Yamaha RCX40, User Manual

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9-
7
9
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roubleshooting
1. Error Messages
2.10 : Exceeded movable range
Code : &H020A
Meaning/Cause : Area is present 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
: When target point and arch position data are in mm units, arch
motion is not used on X and Y axes.
Action : Change to correct arch motion command.
2.18 : RIGHTY now selected
Code
: &H0212
Meaning/Cause
: On SCARA type robots, the arm will use the right-handed system
for starting Cartesian movement.
Action : ---
2.19 : LEFTY now selected
Code
: &H0213
Meaning/Cause : On SCARA type robots, arm will use the left-handed system for
starting Cartesian movement.
Action : ---
2.20 : Illegal hand type
Code
: &H0214
Meaning/Cause : An R-axis hand definition was attempted on a robot not having an
R-axis.
Action : 1. Change to Y-axis hand definition.
2. Do not use a hand definition.
2.22 : Arm length is 0
Code : &H0216
Meaning/Cause : When arm length setting is 0 on SCARA type robots, movement
on Cartesian coordinates was attempted.
Action : 1. Set standard coordinates.
2. Set the arm length parameter.