4.3. Operation errors

4.3. Operation errors

 

■ Code                E01340 Improper conditions for robot cooperation (WD, common coordinates)

■ Description       The controller has been set at a condition improper for executing the cowork command.

■ Action              Check that the communication condition is normal, that a common coordinate system has been set for the counterpart robot, and that the manual cooperation condition matches the robot’s role under the cowork command.

■ Code                E01341 Time out in standby for cooperative playback.

■ Description       The time for which the system stands by until the counterpart robots are ready for cooperation under the cowork command has exceeded the time set in the command.

■ Action              Set the standby time so that all cooperative robots can reach their cooperation positions within it.

If you set it at 0, the system will keep standing by until all the robots are ready for the cowork.

■ Code                E01342 No robot cooperation status or common coordinate system has been enabled.

■ Description       The cowork command cannot be executed because no robot cooperation status has been enabled or because no common coordinate system has been set.

■ Action              In the system / control parameter / network / service / cooperative control dialog boxes, set the cooperative control function at enabled, and set a common coordinate system.

■ Code                E01343 Mismatch in the execution of the cowork function

■ Description       The cowork command has been executed in an overlapping manner, or the program end command has been executed without the cowork end command.

■ Action              Write the program so that the cowork command pairs with the cowork end command.

Initialize the cooperative control status if you resume the cowork command after changing a step.

■ Code                E01344 Error in a cowork parameter (M/S, robot number)

■ Description       The counterpart robot number has been set erroneously at the master robot number.

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

 

■ Code                E01345 The slave robot is already in a cooperation status.

■ Description       The cooperation status of the slave robot is in cooperation or stopping at the cowork end position.

■ Action              Do not make arbitrary changes to the steps so that the master and the slave can make normal cowork.

■ Code                E01355 Error in the cooperation counterpart robot - Stop

■ Description       The cooperation counterpart robot is stopping at a status unavailable for cowork. The system will stop because cowork cannot be performed.

■ Action              Check that the operation modes of the robots match each other. Start the slave before starting the master if you restart the cowork after stopping.

■ Code                E01356 Error in HiNet connection - Robot numbers overlapping

■ Description       Cooperative control is not possible because robot numbers are overlapping.

■ Action              Check the robot numbers connected to the HiNet, change any overlapping robot numbers, and restart the system power.