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Appendix
Appendix
INTELLIGENT ACTUATOR
(In the panel window, the three digits after “E” indicate an error number.)
Error No. Error name Description, action, etc.
CA5 Stop deviation overflow error Movement may have occurred during stopping due to external force or operation
may have been restricted during deceleration. This error may also generate when
jog operation is restricted (due to contact with an obstacle, contact with a
mechanical end before home return, etc.) or when wiring error, faulty encoder or
faulty
motor and controller (IPM of power stage board)
is detected during deceleration.
CA6 Palletizing number error The specified palletizing number is invalid.
CA7 Setting error of even-numbered row count for palletizing zigzag The set even-numbered row count for palletizing zigzag is invalid.
CA8 Setting error of palletizing pitches The set palletizing pitches are abnormal.
CA9 Setting error of placement points in palletizing-axis directions The set X/Y-axis direction counts for palletizing are invalid.
CAA Palletizing PASE/PAPS non-declaration error Neither PASE nor 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 data There are not enough valid axes in the point 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 data There are too many valid axes in the point 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 data The valid axis pattern in the point data for palletizing 3-point teaching does not
match.
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 for arch-motion movement
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.
Appendix
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