IAI America XSEL-S - Manual (Page 455)

Chapter 7
Troubleshooting
7.3 Error List (MAIN application)
447
In the panel window, the error numbers follow E in the display.
Error
No.
Error name Description, action, etc.
B28 Vision system I/F initializing
incomplete error�
Initializing for the vision system I/F is incomplete.
Check I/O parameters No. 165 to 169 and 351 to 367, All
Axes parameters No. 121 and 141 and so on.
B29 Vision system I/F used in other
Task error�
The specified vision system I/F is used in another task.
B2A Vision system I/F capturing
position failure error
There is an error in the Z-axis position at GTVD command
execution.
Check All Axes parameters No. 125, 130, 145 and 150 and
so on.
B44 Load weight setting error The load weight exceeded the maximum transportable
weight of the robot.
Check the weight setting.
* It is an error only for SCARA
B4B Load weight change forbidden
error during servo use
The load weight that the servo system currently uses
cannot be changed.
B4D Arm system setting error There is an error in the arm system settings.
The current arm system is different from the target arm
system of the position if the target arm system data is set
to the position that the SCARA CP movement (linear
interpolation, arch interpolation movement, etc.) is to be
conducted.
In this case, make the current arm system and the target
arm system of the position the same.
* It is an error only for SCARA
B4E Position gain switchover error The position gain could not be switched over. It may be
concerned that;
•� A position gain switchover was tried to be conducted to
the axis in move or pressing operation,
•� The program was finished during the position gain
switchover, or
•� The actuator does not stay in the positioning band due
to generated vibration, etc.
B70 Coordinate system definition data
checksum error
The flash ROM data is corrupted.
B71 Coordinate system number error The coordinate system number is invalid.
B72 Coordinate system type error The coordinate system type is invalid.
B73 Change prohibition error for
coordinate system data in use by
servo
Changing the coordinate system data currently used by the
servo system is prohibited.
B74 CP operation limited area Invasion
error�(PTP and JOG available on
each axis)
It was detected that the actuator got into the CP operation
restriction band.
PTP operation and JOG operation of each axis are
available.
B75 Singularity calculation error CP calculation cannot be performed because it is a
singularity.
Check if there is any error in the coordinates due to the
2nd arm home position failure.
B77 Current arm system setting error The arm system to be set and the 2nd arm actual angle
are not matched, or in the condition that the coordinates
are not determined.
B78 Current arm system unsettled error Currently, the arm system is not unsettled.
B79 R- axis servo-off detection error
during posture control adjustment
It was detected that the servo has been turned off on the
R-axis during the posture control adjustment.
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B7A Z- axis servo-off detection error
during RZ structure adjustment
It was detected that the servo has been turned off on the
Z- axis during RZ structure adjustment.
* for SCARA only