IAI America XSEL-KX - Manual (Page 352)

336
A
pp
end
ix
(In the panel window, the three digits after “E” indicate an error number.)
Error No. Error name Description, action, etc.
B7A Z-axis servo OFF detection error during RZ mechanism correction Z-axis servo OFF was detected during RZ mechanism correction.
B7B Error due to target locus inside rear entry prohibition area The target position or movement locus is inside the rear entry prohibition area.
B7C Error due to target locus inside CP-operation restriction zone
(PTP/jogging of each axis enabled) The target position or movement locus is inside CP-operation restriction zone.
PTP operation and jogging operation of each axis are enabled.
B7D Physically unrealizable target error The specified target is unrealizable based on the arm length composition of axes
1 and 2. Check "Axis-specific parameter No. 138, Arm length" and the target
value.
B7F Servo use purpose error The use purpose of servo is invalid.
B80 Specification-prohibited axis error Specification of the axis is prohibited. Set an axis that can be specified.
B81 Axis-specific PTP multiple-axis specification error Axis-specific PTP operation was specified for multiple axes. Axis-specific PTP
operation can be specified only for a single axis.
B82 Jogging multiple-axis specification error Jogging/inching was specified for multiple axes. Jogging/inching can be specified
only for a single axis.
B83 Rc = 0 wait timeout error upon Zc-axis home return Timeout of R-axis 0 positioning has occurred. Check for operation restriction,
wiring, encoder, motor, etc.
B84 Arm length error The arm length is invalid. Check "Axis-specific parameter No. 138, Arm length."
B85 Operation start-position acquisition error inside work area using
application servo Operation start position cannot be obtained inside the work area using the
application servo.
B86 SEL PTRQ command preparation error An error equivalent to error No. A3A, A39 or A35 was detected.
B87 Error due to target locus error inside tool-center entry prohibition
circle The target position or movement locus is inside the circle where entry of the tool
reference point is prohibited.
B88 Logic error during calculation of valid target data An internal logic error generated during calculation of valid target data.
B89 SCARA CP logic error An internal logic error was detected during SCARA CP processing.
B8C Detection of entry into simple interference check zone (Operation-
cancellation level specification) Entry into the interference check zone was detected. (Operation-cancellation
level specification)
B8D SLPR parameter type specification error The specified SLPR parameter type is invalid.
B8E SEL STPR command preparation error An error equivalent to error No. A3A, A39 or A35 was detected.
B8F Positioning time calculation error A positioning time calculation error occurred.
B90 Passing distance calculation error A passing distance calculation error occurred.
B91 Main overspeed requirement error An excessive speed is required. This error may also occur when passing near
the singular point (where arms 1 and 2 form a straight line) during CP operation.
Program CP operation by avoiding movements near the singular point. This error
may be prevented by lowering the specified speed.
B93 Palletizing zigzag offset setting error The setting of palletizing zigzag offset is abnormal.
B94 Number of palletizing placement points calculation error
The calculated value of number of palletizing placement points is abnormal.
Check the palletizing count setting and number of even rows in zigzag setting.
B95 Palletizing placement point coordinate calculation error A coordinate calculation error occurred in relation to palletizing placement points.
Check the reference palletizing point, palletizing count setting and palletizing
pitch.