Kawasaki D Series Controller MPVDCONTV113E-3 - Manual (Page 188)

TROUBLESHOOTING
1-185 August 9, 2005
D SERIES CONTROLLER
TROUBLESHOOTING AND COMPONENT REPLACEMENT
Ka a a w s k
ERROR CODE P2022 Cannot use DOUBLE OX.
When DOUBLE type signals are used, if either output signal in the pair is set ON, the
other is set to OFF. An instruction (BITS, PULSE, DLYSIG, etc.) to change the state of
either output signal causes this error to occur.
⇒
Ensure signals used with the BITS, PULSE, DLYSIG, etc. commands/instructions are
not designated as DOUBLE OX.
_____________________________________________________________________
ERROR CODE P2023 In cooperative mode.
Main causes include:
1. An EXECUTE, DO, PRIME, or PRESET command, or, a program selection, step
selection, or external program reset command is executed during cooperative motion.
2. MASTER or SLAVE instruction is executed between MASTER and ALONE instruc-
tions in the MASTER robot program, or between SLAVE and ALONE instructions in
the SLAVE robot program.
⇒
Do not use EXECUTE, DO, PRIME or PRESET commands or program select, step
select, or external program reset command during cooperative motion.
⇒
Correct the MASTER or SLAVE robot program as needed.
_____________________________________________________________________
ERROR CODE P2024 Invalid coordinate value X.
This error occurs when the work space output signal lower X value is greater than the
upper value in AUX 0403.
⇒
Ensure upper and lower values are set correctly in AUX 0403.
_____________________________________________________________________
ERROR CODE P2025 Invalid coordinate value Y.
This error occurs when the work space output signal lower Y value is greater than the
upper value in AUX 0403.
⇒
Ensure upper and lower values are set correctly in AUX 0403 .
_____________________________________________________________________