IAI X-SEL PX, Руководство по эксплуатации, Страница: 509 / 560

481
Appendix
(In the pan
el wind
ow, the thre
e digits
aft
er “E” in
dicate an erro
r nu
mber.
)
Error No.
Error name
Descripti
on, ac
tion, etc.
400
Mounte
d-SIO unop
en error (S)
An attempt
w
as made to use
a chan
nel th
at is not open.
401
Mounte
d-SIO in-use err
or
An attempt
w
as made to ope
n
a c
ha
nn
el
th
at
h
as
a
lre
ad
y
be
en
o
pe
ne
d b
y o
th
er
tas
k.
402
Mounte
d-SIO unop
en error (M
)
An attempt
w
as made to use
a chan
nel n
ot ope
ned b
y th
e appl
ica
ble task
.
403
Mounte
d-SIO
duplic
ate
WRIT
executi
on
erro
r
WRIT
commands
w
ere
ex
ecut
ed
simult
ane
ou
sl
y
by
mu
ltipl
e
tasks
for
the
same
chan
nel.
404
Mounte
d-SIO unuse
d chan
ne
l selectio
n error
An attempt
w
as made to
use
a chan
nel sp
ec
ified as “n
ot used” b
y a par
am
eter. Che
ck
I/O parameter Nos. 201, 213, etc.
406
Fl
ash bus
y res
et timeout
Error
erasin
g/
w
riting the flas
h ROM
407
Control c
onsta
nt table man
ag
ement inform
ation mismatch
error
The managem
ent informati
on
regardi
ng the
control
co
nstan
t table is inva
lid.
If this error
occurs
w
hen th
e control
ler is s
tarted,
the cont
rol consta
nt table ma
y n
eed t
o be
upd
ated.
408
Control c
onsta
nt table ID erro
r
The c
ontrol constant table ID
is inval
id.
409
Encod
er contro
l constant error
(po
w
er-so
urce
voltage co
ntrol
)
An enco
der co
ntrol cons
ta
nt relatin
g to po
w
er-source volta
ge
c
ontrol is i
nv
alid. T
he
enco
der po
w
er
-source volt
ag
e cann
ot be ad
justed
(the
en
coder
po
w
er
w
ill
be
supp
lie
d
w
ithout
vo
ltage
adjustme
nt).
40A
Encod
er po
w
er
-source volt
ag
e calcul
atio
n er
ror
The encoder
po
w
er-so
urce v
oltag
e cann
ot be ad
justed (th
e enco
der po
wer
w
ill
be
suppl
ie
d
w
itho
ut voltage a
dj
ustment).
C
he
ck
th
e “
m
ot
or
/e
nc
od
er c
on
fig
ur
at
io
n
in
fo
rm
at
io
n”
in
d
riv
er p
ar
am
et
er
N
o.
2
6 a
nd
e
nc
od
er
p
ar
am
et
er
No
. 1
1.
40B
Spee
d control
paramet
er calc
ulatio
n error
Check dr
iv
er parameter Nos.
38,
39, 40, 43,
44, 45, etc.
40C
Vision s
ystem i
nitial
izatio
n inc
omplet
e error
Initializ
atio
n
of the visio
n s
yst
em is not
yet complet
e. Chec
k the input p
ort
number
setting in a
ll-a
xis paramet
er No. 88, and
al
so
check if the vision s
ystem ha
s been
initia
lize
d, amo
ng others.
40D
Vision
sy
stem
re
spo
nse
timeo
ut
error
Co
mmun
icatio
n respo
nse fro
m
the vision s
yst
em cannot b
e confirme
d. Check bits 4-7
of I/O parameter No. 129, I/O parameter Nos.
160 to 164,
all-axis param
eter Nos. 62,
63 an
d 89, an
d also check if the visio
n s
yste
m
is sendi
ng d
ata in resp
ons
e to imagi
ng
commands, a
m
ong oth
ers.
40E
Tr
acking para
m
eter error
Invalid tracki
ng
parameter. Ch
eck if the tracking par
ameters
in
all-
ax
is par
am
eter Nos.
61 to 95, etc., are set correctl
y. If conve
yor
tracking
adj
ustment has not b
een com
plete
d
successfull
y, p
erform conve
yor tracking a
dj
ustment first.
40F
Tr
acking load c
oordi
nate s
yste
m
error
The current definitio
n data for
the loa
d coord
inate s
ystem
is diffe
re
nt from the defi
nitio
n
data for the lo
ad
coord
inate s
ystem used in
co
nv
ey
or tra
cki
ng
adjustment. Before
performin
g trac
king acti
on, sel
ect the load c
oor
din
ate s
yste
m
used in co
nv
ey
or trackin
g
ad
ju
st
m
ent
.
410
Tr
acking s
yste
m
initial
izatio
n i
ncompl
ete erro
r
Initializ
atio
n
of the visio
n s
yst
em is not
yet complet
e. Chec
k if the track
ing
s
ystem t
ype
sp
ec
ifi
ed
in
a
ll-
ax
is
p
ar
am
et
er
N
o.
6
1
is not set to “Do not use s
ystem.”
411
Tr
acking s
yste
m
in use b
y oth
er task error
The tracking s
ystem
is bein
g u
sed b
y other ta
sk. Use the tracking s
ystem
w
ithin
the
same task.
