Yamaha RCX240, Руководство пользователя

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A-10
TROUBLESHOOTING
A
TROUBLESHOOTING
A-11
[ 2] Robot operating area errors
2.24 : Cannot move (LEFTY to RIGHTY)
Code : &H0218
Meaning/Cause Action
Interpolation movement shifting from the
left-handed system to the right-handed
system was executed with a SCARA
robot. Check the current hand system and
point data hand system flag.
2.25 : Cannot use TOOL coord.
Code
: &H0219
Meaning/Cause Action
Failed to select tool coordinates could
because no hand data has been entered. Set the hand data.
n
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 Action
Failed to move the double-carrier axis,
because one carrier will interfere with the
other carrier.
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 interfere 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 interference
occurs.