Omron R6YXC1000, Руководство пользователя, Страница: 190 / 260

A
Troubleshooting
A-8
2.306 : Movable range cal. failed
Code : &H0002 &H0132
Meaning/Cause
a. Preset calculation for the movement path setting is not functioning.
b. The current position is not within the movement range.
Action
a. Change to the correct movement point.
b. Change the current position to within the movement range.
2.307 : Overlap soft limit
Code : &H0002 &H0133
Meaning/Cause
On SCARA type robots, the total of the absolute values of the X or Y-axis plus soft limit and
minus soft limit becomes the value to move the arm one or more rotation.
Action Set the soft limit values so that the arm movement range becomes one rotation or less.
2.308 : X exceeded shift coord. range
Code : &H0002 &H0134
Meaning/Cause X-axis exceeded the shift coordinate range.
Action
• Change the operation position to the inside of the shift coordinate range.
• Change the shift coordinate range.
2.309 : Y exceeded shift coord. range
Code : &H0002 &H0135
Meaning/Cause Y-axis exceeded the shift coordinate range.
Action
• Change the operation position to the inside of the shift coordinate range.
• Change the shift coordinate range.
2.310 : Z exceeded shift coord. range
Code : &H0002 &H0136
Meaning/Cause Z-axis exceeded the shift coordinate range.
Action
• Change the operation position to the inside of the shift coordinate range.
• Change the shift coordinate range.
2.311 : R exceeded shift coord. range
Code : &H0002 &H0137
Meaning/Cause R-axis exceeded the shift coordinate range.
Action
• Change the operation position to the inside of the shift coordinate range.
• Change the shift coordinate range.
2.314 : Arch condition bad
Code : &H0002 &H013A
Meaning/Cause
The arch position and arch distance of the arch option are set in “mm” units on the arch motion
command for X and Y-axis on SCARA type robots.
Action Set the arch position and arch distance of the arch option in "pulse" units.
2.318 : Arm length is 0
Code : &H0002 &H013E
Meaning/Cause The arm length is set is "0" on SCARA type robots.
Action
• Set the standard coordinates.
• Set the "Arm length" of the axis parameter.