IAI X-SEL PX, Руководство по эксплуатации, Страница: 535 / 560

507
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.
C84
In-use ax
is ser
vo OFF error
The servo of an axis
currently in use (being
process
ed)
w
as turned off.
C85
Non-i
nstall
ed d
river error
Driver is
not in
stalled for the
appl
ica
ble a
xis
.
C86
Driver rea
dy
O
FF
error
The read
y si
gn
al fo
r the driver
of the applic
ab
le a
xis is OF
F.
C87
SEL unsu
pp
orted functio
n err
or
An attempt
w
as made to use
a function n
ot supp
orted b
y S
EL.
C88
Spee
d specific
ation err
or
The
specified
spee
d
is
inva
lid.
C89
Accelerati
on/d
eceler
atio
n spe
cification
error
The specified a
ccelerati
on/d
ec
elerati
on is i
nv
alid.
C
8B
C
irc
le
/a
rc
c
al
cu
la
tio
n l
og
ic
e
rror
Th
e a
rc
c
al
cu
la
tio
n l
og
ic
is
in
va
lid
.
C
8D
C
irc
le
/a
rc
c
al
cu
la
tio
n e
rro
r
Positio
n data that cann
ot be
used i
n ar
c mo
vement
w
as sp
ecified. C
heck
the
positio
n data.
C8E
Point de
letio
n error duri
ng co
mmand e
xecuti
on
The final point
data
w
as d
elet
ed
w
hi
le co
ntin
uous p
oint mov
ement
w
as b
ei
ng
calcul
ated.
C8F
Axis
oper
ation t
ype error
The axis op
era
tion t
ype is inv
alid. Ch
eck
“A
xis-specific parameter No. 1, Ax
is
oper
ation t
ype”
and perform o
perati
on ap
pro
pri
ate for the o
perati
on t
ype s
pecifie
d.
C90
Splin
e calc
ulati
on lo
gic error
The spline pro
cessing l
og
ic is
invali
d.
C91
Push-moti
on a
xis mu
ltipl
e sp
ecificatio
n erro
r
Tw
o or mor
e p
ush-motio
n a
xes
w
ere sp
ecifi
ed.
C92
Push-moti
on a
ppro
ach dista
nc
e/spee
d speci
fication err
or
The specified p
ush-motio
n ap
proac
h d
ista
nc
e/spee
d is inva
lid.
C93
Sy
stem o
utput oper
ation err
or
The user attempted to op
erate
a s
ystem
outp
ut (a
p
ort for
w
hich a
n o
utp
ut function
selectio
n is specified
by
an I/O parameter, port used for zone output per an axis-
sp
ec
ifi
c p
ar
am
et
er
, e
tc
.) C
ar
te
si
an
a
xis
o
nl
y.
C94
PIO program n
umber error
The program n
umber sp
ecifie
d via PIO does
not correspo
nd to a supp
orte
d
program.
C95
AUT
O
program
number err
or
The setting of “Other param
et
er No. 1, Auto-start program n
umber” is inv
ali
d.
C96
Start error from operati
on-a
bor
t program
(T
his erro
r n
o l
on
ge
r g
en
er
at
es
d
ue
to
the sp
ecificatio
n cha
nge.)
C
97
Pr
og
ra
m
n
um
be
r e
rro
r f
or I/O
processing program at
oper
ation/pr
ogr
am a
bort
The setting of “
Other paramet
er No.
2, I/O pr
ocessing program number at
oper
ation/pr
ogr
am abort” is in
valid.
C98
Program number error for I/O
processing pr
ogram at oper
ation
paus
e
The setting of “
Other paramet
er No. 3,
I/O pr
ocessing program number at all
oper
ation p
aus
e” is inval
id.
C99
Home se
nsor n
on-d
etection er
ror
The home sen
sor
cann
ot be detected. Ch
ec
k t
he
w
irin
g
an
d s
en
so
r.
C9A
Creep s
ensor
non-
detectio
n error
The creep sen
sor
cann
ot be detected. Ch
ec
k the
w
iri
ng
an
d sensor.
C9B
Phase Z
non-
de
tection err
or
Phase Z
cann
ot
be detected.
Check t
he
w
iri
ng
a
nd
e
nc
od
er
.
C9C
Defective p
has
e-Z
positio
n e
rro
r
The phase-Z
position is
defec
tive. Normal
w
ear an
d tear of the mecha
nica
l ends
and h
ome sen
sor ma
y a
lso b
e a reaso
n. Re
adjustm
ent is n
ecessar
y.
C9D
Card parameter
w
rite err
or
Error
w
riting ca
rd param
eters
C9E
Servo
calc
ulati
on
overfl
ow
err
or
Internal
serv
o
calcul
atio
n
erro
r
CA1
Abnorm
al abs
ol
ute-d
ata back
up batter
y volt
age (Driv
er an
al
ysis)
Check the co
nnectio
n of the absol
ute-d
ata
backu
p batter
y/replac
e the ba
tter
y an
d/or
check the enc
oder cab
le con
ne
ction, an
d the
n perform an a
bsolut
e reset.
508
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.
CA2
Abnorm
al abs
ol
ute-d
ata back
up batter
y v
olt
age (Mai
n an
al
ysis)
Check the co
nnectio
n of the absol
ute-d
ata backu
p batter
y/repl
ac
e th
e ba
tte
ry
a
nd
/o
r
check the enc
oder cab
le con
ne
ction, an
d the
n perform an a
bsolut
e reset.
