R-J3i Error Codes
Uploaded by
Sergio BezerraR-J3i Error Codes
Uploaded by
Sergio BezerraFANUC Robotics SYSTEM R-J3 i MODEL B
Controller Error Code Manual
Version 6.11
MAROIBECD05011E REV A
ERROR CODES
Error codes in this section are listed alphabetically. If you receive an error that does not appear in this section, write down all of the events that
lead to the error. Perform a Cold start to reset the error. If the error still occurs, call your FANUC Robotics technical representative .
Cause: Robot motion and/or program execution cannot occur unless UOP input 8 is ON.
AG Error Codes Remedy: Check UOP I/O setup. UOP input 8 (ENBL) must be ON.
AG -001 WARN No global variables APSH-022 WARN Safety fence is open
Cause: Attach group global variables are not loaded. Cause: The safety fence input is LOW.
Remedy: Perform a controlled start and initialize motion softparts. Remedy: The safety fence input must be ON to resume normal robot operation. Raise
AG -002 STOP Joint motion not allow the safety fence input.
Cause: No joint motion allow with attach group option APSH-024 WARN Program %s not loaded
Remedy: Change motype to Linear or Circular Cause: The program name that the shell was requested to run is not loaded on the
AG -003 STOP Wrist Joint motion not allow controller.
Cause: No wrist joint motion allow with attach group option Remedy: Check PLC->Robot style communication. Verify that specified JOB name was
Remedy: Remove wrist joint instruction requested by PLC. Load or create the specified JOB program.
AG -004 STOP UFRAME must be zero APSH-025 WARN WARNING - Running at < 100%%
Cause: Uframe number is not set to zero Cause: This is a warning to notify the user that a production job is running at less than
Remedy: Set current uframe number to zero 100% speed. override.
APSH Error Codes Remedy: None needed. DispenseTool can increase the override speed to 100% if you
APSH-000 WARN %s require it. Go to the Cell Setup menu to access this option.
Cause: General status messages. APSH-027 WARN Press FAULT RESET button
Remedy: N/A Cause: In order to resume normal production operation, DispenseTool requires that you
APSH-001 WARN %s missing perform this action.
Cause: A MACRO was called without a parameter that must be entered. Remedy: Perform the action stated in the error message when you are ready to resume
Remedy: Check the MACRO call in the TP program. normal operation.
APSH-002 WARN %s Illegal type APSH-028 WARN Increasing speed to 100%%
Cause: A MACRO was called with a parameter that is illegal. The parameter has the Cause: This is a warning to notify the user that DispenseTool in increasing the
wrong data type. genoverride (speed override) to 100%.
Remedy: Check the MACRO call in the TP program. Remedy: None needed. To disable this feature, you may change this option on the Cell
APSH-003 WARN %s Illegal zone number Setup menu.
Cause: An zone number less that 1 or greater than $IZONEIO.$NO_ZONES was used. APSH-029 WARN Robot must be at home
Remedy: Use an event number from 1 to $IZONEIO.$NO_ZONES. Cause: The robot must be at the HOME position in order to perform the requested
APSH-004 WARN Waiting for interf. zone %s operation. This error is usually posted when the PLC sends a cycle start and the robot is
Cause: The robot has requested an interference zone, but has not been given not at home.
permission to enter by the cell controller. Remedy: Move the robot to the home position.
Remedy: If the cell controller does not give control of an interference zone to the robot APSH-030 WARN Style code %s is invalid
when it should, check the cell controller's interference zone programming. Cause: The GIN[style_in] is set to an invalid number.
APSH-005 WARN Entering interf. zone %s Remedy: Check the GIN[style_in] value as well as the Group input configuration.
Cause: The robot has received permission to enter the interference zone. APSH-032 WARN Robot Servos Disabled
Remedy: Used to clear the waiting for interference zone message only. Cause: DispenseTool has detected that the robot servos have been disabled manually.
APSH-006 WARN PERM memory is low Remedy: This is a status message to make sure the user is aware that the robot cannot
Cause: This warning indicates that the amount of free memory in the CMOS memory move. The servos must be re-enabled to resume normal production operations.
partition has gotten dangerously low. If the PERM memory runs out, you will experience APSH-033 WARN PLC comm error - timeout
strange MEMO errors and possibly robot lock-ups or register dumps. Cause: A communication sequence took too long to complete.
Remedy: Warning only. Delete any unneeded data. Contact your FANUC Robotics Remedy: Increase communication timeout value in PNS Cell Communication setup
representative with this error. You will probably have to adjust the memory configuration menu or disable communication timeout checking.
in your robot controller. APSH-034 WARN No UOP output defined
APSH-007 WARN TEMP DRAM memory is low Cause: The User Operator Panel output group has not been defined.
Cause: This warning indicates that the amount of free memory in the TEMP memory Remedy: Set up the UOP Outputs in the UOP I/O menu and restart the robot controller.
partition has gotten dangerously low. If the TEMP memory runs out, you will experience APSH-035 WARN Robot is in Bypass mode
strange MEMO errors and possibly robot lock-ups or register dumps. Cause: The MODE input is low, forcing the robot into BYPASS mode. The robot will now
Remedy: Warning only. Delete any unneeded data. Contact your FANUC Robotics ignore all PLC style initiation.
representative with this error. You will probably have to adjust the memory configuration Remedy: Set the MODE switch to ON. The robot will then re-enter AUTOMATIC mode
in your robot controller. and again accept PLC signals.
APSH-008 WARN FAULT must be reset APSH-036 WARN User JOB has been paused
Cause: A fault has occurred, so the operation requested cannot be performed. Cause: The current JOB has been paused. This often happens if the HOLD input is
Remedy: Clear the source of the fault, and press FAULT RESET. turned ON or the UOP ENBL signal is set to OFF.
APSH-009 WARN Program already running Remedy: If the REMOTE condition is TRUE, the fault recovery menu will appear and
Cause: The shell detected a start signal but a program is already running. give the user the appropriate recovery options. If the REMOTE condition is not TRUE,
Remedy: Re-issue start request when current program is paused or aborted. recovery is up to the user. If all else fails, select FCTN (Function hardkey) then ABORT
APSH-010 WARN %s aborted ALL.
Cause: A UOP CYCLE START or DI[Initiate Style] was detected when a non-production APSH-037 WARN No UOP input defined
(i.e. test cycle) program was paused. This paused program was aborted for safety Cause: The User Operator Panel input group has not been defined.
reasons. Remedy: Set up the UOP Inputs in the UOP I/O menu.
Remedy: None is required. The next production start signal will start the current style. APSH-038 WARN No style input group defined
APSH-012 WARN REMOTE switch must be on LOCAL Cause: The group which carry the style code in to the controller has not been defined.
Cause: The robot's REMOTE condition is TRUE, so the remote operating device (PLC) Remedy: Set up a STYLE SELECT group in the Cell I/O and GROUP I/O input menus
currently has motion control over the robot. and restart the robot.
Remedy: Disable the REMOTE condition by turning the REMOTE keyswitch on the SOP APSH-039 WARN No style ack strobe defined
to LOCAL. Cause: The style acknowledge strobe, which is needed with the current communication
APSH-013 WARN Place robot into REMOTE state configuration, has not been defined.
Cause: The REMOTE condition is currently false, so the robot is not under the control of Remedy: Set up a Style Ack Strobe in the Cell Output I/O menu and restart the robot.
the remote operating device (PLC). APSH-040 WARN No backup input group defined
Remedy: Verify that the following conditions are true in order to put the robot into the Cause: The backup input group, which is needed with the current communication
REMOTE condition: configuration, has not been defined.
1. UOP inputs #1 (IMSTP), #3 (SFTYSPD), and #8 (ENBL) are all HIGH. Remedy: Set up a Backup Style Select group in the Cell output I/O and GROUP I/O
2. SOP REMOTE/LOCAL keyswitch is set to REMOTE. menus and restart the robot.
3. Teach pendant is disabled. APSH-041 WARN No style input strobe defined
4. Robot Auto/Bypass mode input is HIGH (if so assigned). Cause: The style strobe, which is needed with the current communication configuration
5. Make sure a user program is not setting $RMT_MASTER = 1 (queue enabled), has not been defined.
APSH-014 WARN RESET Failure Remedy: Set up a PNS Strobe in the Cell Input I/O menu and restart the robot.
Cause: There is an active fault, which prevents the reset request from executing APSH-043 WARN No style ack group defined
Remedy: Clear the source of the fault (usually en external E-Stop) and press FAULT Cause: The style acknowledge group, which is needed with the current communication
RESET. configuration, has not been defined.
APSH-015 WARN Step mode must be disabled Remedy: Set up a Style Ack Group in the Cell output I/O and GROUP I/O menus and
Cause: Step mode is enabled, which prevents the run request from executing restart the robot.
Remedy: Disable step mode by pressing the STEP hardkey. APSH-044 WARN A user program is HELD
APSH-016 WARN Robot is not under PLC control Cause: The current job has been held by pressing the HOLD button or setting the UOP
Cause: The UOP is not the master device, which prevents the run request from HOLD input LOW.
executing Remedy: Release the HOLD button and raise the UOP HOLD input.
Remedy: Turn SOP REMOTE/LOCAL keyswitch to REMOTE. Make sure all UOP APSH-045 WARN No program setup for style %s
signals are correct for execution. Set $RMT_MASTER to 0. Cause: No program number has been set up for this RSR input.
APSH-017 WARN Running with process disabled Remedy: Enter a program number for this RSR input in the RSR Cell Setup menu.
Cause: This is a warning to notify the user that a production job is running with the APSH-046 WARN Robot is in Automatic mode
sealant disabled. Cause: This is a notice that the robot is leaving BYPASS mode and entering
Remedy: None needed. AUTOMATIC mode, where it can respond to PLC inputs
APSH-018 WARN WARNING - Machine lock is on Remedy: None needed.
Cause: This is a warning to notify the user that a production job is running with machine APSH-047 WARN Shell will not run without UOPs
lock on. Cause: This is a warning, telling the user that the UOPs have not yet been set up, so the
Remedy: None needed. shell will wait for the UOPs to be defined before resuming.
APSH-019 WARN Job queue is full Remedy: The shell requires the UOPs to run. Once the UOPs have been set up, the
Cause: The job queue cannot accept the next job because it is full. shell will continue its initialization sequence.
Remedy: Manually edit the job queue to delete any unneeded jobs or increase queue APSH-048 WARN PLC comm error - invert check
size. Cause: The backup style group is not the 1's complement (inverse) of the style input
APSH-020 WARN Job queue is empty group.
Cause: A request to run the next job in the queue came in, but the queue is empty. Remedy: Verify that the PLC is sending the correct invert style to the correct group.
Remedy: Check the external device to make sure that a job number was correctly sent to Disable invert checking in the PNS Cell Setup menu.
the controller, or manually edit the job queue to CREATE a job. APSH-050 WARN Cell IO setup is invalid
APSH-021 WARN Raise UOP ENBL input
Cause: Signals which are required for this cell IO configuration have not been Remedy: Please consult FANUC Robotics regarding specific changes made for your
configured. site.
Remedy: Check the messages posted previous to the in the error log for the names of APSH-093 WARN %s
the incorrect signals. Fix the IO setup of these signals and cold start the controller. Cause: Site-specific alarm caused by changes made for customer
APSH-051 WARN Connect or deassign UOP inputs Remedy: Please consult FANUC Robotics regarding specific changes made for your
Cause: The robot cannot move while the UOP inputs are in this state. site.
Remedy: You must either wire UOP inputs #1, #2, #3, and #8 high or deassign the UOP APSH-094 WARN %s
inputs and restart the controller. Cause: Site-specific alarm caused by changes made for customer
APSH-052 WARN Critical UOP inputs are LOW Remedy: Please consult FANUC Robotics regarding specific changes made for your
Cause: UOP inputs #1 (IMSTP), #2 (HOLD), #3(SFTYFNC), #8 (ENBL) are all LOW. site.
These must all be HIGH for normal production operation. APSH-095 WARN %s
Remedy: See remedy for APSH-051, Connect or deassign UOP inputs. Cause: Site-specific alarm caused by changes made for customer
APSH-054 PAUSE Release SOP E-STOP Remedy: Please consult FANUC Robotics regarding specific changes made for your
Cause: In order to resume normal production operation, DispenseTool requires that you site.
perform this action. APSH-096 WARN %s
Remedy: Perform the action stated in the error message when you are ready to resume Cause: Site-specific alarm caused by changes made for customer
normal operation. Remedy: Please consult FANUC Robotics regarding specific changes made for your
APSH-055 PAUSE Raise UOP IMSTP input site.
Cause: In order to resume normal production operation, DispenseTool requires that you APSH-097 WARN %s
perform this action. Cause: Site-specific alarm caused by changes made for customer
Remedy: Perform the action stated in the error message when you are ready to resume Remedy: Please consult FANUC Robotics regarding specific changes made for your
normal operation. site.
APSH-056 PAUSE Release SOP E-STOP APSH-098 WARN %s
Cause: In order to resume normal production operation, DispenseTool requires that you Cause: Site-specific alarm caused by changes made for customer
perform this action. Remedy: Please consult FANUC Robotics regarding specific changes made for your
Remedy: Perform the action stated in the error message when you are ready to resume site.
normal operation. APSH-099 WARN %s
APSH-057 PAUSE Release TP E-STOP Cause: Site-specific alarm caused by changes made for customer
Cause: In order to resume normal production operation, DispenseTool requires that you Remedy: Please consult FANUC Robotics regarding specific changes made for your
perform this action. site.
Remedy: Perform the action stated in the error message when you are ready to resume APSH-100 WARN %s
normal operation. Cause: Site-specific alarm caused by changes made for customer
APSH-058 PAUSE Pause forced by shell Remedy: Please consult FANUC Robotics regarding specific changes made for your
Cause: This error is posted to simulate a PAUSE error. site.
Remedy: This error is posted by DispenseTool during normal operation, but should not APSH-110 WARN READ IO parm %s missing
be visible to the user. If you see this error, report it to you FANUC Robotics Cause: The READ IO MACRO was called without a parameter that must be entered.
representative. READ IO(signal name string, integer register number)
APSH-059 PAUSE Abort forced by shell Remedy: Check the MACRO call in the TP program.
Cause: This error is posted to simulate a ABORT error. APSH-111 WARN READ IO parm %s is wrong type
Remedy: This error is posted by DispenseTool during normal operation, but should not Cause: The READ IO MACRO was called with illegal parameters. READ IO(signal name
be visible to the user. If you see this error, report it to you FANUC Robotics string, integer register number)
representative. Remedy: Check the MACRO call in the TP program.
APSH-060 WARN Cycle start ignored-not in AUTO APSH-112 WARN signal %s does not exist
Cause: This is not a fault. This error is posted when the robot is sent a cycle start from Cause: The READ IO MACRO was called but the signal could not be found. READ
the cell controller, but the robot is either in BYPASS mode (set from Soft Panel menu) or IO(signal name string, integer register number)
in MANUAL mode, but no manual cycle start has been initiated. Is is also possible that Remedy: Check the MACRO call in the TP program.
the robot is in the MANUAL mode and a MANUAL CYCLE was requested, but the style APSH-113 WARN can't fetch signal type
sent by the PLC does not match the one specified on the SOFT PANEL. Cause: The READ IO MACRO was called but the signal could not be found. READ
Remedy: In most cases, this fault can be ignored. This fault was put in to assist in IO(signal name string, integer register number)
debugging problems with the soft panel in DispenseTool. If you are trying to initiate a Remedy: Check the MACRO call in the TP program.
MANUAL CYCLE, make sure the MANUAL CYCLE STYLE inputted into the Soft Panel APSH-114 WARN can't fetch signal number
menu is the same as what the PLC is sending. Cause: The READ IO MACRO was called but the signal could not be found. READ
APSH-063 PAUSE A HOLD input is active IO(signal name string, integer register number)
Cause: The current job has been paused by pressing the HOLD button or setting the Remedy: Check the MACRO call in the TP program.
UOP HOLD input LOW. APSH-115 WARN can't read signal %s
Remedy: Release the HOLD button and raise the UOP HOLD input. Cause: The READ IO MACRO was called but the signal could not be found. READ
APSH-070 PAUSE Failed to continue %s IO(signal name string, integer register number)
Cause: The error handler was unable to continue the task named when the user Remedy: Check the MACRO call in the TP program.
requested that all tasks be continued This is probably due to one of the E-Stops or HOLD APSH-116 WARN Reg %s could not be set
buttons being active. Cause: Register operation failed
Remedy: Disable all E-Stops and release HOLD buttons. If it is not desired that the task Remedy: Check if the register is defined, if it is between 1-64 and if it has the right value.
named be continued, abort it. Must ABORT ALL and retry
APSH-071 PAUSE Failed to pause robot task APSH-118 WARN WRITE IO parm %s missing
Cause: A Karel PAUSE_TASK() command failed to pause a task which the error handler Cause: The WRITE IO MACRO was called without a parameter that must be entered.
believes should be paused. WRITE IO(signal name string, integer value to write)
Remedy: The task which the error handler tried to pause was probably a system utility, Remedy: Check the MACRO call in the TP program.
and is not allowed to be paused. You can probably ignore this fault without any problems. APSH-119 WARN WRITE IO parm %s is wrong type
APSH-072 PAUSE Failed to abort robot task Cause: The WRITE IO MACRO was called with illegal parameters. WRITE IO(signal
Cause: A Karel ABORT_TASK() command failed. name string, integer value to write)
Remedy: Cold start the robot controller, then manually restore production status. Remedy: Check the MACRO call in the TP program.
APSH-073 WARN Servos Locked-out, enable servos APSH-120 WARN signal %s does not exist
Cause: Robot servos are locked out. Cause: The WRITE IO MACRO was called but the signal could not be found. WRITE
Remedy: Enable robot servos. IO(signal name string, integer register number)
APSH-074 WARN Disable Teach Pendant Remedy: Check the MACRO call in the TP program.
Cause: In order to resume normal production operation, DispenseTool requires that you APSH-121 WARN can't write signal %s
perform this action. Cause: The WRITE IO MACRO was called but the signal could not be found. WRITE
Remedy: Perform the action stated in the error message when you are ready to resume IO(signal name string, integer register number)
normal operation. Remedy: Check the MACRO call in the TP program.
APSH-075 WARN Error in accessing TPE:%s APSH-122 WARN GET IO PORT parm %s missing
Cause: The following error occurred when a the data associated with a TPE program Cause: The GET IO MACRO was called without a parameter that must be entered. GET
was accessed. IO(signal name string, integer port number)
Remedy: Verify that this TPE program exists. Go into the DETAIL pages under the Remedy: Check the MACRO call in the TP program.
SELECT menu and hit NEXT key until robot allows this mode to END. APSH-123 WARN GET IO PORT parm %s is wrong type
APSH-076 WARN Shell could not run:%s Cause: The GET IO MACRO was called with illegal parameters. GET IO(signal name
Cause: The shell tried to execute a program, but was stopped by the operating system. string, integer port number)
Remedy: Make sure the program exists and it is not already running or paused. Use the Remedy: Check the MACRO call in the TP program.
PROGRAM STATUS display to make sure you have not exceeded the maximum number APSH-124 WARN signal %s does not exist
of tasks. Abort all programs which do not need to be running. Cause: The GET IO MACRO was called but the signal could not be found. GET
APSH-077 WARN No positions in %s IO(signal name string, integer port number)
Cause: This TPE did not contain a position to represent HOME, SERVICE, or PURGE. Remedy: Check the MACRO call in the TP program.
Remedy: If you need to use the AT PERCH, AT PURGE, or AT SERVICE outputs, teach APSH-125 WARN Forcing Process Enabled
the positions you need in the appropriate TPEs. If you do not need these outputs to be Cause: It was detected that the Process was DISABLED at the start of this production
updated ignore this warning. program. A choice (or setup selection) has indicated that the Process should be
APSH-078 WARN Shell could not run program FORCED to the enabled state.
Cause: The shell tried to execute a program, but was stopped by the operating system. Remedy: - Don't choose to FORCE the process enable. - Change Prog Select-
Remedy: Make sure the program exists and it is not already running or paused. Use the Production Check Process ready setup to NOT Force Condition. - Ensure that Process
PROGRAM STATUS display to make sure you have not exceeded the maximum number Enabled input is on at the start of the next production cycle.
of tasks. Abort all programs which do not need to be running. APSH-126 PAUSE %s
APSH-079 WARN No DIN for Auto/Bypass Cause: Robot is paused
Cause: No Auto/Bypass input has been defined, but one was expected. Remedy: Status message
Remedy: Set a Auto/Bypass input in the Cell I/O Input menu and restart the robot. APSH-130 WARN Cannot access FR: %s *.DT files
APSH-080 WARN Waiting for Cancel/Continue Cause: Error occurred while accessing the FR: device. No .dt files found.
Cause: The robot is currently waiting for Cancel or continue (Wet or Dry) or a HOME Remedy: .DT files must exist on the FR: device.
input from the PLC. APSH-131 WARN I/O data error: %s
Remedy: This is a warning to inform the person at the teach pendant that the PLC has Cause: I/O port defined wrong: Illegal type, Default data is used.
been given exclusive control over how the robot will recover from the current error. Remedy: .DT file on the FR: device must be corrected.
APSH-081 WARN Waiting for Cancel APSH-132 WARN Selected Prog %s not loaded
Cause: The robot is currently waiting for a cancel input from the PLC. The current JOB Cause: The program name that the shell was requested to run is not loaded on the
has had a fault so severe that it cannot recover and must be aborted or receive the controller.
HOME UOP input Remedy: Check PLC->Robot style communication. Verify that specified Program name
Remedy: This is a warning to inform the person at the teach pendant that the PLC has was requested by PLC. Load or create the specified Program program.
been given exclusive control over how the robot will recover from the current error. APSH-133 WARN Not in safe starting position
APSH-082 WARN No $ERROR_PROG defined Cause: The robot has been jogged away from the position where the teach pendant was
Cause: No $ERROR_PROG has been defined for this JOB. This fault will only appear if enabled.
the Karel variable [SLERROR]POST_NO_ERRP is set to TRUE (default = FALSE). Remedy: Move the robot back to the position where the teach pendant was enabled,
Remedy: Use the TPE ERROR_PROG command, under Program Control, to set up a abort the program, or continue (in linear motion) from position where the robot is currently
Error Program for this JOB. This will allow the robot to move out of the work area when positioned.
an error occurs. APSH-142 WARN WARNING - System is in dry run
APSH-083 WARN No $RESUME_PROG defined Cause: This is a warning to notify you that a production job is running with the process
Cause: No $RESUME_PROG has been defined for this JOB. disabled.
Remedy: Use the TPE RESUME_PROG command, under Program Control, to set up a Remedy: None is required.
Resume Program for this JOB. This will allow the JOB to resume the interrupted APSH-143 WARN Robot motion is not enabled
program. Cause: Robot motion and/or program execution cannot occur unless UOP input 8 is ON.
APSH-084 WARN WARNING - simulated I/O Remedy: Check UOP I/O setup. UOP input 8 must be ON.
Cause: The robot is running a style program with one or more I/O ports simulated. APSH-144 WARN WARNING - Process Complete manually turned on at end of %s
Unexpected motions and actions may occur. Cause: A 'Force Process Complete' was performed from the Soft Panel
Remedy: Verify that all simulated I/O points should be simulated. Un-simulate all I/O Remedy: This is just a warning to let the operator know that Process Complete was
ports which should not be simulated. manually turned on.
APSH-092 WARN %s APSH-150 WARN Gun operation is NOSTROKE
Cause: Site-specific alarm caused by changes made for customer Cause: This is a warning to notify you that a production job is running with gun set to
NOSTROKE.
2
Remedy: None is required. ARC -005 STOPL Gas fault (%s^4,%d^5)
APSH-151 WARN Weld operation is NOWELD Cause: A gas fault input was detected during welding.
Cause: This is a warning to notify you that a production job is running with weld set to Remedy: Check the gas supply.
NOWELD. ARC -006 STOPL Wire fault (%s^4,%d^5)
Remedy: None is required. Cause: A wire fault input was detected during welding.
APSH-152 WARN Robot mode must be AUTO Remedy: Check the wire supply.
Cause: The robot must be in full automatic mode with the PLC before production ARC -007 STOPL Water fault (%s^4,%d^5)
operation can occur. Cause: A water fault input was detected during welding.
Remedy: Go to the SOFT PANEL menu and set Robot mode=AUTO. Remedy: Check the water supply.
APSH-153 WARN Must press SHIFT key too ARC -008 STOPL Power supply fault (%s^4,%d^5)
Cause: The shift key must be pressed when accessing this teach pendant hardkey. Cause: A power fault input was detected during welding.
Remedy: Press the shift key. Remedy: Check the power supply.
APSH-154 WARN Only one gun defined ARC -010 STOPL Wire stick detected (%s^4,%d^5)
Cause: Because the system is currently configured for one equipment with a single gun, Cause: A wire stick has occurred.
there is no need to set the equipment that that GUN and BACKUP hardkeys will operate Remedy: Secure the robot and equipment. Cut the wire.
on; they will always operate on the one gun. ARC -011 STOPL Wire stick, not reset (%s^4,%d^5)
Remedy: None is required Cause: A wirestick was detected and wirestick reset was not performed. Wirestick reset
APSH-155 WARN HOME position not recorded may be disabled. Wirestick reset is not done during TIG welding or if welding is stopped
Cause: The HOME position hasn't been recorded yet. The HOME position is contained by turning weld enable off.
in position register #1. Remedy: Secure the robot and equipment. Cut the wire.
Remedy: Go to the DATA menu, select Position Reg from the [TYPE] menu. Jog the ARC -012 STOPL Wire stick reset(s) failed (%s^4,%d^5)
robot to the HOME position. Record PR[1]. UOP output 7 will be ON when the robot is at Cause: A wirestick was detected and the automatic wirestick reset failed to break the
the HOME position. wirestick.
APSH-157 WARN Teach pendant must be enabled Remedy: Secure the robot and equipment. Cut the wire.
Cause: The teach pendant must be enabled when accessing this teach pendant ARC -013 STOPL Arc Start failed (%s^4,%d^5)
hardkey. Cause: The arc detect input did not stabilize during an arc start.
Remedy: Enable the teach pendant. Remedy: Check the wire and weld equipment. Adjust the weld schedule and/or adjust
APSH-158 WARN No group output for weld sched the arc detect time in the Weld Equipment SETUP screen.
Cause: The group output that contains the weld schedule has not been configured yet. ARC -014 WARN Teach pendant is disabled
Remedy: Go to the Weld Intface Output menu, and edit the index of the Weld Schedule Cause: The weld enable or a wire inch hardkey was pressed with the teach pendant
I/O point. Make sure the group output has been properly configured from the Group enable switch OFF.
Output menu. You must cold start the controller when changing this index, or redefining Remedy: Enable the teach pendant.
the group output. ARC -015 WARN Press shift with this key
APSH-159 WARN Servos are not ready Cause: The weld enable or a wire inch hardkey was pressed without holding the shift
Cause: The servos are not ready, so operation requested cannot be performed. key.
Remedy: When resetting a fault, wait for the servos to click on before attempting to Remedy: Try again while holding the shift key.
execute a program. ARC -016 STOPL Weld by Shift FWD is disabled
APSH-160 WARN Robot not at POUNCE position Cause: A program executing from the teach pendant attempted an Arc Start with welding
Cause: The robot is not at the POUNCE position, so the operation requested cannot be from the teach pendant disabled.
performed. Remedy: Disable the arc for testing from the teach pendant or change the Weld System
Remedy: Re-issue this request when the robot is AT POUNCE. SETUP to permit welding during teach pendant execution.
APSH-161 WARN No production style is running ARC -017 WARN Arc Start was disabled (%s^4,%d^5)
Cause: The robot is not currently running a production style, so the operation requested Cause: An Arc Start instruction was executed with welding disabled.
cannot be performed. Remedy: Welding can be enabled using the teach pendant arc enable key or the remote
Remedy: Re-issue the request when the robot is running a production style. arc enable input. Also check the machinelock and dry run settings in the Test Cycle
APSH-162 WARN No group output for multi-pressure screen.
Cause: The group output that contains the setting for the multi-pressure valving has not ARC -018 STOPL Lost arc detect (%s^4,%d^5)
been configured yet. Cause: The arc detect signal was lost during a weld.
Remedy: Go to the Spot Equipment Intface Output menu, and edit the index of the Valve Remedy: Check the wire feeder. Check the welding schedule, speed or arc loss time.
pressure I/O point. Make sure the group output has been properly configured from the ARC -019 STOPL Can't read arc detect input (%s^4,%d^5)
Group Output menu. You must cold start the controller when changing this index, or Cause: The arc detect input could not be read.
redefining the group output. Remedy: Check the process I/O board connection.
APSH-163 WARN No motion allowed--gun closed ARC -020 STOPL No plan data area available
Cause: No motion can occur because the gun is closed. This prevents the user from Cause: Insufficient memory exists to plan an arc instruction.
jogging or running a program while the gun is closed, and damaging parts and/or tooling. Remedy: Try reducing the number of programs.
Remedy: Open the gun. ARC -021 ABORT Program aborted while welding (%s^4,%d^5)
APSH-164 WARN Home I/O program %s not loaded Cause: A program was aborted while welding.
Cause: The HOME I/O program as specified from the Cell Setup menu does not exist Remedy: Check if the program ends without an Arc End instruction.
and was not run. ARC -022 WARN Weld AO scaling limit used (%s^4,%d^5)
Remedy: Go to the Cell Setup menu and either check the name of the HOME I/O macro Cause: The programmed analog output is beyond the equipment limits.
name menu item. Make sure the file specified exists on the controller. Either create a Remedy: Modify the weld parameters used in the arc instruction to be within the
program by that name or change this menu item to a program that already exists on the equipment limits.
controller. ARC -023 STOPL Illegal arc schedule type (%s^4,%d^5)
APSH-165 WARN Invalid Studgun Selection Cause: The arc instruction register is not an integer type.
Cause: There I/O configuration for the proper studwelding gun has not been initialized. Remedy: Use a register that is an integer type.
Remedy: Proceed to the Spot Equipment I/O setup screen and configure the digital ARC -024 WARN Invalid equipment range
inputs Gun Present = On/Off, Gun in Nest = On/Off for the 2 stud guns. Proper Cause: The equipment min to max range is too small.
configuration if gun 1 is on the robot is for Gun 1 (Gun Present = ON, Gun in Nest = OFF Remedy: Enter new min or max values for the equipment.
and for Gun 2 (Gun Present = OFF, Gun in Nest = ON. Proper configuration if gun 2 is on ARC -025 WARN Invalid A/D or D/A range
the robot is for Gun 1 (Gun Present = OFF, Gun in Nest = ON and for Gun 2 (Gun Cause: The binary range data for the A/D or D/A is too small.
Present = ON, Gun in Nest = OFF. Remedy: Modify the correct system variable fields within $AWEPRR.
APSH-166 WARN Studgun Change Unsuccessful ARC -026 WARN Cannot scale AIO while welding
Cause: The robot was aborted or interrupted during the studgun change sequence. Cause: An analog scaling limit was modified while welding. The scaling was not
Remedy: Manually change the stud guns and move the robot to the home position. changed.
Press cycle start to run production. Remedy: Turn off the controller and turn it on again.
APSH-167 WARN Move robot home & cycle start ARC -030 WARN Wire stick is still detected (%s^4,%d^5)
Cause: The stud gun change program was interrupted. Cause: A wire stick is still detected after a system RESET.
Remedy: To resume production the robot must be manually returned home and cycle Remedy: Secure the robot and equipment. Cut the wire.
start must be pressed to continue. ARC -031 STOPL No motion while welding (%s^4,%d^5)
APSH-168 WARN No GO for EQP pressure Cause: Motion has stopped longer than $arc_los_tim while welding.
Cause: The group output that contains the setting for the equalization pressure has not Remedy: If no motion is needed during welding, increase the arc loss time in the Weld
been configured yet. Equipment SETUP screen or disable arc loss detection in the Weld System SETUP
Remedy: Go to the Spot Equipment Intface Output menu, and edit the index of the Equal screen.
pressure I/O point. Make sure the group output has been properly configured from the ARC -032 STOPL Weld stopped by single step (%s^4,%d^5)
Group Output menu. You must cold start the controller when changing this index, or Cause: Welding was stopped by entering single step mode after welding began.
redefining the group output. Remedy: To continue welding you must exit single step mode.
APSH-169 WARN Uninitialized Stud Macros ARC -033 STOPL Override must be 100%% to weld (%s^4,%d^5)
Cause: A macro program to dropoff or pickup studgun 1 or 2 has not been initialized. Cause: The speed override is less than 100%.
Remedy: Proceed to Spot Equipment Menu under MENUS-SETUP and initialize the Remedy: Set the speed override to 100% to weld or disable welding to continue at a low
studwelding macros which will only appear if STUD BACKUP is ENABLED at speed.
CONTROLLED START. ARC -034 STOPL Task does not control welding (%s^4,%d^5)
APSH-170 WARN Check Nest/Changer Inputs Cause: A task which does not have weld control attempted to execute an Arc Start or an
Cause: A macro program to dropoff or pickup studgun 1 or 2 has not been initialized. Arc End instruction. Only one task is permitted to have weld control.
Remedy: Proceed to Spot Equipment Menu under MENUS-SETUP and initialize the Remedy: Allow the task which has weld control to end or abort before attempting to weld
studwelding macros which will only appear if STUD BACKUP is ENABLED at with another task.
CONTROLLED START. ARC -035 STOPL Equipment number isn't set (%s^4,%d^5)
APSH-174 WARN SCR overtemp detected Cause: The arc instruction does not have the equipment number
Cause: An SCR overtemp signal has been received. Remedy: Please set the equipment number to the program attribute data or the arc
Remedy: Check the SCR for overheating. instruction
APSH-175 WARN Req. Press. Not mapped for WC:%s ARC -036 STOPL Such equipment mask isn't supported (%s^4,%d^5)
Cause: The Request Pressure digital input is not mapped. Cause: This equipment mask is not supported now
Remedy: Map request pressure input on Weld Interface Menu. Remedy: Please change the equipment mask
APSH-176 WARN GIN For Weld Press. Not mapped for WC:%s ARC -037 WARN Another equipment is inching now
Cause: The GIN for Weld Pressure is not mapped. Cause: Another equipment is wire inching now.
Remedy: Map Weld Pressure pressure input on Weld Interface Menu. Remedy: Please stop wire inching for another equipment by releasing the shift key or
APSH-177 WARN Read Press. Not mapped for WC:%s user key
Cause: Read pressure input is not mapped on weld interface Menu. ARC -038 STOPL Already held another equipment (%s^4,%d^5)
Remedy: Map read pressure input on Weld Interface Menu. Cause: This program( task ) has already held the another equipment A task can only use
APSH-178 WARN Map I/O in Weld Interface Menu a equipment.
Cause: There is not cause, this is a help code Remedy: Please control the equipment by the another task
Remedy: No remedy required. ARC -039 STOPL %s^1 AO[%d^2] is not scaled (%s^4,%d^5)
APSH-179 WARN Upd. Press. timeout WC:%s Cause: The named weld analog output signal is not scaled properly.
Cause: The weld controller did not set Read Pressure input in time. Remedy: Adjust the weld analog output scaling in the Weld I/O screen using the
Remedy: Check if weld controller is functioning correctly, or increase Weld Pres time-out CONFIG function key.
at CTRL start menu. ARC -040 STOPL Missing I/O: %s^1 (%s^4,%d^5)
APSH-180 WARN Could not communicate to WC. Cause: The named weld I/O signal is not detected or configured properly.
Cause: Could not read any I/O from the Weld controller. Device may be offline. Remedy: Verify the I/O hardware is connected and the signal is assigned a port number
Remedy: Check if weld controller is functioning correctly, or powered on. in the Weld I/O screen. Use the CONFIG function key if the signal is unassigned.
ARC Error Codes ARC -041 STOPL Weld EQ needs DeviceNet option
ARC -001 STOPL Illegal arc equipment config Cause: The weld equipment has been configured to use DeviceNet by setting the fields
Cause: An attempt was made to add or use more equipment than permitted. $VENDOR_ID, $DEV_TYPE, and $PROD_CODE in the system variable $AWEPRR to
Remedy: To Be Determined non-zero values. However, the DeviceNet option is not installed.
ARC -002 STOPL Illegal arc schedule number (%s^4,%d^5) Remedy: Add the DeviceNet option or choose a weld equipment model which does not
Cause: An arc instruction contained an illegal schedule number. require DeviceNet. If the weld equipment model is correct and does not require
Remedy: Change the schedule number to one shown in the weld data screen. DeviceNet then set the $AWEPRR fields mentioned above to zero and cycle power.
ARC -003 STOPL No gas flow (%s^4,%d^5) ARC -042 STOPL Weld EQ needs Expl Msg option
Cause: No gas flow was detected during an arc start. Cause: The weld equipment has been configured to use DeviceNet by setting the fields
Remedy: Check the gas supply. $VENDOR_ID, $DEV_TYPE, and $PROD_CODE in the system variable $AWEPRR to
ARC -004 WARN Gas flow after weld (%s^4,%d^5) non-zero values. However, the Explicit Messaging option is not installed.
Cause: The gas fault input was not ON after the gas output was set to OFF.
Remedy: Check the gas valve and the gas flow switch.
3
Remedy: Add the Explicit Messaging option or choose a weld equipment model which Remedy: Set proper arc loss time.
does not require DeviceNet. If the weld equipment model is correct and does not require ARC -155 STOP Comm. Timeout(E:%d)
DeviceNet then set the $AWEPRR fields mentioned above to zero and cycle power. Cause: Communication with RoboWeld power source is timeout.
ARC -043 STOPL Weld EQ needs DeviceNet board Remedy: Confirm port setup and connection cable.
Cause: The weld equipment has been configured to use DeviceNet by setting the fields ARC -156 SYSTEM RoboWeld Error(0x%X, %d)
$VENDOR_ID, $DEV_TYPE, and $PROD_CODE in the system variable $AWEPRR to Cause: RoboWeld internal error.
non-zero values. However, DeviceNet hardware was not detected. Remedy: Contact FANUC Robotics Hotline.
Remedy: Add DeviceNet hardware or choose a weld equipment model which does not ARC -157 STOP Receive error(0x%X)(E:%d)
require DeviceNet. If the weld equipment model is correct and does not require Cause: Receive invalid data from Power Source.
DeviceNet then set the $AWEPRR fields mentioned above to zero and cycle power. Remedy: Confirm noise environment and cable.
ARC -044 STOPL Weld EQ needs DeviceNet defn. ARC -158 STOP 1st currency (E:%d)
Cause: The weld equipment has been configured to use DeviceNet by setting the fields Cause: Detect 1st currency abnormal.
$VENDOR_ID, $DEV_TYPE, and $PROD_CODE in the system variable $AWEPRR to Remedy: Check currency.
non-zero values. A DeviceNet device definition could not be found for that product. ARC -159 STOP 2nd currency (E:%d)
Remedy: You can add a DeviceNet definition for this product or if the weld equipment Cause: Detect 2nd currency abnormal.
you are using does not support DeviceNet you can set the $AWEPRR fields mentioned Remedy: Check currency.
above to zero and cycle power. ARC -160 STOP Temperature alarm(E:%d)
ARC -045 WARN Weld EQ Device is OFFLINE Cause: Detect temperature abnormal.
Cause: ArcTool attempted to communicate with the Welding Equipment using the Remedy: Check overload.
DeviceNet network, but could not because the link was not properly established. ARC -161 STOP High voltage(E:%d)
Remedy: Verify the Weld Equipment is ON. Verify the DeviceNet cable is connected. Cause: Detect high voltage.
Check the DeviceNet I/O screen board status and device status. Remedy: Check voltage.
ARC -046 WARN Weld EQ communication error ARC -162 STOP Low voltage(E:%d)
Cause: There was a communication error detected between ArcTool and the Weld Cause: Detect low voltage.
Equipment. Remedy: Check voltage.
Remedy: Verify the Weld Equipment is ON. Verify the DeviceNet cable is connected. ARC -163 STOP Start signal error(E:%d)
Check the DeviceNet I/O screen board status and device status. Cause: Detect start signal abnormal.
ARC -047 WARN Not allowed during a weld Remedy: Check start signal.
Cause: An operation was attempted which is not permitted while a weld is executing or ARC -164 STOP Power source error(E:%d)
paused. Cause: Detect 3-phase power source abnormal.
Remedy: Try the operation after the program ends or is aborted. Remedy: Check 3-phase power source.
ARC -048 WARN Auto AI/O setup is unsupported ARC -165 STOP EQ is detached(E:%d)
Cause: Auto AI/O setup for the mounted I/O module is not supported. So parameters are Cause: RoboWeld is detached.
not set automatically. Remedy: Confirm port setup.
Remedy: Verify mounted I/O module and set system variables of $AWEPRR[] in system ARC -166 STOP Comm. stopped in weld(E:%d)
variable screen manually if need. Cause: Communication with RoboWeld power source stopped in welding.
ARC -049 WARN Process %d switch to %d failed Remedy: Confirm another error message and port, cable setup.
Cause: ArcTool failed to switch weld processes. ARC -167 SYSTEM I/O assignment overlap(%d)(E:%d)
Remedy: The weld power supply may be OFF, unconnected, or data in the second Cause: I/O space for RoboWeld is already in use.
process may be incorrect. Remedy: Confirm another I/O device and $IO_START in $RBWLD.
ARC -050 WARN Process %d NOT found ARC -168 SYSTEM I/O error(%d)(%d, E:%d)
Cause: ArcTool failed to find this process on the weld power supply. Cause: I/O initialization error.
Remedy: Enter a different number or use the SEARCH parameters and function key. Remedy: Confirm another I/O device and $IO_START in $RBWLD.
ARC -051 WARN Weld EQ ONLINE: %s ARC -169 STOP Invalid wire op.(E:%d)
Cause: ArcTool is communicating with the weld power supply. The version number of the Cause: Detect invalid wire FWD/BWD operation.
power supply is shown. Remedy: Confirm wire control sequence.
Remedy: This message is for notification and information. It does not indicate a problem. ARC -170 STOP Detect Arc OFF(E:%d)
ARC -052 WARN Bad %s %s Prc %d Cause: Detect ARC off.
Cause: The indicated parameter is out of range. Remedy: Confirm welding device and workpiece status.
Remedy: Enter a number within range. ARC -171 STOP Unified data RCV error(%d,0x%X)(E:%d)
ARC -053 WARN No ramp at process switch (%s^4,%d^5) Cause: Failed to receive unified data.
Cause: Ramping is not allowed when switching weld processes. Remedy: Confirm port setup, noise environment, cable status.
Remedy: Complete the process switch first, then ramp with another arc start instruction. ARC -172 WARN Warning, Rcv(0x%X)(E:%d)
ARC -072 STOPL Illegal AMR packet Cause: Receive invalid command from power source.
Cause: Internal error. Remedy: Confirm noise environment, cable setting.
Remedy: Sometimes this error requires cycling the controller power. ARC -173 WARN Warning, Retry(0x%X)(E:%d)
ARC -084 ABORT Application process is changed during welding Cause: Retry to send the command to power source.
Cause: Application is changed during welding. Remedy: Confirm noise environment, cable setting.
Remedy: Please change the program. ARC -174 WARN Warning, NAK for(0x%X)(E:%d)
ARC -085 STOPL Incomplete of conversion factor setup Cause: Receive NAK from power source.
Cause: Incomplete the analog signal conversion factor. Remedy: Confirm noise environment, cable setting.
Remedy: Please set it. ARC -175 STOP Signal change is ignored(E:%d)
ARC -086 STOPL Invalid of binary data in conversion factor Cause: Communication with power source is stopped.
Cause: The binary data($AWEPRR.$io_min/max_bin) is invalid. The difference is zero. Remedy: Confirm welding setup, cable connection, then reset.
Remedy: Please set correct value. ARC -176 WARN No sysvar $RBWLD for E:%d
ARC -087 STOPL Invalid conversion factor data Cause: Sysvar $RBWLD is not setup for new EQ number.
Cause: The conversion factor data is invalid. It must be filled more than 2 tables at least. Remedy: Confirm $RBWLD and $RBWLD_CFG setup.
But the value of the second table is zero. ARC -177 WARN RoboWeld(E:%d) reset complete
Remedy: Please set conversion factor more than 2 tables Cause: RoboWeld reset sequence is complete.
ARC -088 STOPL Over selected AO factor No. Remedy: Arc welding is now available.
Cause: The selected number of AO conversion factor data is over the number of the ASBN Error Codes
actual data array ASBN-021 WARN Expecting a '['
Remedy: Please select the correct number of AO conversion factor data Cause: A required [ was not found in this context.
ARC -090 WARN Weld disable by reason[%d] Remedy: Add [] to this register reference, application modifier, or as otherwise
Cause: In this situation, the welding is disabled by the following reason 1: In Single step necessary.
mode 2: In Machine lock mode 3: In Dry run mode 4: No I/O board exist 5: No I/O ASBN-060 WARN Invalid attribute syntax
assignment for welding 6: In Flush AMR status 7: In Application disabled mode 8: In Arc Cause: The program header is invalid or missing
disabled status 9: In Skip welding status 10: In disable status mode by AWDBG Remedy: Repair or provide a valid /ATTR section. Print a program from this robot for an
Remedy: Please remove the specified reason to perform the welding. example.
ARC -100 STOPL SVT: Unsupported Wire material ASBN-080 WARN Duplicated Position data
Cause: The selected wire material is not supported for Servo Torch. Cause: A position register has been defined twice.
Remedy: Please select the correct wire material. Remedy: Make sure that each entry in the /POS section has a unique P[] number.
ARC -101 STOPL SVT: Unsupported Wire size ASBN-081 WARN Unused Position data
Cause: The selected wire size is not supported for Servo Torch. Cause: P[<number>] is referenced somewhere but is not defined in the /POS section.
Remedy: Please select the correct wire size. Remedy: Define P[<number>] in /POS section.
ARC -102 WARN SVT: Unsupported speed unit ASBN-095 WARN Instruction not supported
Cause: The selected unit of inching speed is not supported for Servo Torch. Cause: Instruction is not supported on this robot as configured.
Remedy: Please select the correct unit of inching speed Remedy: Load or enable the relevant feature. Delete the instruction if unnecessary.
ARC -103 STOPL SVT: WFS conversion failed Modify the instruction appropriately for the currently configured robot.
Cause: Failed to convert weld schedule to wire feed speed command for Servo Torch. ASST Error Codes
Remedy: If another alarm is also occurred at the same time, please check it and remove ASST-001 PAUSE SET_VAR failed %s Debug messages posted by various programs. Remedy: N/A
the cause of the alarm. If no other alarm is occurred, some internal error is occurred. Cause: Data in a setup menu could not be set
ARC -104 STOPL SVT: Invalid sequence mode Remedy: Cold start the controller and retry.
Cause: Internal error. Invalid sequence mode command is sent to Servo Torch. ATCP Error Codes
Remedy: Internal error. Cycle power to recover. ATCP-000 WARN ATCP: Unknown error
ARC -105 STOPL Cannot read WSTK input signal Cause: An internal error has occurred.
Cause: Cannot received WSTK signal from serial communication power supply. Remedy: Cold start the controller
Remedy: Confirm which type of weld equip is used. Confirm the connection with serial ATCP-001 WARN ATCP: TCP differs by %s
communication power supply. Confirm the setting of serial port. Cause: The difference between the current TCP and the previous TCP is greater than
ARC -106 WARN Config of Roboweld is invalid the pre-defined threshold.
Cause: Configuration of Roboweld was invalid. So data for Robowelds were set Remedy: Run the AutoTCP utility again to confirm the TCP value.
inappropriately. ATCP-002 WARN XYZ: %s
Remedy: Remove all Robowelds by selecting other equip in weld equip select screen. Cause: AutoTCP logs the previous TCP XYZ value to error log for record keeping.
Then select and setup Roboweld again, if you want to use Roboweld. Remedy: None.
ARC -107 STOPL Roboweld internal Error(%d) ATCP-003 WARN WPR: %s
Cause: RoboWeld internal error. Cause: AutoTCP logs the previous TCP WPR value to error log for record keeping.
Remedy: Cycle power to recover. Remedy: None.
ARC -120 WARN Enable/Disable Sim mode failed BELL Error Codes
Cause: Necessary signals for Simulation mode cannot be detected. BELL-001 WARN Unknown BellTool error
Remedy: Verify that AI/O and WDI/O signals are assigned appropriately. Cause: BellTool has detected an unknown error.
ARC -121 WARN Weld not performed(Sim mode) Remedy: See TP error log for cause of error.
Cause: Simulation mode is enabled. So actual welding is not performed. BELL-002 WARN Press master reset
Remedy: This is not an error. There is no need to do anything. Cause: System is in an error condition.
