Yamaha RCX222 User Manual page 423

2.8 : Movable range cal. failed
Code
Meaning/Cause : a. Calculation of movement path failed.
Action
2.9 : Overlap soft limit
Code
Meaning/Cause : On SCARA robots, the sum of the absolute values for the X-axis
Action
2.10 : Exceeded movable range
Code
Meaning/Cause : Area is outside the movable range of movement path.
Action
2.11 : ? exceeded shift coord. range
Code
Meaning/Cause : Shift coordinate range ? value was exceeded.
Action
2.17 : Arch condition bad
Code
Meaning/Cause : When target point and arch position data are in mm units, arch
Action
2.18 : RIGHTY now selected
Code
Meaning/Cause : On SCARA type robots, the arm will now use the right-handed
Action
: &H0208
b. Current position is not within movement range.
: 1. Change to a correct movement point.
2. Change current position to within movement range.
: &H0209
(or Y-axis) minus soft limit and the X-axis (or Y-axis) plus soft
limit is making the arm move 1 rotation or more.
: 1. Set the soft limit values correctly.
2. Set the soft limit values so that the movement range of the
arm is less than one rotation.
: &H020A
: 1. Set movement points correctly.
2. Specify movement path to be within the movable range.
: &H020B
: 1. Change the operating position of ? value to within the shift
coordinates range.
2. Change shift coordinates range ? value.
: &H0211
motion is not used on X and Y axes.
: Change to correct arch motion command.
: &H0212
system for starting Cartesian movement.
: ---
[ 2] Robot operating area errors
Chapter
9
9-7