Omron YRC - Page 214

A
Troubleshooting
A-32
6.315 : ZR torque origin incorrect setting
Code : &H0006 &H013B
Meaning/Cause
a. Simultaneous return-to-origin was performed while the ZR-stroke end method was set.
b. R-axis stack was not set for the Z-axis.
c. Either Z or R-axis return-to-origin method was not set to the ZR-stroke end method.
d. Multiple Z-axis (or R-axis) return-to-origin methods were set to the ZR-stroke end method.
Action
a. Set the return-to-origin order correctly. (Simultaneous return-to-origin cannot be performed.)
b. Set the R-axis stack correctly.
c. Set both Z and R-axis return-to-origin methods to the ZR-stroke end method.
d. Set Z and R-axis one each for the ZR-stroke end method.
6.316 : Can't execute while motor power on
Code : &H0006 &H013C
Meaning/Cause
The parameter that cannot be written in motor power off status was saved.
Action
Turn off the motor, and then save the parameter.
6.317 : Illegal origin method
Code : &H0006 &H013D
Meaning/Cause
a. Performing return-to-origin (mark method) was attempted.
b. Only one of Z or R-axis is set to ZR-stroke end method.
Action
a.
Perform absolute reset for axes of “Mark" method using the programming box or support software.
b. Set both Z and R-axis at "ZR-stroke end method".
6.319 : Can't change hand data
Code : &H0006 &H013F
Meaning/Cause
a. Changing the hand setting that another robot is using was attempted.
b. Specifying the hand R for the robot without R-axis was attempted.
Action
a. Release the hand setting of the other robot.
b. Set blank for the fourth parameter of the target parameter.
6.321 : Illegal option slot no
Code : &H0006 &H0141
Meaning/Cause
The specified option slot number is out of the range; between 1 and 4.
Action
Specify an option slot number between 1 and 4.
6.322 : Illegal calibration no
Code : &H0006 &H0142
Meaning/Cause
The specified calibration number is out of the range; between 0 and 31.
Action
Specify a calibration number between 0 and 31.
6.399 : Can't execute while alarm
Code : &H0006 &H018F
Meaning/Cause
The program cannot be executed while an alarm is occurring.
Action
Clear the alarm cause and reset alarm or restart the controller as necessary.