Status Code /

Error Code List

Rev.5 ENM226S5282F

Original instructions

EPSON RC+ 7.0

Status Code / Error Code List Rev.5
Status Code / Error Code List
Rev.5

Seiko Epson Corporation 2021-2022

Status Code / Error Code List Rev.5 i

FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the EPSON RC+ 7.0
software.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.

The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance with
our high performance standards. Please note that the basic performance of the product will
not be exhibited if our robot system is used outside of the usage conditions and product
specifications described in the manuals.

This manual describes possible dangers and consequences that we can foresee. Be sure to
comply with safety precautions on this manual to use our robot system safety and correctly.

TRADEMARKS
Microsoft, Windows, Windows logo, Visual Basic, and Visual C++ are either registered
trademarks or trademarks of Microsoft Corporation in the United States and/or other
countries. Pentium is a trademark of Intel Corporation. Other brand and product names are
trademarks or registered trademarks of the respective holders.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 8 and Windows 10 refer to above respective operating
systems. In some cases, Windows refers generically to Windows 8 and Windows 10.

NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.

MANUFACTURER

CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety Manual Read this manual first

ii Status Code / Error Code List Rev.5

 Table of Contents

Status Code / Error Code List 1

Code Number 1 ~........................................................................................... 1
Code Number 1000 ~..................................................................................... 9
Code Number 2000 ~................................................................................... 21
Code Number 3000 ~................................................................................... 51
Code Number 4000 ~................................................................................... 78
Code Number 5000 ~................................................................................... 94
Code Number 6000 ~.................................................................................. 111
Code Number 7000 ~..................................................................................115
Code Number 9000 ~................................................................................. 134
Code Number 10000 ~............................................................................... 143

Recovering from an Error When in Emergency Stop Mode 145

Status Code / Error Code List Rev.5 iii

Table of Contents

iv Status Code / Error Code List Rev.5

 Code Number 1 ~

Status Code / Error Code List

The code number classifications are as follows. For details, check the contents of the corresponding number.
1~ : Represents the status. It is not an error.
400 ~ : Represents warning.
The program can be executed even while a warning is occurring, but check the remedy.
1000 ~ : Represents an error. Check the remedy.
8000 ~ : Represents the error which you defined.
9000 ~ : Represents a serious error.
There is a possibility of hardware failure. Check the remedy.
10000 ~ : Represents an error regarding EPSON RC+ 7.0. Check the remedy.

Code Number 1 ~
No. Message Remedy Note 1 Note 2
1 Controller control program started. -
Termination due to low voltage of the
2 -
power supply.
Controller control program has Stores this log when the controller is
3
completed. rebooted from EPSON RC+ or TP1.
Preserve variables save area has been
4 -
cleaned.
5 Function Main started. -
Skip the log "Function Main started."
Function Main started. Later same
6 to prevent system history space run
logs are skipped.
out.
7 Serial number has been saved. -
8 System backup has been executed. -
9 System restore has been executed. -
Robot parameters have been
10 -
initialized.
Offset pulse value between the Value
Value after
11 encoder origin and the home sensor - change
before
(HOFS) is changed. change
Message saving mode activated.
17 -
Uncommon event.
Conversion of Robot Parameter file
18 -
has been executed.
19 DU firmware has been installed. -
Enable setting in Teach mode has
20 -
been saved.
Enable setting in Teach mode has
21 -
been changed.
Robot
number
Controller
23 EStop has been executed. - executing
status
motion
command
Robot
number
Controller
24 Safeguard has opened. - executing
status
motion
command
1: New
addition Robot
25 Robot setting has changed. - 2: Change number
3: Delete
Alarm
26 Alarm setting has changed. - number
The battery alarm for the controller was
50 -
reset.

Status Code / Error Code List Rev.5 1

Code Number 1 ~

No. Message Remedy Note 1 Note 2

The battery alarm for the robot was Robot
51 -
reset. number
The grease alarm for the robot was Robot
52 -
reset. number
100 Device connected to Controller. -
20: TP3
21:RC+
22:Remote
I/O
101 Console device has changed. - 26: Remote
Ethernet
29: Remote
RS232
102 Display device has changed. -
103 Working mode has changed. -
0:
Independent
104 Cooperative mode has changed. - 1:
Cooperative
1: Setup
2: Initialize
110 Controller firmware has been installed. - 3: Upgrade
4: Recover
May store this log when the
111 IP address has been restored.
controller firmware is installed.
112 Controller rebooted -
Communication was restored from the
113 -
busy state.
1: Ethernet
120 RC+ connected to the Controller. - 2: USB
121 TP connected to the Controller. -
123 RC+ disconnected from the Controller. -
124 TP disconnected from the Controller. -
126 Working mode changed to AUTO. -
127 Working mode changed to Program. -
128 Working mode changed to Teach. -
Remote Ethernet connected to the
129 -
Controller
Remote Ethernet disconnected to the
130 -
Controller
Remote Com connected to the
131 -
Controller
Logout status
Remote Com disconnected to the 0: Normal
132 -
Controller 1: Abnormal
(Time-out)

133 Working mode changed to Test. -

Epson RC+ Express Edition connected

134
to the Controller.
Epson RC+ Express Edition
135
disconnected from the Controller.
The battery alarm for the controller
Replace the battery and reset the
400 occurred. Replace the battery and
alarm.
reset the alarm.
The battery alarm for the robot
Replace the battery and reset the Robot
401 occurred. Replace the battery and
alarm. number
reset the alarm.
The grease alarm occurred. Grease Robot
402 Grease the robot and reset the alarm.
the robot and reset the alarm. number

2 Status Code / Error Code List Rev.5

 Code Number 1 ~

No. Message Remedy Note 1 Note 2

Replace the battery. 1000 times 1000 times
The battery alarm for the controller
After replacing the battery, reset the of of
410 occurred. Replace the battery and
alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
reset the alarm.
[Controller]-[Maintenance]. on rate value
Replace the battery. 1000 times 1000 times
The battery alarm for the robot
After replacing the battery, reset the of of
411 occurred. Replace the battery and
alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
reset the alarm.
[Controller]-[ Maintenance]. on rate value
Replace the timing belt. 1000 times 1000 times
The belt alarm occurred. Replace the After replacing the timing belts, reset of of
412
belt and reset the alarm. the alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
[Controller]-[Maintenance]. on rate value
Grease up the ball screw spline. 1000 times 1000 times
The grease alarm for the ball screw
After greasing up, reset the alarm in of of
413 spline occurred. Grease the ball screw
EPSON RC+ 7.0-[Tools]-[Controller]- consumpti boundary
spline units and reset the alarm.
[Maintenance]. on rate value
Replace the motor. 1000 times 1000 times
The motor alarm occurred. Replace After replacing the motor, reset the of of
414
the motor and reset the alarm. alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
[Controller]-[Maintenance]. on rate value
Replace the gear units. 1000 times 1000 times
The gear alarm occurred. Replace the After replacing the gear units, reset of of
415
gear units and reset the alarm. the alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
[Controller]-[Maintenance]. on rate value
Replace the ball screw spline. 1000 times 1000 times
The ball screw spline alarm occurred.
After replacing the ball screw spline, of of
416 Replace the ball screw spline and reset
reset the alarm in EPSON RC+ 7.0- consumpti boundary
the alarm.
[Tools]-[Controller]-[Maintenance]. on rate value
Replace the battery. 1000 times 1000 times
The battery alarm for the controller
After replacing the battery, reset the of of
420 occurred. Replace the battery and
alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
reset the alarm.
[Controller]-[Maintenance]. on rate value
Replace the battery. 1000 times 1000 times
The battery alarm for the robot
After replacing the ball screw spline, of of
421 occurred. Replace the battery and
reset the alarm in EPSON RC+ 7.0- consumpti boundary
reset the alarm.
[Tools]-[Controller]-[Maintenance]. on rate value
Replace the timing belt. 1000 times 1000 times
The belt alarm occurred. Replace the After replacing the timing belts, reset of of
422
belt and reset the alarm. the alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
[Controller]-[Maintenance]. on rate value
Grease up the ball screw spline. 1000 times 1000 times
The grease alarm for the ball screw
After greasing up, reset the alarm in of of
423 spline occurred. Grease the ball screw
EPSON RC+ 7.0-[Tools]-[Controller]- consumpti boundary
spline and reset the alarm.
[Maintenance]. on rate value
Replace the motor. 1000 times 1000 times
The motor alarm occurred. Replace After replacing the motor, reset the of of
424
the motor and reset the alarm. alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
[Controller]-[Maintenance]. on rate value
Replace the gear units. 1000 times 1000 times
The gear alarm occurred. Replace the After replacing the gear units, reset of of
425
gear units and reset the alarm. the alarm in EPSON RC+ 7.0-[Tools]- consumpti boundary
[Controller]-[Maintenance]. on rate value
Replace the ball screw spline. 1000 times 1000 times
The ball screw spline alarm occurred.
After replacing the ball screw spline, of of
426 Replace the ball screw spline and reset
reset the alarm in EPSON RC+ 7.0- consumpti boundary
the alarm.
[Tools]-[Controller]-[Maintenance]. on rate value
Effects system performance if trace
501 Trace history is active.
history is active.

Status Code / Error Code List Rev.5 3

Code Number 1 ~

No. Message Remedy Note 1 Note 2

When this error occurs, the value of
the Global Preserve variable will be
502 Memory has been initialized. initialized.
Replace the CPU board battery.
Replace the CPU board.
Found Hard disk error. This is a warning of the hard disk
503 You should replace the hard disk failure. Replace the hard disk as soon
ASAP. as possible.
Make sure there are no problems in
An Error occurred on a Background
504 the system and continue the
Task.
operation.
505 Controller was rebooted. -
The alarm information is not set. Set
Set the alarm information on [Tools]-
506 the alarm information on [Tools]-
[Controller Tools]-[Alarm].
[Controller Tools]-[Alarm].
The controller is started by using the
Setting changes from the previous
previous initial setting file since the
507 start may not be saved. Please check
initial setting file is corrupted. Check
the settings.
the settings.
510 Optimized SRAM Data. -
Battery voltage of the CPU board Replace the CPU board battery
100 times of
backup is lower than the allowed immediately. Keep the power to the 100 times of
511 boundary
voltage. Replace the CPU board controller ON as far as possible until current value
value
battery. you replace the battery.
If normal voltage is not generated by a 100 times of
5V input voltage for the CPU board is 100 times of
512 5V power supply alone, replace the boundary
lower than the allowed voltage. current value
power supply. value
24 V input voltage for the motor brake, If normal voltage is not generated by a 100 times of
100 times of
513 encoder and fan is lower than the 24V power supply alone, replace the boundary
current value
specified voltage. power supply. value
Stop the controller as soon as
possible and check whether the
100 times of
Internal temperature of the Controller is ambient temperature of the controller 100 times of
514 boundary
higher than the allowed temperature. is not high. current value
value
Check whether the filter is not clogged
up.
Check whether the filter is not clogged
Rotating speed of the controller fan is up. If the warning is not cleared after Boundary
515 Current value
below the allowed speed. (FAN1) the controller is rebooted, replace the value
fan.
Check whether the filter is not clogged
Rotating speed of the controller fan is up. If the warning is not cleared after Boundary
516 Current value
below the allowed speed. (FAN2) the controller is rebooted, replace the value
fan.
Stop the controller as soon as
possible and check whether the
100 times of
Internal temperature of the Controller is ambient temperature of the controller 100 times of
517 boundary
higher than the allowed temperature. is not high. current value
value
Check whether the filter is not clogged
up.
If normal voltage is not generated by a 100 times of
54V input voltage for the CPU board is 100 times of
518 54V power supply alone, replace the boundary
lower than the allowed voltage. current value
power supply. value
If normal voltage is not generated by a 100 times of
3.3V input voltage for the CPU board is 100 times of
519 3.3V power supply alone, replace the boundary
lower than the allowed voltage. current value
power supply. value

4 Status Code / Error Code List Rev.5

 Code Number 1 ~

No. Message Remedy Note 1 Note 2

DC input voltage for the CPU board is If normal voltage is not generated by a 100 times of
100 times of
520 lower than or bigger than the allowed DC power supply alone, replace the boundary
current value
voltage. power supply. value
If normal voltage is not generated by 100 times of
DU1 3.3V input voltage for the board is 100 times of
521 3.3V of Drive Unit 1 power supply boundary
lower than the allowed voltage. current value
alone, replace the power supply. value
If normal voltage is not generated by 100 times of
DU1 5V input voltage for the board is 100 times of
522 5V of Drive Unit 1 power supply alone, boundary
lower than the allowed voltage. current value
replace the power supply. value
DU1 24 V input voltage for the motor If normal voltage is not generated by 100 times of
100 times of
523 brake, encoder and fan is lower than 24V of Drive Unit 1 power supply boundary
current value
the specified voltage. alone, replace the power supply. value
Stop Drive Unit 1 as soon as possible
DU1 Internal temperature of the and check whether the ambient 100 times of
100 times of
524 Controller is higher than the allowed temperature of Drive Unit 1 is not high. boundary
current value
temperature. Check whether the filter is not clogged value
up.
Check whether the filter of Drive Unit 1
DU1 Rotating speed of the controller is not clogged up. If the warning is not Boundary
525 Current value
fan is below the allowed speed. (FAN1) cleared after the controller is rebooted, value
replace the fan.
Check whether the filter of Drive Unit 1
DU1 Rotating speed of the controller is not clogged up. If the warning is not Boundary
526 Current value
fan is below the allowed speed. (FAN2) cleared after the controller is rebooted, value
replace the fan.
If normal voltage is not generated by 100 times of
DU2 3.3V input voltage for the board is 100 times of
531 3.3V of Drive Unit 2 power supply boundary
lower than the allowed voltage. current value
alone, replace the power supply. value
If normal voltage is not generated by 100 times of
DU2 5V input voltage for the board is 100 times of
532 5V of Drive Unit 2 power supply alone, boundary
lower than the allowed voltage. current value
replace the power supply. value
DU2 24 V input voltage for the motor If normal voltage is not generated by 100 times of
100 times of
533 brake, encoder and fan is lower than 24V of Drive Unit 2 power supply boundary
current value
the specified voltage. alone, replace the power supply. value
Stop Drive Unit 2 as soon as possible
DU2 Internal temperature of the and check whether the ambient 100 times of
100 times of
534 Controller is higher than the allowed temperature of Drive Unit 2 is not high. boundary
current value
temperature. Check whether the filter is not clogged value
up.
Check whether the filter of Drive Unit 2
DU2 Rotating speed of the controller is not clogged up. If the warning is not Boundary
535 Current value
fan is below the allowed speed. (FAN1) cleared after the controller is rebooted, value
replace the fan.
Check whether the filter of Drive Unit 2
DU2 Rotating speed of the controller is not clogged up. If the warning is not Boundary
536 Current value
fan is below the allowed speed. (FAN2) cleared after the controller is rebooted, value
replace the fan.
If normal voltage is not generated by 100 times of 100 times of
DU3 3.3V input voltage for the board is
541 3.3V of Drive Unit 3 power supply current boundary
lower than the allowed voltage.
alone, replace the power supply. value value
If normal voltage is not generated by 100 times of 100 times of
DU3 5V input voltage for the board is
542 5V of Drive Unit 3 power supply alone, current boundary
lower than the allowed voltage.
replace the power supply. value value
DU3 24 V input voltage for the motor If normal voltage is not generated by 100 times of 100 times of
543 brake, encoder and fan is lower than 24V of Drive Unit 3 power supply current boundary
the specified voltage. alone, replace the power supply. value value

Status Code / Error Code List Rev.5 5

Code Number 1 ~

No. Message Remedy Note 1 Note 2

Stop Drive Unit 3 as soon as possible
DU3 Internal temperature of the and check whether the ambient 100 times of 100 times of
544 Controller is higher than the allowed temperature of Drive Unit 3 is not high. current boundary
temperature. Check whether the filter is not clogged value value
up.
Check whether the filter of Drive Unit 3
DU3 Rotating speed of the controller is not clogged up. If the warning is not Boundary
545 Current value
fan is below the allowed speed. (FAN1) cleared after the controller is rebooted, value
replace the fan.
Check whether the filter of Drive Unit 3
DU3 Rotating speed of the controller is not clogged up. If the warning is not Boundary
546 Current value
fan is below the allowed speed. (FAN2) cleared after the controller is rebooted, value
replace the fan.
Communication with the Compact
Check the connection between the
550 Vision is disconnected. Check the Camera No.
controller and the compact vision.
network wiring.
Check whether the fan filter of the
Compact Vision CPU fan RPM has compact vision is not clogged up.
551 decreased. Clean the fan filter and / or If the warning is not cleared after the Camera No. Current value
replace the fan. controller and the compact vision are
rebooted, replace the CPU fan.
Compact Vision CPU fan RPM has
Replace the CPU fan of the compact
552 decreased. Clean the fan filter and / or Camera No. Current value
vision.
replace the fan.
Check whether the fan filter of the
compact vision is not clogged up.
Compact Vision chassis fan RPM has
553 If the warning is not cleared after the Camera No. Current value
decreased. Replace the fan.
controller and the compact vision are
rebooted, replace the system fan.
Compact Vision chassis fan RPM has Replace the system fan of the
554 Camera No. Current value
decreased. Replace the fan. compact vision.
Check whether the fan filter of the
compact vision is not clogged up.
Compact Vision CPU temperature is If the warning is not cleared after the
too high. Check the installation controller and the compact vision are 1000 times of
555 Camera No.
environment (ventilation, ambient rebooted, check the installation current value
temperature, etc.) environment (surrounding space,
ambient temperature) of the compact
vision.
Check whether the fan filter of the
compact vision is not clogged up.
Compact Vision CPU temperature is If the warning is not cleared after the
too high. Check the installation controller and the compact vision are 1000 times of
556 Camera No.
environment (ventilation, ambient rebooted, check the installation current value
temperature, etc.) environment (surrounding space,
ambient temperature) of the compact
vision.
Compact Vision backup battery voltage Replace the backup battery of the 1000 times of
557 Camera No.
is low. Replace the battery. compact vision. current value
Compact Vision backup battery voltage Replace the backup battery of the 1000 times of
558 Camera No.
is low. Replace the battery. compact vision. current value
Compact Vision process was If the warning is not cleared after the
559 terminated abnormally. Restart the controller and the compact vision are Camera No.
Compact Vision unit. rebooted, initialize the compact vision.
If the warning is not cleared after the
Compact Vision available memory is
560 controller and the compact vision are Camera No. Current value
low. Restart the Compact Vision unit.
rebooted, initialize the compact vision.

6 Status Code / Error Code List Rev.5

 Code Number 1 ~

No. Message Remedy Note 1 Note 2

Compact Vision available disk space is Check the vision sequence if it has
low. Reduce the number of objects unnecessary models which can be
561 Camera No. Current value
that use models (Geometric, reduced. Consider to use the USB
Correlation, DefectFinder, etc.) memory.
A critical hardware error occurred in
If the warning is not cleared after the
the Compact Vision unit. Check the
562 controller and the compact vision are Camera No.
hardware condition such as internal
rebooted, initialize the compact vision.
wiring.
A critical hardware error occurred in
If the warning is not cleared after the
the Compact Vision unit. Check the
563 controller and the compact vision are Camera No.
hardware condition such as internal
rebooted, replace the LED/SW board.
wiring.
Communication with the Compact
569 - Camera No.
Vision recovered.
Enter the correct Compact Vision
connection password in the RC+
Camera page.
If the password is unknown, you must
do one of the following:
a. Enter a new connection password
from CV Monitor, then enter the
Compact Vision. Password
570 same password in the RC+
authentication has failed.
Camera page.
or
b. Perform a factory reset on the
Compact Vision unit to clear the
password.
Rebuild the current RC+ project
and check operation.
OPC UA
580 OPC UA Server. Server error. Reboot the Controller. Status Code
(tens digit)
Turn OFF the log function of OPC UA
OPC UA Server. Server log is
581 Server.
activated.
Reboot the Controller.
Turn OFF the log function of OPC UA
OPC UA Server. File size of the server
582 Server.
log is exceeded.
Reboot the Controller.
PTP motion for the singularity
avoidance was completed.
The PTP motion to avoid the
597 Clicking the same jog button will
singularity point has completed.
operate the robot in the normal jog
motion.
Robot stopped due to collision Move the manipulator to the direction
598
detection avoiding collision
The robot could not jog in the CP
Jogging attempted near singularity motion (default).
599
point. Clicking the same jog button will
operate the robot in the PTO motion.
Motor driver type does not match the
700 current robot model. Check the robot Check the robot model.
model. Replace the motor driver.
Encoder has been reset. Reboot the
736 Reboot the controller.
controller.

Status Code / Error Code List Rev.5 7

Code Number 1 ~

No. Message Remedy Note 1 Note 2

Turn OFF the controller and replace
the battery.
For the battery replacement
Low voltage from the encoder battery.
737 procedure, refer to Maintenance in the
Replace the battery.
Manipulator manual.
Replace the CPU board.
Check the connection of the cable.
752 Servo alarm D. -

8 Status Code / Error Code List Rev.5

 Code Number 1000 ~

Code Number 1000 ~

No. Message Remedy Note 1 Note 2
Operation Failure.
1001 -
Command parameter is invalid.
Requested data cannot be
Check whether the target I/O, variables,
1002 accessed. The data is not set
and tasks exist.
up or the range is invalid.
1003 The password is invalid Enter the correct password.
Cannot execute with
1004 Use the correct version file.
unsupported version.
Use the backup data for the same
Cannot execute with invalid
1005 controller to restore the controller
serial number.
configuration.
Use the backup data for the same
Cannot execute with invalid
1006 controller to restore the controller
Robot model.
configuration.
Cannot execute with invalid
1007 Use the supported installer.
Controller.
Reconnect the TP.
Initialization failure. Failed to
1008 If it still does not work, please contact
initialize TP.
the supplier of your region.
Remote setup error.
Specify the input number excluding the
1010 Cannot assign R-IO input
R-IO input number.
number to remote input.
Remote setup error.
Cannot assign a bit number
1011 which does not exist to a remote Check the fieldbus slave size.
I/O signal.
Check the fieldbus slave size.
Remote setup error.
Cannot assign a bit number
1012 which does not exist to a remote Check the fieldbus master size.
I/O signal.
Check the fieldbus master size.
Fieldbus slave failure.
Cannot change the size
1013 -
because it currently includes a
remote I/O signal.
Fieldbus master failure. Cannot
change the size because it
1014 -
currently includes a remote I/O
signal.
Remote setup error. Cannot
1015 assign Hand-IO input/output -
number to remote input.
Remote setup error. Cannot
1016 change assignment because Set PLC Vendor to "None".
PLC vendor type is set.
Cannot execute in recovery
1020 Boot the controller as normal.
mode.
Cannot execute due to
1021 Restore the controller configuration.
controller initialization failure.
Cannot execute without the
1022 Open a project.
project being open.
Cannot execute while the
1023 Rebuild the project.
project is open.
1024 Cannot activate from remote. Enable the remote input.

Status Code / Error Code List Rev.5 9

Code Number 1000 ~

No. Message Remedy Note 1 Note 2

Execution in Teach mode is
1025 Change to the AUTO mode.
prohibited.
Cannot execute in Teach mode
1026 Change to the AUTO mode.
except from TP.
1027 Cannot execute in Auto mode. Change to the Program mode.
Cannot execute in Auto mode
1028 Change to the Program mode.
except from the main console.
1029 Cannot execute from OP. Enable the OP input.
Does not allow Operation mode Change to the Auto mode with a
1030
to be changed. console in the Program mode.
Cannot execute while tasks are
1031 Stop the task and then execute.
executing.
Cannot execute while the
1032 maximum number of tasks are Stop the task and then execute.
executing.
Cannot execute during
1033 asynchronous motion Execute after the motion ends.
command.
The asynchronous command already
Asynchronous command
1034 stopped when the controller received a
stopped during operation.
stop command.
The command cannot be executed by
Cannot execute when Remote
the console except the remote I/O when
1035 I/O enabled except from the
AutoMode output of the remote I/O is
remote device.
ON.
The command cannot be executed by
Cannot execute when Remote
the console except the remote Ethernet
1037 Ethernet enabled except from
when Auto flag of the remote Ethernet
the remote Ethernet device.
is ON.
Prohibited command was executed
while executing the program.
1039 Execution is prohibited.
Stop the program, and then execute the
command.
Execute from remote RS232 or set the
control device other than Remote
Cannot execute in Remote RS232.
1040 RS232C enable except from the (RC+ User’s Guide 5.12.2 [System
Remote RS232C. Configuration] Command (Setup Menu)
- [Setup]-[System Configuration] -
[Controller]-[Configuration] Page)
Cannot execute during
1041 Cancel the Emergency Stop status.
Emergency Stop status.
Cannot execute while the
1042 Close the safeguard.
safeguard is open.
Cannot execute during error
1043 Cancel the error condition.
condition.
Cannot execute when the
1044 Change the remote pause input to OFF.
remote pause input is ON.
Input waiting condition is the The controller received an input while it
1045
only available condition to input. was not in the Input waiting condition.
Cannot execute during file
1046 Execute after the file transmission.
transfer.
Cannot cancel the command Cancel the motion command from the
1047
executed from other devices. device the command was issued from.
Cannot execute after low
1048 Reboot the controller.
voltage was detected.

10 Status Code / Error Code List Rev.5

 Code Number 1000 ~

No. Message Remedy Note 1 Note 2

Other devices are in program
1049 Check connection of other devices.
mode.
Enter the password that is less than 16
1050 Password is too long.
characters.
1. Retry using the same USB memory.
1051 Export Controller Status failed. 2. Retry using another USB memory.
3. Retry after rebooting the controller.
Execute the command after completing
1052 Export Controller Status busy.
the controller status backup.
Execution in Test mode is
1053 Execute in other modes.
prohibited
Cannot execute in TEST mode
1054 -
except from TP.
Confirm that no background task is
Cannot execute the Background
1055 running.
Task.
Rebuild the project.
1056 Cannot execute from OP. Enable the TP3 input.
Cannot execute when TP3 The command cannot be executed from
1057
enabled except from the TP3. other consoles when TP3 is enabled.
Cannot execute excluding T2
1058 Switch to <Teach/T2> key.
mode.
T2 mode cannot be used on RC700-A,
1059 Cannot change to T2 mode. RC700-D Controllers complying with UL
standards.
1. Reboot the controller.
File failure. Cannot access the
1100 2. Reinstall the firmware.
file.
3. Replace the CF.
File failure. Read and write 1. Reboot the controller.
1102
failure of the registry 2. Replace the CF.
1103 File is not found. Check whether the file exists.
1104 Project file was not found. Rebuild the project.
1105 Object file was not found. Rebuild the project.
1106 Point files were not found. Rebuild the project.
The program is using a feature
Check the compiler version in the
that is not supported by the
1107 EPSON RC+ 7.0-[Project]-[Properties]-
current controller firmware
[Compiler].
version.
One or more source files are
1108 updated. Please build the Rebuild the project.
project.
Increase free space of the USB
1109 Not enough storage capacity.
memory.
1110 File is not found. -
1111 Conveyor file was not found. -
Force files were not found.
1112 Rebuild the project.
Rebuild the project.
There is a possibility that the folder is
Cannot create the project in the
1114 full or the project name is duplicated.
controller.
Check it by the application selection.
File failure.
1120 Restore the controller configuration.
Setting file is corrupt.
File failure.
1121 Rebuild the project.
Project file is corrupt.
File failure.
1122 Rebuild the project.
Point file is corrupt.

Status Code / Error Code List Rev.5 11

Code Number 1000 ~

No. Message Remedy Note 1 Note 2

File failure.
1123 Rebuild the project.
I/O label file is corrupt.
File failure.
1124 Rebuild the project.
User error file is corrupt.
File failure. Please contact the supplier of your
1125
Error message file is corrupt. region.
File failure. 1. Reboot the controller.
1126 Software option information is 2. Reinstall the firmware.
corrupt. 3. Reconfigure the option.
File failure.
1127 Rebuild the project.
Vision file is corrupt.
The specified backup information
File failure.
cannot be restored.
1128 Backup information file is
Acquire the backup information again,
corrupt.
and then restore the file.
Error message failure.
No error history exists.
1130 No item is found in the error
Reboot the controller.
history.
Insert the USB memory properly. When
this error still occurs after the USB
Cannot access the USB memory is inserted properly, the
1131
memory. memory may be unrecognizable to
controller. Insert another memory to
check the operation.
File failure.
1132 -
Failed to copy the file.
File failure.
1133 -
Failed to delete the file.
File failure.
1134 Rebuild the project.
GUI Builder file is corrupt.
File failure. Force Guide file is
1138 Rebuild the project.
corrupt.
Vision Feeder file (.pt) is corrupted.
File failure. Part Feeding file is Search a [Project Name].pf file in
1139
corrupt. project folder and delete it.
Then, register the Part again.
File failure.
1140 Rebuild the project.
Failed to open the object file.
File failure.
1141 Rebuild the project.
Failed to open the project file.
File failure.
1142 Rebuild the project.
Failed to read the project file.
File failure. 1. Retry using the same USB memory.
1143 Failed to open the condition save 2. Retry using another USB memory.
file. 3. Retry after rebooting the controller.
File failure. 1. Retry using the same USB memory.
1144 Failed to write the condition 2. Retry using another USB memory.
save file. 3. Retry after rebooting the controller.
File failure.
1145 Rebuild the project.
Failed to open the conveyor file.
File failure.
1146 Rebuild the project.
Failed to read the conveyor file.
File failure. 1. Reboot the controller.
1150
Error history is invalid. 2. Replace the CF.
File failure. 1. Reboot the controller.
1151
Failed to map the error history. 2. Replace the CF.

12 Status Code / Error Code List Rev.5

 Code Number 1000 ~

No. Message Remedy Note 1 Note 2

File failure.
1. Reboot the controller.
1152 Failed to open the error history
2. Replace the CF.
file.
File failure.
1. Reboot the controller.
1153 Failed to write the error history
2. Replace the CF.
file.
File failure.
1155 Restore the controller configuration.
Failed to open the settings file.
File failure.
1156 Restore the controller configuration.
Failed to save the settings file.
File failure.
1157 Restore the controller configuration.
Failed to read the settings file.
File failure.
1158 Restore the controller configuration.
Failed to write the settings file.
MCD failure.
1160 Restore the controller configuration.
Failed to open the MCD file.
MCD failure.
1161 Restore the controller configuration.
Failed to read the MCD file.
MCD failure. Please contact the supplier of your
1162
Failed to write the MCD file. region.
MCD failure.
1163 Restore the controller configuration.
Failed to save the MCD file.
MPD failure.
1165 -
Failed to open the MPD file.
MPD failure.
1166 -
Failed to read the MPD file.
MPD failure. Failed to write the Please contact the supplier of your
1167
MPD file. region.
MPD failure.
1168 -
Failed to save the MPD file.
MPL failure. 1. Reboot the controller.
1170
Failed to open the MPL file. 2. Reinstall the firmware.
MPL failure. Failed to read the Please contact the supplier of your
1171
MPL file. region.
MPL failure. Failed to write the Please contact the supplier of your
1172
MPL file. region.
MPL failure. Failed to save the Please contact the supplier of your
1173
MPL file. region.
MAL failure. Failed to open the Please contact the supplier of your
1175
MAL file. region.
MAL failure. Failed to read the Please contact the supplier of your
1176
MAL file. region.
MAL failure. Failed to write the Please contact the supplier of your
1177
MAL file. region.
MAL failure. Failed to save the Please contact the supplier of your
1178
MAL file. region.
MTR failure. Failed to create the Please contact the supplier of your
1180
MTR file. region.
PRM failure. 1. Reboot the controller.
1181
Failed to replace the PRM file. 2. Reconfigure the robot.
PRM failure. The PRM file was
1182 created by a newer version. Update the controller firmware.
Update the controller firmware.
MCD failure. The MCD file was
1183 created by a newer version. Update the controller firmware.
Update the controller firmware.

Status Code / Error Code List Rev.5 13

Code Number 1000 ~

No. Message Remedy Note 1 Note 2

Could not restore due to the
Reduce the number of project data files
1184 large number of backup data
and back up again.
files.
File failure.
1185 Failed to open the backup -
information file.
File failure.
1186 Failed to read the backup -
information file.
File failure.
1187 Failed to write the backup -
information file.
File failure.
1188 Failed to save the backup -
information file.
Cannot restore the controller
The backup data was created configuration in the specified procedure
1189
by an old version. for using old backup data.
Check the backup data.
The backup data was created
1190 -
by a newer version.
There is no project in the
1191 -
backup data.
Cannot execute with invalid Check that the Backup data is same as
1192
robot number. current robot number.
Cannot execute with invalid Check that the Backup data is same as
1193
robot information. current robot number.
Cannot execute with invalid
1194 -
drive unit number.
File failure. Failed to map the
1195 Reboot the controller. - -
health history file.
File failure. Failed to open the
1196 Reboot the controller. - -
health history file.
File failure. Failed to write the
1197 Reboot the controller. - -
health history file.
Restore failure.
The project is invalid. Restore Restore the project together if restoring
1198
the project together if restoring Vision hardware configuration.
Vision hardware configuration.
This error occurs during compilation
Compile failure.
1200 from TP. Correct where the error
Check the compile message.
occurred.
This error occurs during compilation
Link failure.
1201 from TP. Correct where the error
Check the link message.
occurred.
User Outputs failure.
1250 -
The Name is empty.
User Outputs failure.
1251 -
The Condition is empty.
User Outputs failure.
1252 Robot number is out of the -
available range.
Alarm Setting failure.
1260 -
Robot does not exist.
Alarm Setting failure.
1261 -
Failed to get the expiration date.

14 Status Code / Error Code List Rev.5

 Code Number 1000 ~

No. Message Remedy Note 1 Note 2

Alarm Setting failure.
1262 -
Failed to set the alarm.
Alarm Setting failure.
1263 Specified alarm number is out of -
the allowable range.
Alarm Setting failure.
1264 Specified alarm number is not -
enabled.
Feeder type is incorrect.
It occurs when restoring a controller
Feeder settings is invalid. backup, if the feeder configuration has
1270 Change feeder setting of Part been changed.
Feeder. Once remove and register feeder
settings in "EPSON RC+ 7.0 - Menu -
Setup - System Settings".
Cannot connect to the feeder.
Check that the Ethernet connection
between the feeder and the
Failed to open/close Controller is functioning normally (have
communication port of feeder. cables become disconnected, is there a
1271
Please confirm connection of hub failure or a lack of power supply to
feeder. the hub, etc.).
Check the power supply to the feeder.
Check that feeder network settings (IP
Address, IP Mask, Port) are correct.
Cannot connect to the feeder.
Check that the Ethernet connection
between the feeder and the
Controller is functioning normally (have
Failed to initialize feeder output
cables become disconnected, is there a
1272 port. Please confirm connection
hub failure or a lack of power supply to
of feeder.
the hub, etc.).
Check the power supply to the feeder.
Check that feeder network settings (IP
Address, IP Mask, Port) are correct.
Cannot connect to the feeder.
Check that the Ethernet connection
between the feeder and the
Controller is functioning normally (have
Failed to change feeder
cables become disconnected, is there a
1273 parameter. Please confirm
hub failure or a lack of power supply to
connection of feeder.
the hub, etc.).
Check the power supply to the feeder.
Check that feeder network settings (IP
Address, IP Mask, Port) are correct.
Force monitor number is out of Reboot the controller.
1290 the allowable range. Initialize the controller firmware.
Reboot the controller. Replace the controller.
The force monitor is already
used on another device.
Check whether another PC is using the
1291 Close the force monitor on
force monitor.
another device, and then run
the force monitor.
Failed to set/load information of
1292
FG sequence and object.
1400 Force Guide file error.
1401 Invalid Force Guide file path.

