Chapter 6 Error List6.2 Error List (MAIN Application)
222
Error No. Error name Description, action, etc.
B26 Ethernet communication mode error
A communication mode error.
Followings can be considered as a cause:
• A vision system operation command (SLVS) was executed to a channel being used for
communication (OPEN, CLOS, READ or WRIT).
• A communication command (OPEN, CLOS, READ or WRIT) was executed to a channel being
used for vision system I/F function.
A communication command (OPEN, CLOS, READ or WRIT) and vision system operation
command (such as SLVS) cannot be used at the same time to one channel.
B27 Vision system specification error
The vision system I/F to be used is different from the vision system I/F currently in use. Release
the vision system I/F currently in use (SLVS command operation 1 [0])), and then specify the
vision system I/F to be used.
* Cartesian axis only.
B28 Vision system I/F initialization incomplete error
Initialization of the vision system I/F is not yet complete.
Check I/O parameter Nos. 160 to 164,351 to 357, all-axis parameter No. 121 etc.
* Cartesian axis only.
B29 Vision system I/F in use by other task
The specified vision system I/F is currently in use by other task.
* Cartesian axis only.
B2A Vision system I/F imaging position problem error
The Z-axis position at calibration differs from that when capturing image. When the camera is
fixed on the robot, it is necessary to have the Z-axis position same at calibration and
image-capturing. Check the positions at calibration and image-capturing, and also check All Axes
Common Parameter No. 130 Bit 0 to 7 “Judgment Distance”.
* Cartesian axis only.
B44 Load mass setting error
The load mass exceeds the maximum loading capacity of the robot. Check the set mass.
* SCARA only.
B4B
“Load mass change prohibited while servo is in use”
error
The load mass currently used by the servo system cannot be changed.
* SCARA only.
B4D Arm system setting error
There is an error in the setting of the arm system. When the target arm system data is set to the
position to make SCARA CP operation (such as linear support and arc support operations), the
current arm system and the target arm system of position will differ from each other. In such a
case, make the current arm system and the target arm system of position the same.
* SCARA only.
B4E Position gain switchover error
The position gain could not get switched. The followings are concerned as the cause;
• Position gain switchover was tried on such axis as in operation or in pressing.
• Program was terminated during position gain switchover.
• The actuator cannot be remained in the positioning band due to the generation of vibration.etc.
B70 Coordinate system definition data sum check error The coordinate system definition data is destroyed.
B71 Coordinate system number error The coordinate system number is invalid.
B72 Coordinate system type error The coordinate system type is invalid.
B73
Coordinate system data change forbidden error during
servo use
The coordinate system data the servo is currently using is forbidden to change.
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