point
arch trigger
are
reversed
during
arch
motion o
perati
on.
CCD
Drive
-so
urce c
utoff ax
is u
se error
An
a
tte
m
pt
w
as
made to use
an ax
is
w
hose
drive source is
cut off.
CCE
Error axis use
error
An attempt
w
as made to
use
an a
xis curr
entl
y ge
ner
ating a
n error.
CCF
Palletiz
ing reference-point/v
alid-ax
is mismatc
h error
The PX
/PY(/PZ)-ax
es se
t by
PASE/PCHZ are not valid in the ax
is patter
n of the
referenc
e-po
int
data set b
y PA
ST
.
512