2103, EFDEN-002-011, 001

FD CONTROLLER
INSTRUCTION MANUAL
CONTROL AND MAINTENANCE FUNCTION

11th edition

・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
 Table of Contents

Table of Contents

Chapter 1 User Management

1.1 User management ..................................................................................................................... 1-1
1.1.1 Enabling user management .............................................................................................. 1-2
1.1.2 Automatic log-out setting ................................................................................................... 1-3
1.1.3 Registering the users allowed to perform the editing operations ...................................... 1-3
1.1.4 Setting the user operation limitations ................................................................................ 1-5
1.1.5 Copying user registration information ............................................................................... 1-6
1.1.6 User information editing .................................................................................................... 1-8
1.2 Using the user management function........................................................................................ 1-9
1.2.1 Log-in operation................................................................................................................. 1-9
1.2.2 Log-out operation ............................................................................................................ 1-10
1.2.3 User information at log-in ................................................................................................ 1-11

Chapter 2 Edit logging

2.1 Concerning edit logging............................................................................................................. 2-1

2.2 Referencing the edit logging...................................................................................................... 2-2

2.2.1 Editor logging monitor displays ......................................................................................... 2-2
2.2.2 Editor logging monitor functions ........................................................................................ 2-7

Chapter 3 User Check

3.1 User Check ................................................................................................................................ 3-1

3.2 Setting the user check ............................................................................................................... 3-2

Setting up the check item ........................................................................................................... 3-2
3.2.1 Allocating input/output signals ........................................................................................... 3-6
3.2.2 When reaching the inspection timing ................................................................................ 3-6
When check and part replacement are completed..................................................................... 3-7

Chapter 4 Troubleshooting
4.1 When failure has occurred......................................................................................................... 4-1

4.2 Concerning the failure details .................................................................................................... 4-2

4.2.1 Failure category................................................................................................................. 4-2
4.2.2 Concerning criticality codes and failure codes .................................................................. 4-3
4.3 Concerning “System Failure”..................................................................................................... 4-4
4.3.1 Outline of “System Failure”................................................................................................ 4-4
4.3.2 How to recover and response to the failures..................................................................... 4-4
4.4 Recovery after failing of power down detection......................................................................... 4-5
4.4.1 Recovery after failing of power down detection ................................................................ 4-5
4.4.2 Setting of start operation permission................................................................................. 4-5
4.5 Troubleshooting ......................................................................................................................... 4-7
4.5.1 Assumed cause of each error code................................................................................... 4-7
4.5.2 Assumed cause of each phenomenon ............................................................................ 4-11
4.6 Displaying the failure log ......................................................................................................... 4-14

1
Table of Contents

4.6.1 Function of the failure log monitor ................................................................................... 4-15

4.6.2 Settings regarding the failure log..................................................................................... 4-16
4.6.3 Failure filtering function ................................................................................................... 4-20
4.6.4 Displaying the system failure log..................................................................................... 4-23
4.6.5 Frequency of the failure occurrence................................................................................ 4-24
4.7 Failure list ................................................................................................................................ 4-27

Chapter 5 Robot Diagnosis

5.1 Robot Diagnosis ........................................................................................................................ 5-1
5.1.1 Program Diagnosis ............................................................................................................ 5-1
5.1.2 OverHaul Time................................................................................................................... 5-3
5.2 Brake slip sign detection............................................................................................................ 5-6
5.2.1 Initial setting values ........................................................................................................... 5-6
5.2.2 The outline of this function................................................................................................. 5-6
5.2.3 The outline of the detection process ................................................................................. 5-6
5.2.4 Condition for the detection ................................................................................................ 5-7
5.2.5 Timing for the detection ..................................................................................................... 5-7
5.2.6 About the Information and the Error .................................................................................. 5-7
5.2.7 Setting screen.................................................................................................................... 5-8
5.2.8 Information / Error.............................................................................................................. 5-9

2
Chapter 1 User Management

This chapter describes the user management function.

1.1 User management ...................................................................................... 1-1
1.1.1 Enabling user management ................................................................. 1-2
1.1.2 Automatic log-out setting ...................................................................... 1-3
1.1.3 Registering the users allowed to perform the editing operations .......... 1-3
1.1.4 Setting the user operation limitations ................................................... 1-5
1.1.5 Copying user registration information ................................................... 1-6
1.1.6 User information editing ....................................................................... 1-8
1.2 Using the user management function ......................................................... 1-9
1.2.1 Log-in operation ................................................................................... 1-9
1.2.2 Log-out operation ............................................................................... 1-10
1.2.3 User information at log-in ................................................................... 1-11
 1.1 User management

1.1 User management

The user management function is a maintenance function designed to enable the robot to be operated safely in
an operating environment in which a multiple number of users will be operating one robot controller.
The function places limits on the editing operations performed by users for the robot, and allows only registered
users to perform the allowed editing operations. Even with the registered users, it limits the operations they can
perform by their level of experience: For instance, beginners may perform only simple setting operations whereas
experienced operators may perform sophisticated setting operations. In this way, the function prevents mistakes
that would be made if all editing operations were allowed for all users, and it does this by establishing a number of
user levels.
When the function is enabled, registered users must log in if they wish to perform editing operations. When users
log in, they can perform only those editing operations within the range allowed for their particular user level. If no
users have logged in, the protection level will be set to the BEGINNER status so no editing operations can be
performed.

Furthermore, when this function is enabled, the following operations for the protection level change (R314)
function are restricted.
(1) The protection level cannot be changed while a user has logged in.
(2) The protection level cannot be changed even when there is no logged-in user. However, in order to
manage this function, the level can be changed by an operator having the qualification as SPECIALIST.
(3) When this controller starts up, it will always start up in the BEGINNER status regardless of the <Constant
Setting> - [1 Control Constants] - [8 Protecting level select ion] setting.

 “Editing operations” to be restricted by this function refers to operations to change

IMPORTANT the constants of the robot system and to edit the task programs or condition files.
There are no restrictions on other operations without editing, such as check
operation, playback operation and monitor startup.
 The qualification of operator can be switched to SPECIALIST, even when this
function is enabled. It is therefore recommended to change the default
SPECIALIST password.
For details on the steps taken to change the password, see Section 4.7.3
“How to change the passwords” in the “SETUP MANUAL”.
 When the user management function is set to “enabled,” the following operations are
restricted for BEGINNER operators.
 Task program copying operations
 Copying operations using ＜Service＞- [7 File Manager]
 Step speed change operations
 Step accuracy change operations
 Step pass-through/positioning change operations

1-1
1.1 User management

1.1.1 Enabling user management

The factory default setting of the user management function has been “Disabled.” But can be
turned to “Enabled” by the following operating.
The qualifications level of SPECIALIST is required to carry out the functions described in this
section.

Enabling the user management function

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[1 User Management function].
≫ The screen on which to set user management is displayed.

2 Bring the cursor to “User management function,” and press [ENABLE] +[right] to
＋ select the “Enabled” setting.

3 After the setting has been established, press f12 <Complete>.

≫ The previous screen is restored.

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 1.1 User management

1.1.2 Automatic log-out setting

The log-out operation will be automatically performed, after a certain period of time has elapsed
without any operation. Even if user forgot to log out, this function serves to secure the user
management function by preventing another user from operating the robot without permission.

POINT The automatic log-out function is executed only in the teach mode. Log-out is not
implemented automatically in the playback mode.

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -

[1 User Management Function].
≫ When the user management function is set to “enabled,” the setting items for the
automatic log-out function are displayed as shown below.

2 Bring the cursor to “Automatic log out function,” and press [ENABLE] +[right] to
＋ select the “Enabled” setting.
3 Bring the cursor to “Automatic log out time,” and set the non-operation time.

4 After the setting has been established, press f12 <Complete>.

≫ The previous screen is restored.

1.1.3 Registering the users allowed to perform the editing operations

The first step which must be taken is to register the users who are allowed to perform the robot
editing operations. Users can be registered by following the steps described below. Up to 999
users can be registered.
To set the function, the operator must have the qualifications level of SPECIALIST.

Registering the users

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[2 User Registration].
≫The screen on which to register the users is displayed.

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1.1 User management

Table 1.1.1 User registration setting items

Data registered Input range Description
User ID (*) 3-digit number This is the ID for identifying the users. With user management,
from 001 to 999 users are controlled using these IDs.
The same ID cannot be set for more than one user.
Password A number This is the numerical value data for authenticating users when
consisting of 0 they log in.
to 8 digits If no data is input, there will be no password for users to enter.
User name (*) 1 to 14 Input the name of the user to be registered here.
characters
Protect level (*) BEGINNER Enter the protection level of the user to be registered here.
USER
EXPERT
SPECIALIST
Comment Max. 20 Comments on users may be entered in this field.
characters
Limited operation Check box □Change program
□Change arc condition setting
ON/OFF □Change arc constant setting
□Change sensor condition setting
□Change sensor constant setting
□Conversion program
□File manager
Input is required for all the items indicated by an asterisk (*).
For details on the operation limitations, refer to “Operation Limitations” in chapter 2.

2 Press f8 <Next User>.

≫The lowest ID among the currently unregistered user IDs is displayed in the “User
ID” field.

3 Press f9 <User List>.

≫A list of the currently registered users is displayed.

This key is used to switch the user listing method between ascending
order and descending order.

This key is used to delete the information of the selected user.

4 After the setting has been established, press f12 <Complete>.

≫The user information is registered, and the previous screen is restored.

1-4
 1.1 User management

1.1.4 Setting the user operation limitations

This function serves to place limitations on some operations carried out by the registered users,
as shown in Table 1.1.1.

Table 1.1.1 Setting items of operation limitation function and descriptions of limitations imposed

Setting item Description of limitation imposed

Limitations are imposed on the file operations (creating new files and copying,
Change program deleting and renaming existing files) for task programs and on the editing
operations (step recording, insertion, deletion and overwriting).
Change arc condition Limitations are imposed on the selection operations for the <Service> -
setting [21 Arc Welding Application] menu.
Change arc constant Limitations are imposed on the selection operations for the <Constant Setting>
setting - [14 Arc Welding Application] menu.
Change sensor Limitations are imposed on the selection operations for the <Service> -
condition setting [29 Sensor Application] menu.
Change sensor Limitations are imposed on the selection operations for the <Constant Setting>
condition setting - [19 Sensor Application] menu.
Limitations are imposed on the selection operations for the <Service> -
Program conversion
[9 Program Conversion] menu.
Limitations are imposed on the selection operations for the <Service> -
File manager
[7 File Manager] menu.

Shown below is an example of a menu which appears when limitations have been imposed
on operation.
The menus which cannot be selected are shown in gray.

Fig. 1.1.1 Example of menu display when operations have been limited

Setting the operation limitations

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[2 User Registration].
≫ The screen on which to register the users is displayed.

For details of the limitations imposed on each item, refer to Table 1.1.1.
2 Using [up/down], bring the cursor to the “Limited operation” check boxes which
correspond to the items to be set.
For the settings on items other than the operation limitations, refer to Chapter 1 User
Management.

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1.1 User management

3 To set an operation limitation, press [1] while holding down [ENABLE].

＋ ≫A check mark (limitation) is now set in the box for the item specified.

4 To release an operation limitation, press [2] while holding down [ENABLE].

＋
≫The check mark (limitation) set in the box for the item specified is now removed.
5 After performing the settings, press f12 <Complete>.
≫ The settings are recorded.

1.1.5 Copying user registration information

The user registration information is stored in the “USERID.CON” filename. By copying this file
between robots, it is possible to transfer the user information from one robot to another. When the
same user information is used for managing two or more robots, it is more convenient to copy the
user registration information by the operations described below.
To perform this operation, the operator must have the qualifications level of SPECIALIST or
above.

Writing the user registration information

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[2 User Registration].
≫ User registration screen appears.

2 Press f10 <File Write> on the user registration screen in section 1.2.3.
≫The folder and file in which the information is to be written are displayed.

3 Specify the folder in which the information is to be written, and press f12
<Execute>.
≫This complete the writing process.

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 1.1 User management

Reading the user registration information

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[2 User Registration].
≫ User registration screen appears.

2 Press f11 <File Read> on the user registration screen in section 1.2.3.
≫The folder and file from which the information is to be read are displayed.

3 Specify the file from which the information is to be read, and press f12
<Execute>.
≫ If there are no problems in the file which is read, the file is read, the user
information is then updated, and the previous screen is restored.
≫ If you try to read in the same user ID as the registered one, a message confirming
whether or not to overwrite the existing data appears as shown below. Select “Yes”
only for the ID to be updated.

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1.1 User management

1.1.6 User information editing

Registered user information can be edited by taking the steps below.
To perform this operation, the operator must have the qualifications level of SPECIALIST or
above.

Editing the user information

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[3 Edit a registered user].
≫The registered user list screen is displayed.

2 Select the user whose information is to be edited, and press [Enter].

≫The information of the selected user is displayed.

3 After editing the user information, press f12 <Complete>.

≫After the edited data has been registered, the previous screen is restored.

1-8
 1.2 Using the user management function

1.2 Using the user management function

1.2.1 Log-in operation

User must log into the robot controller to perform editing operations. There are the following three
ways to log in.
(1) Select R503 (Log-in) from the short-cut functions.
(2) Select <Service Utilities>-[33 User management]-[1.Log in]
(3) Allocate the function <Log in> (code 1503) to an f key and press the f key.

f key
for log-in

INFO. When there is already any logged-in user, the user will be automatically
logged out.

Logging in
1 Perform one of the above three operations.
≫ The log-in input screen is displayed.

USER NAME

Enter the user ID, and the registered user name will be displayed in the user name
field.

2 Input the user ID and password in this order.

≫ If there are no problems with the authentication of the password, log-in is
completed, and the previous screen is restored.

If a user has forgotten the password, the password must be changed. For details on how
to change the password, refer to “User information editing” in section 1.1.6 on
IMPORTANT page 1-8.

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1.2 Using the user management function

3 If the user ID is not recognized in step 1 above, move the cursor to the [USER
NAME] button, and press [Enter].
≫ The screen which lists the registered users is displayed.

4 After selecting the user, press [Enter].

≫ The previous screen is restored, and the designated user is now selected.

1.2.2 Log-out operation

After finishing the editing operation, user must perform the log-out operation to leave the logged-in
status.
As with log-in, log-out can be performed in one of the following three ways.
(1) Select R504 (Log-out) from the short-cut functions.
(2) Select <Service Utilities>-[33 User management]-[2.Log out]
(3) Allocate the function <Log in> (code 1503) to an f key and press f key under the
logged-in status.

f key <Log in>

The f key for <User log in> is indicated as
a key for log out under the logged-in status.
INFO.
Automatic log-out
If the automatic log-out function is set to “enabled,” a user will automatically
be logged out when the non-operation time has reached the selected period
of time.

Logging out
1 Perform one of the above three operations.
≫The log-out screen is displayed.

2 Select [OK], and press [Enter].

≫After log-out, the previous screen is restored.

When log-out is initiated, the protection level returns to BEGINNER, thus limiting the
POINT subsequent editing operations. To proceed with editing again, the user needs to log in
again.

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 1.2 Using the user management function

1.2.3 User information at log-in

If the user is logged in, an icon indicating ‘logged-in’ appears in the changeable status display
area. The user ID is displayed on the icon so that the logged-in user can be identified. When the
user logs out, the icon is cleared.
In the example given below, the user with the “001” user ID has logged in.

This section describes the steps for checking the user information at log-in and the steps for
changing the user information of a logged-in user.

Checking the information of the logged-in user

1 While the user is logged in, execute the System Environment short-cut (R286).
≫The information of the currently logged-in user is now displayed.

286

User ID
Log-in time
User name
Comment
Operator class

2 Press [Reset].
≫The previous screen is restored.

Changing the user information of the user who is logged in

1 While the user is logged in, execute the short-cut (R505) Edit own user
information.
≫ The user information now appears in gray.
505

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1.2 Using the user management function

2 To edit the information, press f12 <Edit>.

≫ The password confirmation screen now appears for authenticating the user.

Password 3 Input the password.

≫ The previous user information screen is displayed, and status in which the user
information can be edited is established.

4 Move the cursor to the item to be edited, and after editing, press f12
<Complete>.
≫The edited data is stored, and the previous screen is restored.

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 1.2 Using the user management function

Output the login user ID

Login user ID can be outputted by binary signal.

POINT This function is available on software version FDV04.93 or later.

１ Press <Constant setting>－［6 Signals］－［3 Output signal assignment］－［1

Standard Output］.
≫ Following setting screen will appear.

Default setting 0
Meaning of signal Login user ID is outputted in binary.

Signal 10 9 8 7 6 5 4 3 2 1
Binary 29 28 27 26 25 24 23 22 21 20
Condition to be ON During login by user ID
Condition to be OFF During logout by user ID
Operator class USER or higher

２ Input the signal number, and press f12 <Complete>.

≫ Following example shows the case that general output number “1” ～”10” are
assigned.

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1.2 Using the user management function

３ Press <Service utilities>－［4 Monitor 2］－［7 Output signal］.

≫ Output signals are displayed on monitor 2 screen.
Following example shows the case that login user ID was “003” on the setting of
step ２.

POINT When logout, user ID output signals are turned off.

1-14
Chapter 2 Edit logging

This chapter describes the edit logging function.

2.1 Concerning edit logging ..............................................................................2-1
2.2 Referencing the edit logging .......................................................................2-2
2.2.1 Editor logging monitor displays ............................................................2-2
2.2.2 Editor logging monitor functions ...........................................................2-7
 2.1 Concerning edit logging

2.1 Concerning edit logging

The edit logging function, which is designed for maintenance purposes, makes it possible to initiate a speedy
recovery from logged information when an editing error has caused trouble in operation. It achieves this by
leaving a log of the changes made to the files and setting items edited by the users--that is to say, who made the
changes, when they were made, what changes were made and in what way they were made.
Only task programs and arc welding conditions are logged in the edit logging. With the arc welding conditions, the
editing of the arc welding conditions and arc welding constants are logged.

 If edit logging data is to be returned to previous values, this must be done manually.
 The edit logging function logs changes made by the editing operation of user.
Automatically changed data, e.g. deviation when using a sensor, is not to be logged in
IMPORTANT the history..

Set the maximum numbers which can be acquired for the task program edit log and the edit log for the arc
welding conditions. The edit logging function can be disabled by setting the edit logging numbers to zero.
To set the function, the operator must have the qualifications level of EXPERT or above.
The edit logging function is normally disabled. The function can be set to “Enabled” by operating as follows.

Enabling the edit logging function

1 Press <Constant Setting> - [24 Logging Data] - [5 Edit Logging Item].
≫ The edit logging setting screen is displayed.

2 Enter the maximum number of the edit operations to be logged. A figure

Numerical selected from 0-10 can be entered in the hundreds digit field. When 0 is
value input, the function is disabled.

If the entered maximum number of the edit operations to be logged is smaller than the
actual number of the edit operations already logged, older log data beyond the confines of
IMPORTANT the maximum number will be deleted.

3 After the setting has been established, press f12 <Complete>.

≫ After setting the maximum edit logging number, the previous screen is restored.

2-1
2.2 Referencing the edit logging

2.2 Referencing the edit logging

The edit logging data can be referenced using the monitors. There are two editor logging monitors, each for a
different type of logging data. “61 Program editor logging” is used for task programs whereas “62 Arc welding
editor logging” is used for the arc welding conditions.

2.2.1 Editor logging monitor displays

Displaying the task program editor logging monitor

1 Press <Service Utilities> - [Monitor 1-4] - [61 Program editor logging].
≫ The task program editor logging monitor is displayed.

Operation date/time Task program, Editing type

Step number

Editing type: Displayed in this column are the general descriptions which enable the
editing operations to be identified.(See Table 2.2.1.)

2-2
 2.2 Referencing the edit logging

Table 2.2.1 Editing types

Operation location Display message Description of operation
Program editor Recorded step Operation for teaching movement command
Inserted step Operation for adding movement command
Overwritten step Operation for overwriting movement command
Modified position of Operation for modifying position of movement command
step
Deleted step Operation for deleting movement command or function command
Teached func step Operation for teaching function command
Modified step Operation for changing parameter of movement command
Undo Undo operation after performing editing operation
Redo Redo operation after performing undo operation
Program screen Screen Insertion operation using screen editor
editor Editor(Insert)
Screen Editor Editing operation using screen editor
(Modify)
Screen Editor Step deletion using screen editor
(Delete)
File manager Copy file Copying operation for program files
Delete file Deletion operation for program files
Rename file Renaming operation for program files
Program converter Condition/Speed Program conversion menu no.1
Copy step Program conversion menu no.2
Angle Program conversion menu no.3
XYZ shift Program conversion menu no.4
Tool Program conversion menu no.5
Mirror image Program conversion menu no.6
3D shift Program conversion menu no.7
Language Program conversion menu no.8
Point Shift Program conversion menu no.9
Expansion/reduction Program conversion menu no.10
External axis shift Program conversion menu no.11
Format Conversion Program conversion menu no.12
Unit Conversion Program conversion menu no.13
Pitch Copy & Shift Program conversion menu no.16
Multi Welding Program conversion menu no.17
Welding condition Create welding file Creation operation for welding-related (welding, weaving, etc.) condition files
editor Delete welding file Deletion operation for welding-related (welding, weaving, etc.) condition files
Edit welding file Editing operation for existing welding-related condition data
Online modification On-line modification operation for welding condition data
of welding condition
Welding constants Edit welding Changing operation for welding-related constant settings
constant data
Create file File creation operation for welding characteristic, welding condition databases, etc.
Copy file File copying operation for welding characteristic, welding condition databases, etc.
Delete file File deletion operation for welding characteristic, welding condition databases, etc.
Welding constants Inserted record Record addition operation for welding condition databases
(welding condition Deleted record Record deletion operation for welding condition databases
databases) Modified record Record modification operation for welding condition databases

2-3
2.2 Referencing the edit logging

2 Using [up/down], bring the cursor to the log whose detailed information is to be
displayed, and press [Enter].
≫ The detailed information is displayed in the bottom half of the screen.

Line 1: Detailed listing description

The items are displayed in the following sequence.
Editing type Filename Step no. [User information]

• The user information is displayed only when the user management function
has been enabled.

Line 2: Guide message

The guide messages are displayed when the position data has been displayed. In
the example shown above, a guide message is not displayed, and a blank line is
shown.

Lines 3, 4: Pre-change and post-change values

When, as shown above, the system has a multiple number of mechanisms, all the
mechanism data is displayed when movement commands have been modified.

3 Press [Enter] again.

≫ The detailed information screen is closed.

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 2.2 Referencing the edit logging

Displaying the arc welding editor logging monitor

1 Press <Service Utilities> - [Monitor 1-4] - [62 Arc welding editor logging].
≫ The arc welding editor logging monitor is displayed.

Editing type
Operation date/time Refer to Table 2.2.1

Data type Editing location

 Condition filenames in the case of condition files
 Task program names and step numbers in the
case of direct values
 Menu names in the case of constant settings

Table 2.2.2 List of data types

Data type Description
PRG Program
AS/AE Arc start condition, Arc end condition
WS Weaving condition
RT Arc retry condition
MOV Robot operation condition
MOF Multi-offset condition
RRS Robot RS condition
Arc start condition in multipass welding
ASM/AEM
Arc end condition in multipass welding
Arc start in multipass welding
ASMV/AEMV Arc end in multipass welding
(variables)
RS RS condition
CON Welding constants

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2.2 Referencing the edit logging

2 Using [up/down], bring the cursor to the log whose detailed information is to be
displayed, and press [Enter].
≫ The detailed information is displayed in the bottom half of the screen.

Detailed listing
description

Title of edited data

Pre-change value

Post-change value

Line 1: Detailed listing description

The items are displayed in the following sequence.
Ed

• The step numbers are displayed only when the edited data are direct values
rather than condition files.
• The user information is displayed only when the user management function has
been enabled.

Line 2: Title of edited data

The names of the items displayed during editing are displayed.

Line 3: Pre-edited and post-edited values

The settings before and after editing are displayed. However, in the case of radio
buttons and combo boxes, the numbers starting from the first of the items
selected are displayed on the left as numerical values (counted from zero). On
the right, a message for the data selected at the time is displayed. An example is
shown on the left below.
However, “-” is displayed if the message is of a type which can be changed. The
example shown below on the right is a case in point.

3 Press [Enter] again.

≫ The detailed information screen is closed.

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 2.2 Referencing the edit logging

2.2.2 Editor logging monitor functions

A number of different display methods are available for the editor logging monitors to make it
easier to analyze the edit logging concerned.
Before proceeding, change to the operator qualifications level of USER or above.

Using the display selection function of the editor logging monitors

1 Select the editor logging monitor (task program or welding conditions), and
press [EDIT].
≫ The title bar of the editor logging monitor turns red, and a number of soft keys used
for the editor logging monitor are displayed.

6
1

1 For changing the items sorted

Use this key to change the items sorted in the edit logging. As the initial
value, the items are sorted in the date/time sequence. Each time the key is
pressed, the sorted items change as follows:
Date/time sequence Program number sequence User ID sequence

POINT The user ID sequence can be selected only when the user
management function has been enabled.

2 For changing the sorting sequence

Use this key to switch the sorting between ascending and descending
order.
The sorting reference is based on the items which were set using key 1 .

3 For splitting the screen

Use this key to split the screen into the top half and bottom half.

2-7
2.2 Referencing the edit logging

4 For moving up/down

Use this key to move up or down when the screen has been split using key
4.

5 For selecting the display

This f key is displayed only when the arc welding editor logging monitor is
used.
Use it to change the items whose edit logging is to be displayed. As the
initial value, all items are displayed. Each time this key is pressed, the
items to be displayed change as follows:
All items Welding conditions Welding constants

6 Clearing the edit logging

Use this key to clear all the edit logging information. (For this, the operator
must have the qualifications level of EXPERT or above.)

2 Press [RESET/R].
≫ The title bar and soft keys are restored to the original statuses.

2-8
Chapter 3 User Check

This section describes the user check function for notifying operators of the robot
inspection timing, parts replacement timing and other inspection-related
information.

3.1 User Check .................................................................................................3-1

3.2 Setting the user check ................................................................................3-2
3.2.1 Setting up the check item......................................................................3-2
3.2.2 Allocating input/output signals...............................................................3-6
3.2.3 When reaching the inspection timing ....................................................3-6
3.2.4 When check and part replacement are completed ................................3-7
 3.1 User Check

3.1 User Check

User check function is used to notify the operators of the inspection timing of the robot and the exchange timing
of the parts.
The check Items and the setting values to be checked can be freely set up to 8 types in each mechanism or arc
welding power supply.
For example, the setting such as “giving notice of the tip replacement when the time taken for the arc welding
reaches 100 min.” is possible. When reaching the specified inspection timing, the message which prompts the
operator to check is displayed on the teach pendant, and, at the same time, the user maintenance signal is
output to notify the operators of the inspection timing.

INFO.  This function corresponds to “System Maintenance Function” of conventional EX-C

series robot controller.
 Change the operator qualification to EXPERT or higher in advance.

 To output the user maintenance signal, the signal-allocation setting is required. As for
the set signal in this function, refer to “3.2.1 Allocating input/output signals”.

 Checking for the check item is performed in 5 min-periods. For this reason, the notice
of the inspection requirement cannot be given at the time of reaching the inspection
timing. (refer to e.g.1)

 The check time is updated at the timing of checking the check item. For this reason,
when the robot controller is powered off, the time during off-state of the controller
cannot be counted as the check time. Powered OFF
(refer to e.g.2)
Inspection period (5 min.)

IMPORTANT

Checking items Checking items

E.g.1) E.g.2)
Even if the arc time reaches the Even if the arc welding is performed
inspection timing at this point, the during this time, the arc time cannot be
notice cannot be given. counted.
The notice of the inspection can be The time to be checked such as the arc
given at the timing of “Checking items”. time is updated at the timing of
“Checking items”.

3-1
3.2 Setting the user check

3.2 Setting the user check

Setting up the check item

Follow the procedure below to configure the check item.
(1) Select the target of the check (“Mechanism” / “Arc welding”).
(2) Select the mechanism to be set, when the target of the check is “Mechanism”.
(In the case of one-mechanical configuration, no selection is required.)
(3) Select the arc welding power supply to be set, when the target of the check is “Arc
welding power supply”. (In the case of one-arc welding power supply configuration, no
selection is required.)
(4) Select the check item number. (Up to 8 types can be set)
(5) Set the message of the inspection timing. (E.g. Tip replacement)
(6) Select the suitable time category for the content of the inspection from the table below.
(7) Configure the setting value to be checked. (Inspection timing)

Table 3.2.1 Kind of check available when the target of the check is “Mechanism”
Kind of check Contents
The target number of months from the current date can be set.
Calendar For example, in the case of giving notice of the inspection timing in a year
from today.
The accumulated time of the activated this controller can be set. The
Energizing
value shall be set by the hour.
The accumulated time from the servo power-on to the servo power-off
Servo ON can be set.
The value shall be set by the hour.
The accumulated value of time taken for the automatic operation can be
Operation set.
The value shall be set by the hour.

Table 3.2.2 Kind of check available when the target of the check is “Arc welding power supply”
Kind of check Contents
The target number of months from the current date can be set.
Calendar For example, in the case of giving notice of the inspection timing in a year
from today.
The total hours of the accumulated welding time taken for the automatic
Arc ON operation and the welding time during the check welding can be set. The
value shall be set by the minute.
The accumulated number of welding can be set in units of from the arc
Welding counts
start to the arc end.
The accumulated consumption of wire used in the welding can be set.
The value shall be set in units of Kg.
Consumption of wire
Note; this function can be set when the D-series welding power supply
without DA is selected.

INFO.
If the setting value to be checked is set to 0, the notice of the inspection cannot be given.

3-2
 3.2 Setting the user check

Setting up the check item for the mechanism

1 Open <Service> - [25.Robot Diagnosis] - [5.User Check].
≫ The list screen of the user check items is displayed.

2 Select “Mechanism” in the Check object field. Then, select the mechanism to be
checked in [Unit / Mechanism].
≫ The selected mechanism No. is displayed on the f7 key.

3 Move the cursor to the content field and press [Enter].

≫ The setting screen of the user check items is displayed.

The setting items and the display contents are as follows.

3-3
3.2 Setting the user check

Table 3.2.3
Items Details
Mechanism No. The selected mechanism No. is displayed.
No The check item No. is displayed.
Content The check content is set as comment.
The set-up contents at this point are used for the message to
prompt the operator to check.
For example, in the case where the check content is set to
“annual inspection”, as shown below, the message is set in the
beginning of the check message and displayed on the teach
pendant, when reaching the inspection timing.
(Check message)
【annual inspection】Exchange the axis. After that 0 clearing
of “Consumtion time until present”

Note that press [ENABLE] + [Edit] to configure the settings. Edit

the check contents on the soft keyboard.
Check day The date when the check complete procedure is performed is
displayed.
Last Modified The date when the check content is modified is displayed.
Kind at time Select the kind of time to be checked.
For details, refer to Table 3.2.1.
Set time (Remainder) Set the setting value to be checked. (inspection timing)
The items other than “Calendar” in Kind of check field are set in
this process. The parenthetic value indicates the rest of hours for
the inspection timing.
Calendar Set the setting value to be checked. (inspection timing)
The item, “Calendar”, in the Kind of check field is set in this
process. The parenthetic value indicates the date to be checked.
When this key is pressed, the inspection timing is reset.
In addition, this key is also used after the check is completed. For
details, refer to “0When check and part replacement are
completed”.

4 Press f9 <Prev No> or f10 <Next No>, when changing to the different check item
No., and change the check item No.

5 Set the check content and press f12 <Complete>.

≫ The previous setting screen is returned.
The set check content is displayed in the content field.

3-4
 3.2 Setting the user check

Setting up the check item for the arc welding

1 Open <Service> - [25.Robot Diagnosis] - [5.User Check].
≫ The list screen of the user check items is displayed.

2 Select “Welder” for Check object.

Then, move the cursor to the welder field to select the welding power supply to be
checked.

3 Move the cursor to the content field and press [Enter].

≫ The setting screen of the user check items is displayed.

Setting items are as follows.

Table 3.2.4 Details of the items
Items Details
Welder A selected arc welding power supply is displayed.
Kind at time Select the kind of time to be checked.
For details, refer to Table 3.2.2.

4 Press f9 <Prev No> or f10 <Next No>, when changing to the different check item
No.

5 Set the check content and press f12 <Complete>.

≫ The previous setting screen is returned.
The set check content is displayed in the content field.

3-5
3.2 Setting the user check

3.2.1 Allocating input/output signals

The basic I/O signals used in the user check function are as follows.
The I/O signals are used for the mechanism check and the arc welding power supply. “M1 to M9”
shown in the table below denotes the mechanism No. and “W1 to W4” denotes the arc welding
power supply No.
Those I/O signals are not allocated before shipment. If necessary to use them, refer to the
instruction manuals “SET UP” to allocate the signals.

Table 3.2.5 Input signal

Input signal name Application Function.
User chk complete 1 to 8 Mechanism The inspection timing is reset for the next
checkup. The number from 1 to 8 defined
（M1 to M9）
as the check item No. can be set in each
User chk complete 1 to 8 Arc welding power check item.
（W1 to W4） supply

Table 3.2.6 Output signal

Input signal name Application Function.
User maintenance 1 to 8 Mechanism The signal of the check item that reaches
the inspection timing is output. The
（M1 to M9）
number from 1 to 8 defined as the check
User maintenance 1 to 8 Arc welding power item No. can be set in each check item.
（W1 to W4） supply

3.2.2 When reaching the inspection timing

When the inspection items specified in advance have reached the inspection timing, the message
will appear on the Teach pendant. Also, the signals shown in the Table 3.2.6 are output.
The check item that reaches the inspection timing is highlighted in red on the list screen of user
check items.

Display of the check message

The set check contents

are displayed.

Display of the check items that reach the inspection timing

The items are

highlighted in red.

3-6
 3.2 Setting the user check

When check and part replacement are completed

After completing the inspection operation, the corresponding user inspection signals for check are
to be reset, and the upcoming inspection timing is reconfigured.
Completing the inspection and the replacement of components, be sure to implement the
completion of inspection.

For the check complete procedure, there are two methods as follows.
(1) Manual operation
Perform the check complete procedure with the teach pendant on the setting screen of the
user check item.

(2) Input signal

Change the user chk complete signal set in each check item to ON.

User complete operation on the setting screen of user check item

1 Open [5.User Check] in <Service> - [25.Robot Diagnosis].
≫ The list screen of the user check items is displayed.

2 Select the check item to perform the complete procedure from the check items of 1
to 8, and press [Enter].
≫ The setting screen of the user check items is displayed.

3 Press f8 <Check Complete>.

≫ The following confirmation screen is displayed.

4 Select “YES” and press [Enter].

≫ The selected check item is completed.

If “NO” is selected, the selected check item cannot be completed.

3-7
3.2 Setting the user check

NOTE

3-8
Chapter 4 Troubleshooting

This chapter describes the symptom and its measures on the failure code of
robot controller.

4.1 When failure has occurred.........................................................................4-1

4.2 Concerning the failure details ....................................................................4-2
4.2.1 Failure category ....................................................................................4-2
4.2.2 Concerning criticality codes and failure codes ......................................4-3
4.3 Concerning “System Failure”.....................................................................4-4
4.3.1 Outline of “System Failure” ...................................................................4-4
4.3.2 How to recover and response to the failures.........................................4-4
4.4 Recovery after failing of power down detection .........................................4-5
4.4.1 Recovery after failing of power down detection.....................................4-5
4.4.2 Setting of start operation permission.....................................................4-5
4.5 Troubleshooting.........................................................................................4-7
4.5.1 Assumed cause of each error code.......................................................4-7
4.5.2 Assumed cause of each phenomenon ................................................ 4-11
4.6 Displaying the failure log .........................................................................4-14
4.6.1 Function of the failure log monitor.......................................................4-15
4.6.2 Settings regarding the failure log ........................................................4-16
4.6.3 Failure filtering function .......................................................................4-20
4.6.4 Displaying the system failure log.........................................................4-23
4.6.5 Frequency of the failure occurrence....................................................4-24
4.7 Failure list ................................................................................................4-27
<FLYLEAF>
These white letters will not be printed. Do not delete these letters.
 4.1 When failure has occurred

4.1 When failure has occurred

When a failure has occurred in the robot, the failure monitor starts, and the details of the failure (name of its
category, date/time of its occurrence, description and remedial action) are displayed on the teach pendant.

(1)
(5)

(2)
(6)

(3)

(7)
(4)

(1) Failure category The name of the failure category appears here.
(2) Failure code and cause The failure code and cause appear here.
The failure code is alphanumerically expressed. In the example of
the screen shown above, “A2101” is the failure code.
(3) Details and remedial action The details of the failure and the remedial action to be taken appear
here.
Use the remedial action displayed here as a reference, and
eliminate the cause of the failure.
(4) Release method The method used to release the failure display appears here.
When all the contents of (3) and (4) do not appear in the display
area, scroll the screen using [up or down].
(5) Number of failure incidents The figure on the right indicates the number of failure incidents
which have occurred simultaneously. Only one failure incident is
displayed on the screen at one time.
To view other types of trouble, press [ENABLE] and [up or down].
(6) Date/time of occurrence The date and time of the failure occurrence appear here.
(7) F11<Trouble Shooting> When a failure that requires e.g. parts inspection or parts
replacement occurs, this <Trouble Shooting> will show up here.
(Not all of the errors support this) When this key is pressed, the
inspection/part replacement procedure will be displayed.(Visual
Maintenance Support Function)
(8) f12 <Failure Reset> Press this key to clear the failure display.
The failure display can also be cleared by pressing [RESET/R] key.

When f12 <Failure Reset> key is pressed, failure display is cleared. (Failure is not
reset) In order to reset the servo failure, press [RESET/R] key twice. (This operation is
IMPORTANT not available while playback.)

4-1
4.2 Concerning the failure details

4.2 Concerning the failure details

4.2.1 Failure category

The failure categories which are displayed at (1) on the previous page are established to enable
where the failure has occurred to be pinpointed to some extent.

Table 4.2.1 Failure category

Failure category Main failure
Emergency stop failure Emergency stop triggered by input from overrun, shock sensor, etc.
Control sequence Failure detected by monitoring of control systems such as magnet switches and circuit
failure protectors, etc.
CPU board failure Watchdog timer detection or other CPU board-related failure occurrence.
Servo failure Failure detected by IPM drive unit software.
Amplifier unit failure Failure detected by IPM drive unit hardware.
Encoder failure Failure detected by internal of encoder.
Teach pendant failure Failure detected by teach pendant.
PLC failure Failure detected by PLC.
User failure Failure defined by the operator
Operation failure Failure caused by an operation error made by operator.
Spot welding failure Failure inherent to “spot welding function” (but not included above)
Arc welding failure Failure inherent to “arc welding function” (but not included above)
FieldBus failure Failure inherent to "FieldBus function" (but not included above)
Shift failure Failure inherent to "Shift function" (but not included above)
Auto Calibration failure Failure inherent to "Automatic Calibration function" (but not included above)
Sealing failure Failure inherent to "Sealing function" (but not included above)
Vision sensor failure Failure inherent to "Vision sensor function" (but not included above)
FLEXhand failure Failure inherent to "FLEXhand function" (but not included above)
Preventive
Failure inherent to "Preventive maintenance function" (but not included above)
maintenance message
Request maintenance Message to require the inspection (but not included above)

4-2
 4.2 Concerning the failure details

4.2.2 Concerning criticality codes and failure codes

The failure codes displayed at (2) on the previous page are expressed using the following format.

[Example] Control sequence failure code E1103

E 1 1 0 3
(A) (B)
(A) Criticality codes
The failure detected by the robot is classified into three types by their level of criticality.

Table 4.2.2 Criticality codes

Type of failure Details
E (errors) Failure caused by parts failure or internal data failure which prohibits continued operation
until the cause of the failure is eliminated, and failure which may potentially injure the
operator or damage the robot system if operation is continued are classified as E
(errors).
If E (error) occurs during the auto operation, the robot system servo is turned off.
A (alarms) Failure which may lead to an error at a future point in time, failure which must be
remedied now or failure requiring simple operations, checks and/or remedial action
before robot operation or movements are continued even though it may not potentially
injure the operator or damage the robot system are classified as A (alarms).
If A (alarm) occurs during the auto operation, the robot system servo remains on,
stopping temporarily.
I (Information) Failure requiring that the operator and ambient devices be informed of the occurrence of
irregularities even though they will not interfere with continued robot operations or
movements is classified as I (information). Information may sometimes be conveyed not
when a failure has occurred but when the robot is operating normally.
If I (information) occurs during the auto operation, robot system displays the message on
the teach pendant, operating continuously.

(B) Failure codes

These are 4-digit numbers used to identify a failure. (See the following pages.)

4-3
4.3 Concerning “System Failure”

4.3 Concerning “System Failure”

4.3.1 Outline of “System Failure”

The function “System Failure” is to stop the system safely when the software has detected
unrecoverable errors. The errors may stem from the hardware failures such as CPU or memory
defects and software failures.

Display example of teach pendant when “System Failure” occurred

4.3.2 How to recover and response to the failures

When this error happens, the robot makes an emergency stop, which will disable all the
following operation.
Therefore, the recovering measures needs to be taken as follows.

【How to recover the failures】

Shut off the robot controller, and turn on the power again.

【How to response to the failures】

Please make a contact to our service engineers with the details of errors such as;
“Operation you have done”, “Operating situation”, and “Error Code”, “Flag”,
“Address”, “Stack” indicated on Teach pendant.

4-4
 4.4 Recovery after failing of power down detection

4.4 Recovery after failing of power down detection

4.4.1 Recovery after failing of power down detection

If power down detection failed, alarm A0004 ”Data was not saved correctly when power down.” is detected at
the timing of power on, and program / step number is cleared (not selected). In case that “Motors/ON/Start sel.
source” is set to “Controller”, program or step number must be selected by teach pendant before initiating
playback operation for safety.
On software version FDV03.28 or later, this safety function is enabled even when “Motors/ON/Start sel. source”
is set to “External”. If playback operation is tried without selecting step, error E2518“Step number not
designated” is detected and playback operation is denied. This error detection is functioning from shipment, so it
is unnecessary to change this setting by following to the procedure written here.

In case of multi-unit specification, program selection or step selection is necessary for each unit.
As an exception, in case that unit is started by CALL or FORK functions, this operation is unnecessary because
started unit program is initiated from step 0.

4.4.2 Setting of start operation permission

When power down detection is failed, it is selectable to permit or not to permit start operation. This error
detection is functioning from shipment, so it is unnecessary to change this setting.

1 Select TEACH mode.

2 Set the operator qualification to EXPERT or higher.

3 Press <Constant setting> - [5 Operation Constants] - [1 Operation Condition] and

press [Enter].
≫ Following menu will appear.

4-5
4.4 Recovery after failing of power down detection

4 Align cursor on [37 Start permission after A004] and select one by [Enable] +
[Left/Right] key.
＋

Candidates Explanation
When power down detection is failed,
Step number must be selected (step set operation)
before initiating playback operation for safety.
After step set If playback operation is tried without selecting step,
error E2518“Step number not designated” is detected
and playback operation is denied.
When power down detection is failed,
No need
playback operation is permitted without selecting step.

5 Press F12 <Complete>.

≫ Setting is stored to memory.

4-6
 4.5 Troubleshooting

4.5 Troubleshooting
Perform inspection and part replacement safely, observing the following instructions.
4.5.1 Assumed cause of each error code
When an error occurs, you can estimate the part which causes the error from the error code.
In case of an error, please investigate the cause in decreasing order of the possibility, using this table.

Table 4.5.1 Assumed cause of each error code

Operation panel / box

ambient temp.
Primary power supply &
Power unit

Multi power Supply unit

CPU board

Sequence board

Riser board

Arc I/F board

I/O board

IPM drive unit

Regenerative resistor

Control cable (robot wiring)

Manipulator & load

Motor & encoder

Reduction gear

Teach pendant

Jig controller
Error code
None No TP indication ○ ◎ ◎ ◎ ○ ◎ ◎
The automatic saving function at
the timing of the power failure
4 ◎ ◎ ◎ ○ △
detection (or controller power
OFF operation) failed.
The robot cannot reach the
12 ◎ ◎ ○ ○
recorded point.

21 Abnormal servo tracking ○ ◎ ○ ○ ◎

22 Position Deviation error ○ ◎ ○ ○

24 Servo CPU stop ○ ◎

25 Encoder Bit jump ● ● ●

26 Interference detected ○ ○ ○ ○

27 Encoder data change after stop ● ● ●

28 Low voltage of motor power ◎ ◎ △ ◎

29 Encoder absolute data error ◎

30 Encoder absolute data failure ◎

Motor rotation too fast when

31 ◎
turning the motors ON

32 Over current ○ ○ ◎ ○

38 Over load ○ ○ ◎

39 Over rotation ○ ○ ○

40 The abnormalities in CPU in a T/P ◎

42 Over temperature of motor ○ ○ ◎ ○

43 Over speed ○ ◎

44 Over voltage of motor power ◎ ◎

Over temperature of regenerative
46 ○ ○ ◎ ◎ ○ ◎
discharge resister
Encoder counter
50 ◎
overflow/underflow
◎：Big possibility, ●：Big possibility or external noise, ○：Moderate possibility, △：Small possibility

4-7
4.5 Troubleshooting

Operation panel / box

ambient temp.
Primary power supply &
Power unit

Multi power Supply unit

CPU board

Sequence board

Riser board

Arc I/F board

I/O board

IPM drive unit

Regenerative resistor

Control cable (robot wiring)

Manipulator & load

Motor & encoder

Reduction gear

Teach pendant

Jig controller
Error code
Encoder data
51 ● ● ●
transmission failure

52 Encoder battery error ◎ ○

54 Positional deviation ◎ ◎

Encoder battery charge

55 ○ ○ ◎
low
Encoder count status
57 ◎
failure
Emergency stop was
62 shortly input or Magnetic ○ ○ ○ ○ ○ △ ○
SW was cut off.
64 Drive unit power failure ◎

Over travel limit switch

65 ○ ◎
activated
Low voltage of brake
66 ◎
power

72 Drive unit IPM failure ◎ ◎ ○

Motor regeneration circuit

74 ○ ◎ ◎
fault

78 CPU board power fault. ○ ◎

CPU board temperature

79 ○ ◎ ◎
fault.

80 CPU board power fault. ◎ ◎ ○

81 CPU board battery failure ◎

106 The motors are not ON. ○ ◎ ○ ◎

116 TP connect failure ○ ◎ ◎

The T/P connection is

119 ○ ◎
abnormal.
Primary power supply
177 ◎ ○ ○ ◎
fault.
Safety plug is not inserted or the
379 state of safety plug signal has ◎ ○
changed in teach mode.
Teach pendant touch
659 ◎
panel error.
Robot moved during
777 ○ ○ ○ ○ ○
Motors-ON sequence.

783 Motion stop. ○

787 Watchdog Timeout Error. ◎ ◎ ○

902 servo clock halted ○ ○

Servo communication
903 ○ ○
stop
Sequence board connect
904 ◎ ◎ ○
failure.
◎：Big possibility, ●：Big possibility or external noise, ○：Moderate possibility, △：Small possibility

4-8
 4.5 Troubleshooting

Operation panel / box

ambient temp.
Primary power supply &
Power unit

Multi power Supply unit

CPU board

Sequence board

Riser board

Arc I/F board

I/O board

IPM drive unit

Regenerative resistor

Control cable (robot wiring)

Manipulator & load

Motor & encoder

Reduction gear

Teach pendant

Jig controller
Error code
Abnormal setting of the
905 ◎
I/O board.
T/P selector switch is set
967 ○ ◎ ○ ◎
to MANUAL.
Playback unavailable
973 because Enable SW is ○ ◎
not released position.
Magnetic switch is not
975 ○ ◎ ○ ○
active.
Confirm magnet-ON
976 ○ ○ ○
(Fixed input IN28) is OFF.

1001 PWM was cut off. ◎ ◎

Manipulator battery
1016 ◎ ◎
warning
The magnetic switch
1048 contacts were welded ◎ ◎ ◎
and stick each other.
T/P SELECTOR
1051 ○ ◎
SWITCH

1052 EXT EMG STOP ○ ○

The inconsistency was detected in the sequence circuit.

