IAI PSEL, Руководство по эксплуатации

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451
Appendix
(In the panel window, the three digits after “E” indicate
an error number.)
Error No.
Error name
Description, ac
tion, etc.
CA6
Palletiz
ing num
ber error
T
he specified palletiz
ing
number is inval
id.
CA7
Setting error of
even-number
ed ro
w
c
o
unt for palletiz
ing zigz
ag
T
he set even-numbered ro
w
c
ount for pal
letiz
ing zigz
ag is i
nvalid.
CA8
Setting error of
palletiz
ing pitc
hes
T
he set palletiz
ing pitc
hes are
abnormal.
CA9
Setting error of
placem
ent poi
nts in pal
letizi
ng-axis dir
ectio
n
s
T
he set X/Y-axis directio
n cou
nts for palletiz
ing are i
n
va
lid.
CAA
Palletiz
ing PASE/PAPS non-
declar
ation err
or
Neither PASE
nor
PAPS palletizing-setting c
o
mmand is s
e
t. Set either com
mand.
CAB
Palletiz
ing posi
tion num
ber err
or
T
he specified palletiz
ing
positi
on num
ber is i
n
vali
d.
CAC
Palletiz
ing posi
tion num
ber setting over
T
he specified palletiz
ing
positi
on num
ber exc
eeds the positi
on num
ber range
calcul
ated for the current pall
etizing s
e
tting.
CAD
Palletiz
ing PX/
PY/PZ-axis duplicati
on err
or
Any
t
w
o
of the
specified P
X
, PY and PZ-axes
for palletizi
ng
are the same ax
is.
CAE
Insufficient val
id
axes for pal
le
tizing 3-
poi
nt teachin
g data
T
here are not enough valid
ax
es i
n
the point
data for pall
eti
zing 3-
poi
nt teaching.
Axes to com
pri
se the pal
letizi
ng P
X
/PY pla
n
es cann
ot be s
pecifie
d.
CAF
Excess
ive vali
d axes for pal
letizing 3-
poi
nt teaching data
T
here are too man
y
v
a
lid a
x
e
s
in the poi
nt d
a
ta for pall
etizi
ng
3-point teac
hing.
Axes to com
pri
se the pal
letizi
ng P
X
/PY pla
n
es cann
ot be s
pecifie
d.
CB0
Mismatched v
a
lid axes for pall
etizing
3-point teachi
ng data
T
he valid ax
is
pattern in the
point data for palletizi
ng 3-poi
n
t teaching does not
match.
CB1
Offset setting error at palletizing 3-point teaching
Zigzag offset (not zero) canno
t be set in palletizing
3-point teaching
, if the
referenc
e poi
nt is the same as
the end p
o
int
of the PX-a
xis.
CB2
BGPA/EDPA pair-end mismat
ch error
T
he BGPA/ED
PA s
y
ntax
is
invalid. EDPA
w
a
s declared before BGPA, or
another
BGPA
w
a
s dec
lared
after BGPA
w
ithout first declaring EDP
A.
CB4
Arch-motion Z-
axis non-dec
lar
ation err
or
Z-axis has not
been decl
ared
by
PC
HZ or ACHZ.
CB5
BGPA non-dec
laration error during
pal
letizi
ng setting
Palletiz
ing setting cannot be performed
w
ithout first declaring BGPA.
Declare
BGPA.
CB6
Palletiz
ing poi
nt error
T
he palletizi
ng
points ar
e inva
lid (no
n-Z-axis compo
nents fo
r arch-motion
movement ar
e absent, etc.).
CB7
Arch-trigger n
o
n
-decl
arati
on e
rror
Declar
e arch tri
ggers us
ing PT
RG or AT
RG.
CB8
No 3-point teac
hing s
e
tting err
or at pall
etizing angl
e acquis
iti
on
T
he palletizi
ng
angl
e cannot be acquired until
setting b
y
pal
le
tizing 3-point
teaching is complete.
CB9
PX/PY-a
xis ind
etermina
bl
e err
or at pall
etizin
g
angl
e acqu
isit
ion
Angl
e cannot be calcul
ated b
e
c
ause ther
e ar
e too man
y
val
id axes in the
3-point
teachi
ng dat
a and thus P
X
/P
Y-axes can
not be spec
ified.
CBA
Reference-axis
/PY/PY-ax
is mismatch error at
palletiz
ing angle
acquis
ition
Angl
e cannot be calcul
ated because the refer
ence a
x
is for angle c
a
lcu
latio
n is
neither of the ax
es com
prising the PX
/PY-axes as set by
3-
point teac
hing.
CBB
Refere
nce-p
oi
nt/PX-a
xis end
-point dupl
icati
on error at pall
etizing
angl
e acq
uisiti
on
Angl
e cannot be calcul
ated because the refer
ence p
o
int of 3
-point teac
hin
g
is the
same as the P
X
-a
xis en
d-po
in
t data other
than the PZ-a
xis
component and thus
arc tangent cannot be calcul
ated.
CBC
Palletiz
ing moti
on calc
ulati
on
error
T
rapezoid cont
rol calcu
latio
n
error for pall
eti
zing moti
on
CBD
MOD command divisor
0 error
“0”
w
a
s specifi
ed as the div
is
or in the MOD command.