ARC -122 WARN Cannot SIM/UNSIM(%s,Id:%d) Remedy: Press reset to clear error.
Cause: I/O signals were not set to sim/unsim appropriately when Simulation mode is. BELL-003 WARN Reset failure
enabled/disabled. Cause: The reset procedure has failed.
Remedy: Verify that AI/O and WDI/O signals are assigned appropriately. Remedy: Correct the error, if any, and try the reset again.
ARC -150 STOP Invalid op. in weld(0x%X)(E:%d) BELL-004 WARN Machine 1 is bypassed
Cause: Detect invalid signal operation in welding. Cause: Bypass Machine 1 input signal is ON.
Remedy: Reset and try again after Arc OFF. Remedy: The bypass machine 1 input must be OFF to enable the machine.
ARC -151 STOP Invalid wire size(E:%d) BELL-005 WARN Machine 2 is bypassed
Cause: Detect invalid wire size. Cause: Bypass Machine 2 input signal is ON.
Remedy: Set proper wire size. Remedy: The bypass machine 2 input must be OFF to enable the machine.
ARC -152 STOP Invalid weld process(E:%d) BELL-006 WARN Servo disconnect switch off
Cause: Detect invalid welding process. Cause: Servo disconnect on machine is ON.
Remedy: Set proper welding process. Remedy: Set servo disconnect OFF.
ARC -153 STOP Invalid wire material(E:%d) BELL-007 PAUS Auto mode disabled in cycle
Cause: Detect invalid wire material. Cause: During a cycle, the mode select input was switched from automatic.
Remedy: Set proper wire material. Remedy: Status message only.
ARC -154 STOP Invalid Arc Loss Time(E:%d) BELL-008 WARN Failed to run %s task
Cause: Arc loss time is invalid range.
4
Cause: An attempt to run a BellTool task has failed. Cause: BellWorks is not receiving the data changed at the RJ controller
Remedy: Cycle power on the controller. Remedy: Verify that all job changes have been uploaded to BellWorks. Also, verify that
BELL-009 WARN REMOTE switch must be REMOTE communications between the PLC and the RJ controller are ok.
Cause: Remote switch is in the LOCAL position. BELL-048 PAUS Unknown job init from PLC
Remedy: Place remote switch to REMOTE position. Cause: The PLC has sent an unknown job number init to the RJ controller
BELL-010 WARN STEP mode must be disabled Remedy: Verify that all jobs have been loaded on the RJ controller. Also, verify that
Cause: STEP mode is ON going into production. communications between the PLC and the RJ controller are ok.
Remedy: Press TP STEP key to disable STEP mode. BELL-049 WARN Error reading BellWorks Data
BELL-011 WARN Machine lock is ON Cause: Could not read a program file that was transferred from BellWorks
Cause: Machine lock is ON going into production. Remedy: Check communications between BellWorks and the RJ controller
Remedy: Disable machine lock on TP. BELL-050 PAUS Job data not processed
BELL-012 WARN Machine motion is not enabled Cause: Program data has not been processed
Cause: UOP enable input is OFF. Remedy: Verify that all programs copied from BellWorks to RJ are processed
Remedy: UOP enable input must be ON. BELL-051 PAUS PLC e-stop detected
BELL-013 WARN Genoveride not 100 % Cause: An interlock signal fault or PLC E-stop was detected.
Cause: Program cannot set genoverride to 100. Remedy: Clear source of fault.
Remedy: Manually set genoverride to 100 on TP. BELL-052 PAUS Machine overtravel
BELL-014 WARN Waiting for machine to be home Cause: The mechanical unit went beyond its normal travel limits and reached an
Cause: Machines must be at home position to enter automatic mode. overtravel limit switch.
Remedy: Send machine to the home position. Remedy: Follow the overtravel recovery procedure in the SYSTEM R-J Controller Series
BELL-015 PAUS Machine 1 bypassed in cycle Electrical Connection and Maintenance Manual.
Cause: During a cycle, the bypass switch for machine 1 was turned on. BELL-053 PAUS Release SOP e-stop
Remedy: Status message only. Cause: The operator panel (SOP) E-STOP has been detected.
BELL-016 PAUS Machine 2 bypassed in cycle Remedy: Turn/Release the SOP E-STOP button to clear the E-STOP condition.
Cause: During a cycle, the bypass switch for machine 2 was turned on. BELL-054 PAUS Release TP e-stop
Remedy: Status message only. Cause: The teach pendant E-STOP has been detected.
BELL-017 PAUS Step enabled during cycle Remedy: Push in teach pendant E-STOP button again to clear the E-STOP condition.
Cause: During a cycle, the step key was pressed on the teach pendant. BELL-055 PAUS TP enabled during production
Remedy: Press TP STEP key to disable STEP mode. Cause: The teach pendant cannot be enabled during production.
BELL-018 WARN Top machine is bypassed Remedy: Disable the teach pendant.
Cause: Bypass top machine input signal is ON. BELL-056 PAUS Disable teach pendant
Remedy: The bypass top machine input must be OFF to enable the machine. Cause: Teach pendant is enabled.
BELL-019 PAUS Failed to continue motion task Remedy: Disable the teach pendant to continue the program.
Cause: An attempt to continue the motion task has failed. BELL-057 PAUS Stop error excess
Remedy: The current cycle must be aborted. Cause: The servo error was too big when the machine had stopped.
BELL-020 PAUS Failed to pause motion task Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: An attempt to pause the motion task has failed. Presumably, the motion task has Electrical Connection and Maintenance Manual.
aborted. BELL-058 PAUS Move error excess
Remedy: The current cycle must be aborted. Cause: The servo error was too big when the machine was moving.
BELL-021 PAUS Fast-Up/In motion Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: A fast-up move was requested by the cell controller. Electrical Connection and Maintenance Manual.
Remedy: Correct the problem and reset the cell. Cancel or continue the current cycle, if BELL-059 PAUS DEADMAN switch RELEASED
any. Cause: The DEADMAN switch has been released during an operation. The operation
BELL-022 WARN Both side machines are bypassed has been discontinued.
Cause: Both machine 1 and machine 2 bypass inputs are ON. Remedy: Press the DEADMAN switch, and hold it down to restart the procedure.
Remedy: At least one machine bypass input must be OFF to enable the machine and BELL-060 PAUS Fence open during production
enter automatic mode. Cause: FENCE1 and FENCE2 circuit open on EMG control board.
BELL-023 PAUS Test cycle aborted Remedy: Determine the cause of FENCE1 and FENCE2 open circuit and correct.
Cause: The test cycle was aborted BELL-061 PAUS UOP immediate stop detected
Remedy: Reset major fault condition. Cause: IMSTP (immediate stop) UOP input not asserted.
BELL-024 WARN Brake release switch on Remedy: If using UOP, clear source of fault. If not using UOP, select the I/O menus,
Cause: The brake release switch is on zero UOP mapping, and cycle power on the controller.
Remedy: The brake release switch must be off to reset the controller. BELL-062 PAUS HOLD active
BELL-025 WARN Beam out of balance Cause: A HOLD signal, either from the UOP or the teach pendant, has been activated.
Cause: The beam is out of balance. Remedy: Remove the HOLD condition
Remedy: Jog one of the vertical and/or tracking drives until the beam is in balance. The BELL-063 PAUS PC serial interface fault
machine may require re-mastering. Cause: PC interface serial link has failed.
BELL-026 WARN Conveyor simulation on Remedy: Check LED status on PC interface board. Refer to manual for possible cause.
Cause: Conveyor simulation was turned on. BELL-065 PAUS OVC alarm
Remedy: Status message only. Cause: The average current calculated by the servo software exceeded specification.
BELL-027 WARN Conveyor simulation off Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: Conveyor simulation was turned off. Electrical Connection and Maintenance Manual.
Remedy: Status message only. BELL-066 PAUS Machine not calibrated
BELL-029 WARN Oscillation axis overspeed Cause: The machine must be calibrated before proceeding. Only jogging in the joint
Cause: An oscillation axis overspeed condition could occur with the current oscillation coordinate system and the calibration motion itself can be executed before the machine
values. is calibrated.
Remedy: Decrease the oscillation distance or increase the oscillation step size. Remedy: Calibrate the machine.
BELL-030 WARN Trigger %s in non-paint zone BELL-067 PAUS Limit error
Cause: A trigger point has been defined within a non-paint zone. Although this is a valid Cause: The taught position was outside the normal work envelope of the robot. One of
use of a trigger, a warning message is posted to warn the user of the potential error the machine axes could not reach the position.
Remedy: Review the trigger definitions. Remedy: Reteach the position.
BELL-031 WARN Non-increasing fluid zones BELL-068 PAUS Position not reachable
Cause: Fluid zone locations must be taught with increasing conveyor values. Cause: There is no solution (conversion from a Cartesian position to joint angles) for the
Remedy: Re-teach the zone locations so that the associated conveyor values increase taught position.
with each new fluid zone. Remedy: Reteach the position.
BELL-032 WARN Non-increasing trigger zones BELL-069 PAUS Configuration mismatch
Cause: Trigger zone locations must be taught with increasing conveyor values. Cause: This is a pause condition. The configuration cannot change during a Cartesian
Remedy: Re-teach the trigger locations so that the associated on conveyor values (linear or circular) motion.
increase with each new trigger. Remedy: Either reteach the motions using the same configuration or use a joint motion
BELL-033 WARN %s overspeed to change configurations before proceeding with Cartesian motion.
Cause: The indicated axis will exceed it's maximum speed limit. BELL-070 PAUS Planner error
Remedy: Increase the conveyor position relative to the previous points conveyor position Cause: An error was encountered by the planner.
or decrease the change in axis position relative to the previous points axis position. In the Remedy: Check the error message log for details.
case of a top machine, the maximum conveyor speed can be reduced. BELL-071 PAUS Uninitialized position
BELL-034 WARN Can't find min pnt spd Cause: This is a system software error.
Cause: The minimum paint speed could not be determined because an axis overspeed Remedy: Document the events that led to the error, record the software version number
condition occurred. and contact your local distributor or the FANUC Robotics hotline. You can try to clear the
Remedy: Modify the path positional parameters and/or reduce the maximum conveyor error by powering the controller off and then on.
speed BELL-072 PAUS Brake fuse blown
BELL-035 WARN Can't optimize max pnt spd Cause: The brake fuse is blown on the EMG control pcb. The FALM light on the EMG
Cause: The path could not be fully optimized for maximum paint speed because an axis control pcb should be light.
overspeed condition occurred Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Remedy: Modify the path positional parameters and/or reduce the maximum conveyor Electrical Connection and Maintenance Manual.
speed BELL-073 WARN Machine not mastered
BELL-036 WARN Purge position is undefined Cause: Machine is not mastered.
Cause: The purge position has not been taught. Remedy: Refer to mastering section in the SYSTEM R-J Controller Series Electrical
Remedy: Use the Move Menu to teach the purge position. Connection and Maintenance Manual.
BELL-037 PAUS Aux Position %s is undefined BELL-074 PAUS MCC alarm
Cause: An auxiliary position is not taught. Cause: The servo amplifier magnetic contactor (MCC) is welded closed.
Remedy: Use the Move menu to teach the auxiliary position. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
BELL-038 WARN Encoder count rollover Electrical Connection and Maintenance Manual.
Cause: The encoder counter has detected a rollover condition. BELL-075 PAUS Discharge current alarm
Remedy: This is a status/warning message only. Cause: The regenerative energy produced by the motor exceeded specifications.
BELL-039 PAUS Bad tracking hardware Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: Bad tracking sensor hardware interface. Electrical Connection and Maintenance Manual.
Remedy: Check all sensor hardware, cables, and connections. BELL-076 PAUS High voltage alarm
BELL-040 PAUS Illegal encoder multiplier Cause: The DC voltage on the main power circuit of the servo amplifier exceeded
Cause: Illegal encoder multiplier number. specification.
Remedy: Use a valid encoder multiplier number. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
BELL-041 PAUS Encoder not enabled Electrical Connection and Maintenance Manual.
Cause: Tracking encoder is not enabled. BELL-077 PAUS High current alarm
Remedy: Enable the tracking encoder before readings its count within the program Cause: The current in the main power circuit of the servo amplifier exceeded
BELL-042 PAUS Encoder is disconnected specification.
Cause: Controller is detecting a problem with the encoder cable. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Remedy: Check encoder cable. Electrical Connection and Maintenance Manual.
BELL-043 WARN Trigger zone %s non-increasing BELL-078 PAUS Low voltage alarm
Cause: Each trigger zone must be taught with increasing conveyor values. Cause: The DC voltage on the main power circuit of the servo amplifier is lower than the
Remedy: Re-teach the trigger locations so that the associated conveyor values increase specification even though MCC is on.
within each trigger zone. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
BELL-044 PAUS Motion task has faulted Electrical Connection and Maintenance Manual.
Cause: The motion task has faulted, but was not detected by the main task. BELL-079 PAUS Servo amp overheat alarm
Remedy: Current cycle must be aborted. Cause: The servo amplifier overheated.
BELL-045 PAUS Failed to resume cycle Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: The motion task failed to resume the current cycle. Electrical Connection and Maintenance Manual.
Remedy: Current cycle must be aborted. BELL-080 PAUS Collision alarm
BELL-046 PAUS Dual Drive adjust mode selected Cause: The servo software detected a disturbance torque that was too high, and tripped
Cause: Dual drive adjust mode has been selected at the RJ controller. a a collision detection alarm.
Remedy: Cancel adjust mode at the SYSTEM Variables menu. Master and calibrate the Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
machine. Electrical Connection and Maintenance Manual.
BELL-047 WARN BellWorks not reading changes BELL-081 WARN Pulse coder battery discon alarm
Cause: The battery voltage for the pulse coder is zero volts.
5
Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series CALB-003 WARN WPR: %s
Electrical Connection and Maintenance Manual. Cause: AutoTCP logs the previous TCP WPR value to error log for record keeping.
BELL-082 PAUS Pulse coder alarm Remedy: None.
Cause: Pulse coder alarm had occurred. Go to the ALARMS screen on the teach CALB-010 WARN Cannot access system variables
pendant to record the type of pulse coder alarm. Cause: Cannot access to the robot signature's system variables
Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series Remedy: Re-load the option
Electrical Connection and Maintenance Manual. CALB-011 WARN Position is not recorded.
BELL-083 WARN Pulse coder battery low alarm Cause: The position is not recorded
Cause: The pulse coder batteries are low. Remedy: Please record the position before move to it.
Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series CALB-012 WARN Press shift key.
Electrical Connection and Maintenance Manual. Cause: Move/Record with press the shift key.
BELL-084 PAUS Motor overheat occurred Remedy: Please press SHIFT key at the same time when record a position or move to a
Cause: The pulse coder overheated. position.
Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series CALB-013 WARN Robot is already in motion.
Electrical Connection and Maintenance Manual. Cause: Robot is current under motion control. Cannot issue a new motion at this
BELL-085 PAUS Pulse coder communication error moment.
Cause: The axis control pcb sent the request signal, but did not receive serial data from Remedy: Please wait for the current motion to complete before issuing the next motion.
the pulse coder. CALB-014 WARN Calib motn requires more data.
Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series Cause: Calibration motion requires more data points.
Electrical Connection and Maintenance Manual. Remedy: Please make sure the sensor data, TCP motion data and End Position data are
BELL-086 PAUS Pulse coder position compare error recorded correctly before issuing calibration motion.
Cause: The feedback velocity exceeds specification. CALB-015 WARN Wrong mode to read data file.
Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series Cause: Have to be in the 3rd party data mode to read in a data file.
Electrical Connection and Maintenance Manual. Remedy: Please make sure to select 3rd party in the calibration mode in order to read in
BELL-087 PAUS Collision Detection (Hand Broke) a data file.
Cause: Collision Detection (Hand Broke) CALB-016 WARN Fail to run calibration motion
Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series Cause: Fail to run calibration motion. in a data file.
Electrical Connection and Maintenance Manual. Remedy: Please make sure there is no system error before running robot calibration
BELL-088 PAUS CRCERR alarm program.
Cause: Serial data from pulse coder changed during communication to axis control pcb. CALB-017 WARN Jog Group mismatch.
Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series Cause: Current group does not match the jogging group. Cannot issue motion.
Electrical Connection and Maintenance Manual. Remedy: Please make sure the jogging group matches the current group.
BELL-089 PAUS TP disabled during motion CALB-018 WARN Robot is not being mastered .
Cause: The teach pendant was disabled during a motion issued from the teach pendant. Cause: Cannot record position. The robot is not being mastered.
Remedy: The teach pendant must remain enabled during motions issued from the teach Remedy: Please do robot mastering first.
pendant. CALB-019 WARN Cannot auto generate positions
BELL-090 WARN Cannot calibrate when bypassed Cause: The robot is not being mastered.
Cause: An attempt was made to calibrate when the machines are bypassed. Remedy: Make sure the start position and pull position are separated by at least 10mm.
Remedy: Unbypass the machines and rerun the auto calibration procedure. Make sure the angles are select and Total points are set correctly.
BELL-091 WARN %s trig too early CALB-020 WARN Cannot open data file.
Cause: The conveyor position for the trigger zone is before the path is started. Cause: Cannot find the input data file.
Remedy: Enter a conveyor position after the path start position. Remedy: Make sure the configuration data file and the calibration data file are available.
BELL-092 WARN %s fluid too early CALB-021 WARN Wrong data format.
Cause: The conveyor position for the fluid zone is before the path is started. Cause: Input data file has the wrong format.
Remedy: Enter a conveyor position after the path start position. Remedy: Run calibration motion again to get the correct data.
BELL-093 PAUS Reverse conv. during cycle CALB-022 WARN Memory is not available.
Cause: The conveyor has traveled in reverse greater than allowed during a cycle. Cause: Controller doesn't have enough memory available for this program.
Remedy: Reset the major fault and cancel or continue the cycle. Remedy: Cold start the controller and run this program again. If the problem persists,
BELL-094 PAUS Axis %s DJ delta too large please add more &new_lien DRAM module to the controller.
Cause: The motion command is too large and would cause an axis overspeed condition. CALB-023 WARN Cannot converge to a solution.
Remedy: Re-teach/save the path for the desired conveyor speed. Cause: Cannot compute the calibration data from the given data.
BELL-095 WARN %s limit error Remedy: Please increase the number of calibration motions by recording more positions
Cause: The indicated axis cannot reach the programmed position without exceeding a in the End Position &new_lien menu. If problem persists, please monitor the calibration
joint limit. process to make sure the string does not caught by other objects during calibration
Remedy: Make sure the programmed position is within the joint limits of the machine. If motion.
the job contains oscillation motion, make sure the oscillation deltas, when applied to the CALB-024 WARN Robot model is not supported.
nominal positions, do not exceed the limits. Cause: The Auto Calibration software does not support this robot model.
BELL-096 WARN Osc zone %s superseded Remedy: There are certain robot models that the Auto Calib software does not support
Cause: The indicated oscillation zone is superseded by a previous zone. due to these model's kinematic equation cannot be easily solved through calibration
Remedy: Oscillation zone transitions always occur when the oscillation axis is at its zero equations.
position. This means that when the machine reaches a position boundary, oscillation may CALB-025 WARN Sensor position is not set.
continue based on the previous positions oscillation parameters until the oscillation axis Cause: Stand Alone calibration requires sensor and tool locations this robot model.
reaches its zero position. If positions are taught very close together, oscillation zones Remedy: Please set the sensor location and tool position under the calibration type
may be superceded by a previous zone setup menu.
BELL-101 WARN Position may not be cleared CALB-026 WARN No Link length data available.
Cause: An attempt was made to clear one of the pre-defined auxiliary positions. Cause: This robot model does not have correct link length information set.
Remedy: Do not attempt to clear these positions. They are necessary for proper Remedy: Make sure the param_group[].sv_dh_a and param_group[].sv_dh_d are set by
operation of the system. robot library.
BELL-102 WARN Not in teach mode CALB-027 PAUSE String exceeds its limit.
Cause: An attempt was made to perform a manual operation from outside of teach Cause: The string is pulled over it's limit.
mode. Remedy: Move the string back toward the sensor's location.
Remedy: Certain operations are only permitted in teach mode. Do not attempt to perform CALB-028 WARN %s
this operation in any other mode. Cause: AccuCal saves previous master count data to error log for record keeping
BELL-103 WARN Can't overwrite processed data purpose.
Cause: An attempt was made to store an un-processed job, overwriting an processed Remedy: None.
job. This operation is prohibited. CALB-029 WARN Robot in motion, cannot update
Remedy: Modify the job data so that the processing step completes successfully. Also, Cause: AccuCal cannot update the calibration while the robot is in motion.
an un-processed job may be stored with a new name, using the STOR-AS function. Remedy: Please wait for the calibration motion to complete before pressing UPDATE
BELL-104 WARN Too many positions in job key.
Cause: The current job already contains the maximum number of positions. No more CALM Error Codes
may be added until others are first deleted. CALM-000 WARN Cal Mate motion aborted.
Remedy: Delete any unnecessary positions. Cause: TCP Mate motion aborted. Cause: The TCP Mate motion aborted due to
BELL-105 WARN No positions in job unexpected change of of menu, or aborted by the user.
Cause: The current job contains no positions. None may be deleted. Remedy: Please start over.
Remedy: Do not attempt to delete positions from a job until some have been added. CALM-001 WARN Form Operation Error.
BELL-106 WARN Job does not exist Cause: Form Operation Error. Cause: Dictionary not found.
Cause: The requested job does not exist. Remedy: Please reload the controller.
Remedy: Select a different job for this operation. CALM-002 WARN System is not initialized.
BELL-107 WARN 1st posn must be non-paint Cause: System is not initialized. Cause: System not been fully initialized.
Cause: The first position in the job has the paint mode set true. Motion to the first Remedy: Use the Setup menu to set up all required variables.
position must always be non-paint motion. CALM-003 WARN Fail to run CalMate Motion
Remedy: Change the paint mode of the first position to OFF. Cause: Fail to run TCPMate Motion Cause: Cannot start the TCP Mate motion.
BELL-108 WARN 2nd posn must be paint-on Remedy: Clear all the errors before running TCP Mate motion.
Cause: The second position in the job has the paint mode set false. Motion to the second CALM-004 WARN Please record all position
position must always be a paint motion. Cause: Please record all position Cause: Not all positions in the reference menu are
Remedy: Change the paint mode of the second position to ON. recorded.
BELL-109 WARN Non-increasing conveyor values Remedy: All positions in the menu should have been recorded.
Cause: The job contains a zone of zero size. CALM-005 WARN Do reference motion first.
Remedy: Modify the conveyor values so that the value at each position is greater than at Cause: Do reference motion first. Cause: Cannot execute the TCP mate without
the previous position. mastering TCP first.
BELL-110 WARN Max conveyor speed is too small Remedy: Please go to reference menu and press MASTER to run reference motion first.
Cause: The max conveyor speed is less than or equal to zero. This is too small. CALM-006 WARN Point is not initialized.
Remedy: Increase the max conveyor speed parameter to a value greater than zero. Cause: Point is not initialized. Cause: Position is not initialized.
BELL-111 WARN Press shift-reset & hold shift Remedy: Please record positions in the reference menu first.
Cause: System is in an overtravel condition. CALM-007 WARN Robot is not calibrated.
Remedy: Press shift-reset to clear overtravel, then hold shift key and jog machine off the Cause: Robot is not calibrated. Cause: Cannot record position since the robot is not
overtravel. calibrated
BELL-112 WARN Minimum %s positions to process Remedy: Calibrate the robot first.
Cause: An attempt was made to process a job with less than 2 positions. CALM-008 WARN Record home position first
Remedy: Do not attempt to process a job until some positions have been added. Cause: Record home position first Cause: Please record approach point before record
BELL-120 WARN I/O Hardware not installed other positions
Cause: I/O Hardware selected is physically not installed Remedy: Record home position.
Remedy: Make sure I/O Hardware that is being selected is installed correctly! CALM-009 WARN Keep same WPR as home pos.
BELL-121 WARN Host name not recognized Cause: Keep same WPR as home pos. Cause: These position require to have the same
Cause: Hostname currently setup on the controller for ethernet communications is not WPR as the home position.
per convention for automatic Host Comm setup. Remedy: Keep the same orientation when recording these points.
Remedy: If standard BellTool Ethernet communications setup is desired, enter the CALM-010 WARN Please press SHIFT key.
correct 'Network Setup Number' at Setup screen at Controlled Start and press [F2] Setup Cause: Please press SHIFT key. Cause: Press SHIFT key at the same time when this
to reconfigure. If you do NOT want Ethernet to be setup automatically, ignore this key is pressed
message and leave 'Network Setup Number' at 0. Remedy: Press SHIFT key to active the action.
CALB Error Codes CALM-011 WARN Position is not in range.
CALB-000 WARN Unknown error Cause: Position is not in range. Cause: The destination position is not reachable.
Cause: An internal error has occurred. Remedy: Re-teach a new starting pos.
Remedy: Cold start the controller CALM-012 WARN Singular solution.
CALB-001 WARN TCP differs by %s Cause: Singular solution. Cause: Cannot compute the circle due to singularity.
Cause: The difference between the current TCP and the previous TCP is greater than Remedy: Check and correct robot's mastering. Check hardware. Try reteach position on
the pre-defined threshold. the Reference menu.
Remedy: Run the AutoTCP utility again to confirm the TCP value. CALM-013 WARN Cannot converge.
CALB-002 WARN XYZ: %s Cause: Cannot converge. Cause: Cannot converge to a a solution.
Cause: AutoTCP logs the previous TCP XYZ value to error log for record keeping. Remedy: Check and correct robot's mastering. Check hardware. Try reteach position on
Remedy: None. the Reference menu.
6
CALM-014 WARN Points are too close. CD -016 STOP INC motion is not supported
Cause: Points are too close. Cause: Recorded positions are too close to each other. Cause: INCREMENTAL motion is not supported with coordinated motion
Remedy: Points should be at least 10 mm apart. Remedy: Delete INC instruction
CALM-015 WARN Contact before search. CD -017 STOP INDEP motn is not supported
Cause: Contact before search. Cause: Robot is in contact with the part before starting a Cause: Independent motion is not supported with coordinated motion
search motion. Remedy: Change Independent motion to Simultaneous motion
Remedy: Reteach the starting position CD -018 STOP No calibration for CD
CALM-016 WARN No contact detected. Cause: Calibration for coordinated motion is not done
Cause: No contact detected. Cause: No contact is made during the TCP Mate motion. Remedy: Execute calibration of coordinated motion in SETUP screen
Remedy: Make sure the sensor and software are installed correctly. CD -019 STOP Illegal follower setting
CALM-017 WARN Undefined program name. Cause: Number of follower is zero or two or greater on this motion
Cause: Undefined program name. Cause: The enter/exit program names are not Remedy: Set number of follower correctly or set group mask correctly
defined. CD -020 WARN Not reach relative speed
Remedy: Go to the setup menu to select TPE programs. Cause: Follower can not reach relative speed in program
CALM-018 WARN TPE operation error. Remedy: Teach follower and leader position again to reach relative speed
Cause: TPE operation error. Cause: Internal TPE program error. CD -021 STOP No kinematics in CD group
Remedy: Please reload the controller. Cause: Attempt to perform coordinated motion with non-kinematics robot
CALM-019 WARN Circle Fitting error: %s. Remedy: Initialize robot library correctly
Cause: Circle Fitting error: %s. Cause: The circle fitting error is greater than expected. CD -022 STOP Prev term type is not FINE
Remedy: Check hardware/tooling or increase fit tolerance. Cause: Term type before coordinated motion is not Fine or CNT0
CALM-020 WARN No DIN support. Remedy: Change term type before coordinated motion to FINE or CNT0 or JOINT
Cause: No DIN support. Cause: The search motion can not be executed without TOS motion
sensor. CD -023 STOP Illegal CD setting
Remedy: Go to setup menu and select TOS in Sensor Type. Cause: Setting of coordinated motion is not correct
CALM-021 WARN Cannot continue motion. Remedy: Check setting of coordinated motion in SETUP screen And set correctly
Cause: Cannot continue motion. Cause: Cannot continue the paused motion. CD -024 WARN Calibration was inaccurate
Remedy: Abort the paused motion and re-run TCP Mate again. Cause: Teaching points is incorrect or Leader's mechanics is inaccurate
CALM-022 WARN Cal Mate internal error. Remedy: Check the mechanics and reteach the points
Cause: Cal Mate internal error. Cause: Cal Mate internal error. CD -025 STOP Can't convert position
Remedy: Power off to recover. If problem persists, please reload the controller. Cause: System can't convert position properly
CALM-023 WARN Dictionary is not loaded. Remedy: Contact FANUC Robotics Hotline.
Cause: Dictionary is not loaded. Cause: Dictionary file is not loaded CD -026 STOP Illegal transition:nonCD<->CD
Remedy: Please reload the controller. Cause: Illegal transition (nonCD->CD or CD->nonCD) happens.
CALM-024 WARN No saved reference data. Remedy: Add or remove motion option COORD.
Cause: No saved reference data. Cause: No saved reference data for current tool. CD -027 STOP Illegal follower transition
Remedy: Please do reference motion for the current tool. Cause: Transition from one CD pair to another happens. But same follower group is
CALM-025 WARN File open error: %s used in both CD pair.
Cause: File open error: %s Cause: Cannot open output file. Remedy: Insert non coordinated motion between coordinated motion of different pair.
Remedy: Check the path and file name. CMND Error Codes
CALM-026 WARN No recorded Utool. CMND-001 WARN Directory not found
Cause: No recorded Utool. Cause: No recorded utool to save. Cause: The specified directory can not be found.
Remedy: Recorded a new utool. Remedy: Check the device and path that you entered. If none entered, check the system
CALM-027 ABORT Not enough TPE stack. default device from the FILE Menu or from the KCL command, CHDIR.
Cause: Not enough TPE stack. Cause: The TPE program does not have enough stack CMND-002 WARN File not found
size to run TCPMate automatically. Cause: The specified file could not be found.
Remedy: Go to the TCPMATE main menu, TCPMate will update your TPE program Remedy: Check to make sure the file has been spelled correctly and that it exists. Also
stack size once you are in the menu. Leave the menu, re-run the TPE program again. verify the device and path name are correct.
CALM-028 ABORT Cannot compute new TCP. CMND-003 WARN File already exists
Cause: Cannot generate TCP offset Cause: TCPMate cannot complete it's operation Cause: The file already exists and could not be overwritten.
successfully. Remedy: Make sure the overwrite option has been specified.
Remedy: Check for sever tool bent or loosen hardwares. CMND-006 WARN Self copy not allowed
CALM-029 WARN Please record all position Cause: A file cannot be copied to itself.
Cause: Please record all position Cause: Not all positions in the setup menu are Remedy: Change the name of the destination file so it is different from the source file.
recorded. CMND-010 WARN Source type code is invalid
Remedy: All positions in the menu should have been recorded. Cause: The source variable was not a position type when converting between a
CALM-030 WARN Position is not in range. Cartesian and joint position.
Cause: Position is not in range. Cause: The center position is not within CalMate joint Remedy: The valid position types are POSITION, JOINTPOS, XYZWPR, and
limits. XYZWPREXT.
Remedy: Re-teach a new center pos with all joints at least 45 deg away from limits. CMND-011 WARN Destination type code is invalid
CALM-031 WARN Run new tcp mode first. Cause: The destination variable was not a position type when converting between a
Cause: Run New tcp mode first. Cause: New tcp mode has not been performed once. Cartesian and joint position.
Remedy: Set adjust mode to new tcp and run once before running Mastering recovery Remedy: The valid position types are POSITION, JOINTPOS, XYZWPR, and
mode. XYZWPREXT.
CALM-032 ABORT Surface point not measured CMND-012 WARN Type codes do not match
Cause: Surface point not measured. Cause: No Z point were measured. Cause: The requested type code doesn't match the passed variable type.
Remedy: Check for sever tool bent or loosen hardwares. Remedy: Internal error. Insure that the type code matches the variable type.
CALM-033 ABORT Large fit error. CMND-013 WARN Representation mismatch
Cause: Large fit error. Cause: Fit error is greater than expected. Cause: An attempt was made to compare two positions that are not the same type.
Remedy: Check for loose server tool or loose hardwares. Remedy: Both positions must be the same type. Convert one before comparing.
CALM-034 ABORT Insufficient points. CMND-014 WARN Positions are not the same
Cause: Insufficient points. Cause: Number of points measured is less than required . Cause: Two positions were compared and found not to be equal.
Remedy: Record positions away from joint limits and singularity in the Touch Plate menu Remedy: The two positions were not equal within the specified tolerance. This could be
CALM-035 ABORT Search distance <= 10mm a normal occurrence. This warning is the logical opposite of SUCCESS.
Cause: Move distance less than 10mm Cause: Move distance is set to less than 10 mm. CMND-015 WARN Both arguments are zero
Remedy: Enter a value greater than 10mm for Move distance. Cause: Both arguments to ATAN2 were zero or an internal error occurred when
CALM-036 ABORT Invalid data restore index attempting to convert a POSITION to XYZWPR.
Cause: Invalid data restore index Cause: There is no data to restore. Remedy: If calling ATAN2, insure that both arguments are not zero. If converting a
Remedy: Move cursor to a valid data line and press function key POSITION, then it is not convertible to an XYZWPR.
CD Error Codes CMND-016 WARN Division by zero
CD -001 WARN No global variables Cause: An attempt was made to divide by zero.
Cause: Coordinated Motion global variables are not loaded. Remedy: This is an internal error. Insure that the divisor is not equal or close to zero.
Remedy: Perform a controlled start and initialize motion softparts. CMND-017 WARN Angle is out of range
CD -002 WARN Unable to allocate memory Cause: The rotational angle is to great.
Cause: A failure occurred while allocating memory. Remedy: Make sure that the rotational angle is no greater than 100 times PI, or about
Remedy: Check amount of memory being used by the system. 314.15926...
CD -003 STOP Follower recv invalid segment CMND-018 WARN Invalid device or path
Cause: Leader segment MMR number does not match that of the follower Cause: An invalid device or path has been specified.
Remedy: Contact FANUC Robotics Hotline. Remedy: Check the device and path that you entered. If none entered, check the system
CD -004 STOP Illegal leader INTR point data default device from the FILE Menu or from the KCL command, CHDIR.
Cause: Illegal Leader Interpolated Point Data is detected when trying to convert it to a CMND-019 WARN Operation cancelled
transform Cause: The operation was cancelled because CTRL-C or CTRL-Y was pressed.
Remedy: Contact FANUC Robotics Hotline. Remedy: Repeat the operation.
CD -005 STOP Non-coordinated group detected CMND-020 WARN End of directory
Cause: Coordinated Motion is used for a group which has not been SETUP for Cause: The directory listing is finished.
coordinated motion. &new_ine Remedy: This is a notification. You do not have to do anything for this warning message.
Remedy: Check motion statement. Perform Coordinated Motion SETUP and perform a CMND-021 WARN Cannot rename file
COLD START. Cause: The destination file name contained both alphanumeric characters and the global
CD -006 STOP Illegal follower joint motion character '*'.
Cause: JOINT MOTYPE was used for a follower during coordinated motion. Remedy: Use only alphanumeric characters or a single global character when renaming
Remedy: Use LINEAR or CIRCULAR MOTYPE instead a file.
CD -007 STOP Circular motype not supported CMND-022 STOP Time motion with dist before
Cause: CIRCULAR MOTYPE Not Implemented Yet Cause: A time-based motion was specified along with distance before.
Remedy: Use LINEAR MOTYPE instead Remedy: Do not use these options in combination.
CD -008 STOP No leader CNTR Error Codes
Cause: There is no leader in the coordinated motion CNTR-001 WARN No global variables
Remedy: Check motion statement. Perform Coordinated Motion SETUP and then Cause: Continuous Turn global variables are not loaded.
perform a COLD START. Remedy: Perform a controlled start and initialize motion softparts.
CD -009 STOP More than one leader CNTR-002 WARN No MIR pointer
Cause: There is more than one leader in the coordinated motion Cause: This is an internal system error.
Remedy: Check motion statement. Perform Coordinated Motion SETUP and then Remedy: Perform a cold start on the controller.
perform a COLD START. CNTR-003 WARN No sysvar pointer
CD -010 STOP Invalid angle in point data Cause: This is an internal system error.
Cause: Invalid Angle detected in Point Data Remedy: Perform a cold start on the controller.
Remedy: Internal Error, call FANUC Robotics. CNTR-004 WARN No cnir pointer
CD -011 STOP Error in flushing CD mailbox Cause: This is an internal system error.
Cause: Error in reporting mailbox status Remedy: Perform a controlled start and initialize the motion softparts.
Remedy: COLD START. CNTR-005 WARN Wrong CN Axis/N1 or N2(G:%d^2)
CD -012 STOP Illegal leader motion Cause: The continuous turn axis that was selected is not a valid cont. turn axis, or
Cause: Leader single group motion after coordinated motion not allowed cn_gear_n1 or cn_gear_n2 have a zero value
Remedy: Issue non-coordinated motion involving the follower group Remedy: Check Continuous turn axis, cn_gear_n1, and cn_gear_n2 Select different
CD -013 WARN Jog group is not a leader continuous turn axis and/or set correct gear ratio for continuous turn axis.
Cause: Attempt to perform coordinated jog with a non-leader group CNTR-006 WARN Unable to Allocate Memory
Remedy: Select leader group for coordinated jog Cause: A failure occurred while allocating memory.
CD -014 WARN Jog group has multi follower Remedy: Check amount of memory being used by the system.
Cause: Attempt to perform coordinated jog with a leader group which has multiple CNTR-007 STOP Serious Internal error (G:%d^2)
followers Cause: Internal Continuous Turn error
Remedy: Select only one leader/follower pair Remedy: Record error and report to hotline
CD -015 STOP Wrist joint is not supported CNTR-008 STOP Invalid dest. angle, (G:%d^2)
Cause: WRIST JOINT Motion is not supported with coordinated motion Cause: Invalid destination angle during linear motion. Incompatibility with Continuous
Remedy: Delete Wjnt motion instruction Turn and other options.
7
Remedy: Check compatibility of motion options. Remove other options. Cause: The Send Data PC MACRO was not given any data to send.
CNTR-009 WARN Warn-Cont Vel too high(G:%d^2) Remedy: Check MACRO parameters.
Cause: Continuous turn axis velocity is too high. cn_turn_no will not be valid because of COPT-032 WARN Send_n_wait - Illegal action
high rotational speed. Cause: The wait action parameter must be 0 through 3.
Remedy: Lower contaxisvel. This warning may be ignored if cn_turn_no is not used. Remedy: Check MACRO parameters.
CNTR-010 STOP Ind.EV option not allowed. COPT-033 WARN Send_n_wait - Uninit parm %s
Cause: Continuous turn is not compatible with independent extended axes The Ind.EV Cause: A send PC MACRO was called with a parameter that is uninitialized.
motion option is not allowed. Remedy: All parameters must have a value.
Remedy: Remove Ind.EV option or disable continuous turn on the group COPT-034 WARN %s missing
CNTR-011 STOP Axis speed exceeds lim(G:%d^2) Cause: A MACRO was called without a parameter that must be entered.
Cause: Programmed motion exceeds the speed limits on the continuous turn axis. Remedy: Check the MACRO call in the TP program.
Speed limit is 180 degrees per ITP time COPT-035 ABORT Aborting TP program
Remedy: Lower the speed either through KAREL or Teach Pendant Cause: An error occurred in the TP program.
CNTR-012 STOP Ending Cont Rot on Rel Motion Remedy: Check the TP program.
Cause: Attempted to end Continuous Rotation with a Relative Motion COPT-036 WARN %s Illegal type
Remedy: Continuous Rotation must be ended with an absolution motion Use an Cause: A MACRO was called with a parameter that is illegal. The parameter has the
absolution motion to end continuous rotation wrong data type.
COND Error Codes Remedy: Check the MACRO call in the TP program.
COND-001 WARN Condition does not exist DICT Error Codes
Cause: Specified condition does not exist DICT-001 WARN Dictionary already loaded
Remedy: Check for condition statements to verify if the specified condition has really Cause: A dictionary cannot be reloaded if it was loaded into FROM.
been created or not. Remedy: Load into a different language and use KCL SET LANG to set the language.
COND-002 WARN Condition handler superseded DICT-002 WARN Not enough memory to load dict
Cause: The specified condition number already exists in the system, and has been Cause: There is no more permanent memory available in the system to load another
superseded by the new condition. dictionary.
Remedy: This is just a notification, and you do not have to do anything for this warning Remedy: Clear all unnecessary programs, dictionaries or variables.
message. DICT-003 WARN No dict found for language
COND-003 WARN Already enabled, no change Cause: There are no dictionaries loaded for the specified language.
Cause: The specified condition is already enabled. No change has been made. Remedy: Use the DEFAULT language or a language in which a dictionary has been
Remedy: This is just a notification, and you do not have to do anything for this warning loaded.
message. DICT-004 WARN Dictionary not found
COND-004 WARN Already disabled, no change Cause: The specified dictionary was not found.
Cause: The specified condition is already disabled. No change has been made. Remedy: Use KCL LOAD DICT to load the dictionary into the DEFAULT language or the
Remedy: This is just a notification, and you do not have to do anything for this warning current language.
message. DICT-005 WARN Dictionary element not found
COND-005 WARN No more conditions defined Cause: The dictionary element was not found.
Cause: No more conditions are defined for the specified task. Remedy: Check the dictionary or element number to be sure it is specified correctly.
Remedy: No action is required. DICT-006 WARN Nested level too deep
COND-009 WARN Break point encountered Cause: Only five levels of dictionary elements can be nested.
Cause: Break point has been encountered. Remedy: Fix the dictionary text file to include fewer nested levels.
Remedy: No action is required DICT-007 WARN Dictionary not opened by task
COND-010 WARN Cond exists, not superseded Cause: The dictionary was never opened.
Cause: Specified condition already exists. Condition was not superseded. May indicate Remedy: Remove the close operation.
two condition handlers for the same task with the same condition handler. DICT-008 WARN Dictionary element truncated
Remedy: Either renumber the condition handler or avoid re-defining the same condition Cause: The dictionary element was truncated because the KAREL string array is not
handler. large enough to hold all the data.
COND-011 WARN Scan time took too long Remedy: Increase either the size of the string or the number of strings in the array.
Cause: There are too many conditions defined. It took too long to scan them all. DICT-009 WARN End of language list
Remedy: Reduce the number of conditions defined. Cause: The language list has completed.
COPT Error Codes Remedy: This is a notification. You do not have to do anything for this warning message.
COPT-001 WARN Send_PC error DICT-010 WARN End of dictionary list
Cause: The system was not able to setup the message packet to send to the PC. Cause: The dictionary list has completed.
Remedy: System probably out of memory. Cold start. Remedy: This is a notification. You do not have to do anything for this warning message.
COPT-002 WARN Add PC Uninit prog or var name DICT-011 WARN Dict opened by too many tasks
Cause: An ADD PC buffer built-in was called with a parameter that is uninitialized. Cause: Only five dictionaries can be open by one task at one time.
Remedy: All parameters must have a value when calling the create a data buffer to PC Remedy: Load the dictionary to memory or close an unused dictionary.
built-ins. DICT-012 WARN Not enough memory to load dict
COPT-003 WARN Add PC Variable not found Cause: Not enough memory exists in TEMP pool on the controller. The dictionary was
Cause: The variable requested in the ADD Byname or Send SysVar routines does not not loaded.
exist. Remedy: This is a notification of insufficient memory resources on the controller. The
Remedy: Check program and variable name spellings. Check variable data type. Only hardware and software configurations need to be verified.
integer, real and string data is supported. DICT-013 WARN Cannot open dictionary file
COPT-004 WARN Add PC Var type not supported Cause: The dictionary file does not exist on the specified device or in the specified
Cause: The variable requested in the ADD Byname or Send SysVar routines is of a data directory.
type that is not supported. Remedy: Select the proper device/directory and try again.
Remedy: Check variable data type. Only integer, real and string data is supported. DICT-014 WARN Expecting $ in dictionary file
Check program and variable name spellings. Cause: The dictionary text incorrectly specifies an element without a $.
COPT-005 WARN Add PC illegal index into buffer Remedy: Make sure all dictionary elements begin with $.
Cause: An ADD PC buffer built-in was called with the index parameter set too big or too DICT-015 WARN Reserved word not recognized
small. Cause: A reserved word was not recognized in the dictionary text.
Remedy: Set the index parameter correctly. Make sure the data buffer is big enough for Remedy: Check for misspelling or look up the correct word in the KAREL Reference
your data. Manual.
COPT-006 WARN Add PC buffer overflow - parm %s DICT-016 WARN Ending quote expected
Cause: The data could not be copied to the data buffer because the buffer is too small. Cause: The dictionary text incorrectly specifies an element without using quotes.
Remedy: Make sure the data buffer is big enough for your data. If there is too much data Remedy: Make sure all dictionary text is surrounded by double quotes. Use a backslash
to send, you might have to use more than one event to send the data. if you want an actual quote to appear in the text. For example, \"This is an example\" will
COPT-007 WARN Add PC Un-initialized parameter %s produce "This is an example"
Cause: An ADD PC buffer built-in was called with a parameter that is uninitialized. DICT-017 WARN Expecting element name or num
Remedy: All parameters must have a value when calling the create a data buffer to PC Cause: A reference to another element is expected.
built-ins. Remedy: Use the element number to reference the element.
COPT-008 WARN Send_PC Un-initialized parameter DICT-018 WARN Invalid cursor position
Cause: A Send PC built-in was called with a parameter that is uninitialized. Cause: The cursor position is specified incorrectly or the values are outside the limits.
Remedy: All parameters must have a value when calling the send PC built-ins. Remedy: Make sure the cursor position is valid. For example, use @1,1 for the first row
COPT-009 WARN Send_PC Illegal event number and col respectively.
Cause: An event number less that 0 or greater than 255 was used. DICT-019 WARN ASCII character code expected
Remedy: Use an event number from 0 to 255. Cause: A series of digits are expected after the # to specify an ASCII character code.
COPT-010 WARN Send_PC Illegal wait flag Remedy: Remove the # or look up the ASCII character code in the KAREL Reference
Cause: Only wait flags of 0 or 1 are allowed. Manual.
Remedy: Use a legal wait flag. DICT-020 WARN Reserved word expected
COPT-011 WARN Send_PC Buffer too big for packet Cause: An identifier is expected after the & to specify a reserved word.
Cause: The maximum data buffer size supported is 244 bytes. Remedy: Remove the & or look up the reserved word in the KAREL Reference Manual.
Remedy: Use a legal data buffer size. DICT-021 WARN Invalid character
COPT-020 WARN Send_PC builtin failed Cause: An unexpected character was found in the dictionary text file.
Cause: A system error occurred when trying to send the data buffer to the PC. Remedy: Make sure all dictionary text is correct.
Remedy: Check other alarms in alarm log for details. DICT-022 WARN Dict already opened by task
COPT-021 WARN Send_PC event parm %s error Cause: The dictionary is already open by the task.
Cause: A Send to PC MACRO was called with a parameter that is illegal. The parameter Remedy: This is a notification. You do not have to do anything for this warning message.
is uninitialized or the wrong data type. DICT-023 WARN Dict does not need to be opened
Remedy: Check the MACRO call in the TP program. Cause: Dictionaries loaded to memory do not need to be opened.
COPT-022 WARN Still waiting for %s Remedy: Do not try to open the dictionary file.
Cause: Status message only. A controller task is waiting for an event flag back from the DICT-024 WARN Cannot remove dictionary file
PC. Cause: Dictionaries loaded to FROM cannot be removed or a dictionary cannot be
Remedy: Check PC communications. removed if another task has it opened.
COPT-023 WARN Abort wait for %s Remedy: Do not try to remove a dictionary loaded to FROM. Remove the dictionary from
Cause: A controller task waited too long for an event flag from the PC. The controller the same task which loaded it.
task was aborted. DICT-028 WARN Not enough memory to load dict
Remedy: Check PC communications. Cause: Not enough memory exists in TEMP pool on the controller. The dictionary was
COPT-024 WARN Continuing without %s not loaded.
Cause: Status message only. A controller task was waiting for an event flag back from Remedy: This is a notification of insufficient memory resources on the controller. The
the PC. The PC is taking too long. The controller task has continued without receiving the hardware and software configurations need to be verified.
event flag. DICT-029 WARN Help element not found
Remedy: Check PC communications. Cause: The help dictionary element was not found.
COPT-025 WARN Received answer for %s Remedy: Check the dictionary to be sure the help dictionary element was specified
Cause: Status message only. The PC set the event flag and the controller task is correctly. The help dictionary element must be specified with a question mark (?)
continuing. followed by the element number.