1053 SFP ○ ○

G-STOP
1054 ○ ○
(G_EMG)
TEACH /
1059 ○ ○
PLAYBACK SEL

1060 MAT SW ○ ○

HI-SPEED
1061 ○ ○
TEACH
EMERGENCY
1062 ○ ○ ◎
STOP
T/P EMERGENCY
1063 ○ ◎
STOP

1064 CRON ◎
Playback unavailable because
2002 Motors-OFF sequence is being ○ ○
executed.
T/P selector switch is set
2006 ○ ◎
to AUTO.
Stop or External stop
2101 ○ ○ ◎ ◎
signal being given.
The emergency stop button or the
2103 external emergency stop is ○ ◎ ◎ ◎
inputted.
External Motors-OFF is
2104 ○ ◎
inputted.
Playback unavailable because
2106 servo system has not been turned ◎ ○ ◎
on yet.
The internal operation signal was
2111 inputted in the state of external ◎ ○ ○
selection.
◎：Big possibility, ●：Big possibility or external noise, ○：Moderate possibility, △：Small possibility

4-9
4.5 Troubleshooting

Operation panel / box

ambient temp.
Primary power supply &
Power unit

Multi power Supply unit

CPU board

Sequence board

Riser board

Arc I/F board

I/O board

IPM drive unit

Regenerative resistor

Control cable (robot wiring)

Manipulator & load

Motor & encoder

Reduction gear

Teach pendant

Jig controller
Error code
The external operation
2112 signal was inputted in the ◎ ◎
state of internal selection.
Emergency stop signal
2400 ○ ◎
input line failure.
Safety signal input line
2401 ○ ◎
failure(Safety plug)
Safety signal input line
2402 ○ ◎ ◎ ◎
failure (Enable / Mat SW)
Playback unavailable
because the enable
2973 ○ ◎ ○
switch is not in the
release position.
Pause or External
2974 pause signal being ○ ○ ◎
given.
Can't communicate with
4002 ◎
the welding power supply.
Can't communicate with
4003 ◎
the welding power supply.

4016 The Arc-I/F is not found. ○ ◎

It was not possible to
4099 communicate with the arc ◎
welding power supply.
Shock sensor detected
4920 ○ ○ ◎ ◎
the collision.
Servo communication
9208 ◎ ◎ ◎ ◎
initialization failure

9209 Brake fuse off ◎ ○ ○

Drive unit power failure

9213 ◎
(15V)
Low voltage of sequence
9216 ○ ○
control power supply
An inconsistency was
9220 detected in the servo ○ ○
failure.
9229 Brake fuse off.(F1) ○ ○ ○

Drive unit power failure

9240 ○ ○
(24V)
Drive unit precharge
9241 ◎
failure

9242 Drive unit phase lack. ○ ○ ◎

◎：Big possibility, ●：Big possibility or external noise, ○：Moderate possibility, △：Small possibility

4-10
 4.5 Troubleshooting

4.5.2 Assumed cause of each phenomenon

Possible causes of failures are summarized below.
We have prepared a table respectively for three patterns of failure occurrence. Refer to the
corresponding table to estimate the part causing the failure.

In case of a failure occurring right after program start-up

If any of the following phenomena or errors occurs right after the control power ON and program
start-up, the problem may lie in the connection between the corresponding connector and the
printed circuit board, or connection of the related cable.
In case of following problem, check whether the corresponding connector is correctly connected.

Table 4.5.2 Assumed cause of each phenomenon 1

Error Part estimated to have caused the error
No. Phenomenon / Error message
code Connector name Name of the unit (board)
Primary power Circuit breaker
None
U and W Customer’s plant
1 Power is not turned on.
None CNPW Multi power supply unit
None CNRSTIN Power unit
TP cable
None CNTP
Sequence board
None CNPW Multi power supply unit
2 Teach pendant screen is black. None CNP24V１ Sequence board (connection)
None CNNLX CPU board (connection)
Multi power supply unit
None CNPS
(connection)
TP cable
“TPE0002” communication error is
3 displayed on teach pendant
TPE0002 CNLAN2 Teach pendant
CPU board
TP cable
Key operation is impossible on teach
4 pendant
None CNLAN2 Teach pendant
CPU board
Cooling fan
Cooling fan does not function (discharge
5 resistor / IPM drive unit).
None CNFAN IPM drive unit
Multi power supply unit
Cooling fan
6 Cooling fan does not function (CPU rack). None CNFAN
Multi power supply unit
E0065 CNEC1 IPM drive unit
7 Over travel LS is detected E0065 CN78E IPM drive unit
E0065 Over travel LS Manipulator
Error in regeneration discharge resistor IPM drive unit
8 temperature rise
E0046 CNR

E9208 CNCOM IPM drive unit

E9208 CNVP IPM drive unit
9 Error in servo communication start
E9208 CNP24V Multi power supply unit
E9208 CNLAN3 CPU board
Primary power Circuit breaker
10 Drive unit lacking of power phase E9242
V Customer’s plant
11 Detection of power failure E0177 CNPW Multi power supply unit

4-11
4.5 Troubleshooting

In case of a failure occurring at the time of servo power ON

If any of the following phenomena or errors occurs before or at the time of turning on of the servo
power, the problem may lie in the connection between the corresponding connector and the
printed circuit board, or connection of the related cable.
In case of a following problem, check whether the corresponding connector is correctly
connected.

Table 4.5.3 Assumed cause of each phenomenon 2

Error Part estimated to have caused the error
No. Phenomenon / Error message
code Connector name Name of the unit (board)
Primary power Circuit breaker
None
U and W Customer’s plant
1 Power is not turned on.
None CNPW Multi power supply unit
None CNRSTIN Power unit
TP cable
None CNTP
Sequence board
None CNPW Multi power supply unit
2 Teach pendant screen is black None CNP24V１ Sequence board (connection)
None CNNLX CPU board (connection)
Multi power supply unit
None CNPS
(connection)
3 Teach pendant screen is white. None CNTP Sequence board
TP cable
“TPE0002” communication error is
4 TPE0002 CNLAN2 Teach pendant
displayed on teach pendant
CPU board
Cooling fan
Cooling fan does not function (discharge
5 None CNFAN IPM drive unit
resistor / IPM drive unit).
Multi power supply unit
Cooling fan
6 Cooling fan does not function (CPU rack). None CNFAN
Multi power supply unit
E0065 CNEC1 IPM drive unit
7 Over travel LS is detected E0065 CN78E IPM drive unit
E0065 Over travel LS Manipulator
Error in regeneration discharge resistor
8 E0046 CNR IPM drive unit
temperature rise
E0903 CNLAN3 CPU board
E0903 CNCOM IPM drive unit
E0903 CNRST IPM drive unit
9 Servo communication stopped
E0903 CNVP IPM drive unit
E0903 CNP24V Multi power supply unit
E0903 CNPW Multi power supply unit
10 Magnet switch contact does not open E1048 CNMS IPM drive unit
IPM drive unit
11 Servo error not coincident E9220 CNSV
Sequence board
A4920 CNMCH IPM drive unit
12 Shock sensor is detected
A4920 CNEC1 IPM drive unit
13 Detection of power failure E0177 CNPW Multi power supply unit
14 Announcement of “data not saved” A0004 CNPW Multi power supply unit
15 Brake power supply voltage drop E0066 CNRST IPM drive unit
16 Motion stopped E0783 CNPW Multi power supply unit
17 Motor power down E0028 CNRST IPM drive unit
Error in regeneration discharge resistor
18 E0046 CNR IPM drive unit
temperature rise

4-12
 4.5 Troubleshooting

In case of a failure occurring during servo operation

If any of the following phenomena or errors occurs after turning on of the servo power, the
problem may lie in the connection between the corresponding connector and the printed circuit
board, or connection of the related cable.
In case of a following problem, check whether the corresponding connector is correctly
connected.

Table 4.5.4 Assumed cause of each phenomenon 3

Error Part estimated to have caused the error
No. Phenomenon / Error message
code Connector name Name of the unit (board)
Primary power Circuit breaker
None
U and W Customer’s plant
1 Power is not turned on.
None CNPW Multi power supply unit
None CNRSTIN Power unit
TP cable
None CNTP
Sequence board
2 Teach pendant screen is black None CNPW Multi power supply unit
None CNP24V１ Sequence board (connection)
None CNNLX CPU board (connection)
3 Teach pendant screen is white. None CNTP Sequence board
TP cable
“TPE0002” communication error is Teach pendant
4 TPE0002 CNLAN2
displayed on teach pendant CPU board

Cooling fan
Cooling fan does not function (discharge
5 None CNFAN IPM drive unit
resistor / IPM drive unit).
Multi power supply unit
Cooling fan
6 Cooling fan does not function (CPU rack). None CNFAN
Multi power supply unit
7 Power failure of the servo None CNMS IPM drive unit
E0065 CNEC1 IPM drive unit
8 Over travel LS is detected E0065 CN78E IPM drive unit
E0065 Over travel LS Manipulator
E0903 CNLAN3 CPU board
E0903 CNCOM IPM drive unit
9 Servo communication stopped E0903 CNRST IPM drive unit
E0903 CNVP IPM drive unit
E0903 CNP24V Multi power supply unit
E0903 CNPW Multi power supply unit
IPM drive unit
10 Servo error not coincident E9220 CNSV
Sequence board
A4920 CNMCH IPM drive unit
11 Shock sensor is detected
A4920 CNEC1 IPM drive unit
12 Detection of power failure E0177 CNPW Multi power supply unit
13 Announcement of “data not saved” A0004 CNPW Multi power supply unit
14 Brake power supply voltage drop E0066 CNRST IPM drive unit
15 Motion stopped E0783 CNVP IPM drive unit
CNBK2 IPM drive unit
16 Error in motor temperature rise E0042
CNSW IPM drive unit
Error in motor power supply / regeneration
17 E0074 CNR IPM drive unit
discharge circuit
18 Motor power supply voltage drop E0028 CNRST IPM drive unit
Error in regeneration discharge resistor
19 E0046 CNSR IPM drive unit
temperature rise

4-13
4.6 Displaying the failure log

4.6 Displaying the failure log

This function enables to display the failure log occurred in the past.

Displaying the failure log

1 Proceed to <Service Utilities> - [Monitor 1-4] – [Failure Log].

≫ The “Failure Logging Monitor” appears.

Date of failure
occurrence Failure code Details

2 Move a cursor to a specific failure to display its details using [Up/Down] key, and
press [Enter].
≫The lower half of the screen shows detailed information.

Date of failure Category of

occurrence failure cause
Failure code
Details

Location of error

Details and
measures

How to release
the failure

3 Again, press [Enter].

≫ The details screen closes.

4-14
 4.6 Displaying the failure log

4.6.1 Function of the failure log monitor

On the failure log monitor, various functions are provided to analyze the failures in particular.

Using the display function of failure log monitor

1 Activate the “Failure Logging Monitor”, and press [Edit].

≫ A title bar on the monitor turns red, and its dedicated soft keys appear.

1 7

2 8

3 9

1 Filter
Enables to pick up a particular failure to display. (The operator
qualification of EXPERT or higher is required.)
Page 4-20, “4.6.3 Failure filtering function”.

2 Sort <Date/Code/Prog./Step>
Changes a sorting factor of the failure log.
Since the default is set at “Date”, the items change in sequence as shown
below by pressing this key every time.
Date Code Prog. Step

3 Sort
Switches ascending/descending sort.
The sorting factor is as specified in [2].

4 Move
Moves up and down when the screen separation is set ON in [5].

5 Screen Separation
The screen is split into two sections.

6 Filter <All/Error/Alarm/Information>
Changes a level of importance to display the failure log. Since the default
is set to display the logs of all levels of importance, the items change in
sequence as shown below by pressing this key every time.
All Error Alarm Information

4-15
4.6 Displaying the failure log

7 Failure Log Clear

Clears the failure log.
(The operator qualification of EXPERT or higher is required.)

8 Fail Freq.
The frequency of failure occurrence is graphically indicated and analyzed.
(The operator qualification of EXPERT or higher is required.)
Page 4-24, 4.6.5 “Frequency of the failure occurrence”.

9 System Failure
The frequency of failure occurrence is graphically indicated and analyzed.
(The operator qualification of EXPERT or higher is required.)
Page 4-23, 4.6.4 “Displaying the system failure log”.

2 Press [Reset/R] key.

≫ The title bar and soft keys are restored.

4.6.2 Settings regarding the failure log

The constants regarding the failure log are given in the table below.

Table 4.6.1 Constants regarding the failure log

Constant name Details Setting item/ Default
range
Error Specifies Save/Not save for the failure of Save/ Save
which level of importance is “Error”. Not save
Alarm Specifies Save/Not save for the failure of Save/ Save
which level of importance is “Alarm”. Not save
Information Specifies Save/Not save for the failure of Save/ Not save
which level of importance is “Information”. Not save
Separate save Set this constant to “Enable” to save failure Disable/Enable Disable
logs of the specified failure code separately
from the other normal failures.
When setting to “Enable”, an appropriate
failure code shall be designated in advance.
Info. by failure logs Specifies Not occur/Occur whether or not to Not occur/ Not occur
output the information by the number of Occur
failure logs.
If setting to “Occur”, Information (I2412) is
output when the remaining of failure logs
reaches the specified number of “Remainder
of logs”.
Remainder of logs When setting “Info. by failure logs” to “Occur”, 0～99 0
the remainder of logs shall be specified to
output the Information.
Info. by separate logs Specifies Not occur/Occur whether or not to Not occur/ Not occur
output the information by the number of logs Occur
to save separately.
If setting to “Occur”, Information (I2413) is
output when the remaining of failure logs
reaches the specified number of “Remainder
of separate logs”.
Remainder of separate logs When setting “Info. by separate logs” to 0～999 0
“Occur”, the remainder of logs shall be
specified to output the Information.

4-16
 4.6 Displaying the failure log

POINT
<Number of failure logs to store>
Usually, the maximum of 200 failure logs can be stored. Exceeding this number, the logs are
to be deleted in the chronological sequence, the oldest one first.

<Separate save>
When the “Separate save” has been set to “Enable”, the failure logs even exceeding 200 will
not be deleted but moved and saved in a different area as long as those are specified by the
failure code.
Note that the different area can store the maximum of 1000 failure logs. Exceeding this
number, the logs are to be deleted in the chronological sequence, the oldest one first.

Set the operator qualification to EXPERT or higher in advance.

Configuring the failure log

1 Open <Constant Setting> - [24 Logging Data] – [1 Error Logger Item].

≫ The “Error Logger Item” screen appears.

2 Configure the log by the following operation.

To select the constant for setting:

Use [Up/Down] key.

To enter the value:

Entering
a value
Enter a value using the numerical key, and press [Enter].

To change the choice:

＋
Press [Right/Left] with holding [ENABLE].

3 Upon completion of the setting, press f12<Complete>.

≫ The setting is saved to restore the original screen.

To set the Separate save to “Enable”, an appropriate failure code shall be

designated in advance.
IMPORTANT

4-17
4.6 Displaying the failure log

Specifying the failure code to save separately

1 Set the Separate save to “Enable”.

≫ The f8 <Select> soft key appears.

2 Press f8 <Select> key.

≫ The “Select Failure Log” screen appears.

3 Specify the failure code to save separately by the following operation.

To change the failure code input field to configure:

Use [Up/Down] key.

To scroll the page:

Press f9 and f10 <Scroll page> key.

To directly enter the value with numerical keys:

Entering
a value Enter a value using the numerical key, and press [Enter].

4-18
 4.6 Displaying the failure log

To enter the value referring to the registered failure code:

Press f8 <Refer> key.
≫The “Failure code” screen appears.

Align a cursor on a specific failure code to select using [Up/Down] key, and
press [Enter].
≫The “Select Failure Log” screen is restored with the desired code selected.

4 Upon completion of the setting, press f12<Complete>.

≫ The failure code to save separately is set, and the “Error Logger Item” screen is
restored.

4-19
4.6 Displaying the failure log

4.6.3 Failure filtering function

The Failure Logging Monitor enables to filter a specified failure to display.

Table 4.6.2 Type of failure

Item Details Setting range in
filtering
Failure code Failures of the specified failure code are filtered. 0～9999

Classification Failures categorized in the specified classification code －

code are filtered.
For details, Page 4-2, “4.2.1 Failure category”.
Mode The failures occurred in the specified mode are filtered. Teach mode/
There are two alternatives of mode; Teach mode and Playback mode
Playback mode.
Unit Only the failures of the specified unit number are filtered. 1～9
Mechanism Failures occurred in the mechanism of the specified 1～9
mechanism number are filtered.
Axis Only servo-related failures occurred in the axis of the 1～9
specified axis number are filtered.
Welder Only failures occurred in the welder of the specified 1～4
welder number are filtered.
Sensor Only failures occurred in the sensor of the specified 1～12
sensor number are filtered.
Program Only failures occurred in the specified program number 0～9999
are filtered.
Step Only failures occurred in the specified step number are 0～9999
filtered.

POINT <Multiple choices of the filtering items>

It is available to select two or more filtering items by AND condition.

Set the operator qualification to EXPERT or higher in advance.

4-20
 4.6 Displaying the failure log

Filtering and displaying the failure

1 Activate the “Failure Logging Monitor”, and press [Edit].

≫A title bar on the monitor turns red, and its dedicated soft keys appear.

2 Press f2 <Filter> key.

≫The “Failure Filtering Setting” screen appears.

3 Move a cursor to the desired filtering item using [Up/Down] key.

Press [Enable] + [1].

＋
≫ The selected item is check-marked.
To uncheck the item, press [Enable] + [2].

4 Align a cursor on the value input field or the desired field using
[Up/Down/Right/Left] key, and set the conditions.

To enter the value:

Entering a
value
Enter a value using the numerical key, and press [Enter].

To choose from the list:

Press [Enter] to select the desired item from the pull-down list, and press
[Enter] again.

4-21
4.6 Displaying the failure log

To select the failure code (available only when the filtering item is set at “Failure
code”):
Align a cursor on the value input field of failure code.
≫ Then, f8 <Refer> key appears.
Press f8 <Refer> key.
≫The “Failure code” screen appears.

Align a cursor on a specific failure code to select using [Up/Down] key, and
press [Enter].
≫ The “Failure Filtering Setting” screen is restored with the failure code entered.

5 Upon completion of the setting, press f12<Complete>.

≫ The Failure Logging Monitor is restored, which displays only a specified failure.

4-22
 4.6 Displaying the failure log

4.6.4 Displaying the system failure log

It is available to display the system failure log.
To use this function, specify the operator qualification to EXPERT or higher in advance.

Displaying the system failure log

1 Activate the “Failure Logging Monitor”, and press [Edit].

≫ A title bar on the monitor turns red, and its dedicated soft keys appear.

2 Press f10 <System Failure> key.

≫The system failure log appear.

3 Press f10 <Fail Log> key.

≫ The screen returns to 1.

4 Press [Reset/R] key.

≫ The title bar and soft keys are restored.

4-23
4.6 Displaying the failure log

4.6.5 Frequency of the failure occurrence

Graphically displaying the frequency of failure occurrence, failure analysis is available.
Monitoring items on the graph can be selected from the ones given in the table below.

Table 4.6.3 Monitoring item

Item Details
Failure code Graphically displays the frequency of failure occurrence.

Program Graphically displays the frequency of failure occurrence

by every program.
Program - Step Graphically displays the frequency of failure occurrence
by every step.
Time Graphically displays the frequency of failure occurrence
by the time.
It is indicated hour-by-hour between 0 and 23.
User Check Graphically displays the frequency of failure occurrence
by the time of user check.
For details of the time of user check, see “Chapter
4．User Check”.

Set the operator qualification to EXPERT or higher in advance.

Graphically displaying the frequency of failure occurrence

1 Activate the “Failure Logging Monitor”, and press [Edit].

≫ A title bar on the monitor turns red, and its dedicated soft keys appear.

2 Press f9 <Fail Freq.> key.

≫ The frequency of failure occurrence is graphically displayed.

1 6

2 7

3 8

Monitoring item Graphical indication of

Frequency of failure in the frequency of failure
each item in each item

4-24
 4.6 Displaying the failure log

1 Monitor Item Setting

Specifies the monitoring item for the graph.
Page 4-25, ”Specifies the monitoring item for frequency”.

2 Filter
Filters and displays a specific failure.
Page 4-20, “4.6.3 Failure filtering function”.

3 Sort <Val./Item>
Changes the sorting factor either to "Val." or “Item”.
The default is set at “Val”.

4 Move
Moves up and down when the screen separation is set by [5].

5 Screen Separation
The screen is split into two sections.

6 Cause Classification
Graphically displays the frequency of classification of failure cause.
Pressing this key again, the screen is restored.
For details of the cause classification, see Page 4-2, “4.2.1 Failure
category”.

7 Failure Log Clear

Clears the failure log.

8 Fail Log
The screen returns to 1.

3 Press [Reset/R] key.

≫ The title bar and soft keys are restored.

Specifies the monitoring item for frequency

1 Press f1 <Monitor Item Setting> key.

≫ The “Setting of the Failure Frequency Monitor” screen appears.

4-25
4.6 Displaying the failure log

2 Press [Enable] + [Right/Left] key to select the item for graphic display.
＋

3 The following settings are required if you have selected “User Check”.
≫The setting items “User Check Object”, “User Check Content”, and “Division unit of
user check” become available.

The setting item and its details are as follows.

Item Details
User Check Object Selects Mechanism/Arc welding and its corresponding
number.
User Check Content Selects the inspection details specified by “User Check”.
Division unit of user Specifies the unit for each user check time.
check Note that the inspection item determines the unit to be used
as shown below.
Check item Category of time Unit
Mechanism Calendar Month
Current-conducting time H
Servo ON time H
Operating hours H
Arc welding Calendar Month
Arcing time Minute
Number of welding times Time
Amount of wire Kg
consumption

4 Upon completion of the setting, press f12<Complete>.

≫ The Failure Logging Monitor is restored, which displays a graph of the specified
items.

4-26
 4.7 Failure list

4.7 Failure list

All the failure codes are listed from the next page.

4-27
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
CPU board Error occurs when abnormality is
2 Program check-sum fault. Please copy the file by the file restore. Error reset. Alarm Alarm Alarm Alarm on on
failure found in the work program.
When the primary power is turned
OFF or when the primary power
The automatic saving
voltage dropped abnormally, the
function at the timing of
current status of the controller (e.g. (1)Check the output voltage of the power supply unit
CPU board the power failure
4 step number etc.) will be (5V). (2)Replace the power supply unit. (3)Replace Error reset. Alarm Alarm Alarm Alarm on on
failure detection (or controller
automatically saved to the internal the sequence board. (4)Replace the CPU board.
power OFF operation)
memory. This error will be displayed
failed.
if the automatic saving process
failed.

(1)Please confirm whether the robot manipulator

interferes in something. (2)Please confirm that the
This error occurs when the robot Pay-load is within the nominal rating. (3)Check if the
does not reach the position even if concerned axis is hard to move by using brake Please do error
The robot cannot reach
12 Servo failure ten seconds have passed since the release function. (4)Replace the drive unit. reset or turn on the Error Error Error Error on on
the recorded point.
command position was output to the (5)Replace the motor. (6)Check the internal wiring of drive preparation.
robot. the robot or the control cable between the robot and
the controller by referring to the instruction manual
"MANIPULATOR".

Abnormal velocity Modify abnormal axis motion to be minimized. After removal of

Abnormal velocity command data is
20 Servo failure command. Modify Contact our service department in case axis motion failure, please carry Error Error Error Error on on
calculated.
abnormal axis motion. is not so big. out "failure-reset".

(1)Check the primary power voltage. (2)Check

whether the actual load exceeds the maximum
payload value or not. (3)Check whether the ambient
temperature is not below 0 degree. (4)Check if the
This failure occurs when the robot After removal of
concerned axis is hard to move by using brake
21 Servo failure Abnormal servo tracking does not follow to the command failure, please carry Error Error Error Error on on
release function. (5)Replace the drive unit.
position. out "failure-reset".
(6)Replace the motor. (7)Check the internal wiring of
the robot or the control cables between the robot
and the controller by referring to the instruction
manual "MANIPULATOR".

(1)Check whether the robot manipulator interferes

with something. (2)Check whether the actual load
exceeds the maximum payload value or not.
This failure occurs when the
(3)Check if the concerned axis is hard to move by After removal of
deviation between the command
22 Servo failure Position Deviation error using brake release function. (4)Replace the drive failure, please carry Error Error Error Error on on
and encoder data position exceeds
unit. (5)Replace the motor. (6)Check the internal out "failure-reset".
the set permissible deviation.
wiring of the robot or the control cables between the
robot and the controller by referring to the instruction
manual "MANIPULATOR".

(1)Power ON again. (2)Please check the voltage of After removal of

Amplifier unit This failure occurs when the servo the 24V power supply on servo substrate failure, please turn
24 Servo CPU stop Error Error Error Error on on
failure CPU on servo substrate stops. (UM351(L21700X00)). (3)Please replace the drive on power supply of
unit. the controller again.

(1)Please confirm whether connectors

CNEC1/CNEC2/CN78E on the servo board UM351
(L21700x00) are correctly connected. And, check
the damages on them. (2)Please confirm connector
CNR4/CN2 between the controller and the robot.
This failure occurs when the amount
(3)Please confirm the power supply voltage of the After removal of
of the encoder current position
25 Servo failure Encoder Bit jump encoder. For details, refer to the instruction manual failure, please carry Error Error Error Error on on
exceeds the borderline for the
"CONTROLLER MAINTENANCE MANUAL". out "failure-reset".
encoder bit jump detection.
(4)Please replace the drive unit. (5)Please replace
the power supply unit. (6)Please replace the motor
or the encoder. (7)Please confirm the wiring in the
robot manipulator referring to the instruction manual
"MANIPULATOR".

(1)Please confirm whether the robot manipulator

interferes with something. (2)Please confirm that the
weight, center of gravity, moment of inertia of the
tool match with the actual load. (3)Please lower the
After removal of
This failure occurs when the robot detection level or invalidate the problem part by
26 Servo failure Interference detected failure, please carry Error Error Error Error on on
manipulator collides with something. using FN230. (4)Check if the concerned axis is hard
out "failure-reset".
to move by using brake release function. (5)Please
confirm the cable between the controller and the
robot.(U,V,W and brake control line) (6)Please
replace the drive unit.

4-28
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Please check whether the connectors

CNEC1/CNEC2/CN78E on the servo board
UM351(L21700X00) are correctly connected. And,
check the damages on them. (2)Please check
whether CNR4/CN2 is correctly connected.
(3)Please check the power supply voltage of the
This failure occurs when the encoder. (4)Please check that the Pay-load is within
After removal of
Encoder data change encoder data continues to change the nominal rating. (5)Please check if the
27 Servo failure failure, please carry Error Error Error Error on on
after stop while the command position value is manipulator interferes with something or not. (If this
out "failure-reset".
stopping. error occurs when the robot stops) (6)Please
replace the drive unit. (7)Please replace the power
supply unit. (8)Please replace the power supply unit.
(9)Please replace the motor or the encoder.
(10)Please check the wiring in the robot manipulator
or the control cables (wire harness) by referring to
"MANIPULATOR MANUAL".

(1)Please check the connection of CNRST on the

front of drive unit correctly. (2)Please check that a
primary voltage of the controller is within the
This failure occurs when the Motor After removal of
Amplifier unit Low voltage of motor specification. (3) Please confirm that a power supply
28 power supply voltage(P-N) are lower failure, please carry Error Error Error Error on on
failure power to CNRST is around AC200V. If the supply voltage
than regular setting level. out "failure-reset".
is low, please replace a power unit. If the supply
voltage is within the specification, please replace the
drive unit.

(1)Check if the encoder power supply voltage is

After removal of
normal or not (Refer to "CONTROLLER
Encoder Encoder incremental data Error occurs when fault is detected failure, please turn
29 MAINTENANCE MANUAL"). (2)Please reset the Error Error Error Error on on
failure error in the encoder. on power supply of
encoder. (3)Check encoder wiring. (4)Replace the
the controller again.
motor or the encoder.

(1)Please turn OFF the controller power. (2)Please

After removal of
This failure occurs when an replace the motor or the encoder. (3)Please check
Encoder Encoder absolute data failure, please turn
30 absolote data fault is detected inside the power supply voltage of the encoder refering to Error Error Error Error on on
failure failure on power supply of
the encoder. "CONTROLLER MAINTENANCE MANUAL".
the controller again.
(4)Please check the wiring of the encoder.

(1)Please check the power supply voltage of the After removal of

Motor rotation too fast This failure occurs if at the time of
Encoder encoder refering to "CONTROLLER failure, please turn
31 when turning the motors turning Motors ON, the encoder Error Error Error Error on on
failure MAINTENANCE MANUAL". (2)Please check the on power supply of
ON speed is too fast.
wiring of the encoder. (3)Please reset the encoder. the controller again.

(1)Please check whether the robot manipulator

interferes with something. (2)Please check that the
Pay-load is within the nominal rating. (3)Check if the
concerned axis is hard to move by using brake
release function. (4)Please check the connectors
This failure occurs when the current CNP1-8, CNBK1, CNBK2,and CNSW. (5)Please After removal of
32 Servo failure Over current in the drive unit exceeds the rated replace the drive unit. (6)Please replace the motorof failure, please carry Error Error Error Error on on
value. the concerned axis. (7)Please check the internal out "failure-reset".
wiring of the robot. (motor current U,V,W and brake
control line) (8) Please check the control cables
(wire-harnesses) between the controller and the
robot manipulator. (9)Please adjust the over current
detection level ("Peak Amps error")(external axis).

Synchronous failure of Synchronous failure of servo

33 Servo failure If error persists, Contact our service department. Error reset. Error Error Error Error on on
servo command. command occurred in servo system.

(1)Please turn OFF the controller power. (2)Please

After removal of
replace the motor or the encoder. (3)Please check
Encoder Error occurs when fault is detected failure, please turn
36 Encoder Initialize error the power supply voltage of the encoder refering to Error Error Error Error on on
failure in the encoder. on power supply of
"CONTROLLER MAINTENANCE MANUAL".
the controller again.
(4)Please check the wiring of the encoder.

4-29
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Please confirm that the Pay-load is within the

This failure occurs when the nominal rating. (2)Please stop the robot in order to After removal of
Encoder Over temperature of
37 encoder temperature rises lowering the motor temperature, and restart. (3)If failure, please carry Error Error Error Error on on
failure encoder
abnormally. failure persists, please lower the operation speed of out "failure-reset".
the robot. (4) Please exchange motor and encoder.

(1)Please check whether the robot manipulator

interferes with something. (2)Please check that the
Pay-load is within the nominal rating. (3)Check if the
concerned axis is hard to move by using brake
release function. (4)Please check the connectors
This failure occurs when the current CNP1-8, CNBK1,CNBK2, or CNSW on the drive After removal of
38 Servo failure Over load in the motor or drive unit exceeds unit. (5)Please replace the drive unit. (6)Please failure, please carry Error Error Error Error on on
the rated value. replace the concerned motor. (7)Please check the out "failure-reset".
internal wiring of the robot. (motor current U,V,W
and brake control line). (8)Please check the control
cables (wire-harnesses) between the controller and
the robot manipulator. (9)Please adjust the over load
detection level ("Overload error") (external axis).

(1)Please check whether the robot manipulator

interferes with something. (2)Please check whether
the setting of the Pay-load and center of gravity are
This failure occurs when the number After removal of
correct. (3)Check if the concerned axis is hard to
39 Servo failure Over rotation of rotations of motors exceeds a failure, please carry Error Error Error Error on on
move by using brake release function. (4)Please
maximum rotation speed limit. out "failure-reset".
replace the motor or the encoder. (5)Please replace
the drive unit. (6)Please replace the manipulator
wirings.

Please check whether there are any abnormalities in

The abnormalities in CPU CPU built in the teach pendant the T/P and the connection cable. Please turn OFF Turn on the power
40 TP failure Error Error Error Error on on
in a T/P stopped. and ON the main power supply. Please replace the again.
T/P, when an error still comes out.

(1)Please turn OFF the controller power. (2)Please

After removal of
replace the motor or the encoder. (3)Please check
Encoder Encoder Memory Access Error occurs when fault is detected failure, please turn
41 the power supply voltage of the encoder refering to Error Error Error Error on on
failure error in the encoder. on power supply of
"CONTROLLER MAINTENANCE MANUAL".
the controller again.
(4)Please check the wiring of the encoder.

(1)Please check that the Pay-load is within the

nominal rating. (2)Please check the wiring of the
motor thermostat refering to "CONTROLLER
MAINTENANCE MANUAL". (3)Please check the After removal of
Amplifier unit Over temperature of This failure occurs when the motor
42 connector CNBK2 on the drive unit. (4)Please stop failure, please carry Error Error Error Error on on
failure motor temperature rises abnormally.
the robot in order to lowering the motor temperature, out "failure-reset".
and restart. (5)If the failure persists, please lower the
operation speed of the robot or add a DELAY
function (FN50) in the program to lower the duty.

(1)Please check whether the connector

CNEC1/CNEC2/CN78E on the servo board UM351
(L21700X00) are correctly connected. (2)Please
After removal of
Amplifier unit This failure occurs when the rotation replace the drive unit. (3)Please replace the motor or
43 Over speed failure, please carry Error Error Error Error on on
failure speed of motors is abnormal. the encoder. (4)Please check the manipulator
out "failure-reset".
wirings and the control cables (wire-harness)
between the controller and the manipulator referring
to "MANIPULATOR MANUAL".

(1)Please check whether CNR is correctly

This failure occurs when the Motor After removal of
Amplifier unit Over voltage of motor connected. (2)Please check the discharge
44 power supply voltage(P-N) are failure, please carry Error Error Error Error on on
failure power register(5-ohm or 30-ohm) (3)Please replace the
higher than regular setting level. out "failure-reset".
drive unit.

(1)Check if the fans are operating. (2)Please check

the wiring of the sensor. (3)Please replace the
discharge register. (4)Please replace the drive unit.
Over temperature of This failure occurs when the After removal of
Amplifier unit (5)Please check the voltage of the 24V power
46 regenerative discharge temperature of the regenerative failure, please carry Error Error Error Error on on
failure supply. (6)Please replace the multi power supply
resister discharge resister rises abnormally. out "failure-reset".
unit. (7)If the failure persists, please lower the
operation speed of the robot or add a DELAY
function (FN50) in the program to lower the duty.

4-30
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

After removal of
This failure occurs when the LED Please turn on power supply of the controller again.
Encoder Over-current of the failure, please turn Informati Informati Informati Informati
48 current in the encoder exceeds the If this failure occurs again, please replace the on on
failure encoder LED on power supply of on on on on
threshold. encoder or the motor.
the controller again.

(1)Please turn OFF the controller power. (2)Please

After removal of
This failure occurs when the fault of replace the motor or the encoder. (3)Please check
Encoder failure, please turn
49 Encoder Multi turn error the multi turn detection system is the power supply voltage of the encoder refering to Error Error Error Error on on
failure on power supply of
detected in the encoder. "CONTROLLER MAINTENANCE MANUAL".
the controller again.
(4)Please check the wiring of the encoder.

(1)Please turn ON the power supply of the controller

again. (2)Please replace the motor or the encoder. After removal of
This failure occurs when the counter
Encoder Encoder counter (3)Please check the power supply voltage of the failure, please turn
50 overflow/underflow occured inside Error Error Error Error on on
failure overflow/underflow encoder refering to "CONTROLLER on power supply of
the encoder unit.
MAINTENANCE MANUAL". (4)Please check the the controller again.
wiring of the encoder.

(1)Please check whether the connectors

CNEC1/CNEC2/CN78E on the servo board UM351
(L21700X) are correctly connected. (2)Please check
whether the CNR4 or CN2 is correctly connected.
This failure occurs when the After removal of
And check the damages on them. (3)Please confirm
Encoder data communication data with the failure, please turn
51 Servo failure the power supply voltage of the encoder. (4)Please Error Error Error Error on on
transmission failure encoder is abnormal or the encoder on power supply of
replace the drive unit. (5)Please replace the motor or
has been disconnected. the controller again.
the encoder. (6)Please check the manipulator
wirings and the control cables (wire-harness)
between the controller and the manipulator referring
to "MANIPULATOR MANUAL".

After removal of
failure, please turn
(1)Please reset the encoder and turn on power
ON power supply of
supply of the controller again.(2)Please confirm
This failure occurs when the voltage the controller again.
Encoder Encoder battery charge battery of abnormal axis. (3)Please confirm battery
52 of the battery in the encoder has For details, refer to Error Error Error Error on on
failure low voltage(up to 3.6V). (4)Please replace motor and
decreased. "SETUP MANUAL"
encoder. (5)Please confirm wiring of battery and
and
encoder. (6)Please replace drive unit.
"MANIPULATOR
MANUAL".

After removal of
This failure occurs when the invalid Please check [Mechine Constants] [Motor and failure, please turn
53 Servo failure Invalid encoder type Error Error Error Error on on
encoder type is selected. Encoder][Encoder type]. on power supply of
the controller again.
(1)Please check the supply voltage of the encoder
After removal of
This failure occurs when the change refering to "CONTROLLER MAINTENANCE
54 Servo failure Encoder data abnormal failure, please carry Error Error Error Error on on
of the encoder data is abnormal. MANUAL". (2)Please check the wiring of the
out "failure-reset".
encoder.

Because the motor had been (1)Please reset the encoder and turn on power
rotated at high speed when the supply of the controller again.(2)Please replace
power off, it became impossible to motor and encoder. (3)Please check the wiring of After removal of
Encoder Motor rotation too fast detect the the absolute amount of the encoder. (4)Please check the supply voltage of failure, please turn
55 Error Error Error Error on on
failure when power off the encoder rotation correctly. (This the encoder refering to "CONTROLLER on power supply of
detection is done inside the encoder MAINTENANCE MANUAL". (5)Please replace the the controller again.
unit and the error status is sent to drive unit. (6)Please replace the multi power supply
the controller.) unit.

(1)Please confirm the supply voltage of the encoder

This failure occurs if the pre-load refering to "AX controller maintenance After removal of
56 Servo failure Encoder pre-load failure operation of the encoder was not manual".(2)Please confirm whether the robot failure, please carry Error Error Error Error on on
correctly done. manipulator interferes in something.(3)Please out "failure-reset".
confirm the wiring of the encoder.

(1)Please reset the encoder and turn on power

supply of the controller again. (2)Please replace the
motor or the encoder. (3)Please check the wiring of After removal of
Encoder Encoder count status This failure occurs when the the encoder. (4)Please check the supply voltage of failure, please turn
57 Error Error Error Error on on
failure failure Encoder data(absolute) is abnormal. the encoder refering to "CONTROLLER on power supply of
MAINTENANCE MANUAL". (5)Please replace the the controller again.
drive unit. (6)Please replace the multi power supply
unit.

4-31
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

After removal of
failure, please reset
(1)Please reset the encoder and turn ON power
the encoder and
supply of the controller again. (2)Please replace the
turn ON power
motor or the encoder. (3)Please check the wiring of
This failure occurs when the supply of the
Encoder Encoder count status the encoder. (4)Please check the power supply
58 Encoder data (absolute) is controller again. For Error Error Error Error on on
failure failure voltage of the encoder referring to "CONTROLLER
abnormal. details, refer to
MAINTENANCE MANUAL". (5)Please replace the
"SETUP MANUAL"
drive unit. (6)Please replace the multi power supply
and
unit.
"MANIPULATOR
MANUAL".

Error occurs when the robot system

Control Can't follow conveyer Reduce the speed of the conveyer, or check the
59 can not perform its task at the Error reset. Error Error Error Error on on
failure speed. connection of conveyer pulse line.
current conveyer speed.

This error occurs when it has a

condition that communication cable, (1)Please check the wiring of the emergency-stop,
Emergency stop was After removal of
Control connection of Emergency stop, the mode selector switch, and the safety plug.
62 shortly input or Magnetic failure, please carry Error Error Error Error on on
failure Mode select signals(Teach/Play) or (2)Please replace the sequence board
SW was cut off. out "failure-reset".
Safety plug is open or poor (UM352(L21700F00)).
connection.

Error occurs when the temperature After removal of

CPU board Controller temperature Check the fans are operating, or clean up the heat
63 of the core of the controller becomes failure, please carry Error Error Error Error on on
failure fault. exchanger.
abnormality high. out "failure-reset".

This failure occurs when drive unit After removal of

Amplifier unit (1)Please check the wiring of drive unit. (2)Please
64 Drive unit power failure power VP15(+15V) was not failure, please carry Error Error Error Error on on
failure replace the drive unit.
supplied. out "failure-reset".

(1) If there is no LS that is being pushed phisically,

This failure occurs when an axis the wirings for the LS may be broken. (2) If the LS is
After removal of
Amplifier unit Over travel limit switch reaches the end of its travel and physically being actuated, then move the
65 failure, please carry Error Error Error Error on on
failure activated actuates an Over travel limit switch manipulator towards the normal motion range by the
out "failure-reset".
(LS). teach pendant operation in the setting screen of
"software-limit". (3) Replace the drive unit.

After removal of
Amplifier unit Low voltage of brake This failure occurs when brake (1)Please confirm the cables of CNBKP-CNPB(drive
66 failure, please carry Error Error Error Error on on
failure power power supply PB decreases. unit). (2)Please replace the drive unit.
out "failure-reset".

(1)Please confirm internal wirings and the cable

This failure occurs when current of After removal of
Amplifier unit between the controller and the robot
72 Drive unit IPM failure power module (IPM) in the drive unit failure, please carry Error Error Error Error on on
failure manipulator.(2)Please replace the drive
flows more than permitted range. out "failure-reset".
unit.(3)Please replace the abnormal motor.

(1)Please check whether the CNR connector of the

This failure occurs when the drive unit is connected or not. (2)Please check the
After removal of
Amplifier unit Motor regeneration circuit regenerative discharge circuit is wiring of the discharge resistor. (3)Please check the
74 failure, please carry Error Error Error Error on on
failure fault disconnected (broken) by large resistance of the discharge resistor 5 ohm / 30 ohm.
out "failure-reset".
current or heat. (4)Please make sure the primary power supply
voltage does not exceed the range of use.

The breakdown was detected in

brake control circuit (relay, diode),or
After removal of
break release switches was used
Amplifier unit Error of brake control failure, please turn
75 just after the motor-off sequence. Please replace the Drive Unit. Error Error Error Error on on
failure circuit on power supply of
Please do not release the brake, so
the controller again.
that there is danger to which the arm
falls.

(1)Check the 5V supply voltage of multi power

This error occurs when the power supply unit. For details, refer to "CONTROLLER After removal of
CPU board
78 CPU bord power fault. supply for the CPU is out of the MAINTENANCE MANUAL". (2)Please replace the failure, please carry Error Error Error Error on on
failure
range of 3.3V +/- 10%. multi power supply unit. (3)Please replace the CPU out "failure-reset".
board.

This error occurs when the After removal of

CPU board CPU bord temperature (1)Check the cooling fans on the rack unit are
79 temperature of the CPU becomes failure, please carry Error Error Error Error on on
failure fault. operating. (2)Clean up the cooling fans.
65 degree or more. out "failure-reset".

(1)Check the 5V supply voltage of multi power

This error occurs when the power
supply unit. For details, refer to "CONTROLLER After removal of
CPU board supply voltage for the CPU
80 CPU bord power fault. MAINTENANCE MANUAL". (2)Please replace the failure, please carry Error Error Error Error on on
failure becomes +10% (higher) or
multi power supply unit. (3)Please replace the CPU out "failure-reset".
-6%(lower) from the rated voltage.
board.
This error occurs when the voltage After removal of
CPU board (1)Please exchange the battery. Then, (2)Please set
81 CPU board battery failure of battery on the CPU bord has failure, please carry Error Error Error Error on on
failure up the date correctly.
decreased. out "failure-reset".

4-32
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Error occurs when 5th-axis moves

out of its Operating range. Select [Constants][Machine constants] and use the
Operational 5th axis operating range Operating range can be exceeded correct axis operation keys to move back into the No reset operations
99 Alarm Error Alarm Error on on
failure exceeded. when the 5th-axis(and 6th-axis) is 5th-axis Operating range. Warning! damage can neccesary.
moved via the rotation of the occur if 5th-axis hits arm 1.
4th-axis.

Error occurs when Motors-ON

Ext. Motors-off' signal is
button is pressed while the After removal of
Control being given or Ensure that Motors-OFF is not being given when
105 Motors-OFF button is held or failure, please carry Error Error Error Error on on
failure Motors-OFF button being pressing Motors-ON button.
external motors-OFF signal is being out "failure-reset".
held.
given.

Operational No reset operations Informati Informati

106 The motors are not ON. The motors are not ON. Turn motors ON by pressing the Motor-ON button. Alarm Alarm on on
failure neccesary. on on

After removal of
It becomes this failure when TP isn't
116 TP failure TP connect failure Connect TP properly. Exchange TP when it is out. failure, please carry Error Error Error Error on on
connected and a cable is out.
out "failure-reset".

This error occurs when TP is

Turn on the power
117 TP failure TP connect failure connected after the control power Connect TP properly. Exchange TP when it is out. Error Error Error Error on on
again.
supply is turned on.

Abnormality was detected by the Please confirm whether there is something that it is
The teach pendant
118 TP failure key notification reception from teach possible to become a noise source in the vicinity of Error reset. Alarm Alarm Alarm Alarm on on
reception is abnormal.
pendant. teach pendant and the cable.
Abnormality was detected by the Please confirm whether there is something that it is
The T/P connection is
119 TP failure sending and receiving processing possible to become a noise source in the vicinity of Error reset. Alarm Alarm Alarm Alarm on on
abnormal.
from the T/P. the T/P and the cable.

The version of wireless TP by which

The T/P connection is the connection demand was carried
120 TP failure Please change into the right version. Error reset. Alarm Alarm Alarm Alarm on on
abnormal. out differs from the version to which
this control device corresponds.

The robot's joint angle It will become this error if a robot

Operational Please move to software stroke within the limits by
121 exceeded the software joint angle reaches the software Error reset. Alarm Error Alarm Error on on
failure manual operation (each axis).
stroke range. stroke range.

Please motor power on in machine

The robot's joint angle
It will become this error if a robot constant/software limit at the EXPERT level and
exceeded the software
122 Servo failure joint angle reaches the software move to software stroke within the limit by manual Error reset. Error Error Error Error on on
stroke range.(Current
stroke range.(Current position) operation. Please turn on the motor as it is, when
position)
error occurred only with the axis without brakes.

Operational The angle which an arm The 1st arm and the 2nd arm may Please move in the direction where interference
129 Error reset. Alarm Error Alarm Error on on
failure makes is too large. cause interference with a position. does not take place by manual operation.

Operational The angle which an arm The 1st arm and the 2nd arm may Please move in the direction where interference
130 Error reset. Alarm Error Alarm Error on on
failure makes is too small. cause interference with a position. does not take place by manual operation.

After removal of
Control Collision sensor Error occurs when a signal is Remove obstruction, check condition of the tool,
131 failure, please carry Error Error Error Error on on
failure actuated. received from the collision sensor. reset the collision sensor, and restart robot.
out "failure-reset".

The robot's joint angle It will become this error if a robot

Operational Please move to link software stroke within the limits
132 exceeded the link joint angle reaches the link software Error reset. Alarm Error Alarm Error on on
failure by manual operation (each axis).
software stroke range. stroke range.

After removal of
It becomes this failure when TP isn't Informati Informati Informati
136 TP failure TP connect failure Connect TP properly. Exchange TP when it is out. failure, please carry Error on on
connected and a cable is out. on on on
out "failure-reset".

Abnormality was detected by the Please confirm whether there is something that it is
The T/P connection is Informati Informati
139 TP failure sending and receiving processing possible to become a noise source in the vicinity of Error reset. Alarm Alarm on on
abnormal. on on
from the T/P. the T/P and the cable.

Please check whether there are any abnormalities in

After removal of
The abnormalities in CPU CPU built in the teach pendant the T/P and the connection cable. Please turn OFF Informati Informati Informati Informati
140 TP failure failure, please carry on on
in a T/P stopped. and ON the main power supply. Please replace the on on on on
out "failure-reset".
T/P, when an error still comes out.

Wireless communication was

suspended because the interfacial During several minutes, I don't come by wireless
The WiTP connection is
141 TP failure wave which is weather radar during communication. Please connect whether you access Error reset. Error Error Error Error on on
abnormal.
wireless communication was after I keep time in wired TP.
detected.

Wireless communication was

suspended because the interfacial During several minutes, I don't come by wireless
The WiTP connection is
142 TP failure wave which is weather radar during communication. Please connect whether you access Error reset. Alarm Alarm Alarm Alarm on on
abnormal.
wireless communication was after I keep time in wired TP.
detected.

4-33
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Wireless communication was

suspended because the interfacial During several minutes, I don't come by wireless
The WiTP connection is No reset operations Informati Informati Informati Informati
143 TP failure wave which is weather radar during communication. Please connect whether you access on on
abnormal. neccesary. on on on on
wireless communication was after I keep time in wired TP.
detected.

Error occurs when the Power supply

Emergency Primary power supply Check the status of the Primary(mains) power
177 unit detects that primary power is Error reset. Error Error Error Error on on
stop failure fault. supply.
below nominal level.

Designated command Error occurs when a shift function,

Operational No reset operations
243 position exceeds Robot etc. tries to send the robot out of the Correct the program. Alarm Error Alarm Error on on
failure neccesary.
operating area. robot operating area.

Operational Danger of Robot Robot wrist may interfere with under No reset operations
244 Correct the program. Alarm Error Alarm Error on on
failure interference. the part of manipulator body. neccesary.

The bend direction of J3

The bend direction of J3 axis is After removal of
Operational axis is different, Please correct the angle of J3 axis to the same
245 different at the starting point and the failure, please carry Alarm Error Alarm Error on on
failure interpolation cannot be direction.
terminal point. out "failure-reset".
continued.

