IAI America SSEL - Manual (Page 473)

451
Appendix
(In the panel
wind
ow, the three di
gits after “E” in
dicate an error n
u
m
ber.)
Error No.
Error name
Description, ac
tion, etc.
CA9
Setting val
ue error of placem
ent points in
pal
le
tizing-axis di
re
ctions
T
he set X/Y-axis directi
on counts for palletiz
ing ar
e
in
va
lid
.
CAA
Palletizing PASE/PAPS non-
declaration err
or
Neither PASE nor PAPS palletizing-s
e
tting c
o
mmand is set. Set either com
mand.
CAB
Pall
etizing pos
it
ion num
ber err
or
T
he specif
ied p
a
lletiz
in
g positi
on num
ber is i
n
vali
d.
CAC
Pall
etizing pos
it
ion num
ber setting over
T
he specified pa
lletiz
ing positi
on num
ber exc
eeds the
positi
on num
ber range
calculated for the current palletizing setting.
CAD
Pall
etizing PX/
PY/PZ-axis duplicati
on er
ro
r
An
y
t
w
o
of the specifi
ed P
X
, PY and PZ-a
xes
for palletiz
ing
are the same
a
x
is.
CAE
Insufficient val
id
a
x
es for pal
le
tizing 3-
poi
nt teachi
ng d
a
ta
T
here are not enough vali
d ax
es i
n
the point
data for pall
eti
zing 3-
poi
nt teachi
ng.
Axes to com
pri
se the pal
letizi
ng P
X
/PY planes cannot be s
pecifi
ed.
CAF
Excess
ive vali
d ax
es for pal
letizing 3-
poi
nt teachi
ng data
T
here are too man
y
v
a
lid a
x
e
s
in the poi
nt d
a
ta for pall
etizi
ng
3-point teac
hing.
Axes to com
pri
se the pal
letizi
ng P
X
/PY planes cannot be s
pecifi
ed.
CB0
Mismatched valid axes for palletizing 3-po
int teaching
data
T
he valid ax
is
pattern in the point data for palletizi
ng 3-
poi
n
t teaching does not
match.
CB1
Offset setting error at palletizing 3-poin
t teaching
Zigzag offset (not zero) canno
t be set in palletiz
ing 3-point teaching
, if the
referenc
e point
is the same as
the end point
of the PX-axis.
CB2
BGPA/EDPA pair-end mismat
ch error
T
he BGPA/ED
PA s
y
ntax
is
invalid. EDPA
w
a
s declared
before BGPA, or
another
BGPA
w
a
s dec
lared after BGPA
w
it
hout first declar
ing EDP
A.
CB4
Arch-motion Z-axis non-dec
lar
ation err
or
Z-axis ha
s not
been dec
lared by
PC
HZ or ACHZ.
CB5
BGPA non-dec
larati
on error during pal
letizi
ng setting
Pall
etizing setting cannot be performed
w
it
h
out first declaring BGPA.
Declare
BGPA.
CB6
Pall
etizing point error
T
he palletizi
ng
poi
nts are
inv
al
id (non-Z-a
xis
components for arch-motion
movement are absent, etc.).
CB7
Arch-trigg
er no
n-dec
larati
on e
rror
Declar
e arch tri
ggers us
ing PT
RG or AT
RG.
CB8
No 3-p
oint teac
hin
g setting err
or at pall
etizin
g
angl
e acq
u
isiti
on
T
he palletizi
ng
angle cannot be acquired
until
setting b
y
pall
etizing
3-point
teaching is complete.
CB9
PX/PY-a
xis ind
etermin
abl
e err
or at pall
etizin
g
angl
e acq
uisiti
on
Angl
e can
not b
e
calcu
late
d
be
cause ther
e ar
e too man
y
val
id ax
es in the 3-poi
nt
teaching data and thus P
X
/P
Y-axes cannot
be spec
ified.
CBA
Reference-axis
/PY/PY-ax
is mismatch error at
palletizing angle
acquisition
Angl
e can
not b
e
calcu
late
d be
cause the
ref
er
ence axis for angl
e calculati
on is
neither of the ax
es c
o
mprising the PX/PY-a
xes as set by
3-
point teaching.
CBB Reference-poi
nt/PX-axis
end-poi
nt
dupl
icati
on error at pall
etizing
ang
le ac
quis
iti
on
Angl
e cannot be calculated because the re
fe
rence point of 3-point teaching is the
same as the P
X
-axis end-poi
n
t data other
than the PZ-axis
component and thus
arc tangent cannot be c
a
lculated.
CBC
Pall
etizing moti
on calc
ulati
on
error
T
rapezoid cont
rol calc
ulati
on
error for pal
leti
zing moti
on
CBD
MOD command divis
or 0 error
“0”
w
a
s spec
ified as the divis
or in the MOD command.
CBE
T
a
rget-locus boundar
y ov
er error
T
he target posi
tion
or movem
ent locus e
x
c
e
ede
d the pos
iti
oni
ng b
oun
dar
y in th
e
infinit
e-stroke mode.