Yamaha RCX141, Руководство пользователя

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roubleshooting
1. Error Messages
6.28 : PATH without END
Code : &H061C
Meaning/Cause : PATH START was executed without executing PATH END.
Action : Execute PATH END to end the path setting and then execute
PATH START.
6.29 : No PATH data
Code
: &H061D
Meaning/Cause
: No path is set for PATH motion.
Action
: Set a path with PATH L and PATH C. The previously set path
will be lost in the following cases:
• When PATH SET is executed.
• When program is changed.
• When program is reset.
• When controller power is turned off.
6.30 : Too many PATH data
Code
: &H061E
Meaning/Cause
: The number of PATH motion paths has exceeded 300.
Action
: Reduce the number of PATH motion paths to 300 or less in total
of straight lines and circular arcs.
6.31 : Not PATH start position
Code : &H061F
Meaning/Cause : Robot's current position is not the start position of PATH mo-
tion.
Action : Move the robot to the start position specified with PATH SET
and then execute PATH START.
6.32 : PATH execute error
Code
: &H0620
Meaning/Cause
: Cannot execute PATH motion.
a. Acceleration zone distance is too short.
b. Speed is too high in the position where the direction changes.
Action
: 1. Reduce the speed setting.
2. Lengthen the straight line or circular arc distance containing
acceleration/deceleration.
3. Make setting so that the direction at the connection point of
straight lines does not change greatly.
6.34 : MARK method is not allowed
Code
: &H0622
Meaning/Cause
: Return-to-origin was attempted with an ORIGIN statement or
dedicated input while the return-to-origin method for an incre-
mental mode axis or semi-absolute mode axis is set to "Mark".
Action
: Return-to-origin on the incremental mode axis or semi-absolute
mode axis cannot be performed by the mark method. Change the
return-to-origin method.