Status Code / Error Code List Rev.5 15

Code Number 1000 ~

No. Message Remedy Note 1 Note 2

1402 Failed to open Force Guide file.
1403 Do not open Force Guide file.
Invalid Force Guide sequence
1404
number.
Invalid Force Guide object
1405
number.
Invalid Force Guide sequence
1406
property.
Invalid Force Guide object
1407
property.
1408 Invalid Force Guide object type.
1409 Invalid parameter.
1410 Invalid Force Guide file version.
Force Guide Incorrect property
1411 is existing. Confirm the Force Guide property.
Confirm the property.
Cannot set Decision object to Cannot set Decision object to top of a
1412 top of Force Guide sequence. sequence.
Confirm Force Guide sequence. Confirm Force Guide sequence.
Specified Force Guide object as
Confirm the settings of Force Guide
1413 ConditionObject is disabled.
object.
Confirm the settings.
Cannnot open Vision Feeder file (.pt).
Check if the file is opened with other
software.
1414 Failed to open Part Feeding file. Vision Feeder file (.pt) is corrupted.
Search a [Project Name].pf file in
project folder and delete it.
Then, register the Part again.
Failed to convert program.
1420
Execute rebuild.
Initialization failure.
1421
Cannot allocate memory.
Finalization failure.
1422 Failed to finalization of
controller.
1423 Invalid conversion file path.
1424 Invalid Prg file path.
1425 Invalid Command file path.
1426 Invalid conversion file.
Update from Ver.7.4.0.2 or earlier to
1427 Invalid Command file. Ver7.4.0.2 or later may fail. Reinstall
the firmware.
Failed to execute conversion of
1428 program. Rebuild the project.
Execute rebuild.
1429 Failed to write Prg file.
1500 Communication error. -
Execute the command again after a
Command did not complete in
1501 while. Check the connection between
time.
the EPSON RC+7.0 and controller.

16 Status Code / Error Code List Rev.5

 Code Number 1000 ~

No. Message Remedy Note 1 Note 2

1: Communication
timeout
2: USB cable
Communication disconnection disconnection
Check the connection between the
1502 between RC+ and Controller. 3: USB reception
EPSON RC+7.0 and controller.
Re-establish communication. failure
4: USB
communication
shutdown
Disconnection while executing a Check the connection between the
1503
task. console device and controller.
Communication disconnection
between Remote Ethernet and Check the connection between the
1504
Controller. Re-establish Remote Ethernet device and controller.
communication.
Communication disconnection
between Remote RS232 and Check the connection between the
1505
Controller. Re-establish Remote RS232 device and controller.
communication.
Communication disconnection
Check the connection between TP3 and
1506 between TP3 and Controller.
controller.
Re-establish communication.
Check the IP address setting of the
1510 Out of IP Address range.
controller.
The IP address is reserved. Set the
1511 Reserved IP Address.
other IP address.
The gateway address is reserved. Set
1512 Reserved IP Gateway.
the other gateway address.
The setting conditions of global
1513 Set the password.
address do not match.
The connection parameters or
password are invalid. Check the parameters and the
1514
Check the parameters and the password.
password.
Vision communication.
1521 Reboot the controller.
Failed to initialize Ethernet.
Vision communication.
1522 -
Failed to terminate Ethernet.
Vision communication.
1523 Failed to create the socket Reboot the controller.
handle.
Vision communication. Check the connection between the
1524
Failed to connect. camera and controller.
Vision communication. Check the connection between the
1526
Failed to send to the server. camera and controller.
Vision communication. Check the connection between the
1527
Failed to read from the server. camera and controller.
Vision communication.
1528 -
Failed to set option.
Vision communication.
1529 Ethernet has not been initialized Reboot the controller.
yet.
Vision communication. Check the connection between the
1530
Connection is not completed. camera and controller.
Vision communication.
1531 -
All sockets are used.

Status Code / Error Code List Rev.5 17

Code Number 1000 ~

No. Message Remedy Note 1 Note 2

Vision communication. Check the connection between the
1532
Sending time-out. camera and controller.
Vision communication. Check the connection between the
1533
Receiving time-out. camera and controller.
Vision communication. Check the connection between the
1534
Communication error. camera and controller.
Communication failure. Reboot the controller. Check the
1550
Ethernet initialization error. connection of the Ethernet cable.
Communication failure. Reboot the controller. Check the
1551
USB initialization error. connection of the USB cable.
Communication failure.
1552 Controller internal Reboot the controller.
communication error.
Communication failure.
1553 -
Invalid data is detected.
Check the connection between the
1555 Ethernet transmission error.
EPSON RC+7.0 and controller.
Check the connection between the
EPSON RC+7.0 and controller.
1556 Ethernet reception error. If the router is used between the PC
and controller, confirm that the DHCP
function is disabled.
Check the connection between the
1557 USB transmission error.
EPSON RC+7.0 and controller.
Check the connection between the
1558 USB reception error.
EPSON RC+7.0 and controller.
Communication failure.
1559 -
Failed to allocate memory
Parser communication failure. 1. Reboot the controller.
1580
Communication error. 2. Upgrade the firmware.
Parser communication failure.
1. Reboot the controller.
1581 Time-out occurred during
2. Reinstall the firmware.
communication.
Parser communication failure. Reboot the controller.
1582
Transmission error. Rebuild the project.
Parser communication failure.
1583 Reboot the controller.
Initialization error.
Parser communication failure.
1584 Reboot the controller.
Connection error.
Parser communication failure. Reboot the controller.
1585
Parameter is invalid. Rebuild the project.
Parser communication failure.
1586 -
Busy
Parser communication failure.
1587 Upgrade the firmware.
Invalid data is detected.
TP3 Communication failure. Check the connection between TP3 and
1590
Ethernet initialization error. Controller.
TP3 Communication failure. Check the connection between TP3 and
1591
Invalid data is detected. Controller.
TP3 Communication failure. Check the connection between TP3 and
1592
Ethernet transmission error. Controller.
TP3 Communication failure. Check the connection between TP3 and
1593
Ethernet reception error. Controller.
Initialization failure.
1700 -
Failed to initialize TP.

18 Status Code / Error Code List Rev.5

 Code Number 1000 ~

No. Message Remedy Note 1 Note 2

Initialization failure.
1701 -
Failed to initialize TP.
Initialization failure.
1702 -
Failed to initialize TP.
File failure.
1703 Failed to read the screen data -
file.
1704 Failed to read the setting file. -
1706 Failed to open the TP port. -
Failed to read the key table for
1708 -
TP.
1709 Failed to change the language. -
1710 Failed to display the screen. -
The controller is already Only one RC+ 7.0 can be connected to
1800
connected to RC+. the controller.
The command was attempted
1802 without being connected to a Connect to the controller.
controller.
Failed to read or write the file on
1803 -
the PC.
Initialization failure.
1804 Failed to allocate memory on -
the PC.
Connection failure.
Check the controller startup and
1805 -
connection of the
communication cable.
Timeout during connection via
1806 -
Ethernet.
Timeout during connection via
1807 -
USB.
Failed to install EPSON RC+ 7.0.
1808 USB driver is not installed.
Install EPSON RC+ 7.0 again.
Initialization failure.
1809 Reboot the System.
Failed to initialize PC daemon.
PC daemon error. 1. Reboot the EPSON RC+7.0.
1810
Uncommon error. 2. Reboot the PC.
Connection failure. Connected controller is RC180 or RC90
The connected controller is not compatible with EPSON RC+ 5.0.
1812
supported in EPSON RC+ 7.0. Check the connection between the PC
Please use EPSON RC+ 5.0. and controller.
Unsupported.
Review the contents of the SPEL
1851 Unsupported command was
program. Rebuild the project.
attempted.
1. Reboot the EPSON RC+7.0.
System error.
1852 2. Reboot the PC.
Uncommon error.
3. Reinstall the EPSON RC+ 7.0.
Initialization failure. 1. Reboot the EPSON RC+ 7.0.
1861 Failed to initialize 2. Reboot the PC.
SimulatorMNG. 3. Reinstall the EPSON RC+ 7.0.
1. Reboot the EPSON RC+ 7.0.
Initialization failure.
1862 2. Reboot the PC.
Failed to initialize WBProxy.
3. Reinstall the EPSON RC+ 7.0.
1863 The parameter is invalid. -
Initialization failure. Installation of the EPSON RC+ 7.0
1864
Virtual controller does not exist. failed. Reinstall the software.

Status Code / Error Code List Rev.5 19

Code Number 1000 ~

No. Message Remedy Note 1 Note 2

Initialization failure. 1. Retry after a while.
1865
Failed to start virtual controller. 2. Reboot the PC.
Termination failure. Failed to
1866 Restart Windows.
terminate virtual controller.
Cannot execute because it is Dry run mode is invalid.
1867
not dry run mode. Enable the dry run.
Initialization failure. Installation of the EPSON RC+ 7.0
1868
Directory cannot be found. failed. Reinstall the software.
Connection failure.
1872 Files for simulator that used real -
controller cannot be found.
Connection failure.
Files for simulator that used
1873 -
virtual controller cannot be
found.
Virtual Controller cannot be Installation of the EPSON RC+ 7.0
1874
added. failed. Reinstall the software.
Simulator Object failure.
1875 Cannot load data for the -
simulator object.
Simulator Object failure.
1876 Cannot read data for the -
simulator object.
Simulator Object failure.
1877 Cannot remove data from the -
simulator object.
Simulator Object failure.
1878 Cannot update data for the -
simulator object.
Other virtual controllers may be used in
Other virtual controllers are the EPSON RC+ 5.0.
1879
starting. Or, the virtual controller may be already
used in another EPSON RC+7.0.
Cannot execute during
1880 -
controller reset.
Unsupported.
1901 Unsupported command was Update the firmware.
attempted.
Unsupported.
1902 Unsupported parameter was -
specified.
1903 System error. -
Could not restore due to the Reduce the number of project data files
1904
large size of the backup data. and back up again.
System error.
1910 -
Failed to write the reboot file.

20 Status Code / Error Code List Rev.5

 Code Number 2000 ~

Code Number 2000 ~

No. Message Remedy Note 1 Note 2
Rebuild the project.
- When this message appears
while the Health ** command or
Health ** function is used, robot
maintenance data may have been
Unsupported.
disabled. Check the settings.
2000 Unsupported command was
(Reference: EPSON RC+ 7.0
attempted.
User's Guide
5.13.2 [System Configuration]
Command (Setup Menu)
[Setup]-[System Configuration]-
[Controller]-[Preferences] Page)
Unsupported.
2001 Unsupported motion command was Rebuild the project.
attempted.
Unsupported.
2003 Unsupported Function argument Rebuild the project.
was specified.
Unsupported.
2004 Unsupported Function return value Rebuild the project.
was specified.
Unsupported.
2005 Unsupported condition was Rebuild the project.
specified.
Unsupported.
2006 Unsupported I/O command was Rebuild the project.
specified.
Unsupported condition was Cannot jog in the CP motion
2007
specified. (default).
Unsupported. Clicking the same jog button will
2008
Unknown error number. operate the robot in the PTP motion.
Unsupported. Cannot jog in the CP motion
2009
Invalid Task number. (default).
Object file error.
2010 Build the project. Out of internal Rebuild the project.
code range.
Object file error.
Build the project. Function Rebuild the project.
argument error.
Part Feeding:
Wrong command format or value
settings.
2011 Read the description for the
corresponding command provided in
Invalid function parameter value
Part Feeding 7.0 Introduction &
Hardware (Common) & Software
Software 3. Part Feeding SPEL+
Command Reference and correct
the code.
Object file error.
2012 Build the project. Command Rebuild the project.
argument error.

Status Code / Error Code List Rev.5 21

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Part Feeding:
Wrong command format or value
settings.
Read the description for the
corresponding command provided in
Invalid command parameter value
Part Feeding 7.0 Introduction &
Hardware (Common) & Software
Software 3. Part Feeding SPEL+
Command Reference and correct
the code.
Object file error.
2013 Build the project. Cannot process Rebuild the project.
the code.
Object file error.
2014 Build the project. Cannot process Rebuild the project.
the variable type code.
Object file error.
2015 Build the project. Cannot process Rebuild the project.
the string type code.
Object file error.
2016 Build the project. Cannot process Rebuild the project.
the variable category code.
Object file error.
2017 Build the project. Cannot process Rebuild the project.
because of improper code.
Object file error.
2018 Build the project. Failed to Rebuild the project.
calculate the variable size.
Object file error.
2019 Cannot process the variable wait. Rebuild the project.
Build the project.
Stack table number exceeded. Check whether no function is called
2020 Function call or local variable is out infinitely. Reduce the Call function
of range. depth.
Stack area size exceeded. If using many local variables,
2021 Stack error. Function call or local especially String type, replace them
variable is out of range. to global variables.
Stack failure. Required data not
2022 Rebuild the project.
found on the stack.
Stack failure. Unexpected tag
2023 Rebuild the project.
found on the stack.
Stack area size exceeded. Local Change the size of the Local
2024
variable is out of range. variable.
Object file error. Invalid function
2025 Rebuild the project.
call.
System failure.
2031 Robot number is beyond the Restore the controller configuration.
maximum count.
System failure.
2032 Rebuild the project.
Task number compliance error.
System failure. Remedy the errors occurring
2033
Too many errors. frequently.
Thread failure.
2040 Reboot the controller.
Failed to create the thread.
Thread failure.
2041 Reboot the controller.
Thread creation timeout.

22 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Thread failure.
2042 Reboot the controller.
Thread termination timeout.
Thread failure.
2043 Reboot the controller.
Thread termination timeout.
Thread failure.
2044 Reboot the controller.
Daemon process timeout.
Thread failure.
2045 Reboot the controller.
Task continuance wait timeout.
Thread failure.
2046 Reboot the controller.
Task stop wait timeout.
Thread failure.
2047 Reboot the controller.
Task startup wait timeout.
Object file operation failure.
2050 Object file size is beyond the Rebuild the project.
allowable size.
Object file operation failure.
2051 Cannot delete the object file during Reboot the controller.
execution.
Object file operation failure.
2052 Cannot allocate the memory for the Reboot the controller.
object file.
Object file operation failure.
Perform the same processing after a
2053 Object file cannot be accessed
while. Rebuild the project.
while it is updating.
Object file operation failure.
Synchronize the files of the project.
2054 Function ID failure. Rebuild the
Rebuild the project.
project.
Object file operation failure.
Synchronize the files of the project.
2055 Local variable ID failure. Rebuild
Rebuild the project.
the project.
Object file operation failure.
Synchronize the files of the project.
2056 Global variable ID failure. Rebuild
Rebuild the project.
the project.
Object file operation failure.
Synchronize the files of the project.
2057 Global Preserve variable ID failure.
Rebuild the project.
Rebuild the project.
Object file operation failure.
Synchronize the files of the project.
2058 Failed to calculate the variable
Rebuild the project.
size.
Exceed the global variable area.
Cannot assign the Global variable Reduce the number of Global
2059
area because it failed to allocate variables to be used.
memory.
SRAM failure.
2070 Replace the CPU board.
SRAM is not mapped.
SRAM failure.
Perform the same processing after a
2071 Cannot delete when Global
while. Rebuild the project.
Preserve variable is in use.
Exceed the backup variable area.
The size you
Cannot assign the Global Preserve Reduce the number of Global
2072 Maximum size attempted to
variable area because it failed to Preserve variables to be used.
use
allocate memory.
SRAM failure.
2073 Failed to clear the Global Preserve Rebuild the project.
variable area.

Status Code / Error Code List Rev.5 23

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

SRAM failure.
2074 Failed to clean up the Global Reboot the controller.
Preserve variable save area.
Initialization failure.
2100 Restore the controller configuration.
Failed to open the initialization file.
Initialization failure.
2101 Reboot the controller.
Duplicated initialization.
Initialization failure.
2102 Reboot the controller.
Failed to initialize MNG.
Initialization failure.
2103 Reboot the controller.
Failed to create an event.
Initialization failure.
2104 Reboot the controller.
Failed to setup a priority.
Initialization failure.
2105 Reboot the controller.
Failed to setup the stack size.
Initialization failure.
2106 Failed to setup an interrupt Reboot the controller.
process.
Initialization failure.
2107 Reboot the controller.
Failed to start an interrupt process.
Initialization failure.
2108 Reboot the controller.
Failed to stop an interrupt process.
Initialization failure.
2109 Reboot the controller.
Failed to terminate MNG.
Initialization failure.
2110 Reboot the controller.
Failed to allocate memory.
Initialization failure.
2111 Restore the controller configuration.
Failed to initialize motion.
Initialization failure.
2112 Reboot the controller.
Failed to terminate motion.
Initialization failure.
2113 Replace the CPU board.
Failed to map SRAM.
Initialization failure.
2114 Replace the CPU board.
Failed to register SRAM.
Initialization failure.
Check the number of fieldbus
2115 Fieldbus board is beyond the
boards.
maximum count.
Reboot the controller.
Initialization failure.
2116 Check the fieldbus board.
Failed to initialize fieldbus.
Replace the fieldbus board.
Initialization failure.
2117 Reboot the controller.
Failed to terminate fieldbus.
Initialization failure.
2118 Restore the controller configuration.
Failed to open motion.
Initialization failure.
Make sure the settings of conveyor
2119 Failed to initialize conveyor
and encoder are correct.
tracking.
Initialization failure.
2120 Reboot the controller.
Failed to allocate the system area.
Initialization failure.
2121 Failed to allocate the object file Reboot the controller.
area.

24 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Initialization failure.
2122 Reboot the controller.
Failed to allocate the robot area.
Initialization failure.
2123 Reboot the controller.
Failed to create event.
Initialization failure.
Install the Fieldbus module
2124 An unsupported Fieldbus module is
purchased from SEC.
installed.
The settings are initialized since Since the initial setting file has
2126 the initial setting file is corrupted. significantly corrupted, the initial
Restore the system. setting file of factory-default is used.
MCD failure.
2130 Restore the controller configuration.
Failed to open the MCD file.
MCD failure.
2131 Restore the controller configuration.
Failed to map the MCD file.
PRM failure.
2132 Restore the controller configuration.
PRM file cannot be found.
PRM failure.
2133 Restore the controller configuration.
Failed to map the PRM file.
PRM failure.
2134 Restore the controller configuration.
PRM file contents error.
PRM failure.
2135 Reboot the controller.
Failed to convert the PRM file.
PRM failure.
2136 Reboot the controller.
Failed to convert the PRM file.
PRM failure.
2137 Reboot the controller.
Failed to convert the PRM file.
Communication with drive units is
not available for the virtual
DU Initialization Error.
2140 controllers. Return the configuration
Cannot use drive units.
file to original setting if it was
changed.
DU Initialization Error. Failed to Check the connection with drive
2141
initialize drive units. units.
DU Initialization t Error. Check the connection with drive
2142
Failed to initialize drive units. units.
DU Initialization Error.
Check the connection with drive
2143 Timeout during initialization of drive
units.
units.
DU Initialization Error. Reboot the control unit and drive
2144
No data to download to drive units. units.
DU Initialization Error.
Reboot the control unit and drive
2145 Failed to start communication with
units.
drive units.
DU Initialization Error.
Reboot the control unit and drive
2146 Timeout when starting
units.
communication with drive units.
Review the software update setting.
DU Initialization Error. Failed to
2147 Check the connection with the Drive
update the drive units software.
Unit.
DU Initialization Error. Failed to Check the file name.
2148
update the drive units software. Check the update file.
Check the Drive Unit power and
DU Initialization Error. Failed to
2149 connection.
update the drive units software.
Reboot the Controller.
Operation failure.
2150 Reboot the Controller.
Task number cannot be found.

Status Code / Error Code List Rev.5 25

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Operation failure.
2151 Reboot the Controller.
Executing the task.
Operation failure.
2152 Reboot the Controller.
Object code size failure.
Operation failure.
2153 Reboot the Controller.
Jog parameter failure.
Operation failure.
2154 Reboot the Controller.
Executing jog.
Operation failure.
2155 Cannot execute the jog function. Reboot the Controller.

Operation failure.
2156 Reboot the Controller.
Jog data is not configured.
Operation failure.
2157 Reboot the Controller.
Failed to change the jog parameter.
Operation failure.
2158 Failed to allocate the area for the Reboot the Controller.
break point.
Operation failure.
2159 Break point number is beyond the Reduce the break points.
allowable setup count.
Operation failure.
2160 Reboot the Controller.
Failed to allocate the function ID.
Operation failure.
2161 Failed to allocate the local variable Reboot the Controller.
address.
Operation failure.
Review the size of the Local
2162 Not enough buffer to store the local
variable.
variable.
Operation failure.
2163 Value change is available only Halt the task by the break point.
when the task is halted.
Operation failure.
Review the size of the global
2164 Failed to allocate the global
variable.
variable address.
Operation failure.
Review the size of the global
2165 Not enough buffer to store the
variable.
global variable.
Operation failure.
Review the size of the global
2166 Failed to obtain the Global
preserve variable.
Preserve variable address.
Operation failure.
Review the size of the global
2167 Not enough buffer to store the
preserve variable.
Global Preserve variable.
Operation failure.
2168 Reboot the Controller.
SRAM is not mapped.
Operation failure.
Cannot clear the Global Preserve
2169 Reboot the Controller.
variable when loading the object
file.
Operation failure.
2170 Not enough buffer to store the Check the size of the string variable.
string.
Operation failure.
Check the controller power.
2171 Cannot start the task after low
Reboot the Controller.
voltage was detected.

26 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Operation failure.
2172 Duplicated remote I/O Reboot the Controller.
configuration.
Remote setup error.
2173 Cannot assign non-existing input Check the I/O input number.
number to remote function.
Remote setup error.
2174 Cannot assign non-existing output Check the I/O output number.
number to remote function.
Operation failure.
2175 Remote function is not configured. Reboot the Controller.

Operation failure.
2176 Reboot the Controller.
Event wait error.
Operation failure. Reboot the Controller.
2177
System backup failed. Install the Controller firmware.
Operation failure. Reboot the Controller.
2178
System restore failed. Install the Controller firmware.
Remote setup error.
2179 Cannot assign same input number Check the remote setting.
to some remote functions.
Remote setup error.
2180 Cannot assign same output Check the remote setting.
number to some remote functions.
Operation failure.
2181 Task number has not been Set the number of RC+API tasks.
reserved for RC+ API.
Cannot calculate because it was
2190 Review the program.
queue data.
Cannot execute AbortMotion If you don’t operate the robot from a
2191 because robot is not running from a program, you cannot use
task. AbortMotion.
Cannot execute AbortMotion
Task is completed.
2192 because robot task is already
Review the program.
finished.
Cannot execute Recover without
Execute AbortMotion in advance to
2193 motion because AbortMotion was
execute Recover WithoutMove.
not executed.
Make sure the settings of conveyor
2194 Conveyor setting error.
and encoder are correct.
Make sure the settings of conveyor
2195 Conveyor setting error.
and encoder are correct.
Make sure the settings of conveyor
2196 Conveyor number is out of range.
and encoder are correct.
Command parameter prohibited for
2197 conveyor tracking motion was Delete LJM.
used.
Robot in use. The motion command for the robot
Cannot execute the motion cannot be simultaneously executed
2200
command when other tasks are from more than one task. Review
using the robot. the program.
Check whether the robot setting is
2201 Robot does not exist. performed properly. Restore the
controller configuration.
Motion control module status
2202 failure. Unknown error was Rebuild the project.
returned.

Status Code / Error Code List Rev.5 27

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

The Local number 0 cannot be
2203 Cannot clear local number ' 0 '.
cleared. Review the program.
The Arm
The Arm cannot be cleared while it
number you
2204 Cannot clear an arm while in use. is in use. Check whether the Arm is
attempted to
not used.
clear
The Arm number 0 cannot be
2205 Cannot clear arm number ' 0 '.
cleared. Review the program.
The Tool
The Tool cannot be cleared while it
number you
2206 Cannot clear a tool while in use. is in use. Check whether the Tool is
attempted to
not used.
clear
The Tool number 0 cannot be
2207 Cannot clear tool number ' 0 '.
cleared. Review the program.
The ECP number 0 cannot be
2208 Cannot clear ECP ' 0 '.
cleared. Review the program.

The ECP
The ECP cannot be cleared while it
number you
2209 Cannot clear an ECP while in use. is in use. Check whether the ECP is
attempted to
not used.
clear

The command processing the Local

Cannot specify ' 0 ' as the local
2210 cannot specify the Local number 0.
number.
Review the program.
Available Box numbers are from 1 to
2216 Box number is out of range.
15. Review the program.
Specified Box is not defined.
2217 Box number is not defined.
Review the Box number.
Available Box numbers are from 1 to
2218 Plane number is out of range.
15. Review the program.
Specified Plane is not defined.
2219 Plane number is not defined.
Review the Plane number.
PRM failure. No PRM file data is Reboot the controller. Restore the
2220
found. controller configuration.
PRM failure. Failed to flash the Reboot the controller. Restore the
2221
PRM file. controller configuration.
Check the Local setting. Review the The specified
2222 Local number is not defined.
program. Local number

Available Local number is from 1 to The specified

2223 Local number is out of range.
15. Review the program. Local number
Unsupported. MCOFS is not
2224 -
defined
2225 CalPls is not defined. Check the CalPls setting.
Available Arm number is from 0 to 3.
Depending on commands, the Arm The specified
2226 Arm number is out of range.
number 0 is not available. Review Arm number
the program.
Check the Arm setting. Review the The specified
2227 Arm number is not defined.
program. Arm number
Pulse for the home position is not
2228 Check the HomeSet setting.
defined.

28 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Available Tool number is from 0 to 3.
Depending on commands, the Tool The specified
2229 Tool number is out of range.
number 0 is not available. Review Tool number
the program.
Check the Tool setting. Review the The specified
2230 Tool number is not defined.
program. Tool number
Available Tool number is from 0 to
15. Depending on commands, the The specified
2231 ECP number is out of range.
Tool number 0 is not available. ECP number
Review the program.
Check the ECP setting. Review the The specified
2232 ECP number is not defined.
program. ECP number
Axis to reset the encoder was not Be sure to specify the axis for
2233
specified. encoder reset.
Cannot reset the encoder with Turn the motor power OFF before
2234
motor in the on state. reset.
Check the XYLim setting. Review
2235 XYLIM is not defined.
the program.
PRM failure. Failed to set up the
Reboot the controller. Restore the
2236 PRM file contents to the motion
controller configuration.
control status module.
Available Pallet numbers are from 0
2237 Pallet number is out of range.
to 15. Review the program.
2238 Pallet is not defined. Check the Pallet setting.
The
Array subscript is out of user The
Check the array subscript. Review dimensions
2240 defined range. Cannot access or specified
the program. exceeding the
update beyond array bounds. subscript
definition
Dimensions of array do not match Check the array's dimensions.
2241
the declaration. Review the program.
2242 Zero '0' was used as a divisor. Review the program.
Variable overflow. Specified Check the variable type and
2243 variable was beyond the maximum calculation result. Review the
allowed value. program.
Variable underflow. Specified Check the variable type and
2244 variable was below the minimum calculation result. Review the
allowed value. program.
This command cannot be executed
Cannot execute this command with
2245 for Real or Double type. Review the
a floating point number.
program.
Cannot calculate the specified Check the specified value. Review The specified
2246
value using the Tan function. the program. value

Specified array subscript is less Check the specified value. Review The specified
2247
than ' 0 '. the program. value
You attempted to Redim the variable
Array failure. Redim can only be
2248 that is not array. Rebuild the
executed for an array variable.
project.
Array failure. Cannot specify Other than a single dimension array
2249 Preserve for other than a single was specified as Preserve for
dimension array. Redim. Rebuild the project.
Array failure. Failed to calculate
2250 Rebuild the project.
the size of the variable area.
Reduce the number of subscripts to
Cannot allocate enough memory
2251 be specified for Redim. Perform
for Redim statement.
Redim modestly.

Status Code / Error Code List Rev.5 29

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Cannot allocate enough memory Reduce the number of array's
2252
for ByRef. subscripts to be seen by ByRef.
Check whether the string type and
Cannot compare characters with
2253 the numeric data type are not
values.
compared. Review the program.
The number
Specified data is beyond the array Check the number of array's The number of
of data to be
2254 bounds. Cannot refer or update subscripts and data. Review the array
referred or
beyond the array bounds. program. subscripts
updated
Variable overflow or underflow. The value that exceeds the range of
2255 Specified variable is out of value Double type is specified. Review
range. the program.
Reduce the number of subscripts to
Specified array subscript is beyond
2256 be specified. For available
the maximum allowed range.
subscripts, see the online help.
Int64 variable or UInt64 variable
Cannot specify Int64 variable or
2257 cannot be specified. Correct the
UInt64 variable.
program.
Task number is out of the available For available task number, see the The specified
2260
range. online help. Review the program. task number

Specified task number does not The specified

2261 Review the program.
exist. task number

Robot number is out of the The available Robot number is 1. The specified
2262
available range. Review the program. robot number
Output number is out of the
available range. The Port No. or For available output number, see the The specified
2263
the Device No. is out of the online help. Review the program. output number
available range.
Command argument is out of the
available range. Check the For available range of argument, What
The Added
arguments. Added data 1: Passed see the online help. Review the number
value
value. Added data 2: argument program. argument?
order.
Part Feeding:
Wrong command format or value
2264 settings.
Read the description for the
corresponding command provided in
Command parameter out of range
Part Feeding 7.0 Introduction &
Hardware (Common) & Software
Software 3. Part Feeding SPEL+
Command Reference and correct
the code.
Joint number is out of the available Available Joint number is from 1 to The specified
2265
range. 9. Review the program. joint number

Available wait time is from 0 to The specified

2266 Wait time is out of available range.
2147483. Review the program. wait time

Timer number is out of available Available timer number is from 0 to The specified
2267
range. 15. Review the program. timer number

Trap number is out of available Available trap number is from 1 to 4. The specified
2268
range. Review the program. trap number

Language ID is out of available For available language ID, see the The specified
2269
range. online help. Review the program. language ID

30 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Specified D parameter value for the The specified
Available D parameter value is from
2270 parallel process is out of available D parameter
0 to 100. Review the program.
range. value
Arch number is out of available Available arch number is from 0 to 7. The specified
2271
range. Review the program. arch number
The specified number representing a
control device or display device is
Device No. is out of available The specified
2272 out of available range. For available
range. device number
device number, see the online help.
Review the program.
What
Output data is out of available Available output data value is from 0 number byte
2273 Output data
range. to 255. Review the program. data is out of
range?
Asin argument is out of available
2274 Review the program.
range. Range is from -1 to 1.
Acos argument is out of available
2275 Review the program.
range. Range is from -1 to 1.
Sqr argument is out of available
2276 Review the program.
range.
Randomize argument is out of
2277 Review the program.
available range.
Sin, Cos, Tan argument is out of
2278 Review the program.
available range.
Timeout period set by the TMOut
Investigate the cause of timeout.
statement expired before the wait Timeout
2280 Check whether the set timeout
condition was completed in the period
period is proper.
WAIT statement.
Timeout period set by TMOut Investigate the cause of timeout.
Timeout
2281 statement in WaitSig statement or Check whether the set timeout Signal number
period
SyncLock statement expired. period is proper.
Timeout period set by TMOut Investigate the cause of timeout.
Timeout
2282 statement in WaitNet statement Check whether the set timeout Port number
period
expired. period is proper.
Timeout.
2283 Reboot the controller.
Timeout at display device setting.
The arm
Cannot clear the arm length
length
Cannot clear an arm calibration calibration while in use. Make sure
2285 calibration
while in use. that arm length calibration is not in
number you
use.
tried to clear
Cannot clear the arm length
Cannot clear arm calibration
2286 calibration number “0” Review the
number '0'.
program.
The specified
The specified arm calibration
Arm calibration number is out of arm length
2287 number is out of range. Review the
range. calibration
program.
number
The specified
Check the configuration of arm
Arm calibration number is not arm length
2288 length calibration. Review the
defined. calibration
program.
number
Cannot execute the motion
Cannot execute a motion command after using the user
2290
command. function in the motion command.
Review the program.

Status Code / Error Code List Rev.5 31

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Cannot execute OnErr in the motion
Cannot execute the OnErr command when using user function
2291
command. in the motion command. Review the
program.
Cannot execute an I/O command I/O command cannot be executed
2292 while the safeguard is open. Need while the safeguard is open. Review
Forced. the program
Cannot execute an I/O command I/O command cannot be executed
2293 during emergency stop condition. during emergency stop condition.
Need Forced. Review the program.
Cannot execute an I/O command I/O command cannot be executed
2294 when an error has been detected. while an error occurs. Review the
Need Forced. program.
Cannot execute this command from For details on in executable
2295 a NoEmgAbort Task and commands, refer to the online help.
Background Task. Review the program.
One or more source files are
2296 Rebuild the project.
updated. Please build the project.
Cannot execute an I/O command in
I/O command cannot be executed in
2297 TEACH mode without the Forced
TEACH mode. Review the program.
parameter.
You cannot execute Cont and
Cannot continue execution in Trap
2298 Recover statements with processing
SGClose process.
task of Trap SGClose.
Cannot execute this command.
Need the setting [enable the Enable the [enable the advance task
2299 advance task control commands] control commands] from RC+ to
from RC+ controller preference execute the command.
settings.
The motion command for the robot
Robot in use. Cannot execute the Task number
cannot be simultaneously executed
2300 motion command when other task that is using
from more than one task. Review
is using the robot. the robot
the program.
Cannot execute the motion
Execute the motion command with
2301 command until re-gripping the
the enable switch re-gripped.
Enable Switch.
Another function cannot be called
Cannot execute a Call statement in
2302 from the function called by Trap Call.
a Trap Call process.
Review the program.
Cannot execute a Call statement in
2303 Review the program.
a parallel process.
Cannot execute an Xqt statement
2304 Review the program.
in a parallel process.
Cannot execute a Call statement
2305 Execute Call from the program.
from the command window.
Cannot execute an Xqt statement
2306 Review the program.
from the task started by Trap Xqt.
Cannot execute this command Check whether all tasks are
2307
while tasks are executing. completed.
Find the previously occurring error in
Cannot turn on the motor because
2308 the error history and resolve its
of a critical error.
cause. Then, reboot the controller.
Cannot execute a motion command
2309 Check the safeguard status.
while the safeguard is open.
Cannot execute a motion command Execute the Continue or Stop and
2310
while waiting for continue. then execute the motion command.

32 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Wait until the Continue is complete
Cannot execute a motion command
2311 and then execute the motion
during the continue process.
command.
Cannot execute a task during
2312 Check the emergency stop status.
emergency stop condition.
Need more than 1.5 seconds
between open the safeguard, close
them and run the motor on.
Cannot continue execution
When the above time has passed
2313 immediately after opening the
since the safeguard was opened,
safeguard.
the execution can be continued
immediately (with closed the
safeguard).
Cannot continue execution while
2314 Check the safeguard status.
the safeguard is open.
Cannot execute Cont and Restart
2315 Wait until the Continue is completed.
command in resume operation.
Cannot continue execution after an
2316 Check the error status.
error has been detected.
Cannot execute the task when an Reset the error by Reset and then
2317
error has been detected. execute the task.
Cannot execute a motion command Execute the motion command after
2318
when an error has been detected. resetting the error by Reset.
Cannot execute an I/O command
2319 Check the emergency stop status.
during emergency stop condition.
Function failure. Argument type
2320 Rebuild the project.
does not match.
Function failure. Return value does
2321 Rebuild the project.
not match to the function.
Function failure.
2322 Rebuild the project.
ByRef type does not match.
Function failure. Failed to process
2323 Rebuild the project.
the ByRef parameter.
Function failure. Dimension of the
2324 Rebuild the project.
ByRef parameter does not match.
Function failure. Cannot use ByRef
2325 Rebuild the project.
in an Xqt statement.
Cannot execute a Dll Call
2326 statement from the command Execute DII Call from the program.
window.
Check the DLL.
2327 Failed to execute a Dll Call.
Review the program.
Cannot execute the task before You need to connect with RC+
2328
connection with RC+. before executing the task.
Cannot execute an Eval statement
2329 Check the program.
in a Trap Call process.
Trap failure.
2330 Cannot use the argument in Trap Check the program.
Call or Xqt statement.
Trap failure.
2331 Failed to process Trap Goto Rebuild the project.
statement.
Trap failure.
2332 Failed to process Trap Goto Rebuild the project.
statement.

