To make it easier to find error messages in the following list, the message number is shown first, unlike on the display. By referring to this message number, it is possible to obtain further information on an error and the appropriate remedial action. This information is subdivided into:
Message text
is the actual text of the error message as displayed.
Cause
gives a detailed description of the cause of the error.
Monitor
indicates when the message is generated.
Effect
describes how the controller reacts to the error.
Remedy
describes what action the user can take to eliminate the error.
9 Error messages (continued)
1 Message text Base coordinate system invalid. Correction not possible.
Cause -- Selection of an invalid BASE system
Monitor -- During preparation of the SEARCH command
Effect
--Remedy -- Teach with correct BASE selection
2 Message text Search not possible, cancel or reset program.
Cause -- Follow--on message after error where the robot is constantly in contact with the component via the wire.
Monitor -- In the search interrupt
Effect -- It is impossible to continue the program Remedy -- Program reset, correction of wire length 3 Message text Erroneous Correction data.
Cause -- Vector length too short when teaching search command Monitor -- In the CORR command
Effect -- One of the correction data sets is invalid Remedy -- New search or re--teach SEARCH command 4 Message text Search error. Correction not possible.
Cause -- Invalid CD data set from the CORR data set Monitor -- In the CORR command
Effect -- One of the correction data sets is invalid Remedy -- New search or re--teach SEARCH command 5 Message text T1 mode. Measurement invalid.
Cause -- Search in Test1 mode Monitor -- In the search command
Effect -- Reference flag is not reset. No reference result or measurement result can be generated.
Remedy -- Command execution in T2, AUT or EXT 6 Message text Measurement out of tolerance.
Cause -- Component too near or too far Monitor -- In the SEARCH command Effect -- Invalid CD data set generated
Remedy -- Check component, re--teach SEARCH command then carry out reference run
7 Message text End of search path – no part detected.
Cause -- Component too far (error only with option DECIDE_MODE= FALSE) Monitor -- In the SEARCH command interrupt
Effect -- Acknowledgement message for user Remedy -- Adaptation of search command.
Re--teach and new reference run necessary.
8 Message text Invalid search direction. Correction not possible.
Cause -- Search vector too short or non--existent Start and auxiliary point possibly identical Monitor -- In the CORR command
Effect -- Correction cannot be carried out
Remedy -- The SEARCH commands involved in the CORR data set must be re--taught
9 Message text Distance from start position in the vector direction too small.
Cause -- Search vector too short or non--existent Start and auxiliary point possibly identical Monitor -- In the CORR command
Effect -- Correction cannot be carried out
Remedy -- The SEARCH commands involved in the CORR data set must be re--taught
10 Message text Target point reached.
Cause -- Message appears if a SEARCH command is executed in Test1 mode and not in “GO” mode.
Monitor -- In the SEARCH command Effect -- Information only
Remedy -- Acknowledge message
11 Message text Configuration error. Search or correction not possible.
Cause -- Incorrect configuration of the Touch sensor Monitor -- During initialization of Touch sensor Effect -- Prompt to configure the Touch sensor Remedy -- Carry out basic settings
12 Message text Touch sensor option not available [H70_Option=False]
Cause -- Attempted execution of a SEARCH command without H70_Option activated
Monitor -- In the SEARCH command
Effect -- Without the correct configuration/in the absence of the Touch voltage, a crash is precluded
Remedy -- Carry out configuration
9 Error messages (continued)
13 Message text Master workpiece mode activated. All searches will be re--calibrated.
Cause -- NEW_REF=TRUE
Monitor -- During initialization of H70
Effect -- Information for the user that this is a reference run for all searches as reset has been forgotten too often
Remedy -- Set NEW_REF to FALSE using the variable correction function 14 Message text Variable TOUCH_ON is deactivated.
Cause -- Variable TOUCH_ON=FALSE and initialization of H70 is being carried out
Monitor -- During initialization of H70 Effect -- Information only
Remedy -- Set TOUCH_ON=TRUE
14 Message text Wire is still contacting workpiece. Jog robot away.
Cause -- “Rapid gauging” input present during SEARCH command Monitor -- During search command.
Effect -- No sensible search possible.
Remedy -- Move the robot free, reset program, check the wire
15 Message text Correction frame too large ----> Adapt the limit in global variable TCH_MaxCorrVector
Cause -- The correction vector length is greater than the value defined in
“TCH_MaxCorrVector”.
Monitor -- SQRT ( BASE_CORR.X*BASE_CORR.X +
BASE_CORR.y*BASE_CORR.y + BASE_CORR.z*BASE_CORR.z) Effect -- The correction is checked; this acknowledgement message appears
if the value is exceeded.
Remedy -- Acknowledge message. The correction is then activated.
To avoid this error message, set the value for “TCH_MaxCorrVector”
correspondingly higher if monitoring is not desired.
16 Message text Correction data sets from measurements with different interpolation modes. Correction calculation would result in errors.
Cause -- Mixed correction data sets: ext. tool, robot tool.
Monitor -- Data sets of type .Opt must be the same for all data sets used.
Effect -- No correction possible → Cancel program Remedy -- Cancel program, adapt program structure.
1
Index
A
Accuracy, 31
Acknowledgement messages, 49 Activating the touch sensor, 12 Auxiliary point, 27
B
Base, 19, 23 Basic settings, 13
C
CD inclination of the surface, rotation of the line and offset, 43
CD offset and inclination of the surface, 42 CD offset and simultaneous rotation of the line, 41
CD rotation of the line, 40
CD rotation of the line with parallel offset sur-faces, 40
Correction frame too large, 53 Correction instruction, 29
Freely programmable correction instruction, 35
H
T
TCH_MaxCorrVector, 53
Three--dimensional correction instruction, 34 Tool, 19, 23
TOUCH_0[n]={OUT_NR...}, 13 TOUCH_ACTIVE, 13
TOUCH_I[n]={IN_NR...}, 13 TOUCHSENSE, 18
TOUCHSENSE GLOBALS, 12
Touchsense search with LIN motion, 19 Touchsense search with PTP motion, 23 Troubleshooting, 47
Turn off CORR, 44
Turning the correction instruction off, 44 Two--dimensional correction instruction, 33
V
Variable TOUCH_ON is deactivated., 53 Vel, 20, 24
Velocity, 20, 24
W
Welding wire, 27
Z
Zero offset, 39