Adept Status Code Summary for Embedded Products

Common Two-digit Status Codes

V+
Status V+ Error
Error Explanation User Action
Code Message
Code

OK None N/A STATUS message: High Power None

OFF.
ON None N/A STATUS message: High Power None
ON.
A# *Motor amplifier -1018 A power amplifier fault is indic- Check user motor power con-
fault* ated on axis (#). nections for shorts or opens.
Turn high power back on and
restart the program. If the error
persists, contact Adept Customer
Service.
B# None N/A IO Blox communications error Check user IO Blox connections
with IO Blox (#). for shorts or opens. Check IO
Blox address switches for proper
configuration. Cycle power to the
control system. If the error per-
sists, contact Adept Customer
Service.
AC *RSC Power Fail- -670 A loss of AC power was detec- Check user AC power con-
ure* ted. nections for shorts or opens.
Turn high power back on and
restart the program. If the error
persists, contact Adept Customer
Service.

Adept Status Code Summary for Embedded Products, Rev C Page 1 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Common Two-digit Status Codes

V+
Status V+ Error
Error Explanation User Action
Code Message
Code

D# *Duty-cycle -1021 The indicated motor (#) has been Turn high power back on.
exceeded*  Mtr n driven hard for too long a period Reduce the speed and/or accel-
of time. The servo system has eration for the motion that was
disabled power to protect the in progress or for motions that
robot hardware. preceded that motion; and repeat
the motion that failed.
E# *Encoder  Fault* -1025 The servo system has detected User actions vary by product.
an encoder fault. Please reference individual robot
manuals for appropriate actions.
FM None N/A Firmware version mismatch. Contact Adept Customer Service.
FW *1394 com- -927 The IEEE 1394 communications This will occur normally if the
munications system has failed to initialize or SmartController is powered
timeout* has lost communications with down separately from the robot
the SmartController. systems. If it occurs unex-
pectedly, check the connections
and integrity of the 1394 cabling.
I# None N/A Servo initialization stages. These If any initialization code persists
steps normally sequence (I0, I1, (greater than 30 seconds), it may
…) on the display during nor- indicate servo initialization has
mal system boot. failed. Contact Adept Customer
Service.
M# *Motor stalled" -1007 A motor stall occurs when the Check for obstacles and free
Mtr n maximum  allowed torque for a movement of all joints. Turn
given motor was applied for high power back on and repeat
longer than the defined timeout the motion that failed.
period. This typically occurs
when an obstacle is encountered.

Adept Status Code Summary for Embedded Products, Rev C Page 2 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Common Two-digit Status Codes

V+
Status V+ Error
Error Explanation User Action
Code Message
Code

NV None Communication to a non-volat- On MB-10 units, clean the con-

ile memory device failed. tacts to the signature card moun-
N/A
ted on the T-bracket and check
for proper mounting of the MB-
10. If the error persists, contact
Adept Customer Service.
PR None N/A A servo task has overrun its If the problem persists, contact
allotted execution window. Adept Customer Service .
SW None Timeout of the software watch- If the problem persists, contact
dog timer. On some products, it Adept Customer Service .
N/A
is normal for this to occur
momentarily during a servo
reset.
V# *Hard envelope -1027 The indicated motor was not Turn on high power and try to
error* Mtr n tracking the commanded pos- perform the motion at a slower
ition with sufficient accuracy as speed. Make sure that nothing is
set by SPEC or the Adept ACE obstructing the robot's motion. If
Controller Editor. the error recurs, contact Adept
Customer Service.

Adept Status Code Summary for Embedded Products, Rev C Page 3 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

24 *RSC power fail- -670 The 24 VDC input Check connections ● ● ● ●

ure* voltage is out of bounds and voltage level
(too high or low). from the user-sup-
plied 24 VDC power
supply.
BK *Manual brake -639 The manual brake release Ensure the brake but- ● ● ● ● ● ●
release* button was pressed while ton is released. The
high power was enabled. message will clear
upon re-enabling
power.
ES *E-STOP detected -643 An E-STOP condition has This is a normal ● ● ● ● ● ●
by robot* been detected by the response to many E-
robot. STOP conditions. 
Remove the source of
the E-STOP and re-
enable high power.
AR *No air pressure * -607 V+ detected that the air Restore the air pres- ●
supply to the robot sure,turn high power
brakes and hand has back on, and resume
failed. program execution.  If
the error persists, con-
tact Adept Customer 
Service.

