IAI America XSEL-KET - Manual (Page 413)

Appendi
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INTELLI
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CTUAT
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394
(In the panel window, the three digits after “E” indicate an error number.)C
Error No. Error name Description, action, etc.
CAF Excessive valid axes for palletizing 3-point teaching data There are too many valid axes in the point 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 data The valid axis pattern in the point 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 (no arch motion data other than the Z-axis
component, 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 data and thus PX/PY-axes cannot be specified.
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.
CBB Reference-point/PX-axis end-point duplication error at palletizing
angle acquisition
Angle cannot be calculated because the reference point of 3-point teaching is
the same as the PX-axis end-point data other than the PZ-axis component and
thus arc tangent cannot be calculated.
CBC Palletizing motion calculation error Trapezoid control calculation error for palletizing motion
CBD MOD command divisor 0 error “0” was specified as the divisor in the MOD command.
CBE Target-locus boundary over error The target position or movement locus exceeded the positioning boundary in the
infinite-stroke mode.
CBF Positioning distance overflow error The positioning distance is too large.
If the system is of the absolute encoder specification and it has just been
relocated or when “Error No. C74, Actual-position soft limit over error” has also
generated, the absolute reset may not have been executed correctly and
consequently the servo packet calculation counter may have overflowed due to
a current position error. Perform an absolute reset again according to the
procedure specified in the operation manual.
(The current position cannot be recognized correctly only by clicking “Reset
Encoder Error” on the absolute reset screen. Be sure to perform an absolute
reset by strictly following the specified procedure.)
CC0 Axis mode error The axis mode is invalid.
CC1 Speed change condition error An attempt was made to change the speed of an axis whose speed cannot be
changed (axis operating in S-motion, etc.).
CC2 Driver parameter list number error The driver parameter list number is invalid.
CC3 Angle error The angle is invalid.