IAI America XSEL-QX - Manual (Page 525)

501
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.
B83
Rc = 0
w
a
it tim
eout error upon Zc-axis hom
e
return
T
imeout
of R-axis 0 p
o
siti
oni
n
g
has o
ccurr
ed
. Check for ope
ration restri
ction, w
ir
ing,
encoder, motor
, etc.
* SCARA only
.
B84
Arm length err
or
T
he arm length is invali
d. Check "Axis-s
pecifi
c parameter N
o
. 138, Arm length."
* SCARA only
.
B85
Operatio
n start-posit
ion acqui
sition error i
n
si
de
w
o
rk ar
ea using
appl
icati
on ser
vo
Operatio
n start positio
n cann
o
t be obt
ain
ed i
n
side th
e
w
o
rk
area us
ing the
appl
icati
on ser
vo.
* SCARA only
.
B86
SEL PT
RQ co
mmand pr
epar
ation err
or
T
he set value of the PT
RQ
command is i
n
v
a
lid. Ch
eck if the set valu
e is outsid
e the
specified range, among others
.
B87
Error due to tar
get locus err
or inside tool-c
ent
er entr
y
prohibi
tion
circle
T
he target position or movem
ent locus is
in
si
de the circl
e
w
here e
n
tr
y
of th
e tool
referenc
e poi
nt is prohi
bited.
* SCARA only
.
B88
Logic
error dur
ing calc
ulati
on
of valid targ
et data
An internal logi
c error generat
ed dur
ing calculation
of valid t
a
rget da
ta.
* SCARA only
.
B89
SCARA CP logic error
An internal logi
c error
w
a
s det
ected dur
ing S
C
ARA CP proc
essing.
* SCARA only
.
B8C
Detection of entr
y
into simple interferenc
e check zone
(Operation-cancellati
on l
e
vel s
pecificati
on)
Entry
int
o the simple interference check zo
ne
w
a
s detected. (Operation-cancellation
level specific
ati
on)
* SCARA only
.
B8D
SLPR par
amet
er t
y
pe specific
ation err
or
T
he specified
SLPR par
amet
er t
y
pe is invali
d.
* SCARA only
.
B8E
SEL ST
PR co
mmand pr
epar
ation err
or
An error equiv
a
lent to error N
o
. A3A, A39 or A35
w
a
s detec
ted.
* SCARA only
.
B8F
Positioning time calcul
ation er
ror
A pos
itio
nin
g time calcul
atio
n error occurre
d.
* SCARA only
.
B90
Passing distance calcul
ation error
A passing distance calc
ulation error occurred.
* SCARA only
.
B91
Main ov
erspeed requirement error
An ex
cessiv
e speed is requ
ire
d.
T
h
is error ma
y
a
lso occ
ur w
h
en
passi
ng
near the
singular point (
w
here
arms 1 and 2 form a straight li
ne) duri
ng CP operation.
Program CP operati
on by
av
oidi
ng mov
ements near the si
ngul
ar po
int. This error
ma
y
b
e
prev
en
ted b
y
lo
w
e
ring the specified speed.
* SCARA only
.
C02
Run pr
ogram c
ount over err
or
Requests
w
e
re made to
run
too many programs exce
eding t
he num
ber of programs
that can be run simultaneous
ly
.
C03
Non-registered program speci
fication err
or
T
he specified program is not r
egister
ed.
C04
Program entry
point non-de
tection error
An undefined supported program number
w
a
s specified via
I/O or in a program.