Adept Status Code Summary for Embedded Products, Rev C Page 4 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

F1 *E-STOP detected -643 The end-of-arm Break- Close the breakaway ●

by robot* away sensor has tripped circuit and re-enable
(open circuit). Reporting high power.
of this error can be
enabled / disabled via a
SPEC option or the Adept
ACE Controller Editor.
F2 *E-STOP detected -643 The end-of-arm "SHOCK" This is an expected ● ●
by robot* sensor has tripped (open response to impact
circuit ). Reporting of this with an obstacle on
error can be enabled / dis- robots with the shock
abled via a SPEC option sensor option
or the Adept ACE Con- installed. Move the
troller Editor. The shock robot away from the
sensor is an option on obstacle and re-enable
the six-axis robots. high power.
F3 *E-STOP detected -643 The "LIMIT" sensor has This is an expected ● ●
by robot* tripped. Reporting of this response when the
error can be enabled / dis- joint limit switch has
abled via a SPEC option been activated. Move
or the Adept ACE Con- the robot away from
troller Editor. A single the limit position and
common sensor is used re-enable high power.
to report a limit con-
dition on J1 & J2/J3 if the
option is installed.

Adept Status Code Summary for Embedded Products, Rev C Page 5 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

hV *RSC power fail- -670 The high-voltage DC bus This may occur when ● ● ● ●
ure* for the amplifiers is out AC power is unex-
of bounds (too high or pectedly removed.
low). Check AC con-
nections and re-
enable high power. If
the error persists, con-
tact Adept Customer
Service.
h0 *Robot over- -606 The MB-10 internal regen- Allow the amplifier to ●
heated* erative dump resistor has cool for a short time,
reached its temperature re-enable power and
limit. retry the motion. It
may be necessary to
slow the motion or
insert pauses to
reduce the regen-
erative energy.
h0 *Robot over- -606 The temperature sensor Check for excessive ● ● ●
heated* on the embedded pro- ambient temperature,
cessor board has reached inadequate vent-
its temperature limit. ilation, and proper
function of any cool-
ing fans.

Adept Status Code Summary for Embedded Products, Rev C Page 6 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

h# "Robot over- -606 Amplifier over- Check for excessive ● ● ● ●

heated" temperature occurred on ambient temperature,
Joint (#). Note: MB-10 sys- inadequate vent-
tems only report 'h1'. ilation, and proper
function of any cool-
ing fans. It may be
necessary to slow the
motion or insert
pauses to reduce over-
all heating.
H# *Motor over- -1016 The motor encoder tem- Reduce the speed, ● ● ● ●
heating* Mtr n perature sensor indicates acceleration and/or
an overtemperature. deceleration of the
robot motions, or
introduce delays in
the application cycle
to give the motor an
opportunity to cool.
HR *Motor over- -1016 The temperature sensor Reduce the speed, ●
heating* Mtr n on the RSC card in the acceleration and/or
base of the robot indic- deceleration of the
ates an overtemperature. robot motions, or
introduce delays in
the application cycle
to give the motor an
opportunity to cool.

Adept Status Code Summary for Embedded Products, Rev C Page 7 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

OT *Positive over- -1033 The hardware overtravel Manually move the

travel* Mtr n sensor for the indicated robot back into range
●
motor has tripped and and re-enable power.
robot power has been dis- Use the SPEC utility
abled. to adjust the soft lim-
its for the robot so
they are inside the
hard limits.
P0 *Power system -1115 The dual-channel brake Contact Adept ● ● ● ● ●
failure* Code 0 circuit has reported a cyc- Customer  Service.
lic check error.
P1 *Power system -1115 The power system has On PA-4 chassis, fur-
failure* Code 1 unexpectedly turned off ther information may
● ● ● ● ● ●
power. be indicated on the
PA-4 status lights.
Refer to Adept PA-4
Power Chassis User's
Guide for details.
Contact Adept Cus-
tomer Service if the
error persists.
P2 *Power system -1115 The high-voltage DC bus Contact Adept ● ●
failure* Code 2 to the regenerative energy Customer  Service.
dump circuit has exper-
ienced an overvoltage.
P3 *Power system -1115 The regenerative energy Contact Adept ● ●
failure* Code 3 dump circuit has Customer  Service.
exceeded its max short
term dump rating.

