IAI MSEL, Инструкция по эксплуатации, Страница: 181 / 234

Chapter 6
Troubleshooting
173
In the panel window, the error numbers follow E in the display.
Error No. Error name Description, action, etc.
B4D Arm system setting error There is an error in the setting of the arm system. When
the target arm system data is set to the position to make
SCARA CP operation (such as linear support and arc
support operations), the current arm system and the target
arm system of position will differ from each other. In such
a case, make the current arm system and the target arm
system of position the same.
* It is an error only for SCARA
B4E Position gain switchover error The position gain could not get switched. The followings
are concerned as the cause;
• Position gain switchover was tried on such axis as in
operation or in pressing.
• Program was terminated during position gain
switchover.
• The actuator cannot be re mained in the positioning band
due to the generation of vibration.
etc.
B70 Coordinate system definition data
sum check error
The coordinate system definition data is destroyed.
B71 Coordinate system number error The coordinate system number is invalid.
B72 Coordinate system type error The coordinate system type is invalid.
B73 Coordinate system data change
forbidden error during servo use
The coordinate system data the servo is currently using is
forbidden to change.
B74 CP operation limit band violation
error (PTP, jog available for each
axis)
There was an invasion detected in the CP operation limit
band. PTP operation and job operation of each axis are
available.
* It is an error only for SCARA
B75 Singularity calculation error CP calculation cannot be conducted as it is the singularity.
Check if there is any problem to the coordinates due to
such as the 2nd arm home position.
* It is an error only for SCARA
B77 Current arm system setting error The arm system to be set and the 2nd arm actual angle do
not match with each other, or coordinates are not defined.
* It is an error only for SCARA
B78 Current arm system undefined
error
Current arm system is not defined yet.
* It is an error only for SCARA
B79 R- axis servo-OFF detection error
during posture control adjustment
It was detected that the serv o has been turned OFF on the
R-axis during the posture control adjustment.
* It is an error only for SCARA
B7B Target track error in keep-out area
at back
The target position or the track of the movement is in the
keep-out area at the back side.
* It is an error only for SCARA
B7C Target track error in CP operation
limit band (PTP, jog available for
each axis)
The target position or the track of the movement is in CP
operation limit band. PTP operation and job operation of
each axis are available.
* It is an error only for SCARA
B7D Physically unfeasible target error Unrealistic target considering the construction of the
lengths of the 1st and 2nd arms was indicated. Check
“Each Axis Parameter No. 138 Arm Length” and the target
value.
* It is an error only for SCARA
B7F Servo use purpose error The purpose of the servo use is not ordinary.
Operatio
n-can
cellati
on
le
vel
errors
B80 Indication prohibited axes error It is an axis forbidden to indicate . Set an axis that is
available to indicate.