IAI America XSEL-S - Manual (Page 463)

Chapter 7
Troubleshooting
7.3 Error List (MAIN application)
455
In the panel window, the error numbers follow E in the display.
Error
No.
Error name Description, action, etc.
CA4 Slave error response An error response was returned from the slave.
CA5 Stop deviation overflow error Movement may have occurred during stopping due to
external force or operation may have been restricted
during deceleration. This error may also generate when jog
operation is restricted (due to contact with an obstacle,
contact with a mechanical end before home return, etc.) or
when wiring error, faulty encoder or faulty motor is
detected during deceleration.
CA6 Palletizing number error The specified palletizing number is invalid.
CA7 Setting error of even-numbered
row count for palletizing zigzag
The set even-numbered row count for palletizing zigzag is
invalid.
CA8 Setting error of palletizing pitches The set palletizing pitches are abnormal.
CA9 Setting error of placement points in
palletizing-axis directions
The set X/Y-axis direction counts for palletizing are invalid.
CAA Palletizing PASE/PAPS
non-declaration error
Neither PASE nor PAPS palletizing-setting command is
set. Set either command.
CAB Palletizing position number error The specified palletizing position number is invalid.
CAC Palletizing position number setting
over
The specified palletizing position number exceeds the
position number range calculated for the current palletizing
setting.
CAD Palletizing PX/PY/PZ-axis
duplication error
Any two of the specified PX, PY and PZ-axes for palletizing
are the same axis.
CAE Insufficient valid axes for palletizing
3-point teaching position data
There are not enough valid axes in the position data for
palletizing 3-point teaching.
Axes to comprise the palletizing PX/PY planes cannot be
specified.
CAF Excessive valid axes for palletizing
3-point teaching position data
There are too many valid axes in the position 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 position
data
The valid axis pattern in the position 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
for arch-motion movement 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 position data and thus
PX/PY-axes cannot be specified.
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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.