Yamaha RCX40 User Manual page 342

1. Error Messages
2.2 : Std. Coord. doesn't exist
2.3 : Coordinate cal. failed
2.5 : Shift cal. failed
2.6 : Hand cal. failed
2.7 : Illegal Pallet parameter
2.8 : Movable range cal. failed
9
2.9 : Overlap soft limit
6
9-
Code : &H0202
Meaning/Cause : Setting of standard coordinates is incomplete.
Action
: 1. Set the standard coordinates.
2. Set the parameter arm length and offset pulse.
Code : &H0203
Meaning/Cause : a. Preset calculation for setting standard coordinates is not
b. Operating position exceeded the operating area range.
Action
: 1. Set the standard coordinates correctly.
2. Change operating position to within operating area.
Code : &H0205
Meaning/Cause : Calculating for setting shift coordinates failed.
Action
: Set shift coordinates correctly.
Code
: &H0206
Meaning/Cause : Calculation for setting hand definition failed.
Action : Set hand definition correctly.
Code : &H0207
Meaning/Cause : Calculation for setting pallet definition failed.
Action : Set pallet definition correctly.
Code : &H0208
Meaning/Cause : a. Calculation of movement path failed.
b. Current position is not within movement range.
Action : 1. Change to a correct movement point.
2. Change current position to within movement range.
Code : &H0209
Meaning/Cause : On SCARA robots, the sum of the absolute values for the X-axis
(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.
Action : 1. Set the soft limit values correctly.
2. Set the soft limit values so that the movement range of the
functioning.
arm is less than 1 rotation.