Remedy: N/A DICT-030 WARN Function key element not found
COPT-026 WARN Wait timer cannot be set Cause: The function key dictionary element was not found.
Cause: A system timer cannot be created or set for this controller task. Remedy: Check the dictionary to be sure the function key element was specified
Remedy: Cold start correctly. The function key element must be specified with a caret (^) followed by the
COPT-027 WARN Reg %s could not be set element number.
Cause: Register operation failed DICT-031 WARN %4s-%03d $%8lX, no message found
Remedy: Check if the register is defined and if it has the right value. Must ABORT ALL Cause: The dictionary containing the error message could not be found.
and retry Remedy: Refer to the System Reference Manual for the error message.
COPT-029 WARN Macro Table too small for send option DICT-032 WARN %4s-%03d, see posted error
Cause: The MACRO table must have at least 60 elements for the SEND PC MACRO Cause: The error message was posted to the error log.
option to be installed properly. Remedy: See error window or the Alarms menu for the error message.
Remedy: Increase the MACRO table size. DICT-040 WARN Expecting element num after $
COPT-030 WARN Parameter %s error Cause: The dictionary text incorrectly specifies an element number.
Cause: Send PC Macro data error. Remedy: Make sure all dictionary elements begin with $ followed by the element
Remedy: Check other alarm log errors for more details. number.
COPT-031 WARN Send Macro - no data to send
8
DICT-041 WARN Expecting element name after , DMER-018 STOPL Pause Limit item (%d)
Cause: The dictionary text incorrectly specifies an element name. Cause: The Data Monitor functions is checking this item. The item is past the pause limit.
Remedy: Make sure all dictionary elements are specified as ",element_n ame" after the Remedy: Examine the system for problems.
add constant name. DMER-019 STOPL Data cannot be saved
DICT-042 WARN Expecting add constant name Cause: Data Monitor cannot save data to the specified device.
Cause: The dictionary text was specified incorrectly. Remedy: Check the if the device listed in the schedule is available.
Remedy: Make sure all dictionary elements are specified as "+add_const _name" after DMER-020 STOPL Record buffer limit
the element number. Cause: The Data Monitor record buffer became full.
DICT-043 WARN Element number out of sequence Remedy: Decrease the record frequency or increase the record buffer size and cold
Cause: The dictionary text was not specified in sequence. start.
Remedy: Make sure all dictionary elements are specified in sequential order. DMER-021 STOPL Not enough device memory free
DICT-044 WARN Warning - large hole in ele seq Cause: The device specified in the Data Monitor schedule does not have enough file
Cause: The dictionary text has a large gap between element numbers. space available.
Remedy: Reduce the gap in the element sequence. Each missing element uses up five Remedy: Use a memory card or floppy disk with more memory available or specify a
bytes of memory. smaller file_size in the Data Monitor schedule.
DICT-045 WARN .LIT or .END mismatch DMER-024 WARN Data is not saved
Cause: The dictionary text was specified incorrectly. Cause: Data Monitor is not saving data to the specified device.
Remedy: Verify that each .LIT is matched with a .END. Remedy: Verify the device listed in the schedule is available.
DICT-046 WARN Command already encountered DMER-031 WARN DAQ task not available
Cause: The dictionary text was specified incorrectly. Cause: Data Acquisition task is not active on the system.
Remedy: Remove the extra command. Remedy: Make sure the Data Acquisition option has been loaded. Contact FANUC
DICT-047 WARN File extension required Robotics for assistance.
Cause: The dictionary compressor expects a file extension. DMER-032 WARN DAQ system failed
Remedy: Use the .etx file extension for error text, the .utx file extension for Cause: The Data Acquisition system has encountered a critical failure.
uncompressed text, or the .ftx file extension for form text. Remedy: Contact FANUC Robotics for assistance.
DICT-048 WARN Invalid file extension DMER-033 WARN DAQ initialization failed
Cause: The dictionary compressor did not recognize the file extension. Cause: The Data Acquisition system failed to initialize properly.
Remedy: Use the .etx file extension for error text, the .utx file extension for Remedy: Contact FANUC Robotics for assistance.
uncompressed text, or the .ftx file extension for form text. DMER-035 WARN Pipe already registered
DICT-049 WARN Expecting file name Cause: The Data Acquisition pipe you are attempting to register has already been
Cause: The dictionary compressor expects a file name. registered in the system.
Remedy: Specify a file name after the command. Remedy: Unregister the pipe and attempt the operation again.
DICT-050 WARN Expecting facility number DMER-036 WARN Pipe not registered
Cause: The dictionary compressor expects a facility number in the .KL command. Cause: The Data Acquisition pipe you are attempting to use has not been registered.
Remedy: Specify the facility number after the file name. Remedy: DAQ pipes must be registered by a controller task before they can be used.
DICT-051 WARN Symbol invalid for dictionary type DMER-037 WARN Pipe already active
Cause: An invalid command was specified for this type of dictionary file. Cause: You are attempting to activate a Data Acquisition pipe which is already active.
Remedy: Check the command and if a form is used, verify the file extension is .ftx. Remedy: Deactivate the pipe first.
DICT-052 WARN Expecting .ENDFORM symbol DMER-038 WARN Cannot allocate global FD
Cause: The dictionary text was specified incorrectly. Cause: No global files are available to be used by the Data Acquisition system.
Remedy: Verify that each .FORM is matched with a .ENDFORM. Remedy: Close a global file before re-attempting this operation.
DICT-053 WARN Cannot open include file DMER-039 WARN Pipe %d could not be activated
Cause: The include file could not be created. Cause: The pipe you have attempted to use could not be activated for some reason.
Remedy: Make sure a valid file name has been specified. Remedy: Check all parameters of the activation call.
DICT-054 WARN Form is being displayed DMER-040 WARN Pipe not active
Cause: The form you are trying to compress is currently being displayed. Cause: The pipe you are attempting to access has not been activated.
Remedy: Abort the KAREL program that is displaying the form. Remedy: Activate the pipe before attempting this operation.
DJOG Error Codes DMER-041 WARN DAQ ran out of memory
DJOG-000 WARN Unknown error (DJ00) Cause: The Data Acquisition system has run out of memory.
Cause: System internal error Remedy: Remove programs to free controller memory, then re-attempt the operation.
Remedy: Contact FANUC Robotics Hotline. Robotics DMER-042 WARN Invalid DAQ output device
DJOG-001 WARN DJOG overtravel violation Cause: You have specified an invalid output device.
Cause: DJOG overtravel Remedy: Check the device parameter you have specified.
Remedy: Release overtravel DMER-043 WARN DAQ output mode mismatch
DJOG-002 WARN Motion control prog aborted Cause: The output operation you are attempting cannot be performed using the current
Cause: Program abort during DJOG enable output device.
Remedy: Run the program Remedy: Check the parameters of your output operation.
DJOG-003 WARN Manual brake enabled DMER-044 WARN DAQ output file not defined
Cause: manual brake enabled Cause: No output file has been defined for the requested operation.
Remedy: Engage all the brakes and reset Remedy: Define an output file for the pipe, then re-attempt the operation.
DJOG-004 WARN TP enabled during DJOG DMER-045 WARN DAQ monitor not found
Cause: TP enabled during DJOG Cause: The specified Data Acquisition monitor could not be located.
Remedy: Disable TP, RESET, resume Prog Remedy: Correct your monitor parameter for the requested operation.
DJOG-005 WARN Prog has MCTL of DJOG group DMER-046 WARN DAQ monitor already exists
Cause: DJOG attempt on attached group Cause: You are attempting to add a Data Acquisition monitor which already exists.
Remedy: Disable DJOG, RESET, resume Remedy: Use the existing monitor, or remove the existing monitor before proceeding.
DJOG-006 WARN Robot not clear for DJOG DMER-047 WARN No client tags available
Cause: Robot not clear of DJOG cell Cause: No client device tags are available for use.
Remedy: Move robot or disable DJOG Remedy: Deallocate one or more client tags before proceeding.
DJOG-007 WARN DJOG station fence open DMER-048 WARN Client tag not used
Cause: Fence safety violation Cause: The specified client tag is not being used.
Remedy: Insert fence connector, RESET Remedy: Check the client tag parameter to make sure the correct tag is specified.
DJOG-008 WARN DJOG axis limit DMER-049 WARN DAQ data size mismatch
Cause: DJOG Axis limit reached Cause: A mismatch has been detected between the specified data size and the data size
Remedy: Reset limit value if required for the pipe.
DJOG-009 WARN Max group number exceeded Remedy: Check the specified data size.
Cause: Max group number exceeded DMER-050 WARN DAQ: Bad parameter
Remedy: Reduce number of DJOG groups Cause: A bad parameter has been detected in the routine call.
DJOG-010 WARN Max input number exceeded Remedy: Check all parameter values before making the routine call.
Cause: Max input number exceeded DMER-051 WARN DAQ: monitors still active
Remedy: Reduce starting point number Cause: Monitors are still active when you attempted the current operation.
DJOG-011 WARN Max output number exceeded Remedy: Remove monitors from the pipe before attempting the operation.
Cause: Max output number exceeded DMER-052 WARN DAQ: Bad parameter: mem type
Remedy: Reduce starting point number Cause: The memory type parameter is invalid.
DJOG-020 ABORT Unexpected DJOG packet Remedy: Specify a valid memory type.
Cause: System internal error DMER-053 WARN DAQ: Bad parameter: pipe size
Remedy: Contact FANUC Robotics Hotline. Cause: The pipe size parameter is invalid.
DJOG-021 ABORT Bad data in DJOG packet Remedy: Specify a valid pipe size.
Cause: System internal error DMER-054 WARN DAQ: Bad parameter: prog name
Remedy: Contact FANUC Robotics Hotline. Cause: The program name parameter is invalid.
DJOG-022 ABORT Uninitialized DJOG I/O Remedy: Specify a valid program name.
Cause: Uninitialized I/O DMER-055 WARN DAQ: Bad parameter: var name
Remedy: Inspect I/O and/or I/O setup Cause: The variable name parameter is invalid.
DJOG-023 ABORT Uninitialized DJOG data Remedy: Specify a valid variable name.
Cause: Uninitialized variable DMER-056 WARN DAQ: Bad param: output mode
Remedy: Inspect DJOG vars Cause: The output mode parameter is invalid.
DJOG-030 STOP Motion control taken by prog Remedy: Specify a valid output mode.
Cause: Program attempt to get MCTL DMER-057 WARN DAQ task ID mismatch
Remedy: Abort program or disable DJOG Cause: The specified task ID does not match the task ID used to register the pipe.
DJOG-031 STOP DJOG enabled Remedy: Unregister the pipe only from the task in which the pipe was registered.
Cause: Run program while same group djog is enable DMER-058 WARN Invalid DAQ pipe name
Remedy: Disable DJOG Cause: The specified pipe name is invalid.
DMER Error Codes Remedy: Check the name of the pipe for a null string or invalid characters.
DMER-010 STOPL (%s^4, %d^5)Uninitialized data DNET Error Codes
Cause: Internal data does not exist at execution of Sample Start/End. DNET-001 ERR_STOP_C No system device file
Remedy: Check the available size of permanent memory. Perform controlled start. Cause: The system device definition file is missing from the system.
DMER-011 STOPL (%s^4, %d^5)Already sampling Remedy: INIT start and reload the DeviceNet Interface option. If the error still exists,
Cause: A Sample Start instruction has already been executed. document the events that led to the error and call your FANUC Robotics technical
Remedy: Remove the duplicate Sample Start instruction. representative.
DMER-012 STOPL (%s^4, %d^5)Other task sampling DNET-002 ERR_STOP_C No application device file
Cause: Sampling has already been started by another task. Cause: The application device definition file is missing from the system.
Remedy: Sample with one task at a time when using multiple tasks. Remedy: INIT start and reload the DeviceNet Interface option. If the error still exists,
DMER-013 STOPL Invalid item number document the events that led to the error and call your FANUC Robotics technical
Cause: The executing Data Monitor schedule specifies an invalid item number. representative.
Remedy: Edit the Data Monitor schedule specified in the program. Correct all monitored DNET-003 ERR_STOP_C Too many DNet motherboards
items which do not have item numbers in the range of 1 to $DMONCFG. Cause: There are too many DeviceNet motherboards connected to the robot controller.
$NUM_DM_ITMS. Remedy: Turn off controller power. Disconnect one of the DeviceNet motherboards. Re-
DMER-014 STOPL Unsupported item type connect any DeviceNet cables to the other DeviceNet motherboard. Power on your
Cause: The item type is not supported for sampling. controller.
Remedy: Change the item type. DNET-004 ERR_STOP_C Board init failed: Bd %d
DMER-015 STOPL Invalid schedule number Cause: The specified board has failed to initialize.
Cause: The sampling schedule references an invalid item number. Remedy: Make sure the board parameters are correct. Make sure the board is properly
Remedy: Change the item number in the sampling schedule. connected to the network and power is supplied.
DMER-016 STOPL Invalid register type DNET-006 ERR_SYS_C System error: %d
Cause: The register n referenced by the Sample Start[R[n]] instruction is not a valid type. Cause: A system error has occurred.
Remedy: Change the register type in the DATA screen. Remedy: Document the events that led to the error and call your FANUC Robotics
DMER-017 WARN Warn Limit item (%d) technical representative.
Cause: The Data Monitor functions is checking this item. The item is past the warning DNET-008 WARN Invalid board index
limit. Cause: An invalid board index has been specified.
Remedy: Examine the system for problems. Remedy: Specify a board index between 0 and 3.
9
DNET-009 WARN Invalid MAC Id: Bd %d MAC %d Cause: A definition was incorrect in a device definition file.
Cause: An invalid MAC Id has been specified. Remedy: Contact your FANUC Robotics technical representative to obtain the correct
Remedy: Specify a MAC Id between 0 and 63 inclusive. device definition files.
DNET-010 WARN Board already online DNET-041 WARN Required field missing
Cause: The specified board is already on-line. Cause: A definition was incorrect in a device definition file.
Remedy: Take the board off-line before attempting the operation. Remedy: Contact your FANUC Robotics technical representative to obtain the correct
DNET-011 WARN Board not online device definition files.
Cause: The specified board is not on-line. DNET-042 WARN No DEVTYPE line supplied
Remedy: Put the board on-line before attempting the operation. Cause: The specified line was not found in a device definition file.
DNET-012 WARN Device already online Remedy: Contact your FANUC Robotics technical representative to obtain the correct
Cause: The specified device is already on-line. device definition files.
Remedy: Take the device off-line before attempting the operation. DNET-043 WARN No VENDORID line supplied
DNET-013 WARN Device not online Cause: The specified line was not found in a device definition file.
Cause: The specified device is not on-line. Remedy: Contact your FANUC Robotics technical representative to obtain the correct
Remedy: Put the device on-line before attempting the operation. device definition files.
DNET-014 WARN Request timed out DNET-044 WARN No PRODCODE line supplied
Cause: The attempted DeviceNet command request has timed out. Cause: The specified line was not found in a device definition file.
Remedy: Check all network connections. If all connections appear to be in order, re- Remedy: Contact your FANUC Robotics technical representative to obtain the correct
attempt the command. device definition files.
DNET-015 WARN Board not initialized DNET-045 WARN No I/O mode line supplied
Cause: The specified board has not been initialized. Cause: The specified line was not found in a device definition file.
Remedy: Initialize the board by attempting to put it on-line, and then cycle power. Then, Remedy: Contact your FANUC Robotics technical representative to obtain the correct
re-attempt the operation. device definition files.
DNET-016 ERR_SYS_C System failed DNET-046 WARN No PDTCODE line supplied
Cause: The DeviceNet Interface system has failed. Cause: The specified line was not found in a device definition file.
Remedy: Cold start the system. If the problem persists, INIT start or reload the system. If Remedy: Contact your FANUC Robotics technical representative to obtain the correct
the problem continues to persist, document the events that led to the error and call your device definition files.
FANUC Robotics technical representative. DNET-047 ERR_STOP_C DeviceNet motherboard not found
DNET-017 WARN Board not found Cause: The DeviceNet motherboard is not plugged into the back plane.
Cause: The specified board was not found in the system. Remedy: Turn off the controller and make sure the motherboard is properly seated into
Remedy: Make sure the daughter boards are properly configured and properly seated on the back plane of the controller. Cold start the controller.
the motherboard. DNET-048 WARN Multiple DEFAULT modes; ignored
DNET-018 WARN Memory test failed Cause: The device definition file has too many I/O access modes designated as
Cause: The specified board has failed the initial memory test. DEFAULT. Only one mode should be designated as DEFAULT.
Remedy: Cold start the system. If the problem persists, INIT start and reload the Remedy: Remove the DEFAULT designation from all I/O access modes except one.
DeviceNet Interface option. DNET-050 WARN Board or network warning: Bd %d
DNET-019 WARN Code file open failed Cause: An problem has occurred with the specified daughter board or the DeviceNet
Cause: The code file required to initialize the board cannot be accessed. network connected to it. The problem is not severe enough to disrupt communications,
Remedy: Cold start the system. If the problem persists, INIT start and reload the but should be addressed as soon as possible.
DeviceNet Interface option. Remedy: Refer to the next DNET alarm posted in the alarm log for specific alarm
DNET-020 WARN Code file read failed recovery information.
Cause: The code file required to initialize the board cannot be read. DNET-051 WARN Netwk comm errors: Bus warning
Remedy: Cold start the system. If the problem persists, INIT start and reload the Cause: The DeviceNet scanner has detected an abnormal number of communications
DeviceNet Interface option. errors on the network. This message is a warning that the scanner may go offline if errors
DNET-021 WARN Code file checksum error continue to occur at an abnormal rate.
Cause: There is a problem with the DeviceNet scanner code file. Remedy: Check your network topology to ensure conformance with DeviceNet
Remedy: Cold start the system. If the problem persists, INIT start and reload the standards. Check that your network terminators are in place and properly connected.
DeviceNet Interface option. If the problem continues to persist, document the events that Check that your network power supply is able to handle all of the devices on the network.
led to the error and call your FANUC Robotics technical representative. Ensure that you are using properly shielded cables and connectors.
DNET-022 WARN Board initialization timeout DNET-052 WARN Data line too long
Cause: The board initialization routine has timed out. Cause: The specified line was incorrect in the device definition file.
Remedy: Turn the controller off. Make sure the motherboard is correctly seated on the Remedy: Contact your FANUC Robotics technical representative to obtain the correct
back plane. Cold start the controller. If the problem persists, document the events that led device definition files.
to the error and call your FANUC Robotics technical representative. DNET-053 WARN Line above DEVICE line ignored
DNET-023 WARN Board initialization error Cause: An extraneous line was found in a device definition file.
Cause: An error has occurred in the board initialization process. Remedy: Check the Standard Device Definition List to see if device types have been
Remedy: Cycle power to the controller. If the problem persists, turn the controller off and properly loaded. If not, contact FANUC Robotics to obtain the correct device definition
check the motherboard connection to the back plane. Cold start the controller. If the files.
problem persists, document the events that led to the error and call your FANUC DNET-054 WARN All space in shared RAM used
Robotics technical representative. Cause: There is no space left in the DeviceNet I/O buffer.
DNET-025 WARN No device assigned for Bd/MAC Remedy: Contact FANUC Robotics to report the problem. Provide all details of the
Cause: A data mismatch has occurred such that the system cannot find a device DeviceNet network, including number and type of devices, baud rates, MAC Ids, and
assigned for the specified board number and MAC Id. network wiring configuration.
Remedy: Turn the controller off and cold start the controller. If the problem persists, DNET-055 ERR_STOP_C Board or network error: Bd %d
delete the board from the Board List screen, reconfigure the board, and re-add devices to Cause: An error has occurred with the specified daughter board or the DeviceNet
the Device List. Cycle power. Also, check the device MAC Id configurations. network connected to it.
DNET-026 WARN No match on dev type look-up Remedy: Refer to the Cause and Remedy of the cause code (displayed immediately
Cause: The system cannot find the specified device type in its list of defined device below this error code on the teach pendant).
types. DNET-056 WARN Network power lost
Remedy: Check the selected device type on the Device List. Next, check the Defined Cause: Power has been removed from the DeviceNet network.
Device List and the Standard Device Definition List for the required device type. If it does Remedy: Check the cable connecting the daughter board to the DeviceNet network.
not appear, go to the Defined Device List and add the required device definition, then Also, check the connection to the power source. Cycle power to the controller.
select it on the Device List screen. When you have finished, turn off then turn on the DNET-057 WARN Network communications error
controller. Cause: A network communications error has occurred on the network connected to the
DNET-027 ERR_STOP_C Dev online err: Bd %d MAC %d specified board.
Cause: The device at the specified board number and MAC Id cannot be brought on-line. Remedy: Check that the board's baud rate corresponds to that of the devices. Check
Remedy: Make sure the device is properly connected to the network. Check the device's cable connections to both the board and devices. Check that the proper device
MAC Id and baud rate configuration. Check the board's baud rate configuration on the definitions are selected for the devices on the network and that parameters are correct
Board Detail screen. Check the board's network connection. Cold Start the controller. for user-defined devices. Turn off both the controller and the DeviceNet network power,
DNET-028 ERR_STOP_C Board online err: Bd %d then cold start the controller.
Cause: The specified board cannot be brought on-line. DNET-058 WARN Message queue overrun
Remedy: Make sure the board is properly connected to the network. Check that network Cause: The board has received more messages than it can handle at one time.
power is being supplied. Check that baud rates for the board and devices are in Remedy: The problem may be momentary; attempt to bring the board on-line again. If
agreement. Cold Start the controller. the problem persists, check that the board baud rate corresponds to the baud rate of the
DNET-029 WARN Too many deferred errors devices. Turn off then turn on the controller.
Cause: The system has received the maximum number of DeviceNet errors it can handle DNET-059 WARN Message lost
at one time. Cause: The board has missed a message over the DeviceNet network.
Remedy: Attempt to remedy any errors that are displayed, then cold start the controller. Remedy: The problem might be momentary; attempt to bring the board on-line again. If
DNET-030 ERR_STOP_C Std dev file fmt err: Line %d the problem persists, check that the board baud rate corresponds to the baud rate of the
Cause: There is an error in the format of the specified device definition file, on the devices. Turn off then turn on power to the controller.
specified line. DNET-060 WARN Xmit timeout: Network flooded
Remedy: Contact your FANUC Robotics technical representative to obtain a correct Cause: The traffic on the DeviceNet network is too heavy for the board to communicate
device definition file. with the devices.
DNET-031 ERR_STOP_C App dev file fmt err: Line %d Remedy: Check that the board baud rate agrees with the baud rate of the devices. If no
Cause: There is an error in the format of the specified device definition file, on the baud rate problem exists, turn off both the controller and the DeviceNet network power,
specified line. then turn on both.
Remedy: Contact your FANUC Robotics technical representative to obtain a correct DNET-061 WARN No other nodes on network
device definition file. Cause: All of the devices expected by the board to be on the network appear to be
DNET-032 ERR_STOP_C Device not ready: Bd %d MAC %d disconnected to the network.
Cause: When a device has been added to a scan list, it cannot be brought online without Remedy: Check cable connections to the board and to the devices. If a device has been
cycling power to the controller. disconnected, reconnect and press RESET on the teach pendant. Check that the board
Remedy: Cycle power to the controller. You will then be able to bring the device online. baud rate is the same as baud rate of the devices.
DNET-033 WARN Unknown keyword DNET-062 WARN Bus off due to comm errors
Cause: An unknown keyword has been found in the device definition files. Cause: The board is not communicating to the network because there are too many
Remedy: Contact your FANUC Robotics technical representative to obtain the correct errors.
device definition files. Remedy: Check that the baud rate of the board and of the devices is the same. Make
DNET-034 WARN Cycle power to bring online sure that power is connected to the DeviceNet network. Press RESET on the teach
Cause: The user must turn power off and on to the controller to bring online a newly- pendant. If the problem persists, begin removing devices from the network; after each
added device to a board's device list. device is removed, press RESET. When the board is brought on-line, check the device
Remedy: Cycle power to the controller. You will then be able to bring the device online. configuration and the parameters of the device definition.
DNET-035 WARN Bad format or out of range DNET-063 ERR_STOP_C Device error: Bd %d MAC %d
Cause: An integer value in the device definition files is incorrect. Cause: An error has occurred with the device at the specified board number and MAC Id.
Remedy: Contact your FANUC Robotics technical representative to obtain the correct Remedy: Refer to the Cause and Remedy for the cause code (displayed directly beneath
device definition files. this error code on the teach pendant).
DNET-036 WARN No NINPUTS or NOUTPUTS line DNET-064 WARN Connection error
Cause: The specified line was not found in a device definition file. Cause: An error has occurred when attempting connection to the specified device.
Remedy: Contact your FANUC Robotics technical representative to obtain the correct Remedy: Check that the baud rate of the device agrees with the board baud rate. Check
device definition files. that the device is properly connected to the network; make sure the device is receiving
DNET-037 WARN No PDTCODE line power from the network. Inspect the device definition to see that the I/O type, access
Cause: The specified line was not found in a device definition file. mode, and size of I/O are correct. Press RESET on the teach pendant to re-attempt
Remedy: Contact your FANUC Robotics technical representative to obtain the correct connection.
device definition files. DNET-065 WARN Incorrect vendor Id
DNET-038 WARN No MODULE lines with MULTIMOD Cause: The vendor Id for the device, as specified in the device definition, is incorrect.
Cause: The specified lines were not found in a device definition file. Remedy: Delete the device from the Device List. Check the device documentation for the
Remedy: Contact your FANUC Robotics technical representative to obtain the correct correct vendor Id. Make corrections in the device definition and add the device to the
device definition files. Device List.
DNET-039 WARN Too many MODULE lines DNET-066 WARN Incorrect product code
Cause: The specified lines were incorrect in a device definition file. Cause: The product code for the device, as specified in the device definition, is incorrect.
Remedy: Contact your FANUC Robotics technical representative to obtain the correct Remedy: Delete the device from the Device List. Check the device documentation for the
device definition files. correct product code. Make corrections in the device definition and add the device to the
DNET-040 WARN MODULE specified w/o MULTIMOD Device List.
10
DNET-067 WARN Incorrect device type DNET-096 WARN Error setting packet rate
Cause: The device type for the device, as specified in the device definition, is incorrect. Cause: The scanner board encountered an error while trying to set the communication
Remedy: Delete the device from the Device List. Check the device documentation for the packet rate for this device.
correct device type. Make corrections in the device definition and add the device to the Remedy: Check that the device baud rate matches the board baud rate. Check also the
Device List. device's connection to the network. Reset the device if possible.
DNET-068 WARN Device timeout DNET-097 WARN Connection sync fault
Cause: The connection to the specified device has timed out. Cause: The board was unable to achieve synchronization in the connection with the
Remedy: Check the device's connection to the network. Make sure the device baud rate specified device.
agrees with the board baud rate. Attempt to bring the device on-line by pressing RESET Remedy: Check that the device baud rate matches the board baud rate. Check also the
on the teach pendant. device's connection to the network. Reset the device if possible.
DNET-069 ERR_STOP_C Unknown error code %d DNET-102 WARN Invalid board MAC Id
Cause: An unknown error has occurred with the specified device. Cause: The board's MAC Id is not between 0 and 63.
Remedy: Document the events that led to the error and call your FANUC Robotics Remedy: Check the Board Detail screen to see if the board's MAC Id is between 0 - 63,
technical representative. Make sure the error code number is noted and reported. inclusive. If it is not, change the MAC Id to a valid value and press RESET on the teach
DNET-070 WARN Connection allocation error pendant. If the MAC Id appears valid, cold start the controller. If the problem persists,
Cause: An error has occurred when attempting connection to the specified device. document the events that led to the error and call your FANUC Robotics technical
Remedy: Check that the baud rate of the device agrees with the board baud rate. Check representative.
that the device is properly connected to the network; make sure the device is receiving DNET-103 WARN Invalid board baud rate
power from the network. Inspect the device definition to see that the I/O type, access Cause: The board's baud rate is not one of: 125 KB, 250 KB, or 500 KB.
mode, and size of I/O are correct. Press RESET on the teach pendant to re-attempt Remedy: Check the Board Detail screen to see if the board's baud rate is one of the
connection. above values. If it is not, change the baud rate to a valid value and press RESET on the
DNET-071 ERR_STOP_C Dup dbrd: Bd:%d Mbd:%s teach pendant. If the baud rate appears valid, cold start the controller. If the problem
Cause: You have two or more DeviceNet daughter boards with the same board number persists, document the events that led to the error and call your FANUC Robotics
configuration. technical representative.
Remedy: Re-configure the DIP switches on your daughter boards so that you no longer DNET-104 WARN Duplicate MAC Id error
have duplicates. DIP switch configuration information is found in the User's Guide to the Cause: The specified device has the same MAC Id as another device on the network.
FANUC Robotics DeviceNet Interface. Remedy: Check that no other devices have the same MAC Id, particularly those
DNET-072 WARN Found dupl. DNet daughterboard connected to a different master on the same network. Change the MAC Id of the
Cause: This cause code is posted together with DNET-071 above to allow the user to offending device at both the device and on the Device List, and attempt to bring it on-line.
easily identify the duplicate daughter board. Please see the Cause text for DNET-071 for If the problem persists, cold start the controller and try again. If the problem continues,
more information. document the events that led to the error and call your FANUC Robotics technical
Remedy: Please see the Remedy text for DNET-071 to fix this problem. representative.
DNET-073 WARN No match on mod type look-up DNET-105 WARN Duplicate device error
Cause: The system could not find the module type corresponding to a module on the Cause: There was an attempt to add a device to the board's device list that was a
specified device. duplicate of a device already on the list.
Remedy: View the module list for the device and delete or change the module in Remedy: If the desired device is already on the network and a second one is not being
question. If this module was previously functional, cold start the controller and attempt to added, you may ignore the error. Otherwise, change the MAC Id of one of the duplicate
use this module type again. If the problem persists, perform an INIT start and re-load the devices.
DeviceNet Interface option. DNET-106 WARN Device not found error
DNET-074 ERR_STOP_C Load only at ctrl start Cause: A device expected to be on the network was not found.
Cause: An I/O configuration file (.IO file) containing DeviceNet configuration data was Remedy: Check that the device is connected to the network. Check that the device baud
loaded at COLD START. The DeviceNet configuration data in this file is ignored. rate matches the board baud rate. Reset the device if possible. Cycle power to the
Remedy: Reload the .IO file at controlled start. controller. If the problem persists, document the events that led to the error and call your
DNET-076 WARN $DN_DEV_DEFS array is full FANUC Robotics technical representative.
Cause: There is no more room in the Defined Device List system variable. DNET-107 WARN Bus offline error
Remedy: Delete any unneeded device definitions from the Defined Device List before Cause: The board could not perform an operation because the bus was off-line.
adding a new one. Remedy: Press RESET on the teach pendant to attempt to bring the board on-line. If the
DNET-077 WARN DNet I/O inactive at CTRL start problem persists, cycle power to the controller. If the problem continues to persist, cycle
Cause: At controlled start, I/O data assigned to DeviceNet devices is not active. power to the DeviceNet network.
Remedy: This message is for informational purposes only. To make DeviceNet I/O DNET-108 WARN Scanner active error
active, COLD start the controller. Cause: The board could not perform an operation because the it is actively scanning the
DNET-078 WARN No room for more devices network.
Cause: The system variable for storage of devices is full. Remedy: Take the board off-line and re-attempt the operation.
Remedy: If there are devices which are off-line, delete these devices unless they are DNET-109 WARN Bus not offline error
required to be kept on the Device List. After entries in the device list are freed, new Cause: The board could not perform an operation because the bus is not off-line.
devices can be added. Remedy: Take the board off-line and re-attempt the operation.
DNET-079 ERR_STOP_C Unknown dev type: Bd %d MAC %d DNET-110 WARN Error: board scanning
Cause: The device type used by this device is currently unknown to the system. Cause: The board could not perform an operation because the it is actively scanning the
Remedy: This error occurs during the I/O restore. Cold start the controller, add a new network.
device definition corresponding to the specified device, then add the device to the device Remedy: Take the board off-line and re-attempt the operation.
list. DNET-111 WARN Error: board not scanning
DNET-080 ERR_STOP_C Loaded config too large Cause: The board could not perform an operation because the it is not actively scanning
Cause: The previous I/O configuration contains too many modules, devices, or device the network.
definitions to be loaded. Remedy: Bring the board on-line and re-attempt the operation.
Remedy: Make sure you have the same memory configuration as the system on which DNET-112 WARN Board not ready; pls. wait
the I/O configuration was saved. Cause: An attempt to bring the board on-line was unsuccessful because the board was
DNET-082 WARN Press RESET to reconnect busy.
Cause: This message appears when a board automatically restarts communication with Remedy: Wait ten seconds and re-attempt to bring the board on-line. If the problem
a DeviceNet network, but some or all devices are not designated as autoreconnecting. persists, check board connection to the network, baud rate, and network power.
Pressing RESET will attempt reconnection with these devices. DNET-114 WARN Bus fault error detected
Remedy: Pressing RESET will attempt reconnection with the non-communicatin g Cause: The board has detected a fault on the DeviceNet network, and cannot
devices and clear this message. communicate with devices.
DNET-083 WARN Board %d auto-restarted Remedy: Check that the baud rate of the board matches the baud rate of all devices on
Cause: A board which was previously in error state has automatically restarted the network. Also, check that power is being supplied to the network. If the problem
communications with the DeviceNet network. persists, cycle power to the controller, and then to the network if the problem continues.
Remedy: This message is intended for user notification only and does not indicate the DNET-115 WARN Invalid I/O connection attempt
presence of an error situation. Cause: A device does not support the requested I/O connection(s). and cannot
DNET-084 ERR_STOP_C Board reset failed: Bd %d communicate with devices.
Cause: The command to reset the specified board has failed. Remedy: Check the device documentation to ensure that the requested I/O connection is
Remedy: Refer to the Cause and Remedy for the cause code (displayed directly beneath supported.
this error code on the teach pendant). DNET-119 ERR_STOP_C Dup. MAC Ack Fault
DNET-085 ERR_STOP_C Dev reset failed: Bd %d MAC %d Cause: Ack Fault-No acknowledge received during Duplicate MAC ID sequence.
Cause: The command to reset the specified device has failed. Remedy: Check it the Interface is not the only node on the network. Check the baudrate
Remedy: Refer to the Cause and Remedy for the cause code (displayed directly beneath of the interface and make sure it is the network baudrate. Check physical wiring of the
this error code on the teach pendant). network.
DNET-086 ERR_STOP_C Stop scan cmd failed: Bd %d DNET-120 WARN Dev online err: Bd %d MAC %d
Cause: The specified board is unable to acknowledge the stop-scanning command. Cause: The device at the specified board number and MAC Id cannot be brought on-line.
Remedy: Check DeviceNet connection to the board, as well as DeviceNet power to the Remedy: Make sure the device is properly connected to the network. Check the device's
network. If board is already in ERROR state, this error can be disregarded. MAC Id and baud rate configuration. Check the board's baud rate configuration on the
DNET-087 ERR_STOP_C Bd offline cmd failed: Bd %d Board Detail screen. Check the board's network connection. Cold Start the controller.
Cause: The board is not acknowledging the command to take it off-line. DNET-121 WARN Device not ready: Bd %d MAC %d
Remedy: Check DeviceNet connection to the board, as well as DeviceNet power to the Cause: When a device has been added to a scan list, it cannot be brought online without
network. If the board is already in the ERROR state, this error can be disregarded. cycling power to the controller.
DNET-088 ERR_STOP_C Ignored: Bd %d MAC %d Slot %d Remedy: Cycle power to the controller. You will then be able to bring the device online.
Cause: The system does not recognize the module type of the module being loaded. DNET-122 WARN Device error: Bd %d MAC %d
Remedy: Make sure the device definition data files are the same between the current Cause: An error has occurred with the device at the specified board number and MAC Id.
system being loaded and the system on which the I/O configuration was saved. Contact Remedy: Refer to the Cause and Remedy for the cause code (displayed directly beneath
FANUC Robotics for the correct definition files. this error code on the teach pendant).
DNET-089 WARN Can't specify POLL and STROBE DNET-123 WARN Dev reset failed: Bd %d MAC %d
Cause: The data file contains lines which specify both POLL access and STROBE Cause: The command to reset the specified device has failed.
access for the same device. Remedy: Refer to the Cause and Remedy for the cause code (displayed directly beneath
Remedy: Contact FANUC Robotics to obtain the correct device definition files. this error code on the teach pendant).
DNET-090 WARN Can't STROBE w/ num outs > 0 DNET-124 WARN Device not autorec: Bd %d MAC %d
Cause: The device definition file specifies a strobed-access device but the number of Cause: This message appears when a board automatically restarts communication with
outputs is not equal to zero. a DeviceNet network, but some or all devices are not designated as autoreconnecting.
Remedy: Contact FANUC Robotics to obtain the correct device definition files. Pressing RESET will attempt reconnection with these devices.
DNET-091 WARN Input size error Remedy: Pressing RESET will attempt reconnection with the non-communicatin g
Cause: The number of inputs specified in the device definition for this device does not devices and clear this message.
match the number expected by the scanner when it communicates with the device. DNET-125 WARN Slave Conn. Idle: Bd %d
Remedy: Delete the device, correct the device definition, then re-add the device to the Cause: The slave connection of the specified board is idle The remote Master has not
device list. yet connected to the slave connection.
DNET-092 WARN Output size error Remedy: Make sure the remote Master is online and configured properly.
Cause: The number of outputs specified in the device definition for this device does not DNET-130 ERR_PAUSE_C Invalid parameter
match the number expected by the scanner when it communicates with the device. Cause: An invalid parameter has been specified for a DeviceNet KAREL built-in.
Remedy: Delete the device, correct the device definition, then re-add the device to the Remedy: Refer to the cause code to determine which parameter is invalid.
device list. DNET-131 WARN Invalid board number
DNET-093 WARN Error reading vendor ID Cause: The specified board number is invalid.
Cause: The scanner board encountered an error while trying to read the device's vendor Remedy: Make sure the board number is an integer between 1 and 4, inclusive.
ID. DNET-132 WARN Invalid MAC ID
Remedy: Check that the device baud rate matches the board baud rate. Check also the Cause: The specified MAC ID is invalid.
device's connection to the network. Remedy: Make sure the MAC ID is an integer between 0 and 63, inclusive.
DNET-094 WARN Error reading device type DX Error Codes
Cause: The scanner board encountered an error while trying to read the device's device DX -000 STOP Unknown error (DX00)
type. Cause: System internal error
Remedy: Check that the device baud rate matches the board baud rate. Check also the Remedy: Contact FANUC Robotics Hotline.
device's connection to the network. DX -001 STOP No global variables
DNET-095 WARN Error reading product code Cause: The Delta Tool/Frame global variables have NOT been properly loaded.
Cause: The scanner board encountered an error while trying to read the device's product Remedy: Check the application installation manual for the proper installation procedure
code. for Delta Tool/Frame.
Remedy: Check that the device baud rate matches the board baud rate. Check also the DX -002 STOP Error allocating data memory
device's connection to the network. Cause: Delta Tool/Frame internal memory allocation failed.
11
Remedy: Check Memory usage and Delta Tool/Frame installation. Cause: End of file was detected.
DX -003 STOP No system variables Remedy: This is a notification. You do not have to do anything for this warning message.
Cause: Delta Tool/Frame system variables (e.g. $DXSCH[]) not found. FILE-022 WARN Illegal file name
Remedy: Check the application installation manual for the proper installation procedure Cause: File name contains an illegal character.
for the Delta Tool/Frame system. Remedy: Check spelling of file name.
DX -004 STOP Illegal schedule number FILE-023 WARN Illegal file number
Cause: Invalid Delta Tool/Frame schedule number. Cause: File number is illegal.
Remedy: Check all schedule numbers used within the specified program to verify that Remedy: Use a valid file number which is the ID returned from an open request.
they are within the allowable range specified for the $DXSCH[] system variable. FILE-024 WARN Illegal file type
DX -005 WARN Schedule already enabled Cause: File type contains an illegal character.
Cause: Requested Delta Tool/Frame schedule number has already been enabled. Remedy: Check the spelling and validity of the file type.
Remedy: Use END_OFFSET or abort program to disable schedule. FILE-025 WARN Illegal protection code
DX -006 WARN Schedule not enabled Cause: File protection code is illegal.
Cause: Try to disable a schedule which has not been enabled. Remedy: Check if the protection code is correct.
Remedy: Check to see if the requested schedule has been disabled before, or whether FILE-026 WARN Illegal access mode
the requested schedule has not been enabled at all. Cause: File access mode is illegal.
DX -007 STOP Schedule not enabled Remedy: Check if the access mode is correct.
Cause: Try to apply offset to a schedule which has not been enabled. FILE-027 WARN Illegal attribute
Remedy: Check to see if the requested schedule has been disabled before, or whether Cause: File attribute in the SET_ATTRIBUTE request is illegal.
the requested schedule has not been enabled at all. Remedy: Check that attribute specified is valid.
DX -008 STOP Internal error FILE-028 WARN Illegal data block
Cause: Internal error: cannot find dxfndofs schedule. Cause: Data block is broken which is used in FIND_NEXT request.
Remedy: Contact FANUC Robotics Hotline.. Remedy: You should keep the data block which is returned from the previous
DX -009 STOP Internal error FIND_FIRST or FIND_NEXT request.
Cause: Wrong packet was sent to INTP to signal completion of updating $DXMOR FILE-029 WARN Command is not supported
deltatool or deltaframe offset. Cause: Illegal request command is specified.
Remedy: Contact FANUC Robotics Hotline.. Remedy: Check if the request code is correct.
DX -010 STOP DeltaJ DeltaT/F incompatible FILE-030 WARN Device lun table is full
Cause: Attempt to enable deltajoint with deltatool and/or deltaframe in a schedule. Cause: Device management table is full.
Remedy: Do not enable deltajoint with deltatool and/or deltaframe in a schedule. Remedy: Dismount any unnecessary devices.
DX -011 STOP DeltaT DeltaF incompatible FILE-031 WARN Illegal path name
Cause: Attempt to enable deltatool with deltaframe in a schedule. Cause: Path name contains an illegal character.
Remedy: Do not enable deltatool with deltaframe in a schedule. Remedy: Check if the path name is correct.
DX -012 STOP Specified group already enabled FILE-032 WARN Illegal parameter
Cause: The specified motion group has been already enabled by DX function. Cause: Illegal parameter is detected.
Remedy: Abort the enabled DX function before this start. Remedy: Check that all parameters for the request are valid.
DX -014 STOP Invalid offset orientation FILE-033 WARN System file buffer full
Cause: The calculated offset orientation of this time is out of range specified by Cause: File management buffer is full.
$DXRLINK.$ortmax. Remedy: Close unnecessary files.
Remedy: Decrease the speed of the Master robot or Check the noize on the Ethernet. FILE-034 WARN Illegal file position
DX -015 STOP Invalid offset distance Cause: Illegal file position is specified.
Cause: The calculated offset distance of this time is out of range specified by Remedy: Check that the file position parameter from SEEK request is positive and not
$DXRLINK.$locmax. beyond the end of file.
Remedy: Decrease the speed of the Master robot or Check the noize on the Ethernet. FILE-035 WARN Device not formatted
DX -016 STOP UT is changed Cause: You tried to access a unformatted device.
Cause: UT of master robot is changed. Remedy: Format the device before using it.
Remedy: Don't change UT of master during robot link. FILE-036 WARN File already exist
ELOG Error Codes Cause: You tried to rename a file to an already existing file name.
ELOG-009 WARN call a service man Remedy: Change the new file name to be unique or delete the existing file.
Cause: A system error has occurred. FILE-037 WARN Directory not empty
Remedy: Perform a cold start: Cause: You tried to remove a subdirectory which contains some files or directories.
1. Turn off the robot. Remedy: Remove all files and directories in the subdirectory before removing
2. On the teach pendant, press and hold the SHIFT and RESET keys. subdirectory.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not FILE-038 WARN File locked by too many tasks
cleared, document the events that let to the error and call your FANUC Robotics Cause: There are too many lock requests to same file.
technical representative. Remedy: Unlock any unnecessary file lock requests.
ELOG-011 WARN Power off, if you want to recover. FILE-039 WARN Directory already exists
Cause: A system error has occurred. Cause: You tried to create a sub-directory that already exists.
Remedy: A system error has occurred. Remedy: Perform a cold start: Remedy: Use a unique name for new sub-directory
1. Turn off the robot. FILE-040 WARN Illegal file access mode
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: You tried to read from a write only opened file or tried to write to a read only
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not opened file.
cleared, document the events that let to the error and call your FANUC Robotics Remedy: Open a file with correct access mode.
technical representative. FILE-041 WARN File not locked
ELOG-012 WARN A system error has been occurred. Cause: You tried to unlock file which you had not locked.
Cause: A system error has occurred Remedy: Don't unlock a file that is not locked. You can only unlock files which YOU have
Remedy: A system error has occurred. Remedy: Perform a cold start: locked.
1. Turn off the robot. FILE-045 WARN need to set $FILE_MAXSEC
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: $FILE_MAXSEC has not been set and must be be set before device can be
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not formatted.
cleared, document the events that let to the error and call your FANUC Robotics Remedy: Set variable $FILE_MAXSEC to valid value. 800 is a good default value.
technical representative. FILE-049 WARN File is not standard file
FILE Error Codes Cause: A file operation has been attempted on a file which is not a standard file
FILE-001 WARN Device not ready Remedy: Use a standard file device (e.g., FR: or RD:
Cause: Specified file device is not ready. FILE-050 WARN PChamp %s device NOT ready - device FULL
Remedy: Check if the device is mounted and ready to use. Check if the device name is Cause: PChamp output device NOT ready or FULL
correct. Remedy: Check device OR delete old files on device
FILE-002 WARN Device is Full FILE-051 WARN NESTED kread issued
Cause: Device is full. There is no more space to store data on the device. Cause: A call to kread was made while a WOULDBLOCK read was pending
Remedy: Delete any unnecessary files or change to a new device. Remedy: Do not call kread again until the packet from the previous read has been rcvd
FILE-003 WARN Device is protected FILE-052 WARN Kread re-call with different buf_p
Cause: Device is protected. So, you cannot write to the device. Cause: A call to kread was made following a WOULDBLOCK read with a different buf_p
Remedy: Release the device protection. Remedy: Call kread with the same buf_p as was used in the original kread call
FILE-004 WARN Device not assigned FILE-053 WARN MC Inserted
Cause: Device is not assigned. The specified device is not recognized by the system. If Cause: Memory Card (MC) has been inserted and properly detected by the system
RD then $FILE_MAXSEC is set to 0 Remedy: Start MC access after receiving this message
Remedy: If RD set $FILE_MAXSEC else sys err FILE-054 WARN MC Removed
FILE-005 WARN Device not mounted Cause: Memory Card (MC) has been removed from the system
Cause: Device is not mounted. You should mount the device before using it. Remedy: Reinstall Memory Card if you wish to continue
Remedy: Mount the correct file device. FILE-055 WARN MC not detected
FILE-006 WARN Device is already mounted Cause: Either the Memory Card (MC) is not properly inserted or the Card that is inserted
Cause: You tried to mount the device which had been already mounted. is not a Memory Card type (SRAM or Flashdisk)
Remedy: Mount device only once. Remedy: Either insert a MC or exchange inserted card with a MC
FILE-008 WARN Illegal device name FILE-056 WARN Modem Card Inserted
Cause: Device name contains an illegal character. Cause: Modem Card has been inserted and properly detected by the system
Remedy: Check spelling and validity of device name. Remedy: Start Modem Card access after receiving this message
FILE-009 WARN Illegal logical unit number FILE-057 WARN Modem Card Removed
Cause: Illegal LUN is used. Cause: Modem Card has been removed from the system
Remedy: This is an internal error. Check the validity of the logical unit number. Remedy: Reinstall Modem Card if you wish to continue
FILE-010 WARN Directory not found FILE-058 WARN Illegal Character in Name
Cause: Specified directory does not exist Cause: Name contains an illegal character.
Remedy: Check validity of directory name. Remedy: Remove any non alpha numeric character which is not an underscore.
FILE-011 WARN Directory full FILE-059 WARN Not enough TEMP memory for file operation
Cause: Directory is full. You tried to create a file in the root directory which exceeded the Cause: The TEMP memory is too low to complete the file operation.
maximum number of files allowed on the device. Remedy: Try one of the following:
Remedy: Delete unnecessary files in the root directory. 1. Remove unnecessary files/programs from the system.
FILE-012 WARN Directory is protected 2. Remove unused options from the controller by reloading with fewer options.
Cause: You tried to write to a write protected directory. 3. Add more D-RAM to the system.
