Omron R6YXC1000, Руководство пользователя, Страница: 213 / 260

A
Troubleshooting
A-31
6.302 : Origin incomplete
Code : &H0006 &H012E
Meaning/Cause
●
Without performing return-to-origin, operations shown below were performed in the origin
incomplete status.
• Program or command execution
• Point teaching
• Cartesian coordinate movement
●
The robot puts into the origin-incomplete status by the following reasons.
• The absolute batteries were removed from the controller or retained position became
unstable by absolute battery voltage drop.
• ROB I/O cable was disconnected.
• Return-to-origin operation was stopped halfway.
• System generation was changed, parameters were initialized or parameters to determine
the origin return direction, axis polarity, or origin position were changed.
(Writing ALL and PRM files into the controller is also included.)
Action
Perform absolute reset or return-to-origin operation to put the robot in the return-to-origin
complete status.
6.309 : INC. motor disconnected
Code : &H0006 &H0135
Meaning/Cause Return-to-origin command was executed without incremental type or absolute type axes.
Action
Refer to "DI14 Return-to-origin (for INC axis)" of "1.9 Dedicated input signal description" in
Chapter 4.
6.310 : ABS. motor disconnected
Code : &H0006 &H0136
Meaning/Cause Return-to-origin command was executed without absolute type axes.
Action
Refer to "DI14 Return-to-origin (for INC axis)" of "1.9 Dedicated input signal description" in
Chapter 4.
6.312 : ABS. reset position incomplete
Code : &H0006 &H0138
Meaning/Cause Absolute reset was executed at a position where the absolute reset cannot be performed.
Action Move to a position where the absolute reset can be performed.
6.313 : MRK. motor disconnected
Code : &H0006 &H0139
Meaning/Cause Return-to-origin was executed without mark-specified axes.
Action Check the system generation data.
6.314 : Can't execute while servo on
Code : &H0006 &H013A
Meaning/Cause Writing in "ALL" or "PRM" files was attempted in servo on status.
Action Turn off the servo before writing files.