IAI America XSEL-S - Manual (Page 456)

Chapter 7
Troubleshooting
7.3 Error List (MAIN application)
448
In the panel window, the error numbers follow E in the display.
Error
No.
Error name Description, action, etc.
B7B Target track error in back side
keep-out area
The target position or the movement track is in the
keep-out area at the back side.
B7C Target track error in CP operation
restriction band
(PTP and JOG available on each
axis)�
The target position or the movement track is in the CP
operation restriction band.
PTP operation and JOG operation of each axis are
available.
B7D Physically unachievable target
Setting error
A target that is not achievable with the construction of the
1 st and 2 nd axes arm length was indicated.
Check the settings in “Each axis parameter No. 138 arm
length” and the target value.
B7F Servo use purpose error There is an error in the purpose of the servo use.
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 one
axis.
B82 Jog multiple-axis specification error Jog/inching was specified for multiple axes.
Jog/inching can be specified only for one axis.
B83 Rc = 0 WAIT timeout error at
Zc-Axis home-return
R -axis 0 positioning timeout error has occurred. Check the
restrictions in operation, wiring, encoder motor and so on.
B84 Arm length error There is an error in the arm length. Check the setting in
“Each Axis Parameter No. 138 Arm Length”.
B85 Operation start position
acquirement error in application
servo use work area
The operation start position cannot be acquired in the
application servo use work area.
B86 SEL PTRQ command preparation
Process Error
There is an error in the setting of PTRQ Command.
Check if the set value is out of the allowable range.
B87 Tool datum point target track error
in keep-out circle
The target position or the movement track is in the area of
the tool datum keep-out circle.
B88 Logic error at effective target data
calculation
An internal logic error has occurred during the effective
target data calculation.
B89 SCARA CP logic error An internal logic error has occurred during the SCARA CP
process.
B8C Simple contact check zone entry
detected (operation-cancellation
level specification)
An entry into the simple contact 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 similar to error Nos. A3A, A39 and A35 was
detected.
B8F Positioning time calculation error A positioning time calculation error occurred.
B90 Transit distance calculation error Transit distance calculation error has occurred.
B91 Main excess Speed Necessity
error
An excess velocity is requested. This error also may occur
when passing near a singularity with CP operation.
Program the CP operation under a consideration to make
away from the singularities.
This error could be avoided by reducing the indicated
velocity.
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B96 Servo-off axis detection error
during structure adjustment
It was detected that the servo has turned off for the
adjustment axis during the structure adjustment process.