IAI America TT-C3 - Manual (Page 343)

333
INTELLIGENT ACTUATOR
Appendix
Appendix
(In the panel windo
w
, the th
ree digits after “E” indicate a
n error numbe
r.)
Error No.
Error name
Description, a
c
tion, etc.
CB2
BGPA/
EDPA
pair-end mismatch error
The BGPA/EDPA s
y
nta
x
is invalid. EDPA
w
a
s declared
before BGPA,
or
another BGPA w
a
s declared
after BGPA
w
ithout first declaring EDPA.
CB4
Arch-motion Z-ax
is non-declaration error
Z-ax
is has not
been declared by PCHZ or ACHZ.
CB5
BGPA non-de
claration error during palletizing setting
Palletizing sett
ing cannot be
performed w
it
hout first declaring BGPA.
Declare BG
PA.
CB6
Palletizing point error
The palletizing
points are invalid (non-Z-ax
is components are absent, etc.).
CB7
Arch-trigger non-declaration error
Declare arch t
riggers using PTRG or ATRG.
CB8
No 3-point tea
ching setting e
rror at palletizing angle acqu
isition
The palletizing
angle cannot
be acquired until setting b
y palletizing
3-p
oint
teaching is co
mplete.
CB9
PX/
PY-a
xis in
determinable error at palletizing angle acq
uisition
Angle cannot
be calculated
because there are too many vali
d a
x
es in t
he 3-
point teaching
data and thus
PX/
PY-a
x
e
s c
annot be spec
ified.
CBA
Reference-axis/PY/
PY-axis
mismatch error at palletizing
angle
acquisition
Angle cannot
be calculated
because the reference axis
for angle calc
ulation
is neither of the ax
es
comprising the PX/PY-a
x
es as set
by 3-point teaching.
CBB
Reference-point/PX-a
x
is en
d-point duplic
ation error at palletizing
angle acquisition
Angle cannot
be calculated
because the reference point of 3-point teaching
is the same as
the PX-a
x
is e
nd-point data other than the PZ-ax
is
component and thus arc tangent cannot b
e calculated.
CBC
Palletiz
ing mo
tion calculatio
n error
Trapezoid control calculation
error for palletizing motion
CBD
MOD command divisor 0 error
“0” w
as specified as the divisor in the MOD command.
CBE
Target-locus boundary over error
The target position or movement locus e
xceeded the po
sitioning boun
dary
in the infinite-stroke mode.
CBF
Positionin
g dis
tance overflo
w error
The positionin
g distance is t
oo large.
CC0
Ax
is mode err
or
The ax
is mod
e is invalid.
CC1
Speed change
condition error
An attempt
w
a
s made to change the speed
of an axis
w
h
ose speed ca
nnot
be changed (ax
is operating in S-motion, et
c.).
CC2
Driver parameter list number error
The
driver parameter list number is invalid
.
CC3
Angle error
The angle is invalid.
CC4
SEL data erro
r
The SEL data
is invalid.
CC5
Positionin
g bo
undary pull-out error
An attempt
w
a
s made to ex
e
c
ute a command not permitted outside the
positioning bo
undary.
CC6
Driver error pri
mary detection
A driver error w
a
s found by
primary detection.
CC7
Palletiz
ing mo
vement PZ-axis pattern non-detection error
PZ-ax
is comp
onent is not fo
und in the a
x
is
pattern during palletiz
ing
movement.
CC8
Arch top Z-ax
is pattern non-detection error
Z-ax
is compo
nent relating to the highest
point of arch motion is not f
ound in
the ax
is pattern during arch motion operation.
CC9
Arch trigger Z-ax
is pattern n
on-detection error
Z-ax
is compo
nent relating to arch motion is not found in
the ax
is patte
rn o
f
the arch-trigger declaration point data.
CCA
Arch top/end-
point reversing error
The coordinates of highest
point and end
point are reversed during arch
motion operation.
CCB
Arch start-point/trigger reversing error
The coordinates of start point and start-point arch trigger are reversed during arch motion operation.