When the posture is calculated, this Please insert the step in the middle so that the
Wrist posture calculation
Operational error occurs when the wrist goes the change amount of the wrist axis in one step may No reset operations
246 fault. Please insert the Alarm Error Alarm Error on on
failure inverse direction from teaching become small. Please reduce the accuracy in the neccesary.
middle step.
position. step before and after the error's occurring.

(1)Please execute automatic tool center of gravity

Because tool center of gravity or tool
Operational There is a tool which setting.(2)Please verify whether the tool has not No reset operations Informati Informati Informati Informati
247 weight has exceeded rating, it on on
failure exceeds rating. exceeded rating.(3)When the tool has exceeded neccesary. on on on on
becomes medium speed playback.
rating, please make sure to be settled inside rating.

The flexion it tried to revise, but the Please take a second look tool setting. Center of
Control The gravity bend revision No reset operations
248 revision quantity exceeded error gravity of the tool or mass of the tool, occur when it Alarm Error Alarm Error on on
failure quantity is too big. neccesary.
inspection angle. is large. Please execute Automatic COG setting.

When the robot moves by the At the teach mode, the robot's wrist center point
Controller cannot make
Operational linear/circle interpolation, the robot's moves from the J1 singular area by joint jog No reset operations
250 trajectory at the J1 Alarm Error Alarm Error on on
failure wrist center point cannot pass the J1 operation. At the playback mode, please modify the neccesary.
singular area.
singular area. teach point and/or change for the joint interpolation.

The bend direction of J4

The direction of J5 arm is different After removal of
Operational axis is different, Please correct the angle of J4 axis so that the
251 more than 180 degrees at the failure, please carry Alarm Error Alarm Error on on
failure interpolation cannot be direction of J5 arm becomes less than 180 degrees.
starting point and the terminal point. out "failure-reset".
continued.

The bend direction of J2

The bend direction of J2 axis is After removal of
Operational axis is different, Please correct the angle of J2 axis to the same
252 different at the starting point and the failure, please carry Alarm Error Alarm Error on on
failure interpolation cannot be direction.
terminal point. out "failure-reset".
continued.

This error occurs when all axis

Operational No reset operations
257 Pose calculation failed. angles can not be calculated in Check pose data. Error Error Error Error on on
failure neccesary.
robot language file.

Error occurs when the conveyer

Control Conveyer motion during running signal is detected during
270 Stop the conveyer, reset, and restart test. Error reset. Error Error Error Error on on
failure test . executing a program in Conveyer
simulation or test mode.

Control Conveyer pulses Error occurs when the number of Check that the pulse generator is functioning
271 Error reset. Error Error Error Error on on
failure exceeded limit. conveyer pulses exceeds 10KHz. correctly.

Unusual reset is
carried out after
The error was detected It becomes this error when Built-in
367 PLC failure Check the environment of Built-in PLC of operation. changing Built-in Error Error Error Error on on
by Built-in PLC. PLC detects an error.
PLC into a starting
state.

This error occurs when a Motors ON

Safety plug is not
command(button) is given in Auto After removal of
Control inserted or the state of
379 mode when the Safety plug is not Insert the Safety plug in Auto mode. failure, please carry Error Error Error Error on on
failure safety plug signal has
inserted or the state of safety plug out "failure-reset".
changed in teach mode.
signal has changed in teach mode.

Please move to the limit by manual operation (each

Operational Compound motion limit | J5 axis | + | J6 axis | exceeded limit axis).When it cannot move, at the No reset operations
493 Alarm Error Alarm Error on on
failure over. value. [Constants][Machine constants][Software limit] neccesary.
please try again.

Please move to the limit by manual operation (each

Compound motion J5 and J6 of
Operational Over movable area of axis).When it cannot move, at the No reset operations
494 ATRAC4 flat type over movable Alarm Error Alarm Error on on
failure ATRAC4 flat type. [Constants][Machine constants][Software limit] neccesary.
area.
please try again.

4-34
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
Please change the
Change the "PLC scan time" or correct Ladder PLC state setting to
It is scan time over of It detects, when the scanning time of program. There is a possibility to be detected scan "start" after correct
550 PLC failure Error Error Error Error on on
Built-in PLC. Built-in PLC is too long. time over, when the "E177 Primary power supply Ladder program or
fault." occurs, change the "PLC
scan time".
After removal of
Vision sensor Vision sensor not It detects, when the vision sensor is failure, please turn
582 Correct vision sensor connection line. Error Error Error Error on on
failure connected. not connected. on power supply of
the controller again.
After removal of
Error occurs if at the time of turning
Teach pendant touch Touch panel is not touched for turn power ON again. failure, please turn
659 TP failure power ON, the touch panel of teach Error Error Error Error on on
panel error. If error persists change the Teach pendant. on power supply of
pendant is pushed.
the controller again.

Error occurs when the welder board (1)Check power supply of the welder and
Spot weld Welder communication
674 is not correctly connected, or communication cables, and power ON again. Error reset. Alarm Alarm Alarm Alarm on on
failure fault(No reply).
backup files are incorrect. (2)Initialize welder data.

Spot weld Welder communication Error occurs when received data Check power supply of the welder and
675 Error reset. Alarm Alarm Alarm Alarm on on
failure fault(Check sum). from the welder board is abnormal. communication cables, and power ON again.
Spot weld Welder communication Error occurs when received data Check power supply of the welder and
676 Error reset. Alarm Alarm Alarm Alarm on on
failure fault(Message wrong). from the welder board is abnormal. communication cables, and power ON again.
Spot weld Error occurs when the welder board
677 Major Welder fault. Remove the cause of weld fault. Error reset. Error Error Error Error on on
failure generate the weld fault.

Error occurs when a system

Spot weld Executive EPROM Turn on the power
694 software checksum error of welder Install the system software once more. Error Error Error Error on on
failure checksum error. again.
timer substrate is detected.

Error occurs when a system

Spot weld LCA EPROM checksum Turn on the power
695 software checksum error of welder Install the system software once more. Error Error Error Error on on
failure error. again.
timer substrate is detected.

Error occurs when an application

Spot weld Application EPROM Turn on the power
696 EPROM checksum error of welder Install the system software once more. Error Error Error Error on on
failure checksum error. again.
timer substrate is detected.

Spot weld Error occurs when a DPR error of Turn on the power
697 DPR error. Install the system software once more. Error Error Error Error on on
failure welder timer substrate is detected. again.

Error occurs when a conveyer

Control Invalid Conveyer register
704 register value exceeded value of Check a conveyer pulse input circuit. Error reset. Error Error Error Error on on
failure value.
<Err.detect.just after playback>.

Operational The angle between 3rd The 3rd axis tended to operate Please move in the direction where 3rd angle incline
705 Error reset. Alarm Error Alarm Error on on
failure axis and ground is over. exceeding 3rd angle incline. does not take place by manual operation.

The angle between Please move the manipulator towards the normal
Operational The flange tended to operate
706 flange and ground is motion range by the teach pendant operation in the Error reset. Alarm Error Alarm Error on on
failure exceeding flange incline.
over. setting screen of "software-limit".

(1)Please check that the Pay-load is within the

This failure occurs when the
nominal rating. (2)Please check the wiring of the
temperature of the motor, the
motor brake refering to "MANIPULATOR MANUAL". After removal of
encoder, the harness, and the
727 Servo failure Robot over temperature (3)Please lower the temperature of the abnormal failure, please carry Error Error Error Error on on
connector guessed from the motor
location, and lower the outside temperature. (4)If out "failure-reset".
current and the motor speed is
failure persists, please lower the operation speed of
abnormal.
the robot.

Failure occurs when the Thermo. After removal of

Spot weld Spot Welder SCR1 Check the Thermo. Temp. fault signal and the spot
749 Temp. fault signal is received by the failure, please carry Error Error Error Error on on
failure thermal switch actuated. welding unit.
controller. out "failure-reset".
Failure occurs when the Thermo. After removal of
Spot weld Spot Welder SCR2 Check the Thermo. Temp. fault signal and the spot
750 Temp. fault signal is received by the failure, please carry Error Error Error Error on on
failure thermal switch actuated. welding unit.
controller. out "failure-reset".
Failure occurs when the isolation After removal of
Spot weld Isolation contact failed to
759 contact of the welder fails to actuate Refer to the Welder timing Manual. failure, please carry Error Error Error Error on on
failure pull in.
correctly. out "failure-reset".
Failure occurs when the isolation After removal of
Spot weld Isolation contact stuck
760 contact of the welder fails to actuate Refer to the Welder timing Manual. failure, please carry Error Error Error Error on on
failure close.
correctly. out "failure-reset".
Error occurs if the welding timer
Spot weld Welder board not
762 PCB does not exists in the controller Install the welder board. Error reset. Error Error Error Error on on
failure installed.
when welding is attempted.

(1)Please check the connectors CNP1-CNP5 on the

drive unit. (2)Please check whether the robot After removal of
Control Robot moved during This error occurs when the robot
777 manipulator interferes with something. (3)Please failure, please carry Error Error Error Error on on
failure Motors-ON sequence. moved during Motors-ON sequence.
replace the drive unit. (4)Please replace the power out "failure-reset".
unit. (5)Please replace the motor.

(1)Please remove the CPU board and the sequence

This error occurs when the main
board, and insert them again. (2)If this failure
CPU board CPU detects a motion stop. (This Turn on the power
783 Motion stop. persists, replace the sequence board. (3)Please Error Error Error Error on on
failure error is detected in the CPU board again.
replace the CPU board. (4)Please replace the
and the sequence board.)
system-CF for re-installing the system.

CPU board It becomes this error when main Turn on the power again. If the error is not released, Turn on the power
785 I/O timeout. Error Error Error Error on on
failure CPU detects a I/O system stop. reinstall the system. again.

4-35
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Turn ON the power again. Please confirm the

This error occurs when the error is released. (2)Please enlarge "Interpolation
CPU board Turn on the power
787 Watchdog Timeout Error. Watchdog Circuit detects a motion Cycle Time". (3)Please remove the CPU board or Error Error Error Error on on
failure again.
stop. the sequence board (UM352(L21700F00)) and
install them again.
Check the
Error occurs when movement by an
CPU board Movement too large in Check the condition of the Compliance control constants of the
788 external force is too large while in Error Error Error Error on on
failure Compliance control. performance. Compliance control
Compliance control.
function.
(1)Turn on the power again. Please confirm the error
CPU board It becomes this error when an CPU is released.(2)Please insert a CPU board firmly Turn on the power
789 CPU error. Error Error Error Error on on
failure error occurs in CPU board. again.(3)When the phenomenon recurs, please again.
inform our service section.

Error occurs when conveyer pulse Check the conveyor is functioning. Or check the
Control
895 Conveyer not running. never changes more than 1 second, wiring between Pulse Generator and robot Error reset. Error Error Error Error on on
failure
after start LS is given. controller.

Error occurs when a After conveyer

start LS is input, though it was
Control Too little conveyer pulse Separate input timing of a starting command from
897 passed <Conv.pulse check start Error reset. Error Error Error Error on on
failure counted. conveyer start LS signal.
time>, when it is short of value of
<Conv.pulse error check> value.

This failure occurs when the

After removal of
update of the command value Please refer to the troubleshooting of the controller
898 Servo failure Servo command stop failure, please carry Error Error Error Error on on
transmitted to the servo stops during maintenance manual.
out "failure-reset".
a certain time.
After removal of
This failure occurs when the clock of (1)Please confirm the supply voltage of the servo
Amplifier unit failure, please turn
902 serveo clock halted servo board UM351(L21700X00) board UM351(L21700X00). (2)Please replace the Error Error Error Error on on
failure on power supply of
halted. drive unit.
the controller again.

(1)Please confirm whether connector CNCOM of

servo board UM351(L21730X) on the drive unit is After removal of
correctly connected.(2)Please confirm whether failure, please carry
This failure occurs when the
Amplifier unit Servo communication connector CNLAN3 of CPU board is correctly out "failure-reset".
903 communication between CPU board Error Error Error Error on on
failure stop connected.(3)Please replace the drive Wait more than 5
and the servo board stops.
unit.(4)Please replace the CPU board.(5)Please seconds for next
replace the cable between the drive unit and te CPU motor power on.
board.

Sequence
CPU board Sequence board connect Please check whether the sequence board is Turn on the power
904 board(UM352(L21700F00)) is not Error Error Error Error on on
failure failure. correctly connected or not. again.
recognized.

CPU board Abnormal setting of the I/O board is not recognized. DIP-SW Turn on the power
905 Check DIP-SW on the I/O board. Error Error Error Error on on
failure I/O board. on the I/O board is incorrect. again.

Sequence board is not recognized.

CPU board Abnormal setting of the Turn on the power
906 DIP-SW on the sequence board is Check DIP-SW on the sequence board. Error Error Error Error on on
failure sequence board. again.
incorrect.

Sequence board is not recognized.

CPU board Abnormal setting of the Turn on the power
907 DIP-SW on the sequence board is Check DIP-SW on the sequence board. Error Error Error Error on on
failure sequence board. again.
incorrect.

Sequence board is not recognized.

CPU board Abnormal setting of the Turn on the power
908 DIP-SW on the sequence board is Check DIP-SW on the sequence board. Error Error Error Error on on
failure unit configuration. again.
incorrect.

Error occurs when 1) disconnect

Please check 1) connector on the analog sensor After removal of
Abnormal output of the between pressure sensor and robot
Amplifier unit board, 2) the conection between pressure sensor failure, please turn
910 servo gun pressure controller, 2) pressure sensor Error Error Error Error on on
failure and robot controller, 3) exchange new pressure on power supply of
sensor. troubles, 3) troubles of the analog
sensor. the controller again.
sensor board in robot controller.

After removal of
Beause analog input signal has the
Amplifier unit Autozero failure of analog Please check 1) connection of analog input line 2) failure, please turn
911 offset value, autozero cannot be Error Error Error Error on on
failure input. analog input signal by its manual. on power supply of
executed.
the controller again.

(1)Please move the robot to the position in a

permissible torque in the constant setting mode.
This failure is detected when moving
Operational The allowed unbalanced (2)Please correct the teaching so as not to exceed
919 to the position in which the allowed Error reset. Alarm Error Alarm Error on on
failure torque is exceeded. the position in a permissible torque. (3)Please
unbalanced torque is exceeded.
confirm installed posture. (4)Please confirm the tool
load.

Please move to the operating area within the Y axis

Robot tended to operate Robot tended to operate exceeding
Operational motion limit by manual operation. Please correct the No reset operations
920 exceeding Y asix motion the operating area determined by Alarm Error Alarm Error on on
failure teaching so as not to exceed the position within the neccesary.
limit. the mechanism.
Y axis motion limit in the constant setting mode.

4-36
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Please move to the operating area within the rear

Robot tended to operate Robot tended to operate exceeding
Operational motion limit by manual operation. Please correct the No reset operations
921 exceeding rear motion the operating area determined by Alarm Error Alarm Error on on
failure teaching so as not to exceed the position within the neccesary.
limit. the mechanism.
rear motion limit in the constant setting mode.

After removal of
FieldBus The communication error The details of a communication
956 An unusual cause is removed based on a sub code. failure, please carry Error Error Error Error on on
failure occurred. error should check a sub code.
out "failure-reset".
After removal of
FieldBus The system error was The details of a communication On the fieldbus hardware setting screen, check
957 failure, please carry Error Error Error Error on on
failure detected. error should check a sub code. whether the settings are correct.
out "failure-reset".
They are the abnormalities of a
The error was detected
FieldBus communication board. Please check A communication
958 with the self check of a The defect of a communication board is considered. Error Error Error Error on on
failure the details of abnormalities to board is exchanged.
communication board.
system service.
The communication board specified The setting value of
FieldBus A communication board Please check the slot ID of a field bus hardware
959 on the constant setting screen is not a field bus hardware Error Error Error Error on on
failure is not found. setup.
found. setup is changed.
If a problem is
solved, it will restore
automatically. (In
Since the between title has occurred
FieldBus A part or all I/O links are Please check the device which the problem has order to solve a
960 in the I/O device, a robot cannot be Error Error Error Error on on
failure stopping. generated by the field bus monitor. problem, the
started.
re-injection of a
power supply may
be required)

Playback operation is impossible (1)Set the T/P selector switch to AUTO. (2)Please After removal of
Control T/P selector switch is set
967 while the T/P selector switch is set replace the T/P. (3)Please replace the sequence failure, please carry Error Error Error Error on on
failure to MANUAL.
to MANUAL. board (UM352(L21700F)). out "failure-reset".

This error occurs when a signal from (1)Please check the cable of the power unit and the
After removal of
Control Magnetic switch is not a magnetic switch is not received drive unit. (2)Please replace the sequence board
975 failure, please carry Error Error Error Error on on
failure active. within the specified time after the UM352/L21700F00. (3)Please replace the multi
out "failure-reset".
Motors ON signal is given. power supply unit.

This error occurs when the After removal of

Confirm magnet-ON
Control Confirm magnet-ON (Fixed input (1)Please replace the power unit. (2)Please replace failure, please turn
976 (Fixed input IN28) is Error Error Error Error on on
failure IN28) is unexpectedly cut OFF the sequence board (UM352/L21700F00). on power supply of
OFF.
during motor power ON condition. the controller again.

After removal of
Control Both teach and playback Neither teach mode nor playback Please confirm the operation mode signals
977 failure, please carry Error Error Error Error on on
failure mode signal is not fixed. mode signal is turned ON. connection.
out "failure-reset".

During conveyor shift, the This error was detected at entering After removal of
Operational Please modify the program and robot angle with
978 J5 axis has entered a the J5 dead zone during conveyor failure, please carry Error Error Error Error on on
failure conveyor shift.
dead zone. shift. out "failure-reset".

Error occurs when software can't be

Control
1001 PWM was cut off. selected the cause which a PWM (1)Replace power unit. (2)Replace drive unit. Error reset. Error Error Error Error on on
failure
signal was cut off.

Analog input board is not

Although analog input (output)
Control installed. Or analog Turn off the power and connect analog Input (output)
1003 board is not installed, analog input Error reset. Error Error Error Error on on
failure output board is not board correctly.
(output) function is executed.
installed.

This error occurs when PWM is not

PWM of the disconnected There are some problems in the brake and the PWM After removal of
Control turned off even if a certain time
1012 mechanism has been control circuit of sequence PCB. Please replace the failure, please carry Error Error Error Error on on
failure passes after the mechanism
turned on. sequence PCB or the drive unit. out "failure-reset".
diconnection.
After the battery is
exchanged, please
press the "R" key
twice to carry out
"failure-reset", and
then turn on the
power supply of the
controller
again.(The "failure
reset"(press "R" key
twice) is different
from the "encoder
reset" to be
executed from
This warning occurs when the
Encoder Manipulator battery Please exchange the battery referring to Instruction constant setting Informati Informati Informati Informati
1016 voltage of the battery in the robot on on
failure warning Manual "Manipulator". screen.The on on on on
manipulator decreases.
"failure-reset" is
referred to "FD
CONTROLLER
INSTRUCTION
MANUAL
CONTROL AND
MAINTENANCE
FUNCTION", and
"encoder reset" is
referred to "FD
CONTROLLER
INSTRUCTION
MANUAL SETUP
MANUAL".)

4-37
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Please confirm that the Pay-load is within the

This failure occurs when the
nominal rating. (2)Please confirm the wiring of the
temperature of the motor, the
motor brake refering to "Manipulator Maintenance After removal of
encoder, the harness, and the Informati Informati Informati Informati
1024 Servo failure Robot over temperature Manual". (3)Please lowering the temperature of an failure, please carry on on
connector guessed from the motor on on on on
abnormal location, and lowering the outside out "failure-reset".
current and the motor speed is
temperature. (4)If failure persists, please lower the
abnormal.
operation speed of the robot.

(1)This error occurs when the

magnet on confirming input signal After removal of
Control Master-ON circuit is (1)Replace the sequence board UM352/L21700F00.
1046 (fixed input IN28) is not turned ON failure, please carry Error Error Error Error on on
failure inconsistent. (2)Replace the power unit.
within the designated time after out "failure-reset".
consist of conditions.

(1)Please check the cables (from the power unit to

the drive unit(CNMS) / from the drive unit to the
The magnetic switch This error occurs when the contacts After removal of
Control sequence board (CNSV) ). (2)Please replace the
1048 contacts were welded of the magnetic switch were welded failure, please carry Error Error Error Error on on
failure power unit. (3)Please replace the sequence board
and stick each other. and stick each other. out "failure-reset".
UM352/L21700F00. (4)Please replace the multi
power supply unit. (5)Please replace the drive unit.

After removal of
Spot weld This IWB does not Error occurs when the IWB version
1049 Replace new version. failure, please carry Error Error Error Error on on
failure support MFDC is old.
out "failure-reset".

The inconsistency was This failure occurs when the (1)Please check whether only one of signals is input
After removal of
Control detected with the inconsistency or abnormal was or only one contact is weld at the TP enable switch.
1051 failure, please carry Error Error Error Error on on
failure sequence circuit.(TP detected in duplicated signal at the (2)Please replace the sequence board
out "failure-reset".
enable switch) TP enable switch. UM352/L21700F00.

This failure occurs when the

An inconsistency was (1)Please check whether only one of the signals is
inconsistency or abnormality was After removal of
Control detected in the sequence input or only one contact is weld at the external
1052 detected in the duplicated signal failure, please carry Error Error Error Error on on
failure circuit.(Ext.emergency emergency stop. (2)Please replace the sequence
circuit for the externel emergency out "failure-reset".
stop) board UM352/L21700F00.
stop.

An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is
After removal of
Control detected with the inconsistency or abnormality was input or only one contact is weld at the safety plug.
1053 failure, please carry Error Error Error Error on on
failure sequence circuit.(safety detected in the duplicated signal (2)Please replace the sequence board
out "failure-reset".
plug) circuit for the safety plug. UM352/L21700F00.

This failure occurs when an (1)Please check whether only one of the signals is
An inconsistency was After removal of
Control inconsistency or abnormality was input or only one contact is weld at the G-STOP
1054 detected in the sequence failure, please carry Error Error Error Error on on
failure detected in the duplicated signal input. (2)Please replace the sequence board
circuit.(G-STOP) out "failure-reset".
circuit for the G-STOP input. UM352/L21700F00.

Spot weld The welder board failed Error occurs when the initialization Power ON again. If error persists replace the I/F
1055 Error reset. Alarm Alarm Alarm Alarm on on
failure in initialization. of the welder board is not complete. printed circuit board.

Error occurs when an internal

Spot weld Memory error is detected Power ON again after executing R930, and confirm
1056 memory of the welder board is Error reset. Alarm Alarm Alarm Alarm on on
failure by the welder board. each parameter of the timer.
destroyed.

Spot weld Timer controller CPU is Nothing acknowledge from timer

1058 Replace the timer PCB (PMU). Error reset. Alarm Alarm Alarm Alarm on on
failure not ready. controller CPU.

This failure occurs when an (1)Please check whether only one of the signals is
An inconsistency was
inconsistency or abnormality was input or only one contact is welded at the After removal of
Control detected in the sequence
1059 detected in the duplicated signal Teach/Playback select input. (2)Please replace the failure, please carry Error Error Error Error on on
failure circuit.(Teach/Playback
circuit for the Teach/Playback select sequence board UM352/L21700F00. (3)Please out "failure-reset".
select)
input. replace the operation box or operation panel.

This failure occurs when an (1)Please check whether only one of the signals is
An inconsistency was After removal of
Control inconsistency or abnormality was input or only one contact is welded at the Mat switch
1060 detected in the sequence failure, please carry Error Error Error Error on on
failure detected in the duplicated signal input. (2)Please replace the sequence board
circuit.(Mat switch) out "failure-reset".
circuit for the Mat switch input. UM352/L21700F00.

This failure occurs when an (1)Please check whether only one of the signals is
An inconsistency was inconsistency or abnormality was input or only one contact is welded at the After removal of
Control
1061 detected in the sequence detected in the duplicated signal High-speed teach input. (2)Please replace the failure, please carry Error Error Error Error on on
failure
circuit.(High-speed teach) circuit for the High-speed teach sequence board UM352/L21700F00.(3)Please out "failure-reset".
input. replace the operation box or operation panel.

(1)Please check whether only one of the signals is

This failure occurs when an
An inconsistency was input or only one contact is welded at the emergency After removal of
Control inconsistency or abnormality was
1062 detected in the sequence stop. (2)Please replace the sequence board failure, please carry Error Error Error Error on on
failure detected in the duplicated signal
circuit.(emergency stop) UM352/L21700F00. (3)Please replace the operation out "failure-reset".
circuit for the emergency stop.
box or the operation panel.

4-38
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Please check whether only one of the signals is

An inconsistency was This failure occurs when an
input or only one contact is welded at the T/P After removal of
Control detected in the sequence inconsistency or abnormality was
1063 emergency stop. (2)Please replace the sequence failure, please carry Error Error Error Error on on
failure circuit.(T/P emergency detected in the duplicated signal
board UM352/L21700F00.(3)Please replace the out "failure-reset".
stop) circuit for the T/P emergency stop.
teach pendant.

This failure occurs when an (1)Please check whether only one of the signals is
An inconsistency was After removal of
Control inconsistency or abnormality was input or only one contact is welded at the CRON
1064 detected in the sequence failure, please carry Error Error Error Error on on
failure detected in the duplicated signal input. (2)Please replace the sequence board
circuit.(CRON) out "failure-reset".
circuit for the CRON input. UM352/L21700F00.

(1) Check power supply of the welder and

Spot weld The welder is not Error occurs when the initialization communication cables, and power ON again.
1065 Error reset. Alarm Alarm Alarm Alarm on on
failure initialized. of the welder is not complete. (2)Initialize welder data. (3) If error persists replace
the welder.

Spot weld The contents of a VSF file It generates, when the contents of a
1068 Check the contents of a VSF file. Error reset. Alarm Alarm Alarm Alarm on on
failure are not correctly. VSF file have a error.

After the encoder of

motor is exchanged,
This warning occurs when the
please carry out
Encoder Manipulator battery LED current of the battery led in the robot Informati Informati Informati Informati
1070 (1)Please exchange the motor encoder. "failure-reset" and on on
failure warning manipulator exceed the threshold on on on on
then turn on the
level.
power supply of the
controller again.

After the encoder of

motor is exchanged,
This warning occurs when the please carry out
Encoder Manipulator battery LED Informati Informati Informati Informati
1071 access error to multiple data of the (1)Please exchange the motor encoder. "failure-reset" and on on
failure warning on on on on
encoder of motor encoder. then turn on the
power supply of the
controller again.

After removing the

(1)Please confirm the connection of wiring to robot
cause of the error,
Robot monitoring unit This failure occurs when the monitoring unit. (2)Please re-correct connections of
1100 RMU error please turn on Error Error Error Error on on
Encoder failure. Encoder data(absolute) is abnormal. wire harness. (3)Please exchange drive unit.
power supply of the
(4)Please exchange encoders (motors).
controller again.

Hold down LS release button and press master ON

The robot's joint angle It will become this error if a robot button in machine constant/software limit at the
1101 RMU error exceeded the software joint angle reaches the software EXPERT level. And move robot within software Error reset. Error Error Error Error on on
stroke range. stroke range. stroke on manual operation during pressing LS
release button.

Hold down LS release button and press master ON

button in machine constant/virtual safety
Position exceeded the The position of a limit object
1102 RMU error fence/range setting at the EXPERT level. And move Error reset. Error Error Error Error on on
limit area. exceeded the limit area.
robot within limit area on manual operation during
pressing LS release button.

The TCP speed or the speed of the

each axis calculated from the
Robot monitoring unit (1)Please exchange drive unit. (2)Please exchange
1103 RMU error encoder date of robot monitoring Error reset. Error Error Error Error on on
Speed failure. encoders (motors).
unit has exceeded 250 mm/sec in
TEACH mode.

After removing the

cause of the error,
Robot monitoring unit Please confirm the wiring to the robot monitoring
1104 RMU error Over current detected. please turn on Error Error Error Error on on
over current. unit.
power supply of the
controller again.

Removes the cause of the error. The detail of safety

Robot monitoring unit This failure occurs when the safety input signal is in "FD/CFD CONTROLLER
1105 RMU error Error reset. Error Error Error Error on on
disparity failure. input signal is abnormal. INSTRUCTION MANUAL Robot Monitoring Unit
RMU20-20/30/40".

(1)Please confirm the connection of the safety

Please turn on
Robot monitoring unit This error occurs when the Robot output cable in robot monitoring unit. (2)Please turn
1106 RMU error power supply of the Error Error Error Error on on
internal failure. monitoring unit is abnormal. on power supply of the controller again. (3)Please
controller again.
exchange Robot monitoring unit.

This failure occurs when the

Robot monitoring unit Please approve the parameter of the robot
1107 RMU error parameter of the robot monitoring Error reset. Error Error Error Error on on
does not be approved. monitoring unit.
unit does not be approved.

4-39
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Please confirm whether connector (CNCOM) of After removing the

This failure occurs when the robot monitoring unit is correctly connected. cause of the error,
Robot monitoring unit
1108 RMU error communication between CPU board (2)Please confirm power supply to the robot please turn on Error Error Error Error on on
communication stop.
and the robot monitoring unit stops. monitoring unit. (3)Please replace the robot power supply of the
monitoring unit. controller again.

When the "Stop Monitor Input (1)Please confirm the on-off timing of "Stop Monitor
Robot monitoring unit
1109 RMU error Signal" isn't input, the robot moves Input Signal". (2)Please replace the robot monitoring Error reset. Error Error Error Error on on
Stop monitor failure.
over the stop monitoring range. unit.

This failure occurs when there is (1)Please check motors cable and encoder cable.
Robot monitoring unit
1110 RMU error disparity between "Encoder postion" (2)Check the pole position signal cable between the Error reset. Error Error Error Error on on
Position monitor failure.
and "Motor position". drive unit and the RMU.

This failure occurs when there is

Robot monitoring unit (1)Please check parameters "Pos. Con.". (2)Please
1111 RMU error position disparity between CPU1 Error reset. Error Error Error Error on on
Position disparity failure. replace the robot monitoring unit.
and CPU2 in robot monitoring unit.

This failure occurs when there is

Robot monitoring unit (1)Please check parameters "Vel. Con.". (2)Please
1112 RMU error velocity disparity between CPU1 Error reset. Error Error Error Error on on
Velocity disparity failure. replace the robot monitoring unit.
and CPU2 in robot monitoring unit.

(1)Please confirm the robot monitoring unit After removing the

connection setting in the "Servo amplifier unit"menu. cause of the error,
Robot monitoring unit The robot monitoring unit is not
1113 RMU error (2)Please confirm the communication line to the please turn on Error Error Error Error on on
connection failure. correctly connected.
robot monitoring unit. (3)Please confirm the power supply of the
power-supply voltage of the robot monitoring unit. controller again.

This error occurs when the tool (1)Please confirm the input sigal "Tool number".
Robot monitoring unit number is unmatch between (2)Please make the tool number signal from the
1114 RMU error Error reset. Error Error Error Error on on
Tool monitor failure. "Program tool No." and "Tool Signal actual tool device. (3)Please correct tool number in
from the tool". robot program.

Hold down LS release button, and press master ON

Robot monitoring unit tool It will become this error if a robot
1115 RMU error button. And move robot within limit angle on manual Error reset. Error Error Error Error on on
postere failure. tool posture reaches the limit angle.
operation during hold down LS release button.

Error reset after

Robot monitoring unit This failure occurs when the Robot
Check the master device and the connection of the removing the
1116 RMU error safety communication monitoring unit detect the error in Alarm Alarm Alarm Alarm on on
communication cable. causes of the
failure. safety network communication.
failure.

Error reset after

Robot monitoring unit Set the master device of the safety network to run
The master device of the safety removing the
1117 RMU error safety communication is mode. Confirm that the network device in the safety Alarm Alarm Alarm Alarm on on
network is in idle/program mode. causes of the
in idle/program mode. network is operating normally.
failure.

Hold down the LS release button, press master ON

The tool operated by posture
Operational Outside tool posture limit button. And move robot within tool posture limit
1120 Outside tool posture limit range Error reset. Alarm Error Alarm Error on on
failure range range on manual operation during hold down LS
setting.
release button.

Hold down the LS release button and press master

The robot's joint angle It will become this error if a robot
Operational ON button. And move robot within zone limit on
1121 exceeded the zone limit joint angle reaches the zone limit Error reset. Alarm Error Alarm Error on on
failure manual operation during hold down LS release
range. range.
button.

Error reset after

Robot monitoring unit
The communication cable is not Check the connection of the communication cable to removing the
1130 RMU error safety communication Alarm Alarm Alarm Alarm on on
connected to the RMU. the RMU and the hub. causes of the
cable disconnection.
failure.

1. Check the connection of the communication

Error reset after
Robot monitoring unit The RMU can not initiate cable. 2. Check the configuration of safety network
removing the
1131 RMU error initialization failure of communication to the parameters. 3. Check the configuration of safety Alarm Alarm Alarm Alarm on on
causes of the
safety communication. communication master device. communication master device. 4. Check the safety
failure.
network number (SNN) is set correctly.

Safety network communication stop

Robot monitoring unit 1. Check the PLC is not changing. 2. Split the Error reset after
and delay has occurred. Also, when
safety network network, if a lot of number of safety communication removing the
1132 RMU error changing the setting of PLC, Alarm Alarm Alarm Alarm on on
connection input data devices are connected in the same network. 3. causes of the
abnormality may be temporarily
timeout Extend the safety communication cycle. failure.
detected.

1. Split the network, if a lot of number of safety

Robot monitoring unit Error reset after
communication devices are connected in the same
safety network Safety network communication stop removing the
1133 RMU error network. 2. Extend the connection timeout for the Alarm Alarm Alarm Alarm on on
connection output data and delay has occurred. causes of the
safety network communication. 3. Extend the safety
timeout failure.
communication cycle.

4-40
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
Error reset after
Robot monitoring unit removing the
1. Check the PLC setting. 2. Check the Ethernet
safety network RMU received an abnormal data causes of the
1134 RMU error cable connection. 3. Please extend the safety Alarm Alarm Alarm Alarm on on
connection input data from the safety network. failure. Or it will be
communication cycle.
failure recovered by power
recycle.
After removing the
causes of the
Robot monitoring unit
The IP address for the RMU is failure, please turn
1135 RMU error safety communication : IP Confirm whether the IP address is set correctly. Alarm Alarm Alarm Alarm on on
conflicting. the primary power
address conflict.
of the controller ON
again.

(1)Please confirm the connection of the ethernet

Robot monitoring unit Please turn on
This error occurs when the safety cable in robot monitoring unit. (2)Please turn on
1136 RMU error internal communication power supply of the Error Error Error Error on on
communication data is abnormal. power supply of the controller again. (3)Please
data failure. controller again.
exchange Robot monitoring unit.

Error occurs when the initialization

Spot weld The welder board failed Power ON again. If error persists replace the welder
1155 of the RE-01 welder board is not Error reset. Alarm Alarm Alarm Alarm on on
failure in initialization. board (RE-01).
complete.

After removal of
Error occurs when an internal
Spot weld Memory error is detected Power ON again. If error occurs again, replace the failure, please turn
1156 memory of the welder board is Error Error Error Error on on
failure by the welder board. welder board. on power supply of
destroyed.
the controller again.

Spot weld Timer controller CPU is Nothing acknowledge from timer

1158 Replace the timer PCB (RE-01). Error reset. Error Error Error Error on on
failure not ready. controller CPU.

The command position The command position of a limit Please confirm setting by [constant:machine
Operational
1170 tried to exceed the limit object tried to exceed the limit constant:virtual safety fence] and confirm teaching Failure reset. Alarm Error Alarm Error on on
failure
range. range. program.

Select [constant:machine constant:virtual safety

Operational The current position The current position of a limit object
1171 fence:range setting] and move a limit object to the Failure reset. Error Error Error Error on on
failure exceeded the limit area. exceeded the limit area.
limit range by the manual.

Error occurs when a CALL is made

Operational Invalid relative program
1174 within a relative program call Alter relative program call functions in the program. Error reset. Alarm Alarm Alarm Alarm on on
failure call command found.
function more than 2 times.

The number of times the servo-off

Request Number of servo-off
1175 during playback exceeds the Please check the brake. Error reset. Error Error Error Error on on
maintenance exceeds the threshold.
threshold.

The number of times the servo error

Request Number of servo error
1176 has occurred during playback Please check the brake. Error reset. Error Error Error Error on on
maintenance exceeds the threshold.
exceeds the threshold.

Sealing The gun nozzle is choked The flow pressure exceeded a set
1820 Please clean the gun nozzle. Error reset. Error Error Error Error on on
failure up. value.
Sealing The pressure exceeded The flow pressure exceeded a set
1821 Please clean the gun nozzle. Error reset. Error Error Error Error on on
failure the upper bound. value.
Sealing The pressure exceeded The flow pressure exceeded a set
1822 Please clean the gun nozzle. Error reset. Error Error Error Error on on
failure the lower bound. value.

This function cannot be

Operational The function which cannot be used Please record this function on the step which is not
1823 available during Adaptive Error reset. Alarm Alarm Alarm Alarm on on
failure during Adaptive Motion was used. Adaptive Motion.
Motion.

Error occurs when movement by an

Operational Movement too large in
1824 external force is too large while in Check Adaptive Motion conditions. Error reset. Error Error Error Error on on
failure Adaptive Motion.
Adaptive Motion.

Controller cannot make Robot cannot pass the singular area

Operational
1825 trajectory at the singular during Adaptive Motion 'Follow' Please modify the teach point. Error reset. Error Error Error Error on on
failure
area. type.

It is detected when the amount of

(1)Please don't give the force sensor much power. After removal of
Sensor Force sensor input change of the force sensor input in
1826 (2)Please confirm whether the the force sensor is failure, please carry Error Error Error Error on on
failure changed too much. each scanning exceeds error
correct. (3)Modify the error detection level. out "failure-reset".
detection level set in constants.

It is detected when the force sensor

After removal of
Sensor No reaction from force input stays in maximum or minimum (1)Please confirm whether the the force sensor is
1827 failure, please carry Error Error Error Error on on
failure sensor. value longer than error detection correct. (2)Modify the error detection time.
out "failure-reset".
time set in constants. .

It is detected when the shift value or

The shift value or the the force(torque) value of force
(1)Modify motion to minimize force(torque). After removal of
Force control force(torque) value of control exceeded error detection
1828 (2)Modify motion to minimize shift value. (3)Modify failure, please carry Error Error Error Error on on
error force control exceeded value set in
the error detection value. out "failure-reset".
the error detection value. constants.[1]:force,[2]:torque,[3]:shif
t(X/Y/Z),[4]:shift(RX/RY/RZ)

4-41
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Abnormal velocity of axis It is detected when velocity of axis After removal of

Force control (1)Check the force control condition. (2)Check the
1829 is calculated by force exceeded maximun value is failure, please carry Error Error Error Error on on
error force sensor.
control. calculated by force control. out "failure-reset".

(1)Force control dose not support

mechanism except manipulator
mechanism. Or Specified
The mechanism for force mechanism is not in the (1)Check mechanism number of function parameter. After removal of
Force control
1830 control cannot be unit.(2)There is another mechanism (2)Modify the program so that there is only one failure, please carry Alarm Alarm Alarm Alarm on on
error
selected. under force control condition. The mechanism under force control condition. out "failure-reset".
force control cannot be executed at
the same time for two or more
mechanisms.

Another coordinate is used by force (1)Check the coordinate number of selected

The coordinate for force After removal of
Force control control condition. The coordinate for contition as function parameter. (2)Modify the
1831 control cannot be failure, please carry Alarm Alarm Alarm Alarm on on
error force control can not be changed program so that same coordinate is used under
selected. out "failure-reset".
under force control condition. force control condition.

The mistake of the method of After recording the

Force control Froce Control function Please record force controlfunction after step 1 or
1832 recording the force control function move step, Please Alarm Alarm Alarm Alarm on on
error can not be carried out. move step.
is found. Check Go.
This error will be
canceled if a
Force control GETFORCE2 function GETFORCE2 function is already GETFORCE2 function is started after GETFORCE2
1833 program is Alarm Alarm Alarm Alarm on on
error can not be carried out. carried out. function is ended.
corrected and
restarted.

The follows occured under force

control condition. (1)"Interpolation
Route Coordinata can not Off" Step was carried out. (2)Touch
Force control No reset operations
1834 be created under force founction was carried out. (3) Robot Modify the robot program. Error Error Alarm Alarm on on
error neccesary.
control condition. moved to the direction of Z axis of
tool coordinate. (4) The robot
passed discontinuous track.

The Tool No. was

Force control The Tool No. can not be changed No reset operations
1835 changed during force Modify the robot program. Alarm Alarm Alarm Alarm on on
error during force control motion. neccesary.
control motion.

Abnormal zero position It is detected when zero position After removal of

Sensor (1)Please confirm whether the the force sensor is
1836 value of force sensor is value of force sensor exceeds error failure, please carry Error Error Error Error on on
failure correct. (2)Modify the error detection level.
detected. detection level set in constants. out "failure-reset".

The specified mechanism The mechanism not existing cannot

Please correct a program to specify the existing After removal of
Operational number does not exist or be specified or any mechanisms
1837 mechanism number or to specify a manipulator type failure, please carry Error Error Alarm Alarm on on
failure mechanism type is not other than a manipulator cannot be
mechanism number. out "failure-reset".
proper. specified.

The specified tool number is used at

After removal of
Operational The specified tool the step under present operation. Please re-specify the tool number that is not being
1838 failure, please carry Error Error Error Error on on
failure number is used. Rewriting the tool number of the used.
out "failure-reset".
step under operation is forbidden.

Please check the value of the new tool length of the

Amount of change in the tool real variable register. Or, please check the tool After removal of
Operational Tool constant change
1839 constant for newly specified has constant value to be assigned. Or, please change failure, please carry Error Error Alarm Alarm on on
failure amount limit over.
exceeded the limit value. the limit amount in the tool change amount limit out "failure-reset".
setting.

Error occurs when the initialization

External tracking driver After the turn OFF, then reinsert the extend ethernet
1995 Shift failure of the extend ethernet board is not Error reset. Error Error Error Error on on
failure. board.
completed.

External tracking connect Error occurs when the external Check the connections and setting of the external
1996 Shift failure Error reset. Error Error Error Error on on
failure. traking unit is not connected. traking unit.

Error occurs when the external

External tracking
1997 Shift failure traking unit is communication Check the connection of the external traking unit. Error reset. Error Error Error Error on on
communication timeout.
timeout.

Error occurs when the external

External tracking
1998 Shift failure traking operation command is Check the external traking unit. Error reset. Error Error Error Error on on
command failure.
exceeded the setting.

4-42
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Error occurs when the

External tracking
1999 Shift failure communication data of external heck the external traking unit. Error reset. Error Error Error Error on on
communication failure.
traking unit is failure.

(1)Please push the Motors-ON button after the

Playback unavailable This error occurs when an
Motors-OFF sequence has been finished. (2)Please After removal of
Control because Motors-OFF Motors-ON command is input while
2002 input the Motors-ON command after the Motors-OFF failure, please carry Alarm Alarm Alarm Alarm on on
failure sequence is being the Motors-OFF sequence is being
sequence has been finished. (3)Replace the out "failure-reset".
executed. executed.
sequence board UM352/L21700F00.

(1)Please confirm the welding number. (2)Please

The mistake of the method of After recording the
Spot weld Spot welding function can record spot welding function after step 1. (3)You
2003 recording the welding function is move step, Please Alarm Alarm Alarm Alarm on on
failure not be carried out. tried to drive the GUN mechanism which was not
found. Check Go.
able to be driven with this unit.

In Teach mode, Motors are not able After removal of

Control T/P selector switch is set
2006 to be ON while T/P selector switch is Set the T/P selector switch to MANUAL side. failure, please carry Alarm Alarm Alarm Alarm on on
failure to AUTO.
set to AUTO. out "failure-reset".

It connects by the normal mode by

wireless TP, and where the
Control Can not turn on the Please set up the manual operation in "shortcut"
2007 operation mode is made Error reset. Alarm Alarm Alarm Alarm on on
failure mortors. menu.
teach-mode, it will become this error
if the motors turn ON.

This error is
It was going to start while This error occurs if it starts while the released if it starts
Operational
2010 the work program was work program was edited on the Please start after ending the editor on the screen. again after ending Alarm Alarm Alarm Alarm on on
failure
edited on the screen. screen. the editor on the
screen.
This error occurs when WI cancel is
Operational WI cancel operation is No reset operations Informati Informati Informati Informati
2021 operated during a servo gun motor Please operate WI cancel after a motor power on. on on
failure disabled. (Servo gun) neccesary. on on on on
power off.
Please set value to
This error occurs when speed
Variable which gives the variable or
Operational parameter of Moving command Please set value to the variable or change speed
2022 speed parameter is change speed Alarm Alarm Alarm Alarm on on
failure made by Robot Language is given parameter to numerical value.
invalid. parameter to
by variable and its value is invalid.
numerical value.
The difference between the
The change in the tip consumption detected by search 3
Spot weld Check the lack of gun tip. If it is no trouble, execute
2027 consumption detected by and the consumption detected by Error reset. Alarm Alarm Alarm Alarm on on
failure gun search 1.
search 3 is abnormal. search 1 exceeded the search 3
abnormal tip change.

(1)Please move the robot to the position in a

permissible torque in the constant setting mode.
Designated command This failure occurs when the
Operational (2)Please correct the teaching so as not to exceed
2030 position exceeds Robot operation radius exceeds the Error reset. Alarm Error Alarm Error on on
failure the position in a permissible torque. (3)Please
operating area. limitation.
confirm installed posture. (4)Please confirm the tool
load.

The function can not be The function was attempted that is

Spot weld Please execute the function after releasing the
2038 used while servo gun is not allowable while servo gun is Error reset. Alarm Alarm Alarm Alarm on on
failure separation.
separating. separationg.
The servo gun axis did not stop
Spot weld The encoder data of gun Please reconsider the recorded position. If the
2044 while waiting to reach the specified Error reset. Alarm Alarm Alarm Alarm on on
failure axis is not steady. position has no problem, replace the Drive Unit
pressure.
Error occurs when a pressure too
Spot weld The command pressure Use pressures adequate for the Servo gun being
2048 great or too small for the Servo gun Error reset. Alarm Alarm Alarm Alarm on on
failure is out of range. used.
is designated.

Ready to weld status

from welder board isn't Welder power turned off or welder
Spot weld
2049 completed, or a error occurred, a weld-enabled Check the peripheral system or welder. Error reset. Alarm Alarm Alarm Alarm on on
failure
weld-enabled signal isn't signal not given.
input.

Return robot to the basic position by manual

Robot does not keep the This error occurs if robot does not
Operational operation without Multi Drive Conrtol. If this error
2050 basic position between keep the basic position between Error reset. Error Error Error Error on on
failure occurs again, check the basic position or the level of
multi driven axises. multi driven axises.
error detection.

Pressure already
Servo Gun Pressure already
Spot weld achieved to the Pressure value is too low when servo gun axis does
2055 achieved to the designated value for Error reset. Alarm Alarm Alarm Alarm on on
failure designated value for not move. Review pressure data.
manual operation.
manual operation.

There is a possibility that

the interpolation
operation and the de-and Please set the tool constant (length and center of The error is not
Setting rectangular coordinate
Operational acceleration control are gravity) again by present rectangular coordinate released until
2059 system is different registering the Alarm Alarm Alarm Alarm on on
failure not correctly done due to system. Or, please change setting rectangular measures are
tool and now.
a set disagreement of coordinate system. executed.
rectangular coordinate
system.

4-43
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Error occurs when 4th-axis moves

out of its Operating range. Though
Select [Constants][Machine constants] and use the
4th axis is within the software
Operational 4th axis operating range correct axis operation keys to move back into the No reset operations
2060 motion range, the 4th axis Alarm Error Alarm Error on on
failure exceeded. 4th-axis Operating range. Warning! damage can neccesary.
occasionally exceeds the range of
occur if 4th-axis hits arm 1.
motion by receiving axis
interference from other axes.

Weld condition setting with group, The error is not

Spot weld Weld condition dose not the weld condition is 1-16(Group16 released until
2062 Check the desired condition number and retry. Alarm Alarm Alarm Alarm on on
failure exist. is 1-15).Weld condition number is measures are
out of range. executed.

Spot weld function(Fn119 or Fn303) The error is not

Please record weld condition with group
Spot weld Weld condition group was executed without recording released until
2063 function(Fn282) before executing spot welding Alarm Alarm Alarm Alarm on on
failure number is not set. weld condition with group measures are
function(Fn119 or Fn303).
function(Fn282). executed.

The detection reason is that the Whether the device such as memory cards specified It will be canceled if
Operational The memory medium is Informati Informati Informati Informati
2082 specified device was not detected by the file operation menu is correctly installed is some keys are on on
failure not prepared. on on on on
when the file operation is done. confirmed. pushed.

