IAI America XSEL-QX - Manual (Page 524)

500
Appendix
(In the pan
el wind
ow, the thre
e digits aft
er “E” in
dicate an erro
r nu
mber.
)
Error No.
Error name
Description, ac
tion, etc.
B73
Error due to pr
ohibition of change of coor
dinate s
y
stem data used
by
servo
Changi
ng of coordinate s
y
stem data curr
entl
y
used by
the s
e
rvo s
y
st
em is
prohi
bited.
* SCARA only
.
B74
CP-oper
ation restriction zone
entr
y
error (PTP/jogg
ing of e
a
c
h
axis en
abl
ed)
Entr
y
int
o the CP-oper
atio
n restriction zone
w
a
s detected. PT
P operation and
jogg
in
g oper
ati
on of each
a
x
is
are ena
ble
d.
* SCARA only
.
B75
Singular-
poi
nt calcul
ation error
CP calcul
atio
n cann
ot be perf
ormed d
ue to the sin
gul
ar poi
nt. Check for in
valid
coordi
nate ca
u
s
ed b
y
an i
n
a
p
p
ropri
a
te hom
e of arm 2, etc.
* SCARA only
.
B77
Current arm s
ystem setting er
ror
T
he target arm s
y
stem
to be s
e
t does not match the actual angle
of arm 2, or
coordi
nates ar
e not
yet deter
mined.
* SCARA only
.
B78
Current arm s
ystem indetermination error
T
he current arm s
y
stem is in
determin
ab
le.
* SCARA only
.
B79
R-a
xis servo O
FF detection er
ror during pos
ition control
correction
R-ax
is servo O
FF
w
a
s detect
ed dur
ing positi
on control corr
ection.
* SCARA only
.
B7A
Z-axis serv
o OFF detection er
ror during RZ mechanism
correction
Z-axis serv
o OFF
w
a
s detect
ed dur
ing RZ
mechanism cor
rection.
* SCARA only
.
B7B
Error due to tar
get locus i
n
sid
e rear entr
y
pr
ohib
itio
n area
T
he target position or movem
ent
locus is i
n
si
de the rear ent
ry
prohibition area.
* SCARA only
.
B7C
Error due to tar
get locus insi
d
e
CP-op
eratio
n
restriction zon
e
(PT
P/joggi
ng of each axis enabled)
T
he target position or movem
ent locus is i
n
si
de CP-o
perati
o
n restriction zo
ne. PT
P
oper
ation a
nd j
oggi
ng o
perati
on of each
a
x
is
are ena
ble
d.
* SCARA only
.
B7D
Ph
y
s
ical
ly
unr
e
a
liza
ble tar
get error
T
he specified target is unr
eal
iz
able
based on the arm
length
compositi
on of
axes
1
and 2. Check "
A
xis-s
pecific parameter No.
1
38, Arm length
" and the targ
et
value.
* SCARA only
.
B7F
Servo use purpose error
T
he use purpose of servo is i
n
vali
d.
* SCARA only
.
B80
Specific
ation-
prohibited axis error
Specific
ation of
the
axis is prohibited. Set an
axis that can be specifi
ed.
* SCARA only
.
B81
Axis-s
pecific P
T
P multiple-axi
s specificati
on
error
Axis-s
pecific P
T
P operation
w
a
s specifi
ed for
multiple
axes. Axis-s
peci
fic PT
P
oper
ation can be spec
ified onl
y
for a si
ngl
e axis.
* SCARA only
.
B82
Joggi
ng multipl
e-axis specific
ation err
or
Joggi
ng/i
nchi
n
g
w
a
s spec
ifie
d for multipl
e
ax
es. Joggi
ng/inching c
an be s
pecified
onl
y for a singl
e axis.
* SCARA only
.