Remedy: Release the protection to the directory. FILE-060 WARN Max %d,Req %d,Ac %d
FILE-013 WARN Illegal directory name Cause: Requested Memory Size ($FILE_MAXSEC) exceeds Max Available. RD Left at
Cause: Directory name contains an illegal character. Actual Size
Remedy: Check spelling of directory name. Remedy: Adjust Requested Memory Size ($FILE_MAXSEC) to less than or equal to the
FILE-014 WARN File not found Max Available
Cause: The specified file was not found. FILE-061 WARN Requested RD Sz too big
Remedy: Check that the file exists and that the file name was spelled correctly. Cause: Requested RD Size (Req) exceeds Max Available (Max). RD Left at Actual Size
FILE-015 WARN File is protected (Ac)
Cause: You tried to access a protected file. Remedy: Adjust $FILE_MAXSEC Memory Size (Req) to less than or equal to the Max
Remedy: Release the protection from file. Available (Max)
FILE-017 WARN File not open FIND Error Codes
Cause: You tried to access a file which is not open. FIND-000 WARN Fail to run Cell Finder Motn
Remedy: Open the file before accessing. Cause: Fail to run Cell Finder Motn Cause: Cannot start the Cell Finder motion.
FILE-018 WARN File is already opened Remedy: Clear all the errors before executing Cell Finder.
Cause: You tried to create/delete/rename a file which is already opened. FIND-001 WARN Robot is not ready.
Remedy: Close file before such operations. Cause: Robot is not ready. Cause: Cannot issue motion, system is in error state.
FILE-019 WARN File is locked Remedy: Clear all faults.
Cause: You tried to access a file which is locked. FIND-002 WARN Cannot converge.
Remedy: Release the lock. Cause: Cannot Converge. Cause: Cell Finder cannot converge within the set threshold.
FILE-020 WARN Illegal file size Remedy: Increase number of iteration allowed. Increase the convergence threshold
Cause: File size is invalid. setting. Make sure the TCP has not been changed.
Remedy: Change file size to be correct. FIND-003 WARN Contact before search.
FILE-021 WARN End of file
12
Cause: Contact before search. Cause: Robot is in contact with the part before starting a Cause: The disk has write protection enabled.
search motion. Remedy: Remove write protection from the disk or use a disk that is not write protected.
Remedy: Reteach the starting position FLPY-100 WARN Directory read error
FIND-004 WARN No contact detected. Cause: The directory information is corrupted and unreadable.
Cause: No contact detected. Cause: No contact is made during the Cell Finder motion. Remedy: Try another disk or reformat the disk.
Remedy: Make sure the sensor and software are installed correctly. FLPY-101 WARN Block check error
FIND-005 WARN Undefined program name. Cause: The checksum data is bad. Data is corrupted on disk and can not be read.
Cause: Undefined program name. Cause: The Cell Finder program name is not defined. Remedy: Try another disk, or reformat the disk
Remedy: Select a Cell Finder TPE program before pressing EXEC FLPY-103 WARN Seek error
FIND-006 WARN TPE operation error. Cause: There is a bad sector or track on the disk.
Cause: TPE operation error. Cause: Internal TPE program error. Remedy: Clean the disk drive, try another disk, or reformat the disk.
Remedy: Please reload the controller. FLPY-104 WARN Disk timeout
FIND-007 WARN Cell Finder internal error. Cause: The drive did not respond to a command.
Cause: Cell Finder internal error. Cause: Cell Finder internal error. Remedy: Check the cable to the drive and make sure drive power is on.
Remedy: Power off to recover. If problem persists, please reload the controller. FLPY-105 WARN Write protection violation
FIND-008 WARN File open error. Cause: The disk has write protection enabled.
Cause: File open error. Cause: Cannot open output file. Remedy: Remove write protection from the disk or use a disk that is not write protected.
Remedy: Check the path and file name. FLPY-106 WARN Memory Card hardware error
FIND-009 WARN No matching FIND Start. Cause: Memory Card hardware error is detected.
Cause: No matching FIND Start. Cause: Executing FIND END without a matching Find Remedy: Check Memory Card I/F unit connection or battery of the card.
START. FLPY-107 WARN Not formatted card
Remedy: Add FIND Start instruction before FIND END. Cause: The Memory Card is not formatted.
FIND-010 WARN Invalid schedule number. Remedy: Format the card with UTILITY menu on FILE screen.
Cause: Invalid schedule number. Cause: The schedule number in FIND START is FRSY Error Codes
invalid. FRSY-001 WARN FROM disk is full
Remedy: Gives a correct schedule number in FIND START[] Cause: The FROM disk does not have enough available memory to perform the
FIND-011 WARN Cannot access $MNUFRAME. specified command.
Cause: Cannot access $MNUFRAME. Cause: The current $MNUFRAMENUM[] is Remedy: Delete all unnecessary files and then purge the device. If the device is still full,
incorrect. then backup the files to an off-line device and reformat the device.
Remedy: Go to FRAME menu to select a valid user frame. FRSY-002 WARN Device not formatted
FIND-012 WARN Cannot access $MNUTOOL. Cause: The device is not formatted.
Cause: Cannot access $MNUTOOL. Cause: The current $MNUTOOLNUM[] is incorrect. Remedy: Format the device before using it.
Remedy: Go to FRAME menu to select a valid tool frame. FRSY-003 WARN Invalid parameter
FIND-013 WARN Backward execution ignored. Cause: An invalid parameter is detected.
Cause: Backward execution ignored. Cause: The CELL FINDER instruction can not be Remedy: Verify all the parameters for the requested command are correct.
executed backward. FRSY-004 WARN RAM disk must be mounted
Remedy: The backward execution of the cell finder instructions is ignored. Cause: Copying a file to the FROM disk requires that the RAM disk be mounted with
FIND-014 WARN System loading error. enough memory available to temporarily contain the file.
Cause: System loading error. Cause: The CELL FINDER is loaded incorrectly. Remedy: Mount the RAM disk before specifying the command.
Remedy: Please reload the controller. FRSY-005 WARN Device not mounted
FIND-015 WARN Not enough data. Cause: The device is not mounted.
Cause: Not enough data. Cause: Not enough data to compute the frame offset. Remedy: Mount the device before using it.
Remedy: Add more FIND instructions in the Cell Finder program. FRSY-006 WARN Device is already mounted
FIND-016 STOP No Preplan motion for FIND. Cause: The device is already mounted.
Cause: No Preplan motion for FIND. Cause: FIND instruction does not allow pre-plan Remedy: This is a notification. You do not have to do anything for this warning message.
motion. FRSY-007 WARN Invalid device name
Remedy: None. Cause: The specified device is not valid.
FIND-017 WARN Wrong number of searches. Remedy: Verify the device name.
Cause: Wrong number of searches. Cause: 3 Planes method requires 3 points in one FRSY-008 WARN File already exists
search direction, 2 points in 2nd search direction and 1 point in the 3rd search direction. Cause: The specified file already exists.
And the 3 search directions need to be orthogonal to each other. Remedy: Delete the file first or specify overwrite if available with the command.
Remedy: Please re-teach the cell finder program. FRSY-009 WARN Too many files opened
FIND-018 WARN Nonorthogonal find direction Cause: The maximum number of files is already open. THerefore the requested
Cause: Nonorthogonal find direction Cause: 3 Planes method requires 3 search command cannot be performed
directions be normal to each other. Remedy: Either close one or more of the files or set $OPEN_FILES to a larger number
Remedy: Please re-teach the cell finder program. and perform a cold start.
FIND-019 WARN Positions are too close. FRSY-010 WARN Invalid file position
Cause: Positions are too close. Cause: Taught positions are too close to each other. Cause: An invalid file position is specified. The position is beyond the end of the file or a
Remedy: Please re-teach the cell finder program so contact positions are at least 10mm negative position.
apart. Remedy: Check the file position.
FIND-020 WARN Invalid Frame number. FRSY-011 WARN Directory full
Cause: Invalid Frame number. Cause: Current frame number setting is invalid. Cause: No more files are allowed on the device.
Remedy: Please use SETUP/FRAME menu to setup correct frame. Remedy: Delete any unnecessary files or dismount and remount MF: device which will
FIND-021 WARN Large Frame diviation. increase the maximum number of files allowed.
Cause: Large Frame deviation. Cause: The computed offset exceeds the pre-set value. FRSY-012 WARN Invalid file access mode
Remedy: Run the Cell Finder program again to make sure the robot makes solid Cause: The requested command cannot be performed because the file is not opened
contacts with the part. Change the XYZ and ORNT change value in the schedule if these with the proper access mode. This error is also caused by trying to update or append to
numbers are very small. an existing file on the FROM disk or to an existing compressed file on the RAM disk.
FIND-022 WARN FIND without mastering data. Update and append are only allowed with uncompressed files on the RAM disk.
Cause: FIND without mastering data. Cause: Running Cell Finder without mastering. Remedy: Open the file with the proper access mode.
Remedy: Please go to Cell Finder menu and master the program first. FRSY-013 WARN Device is too fragmented
FIND-023 WARN No EXEC at Single Step Mode. Cause: The file cannot be created on the device because not enough consecutive blocks
Cause: No EXEC at Single Step Mode. Cause: Cannot execute Frame search program are available.
in Single Step Mode. Remedy: Delete all unnecessary files and then purge the device. For more information
Remedy: Please Turn off Single Step before executing cell finder program. on purging, refer to the PURGE_DEV Built-in in the FANUC Robotics SYSTEM RJ-2
FIND-024 WARN Master Update failed. Controller KAREL Reference Manual. If the device is still full, then backup the files to an
Cause: Master Update failed. Cause: Failure to update master data in a FIND instruction. off-line device and reformat the device.
Remedy: Please re-master the frame search TPE program again. FRSY-014 WARN File not found
FIND-025 WARN Large frame shift. Cause: The specified file is not found.
Cause: Large frame shift. Cause: Very large frame shift. Remedy: Verify the file name and the specified or default device is correct.
Remedy: Please check the UTOOL and the fixture to make sure the they are properly FRSY-015 WARN Invalid file name
installed. Cause: The file name contains an invalid character or is blank.
FIND-026 WARN No FIND END instruction. Remedy: Verify the file name is correct.
Cause: No FIND END instruction. Cause: Cell Finder program does not have a FIND FRSY-016 WARN Invalid file type
END instruction. Cause: The file type contains an invalid character.
Remedy: Add FIND END instruction at the end of the frame search TPE program. Remedy: Verify the file type is correct.
FIND-027 WARN Counts do not match. FRSY-017 WARN File not open
Cause: Counts do not match. Cause: Number of master data and number of run time Cause: File not open Cause: The file is not open.
data does not match each other. Remedy: Open the file before accessing.
Remedy: Run the finder program again. FRSY-018 WARN File is already opened
FIND-028 WARN No logged frame data. Cause: The requested command cannot be performed because the file is already
Cause: No logged frame data. Cause: No logged frame data, cannot restore the frame. opened.
Remedy: Please select a logged frame. Remedy: Close the file before specifying the command.
FIND-029 WARN Zero offset, No Update. FRSY-019 WARN Command is not supported
Cause: Zero offset, No Update. Cause: No change in the offset frame Cause: The specified command is not supported for the device.
Remedy: Please run Cell Finder again to compute a new offset. Remedy: This is a notification. You do not have to do anything for this warning message.
FIND-030 WARN Frame Log is disabled. FRSY-020 WARN RAM disk is full
Cause: Frame Log is disabled. Cause: The data log is disabled. Cause: The RAM disk does not have enough available memory to perform the specified
Remedy: Please enable the frame log first. command. Note that copying a file to the FROM disk requires that the RAM disk be
FIND-031 WARN Cold start to set $USEUFRAME mounted with enough memory available to temporarily contain the file.
Cause: Cold start to set $USEUFRAME Cause: $USEUFRAME is set to FALSE. Cell Remedy: Delete all unnecessary files and then purge the device. For more information
Finder reset it to TRUE Please cold start to make the change effective. on purging, refer to the PURGE_DEV Built-in in the FANUC Robotics SYSTEM RJ-2
Remedy: Power down then cold start the controller. Controller KAREL Reference Manual. If the device is still full, then backup the files to an
FLPY Error Codes off-line device and reformat the device after setting $FILE_MAXSEC to a larger number.
FLPY-001 WARN End of directory reached FRSY-021 WARN End of file
Cause: Your listing has reached the end of the directory. You do not have to do anything Cause: The end of the file is detected.
for this warning message. Remedy: This is a notification. Your do not have to do anything for this warning
Remedy: This is a notification. You do not have to do anything for this warning message. message.
FLPY-002 WARN File already exists FRSY-022 WARN File ID exceeded maximum
Cause: The file name you are trying to create already exists on this device. Cause: The file identification number has reached the maximum number for the device.
Remedy: Delete the file of this name or choose a different file name. Remedy: You must backup all your files, reformat the device, and restore the files. Refer
FLPY-003 WARN File does not exist to chapter 9, "File System", in the FANUC Robotics SYSTEM RJ-2 Controller KAREL
Cause: The file you are trying to open does not exist on this device. Reference Manual for more information.
Remedy: Open a file that does exist on the device. FRSY-023 WARN No blocks were purged
FLPY-004 WARN Unsupported command Cause: No blocks were purged for one of the following reasons: 1) No garbage blocks
Cause: Operation is not supported on floppy disk. exist. 2) No spare blocks exist because the FROM disk is full.
Remedy: Use only operations supported on floppy disk. Remedy: If you require more blocks, you must backup all your files, reformat the device,
FLPY-005 WARN Disk is full and restore the files. Refer to chapter 9, "File System", in the FANUC Robotics SYSTEM
Cause: The disk file capacity has been reached. RJ-2 Controller KAREL Reference Manual for more information.
Remedy: Delete some unneeded files or use a disk with sufficient free space. FRSY-024 WARN Purge is disabled
FLPY-006 WARN End of file reached Cause: You are not allowed to purge the FROM disk because purge is disabled.
Cause: The end of the file was reached while reading. Remedy: Set $PURGE_ENBL to TRUE and retry the purge operation. You may wish to
Remedy: Do not attempt to read beyond the end of a file. set $PURGE_ENBL to FALSE before running a program or application which requires
FLPY-008 WARN Only one file may be opened fast cycle time.
Cause: An attempt was made to open more than one file. FRSY-026 WARN CRC check failed
Remedy: Do not attempt to open more than one file at a time. Cause: One or more files on the FROM disk are corrupted. This may occur if the FROM
FLPY-009 WARN Communications error is wearing out.
Cause: The protocol format was invalid. Remedy: You should backup all your files, reformat the device, and restore the files.
Remedy: Retry the operation. Refer to chapter 9, "File System", in the FANUC Robotics SYSTEM RJ-2 Controller
FLPY-015 WARN Write protection violation KAREL Reference Manual for more information. If the problem persists, the FROM may
need to be replaced.
13
FRSY-028 WARN %d out of %d bad FROM blocks GUID-155 SERVO Force sensor SLC-2 init
Cause: The FROM disk is wearing out. Cause: Force sensor SLC-2 init Cause: SLC-2 (Serial Link Controller-2) initialization
Remedy: The system will continue to operate as long as enough blocks are available. failed (DSP init).
When too many blocks become bad, the FROM will need to be replaced. Remedy: Replace sensor head, interface board, and/or cable.
GUID Error Codes GUID-156 SERVO Force sensor data req fail
GUID-000 WARN Speed limit exceeded Cause: Force sensor data req fail Cause: Data request to sensor head failed.
Cause: Command speed exceeded limits. Remedy: Replace sensor head, interface board, and/or cable.
Remedy: Reduce sensor gain. GUID-157 SERVO Force sensor outer parity
GUID-001 WARN Rotation speed limit exceeded Cause: Force sensor outer parity Cause: Parity error on FS I/F board outer RAM.
Cause: Command rotation speed exceeded limits. Remedy: Replace interface board.
Remedy: Reduce sensor gain. GUID-158 SERVO Force sensor inner parity
GUID-002 SERVO Excessive motion command Cause: Force sensor inner parity Cause: Parity error on FS I/F board inner RAM.
Cause: Motion command exceeded limits. Remedy: Replace interface board.
Remedy: Reduce sensor gain. GUID-159 SERVO Force sensor comm failure
GUID-003 SERVO Teach Device Enabled Cause: Force sensor comm failure Cause: Communication failed on FS I/F board.
Cause: Other source tried to execute motion while LeadThru device was enabled. Remedy: Replace sensor head, interface board, and/or cable.
Remedy: Disable teach device. GUID-160 SERVO Force sensor comm failure
GUID-004 WARN Limit error, axis num %d^3 Cause: Force sensor comm failure Cause: Communication failed on FS I/F board.
Cause: Limit or singularity encountered. Remedy: Replace sensor head, interface board, and/or cable.
Remedy: Move in other direction. GUID-161 SERVO Force sensor comm failure
GUID-005 WARN Torque limit, axis num %d^3 Cause: Force sensor comm failure Cause: Communication failed on FS I/F board.
Cause: Motor torque disturbance detected. (parity, framing, CRC, etc.)
Remedy: Move away from object if collision occurred. Remedy: Replace sensor head, interface board, and/or cable.
GUID-006 SERVO Motion limit exceeded GUID-162 SERVO F-bus system emergency
Cause: Software motion limit exceeded. Cause: F-bus system emergency Cause: Non-force sensor system emergency error on
Remedy: Check SMON for details. F-bus
GUID-007 SERVO Excess command torque %d^3 Remedy: Correct source of error.
Cause: Command torque exceeded set limits. GUID-163 SERVO Force sensor watch dog
Remedy: Reduce gains or velocity limit parameters to avoid exceeding limits. Cause: Force sensor watch dog Cause: Force sensor interface watchdog alarm.
GUID-008 SERVO Excess joint velocity %d^3 Remedy: Replace sensor head, interface board, and/or cable.
Cause: Joint velocity exceeded set limits. GUID-164 SERVO Force sensor shared parity
Remedy: Reduce gains or velocity limit parameters to avoid exceeding limits. Cause: Force sensor shared parity Cause: Parity error in shared memory.
GUID-009 WARN Joint velocity limit %d^3 Remedy: Replace interface board.
Cause: Joint velocity exceeded set limits. GUID-165 SERVO Force sensor local parity
Remedy: Reduce gains or velocity limit parameters to avoid exceeding limits. Cause: Force sensor local parity Cause: Parity error in local memory.
GUID-010 SERVO Soft OVC alarm (A:%d^3) Remedy: Replace interface board.
Cause: An overcurrent alarm is close to occurring. GUID-166 SERVO Force sensor SIR1 SLC-2
Remedy: 1. Reset the error and resume. Cause: Force sensor SIR1 SLC-2 Cause: SLC-2, SLDM, or SLDS error.
2. Move the robot or IAD away from any hard contact. Remedy: Replace sensor head, interface board, and/or cable.
GUID-050 ABORT Automatic Motion Disabled GUID-167 SERVO Force sensor dist link comm
Cause: Automatic Motion Disabled Cause: A program attempted motion commands Cause: Force sensor dist link comm Cause: Distributed link error between head and
while the IAD is in manual control mode. interface.
Remedy: Manual mode must be disabled before automatic motion is permitted. Remedy: Replace sensor head, interface board, and/or cable.
GUID-051 WARN Liveman switch tied down GUID-200 WARN TCP Mate motion aborted.
Cause: Liveman switch tied down or liveman hardware failure. Cause: TCP Mate motion aborted. Cause: The TCP Mate motion aborted due to
Remedy: Remove interfering object, increase TIE_TIMER, reduce TIE_THRES, or repair unexpected change of of menu, or aborted by the user.
liveman hardware. Remedy: Please start over.
GUID-052 WARN Tracking fault %d^3 GUID-201 WARN Form Operation Error.
Cause: An unexpected fault occurred during line tracking. Cause: Form Operation Error. Cause: Dictionary not found.
Remedy: Follow instructions for indicated fault number. Remedy: Please reload the controller.
GUID-053 WARN Excessive Track Speed. L:%d^3 GUID-202 WARN System is not initalized.
Cause: The line speed indicated by the encoder is too fast. Cause: System is not initialized. Cause: System not been fully initialized.
Remedy: Fix encoder problem or reduce line speed to safe level. Remedy: Use the Setup menu to set up all required variables.
GUID-054 WARN End of Travel Warning. L:%d^3 GUID-203 WARN Fail to run TCPMate Motion
Cause: The operator crossed the end of travel warning point while line tracking. Cause: Fail to run TCPMate Motion Cause: Cannot start the TCP Mate motion.
Remedy: The line speed may be too fast to finish the cycle in time. Remedy: Clear all the errors before running TCP Mate motion.
GUID-055 WARN End of Travel Hold. L:%d^3 GUID-204 WARN Please record all position
Cause: The operator crossed the end of travel hold point while line tracking. Cause: Please record all position Cause: Not all positions in the reference menu are
Remedy: The line speed may be too fast to finish the cycle in time. recorded.
GUID-056 WARN End of Travel Stop. L:%d^3 Remedy: All positions in the menu should have been recorded.
Cause: The operator crossed the end of travel stop point while line tracking. GUID-205 WARN Do reference motion first.
Remedy: The line speed may be too fast to finish the cycle in time. Cause: Do reference motion first. Cause: Cannot execute the TCP mate without
GUID-057 WARN Can't init tracking. L:%d^3 mastering TCP first.
Cause: Tracking won't start due to an initialization problem. Check SMON for details. Remedy: Please go to reference menu and press MASTER to run reference motion first.
Remedy: Fix problem indicated on SMON. GUID-206 WARN Point is not initialized.
GUID-058 WARN Queue overflow. L:%d^3 Cause: Point is not initialized. Cause: Position is not initialized.
Cause: Tracking queue overflowed: too many parts in the queue. The oldest queue entry Remedy: Please record positions in the reference menu first.
was lost. GUID-207 WARN Robot is not calibrated.
Remedy: Set LEN, OUT_BOUNDS, and DETECT_DIST to reasonable values. Relocate Cause: Robot is not calibrated. Cause: Cannot record position since the robot is not
part detect switch closer to work area. calibrated
GUID-059 SERVO Current queue lost. L:%d^3 Remedy: Calibrate the robot first.
Cause: Lost queue entry was in use. GUID-208 WARN Record home position first
Remedy: Set LEN, OUT_BOUNDS, and DETECT_DIST to reasonable values. Relocate Cause: Record home position first Cause: Please record approach point before record
part detect switch closer to work area. other positions
GUID-060 WARN LT File R/W while moving. Remedy: Record home position.
Cause: LT File R/W while moving. Cause: Attempted to read or write logic table text file GUID-209 WARN Keep same WPR as home pos.
while the IAD is in operation. Cause: Keep same WPR as home pos. Cause: These position require to have the same
Remedy: Engage brakes before logic table file read or write. WPR as the home position.
GUID-100 WARN Unknown error Remedy: Keep the same orientation when recording these points.
Cause: An internal error has occurred. GUID-210 WARN Please press SHIFT key.
Remedy: Cold start the controller Cause: Please press SHIFT key. Cause: Press SHIFT key at the same time when this
GUID-101 WARN Cannot run monitoring task key is pressed
Cause: Cannot run monitoring task Cause: Cannot start the KAREL shell program to Remedy: Press SHIFT key to active the action.
monitor I/O events GUID-211 WARN TCP differs by %s
Remedy: Abort unwanted/paused KAREL programs. Or increase maximum number of Cause: TCP differs by %s Cause: The current TCP and previous differs more than pre-
tasks at control start. defined threshold.
GUID-102 WARN Cannot calibrate sensor. Remedy: Check for loose hardware or too. Run TCPMate again to confirm the TCP
Cause: Cannot calibrate sensor. Cause: Cannot calibrate the force sensor. value.
Remedy: No lead thru teaching motion is allowed when calibrating the force sensor. GUID-212 WARN XYZ: %s
GUID-103 WARN TPE operation error. Cause: XYZ: %s Cause: TCPMate logs the previous TCP XYZ value to error log for
Cause: TPE operation error. Cause: This error occurs when lead thru teach cannot record keeping.
access the TPE program. Remedy: None.
Remedy: Make sure the TPE program exists. GUID-213 WARN WPR: %s
GUID-104 WARN Invalid TPE program name. Cause: TCPMate logs the previous TCP WPR value to error log for record keeping.
Cause: Invalid TPE program name. Cause: The TPE program does not exist. Remedy: None.
Remedy: Make sure the TPE program exists. GUID-214 WARN Position is not in range.
GUID-105 WARN Robot is not ready. Cause: Position is not in range. Cause: The destination position is not reachable.
Cause: Robot is not ready. Cause: Cannot move or record a Remedy: Re-teach a new starting pos.
Remedy: Make sure the robot is mastered and no other errors. GUID-215 WARN Singular solution.
GUID-106 WARN Lead Thru is not loaded. Cause: Singular solution. Cause: Cannot compute the circle due to singularity.
Cause: Lead Thru not loaded. Cause: The lead thru teach software does not load Remedy: Check and correct robot's mastering. Check hardware. Try reteach position on
properly. the Reference menu.
Remedy: Reload the lead thru software GUID-216 WARN Cannot converge.
GUID-107 WARN Invalid Single Step Mode. Cause: Cannot converge. Cause: Cannot converge to a a solution.
Cause: Invalid Single Step Mode. Cause: The lead thru teach software does not work in Remedy: Check and correct robot's mastering. Check hardware. Try reteach position on
single step mode. the Reference menu.
Remedy: Turn off the single step mode GUID-217 WARN Points are too close.
GUID-108 WARN No data read from AIN port Cause: Points are too close. Cause: Recorded positions are too close to each other.
Cause: No data read from AIN port Cause: No data comes from the AIN ports. Remedy: Points should be at least 10 mm apart.
Remedy: Check AIN port connection, AIN port module and AIN port setting. GUID-218 WARN Contact before search.
GUID-150 WARN Analog ports are invalid. Cause: Contact before search. Cause: Robot is in contact with the part before starting a
Cause: Analog ports are invalid. Cause: The analog port setting is invalid. search motion.
Remedy: Please check the DIO menu for for proper AIN setting. Remedy: Reteach the starting position
GUID-151 WARN Unusual force sensor load. GUID-219 WARN No contact detected.
Cause: Unusual force sensor load. Cause: New force sensor zero setting exceeded Cause: No contact detected. Cause: No contact is made during the TCP Mate motion.
change limits during auto-zeroing. Remedy: Make sure the sensor and software are installed correctly.
Remedy: Remove foreign object from operator controls or increase RESET_LIMIT, press GUID-220 WARN Undefined program name.
FS Reset button on controller. Cause: Undefined program name. Cause: The enter/exit program names are not
GUID-152 SERVO Force sensor overload A:%d^3 defined.
Cause: Force sensor overload A:%d^3 Cause: Force measurement exceeded allowed Remedy: Go to the setup menu to select TPE programs.
limits. GUID-221 WARN TPE operation error.
Remedy: Reduce force on force sensor. Cause: TPE operation error. Cause: Internal TPE program error.
GUID-153 SERVO Force sensor ROM error Remedy: Please reload the controller.
Cause: Force sensor ROM error Cause: Copying a DSP program from ROM to RAM GUID-222 WARN Circle Fitting error: %s.
failed (DSP init). Cause: Circle Fitting error: %s. Cause: The circle fitting error is greater than expected.
Remedy: Replace sensor head, interface board, and/or cable. Remedy: Check hardware/tooling or increase fit tolerance.
GUID-154 SERVO Force sensor SLC-2 init GUID-223 WARN No DIN support.
Cause: Force sensor SLC-2 init Cause: SLC-2 (Serial Link Controller-2) initialization Cause: No DIN support. Cause: The search motion can not be executed without TOS
failed (DSP init). sensor.
Remedy: Replace sensor head, interface board, and/or cable. Remedy: Go to setup menu and select TOS in Sensor Type.
14
GUID-224 WARN Cannot continue motion. Cause: The directory information is corrupted and unreadable.
Cause: Cannot continue motion. Cause: Cannot continue the paused motion. Remedy: Clean the disk drive,try another disk or reformat the disk.
Remedy: Abort the paused motion and re-run TCP Mate again. HOST-102 WARN Block check error
GUID-225 WARN TCP Mate internal error. Cause: The checksum data is bad. Data is corrupted on the disk and can not be read.
Cause: TCP Mate internal error. Cause: TCP Mate internal error. Remedy: Try another disk, or reformat the disk
Remedy: Power off to recover. If problem persists, please reload the controller. HOST-103 WARN Seek error
GUID-226 WARN Dictionary is not loaded. Cause: There is a bad sector or track on the disk.
Cause: Dictionary is not loaded. Cause: Dictionary file is not loaded Remedy: Clean the disk drive, try another disk, or reformat the disk.
Remedy: Please reload the controller. HOST-104 WARN Disk timeout
GUID-227 WARN No saved reference data. Cause: The drive did not respond to a command.
Cause: No saved reference data. Cause: No saved reference data for current tool. Remedy: Check the cable to the drive and make sure drive power is on.
Remedy: Please do reference motion for the current tool. HOST-105 WARN Write protection violation
GUID-228 WARN File open error: %s Cause: The disk has write protection enabled.
Cause: File open error: %s Cause: Cannot open output file. Remedy: Remove write protection from the disk or use a disk that is not write protected.
Remedy: Check the path and file name. HOST-106 WARN $PROTOENT entry not found
GUID-229 WARN No recorded Utool. Cause: Protocol Entry structure ($PROTOENT) is invalid. It should be reset to default
Cause: No recorded Utool. Cause: No recorded utool to save. values.
Remedy: Recorded a new utool. Remedy: Return Protocol Entry structure to initial values from Setup and Operations
GUID-230 ABORT Not enough TPE stack. manual.
Cause: Not enough TPE stack. Cause: The TPE program does not have enough stack HOST-107 WARN $SERVENT entry not found
size to run TCPMate automatically. Cause: Server Entry structure ($SERVENT) is invalid. It should be reset to default
Remedy: Go to the TCPMATE main menu, TCPMate will update your TPE program values.
stack size once you are in the menu. Leave the menu, re-run the TPE program again. Remedy: Return Server Entry structure to initial values from Setup and Operations
GUID-231 ABORT Cannot generate TCP offset manual.
Cause: Cannot generate TCP offset Cause: TCPMate cannot complete it's operation HOST-108 WARN Internet address not found
successfully. Cause: Internet Address needs to be set.
Remedy: Check for sever tool bent or loosen hardwares. Remedy: Set Internet Address in the Setup Host Comm TCP/IP Protocol Menu.
GUID-232 STOP Collision, Axis %d^3 (G:$d^2) HOST-109 WARN Host name not found
Cause: Collision (G:$d^2, A:%x^3 Hex) Cause: Collision during motion Cause: Host Name needs to be set.
Remedy: Reteach starting position or remove collision object. Remedy: Set Host Name and Internet Address in the Host Comm TCP/IP Protocol Setup
GUID-250 WARN Software loading error. Menu.
Cause: Software loading error. Cause: Software loading error. HOST-110 WARN Node not found
Remedy: Please reload the controller. Cause: The Remote Node Name needs to be set. 9
GUID-251 WARN Invalid data range. Remedy: Set Remote Node Name in the Host Comm TCP/IP Protocol Setup Menu.
Cause: Invalid data range. Cause: The specified data range is invalid. HOST-111 WARN Cycle power to use Ethernet
Remedy: Please check the max_value and min_value in under the setup. Cause: ER-1 or ER-2 Ethernet hardware is already running and can not be restarted
GUID-252 WARN Invalid I/O Port setting. without cycling power.
Cause: Invalid I/O Port setting. Cause: Cannot access to the specified I/O port. Remedy: Turn off and then turn on the controller.
Remedy: Please use the I/O menu to check the port setting. HOST-112 WARN PANIC: %s
GUID-253 WARN Invalid system variable. Cause: The TCP/IP Stack has encountered a situation that may result in corruption or
Cause: Invalid system variable. Cause: Cannot access to the specified system variable disruption in normal network activity.
name. Remedy: Copy ETHERNET.DG file from MD: and save it. Note the PANIC string. Cycle
Remedy: Check the spelling of the system variable. power to the controller and contact the Support hotline and provide them with that
GUID-254 WARN Invalid torque setup. information.
Cause: Invalid torque setup. Cause: Cannot access to specified torque data. HOST-126 WARN Invalid Ethernet address
Remedy: Please reload the controller. Cause: The Ethernet address needs to be set.
GUID-300 WARN No contact with the chuck. Remedy: Set the Ethernet address in Configuration Menu.
Cause: No contact with the chuck. Cause: Robot does not have a contact with the chuck HOST-127 WARN Ethernet firmware not loaded
during search motion. Cause: The Ethernet Board firmware is not loaded.
Remedy: Increase the search distance under the setup menu, or move the taught Remedy: Load the Ethernet Board firmware in BMON.
position close to the chuck. HOST-128 WARN Ethernet hardware not installed
GUID-301 WARN Cannot update prostion reg Cause: The Ethernet Board needs to be reinitialized.
Cause: Cannot update prostion reg Cause: Cannot update the specific position register. Remedy: Install or reseat the Ethernet Board.
Remedy: Make sure the position register number is valid. HOST-129 WARN Receiver error
GUID-302 WARN Failed to run search motn. Cause: Data received from external device is invalid. Most likely caused by electrical
Cause: Failed to run search motn. Cause: Cannot start the motion task. noise on receivers.
Remedy: Aborted paused KAREL tasks in the controller. Remedy: The error can be cleared by Stopping and Starting the Tag in Host Comm
GUID-303 WARN Other task is running. Setup Menu.
Cause: Other task is running. Cause: Another motion task is running cannot start a new HOST-130 WARN Buffer alignment wrong
motion. Cause: A buffer was passed to the Serial Port Driver which can not be accessed.
Remedy: Aborted the running task before executing a search motion. Remedy: Ensure program can run on this version of controller. You might need to
GUID-350 WARN Invalid SoftWall: %s retranslate your program.
Cause: Invalid SoftWall: %s Cause: Invalid parameters in SoftWall HOST-131 WARN Wrong state
Remedy: Enter correct SoftWall parameters. Cause: The Host Comm system can not execute the requested command in the present
GUID-351 WARN Cone[%d^2]: Bad SoftWall Type operating mode.
Cause: Cone: Bad SoftWall Type %d^2 Cause: Cone does not support SoftWall type for Remedy: Stop and Start the Host Comm Tag in the Host Comm Setup Menu to reset the
limiting. operating mode.
Remedy: Use a supported SoftWall type. Supported types are None, Plane, or Sphere. HOST-132 WARN Can't allocate memory
GUID-352 WARN Cone[%d^2]: Too short Cause: The Host Comm system can not allocate memory buffers for receiving or
Cause: Cone[%d^2]: Too short Cause: Cone is too short. transmitting messages
Remedy: Define cone to be longer. Remedy: Either add more memory to the controller or reduce the number of
GUID-353 WARN Cylinder[%d^2]: Too short simultaneous connections.
Cause: Cylinder[%d^2]: Too short Cause: Cylinder is too short. HOST-133 WARN Wrong setup conditions
Remedy: Define cylinder to be longer. Cause: The Host Comm system is receiving messages but can not decode them.
GUID-354 WARN Spline[%d^2]: Too few points Remedy: Correct port settings: data rate, data size, stop bits, etc. to match external
Cause: Spline[%d^2]: Too few points Cause: Too few control points in spline. device.
Remedy: Use at least 3 control points. HOST-134 WARN BCC or CRC error
GUID-355 WARN Spline[%d^2]: Too many points Cause: The Host Comm system is receiving checksum errors on all messages.
Cause: Spline[%d^2]: Too many points Cause: Too many control points in spline. Remedy: Ensure that the external device is using the same protocol.
Remedy: Use correct n value. HOST-135 WARN Timeout
GUID-356 WARN Spline[%d^2]: Regressive Cause: There has not been any network activity on the Comm Tag for a period specified
Cause: Spline[%d^2]: Regressive Cause: Control points are regressive. by Inactivity Timeout. The Comm Tag has been stopped as a result.
Remedy: Redefine control points or use additional splines. Remedy: Restart the Comm Tag.
GUID-357 WARN Spline[%d^2]: Bad SoftWall Type HOST-136 WARN Device not ready
Cause: Spline[%d^2]: Bad SoftWall Type Cause: Cone does not support SoftWall type Cause: The remote device is connected but is not responding to requests.
for attach. Remedy: Check cabling between the devices and/or insure the device is powered.
Remedy: Use a supported SoftWall type. Supported types are None, Cone, or Spline. HOST-137 WARN Request cancelled
GUID-358 WARN Spline[%d^2]: Regr. SoftWall Cause: The remote device indicates the operation was successfully terminated.
Cause: Spline[%d^2]: Regr. SoftWall Cause: Attached SoftWall causes spline Remedy: The cancel command was successful.
regression. HOST-138 WARN Request aborted
Remedy: Redefine control points, redefine attached SoftWall, or use additional spline. Cause: The remote device did not indicate operation was terminated.
GUID-359 WARN Zone[%d^2]: Bad Zone Type Remedy: The command might have been completed before the cancel command was
Cause: Zone[%d^2]: Bad Zone Type Cause: Invalid zone type. received.
Remedy: Use a valid zone type. HOST-139 WARN Invalid function
GUID-360 WARN Zone[%d^2]: Bad SoftWall Type Cause: The Host Comm Protocol does not support the requested function.
Cause: Zone[%d^2]: Bad SoftWall Type Cause: Invalid SoftWall type used in zone. Remedy: Check the Host Comm Protocol to ensure the function is supported.
Remedy: Use a valid SoftWall type. HOST-140 WARN Device offline
GUID-361 WARN Cone[%d^2]: Bad radius Cause: The remote device is connected but it is not online.
Cause: Cone[%d^2]: Bad radius Cause: Invalid cone radius. Remedy: Set the remote device online.
Remedy: Radius must be greater than zero. HOST-141 WARN Protocol Start/Stop error
GUID-362 WARN Cone[%d^2]: Bad shape Cause: The Host Comm Protocol could not be started (Mounted) or stopped
Cause: Cone[%d^2]: Bad shape Cause: Cone shape is undefined. (dismounted) on the selected comm tag.
Remedy: Use a defined cone shape. Remedy: Either use another Comm Tag or Stop and Undefine the selected Comm Tag
HOST Error Codes under Menus-Setup-HostComm-Show
HOST-001 WARN End of directory reached HOST-142 WARN Connection error
Cause: Your listing has reached the end of the directory. You do not have to do anything Cause: The Host Comm Protocol could not establish communication with the remote
for this warning message. device. Possible software mismatch.
Remedy: This is a notification. Remedy: Ensure both local and remote are using compatible software versions.
HOST-002 WARN File already exists HOST-143 WARN Comm port cannot be closed
Cause: The file name you are trying to create or copy to already exists on this device. Cause: The selected hardware port defined for the Comm Tag could not be closed.
Remedy: Delete the file on this device or choose a different file name. Remedy: Power the controller OFF and then ON and try again. If the error occurs again
HOST-003 WARN File does not exist a cabling or hardware problem might exist with the port.
Cause: The file you are trying to open or copy does not exist on this device. HOST-144 WARN Comm Tag error
Remedy: Open or copy a file that exists on the device. Cause: The Comm Tag either does not have a protocol defined or if required does not
HOST-004 WARN Illegal command received have a port assigned.
Cause: The requested operation is not supported. Remedy: DEFINE a protocol to the Comm Tag or assign a port.
Remedy: Use only supported operations, or check command syntax. HOST-145 WARN Permission denied
HOST-005 WARN Disk is full Cause: An attempt has been made either to read a file opened for write access only or to
Cause: The disk file capacity has been reached. write a file opened for read access only.
Remedy: Delete some unneeded files or use a disk with sufficient free space. Remedy: If possible, close and reopen the file with the correct access parameters.
HOST-006 WARN End of file reached HOST-146 WARN Bad address for Comm Tag
Cause: The end of the file was reached while reading. Cause: A bad address has been detected.
Remedy: Do not attempt to read beyond the end of a file. Remedy: Verify the tag has a supported protocol then UNDEFINE and DEFINE the
HOST-008 WARN Only one file may be opened Comm Tag
Cause: An attempt was made to open more than one file. HOST-147 WARN Block device required
Remedy: Do not attempt to open more than one file at a time. Cause: The selected protocol requires a device port.
HOST-100 WARN Communications error Remedy: First ensure the Port has No Use from Port Init Setup. Then assign it to the
Cause: The protocol format was invalid. selected Comm Tag.
Remedy: Verify protocol field in the setup menu and retry the operation. HOST-148 WARN Mount device busy
HOST-101 WARN Directory read error Cause: Either the Comm Tag is STARTED or it is presently in use.
Remedy: Either STOP the Comm Tag or select another Tag.
15
HOST-149 WARN No such device HOST-192 WARN PPP channel already initialized
Cause: The passed Device Type is not a Comm Tag type (Cx or Sx). Cause: invalid port/insufficient memory
Remedy: Only Comm Tags can be used with this command. Remedy: Verify that a correct port number is specified
HOST-150 WARN Invalid argument HOST-193 WARN TLNT:Login to %s
Cause: The system does not support selected protocol. Cause: login made to a device using telnet
Remedy: Either select another protocol or install the selected protocol. Remedy: This is not an error
HOST-151 WARN No more Ethernet buffers. HOST-194 WARN TLNT:Logout of %s
Cause: The System has run out of buffers to communicate with the Ethernet Remote Cause: logout made out of device using telnet
PCB. Remedy: This is not an error
Remedy: Reduce the number of simultaneous connections as there is not enough HOST-195 WARN TLNT:rejected conn request
memory. Cause: TELNET connection attempt rejected. Please look at cause code for further
HOST-158 WARN FTP: no connection available information
Cause: An error occurred in the networking software. Remedy: Correct the cause of failure and try again
Remedy: Consult your network administrator. If the error is not cleared, document the HOST-196 WARN TLNT:%s already connected
events that led to the error and call your FANUC Robotics technical representative. Cause: the device is already connected
HOST-159 WARN FTP: login failed Remedy: ensure the device is not connected and try again
Cause: The Comm Tag does not have a valid username and password. HOST-197 WARN TLNT:invalid login id
Remedy: Enter a valid username and password for the Comm Tag. Cause: invalid login id supplied
HOST-160 WARN FTP: tag dismount request ignored Remedy: ensure the login id is valid and try again
Cause: An error occurred in the networking software. HOST-198 WARN TLNT:invalid password %s
Remedy: Consult your network administrator. If the error is not cleared, document the Cause: invalid password supplied
events that led to the error and call your FANUC Robotics technical representative. Remedy: ensure the password is valid and try again
HOST-161 WARN FTP: need remote host name HOST-199 WARN TLNT:timeout on %s
Cause: The Comm Tag does not have a remote host defined. Cause: the inactivity timer for the device expired
Remedy: Enter a remote host name in SETUP TAGS menu Current Remote and Startup Remedy: log in again or increase the timer value for the device from the TELNET
Remote fields. screens
HOST-162 WARN FTP: Error on Ethernet Init. HOST-200 WARN TLNT:FSAC need lvl %d for %s
Cause: The Ethernet PCB isn't initialized properly. Cause: the FSAC security feature is enabled and the client PC doesn't have sufficient
Remedy: Ensure both Ethernet PCB firmware and Main PCB Ethernet tasks are privileges
activated. Remedy: make an entry for the PC in the FSAC table
HOST-163 WARN EXMG: Invalid Buffer Size HOST-201 WARN TLNT:bad access lvl for %s
Cause: Invalid buffer size in call Cause: Insufficient access level
Remedy: Ensure correct buffer size Remedy: check the access level for the device from the TELNET screens
HOST-164 WARN EXMG: Read Pending HOST-202 WARN TLNT:invalid port for %s
Cause: Attempt to write before read. Cause: valid port not configured for device
Remedy: Make a read call after write before making a new write call. Remedy: configure a valid port for device from Port Init screens first
HOST-165 WARN EXMG: Internal Error HOST-203 WARN TLNT:from %s
Cause: Error in Explicit Messaging Task. Cause: connection from remote host detected
Remedy: Unrecoverable - Contact Help Desk. Remedy: not an error
HOST-166 WARN EXMG: Write Pending HOST-204 WARN SM: Remote Client Name is invalid
Cause: Attempt to read before write. Cause: The host name in the Client tag is not set correctly. If DNS is enabled, DNS
Remedy: A write should precede read. server did not resolve the name.
HOST-167 WARN EXMG: Connection Error Remedy: Change the host name to be a valid name in the client tags.
Cause: Explicit Messaging Connection broken HOST-205 WARN SM: Tag Already Mounted
Remedy: Check cable & remote device. Close connection and open again. Cause: A request to mount a tag which was already mounted was received.
HOST-168 WARN EXMG: Invalid Channel Remedy: Do not try to remount a tag without dismounting it.
Cause: Invalid Channel specified. Channel may not be online. HOST-206 WARN SM: Bad Port Number
Remedy: Make sure the channel specified is online or specify the correct channel Cause: The system variable $server_port in the Client tag or the host tag was invalid.
HOST-169 WARN EXMG: Invalid Path Remedy: Set the $hosts_cfg[n].$server_port sysvar for the server tag or $hostc_cfg[n].
Cause: Invalid Path Specified. $server_port for the client to a valid number
Remedy: Verify Path format specified EM:/DNET/1/10/40 DNET-Protocol, 1-Channel,10- HOST-207 WARN SM: Tag is not mounted
MAC Id 40-buffer size Also verify values are legal. Cause: The requested tag is not mounted
HOST-170 WARN EXMG: Invalid Name Remedy: Mount the tag before using it
Cause: Invalid Name specified. HOST-208 WARN SM: Not Yet Connected
Remedy: Verify Explicit Messaging mapping system variables are correctly set and the Cause: The requested tag is not yet connected to the remote host/device
values are legal. Remedy: Use MSG_CONNECT to connect the tag before opening it.
HOST-171 WARN EXMG: Message Truncated HOST-209 WARN SM: Connection Aborted
Cause: Connection Buffer size small. Cause: The connection was aborted by remote host
Remedy: Reopen connection with correct buffer size. Remedy: Check the remote host and reconnect to it
HOST-172 WARN DNS: Host Not Found HOST-210 WARN SM: Connection Timed Out
Cause: Domain Name Does Not exist Cause: Connection was timed out by remote.
Remedy: Make sure your host name and local domain name are correct. Your DNS Remedy: Reconnect to remote host.
server may not have the. current host listed. HOST-211 WARN SM: Connection Write Buffer is full
HOST-173 WARN DNS: Server Failure Cause: Write buffer is full. The remote host may not be responding or the network is
Cause: Problem with DNS server. down.
Remedy: Verify that you DNS server is running. Check with your DNS administrator to Remedy: Check remote host and network connection.
verify that the server is working properly. HOST-212 WARN SM: Write Direction shut down by Peer
HOST-174 WARN DNS: Format or Recovery Error Cause: Write direction was shutdown by remote.
Cause: DNS Recovery Error . Remedy: Check remote and reconnect to remote host
Remedy: Verify that the host name and local domain name and formatted correctly. HOST-213 WARN SM: Read Direction shut down by Peer
Verify that your server supports recursive queries. Verify that your server grants access Cause: Read direction was shutdown by remote.
to your robot. Remedy: Check remote and reconnect to remote host
HOST-175 WARN DNS: Server Has No Address HOST-214 WARN SM: Connection is Pending
Cause: Server has no IP address listed. Cause: Remote host has not yet connected.
Remedy: Your host name is valid and is recognized by the DNS server. The server has Remedy: Wait for remote to connect.
no IP address for the host queried on. Have your DNS administrator provide the server HOST-215 WARN SM: Connection is in use
with an IP address for the host queried on. Cause: The requested tag is in use.
HOST-176 WARN DNS: Configuration Error Remedy: Stop using the remote tag. If necessary close any open file to the tag and
Cause: DNS is not properly configured disconnect the tag by using MSG_DISCO.
Remedy: Go to the DNS configuration menu and verify that the server IP address and HOST-216 WARN SM: Invalid Socket
local domain name are correct. Cause: A request was received for a socket which is invalid
HOST-177 WARN Router Name Not Defined Remedy: Re-establish the connection.
Cause: No router name has been defined. The router name has been set to the robot HOST-217 WARN SM: Socket Error
name. Cause: A socket error was returned by the tcpip library.