When it is going to copy a file to a Please prepare the memory medium to which writing It will be canceled if
Operational The memory medium is
2083 write-protected memory cards etc., is made and perform a copy from the beginning some keys are Alarm Alarm Alarm Alarm on on
failure read-only.
this error sets. once again. pushed.
It will be canceled if
Operational It cannot process in the It was going to copy to the same Please change a file name or a device and redo
2089 some keys are Alarm Alarm Alarm Alarm on on
failure same device. device by the same file name. copy operation again.
pushed.
Error occurs when the robot was
Control
2090 Max. follow angle over. about to follow more than the max. Check the press syncronize parameters. Error reset. Error Error Error Error on on
failure
follow angle.
Record point of press Error occurs when the position of
Control
2091 synchronous step is not press interlock waiting step and a Confirm record point of press synchronous step. Error reset. Error Error Error Error on on
failure
available. synchronous step is different.

CPU board It is not possible to start Error occurs when playback start is Please do playback start from steps other than press
2092 Error reset. Alarm Alarm Alarm Alarm on on
failure from a current step. done from press synchronous step. synchronous step.

Error occurs if execution of a

Control Press brake sync. is not function related to the press brake is
2093 Set Conveyer shape in Press. Error reset. Error Error Error Error on on
failure available. attempted when Press is not
selected with Conveyer type.

Specified channel Channel number or the slave node

FieldBus Please confirm channel number or the slave node
2100 number or slave node number specified with FN312 or Error reset. Error Error Error Error on on
failure number.
number is not used. R502 is not used.

Error occurs when a Start command

Release Stop button or External stop signal(if
Operational Stop or External stop is given while the Stop button is Informati Informati Informati Informati
2101 External stop signal cable is cut the external stop Error reset. on on
failure signal being given. being held or External stop signal is on on on on
signal is considered as being given.
being given.

Where an emergency stop button or

The emergency stop
an external emergency stop signal
Operational button or the external Please cancel an emergency stop button and an Informati Informati Informati Informati
2103 is inputted, it detects, when the Error reset. on on
failure emergency stop is external emergency stop signal. on on on on
Motors-ON signal or the External
inputted.
Motors-ON signal is inputted.

In the state where the external

Motors-OFF signal is inputted, when
Operational External Motors-OFF is Informati Informati Informati Informati
2104 the Motors-ON signal or the external Please cancel the external Motors-OFF signal. Error reset. on on
failure inputted. on on on on
Motors-ON signal is inputted, it
detects.

In the state where the external

emergency hold signal is inputted,
Operational The emergency hold is Informati Informati Informati Informati
2105 when the Motors-ON signal or the Please cancel the external emergency hold signal. Error reset. on on
failure inputted. on on on on
external Motors-ON signal is
inputted, it detects.

Playback unavailable
The start is impossible, because the
Operational because servo system Informati Informati Informati Informati
2106 start operation is done before MSHP Please start after turning on MSHP. Error reset. on on
failure has not been turned on on on on on
is turned on.
yet.

This It is prohibited to start

It is not possible to start specifying the function because
Operational Informati Informati Informati Informati
2108 by specifying the function there is the position where the Please start after specifying the move step. Error reset. on on
failure on on on on
step function is executed is not an
original position but a possibility.

It is not possible to start

Operational It is not possible to start by selecting Please select the move step or the function step Informati Informati
2109 by selecting this function Error reset. Alarm Alarm on on
failure this function step. that can be executed from, and start. on on
step.

Toyopuc I/F:The Automatically

Toyopuc I/F:The sequence program
2110 PLC failure sequence program has Please confirm Toyopuc I/F. restores, when the Error Error Error Error on on
has stopped.
stopped. problem is solved.

4-44
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

It detects, when starting selection

The internal operation tends to push the Motors-ON button
Operational signal was inputted in the or a starting button in the state of the Please operate it after setting starting selection or Informati Informati Informati Informati
2111 Error reset. on on
failure state of external exterior or it is going to choose a program selection as an inside. on on on on
selection. program from TP in the state of the
program selection exterior.

It detects, when the Motors-ON or

the start signals are inputted from
The external operation the exterior in the state of an inside
Operational Please perform external operation after setting up Informati Informati Informati Informati
2112 signal was inputted in the of start selection or a program Error reset. on on
failure starting selection or program selection outside. on on on on
state of internal selection. selection signal is inputted from the
exterior in the state of the inside of
program selection.
Settings were changed. This error is detected when
Operational To initialize the ststus, Motors-ON command is inputted in
2113 Please cycle the primary power to initialize the state. Error reset. Error Error Error Error off off
failure please cycle the primary a state where some settings were
power. changeed.

Error occurs when data aren't

Shift register contains no
2118 Shift failure established in specified shift Setting data in shift register. Error reset. Alarm Alarm Alarm Alarm on on
data.
register.

The command buffer of

Too many command of serial
serial communication is
2119 Shift failure communication requested at the Please modify robot program. Error reset. Alarm Alarm Alarm Alarm on on
full. The communication
same time.
command failed.

This error is
This error occurs when the number
Please correct the program so that the number of released if the step
Operational Setting the call instruction of step call and return instruction is
2138 call return instructions is corresponding, and a set do over again Alarm Alarm Alarm Alarm on on
failure is improper. match or the multiple call exceeds
multiple call should not exceed eight times. and restart
eight times.
playback.
This failure is
This error occurs when the program
released if a correct
Operational The unit composition is a jump or call instruction directly
2141 Please correct the called program number value. program is setted Alarm Alarm Alarm Alarm on on
failure different program. jumps or calls the program that the
and restart
unit is different.
playback.
This error occurs when the program
Operational Program number No reset operations Informati Informati Informati Informati
2142 number designated is more than Check the desired program number and retry. on on
failure selected is not available. neccesary. on on on on
9999.

If there is no end mark when

This error is
Operational playback executing, this error is Informati Informati Informati Informati
2144 There is no end. Please record the end instruction. released if restart on on
failure detected after the last step is on on on on
playback.
executed.

1. Check tool set and in-kind tool number that is

There is a possibility of error in the specified by the program. 2. Check the gas pressure
Request There are signs of No reset operations Informati Informati Informati Informati
2145 drive system such as a motor / of the gas balancer. 3. Check with the brake release on on
maintenance abnormality in the J2 axis neccesary. on on on on
reducer / gas balancer. function J2 axis moves smoothly. 4.Replace the
drive unit 5.Replace the motor.

Operational Error occurs when number of bytes No reset operations Informati Informati Informati Informati
2150 Program is too large. Edit program in order to reduce its size. on on
failure of a program is too large. neccesary. on on on on

This failure is
This error occurs when the program
released if a correct
Operational The program or the file number is specified which does not Please correct the program number to a correct Informati Informati Informati Informati
2151 program is setted on on
failure does not exist. exist in the program jump call value the jump call ahead. on on on on
and restart
instruction.
playback.
This error is
This error is detected when the step
released if the
Operational number which does not exist in the Please correct the step number to a correct value at Informati Informati Informati Informati
2152 The step does not exist. correct step set do on on
failure step jump call instruction is the jump destination. on on on on
over again and
specified.
restart playback.
his error is released
if it reactivates after
the program is
The usage of the flow This error is detected when the
Operational Please correct the program so that the usage of the corrected so that
2155 control instruction is usage of the flow control instruction Alarm Alarm Alarm Alarm on on
failure flow control instruction may become proper. the usage of the
improper.. is wrong.
flow control
instruction may
become proper.
This error will be
Change of a coordinate canceled if a
Operational This error occurs if a coordinate Please teach by the same coordinate system during Informati Informati Informati Informati
2161 system cannot be program is on on
failure system is changed during circular. circular. on on on on
performed during circular. corrected and
restarted.
This error will be
Change of a tool cannot canceled if a
Operational This error occurs if a tool is changed Informati Informati Informati Informati
2164 be performed during Please teach by the same tool during circular. program is on on
failure during circular. on on on on
circular. corrected and
restarted.

4-45
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Please release
All protected files or files partially Because the specified file (program or constant)
Operational protecting the file Informati Informati Informati Informati
2165 The file is protected. protected (program or constant) contains important data, protecting is put so that the on on
failure (program or on on on on
tried to be corrected and deleted. content is not carelessly changed.
constant).

It detects, when it is going to carry

The reproduction out reproduction or check GO of the When you start,
Operational The specified work program is not a program which
2166 protection of the program work program which required please choose Step Alarm Alarm Alarm Alarm on on
failure should be used for operation operation.
is carried out. reproduction protection from a head 1 from T/P.
step (Step 0).

The amount of the

When there is no point or less 10
movement of each axis is
point data effective to the Recreate the 10 point program (4 point under tool
Operational too small in the automatic Informati Informati Informati Informati
2167 calculation, and the program is not constant setting only) ensuring the recorded points Error reset. on on
failure tool constant setting. Or, on on on on
clearly recorded the same point are exactly the same point in space.
the number of record
excluding the error by the teaching.
steps does not suffice.

It is displayed, when the specified

Operational A step number is step does not exist, or when the
2169 Please specify a move function. Error reset. Alarm Alarm Alarm Alarm off off
failure unsuitable.. step of a reference program is the
function step.
It is displayed when the tool posture
Operational
2170 Tool postures differ. in two specified points is not the Please make a tool posture the same. Error reset. Alarm Alarm Alarm Alarm off off
failure
same.

The tool number recorded on the

Operational Tool number do not
2171 specified step differs from the Please make a tool number the same. Error reset. Alarm Alarm Alarm Alarm off off
failure match.
selected tool number.

Shift value limit This error occurs if the allowable Reset the limit value[Constants][Shift limit & No reset operations
2173 Shift failure Alarm Alarm Alarm Alarm on on
exceeded. shift distance is too large. evaluation value] and retry program. neccesary.

This function cannot be The function which cannot be used

Control Please record this function on the step which is not
2174 available during conveyor during conveyor synchronization Error reset. Alarm Alarm Alarm Alarm on on
failure conveyor synchronization.
synchronization. was used.

Operational The system cannot find the path No reset operations Informati Informati Informati Informati
2175 The file path is not found. Please check whether a file path is right. on on
failure specified. neccesary. on on on on

The process cannot access the file

Operational Please try once again. If it still recurs, please No reset operations Informati Informati Informati Informati
2176 The file access is denied. because it is being used by another on on
failure re-switch on the controller. neccesary. on on on on
process.

1. Please reteach as don't pass wrist dead zone. 2.

Move limit during shift This error occurs if the allowable
Please consider to use form specified commands. 3. No reset operations
2177 Shift failure execution exceeded distance between steps during shift Alarm Alarm Alarm Alarm on on
Reset the limit value[Constants][Shift Amount neccesary.
between steps. execution is too large.
limit][Move limit between steps] and retry program.

In conveyer normal mode, turn on conveyer running

signal. If the signal is not used, set [When turning off
Control Conveyer running signal Conveyer running signal was not No reset operations
2181 conveyor running signal. = Ignore] in [Constant: 20 Alarm Alarm Alarm Alarm on on
failure was not received. received in conveyer normal mode. neccesary.
Conveyor constant: 4 Conveyor added function]
menu.

Operational Step number selected is This error occurs when designated No reset operations Informati Informati Informati Informati
2185 Check the desired step number and retry. on on
failure not available. step number does not exist. neccesary. on on on on

This error is
This error occurs when the program
Operational The program is not Please start after recording the program or selecting released if it sets a Informati Informati Informati Informati
2194 which is not recorded is selclted and on on
failure recorded nor selected. other programs. correct program and on on on on
start playback.
restart playback.

It was going to start the This error occurs if the robot is

Operational Please start after waiting for the completion of
2195 unit in the act of changing starting in the act of changeing robot Error reset. Alarm Alarm Alarm Alarm on on
failure changing.
robot program. program.

This error occurs when a

Palletize-end does not Correct the sequence of Palletize and Palletize end No reset operations
2201 Shift failure palletize-end function(M47) does Alarm Alarm Alarm Alarm on on
follow Palletize function. functions in the program. neccesary.
not follow Palletize function(M48).

When palletizing of 32 or more is

More than 32 Palletizing Terminate the unnecessary palletize.(by using R55 No reset operations
2202 Shift failure executed at the same time, this error Alarm Alarm Alarm Alarm on on
routines not allowed. or R377) neccesary.
is detected.

Palletize data is This error occurred calculate shift No reset operations

2203 Shift failure Please refer to palletize data. Alarm Alarm Alarm Alarm on on
abnormal. value is failed from palletize data. neccesary.

4-46
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

This error occurs when multiplex No reset operations

2204 Shift failure Multiplex palletize over. Please confirm a robot program. Alarm Alarm Alarm Alarm on on
palletize beyond 8 is carried out. neccesary.

(1) Please confirm the recorded position of roller

Operational A work was not able to be A work was not able to be detected No reset operations
2210 hem start function. (2) Please confirm stroke2 of the Alarm Alarm Alarm Alarm on on
failure detected. by roller hem pressurizing. neccesary.
roller hem application.

Error occurs when the set roller hem

pressure is not achieved within the Error occurs when the set roller hem pressure is not
Operational Roller hem pressure is No reset operations
2211 time period set in achieved within the time period set in Alarm Alarm Alarm Alarm on on
failure not achieved. neccesary.
[Constant][General characteristic of [Constant][General characteristic of Roller hem].
Roller hem].

Operational The roller hem operation Other roller hem operation is No reset operations
2212 Please modify the timing of operation. Alarm Alarm Alarm Alarm on on
failure cannnot be executed. executing. neccesary.

(1)Please designated a roller hem number under

Operational Designate a roller hem This operation is possible only the No reset operations
2213 execution. (2)Please execute roller hem of the Alarm Alarm Alarm Alarm on on
failure number under execution. roller hem number under execution. neccesary.
designated number before doing this operation.

Failure occurs if execution of a

function related to the Conveyer is
Control Conveyer sync. is not
2230 attempted when Conveyer Enable Conveyer synchronization Error reset. Alarm Alarm Alarm Alarm on on
failure available.
synchronization has not been
enabled.
This failure occurs when the mistake
Operational
2240 PUBLIC.INC file is wrong. is found in the method of defining Please confirm the definition of variables. Error reset. Alarm Alarm Alarm Alarm on on
failure
the variable.
This failure occurs when the mistake
Operational
2241 COSNT.INC file is wrong. is found in the method of defining Please confirm the definition of names. Error reset. Alarm Alarm Alarm Alarm on on
failure
the name.
This failure occurs when the mistake
Operational
2242 Module file is wrong. is found in the method of recording Please confirm the method of the function. Error reset. Alarm Alarm Alarm Alarm on on
failure
the function.
This failure occurs when it failed in
Operational The variable Data file is Please set the initial data of variables, after to select
2243 the preservation of the variable data Error reset. Alarm Alarm Alarm Alarm on on
failure wrong. program.
file.
Operational The variable data is an The variable of irregular data cannot
2244 Please set the initial data of variable. Error reset. Alarm Alarm Alarm Alarm on on
failure irregular value. be used.
Operational The variable cannot be The variable data of an other unit
2245 Please review the variable. Error reset. Alarm Alarm Alarm Alarm on on
failure rewritten. cannot be rewritten.

Operational The variable doesn't The variable that doesn't exist

2246 Please review the variable. Error reset. Alarm Alarm Alarm Alarm on on
failure exist. cannot be used.

Operational The variable has already The existing variable cannot be

2247 Please review the variable. Error reset. Alarm Alarm Alarm Alarm on on
failure existed. redefined.

The function command that cannot

The mistake is found in
Operational be used is recorded. whether to find
2248 the method of recording Please confirm the method of the function. Error reset. Alarm Alarm Alarm Alarm on on
failure the mistake in the method of
the function.
recording the function.
This error occurs when the value This error is
which is not permitted as a released if a correct
Operational The step data is
2250 parameter of the function instruction Please set a correct parameter again. program or step is Alarm Alarm Alarm Alarm on on
failure abnormal.
is setted while playback executing, setted and restart
and the robot stops. playback.

Error occurs when incorrect

Operational Incorrect Register or
2251 Register or variable number is used Enter the correct register or variable number. Error reset. Alarm Alarm Alarm Alarm on on
failure variable number.
in a program.

Operational Failed in reading or This error occurs when the variable Please confirm the number of variables which are
2252 Error reset. Alarm Alarm Alarm Alarm on on
failure writing variable. is continuously read or written. read or written.

Althogh re-start
The parameter for the This error occurs when an illegal
operation is
Operational function command parameter is found in the function
2253 Please correct the parameter. possible, please Alarm Alarm Alarm Alarm on on
failure exceeds the normal command while playback operation,
correct the teaching
range. and the robot stops.
program.
This error is
This error occurs when an illegal
The Dynalog function released if a correct
Operational function command is found while
2254 command exceeds the Please set a correct function command again. program or step is Alarm Alarm Alarm Alarm on on
failure playback operation, and the robot
normal range. setted and restart
stops.
playback.

Operational This error occurs when a value is

2255 Division by 0. Check the program. Check the program. Alarm Alarm Alarm Alarm on on
failure divided by 0 in robot language file.

4-47
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Playback unavailable Error occurs when input playback

Operational No reset operations
2256 because compilation command while it is executing the Please start after the compilation processing ends. Alarm Alarm Alarm Alarm on on
failure neccesary.
process is executing. compilation process.

The wrist operated by posture

Operational Outside wrist posture limit Please operate the robot so that the wrist posture
2258 beyond the limits of the posture limit Error reset. Alarm Alarm Alarm Alarm on on
failure range may operate within the range of the limit.
setting.

Step of the tool where 0 is set to

When step of the tool which does not use wrist
Operational It is the tool which does limit angle the when regulation
2259 posture limit is played back, please set wrist posture Error reset. Alarm Alarm Alarm Alarm on on
failure not appoint limit angle effective of wrist posture limit was
limit to invalidity.
played back.

This error occurs when the number The number of program reservation should cope
Operational The program can not
2268 of program reservations exceeds with it by the sequence etc. not to accumulate too Error reset. Alarm Alarm Alarm Alarm on on
failure reserve any more.
ten. much.

Error occurs when a Conveyer

Control Conveyer running signal
2272 running signal is inputed when Turn off the conveyer running input signal OFF. Error reset. Error Error Error Error on on
failure is ON.
conveyer simulation or test mode.

Error occurs when analog input

Analog input override and
Spot weld override (FN169) and digital input
2277 digital input override can Check the program, and delete function. Error reset. Alarm Alarm Alarm Alarm on on
failure override (FN277) are played at the
not be used at same time.
same time.

Please confirm the state of the sensor, the

Spot weld No signal input while The specified interruption signal was
2300 connection with the controller and the number of the Error reset. Alarm Alarm Alarm Alarm on on
failure executing FN227 not input whiel executing FN227.
signal.

This error will be

This error occurs when the program
There is no referring to canceled if a
Operational on which the move command is not Please start after recording a move command
2301 point for the circle middle program is Alarm Alarm Alarm Alarm on on
failure recorded before or after the circle before or after the circle middle point (C1).
point (C1). corrected and
middle point (C1) is started.
restarted.
This error will be
This error occurs when the program
There is no referring to canceled if a
Operational on which the move command is not Please start after recording a move command
2302 point for the circle end program is Alarm Alarm Alarm Alarm on on
failure recorded before the circle middle before the circle end point (C2).
point (C2). corrected and
end (C2) is started.
restarted.
Operational Error occurs when number of bytes
2303 Step is too big. Modify or delete the step. Error reset. Alarm Alarm Alarm Alarm on on
failure of a step is too big.

Playback mode of Search This error occurs when Search write

No reset operations
2356 Shift failure write function is not function is attempted when not in <1 Select <1 cycle> mode. Alarm Alarm Alarm Alarm on on
neccesary.
corrected. cycle> mode.

This error occurs when the robot Modify(enlarge) the search range or program to No reset operations
2357 Shift failure Search range exceeded. Alarm Alarm Alarm Alarm on on
moves beyond search range rectify error. neccesary.

This error occurs if a Search is

Search base step The Search base step position(s) will be No reset operations
2358 Shift failure attempted without the existence of Alarm Alarm Alarm Alarm on on
position is not defined. automatically written into the functions. neccesary.
the Search base step position.

This error occurs when a Search

Search Start not followed Alter program to give correct Search start/end No reset operations
2359 Shift failure start does not follow a Search End Alarm Alarm Alarm Alarm on on
by Search End. sequence. neccesary.
function.

This failure is
This failure occurs when a case
The setting of a case released if a correct
Operational jump and a case jump end do not Please check a case jump and correspondence of a Informati Informati Informati Informati
2360 jump function is program is setted on on
failure correspond while playback case jump end. on on on on
unsuitable. and restart
executing, and the robot will stop.
playback.
This failure occurs when the
This failure is
condition value of a case jump is too
It was going to jump released if a correct
Operational large and there is no jump step in Informati Informati Informati Informati
2361 beyond the case jump Please set a correct parameter again. program is setted on on
failure the program while playback on on on on
range. and restart
executing, this abnormality is
playback.
detected, and the robot will stop.

Detected the collision Since the collision detected the Please confirm whether the robot manipulator
2362 Shift failure Error reset. Alarm Alarm Alarm Alarm on on
interrupt. interrupt, the robot was stopped. interferes in something.

When collision interrupt of 5 or more

More than 5 Collision No reset operations
2363 Shift failure is executed at the same time, this Terminate the unnecessary Collision interrupt. Alarm Alarm Alarm Alarm on on
interrupt not allowed. neccesary.
error is detected.

4-48
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
Although Built-in PLC status is Unusual reset is
except <Disabled>, when scan of carried out after
Scan of Built-in PLC has Built-in PLC status is set as <RUN> by constant
2367 PLC failure Built-in PLC has stopped, it changing Built-in Alarm Alarm Alarm Alarm on on
stopped. mode, and scan is started.
becomes this error at the time of PLC into a starting
robot operation. state.
Unusual reset is
Connection with Built-in It becomes this error when carried out after
Please check the environment of Built-in PLC of
2368 PLC failure PLC cannot be connection with Built-in PLC cannot changing Built-in Alarm Alarm Alarm Alarm on on
operation.
performed. be performed. PLC into a starting
state.
Unusual reset is
carried out after
Built-in PLC cannot be It becomes this error when Built-in Please check the environment of Built-in PLC of
2369 PLC failure changing Built-in Alarm Alarm Alarm Alarm on on
started. PLC cannot be started. operation.
PLC into a starting
state.
Unusual reset is
carried out after
Built-in PLC cannot be It becomes this error when Built-in Please check the environment of Built-in PLC of
2370 PLC failure changing Built-in Alarm Alarm Alarm Alarm on on
stopped. PLC cannot be stopped. operation.
PLC into a starting
state.
After download, it
It will become this error if a starting
There is no resource changes into a
demand is performed in the state
2371 PLC failure performed by Built-in Download a PLC ladder program. starting state and Alarm Alarm Alarm Alarm on on
where there is no resource
PLC. unusual reset is
performed by Built-in PLC.
carried out.
Again, a starting
setup is carried out,
It becomes this error when it is not
PLC-Engine has not been Please check the environment of Built-in PLC of it changes into a
2372 PLC failure able to start by the starting demand Alarm Alarm Alarm Alarm on on
started. operation. starting state, and
of PLC-Engine.
unusual reset is
carried out.
The error was detected
It becomes this error when an error
by Program check at the Please carry out program check by [3 PLC program
2373 PLC failure is detected by Program check at the Error reset. Alarm Alarm Alarm Alarm on on
time of PLC-Engine check] of [14 PLC program Edit] of Service.
time of PLC-Engine starting.
starting.

This error is
This error occurs when the function
released if a correct
Operational The function data is instruction which is not permitted is
2383 Please set the function again. program or step is Alarm Alarm Alarm Alarm on on
failure abnormal. setted while playback executing,
setted and restart
and the robot stops.
playback.
Designate step
Error occurs when 3 step points are positions not in the
3 of the step points for Designate step positions not in the same line for the
2387 Shift failure situated along the same line for the same line for the Alarm Alarm Alarm Alarm on on
On-transfer are in line. On-line transfer function.
On-line Transfer(M53,M54). On-line transfer
function.

A power supply is
Error occurs when there is no data re-switched on after
Operational There is no user function
2390 which defined the specified user Create a user function definition file. creating a user Alarm Alarm Alarm Alarm on on
failure definition data.
function. function definition
file.

A power supply is
Error occurs when there is no data re-switched on after
Operational There is no user function
2391 which defined the specified user Create a user function definition file. creating a user Alarm Alarm Alarm Alarm on on
failure definition data.
function. function definition
file.

First, release all

emergency stop
This Error occurs when
switches, and
disagreement has happened First, release all emergency stop switches, and
perform operation
Emergency Emergency stop signal between dual emergency stop perform operation again. If the error recurs, check
2400 again. If Error Error Error Error on on
stop failure input line failure. signal input lines. (1) Cable whether the emergency stop SW line is correctly
impossible, remove
failure(contact failure, broken wire) wired.
the cause of the
(2)Emergency stop switch troubles.
error, and turn on
the power again.
First, release safety
This Error occurs when
plugs, and perform
disagreement has happened
First, release sefety plugs, and perform operation operation again. If
Emergency Safety signal input line between dual safety signal input
2401 again. If the error recurs, check whether the safety impossible, remove Error Error Error Error on on
stop failure failure(Safety plug) lines. (1) Cable failure(contact
plug line is correctly wired. the cause of the
failure, broken wire) (2)Safety plug
error, and turn on
troubles.
the power again.
First, release
enable switches,
This error occurs when
and perform the
disagreement has happened
First, release enable switches, and perform the operation again. If
Emergency Safety signal input line between dual safety signal input
2402 operation again. If the error recurs, check whether it is impossible, Error Error Error Error on on
stop failure failure(Enable/Mat SW) lines. (1) Cable failure(contact
the enable switch line is correctly wired. remove the cause of
failure, broken wire) (2)Enable/Mat
the error, and turn
SW troubles.
ON the power
again.

Operational User failure is not Please define Failure by [Service]→[25 Robot

2410 The error file was not found. Error reset. Error Error Error Error on on
failure defined. Diagnosis]→[6 User Error].

4-49
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

The check
Request It became a check time Please do the check completion processing after it Informati Informati
2411 check completion Error Error on on
maintenance limit. checks. on on
processing is done.

The failure log file is backing up preserved if

necessary. Afterwards, "Failure log clear" is
Request Information by number of The number of remainder failure log Informati Informati
2412 executed by the failure logging monitor. Or, Error reset. Error Error on on
maintenance failure log reached a set value. on on
information on the number of failure log is set to "Not
Occur" by the error logger item.

The failure log file is backing up preserved if

necessary. Afterwards, "Failure log clear" is
Information by number of The number of remainder another
Request executed by the failure logging monitor. Or, Informati Informati
2413 another preservation preservation failure log reached a Error reset. Error Error on on
maintenance information on the number of another preservation on on
failure log set value.
failure log is set to "Not Occur" by the error logger
item.

The specified welder The servo gun connected with the

Spot weld
2435 cannot be used with this specified welder is not defined as a Modify the program. Error reset. Alarm Alarm Alarm Alarm on on
failure
unit. mechanism of this unit.

The welder with which the servo gun

The servo gun is not
Spot weld was not connected when the servo
2436 connected with the Modify the program. Error reset. Alarm Alarm Alarm Alarm on on
failure gun function was used was
specified welder.
specified.
Dramatic difference of panel
This error is
Spot weld Abnormal panel thickness exists between recorded Check the weld condition data and real work piece
2437 released if restart Alarm Alarm Alarm Alarm on on
failure thickness detected. value in weld condition and detected thickness.
playback.
value.

FieldBus RIO detected the An abnormal communication was Please check the connection and the RIO scanner of
2497 Error reset. Alarm Alarm Alarm Alarm on on
failure communications error. generated by the RIO link. the communication cable.

FieldBus The RIO interface is There is no answer from the RIO

2498 Please exchange the RIO interface. Error reset. Alarm Alarm Alarm Alarm on on
failure abnormal. interface.

This error is
This error occurs when a command
released if a correct
Operational Step number not only valid after designating a step
2518 Please designate a step number and retry. program or step is Alarm Alarm Alarm Alarm on on
failure designated. number is attempted without step
setted and restart
designation.
playback.

It failed to save data when the

primary power is turned OFF or
when the primary power voltage (1)Please execute "State return" in the Interface
Please recover the After removal of
Operational dropped abnormally.Because Panel Design. (2)If recovery is not required, please
2519 statement of the Interface failure, please carry Alarm Alarm Alarm Alarm on on
failure "Recovery at power failure" of the set "Recovery at power failure" to "Unnecessary" in
panel. out "failure-reset".
interface panel is set the the "Touch Panel Conditions".
"necessary" , it needs to return the
interface panel statement.

This failure occurs when the media

Operational format does not match the format No reset operations Informati Informati Informati Informati
2527 File read or write fault. Please try once again, after delete the file. on on
failure selected in the controller or the file neccesary. on on on on
has been corrupted.",

When memory media, such as a By Service / File Manager / Format memory It will be canceled if
Operational The memory medium is Informati Informati Informati Informati
2528 FIROPPI disk and an memory card, card/Floppy disk, please use it after initializing a some keys are on on
failure not discriminable. on on on on
are not initialized, this error occurs. memory medium. pushed.

Operational Error occurs when data header of

2530 Bad program file. Delete the program file. Error reset. Alarm Alarm Alarm Alarm on on
failure program file is crashed.

The file under writing might been damaged. Please

Spot weld File operation of FTP FTP client menu is closed, when confirm the file that is uploaded or downloaded. No reset operations
2535 Alarm Alarm Alarm Alarm on on
failure client is canceled. upload or download executed. Please delete and execute download or upload neccesary.
again when the file has been damaged.

4-50
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
Error occurs when the welding timer
detected some errors. Standard
welding timer generates this error
when the controller received the This error is
Spot weld
2536 Welder fault. welder fault signal from welding Check the welder unit. released if restart Alarm Alarm Alarm Alarm on on
failure
timer after the end of welding playback.
sequence. Regarding except
standard welding timer, refer the
each operation manual.

Error occurs if a Weld competed This error is

Spot weld Welding time exceeded
2537 signal is not input before the Check the welder is operating normally. released if restart Alarm Alarm Alarm Alarm on on
failure limit.
designated time period. playback.

Error occurs if the Gun closed signal This error is

Spot weld
2538 The gun not open. is received after the welding Check the GUN or welding unit. released if restart Alarm Alarm Alarm Alarm on on
failure
sequence ends. playback.

Error occurs if the Gun half-open

This error is
Spot weld signal is not received after Open
2539 The gun is not half open. Check the GUN or welding unit. released if restart Alarm Alarm Alarm Alarm on on
failure gun half signal is output by the
playback.
controller.

Error occurs if the Gun full-open

This error is
Spot weld signal is not received after Open
2540 The gun is not fully open. Check the GUN or welding unit. released if restart Alarm Alarm Alarm Alarm on on
failure gun fully signal is output by the
playback.
controller.

Error occurs if the System fault This error is

Spot weld Stuck Weld GUN Error occurs if the Weld stuck signal is received
2541 signal is detected after completion released if restart Alarm Alarm Alarm Alarm on on
failure detected. when the welding sequence ends.
of a welding sequence. playback.

Error occurs if the Water flow switch This error is

Spot weld
2542 Coolant fault #1. #1 signal is detected after Check the GUN or welding unit. released if restart Alarm Alarm Alarm Alarm on on
failure
completion of a welding sequence. playback.

Error occurs if the Water flow switch This error is

Spot weld
2543 Coolant fault #2. #2 signal is detected after Check the GUN or welding unit. released if restart Alarm Alarm Alarm Alarm on on
failure
completion of a welding sequence. playback.

Error occurs if the Air pressure This error is

Spot weld
2544 Air pressure fault. switch signal is detected after Check the GUN or welding unit. released if restart Alarm Alarm Alarm Alarm on on
failure
completion of a welding sequence. playback.

Error occurs if the Thermo. temp. This error is

Spot weld Transformer temperature
2545 fault signal is detected after Check the GUN or welding unit. released if restart Alarm Alarm Alarm Alarm on on
failure fault.
completion of a welding sequence. playback.

Error occurs if the System fault This error is

Spot weld
2546 Peripheral system fault. signal is detected after completion Check the GUN or welding unit. released if restart Alarm Alarm Alarm Alarm on on
failure
of a welding sequence. playback.

Error occurs when the welding timer

detected some errors. Standard
welding timer generates this error
After removal of
when the controller received the
Spot weld failure, please turn
2547 Welder fault. welder fault signal from welding Check the welder unit. Alarm Alarm Alarm Alarm on on
failure on power supply of
timer after the end of welding
the controller again.
sequence. Regarding except
standard welding timer, refer the
each operation manual.

Error occurs if both the Gun

Both of half-open and half-open signal and Gun full-open This error is
Spot weld Check the GUN or welding unit to determine the
2552 full-open signals are signal are received simultaneously released if restart Alarm Alarm Alarm Alarm on on
failure cause of the two simultaneous signals.
given. after Open gun half signal is output playback.
by the controller.

Servo-gun is not This error is

Spot weld Error occurs when the servo gun is
2555 executed to obey the Please confirm to the sequence of weld-timer. released if restart Alarm Alarm Alarm Alarm on on
failure not achieved to command pressure.
welder sequence. playback.

The function can not be The function was attempted that is

Spot weld
2556 used while servo gun is not allowable while servo gun is Please execute the function after releasing the grip. Error reset. Alarm Alarm Alarm Alarm on on
failure
gripping. gripping.

4-51
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

This error occurs if the amount of

The amount of circle
compensation of each axis becomes No reset operations
2569 Shift failure locus compensation is Please modify teaching position. Alarm Alarm Alarm Alarm on on
excessive as a result of neccesary.
unusual.
compensation calculation.

After removal of
Vision sensor
Vision sensor Internal error in the vision sensor failure, please turn
2570 communication data Please check hardware of vision sensor. Alarm Alarm Alarm Alarm on on
failure system was detected. on power supply of
error.
the controller again.

Vision sensor Too many commands to vision After removal of

Vision sensor
2571 command/reply buffer sensor or replies from vision sensor Please modify timing of function execution. failure, please carry Alarm Alarm Alarm Alarm on on
failure
overflow. at the same time. out "failure-reset".

Please check the measure object is within measure After removal of

Vision sensor Vision sensor recognition Vision sensor could not recognize area. If the object is within measure area, please failure, please turn
2572 Alarm Alarm Alarm Alarm on on
failure error. the measure object. modify measure condition parameters or adjust on power supply of
lighting environment. the controller again.

Please check the measure object is within shift area. After removal of
The measure object isn't within shift
Vision sensor If the object is within shift area, please modify failure, please turn
2573 Vision sensor shift error. area or vision sensor could not Alarm Alarm Alarm Alarm on on
failure measure condition parameters or adjust lighting on power supply of
recognize the measure object.
environment. the controller again.
After removal of
Vision sensor Error about frame failure, please turn
2574 Frame grabber is out of order. Please replace the frame grabber board. Alarm Alarm Alarm Alarm on on
failure grabber. on power supply of
the controller again.
After removal of
Acquiring image timeout detected.
Vision sensor Please check camera setting. If this is right, replace failure, please turn
2575 Image acquire error. Or Camera cable is cut / camera is Alarm Alarm Alarm Alarm on on
failure the camera cable / camera. on power supply of
out of order.
the controller again.
After removal of
Vision sensor Vision sensor socket Fail to create the socket which Please check setting of connection to vision sensor failure, please turn
2576 Alarm Alarm Alarm Alarm on on
failure error. connect to vision sensor unit. unit. on power supply of
the controller again.
After removal of
Vision sensor Vision sensor function recorded by Please remove the vision sensor function and record failure, please turn
2577 Vision sensor type error. Alarm Alarm Alarm Alarm on on
failure another vision sensor type is done. again. on power supply of
the controller again.
Vision measure wait function was After removal of
Vision sensor Measure of Vision sensor done without measuring, or Vision Please measure again, or record Vision measure failure, please turn
2578 Alarm Alarm Alarm Alarm on on
failure is not complete. shift function was done before wait function before Vision shift function. on power supply of
measure completed. the controller again.
After removal of
The measurement processing time
Vision sensor The measurement time is Please modify the method of measuring the vision failure, please turn
2579 too much or the trigger signal line Alarm Alarm Alarm Alarm on on
failure over. sensor, and check the trigger signal line. on power supply of
has been disconnected.
the controller again.
After removal of
Vision sensor Error was detected in the data
Vision sensor Please confirm whether there is loosening of failure, please turn
2582 communication data format which had been sent from the Alarm Alarm Alarm Alarm on on
failure connector. on power supply of
error. vision sensor.
the controller again.
After removal of
Vision sensor Vision sensor returns no It takes time to process the vision failure, please turn
2583 Please modify setting of the vision sensor. Alarm Alarm Alarm Alarm on on
failure answer. sensor too much. on power supply of
the controller again.
After removal of
Vision sensor Error was detected in the vision failure, please turn
2584 Vision sensor error. Please refer to the manual of the vision sensor. Alarm Alarm Alarm Alarm on on
failure sensor. on power supply of
the controller again.
The function execution by the check
Vision sensor Vision sensor function Please cancel the vision mode, and do the check
2585 go/back is not permitted in the vision Error reset. Alarm Alarm Alarm Alarm on on
failure can not be carried out. go/back.
mode.

A synchronous gap was

The vision sensor was not able to
Vision sensor occered by a vision
2586 complete processing while the Please slow down the conveyer speed. Error reset. Alarm Alarm Alarm Alarm on on
failure correction conveyer
conveyer moved at trigger intervals.
synchronous function.

Playback unavailable
Spot weld The visual teaching correction Please set the visual teaching correction function to
2587 because visual teaching Error reset. Alarm Alarm Alarm Alarm on on
failure function is set as enable. disable.
correction is valid.
The distance between the
The measurement point
Vision sensor measurement points is abnormal or Informati Informati Informati Informati
2588 exceeded the distance Please measure these points again. Error reset. on on
failure the shape of the measurement point on on on on
limit.
is abnormal.
The measurement had been
Vision sensor A multiple measurement
2589 executed again before the Please modify the measurement execution timing. Error reset. Alarm Alarm Alarm Alarm on on
failure happened.
measurement was completed.

Vision sensor The measurement result is out of Informati Informati Informati Informati
2590 Shift range over. Please check the position of the work. Error reset. on on
failure shift range. on on on on

After removal of
Vision sensor Error was detected in the vision Informati Informati Informati Informati
2591 Vision sensor error. Please refer to the manual of the vision sensor. failure, please carry on on
failure sensor. on on on on
out "failure-reset".

A shift, an online transformation,

Operational and the base coordinate shift with
2592 Multiple shift failure. Modify program to rectify error. Error reset. Alarm Alarm Alarm Alarm on on
failure the vision sensor were executed in
the multiple.

4-52
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

The measurement processing time

Vision sensor The measurement time is Please modify the method of measuring the vision Informati Informati Informati Informati
2593 too much or the trigger signal line Error reset. off off
failure over. sensor, and check the trigger signal line. on on on on
has been disconnected.

Carrying out this function is not

Spot weld Seam welding function
2594 permitted during seam welding. Or Please modify program or constant data. Error reset. Alarm Alarm Alarm Alarm on on
failure can not be carried out.
errors are in constant data.

It was going to execute

The function about another units,
Spot weld the function which is not
2595 such as CALLFAR, is not permitted Please modify program. Error reset. Alarm Alarm Alarm Alarm on on
failure permitted during seam
during seam welding.
welding.

Vision sensor No base position data There is no base position before Informati Informati Informati Informati
2596 Please register base position. Error reset. on on
failure set. doing the shift function. on on on on

This failure occurs when the

measurement point data is
Vision sensor Measure point datas is insufficient or the measurement (1)Please measure these points again. (2)Please Informati Informati Informati Informati
2597 Error reset. on on
failure abnormal. position contradicts the data of a confirm base positional data. on on on on
base position when the shift amount
is calculated.

When the measurement type was a

Vision sensor The measurement type is (1)Please confirm the measurement type. (2)Please
2598 setting of 2D, it tried to execute Error reset. Alarm Alarm Alarm Alarm on on
failure abnormal. use the 'SHIFTR' function at 2D measurement.
'VLOCCVT' function.

Error occurs when data aren't

Shift register contains no Informati Informati Informati Informati
2599 Shift failure established in specified shift Setting data in shift register. Error reset. on on
data. on on on on
register.

It is not possible to compute the (1)Please make the servo gun position more wildly
Operational Servo gun auto-setting No reset operations
2601 servo gun inertia using current between pose 1 and pose 2. (2)Please confirm the Alarm Alarm Alarm Alarm on on
failure gets abnormal data. neccesary.
gathered by parametor auto-setting servo parameters of target servo gun mechanism.

It is not possible to compute the (1)Please make the Roller hem position more wildly
Operational Roller hem auto-setting No reset operations
2602 servo gun inertia using current between pose 1 and pose 2. (2)Please confirm the Alarm Alarm Alarm Alarm on on
failure gets abnormal data. neccesary.
gathered by parametor auto-setting servo parameters of target servo gun mechanism.

Failure occurs when use of User

Operational User coordinate does not coordinate is attempted without the Define User coordinate system(s) in [Service][10 No reset operations
2605 Alarm Alarm Alarm Alarm on on
failure exist. coordinate system being User Coord. Definition]before attempting to use it. neccesary.
pre-defined.

This error is detected when the base

of specified user coordinates is not
Operational User coordinate is Define User coordinate system(s) in [Service][10 No reset operations
2606 in agreement with the operation Alarm Alarm Alarm Alarm on on
failure indefinite. User Coord. Definition]before attempting to use it. neccesary.
standard mechanism of the current
unit.

The user coordinate Failure occurs although step is

number which cannot be Stationary tool interpolation, the
Operational Please select stationary tool defined by the world No reset operations
2607 used as the Stationary operation standard mechanism is Alarm Alarm Alarm Alarm on on
failure coordinate using FN67. neccesary.
tool coordinate was chosen as the base of Stationary
chosen. tool coordinate.

The user coordinate This function is not permitted for

Operational Please define user coordinate defined by the world No reset operations
2608 number which cannot be using user coordinate on TCF Alarm Alarm Alarm Alarm on on
failure coordinate. neccesary.
used was chosen. coordinate system.

Work coordinate or user coordinate

The coordinate which
Operational on TCF coordinate was used for the No reset operations
2609 cannot be used was Please change coordinate. Alarm Alarm Alarm Alarm on on
failure manipulator set as the operation neccesary.
chosen.
standard mechanism.

Without executing move command,

Operational Pause substitution Please teach move command after LETCOORDP No reset operations
2610 pause substitution to the same Alarm Alarm Alarm Alarm on on
failure overlaps. function and execute. neccesary.
mechanism was performed.

Modifying user coordinate failed for

one reason of the followings.
(1)[OZX order] is chosen though it is
instruction of two or less points.
Operational Modifying user No reset operations
2611 (2)The points are less than three Please correct instruction points. Alarm Alarm Alarm Alarm on on
failure coordinate failed. neccesary.
points. (3)Three points are on the
same line. (4)Position data is not
encoder. (5)User coordinates
register file does not exist.

4-53
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Multiple execution of the While performing the SEAMANG Please modify the program as SEAMANG function
Operational No reset operations
2612 SEAMANG function was function, the SEAMANG function will not be performed again when you use the Error Error Error Error off on
failure neccesary.
carried out. was performed again. function.

The function which uses the analog

The SEAMANG function Please modify the program if you use the
Operational input function except SEAMANG No reset operations
2613 was performed under SEAMANG and the function which uses analog Error Error Error Error off on
failure can't be used when SEAMANG neccesary.
permitted condition. input at the same time.
function is used.

Tool number has been

Operational The Tool No. can not be changed Modify the robot program as same tool number is No reset operations
2614 changed during Error Error Error Error off on
failure during SEAMANG function. used during SEAMANG function. neccesary.
SEAMANG function.

FN289 Wrist singularity control This error will be

Wrist posture under using function is execured, wrist posture Before move step execution, (1)Please level the canceled if a
Operational
2615 FN289 Wrist singularity must be a level in the robot wrist posture in the robot cooddinate. (2)Please program is Alarm Alarm Alarm Alarm on on
failure
control function is invalid. coordinate and J4 axis must be less make J4 axis into less than +-2 degrees. corrected and
than +-2 degrees. restarted.

SHARP I/F: JW32CV When the data exchange with the

2620 PLC failure module cannot be module cannot be processed, this Please confirm setting of JW32CV module. Error reset. Alarm Alarm Alarm Alarm on on
recognized. error is detected.

Error occurs when Memory failure in

SHARP I/F: Memory error Refer to the Self-check section of the JW32CV
2621 PLC failure the JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
detected. Manual.
detected.

Error occurs when CPU failure in the

SHARP I/F: CPU error Refer to the Self-check section of the JW32CV
2622 PLC failure JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
detected. Manual.
detected.

Error occurs when I/O failure in the

SHARP I/F: I/O error Refer to the Self-check section of the JW32CV
2623 PLC failure JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
detected. Manual.
detected.

Error occurs when Special I/O

SHARP I/F: Special I/O Refer to the Self-check section of the JW32CV
2624 PLC failure failure in the JW32CV module Error reset. Alarm Alarm Alarm Alarm on on
error detected. Manual.
self-check is detected.

Error occurs when Option failure in

SHARP I/F: Option error Refer to the Self-check section of the JW32CV
2625 PLC failure the JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
detected. Manual.
detected.

Error occurs when Power failure in

SHARP I/F: Power error Refer to the Self-check section of the JW32CV
2626 PLC failure the JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
detected. Manual.
detected.

Error occurs when Extend Power

SHARP I/F: Extend Refer to the Self-check section of the JW32CV
2627 PLC failure failure in the JW32CV module Error reset. Alarm Alarm Alarm Alarm on on
Power error detected. Manual.
self-check is detected.

SHARP I/F: Sequence A sequence program of JW32CV Please start a sequence program of JW32CV
2628 PLC failure Error reset. Alarm Alarm Alarm Alarm on on
program is stopping. module is stopping. module.

Please turn on the

Toyopuc I/F is a power supply again
2651 PLC failure Toyopuc I/F is not found. Please confirm whether Toyopuc I/F is installed. Error Error Error Error on on
uninstallation. after Toyopuc I/F
installs.

Automatically
Toyopuc I/F:I/O There is no response from Toyopuc
2652 PLC failure Please confirm Toyopuc I/F. restores, when the Error Error Error Error on on
refreshing has stopped. I/F.
problem is solved.

Toyopuc I/F:Abnormality Automatically

Toyopuc I/F detected the dual port
2653 PLC failure is found in the dual port Please refer to the manual of Toyopuc I/F. restores, when the Error Error Error Error on on
memory malfunction.
memory. problem is solved.

Automatically
Error occurred by
2654 PLC failure Toyopuc I/F detected the error. Please refer to the manual of toyopuc I/F. restores, when the Error Error Error Error on on
toyopuc I/F.
problem is solved.

Please reenter the

The communication with
The communication with Toyopuc The bad electrical contact of Toyopuc I/F or bad power supply after
2655 PLC failure Toyopuc I/F got the Error Error Error Error on on
I/F did the time-out. functionality of UM237 is thought. removing a wrong
suspension.
cause.

(1)Please confirm the tip dress condition.(2)Please After removal of

This error occurs when the servo
Spot weld Current of tip dresser confirm the cable between the controller and the failure, please turn
2656 dresser is exceeded beyond current Alarm Alarm Alarm Alarm on on
failure abnormaled. servo tip dresser.(3)Please replace the on power supply of
range.
motor.(4)Please replace the drive unit. the controller again.

This error occurs when normal input This error is

Spot weld Please check the normal input signal from the tip
2657 Tip dresser abnormal. signal from tip dresser is lost during released if restart Alarm Alarm Alarm Alarm on on
failure dresser.
tip dress function. playback.

4-54
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
This error will be
canceled if a
Operational The user window has not The user window has not been Informati Informati Informati Informati
2658 The user window has not been opened. program is on on
failure been opened. opened. on on on on
corrected and
restarted.
This error will be
canceled if a
Operational Other user tasks use the Other user tasks use the user Informati Informati Informati Informati
2659 Other user tasks use the user window. program is on on
failure user window. window. on on on on
corrected and
restarted.
After removal of
This error occurs when the dress
Spot weld length of tip dressed (1)Please confirm the tip dress condition.(2)Please failure, please turn
2660 length of tip is exceeded beyond Alarm Alarm Alarm Alarm on on
failure abnormaled. confirm the tip consumption. on power supply of
dress length range.
the controller again.

Tip dress cannot be After removal of

(1)If tip dress control "servo" then set the tip dress
Spot weld executed that is servo Servo gun tip cannot be dressing failure, please turn
2661 search write "Enabled", else set the servo gun Alarm Alarm Alarm Alarm on on
failure gun search write is during of search write. on power supply of
search write "Disabled".
enabled. the controller again.

Please reenter the

Please confirm the contact failure of Toyopuc I/F, power supply after
2662 PLC failure 2port ram is abnormal. Abnormality of 2port ram occurred. Error Error Error Error on on
confirm the stop of PC, and confirm reset of PC. removing a wrong
cause.
Please reenter the
The interface is abnormal Please confirm the contact failure of Toyopuc I/F, power supply after
2663 PLC failure Failed in the data reading from PC. Error Error Error Error on on
with PC. confirm the stop of PC, and confirm reset of PC. removing a wrong
cause.

X Bending shift volume is For glass handling, X bending shift

2669 Shift failure Modify XY bending table to correct value. Error reset. Error Error Error Error on on
bigger than the error limit. is calculated too big.

