Yamaha RCX240, User Manual

Page: 531 / 620

A-8
TROUBLESHOOTING
A
TROUBLESHOOTING
A-9
[ 2] Robot operating area errors
2.7 : Illegal Pallet parameter
Code : &H0207
Meaning/Cause Action
Calculation for setting pallet definition
failed. Set pallet definition correctly.
2.8 : Movable range cal. failed
Code : &H0208
Meaning/Cause Action
a. Calculation of movement path failed.
b. Current position is not within movement
range. 1. Change to a correct movement
point.
2. Change current position to within
movement range.
2.9 : Overlap soft limit
Code : &H0209
Meaning/Cause Action
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. 1. Set the soft limit values correctly.
2. Set the soft limit values so that the
movement range of the arm is less
than 1 rotation.
2.10 : Exceeded movable range
Code : &H020A
Meaning/Cause Action
Area is outside the movable range of
movement path. 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 Action
Shift coordinate range ? value was
exceeded. 1. Change the operating position of ?
value to within the shift coordinates
range.
2. Change shift coordinates range ?
value.