2] Robot Operating Area Errors - Yamaha RCX240 User Manual

[ 2] Robot operating area errors

1.34 : ABS.Backup fin
A
Code
[ 2] Robot operating area errors
2.1 : Over soft limit
Code
2.2 : Std. coord. doesn't exist
Code
2.3 : Coordinate cal. failed
Code
2.5 : Shift cal. failed
Code
2.6 : Hand cal. failed
Code
A-8
TROUBLESHOOTING
: &H0122
Meaning/Cause
Finished making backup of robot position
data during power cutoff.
: &H0201
Meaning/Cause
Soft limit value preset in the parameter
for operation position was exceeded.
: &H0202
Meaning/Cause
Setting of standard coordinates is
incomplete.
: &H0203
Meaning/Cause
a. Preset calculation for setting standard
coordinates is not functioning.
b. Operating position exceeded the
operating area range.
: &H0205
Meaning/Cause
Calculating for setting shift coordinates
failed.
: &H0206
Meaning/Cause
Calculation for setting hand definition
failed.
Action
− − −
Action
1. Change the operating position to
within the soft limits.
2. Change the soft limit value.
Action
1. Set the standard coordinates.
2. Set the parameter arm length and
offset pulse.
Action
1. Set the standard coordinates
correctly.
2. Change operating position to within
operating area.
Action
Set shift coordinates correctly.
Action
Set hand definition correctly.