IAI TTA Series, Инструкция по эксплуатации

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Chapter 6 Error List
6.2 Error List (MAIN
Application)
222
Error No.
Error name
De
scription, action, etc.
B26
Ethernet comm
unic
ation mo
de
error
A
communication mode error
.
Fo
llo
w
in
gs
c
an
be
co
ns
ider
ed
as a cause:
•
A
vision s
yste
m
operati
on co
mmand (SL
VS)
w
as
execute
d
to a ch
an
nel b
ein
g use
d for
communication (OPEN, CLO
S, READ or WRI
T)
.
•
A
co
m
m
un
ic
at
io
n
co
m
m
an
d
(O
PE
N
, C
LO
S,
R
EA
D
o
r W
R
IT
) w
as
e
xe
cu
te
d to a chann
el b
ein
g
used for vision
sy
stem I/F function.
A
communicati
on comma
nd (
O
PEN, CLO
S, READ or
W
R
IT
) and visi
on s
ystem operati
on
comman
d (suc
h as SL
VS) ca
nnot
be
used a
t the same time to one c
hann
el.
B27
Vi
sio
n s
ys
te
m specific
ation er
ror
The vision sy
st
em I/F
to be used
is dif
ferent from the vision s
ys
tem I/F currently
in use. Release
the vision s
yst
em I/F currently
in
use (SL
VS
command oper
ation
1 [0])), an
d then sp
ecif
y
the
vision s
ystem I
/F
to be used.
* Cartesi
an a
xi
s onl
y.
B28
Vi
sion sy
st
em I/F initia
lization
incomplete error
In
iti
al
iz
at
io
n
of the vision sy
st
em I/F i
s not y
et complete.
Check I/O p
arameter Nos. 160 to
164,351 to 357, all-
ax
is p
arame
ter N
o. 121 etc.
* Cartesi
an a
xi
s onl
y.
B29
Vi
sion sy
st
em I/F in use by
ot
her t
ask
The specified vision sy
stem I/F i
s currently
in use by
o
ther t
ask.
* Cartesi
an a
xi
s onl
y.
B2A
Vi
sion sy
st
em I/F imaging position problem error
The Z
-axis pos
ition at cal
ibrati
on dif
fers from
that
w
hen c
apt
uring image. When the camera is
fix
ed
on the r
obot, it
is nec
es
sary
to
h
av
e
the
Z
-a
xi
s
po
si
tio
n same at cali
bration a
nd
imag
e-captur
in
g. Check the p
ositio
ns at cali
bratio
n an
d image-c
apturi
ng,
and a
lso ch
eck
A
ll Axes
Common P
ara
meter No. 130
Bit 0 to 7 “Judg
ment Dist
anc
e”
.
* Cartesi
an a
xi
s onl
y.
B44
Loa
d mass setting err
or
The load mass
ex
ceeds the maximu
m loading cap
ac
ity
of the robot
. Check
the set mass.
* SCARA
only
.
B4B
“Loa
d mass ch
ang
e pro
hib
ite
d
w
hi
le
servo i
s in use”
error
The load mass
currentl
y
use
d
by
the serv
o system ca
nnot b
e chan
ge
d.
* SCARA
only
.
B4D
Arm s
ystem setting error
There is an error in the sett
in
g of the arm s
ystem. W
hen the t
arget arm sy
stem dat
a is set to the
positi
on to mak
e SCARA
CP
o
perat
ion (such
as lin
ear sup
po
rt and
arc sup
po
rt operati
ons),
the
cu
rre
nt
ar
m
s
ys
te
m
a
nd
th
e
ta
rg
et
a
rm
s
ys
te
m
o
f p
os
iti
on
w
ill
dif
fer from each oth
er
.
In such a
case, make the curren
t arm sy
stem and the t
arget arm sy
stem of
positio
n the same.
* SCARA
only
.
B4E
Positio
n gai
n s
w
itc
hov
er error
The position g
ain co
uld
not g
et s
w
itch
ed.
The follo
w
in
gs ar
e co
ncer
ne
d a
s the cause;
•
Positio
n gai
n s
w
itc
hov
er
w
as
tried on suc
h a
xis as i
n op
erat
ion or i
n pressi
ng.
•
Program
w
as
terminat
ed d
uri
ng
po
si
tio
n
ga
in
s
w
itc
ho
ve
r.
•
The actuator cann
ot be rema
ined i
n the pos
itioni
ng b
an
d du
e t
o the gen
era
tion of vibrati
on
.etc.
B70
Coor
din
ate s
ys
tem definiti
on
da
ta
sum check
error
The coord
in
at
e
sy
st
em
d
ef
in
iti
on dat
a is d
estro
yed.
B71
Coor
din
ate s
ys
tem number er
ror
The coordin
ate
s
ys
tem num
be
r is invalid.
B72
Coor
din
ate s
ys
tem type err
or
The coordin
ate
s
ys
tem t
yp
e is
invali
d.
B73
Coor
din
ate s
ys
tem dat
a chan
ge forbi
dd
en er
ror duri
ng
servo use
The coordin
ate
s
ystem dat
a th
e ser
vo is curr
entl
y usi
ng is forb
idde
n to ch
ang
e.