Y Bending shift volume is For glass handling, Y bending shift

2670 Shift failure Modify XY bending table to correct value. Error reset. Error Error Error Error on on
bigger than the error limit. is calculated too big.

Error occurs if a command or

Control Conveyer
2671 function is attempted requiring Turn Conveyer synchronization ON Error reset. Alarm Alarm Alarm Alarm on on
failure synchronization not ON
Conveyer synchronization ON.

Usage of MAPPING MAPPING function is re-executed

2672 Shift failure Modify program to rectify error. Error reset. Alarm Alarm Alarm Alarm on on
function is wrong. while MAPPING execution.

ALIGNMENT function is
Usage of ALIGNMENT
2673 Shift failure re-executed while ALIGNMENT Modify program to rectify error. Error reset. Alarm Alarm Alarm Alarm on on
function is wrong.
execution.

There was no input of alignment Confirm that the work passes on the alignmnet
Sensors don't turn
2674 Shift failure sensors while ALIGNMENT sensors. Adjust sensor sensitivity. Confirm Error reset. Alarm Alarm Alarm Alarm on on
on.(ALIGMNENT)
searching. connection from sensors.

Bending shift volume is For glass handling, bending shift is

2675 Shift failure Modify bending table to correct value. Error reset. Error Error Error Error on on
bigger than the error limit. calculated too big.

No support function for This error occurs if no support No reset operations

2676 Shift failure No support function is not used. Alarm Alarm Alarm Alarm on on
SJ type manipulator. function for SJ is executed. neccesary.

Spot weld Major Welder Error occurs when the welder board
2677 Remove the cause of the error. Error reset. Alarm Alarm Alarm Alarm on on
failure error(Fault). generate the error(Fault).

Spot weld Welding command is not Error occurs when the welder board
2678 Remove the cause of weld error. Error reset. Alarm Alarm Alarm Alarm on on
failure execute. abort welding command sequence.

Torsion shift volume is For glass handling, torsion shift is

2679 Shift failure Modify twist table to correct value. Error reset. Error Error Error Error on on
bigger than the error limit. calculated too big.

The position of X1 The position of X1 of the robot

Operational Please correct the position of X1 by use of Adjust
2680 exceeded the amount of exceeds the amount of the Error reset. Alarm Alarm Alarm Alarm on on
failure Position key.
the compulsion return. compulsion return.

The position of X1
The value of X1 in the set step
Operational exceeded the record Please set X1 below the record position tolerable
2681 exceeds the record position Error reset. Alarm Alarm Alarm Alarm on on
failure position tolerable quantity.
tolerable quantity.
quantity.

Sensors don't turn There was no input of alignment

2682 Shift failure Confirm connection from sensors. Error reset. Alarm Alarm Alarm Alarm on on
on.(MAPPING) sensors while MAPPING.

1) On [Constant Setting]-[Machine
Glass Handling : The SJ
For glass handling, the J1 angle of Parameters]-[Encoder Correct], the J1 angle of the
type manipulator's 1st
2683 Shift failure the earth does not equal to the J2 earth equals to the J2 angle of the earth. 2) After the Error reset. Error Error on on
and 2nd arms are
angle of the earth. memory format of the controller, this error occurs.
unbalanced.
The encoder correct is exactly executed.

4-55
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Glass Handling :
Dynamic twisted For glass handling, dynamic twisted
Please take a second look accelerating twisted
2684 Shift failure correction value correction value exceeded error Error reset. Alarm Error on on
revision parameter.
over.(Accelerating inspection level.
revision)

Glass Handling :
Dynamic twisted For glass handling, dynamic twisted
Please take a second look teach point twisted
2685 Shift failure correction value correction value exceeded error Error reset. Alarm Error on on
revision parameter.
over.(Teach point inspection level.
revision)

Glass Handling :
For glass handling, dynamic twisted
Dynamic twisted Please take a second look position twisted revision
2686 Shift failure correction value exceeded error Error reset. Alarm Error on on
correction value parameter.
inspection level.
over.(Position)

Spot weld Error occurs when the welder board

2687 Major Welder error. Remove the cause of weld error. Error reset. Alarm Alarm Alarm Alarm on on
failure generate the weld error.

Spot weld Welding command is not Error occurs when the welder board
2688 Remove the cause of weld error. Error reset. Alarm Alarm Alarm Alarm on on
failure execute. abort welding command sequence.

In the automatic tool center of (1)Teach points that enough unbalanced torque is
Data level too low for
Operational gravity set function, it is not possible exerted on J3,J5 and J6 axis. (2)Make the wrist No reset operations
2698 Auto tool load center Alarm Alarm Alarm Alarm on on
failure to calculate by the gathered current posture vary greatly between step 1 and step 2 neccesary.
setting.
value. positions.

The measurement result (1)Please correct the teaching so that move range is
Operational of the automatic setting of This failure occurs when gathered wide as much as possible. (2)Please correct the No reset operations
2699 Alarm Alarm Alarm Alarm on on
failure tool moment of inertia is speed or current data are abnormal. teaching so that the move axis is not influenced by neccesary.
abnormal. gravity.

Error occurs when the set gun

pressure is not achieved within the Error occurs when the set gun pressure is not This error is
Spot weld Servo gun pressure is not
2701 time period set in achieved within the time period set in released if restart Alarm Alarm Alarm Alarm on on
failure achieved.
[Constant][General characteristic of [Constant][General characteristic of Servo Gun]. playback.
Servo Gun].
Error occurs when a GUN search
function is abnormally interrupted by
Spot weld GUN SEARCH not Please modify the execution timing of the tip
2703 a Spot welding function. Or, the Error reset. Alarm Alarm Alarm Alarm on on
failure complete. consumption detection.
order of executing the tip
consumption detection is wrong.

Error occurs when a WI signal, from

This error is
Spot weld WI signal does not the last weld sequence, remains on
2710 Check the welder is operating normally. released if restart Alarm Alarm Alarm Alarm on on
failure become off. more than 5s after a GUN or WELD
playback.
signal is output by the controller.

Weld control is not

Spot weld Error occurs when the weld control
2757 supported by MEDLAN Install the latest software version. Error reset. Alarm Alarm Alarm Alarm on on
failure software is too old.
command.

Error occurs when a gun different

Spot weld Different spot welding Correct the program, otherwise attach the correct
2763 from the gun specified in a Spot Error reset. Alarm Alarm Alarm Alarm on on
failure gun mounted. gun before using Spot welding function.
welding function is detected.

Servo Gun Move-tip

Spot weld Servo Gun Move-tip consumption Replace the worn Move-tip and detect tip
2781 consumption exceeded Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded the maximum limit. consumption again.
maximum limit.

Servo Gun Settle-tip

Spot weld Servo Gun Settle-tip consumption Replace the worn Settle-tip and detect tip
2782 consumption exceeded Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded the maximum limit. consumption again.
maximum limit.

When the synchronous welding was

The difference of tip
executed, the difference of tip Please execute synchronous welding again after
Spot weld consumption is too large.
2783 consumption of master gun and exchanging the tip, and detecting the tip Error reset. Alarm Alarm Alarm Alarm on on
failure The synchronous welding
slave gun exceeded the alarm consumption.
was not executed.
detection level.

(1)Specified cancer is not

connected. (2)The same welder is
specified. (3)Specified gun is not in
the unit. (4) Guns with different
installation has been selected.
Spot weld The synchronous welding
2784 (5)The servo gun exists together to Please reconsider gun/welder number. Error reset. Alarm Alarm Alarm Alarm on on
failure cannot be executed.
the air gun. (6)MEDbus welding I/F
is specified in SYNCSPOT(FN303).
(7)MEDbus welding I/F is not
specified in
SYNCSPOTIWB(FN316).

4-56
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Please check not to collide from other equipment.

Spot weld Welding point is far from This error occurs when the welding Please check settings as below, servo gun contact
2785 Error reset. Alarm Alarm Alarm Alarm on on
failure a recorded point. point is far from a recorded point. detect, tool constant parameters, servo gun tip
consumption, servo gun bend characters.

It was going to start while It will generate, if it starts while

Spot weld
2786 waiting for WI of manual waiting for WI of manual or external Please start after releasing WI. Error reset. Alarm Alarm Alarm Alarm on on
failure
or external welding. welding.

This error occurs when any axis

Operational No reset operations
2790 Pose calculation failed. angles can not be calculated with Check form parameters. Alarm Alarm Alarm Alarm on on
failure neccesary.
the form parameters.

This error occurs when the error

Operational Error signal detected Check the cutting controller. Check the connection No reset operations
2791 signal of form cutting is ON during Alarm Alarm Alarm Alarm on on
failure during form cutting. with the cutting contorller. neccesary.
form cutting..

This error occurs when the current

Operational No current detection Check the cutting controller. Check the connection No reset operations
2792 detection signal isn't turn on at Alarm Alarm Alarm Alarm on on
failure signal turn on. with the cutting contorller. neccesary.
cutting start.

Check form cutting parameters. And Check the

Operational This error occurs when any trouble No reset operations
2793 Form cutting error. cutting controller and the connection with the cutting Alarm Alarm Alarm Alarm on on
failure are happen during the form cutting. neccesary.
contorller.
Error occurs when a mount
mechanism function is attempted
Operational Mechanism is not without a mechanism being Attach a mechanism before using a mount
2800 Error reset. Alarm Alarm Alarm Alarm on on
failure mounted. attached. Or, the sub-mechanism mechanism function.
input signal line has been
disconnected.
Because two or more
Operational Sub-mechanism cannot submechanism input signal has Please input the submechanism input signal
2801 Error reset. Alarm Alarm Alarm Alarm on on
failure be selected. been turned on, the connected correctly, and using a mount mechanism function.
mechanism cannot be selected.
The mechanism number that was
not able to change the mechanism
Operational Mechanism number is
2802 or was being registered with the Please set the mechanism number correctly. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.
Connection simultaneously mech.
table by the slave was selected. .

Error occurs when a mechanism

Operational Different mechanism
2803 different from the mechanism Please correct the program. Error reset. Alarm Alarm Alarm Alarm on on
failure mounted.
specified in a step is detected.

Error occurs when the change

Operational Conflict of mechanism
2804 function was executed for the Please correct the program. Error reset. Alarm Alarm Alarm Alarm on on
failure change.
mechanism using other units.
The mechanism number which was
Operational Mechanism number is
2805 not able to change the mechanism Please set the mechanism number correctly. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.
was selected.
The connection of the mechanism
The state of the master
registered in “Connection
Operational mechanism and the slave Please connect the mechanism again after
2806 simultaneously mech. table” of the Error reset. Alarm Alarm Alarm Alarm on on
failure mechanism is the separating the mechanism once.
mechanism change is a
disagreements.
disagreement.
The temperature of the The temperature of the seal material
Sealing
2823 material exceeded the exceeded the set upper bound Please check the temperature adjuster. Error reset. Alarm Alarm Alarm Alarm on on
failure
upper bound. value.

The temperature of the The temperature of the seal material

Sealing
2824 material exceeded the exceeded the set lower bound Please check the temperature adjuster. Error reset. Alarm Alarm Alarm Alarm on on
failure
lower bound. value.

Error occurs when the set pressure

Sealing Please check whether the specified pressure is
2825 Flow ready fault. is not achieved within the time Error reset. Alarm Alarm Alarm Alarm on on
failure appropriate.
period set in constant.

Sealing The seal material in the pump does

2826 The material is lack. Please modify the timing of reload. Error reset. Alarm Alarm Alarm Alarm on on
failure not suffice for the specified amount.

Sealing The robot stopped while flowing or Please cancel the cause of stopping or modify the
2827 The sealing incomplete. Error reset. Alarm Alarm Alarm Alarm on on
failure the pump position reached flow limit. timing to flow after the reload operation is done.

Sealing The sealing operation Other sealing operation is

2828 Please modify the timing of operation. Error reset. Alarm Alarm Alarm Alarm on on
failure cannnot be executed. executing.

Because Motor's on is turn off while

Sealing The reload operation is
2829 reloading, reload operation is not Please modify the timing of operation. Error reset. Alarm Alarm Alarm Alarm on on
failure incomplete.
able to be completed.

4-57
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Sealing Please modify the timing to flow after the reload

2830 Dispense incomplete. Reached flow limit. Error reset. Alarm Alarm Alarm Alarm on on
failure operation is done.

It is setting which uses the thermo

Sealing The analog input board is sensor and the pressure sensor Please modify setting whether to install the analog
2831 Error reset. Alarm Alarm Alarm Alarm on on
failure a uninstallation. though the analog input board is not input board.
installed.

Sealing The dispense function Specified gun is not defined in the

2832 Please modify program. Error reset. Alarm Alarm Alarm Alarm on on
failure can not be carried out. unit.

The command which is In a controller with the force/torque

not permitted was sensor, the commands Please correct not to use the analog input use
Operational No reset operations
2850 executed in the controller (SPDDOWNA etc.) which use the function of a force/torque sensor and others with the Alarm Alarm Alarm Alarm on on
failure neccesary.
with the force/Torque analog input's of those other than a same controller.
sensor. force/torque sensor cannot be used.

The force/torque sensor

Operational Force/torque sensor function is
2851 function can not be Please modify parameter. Error reset. Alarm Alarm Alarm Alarm on on
failure disabled.
carried out.

It detects when clamping motion

FLEXhand (1)Confirm a place of the work piece. (2)Confirm the
2852 Clamp position limit over. quantity exceeds 'Clamp position Error reset. Alarm Alarm Alarm Alarm on on
failure recorded position of the clamping start step.
limit' setting.

It detects when the air assist

(1)Confirm whether FLEXhand grips the work
FLEXhand The air assist mechanism mechanism is located on the
2853 correctly.(2)Confirm whether FLEXhand is dropping Error reset. Alarm Alarm Alarm Alarm on on
failure is abnormal. clamping end during the clamp
the work.
function is executed.

(1)Confirm FLEXhand clamps the work piece well. if

It detects when clamping motion
FLEXhand FLEXhand clamping it doesn't, correct its position or recorded step
2854 time exceeds the setting 'Wait time Error reset. Alarm Alarm Alarm Alarm on on
failure motion time over. position. (2)Correct setting 'Clamping pressure'
for clamp action'.
higher.

It detects when input signal from the Confirm whether the air assist mechanism works
FLEXhand Air assist mechanism
2855 air assist mechanism is not change correctly. (2)Confirm whether the signal from the air Error reset. Alarm Alarm Alarm Alarm on on
failure does not work.
even if its activation signal is output. assist mechanism is input correctly.

It detests when FN362 clamp

FLEXhand Clamp function usage is
2856 function is executed again while Confirm and correct the program. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.
FLEXhand is clamping.

It detests when FN363 unclamp

FLEXhand Unclamp function usage
2857 function is executed while Confirm and correct the program. Error reset. Alarm Alarm Alarm Alarm on on
failure is wrong.
FLEXhand is not clamping.

(1)Confirm setting of 'Opened finger position'. (2)If

It detests when FLEXhand tries to
FLEXhand Unclamp direction is not the parameter is 0, the setting 'Standard unclamp
2858 move to clamping direction when Error reset. Alarm Alarm Alarm Alarm on on
failure correct. distance' in service menu is used. Confirm the
unclamp function is executed.
setting.

I-signal status fetched by 'FN528

(1)Control the I-signal status so as not to change This failure is
Operational A fetched signal status FETCH' function must not change
2859 until a function referring the signal is executed. released if restart Error Error Alarm Alarm on on
failure has changed. before a function referring the
(2)Modify 'FN528 FETCH' recorded step. playback.
I-signal is executed.
Executed position step number
exceed the setting number of
Effective steps which (1)Modify 'FN528 FETCH' recorded step. This failure is
Operational Effective span of a fetched signal
2860 FETCH result is available (2)Effective span of fetched signal can be modified released if restart Error Error Alarm Alarm on on
failure before reaching the step which is
was exceeded. at "Constant Setting:6 Signals:1 Signal Condition". playback.
checked by the signal set by fetch
function.

(1)Please designated a defined palletize number. After removal of

The designated palletize The palletize pattern of designated
2861 Shift failure (2)Please define palletize pattern of the designated failure, please carry Alarm Alarm Alarm Alarm on on
No. is not registered. number is not defined.
number. out "failure-reset".

Palletize status is registered in

palletize register when executing it
The designated palletize (1)Please designated an executed palletize number. After removal of
once, and maintained until resetting
2862 Shift failure number has never been (2)Please execute palletize of the designated failure, please carry Alarm Alarm Alarm Alarm on on
it. This operation cannot be done to
executed yet. number even once before doing this operation. out "failure-reset".
palletize number unregistered in the
palletize register.

(1)Please designated a palletize number under After removal of

Designate a palletize This operation is possible only the
2863 Shift failure execution. (2)Please execute palletize of the failure, please carry Alarm Alarm Alarm Alarm on on
number under execution. palletize number under execution.
designated number before doing this operation. out "failure-reset".

4-58
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

This function is not This error occurs if this function is

Do not use this function in the unit without No reset operations
2864 Shift failure supported to the unit executed in the unit without Alarm Alarm Alarm Alarm on on
manipulator. neccesary.
without manipulator. manipulator.

A move step is needed just after Please record move step just after
palletize function can not FN388(PALLET3_SELZ) / FN388(PALLET3_SELZ) /
2865 Shift failure Error reset. Alarm Alarm Alarm Alarm on on
be carried out. FN394(PALLET3_SELZJMP) / FN394(PALLET3_SELZJMP) /
/FN395(PALLET3_SELZSFT) step. FN395(PALLET3_SELZSFT).

After removal of
Error occurs when the Welder fault
Spot weld failure, please turn
2866 Welder fault. signal is detected in a welding Check the welder unit. Alarm Alarm Alarm Alarm on on
failure on power supply of
sequence.
the controller again.

After removal of
Error occurs when the Water flow
Spot weld failure, please turn
2867 Coolant fault #1. switch #1 signal is detected in a Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
failure on power supply of
welding sequence.
the controller again.
After removal of
Error occurs when the Water flow
Spot weld failure, please turn
2868 Coolant fault #2. switch #2 signal is detected in a Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
failure on power supply of
welding sequence.
the controller again.
After removal of
Error occurs when the Air pressure
Spot weld failure, please turn
2869 Air pressure fault. switch signal is detected in a Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
failure on power supply of
welding sequence.
the controller again.
After removal of
Error occurs when the Thermo.
Spot weld Transformer temperature failure, please turn
2870 temp. fault signal is detected in a Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
failure fault. on power supply of
welding sequence.
the controller again.
After removal of
Error occurs when the System fault
Spot weld failure, please turn
2871 Peripheral system fault. signal is detected in a welding Check the System. Alarm Alarm Alarm Alarm on on
failure on power supply of
sequence.
the controller again.
The move-electrode The move-electrode diameter is less
Spot weld Replace the worn move-electrode and detect
2872 diameter is less than the than the minimum diameter set by Error reset. Alarm Alarm Alarm Alarm on on
failure electrode consumption again.
minimum diameter. the seam welding parameters.

The settle-electrode The settle-electrode diameter is less

Spot weld Replace the worn settle-electrode and detect
2873 diameter is less than the than the minimum diameter set by Error reset. Alarm Alarm Alarm Alarm on on
failure electrode consumption again.
minimum diameter. the seam welding parameters.

Corrected value is over to setting

Spot weld Corrected value of spot
2880 permit value by spot position Please confirm the position of spot welding function. Error reset. Alarm Alarm Alarm Alarm on on
failure position is abnormal.
correction.

(1)Please confirm the not squeeze off. (2)Please

confirm the machine lock and mechanism
Spot weld Spot position correction It is in condition which spot position disconnect are off. (3)Please confirm the "servo gun
2881 Error reset. Alarm Alarm Alarm Alarm on on
failure can not be carried out. correction can not be carried out. teach check" and "press adjust" are disabled.
(4)Spot position correction with other welder
machine be carried out at ones.

The search of spot (1)Please confirm parameters of the spot position

Spot weld A work was not able to be detected
2882 position correction went correction. (2)Please confirm the recorded position Error reset. Alarm Alarm Alarm Alarm on on
failure by spot position correction.
wrong. of spot welding function.

Spot weld Spot position correct Internal failure of spot position

2883 There is no countermeasure in particular. Error reset. Alarm Alarm Alarm Alarm on on
failure function fails. correction is detected.

The specified welder is not

Spot weld The specified welder is
2908 effectively set by the spot welding Modify the welder number. Error reset. Alarm Alarm Alarm Alarm on on
failure not effective.
constant.
It was judged that spot welding gun
Spot weld Spot welding gun is not was not mechanically connected Connect gun mechanically. When gun is connected,
2923 Error reset. Alarm Alarm Alarm Alarm on on
failure mechanically connected because the connection signal was check the disconnection of the signal line.
not input.
The error is not
Error occurs when speed type
Operational Speed type endless released until
2937 endless was not able to be Please set the mechanism number again. Alarm Alarm Alarm Alarm on on
failure cannot be executed. measures are
executed.
executed.

The change in an endless Because the endless control method

Operational 1. Please confirm the endless control method. 2.
2938 control cannot be is not set to "Change", the specified Error reset Alarm Alarm Alarm Alarm off off
failure Please confirm the mechanism number.
executed. mechanism cannot be executed.

The function was attempted that is

Operational The function can not be not allowable while change type Please execute the function after change control
2939 Error reset Alarm Alarm Alarm Alarm off off
failure used in velocity control. endless axis is controlled by velocity type of change type endless axis to position control.
control.

4-59
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Error occurs when a multi input

Operational Signals of multi input are Create the multi input conditions, or replace the Informati Informati Informati Informati
2945 function was attempted playback Error reset. on on
failure not designated. function to normal input. on on on on
with no condition number.

It is necessary to select user

User coordinate number Execute [FN113 Change coordinate for shift] before No reset operations
2946 Shift failure coordinate number before shift Alarm Alarm Alarm Alarm on on
is not selected. shift functions. neccesary.
function at user coordinate.

1.Area of common memory setted

by robot controller is already used
1.After change setting into correct one, perform
by other node. 2.Since
FieldBus Setted area of common re-initialization of Fieldbus. 2.Check the connection No reset operations
2961 communication was not able to be Alarm Alarm Alarm Alarm on on
failure memory is overlapped. of a LAN cable. Turn off the power and replace a neccesary.
established at the time of power
LAN cable.
activation, it was not able to
participate in a network.

Failure occurs when Stationary tool

Operational Stationary tool is not No reset operations
2971 is not selected although step is Please select stationary tool using FN67. Alarm Alarm Alarm Alarm on on
failure selected. neccesary.
Stationary tool interpolation.

Playback unavailable (1)Please input the playback command after

This error occurs when a playback After removal of
Control because the enable releasing the enable switch. (2)Replace the teach
2973 command was input while the failure, please carry Alarm Alarm Alarm Alarm on on
failure switch is not in the pendant. (3)Replace the sequence board
enable switch is being grasped. out "failure-reset".
release position. UM352/L21700F00.

Error occurs when a Start command Release Pause(Hold) or External pause(hold)

Pause(Hold) or External
Operational is given while the pause (hold) signal(if External pause(hold) signal cable is cut the
2974 pause(hold) signal being Error reset. Alarm Alarm Alarm Alarm on on
failure signal is being held or External external pause(hold) signal is considered as being
given.
pause (hold) signal is being given. given.

Control It cannot be started under Error occurs when a start command Please release G-STOP by turning on G-STOP
2975 Error reset. Alarm Alarm Alarm Alarm on on
failure G-STOP. is given under G-STOP. signal (TBEX1).

Please change
Preventive System Memory Protection is System Memory
System Memory
2976 maintenance disabled. You must not turn off the Please change System Memory Protection enable. Protection enable Alarm Alarm Alarm Alarm on on
Protection disabled
message controller. and restart the
controller.
Please change
Preventive System Memory Protection is System Memory
System Memory Informati Informati Informati Informati
2977 maintenance disabled. You must not turn off the Please change System Memory Protection enable. Protection enable off off
Protection disabled on on on on
message controller. and restart the
controller.

Please change
Preventive System Memory Protection is System Memory
System Memory
2978 maintenance disabled. You may lost the data of Please change System Memory Protection enable. Protection enable Error Error Error Error on on
Protection disabled
message system memory at power off. and restart the
controller.

Operational The user application is The user application is not ready or

2990 Check the user application. Error reset. Alarm Alarm Alarm Alarm on on
failure not ready. it stopped.

Operational No response form the No response to the specified user

2991 Check the user application. Error reset. Alarm Alarm Alarm Alarm on on
failure user application. application to the command.

FN35 was going to carried out or set

Operational Duplicate output signal Please clear attribute assignment in order not to
2999 on output signal which assigned Error reset. Alarm Alarm Alarm Alarm on on
failure attribute. attribute is duplicate.
attribute already.

Since stopping during high-speed

Far distance between a playback and so on, robot couldn't
If a limit for error detection is too small, change the Robot can restart
Control current position and a normally stop on the trajectry. Since Informati Informati Informati Informati
3010 value in constant setting. Position Recovery is from there without on on
failure position at putting the distance is over the limit for error on on on on
invalidated setting both recovery limit values to zero. reset operation.
servo-power off. detection value, robot can't
recovery.

Spot weld This warning occurs when the Weld No reset operations Informati Informati Informati Informati
3018 Weld tip may be worn. Check the Gun tip and reset the counter. on on
failure counter exceeds the limit value. neccesary. on on on on

Since stopping during high-speed

Too far distance between playback and so on, robot couldn't
Error reset. Robot
Control a current position and a normally stop on the trajectry. Since If a limit for error detection is too small, change the
3021 can't playback, untill Alarm Alarm Alarm Alarm on on
failure position at putting the distance is over the limit for error value in constant setting.
step is set.
servo-power off. detection value, robot can't
recovery.

4-60
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Since the position for recovery

couldn't recorded, never recover the
Take care of not
Operational position at the next servo on without No reset operations Informati Informati Informati Informati
3022 recovering position at the There is no way. on on
failure related to distance. This might be neccesary. on on on on
next servo on.
occured at servo off during recovery
position.

The external operation of

The external operation of servo gun
Spot weld servo gun is not Please execute of external operation while program No reset operations Informati Informati Informati Informati
3037 was executed while running on on
failure permitted while running is stopping or servo gun is separating. neccesary. on on on on
program.
program.

This failure occurs when grasping

Control Please release both of the enable swich after detecting No reset operations Informati Informati Informati Informati
3051 Please release both of the enable swiches. off off
failure the enable swiches. inconsistency without releasing both neccesary. on on on on
of them.
When the startup is input during the
Spot weld Cannot startup while processing execution by text Please input the startup instruction after text No reset operations Informati Informati Informati Informati
3057 on on
failure read/write text executing. read/write screen, this error is read/write operation ends. neccesary. on on on on
output.

At the teach-mode, Enable switch

Spot weld Enable switch is not was not released position and robot Release Enalbe switch and please perform robot No reset operations Informati Informati Informati Informati
3062 off off
failure released position. master ON operation was carried master ON operation. neccesary. on on on on
into effect.

This error occurs when detecting the (1)Check the fans on the rack unit are operating, or
CPU board CPU bord temperature Informati Informati Informati Informati
3079 temperature alarm on the CPU clean up them. (2)Replace the rack-unit fan. Error reset. on on
failure warning. on on on on
board. (3)Replace the CPU board.

It was not a connection to the FTP

server that was backing up of an
Auto backup can't
Operational automatic backup ahead. Or, neither Please confirm host name, user ID, password, and No reset operations Informati Informati Informati Informati
3081 connect to FTP server for on on
failure an initial folder nor the folder of this initial folder of ftp client. neccesary. on on on on
auto backup.
name existed on the home directory
of the FTP server.
The thing backed up automatically
Abnormality occurred cannot be done. The storage
Operational No reset operations Informati Informati Informati Informati
3082 while backing up medium is not prepared, and Please confirm the state of the storage medium. on on
failure neccesary. on on on on
automatically. read-only and memory capacity
shortage, etc. are thought.

When it is going to copy a file to a Please prepare the memory medium to which writing It will be canceled if
Operational The memory medium is Informati Informati Informati Informati
3083 write-protected memory cards etc., is made and perform a copy from the beginning some keys are on on
failure read-only. on on on on
this error sets. once again. pushed.

Failure occurs if there is no memory

Operational space left when attempting to copy Create space in current media device or use No reset operations Informati Informati Informati Informati
3084 Media device is full. on on
failure to external device or internal another. neccesary. on on on on
memory.",
The detection reason is that the Whether the device such as memory cards specified It will be canceled if
Operational The memory media is not Informati Informati Informati Informati
3085 specified device was not detected by the file operation menu is correctly installed is some keys are on on
failure prepared. on on on on
when the file operation is done. confirmed. pushed.

Auto backup can't

Because T/P was not connected, it
Operational connect to the T/P No reset operations Informati Informati Informati Informati
3086 was not able to access the T/P Please connect T/P. on on
failure external memory for auto neccesary. on on on on
external memory.
backup.

Operational It failed in the attestation The attestation to TP external No reset operations Informati Informati Informati Informati
3087 Please check connection of TP external memory. on on
failure with TP. memory went wrong. neccesary. on on on on

It will be canceled if
Operational It cannot process in the It was going to copy to the same Please change a file name or a device and redo Informati Informati Informati Informati
3089 some keys are on on
failure same device. device by the same file name. copy operation again. on on on on
pushed.

When the startup is input during the

Spot weld Cannot startup while processing execution by text Please input the startup instruction after text No reset operations Informati Informati Informati Informati
3097 off off
failure read/write text executing. read/write screen, this error is read/write operation ends. neccesary. on on on on
output.

4-61
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Control In OFF-mode, motors are Both of play and teach signal are Please confirm play and teach signals are No reset operations Informati Informati Informati Informati
3103 off off
failure not able to be ON. OFF. connected exactly. neccesary. on on on on

Failure occurs when the number of

Operational Number of axes axes used in a program is not Check the program file type is comptible with the No reset operations Informati Informati
3110 Alarm Alarm on on
failure miss-matched. compatible with the unit constant constants currently in use. neccesary. on on
files.

Automatically
The alarm was generated
3111 PLC failure Toyopuc I/F detected the alarm. Please refer to the manual of Toyopuc I/F. restores, when the Alarm Alarm Alarm Alarm on on
by Toyopuc I/F.
problem is solved.

Warning occurs when the battery for

SHARP I/F: Battery Informati Informati Informati Informati
3112 PLC failure the memory backup is nothing or Replace the battery for the memory backup. No reset operations. on on
error occurred. on on on on
discharged.

SHARP I/F: It exists

It exists together to fieldbus Disable fieldbus functions, and reenter the power Informati Informati Informati Informati
3113 PLC failure together to fieldbus Error reset. on on
functions. supply. on on on on
functions.

Operational Data keyed-in is out of range or not No reset operations Informati Informati Informati Informati
3134 Data given is incorrect. Input suitable data. on on
failure defined. neccesary. on on on on

Warning is given when the set

Servo Gun Dramatic tip warning limit for gun tip
Spot weld No reset operations Informati Informati Informati Informati
3137 consumption change consumption is exceeded. Tip Check the lack of gun tip. on on
failure neccesary. on on on on
detected. consumption warning signal is
outputted.

Spot weld Welder version is No reset operations Informati Informati Informati Informati
3138 Welder version is unmatched. Initialize welder data. on on
failure unmatched. neccesary. on on on on

Spot weld Welder backup file is not No reset operations Informati Informati Informati Informati
3141 Welder backup file is not found. Initialize welder data. on on
failure found. neccesary. on on on on

Spot weld Informati Informati Informati Informati

3142 Welder error occurred. Welder detects ALERT or FAULT. Refer to the Welder Manual. Error reset. on on
failure on on on on

After exchanging
grease, Please
Preventive The decelerator of the displayed (1)Please execute the grease exchange. (2)Please reset at the
It seems to reach at the Informati Informati Informati Informati
3146 maintenance axis reached at the grease refer to the robot maintenance manual for the [Service][Robot on on
grease exchange time. on on on on
message exchange time. exchange method and the exchange part. Diagnosis][Grease
Exchange Cycle]
menu.
After replenishing
grease, Please
The decelerator, the bearing or (1)Please execute the grease replenishment.
Preventive It seems to reach at the reset at the
balancer of the displayed axis (2)Please refer to the robot maintenance manual for Informati Informati Informati Informati
3147 maintenance grease replenishment [Service][Robot on on
reached at the grease the replenishment method and the replenishment on on on on
message time. Diagnosis][Grease
replenishment time. part.
Exchange Cycle]
menu.

(1)Change to ratings or less when the robot load

condition is investigated, and weight and the wrist
torque exceed it to ratings.(Gravity setting is used)
Preventive There is an axis which The presumption generation torque
(2)There is a possibility to exceed the acceleration Informati Informati Informati Informati
3148 maintenance exceeds the allowance exceeded a permissible value by Error reset. on on
which can be used. (Check the step before and on on on on
message and maximum torque. displayed program step and axis.
after) (3)There is a possibility with a large
interference torque, too. (Drop the acceleration of
the displayed step.)

4-62
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Change to ratings or less when the robot load

condition is investigated, and weight and the wrist
torque exceed it to ratings. (Gravity setting is used)
(2)The amount of operation is, and the average
In the displayed program, longevity
speed and the average torque greatly exceed
Preventive It is a program which is within at 5000 hours.There is a
ratings because of largeness or high speed, and Informati Informati Informati Informati
3149 maintenance remarkably shortens possibility which is the program of Error reset. on on
there is a possibility that longevity has shortened. on on on on
message longevity. call/jump origin when the call/jump
Reduce the amount of operation of the object axis or
are used.
slow down the speed if there is no obstacle in work.
(program diagnosis) (3)There is a possibility to be
generated because the cycle time is remarkably
short. Slow down the speed overall.

(1)Please confirm whether the setting of the load

IIt is detected when there is a big weight and center of gravity is correct. (2)Please
There is a possibility that
Preventive difference between the longevities change to ratings or less when the robot load
the setting of the load Informati Informati Informati Informati
3150 maintenance calculated from longevity and the condition is investigated, and weight and the wrist Error reset. on on
weight and center of on on on on
message motor speed calculated from the torque exceed it to ratings. (3)There is a possibility
gravity is inapposite.
current. that the trouble occurs in the robot when not
corresponding to the above-mentioned.

This failure is
This error occurs when the program
released if a correct
Operational The program or the file number is specified which does not Please correct the program number to a correct Informati Informati Informati Informati
3151 program is setted on on
failure does not exist. exist in the program jump call value the jump call ahead. on on on on
and restart
instruction.
playback.

Error occurs when a program

Operational This robot type is
3155 created for different robot type is Please select a suitable program. Error reset. Alarm Alarm Alarm Alarm on on
failure different.
read.

Warning is given when the set

Servo Gun Move-tip Check the Gun tip. If tips are good check the setting
Spot weld warning for Move-tip consumption Informati Informati Informati Informati
3156 consumption otherwise change the tip to the new one, and detect Error reset. on on
failure limit is exceeded. Tip consumption on on on on
approaching limit. tip consumption again.
warning signal is outputted.

Warning is given when the set

Servo Gun Settle-tip Check the Gun tip. If tips are good check the setting
Spot weld warning for Settle-tip consumption Informati Informati Informati Informati
3157 consumption otherwise change the tip to the new one, and detect Error reset. on on
failure limit is exceeded. Tip consumption on on on on
approaching limit. tip consumption again.
warning signal is outputted.

Servo Gun Move-tip

Spot weld Servo Gun Move-tip consumption Replace the worn Move-tip and detect tip Informati Informati Informati Informati
3158 consumption exceeded Error reset. on on
failure exceeded the maximum limit. consumption again. on on on on
maximum limit.

Servo Gun Settle-tip

Spot weld Servo Gun Settle-tip consumption Replace the worn Settle-tip and detect tip Informati Informati Informati Informati
3159 consumption exceeded Error reset. on on
failure exceeded the maximum limit. consumption again. on on on on
maximum limit.

The difference between the

The change in the tip consumption detected by search 3
Spot weld Check the lack of gun tip. If it is no trouble, execute Informati Informati Informati Informati
3160 consumption detected by and the consumption detected by Error reset. on on
failure gun search 1. on on on on
search 3 is abnormal. search 1 exceeded the search 3
abnormal tip change.

Spot weld Servo gun pressure is not Error occurs when the set gun Informati Informati Informati Informati
3161 Check the external pressure value. Error reset. on on
failure achieved. pressure is not achieved. on on on on

Spot weld GUN SEARCH not The order of executing the tip Please modify the execution timing of the tip Informati Informati Informati Informati
3162 Error reset. on on
failure complete. consumption detection is wrong. consumption detection. on on on on

Please release
All protected files or files partially Because the specified file (program or constant)
Operational protecting the file Informati Informati Informati Informati
3165 The file is protected. protected (program or constant) contains important data, protecting is put so that the on on
failure (program or on on on on
tried to be corrected and deleted. content is not carelessly changed.
constant).

The life time of the axis displayed

Preventive
There is the axis in 1000 with present operated (time to Exchange the axis early. After that 0 clearing of Informati Informati Informati Informati
3168 maintenance Error reset. on on
hours for overhaul. reaching to longevity) became 1,000 "Consumption time until present". on on on on
message
hours or less.

The life time of the axis displayed

Preventive
There is the axis in 0 with present operated (time to Exchange the axis. After that 0 clearing of Informati Informati Informati Informati
3169 maintenance Error reset. on on
hours for overhaul. reaching to longevity) became 0 "Consumption time until present". on on on on
message
hour or less.
This error is
Operational It was going to start, This error occurs if it starts when Please check unit ready signal output conditions, released if it starts Informati Informati Informati Informati
3170 on on
failure when unit was not ready. unit is not ready. and start after making it the unit ready. again after making it on on on on
the unit ready.
Dramatic difference of panel
Spot weld Abnormal panel thickness exists between recorded Check the weld condition data and real work piece No reset operations Informati Informati Informati Informati
3175 on on
failure thickness detected. value in weld condition and detected thickness. neccesary. on on on on
value.
Information occurs when the
temperature of the core of the
CPU board Controller temperature controller exceeds 60℃. If this state Check the fans are operating, or clean up the heat No reset operations Informati Informati Informati Informati
3177 on on
failure fault. lasts 10 min, motor power will be exchanger. neccesary. on on on on
automatically shutdown and E0063
displayed.,

4-63
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Spot weld You did re-weld except for the time Please restart after set a step in auto mode, or do No reset operations Informati Informati Informati Informati
3178 Re-weld is not allowed. on on
failure of abnormal welding. manual weld. neccesary. on on on on

Control Conveyer running signal Conveyer running signal was not In conveyer normal mode, turn on conveyer running No reset operations Informati Informati Informati Informati
3181 on on
failure was not received. received in conveyer normal mode. signal. neccesary. on on on on

This error is
This error occurs when the program
Operational The program is not Please reserve after recording the program or released if it sets a Informati Informati Informati Informati
3194 which is not recorded is selclted and on on
failure recorded nor selected. selecting other programs. correct program and on on on on
reserve playback.
reserve playback.
This command is not able to be
Operational Command not possible No reset operations Informati Informati Informati Informati
3218 used during the execution of a Stop the program and retry the command. on on
failure while running program. neccesary. on on on on
program.
Set the
It detects, when it is going to correct
It is protected with the record-disable-switc
Operational or delete the file (a program, Since the specified file (program or constant) Informati Informati Informati Informati
3353 record-disable-switch or h to OFF or release on on
failure constant) protected with the contains important data, protection is applied on on on on
the password. password
password.
protecting.
The motor torque in a cycle went up
Rising of motor torque is Check whether there is any cause of raising motor No reset operations Informati Informati Informati Informati
3354 Servo failure as compared with the average value on on
observed. torque, about motors, reduction gears or cables etc. neccesary. on on on on
the 10 cycles past.

In the servo gun with pressure

Spot weld Current feedback of Please check the pressure sensor, the axis motor No reset operations Informati Informati Informati Informati
3355 sensor, the axis current to on on
failure servo gun is abnormal. of servo gun, or those cables connected. neccesary. on on on on
pressurizing power is abnormal.

When memory media, such as a By Service / File Manager / Format memory It will be canceled if
Operational The memory medium is Informati Informati Informati Informati
3528 FIROPPI disk and an memory card, card/Floppy disk, please use it after initializing a some keys are on on
failure not discriminable. on on on on
are not initialized, this error occurs. memory medium. pushed.

Error occurs when the welding timer

detected some errors. Standard
welding timer generates this error
when the controller received the
Spot weld No reset operations Informati Informati Informati Informati
3536 Welder fault. welder fault signal from welding Check the welder unit. on on
failure neccesary. on on on on
timer after the end of welding
sequence. Regarding except
standard welding timer, refer the
each operation manual.

Error occurs if a Weld competed

Spot weld Welding time exceeded No reset operations Informati Informati Informati Informati
3537 signal is not input before the Check the welder is operating normally. on on
failure limit. neccesary. on on on on
designated time period.

Error occurs if the Gun closed signal

Spot weld No reset operations Informati Informati Informati Informati
3538 The gun not open. is received after the welding Check the GUN or welding unit. on on
failure neccesary. on on on on
sequence ends.

Error occurs if the Gun half-open

Spot weld signal is not received after Open No reset operations Informati Informati Informati Informati
3539 The gun is not half open. Check the GUN or welding unit. on on
failure gun half signal is output by the neccesary. on on on on
controller.

Error occurs if the Gun full-open

Spot weld signal is not received after Open No reset operations Informati Informati Informati Informati
3540 The gun is not fully open. Check the GUN or welding unit. on on
failure gun fully signal is output by the neccesary. on on on on
controller.

Error occurs if the System fault

Spot weld Stuck Weld GUN Error occurs if the Weld stuck signal is received No reset operations Informati Informati Informati Informati
3541 signal is detected after completion on on
failure detected. when the welding sequence ends. neccesary. on on on on
of a welding sequence.

Error occurs if the Water flow switch

Spot weld No reset operations Informati Informati Informati Informati
3542 Coolant fault #1. #1 signal is detected after Check the GUN or welding unit. on on
failure neccesary. on on on on
completion of a welding sequence.

Error occurs if the Water flow switch

Spot weld No reset operations Informati Informati Informati Informati
3543 Coolant fault #2. #2 signal is detected after Check the GUN or welding unit. on on
failure neccesary. on on on on
completion of a welding sequence.

Error occurs if the Air pressure

Spot weld No reset operations Informati Informati Informati Informati
3544 Air pressure fault. switch signal is detected after Check the GUN or welding unit. on on
failure neccesary. on on on on
completion of a welding sequence.

Error occurs if the Thermo. temp.

Spot weld Transformer temperature No reset operations Informati Informati Informati Informati
3545 fault signal is detected after Check the GUN or welding unit. on on
failure fault. neccesary. on on on on
completion of a welding sequence.

Error occurs if the System fault

Spot weld No reset operations Informati Informati Informati Informati
3546 Peripheral system fault. signal is detected after completion Check the GUN or welding unit. on on
failure neccesary. on on on on
of a welding sequence.
Error occurs if both the Gun
Both of half-open and half-open signal and Gun full-open
Spot weld Check the GUN or welding unit to determine the No reset operations Informati Informati Informati Informati
3552 full-open signals are signal are received simultaneously on on
failure cause of the two simultaneous signals. neccesary. on on on on
given. after Open gun half signal is output
by the controller.
Manual axis moving
Spot weld Error occurs if manual axis moving Please release the Informati Informati Informati Informati
3553 cannot be operated Please releasing WI. on on
failure during waiting for WI. WI. on on on on
during waiting for WI.

4-64
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Servo-gun is not
Spot weld Error occurs when the servo-gun is No reset operations Informati Informati Informati Informati
3555 executed to obey the Please confirm to the sequence of weld-timer. on on
failure not achieved to command pressure. neccesary. on on on on
welder sequence.

(1)Please confirm the tip dress condition.(2)Please

This error occurs when the servo
Spot weld Current of tip dresser confirm the cable between the controller and the Informati Informati Informati Informati
3656 dresser is exceeded beyond current Error reset. on on
failure abnormaled. servo tip dresser.(3)Please replace the on on on on
range.
motor.(4)Please replace the drive unit.

This error occurs when the dress

Spot weld Current of tip dresser (1)Please confirm the tip dress condition.(2)Please Informati Informati Informati Informati
3660 length of tip is exceeded beyond Error reset. on on
failure abnormaled. confirm the tip consumption. on on on on
dress length range.

(1)Please check the cable connector CNMCH.

(2)Please confirm internal wirings and the cable After removal of
Request Error occurs when cooler fans Informati Informati Informati Informati
3666 Cooler fans stopped. between the controller and the robot manipulator. failure, please carry on on
maintenance stopped. on on on on
(3)Please replace cooler fans. (4)Please replace the out "failure-reset".
drive unit.

(1)Please check the cable connector CNMCH.

After removal of
Brake power supply Error occurs when Brake power (2)Please confirm internal wirings and the cable
Request failure, please turn
3667 cooling fan of the drive supply cooling fan of the drive unit between the controller and the robot manipulator. Error Error Error Error on on
maintenance on power supply of
unit in has stopped. stopped. (3)Please replace cooler fans. (4)Please replace the
the controller again.
drive unit.

(1)Please check the cable connector CNMCH.

After removal of
Brake power supply Error occurs when Brake power (2)Please confirm internal wirings and the cable
Request failure, please turn Informati Informati Informati Informati
3668 cooling fan of the drive supply cooling fan of the drive unit between the controller and the robot manipulator. on on
maintenance on power supply of on on on on
unit in has stopped. stopped. (3)Please replace cooler fans. (4)Please replace the
the controller again.
drive unit.

Spot weld Minor Welder Error occurs when the welder board Informati Informati
3677 Remove the cause of the warning. Error reset. Alarm Alarm on on
failure warning(Alarm). generate the warning(Alarm). on on

Spot weld Weld error reset is not Error occurs when welder command Informati Informati
3678 Error reset. Error reset. Alarm Alarm on on
failure execute. execute without reset the error. on on

Spot weld Error occurs when the welder board Informati Informati
3687 Minor Welder error. Remove the cause of weld error. Error reset. Alarm Alarm on on
failure generate the weld error. on on

Spot weld Weld error reset is not Error occurs when welder command Informati Informati
3688 Error reset. Error reset. Alarm Alarm on on
failure execute. execute without reset the error. on on

After removal of
Spot weld Lithem battery cannot be used if it Please exchange the lithem batteries referring to the failure, please turn
3689 RE-01 battery error Alarm Alarm Alarm Alarm on on
failure does. "RE-01 maintenance manual". on power supply of
the controller again.
After removal of
Error occurs when the voltage of
Spot weld Please exchange the lithem batteries referring to the failure, please turn
3690 RE-01 battery charge low lithium battery on RE-01 bord has Alarm Alarm Alarm Alarm on on
failure "RE-01 maintenance manual". on power supply of
decreased.
the controller again.
It will generate, if it comes to the
Operational It stopped in the home No reset operations Informati Informati Informati Informati
3700 position registered by setup of a Please carry out manual operation again. on on
failure stop position. neccesary. on on on on
home stop position function.
It generates, when it is going to use
Operational No reset operations Informati Informati Informati Informati
3701 Option un-setting up. the option function which is not set Please set up an option. on on
failure neccesary. on on on on
up.

Conveyor sync. request method is

Vision sensor Illigal request of conveyor different from vision sensor constant Please modify constant setting. Or, cancel edit No reset operations Informati Informati Informati Informati
3702 on on
failure sync. setting. Or, it was requested when mode. neccesary. on on on on
edit mode of vision sensor.

When conveyor sync. is requested,

Vision sensor The measurement No reset operations Informati Informati Informati Informati
3703 the measurement number is a Please modify parameters. Or, check input signals. on on
failure number is a unsetting. neccesary. on on on on
unsetting.

The buffer is full. The

Vision sensor No reset operations Informati Informati Informati Informati
3704 measurement result was The conveyer speed is too fast. Please slow down the conveyer speed. on on
failure neccesary. on on on on
not able to be stored.

The shift data corresponding to the

Vision sensor The pose search shift master data number that has been No reset operations Informati Informati Informati Informati
3782 Please check master data for pose search. on on
failure data cannot be acquired. sent from the vision sensor is not neccesary. on on on on
registered.

4-65
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

The error counter of the

Encoder The error counter of the encoder Informati Informati Informati Informati
3790 encoder exceeded the Please check the encoder. Error reset. on on
failure exceeded the setting value. on on on on
setting value.

An encoder reset was performed

Encoder The encoder reset
3791 besides the encoder correction Please check the encoder and robot movement. Error reset. Error Error Error Error on on
failure exceeded.
screen.

The difference between in the power

Encoder The encoder value off and the encoder value by the
3792 Please check the encoder and robot movement. Error reset. Error Error Error Error on on
failure changed in the power off. power on exceeded a threshold
value.

Abnormal shift data The received shift data contains the Please confirm the state of PC that transmits the No reset operations Informati Informati Informati Informati
3800 User failure on on
received. status that notifies abnormality. shift data. neccesary. on on on on

Spot weld Welder communication Error occurs when the welder is not (1)Check power supply of the welder and Informati Informati Informati Informati
3810 Error reset. off off
failure fault(No reply). correctly connected. communication cables. (2)Initialize welder data. on on on on

It generates, when it is going to use

Operational No reset operations Informati Informati Informati Informati
3811 Welder option isn't set up. the welder option function which is Please set up an welder option. on on
failure neccesary. on on on on
not set up.

