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A
Troubleshooting
A-37
6.282 : Illegal command Moving
Code
: &H0006 &H011A
Meaning/Cause
The non-executable online command was executed during axis operation.
Action
After stopping the axis operation, execute the online system command.
6.283 : Illegal work no
Code
: &H0006 &H011B
Meaning/Cause
The specified work number is out of the range; between 0 and 39.
Action
Specify a work number between 0 and 39.
6.300 : Motor power off
Code
: &H0006 &H012C
Meaning/Cause
The movement command was executed in the motor power off status.
Action
Put the robot in the motor and servo on status.
6.301 : Servo off
Code
: &H0006 &H012D
Meaning/Cause
The movement command was executed in the servo off status.
Action
Put the robot in the servo on status.
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.
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