Omron R6YXC1000, Руководство пользователя, Страница: 191 / 260

A
Troubleshooting
A-9
2.319 : Cannot move (RIGHTY to LEFTY)
Code : &H0002 &H013F
Meaning/Cause
The interpolation movement to the target point whose hand system is set to "LEFT" was
attempted when the hand system is set to "RIGHT" on the SCARA type robots.
Action Check the current hand system and hand system flag of the point data.
2.320 : Cannot move (LEFTY to RIGHTY)
Code : &H0002 &H0140
Meaning/Cause
The interpolation movement to the target point whose hand system is set to "RIGHT" was
attempted when the hand system is set to "LEFT" on the SCARA type robots.
Action Check the current hand system and hand system flag of the point data.
2.321 : Cannot use TOOL coord.
Code : &H0002 &H0141
Meaning/Cause The hand data is not set.
Action Set the hand data.
2.326 : Exceeded velocity
Code : &H0002 &H0146
Meaning/Cause The interpolation operation speed exceeded the specified level.
Action Change the specified speed.
2.327 : Circular arc cal. failed
Code : &H0002 &H0147
Meaning/Cause The circular interpolation operation point is incorrect.
Action
• Set the correct point data.
• Specify the correct circular arc plane option of the circular interpolation movement.
• Set the correct specified axis of the circular interpolation movement.
2.328 : Circular arc restart failed
Code : &H0002 &H0148
Meaning/Cause Stop position of the "MOVE C" command was different from the restart position.
Action Set the stop position same as the restart position.
2.329 : Same point exists
Code : &H0002 &H0149
Meaning/Cause
• Two or three points of the “MOVE C” command three points are same.
• Same points are consecutive on the path of PATH motion.
Action Set the correct points.
2.330 : 3 points on line
Code : &H0002 &H014A
Meaning/Cause Three points of one "MOVE C" command were placed on a straight line.
Action
Change the three points of the "MOVE C" command so that they are not on the same straight
line.