Adept Status Code Summary for Embedded Products

Update History:
2/16/2006 Rev 1 Initial version.
Added new codes and revised/completed message,
4/13/2006 Rev A
explanation, and user action columns.
4/19/2006 Rev B Minor changes to test descriptions.

Common Two-digit Status Codes

Status V+ Error
V+ Error Message Explanation User Action
Code Code
OK None N/A STATUS message - High Power OFF. None
ON None N/A STATUS message - High Power ON. None
Check user motor power connections shorts or
opens. Turn high power back on and restart the
A# *Motor amplifier fault* -1018 A power amplifier fault is indicated on axis (#).
program. If the error persists, contact Adept
Customer Service.
Check user IOBlox connections for shorts or opens.
Check IOBlox address switches for proper
B# None N/A IO-Blox communications error with IO-Blox (#).
configuration. Cycle power to the control system. If
the error persists, contact Adept Customer Service.
Check user AC power connections for shorts or
opens. Turn high power back on and restart the
AC *RSC Power Failure* -670 A loss of AC power was detected.
program. If the error persists, contact Adept
Customer Service.
Turn high power back on; reduce the speed and/or
The indicated motor (#) has been driven hard for too
acceleration for the motion that was in progress or
D# *Duty-cycle exceeded* Mtr n -1021 long a period of time. The servo system has
for motions that proceeded that motion; and repeat
disabled power to protect the robot hardware.
the motion that failed.
User actions vary by product. Please reference
E# *Encoder Fault* -1025 The servo system has detected an encoder fault.
individual robot manuals for appropriate actions.
FM None N/A Firmware version mismatch. Contact Adept Customer Service.
This will occur normally if the SmartController is
The IEEE 1394 communications system has failed to
powered down separately from the robot systems. If
FW *1394 communications timeout* -927 initialize or has lost communications with the
it occurs unexpectedly, check the connections and
SmartController.
integrity of the 1394 cabling.
Servo initialization stages. These steps normally If any initialization code persists (greater than 30
I# None N/A sequence (I0, I1, ) on the display during normal seconds), it may indicate servo initialization has
system boot. failed. Contact Adept Customer Service.
A motor stall occurs when the maximum allowed
Check for obstacles and free movement of all joints.
torque for a given motor was applied for longer than
M# *Motor stalled" Mtr n -1007
the defined timeout period. This typically occurs
Turn high power back on and repeat the motion that
failed.
when an obstacle is encountered.
On MB-10 units, clean the contacts to the signiture
Communication to a Non-Volatile memory device card mounted on the T-bracket and check for proper
NV None N/A
failed. mounting of the MB-10. If the error persists, contact
Adept Customer Service.
A servo task has overrun its alloted execution If the problem persists, contact Adept Customer
PR None N/A
window. Service .
Software watchdog timer timeout. On some
If the problem persists, contact Adept Customer
SW None N/A products it is normal for this to occur momentarily
Service .
during a servo reset.
Turn on high power and try to perform the motion at
The indicated motor was not tracking the
a slower speed. Make sure that nothing is
V# *Hard envelop error* Mtr n -1027 commanded position with sufficient accuracy as set
obcstructing the robot's motion. If the error recurs,
by SPEC.
contact Adept Customer Service.

Adept Status Code Summary for Embedded Products Rev. B Page 1 of 4

 Platform-Dependent Two-digit Status Codes Supported Platforms
Adept Cobra
Status V+ Error Adept Six AdeptOne MB-40R MB-40L
V+ Error Message Explaination User Action Viper s600/800 MB-10
Code Code (sMAI) (sEJI) MB-60R MB-60L
(sDAI) i600/800
The 24VDC input voltage is out of bounds (too high Check connections and voltage level from the user
24 *RSC power failure* -670
or low). supplied 24VDC power supply.
The manual brake release button was pressed while Ensure the brake button is released. The message
BK *Manual brake release* -639
high power was enabled. will clear upon re-enabling power.
This is a normal response to many ESTOP
An ESTOP condition has been detected by the
ES *E-STOP detected by robot* -643
robot.
conditions. Remove the source of the ESTOP and
re-enable high power.

Restore the air pressure, turn high power back on,
V+ detected that the air supply to the robot brakes
AR *No air pressure* -607
and hand has failed.
and resume program execution. If the error persists,
contact Adept Customer Service.