Spot weld Welder version is Cannot restore a welding parameter using the No reset operations Informati Informati Informati Informati
3812 Welder version is unmatched. on on
failure unmatched. backup data of a welder different in a version. neccesary. on on on on

Spot weld Informati Informati Informati Informati

3813 Welder error occurred. Welder detects FAULT. Refer to the Welder Manual. Error reset. on on
failure on on on on

Spot weld Informati Informati Informati Informati

3814 Welder error occurred. Welder detects ALERT. Refer to the Welder Manual. Error reset. on on
failure on on on on

Please check the electrode. The electrode is not

The move-electrode The move-electrode diameter is less worn out, and correct the seam welding parameters.
Spot weld Informati Informati Informati Informati
3872 diameter is less than the than the warning diameter set by the The electrode is worn out, and replace the worn Error reset. on on
failure on on on on
warning diameter. seam welding parameters. move-electrode and detect electrode consumption
again..

Please check the electrode. The electrode is not

The settle-electrode The settle-electrode diameter is less worn out, and correct the seam welding parameters.
Spot weld Informati Informati Informati Informati
3873 diameter is less than the than the warning diameter set by the The electrode is worn out, and replace the worn Error reset. on on
failure on on on on
warning diameter. seam welding parameters. settle-electrode and detect electrode consumption
again..

1.[Constant Setting]-[13 Spot Welding

Setting of the function is invalid.
Application]-[2 Spot welding gun setting] F key of a
A change control gun Function it's impossible to use was
Spot weld screen, please set the enable of [spot multi gun
3880 function can't be carried performed. Prohibited record order. Error reset. Alarm Alarm Alarm Alarm on on
failure control] setting. 2.Refer to an instruction manual and
out in the present state. Setting it isn't possible to use
please confirm whether the setting, function, and
together is used.
record order it's impossible to use isn't being used.

The gun of control not applying is

Spot weld The gun which isn't being Please correct the gun position location of the
3881 closed than the value setting in Error reset. Alarm Alarm Alarm Alarm on on
failure controlled is closed. movement just before [Fn119 spot weld].
[Fn290 Change gun control].

Without setting the gun number of

Please setting the gun number registered with a
the control target by Fn290 or an
weld machine in Fn290 by usual playback. When it's
Spot weld The gun number of the exclusive F key, a spot weld was
3882 a manual weld, please setting the gun number Error reset. Alarm Alarm Alarm Alarm on on
failure control target isn't setting. performed or the gun number which
registered with a weld machine by an exclusive F
isn't registered with a weld machine
key.
was setting.
If a problem is
solved, it will restore
automatically. (In
Since the between title has occurred
FieldBus A part or all I/O links are Please check the device which the problem has order to solve a Informati Informati Informati Informati
3960 in the I/O device, a robot cannot be on on
failure stopping. generated by the field bus monitor. problem, the on on on on
started.
re-injection of a
power supply may
be required)
The function can not be The function was attempted that is
Operational Please execute the function after releasing the Informati Informati Informati Informati
3992 used in external not allowable while mode is external Error reset off off
failure external application mode. on on on on
application mode. application.

When this information started to occur frequently,

Request There is a sign of brake There is a possibility that a brake of No reset operations Informati Informati Informati Informati
3993 there is a possibility that a brake of a motor on on
maintenance slipping of a motor. a motor degrades. neccesary. on on on on
degrades. Please replace a motor.

Request There is a sign of brake There is a possibility that a brake of When this error occurred, there is a possibility that a
3994 Error reset. Error Error Error Error on on
maintenance slipping of a motor. a motor degrades. brake of a motor degrades. Please replace a motor.

4-66
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Communication timeout Turn on the

Arc weld occurred between the The welding power supply didn't Check the connection of the welding power supply to controller and the
4000 Error Error Error Error on on
failure controller and the welding respond. the controller. welding power
power supply. supply again.

Turn on the
The data which are received from
Arc weld Check the connection of the welding power supply to controller and the
4001 Received data failure. the welding power supply are Error Error Error Error on on
failure the controller. welding power
incorrect.
supply again.

Turn on the
Can't communicate with The communication between the
Arc weld Check the connection of the welding power supply to controller and the
4002 the welding power controller and the welding power Error Error Error Error on on
failure (L21700S00/UM355). welding power
supply. supply is shutdown.
supply again.
Turn on the
Can't communicate with Check the connection of the welding power supply to
Arc weld The communication driver detected controller and the
4003 the welding power the controller. And check the connection of Error Error Error Error on on
failure the failure. welding power
supply. UM355(L21700S00) board.
supply again.

After
The kind of registered WPS and
registeration/setting
The registration of the actual WPS are not same, or the Dip
Arc weld Register WPS correctly, or set Dip switch of Robot , turn on the
4004 welding power supply is switch setting of Robot I/F board Error Error Error Error on on
failure I/F board correctly. controller and the
incorrect. inside the welding power supply is
welding power
wrong.
supply again.

After updating, turn

The welding power
Arc weld The controll software of the on the controller
4005 supply of old version is Please update the welding power supply. Error Error Error Error on on
failure welding power supply is old. and the welding
connected.
power supply again.

The welding power The servo of the wire feed control

After updating, turn
Arc weld supply version is wrong unit does not turn on/off because the
4006 Please update the welding power supply. on the welding Error Error Error Error on on
failure for the servo wire feed software of the welding power
power supply again.
control. supply is old.
The control
software of the
welding power
supply improves in
The control software is The welding power supply doesn't
Arc weld The control software of the welding power supply the version, and the
4007 abnormal in the welding correspond to the stitch pulse Error Error Error Error on on
failure must improve in the version. power supply in the
power supply. welding function.
robot controller and
the welding power
supply is turned on
again.
The welding power The Synchro-welding is not
supply version does not executed because the software of After updating, turn
Arc weld
4008 support the the welding power supply does not Please update the welding power supply. on the welding Error Error Error Error on on
failure
Synchro-welding by CAN support the Synchro-welding by power supply again.
communication. CAN communication.

The Synchro-welding is not

The welding power
executed because the welding
Arc weld supply does not support Please setup the Synchro-welding by RS-422
4009 power supply does not support the Error reset. Error Error Error Error on on
failure the Synchro-welding by communication.
Synchro-welding by CAN
CAN communication.
communication.

The arc welding power supply

Arc weld The arc welding cannot The upgrade should do the software of the arc
4010 doesn't correspond to the welding Error reset. Error Error Error Error on on
failure be done. welding power supply.
condition slope function.
The arc welding power supply
Arc weld The arc welding cannot doesn't correspond to the welding The upgrade should do the software of the arc
4011 Error reset. Error Error Error Error on on
failure be done. characteristic data self adjustment welding power supply.
function.

The gas mass flow The arc welding power supply

Arc weld The upgrade should do the software of the arc
4012 control function cannot be doesn't correspond to the gas mass Error reset. Error Error Error Error on on
failure welding power supply.
used. flow control function.

The control software is The welding power supply doesn't After updating, turn
Arc weld
4013 abnormal in the welding correspond to the cycle pulsed Please update the welding power supply. on the welding Error Error Error Error on on
failure
power supply. welding function. power supply again.

It was not possible to

Abnormality occurred by the Confirm the connection with the welding power
communicate with the Turn the welding
Arc weld communication with the robot supply or the peripherals. Or, in the function of the
4014 robot controller or the power supply on Error Error Error Error on on
failure controller or peripherals on the welding power supply, confirm the the setting of the
peripherals on the arc again.
welding power supply. transmission rate of the CAN communication .
welding power supply.

Turn the welding power supply on again. Confirm an

Microcomputer control Failure reset, and
Arc weld The failure occurs in the controller of abnormal display of the arc welding power supply,
4015 failure occurred in the turn on the welding Error Error Error Error on on
failure the welding power supply. and contact our service when abnormality relapses.
welding power supply. power supply again.
Back up files to external CF memory.

The Arc-I/F board(L21700S) doesn't

Arc weld Check the connection of the Arc-I/F(L21700S) to the Turn on the power
4016 The Arc-I/F is not found. connect with the sequence Error Error Error Error off off
failure sequence board(L21700F). again.
board(L21700F).

4-67
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Arc weld CAN baudrate setting is CAN baudrate of the Arc-I/F Set CAN baudrate 500Kbps. And turn on the power Turn on the power
4017 Error Error Error Error on on
failure failure. board(L21700S) couldn't set. again. again.

The communication error has Please check the connection between the Arc-I/F
Arc weld The communication error occurred between the Arc-I/F board(L21700S) and the sequence board(L21700F).
4018 Error reset. Error Error Error Error on on
failure has occurred. board(L21700S) and the sequence You might exchange their boards. Please contact
board(L21700F). our service department.

The communication error has Please check the connection between the Arc-I/F
Arc weld The communication test occurred between the Arc-I/F board(L21700S) and the sequence board(L21700F).
4019 Error reset. Error Error Error Error on on
failure has failed. board(L21700S) and the sequence You might exchange their boards. Please contact
board(L21700F). our service department.

The welding power supply doesn't After updating, turn

Arc weld The cold tandem welding
4020 correspond to the cold tandem Please update the welding power supply. on the welding Error Error Error Error on on
failure function cannot be used.
welding function. power supply again.

The welding power supply doesn't After updating, turn

Arc weld The wire touch detection
4021 correspond to the wire touch Please update the welding power supply. on the welding Error Error Error Error on on
failure cannot be used.
detection. power supply again.

The robot controller does not

The supported function
receive a information of the Failure reset, and
Arc weld information of welding Confirm the connection with the welding power
4022 supported function from the welding turn on the welding Error Error Error Error on on
failure power supply cannot be supply.
power supply when turning on the power supply again.
read.
power.

Communication timeout Turn the welding

Arc weld The contollor of the welding power Turn off the power supply in the welding power
4085 occurred inside the power supply on Error Error Error Error on on
failure supply didn't respond. supply, and contact our service.
welding power supply. again.

It was not possible to Turn the welding

Arc weld There is no response from the arc Check the connection of the welding power supply to
4099 communicate with the arc power supply on Error Error Error Error on on
failure welding power supply. (L21700S00/UM355).
welding power supply. again.

Operational It is weaving condition In simultaneous weaing, weaving

4102 Please make weaving conditions in agreement. Error reset. Alarm Error Alarm Error on on
failure disagreement. conditions are not in agreement.

Mechanism Error in The mechanism number specified in

Operational Specify correct mechanism number which belongs
4900 External axis relative the 1st parameter is not belong to Error reset. Error Error Error Error on on
failure to current unit.
move function (FN407). current unit.

Axis Error in External axis The axis number specified in the

Operational Check the axis number of 2nd parameter taught in
4901 relative move function 2nd parameter is not defined in a Error reset. Error Error Error Error on on
failure the function command, and teach again.
(FN407:RELMOV) mechanism of 1st parameter.

The mechanism specified in 1st

Operational Select a unit which has positioner or slider, and then
4902 Mechanism type error. paramter is neither positioner nor Error reset. Error Error Error Error on on
failure specify a positioner or a slider in 1st parameter.
slider.

After removal of
This error is detected when the
Operational G-STOP input value is failure, please turn
4903 G-STOP input value in two systems Please confirm the G-STOP input value. Error Error Error Error on on
failure not corresponding. on power supply of
is not corresponding.
the controller again.
Since the data when power failure
Playback was started in
did not be saved correctly, the Please perform the Encoder Correction (with
Operational the state that the basic
4905 position data of endless rotation axis position record method) to the axis in which Error reset. Alarm Alarm Error Error on on
failure posture of any axes is not
has not been resumed to the data abnormalities have generated.
setup.
before power failure.

The basic position of endless

The position of the Please perform the Encoder reset and Correction
Operational rotation axis was not able to be
4906 endless rotation axis is (with position record method) to the axis in which Error reset. Error Error Error Error on on
failure restored correctly by the mechanism
abnormal. abnormalities have generated.
change.

The manual operation, check

operation or playback operation has
Operational Check the mechanism whose servo power is OFF,
4910 Mechanism* is servo off. been performed for a mechanism Error reset. Alarm Error Alarm Error on on
failure and turn it ON.
whose servo power has been
individually set to OFF.

Mechanisms other than the ones

Operational targeted for operation have been Review the mechanisms which have been specified
4911 SPN parameter error. Error reset. Alarm Error Alarm Error on on
failure specified in the servo ON command by the servo ON command (SPN).
(SPN).

4-68
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Mechanisms other than the ones

Operational targeted for operation have been Review the mechanisms which have been specified
4912 SPF parameter error. Error reset. Alarm Error Alarm Error on on
failure specified in the servo OFF by the servo OFF command (SPF).
command (SPF).

(1)Please confirm whether the robot manipulator

Because robot doesn't reach the interferes in something.(2)Please confirm that the After removal of
Mechanism servo OFF
4914 Servo failure command position, servo OFF Pay-load is within the nominal rating.(3)If failure failure, please carry Error Error Error Error on on
cannot be executed.
cannot be executed. persists, the problem may be a mechanical defect in out "failure-reset".
the manipulator, contact our service department.

This error detected when the

The instruction value of difference between the instruction Please confirm followings to the mechansim to
After removal of
Operational the mechanism to which position and the current position which servo off is set. (1)Instruction angle is not
4915 failure, please carry Alarm Error Alarm Error on on
failure servo OFF is set has exceeds a regulated value in the changed. (2)Current angle is not changed, by the
out "failure-reset".
changed. mechanism to which servo OFF is external force.
set.

Since the shock sensor detected the

Emergency Shock sensor detected
4920 collision, the robot was stopped for Cancel shock sensor by manual operation. Error reset. Alarm Error Alarm Error on on
stop failure the collision.
safety.

This failure occurs when a module Please change a interporation type to [joint] or make
Operational Module mechanism
4921 mechanism cannot reach the the same the wrist axis angle of a starting point and Error reset. Alarm Error Alarm Error on on
failure interpolation failure.
position and the posture. an ending point.

This error is detected, when the

The connection
Operational Spray machine set as the first Please improve registration of the Spray machine,
4930 mechanism of the Spray Error reset. Error Error Error Error off off
failure parameter is not registered or the and a setup of a connection mechanism.
machine does not exist.
connection mechanism is not set up.

This error is detected when the

The Spray machine does
Operational mechanism connected to the Spray Please record by the Spray machine number
4931 not belong to a current Error reset. Error Error Error Error off off
failure machine set as the first parameter belonging to the present unit.
unit.
does not belong to the present unit.
By the case of extension
synchronization control, the rotation
shaft information over the shaft
Please reset up correctly the rotation shaft
Operational Rotation shaft information number set as Thermal spraying
4932 information corresponding to the shaft number set Error reset. Error Error Error Error off off
failure is unusual. start conditions is not set up, or this
as the Thermal spraying start conditions.
error is detected when the interval of
a start position-end position is less
than 300mm.
Emergency The abnormalities in file The abnormalities occurred in file Contact our service department. Back up files to
4940 Error reset. Error Error Error Error on on
stop failure access. access processing. external CF memory.

Alarm carried out

Alarm carried out number-of-times
Emergency number-of-times
4999 generating of regulation, and was Please fix failure from the cause of alarm. Error reset. Error Error Error Error on on
stop failure generating of regulation,
breaking down.
and was breaking down.

The speed of weaving trajectory has

The weaving trajectory been exceeded the regulation After removal of
Arc weld Correct the distance between weaving points,
5005 exceeded regulation speed, since the move distance failure, please carry Alarm Alarm Alarm Alarm on on
failure frequency, or speed.
speed. between weaving points is too long, out "failure-reset".
or the frequency (speed) is too high.

The amount of posture

After removal of
Arc weld change of taught weaving The amount of posture change Please correct posture change of taught weaving
5006 failure, please carry Alarm Alarm Alarm Alarm on on
failure exceeded the restriction between weaving points is too large. pattern data.
out "failure-reset".
value.

Each axis angle can't be calculated. After removal of

Arc weld
5007 Pose calculation failed. The posture data specified in the Check the posture data in weaving condition. failure, please carry Alarm Alarm Alarm Alarm on on
failure
weaving condition is incorrect. out "failure-reset".
The stop time of weaving conditions
was too large at maintenance of Stop time is made small or frequency is dropped. Or
Operational Permission speed over
5008 welding time, or frequency was too please change into not carrying out welding time Error reset. Alarm Alarm Alarm Alarm on on
failure occurred.
high, and permission speed over maintenance.
occurred.

The difference between the welding Check the welding conditions(wire extension etc).
current value measured by the There is possibility of missmatch the welding
The welding current value
Arc weld welding power supply and the characteristic data to your environment if this failure
5010 has exceeded the Error reset. Alarm Alarm Alarm Alarm on on
failure taught one has exceeded the occurs over and over again. In such case, adjust the
allowable limit.
allowable limit set by the arc welding characteristic data by the adjudstment of
constants. welding condition function etc.

The difference between the welding Check the welding conditions(wire extension etc).
voltage value measured by the There is possibility of missmatch the welding
The welding voltage
Arc weld welding power supply and the characteristic data to your environment if this failure
5011 value has exceeded the Error reset. Alarm Alarm Alarm Alarm on on
failure taught one has exceeded the occurs over and over again. In such case, adjust the
allowable limit.
allowable limit set by the arc welding characteristic data by the adjudstment of
constants. welding condition function etc.

Turn on the welding power supply. In case the

The welding power
Arc weld The controller couldn't communicate welding power supply has been already turned on,
5013 supply has been turned Error reset. Alarm Alarm Alarm Alarm on on
failure with the welding power supply. check the connection of the welding power supply to
off.
the controller.

This failure is
Arc weld No arc has been generated in spite Check the workpiece's condition, wire's condition,
5014 Arc start failure. released if restart Alarm Alarm Alarm Alarm on on
failure of retrying the arc start. and connection of the cable.
playback.

4-69
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Eliminate all causes of arc outage, for instance by This failure is

Arc weld
5015 Arc outage was detected. Arc outage occurred during welding. adjusting the wedling conditions, fixing wire feed released if restart Alarm Alarm Alarm Alarm on on
failure
failure, and so on. playback.

This failure is
Arc weld Wire stick has been
5016 Wire has stuck. Cut stuck wire. released if restart Alarm Alarm Alarm Alarm on on
failure detected.
playback.

Arc weld
5017 Low gas pressure. Low gas pressure signal is inputted. Supply gas. Error reset. Alarm Alarm Alarm Alarm on on
failure

Arc weld Lack of wire was

5018 Wire not fed signal is inputted. Supply wire. Error reset. Alarm Alarm Alarm Alarm on on
failure detected.

Arc weld Lack of water was

5020 Cooling water signal is inputted. Supply water. Error reset. Alarm Alarm Alarm Alarm on on
failure detected.

The registered welding

Arc weld Arc welding characteristic Register the welding characteristic data for the using
5021 characteristic data isn't for the Error reset. Alarm Alarm Alarm Alarm on on
failure data failure. one.
connected welding power supply.
Welding voltage adjustment method
Welding voltage
has been changed from the
Arc weld adjustment method can't
5022 synergetic control to the individual Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure be changed while
control, and vise versa while
welding.
welding.
W.P.S failure signal is inputted, or
Arc weld Failure of the welding Read through the welding power supply instruction
5023 failure of the welding power supply Error reset. Alarm Alarm Alarm Alarm on on
failure power supply occurred. manual and eliminate all causes.
occurs.

Input voltage shortage The primary input voltage of the Refer to the instruction manual of the welding power
Arc weld
5024 failure ocurred in the welding power supply has supply(Failure Name: Input voltage shortage) and Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. decreased. eliminate all causes.

Output overcurrent The average current used for the Refer to the instruction manual of the welding power
Arc weld
5025 occurred in the welding inner control of the welding power supply (Failure Name: Output overcurrent) and Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. supply exceeds the limit. eliminate all causes.

Thermal overload Refer to the instruction manual of the welding power

Arc weld An internal temperature of the
5026 occurred in the welding supply (Failure Name: Thermal overload) and Error reset. Alarm Alarm Alarm Alarm on on
failure welding power supply rises.
power supply. eliminate all causes.

Input overvoltage The primary input voltage of the Refer to the instruction manual of the welding power
Arc weld
5027 occurred in the welding welding power supply exceeds the supply (Failure Name: Input overvoltage) and Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. threshold. eliminate all causes.

Loss of phase occurred in Refer to the instruction manual of the welding power
Arc weld Loss of phase in the primary input of
5028 the welding power supply (Failure Name: Loss of phase) and eliminate Error reset. Alarm Alarm Alarm Alarm on on
failure the welding power supply.
supply. all causes.

Inverter drive circuit The failure occurs around the Refer to the instruction manual of the welding power
Arc weld
5029 failure occurred in the inverter drive circuit of the welding supply (Failure Name: Inverter drive circuit error) Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. power supply. and eliminate all causes.

Arc voltage detection Arc voltage detection failure or arc Refer to the instruction manual of the welding power
Arc weld
5030 failure occurred in the voltage detecting line failure supply (Failure Name: Arc voltage detecting line Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. occurred. error/detection error) and eliminate all causes.

Microcomputer failure Refer to the instruction manual of the welding power

Arc weld The failure occurs in the welding
5031 occurred in the welding supply (Failure Name: Microcomputer failure) and Error reset. Alarm Alarm Alarm Alarm on on
failure power supply.
power supply. eliminate all causes.

Encoder failure was Failure exists in the encoder of a Refer to the instruction manual of the welding power
Arc weld
5032 detected by the welding wire feed unit or encoder cables are supply (Failure Name: Encoder error) and eliminate Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. not connected. all causes.

The failure(the connector is

Current detection line
Arc weld disconnected etc) exists in the Refer to the instruction manual of the welding power
5033 failure occurred in the Error reset. Alarm Alarm Alarm Alarm on on
failure current detecting cable of the supply (Failure Name: 9. Current detection error).
welding power supply.
welding power supply.

Gas check failure The gas check switch of the welding

Arc weld Turn OFF the gas check switch of the welding power
5034 occurred in the welding power supply is ON for more than Error reset. Alarm Alarm Alarm Alarm on on
failure supply.
power supply. two minutes without a break.

Secondaly transistor The surge power of the second Refer to the instruction manual of the welding power
Arc weld
5035 failure occurred in the transistor for the welding power supply (Failure Name: Secondaly transistor failure) Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. supply is abnormally high. and eliminate all causes.

Water pressure failure Refer to the instruction manual of the welding power
Arc weld Cooling water flow is not sufficient
5036 occurred in the welding supply (Failure Name: Water pressure error) and Error reset. Alarm Alarm Alarm Alarm on on
failure when using a water cooled torch.
power supply. eliminate all causes.

Secondaly transistor The surge power of the second Refer to the instruction manual of the welding power
Arc weld
5037 failure occurred in the transistor for the robot welding supply (Failure Name: Secondaly transistor failure) Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. power supply is abnormally high. and eliminate all causes.

The specified welding

Arc weld The specified welding power supply Register the welding power supply which is specified
5038 power supply can't use in Error reset. Alarm Alarm Alarm Alarm on on
failure isn't defined in this unit. by the task program, or modify the task program.
this unit.

4-70
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
Refer to the instruction manual of the welding power
A control power supply
Arc weld A control power supply failure supply (Failure Name: (The wire feed control
5039 failure occurred in the Error reset. Alarm Alarm Alarm Alarm on on
failure occurred in welding power supply. board)Control power supply) and eliminate all
welding power supply.
causes.

An electric detection A connector inside the welding Refer to the instruction manual of the welding power
Arc weld
5040 vessel failure occurred in power supply may be supply (Failure Name: The first･second electric Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. miss-connected. current error) and eliminate all causes.

The excess failure of the Refer to the instruction manual of the welding power
Arc weld Inside temperature of the welding
5041 use rate occurred in supply (Failure Name: The excess of the use rate) Error reset. Alarm Alarm Alarm Alarm on on
failure power supply rises.
welding power supply. and eliminate all causes.

A temperature failure Refer to the instruction manual of the welding power

An unusual fever appears on the
Arc weld occurred in the wire feed supply (Failure Name: The temperature wrong point
5042 wire feed control circuit of the Error reset. Alarm Alarm Alarm Alarm on on
failure control circuit ing the of the wire feed control circuit) and eliminate all
welding power supply.
welding power supply. causes.

The load of wire feed The wire feed load has exceeded
Arc weld A load is on the wire feeder by wear of the liner, the
5043 exceeded allowable the allowable value set in the arc Error reset. Alarm Alarm Alarm Alarm on on
failure chip defect, and so on. Remove the factors.
value. constant.

The control power supply Failure reset, and

Arc weld The control power supply of the The voltage of primary power may decrease in an
5045 of the welding power turn on the welding Alarm Alarm Alarm Alarm on on
failure welding power supply was reset. instance. Check the voltage of primary power.
supply was reset. power supply again.

The welding If the welding characteristic data are

Arc weld
5046 characteristic data are not installed, Arc function Turn on the welding power supply again. Error reset. Alarm Alarm Alarm Alarm on on
failure
not installed. commands can't be execute.

The arc characteristic The arc function attempted

Arc weld
5047 can't be changed while changing the arc characteristic into Please modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure
arc welding. the incorrect one.

The welding method of the arc

Arc weld The incorrect welding function and the welding method of
5048 Please modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure method is specified. the arc characteristic aren't the
same.

Arc weld The arc characteristic file Read file failure occurs while
5049 Please initialize the arc characteristic file. Error reset. Alarm Alarm Alarm Alarm on on
failure can't be read. reading the arc characteristic file.

The wire feed Read file failure occurs while

Arc weld
5050 characteristic file can't be reading the wire feed characteristic Please initialize the wire feed characteristic file. Error reset. Alarm Alarm Alarm Alarm on on
failure
read. file.

Read file failure occurs while

Arc weld The arc welding wave
5051 reading the arc welding wave Please initialize the arc welding wave data file. Error reset. Alarm Alarm Alarm Alarm on on
failure control file can't be read.
control file.

Arc weld The arc constant file can't Read file failure occurs while
5052 Please initialize the arc constant file. Error reset. Alarm Alarm Alarm Alarm on on
failure be read. reading the arc constant file.

The voltage adjusting method

Welding voltage
Arc weld currently taught differs from the
5053 adjustment method Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure voltage adjusting method of
differs.
characteristic data.
This failure is
Arc weld WCR of W-I/F had short-circuited at Please check the state of W-I/F or a welding power
5054 WCR Short-circuit Error released if restart Alarm Alarm Alarm Alarm on on
failure the time of arc start. supply.
playback.
Arc weld The electrode The electrode and the work are
5056 Please modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure short-circuited failure. short-circuited while arc welding.

During Filler Wire heating, inside the Please check the wire inside an electric supply tip, This failure is
Arc weld The Filler Wire heating
5057 electric supply tip, a wire melts and and the heating cable failure (contact failure, broken released if restart Alarm Alarm Alarm Alarm on on
failure failure.
was cut. wire). playback.
It can consider that there was no
wire in an electric supply tip, or a Please check the wire inside an electric supply tip, This failure is
Arc weld The Filler Wire heating
5058 wire melts and was cut inside the and the heating cable failure (contact failure, broken released if restart Alarm Alarm Alarm Alarm on on
failure Defect.
electric supply tip at the time of wire). playback.
heating.
This failure is
Arc weld The wire short-circuited The wire and the work are Please check the state of W-I/F, and a welding
5059 released if restart Alarm Alarm Alarm Alarm on on
failure failure. short-circuited while arc welding. power supply.
playback.

The heating Read file failure occurs while

Arc weld
5060 characteristic file can't be reading the heating characteristic Please initialize the heating characteristic file. Error reset. Alarm Alarm Alarm Alarm on on
failure
read. file.

The arc condition file which is

Arc weld The arc condition file Please create the arc condition file or edit the task
5061 specified by the arc welding function Error reset. Alarm Alarm Alarm Alarm on on
failure doesn't exist. program.
doesn't exist.

The offset condition file or The offset condition file or the multi
Arc weld Please create the offset condition file or the multi
5062 the multi offset file offset file which is specified by the Error reset. Alarm Alarm Alarm Alarm on on
failure offset file, or edit the task program.
doesn't exist. multi offset function doesn't exist.

A communication failure has been Turn on the

The weaving
Arc weld detected between the welding Please check connection between an extension controller and the
5063 synchronization went Alarm Alarm Alarm Alarm on on
failure power supply and the extension serial board and a welding power supply. welding power
wrong.
serial board. supply again.

4-71
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

The weaving condition file which is

Arc weld The weaving condition Please create the weaving condition file or edit the
5064 specified by the weaving function Error reset. Alarm Alarm Alarm Alarm on on
failure file doesn't exist. task program.
doesn't exist.

The power supply of a When you turn on a feed control device or the power
Arc weld Communication with a feed control
5065 feed control device is not supply is already on, please check connection with a Error reset. Alarm Alarm Alarm Alarm on on
failure device was not completed.
on. feed control device.

Pump failure occurred in Refer to the instruction manual of the welding power
Arc weld Cooling water flow is not sufficient
5066 the welding power supply (Failure Name: Pump error) and eliminate all Error reset. Alarm Alarm Alarm Alarm on on
failure when using a water cooled torch.
supply. causes.

The arc retry condition file which is

Arc weld The arc retry condition Please create the arc retry condition file or edit the
5067 specified by the arc welding function Error reset. Alarm Alarm Alarm Alarm on on
failure file doesn't exist. task program.
doesn't exist.
The arc robotrs condition file which
Arc weld The arc robotrs condition Please create the robotrs condition file or edit the
5068 is specified by the arc welding Error reset. Alarm Alarm Alarm Alarm on on
failure file doesn't exist. task program.
function doesn't exist.
The robot move condition file which
Arc weld The robot move condition Please create the robot move condition file or edit
5069 is specified by the arc welding Error reset. Alarm Alarm Alarm Alarm on on
failure file doesn't exist. the task program.
function doesn't exist.
The arc rs condition file which is
Arc weld The arc rs condition file Please create the rs condition file or edit the task
5070 specified by the arc welding function Error reset. Alarm Alarm Alarm Alarm on on
failure doesn't exist. program.
doesn't exist.
Refer to the instruction manual of the welding power
Arc weld The module error in Abnormality occurs by the module in supply and eliminate all causes.(An abnormal
5071 Error reset. Alarm Alarm Alarm Alarm on on
failure WPS. the welding power supply. number of the welding power supply has been
described in the above-mentioned parentheses.)

The speed failure of the

The speed failure of the wire feed
Arc weld wire feed control circuit Refer to the instruction manual of the welding power
5072 control circuit occurred in the Error reset. Alarm Alarm Alarm Alarm on on
failure occurred in the welding supply and eliminate all causes.
welding power supply.
power supply.

Input voltage shortage The primary input driver of the Refer to the instruction manual of the welding power
Arc weld
5073 failure ocurred in the welding power supply has supply(Failure Name: The primary input driver) and Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. decreased. eliminate all causes.

The cooler fan failure Refer to the instruction manual of the welding power
Arc weld The cooler fan's rotation has fallen
5074 ocurred in the welding supply(Failure Name: The cooler fan failure) and Error reset. Alarm Alarm Alarm Alarm on on
failure or it stops.
power supply. eliminate all causes.

A control power supply

Refer to the instruction manual of the welding power
Arc weld abnormal temperature The temperature rises in the control
5075 supply(Failure Name: A control power supply Error reset. Alarm Alarm Alarm Alarm on on
failure occurred in the welding power supply.
abnormal temperature) and eliminate all causes.
power supply.

The arc welding power Refer to the instruction manual of the servo feeder
Arc weld supply detected The failure occurs in servo feeder unit and eliminate all causes.(An abnormal number
5076 Error reset. Alarm Alarm Alarm Alarm on on
failure abnormality of the servo unit. of the servo feeder unit has been described in the
feeder unit. above-mentioned parentheses.)
Abnormality occurred by the
The controller couldn't
Arc weld communication between the arc Please confirm the connection of the arc welding
5077 communicate with the Error reset. Alarm Alarm Alarm Alarm on on
failure welding power supply and the servo power supply and the servo feeder unit.
servo feeder unit.
feeder unit.
The power supply of a When you turn on a gas mass flow control unit or the
Arc weld Communication with a gas mass
5078 gas mass flow control power supply is already on, please check Error reset. Alarm Alarm Alarm Alarm on on
failure flow control unit was not completed.
unit is not on. connection with a gas mass flow control unit.

The gas equipment file which is

Arc weld The gas equipment file Please create the gas equipment file or edit the gas
5079 specified by the gas mass flow Error reset. Alarm Alarm Alarm Alarm on on
failure doesn't exist. mass flow control data.
control file doesn't exist.

Resources were not

Operational The wait time of resource Modify the wait time specified in FORK or CALLFAR
5080 securable at the time of Error reset. Alarm Alarm Alarm Alarm on on
failure reservation was over. command.
starting.

The appointed program

Operational
5081 cannot be edited / The same number program exists. Delete the program not to overlap with file operation. Error reset. Alarm Alarm Alarm Alarm on on
failure
playback.

Operation or command
Operational
5082 for Multi-unit cannot be The option of Multi-unit is not set up. Please set up the option of Multi-unit. Error reset. Alarm Alarm Alarm Alarm on on
failure
executed.

The unit-branch
Operational Some unit-branch commands were Please correct the program so that the unit-branch
5083 commands cannot be Error reset. Alarm Alarm Alarm Alarm on on
failure tried to execute at the same time. commands does not be executed at the same time.
executed.

The unit-branch A unit-branch commands FORK Please correct the program so that the unit-branch
Operational
5084 commands cannot be were tried to execute in the already commands does not be executed in the already Error reset. Alarm Alarm Alarm Alarm on on
failure
executed. forked program. forked program.

Communication timeout Turn the welding

Arc weld The contollor of the welding power
5085 occurred inside the Check the route of cable and ground connection. power supply on Alarm Alarm Alarm Alarm on on
failure supply didn't respond.
welding power supply. again.

There is a illegal section Condition changing from Melt Down

Arc weld of melt down control Control to Normal Control or from No reset operations
5086 Please correct the taught program. Alarm Alarm Alarm Alarm on on
failure within a arc welding Normal Control to Melt Down neccesary.
section. Control, is not acceptable.

4-72
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

There is a illegal section Condition changing from Melt Down

Arc weld of melt down control Control to Normal Control or from No reset operations
5087 Please correct the taught program. Alarm Alarm Alarm Alarm on on
failure within a arc welding Normal Control to Melt Down neccesary.
section. Control, is not acceptable.

Arc weld Arc welder has changed the welding Please re-designe the welding condition or the No reset operations Informati Informati Informati Informati
5088 Back bead has detected. on on
failure condtion. taught path. neccesary. on on on on
Arc weld Deviation of welding path Deviation of welding path toward No reset operations Informati Informati Informati Informati
5089 Please re-designe the taught path. on on
failure has detected. upper plate has occured. neccesary. on on on on

A move command must be inserted

Arc weld Tandem-Arc-Start-comm
5090 between preceding and trailing Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure and is incorrect.(Fe-wire)
arc-start-command.

Trailing-arc-start-command must
Arc weld Tandem-Arc-Start-comm
5091 follow preceding-arc-start-command Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure and is incorrect.(Al-wire)
continually.

Trailing-arc-start-command is taught
Arc weld The Electrode type is
5092 before Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure incorrect.
preceding-arc-start-command.

The current execution Please set the step which the multipass section
Arc weld It is prohibited to start since the
5093 pass is in another suitable for the current execution pass or change the Error reset. Alarm Alarm Alarm Alarm on on
failure different offset might be applied.
multipass section current execution pass.

During installation of an arc welding

power supply, neither operation of
Arc weld The arc welding power Please perform again after the completion of
5094 the arc welding power supply nor Error reset. Alarm Alarm Alarm Alarm on on
failure supply is installed. installation of an arc welding power supply.
execution of playback command
can be performed.
Motor overcurrent Refer to the instruction manual of the welding power
Arc weld Short circuit in the power line to the
5095 occurred in the welding supply (Failure Name: Motor overcurrent) and Error reset. Alarm Alarm Alarm Alarm on on
failure motor or motor overload happens.
power supply. eliminate all causes.

(1)Please cancel an emergency stop button and an

The emergency stop is input or the external emergency stop signal, and check the
The emergency is
Arc weld wiring of the STOP terminals in the connection of the welding power supply to the
5096 stopping or the welding Error reset. Alarm Alarm Alarm Alarm on on
failure welding power supply is controller. (2)When the check welding is ON, you
power supply is stopping.
disconnected. have to grasp the enable switch to cancel the
emergency stop.

Check the workpiece's condition, wire's condition,

Arc start faiulre using RS control or
Arc voltage cannot be connection of the cable, and RS control condition.
Arc weld arc voltage detection failure
5097 detected while RS Or refer to the instruction manual of the welding Error reset. Alarm Alarm Alarm Alarm on on
failure occurred in the welding power
control. power supply (Failure Name: Arc voltage detection
supply.
error) and eliminate all causes.

The arc welding characteristic data

of EP mode isn't registered. Or the
Arc weld Register the correct welding characteristic data. Or
5098 EP start failure. welding voltage adjustment method Error reset. Alarm Alarm Alarm Alarm on on
failure Correct EP start condition.
of EP mode is different from EN
mode.
The arc welding power Failure reset, and
Arc weld The arc welding power supply Please do not operate the welding power supply
5099 supply was operated turn on the welding Alarm Alarm Alarm Alarm on on
failure cannot be operated during playback. during playback.
during playback. power supply again.

Arc weld EP start condition of AS function is

5100 EP start failure. Correct EP start condition. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.

This failure is
Arc weld An adjustment movement Indicate Arc-Monitor, and confirm an adjustment
5101 Arc-Monitor isn't indicated. released if restart Alarm Alarm Alarm Alarm on on
failure start is unusual. condition.
playback.

This failure is
Arc weld An adjustment program An start program is different from
5102 Start by the specified adjustment program. released if restart Alarm Alarm Alarm Alarm on on
failure choice is unusual. the adjustment program.
playback.

The welding mode of the AS

Arc weld Adjustment welding
5103 function is different from the welding Check the welding mode to adjust. Error reset. Alarm Alarm Alarm Alarm on on
failure mode wrong point.
mode of the adjustment object.
This failure is
Arc weld
5104 Pilot arc start failure. The pilot arc was not turned on. Check the connection condition of the cable. released if restart Alarm Alarm Alarm Alarm on on
failure
playback.

Abnormality occurs by a plasma fine

Arc weld A plasma unit/WPS is Please see the manual of a plasma fine unit or
5105 unit or Plasma Welding Power Error reset. Alarm Alarm Alarm Alarm on on
failure abnormal. Plasma Welding Power Supply.
Supply.

This failure is
Arc weld The pilot arc outage is
5106 The pilot arc outage occurred. Check the connection condition of the cable. released if restart Alarm Alarm Alarm Alarm on on
failure abnormal.
playback.

Arc weld The pilot arc was not able to be

5107 Pilot arc OFF error. Check the connection condition of the cable. Error reset. Alarm Alarm Alarm Alarm on on
failure turned off.

Since the purge was turned on, the

Arc weld
5108 Pilot arc ON error. pilot arc was not able to be turned Turn off the purge. Error reset. Alarm Alarm Alarm Alarm on on
failure
on.

Arc weld The error occurs in servo The error occurs in servo wire feed Refer to the instruction manual of the servo wire
5109 Error reset. Alarm Alarm Alarm Alarm on on
failure wire feed control unit. control unit. feed control unit and eliminate all causes.

4-73
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Retract operation was

Arc weld Stop retract for the protection of If you operate retract more, execute 90 seconds
5110 executed over 10 Error reset. Alarm Alarm Alarm Alarm on on
failure Assist Feeder. later.
seconds.

The synchronized control, the FC

control, the slope control or the
Arc weld Stitch pulse welding
5111 adjustment of the WCD cannot be Please change the welding condition. Error reset. Alarm Alarm Alarm Alarm on on
failure control error.
executed by the stitch pulse
welding.

The stitch pulse cannot weld with

Arc weld Stitch pulse welding unit Please change the registration of the weld power
5112 the unit to which two or more Error reset. Alarm Alarm Alarm Alarm on on
failure setting error. supply in the unit.
welding machines are registered.

Arc weld WCR input signal The WCR input signal is not
5113 Please allocate the WCR input signal. Error reset. Alarm Alarm Alarm Alarm on on
failure unsetting. allocated.
For the unit to which two or more
Arc weld Arc welding unit setting Please change the registration of the welding
5114 welding machines are registered, it Error reset. Alarm Alarm Alarm Alarm on on
failure abnormality. machine in the unit.
is not possible to weld.

Please check the WCR signal from "WCR OFF

Arc weld The WCR OFF time-out WCR was not turned off in the time
5115 waiting time" of the welding constant and the Error reset. Alarm Alarm Alarm Alarm on on
failure is abnormal. limit.
welding power supply.

There is a wrong arc start

The AS command more than two
Arc weld command in the tool
5118 passing is recorded by one Please modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure change setting welding
mechanism.
power supply.

Arc weld There is a wrong AS The Synchro or FC welding is taught Please teach again after deleteing the AS
5119 Error reset. Alarm Alarm Alarm Alarm on on
failure command. to the AS command. command.

The arc welding power Refer to the instruction manual of the gas mass flow
Arc weld supply detected The failure occurs in gas mass flow control unit and eliminate all causes.(An abnormal
5120 Error reset. Alarm Alarm Alarm Alarm on on
failure abnormality of the gas control unit. number of the gas mass flow control unit has been
mass flow control unit. described in the above-mentioned parentheses.)

The difference between the gas

The gas mass flow value mass flow value measured by the Please confirm [The remainder pressure of gas
Arc weld
5121 has exceeded the welding power supply and the cylinder, the piping of the gas, and the setting of the Error reset. Alarm Alarm Alarm Alarm on on
failure
allowable limit. taught one has exceeded the gas mass flow control unit.
allowable limit set by the contloler.

The gas pressure measured in the

The gas pressure value Please confirm the remainder pressure of gas
Arc weld arc welding power supply exceeded
5122 has exceeded the cylinder, the piping of the gas, and the setting of the Error reset. Alarm Alarm Alarm Alarm on on
failure the limiting value set with the
allowable limit. gas mass flow control unit.
controller.

Please confirm the residual quantity of the gas

Arc weld The set gas mass flow is The set gas mass flow was not
5123 cylinder, the piping of the gas, and the setting of the Error reset. Alarm Alarm Alarm Alarm on on
failure not output. output in specified time.
gas mass flow control unit.

Arc weld The gas flow control unit The control data in the gas flow Please confirm the power cable of the gas flow
5124 Error reset. Alarm Alarm Alarm Alarm on on
failure was reset. control unit was reset. control unit.

Arc weld The data to the gas flow The data set to the gas flow control
5125 Please confirm the data of the gas flow control unit. Error reset. Alarm Alarm Alarm Alarm on on
failure control unit cannot be set. unit is abnormal.

Even if passing the specified time 1.Check the error judgment delay time. 2.Check the
Zero deviation error on
Arc weld after Gas OFF, the actual gas flow gas type and the gas pressure at main cock. 3.The
5126 the gas flow control unit Error reset. Alarm Alarm Alarm Alarm on on
failure could not restore 0 on the gas flow gas flow control unit may be damaged or broken
was detected.
control unit. down. Please contact our customer service center.

It is setting which uses the Plasma

Arc weld The analog output board Please modify setting whether to install the analog
5127 welder though the analog output Error reset. Alarm Alarm Alarm Alarm on on
failure is a uninstallation. output board.
board is not installed.

After removal of
Arc weld Filler wire stick has been
5128 Filler wire has stuck. Cut stuck wire. failure, please carry Alarm Alarm Alarm Alarm on on
failure detected.
out "failure-reset".

After removal of
Arc weld Filler touch detection It was not able to detect that a filler Please check the state of a filler wire, a welding
5129 failure, please carry Alarm Alarm Alarm Alarm on on
failure failure wire touched welding base metal. constant, and wiring.
out "failure-reset".

Operational Welding mode option Welding mode option which is not No reset operations
5130 Please set up a welding mode option. Alarm Alarm Alarm Alarm on on
failure un-setting up. set up was used. neccesary.

Since system memory protection was effective, an

Operational Welding mode option Since the welding mode option is option was not able to be written in a system No reset operations
5131 Alarm Alarm Alarm Alarm on on
failure can't use. not set up correctly, it can't use. memory.Please once repeal a system memory neccesary.
protection function and start a system again.

4-74
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Since the welding unit is not

Arc weld No reset operations
5132 Specified mode can't use. supporting specified mode, it can't Please use a welding unit with specified mode. Alarm Alarm Alarm Alarm on on
failure neccesary.
use.

Operational Welding mode option Since the welding mode option is Please restore the welding mode option on the No reset operations
5133 Alarm Alarm Alarm Alarm on on
failure can't use. not set up correctly, it can't use. welding mode option screen. neccesary.

In the arc condition file of the cycle

pulsed welding, the welding control
Arc weld Cycle pulsed welding
5134 must be "Cycle pulse" and the slope Please change the welding condition. Error reset. Alarm Alarm Alarm Alarm on on
failure control error.
condition must be specified by
"Distance".

The condition of Cycle pulsed

Arc weld Cycle pulsed welding welding is specified by 'AS' function.
5135 Please modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure control error. It must be specified by 'ASS'
function.
The 'ASM' function, the 'AEM'
Arc weld The multipass section is function, the 'OFFSET' function, and Please teach the 'MPS' function and the 'MPE'
5136 Error reset. Alarm Alarm Alarm Alarm on on
failure abnormal. the 'EP' function cannot be executed function.
outside the multipass section.

The welding power

Read file failure occurs while
Arc weld supply secondaly electric Please initialize the welding power supply secondaly
5137 reading the welding power supply Error reset. Alarm Alarm Alarm Alarm on on
failure characteristic file can't be electric characteristic file.
secondaly electric characteristic file.
read.

The first･second main Refer to the instruction manual of the welding power
The failure exists in the first･second
Arc weld circuit failure occurred in
5138 main circuit of the welding power supply (Failure Name: The first･second main circuit Error reset. Alarm Alarm Alarm Alarm on on
failure the welding power
supply. failure).
supply.

It is necessary to turn the The arc welding power supply Turn the welding
Arc weld
5139 welding power supply on cannot be operated if it doesn't turn Turn the welding power supply on again. power supply on Alarm Alarm Alarm Alarm on on
failure
again. on again. again.
The speed of the wire measured in
The speed of the wire the arc welding power supply has Please confirm whether an excessive load contracts
Arc weld
5140 speed has exceeded the exceeded the allowable limit at the the wire feeder. Please contact our customer service Error reset. Alarm Alarm Alarm Alarm on on
failure
allowable limit. speed of the wire that the arc center when the permissible value is large.
welding power supply output.
The threshold specified under the
Arc weld welding record condition was Please confirm the arc welding construction
5143 Threshold trigger Error reset. Alarm Alarm Alarm Alarm on on
failure detected in the arc welding power condition.
supply.
The arc try condition file which is
Arc weld The arc try condition file Please create the arc try condition file or edit the
5146 specified by the arc welding function Error reset. Alarm Alarm Alarm Alarm on on
failure doesn't exist. task program.
doesn't exist.
The load of filler feed The filler feed load has exceeded
Arc weld A load is on the filler feeder by wear of the liner, the
5147 exceeded allowable the allowable value set in the arc Error reset. Alarm Alarm Alarm Alarm on on
failure chip defect, and so on. Remove the factors.
value. constant.

The arc voltage detection procedure Please set up ON "Direct arc voltage detection" of a
After removal of
Arc weld The abnormalities of arc by the side of a base material is welding constant, and please check connection of
5148 failure, please carry Alarm Alarm Alarm Alarm on on
failure voltage direct detection wrong. The arc voltage detection is the arc voltage detection line by the side of a base
out "failure-reset".
needed for this welding mode. material.

After removal of
Arc weld The abnormalities in the The filler wire is not sent or it is Please check the feeding state and welding
5190 failure, please carry Alarm Alarm Alarm Alarm on on
failure filler wire feeding incomplete penetration. conditions of the filler wire.
out "failure-reset".

After recording the

Sensor Sensor Function cannot Wrong usage of sensor function is Please record sensor search function after move
5200 move step, Please Alarm Alarm Alarm Alarm on on
failure be executed. detected in teaching program step.
Check Go.

Sensor This error occurs when the robot Modify(enlarge) the search range or program to No reset operations
5201 Search range exceeded. Alarm Alarm Alarm Alarm on on
failure moves beyond search range rectify error. neccesary.
This error occurs when the robot
Sensor Modify(shorten) the search range or program to No reset operations
5202 Search range is short detect the touch status within Alarm Alarm Alarm Alarm on on
failure rectify error. neccesary.
minimum search range.
Sensor Deviation range This error occurs when the robot Modify(enlarge) the deviation range or program to No reset operations
5203 Alarm Alarm Alarm Alarm on on
failure exceeded. moves beyond deviation range rectify error. neccesary.

