Manual

6-4 Troubleshooting
6.3.4 Arc Errors
If the angle of the arc is more than a full circle or 360º, an error will be generated. The Robot can only
travel 360º at a time, so it cannot ramp up and down. If this error occurs reduce the Start Distance and
Stop Distance property values (they may need to be zero if it is a full circle) until the error disappears.
In addition, if an arc command has too tight a radius for the set velocity and acceleration, an error
message will be generated. To correct this error, you may need to decrease the coating speed.
Error message examples include the following:
6.4 GoTo Errors
If the applicator will not perform a GoTo command:
1. Check the system Safe Z Height (
Utilities > Robot). The system Safe Z Height is used
before executing anything while in the Edit Screen. The Safe Z Height value in most
configurations will be a negative number.
2. Check to make sure the Tool Flange, Camera, or Laser Pointer is not selected in the Current
Tool Selector. The Tool Flange is the Tool 0, 0, 0. If the Tool Flange is selected, select
another tool, then click
GoTo again. The Camera/Laser Pointer Z-offsets are -7.906
(200.8 mm) which may cause problems if the GoTo coordinate is too high above the
coating surface.
3. Verify that coordinates that you are trying to go to are valid. If they are out of the physical
travel limits, the error message will tell you the axis that is exceeding the travel limits. This
error may occur if you enter a value rather than teach a value.
6.5 Travel Limit Errors
Errors may be generated if the instruction calls for the robot to travel outside its physical travel limits.
The actual taught coordinate may be within the travel limits, but the calculated Start or Stop Distance may
require that the robot travel outside its travel limits to accelerate or decelerate from that coordinate.
A warning will be logged describing which axis caused the error and the limit that is being exceeded. If
the coordinate in question is a Begin coordinate, the error message may say “Error During Approach.”
To correct travel limit errors:
1. Select the Begin or End coordinates and click the
GoTo button. If the robot can
physically go to the coordinates, the error can usually be corrected by setting the
appropriate Start or Stop Distance.
2. If the robot will not go to the selected set of coordinates, the error could be Z-axis related or
the wrong tool offsets may have been referenced when the instruction was taught. Check the
Z-coordinates or re-teach the instruction.
Arc angle exceeded 360 degrees.
Coating Program had Error.