Yamaha RCX240, User Manual

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A
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TROUBLESHOOTING
[ 6] Robot language execution errors
TROUBLESHOOTING
A-27
6.5 : Coordinate type error
Code : &H0605
Meaning/Cause Action
a. Arithmetic operations of joint coordinate
point data and Cartesian coordinate
point data were attempted.
b. Joint coordinate system and Cartesian
coordinate system were mixed together
within the MOVE C, command point data.
c. Point data in PMOVE command was
not specified in Cartesian coordinates. 1. Change to same coordinate system.
2. Change to Cartesian coordinate
system.
6.6 : Subscript out of range
Code : &H0606
Meaning/Cause Action
A subscript of an array variable has
exceeded the range defined in DIM
statement. Change the subscript of array variable
to within the defined range.
6.7 : RETURN without GOSUB
Code : &H0607
Meaning/Cause Action
RETURN command was executed without
executing the GOSUB command. Confirm execution of GOSUB
command.
6.8 : END SUB without CALL
Code : &H0608
Meaning/Cause Action
END SUB command was executed
without executing CALL command. Confirm execution of SUB command.
6.9 : EXIT SUB without CALL
Code : &H0609
Meaning/Cause Action
EXIT SUB command was executed
without executing CALL command. Confirm execution of SUB command.
6.10 : SUSPEND without START
Code : &H060A
Meaning/Cause Action
SUSPEND command was executed for a
task not executed by START command. Confirm execution of START
command.