Status Code / Error Code List Rev.5 33

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Trap failure.
2333 Rebuild the project.
Trap is already in process.
Cannot execute an Eval statement
2334 in a Trap Finish or a Trap Abort Check the program.
process.
Cannot continue execution and
2335 Check the program.
Reset Error in TEACH mode.
Go Here :Z(0) ! D10; MemOn(1) !
is not executable.
Cannot use Here statement with a Change the program to:
2336
parallel process. P999 = Here
Go P999 Here :Z(0) ! D10;
MemOn(1) !
Cannot execute except from an
2337 event handler functions of GUI Review the program.
Builder.
Cannot execute Xqt, data input, Cannot execute in TEST mode.
2338
and output for TP in a TEST mode. Review the program.
Cannot execute in stand-alone Change the setting to “cooperative
2339
mode. mode” and execute.
Specified value in InBCD function
2340 Review the program. Tens digit Units digit
is an invalid BCD value.
Specified value in the OpBCD The specified
2341 Review the program.
statement is an invalid BCD value. value
Cannot change the status for
1: bit, 2:
2342 output bit configured as remote Check the remote I/O setting. I/O number
byte, 3: word
output.
Output time for asynchronous
output commanded by On or Off The specified
2343 Review the program.
statement is out of the available time
range.
Review the program.
I/O input/output bit number is out of
Check whether the expansion I/O
2344 available range or the board is not Bit number
board and Fieldbus I/O board are
installed.
correctly detected.
Review the program.
I/O input/output byte number is out
Check whether the expansion I/O
2345 of available range or the board is Byte number
board and Fieldbus I/O board are
not installed.
correctly detected.
Review the program.
I/O input/output word number is out
Check whether the expansion I/O
2346 of available range or the board is Word number
board and Fieldbus I/O board are
not installed.
correctly detected.
Memory I/O bit number is out of
2347 Review the program. Bit number
available range.
Memory I/O byte number is out of
2348 Review the program. Byte number
available range.
Memory I/O word number is out of
2349 Review the program. Word number
available range.
Command allowed only when The command can be executed only
2350
virtual I/O mode is active. for virtual I/O mode.
Execute specified command from
Specified command cannot be the program.
2353 executed from the Command Part Feeding:
window. The command cannot run on the
Command window.

34 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Cannot execute the I/O output
Execute the I/O output command
2354 command when the Enable Switch
with the enable switch gripped.
is OFF.
File failure.
2360 Failed to open the configuration Restore the controller configuration.
file.
File failure.
2361 Failed to close the configuration Restore the controller configuration.
file.
File failure.
2362 Failed to open the key of the Restore the controller configuration.
configuration file.
File failure.
2363 Failed to obtain a string from the Restore the controller configuration.
configuration file.
File failure.
2364 Failed to write in the configuration Restore the controller configuration.
file.
File failure.
2365 Failed to update the configuration Restore the controller configuration.
file.
The string combination exceeds the The maximum string length is 255. Combined
2370
maximum string length. Review the program. string length
The maximum string length is 255. The specified
2371 String length is out of range.
Review the program. length
Invalid character is specified after
2372 Review the program.
the ampersand in the Val function.
Illegal string specified for the Val
2373 Review the program.
function.
String Failure. Invalid character
2374 Review the program.
code in the string.
The label name length is 32 words.
2375 Label name length is out of range. 2:Hand
Review the label name.
Description length is 255 words.
2376 Description length is out of range. 2:Hand
Review the Description.
Cannot use ' 0 ' for Step value in
2380 Check the Step value.
For...Next.
Relation between For...Next and
GoSub is invalid. Going in or out of
2381 Review the program.
a For...Next using a Goto
statement.
Cannot execute Return while
2382 Review the program.
executing OnErr.
Return was used without GoSub.
2383 Review the program.
Review the program.
Case or Send was used without
2384 Review the program.
Select. Review the program.
Cannot execute EResume while
2385 Review the program.
executing GoSub.
EResume was used without OnErr.
2386 Review the program.
Review the program.
During emergency stop condition, Clear the emergency stop condition
2391
the command cannot be executed. and execute the command.
Curve failure. Reboot the controller.
2400
Failed to open the Curve file. Create a Curve file again.

Status Code / Error Code List Rev.5 35

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Curve failure.
Reboot the controller.
2401 Failed to allocate the header data
Create a Curve file again.
of the curve file.
Curve failure. Reboot the controller.
2402
Failed to write the curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2403
Failed to open the curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2404
Failed to update the curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2405
Failed to read the curve file. Create a Curve file again.
Curve failure. Reboot the controller.
2406
Curve file is corrupt. Create a Curve file again.
Curve failure.
Reboot the controller.
2407 Specified a file other than a curve
Create a Curve file again.
file.
Curve failure. Reboot the controller.
2408
Version of the curve file is invalid. Create a Curve file again.
Curve failure.
Reboot the controller.
2409 Robot number in the curve file is
Create a Curve file again.
invalid.
Curve failure.
2410 Cannot allocate enough memory Reboot the controller.
for the CVMove statement.
Specified point data in the Curve The maximum number of points
2411 statement is beyond the maximum specified in the Curve statement is
count. 200. Review the program.
The maximum number of output
Specified number of output
commands specified in the Curve
2412 commands in the Curve statement
statement is 16. Review the
is beyond the maximum count.
program.
Curve failure. Specified internal
2413 code is beyond the allowable size Reboot the controller.
in Curve statement.
The maximum number of points
Specified continue point data P(:) is
2414 specified continuously is 200. Start point End point
beyond the maximum count.
Review the program.
Curve failure. Reboot the controller.
2415
Cannot create the curve file. Create a Curve file again.
Check whether the specified Curve
2416 Curve file does not exist.
file name is correct.
Curve failure.
Check whether no output command
2417 Output command is specified
is specified before the point data.
before the point data.
Error message failure.
2430 Reboot the controller.
Error message file does not exist.
Error message failure.
2431 Failed to open the error message Reboot the controller.
file.
Error message failure.
2432 Failed to obtain the header data of Reboot the controller.
the error message file.
Error message failure.
2433 Reboot the controller.
Error message file is corrupted.

36 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Error message failure.
2434 Specified a file other than the error Reboot the controller.
message file.
Error message failure.
2435 Version of the error message file is Reboot the controller.
invalid.
File Error.
2440 Check the file number.
File number is already used.
File Error. Make sure the file exists and you
2441
Failed to open the file. specified the file correctly.
File Error.
2442 Open the file in advance.
The file is not open.
File Error. The file number is being
2443 Check the program.
used by another task.
2444 File Error. Failed to close the file. Check the file.
Review the program.
2445 File Error. File seek failed.
Check the pointer setting.
File Error.
2446 Close unnecessary files.
All file numbers are being used.
File Error. Use ROpen or UOpen that has read
2447
No read permission. access to the file.
File Error. Use WOpen or UOpen that has
2448
No write permission. written access to the file.
File Error. Use BOpen that has binary access
2449
No binary permission. to the file.
File Error.
2450 Check the file.
Failed to access the file.
2451 File Error. Failed to write the file. Check the file.
2452 File Error. Failed to read the file. Check the file.
File Error. The specified command is not
2453 Cannot execute the command for available in the current disk
current disk. (ChDisk).
2454 File Error. Invalid disk. Review the program.
2455 File Error. Invalid drive. Review the program.

2456 File Error. Invalid folder. Review the program.

Review the program.
Database Error.
Specify the number of other
2460 The database number is already
database.
being used.
Close the database.
Database Error. Review the program.
2461
The database is not open. Open the database.
Database Error.
2462 The database number is being Review the program.
used by another task.
Windows Communication Error. Reboot the Controller.
2470
Invalid status. Rebuild the project.
Windows Communication Error. Reboot the Controller.
2471
Invalid answer. Rebuild the project.
Windows Communication Error.
2472 Reboot the Controller.
Already initialized.

Status Code / Error Code List Rev.5 37

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Windows Communication Error. Reboot the Controller.
2473
Busy. Rebuild the project.
Windows Communication Error. Reboot the Controller.
2474
No request. Rebuild the project.
Windows Communication Error. Reduce the data volume.
2475
Data buffer overflow. Review the program.
Windows Communication Error.
2476 Reboot the Controller.
Failed to wait for event.
Windows Communication Error. Make sure the specified folder is
2477
Invalid folder. correct.
Windows Communication Error.
2478 Rebuild the project.
Invalid error code.
The maximum number of event
Specified event condition for Wait
2500 conditions is 8. Review the
is beyond the maximum count.
program.
Specified bit number in the Ctr
The specified
2501 function was not initialized with a Review the program.
bit number
CTReset statement.
The available number of tasks that
can be executed simultaneously is
Task number is beyond the
2502 32 for normal tasks, and 16 for
maximum count to execute.
background tasks. Review the
program.
Cannot execute Xqt when the
The specified
2503 specified task number is already Review the program.
task number
executing.
Task failure. Specified manipulator
2504 is already executing a parallel Rebuild the project.
process.
Not enough data for Input Check the content of communication
2505
statement variable assignment. data. Review the program.
Specified variable for the Input For OP, only one variable can be
2506 statement is beyond the maximum specified. For other devices, up to
count. 32 variables can be specified.
The available number of the
All counters are in use and cannot
counters that can be set
2507 initialize a new counter with
simultaneously is 16. Review the
CTReset.
program.
OnErr failure. Failed to process the
2508 Rebuild the project.
OnErr statement.
OnErr failure. Failed to process the
2509 Rebuild the project.
OnErr statement.
The specified I/O label is not
2510 Specified I/O label is not defined.
registered. Check the I/O label file.
SyncUnlock statement is used
without executing a previous
2511 Review the program. Signal number
SyncLock statement. Review the
program.
The SyncLock statement cannot be
SyncLock statement was already
2512 executed for the second time in a Signal number
executed.
row. Review the program.
The specified point label is not
2513 Specified point label is not defined.
registered. Check the point file.
Failed to obtain the motor on time
2514 Reboot the controller.
of the robot.

38 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Failed to configure the date or the Check whether a date and time is
2515
time. set correctly.
Failed to obtain the debug data or
2516 Reboot the controller.
to initialize.
Check the time set on the controller.
2517 Failed to convert into date or time.
Reboot the controller.
Larger number was specified for Specify a larger number for the end
2518 the start point data than the end point data than that for the start Start point End point
point data. point data.
2519 Invalid format syntax for FmtStr$. Check the format.
Check whether the specified point
2520 File name is too long. file name is correct. The maximum
string length of the file name is 32.
Check whether the specified point
2521 File path is too long.
file name is correct.
Make sure you don’t use improper
2522 File name is invalid.
characters for file name.
The continue process was already
2523 Review the program.
executed.
Cannot execute Xqt when the
2524 specified trap number is already Review the program.
executing.
Check whether a password is set
2525 Password is invalid.
correctly.
2526 No wait terms. Rebuild the project.
Too many variables used for global
2527 Review the program.
variable wait.
The global variable that was not
2528 able to be used for the wait Review the program.
command was specified.
Cannot use ByRef if the variable is
2529 Review the program.
used for global variable wait.
2530 Too many point files. Check the point file.
The point file is used by another
2531 Review the program.
robot.
Cannot progress to the point
2532 position because there is undefined Check the point data.
data.
2533 Error on INP or OUTP. Review the program.
No main function to start for Restart Without executing main function,
2534
statement. Restart is called.
Does not allow Enable setting in
2535 Setup the authority.
Teach mode to be changed.
Failed to change Enable setting in
2536 Reboot the Controller.
Teach mode.
Count of point data P(:) is not
2537 correct or format of parameter is Review the program.
not correct.
Force_GetForces failure.
2538 Failed to process Force_GetForces Review the program.
statement.
2539 Password is invalid. Check the password.
2540 Not connected to RC+. Connect to the RC+.
Same robot number was specified.
2541 Duplicate parameter.
Check the parameter.

Status Code / Error Code List Rev.5 39

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

The specified work queue number Available work queue numbers are
2542
is invalid. from 1 to 16. Review the program.
Specified sequence name cannot be
2543 Invalid sequence was specified.
found. Review the sequence name.
Specified object name cannot be
2544 Invalid object was specified.
found. Review the object name.
Specified calibration name cannot
2545 Invalid calibration was specified. be found. Review the calibration
name.
Cannot turn on the motor Need more than 1.5 seconds
2546 immediately after opening the between open the safeguard, close
safeguard. them and run the motor on.
Part Feeding:
Wrong command format or value
settings.
Read the description for the
corresponding command provided in
2547 Cannot use specified option
Part Feeding 7.0 Introduction &
Hardware (Common) & Software
Software 3. Part Feeding SPEL+
Command Reference and correct
the code.
Too many force files. Reboot the controller.
2548 Delete the force files or use the Initialize the controller firmware.
existing force files. Replace the controller.
The force file which is not
Reboot the controller.
associated with the robot cannot be
2549 Initialize the controller firmware.
specified.
Replace the controller.
Specify the correct force file.
Specified command is not
Specified robot is not supported.
2550 supported for joint type robot and
Check the robot configuration.
cartesian type robot.
Failed to Get the health
2551 Reboot the controller.
information.
Does not allow setting in UL mode
2552 Setup the authority.
to be changed.
Failed to change setting in UL
2553 Reboot the Controller.
mode.
Duplicate data label. Specified
2554 label name is already used. Review the label name.
Change the label name.
Specified label was not defined.
2555 Specified label was not defined. 2:Hand
Specify a defined Label.
This error messages are only
displayed in T/VT series
Manipulators.
An excessive loop was detected. Do not perform any processing such
2556 Please reduce the number of as infinite loop or any other similar
looped tasks or set Wait processing as much as possible.
For more details, refer to
Restrictions of Functions in
Maintenance, T/VT series manual.
An error occurred in Trap.
An error occurred in Trap.
Note 1: Detailed error information Detailed
Check the corresponding error code
2557 Following the detailed error error
in the system history and take
information, take a relevant information
countermeasures.
countermeasure.

40 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Confirm a parameter of the
2558 Argument parameter is too long.
argument.
Cannot execute when the motor is Change to the state to motor on and
2559
in the off state. execute.
The current robot number and the
Confirm the current robot number Robot
robot number of the force guide
2560 and the robot number of the force number
sequence property do not match.
guide sequence.
Please check the robot number.
The current robot type and the Confirm the current robot number
robot type of the force guide and the robot number of the force
2561 sequence property do not match. guide sequence property.
Reconfigure the RobotNumber Reconfigure the RobotNumber
property. property.
The current tool number and the
Confirm the current tool number and
robot tool of the force guide
2562 the robot tool of the force guide Tool number
sequence property do not match.
sequence property.
Please check the tool number.
The point file being loaded does
Confirm the loaded point file and the
not match the point file of the force
2563 point file of the force guide
guide sequence property.
sequence.
Please check the point file.
An instruction that cannot be
Turn OFF the torque control and
2564 executed during torque control was
execute.
executed.
Prohibited command while tracking Delete Prohibited commands from
2565
was executed. the program.
Cannot execute the FGRun
Cannot execute the FGRun command for same robot. End the
2566
command for same robot. FGRun command or execute it in
other robot
Cannot execute the FGGet
Cannot execute the FGGet command for the running force
2567 command for the running force guide sequence.
guide sequence. Execute it after the force guide
sequence ends.
An instruction that cannot be
executed by parallel processing
2568 Review the program.
was executed.
Review the program.
Cannot get the force guide
2569 Reboot the Controller.
sequence property.
Sequence number is out of range. Sequence number is from 1 to 64.
Sequence
2570 Please check the specified Confirm the specified sequence
number
sequence number. number.
Object number is out of range.
Object number is from 1 to 16. Object
2571 Please check the specified object
Confirm the specified object number. number
number.
Cannot clear the result of the force Reboot the Controller.
2572
guide.
Cannot set the result of the force Reboot the Controller.
2573
guide.
Cannot get the result of the force Reboot the Controller.
2574
guide.
Storing the force guide sequence Reboot the Controller.
2575
result in a variable failed.
Force Sequence name that does Confirm the specified force
2576
not exist was specified. sequence name.

Status Code / Error Code List Rev.5 41

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Force Object name that does not Confirm the specified force object
2577
exist was specified. name.
Cannot execute the FGGet
Confirm the specified force guide
2578 command for the unexecuted force
sequence.
guide sequence.
Wrong feeder name specified.
Feeder name specified does not Check the feeder name in EPSON
2580
exist RC+ 7.0 - Menu - [Setup] - [System
Configuration].
Cannot connect to the feeder.
Check that feeder network settings
(IP Address, IP Mask, Port) are
correct.
Check that the Ethernet connection
Failed to reset feeder. Check between the feeder and the
2581
connection. Controller is functioning normally
(have cables become disconnected,
is there a hub failure or a lack of
power supply to the hub, etc.).
Check the power supply to the
feeder.
Feeder not connected. Check
2582 (As above)
connection.
Wrong feeder specified.
Check that the backlight has been
2583 Feeder backlight not enabled
enabled in EPSON RC+ 7.0 - Menu
- [Setup] - [System Configuration].
Wrong feeder specified.
Check that the hopper has been
2584 Feeder output terminal not enabled
enabled in EPSON RC+ 7.0 - Menu
- [Setup] - [System Configuration].
It occurs when restoring a controller
backup, if the feeder configuration
has been changed.
2585 Incorrect feeder type
Once remove and register feeder
settings in "EPSON RC+ 7.0 - Menu
- Setup - System Settings".
Cannot communicate with feeder.
Check that the Ethernet connection
between the feeder and the
Controller is functioning normally
(have cables become disconnected,
is there a hub failure or a lack of
2586 Cannot set of Part Feeding.
power supply to the hub, etc.).
Check the power supply to the
feeder.
Check that feeder network settings
(IP Address, IP Mask, Port) are
correct.
Cannot execute with the virtual PartFeeding option requires a real
2587
controller controller to run.
This command cannot be executed
from a command window or virtual
Failed to acquire partfeeding controller. Check the description of
2588
information the relevant command in the "Part
Feeding SPEL+ Command
Reference".

42 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

For PartFeeding IF-80, PF_Output
command cannot be used. Review
Action command call that the
2589 the program.
feeder cannot execute.
For IF-240/380/530, check if the
purge gate is properly mounted.
Cannot communicate with feeder.
Check that the Ethernet connection
between the feeder and the
Controller is functioning normally
(have cables become disconnected,
is there a hub failure or a lack of
2590 Could not change the vibration set.
power supply to the hub, etc.).
Check the power supply to the
feeder.
Check that feeder network settings
(IP Address, IP Mask, Port) are
correct.
PF_ReleaseFeeder statement is
used without executing a previous
2591 Review the program.
PF_AccessFeeder statement.
Review the program.
The PF_AccessFeeder statement
PF_AccessFeeder statement was
2592 cannot be executed for the second
already executed.
time in a row. Review the program.
Check if the purge gate is properly
2593 Purge Gate is not valid.
mounted.
2594 Failed to Set the health information. The specified robot is not supported.
Invalid vision sequence index. Please review the value specified in
2595
Check the index. Index.
Invalid vision object index. Check Please review the value specified in
2596
the Index. Index.
The format of the specified data is
different for the parameter you want
to set. (e.g. A Double value is
2597 Invalid data type.
specified even though it must be
specified as an Integer.) Please
review the value.
Mass Property Object number is The MassProperties numbers that
2600 out of the allowable range. can be specified are from 1 to 15.
Check the range of numbers. Please review the program.
Mass Property Object is not Please confirm the setting of
2601 defined. MassProperties.
Check the setting. Please review the program.
Cannot clear Mass Property Object
while in use. MP cannot be cleared while in use.
2602 Specify another Mass Property Please confirm whether MP is in
Object before clearing the previous use.
object.
Cannot clear Mass Property Object MP-number 0 cannot be cleared.
2603
number '0' Please review the program.
You can specify a hand number
2610 The hand number is incorrect.
from 1 to 15. Review the program.
Set a Hand.
You can set in EPSON RC+ 7.0 –
2611 Hand is not defined.
Menu – [Tools] – [Robot Manager] –
[Hands] tab.

Status Code / Error Code List Rev.5 43

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Review the hand setting.
You can set in EPSON RC+ 7.0 – Hand
2612 The hand setting is incorrect.
Menu – [Tools] – [Robot Manager] – number
[Hands] tab.
The hand function cannot be used
2613 This robot model cannot use Hand.
with this robot.
Motion commands cannot be
This hand is already used in the executed on a hand from multiple
2614
other task. tasks at the same time. Review the
program.
Make sure that the specified bit
The I/O bit number which does not number is correct. Hand
2615
exist is specified for Hand. When you use extended board, number
make sure it is recognized correctly.
The specified I/O bit number is
Review the I/O bit number specified Hand
2616 already assigned to the other
for a Hand. number
function or remote I/O.
The event conditional expression
This hand cannot be used for an only supports hands with one input
2617
event conditional expression. point.
Specify a hand with one input point.
Could not get the specified hand
2618 Restart the controller.
information.
Failed in the confirmation of the DU Check whether the Drive Unit is
2840
connection count. connected properly.
Failed in the acquisition of the DU Check whether the Drive Unit is
2841
connection count. connected properly.
Failed in the confirmation of the DU Check whether the Drive Unit is
2842
connection information. connected properly.
Failed in the acquisition of the DU Check whether the Drive Unit is
2843
connection information. connected properly.
There is a missing number or
Check the dip switches of the Drive
2844 repetition in the dip switch setting
Unit
of DU.
Delete the
robot
registration or
The drive unit (DU) used by the Check whether the Drive Unit is
2845 connect the
robot is not connected. connected properly.
DU with the
manipulator
registered.
Because the increase and
The controller was rebooted due to
decrease of the drive unit was
2846 change of connection with the Drive
recognized, the controller unit is
Unit.
rebooted.
It is necessary to change the dip
The dip switch setting of the Force
2847 switch setting.
Sensor I/F unit is improper.
Please inquire with us.
The Force Sensor I/F unit to which
Please confirm whether it is possible
the Force Sensor is registered is
2848 to connect it with Force Sensor I/F
not connected.
unit correctly.
Check connection.
Failed to initialize the Force Sensor Please confirm whether it is possible
2849 I/F unit. to connect it with Force Sensor I/F
Check connection. unit correctly.

44 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Failed to initialize the Force Sensor Please confirm whether it is possible
2850 I/F unit. to connect it with Force Sensor I/F
Check connection. unit correctly.
The serial number of the sensor
connected with the registered
sensor is not corresponding.
The Force Sensor which is different
Please exchange it for a new sensor
from the registered sensor is
after confirming the connection,
2851 connected.
returning to the connected sensor,
Check connection or review the
or invalidating the sensor. In case of
setting.
intended replacement, configure the
connection settings again in the
sensor setting.
Please confirm whether it is possible
The registered Force Sensor is not to connect it with the registered
2852 connected. sensor correctly.
Check connection. Please invalidate the sensor when
you do not connect the sensor.
Please review the soft update
Failed to update the Force Sensor
setting.
2853 I/F unit software.
Please confirm the connection with
Review the update procedure.
Force Sensor I/F unit.
Failed to update the Force Sensor
Please confirm the file name.
2854 I/F unit software.
Please confirm the update file.
Review the update procedure.
Please confirm the power supply
Failed to update the Force Sensor
and the connection of Force Sensor
2855 I/F unit software.
I/F unit.
Review the update procedure.
Reboot the controller.
The version of the connected Force
The Force Sensor I/F unit with an
Sensor I/F unit needs to be updated.
old version is connected.
2856 Update the Force Sensor I/F unit.
Update the Force Sensor I/F unit
For update procedures, please
software.
inquiry with us.
The robot that relates to the sensor
The robot registered to the Force
is not registered.
Sensor I/F unit is not connected.
2857 Please review the registration of the
Review the robot registration or the
robot or invalidate the robot
Force Sensor configuration.
connection.
Reboot the controller.
Failed to allocate memory for the
2858 Please inquire with us if a similar
force monitor.
error occurs after rebooting it.
Reboot the controller.
Failed to allocate memory for the
2859 Please inquire with us if a similar
force log.
error occurs after rebooting it.
The force monitor object specified The same FM number cannot be
in the force log is in use. specified.
2860
Specify another force monitor Please specify a different FM
object. number.
The maximum number of the force
The greatest log number is used.
2861 logs is executed.
Please confirm the number of logs.
Review the log timing.
Reboot the controller.
Failed to allocate memory of force
2862 Please inquire with us if a similar
function.
error occurs after rebooting it.

Status Code / Error Code List Rev.5 45

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Execution of force guide sequence,
RecordStart, FCMStart and
Execute after the LogStart property
2863 LogStart cannot be executed at the
ends by LogEnd property.
same time.
Please review the program.
Execution of force guide sequence,
RecordStart, FCMStart and force
Execute after quitting the Force
2864 monitor cannot be executed at the
Monitor.
same time.
Please quit either.
Execution of force guide sequence,
Execute the LogStart property after
RecordStart, FCMStart and
the RecordStart property ends by
2865 LogStart cannot be executed at the
force guide sequence, force control
same time.
monitor, or the RecordEnd property.
Please review the program.
Execution of force guide sequence,
Execute the force monitor after
RecordStart, FCMStart and force
quitting the RecordStart property by
2866 monitor cannot be executed at the
force guide sequence, force control
same time.
monitor, or the RecordEnd property.
Please quit either.
The same channel cannot be
The specified channel in use.
2867 specified. Specify a different
Specify another channel.
channel to execute.
The force monitor object being The same FM number cannot be
2868 used is specified. Please specify specified. Specify a different FM
another force monitor object. number to execute.
The specified duration of
Specify the measurement time
measurement is smaller than the
2869 larger than the measurement
specified measurement interval.
interval to execute.
Check the parameter.
The product of the specified
duration of measurement and the
Check the measurement time and
2870 specified measurement interval is
interval.
out of allowable range.
Check the parameter.
Execution of force guide sequence,
To execute newly, make sure to quit
RecordStart, FCMStart, force
2871 either of the two running items and
monitor cannot be used more than
execute.
three at the same time.
To start force monitor newly, quit the
Force monitor cannot be launched
2872 running force monitor and start a
twice.
new one.
Unsupported Drive unit is
Disconnect the drive unit and restart
2873 connected.
the controller.
Check connection.
Check connection of the controller
and Force Sensor I/F board.
Failed to initialize the Force Sensor
Reboot the controller.
2880 I/F board.
Please inquire with us if a similar
Check connection.
error occurs even after rebooting the
controller.
Check connection of the controller
and Force Sensor I/F board.
Failed to initialize the Force Sensor
Reboot the controller.
2881 I/F board.
Please inquire with us if a similar
Check connection.
error occurs even after rebooting the
controller.

46 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Detected one Force Sensor I/F
board and two RS-232C boards. If Remove the Force Sensor I/F board
2882 using the Force Sensor I/F board, or the second board of RS-232C
RS-232C board is available up to board.
one board.
Detected two boards: Force Sensor
I/F board and RS-232C board with
the second board setting. Return the setting to the first board
2883
If using the Force Sensor I/F board, of RS-232C board.
return the setting to the first board
of RS-232C board.
Check connection of the controller
and Force Sensor I/F board.
Failed to initialize the Force Sensor
Reboot the controller.
2884 I/F board.
Please inquire with us if a similar
Check connection.
error occurs even after rebooting the
controller.
Sensor 3 and 4 of Force Sensors
are enabling.
Disable the sensor 3 and 4 of the
2885 If using Force Sensor I/F board,
Force Sensor.
disable the sensor 3 and 4 of Force
Sensors.
Check connection of the Force
Failed to communicate with Force
Sensor I/F board and Force Sensor.
Sensor I/F board and Force
Reboot the controller.
2886 Sensor.
Please inquire with us if a similar
Check connection of the Force
error occurs even after rebooting the
Sensor.
controller.
Unable to use the Force Sensor I/F
Detected Force Sensor I/F board
board and Force Sensor I/F unit at
and Force Sensor I/F unit.
2887 the same time.
Remove either Force Sensor I/F
Remove the Force Sensor I/F board
board or Force Sensor I/F unit.
or Force Sensor I/F unit.
Check the configuration.
Firmware version may be old.
Unsupported Force Sensor is set.
2888 Check whether the firmware version
Check the configuration.
is supported and update it as
necessary.
Make sure that the specified hand is
An undefined or unsupported hand set.
is specified for RobotHand in the For ScrewTighten sequences,
2889
force guide sequence. make sure that "Electric screwdriver"
Check hand settings. is set on the specified
hand type.
Check whether the Ethernet port is
Failed to open as server for the set properly. Check whether the
2900
Ethernet port. Ethernet cable is connected
properly.
Check whether the Ethernet port is
Failed to open as client for the set properly. Check whether the
2901
Ethernet port. Ethernet cable is connected
properly.

Status Code / Error Code List Rev.5 47

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Parts Feeding:
Cannot connect to the feeder.
Check that feeder network settings
(IP Address, IP Mask, Port) are
correct.
Check that the Ethernet connection
Failed to open TCP/IP port (client) between the feeder and the
Controller is functioning normally
(have cables become disconnected,
is there a hub failure or a lack of
power supply to the hub, etc.).
Check the power supply to the
feeder.
Check whether the port of
Failed to read from the Ethernet
2902 communication recipient is not
port.
close.
2904 Invalid IP Address was specified. Review the IP address.
Ethernet failure.
2905 Review the program.
No specification of Server/Client.
Check whether the Ethernet port is
2906 Ethernet port was not configured. Port number
set properly.
Ethernet pot was already in use by A single port cannot be used by
2907 Port number
another task. more than one task.
Cannot change the port parameters The port parameters cannot be
2908 Port number
while the Ethernet port is open. changed while the port is open.
To use the Ethernet port, execute
2909 Ethernet port is not open. Port number
the OpenNet statement.
Timeout reading from an Ethernet
2910 Check the communication. Timeout value
port.
Failed to read from an Ethernet
2911 Check the communication.
port.
Ethernet port was already open by A single port cannot be used by
2912 Port number
another task. more than one task.
Check whether the Ethernet port is
set properly. Check whether the
2913 Failed to write to the Ethernet port. Port number
Ethernet cable is connected
properly.
Ethernet port connection was not Check whether the port of
2914 Port number
completed. communication recipient is open.

The number of
Data received from the Ethernet The maximum length of a line is 255
2915 bytes in a
port is beyond the limit of one line. bytes.
received line

Failed to process a dummy file of

2916 Check the content of the dummy file. Port number
virtual Ethernet port
RS-232C failure. Check whether the RS-232C board
2920
RS-232C port process error. is correctly detected.
Failed to read from the RS-232C Check the parameter and
2921
port. communication.
Failed to read from the RS-232C Slow down data transfer or reduce
2922
port. Overrun error. data size.
The RS-232C port hardware is not Check whether the RS-232C board
2926 Port number
installed. is correctly detected.
RS-232C port is already open by A single port cannot be used by
2927 Port number
another task. more than one task.

48 Status Code / Error Code List Rev.5

 Code Number 2000 ~

No. Message Remedy Note 1 Note 2

Cannot change the port parameters The port parameters cannot be
2928 Port number
while the RS-232C port is open. changed while the port is open.
To use the RS-232C port, execute
2929 RS-232C port is not open. Port number
the OpenCom statement.
Timeout reading from the RS-232C
2930 Check the communication. Timeout value
port.
Failed to read from the RS-232C
2931 Check the communication.
port.
RS-232C port is already open by A single port cannot be used by
2932 Port number
another task. more than one task.
2933 Failed to write to the RS-232C port. Check the communication. Port number
RS-232C port connection not
2934 Check the RS-232C port.
completed.
The number of
Data received from the RS-232C The maximum length of a line is 255
2935 bytes in a
port is beyond the limit of one line. bytes.
received line
Failed to process a dummy file of
2936 Check the content of the dummy file. Port number
virtual RS-232C port
Cannot execute while Remote RS- Specified port is currently used.
2937
232C are using. Specify another port.
Cannot execute while ModBus are Specified port is currently used.
2938
using. Specify another port.
Daemon failure. Failed to create
2950 Reboot the Controller.
the daemon thread.
Daemon failure. Timeout while
2951 Reboot the Controller.
creating the daemon thread.
Set the TP key switch to TEACH or
TEACH/AUTO switching key input
2952 AUTO properly. Check whether the
signal failure was detected.
TP is connected properly.
ENABLE key input signal failure Check whether the TP is connected
2953
was detected. properly.
Overcurrent probably occurred due
to short-circuit failure. Investigate
2954 Relay weld was detected. the cause of the problem and take
necessary measures and then
replace the DPB.
Check whether the filter is not
clogged up and the fan does not
Temperature of regeneration
stop.
2955 resistor was higher than the
If there is no problem on the filter
specified temperature.
and fan, replace the regenerative
module.
MNG failure.
2970 Reboot the Controller.
Area allocate error.
MNG failure.
2971 Reboot the Controller.
Real time check error.
MNG failure.
2972 Reboot the Controller.
Standard priority error.
2973 MNG failure. Boost priority error. Reboot the Controller.
2974 MNG failure. Down priority error. Reboot the Controller.
2975 MNG failure. Event wait error. Reboot the Controller.
2976 MNG failure. Map close error. Reboot the Controller.
2977 MNG failure. Area free error. Reboot the Controller.

Status Code / Error Code List Rev.5 49

Code Number 2000 ~

No. Message Remedy Note 1 Note 2

2978 MNG failure. AddIOMem error. Reboot the Controller.
2979 MNG failure. AddInPort error. Reboot the Controller.
2980 MNG failure. AddOutPort error. Reboot the Controller.
2981 MNG failure. AddInMemPort error. Reboot the Controller.
MNG failure.
2982 Reboot the Controller.
AddOutMemPort error.
2983 MNG failure. IntervalOutBit error. Reboot the Controller.
2984 MNG failure. CtrReset error. Reboot the Controller.
If you use the simulator, check if the
2997 Collision Detection object is placed in the direction of
the robot motion.
AbortMotion attempted when robot
2998 See Help for AbortMotion.
was not moving
AbortMotion attempted when robot
2999 See Help for AbortMotion.
was moving

50 Status Code / Error Code List Rev.5

 Code Number 3000 ~

Code Number 3000 ~

No. Message Remedy Note 1 Note 2
When it is necessary to build the
OBJ file size is large. TP1 may not
3000 project from TP1, consider to reduce
be able to build this project.
the program.
The number of variables which is
The number of variables which is
using Wait command is exceeding 56
3001 using Wait command is near the
(the maximum is 64). Check if there
maximum allowed.
are unnecessary variables.
Check if the DLL file exists in either
of the following folders:
- Project folder
3002 DLL file cannot be found.
- Windows system folder
- Configuration folder of environment
variable PATH
Check the name of the specified
function. Also check the DLL file if
3003 DLL function cannot be found.
the specified function exists in the
DLL.
3050 Main function is not defined. Declare a Main function.
3051 Function does not exist. Declare an unresolved function.
3052 Variable does not exist. Declare an unresolved variable.
Correct the syntax error.
Part Feeding:
Command syntax is not correct.
Check the description of the
3100 Syntax error. command in Part Feeding 7.0
Introduction & Hardware (Common)
& Software
Software
"Part 3: Feeding SPEL+ Command
Reference" and modify the code.
The number of parameters is excess
or deficiency. Correct the
parameters.
Part Feeding:
Command syntax is not correct.

3101 Parameter count error. Check the description of the

command in Part Feeding 7.0
Introduction & Hardware (Common)
& Software
Software "Part 3: Feeding SPEL+
Command Reference" and modify
the code.
File name length is beyond the
3102 Shorten the file name.
maximum allowed.
3103 Duplicate function definition. Change the function name.
3104 Duplicate variable definition ‘ ** ’. Change the variable name.
Global and Global Preserve Declare the Global and Global
3105 variables cannot be defined inside Preserve variables outside the
a function block. function block.
An undefined function was
3106 Specify a valid function name.
specified.
The While/Until statement is
Both While and Until for Do...Loop specified for both Do statement and
3107
was specified. Loop statement. Delete either
While/Until statement.

