Yamaha RCX142 User Manual page 401

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
2.19 : LEFTY now selected
Code
Meaning/Cause : On SCARA type robots, arm will now use the left-handed system
Action
2.20 : Illegal hand type
Code
Meaning/Cause : An R-axis hand definition was attempted on a robot not having an
Action
2.22 : Arm length is 0
Code
Meaning/Cause : When arm length setting is 0 on SCARA type robots, movement
Action
: &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.
: ---
: &H0213
for starting Cartesian movement.
: ---
: &H0214
R-axis.
: 1. Change to Y-axis hand definition.
2. Do not use a hand definition.
: &H0216
on Cartesian coordinates was attempted.
: 1. Set standard coordinates.
2. Set the arm length parameter.
1. Error Messages
10
7
10-