Yamaha RCX240 User Manual page 532

[ 2] Robot operating area errors
2.17 : Arch condition bad
A
Code
2.18 : RIGHTY now selected
Code
2.19 : LEFTY now selected
Code
2.20 : Illegal hand type
Code
2.22 : Arm length is 0
Code
2.23 : Cannot move (RIGHTY to LEFTY)
Code
A-10
TROUBLESHOOTING
: &H0211
Meaning/Cause
On SCARA robots and XY robots, arch
motion is not used on X and Y axes when
arch position data is in mm units.
On SCARA robots, arch motion is not
used on X and Y axes when target
position data is in mm units.
: &H0212
Meaning/Cause
On SCARA type robots, the arm will now
use the right-handed system for starting
Cartesian movement.
: &H0213
Meaning/Cause
On SCARA type robots, arm will now use
the left-handed system for starting
Cartesian movement.
: &H0214
Meaning/Cause
An R-axis hand definition was attempted
on a robot not having an R-axis.
: &H0216
Meaning/Cause
When arm length setting is 0 on SCARA
type robots, movement on Cartesian
coordinates was attempted.
: &H0217
Meaning/Cause
Interpolation movement shifting from the
right-handed system to the left-handed
system was executed with a SCARA
robot.
Action
Change to correct arch motion
command.
Action
− − −
Action
− − −
Action
1. Change to Y-axis hand definition.
2. Do not use a hand definition.
Action
1. Set standard coordinates.
2. Set the arm length parameter.
Action
Check the current hand system and
point data hand system flag.