Omron SCARA YRCX Series User Manual page 57

Alarm occurrence location list
■
T*
SYS
ONL
RMT
SEQ
SIN
C*
C*O*
R*/R*A*
M*/C*M*
For example, when "17.403: M1" is displayed, this shows that the position reset position error occurs in motor 1.
In the same manner, when "14.400:T02" is displayed, this shows that the communication shutdown error
occurs in task 2.
[ 2] Alarm related to the robot operation
2.346 : Illegal axes (tracking)
Code : &H0002 &H015A
Meaning/Cause
Action
2.347 : Not tracking status
Code : &H0002 &H015B
Meaning/Cause
Action
2.348 : Over tracking area
Code : &H0002 &H015C
Meaning/Cause
Action
2.349 : Can't execute CTMOVE
Code : &H0002 &H015D
Meaning/Cause
Action
Task
*... Task number
Startup, memory check, generation
Online command
Remote command
Sequence program
Standard input
Controller
*... Controller number
Option board
*... Controller number, option slot number
Robot, axis
*... Robot number, axis number
Physical motor
*... Motor number, controller number
a. Tracking cannot be executed with this axis configuration.
b. "CTDRIVE" or "CTMOVE" command with specifying the Z-axis operation command was
executed for the robot without Z-axis.
a. Check the robot axis configuration.
b. Change the program so that "CTDRIVE" or "CTMOVE" command with specifying the Z-axis
operation command cannot be executed for the robot without Z-axis.
"CTDRIVE" command was executed for the robot without following the conveyor.
Change the program so that "CTDRIVE" command is executed after following the conveyor by
"CTMOVE" command.
• The robot cannot be operated since the elements of position monitoring queue specified by
"CTMOVE" command was out of the work area.
• The elements of position monitoring queue in following moved out of the work area.
• Review the robot program so that the elements of position monitoring queue specified by
"CTMOVE" command is in the work area.
• Reduce the setting value of the tracking end margin of the tracking parameter.
• Change the program so that the next command or "CTSTOP" command execute before
moving out of the work area.
"CTMOVE" command was not executed since it was in deceleration control.
"CTMOVE" command cannot be executed in MANUAL mode.
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