Omron YRCX Series, Руководство по эксплуатации

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A
Troubleshooting
A-16
2.339 : Start position changed by other task
Code : &H0002 &H0153
Meaning/Cause The start position was changed by other tasks.
Action Check the start position of the target task and change the position as needed.
2.340 : Target position changed by other task
Code : &H0002 &H0154
Meaning/Cause The target position was changed by other tasks.
Action Check the target position of the target task and change the position as needed.
2.341 : Illegal axes (R axis shift exist)
Code : &H0002 &H0155
Meaning/Cause
The operation was executed with specifying either X or Y-axis while selecting the shift
coordinates for the R-axis rotation.
Action Change the program so that the operation is executed with specifying both X and Y-axis.
2.342 : Illegal hand type
Code : &H0002 &H0156
Meaning/Cause The hand definition of R-axis attachment was used to the robot without R-axis attachment.
Action
• Change to the hand definition of Y-axis attachment.
• Quit to use the hand definition.
2.343 : Illegal axes (R selected hand)
Code : &H0002 &H0157
Meaning/Cause
a. Tool coordinate jog operation was executed for the auxiliary axis.
b. Tool coordinate jog operation was executed while "R-axis orientation hold" is invalid.
Action
a. The auxiliary axis cannot be jog-operated on tool coordinate.
b. Set "R-axis orientation hold" of the robot parameter to "VALID".
2.346 : Illegal axes (tracking)
Code : &H0002 &H015A
Meaning/Cause
a. Tracking cannot be executed with this axis configuration.
b. "CTDRIVE" or "CTMOVE" command with specifying the Z-axis operation command was
executed for the robot without Z-axis.
Action
a. Check the robot axis configuration.
b. Change the program so that "CTDRIVE" or "CTMOVE" command with specifying the Z-axis
operation command cannot be executed for the robot without Z-axis.
2.347 : Not tracking status
Code : &H0002 &H015B
Meaning/Cause "CTDRIVE" command was executed for the robot without following the conveyor.
Action
Change the program so that "CTDRIVE" command is executed after following the conveyor by
"CTMOVE" command.