Chapter 6 Error List 6.2 Error List (MAIN Application)
223
Error No. Error name Description, action, etc.
B74
CP operation limit band violation error (PTP, jog
available for each axis)
There was an invasion detected in the CP operation limit band. PTP operation and job operation
of each axis are available.
* SCARA only.
B75 Singularity calculation error
CP calculation cannot be conducted as it is the singularity. Check if there is any problem to the
coordinates due to such as the 2nd arm home position.
* SCARA only.
B77 Current arm system setting error
The arm system to be set and the 2nd arm actual angle do not match with each other, or
coordinates are not defined.
* SCARA only.
B78 Current arm system undefined error
Current arm system is not defined yet.
* SCARA only.
B7B Target track error in keep-out area at back
The target position or the track of the movement is in the keep-out area at the back side.
* SCARA only.
B7C
Target track error in CP operation limit band (PTP, jog
available for each axis)
The target position or the track of the movement is in CP operation limit band.
PTP operation and
job operation of each axis are available.
* SCARA only.
B7D Physically unfeasible target error
Unrealistic target considering the construction of the lengths of the 1st and 2nd arms was
indicated. Check “Each Axis Parameter No. 138 Arm Length” and the target value.
* SCARA only.
B7F Servo use purpose error The purpose of the servo use is not ordinary.
B80 Indication prohibited axes error It is an axis forbidden to indicate. Set an axis that is available to indicate.
B81 Each axis PTP multiple axes indication error
Each axis PTP operation on multiple axes was indicated.
Each axis PTP operation is available to
indicate only one axis.
* SCARA only.
B82 Jog multiple axes indication error
Jog and inching operations are indicated on several axes. Jog and inching operations are
available only on one axis.
B84 Arm length error
There is an error in the arm length. Check in “Each Axis Parameter No. 138 Arm Length”.
* SCARA only.
B85
Operation start position acquirement error in application
servo use work area
The operation start position in the application servo use work area cannot be acquired.
B86 SEL PTRQ command preprocessing error
The PTRQ command setting is abnormal. Check the setting for abnormality, such as deviation
from the allowable range.
B87 Target tracking in tool datum point keep-out circle error
The target position or the track of the movement is in the tool datum point keep-out circle.
* SCARA only.
B88 Logic error in effective target data calculation Internal logic error has been issued during effective target data calculation.
B89 SCARA CP logic error
Internal logic error was detected during SCARA CP process.
* SCARA only.
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