Status Code / Error Code List Rev.5 51

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Specified line number or label ‘ ** ’
3108 Set the line label.
does not exist.
The direct numerical specification
3109 Overflow error. overflows. Reduce the numeric
value.
An undefined variable was There is an undefined variable.
3110
specified ‘ ** ’. Declare the variable.
Specified variable is not an array
3111 Specify the array variable.
variable.
Dimension of the array cannot be
Cannot change the dimensions of
3112 changed in Redim statement during
the array variable.
the run time. Correct the program.
Specified Next variable does not
3114 Correct the variable name.
match the specified For variable.
Specify a single point for the point
Cannot use a point expression in
3115 flag setting. Do not specify a point
the first argument.
expression.
Array number of dimensions does Check the number of array
3116
not match the declaration. dimensions.
The file that configures the project
3117 File cannot be found. cannot be found. Check the project
folder if the file exists.
The number of EndIf statements that
Corresponding EndIf cannot be correspond to If and ElseIf
3118
found. statements is not enough. Add the
EndIf statements.
The number of Loop statements that
Corresponding Loop cannot be
3119 correspond to Do statements is not
found.
enough. Add the Loop statements.
The number of Next statements that
Corresponding Next cannot be
3120 correspond to For statements is not
found.
enough. Add the Next statements.
The number of Send statements that
Corresponding Send cannot be correspond to Select statements is
3121
found. not enough. Add the Send
statements.
An upper limit (max. 16) is set on the
On/Off statements are beyond the number of On/Off statements in
3123
maximum count. Curve statement. Check the upper
limit and correct the program.
An upper limit (“200” for open curves,
“50” for closed curves) is set on the
Point number is beyond the
3124 available number of points in Curve
maximum count.
statement. Check the upper limit and
correct the program.
The number of EndIf statements that
correspond to If statements is too
3125 Corresponding If cannot be found.
many. Delete the unnecessary
EndIf.
The number of Loop statements that
Corresponding Do cannot be
3126 correspond to Do statements is too
found.
many. Delete the unnecessary Loop.
The number of Send statements that
Corresponding Select cannot be correspond to Select statements is
3127
found. too many. Delete the unnecessary
Send.

52 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

The number of Next statements that
Corresponding For cannot be
3128 correspond to For statements is too
found.
many. Delete the unnecessary Next.
'_' cannot be used as the first Change the first character of the
3129
character of an identifier. identifier to an alphabetic character.
ROT parameter cannot be specified
3130 Cannot specify ROT parameter. in BGo, Go, TGo, Jump, and Jump3
statements. Correct the program.
ECP parameter cannot be specified
in BGo, Go, TGo, Jump, Jump3, and
3131 Cannot specify ECP parameter.
Arc statements. Correct the
program.
Arch parameter cannot be specified
in BGo, Go, TGo, Arc, Arc3, BMove,
3132 Cannot specify Arch parameter.
Move, and TMove statements.
Correct the program
LimZ parameter cannot be specified
in BGo, Go, TGo, Jump3, Arc, Arc3,
3133 Cannot specify LimZ parameter.
BMove, Move, and TMove
statements. Correct the program.
Sense parameter cannot be specified
in BGo, Go, TGo, Arc, Arc3, BMove,
3134 Cannot specify Sense parameter.
Move, and TMove statements.
Correct the program.
Invalid parameter is specified in Xqt,
3135 Invalid parameter is specified. and Call statements. Correct the
program.
Cannot specify the array variable The array variable subscript cannot
3137
subscript. be specified. Correct the program.
Specify ByRef in the parameter list of
ByRef was not specified on
3138 function declaration that is called by
Function declaration.
Call statement.
The Xqt statement cannot be
Cannot execute the Xqt statement
executed for a function needing a
3139 for a function that needs a ByRef
ByRef parameter. Delete the ByRef
parameter.
parameter.
The Redim statement cannot be
Cannot execute the Redim executed for a variable specifying
3140
statement for a ByRef variable. ByRef parameter. Delete the ByRef
parameter.
3141 OBJ file is corrupt. -
The compilation result exceeds the
OBJ file size is beyond the
3142 limit value (max. 1 MB per file).
available size after compiling.
Divide the program.
The available length of the identifier
is max. 32 characters for labels and
variable names, and 64 characters
for function names. Reduce the
Indent length is beyond the number of characters so as not to
3143
available size. exceed the available length. For
details of the available length, refer to
EPSON RC+ User’s Guide “6.4
Function and Variable Names
(Naming restriction)”.
' ** ' already used for a function Correct the identifier ' ** ' or the
3144
name. function name.

Status Code / Error Code List Rev.5 53

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

' ** ' already used for a Global Correct the identifier ' ** ' or the
3145
Preserve variable. Global Preserve variable name.
' ** ' already used for a Global Correct the identifier ' ** ' or the
3146
variable. Global variable name.
' ** ' already used for a Module Correct the identifier ' ** ' or the
3147
variable. Module variable name.
' ** ' already used for a Local Correct the identifier ' ** ' or the Local
3148
variable. variable name.
Correct the identifier ' ** ' or the I/O
3149 ' ** ' already used for an I/O label.
label name.
' ** ' already used for a User Error Correct the identifier ' ** ' or the User
3150
label. Error label name.
Argument cannot be specified for the
3151 Cannot use a function parameter. function that is executed by the Trap
statement. Correct the program.
Limit value of the array elements
depends on the type of variables.
Specified elements of the array
Refer to EPSON RC+7.0 User’s
3152 variable are beyond the available
Guide “6.7.6 Array” and correct the
size.
number of array elements so as not
to exceed the limit value.
Parameter type does not match in
Call, Force_GetForces, and Xqt
3153 Parameter type mismatch.
statements. Correct the parameter
type.
3154 ' ** ' is not an Input Bit label. Specify a valid input bit label.
3155 ' ** ' is not an Input Byte label. Specify a valid input byte label.
3156 ' ** ' is not an Input Word label. Specify a valid input word label.
3157 ' ** ' is not an Output Bit label. Specify a valid output bit label.
3158 ' ** ' is not an Output Byte label. Specify a valid output byte label.
3159 ' ** ' is not an Output Word label. Specify a valid output word label.
3160 ' ** ' is not a Memory Bit label. Specify a valid memory I/O bit label.
Specify a valid memory I/O byte
3161 ' ** ' is not a Memory Byte label.
label.
Specify a valid memory I/O word
3162 ' ** ' is not a Memory Word label.
label.
The maximum number of the function
3163 Too many function arguments. parameter is 100. Reduce the
number of parameters.
Cannot compare with Boolean The size of Boolean values cannot
3164
value. be compared. Correct the program.
Cannot use Boolean value in the Boolean value cannot be used in the
3165
expression. expression. Correct the program.
The size of Boolean value and the
Cannot compare between Boolean
3166 expression cannot be compared.
and expression.
Correct the program.
Boolean value cannot be used in the
Cannot store Boolean value to a
3167 numeric variable. Correct the
numeric variable.
program.
The numeric value cannot be used in
Cannot store numeric value to a
3168 Boolean variable. Correct the
Boolean variable.
program.
Define a new I/O label or specify the
3169 Undefined I/O label was specified.
defined I/O label.

54 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

String expression is specified for the
right side of the condition expression
Invalid condition expression was in Do…Loop statement. Correct the
3170
specified. condition expression so that the right
side of the expression is Boolean
value.
Cannot compare between numeric The numeric value and string cannot
3171
value and string. be compared. Correct the program.
Some SPEL+ keywords cannot be
Cannot use a keyword for a used as the variable names. Correct
3172
variable name. the variable name not to overlap with
the keywords.
Correct the identifier ' ** ' or the line
3173 ' ** ' is already used for a line label.
label name.
The line labels with the same name
cannot be specified in the same
3174 Duplicate line number or label (**). function. Delete the line label ' ** ', or
define a new line label and correct
the program.
Undefined Point label was Define a new point label or specify
3175
specified. the defined point label.
An undefined variable was Define a new variable or specify the
3176
specified. defined variable.
Correct the identifier ' ** ' or the point
3177 ' ** ' already used for a Point label.
label name.
The result number cannot be
specified when a vision object that
3178 Cannot use the result number. does not return multiple results is
used in VSet and VGet statements.
Correct the program.
The limit value of the string length is
String literal is beyond the max. 255 characters. Reduce the
3179
available length. string length so as not to exceed the
limit value.
Cannot change a calibration Calibration property cannot be
3180 property value with the VSet changed in VSet statement. Correct
command. the program.
ByVal cannot be specified for the
Array variable should be used with
3181 array variable. Specify the ByRef
ByRef.
parameter.
3182 Subscription was not specified. Specify a subscription.
3183 Parameter cannot be omitted. Add a parameter.
SYNC parameter cannot be specified
SYNC parameter cannot use with
3184 in tracking commands. Delete the
tracking command.
SYNC parameter.
Queue data cannot be specified in
3185 Cannot use Queue data. BGo, BMove, TGo, and TMove
statements. Delete the queue data.
Combination of queue data and point
data cannot be specified for
Combination between Queue and coordinate specification of Arc, Arc3,
3186
Point data does not match. Jump3, and Jump3CP statements.
Use either queue data or the point
data.
Correct the program so that the point
Invalid Point flag value was
3187 flag value is within the range from 0
specified.
to 127.

Status Code / Error Code List Rev.5 55

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Call command cannot be used
Call command cannot be used in
3188 parallel processing. Correct the
parallel processing.
program.
Change of local variable cannot be
Local variables cannot be used
3189 waited by Wait statement. Correct
with the Wait command.
the program.
Change of array variable cannot be
Array variables cannot be used
3190 waited by Wait statement. Correct
with the Wait command.
the program.
Change of real variable cannot be
Real variables cannot be used with
3191 waited by Wait statement. Correct
the Wait command.
the program.
Change of string variable cannot be
String variables cannot be used
3192 waited by Wait statement. Correct
with the Wait command.
the program.
Vision object name cannot be
3193 Vision object name is missing. omitted in VTeach statement.
Specify the object name.
Boolean value cannot be used for the
Cannot use Boolean value for the
3194 timeout value of Wait statement.
timeout value.
Correct the program.
The number of Fend statements that
correspond to Function statements is
3196 Fend statement was not found.
not enough. Add the Fend
statements.
Numeric variable name cannot use Numeric variable name cannot use
3197
'$'. '$'. Correct the variable name.
String variables must have a '$'
String variables must have '$'
3198 suffix. Add a '$' suffix to the variable
suffix.
name.
Invalid vision object is specified in
Vision Guide commands such as
3199 Invalid object was specified.
VSet and VGet. Specify the valid
vision object.
3200 Value is missing. Add a value.
3201 Expected ' , '. Add ' , '.
3202 Expected ' ( '. Add ' ( '.
3203 Expected ' ) '. Add ' ) '.
3204 Identifier is missing. Specify an identifier.
3205 Point is not specified. Specify a point.
Event condition expression is
3206 Add an event condition expression.
missing.
3207 Formula is missing. Add a formula.
3208 String formula is missing. Add a string formula.
3209 Point formula is missing. Add a point formula.
Check if the specified line label exists
3210 Line label was not specified. in the program. Add a valid line
label.
3211 Variable was not specified. Specify a variable.
The number of Fend statements that
Corresponding Fend cannot be correspond to Function statements is
3212
found. not enough. Add the Fend
statements.
3213 Expected ' : '. Add ' : '.

56 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

True/False was not specified in the
property of Vision Guide/GUI Builder
3214 True/False was not specified. or substitution of logical expression
which requires Boolean value setting.
Specify True or False.
On or Off must be specified for the
remote output logic setting of Motor,
Brake, AutoLJM, SetSw, and Box
statements. Specify On or Off.
Invalid PF_OutputOnOff command
format used.
3215 On/Off was not specified. Read the description for the
corresponding command provided in
Part Feeding 7.0 Introduction &
Hardware (Common) & Software
Software 3. Part Feeding SPEL+
Command Reference and correct the
code.
High or Low must be specified for the
3216 High/Low was not specified. power mode setting of Power
statement. Specify High or Low.
Input bit label is not specified in
SetSW, CTReset statement, Sw, and
3217 Input bit label was not specified.
Ctr function. Specify a valid input bit
label.
Input byte label is not specified in
SetIn statement, In, and InBCD
3218 Input byte label was not specified.
function. Specify a valid input byte
label.
Input word label is not specified in
SetInW statement, InReal, and InW
3219 Input word label was not specified.
function. Specify a valid input word
label.
Output bit label is not specified in On,
3220 Output bit label was not specified. Off statement, and Oport function.
Specify a valid output bit label.
Output byte label is not specified in
Output byte label was not Out, OpBCD statement, and Out
3221
specified. function. Specify a valid output byte
label.
Output word label is not specified in
Output word label was not OutW, OutReal statement, OutW,
3222
specified. and OutReal function. Specify a
valid output word label.
Memory bit label is not specified in
MemOn, MemOff statement, and
3223 Memory bit label was not specified.
MemSw function. Specify a valid
memory bit label.
Memory byte label is not specified in
Memory byte label was not MemOut statement and MemIn
3224
specified. function. Specify a valid memory
byte label.
Memory word label is not specified in
Memory word label was not MemOutW statement and MemInW
3225
specified. function. Specify a valid memory
word label.

Status Code / Error Code List Rev.5 57

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

User error label is not specified in
3226 User error label was not specified. Error statement. Specify a valid user
error label.
Function name is not specified in the
statement that requires function
3227 Function name was not specified.
name designation, such as Call and
Xqt. Specify a valid function name.
Variable type is not specified for the
parameter definition of Function
3228 Variable type was not specified. statement and Preserve parameter
specification of Global statement.
Specify a correct variable type.
Invalid Trap statement parameter. Specify either GoTo, Call, or Xqt as a
3229
Use Goto, Call, or Xqt. parameter of Trap statement.
Specify either For, Do, or Function as
3230 Expected For/Do/Function.
a parameter of Exit statement.
Setting value for the elbow
orientation is not specified in Elbow
3231 Above/Below was not specified.
statement. Specify either Above or
Below.
Setting value for the hand orientation
3232 Righty/Lefty was not specified. is not specified in Hand statement.
Specify either Righty or Lefty.
Setting value for the wrist orientation
3233 NoFlip/Flip was specified. is not specified in Wrist statement.
Specify either NoFilip or Flip.
Port number that indicates the file or
communication port is not specified
in Read, ReadBin, Write, and
3234 Port number was not specified. WriteBin statements.
Refer to SPEL+ Language Reference
“Read Statement” and specify a
proper file number or port number.
String type variable is not specified in
the command that requires
String type variable was not
3235 specification of string type variable as
specified.
a parameter. Specify a valid string
type variable.
RS-232C port number is not
specified in OpenCom, CloseCom,
RS-232C port number was not and SetCom statements. Refer to
3236
specified. SPEL+ Language Reference
“OpenCom Statement” and specify a
proper port number.
Network communication port number
is not specified in OpenNet,
Network communication port
3237 CloseNet, SetNet, and WaitNet
number was not specified.
statement. Specify an integer from
201 to 216.
Communication speed (baud rate) is
not specified in SetCom statement.
Communication speed was not
3238 Refer to SPEL+ Language Reference
specified.
“SetCom Statement” and specify a
proper baud rate.

58 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Data bit length is not specified in
SetCom statement. Refer to SPEL+
3239 Data bit number was not specified. Language Reference “SetCom
Statement” and specify a proper data
bit length.
Stop bit length is not specified in
SetCom statement. Refer to SPEL+
3240 Stop bit number was not specified. Language Reference “SetCom
Statement” and specify a proper stop
bit length.
Parity is not specified in SetCom
statement. Refer to SPEL+
3241 Parity was not specified. Language Reference “SetCom
Statement” and specify a proper
parity.
Terminator (end of send/receive line)
is not specified in SetCom and
SetNet statements. Refer to SPEL+
3242 Terminator was not specified.
Language Reference “SetCom
Statement” and specify a proper
terminator.
Hardware flow is not specified in
SetCom statement. Refer to SPEL+
3243 Hardware flow was not specified. Language Reference “SetCom
Statement” and specify a proper flow
control.
Software flow is not specified in
SetCom statement. Refer to SPEL+
3244 Software flow was not specified. Language Reference “SetCom
Statement” and specify a proper flow
control.
“NONE” is not specified for software
3245 None was not specified. flow control setting in SetNet
statement. Specify “NONE”.
Open or close parameter for the end
of a curve is not specified in Curve
Parameter ' O ' or ' C ' was not statement.
3246
specified. Refer to SPEL+ Language Reference
“Curve Statement” and specify a
proper open/close parameter.
The number of coordinate axes
controlled during a curve motion is
not specified in Curve statement.
NumAxes parameter was not
3247 Refer to SPEL+ Language Reference
specified.
“Curve Statement” and specify a
proper number of the coordinate
axes.
J4Flag value (0-1) was not Specify 0 or 1, or an expression for
3248
specified. J4Flag value.
J6Flag value (0-127) was not Specify an integer from 0 to 127, or
3249
specified. an expression for J6Flag value.
Array variable is not specified in the
statement that requires specification
3250 Array variable was not specified.
of array variable. Specify a valid
array variable.

Status Code / Error Code List Rev.5 59

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Array which stores a token must be a
String Array variable was not string array variable in ParseStr
3251
specified. statement and ParseStr function.
Specify a string array variable.
Device ID is not specified in DispDev
statement or Cls command. Refer to
3252 Device ID was not specified. SPEL+ Language Reference
“DispDev Statement” and specify a
proper device ID.
I/O type is not specified in
IOLabel$ function. Refer to SPEL+
3253 I/O type was not specified. Language Reference
“IOLabel$ Function” and specify a
proper I/O type.
I/O bit size (I/O port width) is not
specified in IODef, IOLabe function.
3254 I/O bit width was not specified. Refer to SPEL+ Language Reference
“IODef Function” and specify a
proper I/O bit size.
Although the ByRef is specified in the
function declaration, no ByRef is
3255 ByRef was not specified.
specified for calling. Specify the
ByRef parameter.
Variable type is not specified in
3256 Variable type was not specified. Global statement. Specify a proper
variable type.
Condition expression in If, ElseIf, Do,
and Loop statement must return a
Condition expression does not
3257 Boolean value. Correct the
evaluate to Boolean value.
condition expression to return a
Boolean value.
RS-232C port number is not
specified in ChkCom function. Refer
RS232C port number was not
3258 to SPEL+ Language Reference
specified.
“ChkCom Function” and specify a
proper port number.
Network communication port number
is not specified in ChkNet function.
Network communication port
3259 Refer to SPEL+ Language Reference
number was not specified.
“ChkNet Function” and specify a
proper port number.
Language ID is not specified in
ErrMsg$ function. Refer to SPEL+
3260 Language ID was not specified. Language Reference
“ErrMsg$ Function” and specify a
proper language ID.
3261 Expected '.'. Add '.'.
Vision sequence name is not
Vision Sequence Name was not specified in Vision Guide commands
3262
specified. such as VSet, VGet, and VRun. Add
a sequence name.
Vision sequence name or calibration
Vision Sequence Name or
name is not specified in VSet
3263 Calibration Name was not
statements. Add a sequence name
specified.
or calibration name.

60 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Vision property name or result name
Vision Property Name or Result is not specified in VSet and VGet
3264
Name was not specified. statements. Add a property name or
result name.
Either of Vision property name, result
Vision Property Name, Result name, or object name is not specified
3265 Name or Object Name was not in VSet and VGet statements. Add
specified. either of a property name, result
name, or object name.
Vision calibration property name is
Vision Calibration Property Name
3266 not specified in VSet and VGet
was not specified.
statements. Add a property name.
Task type is not specified in Xqt
statement. Refer to SPEL+
3267 Task type was not specified.
Language Reference “Xqt Statement”
and specify a proper task type.
Form name is not specified in GSet,
GGet, GShow, GShowDialog, and
3268 Form name was not specified.
GClose statements. Specify a form
name.
Property name or control name is not
Property Name or Control Name specified in GSet and GGet
3269
was not specified. statements. Specify a property name
or control name.
Property name is not specified in
3270 Property Name was not specified. GSet and GGet statements. Specify
a property name.
BackColorMode property setting
value is not specified in GSet
3271 BackColorMode was not specified. statement. Refer to GUI Builder 7.0
manual “BackColorMode Property”
and specify a proper setting value.
BorderStyle property setting value is
not specified in GSet statement.
3272 BorderStyle was not specified. Refer to GUI Builder 7.0 manual
“BorderStyle Property” and specify a
proper setting value.
DropDownStyle property setting
value is not specified in GSet
3273 DropDownStyle was not specified. statement. Refer to GUI Builder 7.0
manual “DropDownStyle Property”
and specify a proper setting value.
EventTaskType property setting
value is not specified in GSet
3274 EventTaskType was not specified. statement. Refer to GUI Builder 7.0
manual “EventTaskType Property”
and specify a proper setting value.
ImageAlign property setting value is
not specified in GSet statement.
3275 ImageAlign was not specified. Refer to GUI Builder 7.0 manual
“ImageAlign Property” and specify a
proper setting value.
IOType property setting value is not
specified in GSet statement. Refer to
3276 IOType was not specified. GUI Builder 7.0 manual “IOType
Property” and specify a proper
setting value.

Status Code / Error Code List Rev.5 61

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

FormBorderStyle property setting
value is not specified in GSet
FormBorderStyle was not
3277 statement. Refer to GUI Builder 7.0
specified.
manual “FormBorderStyle Property”
and specify a proper setting value.
ScrollBars property setting value is
not specified in GSet statement.
3278 ScrollBars was not specified. Refer to GUI Builder 7.0 manual
“ScrollBars Property” and specify a
proper setting value.
SizeMode property setting value is
not specified in GSet statement.
3279 SizeMode was not specified. Refer to GUI Builder 7.0 manual
“SizeMode Property” and specify a
proper setting value.
StartPosition property setting value is
not specified in GSet statement.
3280 StartPosition was not specified. Refer to GUI Builder 7.0 manual
“StartPosition Property” and specify a
proper setting value.
TextAlign property setting value is
not specified in GSet statement.
This error occurs when the control
type cannot be identified because the
3281 TextAlign was not specified.
control is specified by a string
variable. Refer to GUI Builder 7.0
manual “TextAlign Property” and
specify a proper setting value.
TextAlign property setting value is
not specified in GSet statement.
This error occurs when the control is
3282 TextAlign was not specified.
a text box. Refer to GUI Builder 7.0
manual “TextAlign Property” and
specify a proper setting value.
TextAlign property setting value is
not specified in GSet statement.
This error occurs when the control is
3283 TextAlign was not specified. other than a text box. Refer to GUI
Builder 7.0 manual “TextAlign
Property” and specify a proper
setting value.
WindowState property setting value
is not specified in GSet statement.
3284 WindowState was not specified. Refer to GUI Builder 7.0 manual
“WindowState Property” and specify
a proper setting value.
Specify 0 or 1, or an expression for
3285 J1FLAG was not specified.
J1Flag value.
Specify 0 or 1, or an expression for
3286 J2FLAG was not specified.
J2Flag value.
3287 Robot ID was not specified. Specify a robot number.
Robot number or All is not specified
in InsideBox and InsidePlane
3288 Robot ID/All was not specified. function. Specify a robot number
which performs intrusion detection, or
All.

62 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Area number is not specified in
InsideBox and InsidePlane function.
3289 Area ID was not specified. Specify an approach check area
number which returns status by an
integer from 1 to 15.
File number is not specified in the
command related to file
3290 File number was not specified. management. Specify a file number
by an integer from 30 to 63 or an
expression.
Database type is not specified in
OpenDB statement. Refer to SPEL+
3292 Database type was not specified. Language Reference “OpenDB
Statement” and specify a proper
database type.
Type of the disk that is subject to file
manipulation is not specified in
ChDisk statement. Refer to SPEL+
3293 Disk type was not specified.
Language Reference “ChDisk
Statement” and specify a proper disk
type.
Area ID that is subject to count the
queue data is not specified in
Conveyor area ID was not Cnv_QueLen function. Refer to
3295
specified. SPEL+ Language Reference
“Cnv_QueLen Function” and specify
a proper area ID.
Data base number that is subject to
operation is not specified in OpenDB,
CloseDB, DeleteDB, UpdateDB, and
Database file number was not
3296 SelectDB function. Refer to SPEL+
specified.
Language Reference “OpenDB
Statement” and specify a proper
database number.
Calibration name is not specified in
Vision calibration name was not
3297 VCal statement. Specify a name of
specified.
calibration that is subject to calibrate.
Vision object type is not specified in
VCreateObject statement. Refer to
Vision object type ID was not Vision Guide 7.0 Properties &
3298
specified. Results Reference “VCreateObject
Statement” and specify a proper
object type.
Shutdown mode value is not
specified in ShutDown statement and
Shutdown mode ID was not ShutDown function. Refer to SPEL+
3299
specified. Language Reference “Shutdown
Statement” and specify a proper
mode value.
Not all project files are compiled in
Version of linked OBJ file does not
3301 the same version.
match.
Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3302
compiled I/O label. changed. Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3303
compiled user error label. changed. Rebuild the project.

Status Code / Error Code List Rev.5 63

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Linked OBJ file does not match the The project configuration has been
3304
compiled compile option. changed. Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3305
compiled link option. changed. Rebuild the project.
Linked OBJ file does not match the The project configuration has been
3306
compiled SPEL option. changed. Rebuild the project.
The same function name is used for
3307 Duplicate function. more than one file. Correct the
program (function name).
The same global preserve variable
3308 Duplicate global preserve variable. name is used for more than one file.
Correct the program (variable name).
The same global variable name is
3309 Duplicate global variable. used for more than one file.
Correct the program (variable name).
The same module variable name is
3310 Duplicate module variable. used for more than one file.
Correct the program (variable name).
3311 File cannot be found. -
3312 OBJ file is corrupt. -
The specified file name includes
3313 -
character(s) that cannot be used.
The file is used for other application.
3314 Cannot open the file.
Quit the other application.
' ** ' is already used for a function Correct the identifier ' ** ' or the
3315
name. function name. Rebuild the project.
Correct the identifier ' ** ' or the
' ** ' is already used for a global
3316 global preserve variable name.
preserve variable name.
Rebuild the project.
Correct the identifier ' ** ' or the
' ** ' is already used for a global
3317 global variable name. Rebuild the
variable name.
project.
Correct the identifier ' ** ' or the
' ** ' is already used for a module
3318 module variable name. Rebuild the
variable name.
project.
Dimension of the array variable Correct the dimension of the array
3319
does not match the declaration. and rebuild the project.
Return value type of the function Correct the return value type of the
3320
does not match the declaration. function and rebuild the project.
' ** ' is already used with function Correct the identifier ' ** ' or the
3321
name. function name. Rebuild the project.
Correct the identifier ' ** ' or the
' ** ' is already used with Global
3322 global preserve variable name.
Preserve name.
Rebuild the project.
Correct the identifier ' ** ' or the
' ** ' is already used with Global
3323 global variable name. Rebuild the
name.
project.
Correct the identifier ' ** ' or the
' ** 'is already used with Module
3324 module variable name. Rebuild the
name.
project.
' ** ' is already used with Local Correct the identifier ' ** ' or the local
3325
name. variable name. Rebuild the project.
Check the number of parameters in
The number of parameters does
3326 the function, correct the program,
not match the declaration.
and then rebuild the project.

64 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

ByRef was not specified in
3327 Function declaration for parameter -
**.
ByRef was not specified for
3328 -
parameter **.
3329 Parameter ** type mismatch. -
Linked OBJ file does not match the
3330 Rebuild the project.
compiled Vision Project.
OBJ file size is beyond the The OBJ file size exceeds the limit
3331
available size after linking. value (8MB). Reduce the program.
Variable ' ** ’ is overloaded. Delete
3332 Variable '**' is redefined. unnecessary variable definition and
rebuild the project.
Linked OBJ file does not match the
3333 Rebuild the project.
compiled GUI Builder Project.
The number of variables which is
The number of variables which is
using Wait command is exceeding
3334 using Wait command is beyond the
the maximum allowed (64). Delete
maximum allowed.
the variables and rebuild the project.
Call cannot be used in parallel
Call cannot be used in parallel
3335 processing. Correct the program and
processing.
rebuild the project.
Correct the data type of the variable
3336 Variable was redefined.
and rebuild the project.
3351 Invalid object index was specified.
Force Guide Sequence Name was
3352
not specified.
Force Guide Property Name or
3353
Result Name was not specified.
Force Guide Property Name,
3354 Result Name or Object Name was
not specified.
Force Guide project file has
3355
unsupported file format.
Linked OBJ file does not match the
3356
compiled Force Guide Project.
Dialog ID is not specified in
RunDialog statement. Refer to
3400 Dialog ID was not specified. SPEL+ Language Reference
“RunDialog Statement” and specify a
dialog ID.
Name of the main function to execute
Main function name was not is not specified in StartMain
3401
specified. statement. Specify a main function
name (main to main63).
Vision object name is not specified in
Vision object name was not VLoadModel, VSaveModel,
3402
specified. VShowModel, VTeach, and VTrain
statements. Specify an object name.
Recover mode is not specified in
Recover statement or Recover
Recover mode ID was not
3403 function. Refer to SPEL+ Language
specified.
Reference “Recover Statement” and
specify a proper mode.

Status Code / Error Code List Rev.5 65

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Trap number or trap event is not
specified in Trap statement. Refer to
3404 Trap condition was not specified. SPEL+ Language Reference “Trap
Statement” and specify a proper trap
number or event.
DialogResult property setting value is
not specified in GSet statement.
3405 DialogResult was not specified. Refer to GUI Builder 7.0
“DialogResult Property” and specify a
proper setting value.
Display type is not specified in
MsgBox statement. Refer to SPEL+
3406 MsgBox_Type was not specified. Language Reference “MsgBox
Statement” and specify a proper
setting value.
Byte type array variable is not
specified for send or receive data in
Byte type array variable was not
3407 FbusIO_SendMsg statement.
specified.
Send/receive data must be specified
by Byte type array.
The number of dimensions is not
Single array variable was not proper in the command where single
3408
specified. array variable is only available.
Correct the number of dimensions.
Pixel coordinate or robot coordinate
is not specified as a continuous point
3409 Point list is not specified. data in VxCalib statement. Specify a
continuous point data in the following
format: P (start : end)
CodeType property setting value is
not specified in VSet statement.
Refer to Vision Guide 7.0 Properties
3410 Code type is not specified.
& Results Reference “CodeType
Property” and specify a proper
setting value.
EdgeType property setting value is
not specified in VSet statement.
Refer to Vision Guide 7.0 Properties
3411 Edge type is not specified.
& Results Reference “EdgeType
Property” and specify a proper
setting value.
ErrorCorrection property setting
value is not specified in VSet
statement. This error is for the old
RC+6.x. Setting of the old version is
3412 ECC type is not specified. possible by compiler version setting.
Refer to Vision Guide 6.0 Properties
& Results Reference “ErrorCorrection
Property” and specify a proper
setting value.
ImageColor property setting value is
not specified in VSet statement.
Refer to Vision Guide 7.0 Properties
3413 ImageColor type is not specified.
& Results Reference “ImageColor
Property” and specify a proper
setting value.

66 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

PointType property setting value is
not specified in VSet statement.
Refer to Vision Guide 7.0 Properties
3414 Point type is not specified.
& Results Reference “PointType
Property” and specify a proper
setting value.
ReferenceType property setting
value is not specified in VSet
statement. Refer to Vision Guide 7.0
3415 Reference type is not specified.
Properties & Results Reference
“ReferenceType Property” and
specify a proper setting value.
Logic (edge type) of the trigger input
is not specified in SetLatch
3416 Edge type is not specified.
statement. Specify either 0 (negative
logic) or 1 (positive logic).
R-I/O input port number where the
trigger input is connected is not
specified in SetLatch statement.
3417 Port number is not specified.
Refer to SPEL+ Language Reference
“SetLatch Statement” and specify a
proper port number.
Axis parameter is not specified in
Force_GetForce function or
Force_SetTrigger statement.
3418 Axis is not specified.
Refer to SPEL+ Language Reference
“Force_GetForce Function” and
specify a proper setting value.
ComapreType parameter to set
judgment condition is not specified in
Force_SetTrigger statement.
3419 CompareType is not specified.
Refer to SPEL+ Language Reference
“Force_SetTrigger Statement” and
specify a proper parameter.
Integer or Short type array variable
3420 -
is only available.
Form name or system window ID
which is subject to operation is not
specified in GShow and GClose
Form name or window ID is not
3421 statements. Specify a valid form
specified.
name or window ID. For details of
window ID, refer to GUI Builder7.0
manual “GShow Statement”.
System window ID which is subject to
operation is not specified in GShow
and GClose statements. Refer to
3422 Window ID is not specified.
GUI Builder7.0 manual “GShow
Statement” and specify a proper
window ID.
Performance mode is not specified in
PerformMode parameter of
PerformMode statement, Go, BGo,
Performance mode ID was not
3423 TGo, Jump statement. Refer to
specified.
SPEL+ Language Reference
“PerformMode” and specify a proper
performance mode.

Status Code / Error Code List Rev.5 67

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Communication protocol setting is
3424 Protocol type was not specified. not specified in SetNet statement.
Specify UDP or TCP.
I/O type or I/O label is not specified in
IODef function. Specify the I/O label
I/O type or I/O label was not or I/O type to check existence of
3425
specified. definition. For details of I/O types,
refer to SPEL+ Language Reference
“IODef Function”.
Singularity avoidance mode is not
specified in AvoidSingularity
Singularity avoidance mode was statement. Refer to SPEL+
3426
not specified. Language Reference
“AvoidSingularity Statement” and
specify a proper mode.
Setting number of acceleration is not
specified in AccelR function. Refer to
Acceleration value was not
3427 SPEL+ Language Reference “AccelR
specified.
Function” and specify a proper
setting value.
Setting number of acceleration is not
specified in Accel function, AccelMax
function, AccelS function, and
Acceleration value was not
3428 RealAccel function. Refer to SPEL+
specified.
Language Reference “Accel
Function” and specify a proper
number.
Sorting order for work queue data is
not specified in WorkQue_Sort
Sorting order for work queue data statement. Refer to SPEL+
3429
was not specified. Language Reference “WorkQue_Sort
Statement” and specify a proper
sorting order.
Coordinate axes number was not
3430 -
specified.
Coordinate axes number was not
3431 -
specified.
Point or point expression is not Reboot the controller.
3432 specified. Initialize the controller firmware.
Review the program. Replace the controller.
Array which stores a value of
Boolean type array variable was
Enabled or LPF_Enabled property
not specified.
3433 must be a Boolean type array
Specify a Boolean type array
variable in FGet statement.
variable.
Specify a Boolean array variable.
Real or Double type array variable is
Real or Double type array variable
not specified in FGet or MPGet
was not specified.
3434 statement.
Specify a Real or Double type
Specify a real or double type array
array variable.
variable.
Array which stores a value of
Integral type array variable was not Polarities property must be an
specified. Integral type array variable in FGet
3435
Specify an Integral type array statement.
variable. Specify an integral type array
variable.

68 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Duration of force control (timeout
Duration of FCKeep statement is
value) is not specified in FCKeep
3436 not specified.
statement.
Specify the duration.
Specify a proper setting value.
Part kind of controller was not
3437 Specify the controller part type.
specified.
Part kind of robot was not
3438 Specify the robot part type.
specified.
Part kind of robot was not
3439 Specify the robot part type.
specified.
A value other than numerical value
Specify a numerical value for
is specified for the parameter of the
3440 AIO_TrackingSet command 7th
command. Specify a numerical
parameter.
value.
A value other than numerical value
Specify a numerical value for
is specified for the parameter of the
3441 AIO_TrackingSet command 6th
command. Specify a numerical
parameter.
value.
Force property name or status name
Force property name or status
is not specified in FSet, FGet,
name is not specified.
3450 MPSet, and MPGet statements.
Add a property name or a status
Add a property name or a status
name.
name.
Either of Force property name, status
Force property name, status name, name, or object name is not specified
or object name is not specified. in FSet, FGet, MPSet, and MPGet
3451
Add either of a property name, statements.
status name, or object name. Add either of a property name, status
name, or object name.
Reboot the controller.
Force object name is not specified.
3452 Initialize the controller firmware.
Add a force object name.
Replace the controller.
Mass Property Object is not
3453 specified. Specify a valid Mass Property object.
Specify a Mass Property Object.
Force Coordinate System Object is
not specified. Specify a valid Force Coordinate
3454
Specify a Force Coordinate System object.
System Object.
Force Control Object is not
3455 specified. Specify a valid Force Control object.
Specify a Force Control Object.
Force Monitor Object is not
3456 specified. Specify a valid Force Monitor object.
Specify a Force Monitor Object.
Force Trigger Object is not
3457 specified. Specify a valid Force Trigger object.
Specify a Force Trigger Object.
Force Control Object or Force Force Control data or Force
Coordinate System Object is not Coordinate System data is not
3458 specified. specified in FCSMove statement.
Specify a Force Control Object or Specify a valid Force Control object
Force Coordinate System Object. or Force Coordinate System object.
3459 Force object is not specified. Specify a Force object.
3460 Force object label is not specified. Specify a Force object label.
Force object or label is not
3461 Specify a Force object or label.
specified.