This error occures when the sensor

Sensor Sensor number is Check that sensor settings and /or teaching
5204 number in the sensor step does not Error reset. Alarm Alarm Alarm Alarm on on
failure mismatched. programs.
meet that of the connected sensor.

This error occurs when the

Sensor The input-and-output
5205 input-and-output signal required for Set up an input-and-output signal. Error reset. Alarm Alarm Alarm Alarm on on
failure signal is not assigned.
search operation is not assigned.

Sensor This error occurs when read-out of a

5206 A deviation file is wrong. Check a deviation file. Error reset. Alarm Alarm Alarm Alarm on on
failure deviation file goes wrong.

Sensor A deviation file is not This error occurs when the specified
5207 Correct the file number. Error reset. Alarm Alarm Alarm Alarm on on
failure found. deviation file cannot be found.

This error occurs when the

Sensor Mechanism type is
5208 mechanism type in specified Correct the file number. Error reset. Alarm Alarm Alarm Alarm on on
failure mismatched.
deviation file is mismatched.

This error occurs when read-out of a

Sensor A detecting wire
5209 detecting wire extension file goes Check a detecting wire extension file. Error reset. Alarm Alarm Alarm Alarm on on
failure extension file is wrong.
wrong.

4-75
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

A detecting wire This error occurs when the specified

Sensor
5210 extension file is not detecting wire extension file cannot Correct the file number. Error reset. Alarm Alarm Alarm Alarm on on
failure
found. be found.
This error occurs when the
Sensor Coordinate systems are coordenate systems are not
5211 Correct the file number. Error reset. Alarm Alarm Alarm Alarm on on
failure mismatched. matched between selected
deviation files.
Search direction cannot be specified
(1)Specify the search vector. (2)When the search
Sensor because the search vector is not
5212 Cannot search. vector was already specified, modify the search Error reset. Alarm Alarm Alarm Alarm on on
failure taught, or calculating search vector
vector.
was failed.

Sensor Detected gap is exceeded beyond Check that gap amount and modify allowable value
5213 Gap Over Error reset. Alarm Alarm Alarm Alarm on on
failure maximum allowable value. if needed.

Sensor Detected gap becomes lower than Check that gap amount and modify allowable value
5214 Gap short Error reset. Alarm Alarm Alarm Alarm on on
failure minimum allowable value. if needed.

Sensor Detected groove depth is exceeded Check that groove depth amount and modify
5215 Groove depth over Error reset. Alarm Alarm Alarm Alarm on on
failure beyond maximum allowable value. allowable value if needed.
Detected groove depth becomes
Sensor Check that groove depth amount and modify
5216 Groove depth short lower than minimum allowable Error reset. Alarm Alarm Alarm Alarm on on
failure allowable value if needed.
value.
Sensor Detected angle1 is exceeded Check that angle1 amount and modify allowable
5217 Angle1 over Error reset. Alarm Alarm Alarm Alarm on on
failure beyond maximum allowable value. value if needed.
Sensor Detected angle1 becomes lower Check that angle1 amount and modify allowable
5218 Angle1 short Error reset. Alarm Alarm Alarm Alarm on on
failure than minimum allowable value. value if needed.

Sensor Detected angle2 is exceeded Check that angle2 amount and modify allowable
5219 Angle2 over Error reset. Alarm Alarm Alarm Alarm on on
failure beyond maximum allowable value. value if needed.

Sensor Detected angle2 becomes lower Check that angle2 amount and modify allowable
5220 Angle2 short Error reset. Alarm Alarm Alarm Alarm on on
failure than minimum allowable value. value if needed.

(1)Check setting parameters in GFF file. (2)If you

are provided with the optional data terminal, use
Sensor
5221 Groove un-detected Groove position cannot be detected Groove Data function in RD/AD tab menu, and Error reset. Alarm Alarm Alarm Alarm on on
failure
modify the teaching program so that laser data are
properly obtained.

Sensor This error occurs when searching To short the searching time less than 2s or modify
5222 Seaching time over Error reset. Alarm Alarm Alarm Alarm on on
failure time is too long. sample rate in GFF file.

(1)Specify sensor mounting direction. (2)Execute After removal of

Sensor This error occurs when sensor
5223 Sensor mounting error the sensor calibration before executing the ZJLETP failure, please carry Alarm Alarm Alarm Alarm on on
failure mounting is not set.
command. out "failure-reset".

Sensor This error occurs when measured Check that target surface condition and/or
5224 Unstable detection Error reset. Alarm Alarm Alarm Alarm on on
failure data is unstable. measurement angle.

Sensor Out of measurement This error occurs when measured Check that target piece is located at desired
5225 Error reset. Alarm Alarm Alarm Alarm on on
failure distance distance is out of range. position.

Sensor This error occurs when reference

5226 Reference point error Execute trial motion to get reference point. Error reset. Alarm Alarm Alarm Alarm on on
failure point is not stored.

(1)At the ZG1 start point, the workpiece must be

taught within the measurement range. (2)When the
workpiece is placed within the measurement range,
This error occurs when the laser
Sensor ZG1 workpiece adjust the angle of laser against the workpiece, and
5227 reflection beam is not sufficiently Error reset. Alarm Alarm Alarm Alarm on on
failure undetected constantly light the distance LED on laser head. (3)If
received in ZG1 starting.
you are provided with the optional data terminal, use
RD/AD tab menu, and check that always 206 or
higher laser beam in the LEVEL display is received.

Sensor This error occurs when wrong data

5228 Gap file error Check the contents in gap file. Error reset. Alarm Alarm Alarm Alarm on on
failure is detected in gap file.

Sensor This error occurs when the specified

5229 No gap file Check the gap file number. Error reset. Alarm Alarm Alarm Alarm on on
failure gap file is not exist.

Sensor This error occurs when wrong data

5230 Gff file error Check that contents in GFF file. Error reset. Alarm Alarm Alarm Alarm on on
failure is detected in GFF file.

Sensor This error occurs when the specified

5231 No gff file Check that GFF file number. Error reset. Alarm Alarm Alarm Alarm on on
failure GFF file is not exist.

This error occurs when there is no Turn on the sensor unit. In case the sensor unit has
Sensor Sensor disconnected
5232 communication between laser been already turned on, check the connection of the Error reset. Error Error Error Error on on
failure (Laser search)
sensor and RC. sensor unit to the controller.

4-76
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Communication timeout
Turn on the
Sensor occurred between the This error occurs when there is no Check the connection of the sensor unit to the
5233 controller and the Error Error Error Error on on
failure controller and the sensor response from Laser Sensor Unit. controller.
sensor unit again.
unit

Sensor This error occurs when wrong data

5234 Sensor condition file error Check that contents in LSF or LSR file. Error reset. Alarm Alarm Alarm Alarm on on
failure is detected in LSF or LSR file.

Sensor Sensor condition file is This error occurs when specified

5235 Check that LSF or LSR file number. Error reset. Alarm Alarm Alarm Alarm on on
failure not exist. LSF or LSR file is not exist.

Sensor This failure occurs when the error is

5236 Sensor Failure Check the sensor status by WinUser. Error reset. Error Error Error Error on on
failure issued from the sensor controller

This failure occurs when the start

Sensor (1)Check the groove recognization by WinUser.
5237 Start Point un-detected point is not detected during ZF Error reset. Alarm Alarm Alarm Alarm on on
failure (2)Enlarge the ZF maximum search range.
search.

Do not modify the position and posture of the robot

Sensor Cannot restart during
5238 Cannot restart during seam tracking. when the robot is stopped in ZT period if the Error reset. Alarm Alarm Alarm Alarm on on
failure seam tracking.
restarting is required.

This error occurs when the distance

Check detected position. If no problems exist,
Sensor ZF Deviation range between the detected start point and
5239 moodify(enlarge) the ZF deviation range parameter Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded ZF taught point exceeded the
or program to rectify error.
deviation range.

Sensor ZF search range This error occurs when the robot Modify(enlarge) the search range or program to
5240 Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded moves beyond search range rectify error.

This error occurs when the robot Check the target position If no problems exist,
Sensor ZT Position Deviation
5241 moves beyond Position deviation moodify(enlarge) the ZT parameters or program to Error reset. Alarm Alarm Alarm Alarm on on
failure range exceeded
range rectify error.

Sensor ZN offset range This error occurs when the setting

5242 Modify(enlarge) the ZN offset to rectify error. Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded offset is beyond the range
This error occurs when the robot
Sensor ZN Search range Modify(enlarge) the ZN search range or program to
5243 moves beyond search range during Error reset. Alarm Alarm Alarm Alarm on on
failure exeeced. rectify error.
ZN.

Sensor End point of workpiece is not Modify(enlarge) ZN search range or program to

5244 End point un-detected Error reset. Alarm Alarm Alarm Alarm on on
failure detected. rectify error.

This error occurs when the distance

Check the detected point. If no problems exist,
Sensor Deviation range between the detected end point and
5245 Modify(enlarge) the deviation range or program to Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded. taught point before ZE exceeded the
rectify error.
deviation range.

Sensor
5246 Laser ON Failed Laser is not activated. Turn on the Laser by ZON or manual operation. Error reset. Alarm Alarm Alarm Alarm on on
failure

Sensor ZF/ZT/ZJ will be performed before 3 Wait 3 seconds or longer after ZON was performed
5247 Laser is not ready. Error reset. Alarm Alarm Alarm Alarm on on
failure seconds after ZON is carried out. before ZF/ZT/ZJ.

There is no move command

immediately after ZN command to
which a move command or ZT
Sensor Error in instruction of ZN
5248 command does not exist before ZN Please improve instruction. Error reset. Alarm Alarm Alarm Alarm on on
failure command.
command, or it is [ that two or more
move commands are taught
between ZN - ZE, etc. and ] a factor.

This error occurs when the robot Check the target posture If no problems exist,
Sensor ZT Posture Deviation
5249 moves beyond Posture deviation moodify(enlarge) the ZT parameters or program to Error reset. Alarm Alarm Alarm Alarm on on
failure range exceeded
range rectify error.

Turn on the sensor unit. In case the sensor unit has

Sensor The controller couldn't communicate
5250 Sensor disconnected been already turned on, check the connection of the Error reset. Alarm Alarm Alarm Alarm on on
failure with the sensor unit.
sensor unit to the controller.
Error is activated when the case that
Correction amount by Check that currect torch position. If it is OK, extend
Sensor correction amount by the sensor
5251 arc-sensor exceeds the value CHASING RANGE in teaching parameter. Error reset. Alarm Alarm Alarm Alarm on on
failure exceeds the specified value in
specified value. If it is NG, try to adjust sensor parameters.
teaching parameter.

Calculation turns to This error is activated when stability

Sensor
5252 unstable during of welding arc decreased Check that welding condition to be stable. Error reset. Alarm Alarm Alarm Alarm on on
failure
arc-sensing process. significantly.

4-77
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
This error is activated when the
deviation detection cannot be
Sensor Welding position cannot
5253 calculated during arc-sensing Try to re-adjust sensing parameters. Error reset. Alarm Alarm Alarm Alarm on on
failure be detected
process. Note that position
correction is not executed.

Wire-feeding status turn to unstable.

Sensor
5254 Unstable wire-feeding. Deviation is lager than specified Check that equipments for wire feeding. Error reset. Alarm Alarm Alarm Alarm on on
failure
value.

Sensor The instruction parameter of ST It improves whether each parameter is setting within
5255 ST parameter error. Error reset. Alarm Alarm Alarm Alarm on on
failure command is over the setting range. the limits.

Sensor The ET command less ET command is not taught after ST

5256 Please teaching ET command. Error reset. Alarm Alarm Alarm Alarm on on
failure program was performed. command.

Abnormalities were found

Sensor An appointed basic data file does
5257 in the parameter of basic Please check a basic data file with a service menu. Error reset. Alarm Alarm Alarm Alarm on on
failure not exist or a file cannot be read.
data.

Sensor Error in instruction of ZG1 ZG1 command in the weaving

5258 Please improve instruction. Error reset. Alarm Alarm Alarm Alarm on on
failure command. section cannot be executed.

At the start-point
In the start-point detection section or
detection or in the
the tracking section in Specify all the move commands, right before ZF
Sensor tracking section, the
5259 Synchromotion system, the move command, in ST~ET section and in ZT~ZE section Error reset. Alarm Alarm Alarm Alarm on on
failure move command with no
command is not taught as to Synchromotion teaching ("H").
Synchromotion teaching
Synchromotion teaching ("H").
(without "H") was found.
(1)Release Emergency Stop Button on the Laser
After removal of
Sensor Stop signal is input into the laser Sensor Unit. (2)Close the Emergency Stop Alarm
5260 Sensor stop signal input. failure, please carry Alarm Alarm Alarm Alarm on on
failure sensor unit. Input loop connected to CN2 on the laser sensor
out "failure-reset".
unit.

(1)Check that LASER power is ON. (2)Check the

cable between Laser Sensor Unit and Sensor Head After removal of
Sensor
5261 Groove un-detected. Groove cannot be detected. is connected properly. (3)Check the cable between failure, please carry Alarm Alarm Alarm Alarm on on
failure
Robot Controller and Laser Sensor Unit is out "failure-reset".
connected properly.

(1)Adjust the stability of groove detection by

The distance corrected by the
WinUser. (2)Check the cable between Robot After removal of
Sensor Torch moving distance sensor within 1 interpolation time
5262 Controller and Laser Sensor Unit is connected failure, please carry Alarm Alarm Alarm Alarm on on
failure over. was exceeded over the internal
properly. In addition, also check the sensor head out "failure-reset".
distance.
cable.

Sensor This error occurs when specified

5263 No SFM file Check SFM file number. Error reset. Alarm Alarm Alarm Alarm on on
failure SFM file is not exist.

Sensor This error occurs when wrong data

5264 SFM file error Check that contents in SFM file. Error reset. Alarm Alarm Alarm Alarm on on
failure is detected in SFM file.

There is no move command

immediately after DE command to
which a move command or ST
Sensor Error in instruction of DE
5265 command does not exist before DE Please improve instruction. Error reset. Alarm Alarm Alarm Alarm on on
failure command.
command, or it is [ that two or more
move commands are taught
between DE - ET, etc. and ] a factor.
This error occurs when the order of (1)Modify the AS speed so that it is close to the
Sensor DE Corrected point
5266 DE corrected point and ET taught proper one.(2)Modify DE taught point so that the Error reset. Alarm Alarm Alarm Alarm on on
failure failure
point are exchanged by tracking. distance between DE and ET taught point is longer.

JOINT command cannot be Modify JOINT command in the teaching section (ST
Sensor JOINT command exists in
5267 executed in the tracking sensor ～ET, ZF～ZT～ZN～ZE) of tracking sensor to LIN Error reset. Alarm Alarm Alarm Alarm on on
failure tracking section.
section. command or CIR1/CIR2 command.

Sensor Sensor Function cannot An error is in a connection setup of a Please check a constant setup and instruction of a No reset operations
5268 Alarm Alarm Alarm Alarm on on
failure be executed. sensor and a mechanism. sensor. neccesary.

Modify () the ZN mamimum distance so that the

This error occurs when the robot
Sensor ZN Search destination point extended ZN maximum distance from the
5269 moves beyond Software Limit range Error reset. Alarm Alarm Alarm Alarm on on
failure point is exceeded range. previous point of ZE is within the robot working
by ZN search.
range.

(1)Specify the AS speed properly so that it will not

This error occurs when the tracking
Sensor The tracking speed is a become negative by Adaptive Control. (2)Connect
5270 speed is set to a negative value by Error reset. Alarm Alarm Alarm Alarm on on
failure negative value. WinUser to the sensor, and review the setting "gap -
speed change of Adaptive Control.
speed" in the spread sheet.

Error in instruction of ZE This error occurs when ZT

Sensor
5271 command outside command according to ZE does not Modify ZT or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure
tracking section exist.

Continuous ZT This error occurs when continuous

Sensor
5272 commands have same ZT commands have same sensor Check each sensor number of ZT command. Error reset. Alarm Alarm Alarm Alarm on on
failure
sensor number. number.

4-78
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Continuous ZN This error occurs when continuous

Sensor
5273 commands have same ZN commands have same sensor Check each sensor number of ZN command. Error reset. Alarm Alarm Alarm Alarm on on
failure
sensor number. number.

Continuous ZE This error occurs when continuous

Sensor
5274 commands have same ZE commands have same sensor Check each sensor number of ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure
sensor number. number.
This error occurs in case that ZN
commands for all laser sensors is
Sensor ZN command according
5275 not instructed when the tracking by Modify ZN commands. Error reset. Alarm Alarm Alarm Alarm on on
failure to ZT does not exist.
the plural laser sensors are
performed.

This error occurs when ZE

Sensor ZE command according
5276 command according to ZT is not Modify ZT or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure to ZT does not exist.
instructed.

This error occurs when ZT

Sensor ZT command according
5277 command according to ZN is not Modify ZT or ZN command. Error reset. Alarm Alarm Alarm Alarm on on
failure to ZN does not exist.
instructed.

This error occurs when ZT

Sensor ZT command according
5278 command according to ZE is not Modify ZT or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure to ZE does not exist.
instructed.

ZT command exists in the This error occurs when ZT

Sensor
5279 section of continuous ZN command is instructed just after ZN Modify ZT, ZN or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure
or ZE commands. or ZE command.

ZN command exists in This error occurs when ZN

Sensor
5280 the section of continuous command is instructed just after ZT Modify ZT, ZN or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure
ZT or ZE commands. or ZE command.

ZE command exists in This error occurs when ZE

Sensor
5281 the section of continuous command is instructed just after ZT Modify ZT, ZN or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure
ZT or ZN commands. or ZN command.

Abnormal setting of This error occurs when both settings

Sensor ON/OFF of External I/O of External I/O detection in the Modify the setting of External I/O detection in each
5282 Error reset. Alarm Alarm Alarm Alarm on on
failure detection in ZN continuous ZN instructions are not ZN command.
commands. same.

Abnormal setting of input This error occurs when both settings

Sensor port number of External of input port number of External I/O Modify the setting of input port number of External
5283 Error reset. Alarm Alarm Alarm Alarm on on
failure I/O detection in ZN detection in the continuous ZN I/O detection in each ZN command.
commands. instructions are not same.

This error occurs when both

Abnormal setting of
Sensor parameters of "Maximum distance"
5284 "Maximum distance" in Modify "Maximum distance" in each ZN command. Error reset. Alarm Alarm Alarm Alarm on on
failure in the continuous ZN instructions
ZN commands.
are not same.

This error occurs if a reference

Sensor A reference position has Teach a reference position by executing manual
5285 position is not taught when Error reset. Alarm Alarm Alarm Alarm on on
failure not been taught. operation, macro-execution or trial operation.
executing SF2/ZF2.

When executing SF2/ZF2, an To make a reference to the dummy point, modify the
Sensor An undefined dummy
5286 undefined dummy point was patterned search macro so that the dummy point Error reset. Alarm Alarm Alarm Alarm on on
failure point is being referred.
attempted to be referred. can be referred after defined.

Since a vector is not taught, the

Sensor
5287 A vector is not taught. motion direction of patterned search Teach a vector (both its start point and end point). Error reset. Alarm Alarm Alarm Alarm on on
failure
cannot be operated.

An undefined temporary When executing SF2/ZF2, an To make a reference to a temporary buffer point,
Sensor
5288 buffer point is being undefined temporary buffer point modify the patterned search macro so that the Error reset. Alarm Alarm Alarm Alarm on on
failure
referred. was attempted to be referred. temporary buffer point can be referred after defined.
(1)The motion start/end point of S
(search) command or M (move)
A vector cannot be command are the same. (2)When (3)Check the vector specified by the temporary
Sensor
5289 defined or identified when executing the vector intersection buffer point in each command, and remove the Error reset. Alarm Alarm Alarm Alarm on on
failure
executing SF2/ZF2. operation mode (a=1) by L (vector errors.
calcuation) command, two kinds of
vector are identical.
Parameter settings for the patterned Review the contents of the patterned search macro
Sensor Logic error of the
5290 search macro are fault, which and parameter settings for the patterned search Error reset. Alarm Alarm Alarm Alarm on on
failure patterned search macro.
causes a SF2/ZF2 execution failure. (including the set point).

4-79
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Review the contents of the patterned search macro

A search target point of S (search)
An operation error and parameter settings for the patterned search
Sensor command or a motion target point of
5291 occurred when executing (including the set point) so that the search target Error reset. Alarm Alarm Alarm Alarm on on
failure M (move) command were not able
SF2/ZF2. point and the motion target point can be got within
to be obtained.
the robot motion range.

This error occurs when the robot

Sensor DE Search range Modify(enlarge) the DE search range or program to
5292 moves beyond search range during Error reset. Alarm Alarm Alarm Alarm on on
failure exeeced. rectify error.
DE.

The command of This error occurs when the

Sensor
5293 teaching prohibition in ZF command not permitted has been Review the teaching in ZF-ZT and ZF-ZE section. Error reset. Alarm Alarm Alarm Alarm on on
failure
and after taught in ZF-ZT and ZF-ZE section.

Welding current specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding current adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is
5294 Error reset. Alarm Alarm Alarm Alarm on on
failure over current watch value of adaptive OK, increase maximum current watch value of
control. adaptive control.

Welding current specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding current adaptive control becomes lower sensor controller by WinUser. If the spreadsheet is
5295 Error reset. Alarm Alarm Alarm Alarm on on
failure short than minimum current watch value OK, decrease minimum current watch value of
of adaptive control. adaptive control.

Welding voltage specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding voltage adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is
5296 Error reset. Alarm Alarm Alarm Alarm on on
failure over voltage watch value of adaptive OK, increase maximum voltage watch value of
control. adaptive control.

Welding voltage specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding voltage adaptive control becomes lower sensor controller by WinUser. If the spreadsheet is
5297 Error reset. Alarm Alarm Alarm Alarm on on
failure short than minimum voltage watch value OK, decrease minimum voltage watch value of
of adaptive control. adaptive control.

Check the lists of the specified spreadsheet in the

Travel speed specified by adaptive
Sensor Adaptive travel speed sensor controller by WinUser. If the spreadsheet is
5298 control exceeds maximum speed Error reset. Alarm Alarm Alarm Alarm on on
failure over OK, increase maximum speed watch value of
watch value of adaptive control.
adaptive control.

Travel speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor Adaptive travel speed control becomes lower than sensor controller by WinUser. If the spreadsheet is
5299 Error reset. Alarm Alarm Alarm Alarm on on
failure short minimum speed watch value of OK, decrease minimum speed watch value of
adaptive control. adaptive control.

Auto An error is in the record method of Please record an automatic calibration function After recording the
Auto Calibration function
5300 Calibration an automatic calibration related behind a move command.Or please choose a move step, Please Alarm Alarm Alarm Alarm on on
can not be carried out.
failure function. mechanism correctly. Check Go.
Auto CALIBROB(FN702) cannot be
Other units are running Please perform CALIBROB (FN702) again after
5301 Calibration performed while running the Error reset. Alarm Alarm Alarm Alarm on on
program. stopping all units.
failure program of other units.

Auto The maximum The amount of compensation of joint Please acquire a measuring point again after
Informati Informati
5302 Calibration compensation value offset or a tool parameter is over the correcting a gap of a robot using a torch gauge or a Error reset. Alarm Alarm on on
on on
failure error. maximum set up by the constant. point mark.

Auto
The maximum search This error occurs when the robot Modify(enlarge) the search range or program to No reset operations
5303 Calibration Alarm Alarm Alarm Alarm on on
distance error. moves beyond search range rectify error. neccesary.
failure

Auto The reference point for

This error occurs when reference No reset operations
5304 Calibration automatic calibrations is Please acquired reference points. Alarm Alarm Alarm Alarm on on
points are not acquired. neccesary.
failure not acquired.
Auto
Reference point This error occurs when the "A" and Please make "A" and "B" points into the same No reset operations
5305 Calibration Alarm Alarm Alarm Alarm on on
Orientation error. "B" points have different orientation. orientation. neccesary.
failure
Reference point It becomes this error when the
Auto Please make the same the orientation of B points of
orientation error(At the orientation of the reference point at No reset operations
5306 Calibration A1, B1 point, A points of the direction search of Z or Alarm Alarm Alarm Alarm on on
time of the direction the time of the direction search of Z neccesary.
failure A2, B-2 point, and the direction search of Z.
search of Z). differs from A1, B1 or A2, and B-2.

Auto This error occurs when the auto

The auto calibration Please register an automatic calibration sensor by
5307 Calibration calibration sensor required for Error reset. Alarm Alarm Alarm Alarm on on
sensor is not registered. constant setup.
failure search operation is not set up.

Auto This error occurs when the

The input-and-output
5308 Calibration input-and-output signal required for Set up an input-and-output signal. Error reset. Alarm Alarm Alarm Alarm on on
signal is not set up.
failure search operation is not set up.

Auto
Please set up constant data again or perform
5309 Calibration File reading error. A condition file cannot be read. Error reset. Alarm Alarm Alarm Alarm on on
initialization.
failure
Auto The abnormalities in an
The parameter in an automatic
5310 Calibration automatic calibration Please set up a constant file correctly. Error reset. Alarm Alarm Alarm Alarm on on
calibration constant file is unusual.
failure parameter.

4-80
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Auto
Automatic calibration It has not accessed whether a
5311 Calibration Please enable it to create a measurement file. Error reset. Alarm Alarm Alarm Alarm on on
measurement file error. measurement file could be created.
failure

Reliability is not in the measured

Auto The abnormalities in
data. There is a possibility that the
5312 Calibration automatic calibration Please perform reference point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
sensor might incorrect-detect or a
failure correct.
totter may be in attachment of a tool.

Auto
The abnormalities in work Abnormalities occurred at the time
5313 Calibration Please perform reference point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
program compensation. of work program compensation.
failure

Auto
The abnormalities in work Abnormalities occurred at the time No reset operations Informati Informati Informati Informati
5314 Calibration It is not especially. on on
program compensation. of work program compensation. neccesary. on on on on
failure

Auto Since a robot's position is shifted Please acquire a measuring point again after
A robot's position is
5315 Calibration greatly, measurement is correcting a gap of a robot to the range which can be Error reset. Alarm Alarm Alarm Alarm on on
shifted greatly.
failure uncontinuable. measured using a torch gauge or a point mark.

Auto The gap of a robot was detected in

All measuring points are
5316 Calibration the state where all measuring points Please measure all measuring points. Error reset. Alarm Alarm Alarm Alarm on on
not acquired.
failure have not measured.

Auto Datum point acquisition mode

CALIBROB (FN702) Informati Informati
5317 Calibration CALIBROB (FN702) was It is not especially. Error reset. Alarm Alarm on on
cannot be performed. on on
failure performed.

Auto It becomes this error when the

Modify(enlarge) the search range or program to
5318 Calibration Cannot search. inputted search operation distance Error reset. Alarm Alarm Alarm Alarm on on
rectify error.
failure is too large.

Auto
The minimum search This error occurs when the robot Modify(enlarge) the search range or program to No reset operations
5319 Calibration Alarm Alarm Alarm Alarm on on
distance error. moves beyond search range rectify error. neccesary.
failure

The abnormalities in Reliability is not in the measured

Auto
calibration compensation data. There is a possibility that the
5320 Calibration Please perform measuring point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
at the time of sensor might incorrect-detect or a
failure
remeasurement. totter may be in attachment of a tool.

Although the all-points

Auto
The quick checki point is measurement of the quick checki
5321 Calibration Please measure the quick checki point again. Error reset. Alarm Alarm Alarm Alarm on on
not measured. point is not carried out, MESPOS
failure
(FN700) was performed.

Auto
Reference point was not taken from
5322 Calibration Reference point error. Please perform taking reference point from point 1Q. Error reset. Alarm Alarm Alarm Alarm on on
point 1Q.
failure

Auto
Reference point was not taken from
5323 Calibration Reference point error. Please perform taking reference point from point 1A. Error reset. Alarm Alarm Alarm Alarm on on
point 1A.
failure

This error occurs when the "A" and

Auto "B" points have different orientation.
Measuring point No reset operations
5330 Calibration There is a possibility that the sensor Please perform measuring point acquisition again. Alarm Alarm Alarm Alarm on on
Orientation error. neccesary.
failure might incorrect-detect or a totter
may be in attachment of a tool.

It becomes this error when the

orientation of the measuring point at
Measuring point
Auto the time of the direction search of Z
orientation error(At the No reset operations
5331 Calibration differs from A1, B1 or A2, and Please perform measuring point acquisition again. Alarm Alarm Alarm Alarm on on
time of the direction neccesary.
failure B-2.There is a possibility that the
search of Z).
sensor might incorrect-detect or a
totter may be in attachment of a tool.

Reliability is not in the measured

Auto The abnormalities in
data. There is a possibility that the
5332 Calibration automatic calibration Please perform measuring point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
sensor might incorrect-detect or a
failure correct.
totter may be in attachment of a tool.

Auto
The abnormalities in work Abnormalities occurred at the time
5333 Calibration Please perform measuring point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
program compensation. of work program compensation.
failure

4-81
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
Auto
Measuring point was not taken from Please perform taking measuring point from point
5334 Calibration Measuring point error. Error reset. Alarm Alarm Alarm Alarm on on
point 1Q. 1Q.
failure
Auto
Measuring point was not taken from Please perform taking measuring point from point
5335 Calibration Measuring point error. Error reset. Alarm Alarm Alarm Alarm on on
point 1A. 1A.
failure
This error occurs when the minimum
value of speed monitoring value
Sensor Abnormal setting of the Review the minimum and maximum value of the
5400 exceeds the maximum value in the Error reset. Alarm Alarm Alarm Alarm on on
failure speed monitoring range speed monitoring value.
condition settings for the adaptive
control.
This error occurs when the minimum
value of current monitoring value
Sensor Abnormal setting of the Review the minimum and maximum value of the
5401 exceeds the maximum value in the Error reset. Alarm Alarm Alarm Alarm on on
failure current monitoring range current monitoring value.
condition settings for the adaptive
control.
This error occurs when the minimum
value of voltage monitoring value
Sensor Abnormal setting of the Review the minimum and maximum value of the
5402 exceeds the maximum value in the Error reset. Alarm Alarm Alarm Alarm on on
failure voltage monitoring range voltage monitoring value.
condition settings for the adaptive
control.
An illegal setting change of an
adaptive condition was done in the
tracking section. Effective and the Please confirm the specified LSR file number.
Sensor Adaptive condition setting
5403 invalidity of an adaptive control Please confirm the content of the LSR file set when Error reset. Alarm Alarm Alarm Alarm on on
failure error
cannot be switched in the tracking the specified number is correct.
section, and the number of samples
of moving averages be changed.

Weaving amplitude specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive weaving adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is
5404 Error reset. Alarm Alarm Alarm Alarm on on
failure amplitude over amplitude watch value of adaptive OK, increase maximum amplitude watch value of
control. adaptive control.

This error occurs when the

difference between the target Check the target posture If no problems exist,
Sensor ZF Posture Deviation
5406 posture calculated by ZF instruction moodify(enlarge) the ZF parameters or program to Error reset. Alarm Alarm Alarm Alarm on on
failure range exceeded.
and the taught posture exceeds rectify error.
Posture deviation range.

Target position calculated by ZN

Sensor Maximum distance in ZN command is out of the movable area
5408 Decrease the maximum distance in ZN command. Error reset. Alarm Alarm Alarm Alarm on on
failure command is too long. because Maximum distance in ZN
command is too long.

(1)Modify(enlarge) stable waiting time to rectify

error. (2)Modify the teaching point so that the groove
Sensor The stability waiting time was is within the field of view of laser. (3)When the
5410 Stability waiting time over Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded. groove is within the field of view, modify the
parameters by the software attached to the sensor
so that the groove is detected normally.

This error occurs when the distance

Check detected position. If no problems exist,
Sensor ZJ Deviation range between the detected point and ZJ
5411 modify(enlarge) the ZJ deviation range parameter or Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded reference point exceeded the
program to rectify error.
deviation range.

Wire Speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor Adaptive Wire Speed control exceeds maximum wire sensor controller by WinUser. If the spreadsheet is
5412 Error reset. Alarm Alarm Alarm Alarm on on
failure Over speed watch value of adaptive OK, increase maximum wire speed watch value of
control. adaptive control.

Wire speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor Adaptive Wire Speed control becomes lower than sensor controller by WinUser. If the spreadsheet is
5413 Error reset. Alarm Alarm Alarm Alarm on on
failure Short minimum wire speed watch value of OK, decrease minimum wire speed watch value of
adaptive control. adaptive control.

Sensor Detected area is exceeded beyond Check the area watch value(maximum) and enlarge
5414 Area Over Error reset. Alarm Alarm Alarm Alarm on on
failure maximum allowable value. if needed.

Sensor Detected area becomes lower than Check the area watch value(minimum) and
5415 Area Short Error reset. Alarm Alarm Alarm Alarm on on
failure minimum allowable value. decrease if needed.

Sensor Detected mismatch is exceeded Check the mismatch watch value(maximum) and
5416 Mismatch Over Error reset. Alarm Alarm Alarm Alarm on on
failure beyond maximum allowable value. enlarge if needed.

Sensor Detected mismatch becomes lower Check the mismatch watch value(minimum) and
5417 Mismatch Short Error reset. Alarm Alarm Alarm Alarm on on
failure than minimum allowable value. decrease if needed.

It differs from the position in which

Sensor Search position was Please execute the trial movement or the edit, and
5418 search position obtained reference Error reset. Alarm Alarm Alarm Alarm on on
failure changed. get reference position again.
position.

4-82
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

SF8 Max. Contents of the register specified in Check contents of the register specified in SF8. If
Sensor
5419 Compensative-Surveilan SF8 exceeded beyond Max. there is no problem, increase Max. Error reset. Alarm Alarm Alarm Alarm on on
failure
ce val. Over Compensative-Surveilance val. Compensative-Surveilance val. in SF8.

SF8 Min. Contents of the register specified in Check contents of the register specified in SF8. If
Sensor
5420 Compensative-Surveilan SF8 becomes lower than Min. there is no problem, decrease Min. Error reset. Alarm Alarm Alarm Alarm on on
failure
ce val. Short Compensative-Surveilance val. Compensative-Surveilance val. in SF8.

Contact our service department. Back up files to

It leaves the final instruction position
Sensor The touch detection point external CF memory. Because the robot stop step is Turn on the power
5421 too much the position in which the Alarm Alarm Alarm Alarm on on
failure is abnormal. different to the execute step, step-set must be again.
touch signal was detected.
needed for restart.

Check the lists of the specified spreadsheet in the

EN ratio specified by adaptive
Sensor sensor controller by WinUser. If the spreadsheet is
5422 Adaptive EN Ratio Over control exceeds maximum EN ratio Error reset. Alarm Alarm Alarm Alarm on on
failure OK, increase maximum EN ratio watch value of
watch value of adaptive control.
adaptive control.

EN ratio specified by adaptive Check the lists of the specified spreadsheet in the
Sensor control becomes lower than sensor controller by WinUser. If the spreadsheet is
5423 Adaptive EN Ratio Short Error reset. Alarm Alarm Alarm Alarm on on
failure minimum EN ratio watch value of OK, decrease minimum EN ratio watch value of
adaptive control. adaptive control.

This error occurs when the minimum

Abnormal setting of the value of EN ratio monitoring value
Sensor Review the minimum and maximum value of the EN
5424 EN Ratio monitoring exceeds the maximum value in the Error reset. Alarm Alarm Alarm Alarm on on
failure ratio monitoring value.
range condition settings for the adaptive
control.
This error occurs when the minimum
Abnormal setting of the value of Wire speed monitoring
Sensor Review the minimum and maximum value of the
5425 Wire speed monitoring value exceeds the maximum value Error reset. Alarm Alarm Alarm Alarm on on
failure Wire speed monitoring value.
range in the condition settings for the
adaptive control.

Sensor Detected Normal angle is exceeded Check that Normal angle amount and modify
5426 Normal Angle Over Error reset. Alarm Alarm Alarm Alarm on on
failure beyond maximum allowable value. allowable value if needed.

Detected Normal angle becomes

Sensor Check that Normal angle amount and modify
5427 Normal Angle Short lower than minimum allowable Error reset. Alarm Alarm Alarm Alarm on on
failure allowable value if needed.
value.
This error occurs when the sensor
Sensor Sensor kind is Check that sensor settings and /or teaching
5428 kind in the sensor step does not Reset failure. Alarm Alarm Alarm Alarm on on
failure mismatched. programs.
meet that of the connected sensor.

(1) Please correct specified Aim Angle and Lad

Angle. (2) Please confirm whether detected Joint
The target position and posture
Normal Angle is an expected angle with the GAP
The target position and were not able to be calculated
Sensor file. It is likely to become Joint Normal not
5429 posture cannot be according to the detection value of Error reset. Alarm Alarm Alarm Alarm on on
failure anticipated according to the state of Groove. (3) It is
calculated. the sensor, taught aim angle and the
likely to become this abnormality when the absolute
lag angle.
amount of the offset is too large at two point search.
Please reduce it in that case.

Playback unavailable Error occurs when it is not able to

Operational user task program start user task program ,because
5430 Please confirm the starting condition of user task. Error reset. Alarm Alarm Alarm Alarm on on
failure because it is being used used all user task or not exist user
all user task. task program.

Sensor Tracking condition file The condition file specified by the Please create the tracking condition file or edit the
5439 Error reset. Alarm Alarm Alarm Alarm on on
failure doesn't exist. tracking function doesn't exist. program.

For the traveling direction of the

Sensor Tracking direction cannot torch is parallel to the direction of
5440 Please change tracking coordinates. Error reset. Alarm Alarm Alarm Alarm on on
failure be defined. gravity, tracking direction cannot be
defined.
Please correspond whether to lengthen the welding
The welding length of Test Trackinig was not able to be length or to slow down the speed or to raise the
Sensor No reset operations
5441 Test Tracking is completed normally, because the weaving frequency or to reduce one section Alarm Alarm Alarm Alarm off on
failure neccesary.
insufficient. welding length was insufficient measurement frequency of the Test Tracking
setting.

Sensor Test Tracking is discontinued for No reset operations

5442 Test Tracking is stopped. Please OFF both sensor and weaving. Alarm Alarm Alarm Alarm off on
failure sensor OFF or weaving OFF. neccesary.

Reboot robot controller. Still, there is a possibility

Sensor Data was not able to be sent to the Turn on the power
5443 Data Sending Error. that the increase serial board has been damaged Alarm Alarm Alarm Alarm on on
failure sensor. again.
when not released.

(1)Please confirm the connection of the cable

Sensor Sensor Receive Data NAK frame was received from the between the robot controller system and the arc
5444 Error reset. Alarm Alarm Alarm Alarm on on
failure Error. sensor. sensor unit. (2)Still, when it is not released, Control
power supply is re-switched on.

(1)Please confirm the connection of the cable

After removal of
Sensor An abnormal frame was received between the robot controller system and the arc
5445 Sensor Send Data Error. failure, please carry Alarm Alarm Alarm Alarm on on
failure from the sensor. sensor unit. (2)Still, when it is not released, Control
out "failure-reset".
power supply is re-switched on.

4-83
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Please confirm the connection of the cable

After removal of
Sensor Response command from the between the robot controller system and the arc
5446 No Sensor Response. failure, please carry Alarm Alarm Alarm Alarm on on
failure sensor was not able to be received. sensor unit. (2)Still, when it is not released, Control
out "failure-reset".
power supply is re-switched on.

After removal of
Sensor
5447 Sensor ID error. Illegal Sensor ID. Please confirm the sensor setting. failure, please carry Alarm Alarm Alarm Alarm on on
failure
out "failure-reset".

The controller could not Reboot robot controller and sensor unit. In case that Reboot robot
Sensor The controller could not
5448 communicate with the the error still occurs after rebooting, check the controller and Error Error Error Error on on
failure communicate with the sensor unit.
Sensor unit. connection of the sensor unit to the controller. sensor unit.

The result of an online modification Please set 0 to current response after executing the
Sensor ST instruction or the
5449 cannot be applied to the sample test tracking. If TIG-AVC, set 0 to arc standard Error reset. Alarm Alarm Alarm Alarm on on
failure sample data file is wrong.
data. voltage.

Please confirm whether the extended Ethernet card

is correctly installed. Or, please confirm whether the
MAC address is correctly set. Still, there is a
Sensor It failed in the start of extended
5450 Extended Ethernet Error possibility that the version of OS is old when this Reset failure. Alarm Alarm Alarm Alarm on on
failure Ethernet.
abnormality occurs. Please contact our service
department after confirming the version number of
OS etc. Back up files to external CF memory.

Abnormality concerning the lens Please confirm whether the protective lens is
Sensor
5451 Sensor Lens Error was detected with the sensor correctly installed. Please wipe dirt off when the Reset failure. Alarm Alarm Alarm Alarm on on
failure
camera. protective lens is dirty or exchange it for a new lens.

Please treat it according to the instruction of the

manual when abnormality is displayed on the
display of the sensor.Please put the power supply of
The sensor detected the error
Sensor the sensor and the controller again when
5452 Sensor Interface Error concerning the telecommunication Reset failure. Alarm Alarm Alarm Alarm on on
failure abnormality is not displayed. Please contact our
control.
service after confirming the version of the sensor
and the controller when same abnormality is
displayed afterward.

Please drop the power supply of the sensor, and put

An internal abnormal temperature
Sensor time for a while at once. Please turn on the power
5453 Sensor Hot Alarm was detected with the sensor Reset failure. Alarm Alarm Alarm Alarm on on
failure supply again after falling the temperature of the
camera.
camera.
Please execute it after turning on the laser light.
Please check whether cables are correctly
Sensor
5454 Laser OFF The Laser is disabled. connected when it doesn't turn on the laser light. Or, Reset failure. Alarm Alarm Alarm Alarm on on
failure
please put the power supply of the sensor and the
controller again.

(1)Please specify the task number made with

WeldCom. (2)Please make the task library of the
Sensor The task number is The specified task number doesn't
5455 specified task number with WeldCom. (3)Please Reset failure. Alarm Alarm Alarm Alarm on on
failure wrong. exist in the sensor.
load the task library file where the specified task
number exists into the sensor by using WeldCom.

(1) Please correct specified Aim Angle and Lead

The calculated target posture has Angle. (2) Please confirm whether detected Joint
greatly changed into the posture Normal Angle is an expected angle with the GAP
Sensor The posture change when groove is detected. And, when file. It is likely to become Joint Normal not
5456 Reset failure. Alarm Alarm Alarm Alarm on on
failure amount is excessive. the amount of the change exceeds anticipated according to the state of Groove. (3)
the posture change over watch Check that actual posture change amount and
value, this alarm is detected. modify the posture change over watch value if
needed.

Installation Angle is Installation Angle is updated by Check [Constant Setting]->[12 Format and No reset operations
5500 User failure Alarm Alarm Alarm Alarm on on
updated. request from OLP. Configuration]->[5 Installation Angle]. neccesary.

Tool Constants are Tool Constants are updated by Check [Constant Setting]->[3 Machine No reset operations
5501 User failure Alarm Alarm Alarm Alarm on on
updated. request from OLP. Constants]->[1 Tool Constants]. neccesary.

Playback unavailable Error occurs when it is not able to

Operational user task program start user task program ,because Informati Informati Informati Informati
5510 Please confirm the starting condition of user task. Error reset. on on
failure because it is being used used all user task or not exist user on on on on
all user task. task program.
It generates, when it is going to use
Operational No reset operations
5701 Option un-setting up. the option function which is not set Please set up an option. Alarm Alarm Alarm Alarm on on
failure neccesary.
up.

Operational Movement in a return position or a No reset operations

5702 It cannot re-start. Please re-start after a step-set out of the section. Alarm Alarm Alarm Alarm on on
failure section state cannot be resumed. neccesary.

The input-and-output This error occurs when the

5703 Shift failure Set up an input-and-output signal. Error reset. Alarm Alarm Alarm Alarm on on
signal is not set up. input-and-output signal is not set up.

4-84
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Abnormality occurred by Please the parity bit of the shift input signal must
The value of the shift input signal is No reset operations
5704 Shift failure the parity check of the normally input or confirm whether the noise has Alarm Alarm Alarm Alarm on on
not steady. neccesary.
shift input signal. gotten on the signal.

This function command cannot be

Other units are running
5705 Shift failure performed while running the Please perform again after stopping all units. Error reset. Alarm Alarm Alarm Alarm on on
program.
program of other units.

It generates when it is going to use

Operational No reset operations
5706 Application isn't set up. the application function which is not Please set up the correct Application. Alarm Alarm Alarm Alarm on on
failure neccesary.
set up.

The amount of movements of

The weaving trajectory weaving pattern data large, or
Arc weld Please correct the amount of movements of No reset operations Informati Informati Informati Informati
6005 exceeded regulation frequency (speed) was large, the on on
failure weaving, or frequency (speed). neccesary. on on on on
speed. speed of a weaving trajectory
exceeded regulation speed.
The amount of posture Move posture
The amount of change of the
Arc weld change of taught weaving Please correct posture change of taught weaving change Informati Informati Informati Informati
6006 posture of weaving pattern data is on on
failure exceeded the restriction pattern data. restriction-within the on on on on
too large.
value. limits.

The difference between the welding Check the welding conditions(wire extension etc).
current value measured by the There is possibility of missmatch the welding
The welding current value
Arc weld welding power supply and the characteristic data to your environment if this failure No reset operations Informati Informati Informati Informati
6010 has exceeded the on on
failure taught one has exceeded the occurs over and over again. In such case, adjust the neccesary. on on on on
allowable limit.
allowable limit set by the arc welding characteristic data by the adjudstment of
constants. welding condition function etc.

The difference between the welding Check the welding conditions(wire extension etc).
voltage value measured by the There is possibility of missmatch the welding
The welding voltage
Arc weld welding power supply and the characteristic data to your environment if this failure No reset operations Informati Informati Informati Informati
6011 value has exceeded the on on
failure taught one has exceeded the occurs over and over again. In such case, adjust the neccesary. on on on on
allowable limit.
allowable limit set by the arc welding characteristic data by the adjudstment of
constants. welding condition function etc.

Arc weld Check the workpiece's condition, wire's condition, No reset operations Informati Informati Informati Informati
6014 Arc start failure. No arc is generated after retrying. on on
failure and connection of the cable. neccesary. on on on on

Eliminate all causes of arc outage, for instance by

Arc weld No reset operations Informati Informati Informati Informati
6015 Arc outage was detected. Arc outage occurred during welding. adjusting the wedling conditions, fixing wire feed on on
failure neccesary. on on on on
failure, and so on.

Arc weld No reset operations Informati Informati Informati Informati

6016 Wire stick was detected. Wire is stuck. Cut stuck wire. on on
failure neccesary. on on on on

Arc weld Wire shortage was No reset operations Informati Informati Informati Informati
6019 Not enough wire signal is inputted. Supply wire. on on
failure detected. neccesary. on on on on

Input voltage shortage The primary input voltage of the Refer to the instruction manual of the welding power
Arc weld No reset operations Informati Informati Informati Informati
6024 failure ocurred in the welding power supply has supply(Failure Name: Input voltage shortage) and on on
failure neccesary. on on on on
welding power supply. decreased. eliminate all causes.

The load of wire feed It exceeded the allowable value A load is on the wire feed department by wear of the
Arc weld No reset operations Informati Informati Informati Informati
6043 exceeded allowable which the load of wire feed was set liner, the chip defect, and so on. Get rid of load on on
failure neccesary. on on on on
value. up to by the welding fixed number. factors.

The battery of welding

Arc weld The battery of welding power supply Exchange a battery because it can't be connected No reset operations Informati Informati Informati Informati
6044 power supply is on on
failure is exhausted. any more with the welding power supply. neccesary. on on on on
exhausted.

Arc weld WCR of W-I/F had connected too Please check the state of W-I/F, and a welding No reset operations Informati Informati Informati Informati
6054 WCR Short-circuit Error on on
failure hastily at the time of an arc start. power supply. neccesary. on on on on

The cooler fan failure Refer to the instruction manual of the welding power
Arc weld The cooler fan's rotation has fallen No reset operations Informati Informati Informati Informati
6074 ocurred in the welding supply(Failure Name: The cooler fan failure) and on on
failure or it stops. neccesary. on on on on
power supply. eliminate all causes.

It was going to start the It will generate, if the unit containing

Operational Please start after waiting for the completion of No reset operations Informati Informati Informati Informati
6080 unit containing the the resources under starting is on on
failure starting. neccesary. on on on on
resources under starting. started.

Communication timeout
Arc weld The contollor of the welding power No reset operations Informati Informati Informati Informati
6085 occurred inside the Check the route of cable and ground connection. on on
failure supply didn't respond. neccesary. on on on on
welding power supply.

Arc weld The pilot arc outage is No reset operations Informati Informati Informati Informati
6106 The pilot arc outage occurred. Check the connection condition of the cable. on on
failure abnormal. neccesary. on on on on

4-85
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Arc weld Setting error of the failure The failure limit by the rate cannot No reset operations Informati Informati Informati Informati
6107 In the welding constant, please set a relative value. on on
failure limit type. be set by the version of this welder. neccesary. on on on on

Please check follows. (1)Turn off the purge(cleaning

Arc weld The pilot arc was not able to be gas). (2)Release the emergency stop. (3)Reset No reset operations Informati Informati Informati Informati
6108 Pilot arc ON error. on on
failure turned on. plasma unit/WPS error. (4)Set weld ON. (5)Set the neccesary. on on on on
registration of welder "PlasmaDA" or "PlasmaWPS".

