IAI MSEL, Инструкция по эксплуатации, Страница: 189 / 234

Chapter 6
Troubleshooting
181
In the panel window, the error numbers follow E in the display.
Error No. Error name Description, action, etc.
CB0 Mismatched valid axes for
palletizing 3-point teaching
position data
The valid axis patterns do not match in the position data
for palletizing 3-point teaching.
CB1 Offset setting error at palletizing
3-point teaching
Zigzag offset (not zero) cannot be set in palletizing 3-point
teaching, if the reference point is the same as the end
point of the PX-axis.
CB2 BGPA/EDPA pair-end mismatch
error
The BGPA/EDPA syntax is invalid. EDPA was declared
before BGPA, or another BGPA was declared after BGPA
without first declaring EDPA.
CB4 Arch-motion Z-axis
non-declaration error
Z-axis has not been declared by PCHZ or ACHZ.
CB5 BGPA non-declaration error
during palletizing setting
Palletizing setting cannot be performed without first
declaring BGPA.
Declare BGPA.
CB6 Palletizing point error The palletizing points are invalid (non-Z-axis components
are absent, etc.).
CB7 Arch-trigger non-declaration error Declare arch triggers using PTRG or ATRG.
CB8 No 3-point teaching setting error
at palletizing angle acquisition
The palletizing angle cannot be acquired until setting by
palletizing 3-point teaching is complete.
CB9 PX/PY-axis indeterminable error
at palletizing angle acquisition
Angle cannot be calculated because there are too many
valid axes in the 3-point teaching data and thus
PX/PY-axes cannot be specified.
CBA Reference-axis/PY/PY-axis
mismatch error at palletizing
angle acquisition
Angle cannot be calculated because the reference axis for
angle calculation is neither of the axes comprising the
PX/PY-axes as set by 3-point teaching.
CBB Reference-point/PX-axis
end-point duplication error at
palletizing angle acquisition
Angle cannot be calculated because the reference point of
3-point teaching is the same as the PX-axis end-point data
other than the PZ-axis component and thus arc tangent
cannot be calculated.
CBC Palletizing motion calculation
error
Trapezoid control calculation error for palletizing motion
CBD MOD command divisor 0 error “0” was specified as the divisor in the MOD command.
CBE Target-locus boundary over error The target position or movement locus exceeded the
positioning boundary in the infinite-stroke mode.
* Cartesian axis only.
CBF Positioning distance overflow
error
The positioning distance is too large.
CC0 Axis mode error The axis mode is invalid.
CC1 Speed change condition error An attempt was made to change the speed of an axis
whose speed cannot be changed (axis operating in
S-motion, etc.).
CC2 Driver parameter list number error The driver parameter list number is invalid.
CC3 Angle error
The angle is invalid.
CC4 SEL data error The SEL data is invalid.
CC5 Positioning boundary pull-out
error
An attempt was made to execute a command not
permitted outside the positioning boundary
CC6 Driver error primary detection A driver error was found by primary detection.
CC7 Palletizing movement PZ-axis
pattern non-detection error
PZ-axis component is not found in the axis pattern during
palletizing movement.
CC8 Arch top Z-axis pattern
non-detection error
Z-axis component relating to the highest point of arch
motion is not found in the axis pattern during arch motion
operation.
Operatio
n-can
cellati
on l
evel
errors
CC9 Arch trigger Z-axis pattern
non-detection error
Z-axis component relating to arch motion is not found in
the axis pattern of the arch-trigger declaration point data.