Yamaha RCX221 User Manual page 414

[ 2] Robot operating area errors
2.19 : LEFTY now selected
Chapter 2.20 : Illegal hand type
9
2.22 : Arm length is 0
2.23 : Cannot move (RIGHTY to LEFTY)
2.24 : Cannot move (LEFTY to RIGHTY)
2.25 : Cannot use TOOL coord.
9-8
Code : &H0213
Meaning/Cause : On SCARA type robots, arm will now use the left-handed
system for starting Cartesian movement.
Action : ---
Code : &H0214
Meaning/Cause : An R-axis hand definition was attempted on a robot not having
an R-axis.
Action : 1. Change to Y-axis hand definition.
2. Do not use a hand definition.
Code : &H0216
Meaning/Cause : When arm length setting is 0 on SCARA type robots, movement
on Cartesian coordinates was attempted.
Action : 1. Set standard coordinates.
2. Set the arm length parameter.
Code : &H0217
Meaning/Cause : a. Interpolation movement shifting from the right-handed
system to the left-handed system was executed with a SCARA
robot.
Action : 1. Check the current hand system and point data hand system
flag.
Code : &H0218
Meaning/Cause : a. Interpolation movement shifting from the left-handed system
to the right-handed system was executed with a SCARA
robot.
Action : 1. Check the current hand system and point data hand system
flag.
Code : &H0219
Meaning/Cause : Failed to select tool coordinates could because no hand data
has been entered.
Action : Set the hand data.
Note: An R-axis unit must be installed to a SCARA or Cartesian robot.
Set the hand data while a hand or gripper is attached to the tip
of the R-axis.