User manual

43
Chapter 4 : List of Robot Error Code s
Code Short Description Full Description
R 10 Arm did not return to
top position
If error code 10 is shown, it represents that the picking arm did
not return to the top position within 10 seconds after a
command was sent out. Th e picking arm must return to the top
position after each action. This indicates an obstruction or
mechanical failure prevented the picking arm from completing
the requested action.
R 11 Arm did not detect
specified location in
the allotted time
If error co de 11 is shown, it represents that when the picking
arm is instructed to pick up a disc, it has failed to detect
anything (including the bottom of the bin) within 10 seconds.
This would apply to inserting a disc in a drive and not detecting
anything within 10 seconds if the Z Maneuver feature is
disabled. This error indicates that an obstruction, missing
component or mechanical failure has prevented the picking
arm from detecting a disc, drive, etc to perform the assigned
task.
R 12 Unable to move to
the n ext input/output
bin
If error code 12 is shown, it represents that the picking arm did
not travel to its destination input/output bin from any other bin
within 10 seconds. This error indicates that an obstruction or
mechanical failure has prevented the pic king arm from rotating
to the assigned input/output bin.
R 13 Unable to move into
the drop disc
position
If error code 13 is shown, it represents that the picking arm did
not reach the drop position within 4 seconds when placing a
disc to the output bin. The drop position represents the safe
distance between the picking arm and the spindle where the
disc can be placed securely onto the spindle. This error
indicates that an obstruction, missing component or
mechanical failure has prevented the picking ar m from
performing the assigned task.
R 14 Unable to perform
the horizontal Z
Maneuver from bin #
1 to the starting point
If error code 14 is shown, it represents that the picking arm did
not reach the horizontal starting position for placing a disc into
th e appropriate drive starting from spindle bin #1 within 4
seconds during the insert process. (This error is only shown
when the Z Maneuver is enabled).
R 15 Unable to perform
the horizontal Z
Maneuver from the
starting point to the
original position
If er ror code 15 is shown, it represents that the picking arm did
not reach the drive position within 4 seconds from the Z position
starting point. This takes place when the picking arm has
descended to the appropriate drive location and should move
horizontall y to center the disc over the opened drive tray but
fails to do so in the specified allotted time. (This error is only
shown when the Z Maneuver is enabled).
R 16 Unable to perform
vertical Z Maneuver
while placing disc in
drive tray
If error code 16 is sh own, it represents that the picking arm did
not descend and place the disc into the opened drive tray within
4 seconds after the picking arm has centered the disc above
the opened drive tray. (this error is only shown when the Z
Maneuver is enabled).