IAI America XSEL-KX - Manual (Page 359)

343
A
pp
end
ix
(In the panel window, the three digits after “E” indicate an error number.)
Error No. Error name Description, action, etc.
CAF Excessive valid axes for palletizing 3-point teaching data There are too many valid axes in the point data for palletizing 3-point teaching.
Axes to comprise the palletizing PX/PY planes cannot be specified.
CB0 Mismatched valid axes for palletizing 3-point teaching data The valid axis pattern in the point data for palletizing 3-point teaching does not
match.
CB1 Offset setting error at palletizing 3-point teaching Zigzag offset (not zero) cannot be set in palletizing 3-point teaching, if the
reference point is the same as the end point of the PX-axis.
CB2 BGPA/EDPA pair-end mismatch error The BGPA/EDPA syntax is invalid. EDPA was declared before BGPA, or
another BGPA was declared after BGPA without first declaring EDPA.
CB4 Arch-motion Z-axis non-declaration error Z-axis has not been declared by PCHZ or ACHZ.
CB5 BGPA non-declaration error during palletizing setting Palletizing setting cannot be performed without first declaring BGPA. Declare
BGPA.
CB6 Palletizing point error The palletizing points are invalid (non-Z-axis components are absent, etc.).
CB7 Arch-trigger non-declaration error Declare arch triggers using PTRG or ATRG.
CB8 No 3-point teaching setting error at palletizing angle acquisition The palletizing angle cannot be acquired until setting by palletizing 3-point
teaching is complete.
CB9 PX/PY-axis indeterminable error at palletizing angle acquisition Angle cannot be calculated because there are too many valid axes in the 3-point
teaching data and thus PX/PY-axes cannot be specified.
CBA Reference-axis/PY/PY-axis mismatch error at palletizing angle
acquisition Angle cannot be calculated because the reference axis for angle calculation is
neither of the axes comprising the PX/PY-axes as set by 3-point teaching.
CBB Reference-point/PX-axis end-point duplication error at palletizing
angle acquisition Angle cannot be calculated because the reference point of 3-point teaching is
the same as the PX-axis end-point data other than the PZ-axis component and
thus arc tangent cannot be calculated.
CBC Palletizing motion calculation error Trapezoid control calculation error for palletizing motion
CBD MOD command divisor 0 error “0” was specified as the divisor in the MOD command.
CBF Positioning distance overflow error The positioning distance is too large.
CC0 Axis mode error The axis mode is invalid.
CC1 Speed change condition error An attempt was made to change the speed of an axis whose speed cannot be
changed (axis operating in S-motion, etc.).
CC2 Driver parameter list number error The driver parameter list number is invalid.
CC3 Angle error The angle is invalid.
CC4 SEL data error The SEL data is invalid.
CC5 Positioning boundary pull-out error An attempt was made to execute a command not permitted outside the
positioning boundary.
CC6 Driver error primary detection A driver error was found by primary detection.
CC7 Palletizing movement PZ-axis pattern non-detection error PZ-axis component is not found in the axis pattern during palletizing movement.
CC8 Arch top Z-axis pattern non-detection error Z-axis component relating to the highest point of arch motion is not found in the
axis pattern during arch motion operation.