Yamaha RCX222 User Manual page 482

[10] System setting or hardware errors
10.9 : Cannot set no axis
Chapter
9
10.10 : Cannot change axis
10.13 : Cannot set Dualdrive
10.14: Undefined parameter found
10.21 : Sys. backup battery low voltage
9-30
Code
: &H0A09
Meaning/Cause : A no-axis setting was attempted on an axis which cannot
accept it.
The following axes cannot be set to no-axis.
• X and Y axes except on MULTI type robots
Action : 1. Do not make a no-axis setting.
2. Change the axis setting.
Code : &H0A0A
Meaning/Cause : Changing of an axis whose setting cannot be changed was
attempted.
The following axes cannot be changed.
• X and Y axes on SCARA type robots
Action : 1. Do not change that axis.
2. Change a different axis.
Code : &H0A0D
Meaning/Cause : A dual drive setting was attempted on an axis that cannot be
set to dual drive.
Action : 1. Do not set to dual drive.
2. Change the axis setting.
Code : &H0A0E
Meaning/Cause : a. Undefined, wrong parameter data was written because
controller data from different controller version was used.
b. Parameter name is wrong.
Action : 1. Write the correct parameter data.
2. Enter the parameter name correctly.
3. Set the "Skip undefined parameters" parameter to "VALID".
Code : &H0A15
Meaning/Cause : a. System backup battery voltage is low.
b. System backup battery is disconnected from CPU board.
Action : 1. Replace system backup battery.
2. Connect system backup battery securely to CPU board.
Dedicated output : DO15 (Battery alarm output) turns on when the battery voltage is low.