[Cause]
This occurs when executing STPAYLOD. A register specifying payload inertia does not exist. %s displays “one of X,Y,Z” and the specified register number. Assume the third argument of STPAYLOD is 197. The payload inertia about the X axis is then register[201]. If register[201] does not exist, the “SDTL-083 Payload inertia register (X, 201) does not exist” alarm occurs.
[Countermeasure]
Teach the third argument so that the registers specifying inertia exist. Assume the third argument of STPAYLOD is n. Specify the payload inertia using the following registers. Register[n+4]: payload inertia about the X axis [kgfcm^2]. Register[n+5]: payload inertia about the Y axis [kgfcm^2]. Register[n+6]: payload inertia about the Z axis [kgfcm^2].