Status Code / Error Code List Rev.5 69

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Force Coordinate System Object or
label is not specified. Specify a valid Force Coordinate
3462
Specify a Force Coordinate System object or label.
System Object or label.
Force Control Object or label is not
specified. Specify a valid Force Control object
3463
Specify a Force Control Object or or label.
label.
Force Monitor Object or label is not
specified. Specify a valid Force Monitor object
3464
Specify a Force Monitor Object or or label.
label.
Force Trigger Object or label is not
specified. Specify a valid Force Trigger object
3465
Specify a Force Trigger Object or or label.
label.
Mass Property Object or label is
not specified. Specify a valid Mass Property object
3466
Specify a Mass Property Object or or label.
label.
Force Coordinate System Object or
label is not specified. Specify a valid Force Coordinate
3467
Specify a Force Coordinate System object or label.
System Object or label.
Force Control Object label is not
specified. Specify a valid Force Control object
3468
Specify a Force Control Object label.
label.
Force Monitor Object label is not
specified. Specify a valid Force Monitor object
3469
Specify a Force Monitor Object label.
label.
Force Trigger Object label is not
specified. Specify a valid Force Trigger object
3470
Specify a Force Trigger Object label.
label.
Force Sensor Object label is not
specified. Specify a valid Force Sensor object
3471
Specify a Force Sensor Object label.
label.
Mass Property Object label is not
specified. Specify a valid Mass Property object
3472
Specify a Mass Property Object label.
label.
Mass Property Object label is not
specified. Specify a valid Mass Property object
3473
Specify a Mass Property Object label.
label.
Fmag_Axes or Tmag_Axes property
Fmag_Axes or Tmag_Axes setting value is not specified in FSet
property setting value is not statement.
3474
specified. Refer to “Fmag_Axes property” or
Specify a proper setting value. “Tmag_Axes property” and specify a
proper setting value.
TriggerMode property setting value is
TriggerMode property setting value
not specified in FSet statement.
3475 is not specified.
Refer to “TriggerMode property” and
Specify a proper setting value.
specify a proper setting value.

70 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Operator property setting value is not
Operator property setting value is
specified in FSet statement.
3476 not specified.
Refer to “Operator property” and
Specify a proper setting value.
specify a proper setting value.
Orientation property setting value is
Orientation property setting value
not specified in FSet statement.
3477 is not specified.
Refer to “Orientation property” and
Specify a proper setting value.
specify a proper setting value.
Fmag_Polarity, Fx_Polarity,
Fy_Polarity, Fz_Polarity,
Polarity property setting value is Tmag_Polarity, Tx_Polarity,
3478 not specified. Ty_Polarity, and Tz_Polarity property
Specify a proper setting value. setting value is not specified in FSet
statement.
Specify a proper setting value.
TillStopMode property setting value
TillStopMode property setting value
is not specified in FSet statement.
3479 is not specified. Specify a proper
Refer to “TillStopMode property” and
setting value.
specify a proper setting value.
Another macro with the same name
Duplicate macro in #define
3500 has been defined. Change the
statement.
macro name.
Macro name is not specified in
3501 Macro name was not specified. #define, #ifdef, #ifndef, and #undef
statements. Add a macro name.
Include file name is not specified in
3502 Include file name cannot be found. #include statement. Add a valid
include file name.
The include file that is not registered
Specified include file is not in the in the project configuration is
3503
project. specified. Add the include file to the
project configuration.
Parameter of the macro function Check the number of parameters and
3504
does not match the declaration. correct the macro function.
The macro has a circular reference.
3505 Macro has a circular reference.
Correct the circular reference.
#define, #ifdef, #ifndef, #else,
#endif, #undef and variable Check and correct the content of
3506
declaration statements are only include file.
valid in an include file.
Limit of the nesting levels is 7 at the
3507 Over #ifdef or #ifndef nesting level. maximum. Correct the program so
as not to exceed the limit value.
The number of #endif statements that
correspond to #ifdef and #ifndef
Cannot find corresponding #ifdef or
3508 statements are too many. Delete
#ifndef.
#endif statements or add the #ifdef
and #ifndef statements.
The number of #endif statements that
No #endif found for #ifdef or correspond to #ifdef and #ifndef
3509
#ifndef. statements are not enough. Add the
# endif statements.
3510 Cannot obtain the macro buffer. -
The macro declared as a macro
Parameter for the macro function
3550 function is called without argument.
was not specified.
Correct the program.

Status Code / Error Code List Rev.5 71

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

When the queue data is specified in
Jump, Jump3, and Jump3CP
Tracking motion command cannot
3600 statements, Sense parameter cannot
use Sense parameter.
be specified. Delete the Sense
statement.
Parameter type is mismatch for the LJM parameter cannot be specified
external function ' ** '. in BGo, TGo, Arc, Arc3, BMove,
3601
Check all statements where this Move, and TMove statements.
function is called in this file. Delete the LJM parameter.
InReal function cannot be used with
The specified motion command
3602 Wait statement. Correct the
cannot use LJM parameter.
program.
PerformMode parameter cannot be
specified in Jump3, Jump3CP, Arc,
InReal function cannot be used
3603 Arc3, BMove, Move, and TMove
with Wait statement.
statements. Delete the PerformMode
parameter.
LJM parameter cannot be specified
The specified motion command
in BGo, TGo, Arc, Arc3, BMove,
3605 cannot use PerformMode
Move, and TMove statements.
parameter.
Delete the LJM parameter.
Index number cannot be specified
except List property in GSet and
3606 Cannot use the index.
GGet statements. Correct the
program.
Invalid index is specified in Objects
property of VSet and VGet
statements. The index must be
3607 Invalid object index was specified.
larger than 1 and smaller than the
number of objects in the specified
sequence. Specify a proper index.
Invalid index is specified in Controls
property of GSet and GGet
statements. The index must be
3608 Invalid control index was specified.
larger than 1 and smaller than the
number of controls in the specified
form. Specify a proper index.
Force Guide data or CF parameter is
Modifier parameters are
duplicated in CVMove, FCKeep or
3609 duplicated.
other statement for robot motion.
Review the program.
Correct the program.
Keywords such as a command or a
Cannot use a keyword for a label function are used for a label name.
3610
name. Change the label name which does
not use these keywords.
Invalid sequence index was
3611 Please review the sequence index.
specified.
Too many files in the project.
3613 Reduce the number of project files.
Reduce the number of files.
Specify integer for Declare return
data type other than a string. Also, if
You cannot specify a String for
3614 you want to require a string, specifie
Declare return data type.
string integer as an argument, not
return data type.
Vision sequence name or calibration
Vision Sequence Name or
name is not specified in VGet
3733 Calibration Name was not
statements. Add a sequence name
specified.
or calibration name.

72 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

3755 ToolType was not specified. Specify argument for ToolType.
Monitoring Method was not Specify Monitoring Method for
3759
specified. argument.
3763 TOOL was not specified. Specify TOOL for argument.
Specify the kind of correction for
3764 Kind was not specified.
argument.
3765 Cnv was not specified. Specify "Cnv" for argument.
3800 Compile process aborted. -
3801 Link process aborted. -
Compile process aborted. Compile
Correct the error in the program and
3802 errors reached the maximum
rebuild the project.
count.
Link process aborted. Link errors Correct the error in the program and
3803
reached the maximum count. rebuild the project.
Declaration of variables and
functions, program control statement,
preprocessor commands, and some
Specified command cannot be
commands cannot be executed from
3804 executed from the Command
the command window. For details,
window.
refer to SPEL+ Language Reference
“Appendix A：SPEL+ Command Use
Condition List”.
Brake, SysConfig, Where,
Specified command can only be Cnv_QueList, and WorlQue_List
3805 executed from the Command statements can only be executed
window. from the command window. Delete
these statements from the program.
LogIn function cannot be executed
Specified function cannot be
from the command window even
3806 executed from the Command
when used with Print statement. Use
window.
the function in the program.
LJM and PerformMode parameters of
motion commands may not be
specified depending on the compiler
version.
Specified syntax cannot be used in
3808 LJM parameter: 6.0.x.x or later
the current version.
PerformMode parameter: 7.0.4.x or
later
Check the compiler version from the
project property.
Module variable cannot be accessed
Module variables cannot be used
3809 from the command window. Check
in the command window.
the input command.
Functions for condition expression of
the user defined remote output are
Specified function cannot be used limited. Refer to EPSON RC+7.0
3812
with a Remote User Output. User’s Guide “12.4 User-defined
Remote Output I/O” and specify a
valid function.
User defined label, function and
User defined label, function and variable cannot be used with
3813 variable cannot be used with a condition expression of the user-
Remote User Output. defined remote output. Correct the
condition expression.

Status Code / Error Code List Rev.5 73

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

A combination of multiple statements
is exceeding the available size of the
Object code size is beyond the
3814 intermediate code which can be
available size.
executed at once (1024 bytes).
Divide the statements.
When executing FGet or MPGet
Parameter cannot be specified for
statement from a command window,
property or status in the command
a parameter cannot be specified to a
3815 window.
property or status.
Delete the parameter and execute
Delete the parameter and execute
again.
again.
3850 File not found. -
Failed to read the point file which
3851 Point file not found. configures the project. Check the
project folder if the file exists.
Failed to read the I/O label file which
3852 I/O label file not found. configures the project. Check the
project folder if the file exists.
Failed to read the user error label file
3853 User error label file not found. which configures the project. Check
the project folder if the file exists.
Force file does not exist. Failed to read the force file which
3854 Check the project folder if the file configures the project. Check the
exists. project folder if the file exists.
3860 I/O label file not supported format. Regenerate the I/O label file.
User error label file has
3861 Regenerate the user error file.
unsupported file format.
Point file has unsupported file
3862 Regenerate the point file.
format.
Vision project file has unsupported
3863 Regenerate the vision sequence.
file format.
GUI Builder project file has
3864 Regenerate the GUI Builder form.
unsupported file format.
3865 OBJ file not supported format. Rebuild the project.
Force file has unsupported file
3866 format. Regenerate the force file.
Re-create the force file.
Mass Property object cannot be
Cannot specify Mass Property specified in FSet, FGet, FDel, and
3870 Object. FList statements, FDef, and
Review the program. FLabel$ functions.
Correct the program.
Force coordinate system object
cannot be specified in Go, BGo, TGo,
Cannot specify Force Coordinate Jump, Jump3, Mode, BMove, TMove,
3871 System Object. Arc, Arc3 statement, MPSet, MPGet,
Review the program. MPDel, MPList statement, and
MPDef, MPLabel$ function.
Correct the program.
Force control object cannot be
specified in Go, BGo, TGo, Jump,
Cannot specify Force Control
Jump3 statement, and MPSet,
3872 Object.
MPGet MPDel, MPList statement,
Review the program.
and MPDef, MPLabel$ function.
Correct the program.

74 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Force monitor object cannot be
Cannot specify Force Monitor specified in MPSet, MPGet, MPDel,
3873 Object. MPList statement, and MPDef,
Review the program. MPLable$ function. Correct the
program.
Force trigger object cannot be
Cannot specify Force Trigger specified in MPSet, MPGet, MPDel,
3874 Object. MPList statement, and MPDef,
Review the program. MPLable$ function. Correct the
program.
Force Sensor object cannot be
specified in FDel, FList statement,
Cannot specify Force Sensor
FDef, FLabel$ function, MPSet,
3875 object.
MPGet, MPDel, MPList statement,
Review the program.
and MPDef, MPLabel$ function.
Correct the program.
Robot object cannot be specified in
FDel, FList statement, FDef,
Cannot specify Robot object. FLabel$ function, MPSet, MPGet,
3876
Review the program. MPDel, MPList statement, and
MPDef, MPLabel$ function.
Correct the program.
Force control object and Force
Cannot specify Force Control
coordinate system object cannot be
Object and Force Coordinate
3877 specified at the same time in
System Object at the same time.
FCSMove statement.
Review the program.
Correct the program.
CF parameter cannot be specified in
Cannot specify CF parameter.
3878 Go, BGo, TGo, Jump, Jump3.
Delete the CF parameter.
Delete the CF parameter.
Mass property object label cannot be
Cannot specify Mass Property
specified in MPDel, and MPList
3879 Object label.
statements.
Review the program.
Correct the program.
Force coordinate system object label
Cannot specify Force Coordinate
cannot be specified in FDel and FList
3880 System Object label.
statements.
Review the program.
Correct the program.
Force control object label cannot be
Cannot specify Force Control
specified in FDel and FList
3881 Object label.
statements.
Review the program.
Correct the program.
Force monitor object label cannot be
Cannot specify Force Monitor
specified in FDel and FList
3882 Object label.
statements.
Review the program.
Correct the program.
Force trigger object label cannot be
Cannot specify Force Trigger
specified in FDel and FList
3883 Object label.
statements.
Review the program.
Correct the program.
Cannot specify Force Sensor Reboot the controller.
3884 Object label. Initialize the controller firmware.
Review the program. Replace the controller.
Cannot specify Mass Property Mass property object number cannot
3885 Object number. be specified in MPNumber function.
Review the program. Correct the program.

Status Code / Error Code List Rev.5 75

Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Force coordinate system object
Cannot specify Force Coordinate
number cannot be specified in
3886 System Object number.
FNumber function.
Review the program.
Correct the program.
Cannot specify Force Control Force control object number cannot
3887 Object number. be specified in FNumber function.
Review the program. Correct the program.
Cannot specify Force Monitor Force monitor object number cannot
3888 Object number. be specified in FNumber function.
Review the program. Correct the program.
Cannot specify Force Trigger Force trigger object number cannot
3889 Object number. be specified in FNumber function.
Review the program. Correct the program.
Cannot specify Force Sensor
3890 Object number. -
Review the program.
The data type of the first and the
Type of the specified two objects
second parameter does not match in
does not match.
3891 FDel, FList, MPDel, MPList
Specify the same type of the
statements.
objects.
Correct the program.
Cannot specify Force Motion The label of force motion restriction
3894 Restriction Object label. Review object can not be specified in FDel,
the program. FList statement. Correct the program.
Cannot obtain the internal
3900 -
communication buffer.
3901 Buffer size is not enough. -
Undefined command was
3910 -
specified.
Cannot enter the file name in the
3911 -
file name buffer.
3912 Cannot obtain the internal buffer. -
3913 Cannot set priority. Reboot the controller.
3914 Invalid ICode. Rebuild the project.
3915 Invalid ICode. Rebuild the project.
3916 Invalid ICode. Rebuild the project.
3917 Invalid ICode. Rebuild the project.
3918 Invalid ICode. Rebuild the project.
3919 Invalid ICode. Rebuild the project.
3920 Invalid ICode. Rebuild the project.
3921 Invalid ICode. Rebuild the project.
Specify a numerical value for
3930 VDefTool Type ID is not specified.
VDefTool command 2nd parameter.
Specify a numerical value for
3931 VDefArm Type ID is not specified.
VDefArm command 2nd parameter.
VDefArm ArmSetMode is not Specify a numerical value for
3932
specified. VDefArm command 3rd parameter.
Specify a numerical value for
3933 VDefLocal Type ID is not specified.
VDefLocal command 2nd parameter.
VDefLocal CalibPlate Type ID is Specify a numerical value for
3934
not specified. VDefLocal command 3rd parameter.
Specify a numerical value for
3940 LatchPos Type ID is not specified.
LatchPos command 1st parameter.

76 Status Code / Error Code List Rev.5

 Code Number 3000 ~

No. Message Remedy Note 1 Note 2

Command syntax is not correct.
Check the description of the
command in Part Feeding 7.0
3945 Feeder Name was not specified. Introduction & Hardware (Common)
& Software Software
"Part 3: Feeding SPEL+ Command
Reference" and modify the code.
Command syntax is not correct.
Check the description of the
command in Part Feeding 7.0
3946 Object ID was not specified. Introduction & Hardware (Common)
& Software Software
"Part 3: Feeding SPEL+ Command
Reference" and modify the code.
Command syntax is not correct.
Check the description of the
command in Part Feeding 7.0
3947 Property ID was not specified. Introduction & Hardware (Common)
& Software Software
"Part 3: Feeding SPEL+ Command
Reference" and modify the code.
Command syntax is not correct.
Check the description of the
command in Part Feeding 7.0
3948 Property ID was not specified. Introduction & Hardware (Common)
& Software Software
"Part 3: Feeding SPEL+ Command
Reference" and modify the code.
Command syntax is not correct.
Check the description of the
command in Part Feeding 7.0
3949 PartOrient was not specified. Introduction & Hardware (Common)
& Software Software
"Part 3: Feeding SPEL+ Command
Reference" and modify the code.
Neither Robot, Object nor
3960
ResetCollision were specified.
Neither Hand nor Property were
3961
specified.
3962 Invalid Property was specified.
Neither Robot nor Object were
3963
specified.
3964 Invalid Object was specified.
3965 Invalid Object index was specified.
Analog I/O TCPSpeed Type is not Specify a numerical value for
3990
specified. AIO_Set command 3rd parameter.

Status Code / Error Code List Rev.5 77

Code Number 4000 ~

Code Number 4000 ~

No. Message Remedy Note 1 Note 2
Arm reached the limit of motion Check the point to move, current
4001
range. point, and Range setting.
The
Specified value is out of parameter
4002 Review the setting parameters. causing
allowable range.
the error
Motion device driver failure. Reboot the controller.
4003 Communication error within the Initialize the controller firmware.
motion control module. Replace the controller.
Motion device driver failure. Reboot the controller.
4004 Event waiting error within the Initialize the controller firmware.
motion control module. Replace the controller.
Current point position is above Lower the Z axis. Increase the
4005
the specified LimZ value. specified LimZ value.
Lower the Z coordinate position of
Target point position is above
4006 the target point. Increase the
the specified LimZ value.
specified LimZ value.
Coordinates conversion error.
The end/mid point is out of the Check whether the coordinate out of
4007
motion area. Jogging to the the motion range is not specified.
outside of the motion area.
Current point position or
4008 specified LimZ value is out of Change the specified LimZ value.
motion range.
Motion device driver failure. Reboot the controller.
4009 Timeout error within motion Initialize the controller firmware.
control module. Replace the controller.
Specified Local coordinate was Local
4010 Define the Local coordinate system.
not defined. number
Arm reached the limit of XY
Check the area limited by the
4011 motion range specified by
XYLim statement.
XYLim statement.
Upper limit value of Box is
smaller than the lower limit Set the upper limit value to be larger
4012
value. Change the upper and than the lower limit value.
lower limit values.
Calculation of the timing of Arch
motion failed. Perform either of the
Motion control module internal
4013 following:
calculation error.
- Check and modify Arch parameter
- Disable Arch
Execute MCal. Make sure the
4014 MCAL was not completed. MCOdr is set for the joint connected
to the PG board.
Due to robot mechanistic limitation,
SFree statement was attempted setting some joint(s) to servo free
4016
for prohibited joint(s). status is prohibited. Check the
robot specifications.
Communication error within the Reboot the controller.
4018 motion control module. Check Initialize the controller firmware.
sum error. Replace the controller.
Point positions used to define Set the distance between points
4021
the Local are too close. more than 1μm.
Point coordinate data used to Match the coordinate data for the
4022
define the Local is invalid. points to be specified.

78 Status Code / Error Code List Rev.5

 Code Number 4000 ~

No. Message Remedy Note 1 Note 2

Cannot execute when the motor Turn the motor power ON and then
4023
is in the off state. execute.
Check whether the robot does not
Cannot complete the arm
generate vibration or all parts and
4024 positioning using the current
screws are secured firmly. Increase
Fine specification.
the Fine setting value.
Cannot execute a motion
Clear the emergency stop condition
4025 command during emergency
and execute the motion command.
stop condition.
Communication error within the Reboot the controller.
4026 motion control module. Servo Initialize the controller firmware.
I/F failure. Replace the controller.
Communication error within the Reboot the controller.
4028 motion control module. Device Initialize the controller firmware.
driver status failure. Replace the controller.
Buffer for the average torque
calculation has overflowed. Shorten the time interval from Atclr
4030
Shorten the time interval from to Atrq less than about two minutes.
Atclr to Atrq.
Cannot execute a motion
Turn the motor power ON and then
4031 command when the motor is in
execute the motion command.
the off state.
Cannot execute a motion
Set all joints to the SLock state and
4032 command when one or more
execute the motion command.
joints are in SFree state.
The specified command is not The specified command is not
4033 supported for Pulse Generator permitted for the joints with PG
Board joints. board.
Specified command is not Remove the unsupported command
4034
supported for this robot model. from the program.
Set a move distance between
Only the tool orientation was
points. Use the ROT modifier,
4035 attempted to be changed by the
SpeedR statement, and AccelR
CP statement.
statement.
Decrease the setting values for the
Rotation speed of tool
SpeedS and AccelS statements.
4036 orientation by the CP statement
Use the ROT modifier, SpeedR
is too fast.
statement, and AccelR statement.
The point attribute of the current
and target point positions differ
4037 Match the point attribute.
for executing a CP control
command.
Two point positions are too
Set the distance between points
4038 close to execute the Arc
more than 1μm.
statement.
Three point positions specified
4039 by the Arc statement are on a Use the Move statement.
straight line.
Motion command was attempted
4041 to the prohibited area at the Check the robot motion range.
backside of the robot.
Motion device driver failure. Reboot the controller.
4042 Cannot detect the circular format Initialize the controller firmware.
interruption. Replace the controller.
Specified command is not
Remove the unsupported command
4043 supported for this robot model or
from the program.
this joint type.

Status Code / Error Code List Rev.5 79

Code Number 4000 ~

No. Message Remedy Note 1 Note 2

Curve failure. Specified curve Create a Curve file again with the
4044
form is not supported. Curve statement.
Specify the Curve mode properly.
Curve failure. Specified mode is
4045 Create a Curve file again with the
not supported.
Curve statement.
The number of the available
Curve failure. Specified
coordinate axes is 2, 3, 4, and 6.
4046 coordinate number is out of the
Create a Curve file again with the
allowable range.
Curve statement.
Curve failure. Point data was Create a Curve file again with the
4047
not specified. Curve statement.
Curve failure. Parallel process
Create a Curve file again with the
4048 was specified before the point
Curve statement.
designation.
Curve failure. Number of
Create a Curve file again with the
4049 parallel processes is out of the
Curve statement.
allowable range.
The number of available point
Curve failure. Number of points numbers differs according to the
4050
is out of the allowable range. curve form. Check the number of
points again.
Curve failure. Local attribute
Match the local and point flag for all
4051 and the point attribute of all
the specified points.
specified points do not match.
Curve failure. Not enough
4052 Reboot the controller.
memory to format the curve file.
Review the point data. Check
Curve failure. Failed to format
4053 whether adjacent two points do not
the curve file.
overlap on the specified point line.
The Curve file is broken. Create a
4054 Curve failure. Curve file error Curve file again with the Curve
statement.
Curve failure. No distance for
4055 Review the point data.
curve file movement.
Curve failure. Point positions for Set the distance between two points
4056 the Curve statement are too adjacent to the specified point more
close. than 0.001 mm.
Prohibited command while Remove the prohibited command
4058
tracking was executed. from the program.
Executed encoder reset
4059 command while the motor is in Turn the motor power OFF.
the on state.
Executed an invalid command
4060 while the motor is in the on Turn the motor power OFF.
state.
You attempted to clear the currently
specified Arm and Tool.
4061 Specified parameter is in use.
Select other Arm and Tool and
execute.
You attempted to rotate the joint
Orientation variation is over 360
4062 #J6 more than 360 degrees with a
degrees.
CP motion command.
On the specified point line by the
Curve statement, set the orientation
Orientation variation of adjacent
4063 variation of U, V, and W coordinate
point is over 90 degrees.
values between two adjacent points
to under 90 degrees.

80 Status Code / Error Code List Rev.5

 Code Number 4000 ~

No. Message Remedy Note 1 Note 2

On the specified point line, a curve
cannot be created by automatic
Cannot execute the orientation orientation correction.
4064
correction automatically. Change the specified point line so
that the joint #J6 orientation
variation decreases.
You attempted to rotate the joint
#J6 more than 360 degrees with a
CP motion command. You
Attempt to revolve J6 one attempted to revolve the joint 6 one
4065 rotation with the same rotation with the same as motion
orientation in CP statement. start orientation.
Change the target point so that the
joint #J6 revolves less than one
rotation.
Motion command was attempted
You attempted to move the joints to
4066 in the prohibited area depended
the robot's interference limited area.
on joint combination.
ROT modifier parameter was
specified for the CP motion Delete the ROT from the CP motion
4068
command without orientation command.
rotation.
Specified ECP without selecting
4069 Specify a valid ECP.
ECP in CP statement.
Specified ECP number does not
4070 match the ECP number used in Specify a valid ECP.
curve file creation.
Attempted motion command
4071 during electromagnetic brake Release the electromagnetic brake
lock condition.
Reboot the controller.
Initialization failure. Hardware
4072 Initialize the controller firmware.
monitor was not initialized.
Replace the controller.
Any of U, V, or W changes 90
Orientation variation of adjacent
4073 degrees or more. Change the point
point is over 90 degrees.
or the orientation.
Motor type does not match the Check whether the specified robot
4074
current robot setting. model is connected.
4075 Option is not active. Enable the option.
Point positions used to define Set the distance between points
4076
the Plane are too close. more than 1 μm.
Point coordinate data used to Match the coordinate data for the
4077
define the Plane is invalid. points to be specified.
Only the additional ST axis was Use PTP motion commands in
4078 attempted to be changed by the order to move the additional axis
CP statement. only.
Speed of additional ST axis by Reduce the set values of SpeedS
4079
the CP statement is too fast. and AccelS.
Cannot execute when the Turn the Enable Switch ON and
4080
Enable Switch is OFF. then execute.
Check the PG board.
Check the connection with the
Error was detected during
4081 motor driver.
operation.
Replace the PG board.
Replace the controller.

Status Code / Error Code List Rev.5 81

Code Number 4000 ~

No. Message Remedy Note 1 Note 2

Check the PG board.
Pulse Generator Board error Check the connection with the
4082
was detected during operation. motor driver.
Replace the PG board.
Set PG parameter so that MCAL
4083 MCAL did not complete in time.
can complete within 120 seconds.
Limit Sensor error was detected
4084 Check the limit sensor.
during operation.
Reboot the controller.
Failed to change to specified
4085 Initialize the controller firmware.
location.
Replace the controller.
Cannot execute because it is not Change to the dry run mode and
4086
dry run mode. execute.
Check the amount of free space of
the computer.
Failed to format the playback
4087 Reboot the computer.
file.
Reinstall the RC+.
Replace the computer.
Buffer for the average speed
calculation has overflowed. Shorten the time interval from
4088
Shorten the time interval from AvgSpeedClear to AvgSpeed.
AvgSpeedClear to AvgSpeed.
The time interval from Set the time interval from
4089 HealthRBStart to HealthRBStop HealthRBStart to HealthRBStop to - -
is too long or too short. be within 1 to 3600 seconds.
Execute HealthRBStop after
executing HealthRBStart.
HealthRBStop is executed This error also occurs when
4090 - -
without HealthRBStart. HealthRBStop is executed again
without executing HealthRBStart
after HealthRBStop.
Specified analog I/O channel Check the channel number. Mount
4091
does not exist. the analog I/O option board.
Specified analog output channel Execute after stopping the speed
4092
is used for a speed data output. output of the specified channel.
If the motion is paused during
the singularity-avoiding, the
4093 Abort the motion command.
motion cannot resume. Abort the
motion command.
Either J1 or J2 axis is out of the
motion range. Follow the
procedures below and move the
robot within the motion range.
・Use Pulse command and JTran
The current position is out of the
4094 to move the robot within the motion
motion range.
range.
・Move the robot within the motion
range manually.
(This error only occurs in RS series
and N series.)
The motion command for the robot
Robot in use. cannot be simultaneously executed
Cannot execute the motion from more than one task. Review
4096
command when other tasks are the program.
using the robot. This error cannot be recovered
automatically by OnErr.

82 Status Code / Error Code List Rev.5

 Code Number 4000 ~

No. Message Remedy Note 1 Note 2

1000
Make sure that the horizontal
times
Arm length calibration parameter distance is within ± 0.75 mm of the
4097 Parameter number larger of
setting failure. default arm length and the offset
the set
angle of the joint is within ± 2°.
value
Check if a 5000-number error is
Servo error was detected during occurring in the system history. If
4099
operation. the error is occurring, take
measures for a 5000-number error.
Communication error in motion
Reboot the controller.
control module. Cannot
4100 Initialize the controller firmware.
calculate the current point or
Replace the controller.
pulse.
Communication error in the
Reboot the controller.
motion control module. Cannot
4101 Initialize the controller firmware.
calculate the current point or
Replace the controller.
pulse.
Reboot the controller.
Initialization failure.
Initialize the controller firmware.
4102 Servo control module
Replace the DMB.
initialization error.
Replace the controller.
T/VT series Manipulators:
For T/VT series Manipulator, reboot
the controller and take the measure
against noise.
If the joint number is displayed in
Initialization failure. Motion
the system history, replace the
4103 control module initialization
motor unit. If not, replace the CPU
error.
board.
Other Manipulators:
Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Cannot receive the positioning
Positioning timeout of the joint
completion signal (DEND) from the
4104 connected to the Pulse
servo motor connected to PG
Generator Board.
board.
EMERGENCY connector Check the connection of
4105
connection failure. EMERGENCY connector.

Drive unit failure. Uncommon

4106 Check if DU is properly connected.
error.

Initialization failure.
4108 Check the wiring of the motor unit.
Motor unit connection error.
The input status of the redundant
emergency stop input continuously
differs for more than two seconds.
Redundant input signal failure of
4150 Check whether no disconnection,
the emergency stop.
earth fault, or short-circuit of the
emergency stop input signal exits.
Then reboot the controller.

Status Code / Error Code List Rev.5 83

Code Number 4000 ~

No. Message Remedy Note 1 Note 2

The input status of the redundant
emergency stop input continuously
differs for more than two seconds.
Redundant input signal failure of
4151 Check whether no disconnection,
the safeguard.
earth fault, or short-circuit of the
emergency stop input signal exits.
Then reboot the controller.
A relay welding error was detected
Relay welding error of the main due to power system over current.
4152
circuit. Replace the controller.
Replace the robot.
The input status of the redundant
enable signal differs continuously
for more than two seconds.
Redundant input signal failure of
4153 Check the TP connector
the enable switch.
connection.
Replace the TP.
Replace the controller.
Robot’s Duty is too high. Lengthen
Temperature of regeneration
the waiting time or reduce the Accel
4154 resistor was higher than the
value. If the error occurs although
specified temperature.
Duty was lowered, replace the DPB.
Robot initialization failure.
4180 Configure the manipulator.
Specified robot was is not found
Robot initialization failure. Specified manipulator cannot be
4181 Specified robot was in use by configured since it is already
another task. configured.
Robot initialization failure. Robot
4182 Shorten the manipulator name.
name is too long.
Robot initialization failure. Robot
4183 Reconfigure the manipulator.
data version error.
Robot initialization failure. Reboot the controller.
4187 Communication error with the Initialize the controller firmware.
module: VSRCMNPK. Replace the controller.
Robot initialization failure. Joint Reboot the controller.
4188 angle interference matrix is Initialize the controller firmware.
invalid. Replace the controller.
Robot initialization failure. Reboot the controller.
4189 Communication error with the Initialize the controller firmware.
module: VSRCMC. Replace the controller.
Robot initialization failure. Reboot the controller.
4191 Physical-logical pulse Initialize the controller firmware.
transformation matrix is invalid. Replace the controller.
Robot initialization failure. Reboot the controller.
4192 Communication error with the Initialize the controller firmware.
servo module. Replace the controller.
RAS circuit detected a servo
Reboot the controller, take the
system malfunction. Reboot the
4210 measure against noise, or replace
controller. Check for noise.
the DMB.
Replace the controller.
Servo CPU internal RAM failure. Reboot the controller, take the
4211 Reboot the controller. Check for measure against noise, or replace
noise. Replace the DMB. the DMB.
RAM for the main and servo
CPU communication failure. Reboot the controller, take the
4212 Reboot the controller. Check for measure against noise, or replace
noise. the DMB.
Replace the DMB.

84 Status Code / Error Code List Rev.5

 Code Number 4000 ~

No. Message Remedy Note 1 Note 2

Reboot the controller, take the
Servo CPU internal RAM failure.
measure against noise, or replace
4213 Reboot the controller. Check for
the DMB. For T/VT series, it is not
noise. Replace the DMB.
DMB but CPU board.
Initialization communication of
Reboot the controller, take the
main CPU and servo CPU
measure against noise, or replace
4214 failure.
the DMB. For T/VT series it is not
Reboot the Controller. Check
DMB but CPU board.
for noise. Replace DMB.
Initialization communication of
Reboot the controller, take the
the main and servo CPU failure.
4215 measure against noise, or replace
Reboot the controller. Check for
the DMB.
noise. Replace the DMB.
Communication of the main and Reboot the controller, take the
servo CPU failure. Reboot the measure against noise, or replace
4216
controller. Check for noise. the DMB. For T/VT series, it is not
Replace the DMB. DMB but CPU board.
Communication of the main and Reboot the controller, take the
servo CPU failure. Reboot the measure against noise, or replace
4217
controller. Check for noise. the DMB. For T/VT series, it is not
Replace the DMB. DMB but CPU board.
Reboot the controller, take the
Servo long time command
4218 measure against noise, or replace
overrun.
the DMB.
Reboot the controller, take the
Servo long time command check
4219 measure against noise, or replace
sum error.
the DMB.
System watchdog timer detected Reboot the controller, take the
a failure. Reboot the controller. measure against noise, or replace
4220
Check for noise. Replace the the DMB. For T/VT series, it is not
DMB. DMB but CPU board.
Reboot the controller, take the
4221 Drive unit check failure. measure against noise, or replace
the DMB.
RAM failure of the servo CPU. Reboot the controller, take the
4222 Reboot the controller. Check for measure against noise, or replace
noise. Replace the DMB. the DMB.
Failure of duplicate circuit of the
emergency stop or the Check the wiring of the emergency
4223
safeguard. stop or the safeguard.
Check the wiring.
Low voltage of the main circuit
power supply is detected. Check the power supply voltage, or
4224
Check the power supply voltage. reboot the controller.
Reboot the controller.
Control relay contact of the main
4225 circuit power supply is welded. Replace the DPB.
Replace the DPB.
Reboot the controller, take the
Detect the recognition mismatch
4226 measure against noise, or replace
of the sub CPU and main CPU.
the CPU board.

Status Code / Error Code List Rev.5 85

Code Number 4000 ~

No. Message Remedy Note 1 Note 2

Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness,
backlash, non-smooth motion, loose
Temperature of regeneration
belt tension, brake)
4227 resistor was higher than the
Check the interference with the
specified temperature.
peripheral equipment. (Collision,
contact)
Check the model setting.
Check the power cable connection.
4228 Over voltage of the sub CPU. Replace the DPB board.
A data checksum error was
detected in the controller.
Check the short-circuit and
Servo real time status failure. improper connection of the
4230
Check sum error. peripheral equipment wiring.
(Emergency, D-I/O, and Expansion
I/O connectors)
Replace the controller.
A free running counter error was
detected in the controller.
Check the short-circuit and
Servo real time status failure.
improper connection of the
4232 Free running counter error with
peripheral equipment wiring.
the servo.
(Emergency, D-I/O, and Expansion
I/O connectors)
Replace the controller.
A communication error was
detected in the controller.
Check the short-circuit and
Servo real time status failure.
improper connection of the
4233 Communication error with the
peripheral equipment wiring.
servo CPU.
(Emergency, D-I/O, and Expansion
I/O connectors)
Replace the controller.
A interruption error was detected in
the controller.
Check the short-circuit and
Irregular motion control
improper connection of the
4240 interruption was detected.
peripheral equipment wiring.
Interruption duplicate.
(Emergency, D-I/O, and Expansion
I/O connectors)
Replace the controller.

