[Cause]
During Cartesian soft float or pushout soft float, the error in Cartesian coordinates (position deviation, deviation from the commanded position) exceeded the allowable value. The first number in parentheses indicates the motion group where the alarm occurred. For Cartesian soft float, parameter 2 indicates the Cartesian axis (X/Y/Z) whose position deviation exceeded the allowable value. For pushout soft float, it indicates “pushout”.
[Countermeasure]
1. In case of orthogonal soft floating
1) Confirm whether the following allowable value settings (based on user adjustment values) are appropriate. If not, perform a power outage and restart after changing the values.
2) When the allowable value is appropriate and this alarm occurs, eliminate the cause of the error. $PARAM_GROUP[Group No.].$CB_IX = X Error allowable value in direction [mm]$PARAM_GROUP[Group No.].$CB_IY = Y Error allowable value in direction [mm]$PARAM_GROUP[group number].$CB_IZ = Z Error allowable value in direction [mm]
3) When the allowable value and the cause of the error are correct, set this alarm (error monitoring) to be invalid, make the following changes, and then power off and restart.
2. When extruding a soft float
1) Please confirm whether the compliance direction and driven axis are set appropriately.
2) Please confirm whether the workpiece speed during soft float execution is too high.
3) Please confirm whether the external force applied during soft float execution or when soft float starts is too large.