Yamaha RCX240 User Manual page 531

2.7 : Illegal Pallet parameter
Code
Meaning/Cause
Calculation for setting pallet definition
failed.
2.8 : Movable range cal. failed
Code
Meaning/Cause
a. Calculation of movement path failed.
b. Current position is not within movement
range.
2.9 : Overlap soft limit
Code
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.
2.10 : Exceeded movable range
Code
Meaning/Cause
Area is outside the movable range of
movement path.
2.11 : ? exceeded shift coord. range
Code
Meaning/Cause
Shift coordinate range ? value was
exceeded.
: &H0207
: &H0208
: &H0209
: &H020A
: &H020B
[ 2] Robot operating area errors
Action
Set pallet definition correctly.
Action
1. Change to a correct movement
point.
2. Change current position to within
movement range.
Action
1. Set the soft limit values correctly.
2. Set the soft limit values so that the
movement range of the arm is less
than 1 rotation.
Action
1. Set movement points correctly.
2. Specify movement path to be within
the movable range.
Action
1. Change the operating position of ?
value to within the shift coordinates
range.
2. Change shift coordinates range ?
value.
TROUBLESHOOTING
A
A-9