86 Status Code / Error Code List Rev.5

 Code Number 4000 ~

No. Message Remedy Note 1 Note 2

The robot over speed was detected
during low power mode.
Check the robot mechanism.
(Smoothness, backlash, non-
smooth motion, loose belt tension,
brake)
Check whether the robot does not
interfere with peripheral equipment.
Over speed during low power
4241 (Collision, contact)
mode was detected.
Replace the motor driver.
Replace the motor. (Motor and
encoder failure)
Check the short-circuit and
improper connection of the
peripheral equipment wiring.
(Emergency, D-I/O, and Expansion
I/O connectors)
You attempted to operate the robot
with the acceleration reference
exceeding the specified value.
Improper acceleration reference
4242 For a CP motion, decrease the
was generated.
AccelS value.
When using a conveyor, also
reduce the value of Cnv_Accel.
The robot over speed was detected
during high power mode.
Check the robot mechanism.
(Smoothness, backlash, non-
smooth motion, loose belt tension,
brake)
Check whether the robot does not
interfere with peripheral equipment.
Improper speed reference was
4243 (Collision, contact)
generated in high power mode.
Replace the motor driver.
Replace the motor. (Motor and
encoder failure)
Check the short-circuit and
improper connection of the
peripheral equipment wiring.
(Emergency, D-I/O, and Expansion
I/O connectors)
The robot collides with itself.
Set a relay point. Or change the
4248 Please change the target
target point.
position.
Improper reference was
4249 Reduce the value of Accel.
detected.
Arm reached the limit of motion Check whether a CP motion
4250
range during the operation. trajectory is within the motion range.
Arm reached the limit of XY
4251 motion range specified by Check the XYLim setting.
XYLim during the operation.
Coordinate conversion error Check whether a CP motion
4252
occurred during the operation. trajectory is within the motion range.
Because SpeedS is too big, the
4255 robot cannot pass elbow specific Reduce the SpeedS value.
posture

Status Code / Error Code List Rev.5 87

Code Number 4000 ~

No. Message Remedy Note 1 Note 2

When a robot passed elbow
4256 specific posture, Stop or Pause Do not execute Stop or Pause.
were carried out
The robot cannot pass the elbow
singularity area.
The robot cannot pass
4257 To pass the elbow singularity area,
Singularity Area of Elbow
use SING_AVOID of
“AvoidSingularity”.
The Arm reached the limit of Place the conveyor inside the
4261 motion range in conveyor motion range. Meanwhile, allow the
tracking. tracking range for the deceleration
The Arm reached the limit of XY when switching from tracking
4262 motion range in conveyor motion to non-tracking.
tracking. If error occurs during the shift from
tracking motion, it may be
The Arm reached the limit of
prevented by increasing the accel
4263 pulse motion range in conveyor
speed to complete the tracking
tracking.
motion.
You attempted to exceed the J4Flag
attribute during motion without the
Attempt to exceed the J4Flag
4267 J4Flag indication.
attribute without indication.
Change the J4Flag for the target
point.
You attempted to exceed the J6Flag
attribute during motion without the
Attempt to exceed the J6Flag
4268 J6Flag indication.
attribute without indication.
Change the J6Flag for the target
point.
You attempted to exceed the
particular wrist orientation attribute
during motion without the Wrist
Attempt to exceed the particular
indication.
4269 wrist orientation attribute without
Change the Wrist attribute for the
indication.
target point.
Change the target point to avoid a
particular wrist orientation.
You attempted to exceed the
particular hand orientation attribute
during motion without the Hand
Attempt to exceed the particular
indication.
4270 arm orientation attribute without
Change the Hand attribute for the
indication.
target point.
Change the target point to avoid a
particular hand orientation.
You attempted to exceed the
particular elbow orientation attribute
during motion without the Elbow
Attempt to exceed the particular
indication.
4271 elbow orientation attribute
Change the Elbow attribute for the
without indication.
target point.
Change the target point to avoid a
particular elbow orientation.
For a CP motion command, the arm
form at the target point is different
from the point flag specified with the
4272 Specified point flag is invalid.
target point.
Change the point flag for the target
point.

88 Status Code / Error Code List Rev.5

 Code Number 4000 ~

No. Message Remedy Note 1 Note 2

J6Flag switched during the lift Adjust the Tool orientation so that
4273
motion in conveyor tracking. J6Flag will not switch.
For a CP motion command, the
manipulator reached to the target
Specified J6Flag is not reached. point with J6Flag which differs from
4274
Change J6Flag for target point. the one specified for the target
point.
Change J6Flag for the target point.
For a CP motion command, the
manipulator reached to the target
Specified J4Flag is not reached. point with J4Flag which differs from
4275
Change J4Flag for target point. the one specified for the target
point.
Change J4Flag for the target point.
For a CP motion command, the
manipulator reached to the target
Specified ArmFlag is not point with ArmFlag which differs
4276 reached. Change ArmFlag for from the one specified for the target
target point. point.
Change ArmFlag for the target
point.
For a CP motion command, the
manipulator reached to the target
Specified Elbow Flag is not point with ElbowFlag which differs
4277 reached. Change Elbow Flag for from the one specified for the target
target point. point.
Change ElbowFlag for the target
point.
For a CP motion command, the
manipulator reached to the target
Specified WristFlag is not point with WristFlag which differs
4278 reached. Change WristFlag for from the one specified for the target
target point point.
Change WristFlag for the target
point.
For a CP motion command, the
manipulator reached to the target
Specified J1Flag is not reached. point with J1Flag which differs from
4279
Change J1Flag for target point. the one specified for the target
point.
Change J1Flag for the target point.
Data sending failure in motion Check the connection of the cable
4291
network. for Drive Unit.
Data receiving failure in motion Check the connection of the cable
4292
network. for Drive Unit.
Check connection of the Force
Data sending failure of Force
Sensor I/F board and Force Sensor.
Sensor I/F board.
Reboot the controller.
4297 Check connection of the Force
Please inquire with us if a similar
Sensor I/F board and Force
error occurs even after rebooting
Sensor.
the controller.
Check connection of the Force
Data receiving failure of Force
Sensor I/F board and Force Sensor.
Sensor I/F board.
Reboot the controller.
4298 Check connection of the Force
Please inquire with us if a similar
Sensor I/F board and Force
error occurs even after rebooting
Sensor.
the controller.

Status Code / Error Code List Rev.5 89

Code Number 4000 ~

No. Message Remedy Note 1 Note 2

The Pulse Generating Board Reset and then execute the next
4301
detected a limit signal. motion.
The Pulse Generating Board Release the alarm of the pulse
4302
detected an alarm signal. motor driver.
The specified conveyor number
4401 Review the conveyor number.
is invalid.
The number of registration reached
The specified conveyor queue is
4402 the upper limit (1000 pcs.) Delete
full.
the queue.
Continue operation cannot be Tracking motion cannot be
4403
done in tracking motion. continued after aborted/paused?
Review the queue number. Or,
The specified conveyor queue
4404 check whether the queue is
data does not exist.
registered.
Rebuild the project.
The conveyor is not correctly
4405 Delete the conveyor and then
initialized.
reestablish the setting.
The queue outside of the range
cannot be tracked. If the specified
queue is above the upstream limit,
change the program so that tracking
The specified queue data is
4406 does not start until the queue enters
outside the set area.
the area below the upper limit. If
the specified queue is below the
downstream limit, change the
program to delete the queue data.
The encoder is not correctly
4407 Set the encoder.
assigned.
The parameter of the conveyor
4409 Review the parameter.
instruction is invalid.
Rebuild the project.
A conveyor coordinates
4410 Delete the conveyor and then
conversion error occurred.
reestablish the setting.
Reboot the controller.
Communication error within the
4411 Initialize the controller firmware.
Conveyor Modules.
Replace the controller.
Reboot the controller.
4413 Conveyor tracking starting error. Initialize the controller firmware.
Replace the controller.
Conveyor tracking cannot start Start the conveyor tracking using
4414
after motion with CP ON. CP OFF.
The diagonal downstream limit is
above the upstream limit, or the
The setting of Diagonal
diagonal upstream/downstream limit
Upstream Limit or Diagonal
4415 is horizontal to the conveyor
Downstream Limit is not
direction. Review the setting of
appropriate.
diagonal upstream/downstream
limit.

90 Status Code / Error Code List Rev.5

 Code Number 4000 ~

No. Message Remedy Note 1 Note 2

Type of the functions
1: External control
point motion (ECP)
2: Torque control
3: Conveyor tracking
4: Force control
function
5: FCSMove
6: Distance tracking
Type of
Cannot execute the specified function
the
functions at the same time. 7: Auxiliary arm
4500 Review the program. functions
Note 1, 2: Type of the functions. enable
* Same
Review the program. 8: Path motion
as Note 1
9: Jump3
10: CP-related
motion command
11: ROT
100: VRT option
101:
Low-oscillation
102: Excessive
inertia setting
Device is in use.
Type of the device
Note 1: Type of the device. Check whether the device is used in
4501 1: Analog I/O input
Check whether other commands other task or command.
channel
are using the device.
Cannot execute this command Check whether the control function
Type of the control
during the control function. is executed in other task or
function
4502 Note 1: Type of the control command
1: Distance
function. Exit the control function to execute
tracking function
Exit the control function. the command.
Type of the
An undefined parameter was
parameter
specified. Check whether the parameter is set.
4503 1: Parameter of
Note 1: Type of the parameter. Set the parameter.
the distance
Check the parameter.
tracking function
Option is not enabled.
4504 Enable the option.
Check the option setting.
Area number is undefined.
4511 Define the area.
Use the defined area number.

Status Code / Error Code List Rev.5 91

Code Number 4000 ~

No. Message Remedy Note 1 Note 2

Type of error
1: The number of
reference points is
not equal
2: There is a point
which has different
point flag
3: Some reference
points are
duplicated
4: The number of
reference points is
too small
5: Do not line the
reference point
straight when flat
correction is used
6: Do not place
The reference points are invalid. Check the reference points and the reference
4512
Check Note 1: Type of error. teaching points referring to Notes. points on the
same plane when
3D correction is
used
7: Specify points
on the same plane
when 3D
correction is used
8: Some points
cannot be
corrected
9: The orientations
of corresponding
reference points
are very different
10: The positions
of corresponding
reference points
are very different
Type of error
1: The point flag is
different
The input point is invalid.
4513 Check the input point. 2: The orientations
Check Note 1: Type of error.
of reference point
and input point are
different
Reboot the controller.
Failed to initialize the motion.
4601 Initialize the controller firmware.
Reboot the controller.
Replace the controller.
Reboot the controller.
Motion calculation error.
4602 Initialize the controller firmware.
Reboot the controller.
Replace the controller.

92 Status Code / Error Code List Rev.5

 Code Number 4000 ~

No. Message Remedy Note 1 Note 2

Check the measured value by the
sensor.
Check the status of the sensor.
Check the range setting of the
Type of the sensor
sensor.
Sensor value is out of range. 1: Sensor used by
4603
Check the sensor. the distance
When Note 1 is 1 (sensor used by
tracking function
the distance tracking function),
check and adjust the parameter
specified by AIO_TrackingStart or
AIO_TrackingSet.
Check whether the coordinates near
the singularity is specified.
Approached the singularity Check whether the robot moves
4604 point. closer to the singularity during the
Avoid the singularity point. operation.
Review the installation position of
the robot.

Status Code / Error Code List Rev.5 93

Code Number 5000 ~

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Check the short-circuit and improper
connection of the peripheral equipment
wiring. (Emergency and I/O connectors)
Servo control gate array failure. Replace the DMB.
5000
Check the DMB. Replace the additional axis unit.
For T/VT series, reboot the controller, take
the measure against noise, and replace the
CPU board and motor unit.
Check the M/C cable signal.
Check the robot signal wiring. (Missing
pin, disconnection, short-circuit)
Replace the motor.
Replace the DMB.
Disconnection of the parallel Check the connector connection in the
encoder signal. Check the controller. (Loosening, connecting to the
5001
signal cable connection or the serial encoder terminal on the DMB)
robot internal wiring. Check the model setting.
Check the peripheral equipment wiring.
(Emergency and I/O)
For T/VT series, reboot the controller, take
the measure against noise, and replace the
motor unit.
Check whether the motor driver is
mounted.
Check the model setting and hardware
Motor driver is not installed.
setting.
5002 Install the motor driver. Check
Replace the motor driver.
the DMB or the motor driver.
Replace the DMB.
For T/VT series, check the wiring of the
motor unit.
Check the model setting.
Initialization communication
Replace the motor. (Encoder failure)
failure of incremental encoder.
Replace the DMB.
5003 Check the signal cable
For T/VT series, reboot the controller, take
connection and the robot
the measure against noise, and replace the
setting.
CPU board and motor unit.
Check the model setting.
Initialization failure of absolute Replace the motor. (Encoder failure)
encoder. Check the signal Replace the DMB.
5004
cable connection or the robot For T/VT series, reboot the controller, take
setting. the measure against noise, and replace the
motor unit.
Encoder division setting failure.
5005 Check the model setting.
Check the robot setting.
Replace the motor.
Data failure during absolute Replace the DMB. (Encoder failure)
encoder initialization. Check the Check the noise countermeasures.
5006
signal cable connection, the For T/VT series, reboot the controller, take
controller, or the motor. the measure against noise, and replace the
motor unit.
Absolute encoder multi-turn is
Reset the encoder.
5007 beyond the maximum range.
Replace the motor.
Reset the encoder.

94 Status Code / Error Code List Rev.5

 Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Reset the encoder.
Position is out of the range.
5008 Replace the DMB.
Reset the encoder.
Replace the motor.

No response from the serial Check the model setting. (Improperly

encoder. Check the signal setting of the parallel encoder model)
5009
cable connection, the motor, the Check the signal cable connection.
DMB, or the encoder IF board. Replace the DMB and encoder I/F board.
Check the robot configuration.
Serial encoder initialization
Check the signal cable connection.
failure.
Replace the DMB and encoder I/F board.
5010 Reboot the controller.
For T/VT series, reboot the controller, take
Check the motor, the DMB, or
the measure against noise, and replace the
the encoder IF board.
motor unit.
Check the robot configuration.
Serial encoder communication Check the signal cable connection.
failure. Reboot the controller. Replace the DMB and encoder I/F board.
5011
Check the motor, the DMB, or For T/VT series, reboot the controller, take
the encoder IF board. the measure against noise, and replace the
motor unit.
Replace the DMB.
Servo CPU watchdog timer Check the noise countermeasures.
failure. For T/VT series, check the connection of
5012
Reboot the controller. Check the signal cable. Reboot the controller,
the motor or the DMB. take the measure against noise, and
replace the motor unit.
Check the power cable connection.
Check the 15V power supply and cable
Current control circuit WDT connection.
failure. Replace the DMB.
5013
Reboot the controller. Check Check the noise countermeasures.
the controller. For T/VT series, reboot the controller, take
the measure against noise, and replace the
motor unit.

Check robot setting.

5014 The DMB is not for this robot.
Replace with the supported DMB.

Encoder is reset. Reboot the

5015 Reboot the controller.
controller.
Power supply failure of the
absolute encoder. Replace the Reset the encoder.
5016
battery. Check the robot Check the signal cable connection.
internal wiring.
Backup data failure of the
Reset the encoder.
5017 absolute encoder. Reset the
Check the signal cable connection.
encoder.
Replace the battery.
5018 Absolute encoder battery alarm.
Check the signal cable connection.
Reset the encoder.
Position failure of the absolute Replace the motor. (Encoder failure)
5019 encoder. Reset the encoder. For T/VT series, reboot the controller, take
Replace the motor. the measure against noise, and replace the
motor unit.

Status Code / Error Code List Rev.5 95

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Reboot the controller.
Reset the encoder.
Speed is too high at controller For T/VT series, reboot the controller, take
5020 power ON. Stop the robot and the measure against noise, and replace the
reboot the controller. motor unit.
Check the interference with the other
devices.
Lower the motion duty.
5021 Absolute encoder overheat. Wait until the temperature of the encoder
decreases.
R/D transducer failure. Reset Reset the encoder.
the encoder. Check resolver Check the signal wiring of the manipulator
5022
board or the robot internal (loose pin, disconnection, short).
wiring. Replace the resolver board.
Check the signal wiring connection.
G sensor communication failure. Check the signal wiring of the manipulator
Check for the signal cable (loose pin, disconnection, short).
5023
connection or manipulator Check the noise countermeasure.
internal wiring. Replace the control board.
Replace the DMB.

G sensor data error.

5024 Replace the control board.
Check for the control board.

Gap occurred between multi-

Reset the resolver.
turn data and R/D conversion
5025 Check the noise countermeasure.
data.
Replace the resolver board.
Encoder reset.
Disconnection of the resolver
excitation signal. Reset the Check the signal wiring of the manipulator
5026 encoder. Check the resolver (loose pin, disconnection, short).
board or the robot internal Replace the resolver board.
wiring.
S-DSP detected the Reboot the controller.
5027 communication error in DSP. Check the noise countermeasure.
Check for DMB. Replace the DMB.
Reboot the controller.
Check the noise countermeasure.
Current feedback data error is
Replace the DMB.
5028 detected.
For T/VT series, check the short-circuit and
Check for DMB.
earth fault of the power cable. Reboot the
controller or replace the motor unit.
Reboot the controller.
D-DSP communication failure.
5029 Check the noise countermeasure.
Check the DMB.
Replace the DMB.

Speed is too high at controller Reset the encoder.

5030
power OFF. Reset the encoder. Replace the motor.

Reset the encoder.

Speed is too high.
Replace the motor.
5031 Reset the encoder.
For T/VT series, reboot the controller and
Excess the calculation amount.
replace the motor unit.
5032 Servo alarm A. Reboot the controller.

96 Status Code / Error Code List Rev.5

 Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Specify the Weight/Inertia setting. Check
the load.
Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
equipment. (Collision, contact)
Motor torque output failure in Check the model setting.
high power state. Check the Check the power cable connection.
5040
power cable connection, the Check the robot power wiring. (Missing pin,
robot, the driver or the motor. disconnection, short-circuit)
Check the power supply voltage. (Low
power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T/VT series, replace the CPU board
and motor unit in addition to the above.
Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
equipment. (Collision, contact)
Check the model setting.
Motor torque output failure in Check the power cable connection.
low power state. Check the Check the robot power wiring. (Missing pin,
5041
power cable connection, robot, disconnection, short-circuit)
brake, driver, or motor. Check the power supply voltage. (Low
power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T/VT series, replace the CPU board
and motor unit in addition to the above.
Specify the Weight/Inertia setting. Check
the load.
Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
equipment. (Collision, contact)
Position error overflow in high Check the model setting.
power state. Check the power Check the power cable connection.
5042
cable connection, the robot, the Check the robot power wiring. (Missing pin,
driver and the motor. disconnection, short-circuit)
Check the power supply voltage. (Low
power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T/VT series, replace the CPU board
and motor unit in addition to the above.

Status Code / Error Code List Rev.5 97

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
equipment. (Collision, contact)
Check the model setting.
Position error overflow in low Check the power cable connection.
power state. Check the power Check the robot power wiring.
5043
cable connection, robot, brake, (Missing pin, disconnection, short-circuit)
driver, or motor. Check the power supply voltage.
(Low power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T/VT series, replace the CPU board
and motor unit in addition to the above.
Specify the Weight/Inertia setting. Check
the load.
Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
equipment. (Collision, contact)
Speed error overflow in high Check the model setting.
power state. Check the power Check the power cable connection.
5044
cable connection, robot, brake, Check the robot power wiring. (Missing pin,
driver, or motor. disconnection, short-circuit)
Check the power supply voltage. (Low
power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T/VT series, replace the CPU board
and motor unit in addition to the above.
Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
equipment. (Collision, contact)
Check the model setting.
Speed error overflow in low Check the power cable connection.
power state. Check the power Check the robot power wiring. (Missing pin,
5045
cable connection, robot, brake, disconnection, short-circuit)
drive, or motor. Check the power supply voltage. (Low
power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T/VT series, replace the CPU board
and motor unit in addition to the above.

98 Status Code / Error Code List Rev.5

 Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Reduce SpeedS of the CP motion. Change
the orientation of the CP motion.
Specify the Weight/Inertia setting. Check
the load.
Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
Over speed in high power state. equipment. (Collision, contact)
Check the signal cable Check the model setting.
5046
connection, robot, brake, driver Check the power cable connection.
or motor. Check the robot power wiring. (Missing pin,
disconnection, short-circuit)
Check the power supply voltage. (Low
power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T/VT series, replace the CPU board
and motor unit in addition to the above.
Check the motion in high power state.
Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
equipment. (Collision, contact)
Check the model setting.
Over speed in low power state.
Check the power cable connection.
Check the signal cable
5047 Check the robot power wiring. (Missing pin,
connection, robot, brake, driver,
disconnection, short-circuit)
or motor.
Check the power supply voltage. (Low
power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.
For T/VT series, replace the CPU board
and motor unit in addition to the above.
Specify the Weight/Inertia setting. Check
the load.
Check the robot. (Smoothness, backlash,
non-smooth motion, loose belt tension,
brake)
Check the interference with the peripheral
Over voltage of the main power equipment. (Collision, contact)
circuit. Check the main power Check the model setting.
5048
voltage or the regeneration Check the power cable connection.
module. Check the robot power wiring. (Missing pin,
disconnection, short-circuit)
Check the power supply voltage. (Low
power supply voltage)
Replace the motor driver.
Replace the DMB.
Replace the motor.

Status Code / Error Code List Rev.5 99

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Check the short-circuit and earth fault of
the power line.
Over current of the motor driver. Replace the motor driver.
Check the power cable Replace the DMB.
5049
connection or the robot internal For T/VT series, check the short-circuit and
wiring. earth fault of the power cable.
Reboot the controller or replace the motor
unit.
Over speed during torque
Check the motion speed during torque
5050 control. Check the work motion
control.
speed range.
Check the 15V power supply and cable
15V PWM drive power supply
connection.
5051 failure. Reboot the controller.
Replace the motor driver.
Replace the 15V power supply.
Replace the DMB.
Lower the motion duty.
Overload of the motor.
Check the Weight/Inertia setting.
5054 Decrease the motion duty and
Check the robot. (Backlash, large load,
the Accel.
loose belt tension, brake)
Lower the motion duty.
Overload of the motor.
Check the Weight/Inertia setting.
5055 Decrease the operation duty
Check the robot. (Backlash, large load,
and the Accel.
loose belt tension, brake)
G sensor data has changed Check the noise countermeasure.
5056
rapidly. Check the control board. Replace the control board.
Collision detection (detection of robot
motion error) was functioned.
The following errors have detected:
- Collision or contact of the robot arm
occurs.
- Torque saturation due to little setting of
Weight or Inertia.
- Torque saturation due to combined motion
of multiple joints and throwing around the
long object.
- Torque saturation due to supply voltage
reduction.
- Error motion due to hardware error or
software malfunction.
Countermeasures:
Collision was detected in High
Check the there is no collision or contact of
5057 power mode
the robot arm and change the arrangement
(Detection of robot motion error)
to avoid interfere.
Confirm that torque saturation is occurred.
During torque saturation: check the setting
of Weight and Inertia are properly and
correct them if necessary.
During combined motion: adjust the
acceleration and deceleration to avoid
torque saturation.
Check the power supply voltage and correct
them if necessary.
If other error occurs at the same time, take
a countermeasure for that first.
Reference: EPSON RC+ 7.0 User’s Guide
“6.18.10 Collision Detection Function (Error
detection function of robot motion)”

100 Status Code / Error Code List Rev.5

 Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Collision detection (Detection of robot
motion error) was functioned.
The following errors have detected:
- Collision or contact of the robot arm
occurs.
- Torque saturation due to holding a hand or
long object that exceeds the weight
described in the specifications.
- Error motion due to hardware error or
software malfunction.
Countermeasures:
Collision was detected in Low Check the there is no collision or contact of
5058 power mode the robot arm and change the arrangement
(Detection of robot motion error) to avoid interfere.
Check the hand weight and correct it if
necessary.
Joint #4 and 5 of 6-axis robot: confirmed
that torque saturation is occurred.
If torque saturation is occurred: change to
hold in high power mode.
If other error occurs at the same time, take
a countermeasure for that first.
Reference: EPSON RC+ 7.0 User’s Guide
“6.18.10 Collision Detection Function (Error
detection function of robot motion)”
Low Voltage at MDB is
5060 Please contact the supplier of your region.
detected.
Release the error by Reset or reboot the
5072 Servo alarm B.
controller.
Lower the motion duty.
Motor is overloaded. Decrease Check the Weight/Inertia setting.
5080
the duty and the Accel. Check the robot. (Backlash, large load,
loose belt tension, brake)
Wait until the temperature of the encoder
High temperature of the decreases.
encoder. Lower the motion duty.
5098
Decrease the duty. Check the Check the Weight/Inertia setting.
reduction gear unit of the robot. Check the robot. (Backlash, large load,
loose belt tension, brake)
High temperature of the motor
Clean the cooling fan filter.
driver. Clean the controller fan
Lower the motion duty.
5099 filter. Check the ambient
Check the Weight/Inertia setting.
temperature. Decrease the
Lower the ambient temperature.
duty.
5112 Servo alarm C. Reboot the controller.
Failed to initialize the force Reboot the controller.
5501 control. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Reboot the controller.
Force control calculation error.
5510 Initialize the controller firmware.
Reboot the controller.
Replace the controller.
Check whether the coordinate out of the
Coordinate transformation error
motion range is specified.
in force control.
5511 Check whether the robot moves outside of
Check whether the robot moves
the motion range during the execution of
outside of the motion range.
force control.

Status Code / Error Code List Rev.5 101

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Check the combination of Spring, Damper,
Impedance parameter error.
and Mass. Check whether the Mass
5520 Check the combination of Mass,
property is too small for the Damper
Damper, and Spring
property.
The coordinate system mode
other than the custom mode is Check association with the robot.
specified for the Force Sensor Check if the direction other than the
which is not associated with the Custom coordinate is specified for the
5521
robot. Orientation property of the force coordinate
Check configuration of the system object for the sensor which is not
Force Sensor or the coordinate associated with the robot.
system mode.
Undefined data is selected. The specified Tool, Local, or MP number
5522 Check if the selected data is may be undefined.
defined. Check if the specified parameter is defined.
The parameter which cannot be
continued when the CF Check the force control object and the
continues force control is force coordinate object which are used by
5523 specified. the motion commands before and after
Check the Force Control Object continuing the force control by the CF
and the Force Coordinate parameter.
System Object.
The specified time has passed
after resetting the Force Sensor. Execute the Reset property for the Force
5530
Execute the Reset property of Sensor object.
the Force Sensor Object.
Check whether the coordinates near the
Approached the singularity point singularity is specified.
while executing force control. Check whether the robot moves to the
5531
Avoid the singularity point when vicinity of the singularity during the
using force control. execution of force control. Or, review the
installation position of the robot.
Buffer for Force Sensor
Shorten the time interval between
averaging is saturated.
5532 AvgForceClear and AvgForce to be shorter
Shorten the time interval from
than a minute.
AvgForceClear to AvgForce.
The continuing time for CF to
execute force control has
Check whether the interval of the motion
5533 passed.
commands is one minute or less.
To continue force control, use
FCKeep.
SCARA robot cannot execute
force control if the Orientation
property of Base, Tool, Local, Set “0” to the Orientation property or V and
5535 and FCS objects, or V and W of W of the current command position for
the current command position Base, Tool, Local, and FCS objects.
are other than 0.
Check the parameters.
Force control is not supported
Check if the specified robot is correct.
for this robot model.
5536 Check if the Controller firmware supports
Check the robot model and the
the robot model.
controller firmware version.

102 Status Code / Error Code List Rev.5

 Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Execute the Reboot property for the Force
Sensor object.
Force Sensor transmission Check connection of the Force Sensor and
error. Force Sensor I/F unit (board).
5540 Check connection of the Force Reboot the Force Sensor and Force
Sensor I/F unit (board) and Sensor I/F unit (board).
Force Sensor. Please inquire with us if a similar error
occurs even after the above
countermeasures are taken.
Execute the Reboot property for the Force
Sensor object.
Check connection of the Force Sensor and
Force Sensor reception error.
Force Sensor I/F unit (board).
Check connection of the Force
5541 Reboot the Force Sensor and Force
Sensor I/F unit (board) and
Sensor I/F unit (board).
Force Sensor
Please inquire with us if a similar error
occurs even after the above
countermeasures are taken.
Force Sensor in use. Check whether the Reset property or
5542 Check if other commands are Reboot property of the Force Sensor object
using the Force Sensor. are executed in another task.
Execute the Reboot property for the Force
Sensor object.
Check connection of the Force Sensor and
Force Sensor communication
Force Sensor I/F unit (board).
error.
5543 Reboot the Force Sensor and Force
Execute the Reboot property of
Sensor I/F unit (board).
the Force Sensor Object.
Please inquire with us if a similar error
occurs even after the above
countermeasures are taken.
This error may occur if a long time passed
while the Force Sensor is not reset.
Execute the Reset property for the Force
Element error of Force Sensor.
Sensor object.
Check whether force exceeding
Check whether force exceeding the rated
the rated value is applied to the
5544 value is applied to the Force Sensor.
Force Sensor.
Reboot the Force Sensor and Force
Execute the Reset property of
Sensor I/F unit (board).
the Force Sensor Object.
Please inquire with us if a similar error
occurs even after the above
countermeasures are taken.
Execute the Reset property for the Force
Sensor object.
Circuit error 1 of Force Sensor. Reboot the Force Sensor and Force
5545 Execute the Reset property of Sensor I/F unit (board).
the Force Sensor Object. Please inquire with us if a similar error
occurs even after the above
countermeasures are taken.
Execute the Reset property for the Force
Sensor object.
Circuit error 2 of Force Sensor. Reboot the Force Sensor and Force
5546 Execute the Reset property of Sensor I/F unit (board).
the Force Sensor Object. If a similar error occurs even after the
above countermeasures are taken, check if
the tip of the robot arm has a vibration.

Status Code / Error Code List Rev.5 103

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

High temperature error of the Execute the Reset property for the Force
Force Sensor. Sensor object.
Check if the ambient Check the ambient temperature.
temperature is within the rated Reboot the Force Sensor and Force
5547
value and there is no rapid Sensor I/F unit (board).
temperature change. Please inquire with us if a similar error
Execute the Reset property of occurs even after the above
the Force Sensor Object. countermeasures are taken.
Execute the Reset property for the Force
Sensor object.
Force Sensor detected force
Check whether force exceeding the rated
exceeding the rated value.
value is applied to the Force Sensor.
Check if force exceeding the
5548 Reboot the Force Sensor and Force
rated value is applied.
Sensor I/F unit (board).
Execute the Reset property of
Please inquire with us if a similar error
the Force Sensor Object.
occurs even after the above
countermeasures are taken.
Check connection of the Force Sensor and
Force Sensor I/F unit (board) is Force Sensor I/F unit (board).
not connected. Reboot the Force Sensor and Force
5549 Check connection of the Force Sensor I/F unit (board).
Sensor I/F unit (board) and Please inquire with us if a similar error
Force Sensor. occurs even after the above
countermeasures are taken.
Force sensing of the Force
Check the configuration of Force Sensor.
Sensor is off.
5550 Reboot the Force Sensor and Force
Check configuration of the
Sensor I/F unit (board).
Force Sensor.
Check whether the controller firmware
Unsupported Force Sensor is supports the Force Sensor.
connected. Check the controller Check connection of the Force Sensor and
5551
firmware version and connection Force Sensor I/F unit (board).
of the Force Sensor. Reboot the Force Sensor and Force
Sensor I/F unit (board).
Configuration of the force
sensor failure. Check the configuration of the force
5552
Check the configuration of the sensor.
force sensor.
Unsupported function is
executed on the connected Check the force sensor settings.
5553
force sensor. Review the Review the program.
program.
Check connection of the Force Sensor and
Drift correction error of Force Force Sensor I/F unit (board).
5560
Sensor. Reboot the Force Sensor and Force
Sensor I/F unit (board).
Force monitor buffer overflow.
5570 Close and re-open the force monitor.
Reboot the force monitor.
Force log buffer overflow. Set the data measuring interval longer.
5571 Set the data measurement The computer receiving the data may be
interval longer. under heavy load state.
Force control monitor buffer
overflow. Close and re-open the Force Control
5572
Reboot the force control Monitor.
monitor.
Reboot the controller.
The log data of the force guide
5573 The computer receiving the data may be
sequence overflowed.
under heavy load state.

104 Status Code / Error Code List Rev.5

 Code Number 5000 ~

No. Message Remedy Note 1 Note 2

RecordStart buffer overflowed. Set the data measuring interval longer.
5574 Set the data measurement The computer receiving the data may be
interval longer. under heavy load state.
Failed to initialize the force Reboot the controller.
5800 control. Initialize the controller firmware.
Reboot the controller. Replace the controller.

Status Code / Error Code List Rev.5 105

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Force control failed to allocate Reboot the controller.
5801 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Reboot the controller.
Force control calculation error.
5802 Initialize the controller firmware.
Reboot the controller.
Replace the controller.
Force Sensor failed to connect
with the robot. Check connection setting of the
5803
Check connection setting of the Force Sensor.
Force Sensor.
Force control parameter error. Check the range of the specified
5810
Check the parameter range. parameter.
1: Number
2: Coordinate 1:Fx
System 2:Fy
3: Enabled 3:Fz
Force Control Object parameter
4: Mass 4:Tx
is out of the range.
Check the property of force control 5: Damper 5:Ty
5811 Note 1: Property
object. 6: Spring 6:Tz
Note 2: Axis
7: TargetForce or
Check the parameter.
PriorityMode 1:J
8: TargetForce 2:S
9: LimitSpeed 3:R
10: LimitAccel
LimitSpeed or LimitAccel of the
Force Control Object is lower Check the values of Speed,
5812 than speed or accel setting of SpeedS, SpeedR, Accel, AccelS,
the robot. AccelR, LimitSpeed and LimitAccel.
Check the parameter.
Enabled properties of the Force
Enable the “Enabled” property for at
5813 Control Object are all false.
least one axis.
Set true to 1 or more axis.
SCARA robot cannot execute
force control if the Orientation
Disable the enabled state of Tx and
property of Base, Tool, Local,
Ty.
and FCS objects, or V and W of
Set “0” to the Orientation property or
5814 the current command position
V and W of the current command
are other than 0,
position for Base, Tool, Local, and
or if Tx_Enabled and
FCS objects.
Ty_Enalbed are not False.
Check the parameters.

