Yamaha CEmarking RCX221, User Manual

Page: 431 / 468

9-25
Chapter
9
TROUBLESHOOTING
6.27 : PATH without SET
Code : &H061B
Meaning/Cause : Any of PATH L, PATH C and PATH END was executed without
executing PATH SET.
Action : First execute PATH SET when setting a path.
6.28 : PATH without END
Code : &H061C
Meaning/Cause : PATH START was executed without executing PATH END.
Action : Execute PATH END to end the path setting and then execute
PATH START.
6.29 : No PATH data
Code : &H061D
Meaning/Cause : No path is set for PATH motion.
Action : Set a path with PATH L and PATH C. The previously set path
will be lost in the following cases:
• When PATH SET is executed.
• When program is changed.
• When program is reset.
• When controller power is turned off.
6.30 : Too many PATH data
Code : &H061E
Meaning/Cause : The number of PATH motion paths has exceeded 300.
Action : Reduce the number of PATH motion paths to 300 or less in
total of straight lines and circular arcs.
6.31 : Not PATH start position
Code : &H061F
Meaning/Cause : Robot's current position is not the start position of PATH motion.
Action : Move the robot to the start position specified with PATH SET
and then execute PATH START.
6.32 : PATH execute error
Code : &H0620
Meaning/Cause : Cannot execute PATH motion.
a. Acceleration zone distance is too short.
b. Speed is too high in the position where the direction changes.
Action : 1. Reduce the speed setting.
2. Lengthen the straight line or circular arc distance containing
acceleration/deceleration.
3. Make setting so that the direction at the connection point of
straight lines does not change greatly.
[ 6] Robot language execution errors