482
Appendix
(In the pan
el wind
ow, the thre
e digits
aft
er “E” in
dicate an erro
r nu
mber.
)
Error No.
Error name
Descripti
on, ac
tion, etc.
412
Excl
usive mo
de
specific
ation
erro
r
Modes
that ca
nnot be sp
ecifi
ed simult
ane
ou
sl
y ar
e spec
ifie
d at the same time. Check if
the quick retur
n mode a
nd
tra
cking mo
de ar
e s
pecifi
ed at the same time,
amon
g others.
413
Prohib
ited-c
om
m
and e
xecutio
n duri
ng tracki
ng
o
pe
ra
tio
n e
rro
r
An
a
tte
m
pt
w
as
m
ad
e t
o e
xe
cu
te
a
c
om
m
an
d p
ro
hi
bi
te
d d
ur
in
g t
ra
ckin
g o
perati
on.
Ex
ec
ut
e t
he
c
om
m
an
d a
fte
r c
om
pl
et
in
g th
e
tra
ck
in
g
op
er
at
io
n
w
ith
a
T
RA
C
c
om
m
an
d.
41
4
D
et
ec
te
d-
lo
ad h
el
d-
up
c
ou
nt
o
ve
r e
rro
r
The number of detected l
oa
ds w
aitin
g for tra
cking
operati
on (number of
loa
ds w
aitin
g
for
TR
AC command e
xecutio
n), existi
ng b
etw
een th
e came
ra (vision s
yste
m) and rob
ot
or bet
w
een the
load d
etectio
n sensor a
nd rob
ot, exce
ede
d the all
ow
abl
e h
eld-u
p cou
nt.
Reduc
e the n
um
ber of loa
ds on the conv
ey
or
, shorten the d
istance from th
e sensor
(vision se
nsor
or photo
electri
c sensor) to the
st
ar
t p
os
iti
on
o
f t
ra
ck
ing op
er
ation, shorte
n
the tracking o
pe
ratio
n time or take other
ap
pr
opriat
e action t
o re
duc
e t
he n
umber of
held-
up l
oa
ds.
Th
is error ma
y also g
ener
ate i
f a
TR
AC command is n
ot executed pr
omptl
y up
on
detectio
n of a l
oad.
41
5
U
ns
up
po
rte
d I
D
c
od
e r
ec
ep
tio
n e
rro
r (
tra
ck
in
g d
at
a
communic
atio
n)
An unsu
pp
orte
d ID code
w
as
receive
d from
the visio
n s
yste
m
. Check the d
ata sent.
416
Tr
acking receiv
ed messa
ge er
ror (tracking d
at
a
communic
atio
n)
Invalid
data
w
as receive
d from the vision s
ystem. Check if data of a
w
ron
g format has
bee
n sent, among oth
er.
417
Receiv
ed track
ing lo
ad co
unt
error (tracking
data
communic
atio
n)
The load count
receive
d from the visio
n s
yst
em exc
ee
ds the maximum nu
mber of loa
ds
allo
w
ed
per im
agin
g. Increas
e the interva
l b
et
w
ee
n loa
ds o
n the conve
yo
r or take other
appr
opri
ate action to prev
ent the ma
ximum l
im
it from being
exc
ee
ded.
420
Stead
y-state (n
on-p
ush) torqu
e limit over
err
or
The stead
y-
sta
te (non-p
ush) torqu
e
lim
it i
s e
xc
ee
de
d.
U
ne
xp
ec
te
d l
oa
d
an
d l
ocked
oper
ation ar
e a
m
ong the p
ossi
ble ca
uses.
42
1
SC
AR
A/
lin
ea
r m
ov
em
en
t a
xi
s s
im
ul
ta
ne
ou
s
sp
ec
ifi
ca
tio
n
error
SCARA an
d lin
ear movem
ent axes
w
er
e spe
cified simu
ltan
eousl
y. SCA
R
A and li
near
movement a
xe
s cannot be s
pecified
or oper
ated at the sa
me time. Chec
k the axis
pattern,
po
siti
on data, e
tc.
* SCARA only
.
425
Mounte
d SIO communic
atio
n mode err
or
Invalid c
ommu
nicatio
n mod
e
430
U
BM
m
an
ag
em
en
t a
re
a c
he
ck
su
m
e
rro
r
The flash ROM data is corrupt
ed. Save t
he u
ser-data b
acku
p memor
y t
o the flash
ROM.
431
UBM data checksum error
The flash ROM data is corrupt
ed. Save t
he u
ser-data b
acku
p memor
y t
o the flash
ROM.
432
UBM SRAM da
ta corruptio
n er
ror
Data in the us
er-data back
up
memor
y
is corr
upted. Ch
eck the batter
y.
43
3
R
C
g
at
ew
ay
m
in
or
fa
ilu
re
e
rro
r
Th
e R
C
g
at
ew
ay
e
xp
er
ie
nc
ed
a
m
in
or
fa
ilu
re
.
434
RC gate
w
ay
R
C
axis detac
hm
ent detectio
n error
Detachm
ent
of a RC a
xis
w
as
detected.
Ch
ec
k the cable co
nnectio
n.
485