106 Status Code / Error Code List Rev.5

 Code Number 5000 ~

No. Message Remedy Note 1 Note 2

1: Number
2: Force Sensor
3: Coordinate
System
4: TriggerMode
5: Operator 1:Fx
6: Enabled 2:Fy
Force Trigger Object parameter
7: FMag_Axes 3:Fz
is out of the range.
Check the property of force trigger 8: TMag_Axes 4:Tx
5815 Note 1: Property
object. 9: Polarity 5:Ty
Note 2: Axis
10: UpperLevel 6:Tz
Check the parameter.
11: LowerLevel 7:Fmag
12: UpperLevel 8:Tmag
smaller than
LowerLevel
13: LPF_Enabled
14: LPF_Time
Constant
1: Number
2: Position 1:X
Force Coordinate System
3: 2:Y
Object parameter is out of the
Orientation_Mode 3:Z
range. Check the property of force
5816 4: or
Note 1: Property coordinate system object.
Orientation_UVW 1:U
Note 2: Axis
5: 2:V
Check the parameter.
Orientation_Robot 3:W
Local
1:Number
2:Force Sensor
Force Monitor Object parameter 3:CoordinateSyste
is out of the range. m
Check the property of force monitor
5817 Note 1: Property 4:FMag_Axes
object.
Note 2: Axis 5:TMag_Axes
Check the parameter. 6:LPF_Enabled
7:LPF_TimeConst
ant
Reboot the controller.
Force motion restriction object
5818 Initialize the controller firmware.
parameter is out of the range.
Replace the controller.
Specified duration of FCKeep is
Check whether the specified
5819 out of the allowable range.
duration is 600 seconds or less.
Check the duration.
Force control cannot resume
5830 from the pause. Abort the Abort the motion.
motion command.
Cannot execute this command
Abort force control.
5831 during force control.
Execute FCEnd command.
Exit force control by FCEnd.
Cannot execute the motion
Check whether the motion
command which has no Force
command right after continuing the
5832 Control Object during force
force control by CT does not contain
control.
force control.
Exit force control by FCEnd.
This is the combination of the force
Cannot use gravity
sensor and the robot that cannot
compensation. Can use only
5833 use gravity compensation
Mass Property object number
Set Mass Property object number
'0'.
'0'.

Status Code / Error Code List Rev.5 107

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Unsupported function is
executed on the connected Check the force sensor settings.
5834
force sensor. Review the Review the program.
program.
Check whether the Reset property
Force Sensor in use.
or Reboot property of the Force
5840 Check whether other commands
Sensor object are executed in
are sing the Force Sensor.
another task.
When the parameter is omitted or
FG_RESET_FINE is specified,
specify 1: Timeout since
Failed to reset the force sensor. FG_RESET_WAIT_VIBRATION for Fine condition is
Reset the force sensor again. parameter. not satisfied.
5841
Note1: Detailed error When 2: Timeout since
information FG_RESET_WAIT_VIBRATION is the vibration did
specified, adjust the reset timing by not stop.
Wait statement or remove the
source of external vibration.
Force control failed to allocate Reboot the controller.
5901 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Force control failed to release Reboot the controller.
5902 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Reboot the controller.
The specified robot cannot be
5903 Initialize the controller firmware.
found.
Replace the controller.
Force control failed to allocate Reboot the controller.
5904 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Specified force data number Reboot the controller.
5906 cannot be found. Specify a valid Initialize the controller firmware.
force data number. Replace the controller.
Specified force data number
was not defined. Specify a defined force data
5907
Specify a teach force data number.
number.
Specified force coordinate
system data number was not Specify a defined force coordinate
5908
defined. Specify a teach force system data number.
coordinate system data number.
Specified force data cannot be
Specified force data can't be
5909 updated nor deleted by FSet, FDel,
updated.
MPSet, or MPDel statement.
Specified force data value is out
5910 Specify the value within the range.
of allowable range.
The Upper level value is smaller
than the lower level value. Change the upper and lower level
5911
Change the upper and lower values.
level values.
The number of specified
command parameters is not
Specify a valid number of Number of
5912 correct.
parameters. parameters
Specify a valid number of
parameters.

108 Status Code / Error Code List Rev.5

 Code Number 5000 ~

No. Message Remedy Note 1 Note 2

The number of specified
function parameters is not
Specify a valid number of Number of
5913 correct.
parameters. parameters
Specify a valid number of
parameters.
The type of a specified
command parameter is not
5914 Specify valid parameters.
correct.
Specify valid parameters.
The type of a specified function Reboot the controller.
5915 parameter is not correct. Initialize the controller firmware.
Specify valid parameters. Replace the controller.
Specified force data label
Specify a defined valid force data
5918 cannot be found.
label.
Specify a valid force data label.
Duplicate force data label.
Specified label name is already
5921 Change the label name.
used.
Change the label name.
Force control of the specified Reboot the controller.
5924 robot failed to allocate memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
0:FC
Cannot read the force data from The force data is invalid and cannot 1:FCS Force
5927 the force file. be read. 2:FT data
Re-create the force file. Re-create the force file. 3:FM number
4:MASS
Force control failed to allocate Reboot the controller.
5928 memory. Initialize the controller firmware.
Reboot the controller. Replace the controller.
Specified force file name is not Reboot the controller.
5929 correct. Initialize the controller firmware.
Specify a valid force file name. Replace the controller.
Specified force data label is
Specify a valid force data label.
5930 beyond the maximum length.
Refer to "Label Property" for details.
Specify a valid force data label.
Description for the specified
Specify a valid description.
force data is beyond the
5931 Refer to "Description Property" for
maximum length.
details.
Specify a valid description.
Cannot load the force file because it
The force file is corrupted. is corrupted or was edited by tools
5932
Re-create the force file. other than Force Guide 7.0.
Re-create the force file.
Specified force file cannot be
5933 found. Specify a valid force file name.
Specify a valid force file name.
Make an enough space to write the
5934 Cannot save the force file. Robot number
force file.
The force data label is not
Specify a valid force data label.
5940 correct.
Refer to "Label Property" for details.
Specify a valid force data label.
The force data label is not
Specify a valid force data label.
5941 correct.
Refer to "Label Property" for details.
Specify a valid force data label.
Invalid force file version. Cannot load the force file because it
5943
Update the controller firmware. is a newer version.

Status Code / Error Code List Rev.5 109

Code Number 5000 ~

No. Message Remedy Note 1 Note 2

Failed to read the force file. Cannot load the force file because
5944
Re-create the force file. the format is not supported.

110 Status Code / Error Code List Rev.5

 Code Number 6000 ~

Code Number 6000 ~

No. Message Remedy Note 1 Note 2
6001 Calibration number is out of range. Correct the calibration number.
6002 Calibration is not defined. Perform calibration.
Correct the CameraOrientation
6003 Camera orientation is out of range.
value.
6004 TwoRefPoints flag is out of range. Correct the TwoRefPoint value.
Cannot calculate the point position because
6005 Re-teach the points.
there is invalid data.
Calibration failed. Cannot calculate because Perform point teaching and
6006
there is invalid data. calibration again.
Coordinate transformation failed. Cannot
6007 Reteach the points.
calculate because there is invalid data.
6009 Calibration file name is invalid. Correct the calibration file name.
6010 Calibration file is not found. Correct the calibration file name.
6012 Failed to read the calibration file. Correct the calibration file name.
Check access permission for the
6013 Failed to write the calibration file.
project folder.
Make sure that at least 9 results
6014 9 pixel coordinate points should be specified. are obtained in the vision
sequence.
Make sure that at least 18
18 pixel coordinate points should be
6015 results are obtained in the vision
specified.
sequence.
9 robot coordinate points should be
6016 Reteach the points.
specified.
18 robot coordinate points should be
6017 Reteach the points.
specified.
9 robot coordinate points and 1 reference Perform point teaching and
6018
point should be specified. calibration again.
9 robot coordinate points and 2 reference Perform point teaching and
6019
points should be specified. calibration again.
Check the connection with the
6502 Vision process Communication error (-3)
camera (cable, setting).
6503 Vision process Memory error (-11) Reboot RC+.
Change the target and teach
6506 Vision process Error at modeling (-14)
again.
Specify the file of appropriate
6507 Vision process Recovery error(-15)
format.
Vision process Invalid number of iterations
6508 Set a value in the valid range.
(-16)
6509 Vision process Invalid mode (-17) Set a valid value.
6510 Vision process Invalid threshold value (-18) Set a value in the valid range.
6511 Vision process Invalid polarity (-19) Set a value in the valid range.
6512 Vision process File open failed (-20) Specify a correct file.
6513 Vision process Initialization error (-21) Reinstall the RC+.
Check the connection with the
6514 Vision process Status error (-22)
camera.
Specify the image file of
6517 Vision process Invalid image format (-25)
readable format.
6520 Vision process Invalid property value (-100) Set a value in the valid range.
Vision process Exposure termination
6521 Disable Windows Firewall.
process failed (-201)
Cannot connect with camera. Check if Check if the camera is not being
6523
another device is using it. used.
Vision process Invalid Blob property
6533 Set a value in the valid range.
ThresholdLow value (-11004)

Status Code / Error Code List Rev.5 111

Code Number 6000 ~

No. Message Remedy Note 1 Note 2

Vision process Invalid Blob property
6534 Set a value in the valid range.
ThresholdHigh value (-11005)
Vision process Invalid Blob property Polarity
6535 Set a value in the valid range.
value(-11006)
Vision process Invalid Blob property
6536 Set a value in the valid range.
NumberToFind value (-11007)
Vision process Invalid Blob property
6537 Set a value in the valid range.
MinArea value (-11008)
Vision process Invalid Blob property
6538 Set a value in the valid range.
MaxArea value (-11009)
Vision process Invalid Blob property
6539 Set a value in the valid range.
RejectOnEdge value (-11010)
Vision process Invalid Blob property
6540 Set a value in the valid range.
SizeToFind value (-11011)
Vision process Invalid Geom property
6553 Set a value in the valid range.
Accept value (-11504)
Vision process Invalid Geom property
6554 Set a value in the valid range.
NumberToFind value (-11505)
Vision process Invalid Geom property
6555 Set a value in the valid range.
AngleEnable value (-11506)
Vision process Invalid Geom property
6556 Set a value in the valid range.
AngleRange value (-11507)
Vision process Invalid Geom property
6557 Set a value in the valid range.
AngleStart value (-11508)
Vision process Invalid Geom property
6558 Set a value in the valid range.
ScaleEnable value (-11509)
Vision process Invalid Geom property
6559 Set a value in the valid range.
ScaleFactorMax value (-11510)
Vision process Invalid Geom property
6560 Set a value in the valid range.
ScaleFactorMin value (-11511)
Vision process Invalid Geom property
6561 Set a value in the valid range.
ScaleTarget value (-11512)
Vision process Invalid Geom property
6562 Set a value in the valid range.
SeparationMinX value (-11513)
Vision process Invalid Geom property
6563 Set a value in the valid range.
SeparationMinY value (-11514)
Vision process Invalid Geom property
6564 Set a value in the valid range.
SeparationAngle value (-11515)
Vision process Invalid Geom property
6565 Set a value in the valid range.
SeparationScale value (-11516)
Vision process Invalid Geom property
6566 Set a value in the valid range.
Confusion value(-11517)
Vision process Invalid Geom property
6567 Set a value in the valid range.
ModelOrgAutoCenter value (-11518)
Vision process Invalid Geom property
6570 Set a value in the valid range.
DetailLevel value (-11521)
Vision process Invalid Geom property
6571 Set a value in the valid range.
Smoothness value (-11522)
Vision process Invalid Geom property
6572 Set a value in the valid range.
RejectOnEdge value (-11523)
Vision process Invalid Geom property
6573 Set a value in the valid range.
SharedEdges value (-11524)
Vision process Invalid Geom property
6574 Set a value in the valid range.
Timeout value (-11525)
Vision process Invalid Geom property
6575 Set a value in the valid range.
RejectByArea value (-11526)

112 Status Code / Error Code List Rev.5

 Code Number 6000 ~

No. Message Remedy Note 1 Note 2

Vision process Invalid Geom property
6576 Set a value in the valid range.
SearchReversed value (-11527)
Vision process Invalid Geom property
6577 Set a value in the valid range.
ScaleTargetPriority value (-11528)
Vision process Invalid Geom property
6578 Set a value in the valid range.
SearchReducedImage value (-11529)
Vision process Invalid Geom Model property
6586 Set a value in the valid range.
DetailLevel value (-11602)
Vision process Invalid Geom Model property
6587 Set a value in the valid range.
Smoothness value (-11603)
Vision process Invalid Corr property
6603 Set a value in the valid range.
Accept value (-12004)
Vision process Invalid Corr property
6604 Set a value in the valid range.
NumberToFind value (-12005)
Vision process Invalid Corr property
6605 Set a value in the valid range.
AngleEnable value (-12006)
Vision process Invalid Corr property
6606 Set a value in the valid range.
AngleRange value (-12007)
Vision process Invalid Corr property
6607 Set a value in the valid range.
AngleStart value (-12008)
Vision process Invalid Corr property
6608 Set a value in the valid range.
AngleAccuracy value (-12009)
Vision process Invalid Corr property
6609 Set a value in the valid range.
Confusion value (-12010)
Vision process Invalid Corr property
6610 Set a value in the valid range.
ModelOrgAutoCenter value (-12011)
Vision process Invalid Corr property
6613 Set a value in the valid range.
RejectOnEdge value (-12014)
Vision process Invalid Corr property
6614 Set a value in the valid range.
Timeout value (-12015)
Vision process Invalid Corr property
6615 Set a value in the valid range.
RejectByArea value (-12016)
Vision process Invalid Edge property
6630 Set a value in the valid range.
structure size (-12501)
Vision process Invalid Edge result header
6631 Set a value in the valid range.
structure size (-12502)
Vision process Invalid Edge result item
6632 Set a value in the valid range.
structure size (-12503)
Vision process Invalid Edge property
6633 Set a value in the valid range.
EdgeType value (-12504)
Vision process Invalid Edge property
6634 Set a value in the valid range.
NumberToFind value (-12505)
Vision process Invalid Edge property
6635 Set a value in the valid range.
Polarity value (-12506)
Vision process Invalid Edge property
6636 Set a value in the valid range.
SearchWidth value (-12507)
Vision process Invalid Edge property
6637 Set a value in the valid range.
Accept value (-12508)
Vision process Invalid Edge property
6638 Set a value in the valid range.
ScoreWeightContrast value (-12509)
Vision process Invalid Edge property
6639 Set a value in the valid range.
ContrastTarget value (-12510)
Vision process Invalid Edge property
6640 Set a value in the valid range.
ContrastVariation value (-12511)
Vision process Invalid Edge property
6641 Set a value in the valid range.
StrengthTarget value (-12512)

Status Code / Error Code List Rev.5 113

Code Number 6000 ~

No. Message Remedy Note 1 Note 2

Vision process Invalid Edge property
6642 Set a value in the valid range.
StrengthVariation value (12513)
Change to the code with a
Vision process Code Reader proper checksum. Or, change
6653
Checksum error (-1010) the setting not to use the
checksum.
Ensure a quiet zone (blank
Vision process Code Reader
6654 margin) around the code. Set
Invalid quiet zone (-1011)
the quiet zone narrower.
Vision process Code Reader
6655 Change the code.
Message is too long (-1012)
Vision process OCR
6686 Delete the registered characters.
Recognition dictionary is full (-2132)

114 Status Code / Error Code List Rev.5

 Code Number 7000 ~

Code Number 7000 ~

No. Message Remedy Note 1 Note 2
The specified robot cannot be Reboot the controller.
7003
found. Initialize the control firmware.
Duplicate allocation of the point Reboot the controller.
7004
data area. Initialize the control firmware.
Specified point number cannot be
7006 found. Specify a valid point Check the specified point number.
number.
Specified point number was not Check whether point data is
7007 defined. Specify a teach point registered in the specified point.
number. Perform the teaching.
Reboot the controller.
Cannot allocate the memory area
7010 Initialize the controller firmware.
for the pallet definition.
Replace the controller.
Cannot free the memory area for Reboot the controller.
7011
the pallet definition. Initialize the controller firmware.
Specified pallet number cannot be
7012 found. Specify a valid pallet Check the pallet number.
number.
Specified pallet is not defined. Check whether the specified pallet is
7013 Specify a defined pallet or define defined by the Pallet statement.
the pallet. Declare the pallet.
Specified division number is
7014 beyond the pallet division number Check the specified division number.
definition. Specify a valid division.
Specified coordinate axis number Check the specified coordinate axis
7015
does not exist. number.
Specified arm orientation number Check the specified arm orientation
7016
does not exist. number.
Reboot the controller.
Cannot allocate the required
7017 Initialize the controller firmware.
memory.
Replace the controller.
Specified point label cannot be
7018 Check the specified point label.
found. Specify a valid point label.
Parameter setup in the initialization Reboot the controller.
7019
file is invalid. Initialize the controller firmware.
Duplicate point label. Specified
7021 label name is already used. Change the point label.
Change the label name.
Specified local coordinate system
Check the specified local number.
7022 is not defined. Specify a valid local
Define the Local coordinate system.
coordinate system number.
Point data memory area for the
7024 Rebuild the project.
specified robot is not allocated.
Check the point file name.
Cannot open the point file. Specify
7026 Check whether the point file specified
a valid point file name.
for the project exists.
Cannot read the point data from
7027 Create the point file again.
the point file.
Point area is allocated beyond the There are too many points.
7028
available point number. Review the number of points.

Status Code / Error Code List Rev.5 115

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Specified point file name is not
7029 correct. Specify a valid point file Check the file extension.
name.
Specified point label is beyond the
7030 maximum length. Specify a valid Change the point label.
point label.
Description for the specified point
7031 is beyond the maximum length. Change the comment.
Specify a valid description.
Point file is corrupted. Check sum
7032 Create the point file again.
error.
Specified point file cannot be
Check the name of the specified
7033 found. Specify a valid point file
point file.
name.
Failed to save the point file (create a
temporary file).
7034 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (file
open).
7035 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (renew
the file header).
7036 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (create
the file name).
7037 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (copy the
file).
7038 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
Failed to save the point file (change
the file name).
7039 Cannot save the point file. Reboot the controller.
Initialize the controller firmware.
Replace the controller.
The initial character of the point label
The point label is not correct.
7040 name is improper. Correct the label
Specify a valid point label.
name.
The point label is not correct. Inadequate character is used.
7041
Specify a valid point label. Correct the label name.
Undefined flag for pallet data is
mixed.
7042 The pallet cannot be defined.
Check the point data.
Correct the point data.
The point file version is different.
7043 Invalid point file version.
Re-create the point file.
The point file format version is The point file is not supported.
7044
unsupported. Re-create the point file.

116 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

The specified work queue number Check the specified work queue
7045
is invalid. number.
The work queue is full. Delete the
7046 The specified work queue is full. point data from the work queue and
register.
The specified work queue data
7047 Check the specified index.
does not exist.
Failed to initialize the work queue
(allocate memory).
The work queue is not correctly
7048 Reboot the controller.
initialized.
Initialize the controller firmware.
Replace the controller.
Check the parameters of the
The parameter of the work queue
7049 commands related to the work
instruction is invalid.
queue.
Cannot set the work queue since the
Cannot execute while work queue point data is registered to the work
7050
data is registered. queue.
Empty the work queue before setting.
The specified PF queue number is The range of PF queue numbers is 1
7051
invalid. to 16. Correct the code.
The upper limit number of data can
7052 The specified PF queue is full. be registered in the PF queue is
1000. Correct the code.
There is no data in the referenced PF
The specified PF queue data does
7053 queue.
not exist.
Correct the code.
Failed to initialize the PF queue
(allocate memory).
The PF queue is not correctly
7054 Reboot the controller.
initialized.
Initialize the controller firmware.
Replace the controller.
Command syntax is not correct.
Check the description of the
command in Part Feeding 7.0
The parameter of the PF queue
7055 Introduction & Hardware (Common)
instruction is invalid.
& Software Software
"Part 3: Feeding SPEL+ Command
Reference" and modify the code.
Cannot execute PF_QueSort
Cannot execute while PF queue
7056 command after registering PF queue.
data is registered.
Correct the code.
1
2
The fieldbus slave board is broken or
the controller software is damaged. 3
Restore the controller firmware. 4
10

Fieldbus slave. An error occurred A communication data error was

7101 detected during communication. The 11
during I/O data transform.
communication cable has a problem.
Check the communication cable and 12
its related units.
The fieldbus is broken or the 13
controller software is damaged. 14
Restore the controller firmware. 15

Status Code / Error Code List Rev.5 117

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

A communication data error (CRC
Error) was detected during
communication. The communication 20
cable has a problem. (when using
CCLink)
A communication data error (Time
Out Error) was detected during
communication. 21
The communication cable has a
problem. (when using CCLink)
An error in the number of received 23
data was detected. 24
PLC or the communication cable has
a problem. (when using CCLink) 25

118 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

The fieldbus slave board is broken or 1
the controller software is damaged. 2
Restore the controller firmware. 3
Fieldbus slave. Timeout error A communication data error was
7103
occurred during I/O data transform. detected during communication. The
communication cable has a problem. 4
Check the communication cable and
its related units.
The connected RC+ does not
EPSON RC+ does not support CC-
support CC-Link Ver2.00.
7104 Link Ver2.00 settings. Please use
Please upgrade to RC+ 7.5.0 or
EPSON RC+ 7.5.0 or later.
later, or use a compatible RC+.
Fieldbus master. Check the connection of the
7150
Bus is disconnected. communication cable for the fieldbus.
Check whether the communication
7151 Fieldbus master. Bus power is off.
cable for the fieldbus is powered.
Reboot the controller.
Fieldbus master.
7152 Check the fieldbus master board.
Bus status error.
Replace the fieldbus master board.
7200 Invalid argument. Check the parameter.
7201 A system error occurred. -
7202 There is not enough memory. -
7203 Access is denied. -
7210 Drive is not ready. Set the device.
7211 The specified path is invalid. Make sure the specified path exists.
If the specified directory or file
7212 The specified path already exists.
already exists, you cannot execute.
The file specified by path does not
7213 Make sure the specified file exists.
exist.
Specify the file that is less than 2G
7214 File size is too large.
bytes.
The specified file number is already
7215 The specified file is open.
existing. Use another file number.
Make sure you opened in reading or
7216 The open mode is illegal.
writing mode.
7217 There is no read data. Make sure there are data to read.
The specified file number is already
7230 The specified connection is open.
existing. Use another file number.
A connection-level error occurred
7231 Check the access right of database.
while opening the connection.
Use OpenDB and open the
7232 The connection is closed.
database.
An unsupported data type was Convert the data into string or
7233
used. numeric value.
Too large data in a line. Specify the
7234 Data size is too large. query so that necessary field are only
retrieved.
The specified file type is not
7235 Check the type of Excel file.
supported.
Make sure the data you retrieved
7236 There is no selected data.
exists.
There are no retrieved data. Check
7250 No bytes were available to read.
the send program.
Check the device setting for the
7251 The port is in an invalid state.
specified port.
7252 The specified port is open. Check the port number to open.

Status Code / Error Code List Rev.5 119

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

7253 The port is closed Check the port number to close.
7254 The specified port is not open. Check the port number to open.
Check the port timeout period and
7255 Timeout reading from the port.
update to the appropriate setting.
Check the port timeout period and
7256 Timeout writing to the port.
update to the appropriate setting.
The checksum in project file is
7260 Rebuild the project.
invalid.
7261 Invalid function. Check the function definition to call.
7262 Invalid parameters. Check the function definition to call.
Cannot execute while creating
7263 -
DLL.
7264 Failed to create DLL. -
7265 DLL file cannot be found. -

120 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Vision Communication.
7300 -
Server mode not supported.
Vision Communication. Check the connection with the
7302
Failed to read from the camera. camera.
Vision Communication. Data exceeding the receive buffer
7303
Read data overflow. was received.
Vision Communication. Check the connection with the
7304
Failed to open the Ethernet port. camera.
Vision Communication. Rebuild the project. Check the
7305
Invalid IP address of camera. camera configuration.
Vision Communication.
7306 -
No specification of Server or Client.
Vision Communication. Check the connection with the
7307
Failed to send to the camera. camera.
Vision Communication. The version of the connected
7308
Camera version is old. camera is old. Update the camera.
Vision Communication. Rebuild the project. Check the
7321
Camera setting has not been set. camera configuration.
Vision Communication. Check the connection with the
7322
Read timeout. camera.
Vision Communication. Check the connection with the
7323
Read invalid data. camera.
Vision Communication. Check the connection with the
7324
Failed to send to the camera. camera.
Vision Communication. Check the connection with the
7325
Connection is not completed. camera.
Vision Communication.
7326 -
Read data is too long.
Vision Communication.
7327 Check the sequence name.
Undefined vision sequence.
Vision Communication. Rebuild the project. Check the
7328
Camera setting has not been set. camera configuration.
Vision Communication. Rebuild the project. Check the
7329
Vis file was not found. camera configuration.
Vision Communication. Reduce the number of sequences,
7330
Failed to allocate memory. objects, and calibration.
Vision Communication.
7341 Review the camera registration.
Out of max camera number.
Vision Communication.
7342 Review the camera registration.
Invalid camera number.
Review the names and string
Vision Communication.
7343 variables of sequences, objects,
VSet parameter is too long.
and calibration.
The number of specified variables is
Vision Communication:
7344 exceeding 32. Reduce the number
Too many parameters for VGet.
of parameters.
Vision Communication.
Reboot the camera.
7345 Not enough data for VGet statement
Check the version of the camera.
variable assignment.
Vision Communication.
Execute the command from the
7346 Cannot execute a Vision statement
program.
from the command window.
Matrix determinate too small. If specifying the virtual camera,
7400
specify the real camera.
Invalid value for maximum motion
7402 Specify the valid value.
distance.

Status Code / Error Code List Rev.5 121

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Invalid value for maximum pose
7403 Specify the valid value.
difference angle.
7404 Invalid value for LJMMode. Specify the valid value.
7405 Command aborted by user. －
Joint 1 angle change exceeded the
7406 maximum allowed during Adjust the start angle of Joint 1.
calibration.
Joint 2 angle change exceeded the
7407 maximum allowed during Adjust the start angle of Joint 2.
calibration.
Joint 4 angle change exceeded the
7408 maximum allowed during Adjust the start angle of Joint 4.
calibration.
Joint 6 angle change exceeded the
7409 maximum allowed during Adjust the start angle of Joint 6.
calibration.
Network camera. Timeout during Check the connection of PC and
7410
image file transfer from PC. camera.
No upward camera sequence was Specify the existing sequence.
7411 specified for mobile calibration with
upward reference.
The specified upward camera Set the calibration for upward
7412
sequence has no calibration. camera sequence.
The specified upward camera Complete the upward camera
7413 sequence calibration is not sequence calibration.
complete.
The target sequence cannot be Set the RuntimeAcquire of target
7414 used when RuntimeAcquire is sequence to Stationary.
Strobed.
Invalid calibration reference type. Selectable ReferenceType is
7415 different depending on
CameraOrientation. Select again.
Invalid calibration data. Teach the Need to teach the calibration points
7416
calibration points again. again.
Invalid calibration setup. Try to perform point teach of
7417 calibration again. Or check the
target sequence.
Invalid calibration target sequence. Target sequence may not be
selected or camera number of the
7418
target sequence differs from that of
calibration.
The target sequence camera is not Set the sequence of the same
7419
the same as the calibration camera. camera.
The target sequence has no Add the detection object to target
7420
objects. sequence.
Invalid last step for the target Check the steps.
7421
sequence.
Exception occurred when search for Check the target sequence.
7422
the calibration target.
Invalid number of results for Create a sequence to detect results
7423
calibration target sequence. of required number of targets.
Cannot load the calibration points. Perform calibration point teach
7424
again.
Invalid camera orientation. Check the CameraOrientation of
7425
calibration.
Distortion correction calibration is Perform distortion correction if it is
7426
incomplete. set.

122 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Invalid vision object is specified in
Vision Guide commands such as
7427 Invalid vision object was specified.
VSet and VGet. Specify the valid
vision object.
V and W coordinates must be zero Set V and W of the Base to 0.
7428
for the type of robot used.
Invalid robot speed specified for the Specify the valid value.
7429
current operation.
Invalid robot acceleration specified Specify the valid value.
7430
for the current operation.
Invalid ShowWarning parameter Specify the valid value.
7431
value.
Cannot create the object using the Check the Vision object type.
7432
camera specified in the sequence. Update the camera firmware.
The model
being loaded
may not be
Re-teach the model or use a
compatible
7433 Invalid model data. different model if the error occurred
with the
during
current
version of
CV or RC+.
Enter the correct Compact Vision
connection password in the RC+
Camera page.
Network camera.
7434 If the password is unknown, you
Invalid connection password.
must do one of the following:
a. Enter a new connection
password from CV Monitor,
then enter the same password
in the RC+ Camera page.
or
Network camera.
b. Perform a factory reset on the
7435 Command cannot execute due to
Compact Vision unit to clear
failed login.
the password.
Rebuild the current RC+ project
and check operation.
7440 Invalid point numbers. Specify other point number.

7441 Invalid tool numbers. Specify other tool number.

Specify an image file with the same
7444 Invalid image file resolution.
resolution.
Check the setting for the
7445 Invalid condition object. ConditionObject property of the
Decision object.
Check execution of the sequence.
7446 Object not executed. The object was not executed when
the sequence run.
Network camera. Initialize the camera.
7500
Out of memory. Reduce the project size.
Network camera.
7501 Rebuild the project.
Project does not exist.
Network camera.
7502 Rebuild the project.
Project has not been set.
Network camera.
7503 Vision property or result not Update the camera firmware.
supported.

Status Code / Error Code List Rev.5 123

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Network camera.
7504 Rebuild the project.
Cannot open project file.
Check the sequence name.
7505 Undefined vision sequence.
Rebuild the project.
Check the object name.
7506 Undefined vision object.
Rebuild the project.
Network camera. Initialize the camera.
7507
Critical error. Rebuild the project.
Network camera.
7508 Update the camera firmware.
Invalid command.
Check the property value.
7509 Invalid vision property value.
Update the camera firmware.
Check the property name.
7510 Invalid vision property.
Update the camera firmware.
7511 Vision model not trained. Teach the model.
Check the calibration name.
7512 Undefined vision calibration.
Rebuild the project.
7513 Vision model object not Self. Check the property value.
Check the result name.
7514 Invalid vision result.
Update the camera firmware.
Check the Found result before
7515 Vision object not found.
obtaining the result.
7516 No vision calibration. Check the calibration name.
7517 Incomplete vision calibration. Perform calibration.
Network camera.
7518 Check the camera connection.
Cannot connect with camera.
Network camera.
7519 Check the camera connection.
Communication error.
7520 Window out of bounds. Set the window within the bounds.
7521 OCR font is invalid. Register the OCR font.
Change the calibration name.
The specified vision calibration
7522 Delete the existing calibration in
already exists.
advance.
Change the sequence name.
The specified vision sequence
7523 Delete the existing sequence in
already exists.
advance.
Change the object name.
The specified vision object already
7524 Delete the existing sequence in
exists.
advance.
The project folder may be corrupt.
7525 Cannot load vision project.
Restore backup data.
The project folder may be write-
protected.
7526 Cannot save vision project.
Check the access permission for
the project folder.
Initialize the camera.
7527 Vision processor. Critical error.
Rebuild the project.
7528 Image file not found. Check the image file.
7529 Camera does not exist. Check the camera connection.
7530 Acquisition failed. Check the camera connection.
7531 No objects to train. Teach the model.
7532 Cannot load image file. Check the image file.
SC300/SC1200 is not supported by
Camera is not supported by
7533 RC+7.0.
RC+7.0.
Use CV1/CV2.

124 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Camera firmware does not support
7534 Update the camera firmware.
new functions of RC+7.0.
7535 Invalid data from network camera. Initialize the camera.
7536 Network camera export status failed Initialize the camera.
Invalid ImageSize value. The ImageSize exceeding the camera
7537 specified value is not supported by resolution cannot be specified.
the camera. Correct the property value.
Invalid ZoomFactor. The specified Settable values are from 0.1 to
7538 value requires data outside of the 10.0.
image area. Correct the property value.
The camera does not support Code
7539 Update the camera firmware.
Reader.
7540 The camera does not support OCR. Update the camera firmware.
Black or white image cannot be
7541 Insufficient data for teaching model.
registered as a model.
Model window cannot be outside of Correct the position of the model
7542
image. window.
Calibration points have not been
7543 Teach the calibration point.
taught.
Sequence with the calibration data
7544 Calibration must be fixed upward. of the upward fixed camera is only
settable.
7545 Point was not defined. Teach the calibration point.
RobotPlacePos has not been Click CalRobotPlacePos and
7546
calibrated. calibrate RobotPlacePos.
Camera IP address is out of current
7547 Correct the camera IP address.
subnet.
7548 Camera was not detected. Check the wiring of the camera.
Invalid Radius. Radius must be >=
7549 Correct the property value.
RadiusInner and <= RadiusOuter.
7550 OCR character does not exist. Register the OCR character.
7551 OCR option is not active. Enable the option.
Sequence ImageSize does not Change the ImageSize, to the
7552 match the calibration video width settings when calibration is
and height. executed, or re-calibtate.
Only one non-ASCII character is
7553 allowed when teaching a font Specify one font character.
character for OCR.
Distortion correction calibration Make the target sequence
7560
could not run the target sequence. executable.
Distortion correction calibration Make the target sequence
7561
invalid target sequence. detectable.
Review the installed position of the
Distortion correction calibration
7562 camera or the target. Or review
failed.
selected lens.
Review the installed position of the
Distortion correction calibration
7563 camera or the target.Or review
could not find the targets.
selected lens.
Calibration target sequence Review the target sequence
7564
RuntimeAcquire not Stationary. property.
Review the target sequence of
Invalid calibration camera. Not the
distortion correction calibration and
7565 same as the target sequence
the property of target sequence of
camera.
robot calibration.
RobotLocal cannot be changed at
7566 runtime when a calibration is -
complete.

Status Code / Error Code List Rev.5 125

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Cannot locate rotational center of
7567 Set model origin manually.
model.
Not enough targets were found for Change the field of view or
7568 distortion correction calibration calibration target so that 100 or
(minimum is 100). more target can be found.
The ArcSearchType property setting
Review the settings of
7569 does not match ArcSearchType for
ArcSearchType.
the ArcObject.
ThresholdLow and ThresholdHigh Change to ThresholdAuto = False
7570 cannot be changed when and then change ThresholdLow and
ThresholdAuto = True. ThresholdHigh.
Specify a name that begins with an
7572 Invalid sequence name. alphabet. Alpha-numeral and under
score (_) are available for the name.
Specify a name that begins with an
7573 Invalid calibration name. alphabet. Alpha-numeral and under
score (_) are available for the name.
Sequence or calibration name
7574 Specify another calibration name.
already exists.
7575 Invalid camera. Specify valid camera.
The vision target could not be Check the vison sequence to detect
7576
found. the target
Failed to position the vision target Check the vison sequence to detect
7577
within the specified tolerance. the target
No object with a search window was Add an object to detect the target in
7578
found in the sequence. vison sequence.
7579 Invalid initial rotation angle. Specify the valid value.
7580 Invalid final rotation angle. Specify the valid value.
7581 Invalid target tolerance. Specify the valid value.
7582 Invalid tool definition type. Specify the valid value.
7583 Invalid rotation angle. Specify the valid value.
7584 Invalid local definition type. Specify the valid value.
Adjust the focus and exposure time
7585 Calibration plate detection failed. of the lens to show the target
clearly.
7586 Focal length detection failed. Narrow down a lens diaphragm.
Adjust the focus and exposure time
Local definition scale detection
7587 of the lens to show the target
failed.
clearly.
Adjust the focus and exposure time
Calibration plate pose detection
7588 of the lens to show the target
failed.
clearly.
Specify a name that begins with an
7589 Invalid object name. alphabet. Alpha-numeral and under
score (_) are available for the name.
Maximum move distance exceeded
Adjust the start position. Or set the
7590 the limit set by
limit value widely.
VDefSetMotionRange.
Maximum pose difference angle
Adjust the start position. Or set the
7591 exceeded the limit set by
limit value widely.
VDefSetMotionRange.
Maximum joint angle difference
Adjust the start position. Or set the
7592 exceeded the limit set by
limit value widely.
VDefSetMotionRange.
Local definition rough camera
7596 Adjust the start position.
alignment failed.

