Yamaha CEmarking RCX221, User Manual

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9-6
Chapter
9
TROUBLESHOOTING
[ 2] Robot operating area errors
2.1 : Over soft limit
Code : &H0201
Meaning/Cause : Soft limit value preset in the parameter for operation position
was exceeded.
Action : 1. Change the operating position to within the soft limits.
2. Change the soft limit value.
2.2 : Std. coord. doesn't exist
Code : &H0202
Meaning/Cause : Setting of standard coordinates is incomplete.
Action : 1. Set the standard coordinates.
2. Set the parameter arm length and offset pulse.
2.3 : Coordinate cal. failed
Code : &H0203
Meaning/Cause : a. Preset calculation for setting standard coordinates is not
functioning.
b. Operating position exceeded the operating area range.
Action : 1. Set the standard coordinates correctly.
2. Change operating position to within operating area.
2.5 : Shift cal. failed
Code : &H0205
Meaning/Cause : Calculating for setting shift coordinates failed.
Action : Set shift coordinates correctly.
2.6 : Hand cal. failed
Code : &H0206
Meaning/Cause : Calculation for setting hand definition failed.
Action : Set hand definition correctly.
2.7 : Illegal Pallet parameter
Code : &H0207
Meaning/Cause : Calculation for setting pallet definition failed.
Action : Set pallet definition correctly.
[ 2] Robot operating area errors