19 19-5 [ ] A, B, Z, W, R, C ¾ A-CAL ERR 0 Not Find 1 Not Off 2
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19 19-5 [ ] A, B, Z, W, R, C ¾ A-CAL ERR 0 Not Find 1 Not Off 2
19 ! "#$%& 19.3 '(%"#$%& )*+'(%"#$%&+,+ [ 56789 "#$%& :; A-CAL ERR 0 Not Find A-CAL '(% 1 Not Off 2 Other On 4 Lower 5 Upper 7 Error ] -./01 A, B, Z, W, R, C 23)4 <= A-CAL LM*C'(%D EF >?@AB NO P 3 ! QR<S TUJA-CALKV 3.5 A-CAL '(%W+XAYZ[ A-CAL 3LM8a NO P 3 ! QR<S TUJA-CALK[ pqbcde3U4rsl 4t8 PS.G.[uPLIMIT[u PADDRESS MAX[3sl 4t8 }w'|b:+B~% 3fg #3}w'|b:C 8 PS.G.[uPLIMIT[u PAREA LIMIT[3sl4 }w'|b3 HARL-U2 +3M6 3f NO HARL-U2 j ¡ CPU ¢£y+¤#¥|3 ¨© [ ]-C.'(%DEF4G2 H3)IJA, B, Z, W, R, CK A-CAL INCOMPLETE A-CAL \LM A-CAL DU]CM^_5 6`6 ADDRESS ERROR bcde '(% fgbcdehi.Rjk lbcdeDmno AREA ERROR 0:U] 1:vwx 2:ywx 3:zw{ '|b '(% }w'|bo+~%3f g }w'|bo#3 Rj CHECK SUM ERROR HARL-U2 # '(% CPU LOW BATTERY DRIVER ERR. 0:U] 1:'(% DRIVER NOT ONLINE DRIVER TIME OUT HARL-U2 (D _56`6 HARL-U2 (D _56a CPU ¢£y CPU ¢£y+¤#¥| +¤#¥| ¦D§v ¦§v %c( %c(ª¤«¬]DE ª¤'(% F %c( ª¤\°± %c( ª¤\°± %c(ª¤+\°± %c(ª¤+\°± %c(ª¤+ 7 $" 3®¯i %|²%³´+° ±3®¯ %|²%³´+° ±3®¯ i c(ª¤'(%+µ¶YZ· NO ¸¹º+}»¼B+(³´½¾%¥¿¡ V ¥¿%ÀÁ3¹º45c(ª¤'(%+'(%Â%c3®¯8aÃÄ· V NO P 17 !V "¥ÅeV 17.6 %e¥%e[ 19-5 19 ! "#$%& "#$%& EMERGENCY STOP :; Æ]ÇÈ fg ENC BATTERY 0:U] 1:¬] FAN ALARM 'Â%Á +¤#¥| ¦§v Ö× b(% INTERLOCK 0:U] 1:vwx 2:ywx 3:zw Out Of range 2ª% # 2ª%#ÚÛDÜ 656a álâãD mno ä(eb(ª"ÚÛ¹ ºWCálâãDmno OVERRUN 0:U] 1:<Sx$ ON 2:w{x$ ON 3:zw{$ ON POSITION DATA ERROR ç%¤( fg ç%¤($D ON $èé ²%³´ÏÐ QRëÙ* +"ì|í %c01+ î&½ï ~%ðñ òó Bøù '(% kl4GÖת´HDæô 01`6 "ì|í%cD¼õ_5 6`6 Öת´Dî&½ï~% «`6 Bøù®¯Dú 3 ûüý 5þÿ 4`6 %%( "%¬] %%("%D¬]i .\fg POS ERROR 0:U] 1:¬] SERVO DATA ERROR i <= ¥¿%ÀÁ+Æ] ÇÈDfg JES eª#É~#cÊ eª#K Â%(ËÌ+ ES e ª#Dfg 24V ;%ÎÏÐ o-Æ]ÇÈÑÒDfg 'Â%Á+¤#¥|¦ §v >?@AB Æ]ÇÈ3ÓÔ JES eª#ÓÔÉ~#c Êeª#3Õ8K ES eª#ÓÔ Í¾%Ψ© o-Æ]ÇÈfgÓÔ Ö×DÇÈ Ö×+ØÙ3®¯ Ö×+°±²%³´3® ¯i U46ÝÞ«Rjßa àIB3®¯ 'Â%Á¤#¥|3¨© àIB3®¯ $+B3>å slmn3æt8 $D OFF 8aB #3êR $¨© ²%³´¨© U46Öת´H«ö÷ "ì|í%c3¼õ î&½ï~%3kl !"3æt8 %>å3M# o¦D$^ý56`60® ¯ ~Ö&´Â'%J()* slK3M# U46%%("%~ %3fg KEY-IN ì%c«.EFß+ChTEACH, CHECK, ON-LINE ì%cC,-.a@EF8aÃÄ.h ÑÒÐCì%Rg+/ªÎD0ý56a1Û2D34789ÑÒÐ+z5C½%´cA63745 v69 19-6 19 ! "#$%& "#$%& SERVO ON ERROR :; % ON '(% SYSTEM DATA ERROR ½e¥~ %¬] Work not Find ;á<Dæ ô01`6 XY CONVERT ERROR =(© '(% POINT DATA ERROR î&½ï ~%¬] M-DATA-ERROR <= %c(ª¤+D 89_56`6 ~#cÊeª#+ ON/OFF D:E Æ]ÇÈfgD:E ½e¥~%D¬]i. \fg $ÇÈÚÛ¹ºWC$ D ON 4`6 ä(eb(ª"ÚÛ¹ ºWC$D ON 4`6 %´e*3=(~%C ©«>`6 ?@~%3=(~%C ©«>`6 î&½ï~%+# D¬] M DAA+ÃÄ !HRCS "#$ B %&' 19-7 >?