IAI America XSEL-KX - Manual (Page 351)

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(In the panel window, the three digits after “E” indicate an error number.)
Error No. Error name Description, action, etc.
B1D Ethernet non-open error An attempt was made to use a channel not yet opened by own task.
B1E Ethernet multiple WRIT execution error WRIT commands were executed simultaneously by multiple tasks for the same
channel.
B1F Ethernet job busy error An attempt was made to start a new process when the Ethernet mailbox control
job was busy.
B20 Ethernet non-initialization device use error An attempt was made to use the Ethernet system when Ethernet device
initialization was not yet complete. Check I/O parameter Nos. 123 to 159, 14,
15, etc., depending on the purpose of use.
B21 Ethernet IP address error An error will generate under the following conditions during normal use.
When IP address (H) (first octet) through IP address (L) (fourth octet) are given
as IP_H, IP_MH, IP_ML and IP_L, the error conditions are described as follows:
IP_H
≤ 0 or IP_H = 127 or IP_H > 255
or IP_MH < 0 or IP_MH > 255
or IP_ML < 0 or IP_ML > 255
or IP_L
≤ 0 or IP_L ≥ 255
Check I/O parameter Nos. 132 to 135, 149 to 152, and 154 to 157, the IP
address of connection destination specified by an IPCN command in an integer
variable, or the like.
B22 Ethernet port number error An error will generate if own port number < 1025, or own port number > 65535,
or own port number duplication, or connection-destination port number for client
≤ 0, or connection-destination port number for client > 65535, or connection-
destination port number for server < 0, or connection-destination port number
for server > 65535 is satisfied.
Check I/O parameter Nos. 144 to 148, 159, 153, and 158, the port number of
connection destination specified by an IPCN command in an integer variable, or
the like.
B70 Checksum error in coordinate system definition data The flash ROM data is damaged.
B71 Coordinate system number error The coordinate system number is invalid.
B72 Coordinate system type error The coordinate system type is invalid.
B73 Error due to prohibition of change of coordinate system data used
by servo Changing of coordinate system data currently used by the servo system is
prohibited.
B74 CP-operation restriction zone entry error (PTP/jogging of each axis
enabled) Entry into the CP-operation restriction zone was detected. PTP operation and
jogging operation of each axis are enabled.
B75 Singular-point calculation error CP calculation cannot be performed due to the singular point. Check for invalid
coordinate caused by an inappropriate home of arm 2, etc.
B77 Current arm system setting error The target arm system to be set does not match the actual angle of arm 2, or
coordinates are not yet determined.
B78 Current arm system indetermination error The current arm system is indeterminable.
B79 R-axis servo OFF detection error during position control correction R-axis servo OFF was detected during position control correction.