126 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Local definition plane could not be Adjust the vision sequence to show
7597
calculated. the calibration plate clearly.
Calibration generates points move Make the search area bigger or the
7598
distance too small. target smaller.
Calibration generate points camera If specifying the virtual camera,
7599
to robot relation error. specify the real camera.
GUI Builder.
Cannot execute a GUI Builder
7600 -
statement from the command
window.
GUI Builder. Correct the parameter to the proper
7602
GSet parameter is too long. length.
GUI Builder.
7603 Check the number of parameters.
Too many parameters for GGet.
GUI Builder.
7604 Not enough data for GGet Specify the variable.
statement variable assignment.
GUI Builder.
The system can be operated by
The event task cannot be executed.
7610 changing EventTaskType to
System in pause state and
“NoPause”
EventTaskType is Normal.
GUI Builder.
The system can be operated by
The event task cannot be executed.
7611 changing EventTaskType to
Safeguard is open and
“NoEmgAbort”
EventTaskType is Normal.
GUI Builder.
The system can be operated by
The event task cannot be executed.
7612 changing EventTaskType to
Estop is active and EventTaskType
“NoEmgAbort”
is not NoEmgAbort.
GUI Builder.
The system can be operated by
The event task cannot be executed.
7613 changing EventTaskType to
System in error state and
“NoEmgAbort”
EventTaskType is not NoEmgAbort.
GUI Builder.
7650 Specify the valid property.
Invalid property.
GUI Builder.
7651 Specify the valid form.
Invalid form.
GUI Builder.
7652 Specify the valid control.
Invalid control.
GUI Builder. Modify the program to avoid double
7653
The specified form is already open. launch.
GUI Builder. Check the function name set for the
7654
Event function does not exist. event.
GUI Builder.
7655 Specify the valid item.
Item does not exist.
GUI Builder. Check the property value and
7656
Invalid property value. specify the valid value.

7657 GUI Builder. Invalid row number. Check the row number.

7658 GUI Builder. Invalid column number. Check the colum number.

7659 GUI Builder. Invalid number of rows. Reduce the number of rows.

Security. Contact the administrator to register

7700
Invalid user. the user.

Status Code / Error Code List Rev.5 127

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Security.
7701 Check the password.
Invalid password.
Security. Contact the administrator to set
7702
Permission denied. authority.
Security.
7703 Register the options.
Option not active.
Source and destination cannot be
7710 Specify another destination.
the same.
Point file name is used by another
7711 Check the point file name.
robot.
Check whether the specified axis is
7712 Invalid axis specified. valid. Check if the axis is specified
correctly.
7713 Option not enabled Enable the option.
7714 File not found. Specify the correct file name.
Robot number is out of the available
7715 Check the robot number.
range.
Check whether the robot is
7716 Robot does not exist.
registered.
7717 File Error. Invalid folder. Check the folder name.
Check the storage or the write
7718 Cannot write the file.
authority.
Enable the option by USB key for
7719 Invalid USB option key license.
option license.
Check Setup | System
Part Feeding. There are no feeders
7720 Configuration | Controller | Part
in the system.
Feeding page of the EPSON RC+.
When using the PartFeeding option,
the maximum number of robots per
feeder is 2.
The maximum number of robots per
7730 Review the robot settings of each
feeder has been exceeded.
part that is specified in the
argument of the PF_Start
command.
The T/VT controller allows up to two
feeders to be used at the same
The maximum number of
time. Check the code to make sure
7731 simultaneous feeders for the
that no more than three feeders are
controller type has been exceeded.
in use (PF_Start has been executed
no more than three times).
The command cannot be used with
The command cannot be used with this model of feeder.
7732
this feeder model. Delete the relevant command or
change it to another command.
This command cannot be executed
in a user function when PF_Start is
This command cannot be executed
running.
7733 outside the PF callback function
Consider deleting the relevant
while PF_Start is being executed.
command or executing it in a
callback function.

128 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

In PartFeeding option, uses tasks
task 32 to 29 in order from larger
number to smaller number. When
Reserved task is being used in user using PartFeeding option, do not
7734
code. use these task numbers. Or reduce
the number of tasks to use at same
time when applying task numbers
automatically.
Check if a foreign matter stucks in
the open/close part of the purging
gate.
Check if it is possible to
communicate with a feeder. In RC+
7735 Could not close the purge gate.
-[Setup]-[System Configuration]-
[Controller]-[PartFeeding], select
applicable feeder and click [Test]
button then you can operate
conmmunication test.
Purge gate is enabled but not Check if the purging gate is installed
7736
installed. properly and wired.

7750 Simulator. Initialization failure. Reboot RC+.

Simulator. Failed to save the

7751 Reboot RC+.
objects.
Simulator. Failed to load the
7752 Reboot RC+.
objects.
Simulator. Failed to mapping of
7753 Reboot RC+.
memory.
Name of the virtual controller may
Simulator. The virtual controller
7754 be duplicated. Check the controller
already exists.
name.
Simulator. Failed to create the
7755 virtual controller connection Reboot RC+.
information.
Simulator. The copy source of the
7756 Check the virtual controller name.
virtual controller does not exist.
Name of the virtual controller may
Simulator. The copy destination of
7757 be duplicated. Check the controller
the virtual controller already exists.
name.
Simulator. Failed to copy the virtual
7758 Reboot RC+.
controller connection information.
Simulator. Failed to delete the
7759 virtual controller connection Reboot RC+.
information.
Simulator. Failed to delete the
7760 Reboot RC+.
controller connection information.
Simulator. Failed to rename the
7761 Check the virtual controller name.
controller connection information.
Simulator. The rename source of
7762 Check the virtual controller name.
the virtual controller does not exist.
Simulator. The rename destination
7763 of the virtual controller already Check the virtual controller name.
exists.

7764 Simulator. Invalid Robot number. Reboot RC+.

Status Code / Error Code List Rev.5 129

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Simulator. Failed to read the Robot
7765 Check if the definition file exists.
definition file.
Simulator. Failed to copy the layout
7766 Reboot RC+.
objects.
Simulator. Failed to cut the layout
7767 Reboot RC+.
objects.
Simulator. Failed to paste the layout
7768 Reboot RC+.
objects.
Simulator. Failed to remove the
7769 Reboot RC+.
Robot.
Simulator. Robot or Object was not
7773 Specify Robot or Object.
specified.
Simulator. Duplicated Robot name Change the Robot name or Object
7774
or Object name. name so that it does not duplicate.
Simulator. Could not find Robot. Check whether the Robot is set or
7775
check the Robot name.
Simulator. Could not find Object. Check whether the Object is set or
7776
check the Object name.
Simulator. Could not find Hand. Check whether the Hand is set or
7777
check the Hand name.
Simulator. The specified object is
7778 Unregister the Part.
already registered as a Part object.
Simulator. The specified object is
7779 Specify the object set for the Part.
not Part object
Simulator. Could not find the
7780 Specify the set Tool.
specified Tool.
Simulator. Child object can not be
7781 Change to parent object.
picked.
Simulator. Parent objects can not
Unregister as Part, Mounted Device
7782 be specified for Part, Mounted
or Mobile Camera.
Device, or Mobile Camera
Simulator. Robot can not be
7783 Specify an Object other than Robot.
specified.
Simulator. The same object can not
7784 Specify another object.
be specified as a parent object.
Simulator. Child object can not be
7785 Change to parent object.
specified as parent object.
Simulator. The specified object is
7786 already registered as a parent Specify another object.
object.
7787 Simulator. Specified value is invalid. Check the set value.
Simulator. Specified variable type is
7788 Check the variable type.
invalid.
Simulator. Object can not be
7789 Specify the Robot.
specified.
Simulator. Hand can not be
7790 Specify an object other than Hand.
specified.
Simulator. Camera can not be Specify an object other than
7791
specified. Camera.
Data cannot be changed, because it
7800 -
is not data of PG axis.
7801 Invalid joint number was specified. -
7802 The robot type is invalid. -
7803 The parameter is invalid. -
7804 The robot number is invalid. -

130 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

MCD failure.
7805 Restore the controller configuration.
Failed to open the MCD file.
MCD failure.
7806 Restore the controller configuration.
Failed to read the MCD file.
MCD failure.
7807 Restore the controller configuration.
Failed to save the MCD file.
MCD failure.
7808 Restore the controller configuration.
Failed to create the MCD file.
MCD failure.
7809 Restore the controller configuration.
Failed to write the MCD file.
MPL failure.
7810 Reinstall the firmware.
Failed to open the MPL file.
MPL failure.
7811 Update the firmware.
Failed to read the MPL file.
MPL failure. 1. Reboot the controller.
7812
Failed to write the MPL file. 2. Reinstall the firmware.
IFS failure.
7815 Restore the controller configuration.
Failed to open the IFS file.
IFS failure.
7816 Restore the controller configuration.
Failed to read the IFS file.
IFS failure.
7817 Restore the controller configuration.
Failed to write the IFS file.
MTR failure. Please contact the supplier of your
7820
Failed to create the MTR file. region.
MTR failure. Please contact the supplier of your
7821
Failed to open the MTR file. region.
MTR failure. 1. Reboot the controller.
7822
Failed to read the MTR file. 2. Reinstall the MT.
MTR failure. Please contact the supplier of your
7823
Failed to write the MTR file. region.
MTR failure.
7824 Reboot the controller.
Failed to save the MTR file.
PRM failure.
7825 Restore the controller configuration.
Failed to create the PRM file.
PRM failure. Please contact the supplier of your
7826
Failed to open the PRM file. region.
PRM failure.
7827 Restore the controller configuration.
Failed to read the PRM file.
PRM failure. Please contact the supplier of your
7828
Failed to write the PRM file. region.
PRM failure.
7829 Restore the controller configuration.
Failed to save the PRM file.
File failure. 1. Reboot the controller.
7830
Cannot access the file. 2. Reinstall the firmware.
7831 The motor type is invalid. Check the motor amplifier.
MCD failure.
7840 Reboot the controller.
Area allocate error.
FGI failure. Failed to open the FGI Reboot the controller.
7845 - -
file. Reinstall the firmware.
FGI failure. Please contact the supplier of your
7846
Failed to read the FGI file. region.
MDL failure. Failed to open the MDL Reboot the controller.
7847 - -
file. Reinstall the firmware.
MDL failure. Failed to read the MDL Reboot the controller.
7848 - -
file. Reinstall the latest firmware version.
7900 Fieldbus not installed. -
7901 Fieldbus invalid parameter. -

Status Code / Error Code List Rev.5 131

Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Check the connection of the
communication cable for the
fieldbus.
Check whether the communication
7902 Fieldbus line defect.
cable for the fieldbus is powered. (if
the fieldbus requires power supply)
Check the connection of the
fieldbus slave.
Check that the fieldbus master
board is installed.
7903 Fieldbus device not configured. Reboot the computer where the
fieldbus master board is installed.
Replace the fieldbus master board.
Check that the fieldbus master
board is installed.
7904 Fieldbus invalid board. Reboot the computer where the
fieldbus master board is installed.
Replace the fieldbus master board.
7905 Fieldbus connection denied. -
Check that the fieldbus master
board is installed.
Fieldbus invalid device
7906 Reboot the computer where the
configuration.
fieldbus master board is installed.
Replace the fieldbus master board.
Check that the fieldbus master
board is installed.
7907 Fieldbus general error. Reboot the computer where the
fieldbus master board is installed.
Replace the fieldbus master board.
7908 Fieldbus configuration error. Check the fieldbus master setting.
Register the slave to the fieldbus
7909 Fieldbus slaves were not detected. master by accompanying
applicomIO Console application.
Import the Fieldbus configuration
7910 Fieldbus configuration file not found. file as described in the Fieldbus I/O
manual.
Import the Fieldbus configuration
file as described in the Fieldbus I/O
7911 Fieldbus invalid configuration file. manual.
If the problem persists, contact
Epson.
An invalid device ID parameter was
7912 Fieldbus invalid device ID.
used. Check your program.
An invalid explicit messaging
Fieldbus invalid service was
7913 service number was used.
specified.
Check your program.
Check that the Fieldbus master
board is installed correctly.
Fieldbus cannot open master board
7914 Check that the drivers for the
driver.
Fieldbus master board were
installed correctly.
Check that no other application is
using the Fieldbus master board.
Fieldbus cannot open master board
7915 Check that the correct firmware is
channel.
installed (downloaded) on the
board.

132 Status Code / Error Code List Rev.5

 Code Number 7000 ~

No. Message Remedy Note 1 Note 2

Check that the drivers for the
Fieldbus master board were
7916 Fieldbus host ready timeout. installed correctly.
Reboot and try again. Replace the
board.
Fieldbus bus communication Check the bus power and slave
7917
timeout. connections.
7930 OPC UA Server. Not Activated. Activate the OPC UA function.
Register a Sever Certificate.
OPC UA Server. Certificate not
7931 Or reconsider the using type of the
configured.
Server Certificate.
Reconsider the setting of the
7932 OPC UA Server. Invalid parameter.
Server.
OPC UA Server. Port number
7933 Change the port number.
conflicts.
7950 Force sensing. Invalid force sensor. -
Force sensing. Invalid force sensor
7951 -
axis.
7952 Force sensing. Sensor read failed. -
Force sensing. Sensor initialization
7953 -
failed.
Force sensing. Sensor not
7954 -
initialized.
Force sensing. Force or torque
7955 -
exceeded saturation level.
7975 Force Guide. Value out of range. -
7976 Force Guide. Invalid property value. -
Check Setup | System
Force Guide. No robot is using an Configuration | Controller | Force
7977
Epson force sensor. Sensing | Force Sensor I/F page of
the EPSON RC+.

Status Code / Error Code List Rev.5 133

Code Number 9000 ~

Code Number 9000 ~

No. Message Remedy Note 1 Note 2
Emergency stop circuit failure Check whether no disconnection,
was detected. Disconnection earth fault, or short-circuit of the
9001
or other failure was found in emergency stop input signal exits.
one of the redundant inputs. Then reboot the controller.
Safeguard circuit failure was
Check whether no disconnection,
detected.
earth fault, or short-circuit of the
9002 Disconnection or other failure
safeguard input signal exits. Then
was found in one of the
reboot the controller.
redundant inputs.
This is likely because of the
Initialization failure. controller hardware failure. Check
9003 Failed to initialize the the wiring is correct. If the error is
firmware. not cleared after the controller is
rebooted, contact us.
The number of set Drive Unit(s)
disagrees with the number of
Initialization failure. recognized Drive Unit(s). Check
Failed to initialize the DU. the wirings of power supply and
9004
Check the DU power and the between Control Unit and Drive
connection. Unit are correct. If the error is not
cleared after the controller is
rebooted, contact us.
This is likely because of the Drive
Initialization failure. Unit hardware failure. Check the
9005 Failed to initialize the DU. wiring is correct. If the error is not
Check the connection. cleared after the controller is
rebooted, contact us.
Initialization failure.
Failed to initialize the Remote Check the Remote I/O setting
9006
I/O. value
Check the Remote I/O setting.
Error of Force Sensor has
Error of Force Sensor occurs.
occurred.
Note 1: Each error code
9007 Please confirm Note 1 by the Each error code
See each error code to take a
system history, and take a
relevant countermeasure.
relevant countermeasure.
Communication between RC+
and controller was lost during
9008 Reboot the controller. Each error code
calibration. Reboot the
controller.
Battery voltage of the CPU Replace the battery for the CPU
board backup is lower than board immediately. Keep the 100 times of current 100 times of
9011
the specified voltage. Replace controller ON as long as possible value boundary value
the CPU board battery. until the battery is replaced.
5V input voltage for CPU If normal voltage is not generated
100 times of current 100 times of
9012 board is lower than the by 5V power supply alone, replace
value boundary value
specified voltage. the power supply.
24 V input voltage for the
If normal voltage is not generated
motor brake, encoder and fan 100 times of current 100 times of
9013 by 24V power supply alone,
is lower than the specified value boundary value
replace the power supply.
voltage.

134 Status Code / Error Code List Rev.5

 Code Number 9000 ~

No. Message Remedy Note 1 Note 2

Stop the controller as soon as
possible and check whether the
Internal temperature of the
ambient temperature of the 100 times of current 100 times of
9014 Controller is higher than the
controller is not high. value boundary value
specified temperature.
Check whether the filter is not
clogged up.
Speed of the controller fan is Check whether the filter of the
9015 below the specified speed. controller is not clogged up. Current value Boundary value
(FAN1) Replace the fan.
Speed of the controller fan is Check whether the filter of the
9016 below the specified speed. controller is not clogged up. Current value Boundary value
(FAN2) Replace the fan.
Stop the controller as soon as
possible and check whether the
Internal temperature of the
ambient temperature of the 100 times of current 100 times of
9017 Controller is higher than the
controller is not high. value boundary value
specified temperature.
Check whether the filter is not
clogged up.
54V input voltage for CPU If normal voltage is not generated
100 times of current 100 times of
9018 board is lower than the by 54V power supply alone,
value boundary value
specified voltage. replace the power supply.
3.3V input voltage for CPU If normal voltage is not generated
100 times of current 100 times of
9019 board is lower than the by 3.3V power supply alone,
value boundary value
specified voltage. replace the power supply.
DC input voltage for CPU If normal voltage is not generated
100 times of current 100 times of
9020 board is lower than or bigger by DC power supply alone,
value boundary value
than the specified voltage. replace the power supply.
If normal voltage is not generated
DU1 3.3V input voltage for the
by 3.3V of Drive Unit 1 power
9021 board is lower than the
supply alone, replace the power
minimum allowed voltage.
supply.
If normal voltage is not generated
DU1 5V input voltage for the
by 5V of Drive Unit 1 power
9022 board is lower than the
supply alone, replace the power
minimum allowed voltage.
supply.
DU1 24 V input voltage for the If normal voltage is not generated
motor brake, encoder and fan by 24V of Drive Unit 1 power
9023
is lower than the specified supply alone, replace the power
voltage. supply.
Stop the Drive Unit 1 as soon as
possible and check whether the
DU1 Internal temperature of
ambient temperature of the
9024 the Controller is higher than
controller is not high.
the allowed temperature.
Check whether the filter is not
clogged up.
DU1 Rotating speed of the Check whether the filter of the
9025 controller fan is below the Drive Unit 1 is not clogged up.
allowed speed. (FAN1) Replace the fan.
DU1 Rotating speed of the Check whether the filter of the
9026 controller fan is below the Drive Unit 1 is not clogged up.
allowed speed. (FAN2) Replace the fan.
If normal voltage is not generated
DU2 3.3V input voltage for the
by 3.3V of Drive Unit 2 power
9031 board is lower than the
supply alone, replace the power
minimum allowed voltage.
supply.

Status Code / Error Code List Rev.5 135

Code Number 9000 ~

No. Message Remedy Note 1 Note 2

If normal voltage is not generated
DU2 5V input voltage for the
by 5V of Drive Unit 2 power
9032 board is lower than the
supply alone, replace the power
minimum allowed voltage.
supply.
DU2 24 V input voltage for the If normal voltage is not generated
motor brake, encoder and fan by 24V of Drive Unit 2 power
9033
is lower than the specified supply alone, replace the power
voltage. supply.
Stop the Drive Unit 2 as soon as
possible and check whether the
DU2 Internal temperature of
ambient temperature of the
9034 the Controller is higher than
controller is not high.
the allowed temperature.
Check whether the filter is not
clogged up.
DU2 Rotating speed of the Check whether the filter of the
9035 controller fan is below the Drive Unit 2 is not clogged up.
allowed speed. (FAN1) Replace the fan.
DU2 Rotating speed of the Check whether the filter of the
9036 controller fan is below the Drive Unit 2 is not clogged up.
allowed speed. (FAN2) Replace the fan.
If normal voltage is not generated
DU3 3.3V input voltage for the
by 3.3V of Drive Unit 3 power
9041 board is lower than the
supply alone, replace the power
minimum allowed voltage.
supply.
If normal voltage is not generated
DU3 5V input voltage for the
by 5V of Drive Unit 3 power
9042 board is lower than the
supply alone, replace the power
minimum allowed voltage.
supply.
DU3 24 V input voltage for the If normal voltage is not generated
motor brake, encoder and fan by 24V of Drive Unit 3 power
9043
is lower than the specified supply alone, replace the power
voltage. supply.
Stop the Drive Unit 3 as soon as
possible and check whether the
DU3 Internal temperature of
ambient temperature of the
9044 the Controller is higher than
controller is not high.
the allowed temperature.
Check whether the filter is not
clogged up.
DU3 Rotating speed of the Check whether the filter of the
9045 controller fan is below the Drive Unit 3 is not clogged up.
allowed speed. (FAN1) Replace the fan.
DU3 Rotating speed of the Check whether the filter of the
9046 controller fan is below the Drive Unit 3 is not clogged up.
allowed speed. (FAN2) Replace the fan.
Initialization failure.
9100 Reboot the controller.
Failed to allocate memory.
Message queue has become
9101 -
full.
(When RTU is selected)
Check whether the selected port
Initialization failure. is installed.
9102
Failed to initialize Modbus. (When TCP is selected)
Check whether the selected port
number is used by other
Initialization failure. If the manipulator is specified,
9103 Failed to initialize the user check whether the specified
output. manipulator is registered.

136 Status Code / Error Code List Rev.5

 Code Number 9000 ~

No. Message Remedy Note 1 Note 2

Remote User Output failure.
9104 Specified command cannot Check the condition expression.
be executed.
The module is broken or the
The Fieldbus I/O driver is in
9233 controller software is damaged.
an abnormal state.
Restore the controller firmware.
The module is broken or the
Fieldbus I/O driver
9234 controller software is damaged.
initialization failure.
Restore the controller firmware.
RAS circuit detected a servo
system malfunction. Reboot Check the noise
9610 the controller. countermeasures.
Check for noise. Replace the Replace the DMB.
controller.
Servo CPU internal RAM
Check the noise
failure. Reboot the controller.
9611 countermeasures.
Check for noise. Replace the
Replace the DMB.
DMB.
RAM for the main and servo
Check the noise
CPU communication failure.
9612 countermeasures.
Reboot the controller. Check
Replace the DMB.
for noise. Replace the DMB.
Reboot the controller.
Servo CPU internal RAM Check the noise
failure. Reboot the controller. countermeasures.
9613
Check for noise. Replace the Replace the DMB.
DMB. For T/VT series, it is not DMB but
CPU board.
Reboot the controller.
Initialization communication of
Check the noise
main CPU and servo CPU
countermeasures.
9614 failure. Reboot the Controller.
Replace the DMB.
Check for noise. Replace
For T/VT series, it is not DMB but
DMB.
CPU board.
Initialization communication of
the main and servo CPU Check the noise
9615 failure. Reboot the controller. countermeasures.
Check for noise. Replace the Replace the DMB.
DMB.
Reboot the controller.
Communication of the main Check the noise
and servo CPU failure. countermeasures.
9616
Reboot the controller. Check Replace the DMB.
for noise. Replace the DMB. For T/VT series, it is not DMB but
CPU board.
Reboot the controller.
Communication of the main
Check the noise
and servo CPU failure.
countermeasures.
9617 Reboot the controller.
Replace the DMB.
Check for noise. Replace the
For T/VT series, it is not DMB but
DMB.
CPU board.
Check the noise
Servo long time command
9618 countermeasures.
overrun.
Replace the DMB.
Check the noise
Servo long time command
9619 countermeasures.
check sum error.
Replace the DMB.

Status Code / Error Code List Rev.5 137

Code Number 9000 ~

No. Message Remedy Note 1 Note 2

Reboot the controller.
System watchdog timer Check the noise
detected a failure. Reboot the countermeasures.
9620
controller. Check for noise. Replace the DMB.
Replace the DMB. For T/VT series, it is not DMB but
CPU board.
Check the noise
9621 Drive unit check failure. countermeasures.
Replace the DMB.
RAM failure of the servo CPU. Check the noise
9622 Reboot the controller. Check countermeasures.
for noise. Replace the DMB. Replace the DMB.
Failure of the redundant
Check the noise
circuitry for the emergency
9623 countermeasures.
stop or the safeguard. Check
Replace the DMB.
the wiring.
Low voltage of the main
circuit power supply was Check the noise
9624 detected. Check the power countermeasures.
supply voltage. Reboot the Replace the DMB.
controller.
Control relay contact of the
main circuit power supply is
9625 Replace the DMB.
welded closed. Replace the
DPB.
Detect the recognition Reboot the controller, take the
9626 mismatch of the sub CPU and measure against noise, or replace
main CPU. the CPU board.
Specify the Weight/Inertia setting.
Check the load.
Check the robot. (Smoothness,
backlash, non-smooth motion,
Temperature of regeneration loose belt tension, brake)
9627 resistor was higher than the Check the interference with the
specified temperature. peripheral equipment. (Collision,
contact)
Check the model setting.
Check the power cable
connection.

9628 Over voltage of the sub CPU. Replace the DPB board.

Reboot the controller.

Servo real time status failure. Replace the DMB.
9630
Check sum error. Check the noise
countermeasures.
Reboot the controller.
Servo real time status failure.
Replace the DMB.
9632 Servo free running counter
Check the noise
error
countermeasures.
Reboot the controller.
Servo real time status failure.
Replace the DMB.
9633 Servo CPU communication
Check the noise
error.
countermeasures.
Reboot the controller.
Irregular motion control
Replace the DMB.
9640 interruption was detected.
Check the noise
Interruption duplicate.
countermeasures.

138 Status Code / Error Code List Rev.5

 Code Number 9000 ~

No. Message Remedy Note 1 Note 2

Data sending failure in motion Check the connection of the cable
9691
network. for Drive Unit.
Data receiving failure in Check the connection of the cable
9692
motion network. for Drive Unit.
Check connection of the Force
Data sending failure of Force Sensor I/F board and Force
Sensor I/F board. Sensor.
9697 Check connection of the Reboot the controller.
Force Sensor I/F board and Please inquire with us if a similar
Force Sensor. error occurs even after the above
countermeasures are taken.
Check connection of the Force
Data receiving failure of Force Sensor I/F board and Force
Sensor I/F board. Sensor.
9698 Check connection of the Reboot the controller.
Force Sensor I/F board and Please inquire with us if a similar
Force Sensor. error occurs even after the above
countermeasures are taken.
Check the short-circuit and
improper connection of the
peripheral equipment wiring.
(Emergency and I/O connectors)
Servo control gate array Replace the DMB.
9700
failure. Check the DMB. Replace the additional axis unit.
For T/VT series, reboot the
controller, take the measure
against noise, and replace the
CPU board and motor unit.
Check the M/C cable signal.
Check the robot signal wiring.
(Missing pin, disconnection, short-
circuit)
Replace the motor. (Encoder
failure)
Replace the DMB. (Detection
circuit failure)
Check the connector connection
Disconnection of the parallel
in the controller. (Loosening,
encoder signal. Check the
9701 connecting to the serial encoder
signal cable connection or the
terminal on the DMB)
robot internal wiring.
Check the model setting.
(Improperly setting of the parallel
encoder)
Check the peripheral equipment
wiring. (Emergency and I/O)
For T/VT series, reboot the
controller, take the measure
against noise, and replace the
motor unit.
Check whether the motor driver is
mounted.
Motor driver is not installed. Check the model setting and
Install the motor driver. hardware setting.
9702
Check the DMB or the motor Replace the motor driver.
driver. Replace the DMB.
For T/VT series, check the wiring
of the motor unit.

Status Code / Error Code List Rev.5 139

Code Number 9000 ~

No. Message Remedy Note 1 Note 2

Check the model setting.
Replace the motor. (Encoder
Initialization communication
failure)
failure of incremental
Replace the DMB.
9703 encoder. Check the signal
For T/VT series, reboot the
cable connection and the
controller, take the measure
robot setting.
against noise, and replace the
CPU board and motor unit.
Check the model setting.
Replace the motor. (Encoder
Initialization failure of absolute
failure)
encoder.
Replace the DMB.
9704 Check the signal cable
For T/VT series, reboot the
connection or the robot
controller, take the measure
setting.
against noise, and replace the
motor unit.
Encoder division setting
9705 failure. Check the robot Check the model setting.
setting.
Replace the motor. (Encoder
failure)
Replace the DMB.
Data failure at the absolute
Check the noise
encoder initialization. Check
9706 countermeasures.
the signal cable connection,
For T/VT series, reboot the
the controller, or the motor.
controller, take the measure
against noise, and replace the
motor unit.
Absolute encoder multi-turn is Reset the encoder.
9707 beyond the maximum range. Replace the motor. (Encoder
Reset the encoder. failure)
Reset the encoder.
Position is out of the range. Replace the DMB.
9708
Reset the encoder. Replace the motor. (Encoder
failure)
Check the model setting.
No response from the serial
(Improperly setting of the parallel
encoder.
encoder model)
Check the signal cable
9709 Check the signal cable
connection, the motor, the
connection.
DMB, or the encoder IF
Replace the DMB and encoder I/F
board.
board.
Check the robot configuration.
Check the signal cable.
Serial encoder initialization
Replace the DMB and encoder I/F
failure.
board.
9710 Reboot the controller. Check
For T/VT series, reboot the
the motor, the DMB, or the
controller, take the measure
encoder IF board.
against noise, and replace the
motor unit.
Check the robot configuration.
Check the signal cable.
Serial encoder
Replace the DMB and encoder I/F
communication failure.
board.
9711 Reboot the controller. Check
For T/VT series, reboot the
the motor, the DMB, or the
controller, take the measure
encoder IF board.
against noise, and replace the
motor unit.

140 Status Code / Error Code List Rev.5

 Code Number 9000 ~

No. Message Remedy Note 1 Note 2

Replace the DMB.
Check the noise
Servo CPU watchdog timer countermeasures.
failure. For T/VT series, check the
9712
Reboot the controller. Check connection of the signal cable.
the motor or the DMB. Reboot the controller, take the
measure against noise, and
replace the motor unit.
Check the power cable
connection.
Check the 15V power supply and
cable connection.
Current control circuit WDT
Replace the DMB.
failure.
9713 Check the noise
Reboot the controller. Check
countermeasures.
the controller.
For T/VT series, reboot the
controller, take the measure
against noise, and replace the
motor unit.

Check robot setting.

9714 The DMB is not for this robot.
Replace with the supported DMB.

Encoder is reset. Reboot the

9715 Reboot the controller.
controller.
Power supply failure of the
absolute encoder. Replace Reset the encoder.
9716 the battery to a new one. Check the signal cable
Check the robot internal connection.
wiring.
Backup data failure of the Reset the encoder.
9717 absolute encoder. Reset the Check the signal cable
encoder. connection.
Replace the battery.
Absolute encoder battery
9718 Check the signal cable
alarm.
connection.
Reset the encoder.
Replace the motor. (Encoder
Position failure of the absolute
failure)
encoder.
9719 For T/VT series, reboot the
Reset the encoder. Replace
controller, take the measure
the motor.
against noise, and replace the
motor unit.
Reboot the controller.
Reset the encoder.
For T/VT series, reboot the
Speed is too high at controller
controller, take the measure
9720 power ON. Stop the robot
against noise, and replace the
and reboot the controller.
motor unit.
Check the interference with the
other devices.
Lower the motion duty.
9721 Absolute encoder over heat. Wait until the temperature of the
encoder decreases.

Status Code / Error Code List Rev.5 141

Code Number 9000 ~

No. Message Remedy Note 1 Note 2

Resets the encoder.
R/D transducer failure. Reset
Check the signal wiring of the
the encoder. Check resolver
9722 manipulator (loose pin,
board or the robot internal
disconnection, short).
wiring.
Replace the resolver board.
Check for the signal cable
connection.
G sensor communication Check the signal wiring of the
failure. Check the signal cable manipulator (loose pin,
9723
connection or the robot disconnection, short).
internal wiring. Check the noise countermeasure.
Replace the control board.
Replace the DMB.
G sensor data error.
9724 Replace the control board.
Check for the control board.
The multi rotational data and Reset the resolver
9725 the R/D conversion data is Check the noise countermeasure.
different. Reset the encoder. Replace the resolver board.
Disconnection of the resolver
Check the signal wiring of the
excitation signal. Reset the
manipulator (loose pin,
9726 encoder. Check the resolver
disconnection, short).
board or the robot internal
Replace the resolver board.
wiring.
Reboot the Controller.
S-DSP communication failure.
9727 Check the noise countermeasure.
Check the DMB.
Replace the DMB.
Reboot the Controller.
Check the noise countermeasure.
Replace the DMB.
Current feedback data failure.
9728 For T/VT series, check the short-
Check the DMB.
circuit and earth fault of the power
cable. Reboot the controller or
replace the motor unit.
Reboot the Controller.
D-DSP communication failure.
9729 Check the noise countermeasure.
Check the DMB.
Replace the DMB.
Speed is too high at controller
Reset the encoder.
9730 power OFF. Reset the
Replace the motor.
encoder.
Reset the encoder. Replace the
motor.
Speed is too high. Reset the
9731 For T/VT series, reboot the
encoder.
controller and replace the motor
unit.
9732 Servo alarm A. -

142 Status Code / Error Code List Rev.5

 Code Number 10000 ~

Code Number 10000 ~

No. Message Remedy Note 1 Note 2
10000 Command aborted by user -
10001 Command timeout. -
10002 Bad point file line syntax -
10003 Project could not be built. -
10004 Cannot initialize Spel class instance. -
10005 Cannot initialize parser. -
10006 Cannot initialize wbproxy. -
Check whether the project
10007 Project does not exist.
name and the path are correct.
10008 No project specified. Specify the project.
Check whether the project
10009 Cannot open file.
name and the path are correct.
10010 Cannot create file. -
Check whether the project
10011 File not found
name and the path are correct.
Cannot execute LoadPoints with Close the robot manager and
10013
Robot Manager open. execute.
Project cannot be locked. It is being
10014 Terminate other applications.
used by another session.
10015 Project could not be synchronized. -
Check whether the drive
10016 Drive not ready
designation is correct.
10017 Invalid IP address Check the IP address.
10018 Invalid IP mask Check the IP mask.
10019 Invalid IP gateway Check the IP gateway.
IP address or gateway cannot be the
10020 Check the IP address.
subnet address.
IP address or gateway cannot be the
10021 Check the IP address.
broadcast address.
10022 Invalid DNS address Check the DNS.
Commands cannot be executed
Execute after the project build
10023 because the project build is not
is completed.
complete.
10024 Invalid task name. Check the task name.
10100 Command already in cycle. -
10101 Command aborted by user. Execute ResetAbort.
10102 Invalid server instance. Specify the correct instance.
Specify the correct task
10103 Invalid CommandTask value.
number.
Cannot change ServerInstance after Set ServerInstance before
10104
initialized. initialization.
Review the data in TaskInfo
10105 Invalid data.
method in RC+ API.

Status Code / Error Code List Rev.5 143

Code Number 10000 ~

No. Message Remedy Note 1 Note 2

Check whether the Rundialog
method or TeachPoint method
Cannot proceed while a dialog is being is being executed while the
10106
displayed. Rundialog method or
TeachPoint method is being
executed in RC+ API.
Function Block
10250 Check the connection with PLC.
Command execution timeout.
Function Block
Cannot execute the command. Check ExtError bit and
10251
ExtError is high or ExtCmdReset is ExtCmdReset bit.
low.
Function Block
10252 Review the configuration.
Invalid configuration detected.
An invalid value for MaxTime was Check that the value for
10253
used. MaxTime is greater than 0.
Check to ensure that
Cannot execute instruction because
10254 instructions are not executed
another instruction is executing.
simultaneously.
10501 Connection aborted. -
10502 Cannot connect with the controller. -
Controller firmware is not compatible
10503 Upgrade the RC+ version.
with this version of RC+.
USB connection of this system is
Install the RC+7.0 to another
10504 reserved for the RC620 Controller and
computer.
cannot be used for RC+7.0.
The specified connection does not
10505 Check the connection number.
exist.
10600 Frame grabber driver not installed. Install the driver.

144 Status Code / Error Code List Rev.5

 Recovering from an Error When in Emergency Stop Mode

Recovering from an Error When in Emergency Stop

Mode
The emergency stop mode is the state in which the emergency stop switch is pressed while
the robot system is operating.
At this time, an error may occur in addition to the emergency stop. If an error occurs,
follow the procedure below to reset the error.
(1) Release the emergency stop switch.
(2) Perform the Reset operation by either of the following methods.
- In EPSON RC+ 7.0 menu-[Tools]-[Robot Manager]-[Control Panel], click the
<Reset> button
- In EPSON RC+ 7.0 menu-[Tools]-[Command Window], execute the Reset
command

NOTE When the same error occurs even after performing the Reset operation, take measures
 according to “Remedy” in this manual.

Status Code / Error Code List Rev.5 145

Recovering from an Error When in Emergency Stop Mode

146 Status Code / Error Code List Rev.5