CA3
Slave settin
g d
ata out-of-ran
ge
error
The data se
t t
o t
he
s
la
ve
is
o
ut
si
de
th
e a
llo
w
ab
le
ra
ng
e.
CA4
Slave err
or respons
e
An error resp
on
se
w
as retur
ned from the sla
ve.
CA5
Stop
devi
ation overflo
w
error
Movement ma
y hav
e occ
urr
ed d
ur
in
g s
to
pp
in
g d
ue
to
e
xt
er
nal
for
ce
o
r o
pe
ra
tio
n
ma
y h
ave b
ee
n restricted dur
ing d
ecel
eratio
n.
Th
is error ma
y a
lso g
ener
at
e
w
hen
jog
operati
on
is
restricted
(due
to
co
nt
ac
t w
ith
a
n o
bs
ta
cl
e,
c
on
ta
ct
w
ith
a
mecha
nica
l en
d before h
ome
return, etc.) or
w
hen
w
irin
g err
or, fault
y e
nc
oder or
fault
y m
otor is detected d
urin
g dece
lerati
on.
C
A6
Pa
lle
tiz
in
g n
um
be
r e
rro
r
Th
e s
pe
ci
fie
d p
al
le
tiz
in
g
nu
mb
er
is
inv
al
id
.
CA7
Setting error of
even-n
umber
ed
ro
w
c
ou
nt for palletiz
in
g zigz
ag
The set even-numbere
d ro
w
c
ount for pal
letiz
ing zigz
ag is i
nv
alid.
CA8
Setting error of
palletiz
in
g pitc
hes
The set palletiz
ing pitc
hes are
abn
ormal.
CA9
Setting error of
placem
ent poi
nts in pal
letizi
ng
-a
xis dir
ecti
on
s
The set X/Y-axis directio
n cou
nts for palletiz
ing are i
nva
lid.
CAA
Palletiz
in
g PASE/PAPS non-
declar
atio
n err
or
Neither PASE
nor
PAPS pal
le
tizing-settin
g c
ommand is s
et. Set either com
m
and.
CAB
Palletiz
in
g posi
tion num
ber err
or
The spec
ified p
alletiz
ing
positi
on num
ber is i
nvali
d.
CAC
Palletiz
in
g posi
tion num
ber se
tting over
The specified
pa
lletiz
ing
positi
on num
ber e
xc
eeds the p
ositi
on num
ber ran
ge
calcul
ated for the curre
nt pall
etizing s
etting.
CAD
Palletiz
in
g PX/
PY/PZ
-axis d
up
licati
on err
or
An
y t
w
o
of the
specifie
d P
X, PY and PZ
-a
xes
for palletizi
ng
are the same a
xis.
CAE
Insufficient val
id
axes for pal
le
tizing 3-
poi
nt teachin
g dat
a
There are not eno
ugh va
lid
ax
es i
n the po
in
t da
ta f
or pall
eti
zing 3-
poi
nt teachin
g.
Axes to com
pri
se the pal
letizi
ng P
X/PY pla
ne
s cann
ot be s
pecifie
d.
C
AF
Ex
ce
ss
iv
e v
al
id
a
xe
s f
or
p
al
le
tiz
in
g 3
-p
oi
nt
te
ac
hin
g d
at
a
There are too man
y v
ali
d a
xe
s in the poi
nt d
ata for pall
etizi
ng
3-p
oint teac
hing. A
xes
to
comprise
th
e
pall
etizi
ng
PX
/PY
pl
anes
cann
ot
be
spec
ified.
CB0
Mismatched v
alid a
xes for p
all
etizing
3-po
int teachi
ng d
ata
The valid a
xis
pattern in the
po
int data for p
alletizi
ng 3-p
oi
nt teachin
g do
es not
match.
CB1
Offset setting error at palletizing 3-poin
t teaching
Zigzag offset (not zero) canno
t be set in palletiz
ing
3-point teaching
, if the
referenc
e
point is the sa
me as the
end
point of the P
X-axis.
CB2
BGPA/EDPA pair-en
d mismat
ch error
The BGPA/ED
PA s
ynta
x is i
nvalid. EDPA
w
as decl
ared b
ef
ore BGPA, or
anoth
er
BGPA
w
as d
ec
lared
after BGPA
w
ith
out first declari
ng EDP
A.
CB4
Arch-motion Z
-axis no
n-dec
lar
ation err
or
Z-
axis h
as not
bee
n decl
ared
by
PC
HZ
or ACHZ
.
CB5
BGPA non-dec
laratio
n error d
uring
pal
letizi
ng
setting
Palletiz
in
g s
et
tin
g c
an
no
t b
e p
er
fo
rm
ed
w
ith
ou
t f
irs
t d
ec
la
rin
g B
G
PA
. Decla
re
BGPA.
CB6
Palletiz
in
g poi
nt
error
The palletizi
ng
points ar
e inva
lid (no
n-Z
-axis compo
nents ar
e abse
nt, etc.).
CB7
Arch-trigger n
on
-decl
arati
on e
rror
Decl
ar
e arch tri
ggers us
ing PT
RG or AT
RG.
CB8
No 3-p
oint teac
hing s
etting err
or at pall
etizin
g angl
e acqu
is
iti
on
The palletizi
ng
angl
e can
not b
e acqu
ired u
ntil
setting b
y pal
le
tizing 3-po
int
teachi
ng
is complet
e.
511