Omron R6YXC1000, User Manual, Page: 193 / 260

A
Troubleshooting
A-11
2.338 : PATH execute error
Code : &H0002 &H0152
Meaning/Cause
a. The PATH motion cannot be executed.
b. The acceleration/deceleration zone distance is too short.
c. The speed is too high at the position where the direction changes.
Action
a. Reduce the speed setting.
b. Lengthen the straight line or circular arc distance containing acceleration/deceleration.
c. Set the speed so that the direction at the connection point of straight lines does not change
greatly.
2.339 : Start position changed by other task
Code : &H0002 &H0153
Meaning/Cause The start position was changed by other tasks.
Action Check the start position of the target task and change the position as needed.
2.340 : Target position changed by other task
Code : &H0002 &H0154
Meaning/Cause The target position was changed by other tasks.
Action Check the target position of the target task and change the position as needed.
2.341 : Illegal axes (R axis shift exist)
Code : &H0002 &H0155
Meaning/Cause
The operation was executed with specifying either X or Y-axis while selecting the shift
coordinates for the R-axis rotation.
Action Change the program so that the operation is executed with specifying both X and Y-axis.
2.342 : Illegal hand type
Code : &H0002 &H0156
Meaning/Cause The hand definition of R-axis attachment was used to the robot without R-axis attachment.
Action
• Change to the hand definition of Y-axis attachment.
• Quit to use the hand definition.
2.343 : Illegal axes (R selected hand)
Code : &H0002 &H0157
Meaning/Cause
a. Tool coordinate jog operation was executed for the auxiliary axis.
b. Tool coordinate jog operation was executed while "R-axis orientation hold" is invalid.
Action
a. The auxiliary axis cannot be jog-operated on tool coordinate.
b. Set "R-axis orientation hold" of the robot parameter to "VALID".
2.346 : Illegal axes (tracking)
Code : &H0002 &H015A
Meaning/Cause
a. Tracking cannot be executed with this axis configuration.
b. "CTDRIVE" or "CTMOVE" command with specifying the Z-axis operation command was
executed for the robot without Z-axis.
Action
a. Check the robot axis configuration.
b. Change the program so that "CTDRIVE" or "CTMOVE" command with specifying the Z-axis
operation command cannot be executed for the robot without Z-axis.