ID 22043

Invalid realignment detected, check CAD data generation.

Description

Solution changes may occur in the alignment representation of the robot hand in the CAD/CAM system.

The CNC treats these solution changes correctly by default, but the robot hand may execute undesirable rotary movements in the case of multiple solution changes.

This is suppressed to avoid damage to the robot.

The upper position limit represented in Parameter 2 was exceeded in the present case.

Response

Class

2

Abort NC program processing.

Solution

Class

3

Check and modify the generation of the robot hand motion control; create an alternative motion control.

Parameter

%1:

Logical axis number [-]

Logical axis number (P-AXIS-00016) of concerned axis.

%2:

Upper limit value [0.1 10^-3 mm or ø]

Upper position limit

Error type

1, Error message from NC program.