9.3. Operation Error

9.3. Operation Error

 

■ Code               E01340 Disable condition for co-work run (WD, common coordinate)

■ Cause              Controller is inadequately set to execute COWORK instruction.

■ Action               Check if communication is normal, if partner’s common coordinate system is set, and if the manual coworking is identical with COWORK robot’s role.

■ Code         E01341 Cooperation wait time is over

■ Cause              The standby time set in the COWORK command during which the cowork robots wait to fulfill the command has elapsed.

■ Action               Set the standby time taking the reaching time for all coworking robot to the position into account.

Setting the standby time at “0” will make all the robots wait until they are ready for the cowork.

■ Code         E01342 Invalided COWORK or common coordi. 

■ Cause              COWORK instructions cannot be executed because robot coworking is disable or common coordinate system is not set.

■ Action               In the “System*Control*Parameter*Network*Service*Cowork Control” dialog box, enable the cowork control function and set a common coordinate system.

■ Code         E01343 COWORK execution mismatch

■ Cause              COWORK instructions are executed repeatedly, or program END is executed without COWORK END

■ Action               Program to make COWORK instruction and COWORK END instruction in pairs.

To give the COWORK command again after changing the step, reset the cowork control modes.

■ Code               E01344 COWORK Para.(M/S,robot No.) error

■ Cause              Partner robot’s number is incorrectly set, indicating my robot’s number in COWORK instruction.

■ Action               Change the robot number of the COWORK command to the robot number of the cowork robot.

 

■ Code           E01345 The slave already executed COWORK.

■ Cause              Slave robot’s cowork is already working in the position of COWORK END, or stopping

■ Action               For normal coworking of Master & Slave, do not change step artificially.

■ Code           E01355 Partner robot is error stopped

■ Cause              A cowork robot has been stopped and cannot make cowork. The system will be stopped because cowork cannot be made.

■ Action               Check if the operation mode is identical between robots. Restart Slave first before restarting Master if restarting after stop during cowork.

■ Code           E01356 Duplicated robot number is set

■ Cause              Overlapping robot number makes it impossible to control COWORK.

■ Action               Check the robot number connected to Hinet to change the overlapping robot number, and apply power again.