Yamaha RCX142 User Manual page 402

1. Error Messages
2.23 : Cannot move (RIGHTY to LEFTY)
2.24 : Cannot move (LEFTY to RIGHTY)
2.25 : Cannot use TOOL coord.
2.26 : Collision in W. carrier
10
8
10-
Code : &H0217
Meaning/Cause : a. Interpolation movement shifting from the right-handed sys-
Action : 1. Check the current hand system and point data hand system
Code
: &H0218
Meaning/Cause : a. Interpolation movement shifting from the left-handed system
Action : 1. Check the current hand system and point data hand system
Code : &H0219
Meaning/Cause : Failed to select tool coordinates could because no hand data has
been entered.
Action
: Set the hand data.
Note: An R-axis unit must be installed to a SCARA or Cartesian
Code : &H021A
Meaning/Cause : Failed to move the double-carrier axis, because one carrier will
interfere with the other carrier.
Action : If this error occurred during MANUAL mode:
1. Move the other carrier to a position where the two carriers
If this error occurred during AUTO mode:
1. Change the target position of one carrier so it will not inter-
2. Move the other carrier to a position where it will not interfere
3. Set the double-carrier parameter control mode to "Off" or
tem to the left-handed system was executed with a SCARA
robot.
flag.
to the right-handed system was executed with a SCARA
robot.
flag.
robot.
Set the hand data while a hand or gripper is attached to the
tip of the R-axis.
will not interfere with each other and then move the robot
manually.
fere with the other carrier.
with the first carrier's target position, and then move that first
carrier.
"On".
When set to "Off", this error does not occur, but the anti-
collision function for double-carriers will not work so the
carriers might collide with each other.
When set to "On", one carrier starts moving after waiting
until the other carrier moves to a position where no interfer-
ence occurs.