Chapter 6 Error List6.2 Error List (MAIN Application)
230
Error No. Error name Description, action, etc.
CAA Palletizing PASE/PAPS non-declaration error Neither PASE or PAPS palletizing-setting command is set. Set either command.
CAB Palletizing position number error The specified palletizing position number is invalid.
CAC Palletizing position number setting over
The specified palletizing position number exceeds the position number range calculated for the
current palletizing setting.
CAD Palletizing PX/PY/PZ-axis duplication error Any two of the specified PX, PY and PZ-axes for palletizing are the same axis.
CAE
Insufficient valid axes for palletizing 3-point teaching
position data
The number of valid axes is insufficient in the position data for palletizing 3-point teaching. Axes to
comprise the palletizing PX/PY planes cannot be specified.
CAF
Excessive valid axes for palletizing 3-point teaching
position data
The number of valid axes is excessive in the position data for palletizing 3-point teaching. Axes to
comprise the palletizing PX/PY planes cannot be specified.
CB0
Mismatched valid axes for palletizing 3-point teaching
position data
The valid axis patterns do not match in the position data for palletizing 3-point teaching.
CB1 Offset setting error at palletizing 3-point teaching
Zigzag offset (not zero) cannot be set in palletizing 3-point teaching, if the reference point is the
same as the end point of the PX-axis.
CB2 BGPA/EDPA pair-end mismatch error
The BGPA/EDPA syntax is invalid. EDPA was declared before BGPA, or another BGPA was
declared after BGPA without first declaring EDPA.
CB4 Arch-motion Z-axis non-declaration error Z-axis has not been declared by PCHZ or ACHZ.
CB5 BGPA non-declaration error during palletizing setting
Palletizing setting cannot be performed without first declaring BGPA.
Declare BGPA.
CB6 Palletizing point error The palletizing points are invalid (non-Z-axis components are absent, etc.).
CB7 Arch-trigger non-declaration error Declare arch triggers using PTRG or ATRG.
CB8
No 3-point teaching setting error at palletizing angle
acquisition
The palletizing angle cannot be acquired until setting by palletizing 3-point
teaching is complete.
CB9
PX/PY-axis indeterminable error at palletizing angle
acquisition
Angle cannot be calculated because there are too many valid axes in the 3-point teaching data
and thus PX/PY-axes cannot be specified.
CBA
Reference-axis/PY/PY-axis mismatch error at palletizing
angle acquisition
Angle cannot be calculated because the reference axis for angle calculation is neither of the axes
comprising the PX/PY-axes as set by 3-point teaching.
CBB
Reference-point/PX-axis end-point duplication error at
palletizing angle acquisition
Angle cannot be calculated because the reference point of 3-point teaching is the same as the
PX-axis end-point data other than the PZ-axis component and thus arc tangent cannot be
calculated.
CBC Palletizing motion calculation error Trapezoid control calculation error for palletizing motion
CBD MOD command divisor 0 error ā0ā was specified as the divisor in the MOD command.
CBE Target-locus boundary over error
The target position or movement locus exceeded the positioning boundary in the infinite-stroke
mode.
* Cartesian axis only.
CBF Positioning distance overflow error The positioning distance is too large.
CC0 Axis mode error The axis mode is invalid.
CC1 Speed change condition error
An attempt was made to change the speed of an axis whose speed cannot be changed (axis
operating in S-motion, etc.).
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