The End-Of-Arm Breakaway Sensor has tripped
Re-close the breakaway circuit and re-enable high
F1 *E-STOP detected by robot* -643 (open circuit). Reporting of this error can be enabled
/ disabled via a SPEC option.
power.
The End-Of-Arm "SHOCK" Sensor has tripped (open This is an expected response to impact with an
circuit). Reporting of this error can be enabled / obstacle on robots with the shock sensor option
F2 *E-STOP detected by robot* -643
disabled via a SPEC option. The shock sensor is an installed. Move the robot away from the obstacle
option on the AdeptSix robot line. and re-enable high power.
The "LIMIT" Sensor has tripped. Reporting of this
This is an expected response when the joint limit
error can be enabled / disabled via a SPEC option.
F3 *E-STOP detected by robot* -643
A single common sensor is used to report a limit
switch has been activated. Move the robot away
from the limit position and re-enable high power.

condition on J1 & J2/J3 if the option is installed.
This may occur when AC power is unexpectedly
The high-voltage DC bus for the amplifiers is out of removed. Check AC connections and re-enable high
hV *RSC power failure* -670
bounds (too high or low). power. If the error persists, contact Adept Customer
Service.
Allow the amplifier to cool for a short time, re-enable
The MB-10 internal regenerative dump resistor has power and retry the motion. It may be necessary to
h0 *Robot overheated* -606
reached its temperature limit. slow the motion or insert pauses to reduce the
regenerative energy.
Check for excessive ambient temperature,
The temperature sensor on the embedded processor
h0 *Robot overheated* -606
board has reached its temperature limit.
inadequate ventalation, and proper function of any
cooling fans.

Check for excessive ambient temperature,
Amplifier overtemperature occurred on Joint (#). inadequate ventilation, and proper function of any
h# "Robot overheated" -606
(Note: MB-10 systems only report 'h1'. ) cooling fans. It may be necessary to slow the motion
or insert pauses to reduce overall heating.
Reduce the speed, acceleration and/or deceleration
The motor encoder temperature sensor indicates an of the robot motions, or introduce delays in the
H# *Motor overheating* Mtr n -1016
overtemperature. application cycle to give the motor an opportunity to
cool.
Reduce the speed, acceleration and/or deceleration
The temperature sensor on the RSC card in the base of the robot motions, or introduce delays in the
HR *Motor overheating* Mtr n -1016
of the robot indicates an overtemperature. application cycle to give th emotor an opportunity to
cool.
The hardware overtravel sensor for the indicated Manually move the robot back into range and re-
OT *Positive overtravel* Mtr n -1033 motor has tripped and robot power has been
disabled.
enable power. Use the SPEC utility to adjust the soft
limits for the robot so they are inside the hard limits.

The dual-channel brake circuit has reported a cyclic
P0 *Power system failure* Code 0 -1115
check error.
Contact Adept Customer Service.
On PA-4 chassis, further information may be
The power system has unexpectedly turned off indicated on the PA-4 status lights. Refer to Adept
P1 *Power system failure* Code 1 -1115
power. PA-4 Power Chassis User's Guide for details.
Contact Adept Customer Service if the error persists.

The high-voltage DC bus to the regenerative energy

P2 *Power system failure* Code 2 -1115
dump circuit has experienced an overvoltage.
Contact Adept Customer Service.
The regenerative energy dump circuit has exceeded
P3 *Power system failure* Code 3 -1115
its max short term dump rating.
Contact Adept Customer Service.
The high-voltage DC bus did not discharge its
P4 *Power system failure* Code 4 -1115 voltage when expected. (Note: This error is only Contact Adept Customer Service.
relavent to legacy Cobra AIB systems.)

Adept Status Code Summary for Embedded Products Rev. B Page 2 of 4

 Platform-Dependent Two-digit Status Codes Supported Platforms
An inrush error was detected by the power
This can occur if AC power is abruptly removed
sequencer. This means the high-voltage DC bus
P5 *Power system failure* Code 5 -1115
failed to rise at the expected rate when power was
during the high power enable sequence. If it occurs
unexpectedly, contact Adept Customer Service.

enabled.
The MAI-2 / sMAI / sDAI regenrative energy circuit
P6 *Power system failure* Code 6 -1115
temperature sensor indicates an overtemp condition.
Contact Adept Customer Service.
There is a failure to communicate with the Robot
RC *RSC communications failure* -651
Signature Card.
Contact Adept Customer Service.
The RSC has reported an internal failure. Because
RSC failures almost always cause the RSC to stop
communicating altogether (rendering it incapable of If the problem persists, contact Adept Customer
R0 *RSC hardware failure* -669
reporting the failure), this error message may be due Service.
to some other cause, such as electrical noise at the
RSC or within or around the arm signal cable.

