Okuma Alarm-A 1864 Z/C-axis not in rotation possible area
When the swing rotation command was issued, the Z/C-axis was not in the rotation-enable range.
Object
0->No relation to any axis
3->Z-axis
9->C-axis
Code
1->If the swing is rotated, the Z- or C-axis will move over a software limit.
2->The robot specification provides that the Z-axis can rotate only in the plus software limit. Though this condition is not met, the swing rotation command was issued.
Probable Faulty Locations
1)Parameter (software limit) setting error
2)Operation error
3)Programming error