479
Appendix
Appendix
INTELLIGENT ACTUATOR
(In the panel window, the three digits after “E” indicate an error number.)
Error No. Error name Description, action, etc.
413 Prohibited command execution error during tracking operation An attempt was made to execute a command which is prohibited during tracking
operation. End the tracking operation with a TRAC command and then execute the
command.
414 Allowable number of retained detected loads over error The number of loads awaiting tracking operation that have been detected between the
camera (vision system) and robot or between the work part detection sensor and robot
(number of loads awaiting TRAC command execution) exceeded the number that can be
retained. Reduce the number of loads on the conveyor, shorten the distance from the
sensor (vision sensor or photoelectric sensor) to the tracking operation starting position,
shorten the tracking operation time or otherwise reduce the number of retained loads.
This error will also generate if a TRAC command is not executed promptly after a work
part has been detected.
415 Unsupported identification code reception error (Tracking vision
system IF data communication)
An unsupported identification code was received from the vision system. Check the data
sent.
416 Received tracking message error (Tracking vision system IF data
communication)
Invalid data was received from the vision system. Among others, check if the data sent
does not match the format.
40A Encoder power-source voltage calculation error The encoder power-source voltage cannot be adjusted (the encoder power will be
supplied without voltage adjustment). Check the “motor/encoder configuration
information” in driver parameter No. 26 and encoder parameter No. 11.
40B Speed control parameter calculation error Check driver parameter Nos. 38, 39, 40, 43, 44, 45, etc.
40C Vision system initialization incomplete error The vision system is not yet initialized. Among others, check the input port number
setting in all-axis parameter No. 88 and if the vision system has been initialized.
40D Vision system response timeout error No communication response from the vision system can be confirmed. Among
others, check the settings of bits 4 to 7 of I/O parameter No. 129, I/O parameter
Nos. 160 to 164 and all-axis parameter Nos. 62, 63, 89, and if the vision system is
sending data in response to image capture commands.
40E Tracking parameter error Invalid tracking parameter. Check if the tracking parameters such as all-axis
parameter Nos. 61 to 95 are set correctly, If conveyor tracking adjustment is not yet
performed correctly, perform conveyor tracking adjustment first.
40F Tracking work part coordinate system error The current definition data of work part coordinate system is different from the
definition data of work part coordinate system for conveyor tracking adjustment.
Before performing any tracking action, select an appropriate work part coordinate
system for conveyor tracking adjustment.
410 Tracking system initialization incomplete error The vision system is not yet initialized. Check if the tracking system type in all-axis
parameter No. 61 is set to “not use the system.”
411 Tracking system “in-use by other task” error The tracking system is already in use by other task. Use the tracking system in the
same task.
412 Exclusive mode specification error Modes that cannot be specified simultaneously have been specified. Among others,
check if the quick return mode and tracking mode are specified simultaneously.
Appendix
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