IAI TTA Series, Инструкция по эксплуатации

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Chapter 6 Error List
6.2 Error List (MAIN
Application)
223
Error No.
Error name
De
scription, action, etc.
B74
CP
op
eratio
n li
m
it band vi
olati
on error (PT
P, j
og
avail
ab
le for ea
ch a
xis)
There
w
as a
n i
nvasi
on d
etected
in the C
P o
perati
on lim
it band.
PT
P
operation a
nd
job o
perati
on
of each a
xis
are avai
lab
le.
* SCARA
only
.
B75
Sing
ular
ity
ca
lc
ulati
on error
CP
calcu
lati
on
cann
ot be con
duct
ed as it is the sin
gul
arit
y.
C
heck if there i
s an
y
prob
lem
to the
coord
inates
du
e to such as th
e 2nd arm h
om
e positi
on.
* SCARA
only
.
B77
Current arm s
ystem setting er
ror
The arm sy
ste
m to be set and t
he
2n
d arm actual a
ng
le do
not ma
tch
w
ith
each oth
er
, or
coord
inates
are not defi
ned.
* SCARA
only
.
B78
Current arm s
ystem undefi
ne
d error
Current arm s
ystem is not defi
ned
yet.
* SCARA
only
.
B7B
Ta
rget track error in
keep-out area at back
The t
arget position or the trac
k
of
th
e
m
ove
m
en
t i
s
in
th
e
ke
ep
-out are
a at the back sid
e.
* SCARA
only
.
B7C
Ta
rget track error in CP
o
perat
ion limit
band (PTP
, jog
avail
ab
le for ea
ch a
xis)
The t
arget position or the trac
k
of the movement is in CP
o
pera
tion lim
it band.
PT
P
oper
ation a
nd
job o
perati
on o
f each a
xis are
avail
ab
le.
* SCARA
only
.
B7D
Ph
ys
ica
lly
unfe
asibl
e t
arget er
ror
Unre
alistic t
arg
et consid
erin
g
th
e
co
ns
tru
ct
io
n
of
th
e
le
ng
th
s
of the 1st and
2nd arms
w
as
indic
ated.
Ch
eck “Each
Axis
Parameter N
o. 138
Arm Le
ngt
h” and the t
arg
et v
alue.
* SCARA
only
.
B7F
Servo use p
urp
ose error
The purpose of
the servo use i
s not
ordinary
.
B8
0
In
di
ca
tio
n
pr
oh
ibited axes error
It is an ax
is for
bidden to
indicate. Set an ax
is that i
s availa
ble to in
dic
ate.
B81
Each a
xis PT
P
multipl
e a
xes i
ndic
ation
error
Ea
ch
a
xi
s
PT
P
op
er
at
io
n
on
m
ultipl
e a
xes
w
as indic
ated.
Ea
ch a
xis PT
P
operatio
n is avai
labl
e to
indic
ate o
nl
y o
ne a
xis.
* SCARA
only
.
B82
Jog multi
ple a
xes ind
icatio
n er
ror
Jog an
d inc
hin
g oper
atio
ns ar
e i
nd
icate
d on
severa
l a
xes. Jog a
nd
inc
hin
g oper
ations
are
avail
ab
le o
nl
y
on on
e a
xis.
B84
Arm length err
or
There is an error
in the arm le
ngth.
C
heck i
n “Each
Axis Par
ameter No. 13
8
Arm Length”.
* SCARA
only
.
B85
Operatio
n st
art pos
itio
n acq
uir
ement e
rror i
n app
licati
on
servo use
w
ork
area
The operatio
n st
art pos
ition i
n the appl
icati
on
servo use
w
or
k
area can
not
be acq
uire
d.
B86
SEL
PT
R
Q co
mmand pr
epro
cessin
g error
The PT
RQ command setti
ng
is
abnor
m
al. C
heck the settin
g for abn
orm
ali
ty
, such as dev
ia
tion
from the allo
w
able ra
nge.
B87
Ta
rget tracking in tool dat
um point keep-
out circle error
The t
arget position or the trac
k of the movement is in the tool
d
atum po
in
t keep-out circl
e.
* SCARA
only
.
B88
Log
ic error in e
ffective t
arget d
at
a calcu
latio
n
Internal l
ogic
error has be
en i
ssued d
urin
g ef
fective t
arget d
at
a calcu
la
tion.
B89
SCARA
CP
logic error
Internal l
ogic
error
w
as detect
ed dur
ing S
C
AR
A
CP
process
.
* SCARA
only
.