[Cause]
It is an unsupported robot model. The number in parentheses indicates the action group number.
1. If "Unknown Kinematics" in the positioner (A05B-2600-H896) is selected, this alarm will occur.
2. When positioner-type calibration is performed using a FANUC-made positioner together with coordinated control, adding the ‘DCS Position/Speed Check Function’ option may cause this alarm.
3. This alarm occurs when the tilt setting angle on the top loader robot is set to a value other than 0.
4. If this alarm is sent after the backup has just been read, the type of flange that is recorded in the pre-readback flange set-up, read-in backup may differ.
[Countermeasure]
1. When using the DCS position/ speed check function, please select "Known Kinematics".
2. Perform robot setup for the FANUC-made positioner again from the controlled start menu. Then perform ‘Robot-type calibration’ or ‘Direct calibration’ (positioner-type calibration is also available in software versions 7DC3/50 and 7DF1/17 or later).
3. When using the DCS position/ speed check function, please set the tilt placement angle to 0.
4. Performing robot setup again for the group issuing the alarm from the controlled start menu can clear the alarm. After repeating robot setup, apply the DSC parameters after a cold start. Check that no alarm is issued, then load the backup again.
In cases 1-3 above, setting $DCS_CFG.$EXCLUDE[group number] to -1 can also clear this alarm, but the position/speed check functions for the group cannot be used in this case. After setting $DCS_CFG.$EXCLUDE, apply the DCS parameters and cycle the power.