4.1. Warning

4.1. Warning

 

■ Code                W00016 The number used for GE or DE is improper.

■ Description       The value designated as a GE or DE parameter is wrong. The value is out of range.

■ Action             - It does not match the value based on the cooperative robot number.

                          - GE: Minimum = (robot # - 1) * 4 + 1, Maximum = (robot # - 1) * 4 + 4

                          - DE: Minimum = (robot # - 1) * 32 + 1, Maximum = (robot # - 1) * 32 + +32

■ Code                W00123 Stopping demand from the counterpart robot

■ Description       While the cooperative control is operating, a stopping command from the counterpart robot is inputted. In this case, the above message will appear, and the robot will stop.

■ Action              Resume the program by starting the operation of the slave robot first, and then, proceed with the operation of the master robot.

■ Code                W00124 The jog operation of the slave robot is not possible.

■ Description       The robot has been set as a slave in manual cooperative control. A robot set as a slave cannot operate independently.

■ Action              For manually operating individual robots, change the manual cooperation status to “independent.” You can change the manual cooperation status using user keys or the R351 code.

■ Code                W00131 Cooperative jog cannot be operated. - Master robot overlapped

■ Description       Among the robots connected to the HiNet, two or more robots have manual cooperation status set at master.

■ Action              You can set only one robot as the manual cooperation master. Change the setting.

 

 

■ Code                W00132 Cooperative jog cannot be operated - No slave selected

■ Description       The jog operation of the master robot has been tried, while no slave robot has been set at a status for cooperation.

■ Action              Check that a slave robot has been selected, and prepare the slave robot at the status available for cooperation (enabling switch on) before operating the cooperative jog.

■ Code                W00133 The jog setting at the slave side has been changed. - Stopped

■ Description       While the cooperative jog is operating with the master robot, it is detected that the manual cooperation status of a slave robot operating together has been changed.

■ Action              Recheck the cooperation status of the slave before the operation.

■ Code                W00134 No master tool coordinate system has been selected.

■ Description       This error occurs when the jog operation of a slave robot is tried in the CMOV recording mode (R351,3). No master robot has been designated.

This error may also occur when the CMOV step-forward function is used. The current master number that has been set does not match the master number recorded in the CMOV.

■ Action              Set the correct master robot at the manual operation master status.