Yamaha RCX141, Руководство пользователя

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9-
8
T
roubleshooting
9
1. Error Messages
2.24 : Cannot move (LEFTY to RIGHTY)
Code : &H0218
Meaning/Cause : a. Interpolation movement shifting from the left-handed system
to the right-handed system was executed with a SCARA
robot.
Action : 1. Check the current hand system and point data hand system
flag.
2.25 : Cannot use TOOL coord.
Code
: &H0219
Meaning/Cause
: Failed to select tool coordinates could because no hand data has
been entered.
Action
: Set the hand data.
Note: An R-axis unit must be installed to a SCARA or Cartesian
robot.
Set the hand data while a hand or gripper is attached to the
tip of the R-axis.
2.26 : Collision in W. carrier
Code : &H021A
Meaning/Cause : Failed to move the double-carrier axis, because one carrier will
interfere with the other carrier.
Action : If this error occurred during MANUAL mode:
1. Move the other carrier to a position where the two carriers
will not interfere with each other and then move the robot
manually.
If this error occurred during AUTO mode:
1. Change the target position of one carrier so it will not inter-
fere with the other carrier.
2. Move the other carrier to a position where it will not interfere
with the first carrier's target position, and then move that first
carrier.
3. Set the double-carrier parameter control mode to "Off" or
"On".
When set to "Off", this error does not occur, but the anti-
collision function for double-carriers will not work so the
carriers might collide with each other.
When set to "On", one carrier starts moving after waiting
until the other carrier moves to a position where no interfer-
ence occurs.
2.27 : W. carrier deadlock
Code : &H021B
Meaning/Cause : Failed to move the double-carrier axis and a deadlock occurred,
because the target positions of both carriers will interfere with
each other.
Action : Check the robot program.