Adept Status Code Summary for Embedded Products, Rev C Page 8 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

P4 *Power system -1115 The high-voltage DC bus Contact Adept ●

failure* Code 4 did not discharge its Customer  Service.
voltage when expected.
(Note: This error is only
relevant to legacy Cobra
AIB systems.)
P5 *Power system -1115 An inrush error was This can occur if AC ● ● ● ●
failure* Code 5 detected by the power power is abruptly
sequencer. This means removed during the
the high-voltage DC bus high power enable
failed to rise at the expec- sequence. If it occurs
ted rate when power was unexpectedly, contact
enabled. Adept Customer Ser-
vice.
P6 *Power system -1115 The MAI-2 / sMAI / sDAI Contact Adept ● ●
failure* Code 6 regenerative energy cir- Customer  Service.
cuit temperature sensor
indicates an overtemp
condition.
RC *RSC com- -651 There is a failure to com- Contact Adept ● ●
munications fail- municate with the Robot Customer  Service.
ure* Signature Card (RSC).

Adept Status Code Summary for Embedded Products, Rev C Page 9 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

R0 *RSC hardware -669 The Robot Signature If the problem per- ●

failure* Card (RSC) has reported sists, contact Adept
an internal failure. Customer Service.
Because RSC failures
almost always cause the
RSC to stop com-
municating altogether
(rendering it incapable of
reporting the failure), this
error message may be
due to some other cause,
such as electrical noise at
the RSC or within or
around the arm signal
cable.
R1 *RSC power fail- -670 The Robot Signature If the problem per- ●
ure* Card (RSC) has reported sists, contact Adept
that its power is failing. Customer Service.
Because a power failure
on the RSC typically
causes it to stop com-
municating (rendering it
incapable of reporting the
failure), this error mes-
sage may be due to some
other cause, such as elec-
trical noise or an inter-
mittent connection

Adept Status Code Summary for Embedded Products, Rev C Page 10 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

S0 *Safety System -1109 The robot hardware did Contact Adept ● ●

Fault* Code 0 not detect that the front- Customer  Service.
panel high-power button
was pressed before the
servo system attempted
to enable power.
S1 *Safety System -1109 The SmartController has Check for other mes- ● ● ● ● ● ●
Fault* Code 1 signaled a power-off con- sages on the
dition to the robot SmartController that
through the HIPWR_DIS may indicate a fatal
line on the XSYS inter- error. If the error
face. This fault indication source can be elim-
typically accompanies inated, re-enable
other fault conditions power.
that cause "fatal error" on
the SmartController (such
as a loss of IEEE-1394
communication).
S2 *Safety System The safety system exper- If the problem per- ● ● ● ● ● ●
Fault* Code 2 ienced a failure on chan- sists, contact Adept
-1109
nel 1 during the cyclic Customer Service.
check of the dual-channel
power system. This may
indicate a stuck relay con-
tact or other hardware
failure.

Adept Status Code Summary for Embedded Products, Rev C Page 11 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

S3 *Safety System -1109 The safety system exper- If the problem per- ● ● ● ● ● ●
Fault* Code 3 ienced a failure on chan- sists, contact Adept
nel 2 during the cyclic Customer Service.
check of the dual-channel
power system. This may
indicate a stuck relay con-
tact or other hardware
failure.
S4 *Safety System -1109 The internal E-STOP If the problem per- ● ● ● ● ● ● ●
Fault* Code 4 delay timer has timed sists, contact Adept
out and caused power to Customer Service.
be turned off. Under nor-
mal circumstances, the
software initiates a shut-
down before the time out,
which prevents this mes-
sage.
S5 *Safety System -1109 While in manual mode, Contact Adept ● ● ●
Fault* Code 5 the power system was Customer  Service.
not properly unlocked by
software during a power
sequence.

