IAI America XSEL-QX - Manual (Page 532)

508
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.
CA2
Abnorm
al abs
olute-data back
up batter
y
volt
age (Mai
n anal
ysis)
Check the co
n
nectio
n of the absol
ute-d
ata backu
p batter
y/repl
ac
e the batter
y
and/or
check the enc
oder cable connection, and then perform an absolut
e reset.
CA3
Slave settin
g d
a
ta out-of-ran
g
e
error
T
he data se
t to the slave is outside the al
lo
w
able r
ange.
CA4
Slave err
or respons
e
An error response
w
a
s retur
ned from the slave.
CA5
Stop devi
ation
overflo
w
error
Movement may hav
e occurr
e
d
duri
ng stopp
ing du
e to e
x
ter
nal force or o
p
eratio
n
may
have been restricted dur
ing deceleration.
T
h
is error may
also gener
ate
w
h
en
jog operati
on is
restricted (due to c
ontact
w
ith an obstacl
e, contact
w
ith a
mechanical end before home
return, etc.) or w
h
en
w
iring err
or, fault
y
encoder or
fault
y
m
o
tor is detected during deceleration.
CA6
Palletiz
ing num
ber error
T
he specified palletiz
ing
number is inval
id.
CA7
Setting error of
even-number
ed ro
w
c
o
unt for palletiz
ing zigz
ag
T
he set even-numbered ro
w
c
ount for pal
letiz
ing zigz
ag is i
nvalid.
CA8
Setting error of
palletiz
ing pitc
hes
T
he set palletiz
ing pitc
hes are
abnormal.
CA9
Setting error of
placem
ent poi
nts in pal
letizi
ng-axis dir
ectio
n
s
T
he set X/Y-axis directio
n cou
nts for palletiz
ing are i
n
va
lid.
CAA
Palletiz
ing PASE/PAPS non-
declar
ation err
or
Neither PASE
nor
PAPS pal
letizing-setting c
o
mmand is s
e
t. Set either com
mand.
CAB
Palletiz
ing posi
tion num
ber err
or
T
he specified palletiz
ing
positi
on num
ber is i
n
vali
d.
CAC
Palletiz
ing posi
tion num
ber setting over
T
he specified palletiz
ing
positi
on num
ber exc
eeds the positi
on num
ber range
calcul
ated for the current pall
etizing s
e
tting.
CAD
Palletiz
ing PX/
PY/PZ-axis duplicati
on err
or
Any
t
w
o
of the
specified P
X
, PY and PZ-axes
for palletizi
ng
are the same ax
is.
CAE
Insufficient val
id
axes for pal
le
tizing 3-
poi
nt teachin
g data
T
here are not enough valid
ax
es i
n
the point
data for pall
eti
zing 3-
poi
nt teaching.
Axes to com
pri
se the pal
letizi
ng P
X
/PY planes cannot be s
pecified.
CAF
Excess
ive vali
d axes for pal
letizing 3-
poi
nt teaching 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. A
x
es
to comprise the pall
etizi
ng P
X
/PY pl
anes c
annot be spec
ified.
CB0
Mismatched v
a
lid axes for pall
etizing
3-point teachi
ng 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-point teaching
Zigzag offset (not zero) canno
t be set in palletizing
3-point teaching
, if the
referenc
e
point is the sa
me as the
end
point of the P
X
-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
ithout first declaring EDP
A.
CB4
Arch-motion Z-
axis non-dec
lar
ation err
or
Z-axis has not
been decl
ared
by
PC
HZ or ACHZ.
CB5
BGPA non-dec
laration error during
pal
letizi
ng setting
Palletiz
ing setting cannot be performed
w
ithout first declaring BGPA.
Declare
BGPA.
CB6
Palletiz
ing poi
nt error
T
he palletizi
ng
points are inva
lid (no
n-Z-axis compo
nents ar
e abse
nt, etc.).
CB7
Arch-trigger n
o
n
-decl
arati
on e
rror
Declar
e arch tri
ggers us
ing PT
RG or AT
RG.
CB8
No 3-point teac
hing s
e
tting err
or at pall
etizing angl
e acquis
iti
on
T
he palletizi
ng
angl
e cannot be acquired until
setting b
y
pal
le
tizing 3-point
teachi
ng
is complet
e.