@AB %c(ª¤38 9 ~Ö&´Â'%J()* slK3M# U46½e¥~%3f g $+B3>å àIB3®¯ @~%3sl4t8 ¥¿%3M# 19 ! "#$%& 19.3.1 '()*+,-./012345%"#$%& "#$%& ACCEL/DECEL ERROR ADDRESS ERROR ADDRESS OVER FLOW ALREADY USED A AXIS ALREADY USED B AXIS ALREADY USED Z AXIS ALREADY USED W AXIS ALREADY USED R AXIS ALREADY USED C AXIS DATA ERROR [CODE] [LEAD] [PULSE] [REV.] INVALID AXIS NUM NO REGISTRY A AXIS NO REGISTRY B AXIS NO REGISTRY Z AXIS NO REGISTRY W AXIS NO REGISTRY R AXIS NO REGISTRY C AXIS ROBOT TYPE ERROR 67 ?@AB% C45% QRS( 45% QRS( \%]% 89 DE3?@A2F3GHI T&'U,V3FWX D^_#`aJKLMQR S(3bcd 8000 T&' U,Pefg piq3^_#`rq3E aJKnOXMEstPH I :;<=> JKLMNO3E3?@A 2FPHI 1000, 2000, 3000, 4000 3 XYZ[PHI 8000 T&'U,h6ij kMlmiHIPnoL qaJKuZOXvXEs tPHI EB%C 45% B%C 45% Est 45% w%C+%Rxy%R/@A nXB%CPHI zx{|(Vx}~VB% CdHIuZOXvX Estd nXEstPHI #$%&'()*+,-. /01234526 7"89:;<=/01 >2*,-./01 ?@AB8CDEFGH >2*?@AB8CD/0 1 EB%C !" ?@AB8 CD !" 19-8 19 ! "#$%& 19.3.2 "'()%*+,-./0%"#$%& "#$%& 12 CARD FULL !! )%*:; CARD NOT READY !! )%* Z[\ DUPLICATE FILE NAME DEFG] ^_ DEFG Zmn FILE NOT FOUND !! FORMAT ERROR!! "'()% *vw ZD~% # VERIFY ERROR !! /0% WRITE PROTECT !! 0F BCC WRITE ERROR CARD BCC ERROR DATA CHECK ERROR !! FAT WRITE ERROR !! FILE ALREADY OPEN FILE BAD ALLOCATION FILE CAN NOT OPEN FILE HANDLE FULL !! FILE ID FILL !! FILE ID WRITE ERROR FILE NOT CLOSE UNDEFINED ERROR !! "'()% *vw 34 "'()%*.<=>?@ ABCDEFG@HIJK L7JM "'()%*.Z[\ DEFG.`a%bcde 7cdf.DEFG]gh i ol.DEFGgpqrs PV xy<12z"'()%* vw{.34|7hi} "'()%*g CVPV "'()%*.127 #`%0.12. N )%*.F# g ON DEFG.# g ¡PV )%*.¢ >?g£ CV DEFG.%r# g£ CV FAT g¡PVi ¤W¥VCVDEFG@ ¦§¥¨L7JM ©ª«/0%g¬ 56789 NOPDEFG@QR 2S.TUV)%*WXY )%*@[\ cdfW^_JPVj.D EFG]@kl DEFG]@tu xy<12z"'()%* vw{.56789|7h i} "'()%*. .%gHI C V)%*WB #`%0.1 2gXY CVPVrt u )%*.12@tuJU F#@ OFF "'()%*. ®¬¯°±²)%*³´ .µ¶g·Bs j.)%*@¸¹ i FATxFile Allocation Table}ºDEFG.»9¼½@¾¿¯M¡.%ÀG 19-9 19 ! "#$%& '()*+%,-./0%"#$%& 19.3.3 "#$%& Address Error Axis Not Used Incompleted !! Initial Data Error Mode Error P1-P2 Length Error P1-P3 Length Error R-Offset Data Error Teaching Data Error 34 =>:,;<?@AB 56789 @A1C=> )*G?DEFHIJKL M RSH)*?TUIL ]^_?`S G.=>CNO V>W%XNOYZ[\ Z[\ KEY-IN +%,aBTbc CdJe P1 7 P2 .lm?nL P1 7 P3 .lm?nL )*op?`S_ KEY-IN +%,Hfghi bc P1 7 P2 CZ[\ P1 7 P3 CZ[\ Z[\ [\W%X`S Z[\ qrI/0%"#$%& 19.3.4 "#$%& System Area Destroy Push Any Key to Start Configuration. 12 :,;< /0% DEFG= > DPQ W%X /0% +%, /0% jk/0% jk/0% W%X /0% W%X /0% 12 s<tu vwxy 34 CPU z{H]|K}~C CPU z{.#:# #t CPU z{C 56789 s<tu;%s Cd #:##t 14 ! s<t u;%s HARL-U2 :0I.sCEF.Y/0%% , ¡¢"#$%&?£¤¥¦KL§¨©ª«s.¬®¯°C ±¥L© 19-10