Appendix
INTELLIGENT ACTUATOR
480
(In the panel window, the three digits after “E” indicate an error number.)
Error No. Error name Description, action, etc.
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 “0” 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.
CBF Positioning distance overflow error The positioning distance is too large.
If the controller is of absolute-encoder specification and an “Error No. C74, Actual-
position soft limit over error” is also present, an absolute reset may not have been
executed correctly and consequently a servo packet calculation overflow occurred
due to a current position error. If this is the case, perform an absolute reset again by
following the procedure specified in the operation manual.
(Performing an “encoder error reset” operation in the absolute reset window alone
does not allow the controller to recognize the current position correctly. Always
perform an absolute reset by strictly following the specified procedure.)
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.).
CC2 Driver parameter list number error The driver parameter list number is invalid.
CC3 Angle error The angle is invalid.
CC4 SEL data error The SEL data is invalid.
CC5 Positioning boundary pull-out error An attempt was made to execute a command not permitted outside the positioning
boundary.
CC6 Driver error primary detection A driver error was found by primary detection.
CC7 Palletizing movement PZ-axis pattern non-detection error PZ-axis component is not found in the axis pattern during palletizing movement.
CC8 Arch top Z-axis pattern non-detection error Z-axis component relating to the highest point of arch motion is not found in the axis
pattern during arch motion operation.
CC9 Arch trigger Z-axis pattern non-detection error Z-axis component relating to arch motion is not found in the axis pattern of the
arch-trigger declaration point data.
CCA Arch top/end-point reversing error The coordinates of highest point and end point are reversed during arch motion
operation.
CCB Arch start-point/trigger reversing error The coordinates of start point and start-point arch trigger are reversed during arch
motion operation.
CCC Arch end-point/trigger reversing error The coordinates of end point and end-point arch trigger are reversed during arch
motion operation.
CCD Drive-source cutoff axis use error An attempt was made to use an axis whose drive source is cut off.
CCE Error axis use error An attempt was made to use an axis currently generating an error.
CCF Palletizing reference-point/valid-axis mismatch error The PX/PY(/PZ)-axes set by PASE/PCHZ are not valid in the axis pattern of the
reference-point data set by PAST.
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