Remedy: If your network has a router, then define a router in the TCP/IP set up menu. Remedy: Retry the operation. All sockets may be use. Free some resources by closing
HOST-178 WARN Router Address Not Defined some connections to telnet, ftp or socket mesg If that is not feasible, the same error may
Cause: Router does not have an address listed in the local host table. The router occur again.
address will be set to the robot address. HOST-218 WARN DTP: Connect %s
Remedy: If your network has a router, then define an address for it in the local host Cause: A diagnostic TP session was connected in interactive mode. Input is allowed.
table. Remedy: not an error
HOST-180 WARN NETMEM: buffer is not created HOST-219 WARN DTP: Monitor %s
Cause: Internal software problem. Network memory service request occurs before any Cause: A diagnostic TP session was connected in monitor mode. Input is not allowed.
memory is not created. Remedy: not an error
Remedy: Network memory should be created before accessing. HOST-220 WARN DTP: Disconnect %s
HOST-181 WARN NETMEM: time out Cause: A diagnostic TP session was disconnected.
Cause: Timeout occurred at getting memory access right. Remedy: not an error
Remedy: Network may overload if this error occurs frequently. HOST-221 WARN DTP: ident %s
HOST-182 WARN NETMEM: BD error Cause: connection from remote browser detected
Cause: Internal software problem. Specified network memory buffer descriptor was not Remedy: not an error
correct. HRTL Error Codes
Remedy: Verify that correct buffer descriptor is specified. HRTL-001 WARN Not owner
HOST-183 WARN NETMEM: buffer is auto ack mode Cause: An error occurred in the Ethernet networking software (TCP/IP).
Cause: Internal software problem. Network memory update request issued to automatic Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
acknowledge transmit memory. for assistance.
Remedy: Verify that correct buffer descriptor is specified. HRTL-002 WARN File/Comm Tag does not exist
HOST-184 WARN NETMEM: transmit BD error Cause: Either the file or the Comm Tag could not be found
Cause: Internal software problem. Specified buffer descriptor is not for transmit buffer. Remedy: Either retype the file name or DEFINE the Comm Tag. Please refer to the
Remedy: Verify that correct buffer descriptor is specified. section of Defining and Starting FTP on a Device in the manual of Ethernet Controller
HOST-185 WARN NETMEM: receive BD error Backup and Restore- FTP Setup and Operations.
Cause: Internal software problem. Specified buffer descriptor is not for receive buffer. HRTL-003 WARN No such process
Remedy: Verify that correct buffer descriptor is specified. Cause: An error occurred in the Ethernet networking software (TCP/IP).
HOST-186 WARN NETMEM: send socket open fail Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Cause: UDP open for datagram sending was failed. for assistance.
Remedy: Confirm that UDP port was consumed by another network application. HRTL-004 WARN Interrupted system call
HOST-187 WARN NETMEM: receive socket open fail Cause: An error occurred in the Ethernet networking software (TCP/IP).
Cause: UDP open for datagram receiving was failed. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Remedy: Verify that there is RLSYNC entry in $SERVENT system variable. Verify that for assistance.
port number for RLSYNC is correct. HRTL-005 WARN I/O error
HOST-188 WARN PPP init on port %d fails Cause: An error occurred in the Ethernet networking software (TCP/IP).
Cause: invalid port/insufficient memory Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Remedy: Verify that a correct port number is specified for assistance.
HOST-189 WARN Invalid port number HRTL-006 WARN No protocol or device dest
Cause: invalid port/insufficient memory Cause: The Comm Tag either does not have a protocol defined or if required does not
Remedy: Verify that a correct port number is specified have a port assigned
HOST-190 WARN Invalid baud rate Remedy: DEFINE a protocol to the Comm Tag or assign a port
Cause: invalid port/insufficient memory HRTL-007 WARN Arg list too long
Remedy: Verify that a correct port number is specified Cause: An error occurred in the Ethernet networking software (TCP/IP).
HOST-191 WARN Invalid device type Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Cause: invalid port/insufficient memory for assistance.
Remedy: Verify that a correct port number is specified HRTL-008 WARN Exec format error
16
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.
for assistance. HRTL-044 WARN Socket type not supported
HRTL-009 WARN Bad file number Cause: An error occurred in the Ethernet networking software (TCP/IP).
Cause: The file number passed does not match with any open files. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Remedy: Copy the conditions which caused this to occur. for assistance.
HRTL-010 WARN No children HRTL-045 WARN Operation not supported
Cause: An error occurred in the Ethernet networking software (TCP/IP). Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
for assistance. for assistance.
HRTL-011 WARN No more processes HRTL-047 WARN Address family not supported
Cause: An error occurred in the Ethernet networking software (TCP/IP). Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
for assistance. for assistance.
HRTL-012 WARN Not enough core HRTL-048 WARN Address already in use
Cause: An error occurred in the Ethernet networking software (TCP/IP). Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
for assistance. for assistance.
HRTL-013 WARN Access permission denied HRTL-049 WARN Can't assign requested address
Cause: Access Ethernet socket table permission denied. Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
for assistance. for assistance.
HRTL-014 WARN Invalid Comm Tag HRTL-050 WARN Network is down
Cause: A bad address has been detected Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
for assistance. for assistance.
HRTL-015 WARN Port device required HRTL-051 WARN Network is unreachable
Cause: The selected protocol requires a device port Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: First ensure the Port has No Use from Port Init Setup. Then assign it to the Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
selected Comm Tag for assistance.
HRTL-016 WARN Comm Tag already defined HRTL-052 WARN Connection dropped on reset
Cause: Either the Comm Tag is STARTED or it's presently in use Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Either STOP the Comm Tag or select another Tag. Please refer to the section Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
of Defining and Starting FTP on a Device in the manual of Ethernet Controller Backup for assistance.
and Restore- FTP Setup and Operations. HRTL-053 WARN Software caused connect abort
HRTL-017 WARN File exists Cause: An error occurred in the Ethernet networking software (TCP/IP).
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.
for assistance. HRTL-054 WARN Connection reset by peer
HRTL-018 WARN Cross-device link Cause: An error occurred in the Ethernet networking software (TCP/IP).
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline for assistance.
for assistance. HRTL-055 WARN No buffer space available
HRTL-019 WARN Invalid device type Cause: An error occurred in the Ethernet networking software (TCP/IP).
Cause: The passed Device Type is not a Comm Tag type (Cx or Sx) Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
Remedy: Only Comm Tags can be used with this command. for assistance.
HRTL-020 WARN Not a directory HRTL-056 WARN Socket is already connected
Cause: An error occurred in the Ethernet networking software (TCP/IP). Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
for assistance. for assistance.
HRTL-021 WARN Is a directory HRTL-057 WARN Socket is not connected
Cause: An error occurred in the Ethernet networking software (TCP/IP). Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
for assistance. for assistance.
HRTL-022 WARN Invalid argument HRTL-058 WARN Can't send, socket is shutdown
Cause: System does not support selected protocol. Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Either select another protocol or install the selected protocol. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
HRTL-023 WARN File table overflow for assistance.
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-060 WARN Ethernet Connection timed out
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: An error occurred in the Ethernet networking software (TCP/IP).
for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
HRTL-024 WARN Too many open files for assistance.
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-061 WARN Ethernet Connection refused
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: An error occurred in the Ethernet networking software (TCP/IP).
for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
HRTL-025 WARN Not a typewriter for assistance.
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-063 WARN Protocol family not supported
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: An error occurred in the Ethernet networking software (TCP/IP).
for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
HRTL-026 WARN Text file busy for assistance.
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-064 WARN Host is down
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: An error occurred in the Ethernet networking software (TCP/IP).
for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
HRTL-027 WARN File too large for assistance.
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-065 WARN Host is unreachable
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: An error occurred in the Ethernet networking software (TCP/IP).
for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
HRTL-028 WARN No space left on device for assistance.
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-066 WARN No urgent data
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: An error occurred in the Ethernet networking software (TCP/IP).
for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
HRTL-029 WARN Illegal seek for assistance.
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-067 WARN No out of bound data
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: An error occurred in the Ethernet networking software (TCP/IP).
for assistance. Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline
HRTL-030 WARN Read-only file system for assistance.
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-068 WARN Device is already attached
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: Device is already in use
for assistance. Remedy: Free Device for use
HRTL-031 WARN Too many links HRTL-069 WARN Device Function Code invalid
Cause: An error occurred in the Ethernet networking software (TCP/IP). Cause: Device does not support command
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Check usage against device
for assistance. HRTL-070 WARN Cannot detach with open files
HRTL-032 WARN Broken pipe Cause: Device in use
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Wait for command complete then retry
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline HRTL-071 WARN Device is already allocated
for assistance. Cause: Device is already allocated
HRTL-035 WARN Operation would block Remedy: Wait until Device free then retry
Cause: An error occurred in the Ethernet networking software (TCP/IP). HRTL-072 WARN Device doesn't support attach
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: Device does not support attaching
for assistance. Remedy: Check usage against device
HRTL-036 WARN Operation now in progress HRTL-073 WARN End of device list reached
Cause: An error occurred in the Ethernet networking software (TCP/IP). Cause: Device limit reached
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Check that device is valid
for assistance. HRTL-074 WARN Device is not supported
HRTL-037 WARN Operation now in progress Cause: Device not available
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Check device installation
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline IBSS Error Codes
for assistance. IBSS-001 STOP Slave system error(%d)
HRTL-038 WARN Socket operation on non-socket Cause: System internal error
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Contact FANUC Robotics Hotline.
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline IBSS-002 WARN Slave board not installed
for assistance. Cause: Slave PCB is not installed
HRTL-039 WARN Destination address required Remedy: Slave PCB is installed .
Cause: An error occurred in the Ethernet networking software (TCP/IP). IBSS-003 STOP Slave PCB abnormal(%d)
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: Slave board is defective.
for assistance. Remedy: Please exchange Slave board
HRTL-040 WARN Message size too long IBSS-004 STOP Slave No Data Exchange
Cause: An error occurred in the Ethernet networking software (TCP/IP). Cause: Slave data exchange is stopped.
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Remedy: Please check Cable and Master status.
for assistance. IBSS-005 STOP Slave watch dog error
HRTL-041 WARN Protocol wrong type Cause: Slave detects watch dog error.
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Please check other device status.
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline IBSS-006 STOPL Can not find IBS Group
for assistance. Cause: Can not find the group which is specified by IBS CHANGE.
HRTL-042 WARN Protocol not available Remedy: Please reset the group name by using the sub-menu on TP program.
Cause: An error occurred in the Ethernet networking software (TCP/IP). IBSS-007 STOPL IBS Config change Timeout
Remedy: Consult your network administrator or call the FANUC Robotics Service Hotline Cause: Can not change the INTERBUS-S configuration by IBS CHANGE.
for assistance. Remedy: Please confirm to match the INTERBUS-S configuration which is specified IBS
HRTL-043 WARN Protocol not supported CHANGE and the real configuration.
Cause: An error occurred in the Ethernet networking software (TCP/IP). IBSS-008 STOP Slave Length code error
17
Cause: The slave length code setting is invalid. Cause: System internal error
Remedy: Please modify the slave length code setting. Remedy: Contact FANUC Robotics Hotline.
IBSS-009 WARN %s I/O Overmapping no.:%d IBSS-079 STOP Max Offset overstep > 255
Cause: The offset or byte number of slave configuration is invalid. Cause: System internal error
Remedy: Please modify the offset or byte number of slave configuration setting. Remedy: Contact FANUC Robotics Hotline.
IBSS-010 WARN Please power OFF/ON for Master IBSS-080 STOP Module count or offset er
Cause: System internal error Cause: System internal error
Remedy: Contact FANUC Robotics Hotline. Remedy: Contact FANUC Robotics Hotline.
IBSS-011 STOP Master system error(%d) IBSS-081 STOP Out Mod No <> out ofs
Cause: System internal error Cause: System internal error
Remedy: Contact FANUC Robotics Hotline. Remedy: Contact FANUC Robotics Hotline.
IBSS-012 WARN Master board not installed IBSS-082 STOP In Mod No <> in ofs
Cause: Slave PCB is not installed Cause: System internal error
Remedy: Slave PCB is installed . Remedy: Contact FANUC Robotics Hotline.
IBSS-013 STOP Master PCB abnormal(%d) IBSS-083 STOP Real out len <> cfg len
Cause: Slave board is defective. Cause: System internal error
Remedy: Please exchange Slave board Remedy: Contact FANUC Robotics Hotline.
IBSS-014 STOP Master No Data Exchange IBSS-084 STOP Real in len <> cfg len
Cause: Slave data exchange is stopped. Cause: System internal error
Remedy: Please check Cable and Master status. Remedy: Contact FANUC Robotics Hotline.
IBSS-015 STOP Module error IBSS-085 STOP Overlapped output data
Cause: System internal error Cause: System internal error
Remedy: Contact FANUC Robotics Hotline. Remedy: Contact FANUC Robotics Hotline.
IBSS-016 STOP Module reconfiguration IBSS-086 STOP Overlapped input data
Cause: System internal error Cause: System internal error
Remedy: Contact FANUC Robotics Hotline. Remedy: Contact FANUC Robotics Hotline.
IBSS-017 STOP Defect W1-interface IBSS-087 STOP Out Dev define In module
Cause: System internal error Cause: System internal error
Remedy: Contact FANUC Robotics Hotline. Remedy: Contact FANUC Robotics Hotline.
IBSS-018 STOP Defect W2-interface IBSS-088 STOP In Dev define Out module
Cause: System internal error Cause: System internal error
Remedy: Contact FANUC Robotics Hotline. Remedy: Contact FANUC Robotics Hotline.
IBSS-019 STOP %d: %d.%d %s IBSS-089 STOP Out Dev define In module
Cause: An error has occurred with the specified slave device. Cause: System internal error
Remedy: Refer to the Cause and Remedy of the cause code (displayed immediately Remedy: Contact FANUC Robotics Hotline.
below this error code on the teach pendant). IBSS-090 STOP In Dev define Out module
IBSS-020 STOP All clear done Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-091 STOP Installation depth error
IBSS-021 STOP External periphery error Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-092 STOP Length code is unknown
IBSS-022 STOP Defective Datacycle & Rescan Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-093 STOP Remove non exist device
IBSS-023 STOP Transmission Quality Down Cause: System internal error
Cause: Transmission Quality Down Remedy: Contact FANUC Robotics Hotline.
Remedy: Check the slave device or the cable. IBSS-094 STOP Device is active
IBSS-030 STOP Device missing in last scan Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-095 STOP Config is differ from msg
IBSS-031 STOP Device reports other ID Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-101 STOP Not match Configuration list
IBSS-032 STOP Device reports other length Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-102 STOP Too many device are connected
IBSS-033 STOP Further device Interface 1 Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-103 STOP Configuration change (ID-scan)
IBSS-034 STOP Further device Interface 2 Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-104 STOP Multi data cycle error
IBSS-035 STOP Device missing in last scan Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-105 STOP InterBus Timeout process cycle
IBSS-036 STOP Device peripheral error Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-106 STOP Device missing in setup config
IBSS-037 STOP Device reconfiguration req Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-107 STOP Configuration change (runtime)
IBSS-038 STOP Dev detect checksum error Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-108 STOP No connection to InterBus-S
IBSS-040 STOP Defective Interface1(local) Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-150 STOP Sequence error
IBSS-041 STOP DefectiveInterface2(remote) Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-170 STOP No warm start command
IBSS-042 STOP No report ID & length code Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-171 STOP Too many modules configured
IBSS-043 STOP Interrupt IBS connection Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-172 STOP More module are connected
IBSS-044 STOP Interrupt IBS local before Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-173 STOP Less module are connected
IBSS-045 STOP Interrupt IBS local behind Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-174 STOP Non supported length code
IBSS-046 STOP Connect force stopped Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-175 STOP Wrong length code
IBSS-052 STOP Unknown process data handshake Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-176 STOP Wrong ident code
IBSS-056 STOP No device table found Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-177 STOP Wrong segment level
IBSS-057 STOP IBS controller is defective Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-178 STOP Master Watch dog error
IBSS-070 STOP Double address configured Cause: Slave detects watch dog error.
Cause: System internal error Remedy: Please check other device status.
Remedy: Contact FANUC Robotics Hotline. IBSS-220 STOP HOST watchdog failed, timeout
IBSS-071 STOP Device data set len fault Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-221 STOP HOST not acknowledge process
IBSS-072 STOP Process data cfg len fault Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. IBSS-224 STOP Error in IBS Controller comm
IBSS-073 STOP Additional table len fault Cause: System internal error
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Contact FANUC Robotics Hotline. INTP Error Codes
IBSS-074 STOP PCP data length fault INTP-001 PAUSE Cannot lock the motion grp
Cause: System internal error Cause: Motion control for the specified group cannot be locked.
Remedy: Contact FANUC Robotics Hotline. Remedy: Check the teach pendant enable switch and other running programs to
IBSS-075 STOP Whole size length fault determine who has motion control.
Cause: System internal error INTP-002 ABORT Program manager internal error
Remedy: Contact FANUC Robotics Hotline. Cause: Internal system error.
IBSS-076 STOP Add table inconsistent Remedy: Perform a cold start:
Cause: System internal error 1. Turn off the robot.
Remedy: Contact FANUC Robotics Hotline. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
IBSS-077 STOP Max Output offset overstep 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: System internal error cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Contact FANUC Robotics Hotline. technical representative.
IBSS-078 STOP Max Input offset overstep INTP-003 ABORT Invalid request
18
Cause: Internal system error. Cause: The automatic start was done the defined times but the alarm was not fixed. And
Remedy: Perform a cold start: the automatic start count of auto error recovery function is over the defined maximum
1. Turn off the robot. count.
2. On the teach pendant, press and hold the SHIFT and RESET keys. Remedy: Please fix the alarm by manual.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not INTP-135 PAUSE Recovery DO OFF in auto start mode
cleared, document the events that led to the error and call your FANUC Robotics Cause: The error recovery DO status is OFF in the automatic start feature So the
technical representative. resume program cannot be executed automatically.
INTP-004 PAUSE Cannot ATTACH with TP enabled Remedy: Please check the condition of error recovery DO status
Cause: The ATTACH statement requires the teach pendant to be disabled. INTP-136 WARN Can not use motion group for dry run function
Remedy: Disable the teach pendant. Cause: $PAUSE_PROG should specify a program that has NO motion group.
INTP-005 PAUSE Cannot release motion control Remedy: Please set another program with no motion group.
Cause: Motion control cannot be released. INTP-137 WARN Program specified by $PAUSE_PROG doesn't exist.
Remedy: Abort the running or paused program. Cause: The program which is specified by $PAUSE_PROG doesn't exist.
INTP-100 ABORT (%s^4, %d^5) Internal error (PXnn) Remedy: Please check $PAUSE_PROG.
Cause: Internal system error. INTP-138 WARN Program specified by $RESM_DRYPROG doesn't exist.
Remedy: Perform a cold start: Cause: The program which is specified by $RESUME_PROG doesn't exist.
1. Turn off the robot. Remedy: Please check $RESUME_PROG.
2. On the teach pendant, press and hold the SHIFT and RESET keys. INTP-139 PAUSE (%s^4, %d^5) Local variable request failed
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: An error occurred trying to access the local variable(s).
cleared, document the events that led to the error and call your FANUC Robotics Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
technical representative. INTP-200 PAUSE (%s^4, %d^5) Unimplemented TP instruction
INTP-101 ABORT (%s^4, %d^5) Internal error (system) Cause: The teach pendant program instruction is not available.
Cause: Internal system error. Remedy: Check the appropriate option is loaded.
Remedy: Perform a cold start: INTP-201 PAUSE (%s^4, %d^5) Untaught element encountered
1. Turn off the robot. Cause: The instruction is not taught.
2. On the teach pendant, press and hold the SHIFT and RESET keys. Remedy: Teach the instruction.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not INTP-202 PAUSE (%s^4, %d^5) Syntax error
cleared, document the events that led to the error and call your FANUC Robotics Cause: Instruction syntax error.
technical representative. Remedy: Reteach the instruction.
INTP-102 ABORT (%s^4, %d^5) Code format is invalid INTP-203 PAUSE (%s^4, %d^5) Variable type mismatch
Cause: Program data is corrupted. Cause: The variable type is not correct.
Remedy: For TPE programs, if possible, reload program from back-up device. If a back- Remedy: Check the variable type.
up is not available, it may be necessary to re-create the particular routine. For KAREL INTP-204 PAUSE (%s^4, %d^5) Invalid value for index
programs, re-translate and re-load the program. Cause: The index value is invalid.
INTP-103 ABORT (%s^4, %d^5) Program error Remedy: Check the index value.
Cause: An error occurred while the program was running. INTP-205 PAUSE (%s^4, %d^5) Analog port access error
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: Analog I/O is not functioning properly.
INTP-104 ABORT (%s^4, %d^5) Single step failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Single step cannot be executed INTP-206 PAUSE (%s^4, %d^5) Digital port access error
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: Digital I/O is not functioning properly.
INTP-105 ABORT (%s^4, %d^5) Run request failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Program cannot be started. INTP-207 PAUSE (%s^4, %d^5) Group I/O port access error
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: Group I/O is not functioning properly.
INTP-106 PAUSE (%s^4, %d^5) Continue request failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Program cannot be resumed. INTP-208 PAUSE (%s^4, %d^5) Divide by 0
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: Division by 0 was executed.
INTP-107 ABORT (%s^4, %d^5) Pause request failed Remedy: Check the value.
Cause: An error occurred when program execution was held. INTP-209 PAUSE (%s^4, %d^5) SELECT is needed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: A CASE instruction was executed before a SELECT instruction.
INTP-108 ABORT (%s^4, %d^5) Abort request failed Remedy: Add a SELECT instruction before the CASE instruction.
Cause: An error occurred when program execution was aborted. INTP-210 PAUSE (%s^4, %d^5) Start TIMER failed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The program timer cannot be started.
INTP-109 WARN (%s^4, %d^5) BWD motion request failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Backward motion cannot be executed. INTP-211 PAUSE (%s^4, %d^5) Delete TIMER failed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The program timer cannot be stopped.
INTP-110 WARN (%s^4, %d^5) Get task status request failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: The specified task attribute is not found or is not read accessible. INTP-212 PAUSE (%s^4, %d^5) Invalid value for OVERRIDE
Remedy: Check the attribute. Cause: The indicated value cannot be used for the OVERRIDE instruction.
INTP-111 WARN (%s^4, %d^5) Skip statement request failed Remedy: Check the value.
Cause: The currently executing line cannot be changed. INTP-213 PAUSE %s^7 (%s^4, %d^5) UALM[%d^9]
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: A user alarm occurred.
INTP-112 PAUSE Cannot call interrupt routine Remedy: Refer to the user alarm code. Use MENU to display the Alarm Log screen.
Cause: The interrupt routine cannot be executed. INTP-214 PAUSE (%s^4, %d^5) Specified group not locked
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The position register or frame setup instructions were executed in a program
INTP-113 PAUSE (%s^4, %d^5) Stop motion request failed without a motion group.
Cause: An error occurred when motion was stopped. Remedy: Set up the motion group in the program DETAIL screen.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-215 PAUSE (%s^4, %d^5) Group mismatch
INTP-114 PAUSE (%s^4, %d^5) Cancel motion request failed Cause: The position data is invalid.
Cause: An error occurred when motion was canceled. Remedy: Check the position data.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-216 PAUSE (%s^4, %d^5) Invalid value for group number
INTP-115 PAUSE (%s^4, %d^5) Resume motion request failed Cause: The indicated value is invalid for the motion group number.
Cause: An error occurred when motion was resumed. Remedy: Check the value.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-217 PAUSE (%s^4, %d^5) SKIP CONDITION needed
INTP-116 PAUSE (%s^4, %d^5) Hold motion request failed Cause: The SKIP instruction was executed before a SKIP CONDITION instruction.
Cause: An error occurred when motion was held. Remedy: Add a SKIP CONDITION instruction.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-218 PAUSE (%s^4, %d^5) Skip failed
INTP-117 PAUSE (%s^4, %d^5) Unhold motion request failed Cause: The SKIP instruction or SKIP CONDITION instruction cannot be executed.
Cause: An error occurred when motion was unheld. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-219 ABORT (%s^4, %d^5) Pause task failed
INTP-118 PAUSE (%s^4, %d^5) Walk back data request failed Cause: The PAUSE instruction cannot be executed.
Cause: An error occurred trying to obtain the execution history. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-220 ABORT (%s^4, %d^5) Abort task failed
INTP-119 PAUSE (%s^4, %d^5) Get trace data request failed Cause: The ABORT instruction cannot be executed.
Cause: An error occurred trying to obtain the trace data. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-221 PAUSE (%s^4, %d^5) Application failed
INTP-120 PAUSE (%s^4, %d^5) Unwait action request failed Cause: The application instruction cannot be executed.
Cause: An error occurred trying to continue program execution. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-222 PAUSE (%s^4, %d^5) Call program failed
INTP-121 PAUSE (%s^4, %d^5) Release inquiry request failed Cause: The program CALL instruction cannot be executed.
Cause: An error occurred trying to obtain motion information for the RELEASE Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
statement. INTP-223 PAUSE (%s^4, %d^5) Delay time failed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The WAIT instruction cannot be executed.
INTP-122 PAUSE (%s^4, %d^5) Process motion data failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: An error occurred during process motion. INTP-224 PAUSE (%s^4, %d^5) Jump label failed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The BRANCH instruction cannot be executed.
INTP-123 PAUSE (%s^4, %d^5) Process application data failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: An error occurred during process application. INTP-225 PAUSE (%s^4, %d^5) Motion statement failed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The MOTION instruction cannot be executed.
INTP-124 ABORT (%s^4, %d^5) Invalid ITR routine Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: The specified interrupt routine is not a valid type. INTP-226 PAUSE (%s^4, %d^5) Read position register failed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The position register cannot be read.
INTP-125 ABORT Failed to convert position Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: The conversion of one position type to another failed. INTP-227 PAUSE (%s^4, %d^5) Write position register failed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The position register cannot be written.
INTP-126 ABORT Vision built-in return failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: The vision built-in failed to return. INTP-228 PAUSE (%s^4, %d^5) Read register failed
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The register cannot be read.
INTP-127 WARN Power fail detected Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Power failure was detected. INTP-229 PAUSE (%s^4, %d^5) Write register failed
Remedy: Resume the program after hot start is complete. Cause: The register cannot be written.
INTP-128 PAUSE Pos reg is locked Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Pos register is locked. INTP-230 PAUSE (%s^4, %d^5) Wait condition failed
Remedy: Wait a moment Cause: A condition WAIT instruction cannot be executed.
INTP-129 ABORT Cannot use motion group Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Try to lock motion group even though this program cannot use motion group INTP-231 PAUSE (%s^4, %d^5) Read next line failed
Remedy: Clear motion group mask in program detail screen Cause: The next line cannot be read.
INTP-130 ABORT (%s^4, %d^5) Exec status recovery failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Failed to recover execution status. INTP-232 PAUSE (%s^4, %d^5) Invalid frame number
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: The frame number is invalid.
INTP-131 ABORT Number of stop exceeds limit Remedy: Check the frame number.
Cause: Too many stop data is created at one time. INTP-233 PAUSE (%s^4, %d^5) Read frame value failed
Remedy: Decrease number of stop data. Cause: The specified frame cannot be read.
INTP-132 PAUSE Unlocked groups specified Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: The specified motion groups are already unlocked. INTP-234 PAUSE (%s^4, %d^5) Write frame value failed
Remedy: Change the specify of motion group. Cause: The specified frame cannot be written.
INTP-133 PAUSE Motion is already released Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: Some specified motion groups are already unlocked. INTP-235 PAUSE (%s^4, %d^5) Read pos item failed
Remedy: Change the specify of motion group. Lock the motion group. Cause: The position variable cannot be read.
INTP-134 PAUSE Over automatic start Max counter Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
INTP-236 PAUSE (%s^4, %d^5) Write pos item failed
19
Cause: The position variable cannot be written. Remedy: Check the operator Refer to the KAREL and TPP Setup and Operations
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Manual for more information.
INTP-237 WARN (%s^4, %d^5) No more motion for BWD INTP-273 PAUSE (%s^4, %d^5) Too many conditions
Cause: Backward execution cannot be executed any more because the current program Cause: The number of the condition exceeds the maximum number.
line is at the top. Remedy: Reduce the number of condition.
Remedy: Do not use backward execution at this point INTP-274 PAUSE (%s^4, %d^5) CH program error
INTP-238 WARN (%s^4, %d^5) BWD execution completed Cause: This monitor statement cannot be executed.
Cause: Backward execution was completed. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Remedy: Do not use backward execution from this point. INTP-275 PAUSE Invalid sub type of CH program
INTP-239 WARN (%s^4, %d^5) Cannot execute backwards Cause: The sub type of specified ch program cannot be used.
Cause: This instruction cannot be executed backwards. Remedy: Check the sub type of this CH program.
Remedy: Set the cursor to the following line. INTP-276 PAUSE (%s^4, %d^5) Invalid combination of motion option
INTP-240 PAUSE (%s^4, %d^5) Incompatible data type Cause: The motion option instructions (SKIP, TIME BEFORE/AFTER, and application
Cause: The specified data type in the PARAMETER instruction is invalid for the instruction) cannot be taught together
parameter type. Remedy: Delete the motion option instruction
Remedy: Check the data type. INTP-277 PAUSE (%s^4, %d^5) Internal MACRO EPT data mismatch
INTP-241 PAUSE (%s^4, %d^5) Unsupported parameter Cause: The EPT index in macro table doesn't point the program name defined in macro
Cause: This type of parameter cannot be used. table. That is, the EPT index in macro table is incorrect.
Remedy: Check the parameter type. Remedy: Please set the correct EPT index for the program name defined in macro table.
INTP-242 PAUSE (%s^4, %d^5) Offset value is needed INTP-278 PAUSE %s^7
Cause: An OFFSET instruction was executed before an OFFSET CONDITION Cause: %s^7 Cause: The DI monitor alarm for auto error recovery function occurs.
instruction. A position register was not taught in the OFFSET PR[] instruction. Remedy: This alarm is defined by the customer. Therefore the customer knows the
Remedy: Add an OFFSET CONDITION instruction before the OFFSET instruction. remedy for this alarm.
Teach the position register. INTP-279 PAUSE (%s^4, %d^5) Application instruction mismatch
INTP-243 ABORT (%s^4, %d^5) Def grp is not specified Cause: The application instruction was executed. But this application instruction doesn't
Cause: This program has no motion group defined. The MOTION instruction cannot be match to the application process data of this program.
executed. Remedy: Please change the application process data of this program to the adequate
Remedy: Remove the MOTION instruction or set up the motion group in the program application for this application instruction.
DETAIL screen. INTP-280 PAUSE (%s^4, %d^5) Application data mismatch
INTP-244 PAUSE (%s^4, %d^5) Invalid line number Cause: The application data of called program is different from that of the original
Cause: The input line number is incorrect. program.
Remedy: Check the line number. Remedy: Please change the structure of program
INTP-245 PAUSE (%s^4, %d^5) RCV stmt failed INTP-281 PAUSE No application data
Cause: The RECEIVE R[] instruction cannot be executed. Cause: This program doesn't have the application data
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Please define the application data in the program detail screen
INTP-246 PAUSE (%s^4, %d^5) SEMAPHORE stmt failed INTP-283 PAUSE (%s^4, %d^5) Stack over flow for fast fault recovery
Cause: The SEMAPHORE instruction cannot be executed. Cause: Stack over flow to record the fast fault recovery nesting data
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Reduce the nesting of the program
INTP-247 PAUSE (%s^4, %d^5) Pre exec failed INTP-284 PAUSE No detection of fast fault recovery
Cause: Pre-execution system of motion or application has some trouble and system Cause: The point for the fast fault recover cannot detected
pauses the program execution for safety. Remedy:
Remedy: Press RESET to clear the error and continue the program. If this error INTP-285 WARN Karel program cannot entry in fast fault recovery
continues to occur, perform a cold start by turning off the robot, then while pressing Cause: The fast entry cannot be performed in the karel program.
SHIFT and RESET on the teach pendant, turn the robot back on. If the error is not Remedy: Use TP program.
cleared, document the events that led to the error and call your FANUC Robotics INTP-286 WARN MAINT program isn't defined in fast fault recovery
technical representative. Cause: MAINT program is not defined in fast fault recovery.
INTP-248 PAUSE (%s^4, %d^5) MACRO failed Remedy:
Cause: The MACRO instruction cannot be executed. INTP-287 PAUSE Fail to execute MAINT program
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: It failed to execute MAINT program
INTP-249 PAUSE Macro is not set correctly Remedy: Confirm the MAINT program name is correct or MAINT program exist in actual.
Cause: The MACRO setup was invalid. INTP-288 PAUSE (%s^4, %d^5) Parameter does not exist
Remedy: Check the MACRO setup. For more information on setting up macros, Refer to Cause: The parameter designated by AR register does not exist.
the KAREL and TPP Setup and Operations Manual. Remedy: Please confirm the index of AR register and the parameter in CALL/MACRO
INTP-250 PAUSE (%s^4, %d^5) Invalid uframe number command in main program.
Cause: The user frame number is invalid. INTP-289 PAUSE Can't save ffast point at program change
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: When fast fault is enabled, the program was paused at the part of program
INTP-251 PAUSE (%s^4, %d^5) Invalid utool number change
Cause: The tool frame number is invalid. Remedy: Check whether the CONT termination exists at end of sub-program If exist,
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. please change it to FINE. This is the limitation of the fast fault recovery function.
INTP-252 PAUSE User frame number mismatch INTP-290 PAUSE Fast fault recovery position is not saved
Cause: The user frame number in the positional data is not the same as the currently Cause: During fast fault recovery sequence, any alarm occurs. So the fast fault recovery
selected user frame number. position is not saved.
Remedy: Check the user frame number. Remedy:
INTP-253 PAUSE Tool frame number mismatch INTP-291 WARN (%s^4, %d^5) Index for AR is not correct
Cause: The tool frame number in the positional data is not the same as the currently Cause: The parameter designated by AR register does not exist. But this error does not
selected tool frame number. occur at present.
Remedy: Check the tool frame number. Remedy: Please confirm the index of AR register and the parameter in CALL/MACRO
INTP-254 PAUSE (%s^4, %d^5) Parameter not found command in main program.
Cause: The specified parameter name cannot be found. INTP-292 PAUSE more than 6 motion with DB executed
Remedy: Check the parameter name. Cause: More than 6 motion statements with Distance Before are mixed
INTP-255 PAUSE (%s^4, %d^5) CAL_MATRIX failed Remedy: Please change teaching so that less than 5 motion statements are mixed.
Cause: The CAL_MATRIX instruction cannot be executed. INTP-293 PAUSE (%s,%d)DB too small(away)(%dmm).
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: Distance Before condition was not established.
INTP-256 PAUSE (%s^4, %d^5) No data for CAL_MATRIX Remedy: Please make distance value larger.
Cause: The origin 3 points or destination 3 points are not taught. INTP-294 ABORT TPE parameter error
Remedy: Teach the origin 3 points or destination 3 points. Cause: The parameter designed in CALL/MACRO instruction is not correct. This error is
INTP-257 PAUSE (%s^4, %d^5) Invalid delay time internal error.
Cause: The wait time value is negative or exceeds the maximum value of 2147483.647 Remedy: Document the events that led to the error and call your FANUC Robotics
sec. technical representative.
Remedy: Input a correct value. INTP-295 WARN (%s,%d)DB too small(away)(%dmm).
INTP-258 PAUSE (%s^4, %d^5) Weld port access error Cause: Distance Before condition was not established.
Cause: The weld is not functioning properly. Remedy: Please make distance value larger.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-296 WARN (%s,%d) $SCR_GRP[%d].$M_POS_ENB is FALSE.
INTP-259 PAUSE (%s^4, %d^5) Invalid position type Cause: Distance Before doesn't work if $SCR_GRP[ ].$M_POS_ENB is FALSE.
Cause: The data type of the position register was taught using joint type. Remedy: Please set $SCR_GRP_[ ].$M_POS_ENB to TRUE.
Remedy: Change position register data to cartesian. INTP-297 WARN (%s,%d)DB too small(done)(%dmm)
INTP-260 PAUSE (%s^4, %d^5) Invalid torque limit value Cause: Motion completed before trigger of DB condition.
Cause: Invalid torque value. Remedy: Please change distance value.
Remedy: Input a correct value. INTP-300 ABORT (%s^4, %d^5) Unimplemented P-code
INTP-261 PAUSE (%s^4, %d^5) Array subscript missing Cause: KAREL program error. This KAREL statement cannot be executed.
Cause: A subscript is missing from a TPE PARAMETER statement that specifies an Remedy: Check the KAREL translator software version.
array. INTP-301 ABORT (%s^4, %d^5) Stack underflow
Remedy: Correct the PARAMETER statement to include the subscript of the desired Cause: KAREL program error. Execution entered into a FOR loop by the GOTO
array element. statement.
INTP-262 PAUSE (%s^4, %d^5) Field name missing Remedy: A GOTO statement cannot be used to enter or exit a FOR loop. Check the
Cause: A field name is required in a PARAMETER statement that specifies a structure. label of the GOTO statement.
Remedy: Correct the PARAMETER statement to include the name of the desired field INTP-302 ABORT (%s^4, %d^5) Stack overflow
INTP-263 PAUSE (%s^4, %d^5) Invalid register type Cause: The program stack overflowed. Too many local variables were declared or too
Cause: The register type is not valid. many routines were called.
Remedy: Check the register type. Remedy: For KAREL programs, refer to the KAREL Reference Manual, Stack Usage
INTP-265 PAUSE (%s^4, %d^5) Invalid value for speed value and the %STACKSIZE Translator Directive.
Cause: The indicated value cannot be used for the AF instruction. INTP-303 ABORT (%s^4, %d^5) Specified value exceeds limit
Remedy: Check the value. Cause: KAREL program error. The specified value exceeds the maximum limit.
INTP-266 ABORT (%s^4, %d^5) Mnemonic in interupt is failed Remedy: Check the value.
Cause: A MOVE statement was executed in an interrupt routine while a motion in the INTP-304 ABORT (%s^4, %d^5) Array length mismatch
interrupted program was still in progress. Cause: KAREL program error. The dimensions of the arrays are not the same.
Remedy: One (or both) of the following should correct this problem: Remedy: Check the dimensions of the arrays.
1. Add CANCEL or STOP condition handler action before the call to the interrupt routine INTP-305 ABORT (%s^4, %d^5) Error related condition handler
in the condition handler. Cause: KAREL program error. A condition handler error occurred.
2. Add a DELAY 500 statement before the first move in the interrupt routine to allow the Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
motion to complete. INTP-306 ABORT (%s^4, %d^5) Attach request failed
INTP-267 PAUSE (%s^4, %d^5) RUN stmt failed Cause: KAREL program error. The ATTACH statement failed.
Cause: Specified program is already running Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Remedy: Abort specified program INTP-307 ABORT (%s^4, %d^5) Detach request failed
INTP-268 PAUSE (%s^4, %d^5) This statement only one in each line Cause: KAREL program error. The DETACH statement failed.
Cause: This statement can exist in one in each line Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Remedy: Delete the extra statement INTP-308 ABORT (%s^4, %d^5) No case match is encountered
INTP-269 PAUSE (%s^4, %d^5) Skip statement only one in each line Cause: KAREL program error. The CASE statement does not match any branches.
Cause: Skip statement can exist in one in each line Remedy: Check the CASE value and branches.
Remedy: Delete the extra skip statement INTP-309 ABORT (%s^4, %d^5) Undefined WITHCH parameter
INTP-270 PAUSE (%s^4, %d^5) Different group cannot BWD Cause: KAREL program error. The specified parameter cannot be used in the with
Cause: During backward execution, a move is encountered that has a different group clause of the condition handler.
number from the previous motion statement. Remedy: Check the parameter.
Remedy: Use FWD execution carefully INTP-310 ABORT (%s^4, %d^5) Invalid subscript for array
INTP-271 WARN (%s^4, %d^5) Excessive torque limit value Cause: KAREL program error. The index of the array is invalid.
Cause: Torque limit value exceeds maximum value. Torque limit value was modified to Remedy: Check the length of the array and index value.
the maximum value. INTP-311 PAUSE (%s^4, %d^5) Uninitialized data is used
Remedy: Set torque limit value less than or equal to the maximum value. Cause: KAREL program error. Untaught or uninitialized data was used.
INTP-272 PAUSE (%s^4, %d^5) Unsupported operator Remedy: Teach or initialize the data before using it.
Cause: This operator is not supported. INTP-312 ABORT (%s^4, %d^5) Invalid joint number
20
Cause: KAREL program error. The wrong axis number was used. INTP-354 ABORT (%s^4, %d^5) Break point failed
Remedy: Check the axis number and the data value. Cause: KAREL program error. The break point function cannot be executed.
INTP-313 ABORT (%s^4, %d^5) Motion statement failed Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Cause: KAREL program error. The MOTION statement cannot be executed. INTP-355 ABORT (%s^4, %d^5) AMR is not found
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Cause: KAREL program error. The AMR operated by the RETURN_AMR built-in routine
INTP-314 ABORT (%s^4, %d^5) Return program failed was not found.
Cause: KAREL program error. Execution cannot be returned from the routine. Remedy: Check program operation.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-356 ABORT (%s^4, %d^5) AMR is not processed yet
INTP-315 ABORT (%s^4, %d^5) Built-in execution failed Cause: KAREL program error. The RETURN_AMR built-in routine cannot be used for an
Cause: KAREL program error. A built-in routine error occurred unoperated AMR.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Operate the AMR using the WAIT_AMR built-in routine.
INTP-316 ABORT (%s^4, %d^5) Call program failed INTP-357 ABORT (%s^4, %d^5) WAIT_AMR is cancelled
Cause: KAREL program error. The routine cannot be called. Cause: KAREL program error. The execution of the WAIT_AMR built-in routine was
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. cancelled.
Verify the routine is loaded. Remedy: The program executing the WAIT_AMR must be restarted.
INTP-317 ABORT (%s^4, %d^5) Invalid condition specified INTP-358 ABORT (%s^4, %d^5) Timeout at read request
Cause: KAREL program error. The specified condition was invalid. Cause: KAREL program error. The READ statement timed out.
Remedy: Check the condition. Remedy: Check the device being read.
INTP-318 ABORT (%s^4, %d^5) Invalid action specified INTP-359 ABORT (%s^4, %d^5) Read request is nested
Cause: KAREL program error. The specified action was invalid. Cause: KAREL program error. Another READ statement was executed while a READ
Remedy: Check the action. statement was waiting for input.
INTP-319 ABORT (%s^4, %d^5) Invalid type code Remedy: Remove nested reads.
Cause: KAREL program error. The data type was invalid. INTP-360 ABORT (%s^4, %d^5) Vector is 0
Remedy: Check the data type. Cause: KAREL program error. The vector value was invalid.
INTP-320 ABORT (%s^4, %d^5) Undefined built-in Remedy: Check the vector value.
Cause: KAREL program error. The built-in routine is not defined. INTP-361 PAUSE (%s^4, %d^5) FRAME:P2 is same as P1
Remedy: Check the appropriate option is loaded. Cause: KAREL program error. The X-axis direction cannot be calculated in the FRAME
INTP-321 ABORT (%s^4, %d^5) END stmt of a func rtn built-in routine because P1 and P2 are the same point.
Cause: KAREL program error. The END statement was executed in a function routine Remedy: Teach P1 and P2 as different points.
instead of a RETURN statement. INTP-362 PAUSE (%s^4, %d^5) FRAME:P3 is same as P1
Remedy: Add a RETURN statement to the function routine. Cause: KAREL program error. The X-Y plane cannot be calculated in the FRAME built-in
INTP-322 ABORT (%s^4, %d^5) Invalid arg val for builtin routine because P1 and P3 are the same point.
Cause: KAREL program error. The argument value of a built-in routine was wrong. Remedy: Teach P1 and P3 as different points.
Remedy: Check the argument value. INTP-363 PAUSE (%s^4, %d^5) FRAME:P3 exists on line P2-P1
INTP-323 ABORT (%s^4, %d^5) Value overflow Cause: KAREL program error. The X-Y plane cannot be calculated in the FRAME built-in
Cause: KAREL program error. The data value for the variable was too large. routine because P3 is located in the X-axis direction.
Remedy: Check the variable's type and data value. Remedy: Teach P3 out of the X-axis direction.
INTP-324 ABORT (%s^4, %d^5) Invalid open mode string INTP-364 ABORT (%s^4, %d^5) String too short for data
Cause: KAREL program error. The usage string in the OPEN FILE statement was Cause: KAREL program error. The target string was too short.
invalid. Remedy: Increase the target string size.
Remedy: Check the usage string in the OPEN FILE statement. INTP-365 ABORT (%s^4, %d^5) Predefined window not opened
INTP-325 ABORT (%s^4, %d^5) Invalid file string Cause: KAREL program error. A FILE pre-defined by the system is not opened.
Cause: KAREL program error. The file string in the OPEN FILE statement was invalid. Remedy: Check the use of this file.
Remedy: Check the file string. If no device is specified, the default device is used. INTP-366 ABORT (%s^4, %d^5) I/O status is not cleared
INTP-326 ABORT (%s^4, %d^5) File var is already used Cause: KAREL program error. The last file operation failed.
Cause: KAREL program error. The FILE variable is already being used. Remedy: Reset the error using the CLR_IO_STAT built-in routine.
Remedy: Close the file before reusing the FILE variable or add a new FILE variable. INTP-367 ABORT (%s^4, %d^5) Bad base in format
INTP-327 ABORT (%s^4, %d^5) Open file failed Cause: KAREL program error. I/O mode operates only from binary to hexadecimal.
Cause: KAREL program error. The file could not be opened. Remedy: Check the specified mode.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-368 PAUSE (%s^4, %d^5) Cannot use specified program
INTP-328 ABORT (%s^4, %d^5) File is not opened Cause: KAREL program error. The specified program cannot be used.
Cause: KAREL program error. The specified file was not opened before operation. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
Remedy: Open the file before operation. INTP-369 ABORT (%s^4, %d^5) Timeout at WAIT_AMR
INTP-329 ABORT (%s^4, %d^5) Write variable failed Cause: KAREL program error. The WAIT_AMR built-in routine timed out.
Cause: KAREL program error. The value cannot be written to the variable. Remedy: If an AMR was expected within the time-out value check logic in the task that
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. should have posted the AMR
INTP-330 ABORT (%s^4, %d^5) Write file failed INTP-370 ABORT (%s^4, %d^5) Vision CPU not plugged in
Cause: KAREL program error. Writing to the file failed. Cause: KAREL program error. The vision CPU board is not plugged in.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Plug in the vision CPU board.
INTP-331 ABORT (%s^4, %d^5) Read variable failed INTP-371 ABORT (%s^4, %d^5) Vision built-in overflow
Cause: KAREL program error. Reading the variable failed. Cause: KAREL program error. The operation overflowed in the vision built-in routine.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Modify program so fewer vision builtins are executing at the same time.
INTP-332 ABORT (%s^4, %d^5) Read data is too short INTP-372 ABORT (%s^4, %d^5) Undefined vision built-in
Cause: KAREL program error. Data read from the file is too short. Cause: KAREL program error. The vision built-in routine is not defined.
Remedy: Make sure the data in the file is valid. Remedy: Check the appropriate option is loaded.
INTP-333 ABORT (%s^4, %d^5) Invalid ASCII string for read INTP-373 ABORT (%s^4, %d^5) Undefined vision parameter type
Cause: KAREL program error. The string read from the file is wrong. Cause: KAREL program error. The parameter to the vision built-in routine is invalid.
Remedy: Check the data of the file. Remedy: Check the parameter of the vision built-in routine.
INTP-334 ABORT (%s^4, %d^5) Read file failed INTP-374 ABORT (%s^4, %d^5) Undefined vision return type
Cause: KAREL program error. Reading from the file failed. Cause: KAREL program error. The return value from the vision built-in routine is invalid.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Check the return value from the vision built-in routine.
INTP-335 ABORT (%s^4, %d^5) Cannot open pre-defined file INTP-375 ABORT (%s^4, %d^5) System var passed using BYNAME
Cause: KAREL program error. A file pre-defined by the system cannot be opened. Cause: KAREL program error. System variables cannot be passed using the BYNAME
Remedy: Use the file defined by the system without opening it. function.
INTP-336 ABORT (%s^4, %d^5) Cannot close pre-defined file Remedy: Pass without using BYNAME or use GET_VAR and SET_VAR instead.
Cause: KAREL program error. A file pre-defined by the system cannot be closed. INTP-376 ABORT (%s^4, %d^5) Motion in ISR failed
Remedy: Do not try to close it. Cause: A MOVE statement was executed in an interrupt routine while a motion in the
INTP-337 ABORT (%s^4, %d^5) Invalid routine type interrupted program was still in progress.
Cause: KAREL program error. This routine cannot be used. Remedy: One (or both) of the following should correct this problem:
Remedy: Make sure you have the correct routine type and name. 1. Add CANCEL or STOP condition handler action before the call to the interrupt routine
INTP-338 ABORT (%s^4, %d^5) Close file failed in the condition handler.
Cause: KAREL program error. Closing the file failed. 2. Add a DELAY 500 statement before the first move in the interrupt routine to allow the
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. motion to complete.
