Yamaha RCX222, User Manual

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9-6 9-7
Chapter
9
TROUBLESHOOTING
2.8 : Movable range cal. failed
Code : &H0208
Meaning/Cause : a. Calculation of movement path failed.
b. Current position is not within movement range.
Action : 1. Change to a correct movement point.
2. Change current position to within movement range.
2.9 : Overlap soft limit
Code : &H0209
Meaning/Cause : On SCARA robots, the sum of the absolute values for the X-axis
(or Y-axis) minus soft limit and the X-axis (or Y-axis) plus soft
limit is making the arm move 1 rotation or more.
Action : 1. Set the soft limit values correctly.
2. Set the soft limit values so that the movement range of the
arm is less than one rotation.
2.10 : Exceeded movable range
Code : &H020A
Meaning/Cause : Area is outside the movable range of movement path.
Action : 1. Set movement points correctly.
2. Specify movement path to be within the movable range.
2.11 : ? exceeded shift coord. range
Code : &H020B
Meaning/Cause : Shift coordinate range ? value was exceeded.
Action : 1. Change the operating position of ? value to within the shift
coordinates range.
2. Change shift coordinates range ? value.
2.17 : Arch condition bad
Code : &H0211
Meaning/Cause : On SCARA robots and XY robots, arch motion is not used on X
and Y axes when arch position data is in mm units.
On SCARA robots, arch motion is not used on X and Y axes
when target position data is in mm units.
Action : Change to correct arch motion command.
2.18 : RIGHTY now selected
Code : &H0212
Meaning/Cause : On SCARA type robots, the arm will now use the right-handed
system for starting Cartesian movement.
Action : ---
[ 2] Robot operating area errors