Kuka KUKA.PLC mxAutomation Logix 1.0, Руководство пользователя

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100 / 123
Issued: 13.08.2012 Version: KST PLC mxAutomation Logix 1.0 V1 en (PDF)
KUKA.PLC mxAutomation Logix 1.0
32 INVALID BASE
NUMBER An invalid number has been
programmed in the function
block KRC_ReadBaseData or
KRC_WriteBaseData for the
BASE coordinate system. Specify the number of the
BASE coordinate system that is
currently being used in the
robot controller (parameter
BaseNo
).
 1 … 32
An invalid number has been
programmed in a KRC_Move or
KRC_Jog function block for the
BASE coordinate system. Specify the number of the
BASE coordinate system that is
currently being used in the
robot controller (parameter
CoordinateSystem
–
COORD-
SYS.Base
).
( >>> "COORDSYS" Page 26)
33 INVALID TOOL
NUMBER An invalid number has been
programmed in the function
block KRC_ReadToolData or
KRC_WriteToolData for the
TOOL coordinate system. Specify the number of the
TOOL coordinate system that is
currently being used in the
robot controller (parameter
ToolNo
).
 1 … 16
An invalid number has been
programmed in a KRC_Move or
KRC_Jog function block for the
TOOL coordinate system. Specify the number of the
TOOL coordinate system that is
currently being used in the
robot controller (parameter
CoordinateSystem
–
COORD-
SYS.Tool
).
( >>> "COORDSYS" Page 26)
34 INVALID VELOC-
ITY An invalid value has been pro-
grammed in a function block for
the velocity. Program a valid value (parame-
ter
Velocity
):
 0 … 100%
35 INVALID ACCEL-
ERATION An invalid value has been pro-
grammed in a function block for
the acceleration. Program a valid value (parame-
ter
Acceleration
):
 0 … 100%
36 INVALID C_PTP An invalid approximation dis-
tance has been transferred for
a PTP motion. Program a valid value (parame-
ter
Approximate
).
( >>> "APO" Page 25)
37 INVALID C_DIS An invalid distance parameter
has been transferred for an
approximated motion.
38 INVALID C_VEL An invalid velocity parameter
has been transferred for an
approximated motion.
39 INVALID C_ORI An invalid orientation parameter
has been transferred for an
approximated motion.
40 INVALID
ORI_TYPE An invalid value has been pro-
grammed in a KRC_Move or
KRC_Jog function block for the
orientation control of the TCP. Program a valid value (parame-
ter
OriType
).
( >>> "OriType" Page 28)
41 POSITION DATA
NOT INITIALIZED No end position transferred
when calling a KRC_Move
function block. Define at least 1 element of the
end position (parameter
Posi-
tion
).
( >>> "E6POS" Page 26)
No. Message text Cause Remedy