Please check follows. (1)Turn off the pilot arc.

Arc weld Purge(Cleaning gas) ON The purge(cleaning gas) was not No reset operations Informati Informati Informati Informati
6109 (2)Release the emergency stop. (3)Reset plasma on on
failure error. able to be turned on. neccesary. on on on on
unit error.

The management of the The arc welding power supply

Arc weld consumption of the wire doesn't correspond to the The upgrade should do the software of the arc No reset operations Informati Informati Informati Informati
6116 on on
failure of the user maintenance management of the consumption of welding power supply. neccesary. on on on on
function cannot be used. the wire.

The arc welding power supply The upgrade should do the software of the arc
Arc weld The Gas OFF Delay No reset operations Informati Informati Informati Informati
6117 doesn't correspond to the Gas Off welding power supply. Or, please set the Gas OFF on on
failure function cannot be used. neccesary. on on on on
Delay function. Delay time to 0.

The difference between the gas

mass flow value measured by the
The gas mass flow value Please confirm the remainder pressure of gas
Arc weld welding power supply and the No reset operations Informati Informati Informati Informati
6121 has exceeded the cylinder, the piping of the gas, and the setting of the on on
failure taught one has exceeded the neccesary. on on on on
allowable limit. gas mass flow control unit.
allowable limit set with the
controller.

The gas pressure measured in the

The gas pressure value Please confirm the remainder pressure of gas
Arc weld arc welding power supply exceeded No reset operations Informati Informati Informati Informati
6122 has exceeded the cylinder, the piping of the gas, and the setting of the on on
failure the limiting value set with the neccesary. on on on on
allowable limit. gas mass flow control unit.
controller.

Please confirm the residual quantity of the gas

Arc weld The set gas mass flow is The set gas mass flow was not No reset operations Informati Informati Informati Informati
6123 cylinder, the piping of the gas, and the setting of the on on
failure not output. output in specified time. neccesary. on on on on
gas mass flow control unit.
The speed of the wire measured in
The speed of the wire the arc welding power supply has Please confirm whether an excessive load contracts
Arc weld No reset operations Informati Informati Informati Informati
6140 speed has exceeded the exceeded the allowable limit at the the wire feeder. Please contact our customer service on on
failure neccesary. on on on on
allowable limit. speed of the wire that the arc center when the permissible value is large.
welding power supply output.
There is not becoming empty in the
Arc weld The welding redorder No reset operations Informati Informati Informati Informati
6141 memory that memorizes the welding Please reduce the number of record data. on on
failure function cannot be used. neccesary. on on on on
record data.

Arc weld The welding record file The file cannot be made because No reset operations Informati Informati Informati Informati
6142 Please secure the free space of the device. on on
failure cannot be made. there is no free space of the device. neccesary. on on on on
The threshold specified under the
Arc weld welding record condition was Please confirm the arc welding construction No reset operations Informati Informati Informati Informati
6143 Threshold trigger on on
failure detected in the arc welding power condition. neccesary. on on on on
supply.
It was not a connection to the FTP
server that was saving device for a
Arc weld Welding recorder cannot welding recorder. Or, neither an Please confirm host name, user ID, password, and No reset operations Informati Informati Informati Informati
6144 on on
failure connect to FTP server. initial folder nor the folder of this initial folder of ftp client. neccesary. on on on on
name existed on the home directory
of the FTP server.
The welding recorder cannot save
Abnormality occurred record file. The storage medium is
Arc weld No reset operations Informati Informati Informati Informati
6145 while saving the welding not prepared, and read-only and Please confirm the state of the storage medium. on on
failure neccesary. on on on on
record file. memory capacity shortage, etc. are
thought.
The load of filler feed The filler feed load has exceeded
Arc weld A load is on the filler feeder by wear of the liner, the No reset operations Informati Informati Informati Informati
6147 exceeded allowable the allowable value set in the arc on on
failure chip defect, and so on. Remove the factors. neccesary. on on on on
value. constant.

This failure occurs when the start

Sensor (1)Check the groove recognization by WinUser. Informati Informati Informati Informati
6237 Start Point un-detected point is not detected during ZF Error reset. on on
failure (2)Enlarge the ZF maximum search range. on on on on
search.

Do not modify the position and posture of the robot

Sensor Cannot restart during Informati Informati Informati Informati
6238 Cannot restart during seam tracking. when the robot is stopped in ZT period if the Error reset. on on
failure seam tracking. on on on on
restarting is required.

This error occurs when the distance

Check detected position. If no problems exist,
Sensor ZF Deviation range between the detected start point and Informati Informati Informati Informati
6239 moodify(enlarge) the ZF deviation range parameter Error reset. on on
failure exceeded ZF taught point exceeded the on on on on
or program to rectify error.
deviation range.

Sensor ZF search range This error occurs when the robot Modify(enlarge) the search range or program to Informati Informati Informati Informati
6240 Error reset. on on
failure exceeded moves beyond search range rectify error. on on on on

This error occurs when the robot Check the target position If no problems exist,
Sensor ZT Position Deviation Informati Informati Informati Informati
6241 moves beyond Position deviation moodify(enlarge) the ZT parameters or program to Error reset. on on
failure range exceeded on on on on
range rectify error.

4-86
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

This error occurs when the robot

Sensor ZN Search range Modify(enlarge) the ZN search range or program to Informati Informati Informati Informati
6243 moves beyond search range during Error reset. on on
failure exeeced. rectify error. on on on on
ZN.

This error occurs when the distance

Check the detected point. If no problems exist,
Sensor Deviation range between the detected end point and Informati Informati Informati Informati
6245 Modify(enlarge) the deviation range or program to Error reset. on on
failure exceeded. taught point before ZE exceeded the on on on on
rectify error.
deviation range.

This error occurs when the robot Check the target posture If no problems exist,
Sensor ZT Posture Deviation Informati Informati Informati Informati
6249 moves beyond Posture deviation moodify(enlarge) the ZT parameters or program to Error reset. on on
failure range exceeded on on on on
range rectify error.

(1)Check that LASER power is ON.(2)Check the

cable between Laser Sensor Unit and Sensor Head Take
Sensor Informati Informati Informati Informati
6261 Groove un-detected. Groove cannot be detected. is connected properly.(3)Check the cable between countermeasures on on
failure on on on on
Robot Controller and Laser Sensor Unit is and reset failure.
connected properly.

Welding current specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding current adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6294 Error reset. on on
failure over current watch value of adaptive OK, increase maximum current watch value of on on on on
control. adaptive control.

Welding current specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding current adaptive control becomes lower sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6295 Error reset. on on
failure short than minimum current watch value OK, decrease minimum current watch value of on on on on
of adaptive control. adaptive control.

Welding voltage specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding voltage adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6296 Error reset. on on
failure over voltage watch value of adaptive OK, increase maximum voltage watch value of on on on on
control. adaptive control.

Welding voltage specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding voltage adaptive control becomes lower sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6297 Error reset. on on
failure short than minimum voltage watch value OK, decrease minimum voltage watch value of on on on on
of adaptive control. adaptive control.

Check the lists of the specified spreadsheet in the

Travel speed specified by adaptive
Sensor Adaptive travel speed sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6298 control exceeds maximum speed Error reset. on on
failure over OK, increase maximum speed watch value of on on on on
watch value of adaptive control.
adaptive control.

Travel speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor Adaptive travel speed control becomes lower than sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6299 Error reset. on on
failure short minimum speed watch value of OK, decrease minimum speed watch value of on on on on
adaptive control. adaptive control.

Sensor This error occurs when the robot Modify(enlarge) the search range or program to No reset operations Informati Informati Informati Informati
6300 Search range exceeded. on on
failure moves beyond search range rectify error. neccesary. on on on on
This error occurs when the robot
Sensor Modify(shorten) the search range or program to No reset operations Informati Informati Informati Informati
6301 Search range is short detect the touch status within on on
failure rectify error. neccesary. on on on on
minimum search range.
Sensor Deviation range This error occurs when the robot Modify(enlarge) the deviation range or program to No reset operations Informati Informati Informati Informati
6302 on on
failure exceeded. moves beyond deviation range rectify error. neccesary. on on on on

Sensor Detected gap is exceeded beyond Check that gap amount and modify allowable value Informati Informati Informati Informati
6303 Gap Over Error reset. on on
failure maximum allowable value. if needed. on on on on

Sensor Detected gap becomes lower than Check that gap amount and modify allowable value Informati Informati Informati Informati
6304 Gap short Error reset. on on
failure minimum allowable value. if needed. on on on on

Sensor Detected groove depth is exceeded Check that groove depth amount and modify Informati Informati Informati Informati
6305 Groove depth over Error reset. on on
failure beyond maximum allowable value. allowable value if needed. on on on on

Detected groove depth becomes

Sensor Check that groove depth amount and modify Informati Informati Informati Informati
6306 Groove depth short lower than minimum allowable Error reset. on on
failure allowable value if needed. on on on on
value.

Sensor Detected angle1 is exceeded Check that angle1 amount and modify allowable Informati Informati Informati Informati
6307 Angle1 over Error reset. on on
failure beyond maximum allowable value. value if needed. on on on on

4-87
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
Sensor Detected angle1 becomes lower Check that angle1 amount and modify allowable Informati Informati Informati Informati
6308 Angle1 short Error reset. on on
failure than minimum allowable value. value if needed. on on on on
Sensor Detected angle2 is exceeded Check that angle2 amount and modify allowable Informati Informati Informati Informati
6309 Angle2 over Error reset. on on
failure beyond maximum allowable value. value if needed. on on on on
Sensor Detected angle2 becomes lower Check that angle2 amount and modify allowable Informati Informati Informati Informati
6310 Angle2 short Error reset. on on
failure than minimum allowable value. value if needed. on on on on

Sensor Informati Informati Informati Informati

6311 Groove un-detected Groove position cannot be detected Check setting parameters in GFF file. Error reset. on on
failure on on on on

Sensor This error occurs when measured Check that target surface condition and/or Informati Informati Informati Informati
6312 Unstable detection Error reset. on on
failure data is unstable. measurement angle. on on on on

(1) Please correct specified Aim Angle and Lad

Angle. (2) Please confirm whether detected Joint
The target position and posture
Normal Angle is an expected angle with the GAP
The target position and were not able to be calculated
Sensor file. It is likely to become Joint Normal not No reset operations Informati Informati Informati Informati
6329 posture cannot be according to the detection value of on on
failure anticipated according to the state of Groove. (3) It is neccesary. on on on on
calculated. the sensor, taught aim angle and the
likely to become this abnormality when the absolute
lag angle.
amount of the offset is too large at two point search.
Please reduce it in that case.

Error is activated when the case that

Correction amount by Check that currect torch position. If it is OK, extend
Sensor correction amount by the sensor Informati Informati Informati Informati
6330 arc-sensor exceeds the value CHASING RANGE in teaching parameter. Error reset. on on
failure exceeds the specified value in on on on on
specified value. If it is NG, try to adjust sensor parameters.
teaching parameter.
Calculation turns to This error is activated when stability
Sensor Informati Informati Informati Informati
6331 unstable during of welding arc decreased Check that welding condition to be stable. Error reset. on on
failure on on on on
arc-sensing process. significantly.
This error is activated when the
deviation detection cannot be
Sensor Welding position cannot Informati Informati Informati Informati
6332 calculated during arc-sensing Try to re-adjust sensing parameters. Error reset. on on
failure be detected on on on on
process. Note that position
correction is not executed.

Wire-feeding status turn to unstable.

Sensor Informati Informati Informati Informati
6333 Unstable wire-feeding. Deviation is lager than specified Check that equipments for wire feeding. Error reset. on on
failure on on on on
value.

Sensor The instruction parameter of ST It improves whether each parameter is setting within Informati Informati Informati Informati
6334 ST parameter error. Error reset. on on
failure command is over the setting range. the limits. on on on on

This error occurs when the distance

Check detected position. If no problems exist,
Sensor ZJ Deviation range between the detected point and ZJ Informati Informati Informati Informati
6335 modify(enlarge) the ZJ deviation range parameter or Error reset. on on
failure exceeded reference point exceeded the on on on on
program to rectify error.
deviation range.

Wire Speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor Adaptive Wire Speed control exceeds maximum wire sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6336 Error reset. on on
failure Over speed watch value of adaptive OK, increase maximum wire speed watch value of on on on on
control. adaptive control.

Wire speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor Adaptive Wire Speed control becomes lower than sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6337 Error reset. on on
failure Short minimum wire speed watch value of OK, decrease minimum wire speed watch value of on on on on
adaptive control. adaptive control.

Sensor Detected area is exceeded beyond Check the area watch value(maximum) and enlarge Informati Informati Informati Informati
6338 Area Over Error reset. on on
failure maximum allowable value. if needed. on on on on

Sensor Detected area becomes lower than Check the area watch value(minimum) and Informati Informati Informati Informati
6339 Area Short Error reset. on on
failure minimum allowable value. decrease if needed. on on on on

Sensor Detected mismatch is exceeded Check the mismatch watch value(maximum) and Informati Informati Informati Informati
6340 Mismatch Over Error reset. on on
failure beyond maximum allowable value. enlarge if needed. on on on on

4-88
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Sensor Detected mismatch becomes lower Check the mismatch watch value(minimum) and Informati Informati Informati Informati
6341 Mismatch Short Error reset. on on
failure than minimum allowable value. decrease if needed. on on on on

Check the lists of the specified spreadsheet in the

EN ratio specified by adaptive
Sensor sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6342 Adaptive EN Ratio Over control exceeds maximum EN ratio Error reset. on on
failure OK, increase maximum EN ratio watch value of on on on on
watch value of adaptive control.
adaptive control.

EN ratio specified by adaptive Check the lists of the specified spreadsheet in the
Sensor control becomes lower than sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6343 Adaptive EN Ratio Short Error reset. on on
failure minimum EN ratio watch value of OK, decrease minimum EN ratio watch value of on on on on
adaptive control. adaptive control.

Sensor Detected Normal angle is exceeded Check that Normal angle amount and modify Informati Informati Informati Informati
6344 Normal Angle Over Error reset. on on
failure beyond maximum allowable value. allowable value if needed. on on on on

Detected Normal angle becomes

Sensor Check that Normal angle amount and modify Informati Informati Informati Informati
6345 Normal Angle Short lower than minimum allowable Error reset. on on
failure allowable value if needed. on on on on
value.

Weaving amplitude specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive weaving adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is Informati Informati Informati Informati
6404 Error reset. on on
failure amplitude over amplitude watch value of adaptive OK, increase maximum amplitude watch value of on on on on
control. adaptive control.

Battery remainder
The capacity of the battery of the Please connect with the cradle, and charge with the No reset operations Informati Informati Informati Informati
6448 TP failure amount shortage of the off off
wireless T/P has decreased. battery. neccesary. on on on on
wireless T/P.

Wireless strength
Wireless strength of the wireless No reset operations Informati Informati Informati Informati
6449 TP failure shortage of th wireless Please bring the wireless T/P close to the controller. off off
T/P has weakened. neccesary. on on on on
T/P

7000 User failure User failure. User failure. Please carry out "failure-reset". Error reset. Error Error Error Error on on

The robot's joint angle The robot's joint angle was not in Contact our service department. Back up files to
Emergency before and behind a agreement at the starting point of external CF memory. Because the robot stop step is
9001 Error reset. Alarm Error Alarm Error on on
stop failure record point was not in this step and the target point of this different to the execute step, step-set must be
agreement. step. needed for restart.

The result which added the amount

Contact our service department. Back up files to
of step movements to the robot's
Emergency The amount of step external CF memory. Because the robot stop step is
9002 joint angle in a starting point is not in Error reset. Alarm Error Alarm Error on on
stop failure movements is abnormal. different to the execute step, step-set must be
agreement with the robot joint angle
needed for restart.
in a target point.

Modify abnormal axis motion to be minimized.

Abnormal velocity Contact our service department in case axis motion After removal of
Operational Abnormal velocity command data is
9003 command. Modify is not so big. Back up files to external CF memory. failure, please carry Error Error Error Error on on
failure calculated.
abnormal axis motion. Because the robot stop step is different to the out "failure-reset".
execute step, step-set must be needed for restart.

(1)Please confirm whether the robot manipulator

This failure occurs when the
interferes in something.(2)Please confirm that the After removal of
deviation between the command
9005 Servo failure Position Deviation error Pay-load is within the nominal rating.(3)If failure failure, please carry Error Error Error Error on on
and encoder data position exceeds
persists, the problem may be a mechanical defect in out "failure-reset".
the set permissible deviation.
the manipulator, contact our service department.

After setting correct

Emergency This failure occurs when the step Contact our service department. Back up files to
9006 Step order error step, please carry Error Error Error Error on on
stop failure order is abnormal. external CF memory.
out "failure-reset".

The robot's joint angle The robot joint angle of this step Contact our service department. Back up files to
Emergency before and behind a starting point and the robot joint external CF memory. Because the robot stop step is Turn on the power
9011 Error Error Error Error on on
stop failure record point was not in angle of the last step target point is different to the execute step, step-set must be again.
agreement. different. needed for restart.

4-89
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

The result which added the amount

Contact our service department. Back up files to
of step movements to the robot's
Emergency The amount of step external CF memory. Because the robot stop step is Turn on the power
9012 joint angle in a starting point is not in Error Error Error Error on on
stop failure movements is abnormal. different to the execute step, step-set must be again.
agreement with the robot joint angle
needed for restart.
in a target point.

Contact our service department. Back up files to

CPU board Error of Interpolation Motion control section detected the external CF memory. Because the robot stop step is
9020 Error reset. Error Error Error Error on on
failure Stop. Time-out Error of Interpolation Stop. different to the execute step, step-set must be
needed for restart.

Contact our service department. Back up files to

CPU board Error of Waiting for Robot has not arrived at target external CF memory. Because the robot stop step is
9021 Error reset. Error Error Error Error on on
failure arriving of target position. position. different to the execute step, step-set must be
needed for restart.

Contact our service department. Back up files to

Error of Waiting for
CPU board Robot has not arrived at target external CF memory. Because the robot stop step is
9022 arriving of accuracy Error reset. Error Error Error Error on on
failure position accurately. different to the execute step, step-set must be
position.
needed for restart.

Contact our service department. Back up files to

CPU board Error of interruption of external CF memory. Because the robot stop step is
9023 Position Command interrupted. Error reset. Error Error Error Error on on
failure Position Command. different to the execute step, step-set must be
needed for restart.

CPU board Error of mechanism Motion control section didn't acquire Contact our service department. Back up files to
9024 Error reset. Error Error Error Error on on
failure resource acquisition. mechanism resource. external CF memory.

Contact our service department. Back up files to

CPU board Robot speed does not become external CF memory. Because the robot stop step is
9025 Safety slow speed error Error reset. Error Error Error Error on on
failure safety level. different to the execute step, step-set must be
needed for restart.

Contact our service department. Back up files to

CPU board Stop command of Motion control external CF memory. Because the robot stop step is
9026 Stop Release error Error reset. Error Error Error Error on on
failure section was not released. different to the execute step, step-set must be
needed for restart.

This error may be avoidable by changing program.

Ex. (1)A Delay command (Fn50) is inserted before
the step which the error generated, (2)Movement
command of the same point is inserted,
CPU board It became impossible to continue (3)Movement command is changed into the
9027 System freezing Error reset. Error Error Error Error on on
failure the playback of a program. in-position check(with P). When this error occurs, a
stop step differs from an execution step. Please play
back carefully enough after checking operation in
teach mode. When this error recurs, please back up
a file and contact to our service.

Because the robot

Contact our service department. Back up files to stop step is different
CPU board Motion control section detected external CF memory. Because the robot stop step is to the execute step,
9028 Motion Calculation error Error Error Error Error on on
failure Calculation error. different to the execute step, step-set must be step-set must be
needed for restart. needed for restart.
Error reset.

The axis that the brake doesn't lock

Please do error
Emergency Error of brake delay in even if prescribed time has passed
9030 Turn motors ON by pressing the Motor-ON button.. reset or turn on the Error Error Error Error on on
stop failure interference detection. since interference was detected
drive preparation.
exists..
Extremely frequent
Control Frequent input-signal caused Turn on the power
9031 input-signal was Check input-signal. Error Error Error Error on on
failure system busy. again.
detected.

4-90
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

Contact our service department. Back up files to

When reversely making amends by
Emergency Reducer modeling external CF memory. Because the robot stop step is
9032 the reducer modeling, the amount of Error reset. Error Error Error Error on on
stop failure reverse amends error. different to the execute step, step-set must be
amends exceeded a specified value.
needed for restart.

Contact our service department. Back up files to

CPU board Synchronous processing inside a external CF memory. Because the robot stop step is
9033 Motion synchronous error Error reset. Error Error Error Error on on
failure motion was not performed normally. different to the execute step, step-set must be
needed for restart.

In spite of having canceled the Contact our service department. Back up files to
CPU board Waiting timeout for robot synchronous waiting within a external CF memory. Because the robot stop step is
9034 Error reset. Error Error Error Error on on
failure starting motion, a robot did not start for a different to the execute step, step-set must be
definite period of time. needed for restart.

Contact our service department. Back up files to

Emergency Motion control section stopped the external CF memory. Because the robot stop step is Turn on the power
9100 Stop interpolation Error Error Error Error on on
stop failure calculation of interpolation. different to the execute step, step-set must be again.
needed for restart.

Emergency The robot dose not work Contact our service department. Back up files to Turn on the power
9101 Exceed operation time Error Error Error Error on on
stop failure continuously. external CF memory. again.

Emergency Playback cannot be I/O signal was not able to be Contact our service department. Back up files to Turn on the power
9102 Error Error Error Error on on
stop failure continued. processed. external CF memory. again.

CPU board System Error Turn on the power again. If the error is not released, Turn on the power
9103 A breakpoint was encountered. Error Error Error Error on on
failure (RT_BREAKPOINT). reinstall the system. again.
The thread attempted to read from
System Error
CPU board or write to a virtual address for Turn on the power again. If the error is not released, Turn on the power
9105 (RT_ACCESS_VIOLATI Error Error Error Error on on
failure which it does not have the reinstall the system. again.
ON).
appropriate access.

One of the operands in a

System Error floating-point operation is denormal.
CPU board Turn on the power again. If the error is not released, Turn on the power
9113 (RT_FLT_DENORMAL_ A denormal value is one that is too Error Error Error Error on on
failure reinstall the system. again.
OPERAND). small to represent as a standard
floating-point value.

System Error The thread attempted to divide a

CPU board Turn on the power again. If the error is not released, Turn on the power
9114 (RT_FLT_DIVIDE_BY_Z floating-point value by a Error Error Error Error on on
failure reinstall the system. again.
ERO). floating-point divisor of zero.

System Error The result of a floating-point

CPU board Turn on the power again. If the error is not released, Turn on the power
9115 (RT_FLT_INEXACT_RE operation cannot be represented Error Error Error Error on on
failure reinstall the system. again.
SULT). exactly as a decimal fraction.

System Error This exception represents any

CPU board Turn on the power again. If the error is not released, Turn on the power
9116 (RT_FLT_INVALID_OPE floating-point exception not included Error Error Error Error on on
failure reinstall the system. again.
RATION). in this list.
The exponent of a floating-point
CPU board System Error operation is greater than the Turn on the power again. If the error is not released, Turn on the power
9117 Error Error Error Error on on
failure (RT_FLT_OVERFLOW). magnitude allowed by the reinstall the system. again.
corresponding type.

System Error The exponent of a floating-point

CPU board Turn on the power again. If the error is not released, Turn on the power
9119 (RT_FLT_UNDERFLOW) operation is less than the magnitude Error Error Error Error on on
failure reinstall the system. again.
. allowed by the corresponding type.

System Error The thread attempted to divide an

CPU board Turn on the power again. If the error is not released, Turn on the power
9120 (RT_INT_DIVIDE_BY_Z integer value by an integer divisor of Error Error Error Error on on
failure reinstall the system. again.
ERO). zero.

System Error The method has terminated due to

CPU board Turn on the power again. If the error is not released, Turn on the power
9129 (RT_ILLEGAL_INSTRUC invalid parameters or property Error Error Error Error on on
failure reinstall the system. again.
TION). values.

4-91
Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)

(1)Please turn on the power again.(2)Please

CPU board System Error (Mutex connect and disconnect CPU board or system Turn on the power
9140 System Error. Mutex Timeout. Error Error Error Error on on
failure Timeout). CF.(3)Please reinstall the system.(4)Please replace again.
the CPU board.

(1)Please turn on the power again.(2)Please

CPU board System Error (MailBox connect and disconnect CPU board or system Turn on the power
9144 System Error. MailBox Timeout. Error Error Error Error on on
failure Timeout Error). CF.(3)Please reinstall the system.(4)Please replace again.
the CPU board.

Emergency Stop interpolation by Motion control section stopped the Contact our service department. Back up files to
9151 Error reset. Error Error Error Error on on
stop failure system busy calculation of interpolation. external CF memory.

Because abnormality occurred

when Hibernation file is made, the
Hibernation is not enabled. (Details)
Turn on the power again. If the error is not released,
CPU board The Hibernation is not (1)Device opening abnormality of D
9152 contact our service department. Back up files to Error reset. Error Error Error Error on on
failure enabled. drive. (2)Hibernationfile cannot be
external CF memory.
made. (3)Can not lock D drive.
(4)Can not dismount D drive.(5)Can
not unlock D drive.

When initialize robot controller,an (1)Turn on the power again. If the error is not
CPU board An internal memory is not Turn on the power
9153 internal memory is not nomally released, contact our service department.(2)Please Error Error Error Error on on
failure nomally allocated. again.
allocated. replace system CF.

CPU board Motion process is not Turn on the power again. If the error is not released, Turn on the power
9200 Can't recongnize Motion process. Error Error Error Error on on
failure recognized. reinstall the system. again.

CPU board I/O system is not Turn on the power again. If the error is not released, Turn on the power
9204 Can't recognize I/O system. Error Error Error Error on on
failure recognized. reinstall the system. again.

(1)Please check whether the connector of the drive

unit (CNCOM) is correctly connected. (2)Please
This failure occurs when the After removal of
check whether the connector of the CPU board
CPU board Servo communication communication between the CPU failure, please turn
9208 (CNLAN3) is correctly connected. (3)Please replace Error Error Error Error on on
failure initialization failure board and the drive unit (the servo on power supply of
the drive unit. (4)Please replace the CPU board.
board) cannot begin. the controller again.
(5)Please replace the cable between the drive unit
and te CPU board.

This failure occurs when the fuse F1 After removal of

Amplifier unit (1)Please exchange the brake fuse. (2)Replace the
9209 Brake fuse off on the brake control board failure, please carry Error Error Error Error on on
failure drive unit.
UM351/L21700X00 was cut. out "failure-reset".

This failure occurs when the fuse After removal of

Amplifier unit Brake fuse off.(additional
9210 F1-1 or F1-2 on brake control Please exchange the brake fuse. failure, please carry Error Error Error Error on on
failure axis)
substrate UM226(L9172Y) was cut. out "failure-reset".

This failure occurs when the drive After removal of

Amplifier unit
9213 Drive unit power failure unit power PG15(+15V) was not Please replace the drive unit. failure, please carry Error Error Error Error on on
failure
supplied. out "failure-reset".

(1)Please check the voltage of sequence control

power supply P1(24V). (2)Please remove the After removal of
This failure occurs when the voltage
Control Low voltage of sequence sequence board and insert it again. (3)Please check failure, please turn
9216 of sequence control power supply Error Error Error Error on on
failure control power supply the external signal wire of I/O is correctly connected. on power supply of
P1(24V) is decreases.
(4)Please exchange the multi power supply unit. the controller again.
(5)Please exchange the sequence board.

This failure occurs when reading or

After removal of
wrinting data to the shared memory
Amplifier unit Servo shared memory failure, please turn
9217 between servo communication CPU Please replace the drive unit. Error Error Error Error on on
failure abnormal on power supply of
and servo CPU was not successfully
the controller again.
finished.
CPU board Servo CPU(#2) DP
9218 Servo CPU(#2) D.P.memory error Replace the Drive Unit. No reset operations. Error Error Error Error on on
failure memory error.
CPU board Servo CPU(#3) DP
9219 Servo CPU(#3) D.P.memory error Replace the Drive Unit. No reset operations. Error Error Error Error on on
failure memory error.

(1)Please check whether the cable connected with

An inconsistency was This failure occurs when an CNSV has been disconnected. (2)Please turn OFF After removal of
9220 Servo failure detected in the servo inconsistency was detected in servo and ON the primary power and restart the controller. failure, please carry Error Error Error Error on on
failure. failure. (3)Please replace the drive unit. (4)Please replace out "failure-reset".
the sequence board. UM352/L21700F00.

CPU board Servo CPU(#1 axis) is Nothing acknowledge form servo

9225 Replace the Drive Unit. No reset operations. Error Error Error Error on on
failure not ready. CPU(#1 axis)

4-92
 Error code list

Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
(Teach) (Auto) (Teach) (Auto) (Teach) (Auto)
CPU board Servo CPU(#2 axis) is Nothing acknowledge form servo
9226 Replace the Drive Unit. No reset operations. Error Error Error Error on on
failure not ready. CPU(#2 axis)
CPU board Servo CPU(#3 axis) is Nothing acknowledge form servo
9227 Replace the Drive Unit. No reset operations. Error Error Error Error on on
failure not ready. CPU(#3 axis)
CPU board Servo CPU(#4 axis) is Nothing acknowledge form servo
9228 Replace the Drive Unit. No reset operations. Error Error Error Error on on
failure not ready. CPU(#4 axis)

(1)Please check brake fuse(F1) on servo board.

This failure occurs when the fuse F1 After removal of
Amplifier unit (2)Please check the manipulator wirings and the
9229 Brake fuse off.(F1) on servo board UM351/L21700X00 failure, please carry Error Error Error Error on on
failure control cables between the robot and the controller.
was cut. out "failure-reset".
(3)Please replace the drive unit.

CPU board Servo CPU(#9 axis) is Nothing acknowledge form servo

9233 Replace the Drive Unit. No reset operations. Error Error Error Error on on
failure not ready. CPU(#9 axis)
Operational insertion external memory during No reset operations
9234 Operational failure. restart playback. Alarm Alarm Alarm Alarm on on
failure playback. neccesary.

(1)Please check fuse(F3) on servo board

UM351/L21700X00. Replace fuse(F3) when it is out. After removal of
Amplifier unit This failure occurs when drive unit
9240 Drive unit power failure (2)Please check the cable connector failure, please carry Error Error Error Error on on
failure power (+24V) was not supplied.
CNMCH,CNSV,CNMS,CNEC1. (3)Please replace out "failure-reset".
the drive unit.

After removal of
Amplifier unit Drive unit precharge This failure occurs when drive unit (1)Please check supply voltage(+24V) for drive unit.
9241 failure, please carry Error Error Error Error on on
failure failure precharge was not executed. (2)Please replace the drive unit.
out "failure-reset".

(1)Please check primary power source. (2)Please After removal of

Amplifier unit This failure occurs when drive unit
9242 Drive unit phase lack. check supply voltage. (3)Please replace the power failure, please carry Error Error Error Error on on
failure lacked a phase of power supply.
unit. (4)Please replace the drive unit. out "failure-reset".

This failure occurs when drive unit After removal of

Amplifier unit
9243 Drive unit power failure power P10V(+10V) was not Please replace the drive unit. failure, please carry Error Error Error Error on on
failure
supplied. out "failure-reset".
After removal of
Amplifier unit Error occurs if the current sensor is failure, please turn
9244 Current sensor failure Please replace the Drive Unit. Error Error Error Error on on
failure abnormal. on power supply of
the controller again.

4-93
Error code list

NOTE

4-94
Chapter 5 Robot Diagnosis

This section describes the user check function for notifying operators of the robot
inspection timing, parts replacement timing and other inspection-related
information.

5.1 Robot Diagnosis .........................................................................................5-1

5.1.1 Program Diagnosis ...............................................................................5-1
5.1.2 OverHaul Time ......................................................................................5-3
5.2 Brake slip sign detection .............................................................................5-6
5.2.1 Initial setting values...............................................................................5-6
5.2.2 The outline of this function ....................................................................5-6
5.2.3 The outline of the detection process .....................................................5-6
5.2.4 Condition for the detection ....................................................................5-7
5.2.5 Timing for the detection.........................................................................5-7
5.2.6 About the Information and the Error ......................................................5-7
5.2.7 Setting screen .......................................................................................5-7
5.2.8 Information / Error .................................................................................5-7
 5.1 Robot Diagnosis

5.1 Robot Diagnosis

In this controller, functions that can be used for robot diagnosis and preventional maintenance are provided.
This chapter explains those functions.
The data for robot diagnosis are recorded automatically all the time. There are no special operations to record
the diagnosis data.
The menu that is not described in this chapter can not be used. Those menus are not
POINT supported or only for our service engineers. And, axes of which the diagnosis data is not
displayed are not supported.

5.1.1 Program Diagnosis

The load torque for each axis etc. can be analyzed for every program. When opening this screen, the
diagnosis data of the last playback operation will be displayed.
(Except for partial accumulated data) The diagnosis data is updated for every playback operation. The past
history is not stored.
1 Open <ServiceUtilities> - [25 Robot Diagnosis] – [1 Program Diagnosis].
>> The diagnosis data for the last playback operation of the current program. If the
program has not played back even 1 time, the data that was displayed at last time will be
displayed again.
1st page (main data)

Program number
can be changed.

Page number
can be changed.

Diagnosi data
can be cleared.

2 Press <Page up/down> keys to change the page.

2nd page (Spot welding related data)

3rd page (Velocity and toque)

3 Press [Reset / R] key to exit.

5-1
5.1 Robot Diagnosis

1st page
Item Description
UNIT
The present program No.and the present UNIT No.
Program
START TIME This is the time when the cycle time measurement was started.
CYCLE TIME The newest cycle time is displayed here.
This is the total number of the cycles from when the controller power was turned
TOTAL CYCLE
ON.
I WAITING The time used for I signal waiting functions e.g. FN525 WAITI etc. and
percentage.
TIMER The time used for timer waiting functions e.g. FN50 DELAY etc. and
percentage.
This is the reason why the cycle time measurement was terminated.
If "Cycle was ended" is not displayed here, the measurement was terminated in
ENDING TIME
half way. In that case, the data does not show the correct information for the
whole program.
If there are some axes that exceeded the allowable peak torque, the step is
displayed up to 10.
Torque over
If some data are displayed here, please check if the tool mass and COG are set
correctly. And, it is recommended to slow down the recorded speed for the step.

2nd page
Item Description
This is the total time of spot welding execution.
SPOT TIME
This is displayed for every welding machine. (W1～W6)
CYCLE TIME Number of spot welding.
(The number of spot
This is displayed for every welding machine. (W1～W6)
welding)

3rd page
Item Description
AV. SPEED [rpm]
(Average speed)
The average and the maximum value of the motor rotation velocity of each axis.
MAX. SPEED [rpm]
(Maximum speed)
The average torque of each axis is displayed as the ratio [%] for the rated
torque.
The maximum torque of each axis is displayed as the ratio [%] for the allowable
AV. TORQ [Nm] [%] peak torque.
(Average torque)
If the operator class is EXPERT or higher, the torque value [Nm] is displayed
MAX. TORQ [Nm] [%] also.
(Maximum torque) If there is an axis whose maximum torque exceeds 100%, please check if the
tool mass and the center of gravity are set correctly. And, it is recommended to
slow down the recorded speed in the step in which the concerned axis moves
fast.
The remaining life [Hour] of reduction gear of each axis is displayed in a
premise that this program is continued to be played back. The life is also in the
number of playback cycles also.
Please be sure that this value is calculated in a premise that the robot is very
new. Therefore, this value has nothing to do with the present condition of the
LIFE SPAN [Hr] robot mechanism. And, this is an estimated value that is calculated using a
X100[Tm] life span equation under a condition that the torque larger than the allowable
limit will not occur. Please regard this value just a reference.

When the calcullated value is smaller than 5,000 [Hours], an information "I3149"
will be displayed.

5-2
 5.1 Robot Diagnosis

5.1.2 OverHaul Time

The "LIFE SPAN" described in "5.1.1 Program Diagnosis" is just a result that was calculated after 1 time
playback. On the other hand, this "OverHaul Time" menu can forecast the over haul time (= reduction gear's
life) by gathering the torque information accumulated in the memory.
This value is calculated by analyzing/accumulating the all motion of the robot in the actual playback operation.
And, this is an estimated value that is calculated using a life span equation under a condition that the
torque larger than the allowable limit will not occur. Please regard this value just a reference.

1 Open <ServiceUtilities> - [25 Robot Diagnosis] [2 OverHaul Time].

>>A screen like the following will be displayed.

2 Press [Reset/R] key to exit without saving.

Press <Complete> to save the data.

Item Description
For a new reduction gear, "100.0%" should be displayed. And this value will
decrease while the robot is moving. And, when the value reaches "0%", it is
Remainder of life Ratio
necessary to replace the reduction gear. If the value is getting small, please
contact our service department. (The tentative limit is 10% or 1000[Hr].)
Mechanism The name of the mechanism and the axis is displayed for a mechanism of which
Axis the "Remainder of life Ratio" is the smallest.
Overhaul This is the remaining time [Hours] until the overhaul (reduction gear
CycleConv. replacement). If the time for 1 cycle is set to the "Base Cycle Time" in [sec], the
"CycleConv." (Number of cycles) is also displayed.
Base Cycle Time
Start Time This is the time when the measurement was started.

When the reduction gear is replaced with new one

Press to open this screen and input

"0" for the concerned axis and then press
<Complete> to save the data. Then the
"Remainder of life Ratio" for the axis will
return to 100.0%.

When "Remainder of life Ratio" is initialized in case of memory format operation etc..
Please enter the total moving time so far of the reduction gear to "Consumption time until present".

Because these values will be changed to wrong values when executing format operation or
POINT backup restore operation, please memorize these values before doing those operations and
after finishing those operation, input the memorized values again.

5-3
5.1 Robot Diagnosis

Settings of "Torque over display" and "Torque calculation method

In case of operator class SPECIALIST, the following setting can be changed.

Item Description
The torque is estimated by referring to the actual
motor current. The estimated torque includes the
Current influence of the waste of the mechanism. But it also
includes the calculation error due to the actuator
system.
Torque By referring to the robot's mass model and the angles
Analyze calculation (positions) of each axis, each axis's torque is
method can be calculated based on motion equation. Because this
(Torque selected. calculation is done based on the logical mass model
analyzation only, it does not include the influence of the waste of
method) the mechanism. But the calculation is more accurate
Default setting: Position than the setting of <Current>.
"Current"
(CAUTION)
To calculate the torque accurately, the tool
setting (weight, COG, and inertia) and user load
setting must be set correctly.

If a robot is used with the setting of "Analyze" = "Position", the robot controller cannnot detect
the change of the torque due to the mechanical waste. As a result, there may be possibility
that unexpected malfunction of the robot occurs in the future. After confirming the motion of
CAUTION the program with the setting of "Position", do not forget to change the setting to "Current".

How to use
1 Set the "Analyze" to "Position".

2 Playback the all programs for the production.

3 If "I3148" occurs, please try to take counter measure e.g. slow down the motion
speed, change the tool to light one, etc.
4 If "I3148" is not detected, change the setting of "Analyze" to "Current".

5 Playback the all programs for the production.

6 If "I3148" occurs again, please try to take counter measure e.g. slow down the
motion speed, change the tool to light one, etc.
7 If "I3148" is not detected, start the production.

5-4
 5.1 Robot Diagnosis

Related errors for the "Program Diagnosis" and the "OverHaul Time"

No. I 3148
Message There is an axis which exceeds the allowance and maximum torque.
The presumption generation torque exceeded a permissible value by displayed program step and
Cause
axis.
(1)Change to ratings or less when the robot load condition is investigated, and weight and the
Counter wrist torque exceed it to ratings.(Gravity setting is used) (2)There is a possibility to exceed the
measure acceleration which can be used. (Check the step before and after) (3)There is a possibility with a
large interference torque, too. (Drop the acceleration of the displayed step.)

No. I 3149
Message It is a program which remarkably shortens longevity.
In the displayed program, longevity is within at 5000 hours.There is a possibility which is the
Cause
program of call/jump origin when the call/jump are used.
(1)Change to ratings or less when the robot load condition is investigated, and weight and the
wrist torque exceed it to ratings. (Gravity setting is used) (2)The amount of operation is, and the
average speed and the average torque greatly exceed ratings because of largeness or high
Counter
speed, and there is a possibility that longevity has shortened. Reduce the amount of operation of
measure
the object axis or slow down the speed if there is no obstacle in work. (program diagnosis)
(3)There is a possibility to be generated because the cycle time is remarkably short. Slow down
the speed overall.

No. I 3150
Message There is a possibility that the setting of the load weight and center of gravity is inapposite.
It is detected when there is a big difference between the longevities calculated from longevity and
Cause
the motor speed calculated from the current.
(1)Please confirm whether the setting of the load weight and center of gravity is correct.
Counter (2)Please change to ratings or less when the robot load condition is investigated, and weight and
measure the wrist torque exceed it to ratings. (3)There is a possibility that the trouble occurs in the robot
when not corresponding to the above-mentioned.

No. I 3168
Message There is the axis in 1000 hours for overhaul.
The life time of the axis displayed with present operated (time to reaching to longevity) became
Cause
1,000 hours or less.
Exchange the reduction gear of the axis as early as possible. After that, set “0” for the
Counter
“Consumption time until present” in the “Over Haul Time” screen. (For this setting, EXPERT or
measure
more is necessary)

No. I 3169
Message There is the axis in 0 hours for overhaul.
The life time of the axis displayed with present operated (time to reaching to longevity) became 0
Cause
hour or less.
Counter Exchange the reduction gear of the axis immediately. After that, set “0” for the “Consumption time
measure until present” in the “Over Haul Time” screen. (For this setting, EXPERT or more is necessary)

5-5
5.2 Brake slip sign detection

5.2 Brake slip sign detection

POINT This function is available on the software version “FDV04.23” or after.

5.2.1 Initial setting values

- When shipping, the “Sign detection” for the all axes are set to “0 : Disabled”.
- When shipping, the values for the “Sign Threshold” and the “Error Threshold” are set only for the
2nd axis and the 3rd axis.

To use this function, change the value of the “Sign detection” for the 2nd axis and the 3rd axis to
either one of the followings. And then change the settings of the “Home Position Number / Unit” and
the “Time” respectively if necessary.

1 : Servo OFF
2 : Home Position Servo OFF
3 : Time

POINT The suitable parameters of “Sign Threshold” and “Error Threshold” for this function are
already set before shipping the robot. It is not necessary to change these parameters.

5.2.2 The outline of this function

This is a function to detect the sign of the motor brake slip. When the sign is detected,
“Information (I3993)” or “Error (E3993)” is displayed.
By using this function, it is possible to detect the degradation of the motor brake in advance.

This function supports only “manipulator type mechanisms”. Only the robots in which the
POINT parameters for the 2nd axis and the 3rd axis are already set are supported by this function.
(e.g. SRA series etc.)
The other mechanisms like Servo Gun, Positioner, Slider, etc. are not supported.

5.2.3 The outline of the detection process

At the timing of the Servo OFF of a motor, there exists very short moment of “Servo is ON and
Motor Brake is ON”.
If the condition of executing the detection process is ready, the robot controller will try to add
torque in short time to the motor in which the Brake is ON at the timing of the Servo OFF.
At this timing, if the change amount of the encoder value exceeds the pre-defined threshold
values, the I3993 or the E3993 will occur in accordance with the change amount.

In this case, the “Servo OFF” stands for a status in which the “Motor power source is ON”
POINT and “Motor is OFF”. And, the “Power Saving Status” and the “HOLD status” are also Servo
OFF status.

This detection function works only in the PLAYBACK mode.

POINT This function does not work for the ON/OFF operation of the Enable Switch on the Teach
Pendant in the TEACH mode.

5-6
 5.2 Brake slip sign detection

5.2.4 Condition for the detection

In this function, the following conditions can be selected as the detection condition.
In all of these conditions, the detection is performed at the timing of Servo OFF caused by the
Power Saving function

1. Servo OFF by Power saving function

The detection is performed at the timing of Servo OFF caused by the Power Saving
Function every time.

2. Servo OFF by Home position function + Power saving function

The detection is performed under the following condition.

1. The robot is at the pre-defined HOME position.

and
2. Servo OFF status is made by the Power Saving Function

To use this condition, the following settings are necessary.

- The number of the HOME position to be used
- The number of the UNIT to which the concerned mechanism belongs.

3. Servo OFF by Time + Power saving function

The detection is performed under the following condition.

1. The designated time has passed.

and
2. Servo OFF status is made by the Power Saving Function

Please be sure that the detection is executed only 1 time after this condition is satisfied.
This means that the detection is executed only 1 time per 1 day.

To use this condition, the following settings are necessary.

- hour (0-24)
- minutes (0-59)

5.2.5 Timing for the detection

This function works only at the timing of “Servo OFF caused by the Power Saving function” in
the PLAYBACK mode. In other timings, this function does not work.

5.2.6 About the Information and the Error

If the brake slip sign is detected, the Information “I3993” or the Error “E3993” will be displayed for
the respective axis.
In case of the factory settings (considering the change amount of the encoder values), if the slip
amount is small, the Information is displayed. And if the slip amount is large, the Error is
displayed.

5-7
5.2 Brake slip sign detection

5.2.7 Setting screen

Setup this function by the following procedures.
1 Change the operator class to SPECIALIST.
2 Open the <Constant Setting> [3 Machine Constants] [38 Brake Slip Sign detection].
>>The following screen will be displayed.

Item name Description Remarks

Set the Sign detection (Brake slip sign detection) method. Set the
number.
1：Servo OFF
Every time the servo power is OFF, this detection
function is executed.
2：Home Position Servo OFF
Sign detection If the robot is in the home position and the servo OFF is executed,
(Brake slip sign this detection function is executed. Every axis
detection) 3：Time
This detection function is executed only after the designated time
has passed and the first servo OFF has been performed.(1 time for
1 day)
0：Disabled
This detection function is disabled.

If “Sign detection” is set to “2(=Home Position Servo OFF)”, please

designate the “Home Position No.” and the “UNIT No.” that the
detection is applied.
Home Position No. Every
The UNIT should be the one in which the concerned mechanism is
Unit included. mechanism
If either parameter is set to 0, the diction is not executed.

If “Sign detection” is set to “3(=Time)”, please designate this

Time setting parameter as the starting time of the detection. Every
Hour / minute The parameter is Hour and Minute. mechanism

The Information I3993 will occur if the encoder position value change
Sign Threshold
amount after the command value changes is larger than this setting
(Brake slip sign value. Set the value as an encoder value [pulse]. Every axis
detection threshold
If 0 is set, the information does not occur.
value)
The Error E3993 will occur if the encoder position value change
amount after the command value changes is larger than this setting
value. Set the value as an encoder value [pulse].
Error Threshold Every axis
This value must be larger than the value for the “Sign Threshold”
If 0 is set, the Error does not occur.

3 After the completion of the settings, press <Complete>.

>>The setting values will be saved in the internal memory.

5-8
 5.2 Brake slip sign detection

How to use
1 Set the parameters in the menu of <Constant Setting> [3 Machine Constants][38 Brake
slip Sign detection]

2 In case of “1: Servo OFF” for the “Sign detection”

Stop the robot until the Power saving function starts by the I-signal waiting functions
etc.

In case of “2: Home Pos. Servo OFF” for the “Sign detection”
Move the robot to the pre-defined HOME position and stop the robot until the Power
saving function starts by the I-signal waiting functions etc.

In case of “3: Time” for the “Sign detection”

After the designated time has passed, stop the robot until the Power saving function
starts by the I-signal waiting functions etc.

3 After the Servo OFF, the slip detection is performed.

4 If it is judged that there is a sign of brake slip, the Information I3993 or the Error E3993
will be displayed due to the change amount of the encoder position value.

In case of “Time”, the detection operation is executed only 1 time for 1 day.
POINT If “Hour” and the “minute” are set again after the detection operation, the detection will not be
executed in the day anymore.

POINT If the “Time” is selected and the set time has passed while the Servo is OFF, the detection
operation will be executed at the next timing of the Servo OFF.

5.2.8 Information / Error

The information and the error related to this function are shown as below.

Information
No. I 3993
Message There is a sign of brake slipping of a motor.
Cause There is a possibility that a brake of a motor degrades.
When this information started to occur frequently, there is a possibility that a brake of a
Measure
motor degrades. Please exchange a motor.
How to reset No reset operations necessary.

Error
No. E 3994
Message There is a sign of brake slipping of a motor.
Cause There is a possibility that a brake of a motor degrades.
When this error occurred, there is a possibility that a brake of a motor degrades. Please
Measure
exchange a motor.
How to reset Error reset.

5-9
5.2 Brake slip sign detection

NOTE

5-10
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Original manual is written in Japanese.