INTP-339 ABORT (%s^4, %d^5) Invalid program name INTP-377 WARN (%s^4, %d^5) Local COND recovery failed
Cause: KAREL program error. The program name is invalid. Cause: This local condition can't be recovered.
Remedy: Make sure you have the correct program name. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
INTP-340 ABORT (%s^4, %d^5) Invalid variable name INTP-378 WARN (%s^4, %d^5) Local variable is used
Cause: KAREL program error. The variable name is invalid. Cause: Local variable or parameter is used for the condition.
Remedy: Make sure you have the correct variable name. Remedy: Use global variable to recover local condition.
INTP-341 ABORT (%s^4, %d^5) Variable not found INTP-379 ABORT Bad condition handler number
Cause: KAREL program error. The variable cannot be found. Cause: An invalid condition handler number was used in a condition handler definition, or
Remedy: Verify the program name and variable name. an ENABLE, DISABLE, or PURGE statement or action
INTP-342 ABORT (%s^4, %d^5) Incompatible variable Remedy: Correct the condition handler number. Condition handler numbers must be in
Cause: KAREL program error. The data type defined by the BYNAME function and the the range 1-1000.
variable type are mismatched. INTP-380 ABORT Bad program number
Remedy: Make sure you have the correct data type and variable type. Cause: A invalid program number has been specified in an ABORT PROGRAM, PAUSE
INTP-343 ABORT (%s^4, %d^5) Reference stack overflow PROGRAM, or CONTINUE PROGRAM condition or action.
Cause: KAREL program error. Too many variables are passed using the BYNAME Remedy: Use a valid program number. Program numbers must be in the range 1..$SCR,
function. $MAXNUMTASK + 2.
Remedy: Decrease the number of BYNAME functions. INTP-381 ABORT (%s^4, %d^5) Invalid Delay Time
INTP-344 ABORT (%s^4, %d^5) Readahead buffer overflow Cause: An invalid delay time has been specified in DELAY statement.
Cause: KAREL program error. The buffer to read ahead from the device overflowed. Remedy: Use a valid delay time. Delay time must be in the range 0..86400000 .
Remedy: Increase the buffer size. INTP-382 ABORT (%s^4, %d^5) Invalid bit field value
INTP-345 ABORT (%s^4, %d^5) Pause task failed Cause: An invalid value has been specified in bit field
Cause: KAREL program error. The PAUSE statement cannot be executed. Remedy: Use a valid value for the bit field.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-383 PAUSE (%s^4, %d^5) Path node out of range
INTP-346 ABORT (%s^4, %d^5) Abort task failed Cause: The specified path node is out of range.
Cause: KAREL program error. The ABORT statement cannot be executed. Remedy: Check the path node.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. INTP-400 ABORT (%s^4, %d^5) Number of motions exceeded
INTP-347 ABORT (%s^4, %d^5) Read I/O value failed Cause: Too many motions are executed at the same time.
Cause: KAREL program error. The digital input signal cannot be input. Remedy: Decrease the number of motions executed at the same time. Execute the next
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. motion after the completion of the last motion.
INTP-348 ABORT (%s^4, %d^5) Write I/O value failed INTP-401 ABORT (%s^4, %d^5) Not On Top Of Stack
Cause: KAREL program error. The digital output signal cannot be output. Cause: Paused motion exists after the motion was resumed.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Resume the motion that was previously paused.
INTP-349 ABORT (%s^4, %d^5) Hold motion failed INTP-420 PAUSE (%s^4, %d^5) OFIX is not available
Cause: KAREL program error. The HOLD statement cannot be executed. Cause: OFIX is not available.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Please check motion type and options
INTP-350 ABORT (%s^4, %d^5) Unhold motion failed INTP-421 WARN (%s^4, %d^5) Stitch disable(S/S)
Cause: KAREL program error. The UNHOLD statement cannot be executed. Cause: Single step mode is enable.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Please disable single step
INTP-351 ABORT (%s^4, %d^5) Stop motion failed INTP-422 WARN (%s^4, %d^5) Stitch enable signal off
Cause: KAREL program error. The STOP statement cannot be executed. Cause: Stitch enable signal is off.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Please turn on stitch enable signal
INTP-352 ABORT (%s^4, %d^5) Cancel motion failed INTP-423 PAUSE (%s^4, %d^5) Eq.condition signal error
Cause: KAREL program error. The CANCEL statement cannot be executed. Cause: Equipment condition signal is abnormal
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Please check Equipment condition signal
INTP-353 ABORT (%s^4, %d^5) Resume motion failed INTP-424 PAUSE (%s^4, %d^5) Stitch speed error
Cause: KAREL program error. The RESUME statement cannot be executed. Cause: Setting of Stitch speed is illegal.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. Remedy: Please check stitch speed
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INTP-425 PAUSE (%s^4, %d^5) Illegal motion type(J) INTP-488 PAUSE RLINK communication timeout
Cause: Please check motion type The motion statement is JOINT motion. Cause: At comm-buffer init, comm-processor is too busy.
Remedy: Change the motion statement to LINEAR motion. Remedy: Increase $RK_SYSCFG.$RMGR_PHTOUT by 100.
INTP-426 PAUSE (%s^4, %d^5) Another prog is in stitching INTP-489 PAUSE Bad Hostname or Address, Group
Cause: Another program is in stitch mode. Cause: Hostname or IP Address, Group number setup is invalid.
Remedy: Please force abort another program if it is executing stitch or it paused in stitch Remedy: Check HOST Comm TCP/IP and RobotLink SETUP.
area. INTP-490 PAUSE Timeout for link start
INTP-427 WARN (%s^4, %d^5) Stitch disable(T1 mode) Cause: Timeout for Robot Link start
Cause: System is in T1 mode. Remedy: Check another robot and robot link program
Remedy: Please select the other mode INTP-491 PAUSE Linked robot or comm stopped
INTP-450 PAUSE (%s^4, %d^5) Cannot call KAREL program Cause: Robot link communication stopped
Cause: Master/Slave/SlaveAlone program cannot call KAREL program Remedy: Check another robot is paused or communication status
Remedy: Master/Slave/SlaveAlone program cannot call KAREL program INTP-492 PAUSE Master program stopped
INTP-451 PAUSE (%s^4, %d^5) Cannot call Motion program Cause: Detect Master HELD input signal
Cause: Master/Slave/SlaveAlone program cannot call Normal program which has motion Remedy: Check master robot status
group. INTP-493 PAUSE Slave program stopped
Remedy: Master/Slave/SlaveAlone program can call Normal program which does not Cause: Detect slave HELD input signal
have motion group. Remedy: Check slave robot status
INTP-452 PAUSE (%s^4, %d^5) Robot link type mismatch ISD Error Codes
Cause: Master/Slave/SlaveAlone program can call different type of program. ISD -000 WARN %s
Remedy: Master/Slave/SlaveAlone program can call only same type of program. Cause: This error is caused when ISD system encounters a problem that is unable to
INTP-453 PAUSE (%s^4, %d^5) Not in remote solve internally.
Cause: Slave program cannot be execute without remote status. Remedy: Write down the exact error number and message shown. Write down exactly
Remedy: Satisfy the remote condition what your robot was doing at the time of the failure. Make sure you include: Program
INTP-454 ABORT (%s^4, %d^5) Illegal return occurred name, line number, robot's location in the work cell, any cell I/O or other communication
Cause: Program type is different between caller program and called program. activity, and exactly what the robot was doing right before the fault occurred. This fault is
Remedy: usually fixed by doing a COLD start. If that does not work, contact your supervisor or call
INTP-455 PAUSE (%s^4, %d^5) Group mismatch(Link pattern) the FANUC Robotics Hot Line.
Cause: Master program does not have the same motion group which is specified by the ISD -001 WARN High pressure (dispense) (ISD%d)
link pattern of robot link data. Cause: This error is posted when the system detects excessive pressure in the
Remedy: Master program must have the same motion group which is specified by the dispensing material. This condition is usually caused by one or more of the following:
link pattern of robot link data. 1. dispenser line (gun nozzle, hose, etc.) is clogged
INTP-456 PAUSE (%s^4, %d^5) Group mismatch(Slave group) 2. dispensing rate is too high
Cause: Slave program does not have the same motion group which is specified by the 3. high pressure limit value was set too low
slave group of robot link data. 4. high pressure time out value was set too short
Remedy: Slave program must have the same motion group which is specified by the Remedy: Please make sure there is no clog in the dispensing tubing. Make sure
slave group of robot link data. dispensing flow rate is not too high. Make sure high pressure limit value is appropriate.
INTP-457 PAUSE (%s^4, %d^5) Master tool number mismatch Make sure high pressure time out value is appropriate.
Cause: Current tool frame number of master robot is different from the master tool No of ISD -002 WARN Low pressure (dispense) (ISD%d)
robot link data of the slave program. Cause: This error is posted when the system detects too low pressure in the dispensing
Remedy: Current tool frame number of master robot and the master tool No of robot link material. This condition is usually caused by one or more of the following:
data of the slave program must be same number. 1. dispenser line (gun nozzle, hose, etc.) is removed
INTP-458 PAUSE (%s^4, %d^5) Robot is still moving 2. dispensing rate is too low
Cause: Since robot is still moving, it is impossible to synchronize. 3. low pressure limit value was set too high
Remedy: After robot stops completely, continue the program again. 4. low pressure time out value was set too short
INTP-459 PAUSE (%s^4, %d^5) Slave cannot JOINT motion Remedy: Make sure dispensing line is ok Make sure dispensing flow rate is not too low.
Cause: The motion statement of slave program is JOINT motion. Make sure low pressure limit value is appropriate. Make sure low pressure time out value
Remedy: Change the motion statement of slave program to LINEAR motion. is appropriate.
INTP-460 PAUSE (%s^4, %d^5) Cannot use JOINT pos for Slave ISD -003 WARN High pressure (supply) (ISD%d)
Cause: The position data of slave program is JOINT type. Cause: This error is posted when the system detects excessive pressure in the material
Remedy: Change the position data of slave program to LINEAR type. supply. This condition is usually caused by one or more of the following:
INTP-461 PAUSE (%s^4, %d^5) Master TP is enabled 1. supply pressure was set too high
Cause: Master program is executed by TP. 2. high pressure limit value was set too low
Remedy: Slave program is paused, when master program is executed by TP. 3. high pressure time out value was set too short
INTP-463 PAUSE (%s^4, %d^5) Motion group is Master Remedy: Make sure pressure is appropriate at the supply pump . Make sure high
Cause: The motion group of specified program becomes to be master. pressure limit value is appropriate. Make sure high pressure time out value is
Remedy: Change the robot to normal from master. Then, please try to execute again. appropriate.
INTP-464 PAUSE (%s^4, %d^5) Motion group is Slave ISD -004 WARN Low pressure (supply) (ISD%d)
Cause: The motion group of specified program becomes to be slave. Cause: This error is posted when the system detects too low pressure in the material
Remedy: Change the robot to normal from slave. Then, please try to execute again. supply. This condition is usually caused by one or more of the following:
INTP-466 PAUSE (%s^4, %d^5) Robot link not calibrated 1. supply line (hose, etc.) is removed
Cause: Robot link calibration has not been done yet. 2. low pressure limit value was set too high
Remedy: Calibrate the robot link. 3. low pressure time out value was set too short
INTP-467 PAUSE (%s^4, %d^5) Cannot use INC for Slave Remedy: Make sure supply line is ok Make sure low pressure limit value is appropriate.
Cause: The slave program cannot use Incremental instruction. Make sure low pressure time out value is appropriate.
Remedy: Remove the Incremental instruction. ISD -005 WARN Meter empty (ISD%d)
INTP-468 PAUSE (%s^4, %d^5) Cannot use OFFSET for Slave Cause: This warning is posted when the system detects that the meter has reached to its
Cause: The slave program cannot use Offset instruction. stroke limit during dispensing. After this condition, the system automatically reverses the
Remedy: Remove the Offset instruction. meter direction, and resume dispensing. However, the quality of the dispensed bead may
INTP-469 PAUSE (%s^4, %d^5) BWD is failed for Master not be good.
Cause: Synchronize of Master is failed for BWD. Remedy: 1. Reposition the meter prior to start dispensing for the seam.
Remedy: Change the Slave robot to be synchronize waiting state. 2. Lower the flow rate so that it can cover the entire seam
INTP-470 PAUSE (%s^4, %d^5) Not support BWD for Slave ISD -006 WARN Motor velocity limit (ISD%d)
Cause: BWD of Slave program is not supported. Cause: This warning is posted when the system detects that the motor velocity has been
Remedy: BWD of Slave program is not supported. reduced to its maximum limit.
INTP-471 PAUSE (%s^4, %d^5) Robot is Master(Manual) Remedy: Lower the flow rate within the motor limit
Cause: Current status of the robot is Master(Manual). ISD -007 WARN Meter OverTravel A (ISD%d)
Remedy: When robot is Master(Manual), you cannot use external program execution. To Cause: This error is posted when the meter has tripped the OverTravel limit switch.
use external program execution, please change the status to Master(Alone) at the Remedy: Press reset button on the teach pendant with shift key held, and jog the meter
manual operation screen. away from OT position. Be sure to keep the shift button pressed during the above
INTP-472 PAUSE (%s^4, %d^5) Robot is Slave(Manual) operation so that OT condition can be bypassed until it is cleared.
Cause: Current status of the robot is Slave(Manual). ISD -008 WARN Meter OverTravel B (ISD%d)
Remedy: When robot is Slave(Manual), you cannot execute other Slave program. To Cause: This error is posted when the meter has tripped the OverTravel limit switch.
execute other Slave program execution, please hold the program to exit Slave(Manual) Remedy: Press reset button on the teach pendant with shift key held, and jog the meter
status. away from OT position. Be sure to keep the shift button pressed during the above
INTP-473 PAUSE (%s^4, %d^5) Synchro ID is ZERO operation so that OT condition can be bypassed until it is cleared.
Cause: The synchro ID of the specified program is zero. ISD -009 WARN Meter stroke limit (ISD%d)
Remedy: Synchro ID 0 is not available number. Please set another synchro ID. Cause: This error is posted when the system detects the meter has reached its stroke
INTP-474 PAUSE (%s^4, %d^5) Synchro ID mismatch limit during prepressuring. This condition is usually caused when the meter needed to
Cause: The program whose synchro ID is different from current synchro ID is executed. travel reverse direction to decrease pressure.
Remedy: Please change the synchro ID to fit the current synchro ID. Remedy: 1. Make sure supply pressure is not too high
INTP-475 PAUSE (%s^4, %d^5) Cannot single step 2. Slightly increase $isd_config[].$repos_ofst value
Cause: Slave program cannot use single step execution. ISD -010 WARN Meter axis error (ISD%d)
Remedy: Please release single step key. Cause: This error is posted when the digital servo system for the process axis has
INTP-476 ABORT (%s^4, %d^5) BWD is failed detected some error. The error code reported by the process axis subsystem is indicated
Cause: BWD is failed. on the second line of the error detail message.
Remedy: BWD is failed. Remedy: Please consult the process axis (ISDT) error description for the remedy of this
INTP-477 ABORT (%s^4, %d^5) Cannot run Slave directly error.
Cause: Slave program cannot be executed directly. ISD -011 WARN Incorrect I/O assignment (ISD%d)
Remedy: Slave program must be called by normal program. Cause: The index value or type of this I/O port is incorrectly assigned.
INTP-478 WARN This group can not be MASTER Remedy: If you wish to use this I/O port, set the port index and I/O type to the correct
Cause: This motion group is not specified as master in SETUP. values. Verify that a valid value is shown on the I/O menu for this I/O port instead of If
Remedy: Use another group as master or change SETUP. you do not wish to use this I/O point, set the index number to zero.
INTP-479 PAUSE Bad Hostname or Address(MASTER) ISD -012 WARN ISD servo not ready (ISD%d)
Cause: HOSTNAME, IP Address or group number about MASTER is not correct. Cause: This error is posted when ISD servo is not ready.
Remedy: Confirm RobotLink and HOST Comm TCP/IP SETUP. Remedy: Usually ISD servo not ready occurs when servo power is turned off for some
INTP-480 PAUSE Bad Hostname or Address(SLAVE) reason such as OT sensor straped, machine locked and/or E-stopped etc. Find the
Cause: HOSTNAME, IP Address or group number about SLAVE is not correct. reason and resume the power on
Remedy: Confirm RobotLink and HOST Comm TCP/IP SETUP. ISD -013 WARN SS[] used while reposition (ISD%d)
INTP-481 PAUSE Bad Synchronization ID Cause: This error is posted when SS[] instruction is executed while the meter is doing
Cause: Synchronization ID in program is invalid. the reposition operation
Remedy: Modify Synchronization ID at Program List Screen. Remedy: Insert 'check repos' macro in the program so that the program waits for
INTP-482 PAUSE Bad Link Pattern Number reposition to complete before starting dispensing.
Cause: Link Pattern Number in program is invalid. ISD -014 WARN Stroke limit while depressure (ISD%d)
Remedy: Modify Link Pattern Number at Program List Screen. Cause: This error is posted when the meter has reached its stroke limit while trying to
INTP-483 PAUSE Bad Master Number decrease the pressure during prepressurization
Cause: Master Number in program is invalid. Remedy: 1. Make sure supply pressure is not too high
Remedy: Modify Master Number at Program List Screen. 2. Increase $isd_config[eq].$repos_ofst value
INTP-484 PAUSE Bad Group number (MASTER) ISD -015 WARN Max prepressure distance (ISD%d)
Cause: Specified group number about MASTER is invalid. Cause: This error is posted when the meter has travelled its maximum distance allowed
Remedy: Confirm group number setup about MASTER. for prepressurization.
INTP-485 PAUSE Bad Group number (SLAVE) Remedy: 1. Increase $isd_config[eq].$maxprp_strk value to allow longer travel distance
Cause: Specified group number about SLAVE is invalid. 2. Check for the material leak in the dispensing line
Remedy: Confirm group number setup about SLAVE. ISD -016 WARN Transducer analog input error (ISD%d)
INTP-486 PAUSE SLAVE is not calibrated Cause: This error is posted when the analog input tick of pressure transducer exceeds
Cause: Specified SLAVE is not calibrated. the max value of the specific I/O module This error maybe caused by disconnection of
Remedy: Calibrate SLAVE robot. the transducer
INTP-487 PAUSE No Valid SLAVE in Link Pattern Remedy: 1. Check the wiring of the pressure transducers
Cause: No valid SLAVE is specified in Link Pattern data. ISD -017 WARN Reload Tmout/Low Supp Prs (ISD%d)
Remedy: Confirm Link Pattern at RobotLink SETUP screen. Cause: This error is posted when the material pressure did not build up within the
specified time (in SETUP/ISD menu) after the meter has moved to the reload position.
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Remedy: 1. Check for material supply system to the meter Cause: Robot reaches its horizontal fixture position
2. Set a larger value in Reload time out item in SETUP/ISD menu (the unit is in msec) Remedy: To continue jogging, release the JOG key then press it again.
ISD -018 WARN High pressure (disp-Mat2) (ISD%d) JOG -016 SERVO Softfloat time out(G:%d)
Cause: This error is posted when the system detects excessive pressure in the second Cause: Follow-up time is over when softfloat is ON
dispensing material. This condition is usually caused by one or more of the following: Remedy: Make the system variable $SFLT_FUPTIM larger.
1. dispenser line (gun nozzle, hose, etc.) is clogged JOG -017 WARN At R-Theta robot posture
2. dispensing rate is too high Cause: Robot reaches its R-Theta posture position
3. high pressure limit value was set too low Remedy: To continue jogging, release the JOG key then press it again.
4. high pressure time out value was set too short JOG -020 WARN Can not PATH JOG now
Remedy: Please make sure there is no clog in the dispensing tubing. Make sure Cause: PATH JOG has selected, but robot is not currently on a taught path, or tool Z
dispensing flow rate is not too high. Make sure high pressure limit value is appropriate. direction is same teaching path, so Y direction can not be determined. Can not PATH
Make sure high pressure time out value is appropriate. JOG
ISD -019 WARN Low pressure (disp-Mat2) (ISD%d) Remedy: Use shift-FWD to execute program path, or specify another jog frame.
Cause: This error is posted when the system detects too low pressure in the second JOG -021 WARN Multi key is pressed
dispensing material. This condition is usually caused by one or more of the following: Cause: Use of multiple jog keys is not supported in PATH JOG
1. dispenser line (gun nozzle, hose, etc.) is removed Remedy: Use only one jog key at a time.
2. dispensing rate is too low JOG -022 WARN Disabled in JOINT path
3. low pressure limit value was set too high Cause: PATH jog is disabled in JOINT path
4. low pressure time out value was set too short Remedy: PATH jog is available in LINEAR and CIRCULAR path
Remedy: Make sure dispensing line is ok Make sure dispensing flow rate is not too low. JOG -023 WARN Available only in PAUSE
Make sure low pressure limit value is appropriate. Make sure low pressure time out value Cause: PATH jog is available only in PAUSE status
is appropriate. Remedy: PATH jog is available only in PAUSE status
ISD -020 WARN High pressure (sup-Mat2) (ISD%d) JOG -024 WARN Currently this key is invalid
Cause: This error is posted when the system detects excessive pressure in the second Cause: This key is invalid at current jog mode
material supply. This condition is usually caused by one or more of the following: Remedy: Change jog mode
1. supply pressure was set too high JOG -025 WARN J4 is not zero
2. high pressure limit value was set too low Cause: J4 angle is not zero.
3. high pressure time out value was set too short Remedy: Move J4 to zero position.
Remedy: Make sure pressure is appropriate at the supply pump . Make sure high JOG -026 WARN J4 is zero
pressure limit value is appropriate. Make sure high pressure time out value is Cause: J4 angle is zero. J4 joint jog is disabled.
appropriate. Remedy: Now OFIX jog is available.
ISD -021 WARN Low pressure (sup-Mat2) (ISD%d) JOG -027 WARN Reverse direction from J4=0
Cause: This error is posted when the system detects too low pressure in the second Cause: This direction is reverse direction from J4 = 0.
material supply. This condition is usually caused by one or more of the following: Remedy: Press opposite jog key.
1. supply line (hose, etc.) is removed JOG -028 WARN OFIX TCP config limit
2. low pressure limit value was set too high Cause: Stroke limit with this TCP configuration.
3. low pressure time out value was set too short Remedy: Confirm TCP's XYZ location.
Remedy: Make sure supply line is ok Make sure low pressure limit value is appropriate. JOG -029 WARN OFIX jog error
Make sure low pressure time out value is appropriate. Cause: OFIX jog internal error.
ISDT Error Codes Remedy: Contact FANUC Robotics.
ISDT-001 WARN Joint speed limit (G:%d A:%d) JOG -030 WARN Can't jog as OFIX
Cause: Joint can not rotate as fast as the input speed required. Cause: OFIX jog is not available.
Remedy: Even though this is just a warning, reference $IS_MRR.$JNTVELLIM to reduce Remedy: Check cause code.
velocity command. LANG Error Codes
ISDT-002 WARN Motor speed limit (G:%d A:%d) LANG-004 WARN File is not open
Cause: Motor can not rotate as fast as the input speed required. Cause: (1) The wrong port is set to the port you want to use. (2) The device may be out
Remedy: Even though this is just a warning, reference $IS_MRR.$JNTVELLIM to reduce of order.
velocity command. Remedy: (1) Set the current port. (2) Check the device if it works fine.
ISDT-003 STOP No global variables LANG-005 WARN Program type is different
Cause: ISDT global variables are not loaded. Cause: Only able to process teach pendant programs.
Remedy: Re-install ISDT softparts. Remedy: Select a TPE program.
ISDT-004 STOP Unable to Allocate Memory LANG-006 WARN Invalid or corrupted TP file
Cause: Failed to allocate memory for ISDT system variables. Cause: A when loading .TP file, invalid data was found. This may occur if a .TP file has
Remedy: Check amount of memory being used by system. become corrupted or if some other type of file e.g., a .PE file, has been copied or
ISDT-005 STOP No AMR pointer renamed to a .TP file.
Cause: ISDT receives NULL AMR from AX. Remedy: Generate (using SAVE, with $ASCII_SAVE = FALSE) and load a valid .TP file.
Remedy: Check if isaxcold() is called during cold start. Note: An existing TP program in the controller might have been corrupted as a result of
ISDT-006 STOP Failed to create AMR your attempt to load the invalid file. You might have to reteach the teach pendant
Cause: Servo error occurs, ISDT failed to create AMR. program, before you save it as a .TP file.
Remedy: Check if isaxcold() is called during cold start. LANG-014 WARN Program already exists
ISDT-007 STOP Servo not READY (G:%d A:%d) Cause: The program that is being loaded already exists in the system.
Cause: Attempted to start process axes when servo is not ready. Remedy: Before you load the program, delete the program already in the system.
Remedy: Reset process axes LANG-015 WARN Can not write file
ISDT-008 STOP Uninit speed cmnd (G:%d A:%d) Cause: Failure when writing data to the floppy.
Cause: Process axes speed command is not initialized. Remedy: Check the connection of the device.
Remedy: Check process axes speed commands LANG-016 WARN Can not read file
ISDT-009 STOP Mastering Lost (G:%d A:%d) Cause: Failure when reading data from the floppy.
Cause: Severe servo errors. It requires remastering. ISDT ignores all speed commands. Remedy: Check the connection of the device.
Remedy: Set $IS_DMR.$ignore_motn = FALSE, and perform mastering procedure. LANG-017 WARN File format is incorrect
JOG Error Codes Cause: The data you are trying to save to a file is either abnormal or broken, therefore
JOG -001 WARN Overtravel Violation the file cannot be loaded.
Cause: A robot overtravel has occurred Remedy: The file cannot be loaded with the data as it is. The data must be normal to
Remedy: Use the MANUAL FCTNS OT release menu in to find out which axis is in an load the file.
overtravel condition. Release overtravel by holding the SHIFT key and pressing the LANG-018 WARN Group mask value is incorrect
RESET key. At this time the servo power will be turned on. If the SHIFT key is released, Cause: When printing the program, there was an illegal position that did not match the
the servo power will be turned off again. You can only use JOINT to jog the axis out of group mask of the program.
overtravel. If you want to jog the overtraveled axis further into the overtravel direction, Remedy: Reteach the position data so that the group number matches the group mask
you have to release the axis by moving the cursor to the axis direction you want, then of the program.
press release function key in the OT release menu. At this point you can jog the axis to LANG-050 WARN %s contains %s, program/file names must match
that direction. Cause: The file name and the program name are not the same. Their names must
JOG -002 WARN Robot not Calibrated match.
Cause: Robot has not been calibrated Remedy: Rename the file to be same as the program name.
Remedy: Set the system variable $MASTER_ENB to 1. Select SYSTEM then LANG-094 WARN File already exists
Master/Cal, to display the Master/Cal menu. Select a method for calibrating the robot. If Cause: The specified file already exists in the floppy.
the robot can not be calibrated, mastering is required. If the robot has been master Remedy: Before you write the new file to the floppy, delete the file that already exists on
before, set the system variable $DMR_GRP[].$master_done to TRUE then calibrate the the floppy.
robot again. For more information on mastering and calibrating the robot, refer to the LANG-095 WARN File does not exist
KAREL and TPP Setup and Operations Manual. Cause: The specified file does not exist in the floppy.
JOG -003 WARN No Motion Control Remedy: Check the file name or content of the floppy.
Cause: Other program has motion control LANG-096 WARN Disk is full
Remedy: Abort the program that has motion control by pressing FCTN key then Cause: The floppy disk has reached its limit and is full.
selecting ABORT. Remedy: Either use a new floppy disk or delete an unnecessary file in order to make
JOG -004 WARN Illegal linear jogging room for saving to the floppy.
Cause: You cannot do more than one rotational jog at a time LANG-097 WARN Only one file may be opened
Remedy: Only press one rotational jog key at a time. Cause: An attempt was made to open more than one file.
JOG -005 WARN Can not clear hold flag Remedy: Do not attempt to open more than one file at a time.
Cause: The system call to clear hold flag failed. error LANG-098 WARN Disk timeout
Remedy: Perform a cycle start. Cause: It could not access the disk.
JOG -006 WARN Subgroup does not exist Remedy: Check if the correct device is set to port and it turns on.
Cause: No extended axis exist in this group with which to jog. LANG-099 WARN Write protection violation
Remedy: This is a notification. You do not have to do anything for this warning message. Cause: The disk has write protection.
JOG -007 WARN Press shift key to jog Remedy: Remove the write protection.
Cause: The SHIFT key is not pressed LANG-100 WARN Device error
Remedy: You must press the SHIFT key when jogging the robot. Release the jog key Cause: Could not access the device.
then hold the SHIFT key and press the jog key to jog. Remedy: Connect the correct device to the correct port.
JOG -008 WARN Turn on TP to jog LNTK Error Codes
Cause: Teach pendant is not enable LNTK-000 STOP Unknown error (LN00)
Remedy: Hold the DEADMAN and turn on the teach pendant before jogging the robot. Cause: System internal error
JOG -009 WARN Hold deadman to jog Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics
Cause: The DEADMAN switch is not pressed Hotline if problem persists.
Remedy: Press the DEADMAN switch, then press the RESET key to clear the error LNTK-001 STOP No global variables
JOG -010 WARN Jog pressed before shift Cause: The Line Track global variables have NOT been properly loaded.
Cause: The jog key was pressed before the shift key was pressed Remedy: Check the application installation manual for the proper installation procedure
Remedy: Release the jog key. Then,hold the SHIFT key then press the jog key for the Line Track system.
JOG -011 WARN Utool changed while jogging LNTK-002 STOP Motion data missing
Cause: The selected tool frame changed while jogging Cause: The Line Track internal motion data was NOT found.
Remedy: Release the SHIFT key and the JOG key. The new TOOL frame will take effect Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics
automatically. To start jogging, hold down the SHIFT key and press the JOG key. Hotline if problem persists.
JOG -012 WARN manual brake enabled LNTK-003 STOP Error allocating data memory
Cause: The manual brake enabled Cause: The Line track internal memory allocation failed.
Remedy: Engage all the brakes by pressing EMERGENCY STOP button, then press the Remedy: Check Memory usage and Line Track installation.
RESET key. To start jogging, press the shift and the jog key. LNTK-004 STOP No system variables
JOG -013 WARN Stroke limit (G:%d A:%x Hex) Cause: The Line Track system variables (eg. $LNSCH[], $LNSNRSCH[]) were not found.
Cause: Robot axis reaches its specified stroke limit Remedy: Check the application installation manual for the proper installation procedure
Remedy: The robot already reach the stroke limit and cannot jog in the current direction for the Line Track system.
any more. Extend the axis limit if it does not exceed the robot and software LNTK-005 STOP Illegal schedule number
specifications. Cause: An invalid Line Track schedule (track or frame) number was used within a
JOG -014 WARN Vertical fixture position program instruction (eg. TRK[59]) or program header data (eg. FRAME = 59).
Cause: Robot reaches its vertical fixture position
Remedy: To continue jogging, release the JOG key then press it again.
JOG -015 WARN Horizontal fixture position
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Remedy: Check all schedule numbers (TRK[] or FRAME usages) used within the Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics
specified program to verify that they are within the allowable range specified for the Hotline if problem persists.
$LNSCH[] system variable. LNTK-031 STOP UFRAME must be zero
LNTK-006 STOP Illegal tracking type Cause: User frames cannot be used when tracking.
Cause: An invalid tracking type was specified within the tracking schedule (i.e. Remedy: Set $MNUFRAMENUM[] to zero.
$LNSCH[]) associated with the specified program. LNTK-032 STOP Conveyor resync failed
Remedy: Check the value of $LNSCH[i].$TRK_TYPE (where 'i' is the FRAME number Cause: The conveyor was not resynchronized properly.
specified within the DETAIL screen for the specified program) to make sure that it is one Remedy: Make sure the Tracking Schedule is properly initialized, the encoder is active,
of the valid values listed under the description for this system variable. and all hardware is functioning properly.
LNTK-007 STOP Illegal encoder number LNTK-033 STOP Failed to send a packet
Cause: An invalid sensor(encoder) number was used within the specified tracking Cause: Failed to send a packet including trigger value.
program instruction or within the program's associated schedule $LNSCH[i]. Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics
$TRK_ENC_NUM value (where 'i' is the FRAME number used within the DETAIL screen Hotline if problem persists.
for the specified program). LNTK-034 STOP Failed to make a packet
Remedy: Check the value of the specified program instruction's LINE[] parameter and Cause: Failed to make a packet including trigger value.
the program's associated schedule $LNSCH[i].$TRK_ENC_NUM value to make sure that Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics
it is one of the valid values listed under the description for the $ENC_STAT[] system Hotline if problem persists.
variable. LNTK-035 STOP Invalid INTR function pointer
LNTK-008 STOP Invalid nominal position Cause: An invalid internal function pointer was encountered.
Cause: An invalid or uninitialized nominal tracking frame position was used within the Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics
tracking schedule (i.e. $LNSCH[]) associated with the specified program. Hotline if problem persists.
Remedy: Check the value of $LNSCH[i].$TRK_FRAME (where 'i' is the FRAME number LNTK-036 STOP Invalid tracking group
specified within the DETAIL screen for the specified program) to make sure that it is a Cause: This group does not support tracking
properly initialized, valid position. Remedy: Modify $LNCFG.$GROUP_MSK to enable this group for tracking. Cold start
LNTK-009 STOP Illegal position type afterwards Contact FANUC Robotics Hotline if problem persists.
Cause: The position type or representation used within the specified program is not valid. MACR Error Codes
(LINE and CIRC tracking programs MUST store all positions in Cartesian representation. MACR-001 WARN Can't assign to MACRO command
Joint representation is not allowed.) Cause: The conditions for assigning macros are not correct.
Remedy: Check the KAREL or TPE user manual for valid position types. Check the Remedy: Check if there is a double definition or if the index is over the range.
position representation used to store the positions within the tracking program to make MACR-003 WARN Can't assign motn_prog to UK
sure that Cartesian representation is being used. Cause: It is not possible to assign a program with MOTION lock group to the User
LNTK-010 STOP Illegal encoder schedule num Key(UK) button.
Cause: An invalid sensor(encoder) schedule number was used within the specified Remedy: Remove the motion lock group from the program.
tracking program instruction's SCH[] parameter. MACR-004 WARN Can't execute motn_prog by UK
Remedy: Check the $LNSNRSCH[] system variable description for the range of valid Cause: It is not possible to execute a program with MOTION lock group with the User
sensor schedule numbers. Key(UK) button.
LNTK-011 STOP Illegal boundary set number Remedy: Remove the motion lock group from the program.
Cause: An illegal value was used within the specified tracking program instruction or MACR-005 WARN Please enable teach pendant
within the program's associated schedule $LNSCH[i].$SEL_BOUND value (where 'i' is Cause: It is not possible to execute a program when the teach pendant is disabled.
the FRAME number used within the DETAIL screen for the specified program). Remedy: Enable the teach pendant.
Remedy: Check the value of the specified program instruction's BOUND[] parameter and MACR-006 WARN Please disable teach pendant
the program's associated schedule $LNSCH[i].$SEL_BOUND value to make sure that Cause: It is not possible to execute a program when the teach pendant is enabled.
they are one of the valid values listed under the description for this system variable. Remedy: Disable the teach pendant.
LNTK-012 STOP Invalid input position MACR-007 WARN The same macro type exists
Cause: An invalid or uninitialized position was used within the specified tracking program Cause: The macro assign type already exists.
instruction. Remedy: Change the assign type to another.
Remedy: Check the position (or position register) value for the specified tracking MACR-008 WARN Remote-cond isn't satisfied
program instruction to make sure that it is a properly initialized, valid position. Cause: This assign type is only enabled at REMOTE condition.
LNTK-013 STOP Invalid trigger input value Remedy: Create REMOTE condition.
Cause: An invalid or uninitialized value was used for the specified tracking program MACR-009 WARN The index is out of range
instruction's trigger value. Cause: This assign index is out of range.
Remedy: Check the value of the program register used by the specified tracking program Remedy: Change the assign index.
instruction. MACR-010 WARN This SOP button is disabled
LNTK-014 STOP Encoder/sensor not enabled Cause: This SOP button is not enabled for macro execution.
Cause: The tracking sensor(encoder) associated with the specified program (specified Remedy: Change the value of the $MACRSOPENBL system variable. Refer to the
by $LNSCH[i].$TRK_ENC_NUM, where 'i' is the FRAME number used within the DETAIL SYSTEM R<#0106>J Software Reference Manual, Chapter 2, <#007F>System Variable
screen for the specified program) must be enabled to perform this program instruction. Alphabetical Description", for more information on setting system variables.
Remedy: Use the LINE enable instruction to enable the proper tracking sensor(encoder). MACR-011 WARN This UOP button is disabled
LNTK-015 STOP Invalid encoder trigger value Cause: This UOP signal is not enabled for macro execution.
Cause: An invalid or uninitialized sensor(encoder) trigger value (specified by $LNSCH[i]. Remedy: Change the value of the $MACRSOPENBL system variable. Refer to the
$TRIG_VALUE, where 'i' is the FRAME number used within the DETAIL screen for the SYSTEM R<#0106>J Software Reference Manual, Chapter 2, <#007F>System Variable
specified program) was found. Alphabetical Description", for more information on setting system variables.
Remedy: Make sure that this value is properly set prior to either teaching path positions, MACR-012 WARN Number of DI+RI is over
or issuing programmed robot motion instructions. Cause: The number of RI+DI is over the maximum number. You can assign RI and DI to
LNTK-016 STOP Invalid input time macro assign type, but the total number of assignments possible is restricted by the
Cause: An invalid or uninitialized prediction time was used within the specified tracking system variable $MACROMAXDRI. $MACROMAXDRI must be set to 5 and never be
program instruction. changed. When the total number of assignments is over $MACROMAXDRI, this alarm
Remedy: Check the prediction time being used for proper initialization. occurs.
LNTK-017 STOP Invalid input pointer Remedy: First deassign the other RI or DI assignments. Then assign the new macro as
Cause: An invalid internal position input pointer was specified. RI or DI.
Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics MACR-013 WARN MACRO execution failed
Hotline if problem persists. Cause: Cannot execute this MACRO.
LNTK-018 STOP Invalid teach distance Remedy: Refer to the error cause code. Use to display the Alarm Log screen.
Cause: An invalid or uninitialized teach distance value (specified by $LNSCH[i]. MACR-016 WARN The macro is not completed
$TEACH_DIST, where 'i' is the FRAME number used within the DETAIL screen for the Cause: The macro aborted while executing.
specified program) was found. Remedy: The macro will begin executing from the first line at the next execution.
Remedy: Make sure that this value is properly set prior to either teaching path positions, MARL Error Codes
or issuing programmed robot motion instructions. MARL-000 WARN Data modification disallowed
LNTK-019 STOP Invalid scale factor Cause: User tried to change data that was in use by robot
Cause: An invalid or uninitialized scale factor value (specified by $LNSCH[i].$SCALE, Remedy: This is a warning message. In order to change data, in this case, you must first
where 'i' is the FRAME number used within the DETAIL screen for the specified program) ABORT ALL
was found. MARL-001 WARN Data in use by Robot
Remedy: Make sure that this value is properly set prior to either teaching path positions, Cause: User tried to change data that was in use by robot
or issuing programmed robot motion instructions. NOTE: This value may NOT be equal Remedy: This is a warning message. In order to change data, in this case, you must first
to 0.0 ABORT ALL
LNTK-020 STOP Invalid extreme position MARL-002 PAUSE GET_VAR failed %s
Cause: An invalid or uninitialized extreme position value (specified by $LNSCH[i]. Cause: KAREL GET_VAR built-in did not return a successful status
$TCP_EXTRM, where 'i' is the FRAME number used within the DETAIL screen for the Remedy: Check if the variable exists or is initialized If the variable does not exist or is
specified program) was found. uninitia- lized, try to figure out why. Call FANUC Robotics for assistance with the number
Remedy: Make sure that this value is properly set prior to either teaching path positions, posted with the error.
or issuing programmed robot motion instructions. NOTE: A value of 1,000,000 (1.0e6) MARL-003 PAUSE SET_VAR failed %s
may be set to disable TCP extreme position checking. Cause: KAREL SET_VAR built-in did not return a successful status
LNTK-021 STOP Invalid track axis number Remedy: Check if the variable exists or is initialized If the variable does not exist or is
Cause: An invalid or uninitialized track axis number (specified by $LNSCH[i]. uninitia- lized, try to figure out why. Call FANUC Robotics for assistance with the number
$TRK_AXIS_NUM, where 'i' is the FRAME number used within the DETAIL screen for posted with the error.
the specified program) was found. MARL-004 WARN Could not save .VR file %s
Remedy: Make sure that this value is properly set to one of the valid values listed under Cause: Error occurred while saving a .VR file
the description for this system variable. Remedy: Check if the disk drive is connected or if there is a problem with the cable.
LNTK-022 STOP No tracking hardware Check if the floppy disk is formatted and if it is a double density diskette. Check if the
Cause: No tracking sensor hardware interface or improperly initialized system variables diskette is full.
Remedy: Check tracking hardware setup and the values of $SCR.$ENC_TYPE and MARL-005 WARN Could not load file %s
$SCR.$ENC_AXIS Cause: Error occurred while loading a .VR file
LNTK-023 STOP Bad tracking hardware Remedy: Check if the disk drive is connected or if there is a problem with the cable.
Cause: Bad tracking sensor hardware interface Check if the floppy disk is formatted and if it is a double density diskette. Check if the
Remedy: Check all sensor hardware, cables, and connections diskette is full.
LNTK-024 STOP Illegal encoder average MARL-006 PAUSE Could not create file %s
Cause: Illegal encoder average number Cause: Error occurred while creating the file MRDTxxx.vr
Remedy: Use a valid encoder average number Remedy: Check RAM memory from the STATUS Memory menu. Perhaps there isn't
LNTK-025 STOP Illegal encoder multiplier enough memory to create the data file. If the memory looks ok, contact FANUC Robotics
Cause: Illegal encoder multiplier number with the number associated with the message.
Remedy: Use a valid encoder multiplier number MARL-007 WARN Error creating new variables
LNTK-026 STOP Encoder not enabled Cause: Error occurred while creating a variable
Cause: Tracking encoder is not enabled Remedy: This message is an informational message and is always posted with another
Remedy: Enable the tracking encoder before reading its COUNT or RATE within the message.
program MARL-008 WARN Error reading data %s
LNTK-027 STOP Invalid data on LNTK stack Cause: Error occurred while reading the data which the user entered.
Cause: Invalid data was found on the tracking stack. Remedy: This is a warning message. Try again. If you keep getting this message contact
Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics FANUC Robotics with the number in the error string.
Hotline if problem persists. MARL-009 WARN Cannot use MODIFY
LNTK-028 STOP LNTK stack underflow Cause: User is trying to modify a file which does not exist in the controller RAM.
Cause: The tracking stack attempted to read more data than was present. Remedy: This is a warning message. Either create a new file or if you forgot, the load the
Remedy: Perform a COLD start of the system. (Cycle power.) Contact FANUC Robotics file first.
Hotline if problem persists. MARL-010 WARN File not loaded or created: %s
LNTK-029 STOP LNTK stack overflow Cause: File does not exist in the controller RAM.
Cause: Too many tracking subprocesses are present. There is a limit to the number of Remedy: This is a warning message.
tracking processes that can be called from other programs. MARL-011 WARN Cannot resume program
Remedy: Check to ensure sub-processes are not being called erroneously. Consider Cause: Either operator panel E-STOP, teach pendant E-STOP is ON or teach pendant is
rewriting procedures so that fewer sub-processes are used. enabled.
LNTK-030 STOP Stack / header mismatch Remedy: This is a warning message and is posted with another message which will tell
Cause: The schedule number on the tracking stack did not match the schedule of the you exactly why the program cannot be resumed.
program it corresponds to. MARL-012 PAUSE Operator Panel E-stop ON
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Cause: Program cannot run with operator panel E-STOP MEMO-014 WARN Specified label already exists
Remedy: Release Operator panel E-stop, press reset and push cycle start to continue. Cause: The specified label id already exists in the program.
MARL-013 PAUSE Teach pendant E-stop ON Remedy: Specify another label number.
Cause: Program cannot run with teach pendant E-STOP MEMO-015 WARN Program already exists
Remedy: Release teach pendant E-stop, press reset and push cycle start to continue. Cause: The specified program already exists in the system.
MARL-014 PAUSE Teach pendant is enabled Remedy: Specify another program name. Or delete the registered program.
Cause: Program cannot run with teach pendant enabled MEMO-019 WARN Too many programs
Remedy: Disable teach pendant, press reset, and push cycle start to continue. Cause: The number of the programs and routines exceeded the maximum possible
MARL-015 WARN Program not selected number ( 3200 ).
Cause: No program was selected from the SELECT menu prior to pressing CYCLE Remedy: Delete unnecessary programs or routines.
START. MEMO-025 WARN Label does not exist
Remedy: Select a program and then press CYCLE START. Cause: Specified label does not exist.
MARL-016 WARN %s already running Remedy: Set the index to an existing label.
Cause: An attempt was made to run a program that was already running. MEMO-026 WARN Line data is full
Remedy: No action necessary. This is only a warning message. Cause: The number of line data exceeded the maximum possible line number ( 65535 ).
MARL-017 PAUSE Register not defined %s Remedy: Delete unnecessary line data.
Cause: Register not defined or out of range. MEMO-027 WARN Specified line does not exist
Remedy: Check if the register is defined, if it is between 1-32. Cause: The specified line data does not exist.
MARL-018 PAUSE Reg %s could not be set Remedy: Specify another line number.
Cause: Register operation failed MEMO-029 WARN The line data can't be changed
Remedy: Check if the register is defined, if it is between 1-32 and if it has the right value. Cause: The specified line data can't be changed. The size of modified data is different
ABORT ALL and retry from that of original data when replacing it.
MARL-019 WARN MRTool aborted Remedy: Specify another line number or the data of same size.
Cause: User switched to another screen without pressing DONE in the cycle start menu. MEMO-032 WARN Specified program is in use
Remedy: This is a warning message. Do not switch screens before pressing DONE at Cause: The specified program is being edited or executing.
the cycle start menu. Remedy: Abort the specified program. Or select it once more after selecting another
MARL-020 WARN Product number not entered program.
Cause: User pressed DONE key without entering the product number in the cycle start MEMO-034 WARN The item can't be changed
menu. Cause: The specified item is locked to change by system.
Remedy: This is a warning message. Enter the product number and then press DONE. Remedy: Specify another item.
MARL-021 WARN %s exists. Not loaded MEMO-038 WARN Too many programs
Cause: An attempt was made to copy a file which is already loaded on the controller. Cause: The number of the programs exceeded the maximum number.
Remedy: This is a warning message. Remedy: Delete unnecessary programs.
MARL-022 WARN Loading error - %s MEMO-048 WARN Break point data doesn't exist
Cause: An error occurred while loading a file to the controller memory. Cause: The specified break point data does not exist.
Remedy: This is a warning message. The file did not get loaded. Check if the Remedy: Specify another break point.
communications cable is connected and that it is ok. Make sure the file you want to load MEMO-050 WARN Program does not exist
exists on the floppy. Cause: The specified program does not exist in the system.
MARL-023 PAUSE PosReg %s could not be set Remedy: Specify another program or create the same program first.
Cause: Position Register operation failed MEMO-056 WARN Program does not exist
Remedy: Check if the position value is defined and if it is valid. ABORT ALL and retry Cause: The specified program does not exist in the system.
MCTL Error Codes Remedy: Specify another program or create the same program first.
MCTL-001 NONE TP is enabled MEMO-061 WARN No write access
Cause: Teach pendant is enabled, therefore motion control was not granted. Cause: The program must be opened with write access before attempting write
Remedy: Disable the teach pendant, and try the operation again. operations
MCTL-002 NONE TP is disabled Remedy: Open the program with write access before writing.
Cause: The teach pendant is disabled, therefore motion control was not granted. MEMO-065 WARN Too many opened programs
Remedy: Enable the teach pendant, and try the operation again. Cause: Too many CALL instructions is used. The number of opened programs exceeded
MCTL-003 NONE system is in error status the maximum possible number( 100 ).
Cause: The system is in error status, therefore motion control was not granted. Remedy: Abort the unnecessary programs. Or, remove unnecessary CALL instructions.
Remedy: Clear the error by pressing RESET, and try the operation again. MEMO-068 WARN Specified program is in use
MCTL-004 NONE motion is in progress Cause: 1. The specified program is editing or executing.
Cause: Motion control was not granted because motion is still in progress. 2. The specified program is entried to MACRO
Remedy: Wait until the robot comes to a complete stop. Remedy: 1. Abort the specified program. Or select it once more after select another
MCTL-005 NONE not in control of motion program.
