IAI TTA Series, Инструкция по эксплуатации

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Chapter 6 Error List
6.2 Error List (MAIN
Application)
228
Error No.
Error name
De
scription, action, etc.
C70
ABS Coordinat
es Undefined
Error
[Detail & Ca
us
e]
The absolute c
oord
inat
es
are
not defin
ed.
1) T
he servo on th
e
pu
ls
e motor
batter
y-
less
ABS ax
is is not tu
rned on.
2)
O
pe
ra
tio
n
w
as
s
ta
rte
d
af
te
r absol
ute reset
w
ith
out hav
in
g th
e soft
w
ar
e reset and reboot of the
po
w
er.
3) Absol
ute res
et has
not be
en
cond
ucted.
4) An a
xis
w
as
m
oved b
y suc
h
as
an e
xtern
al
force at the startu
p
of
th
e
co
ntr
ol
le
r.
(C
6C
E
rro
r
occurred at th
e same time)
5) Absolut
e data in the encoder
w
as lost. (A
n error such as BOF
Error occ
urred at the same time)
[Counterm
eas
ure]
1) T
he pulse motor batter
y-les
s
ABS ax
is defines
the coordinate
s
w
hen the
servo gets turned o
n
at the first time.
Tu
rn
th
e
se
rv
o
on
.
2) Conduct the soft
w
ar
e reset
and reboot the po
w
er.
3) Conduct the absolute reset
, and then hav
e the soft
w
are
reset
and reboot the po
w
er.
4) T
here is a concern that the ac
tuator or robot is moved by
a
n e
xtern
al for
ce such as a re
action
force of a stand-al
one ca
bl
e, vib
rati
on in th
e install
ed p
lac
e,
or interferenc
e to peripherals.
R
em
ov
e
a
ca
us
e
to
m
ov
e
th
e
ax
is
and conduct the soft
w
ar
e reset
or rebo
ot the po
w
er.
5) Conduct the absolute reset
, and then hav
e the soft
w
are
reset
and reboot the po
w
er.
C73
Ta
rget-locus soft limit over er
ror
The target posi
tion or movem
ent locus e
xc
eeds a soft limit.
* If this error occurr
ed
on a SCARA
axis, the axis may
not have
pos
itio
n da
ta
.
* F
or coordi
nat
e s
ystem d
efini
tion un
it axes, there i
s a co
nce
rn of an a
xis th
at the positi
on
dat
a
does n
ot e
xist.
C74
Actual-p
ositio
n
soft limit over error
The actual posi
tion e
xceeds a
soft limit by
the “so
ft limit/actual pos
ition mar
gin”
or mor
e.
C75
Motion-
data-p
acket gener
atio
n
log
ic error
The motion-dat
a-p
ack
et gen
er
ation l
ogic is i
nv
alid.
C76
Moveme
nt-pos
ition co
unt over
error
(O
ld
: M
ov
em
en
t-p
oi
nt
c
ou
nt
o
ve
r er
ro
r)
Too man
y pac
kets are gen
er
ated simu
ltan
eousl
y.
C77
Han
dli
ng-p
ack
et overflo
w
err
or
The servo han
dlin
g pack
ets o
verflo
w
ed.
C78
Motion-
data-p
acket overflo
w
e
rror
The servo motion data
pac
ket
s overflo
w
ed.
C
79
Po
le
sen
se
ope
ra
tion
e
rro
r
Operatio
n is di
sabl
ed in th
e p
ol
e se
nse mo
de
.
C
7A
Se
rv
o
un
su
pp
or
te
d
fu
nc
tio
n
er
ror
An attempt
w
as made to use
an uns
up
porte
d function.
C7B
Odd-pu
lse sli
de error
Inte
rnal servo calculation error
C7C
Odd-pu
lse pro
cessin
g log
ic e
rror
Internal serv
o calcul
atio
n err
or
C7D
Packet puls
e shortage error
Internal ser
vo calculation erro
r
C7E
Quadratic e
qu
ation so
luti
on
er
ro
r
An
e
rro
r w
as
d
et
ec
te
d
w
hi
le
calcul
atin
g a qu
adratic e
qu
atio
n soluti
on.
C7F
No vali
d spec
ifi
ed a
xis err
or
N
o vali
d a
xes
are spec
ified.
C80
Servo-p
acket calcul
atio
n lo
gic error
Internal
s
er
vo
c
al
cu
la
tion error
C81
Operatio
n-amo
unt log
ic duri
ng servo ON
Servo proc
essing log
ic error
C82
Servo dir
ect command t
ype er
ror
Servo proc
essi
ng lo
gic erro
r
C83
Servo calc
ulati
on
met
ho
d t
yp
e error
The servo calculati
on m
eth
od
type is i
nval
id.