Yamaha RCX222 User Manual page 440

[ 6] Robot language execution errors
6.19 : SUB without CALL
Chapter 6.20 : Not execute CALL
9
6.21 : Same point exists
6.22 : 3 points on line
6.23 : Circular arc radius too small
6.24 : Circular arc radius too large
6.25 : Too low speed
9-24
Code : &H0613
Meaning/Cause : SUB command was executed without executing CALL
command.
Action : Confirm execution of CALL command.
Code : &H0614
Meaning/Cause : CALL command was not executed.
Action : Confirm execution of CALL command.
Code : &H0615
Meaning/Cause : a. Same points exist for 1 of 3 points of an MOVE C command.
b. Same points are consecutively on the path of PATH motion.
Action : 1. Change the MOVE C command to 3 different points.
2. Make changes so that the same points are not consecutively
on the path of PATH motion
Code : &H0616
Meaning/Cause : Three points of an MOVE C command were placed on a
straight line.
Action : Change the 3 different points of the MOVE C command so they
are not on the same straight line.
Code : &H0617
Meaning/Cause : MOVE C command radius is less than 1mm.
Action : Change MOVE C command to 1mm or more for circular arc
radius.
Code : &H0618
Meaning/Cause : MOVE C command radius exceeded 5000mm (5 meters).
Action : Change MOVE C command to within 5000mm (5 meters) for
circular arc radius.
Code : &H0619
Meaning/Cause : Specified speed was too low so movement time exceeded
300 seconds. Maximum movement time is 300 seconds.
Action : Increase the specified speed.