Adept Status Code Summary for Embedded Products, Rev C Page 12 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

S6 *Safety System -1109 The CAT-3 hardware This fault is triggered ● ●

Fault* Code 6 safety system detected an on purpose during
encoder OVERSPEED specific com-
condition, and power has missioning tests for
been turned off. This cir- the CAT-3 system. If
cuitry is on certain robots the fault occurs dur-
that have the CAT-3 ing normal operation,
teach mode option contact Adept Cus-
installed. It is active only tomer Service.
when in manual mode.
S7 *Safety System -1109 The CAT-3 hardware If the error occurred ●
Fault* Code 7 safety system detected an while moving the
accelerometer error on robot, try moving the
channel 1 or 2. This cir- robot less quickly, or
cuitry is on certain robots with a lower rate of
that have the CAT-3 acceleration or decel-
teach mode option eration. For faults
installed. It is active only with cables or
when in manual mode. sensors, consult your
robot documentation
The robot (joint 1 or 2) is
or contact Adept Cus-
moving or accelerating
tomer Service.
too fast, which indicates
there is a fault with the
accelerometer system or a
failure of the accel-
erometer's self-test func-
tion.

Adept Status Code Summary for Embedded Products, Rev C Page 13 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

S8 *Safety System -1109 The CAT-3 hardware If the error occurred ●

Fault* Code 8 safety system detected an while moving the
error. This circuitry is on robot, try moving the
certain robots that have robot less quickly, or
the CAT-3 teach mode with a lower rate of
option installed. It is act- acceleration or decel-
ive only when in manual eration. For faults
mode. with cables or
sensors, consult your
This fault occurs in
robot documentation
response to multiple
or contact Adept Cus-
sources:
tomer Service.
1) The velocity restrict
check failed for Joint 3 or
4. The robot (joint 3 or 4)
is moving or accelerating
too fast, which indicates
there is a fault with the
voltage-restrict sensor or
a failure of the voltage
restrict sensor's self-test
function.
2) The dual-channel
sensor circuits disagree,
or multiple sensors are
simultaneously indic-
ating a fault.

Adept Status Code Summary for Embedded Products, Rev C Page 14 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

S9 *Safety System -1109 A watchdog circuit that Contact Adept Cus- ● ● ● ● ● ●

Fault* Code 9 cross checks the clocks tomer Service.
for the dual-channel
safety system is reporting
an error.
T0 *Safety System -1109 An error was detected Contact Adept ● ● ●
Fault* Code 10 during a software self Customer  Service.
test of a secondary safety
and monitoring circuit
(SRV_DIRECT / SRV_
STAT).
T1 *Safety System -1109 A failure (open circuit) of Replace the bulb in ●
Fault* Code 11 the arm-mounted High the arm-mounted
Power lamp has been High Power lamp.
detected. Typically, this
indicates a defective
lamp, which is con-
sidered a safety hazard.
High Power cannot be
enabled until the lamp is
replaced.
The arm-mounted High
Power lamp is only avail-
able on the AdeptSix 600
robot.

TR *Safety System -648 The Teach Restrict fea- Use Adept ACE to ● ●
Not Com- ture is not com- recommission the
missioned, and an robot or use the robot
missioned*
attempt was made to in Automatic mode
enable high power in only.
Manual mode.

Adept Status Code Summary for Embedded Products, Rev C Page 15 of 16 Copyright 2006-2013 by Adept Technology, Inc.
 Platform-Dependent Two-digit Status Codes

Supported Platforms

MB- MB-
V+ Adept Adept Adept Cobra
Status V+ Error 40R 40L MB-
Error Explanation User Action Six Viper One s600/s800
Code Message MB- MB- 10
Code (sMAI) (sDAI) (sEJI) i600/i800
60R 60L

This error code only If the problem per-

applies to robots sists, Contact Adept
equipped with an eAIB, Customer Service.
eMB-60R or eMB-40R.

SE *Safety System -648 The E-STOP delay feature Use Adept ACE to ● ●
Not Com- is not commissioned, recommission the
and an attempt was robot.
missioned*
made to enable high
If the problem per-
power (in either auto-
sists, Contact Adept
matic or manual mode).
Customer Service.
This error code only
applies to robots
equipped with an eAIB,
eMB-60R or eMB-40R.
BA Battery low warn- N/A The battery used to Replace battery as ● ● ● ● ● ●
ing backup the encoder pos- described in the cor-
ition has low voltage. responding robot
The position is not yet manual
lost, but the battery needs
to be replaced soon.

Adept Status Code Summary for Embedded Products, Rev C Page 16 of 16 Copyright 2006-2013 by Adept Technology, Inc.