Cause: Motion control was not granted because brakes were engaged. 2. Remove the program form the MACRO entry.
Remedy: Make sure all brakes are released and try the operation again. MEMO-071 WARN Position does not exist
MCTL-006 NONE TP has motion control Cause: The specified position data does not exist.
Cause: The teach pendant currently has the motion control, therefore motion control was Remedy: Specify another position.
not granted. MEMO-072 WARN Position data already exists
Remedy: Disable the teach pendant, and try the same operation again. Cause: Position data already exists in the specified position you want to move.
MCTL-007 NONE PROG has motion control Remedy: Specify another position. Or, delete the data in the specified position.
Cause: The program has the motion control, therefore motion control was not granted. MEMO-073 WARN Program does not exist
Remedy: Pause or abort the program, and try the same operation again. Cause: The specified program does not exist in the system.
MCTL-008 NONE Operator panel has motion control Remedy: Specify another program or create the same program first.
Cause: Because the operator panel has the motion control, the motion control was not MEMO-074 WARN Program type is not TPE
granted. Cause: The operation can be apply only to TPE programs.
Remedy: Set the $rmt_master system variable correctly, and try the operation again. Remedy: Select a TPE program.
MCTL-009 NONE Other has motion control MEMO-075 WARN Program can't be used
Cause: Other device has the motion control, and the motion control was not granted. Cause: The program must be opened before attempting read or write operations.
Remedy: Set the $rmt_master system variable correctly, and try the operation again. Remedy: Open the program before reading or writing.
MCTL-010 NONE Other than msrc is rel'ing MEMO-078 WARN Program can't be used
Cause: System internal error. Cause: The specified operation is not supported for this program type.
Remedy: Perform a cold start: Remedy: Specify a program whose program type matches the operation.
1. Turn off the robot. MEMO-080 WARN Protection error occurred
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: The specified program is protected by user.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Cancel the protection of the specified program.
cleared, document the events that led to the error and call your FANUC Robotics MEMO-081 WARN Specified program is in use
technical representative. Cause: The specified program is editing or executing.
MCTL-011 NONE Due to error processing Remedy: Abort the specified program. Or select it once more after select another
Cause: System internal error. program.
Remedy: Perform a cold start: MEMO-088 WARN Program does not exist
1. Turn off the robot. Cause: The specified position data does not exist.
2. On the teach pendant, press and hold the SHIFT and RESET keys. Remedy: Specify another position.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not MEMO-093 WARN Specified program is in use
cleared, document the events that led to the error and call your FANUC Robotics Cause: The specified program is editing or executing.
technical representative. Remedy: Abort the specified program. Or select it once more after select another
MCTL-012 NONE subsystem code unknown program.
Cause: System internal error. MEMO-098 WARN EOF occurs in file access
Remedy: Perform a cold start: Cause: EOF occurs in file access. When P-code file was scanned, EOF occurs.
1. Turn off the robot. Remedy: The P-code data may be broken. Translate the specified KAREL program
2. On the teach pendant, press and hold the SHIFT and RESET keys. again. Then reload the P-code.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not MEMO-099 WARN Program name is wrong
cleared, document the events that led to the error and call your FANUC Robotics Cause: The program name length is different from that of the P-code data.
technical representative. Remedy: Check the program name of the specified program.
MCTL-013 NONE ENBL input is off MEMO-103 WARN Check sum error occurred
Cause: ENBL input on the UOP is off. Cause: The specified data was broken. This is the internal error.
Remedy: Set ENBL input ON. Remedy: Perform a cold start:
MCTL-014 NONE Waiting for Servo ready 1. Turn off the robot.
Cause: The motion control was not granted because servo was not up. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Remedy: Wait for a few seconds until servo is up and ready. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
MCTL-015 NONE Manual brake enabled cleared, document the events that led to the error and call your FANUC Robotics
Cause: The motion control was not granted because manual brake control is enabled. technical representative.
Remedy: Disable the manual brake control. MEMO-104 WARN Program already exists
MEMO Error Codes Cause: The specified program already exists in the system.
MEMO-002 WARN Specified program is in use Remedy: Specify another program name. Or delete the registered program.
Cause: The specified program is being edited or executing. MEMO-112 WARN Break data already exists
Remedy: Abort the specified program. Or select it again after selecting another program. Cause: The specified break point data already exists in the program.
MEMO-003 WARN Specified program is in use Remedy: Specify another break point.
Cause: The specified program is being edit or executing. MEMO-113 WARN File access error
Remedy: Abort the specified program. Or select it once more after selecting another Cause: The port that has the program you want to load is not connected.
program. Remedy: Check the port setting and the connected device.
MEMO-004 WARN Specified program is in use MEMO-114 WARN Break point can't be removed
Cause: The specified program is being edited or executing. Cause: The break point data can not be overwritten. The program is protected by user or
Remedy: Abort the specified program. Or select it once more after selecting another executing.
program. Remedy: Cancel the protection of the program. Or, abort the program.
MEMO-006 WARN Protection error occurred MEMO-115 WARN Break point can't be removed
Cause: The specified program is protected by user. Cause: The break point data can not be removed. The program is protected by user or
Remedy: Cancel the protection of the specified program. executing.
MEMO-007 WARN Invalid break number Remedy: Cancel the protection of the program. Or, abort the program.
Cause: The specified break number does not exist. MEMO-119 WARN Application data doesn't exist
Remedy: Specify the correct break number. Cause: The specified application data does not exist because the program does not
MEMO-008 WARN Specified line no. not exist correspond to the specified application.
Cause: The specified line number does not exist in the specified or default program. Remedy: Specify another application data. Then create the program in the current
Remedy: Specify a correct line number. system.
MEMO-010 WARN Program name error MEMO-120 WARN Application data doesn't exist
Cause: The specified program name is different form that of the P-code file. Cause: The specified application data does not exist because the program does not
Remedy: Specify the same program name. correspond to the specified application.
MEMO-013 WARN Program type is different Remedy: Specify another application data. Create the program in the current system
Cause: The specified program type is different from that of the object being processed. again.
Remedy: Specify the same program type.
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MEMO-123 WARN Application data doesn't exist Cause: The At home check function is enabled but the robot is not at the home position
Cause: The specified application data does not exist because the program does not when the start was received.
correspond to the specified application. Remedy: Move the robot to the home position. Once the robot is at home, then you can
Remedy: Specify another application data. Create the program in the current system re-issue the request.
again. MHND-015 PAUSE HOME refpos not taught
MEMO-124 WARN Program version is too new Cause: The At home check function is enabled but the Home refpos has not been fully
Cause: KAREL program version number is newer than that of the system. setup.
Remedy: Translate the program with an older version of the Translator. Remedy: Select SETUP, [TYPE], Ref Position. Make sure the selected Refpos is taught
MEMO-125 WARN Program version is too old and enabled. Select SETUP, [TYPE], Shell config. Make sure the Which ReFpos is
Cause: KAREL program version number is older than that of the system. HOME position is setup under the Special Positions DETAILS. Then ABORT and retry.
Remedy: Translate the program with a newer version of the Translator. MHND-016 WARN REMOTE switch must be REMOTE
MEMO-126 WARN No more available memory Cause: The REMOTE keyswitch is on LOCAL, and needs to be set to REMOTE.
Cause: Lack of the memory which can be used. Remedy: Turn the REMOTE keyswitch to REMOTE.
Remedy: Delete unnecessary programs. MHND-017 WARN UOP is not the master device
MEMO-127 WARN Pos reference over 255 times Cause: The UOP is not the master device, which prevents the run request from
Cause: Reference of the same position exceeded the maximum count (256). executing.
Remedy: Set new position ID for the referenced position. Remedy: Go the the Variables menu under SYSTEM, and set $RMT_MASTER=0.
MEMO-128 WARN %s parameters are different MHND-018 WARN Program %s not loaded
Cause: A routine exists in memory with a different parameter definition than the routine Cause: The program that you tried to run is not loaded on the controller.
in the PC file being loaded. Remedy: Load or create the program. If the program name shown in the error code is
Remedy: Update the calling convention in the KAREL program being loaded or delete wrong, then check that the MENU, SETUP, Shell Config TP program ID method and
the obsolete routine from system memory. DETAILS are correct
MEMO-130 SYST Please power up again MHND-019 WARN Robot mode must be MANUAL
Cause: The data of the system been broken. Cause: The robot mode is not MANUAL, so the operation requested cannot be
Remedy: Please power up again. performed.
MEMO-131 SYST Please power up again Remedy: The manual mode din from the PLC is set OFF. It must be ON for manual
Cause: System data in CMOS has been broken.. mode operations.
Remedy: Turn power off and then back on. MHND-020 WARN Robot must be in AUTO mode
MEMO-132 WARN %s has been broken Cause: The robot must be in full automatic mode with the PLC before production
Cause: Program data has been broken at the power fail recover. operation can occur.
Remedy: Delete the program and create it again. Press the RESET key to clear the Remedy: The manual mode din from the PLC is set ON. It must be OFF for automatic
error. If the error is not cleared, document the events that led to the error and call your control of production.
FANUC Robotics technical representative. MHND-021 WARN Robot is in MANUAL mode
MEMO-133 SYST Please power up again Cause: On manual mode entry - Manual mode input from the PLC just turned ON. All
Cause: System data in CMOS has been broken.. PLC manual mode input functions are enabled.
Remedy: Turn power off and then back on. Remedy: Status message only.
MEMO-134 WARN TPE program %s already exists MHND-022 WARN Robot is in AUTO mode
Cause: The TPE program which has the same name already exists. Cause: On manual mode exit - Manual mode input from the PLC just turned OFF. All
Remedy: Delete the teach pendant (TP) program. Then load the specified KAREL PLC manual mode input functions are disabled. Normal auto mode execution is allowed.
program again. Remedy: Status message only.
MEMO-135 WARN Cannot create TPE program here MHND-023 WARN Robot is busy. Mode change pending.
Cause: The TPE program cannot be created in this start mode. Cause: Robot mode is being changed while the robot is busy
Remedy: Select the function menu to change the start mode. Remedy: When the robot is idle, change the manual mode bit again to the desired state.
MEMO-136 WARN Cannot load P-code here NOTE: The system is watching for a change in input setting to change the robot mode.
Cause: The KAREL program cannot be loaded in this start mode. MHND-024 WARN Step mode must be disabled
Remedy: Select the function menu to change the start mode. Cause: Step mode is enabled, which prevents the run request from executing.
MEMO-137 WARN Load at Control Start Only Remedy: Press the STEP hardkey to disable step mode.
Cause: Specified KAREL program cannot be loaded in this mode. Because the same MHND-025 WARN UOP CYCLE START can only resume
name program has already been loaded at controlled start. Cause: A UOP CYCLE START input was detected but no paused program exists.
Remedy: Load the program at controlled start. Remedy: None available. This error is only generated if your Cell interface has been
MEMO-138 WARN Delete at Control Start Only specified using $shell_cfg.$cont_only=TRUE. If this is the case, then for safety reasons
Cause: Specified program has already been loaded at controlled start. Because of this, UOP CYCLE START is only used for resuming paused programs.
you can only delete the program at controlled start. MHND-026 WARN Illegal DIN program select received
Remedy: Delete the program at controlled start. Cause: A DIN program select was detected but either the keyswitch is not in remote or
MEMO-144 WARN Header size too big the selected program does not exist.
Cause: The TPE header size specified is too big. Must be less than 256. Remedy: Check the keyswitch settings. Check the program selected.
Remedy: Change size to range of 1-256. If necessary, use multiple header records. MHND-027 WARN %s program select signal received
MEMO-145 WARN TPE cannot have KAREL routine Cause: A program select was detected.
Cause: The routine of the specified program has been already referred by the KAREL Remedy: Status message only.
program. Because of this, the specified program must be the KAREL program. The user MHND-028 WARN Illegal PNS program select received
cannot use the specified program name as a TPE program. Cause: A PNS program select was detected but either the keyswitch is not in remote or
Remedy: Change the program name, or delete the KAREL program which refers the the selected program does not exist.
routine of the specified program. Remedy: Check the keyswitch settings. Check the program selected.
MEMO-146 WARN Invalid variable is used MHND-029 WARN Illegal GIN program select received
Cause: Invalid variable is used in the specified KAREL program. Cause: A GIN program select was detected but either the keyswitch is not in remote or
Remedy: Check the variable used in the specified KAREL program. the selected program does not exist.
MEMO-147 WARN Flash File access error(write) Remedy: Check the keyswitch settings. Check the program selected.
Cause: The write access to the Flash File(F-ROM) failed. Some program may be lost. MHND-030 WARN Illegal RSR program select received
Remedy: The Flash File(F-ROM) may be broken. Create or load the lost program again. Cause: A RSR program select was detected but either the keyswitch is not in remote or
MEMO-148 WARN Flash File access error(read) the selected program does not exist.
Cause: The read access to the Flash File(F-ROM) failed. Some program may be lost. Remedy: Check the keyswitch settings. Check the program selected.
Remedy: The Flash File(F-ROM) may be broken. Create or load the lost program again. MHND-031 WARN Cycle interrupt disabled
MEMO-149 WARN Specified program is broken Cause: The cycle interrupt option has been disabled.
Cause: Program data has been broken. Remedy: This is a status message only.
Remedy: Please power off and on. Then check the program data of the specified MHND-032 WARN Cycle interrupt enabled
program. Cause: The cycle interrupt option has been enabled.
MEMO-151 WARN No more available memory(TEMP) Remedy: This is a status message only.
Cause: Lack of the temporary memory which can be used for the program. MHND-033 WARN DIN Ignored. Wrong Start Mode
Remedy: Delete unnecessary programs. Or, change the D-RAM module to the bigger Cause: A DIN signal was detected, but the controller is not set up to start using DINs.
one. Remedy: DIN must be set as the start device or the DIN signal will be ignored.
MHND Error Codes MHND-034 WARN %s Job select setup error
MHND-001 WARN Cannot resume program Cause: The job selection setup was not completed properly. Selected I/O does not exist.
Cause: Program cannot run because an error condition will not clear. When on the Remedy: Go to the MENU, SETUP, Shell Config menu and make sure the TP program
ALARM page, select this error and press HELP to see error detail. ID method and details are setup correctly.
Remedy: Fix the error condition, press reset, MHND-035 WARN Start Ignored. Already running
MHND-002 PAUSE Operator Panel E-stop ON Cause: A start signal was received but a TP program is already running. A second TP
Cause: Program cannot run with operator panel E-STOP program will not be started at this time.
Remedy: Release Operator panel E-stop, press reset and push cycle start to continue. Remedy: Informative message only.
MHND-003 PAUSE Teach pendant E-stop ON MHND-037 WARN START Ignored. Menu Testing.
Cause: Program cannot run with teach pendant E-STOP Cause: The menu test screen is displayed on the TP. A TP program cannot be started
Remedy: Release teach pendant E-stop, press reset and push cycle start to continue. until a different screen is displayed.
MHND-004 PAUSE Teach pendant is enabled Remedy: Display a different menu on the TP and give another start signal.
Cause: Program cannot run with teach pendant enabled MHND-038 WARN %s is not running.
Remedy: Disable teach pendant, press reset, and push cycle start to continue. Cause: MULTIIO.TP is not running. It will be restarted.
MHND-005 PAUSE System still in fault state Remedy: If MULTIIO.TP does not automatically restart, check alarm log for errors.
Cause: An error condition exists such that the robot cannot be reset. MHND-039 WARN Cycle power to change user alarms
Remedy: Fix the error condition, press reset. Cause: The new number of user alarms will not take effect until after a cold start.
MHND-006 WARN Program not selected Remedy: Informative message only.
Cause: To run a .tp program in local you must first select the program. MHND-040 WARN Cycle power to change no of tasks
Remedy: Press SELECT key and choose a program to run. If trying to run M.H. Shell, Cause: The new number of tasks will not take effect until after a cold start.
the key switch must be in REMOTE. Remedy: Informative message only.
MHND-007 WARN UOP Ignored. Wrong Start Mode MHND-041 WARN Perm memory is low
Cause: A UOP signal was detected, but the controller is not set up to start using UOPs. Cause: CMOS memory is getting too low to create more variable files.
Remedy: UOP must be set as the start device or the UOP signal will be ignored. Remedy: Warning only. Delete any unneeded data.
MHND-008 WARN SOP Ignored. Wrong Start Mode MHND-100 PAUSE %s
Cause: A SOP signal was detected, but the controller is not set up to start using SOPs. Cause: A customized pause error was detected.
Remedy: SOP must be set as the start device or the SOP signal will be ignored. Remedy: Follow instructions given.
MHND-009 WARN Could not run task %s MHND-101 PAUSE Reg %s could not be set
Cause: While M.H. Shell was internally trying to run another program in multi-tasking Cause: Register operation failed
mode, an error occurred. Remedy: Check if the register is defined, if it is between 1-64 and if it has the right value.
Remedy: ABORT ALL and retry. Must ABORT ALL and retry
MHND-010 WARN Cycle power to change registers MHND-102 WARN %s
Cause: An old smaller POSREG.VR file was loaded onto the controller. The number of Cause: General status messages.
position registers was changed to fewer than what the current version of M.H. Shell Remedy: N/A
needs. MHND-104 WARN %s
Remedy: M.H. Shell logic has automatically set the number of position registers to the Cause: General status messages.
necessary size again. But a cold start is needed to increase the position register table Remedy: N/A
size. Do a cold start. MHND-105 ABORT %s
MHND-011 WARN Cycle power to change macros Cause: General status messages.
Cause: An old smaller SYSMACRO.SV file was loaded onto the controller. The number Remedy: N/A
of macros was changed to fewer than what the current version of M.H. Shell needs. MHND-106 WARN Controller has no UOPs assigned.
Remedy: M.H. Shell logic has automatically set the number of macros to the necessary Cause: The controller has no UOPs installed. So you cannot select UOPs for job
size again. But it needs a cold start in order for the macro table size to be increased. Do selection control.
a cold start. Remedy: Check Hardware installation.
MHND-012 WARN TEMP DRAM memory is low MHND-107 WARN Macro Table is too small for menu option
Cause: Temporary memory is getting too low to download more files. Cause: The MACRO table must have at least 100 elements for the MENU UTILITY
Remedy: Warning only. Delete any unneeded data before down-loading files. option to be installed properly.
MHND-013 PAUSE Robot is not calibrated Remedy: Increase the MACRO table size.
Cause: The robot must be calibrated to run tp programs. MHND-108 ABORT Aborting TP program
Remedy: Calibrate the robot. Cause: An error occurred in the TP program.
MHND-014 PAUSE Robot must be at home position Remedy: Check the TP program.
26
MHND-120 WARN Loading error - %s Cause: This MACRO required a clamp gripper.
Cause: There was a problem loading the specified file. Remedy: Check the MACRO call in the TP program.
Remedy: Check the communication line and make sure that the file exists on the floppy MHND-247 ABORT Parm %s is not between 1-2
MHND-121 WARN %s exists. Not loaded Cause: Parameter passed to MH macro is not between 1 and 2. The valve referenced
Cause: The specified file already exists on the controller. must be a vacuum valve.
Remedy: Delete the file from the controller before reloading. Remedy: Change parameter to an integer between 1 and 2
MHND-122 PAUSE CREATE_VAR failed %s MHND-248 PAUSE TRYOUT MODE: %s reading part
Cause: Data in a setup menu could not be created Cause: In TRYOUT mode: The part present input does detect the signal
Remedy: Cold start the controller and retry. Remedy: There must be no part present in tryout mode.
MHND-123 WARN File not loaded or created: %s MHND-249 WARN Must press SHIFT key too
Cause: File does not exist in the controller RAM. Cause: The shift key must be pressed when accessing this teach pendant hardkey.
Remedy: This is a warning message. Remedy: Press the shift key.
MHND-124 PAUSE GET_VAR failed %s MHND-250 ABORT Parm %s is not an integer
Cause: Data in a setup menu could not be set Cause: Parameter passed to MH macro is not an integer
Remedy: Cold start the controller and retry. Remedy: Change parameter to an integer
MHND-125 PAUSE SET_VAR failed %s MHND-251 ABORT Parm %s is not between 1-9
Cause: Data in a setup menu could not be set Cause: Parameter passed to MH macro is not between 1 and 9
Remedy: Cold start the controller and retry. Remedy: Change parameter to an integer between 1 and 9
MHND-127 WARN IO_STATUS error occurred MHND-252 ABORT Valve %s is not setup
Cause: An I/O error occurred during data transfer Cause: Valve selected by parameter has not been setup
Remedy: Cold start the controller and retry. Remedy: Enter appropriate information through user screens
MHND-128 WARN Could not save .VR file %s MHND-253 ABORT No parameters passed to routine
Cause: Error occurred while saving a .VR file Cause: No parameters have been passed to the routine
Remedy: Cold start the controller and retry. Remedy: Place parameter in the list following the macro call
MHND-129 WARN Could not load file %s MHND-254 PAUSE %s not sensing part
Cause: Error occurred while loading a .VR file Cause: The part present input does not detect the signal
Remedy: Cold start the controller and retry if you know you should be able to read the .vr Remedy: Check if part is in range of the switch
file into M.H. Shell. MHND-255 PAUSE %s still reading part
MHND-130 WARN Could not access files Cause: The part present input sees the signal after dropoff
Cause: Error occurred while accessing the floppy disk Remedy: Ensure robot has dropped off the part
Remedy: Make sure the communication is correct & retry MHND-256 PAUSE Clamp %s state error
MHND-133 WARN Error using CLEAR built-in Cause: The specified clamp open signal failed.
Cause: An error occurred while clearing a variable file. Remedy: Check if all the clamp has is obstructed or the cylindicator is working properly.
Remedy: Reset controller and try again. MHND-257 PAUSE Clamp %s state error
MHND-134 WARN File is in use by robot. Cannot transfer Cause: The specified clamp closed signal failed.
Cause: The file you requested to transfer is being used by the robot. It is being used in Remedy: Check if all the clamp has is obstructed or the cylindicator is working properly.
production or is being edited using SETUP MHND-258 PAUSE %s did not make vacuum
Remedy: First stop the robot. Then ABORT ALL. Then attempt to transfer Cause: The vacuum switch is not detecting vacuum.
MHND-135 WARN Could not read %s Remedy: Check all of the vacuum cups for a complete seal.
Cause: Could not read the .dt file - Data error. MHND-259 PAUSE %s vacuum is not off
Remedy: Check the communication status. Cause: The vacuum switch is still detecting vacuum.
MHND-136 WARN Could not clear file Remedy: Check if all the clamps have completely closed.
Cause: If the file is being used in production it cannot be cleared. MHND-260 ABORT Parm %s is not between 1-10
Remedy: Wait until production is aborted and clear the file. Cause: Parameter passed to MH macro is not between 1 and 10
MHND-137 WARN .VR file has not been created Remedy: Change parameter to an integer between 1 and 10
Cause: During the transfer of data from the PC, the .VR data file could not be created. MHND-261 WARN ERRORS: Check FR:GRERRORS.LS
Remedy: Check the available memory. If RAM is full, clear unneeded data and try again. Cause: File FR:HTVALVE contains errors.
MHND-138 PAUSE Could not create .vr file Remedy: Fix data and try again to gripper CONFIG.
Cause: An error occurred while creating the file MHND-262 WARN The Macro Table was updated.
Remedy: Cold start the controller and retry. Cause: The MACRO table was reloaded and is now too small. The table size has been
MHND-139 WARN Error creating new variables reset.
Cause: An error occurred while creating a new file. Remedy: Must coldstart to physically increase the MACRO table size.
Remedy: Check the available memory. If RAM is full, clear unneeded data and try again. MHND-263 WARN Please Cycle Power.
Cold start the controller and retry. Cause: N/A
MHND-160 WARN Robot in use-Cannot TEST menu. Remedy: N/A
Cause: You cannot TEST a menu when the robot is executing a TP program. MHND-264 WARN Check Clamp Enabled but delay=0.
Remedy: All menu changes should be made when the robot is idle. TEST the menu Cause: Check Clamp Opened or Check Clamp Closed is enabled. An Operation Delay of
when the robot is idle. 0 ms is not enough time to allow the clamps to operate.
MHND-161 WARN Error: tp program not running Remedy: Either disable the Clamp Checks or set a reasonable Clamp Operation Delay.
Cause: The List menu test attempted to run a tp program. MOTN Error Codes
Remedy: Reset the controller and try again. MOTN-000 WARN Unknown error (MO00)
MHND-164 WARN %s Illegal type Cause: Internal system error. This class of error should not be encountered by the user
Cause: A MACRO was called with a parameter that is illegal. The parameter has the during normal operation
wrong data type. Remedy: The system may have been corrupted. This may have been caused by any of a
Remedy: Check the MACRO call in the TP program. number of reasons including: Incorrect loading and setup loading incompatible options,
MHND-165 WARN %s missing mixing software version when adding options and other memory corruption problems.
Cause: A MACRO was called without a parameter that must be entered. The following is a list of possible remedies:
Remedy: Check the MACRO call in the TP program. 1. Perform a cold start.
MHND-166 WARN Status Menu does not exist 2. Perform an init start and setup the robot again
Cause: A Status Macro used a string name for a menu that does not exist. 3. Confirm that any options or additional software not on the original software distribution
Remedy: Check the MACRO call in the TP program. media is the same version number. If the main system software was supplied on several
MHND-200 WARN PLC not reading alarm outputs disks or memory cards, make sure that you are using a matched set. Also make sure that
Cause: The PLC is not handshaking with the robot to send alarms to the PLC. the installation manual being used is for this version of software. If any of the software
Remedy: Check PLC status. Clear the PLC alarms. version are not matched, a complete re-load with the correct software will be necessary.
MHND-201 WARN Error:too many entries in alarm table 4. Confirm that no incompatible or mutually exclusive option have been loaded.
Cause: At most 100 alarms can be entered into the PLC alarm table. Other alarms will 5. Full software reload.
be ignored. 6. If the error is not cleared, document the events that led to the error and call your
Remedy: Extra alarms are ignored. FANUC Robotics technical representative.
MHND-230 WARN FAULT must be reset MOTN-001 STOP Internal error in osmkpkt
Cause: A fault has occurred, so the operation requested cannot be performed. Cause: Internal system error. This class of error should not be encountered by the user
Remedy: Clear the source of the fault, and press FAULT RESET. during normal operation
MHND-231 WARN Program already running or paused Remedy: Refer to Remedy of MOTN-000
Cause: A program is already running, so the operation requested cannot be performed. MOTN-002 STOP Internal error in ossndpkt
Remedy: Re-issue the request when the current program is paused or aborted. Cause: Internal system error. This class of error should not be encountered by the user
MHND-232 WARN Teach pendant must be enabled during normal operation
Cause: The teach pendant must be enabled when accessing this teach pendant Remedy: Refer to Remedy of MOTN-000
hardkey. MOTN-003 STOP Internal error in oswrtmbx
Remedy: Enable the teach pendant. Cause: Internal system error. This class of error should not be encountered by the user
MHND-233 WARN TP hardkey macros are in use during normal operation
Cause: One of the MH gripper macros is already in use. Only one macro can be used at Remedy: Refer to Remedy of MOTN-000
a time MOTN-004 STOP Internal error in ossigflg
Remedy: Wait until the current macro is finished. Cause: Internal system error. This class of error should not be encountered by the user
MHND-234 WARN Valve %s: Manual grip part during normal operation
Cause: Information message only Remedy: Refer to Remedy of MOTN-000
Remedy: N/A MOTN-005 STOP Internal error in osclrflg
MHND-235 WARN Valve %s: Manual release Cause: Internal system error. This class of error should not be encountered by the user
Cause: Information message only during normal operation
Remedy: N/A Remedy: Refer to Remedy of MOTN-000
MHND-236 WARN Error: Valve is not setup. MOTN-006 STOP Internal error in osrcvpkt
Cause: The valve signal number (S#) can not be zero. Cause: Internal system error. This class of error should not be encountered by the user
Remedy: Select MENU, I/O, MH Valves to setup the gripper signals. during normal operation
MHND-237 WARN Error: Clamp is not setup. Remedy: Refer to Remedy of MOTN-000
Cause: The clamp signal number (S#) can not be zero. MOTN-007 STOP Internal error in osredmbx
Remedy: Select MENU, I/O, MH Valves to setup the gripper signals. Cause: Internal system error. This class of error should not be encountered by the user
MHND-238 WARN Error: PartPres is not setup. during normal operation
Cause: The part present signal number (S#) can not be zero. Remedy: Refer to Remedy of MOTN-000
Remedy: Select MENU, I/O, MH Valves to setup the gripper signals. MOTN-008 STOP Internal error in oswaiflg
MHND-239 WARN Error: Vacuum Made is not setup. Cause: Internal system error. This class of error should not be encountered by the user
Cause: The vacuum made signal number (S#) can not be zero. during normal operation
Remedy: Select MENU, I/O, MH Valves to setup the gripper signals. Remedy: Refer to Remedy of MOTN-000
MHND-240 ABORT %s missing MOTN-009 STOP Normal Single Step / BWD stop
Cause: A MACRO was called without a parameter that must be entered. Cause: System executes normal Single Step or Backward motion stop
Remedy: Check the MACRO call in the TP program. Remedy: This is a normal condition. No action is required
MHND-241 WARN %s Illegal type MOTN-010 STOP Internal error in osathpkt
Cause: A MACRO was called with a parameter that is illegal. The parameter has the Cause: Internal system error. This class of error should not be encountered by the user
wrong data type. during normal operation
Remedy: Check the MACRO call in the TP program. Remedy: Refer to Remedy of MOTN-000
MHND-242 WARN Parameter %s error MOTN-011 STOP Internal error in osdltpkt
Cause: Send PC Macro data error. Cause: Internal system error. This class of error should not be encountered by the user
Remedy: Check other alarm log errors for more details. during normal operation
MHND-243 PAUSE %s I/O error Remedy: Refer to Remedy of MOTN-000
Cause: I/O data error. MOTN-012 STOP Invalid softpart MIR
Remedy: Check other alarm log errors for more details. Cause: Invalid softpart MIR
MHND-244 WARN Parameter %s ignored Remedy: Make sure the correct basic motion softpart is installed
Cause: A MACRO was called with too many parameters. MOTN-013 STOP Invalid softpart SEG
Remedy: Check the MACRO call in the TP program. Cause: Invalid softpart SEG
MHND-245 ABORT Valve %s is not a vacuum gripper Remedy: Make sure the correct basic motion softpart is installed
Cause: This MACRO requires a vacuum gripper. MOTN-014 WARN unknown error (MO14)
Remedy: Check the MACRO call in the TP program. Cause: Internal system error. This class of error should not be encountered by the user
MHND-246 ABORT Valve %s is not a clamp gripper during normal operation
Remedy: Refer to Remedy of MOTN-000
27
MOTN-015 WARN unknown error (MO15) MOTN-050 STOP Invalid spdlim (G:%d^2 A:%x^3 H)
Cause: Internal system error. This class of error should not be encountered by the user Cause: Invalid joint speed limit
during normal operation Remedy: Set $SPEEDLIMJNT correctly
Remedy: Refer to Remedy of MOTN-000 MOTN-051 STOP Speed out of range (G:%d^2)
MOTN-016 WARN unknown error (MO16) Cause: Speed out of range
Cause: Internal system error. This class of error should not be encountered by the user Remedy: Set speed correctly
during normal operation MOTN-052 STOP Jntvellim out of range (G:%d^2)
Remedy: Refer to Remedy of MOTN-000 Cause: Joint vel limit out of range
MOTN-017 STOP Limit error (G:%d^2, A:%x^3 Hex) Remedy: Set $JNTVELLIM correctly
Cause: Limit error MOTN-053 STOP Internal planner error (G:%d^2)
Remedy: Reteach the position out of limits Cause: Internal system error. This class of error should not be encountered by the user
MOTN-018 STOP Position not reachable during normal operation
Cause: Position not reachable Or near by singularity Remedy: Refer to Remedy of MOTN-000
Remedy: Reteach the position that is not reachable MOTN-054 STOP Uninitialized dest pos (G:%d^2)
MOTN-019 WARN In singularity Cause: Uninitialized destination position
Cause: Position near by singularity Remedy: Teach destination position
Remedy: Reteach the position that is near a singularity point. MOTN-055 STOP Uninitialized via pos (G:%d^2)
MOTN-020 WARN Wristjoint warning Cause: Uninitialized via position
Cause: Wrist joint warning Remedy: Teach via position
Remedy: Wrist joint warning MOTN-056 WARN Speed limits used (G:%d^2)
MOTN-021 STOP No kinematics error Cause: Speed limits used
Cause: No kinematics Remedy: This is just a notification. You do not have to do anything for this warning
Remedy: Use joint motion message.
MOTN-022 STOP Invalid limit number MOTN-057 STOP Invalid mir (G:%d^2)
Cause: Invalid limit number Cause: Invalid packet received by planner
Remedy: Set limit number correctly Remedy: Perform a cold start:
MOTN-023 STOP In singularity 1. Turn off the robot.
Cause: The position is near a singularity point. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Remedy: Reteach the position that is near a singularity point. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
MOTN-024 STOP Kinematics not defined cleared, document the events that led to the error and call your FANUC Robotics
Cause: Kinematics is not defined technical representative.
Remedy: Define Kinematics MOTN-058 STOP Invalid cancel request (G:%d^2)
MOTN-025 WARN unknown error (MO25) Cause: Invalid cancel request received by planner
Cause: Internal system error. This class of error should not be encountered by the user Remedy: Perform a cold start:
during normal operation 1. Turn off the robot.
Remedy: Refer to Remedy of MOTN-000 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-026 WARN unknown error (MO26) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal system error. This class of error should not be encountered by the user cleared, document the events that led to the error and call your FANUC Robotics
during normal operation technical representative.
Remedy: Refer to Remedy of MOTN-000 MOTN-059 STOP Null segment received (G:%d^2)
MOTN-027 WARN unknown error (MO27) Cause: Planner received null seg when not expecting one
Cause: Internal system error. This class of error should not be encountered by the user Remedy: Perform a cold start:
during normal operation 1. Turn off the robot.
Remedy: Refer to Remedy of MOTN-000 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-028 WARN unknown error (MO28) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal system error. This class of error should not be encountered by the user cleared, document the events that led to the error and call your FANUC Robotics
during normal operation technical representative.
Remedy: Refer to Remedy of MOTN-000 MOTN-060 STOP Uninitialized base vec (G:%d^2)
MOTN-029 STOP unknown error (MO29) Cause: Uninitialized base vector in relative moves
Cause: Internal system error. This class of error should not be encountered by the user Remedy: Initialize base vector
during normal operation MOTN-061 STOP Uninitialized distance (G:%d^2)
Remedy: Refer to Remedy of MOTN-000 Cause: Uninitialized distance in relative moves
MOTN-030 STOP Internal error in MMGR:PEND Remedy: Initialize distance
Cause: Internal system error. This class of error should not be encountered by the user MOTN-062 STOP Invalid position type (G:%d^2)
during normal operation Cause: Invalid position type received by planner
Remedy: Refer to Remedy of MOTN-000 Remedy: Perform a cold start:
MOTN-031 STOP Internal error in MMGR:ESEG 1. Turn off the robot.
Cause: Internal system error. This class of error should not be encountered by the user 2. On the teach pendant, press and hold the SHIFT and RESET keys.
during normal operation 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Remedy: Refer to Remedy of MOTN-000 cleared, document the events that led to the error and call your FANUC Robotics
MOTN-032 STOP Internal error in MMGR:PRSD technical representative.
Cause: Internal system error. This class of error should not be encountered by the user MOTN-063 STOP Position config change (G:%d^2)
during normal operation Cause: Configuration mismatch
Remedy: Refer to Remedy of MOTN-000 Remedy: Reteach the destination position so that its configuration string matches the
MOTN-033 STOP Internal error in MMGR:GNL start position's configuration string.
Cause: Internal system error. This class of error should not be encountered by the user MOTN-064 STOP Rs orientation error (G:%d^2)
during normal operation Cause: RS orientation planning error
Remedy: Refer to Remedy of MOTN-000 Remedy: Perform a cold start:
MOTN-034 STOP Internal error in MMGR_MMR 1. Turn off the robot.
Cause: Internal system error. This class of error should not be encountered by the user 2. On the teach pendant, press and hold the SHIFT and RESET keys.
during normal operation 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Remedy: Refer to Remedy of MOTN-000 cleared, document the events that led to the error and call your FANUC Robotics
MOTN-035 STOP Internal error in MMGR_MIR technical representative.
Cause: Internal system error. This class of error should not be encountered by the user MOTN-065 STOP AES orientation error (G:%d^2)
during normal operation Cause: AES orientation planning error
Remedy: Refer to Remedy of MOTN-000 Remedy: Perform a cold start:
MOTN-036 STOP Internal error in MMGR:MSTR 1. Turn off the robot.
Cause: Internal system error. This class of error should not be encountered by the user 2. On the teach pendant, press and hold the SHIFT and RESET keys.
during normal operation 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Remedy: Refer to Remedy of MOTN-000 cleared, document the events that led to the error and call your FANUC Robotics
MOTN-037 STOP Internal error in MMGR:MDON technical representative.
Cause: Internal system error. This class of error should not be encountered by the user MOTN-066 STOP Degenerate circle (G:%d^2)
during normal operation Cause: Degenerate circle
Remedy: Refer to Remedy of MOTN-000 Remedy: Reteach via and/or destination positions
MOTN-038 STOP Internal error in MMGR:CAN MOTN-067 STOP Ata2 error in circle (G:%d^2)
Cause: Internal system error. This class of error should not be encountered by the user Cause: Internal system error during circular planning
during normal operation Remedy: Perform a cold start:
Remedy: Refer to Remedy of MOTN-000 1. Turn off the robot.
MOTN-039 STOP Internal error in MMGR:FCAN 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Cause: Internal system error. This class of error should not be encountered by the user 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
during normal operation cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Refer to Remedy of MOTN-000 technical representative.
MOTN-040 STOP Internal error in MMGR:CAND MOTN-068 STOP Invalid Prgoverride (G:%d^2)
Cause: Internal system error. This class of error should not be encountered by the user Cause: Prgoverride is not within 0 to 100
during normal operation Remedy: Set $prgoverride within 0 to 100
Remedy: Refer to Remedy of MOTN-000 MOTN-069 STOP Error in mocmnd (G:%d^2)
MOTN-041 STOP Internal error in MMGR:PSTR Cause: Internal error: planner received invalid mocmnd
Cause: Internal system error. This class of error should not be encountered by the user Remedy: Perform a cold start:
during normal operation 1. Turn off the robot.
Remedy: Refer to Remedy of MOTN-000 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-042 STOP Internal in MSSR 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal system error. This class of error should not be encountered by the user cleared, document the events that led to the error and call your FANUC Robotics
during normal operation technical representative.
Remedy: Refer to Remedy of MOTN-000 MOTN-070 STOP Error in motype (G:%d^2)
MOTN-043 STOP Internal error in MMGR:EPKT Cause: Internal error: planner received invalid motype
Cause: Internal system error. This class of error should not be encountered by the user Remedy: Perform a cold start:
during normal operation 1. Turn off the robot.
Remedy: Refer to Remedy of MOTN-000 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-044 STOP Internal error in MMGR:ERR 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal system error. This class of error should not be encountered by the user cleared, document the events that led to the error and call your FANUC Robotics
during normal operation technical representative.
Remedy: Refer to Remedy of MOTN-000 MOTN-071 STOP Error in termtype (G:%d^2)
MOTN-045 STOP Internal error in pro. start Cause: Internal error: planner received invalid termtype
Cause: Internal system error. This class of error should not be encountered by the user Remedy: Perform a cold start:
during normal operation 1. Turn off the robot.
Remedy: Refer to Remedy of MOTN-000 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-046 STOP Internal error in MMGR:LSTP 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal system error. This class of error should not be encountered by the user cleared, document the events that led to the error and call your FANUC Robotics
during normal operation technical representative.
Remedy: Refer to Remedy of MOTN-000 MOTN-072 STOP Error in segtermtype (G:%d^2)
MOTN-047 STOP Internal error in MMGR:PRST Cause: Internal error: planner received invalid segtermtype
Cause: Internal system error. This class of error should not be encountered by the user Remedy: Perform a cold start:
during normal operation 1. Turn off the robot.
Remedy: Refer to Remedy of MOTN-000 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-048 STOP unknown error (MO48) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal system error. This class of error should not be encountered by the user cleared, document the events that led to the error and call your FANUC Robotics
during normal operation technical representative.
Remedy: Refer to Remedy of MOTN-000 MOTN-073 STOP Error in orientype (G:%d^2)
MOTN-049 STOP Attempt to move w/o calibrated Cause: Internal error: planner received invalid orientype
Cause: Robot not calibrated Remedy: Perform a cold start:
Remedy: Calibrate the robot. 1. Turn off the robot.
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2. On the teach pendant, press and hold the SHIFT and RESET keys. MOTN-096 STOP Cart rate not equal(G:%d^2)
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: Intellitrak On: $linear_rate and $circ_rate must be equal
cleared, document the events that led to the error and call your FANUC Robotics Remedy: Set $linear_rate equal to $circ_rate. cycle power
technical representative. MOTN-097 WARN INTR overrun %d^3 (G:%d^2)
MOTN-074 STOP Error in speed (G:%d^2) Cause: Interpolator overrun
Cause: Speed is not within 0 to $speedlim Remedy: Perform a cold start:
Remedy: Set speed within 0 to $speedlim 1. Turn off the robot.
MOTN-075 STOP Error in rotspeed (G:%d^2) 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Cause: Rotspeed is not within 0 to $rotspeedlim 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Remedy: Set Rotspeed within 0 to $rotspeedlim cleared, document the events that led to the error and call your FANUC Robotics
MOTN-076 STOP Error in contaxisvel (G:%d^2) technical representative.
Cause: Contaxisvel is not within 0 to 100 MOTN-098 STOP Circle angle too large
Remedy: Set contaxisvel to within 0 to 100 Cause: Taught points define an arc larger than half circle
MOTN-077 STOP Error in seg_time (G:%d^2) Remedy: If arc bigger than half circle is intended use two or more Circular instructions to
Cause: Seg_time is negative teach the circle. If the intended arc is smaller than half circle then circle's via point is not
Remedy: Set seg_time positive between Circle's start and destination points. Check the taught points and make the
MOTN-078 STOP Error in accel_ovrd (G:%d^2) necessary changes.
Cause: Accel_ovrd greater than 500 MOTN-099 STOP INTR Fail to get MIRPKT (G:%d^2)
Remedy: Set accel_ovrd within 0 to 500 Cause: Internal interpolator error:failed to receive mir when expecting one
MOTN-079 STOP Error in accu_num (G:%d^2) Remedy: Perform a cold start:
Cause: Internal error: planner received invalid accu_num 1. Turn off the robot.
Remedy: Perform a cold start: 2. On the teach pendant, press and hold the SHIFT and RESET keys.
1. Turn off the robot. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
2. On the teach pendant, press and hold the SHIFT and RESET keys. cleared, document the events that led to the error and call your FANUC Robotics
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not technical representative.
cleared, document the events that led to the error and call your FANUC Robotics MOTN-100 STOP INTR Fail to get FDO (G:%d^2)
technical representative. Cause: Internal interpolator error:failed to receive fdo when expecting one
MOTN-080 STOP Via position required (G:%d^2) Remedy: Perform a cold start:
Cause: Missing via position for circular motion 1. Turn off the robot.
Remedy: Teach via position 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-081 STOP Extended position error (G:%d^2) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal error: planner received invalid extended position representation cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Perform a cold start: technical representative.
1. Turn off the robot. MOTN-101 STOP MIR list is empty (G:%d^2)
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Internal interpolator error: mir list is empty when it shouldn't be
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Perform a cold start:
cleared, document the events that led to the error and call your FANUC Robotics 1. Turn off the robot.
technical representative. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-082 STOP Null mir pointer (G:%d^2) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: NULL MIR pointer cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Perform a cold start: technical representative.
1. Turn off the robot. MOTN-102 STOP SEG list is empty (G:%d^2)
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Internal interpolator error: seg list is empty when it shouldn't be
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Perform a cold start:
cleared, document the events that led to the error and call your FANUC Robotics 1. Turn off the robot.
technical representative. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-083 STOP Illegal SEG recvd (G:%d^2) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal error: planner received segment belonging to another group cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Perform a cold start: technical representative.
1. Turn off the robot. MOTN-103 STOP Send ENB pkt fail (G:%d^2)
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Internal interpolator error: error in sending ENB packet
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Perform a cold start:
cleared, document the events that led to the error and call your FANUC Robotics 1. Turn off the robot.
technical representative. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-084 STOP Illegal CONSEG recvd (G:%d^2) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Not used cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Perform a cold start: technical representative.
1. Turn off the robot. MOTN-104 STOP Send DSB pkt fail (G:%d^2)
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Internal interpolator error: error in sending DSB packet
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Perform a cold start:
cleared, document the events that led to the error and call your FANUC Robotics 1. Turn off the robot.
technical representative. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-085 STOP Error in gp_concurrent(G:%d^2) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Internal error: planner received invalid mmr.gp_concurrent cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Perform a cold start: technical representative.
1. Turn off the robot. MOTN-105 STOP Send TRG pkt fail (G:%d^2)
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Internal interpolator error: error in sending TRG packet
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Perform a cold start:
cleared, document the events that led to the error and call your FANUC Robotics 1. Turn off the robot.
technical representative. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-086 STOP Not all CON_SEGs recvd(G:%d^2) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Group motion: not all segments are received cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Perform a cold start: technical representative.
1. Turn off the robot. MOTN-106 STOP Process motion done (G:%d^2)
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Internal interpolator error: process motion had completed without being restarted
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Perform a cold start:
cleared, document the events that led to the error and call your FANUC Robotics 1. Turn off the robot.
technical representative. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-087 STOP Utool change not allowed(G:%d^2) 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: $utool is changed before move cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Do not change $utool for this move technical representative.
MOTN-088 STOP Not cartesian move (G:%d^2) MOTN-107 STOP Bad filter type (G:%d^2)
Cause: Motype is not cartesian Cause: Internal interpolator error: invalid filter type received
Remedy: Must set motype to cartesian Remedy: Perform a cold start:
MOTN-089 STOP Segment not planned (G:%d^2) 1. Turn off the robot.
Cause: Internal plan error:seg in list not all planned 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Remedy: Perform a cold start: 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
1. Turn off the robot. cleared, document the events that led to the error and call your FANUC Robotics
2. On the teach pendant, press and hold the SHIFT and RESET keys. technical representative.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not MOTN-108 STOP INTR seglist error (G:%d^2)
cleared, document the events that led to the error and call your FANUC Robotics Cause: Internal interpolator error: error in seg list management
technical representative. Remedy: Perform a cold start:
MOTN-090 STOP MIR mismatch (G:%d^2) 1. Turn off the robot.
Cause: Internal plan error:mir mismatch 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Remedy: Perform a cold start: 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
1. Turn off the robot. cleared, document the events that led to the error and call your FANUC Robotics
2. On the teach pendant, press and hold the SHIFT and RESET keys. technical representative.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not MOTN-109 STOP Internal INTR error (G:%d^2)
cleared, document the events that led to the error and call your FANUC Robotics Cause: Internal system error. This class of error should not be encountered by the user
technical representative. during normal operation
MOTN-091 STOP Va orientation error (G:%d^2) Remedy: Refer to Remedy of MOTN-000
Cause: Internal plan error:atan2 error MOTN-110 STOP Use FINE in last L (G:%d^2)
Remedy: Perform a cold start: Cause: Cannot replan joint motion in interpolator for this move
1. Turn off the robot. Remedy: Use FINE in last L statement
2. On the teach pendant, press and hold the SHIFT and RESET keys. MOTN-111 WARN Can't switch filter(G:%d^2)
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: Warning message to indicate that switch filter cannot take place
cleared, document the events that led to the error and call your FANUC Robotics Remedy: This is just a notification. You do not have to do anything for this warning
technical representative. message.
