1Error list
Error no. L2611
1-28
L2611 Error message Spline interpolation error (path point)
Cause An error related to the path point registered in the spline file has occurred.
Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those
error details.
Error message Path points are too close (nnnn)
Cause The distance between path points is too short, or the speed command in respect to the path point distance
is too high.
Measures "nnnn" in the error message indicates the path point No. causing the error. Review this path point's posi
-
tion, or review the spline interpolation command speed.
Error message The posture variation is too large (nnnn)
Cause The variation in posture between path points is too large. (The posture variation angle exceeds 150
degrees.)
Measures "nnnn" in the error message indicates the path point No. causing the error. Review the posture so that the
posture variation amount for this path point is smaller, or add a path point to reduce the posture variation
amount in the single block.
Error message Path point's configuration flag is incorrect (nnnn)
Cause A different path point is registered for the configuration flag value.
Measures "nnnn" in the error message indicates the path point No. causing the error. Review this path point's posi
-
tion, and change it so it is the same configuration flag as the other path points.
Error message Path point is not registered
Cause The Specified path point is not registered
Measures Please confirm the number and the content of the file
Error message Cannot open the path point file
Cause The specified path point file does not exist
Measures Please confirm the file name and existence of the file
Error message The format of file is different
Cause The format of file is different
Measures Please confirm the format of the file
Error message The number of point is illegal
Cause The number of path point is illegal
Measures Please confirm the file and the content of the file
L2612 Error message Spline interpolation error (Execution error)
Cause An error related to the spline interpolation execution conditions occurred.
Measures Refer to the error details No. and check the details of the occurring error. Then take actions for those
error details.
Error message This robot does not support spline interpolation.
Cause Spline interpolation was attempted with a robot that does not support spline interpolation.
Measures Use a different movement command than spline interpolation.
Error message Can't execute with these start conditions.
Cause Spline interpolation was attempted with a robot program in a slot having the start conditions
ALWAYS•ERROR.
Measures Spline interpolation cannot be executed with a slot having the start conditions ALWAYS•ERROR. Delete
spline interpolation or change the start conditions to START.
Error message Another spline interpolation is being executed
Cause Multiple spline interpolations cannot be executed simultaneously.
Measures Check whether spline interpolation was attempted with a different robot during spline interpolation, or
whether spline interpolation was directly attempted while spline interpolation was halted.
Error message Can't execute step return
Cause Step return was attempted in respect to spline interpolation.
Measures Spline interpolation does not support the step return operation. Do not attempt step return.
Error No. Error cause and measures
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