The RSC has reported that its power is failing.

Because a power failure on the RSC almost always
causes it to stop communicating altogether If the problem persists, contact Adept Customer
R1 *RSC power failure* -670
(rendering it incapable of reporting the failure), this Service.
error message may be due to some other cause,
such as electrical noise or an intermittent connection.
The robot hardware did not detect that the front-
S0 *Safety System Fault* Code 0 -1109 panel high-power button was pressed prior to the
servo system attempting to enable power.
Contact Adept Customer Service.
The SmartController has signaled a power off
condition to the robot via the HIPWR_DIS line on the
Check for other messages on the SmartController
XSYS interface. This fault indication typically
S1 *Safety System Fault* Code 1 -1109
accompanies other fault conditions that cause "fatal
that may indicate a fatal error. If the error source
can be eliminated, re-enable power.

error" on the SmartControllerrror (such as a loss in
IEEE-1394 communication).
The safety system experienced a failure on channel
1 during the cyclic check of dual-channel power If the problem persists, contact Adept Customer
S2 *Safety System Fault* Code 2 -1109
system. This may indicate a welded relay contact or Service.
other hardware failure.
The safety system experienced a failure on channel
2 during the cyclic check of dual-channel power If the problem persists, contact Adept Customer
S3 *Safety System Fault* Code 3 -1109
system. This may indicate a welded relay contact or Service.
other hardware failure.
The internal ESTOP delay timer timed out and power
has been turned off. Under nornal circumstances, If the problem persists, contact Adept Customer
S4 *Safety System Fault* Code 4 -1109
software sequences the shutdown prior to the time Service.
out, averting this message.
The power system was not properly unlocked by
S5 *Safety System Fault* Code 5 -1109 software during a power sequence while in manual
mode.
Contact Adept Customer Service.
The CAT-3 hardware safety system detected an
This fault is triggered on purpose during specific
encoder OVERSPEED and power has been turned
comissioning tests for the CAT-3 system. If the fault
S6 *Safety System Fault* Code 6 -1109 off. This circuitry is active in manual mode only, on
select robots which have the CAT-3 teach mode
occurs during normal operation, contact Adept
Customer Service.
option installed.

The CAT-3 hardware safety system detected an

accelerometer error on channel 1 or 2. This circuitry If the error occurred while a program was moving the
is active in manual mode only, on select robots which robot, try changing the program to move the robot
have the CAT-3 teach mode option installed. less quickly or with a lower rate of acceleration or
S7 *Safety System Fault* Code 7 -1109
deceleration. For faults with cables or sensors,
The robot (joint 1 or 2) is moving ot accelerating too consult your Robot Instruction Handbook or contact
fast, there is a fault with the accelerometer system, Adept Customer Service.
or the accelerometer's built-in test function failed.

Adept Status Code Summary for Embedded Products Rev. B Page 3 of 4

 Platform-Dependent Two-digit Status Codes Supported Platforms

The CAT-3 hardware safety system detected an

error. This circuitry is active in manual mode only, on
select robots which have the CAT-3 teach mode
option installed.
If the error occurred while a program was moving the
robot, try changing the program to move the robot
This fault will occur in response to multiple sources:
less quickly or with a lower rate of acceleration or
S8 *Safety System Fault* Code 8 -1109 1) The amplifier 3 or 4 voltage restrict sensor error
channel 1 or 2. The robot (joint 3 or 4) is moving or
deceleration. For faults with cables or sensors,
consult your Robot Instruction Handbook or contact
accelerating too fast, there is a fault with the voltage
Adept Customer Service.
restrict sensor, or the voltage restrict sensor's built-in
test function failed.
2) The dual-channel sensor circuits disagree or
multiple sensors are simultaneously indicating a fault.

A watchdog circuit that cross checks the clocks for

S9 *Safety System Fault* Code 9 -1109
the dual-channel safety system is reporting an error.
Contact Adept Customer Service.
An error was detected during a software self test of a
T0 *Safety System Fault* Code 10 -1109 secondary safety & monitoring circuit (SRV_DIRECT
/ SRV_STAT).
Contact Adept Customer Service.
A failure (open circuit) of the arm-mounted high
power lamp has been detected. The lamp is
probably burned out. This is considered a safety
hazard and high power cannot be enabled until the Replace the bulb in the arm-mounted high power
T1 *Safety System Fault* Code 11 -1109
lamp is replaced. lamp.
The arm-mounted high power lamp is currently only
an option on the AdeptSix 600 robot.

Adept Status Code Summary for Embedded Products Rev. B Page 4 of 4