2.2. Error Detection

Possible Causes of Errors

The cause is that the signal of access prohibition to the cube is input when a robot has entered the cube.

Error Message

E0222 Same cube simultaneous entry detected

Solutions

1) Move the robot outside the cube area and restart it up.

2) Correct the program so that these errors do not occur.

- Designate the step which is on the verge of entering the cube area as a discontinuous step.

- Execute an additional Interlock function by using the WAIT command when the robot is on the verge of entering the cube.

2.2. Error Detection​