Yamaha RCX240 User Manual page 552

[ 6] Robot language execution errors
6.29 : No PATH data
A
Code
6.30 : Too many PATH data
Code
6.31 : Not PATH start position
Code
6.32 : PATH execute error
Code
6.33 : ABS of MARK incomplete
Code
A-30
TROUBLESHOOTING
: &H061D
Meaning/Cause
No path is set for PATH motion.
: &H061E
Meaning/Cause
The number of PATH motion paths has
exceeded 300.
: &H061F
Meaning/Cause
Robot's current position is not the start
position of PATH motion.
: &H0620
Meaning/Cause
Cannot execute PATH motion.
a. Acceleration zone distance is too short.
b. Speed is too high in the position where
the direction changes.
: &H0621
Meaning/Cause
Absolute reset was attempted with an
ABSRST statement or dedicated input
while absolute reset on an axis whose
return-to-origin method is set to "Mark" is
incomplete.
Action
Set a path with PATH L and PATH C.
The previously set path will be lost in
the following cases:
• When PATH SET is executed.
• When program is changed.
• When program is reset.
• When controller power is turned off.
Action
Reduce the number of PATH motion
paths to 300 or less in total of straight
lines and circular arcs.
Action
Move the robot to the start position
specified with PATH SET and then
execute PATH START.
Action
1. Reduce the speed setting.
2. Lengthen the straight line or circular
arc distance containing acceleration/
deceleration.
3. Make setting so that the direction at
the connection point of straight lines
does not change greatly.
Action
First perform absolute reset on the
axes whose return-to-origin method is
set to "Mark".