Delta DCS

40
SCARA ROBOT DCS ELECTRIC CONTROL INSTRUCTIONS
E?814 Axis error during implementation of motion commands
Cause
Axis error during implementation of the motion commands.
Check and Correction
Please use the original software (DROE) to check whether any abnormality
of axis is found and eliminate any abnormality in accordance with the
troubleshooting of alarms.
Solution
Reset alarm
E?815 Mono-axis exceeds the software limit
Cause
Target position of the mono-axis exceeds the software limit.
Check and Correction
Whether target position of the command for each axis is within configured limits
of software. If not, please move the arm (manual or Jog) back into the limits of
software.
Solution
Reset alarm
E?821 Arm gesture is inconsistent
Cause
Current arm gesture is inconsistent with gesture at target position.
Check and Correction
1. Continuous path command (MovL, MArc, MCircle, MArchL) does not support
movements under hand changes. Check whether the gesture at current
position is consistent with that at the target position. If not, please change
the gesture at target position or use another motion command.
2. Please check whether this motion path can be ignored. If not, then determine
the arm gesture with the controller.
Solution
Reset alarm
E?822 Target position for P2P motion command is out of Robot’s operating range
Cause
The target position for issued mono-axial P2P (MovJ), multi-axial P2P (MovP,
MovPR, MArchP) is out of the operating range.
Check and Correction
Whether the target position of the motion command for each axis is within the
software limits configured by the drive.
Solution
Reset alarm
E?823 Target position of command for continuous path is out of Robot’s operating range
Cause
The target position of spatial command issued (MovL, MovLR, MArc, MCircle,
MArchL) is out of the operating range.
Check and Correction
Whether the target position of the motion command for each axis is within the
software limits configured by the drive.
Solution
Reset alarm