IAI America XSEL-QX - Manual (Page 533)

509
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.
CB9
PX/PY-a
xis ind
etermina
bl
e err
or at pall
etizin
g
angl
e acqu
isit
ion
Angl
e cannot be calcul
ated b
e
c
ause ther
e ar
e too man
y
val
id axes in the
3-point
teachi
ng dat
a and thus P
X
/P
Y-axes can
not be spec
ified.
CBA
Reference-axis
/PY/PY-ax
is mismatch error at
palletiz
ing angle
acquis
ition
Angl
e cannot be calcul
ated because the refer
ence a
x
is for angle c
a
lcu
latio
n is
neither of the ax
es com
prising the PX
/PY-axes as set by
3-
point teac
hing.
CBB
Refere
nce-p
oi
nt/PX-a
xis end
-point dupl
icati
on error at pall
etizing
angl
e acq
uisiti
on
Angl
e cannot be calcul
ated because the refer
ence p
o
int of 3
-point teac
hin
g
is the
same as the P
X
-a
xis en
d-po
in
t data other
than the PZ-axis
component and thus arc
tangent cannot be calculated.
CBC
Palletiz
ing moti
on calc
ulati
on
error
T
rapezoid cont
rol calcu
latio
n
error for pall
eti
zing moti
on
CBD
MOD command divisor
0 error
“0”
w
a
s specifi
ed as the div
is
or in the MOD command.
CBE
T
a
rget track bound
ar
y
over err
or
T
he target position or movem
ent locus
e
x
c
e
eds the pos
itio
ning
bou
nd
ar
y
in the
infinite-strok
e
mode. Cartes
ian axis onl
y
.
CBF
Positioning dist
ance ov
erflo
w
error
T
he positioni
ng distance is too large.
If,
w
ith
an abs
olute enc
oder s
pecification, this error occurred after relocating the
s
y
stem or
w
hen an “Error No.
C74, Actual
-position s
o
ft limit over error” is also
present, a servo packet calc
ul
ation ov
erflo
w
may
have occ
urred due to an i
n
vali
d
current pos
ition because an absol
ute reset
w
a
s not e
x
ec
uted correctl
y
. E
x
ec
ute an
absol
ute reset
agai
n b
y
foll
o
w
ing the pr
oced
ure in the o
per
ation ma
nua
l.
(“Resetting
an
encoder error”
in the abs
olut
e reset
w
indo
w
alone
w
ill not cause the
controller to recogniz
e the cur
rent positi
on correctl
y
. Al
w
a
ys execute an abs
olute
reset by
follo
w
ing the spec
ified procedure.)
CC0
Axis mode err
or
T
he axis mode is invali
d.
CC1
Spee
d cha
nge
conditi
on err
or
An attempt
w
a
s made to
cha
nge the speed of an ax
is
w
hose speed cannot be
changed (axis oper
ating in S-motion, etc.).
CC2
Driver par
amet
er list number error
T
he
driver para
meter list num
ber is inv
alid.
CC3
Angl
e error
T
he angle is invalid.
CC4
SEL data error
T
he SEL data is invali
d.
CC5
Positioning boundar
y
pul
l-out
error
An attempt
w
a
s
made to exec
ute a command not permitted outside the
positioni
ng
bou
ndar
y.
CC6
Driver error pr
imar
y
detection
A driver error
w
a
s found by
primar
y
detection.
CC7
Palletiz
in
g mov
ement PZ-a
xis
pattern no
n-d
etection err
or
PZ-a
xis com
ponent is not found in the axis pattern duri
ng palletiz
ing mov
ement.
CC8
Arch top Z-axis
pattern non-detection error
Z-axis com
ponent relati
ng to the hi
ghest p
o
in
t of arch motion is not foun
d i
n
t
he a
x
is
pattern dur
ing
arch motion operation.
CC9
Arch trigger Z-axis pattern non-detection err
or
Z-axis com
pon
ent relati
ng to arch motion is not found i
n
the axis pattern
o
f the
arch-trigger declaration point data.
CCA
Arch top/end-
p
o
int reversi
ng
error
T
he coordinate
s of
highest poi
n
t and end poi
n
t are reversed during arch m
o
tion
oper
ation.