MOTN-092 STOP Extended not supported (G:%d^2) MOTN-112 SABRT Increment move turn Mismatch
Cause: Extended axes not supported Cause: Incremental motion causes turn number mismatch
Remedy: Perform a cold start: Remedy: Change position to absolute position
1. Turn off the robot. MOTN-113 WARN Robot not calibrated
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Robot not calibrated
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Calibrate the robot
cleared, document the events that led to the error and call your FANUC Robotics MOTN-114 WARN Servo is on (G:%d^2)
technical representative. Cause: Servo in still on
MOTN-093 STOP Internal PLAN blend err(G:%d^2) Remedy: Turn off servo
Cause: Internal system error. This class of error should not be encountered by the user MOTN-115 WARN Invalid brake mask (G:%d^2)
during normal operation Cause: Invalid brake mask
Remedy: Refer to Remedy of MOTN-000 Remedy: Check brake mask
MOTN-094 STOP Blend corner too big (G:%d^2) MOTN-116 WARN Invalid solution (G:%d^2)
Cause: Not used Cause: Invalid kinematics solution
Remedy: Perform a cold start: Remedy: reteach position
1. Turn off the robot. MOTN-117 WARN Robot not mastered (G:%d^2)
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Robot not mastered
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Master the robot. Refer to the Setup and Operations Manual specific to your
cleared, document the events that led to the error and call your FANUC Robotics application.
technical representative. MOTN-118 WARN Robot in over travel (G:%d^2)
MOTN-095 WARN Can't blend corner line:%d^5 Cause: Robot in overtravel
Cause: Warning, there is not enough distance to perform corner blending Remedy: Reset over travel jog the robot outside over travel position
Remedy: If corner blending is still required for the line shown reteach pos further apart MOTN-119 WARN Servo is off (G:%d^2)
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Cause: Robot servo is on Cause: Mismatch in major axis turn number
Remedy: Turn off servo Remedy: Reteach position
MOTN-120 WARN Invalid reference position (G:%d^2) MOTN-147 WARN L->J replan joint slowdown (G:%d^2)
Cause: Invalid reference position Cause: Linear motions ignore turn numbers. Therefore, when a joint motion follows
Remedy: Check reference position several linear motions, the turn number might be mismatched, causing the robot to slow
MOTN-121 WARN Invalid config. string (G:%d^2) down
Cause: Invalid config string Remedy: Change the current motion's motype to linear or change the previous motion's
Remedy: Reteach your config string motype to joint. If the problem persists, re-teach the path.
MOTN-122 STOP Dfilter not empty (G:%d^2) MOTN-148 WARN Can't move concurrently (G:%d^2)
Cause: System internal error Cause: Two motion groups cannot synchronize with each other due to replanning of one
Remedy: Perform a cold start: group. This will cause slow down on both groups.
1. Turn off the robot. Remedy: If slow down is not acceptable, re-teach the path.
2. On the teach pendant, press and hold the SHIFT and RESET keys. MOTN-149 STOP CF:rotspeedlim exceeded line:%d^5
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: CF:rotspeedlim exceeded
cleared, document the events that led to the error and call your FANUC Robotics Remedy: Set $cf_paramgp[].$cf_framenum=1 or 2 and cycle power or reduce speed or
technical representative. use FINE in prev line
MOTN-123 WARN Not enough node (G:%d^2) MOTN-161 WARN (%s^4 L:%d^5) Can't look ahead
Cause: System internal error Cause: Could not get the next motion instruction. This can happen due to: - Using
Remedy: Perform a cold start: unlocked position registers - Using IF/SELECT statements - Control transfer to another
1. Turn off the robot. program - Changing the setting for a system variable in the program.
2. On the teach pendant, press and hold the SHIFT and RESET keys. Remedy: Use LOCK PREG instruction to lock position registers. Remove conditional
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not branching (IF/SELECT) if possible. Consolidate programs if possible. Move the
cleared, document the events that led to the error and call your FANUC Robotics parameter instruction to a different line if possible.
technical representative. MOTN-171 WARN Overload
MOTN-124 STOP INTR:Bad Mirpkt req_code(G:%d^2) Cause: Overload.
Cause: System internal error Remedy: Change tool/hand to satisfy load condition
Remedy: Perform a cold start: MOTN-172 STOP Another robot is re-linked
1. Turn off the robot. Cause: Detect another link robot is paused and restarted.
2. On the teach pendant, press and hold the SHIFT and RESET keys. Remedy: Pause and restart all the link robot.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not MOTN-173 STOP Robot link configuration error
cleared, document the events that led to the error and call your FANUC Robotics Cause: Detect wrong configuration for robot link.
technical representative. Remedy: Confirm setup data and program detail data.
MOTN-125 STOP INTR got illegal pkt (G:%d^2) MOTN-174 STOP No motion control
Cause: System internal error Cause: Attempted operation needs motion control.
Remedy: Perform a cold start: Remedy: Confirm motion control status.
1. Turn off the robot. MOTN-175 STOP Failed to be MASTER
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Setup or group mask in program may be incorrect or robot is still moving.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Confirm setup data and group mask in program.
cleared, document the events that led to the error and call your FANUC Robotics MOTN-176 STOP Failed to be SLAVE
technical representative. Cause: Setup or group mask in program may be incorrect or robot is still moving.
MOTN-126 STOP Can't init CH KPT (G:%d^2) Remedy: Confirm setup data and group mask in program.
Cause: System internal error MOTN-177 STOP Failed to end sync motion
Remedy: Perform a cold start: Cause: Setup or group mask in program may be incorrect or robot is still moving.
1. Turn off the robot. Remedy: Confirm setup data and group mask in program.
2. On the teach pendant, press and hold the SHIFT and RESET keys. MOTN-178 STOP Link robot is HELD
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: Robot link program is held.
cleared, document the events that led to the error and call your FANUC Robotics Remedy: Confirm each link robot's position and restart.
technical representative. MOTN-179 STOP Robot link internal error
MOTN-127 STOP Can't detatch CH PKT (G:%d^2) Cause: Cart filter is used for robot link.
Cause: System internal error Remedy: Contact FANUC Robotics Hotline.
Remedy: Perform a cold start: MOTN-180 STOP Robot link Calib-data not found
1. Turn off the robot. Cause: Robot link calibration data is not correct.
2. On the teach pendant, press and hold the SHIFT and RESET keys. Remedy: Confirm the calibration setup.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not MOTN-181 SABRT Robot link Version mismatch
cleared, document the events that led to the error and call your FANUC Robotics Cause: Robot link version is not compatible with peer robot.
technical representative. Remedy: Confirm software version is consistent between robots.
MOTN-128 STOP Group mtn not supported(G:%d^2) MOTN-182 STOP Failed to get data from master
Cause: Group motion not supported Cause: Slave robot failed to get position data of master robot.
Remedy: Perform a cold start: Remedy: Confirm communication status and setup data.
1. Turn off the robot. MOTN-183 STOP Invalid MNUTOOLNUM data array
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Current UTOOL number is not correct.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Confirm UTOOL number.
cleared, document the events that led to the error and call your FANUC Robotics MOTN-184 STOP Invalid MNUTOOL data array
technical representative. Cause: Current UTOOL data is not correct.
MOTN-129 STOP Local cond ptr conflict(G:%d^2) Remedy: Confirm UTOOL data.
Cause: Conflict in local condition list pointers MOTN-185 WARN Protect of ACK BF to be sent
Remedy: Perform a cold start: Cause: Failed to send ACK from slave.
1. Turn off the robot. Remedy: Confirm communication status.
2. On the teach pendant, press and hold the SHIFT and RESET keys. MOTN-186 WARN Protect of BCST BF to be sent
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: Failed to send broadcast from master.
cleared, document the events that led to the error and call your FANUC Robotics Remedy: Confirm communication status.
technical representative. MOTN-187 WARN Protect of ACK BF to be read
MOTN-130 STOP Non-empty local cond list(G:%d^2) Cause: Failed to read ACK from slave.
Cause: Local condition list attached to SEG is not NULL Remedy: Confirm communication status.
Remedy: Perform a cold start: MOTN-188 WARN Protect of BCST BF to be read
1. Turn off the robot. Cause: Failed to read broadcast from master.
2. On the teach pendant, press and hold the SHIFT and RESET keys. Remedy: Confirm communication status.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not MOTN-189 WARN Slave motion remained
cleared, document the events that led to the error and call your FANUC Robotics Cause: Slave robot is still moving.
technical representative. Remedy: Confirm program that slave is already stopped at link end.
MOTN-131 STOP In singularity MOTN-190 STOP Slave cannot use JOINT pos
Cause: Position near by singularity Cause: Joint position data is used for slave program.
Remedy: Reteach position that is near a singularity point. Remedy: Use XYZWPR data for slave program.
MOTN-132 STOP Group circ not supported(G:%d^2) MOTN-191 STOP Slave cannot JOINT motion
Cause: Group motion: circular motype for all groups not supported Cause: Joint motion is not available for slave program.
Remedy: Reteach motype Remedy: Use cartesian motion.
MOTN-133 WARN Time after limit used(G:%d^2) MOTN-192 STOP UT of MASTER was changed
Cause: Local condition time after value is too big. System will use time after limit This is Cause: Utool of master robot is changed during link motion.
just a warning Remedy: Confirm master program as not to change utool.
Remedy: No corrective action required MOTN-193 STOP UT of SLAVE was changed
MOTN-134 STOP Can not move path backward (G:%d^2) Cause: Utool of slave robot is changed during link motion.
Cause: Backward path/subpath motion is not supported Remedy: Confirm slave program as not to change utool.
Remedy: Remove backward command MOTN-194 STOP Machine Lock is ENABLED
MOTN-135 STOP Last motype can't be circular (G:%d^2) Cause: Robot link is not available when machine lock status.
Cause: Backward last node motype can not be circular Remedy: Confirm robot position and disable machine lock.
Remedy: Change last node motype MOTN-195 SABRT RLINK internal error %d^5
MOTN-136 STOP Circular Points too close(L:%d^5) Cause: Internal error
Cause: Two of the circular taught points are too close to each other. Remedy: Contact FANUC Robotics Hotline.
Remedy: Re-teach the points. Ideally circular points should be evenly spaced. Otherwise MOTN-198 WARN CRC Start-Via too close(L:%d^5)
a small change in one point can drastically change the programmed circle. Cause: Circular Start and Via points are too close to each other.
MOTN-137 STOP No circular softpart (G:%d^2) Remedy: Re-teach the points. Ideally circular points should be evenly spaced. Otherwise
Cause: The circular motion softpart is not loaded in the system. a small change in one point can drastically change the programmed circle.
Remedy: Load the circular softpart MOTN-199 WARN CRC Via-Dest too close(L:%d^5)
MOTN-138 STOP No joint short motion SP (G:%d^2) Cause: Circular Via and Dest. points are too close to each other.
Cause: Joint short motion softpart is not loaded in the system. Remedy: Re-teach the points. Ideally circular points should be evenly spaced. Otherwise
Remedy: Load joint short motion softpart a small change in one point can drastically change the programmed circle.
MOTN-139 STOP No cart short motion SP (G:%d^2) MOTN-200 WARN (%s^4, %d^5) Too long anticipate time
Cause: Cartesian short motion softpart is not loaded in the system. Cause: Specified TimeBefore (anticipation) value was too large
Remedy: Load cartesian short motion softpart Remedy: 1. Reteach the previous point to make motion segment longer.
MOTN-140 STOP No KAREL motion softpart (G:%d^2) 2. Specify smaller TimeBefore value.
Cause: The KAREL motion softpart is not loaded in the system. MOTN-210 STOP Failed to resume program
Remedy: Load the KAREL motion softpart. Cause: original path resume failed for Robot Link.
MOTN-141 STOP No KAREL motion func. ptr (G:%d^2) Remedy: Check if $RKCFG.$COMP_SWITCH & 0x01 is set to use original path resume.
Cause: The KAREL motion function pointer is not initialized or does not exist. MOTN-211 STOP Resume condition mismatch
Remedy: Check that the KAREL Motion softpart has been loaded, and restart the Cause: Some robots are not resumed
controller. Remedy: Please abort and restart the program
MOTN-142 STOP No Group Motion SP (G:%d^2) MOTN-212 STOP Link is in held status (G:%d^2)
Cause: The Group Motion softpart is loaded and multi-group motion is specified Cause: Jog motion of the robot in the status of Held or Link Incomplete is not allowed.
Remedy: Check that the Group Motion softpart has been loaded, and restart the Remedy: Change status to MASTER or ALONE at MANUAL screen to jog the robot.
controller. MOTN-230 WARN T1 rotspeed limit (G:%d^2)
MOTN-143 STOP No Motion Resume SP (G:%d^2) Cause: T1 mode rotation speed limit is used
Cause: The Motion Resume softpart is loaded and path resume motion is specified Remedy: Reduce speed or Use (deg/sec) or sec as speed unit
Remedy: Check that the Motion Resume softpart has been loaded, and restart the MOTN-231 WARN T1 speed limit (G:%d^2)
controller. Cause: The speed has been reduced at T1 mode even though the command speed is
MOTN-144 STOP No joint Turbo Move SP (G:%d^2) not greater than $SCR.$SAFE_SPD
Cause: Joint Turbo Move softpart is not loaded in the system. Remedy: This is just a notification that the robot may move with lower speed than
Remedy: Load joint Turbo Move softpart production mode even though the command speed is not greater than safe speed.
MOTN-145 STOP No cart Turbo Move SP (G:%d^2) MOTN-240 STOP J4 is not zero
Cause: Cartesian Turbo Move softpart is not loaded in the system. Cause: Given position's J4 angle is not zero.
Remedy: Load cartesian Turbo Move softpart Remedy: Confirm position data
MOTN-146 STOP INTR can't replan major axis(G:%d^2)
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MOTN-241 STOP OFIX stroke limit Remedy: Check the alarm log to find out at which position motion error will occur, use
Cause: Given position is out of stroke limit CLR_Adj to clear the adj value
Remedy: Confirm position data MOTN-321 WARN Posn unreachable at line %s
MOTN-242 STOP OFIX is disabled Cause: An unreachable position is detected in the adjustment precheck
Cause: Specified motion group is OFIX disabled. Remedy: Check the alarm log to find out at which position motion error will occur, use
Remedy: Confirm motion group and robot type CLR_Adj to clear the adj value
MOTN-243 STOP OFIX error MOTN-340 STOP Fast fault recovery
Cause: By error, OFIX motion is not available. Cause: This is notification for application process enabled in the fast fault recovery when
Remedy: Check cause code. the alarm position is found.
MOTN-244 STOP OFIX Detect J4 is not 0 Remedy: This is just notification.
Cause: J4 angle is not 0 at start or destination. MOTN-341 WARN NO Z offset for INC motion
Remedy: Confirm position data Cause: Z offset is specified for INCREMENTAL motion. Z offset can not be applied for
MOTN-245 STOP OFIX Wrist config mismatch INCRE motion. This is notification that Z offset was not applied for the motion.
Cause: Configuration mismatch between start and dest pos. Remedy: Please don't use incremental motion if you need Z offset
Remedy: Confirm position data MOTN-342 STOP Override change not allowed
MOTN-246 STOP OFIX Invalid rail vector Cause: Change in teach pendant override setting while the program is running.
Cause: This robot is not setuped for OFIX Remedy: Set Teach Pendant's override to the desired value and resume the program
Remedy: Confirm robot type MOTN-400 STOP No Coll. Guard Reg. Defined
MOTN-247 STOP E-Effector is not vertical to rail Cause: No register has been defined for use with the Collision Guard Update macro.
Cause: E-Effector angle is not vertical to rail axis. Remedy: Use the Collision Guard SETUP screen to define a register for use with the
Remedy: Confirm position data macro.
MOTN-248 STOP OFIX Too large tool rotation MOTN-401 STOP Coll. Guard Reg. Data Error
Cause: Tool rotation angle is too large for 1 motion. Cause: The data contained in the Collision Guard macro register is not an integer or is
Remedy: Reduce tool rotation angle not in the range of 1 to 200.
MOTN-249 STOP OFIX Too large tool spin Remedy: Enter the correct data into the Collision Guard macro register.
Cause: Tool spin angle is too large for 1 motion. MUPS Error Codes
Remedy: Reduce tool spin angle MUPS-002 ERR_STOP_C Isolated offset destination
MOTN-250 STOP Use CNT0/FINE for L/C before OFIX Cause: Isolated offset destination
Cause: Linear or Circular motion just before OFIX must terminate motion with CNT0 or Remedy: Must have at least two points
FINE. MUPS-003 ERR_STOP_C Invalid motype with offset
Remedy: Change term type of previous motion. Cause: Invalid motype with offset
MOTN-252 STOP OFIX: No plan data Remedy: Internal error: motion type is not Joint, Linear, or Circular. If this error persists,
Cause: Accupath or CJP may be used. OFIX does not work with these option. contact FANUC Robotics.
Remedy: Confirm software option. MUPS-004 ERR_STOP_C Segment too short using OFFSET
MOTN-253 STOP OFIX: Motion type mismatch Cause: Segment too short using OFFSET
Cause: OFIX can work with linear motion. Remedy: Increase distance between points
Remedy: Confirm motion type. MUPS-006 ERR_STOP_C BWD not allowed in M-PASS
MOTN-254 STOP OFIX: Detect large spin Cause: BWD motion not supported
Cause: Tool spin angle is too large. Remedy: Multi-Pass does not support backward motion. Please do not use Shift-BWD in
Remedy: Confirm tool spin angle between start and destination Multi-Pass.
MOTN-255 STOP OFIX: Detect J4 is not 0 MUPS-007 ERR_STOP_C Illegal transition:nonCD<->CD
Cause: Detect J4 is not zero angle during interpolation. Cause: Illegal transition (nonCD->CD or CD->nonCD) happens.
Remedy: Confirm start and destination position are both J4 = 0 position. Remedy: Add or remove motion option COORD.
MOTN-256 STOP OFIX: TCP config limit MUPS-008 ERR_ABO_C Invalid pass number
Cause: Reached to stroke limit within this TCP configuration. Cause: Pass number is not acceptable
Remedy: Change position data. Remedy: Use correct pass number
MOTN-257 STOP Wrist start angle mismatch MUPS-009 ERR_STOP_C Invalid Direction
Cause: Wrist axis turn number is differ from position data Cause: Pass direction is not acceptable
Remedy: Confirm position data turn number and actual turn number. Fix turn in config Remedy: Pass direction can only be 0: Normal or 1: Reverse. First pass direction must
data. be 0
MOTN-258 STOP Not reached to dest rotation MUPS-010 ERR_STOP_C Invalid parameters
Cause: OFIX motion does not reached to correct rotation angle Cause: Pass number and direction are not acceptable
Remedy: Confirm destination's wrist axis position data Remedy: Check the pass number and direction
MOTN-259 STOP Not reached to dest spin MUPS-011 WARN Pass number is out of sequence
Cause: OFIX motion does not reached to correct spin angle Cause: Pass number is not in sequence
Remedy: Confirm destination's wrist axis position data Remedy: Use correct pass number
MOTN-300 STOP CD not support:Use CNT L:%d^5 OPTN Error Codes
Cause: Term type CD is not supported. OPTN-000 WARN Unknown error (OPTN)
Remedy: Change termtype FINE or CNT. Cause: System internal error.
MOTN-301 STOP Path to resume is changed(G:%d^2) Remedy: Perform a cold start:
Cause: Can't resume motion. 1. Turn off the robot.
Remedy: Abort and run program. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
MOTN-302 WARN Corner speed slowdown L:%d^5 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Corner speed slows down automatically because of robot constraint. cleared, document the events that led to the error and call your FANUC Robotics
Remedy: If slow down is not acceptable, re-teach the path. technical representative.
MOTN-303 WARN Can't maintain CDist L:%d^5 OPTN-001 WARN Too many options installed
Cause: Can't maintain corner distance because path is short or speed is high. Cause: The maximum number of software options/updates (50) is installed.
Remedy: Lengthen path or reduce speed. Remedy: None required. Options/updates will load but not be logged.
MOTN-304 WARN CS:Prog speed achieved L:%d^5 OPTN-002 WARN Installed: `%s'
Cause: SPD value does not affect corner speed anymore. Cause: Installation of software option/update has finished successfully.
Remedy: This is just a notification. You do not have to do anything for this warning Remedy: This is just a notification. You do not have to do anything for this warning
message. message.
MOTN-305 WARN Can't maintain speed L:%d^5 OPTN-003 WARN Skipped: `%s'
Cause: Can't maintain program speed on the path because of robot constraint. Cause: S/W option was skipped by installer.
Remedy: This is just a notification. You do not have to do anything for this warning Remedy: Some options cannot be overlayed, you may need to delete some options first.
message. OPTN-006 WARN Not Installed: `%s'
MOTN-306 STOP Can't replan (G:%d^2, A:%x^3 Hex) Cause: The specified software option was not installed properly.
Cause: Resume motion cannot reach stop position Can't resume original path. Remedy: Reinstall the option.
Remedy: Abort program and rerun OPTN-007 WARN Unauthorized: `%s'
MOTN-307 STOP Mismatch MMR (G:%d^2) Cause: Software option has not been authorized for this configuration.
Cause: Internal system error. Can't resume original path. Remedy: Call your FANUC Robotics technical representative.
Remedy: Abort program and rerun OPTN-008 WARN Requires: `%s'
MOTN-308 WARN FINE termtype used L:%d^5 Cause: The required floppy disk was not used.
Cause: Can't generate corner between two motion because of motion instruction. And Remedy: Reinstall the option using the required floppy disk.
CNT or CD is ignored. OPTN-009 WARN Authorized: `%s'
Remedy: Use LOCK PREG instruction when PR[] is used for position or OFFSET Cause: Software option is now authorized for this configuration.
instruction is used. Remedy: This is a notification. No action is needed.
MOTN-309 WARN Circular speed reduced L:%d^5 OPTN-010 WARN Force COLD start
Cause: Circular speed is reduced because of robot constraint Cause: Setup Application has not been done
Remedy: Reduce program speed not to display. Remedy: Setup Application prior to START (COLD)
MOTN-310 STOP Pos. Cfg. change 2 (G:%d^2) OPTN-011 WARN Cycle Power, and force CTRL start
Cause: Configuration mismatch Cause: Power down and then up is needed
Remedy: Reteach the destination position so that its configuration &ne string matches Remedy: Turn the controller off, and then back on
the start position's configuration string. OPTN-012 WARN ID file is missing/corrupt
MOTN-311 STOP Path to resume is changed(G:%d^2) Cause: The LICENSE file, license.dat, is missing or corrupted
Cause: Can't resume motion on the original path. Remedy: Do a full load from the original distribution media.
Remedy: Abort and run program. Then, the resumed motion may not be on the original OPTN-013 WARN Invalid PAC
path. Cause: The supplied PAC is not valid for this option.
MOTN-312 STOP Can't resume in single step CJ Remedy: Obtain a valid PAC for this option.
Cause: Can't resume motion in single step mode. OPTN-014 WARN Dependency nesting too deep
Remedy: Abort program and rerun. Cause: The option nesting tree is too deep.
MOTN-313 STOP Can't resume motion CJ(2) Remedy: Install sub-options first.
Cause: Can't resume motion on the original path. OPTN-015 WARN Excludes: `%s'
Remedy: Abort and run program. Then, the resumed motion may not be on the original Cause: This option is not compatible with an option that is already installed.
path. Remedy: You cannot have both options.
MOTN-314 SABRT Can't resume motion CJ(3) OPTN-016 WARN Key file is missing/corrupt
Cause: Can't resume motion on the original path due to motion condition. Cause: The KEY file, keyfile.dat, is missing or corrupted
Remedy: Abort and run program. Then, the resumed motion may not be on the original Remedy: Do a full load from the original distribution media.
path. OPTN-017 WARN No UPDATES on this media
MOTN-315 STOP Command speed is changed CJ Cause: The distribution media does not contain, update.tx, so there are no updates to
Cause: Can't resume motion on the original path due to command speed change. install.
Remedy: Modify back the command speed, or abort program Remedy: None required.
MOTN-316 STOP Override change not allowed OPTN-018 WARN No CUSTOMIZATIONS on this media
Cause: Change in teach pendant override setting while the program is resuming with Cause: The distribution media does not contain, custom.tx, so there are no
disabling CJP. customizations to install.
Remedy: Set Teach Pendant's override to the desired value and resume the program. Remedy: None required.
Please don't change override right after resuming. OPTN-019 WARN Versions mismatched
MOTN-317 STOP unknown error (MO317) Cause: The distribution media contains updates or customizations, but has a different
Cause: Internal system error. This class of error should not be encountered by the user release version than this core.
during normal operation Remedy: None required.
Remedy: Refer to Remedy of MOTN-000 OS Error Codes
MOTN-318 STOP unknown error (MO318) OS -002 WARN System error - invalid function performed
Cause: Internal system error. This class of error should not be encountered by the user Cause: The function performed by the user is not supported or is invalid.
during normal operation Remedy: Consult the appropriate manual and verify the usage of the attempted
Remedy: Refer to Remedy of MOTN-000 operation. Try it again, if possible. If you try again and still get this error, record the
MOTN-319 STOP CRC large orient change (G:%d^2) events that led to the error and contact your FANUC Robotics tech representative.
Cause: Small circle but large orientation change OS -144 SYST System error %x, %x at %x
Remedy: Reteach circular points Cause: An unknown register dump occurred.
MOTN-320 WARN Adj out of limit at line %s Remedy: Contact the FANUC Robotics hotline and provide the following information for
Cause: An unreachable position is detected in the adjustment precheck further investigation.
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o Record the entire error message(s) that occurred including any program running at the Cause: The robot task has faulted, but was not detected by the main task.
time of the system error. Remedy: Current cycle must be aborted.
o Retrieve the following files from the File Menu: md:histe.ls md:histr.ls md:hists.ls PAIN-038 WARN Invalid system color
md:histp.ls md:conslog.ls md:errall.ls Cause: The current operation attempted to use an undefined system color.
o In addition for a system V5.22 or greater, do a diagnostic backup from the file menu to Remedy: Change the system color for the current operation to a valid one.
send to FANUC Robotics. PAIN-039 WARN No presets found
OS -145 WARN Power off controller to reset Cause: No presets for current system color was found on an attempt to delete the
Cause: Usually a result of previous unrecoverable system error. presets.
Remedy: Cycle power on the controller. If error message persists, then contact the Remedy: None
FANUC Robotics hotline for further investigation. PAIN-040 WARN Wait for autoprocessing to finish
PAIN Error Codes Cause: Autoprocessing of the last edited program is still in process.
PAIN-001 WARN Unknown PAINTtool error Remedy: Wait for autoprocessing to complete before entering production mode.
Cause: PAINTtool has detected an unknown error. PAIN-041 ABRT Invalid job type (%s) received
Remedy: See TP error log for cause of error. Cause: An invalid job type was received from the PLC.
PAIN-002 WARN Press master reset Remedy: PLC must init robot with a valid job prefix.
Cause: System is in error condition. PAIN-042 WARN System is in error status
Remedy: Press reset to clear error. Cause: There is an alarm that must be cleared before Test Cycle can be run.
PAIN-003 WARN Reset failure Remedy: Clear all system alarms.
Cause: The reset procedure has failed. PAIN-044 WARN Sync Que-Job passed window
Remedy: Correct the error, if any, and try the reset again. Cause: The job is not run and the encoder counts indicate that the part is past the Start
PAIN-004 WARN Robot is bypassed switch (plus tolerance). The robot deletes the job from the queue, posts this warning
Cause: Robot not bypass input is OFF. message and continues to operate in production.
Remedy: Robot not bypass input must be ON. Remedy: N/A
PAIN-005 WARN Robot Servos Disabled PAIN-045 WARN Sync Que-Job before window
Cause: Servo disconnect on robot is ON. Cause: The job is not run and the encoder counts indicate that the part has not made it
Remedy: Set servo disconnect on robot OFF. to the Start switch (minus tolerance). The robot holds onto that job for the next start
PAIN-006 PAUS Production mode is disabled signal, posts this warning message and continues to operate in production.
Cause: Production mode input is OFF. Remedy: N/A
Remedy: Status message only. PAIN-046 WARN Robot in opener path
PAIN-007 ABRT SHELL failed to run SUBSHELL Cause: Opener move cannot be executed as the robot is in the opener path
Cause: Subtask failed to run. Remedy: Jog the robot so that it is clear of the opener and then reissue the move
Remedy: Cold start the controller. PAIN-047 WARN Opener in robot path
PAIN-008 WARN REMOTE switch must be REMOTE Cause: Robot move cannot be executed as the opener is in the robot path
Cause: Remote switch is in the LOCAL position. Remedy: Jog the opener so that it is clear of the robot and then reissue the move
Remedy: Place remote switch to REMOTE position. PAIN-048 WARN Opener Bypass is undefined
PAIN-009 WARN STEP mode must be disabled Cause: Opener bypass program is not taught.
Cause: STEP mode is ON going into production. Remedy: Teach Opener bypass program (OPNBYPAS.TP).
Remedy: Press TP STEP key to disable STEP mode. PAIN-049 WARN Special program is undefined
PAIN-010 WARN Machine lock is ON Cause: Opener special1 program is not taught.
Cause: Machine lock is ON going into production. Remedy: Teach Opener special1 program (OPNSPC1.TP).
Remedy: Disable machine lock on TP. PAIN-050 WARN Robot at cleaner position
PAIN-011 WARN Robot motion is not enabled Cause: Robot is positioned at the cleaner.
Cause: UOP enable input is OFF. Remedy: Must execute a cleanout move before continuing.
Remedy: UOP enable input must be ON. PAIN-051 ABRT Home program is undefined
PAIN-012 WARN Genoveride not 100 % Cause: Robot home program is not taught.
Cause: Program cannot set genoverride to 100. Remedy: Teach robot home program (HOME.TP).
Remedy: Manually set genoverride to 100 on TP. PAIN-052 ABRT Bypass program is undefined
PAIN-013 ABRT Invalid job %s received Cause: Robot bypass program is not taught.
Cause: An invalid job number was received from the PLC. Remedy: Teach robot bypass program (BYPASS.TP).
Remedy: PLC must init robot with a valid job number. PAIN-053 ABRT Clean in program is undefined
PAIN-014 ABRT Invalid tutone %s received Cause: Robot cleanin program is not taught.
Cause: An invalid tutone option was received from the PLC. Remedy: Teach robot cleanin program (CLNIN.TP).
Remedy: PLC must init robot with a valid tutone option. PAIN-054 ABRT Clean out program is undefined
PAIN-015 ABRT Invalid repair %s received Cause: Robot cleanout program is not taught.
Cause: An invalid repair option was received from the PLC. Remedy: Teach robot cleanout program (CLNOT.TP).
Remedy: PLC must init robot with a valid repair option. PAIN-055 ABRT Purge program is undefined
PAIN-016 ABRT Invalid color %s received Cause: Robot purge program is not taught.
Cause: An invalid color number was received from the PLC. Remedy: Teach robot purge program (PURGE.TP).
Remedy: PLC must init robot with a valid color number. PAIN-056 ABRT Opener Home program is undefined
PAIN-017 ABRT Job (%s) is not found Cause: Opener home program is not taught.
Cause: Production run program is not loaded Remedy: Teach Opener home program (OPN1HOME.TP).
Remedy: Program must be loaded before attempting to run it in production. PAIN-061 WARN Parm %s Value beyond limits
PAIN-018 WARN Invalid job %s in queue Cause: An attempt to set an applicator parameter output was made which was beyond
Cause: An invalid job number was received from the PLC. Cannot put the job into the job it's min/max value.
queue. Remedy: Verify parameter min/max output setting.
Remedy: PLC must init robot with a valid job number in order to receive a job read PAIN-062 WARN I/O setup verified OK
acknowledge from the robot. Cause: SETUP Applicators: The I/O information is correct and complete.
PAIN-019 WARN Invalid color %s in queue Remedy: Status message only.
Cause: An invalid color number was received from the PLC. Cannot put the color into the PAIN-063 WARN Error attempting to setup I/O
color queue. Cause: SETUP Applicators: The I/O information for an applicator was changed and is in
Remedy: PLC must init robot with a valid job number in order to receive a color read error.
acknowledge from the robot. Remedy: Check the output type, output number, rack and slot number, first bit location
PAIN-020 WARN Job queue is empty and number of bits.
Cause: No jobs detected in the job queue. PAIN-064 WARN Applicator enable is OFF
Remedy: Status message only. Cause: This message is displayed when the applicator valve enable input turns OFF.
PAIN-021 WARN Color queue is empty When this input is OFF, the GUN trigger output are blocked from turning ON.
Cause: No colors detected in the color queue. Remedy: This is a status message only.
Remedy: Status message only. PAIN-065 WARN Applicator enable is ON
PAIN-022 WARN Job queue is full Cause: This message is displayed when the applicator valve enable input turns ON.
Cause: Job queue is full. Remedy: This is a status message only.
Remedy: Remove job(s) from the job queue before attempting to add more jobs to the PAIN-066 WARN Parm %s setup error
queue. Cause: This parameter's I/O setup is not complete. And it cannot be written to.
PAIN-023 WARN Color queue is full Remedy: Use SETUP APPLICATOR menu and check the setup values.
Cause: Color queue is full. PAIN-067 WARN Parm %s not calibrated
Remedy: Remove color(s) from the color queue before attempting to add more colors to Cause: This parameter's calibration table is not marked complete.
the queue. Remedy: Use SETUP APPLICATOR CAL to calibrate.
PAIN-024 WARN Motion in progress PAIN-068 WARN Warning: color not calibrated
Cause: Robot motion is in progress. Cause: This parameter by color calibration table is not marked complete.
Remedy: Status message only. Remedy: Use SETUP APPLICATOR CAL to calibrate all the defined color valves. If only
PAIN-025 WARN Part not in position unused colors are not calibrated, ignore this warning.
Cause: Part no longer in correct position. PAIN-070 WARN Error reading gun-on time for job
Remedy: Current cycle must be aborted. Cause: Some process(s) within a job may have something wrong with its header.
PAIN-026 WARN Shell aborted or paused Remedy: Go to the DETAIL page for every process in the job. This should correct the
Cause: Another task has detected the main task aborted or paused. problem.
Remedy: Cycle power on the controller. PAIN-071 WARN Error writing gun-on time for job
PAIN-027 WARN E-STAT unit faulted Cause: Some process(s) within a job may have something wrong with its header.
Cause: Detected a E-STAT unit fault. Remedy: Go to the DETAIL page for every process in the job. This should correct the
Remedy: Clear E-STAT unit fault. problem.
PAIN-029 WARN Automatic CLNOUT on prod_entry PAIN-074 WARN Adj. colors table sizes to %s
Cause: Automatic move from the cleanin position on production entry is enabled Cause: Message indicating that the application is attempting to adjust the size of the
Remedy: Status message only. colors tables based on the configuration variable setting.
PAIN-030 WARN Cannot create presets Remedy: Status message only.
Cause: When a job is created, the presets for the job are also created. In this case, the PAIN-075 WARN Adj. presets table size to %s
presets for the job could not be created. Cause: Message indicating that the application is attempting to adjust the size of the
Remedy: Check that the job name is of the form JOBXXXX, where XXXX is a number presets table based on the configuration variable setting.
between 1 and 1024. Remedy: Status message only.
PAIN-031 WARN Cannot read presets data file PAIN-076 WARN Adj. color valves table size to %s
Cause: The preset data for the current job could not be found. Cause: Message indicating that the application is attempting to adjust the size of the
Remedy: Check for the existence of a file PAPSXXXX, where XXXX is the job number. color valve table based on the configuration variable setting.
This file is created when the job is created. If the job was incorrectly named, or the file Remedy: Status message only.
was deleted, this message may result. PAIN-077 WARN Failed to adj. color table size
PAIN-032 ABRT (%s) not calibrated Cause: The application can not adjust the size of the colors tables to the requested
Cause: The calibration status for each control parameter must be complete before it may setting because there is not enough memory available.
be used in a program. Remedy: Use a smaller setting that is within the memory constraints of the controller.
Remedy: Calibrate all control parameters used within the current program. PAIN-078 WARN Failed to adj. preset table size
PAIN-033 ABRT Failed to run robot task Cause: The application can not adjust the size of the presets table to the requested
Cause: An attempt to run the robot motion task has failed. setting because there is not enough memory available.
Remedy: Current cycle must be aborted. Remedy: Use a smaller setting that is within the memory constraints of the controller.
PAIN-034 ABRT Failed to continue robot task PAIN-079 WARN Failed to adj. color valve table size
Cause: An attempt to continue the robot motion task has failed. Cause: The application can not adjust the size of the color valves table to the requested
Remedy: Current cycle must be aborted. setting because there is not enough memory available.
PAIN-035 ABRT Failed to pause robot task Remedy: Use a smaller setting that is within the memory constraints of the controller.
Cause: An attempt to pause the robot motion task has failed. The robot motion task PAIN-080 WARN Invalid parameter indicator
presumably has aborted. Cause: Invalid parameter indicator value was sent from the PLC.
Remedy: Current cycle must be aborted. Remedy: Verify number of applicator control parameters setup in the robot to the value
PAIN-036 ABRT Failed to abort robot task sent from the PLC. This value should be between the range of 1 to 4.
Cause: An attempt to abort the robot motion task has failed. The robot motion task may PAIN-081 WARN No channel/parameter indicated
not have been running at time an attempt was made to abort it. Cause: PLC sent parameter indicator value of 0.
Remedy: None Remedy: Correct problem at PLC.
PAIN-037 ABRT Robot task has faulted PAIN-082 WARN Reading parameter test value
32
Cause: Reading parameter indicator test value from PLC. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Remedy: Status message only. Electrical Connection and Maintenance Manual.
PAIN-083 WARN Applicator test outputs are ON PAIN-132 PAUS Move error excess
Cause: Applicator test outputs are ON. Initiated by PLC. Cause: The servo error was too big when the robot was moving.
Remedy: Status message only. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
PAIN-084 WARN Applicator test outputs are OFF Electrical Connection and Maintenance Manual.
Cause: Applicator test outputs are OFF. Terminated by PLC. PAIN-133 PAUS DEADMAN switch RELEASED
Remedy: Status message only. Cause: The DEADMAN switch has been released during an operation. The operation
PAIN-085 WARN Manual inputs are enabled has been discontinued.
Cause: On manual mode entry. All PLC manual mode input functions are enabled. Remedy: Press the DEADMAN switch, and hold it down to restart the procedure.
Remedy: Status message only. PAIN-134 PAUS Fence open during production
PAIN-086 WARN Manual inputs are disabled Cause: FENCE1 and FENCE2 circuit open on EMG control board.
Cause: On manual mode exit. All PLC manual mode input functions are disabled. Remedy: Determine the cause of FENCE1 and FENCE2 open circuit and correct.
Remedy: Status message only. PAIN-135 PAUS UOP immediate stop detected
PAIN-087 WARN Manual enabled during motion Cause: IMSTP (immediate stop) UOP input not asserted.
Cause: Manual mode is being initiated while motion is occurring. Remedy: If using UOP, clear source of fault. If not using UOP, select the I/O menus,
Remedy: Motion must complete before manual mode is entered. zero UOP mapping, and cycle power on the controller.
PAIN-088 WARN Manual enabled during cycle PAIN-136 PAUS HOLD active
Cause: Manual mode is being initiated during a cycle execution. Cause: A HOLD signal, either from the UOP or the teach pendant, has been activated.
Remedy: Cycle must complete before manual mode is entered. Remedy: Remove the HOLD condition
PAIN-089 WARN Manual enabled in color cycle PAIN-137 ABRT Track destination gone
Cause: Manual mode is being initiated during a color change cycle. Cause: Destination out of window error.
Remedy: Color change cycle must complete before manual mode is entered. Remedy: Current cycle must be aborted.
PAIN-090 WARN Manual operations at cell PAIN-138 ABRT PC serial interface fault
Cause: Manual mode operations can be performed from the cell, from the teach Cause: PC interface serial link has failed.
pendant, and (soon) from the CRT. This message states that the cell is currently Remedy: Check LED status on PC interface board. Refer to manual for possible cause.
controlling manual mode operations. PAIN-140 PAUS OVC alarm
Remedy: Status message only. Cause: The average current calculated by the servo software exceeded specification.
PAIN-091 WARN Manual operations at TP Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: Manual mode operations can be performed from the cell, from the teach Electrical Connection and Maintenance Manual.
pendant, and (soon) from the CRT. This message states that the teach pendant is PAIN-141 WARN Robot not calibrated
currently controlling manual mode operations. Cause: The robot must be calibrated before proceeding. Only jogging in the joint
Remedy: Status message only. coordinate system and the calibration motion itself can be executed before the robot is
PAIN-092 WARN Manual operations at CRT calibrated.
Cause: Manual mode operations can be performed from the cell, from the teach Remedy: Calibrate the robot.
pendant, and (soon) from the CRT. This message states that the CRT is currently PAIN-142 ABRT Limit error
controlling manual mode operations. Cause: The taught position was outside the normal work envelope of the robot. One of
Remedy: Status message only. the robot axes could not reach the position.
PAIN-093 ABRT TP Enabled in cycle Remedy: Reteach the position.
Cause: The TP cannot be enabled when running a remote Color Change cycle. PAIN-143 ABRT Position not reachable
Remedy: Status message only. Cause: There is no solution (conversion from a Cartesian position to joint angles) for the
PAIN-100 WARN Invalid encoder number taught position.
Cause: An attempt was made to use a nonexistent encoder number. Remedy: Reteach the position.
Remedy: Select a valid encoder number. PAIN-144 ABRT Configuration mismatch
PAIN-101 WARN Invalid encoder average Cause: This is a pause condition. The configuration cannot change during a Cartesian
Cause: An attempt was made to use an invalid encoder average number. (linear or circular) motion.
Remedy: The average must be nonzero and less than 100. Remedy: Either reteach the motions using the same configuration or use a joint motion
PAIN-102 WARN Waiting for tracking detect to change configurations before proceeding with Cartesian motion.
Cause: For continuous line only. This indicates that the controller has validated the path PAIN-145 PAUS Planner error
information and is waiting to start but the part is not within the window. Cause: An error was encountered by the planner.
Remedy: The controller will start when the part activates the part detect switch. Remedy: Check the error message log for details.
PAIN-103 ABRT Tracking que exceeded PAIN-146 ABRT Unitialized position
Cause: For continuous line only. This indicates that too many parts have passed the part Cause: This is a system software error.
detect switch within the current boundaries. Remedy: Document the events that led to the error, record the software version number
Remedy: Expand robot boundaries or lower the conveyor speed. and contact your local distributor or the FANUC Robotics hotline. You can try to clear the
PAIN-104 WARN Linetracking parameter undefined error by powering the controller off and then on.
Cause: For continuous line only. A line tracking parameter is undefined and is required to PAIN-147 ABRT Brake fuse blown
run the system. Cause: The brake fuse is blown on the EMG control pcb. The FALM light on the EMG
Remedy: Ensure that all tracking parameters have been setup in tracking setup. control pcb should be lit.
PAIN-105 WARN Railtrack parameter undefined Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: For continuous line only. A rail tracking parameter is undefined and is required to Electrical Connection and Maintenance Manual.
run the system. PAIN-148 WARN Robot not mastered
Remedy: Ensure that all tracking parameters have been setup in tracking setup. Cause: Robot is not mastered.
PAIN-106 WARN Invalid tracking frame Remedy: Refer to mastering section in the SYSTEM R-J Controller Series Electrical
Cause: An attempt was made to use an invalid tracking frame number. Connection and Maintenance Manual.
Remedy: The current software supports tracking frames 1-6. Must be greater then 0 and PAIN-149 ABRT MCC alarm
less than 7. Cause: The servo amplifier magnetic contactor (MCC) is welded closed.
PAIN-107 WARN Encoder count rollover Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: For continuous line only. This is a warning that the encoder counter has detected Electrical Connection and Maintenance Manual.
a rollover condition. PAIN-150 PAUS Discharge current alarm
Remedy: Status/Warning message only. Cause: The regenerative energy produced by the motor exceeded specifications.
PAIN-108 WARN Part Detect less than min dist Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: For continuous line only. This is a warning that the trigger distance is less than a Electrical Connection and Maintenance Manual.
pre-determined value This part detect will be ignored by the robot controller. PAIN-151 ABRT High voltage alarm
Remedy: Reduce the minimum distance value to less than the job spacing distance or Cause: The DC voltage on the main power circuit of the servo amplifier exceeded
replace the old switch specification.
PAIN-109 WARN Conveyor direction incorrect Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: For continuous line only. The robot has determined the conveyor is running in the Electrical Connection and Maintenance Manual.
wrong direction. Part detects will be ignored by the robot PAIN-152 ABRT High current alarm
Remedy: Swap the leads on the encoder repeater board so that the encoder counts Cause: The current in the main power circuit of the servo amplifier exceeded
positive counts instead of negative specification.
PAIN-110 WARN %s skipped-over max travel Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: For line tracking only. This is a warning that the part has tracked too far to be Electrical Connection and Maintenance Manual.
played. The robot will ignore this job/color. PAIN-153 ABRT Low voltage alarm
Remedy: Previous job or color change took too long to play. Cause: The DC voltage on the main power circuit of the servo amplifier is lower than the
PAIN-111 WARN Waiting for part in window specification even though MCC is on.
Cause: For continuous line only. This is a warning that the robot is waiting for a part to Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
enter the tracking window DO NOT ENTER THE ROBOT WORKSPACE Electrical Connection and Maintenance Manual.
Remedy: Status message only. PAIN-154 PAUS Servo amp overheat alarm
PAIN-112 WARN Part entered tracking window Cause: The servo amplifier overheated.
Cause: For continuous line only. This is a warning that the part has entered the robot Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
tracking window Electrical Connection and Maintenance Manual.
Remedy: Status message only. PAIN-155 ABRT Collision alarm
PAIN-113 PAUS Tracking encoder disconnected Cause: The servo software detected a disturbance torque that was too high, and tripped
Cause: Robot is detecting a problem with the tracking encoder cable. a a collision detection alarm.
Remedy: Check encoder cable. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
PAIN-114 WARN Right hand only for this robot Electrical Connection and Maintenance Manual.
Cause: The robot being used is not supported in PaintTool line tracking for a left hand PAIN-156 WARN Pulse coder battery discon alarm
arm type. The robot is not a P-Series robot. Cause: The battery voltage for the pulse coder is zero volts.
Remedy: If the robot library (setup) does not offer a selection for right or left hand then Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
no remedy is required. If the robot has been set up as left hand, change it to right hand. Electrical Connection and Maintenance Manual.
PAIN-115 PAUS DAL alarm(Track encoder:1) PAIN-157 ABRT Pulse coder alarm
Cause: The tracking encoder has been disconnected or is faulty. Cause: Pulse coder alarm had occurred. Go to the ALARMS screen on the teach
Remedy: Reconnect the tracking encoder or determine if encoder connector is faulty. pendant to record the type of pulse coder alarm.
The R-J3 controller power must be cycled before the system is allowed to reset. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
PAIN-124 PAUS Posn unreachable at line %s Electrical Connection and Maintenance Manual.
Cause: An unreachable position is detected in the adjustment precheck PAIN-158 WARN Pulse coder battery low alarm
Remedy: Check the alarm log to find out at which position motion error will occur, use Cause: The pulse coder batteries are low.
CLR_Adj to clear the adj value Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
PAIN-125 PAUS PLC e-stop detected Electrical Connection and Maintenance Manual.
Cause: An interlock signal fault or PLC E-stop was detected. PAIN-159 ABRT Motor overheat occurred
Remedy: Clear source of fault. Cause: The pulse coder overheated.
PAIN-126 ABRT Robot overtravel Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: The mechanical unit went beyond its normal travel limits and reached an Electrical Connection and Maintenance Manual.
overtravel limit switch. PAIN-160 ABRT Pulse coder communication error
Remedy: Follow the overtravel recovery procedure in the SYSTEM R-J Controller Series Cause: The axis control pcb sent the request signal, but did not receive serial data from
Electrical Connection and Maintenance Manual. the pulse coder.
PAIN-127 PAUS Release SOP e-stop Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Cause: The operator panel (SOP) E-STOP has been detected. Electrical Connection and Maintenance Manual.
Remedy: Turn/Release the SOP E-STOP button to clear the E-STOP condition. PAIN-161 PAUS Pulse coder position compare error
PAIN-128 PAUS Release TP e-stop Cause: The feedback velocity exceeds specification.
Cause: The teach pendant E-STOP has been detected. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
Remedy: Push in teach pendant E-STOP button again to clear the E-STOP condition. Electrical Connection and Maintenance Manual.
PAIN-129 PAUS TP enabled during production PAIN-162 ABRT Collision Detection (Hand Broke)
Cause: The teach pendant cannot be enabled during production. Cause:
Remedy: Disable the teach pendant. Remedy: Refer to troubleshooting section in the SYSTEM R-J Controller Series
PAIN-130 PAUS Disable teach pendant Electrical Connection and Maintenance Manual.
Cause: Teach pendant is enabled. PAIN-163 PAUS TP disabled during Test Cycle
Remedy: Disable the teach pendant to continue the program. Cause: The teach pendant cannot be disabled during test cycle.
PAIN-131 PAUS Stop error excess Remedy: Enable the teach pendant.
Cause: The servo error was too big when robot had stopped. PAIN-164 WARN Battery Low
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Cause: Battery in PSU or encoder is low or zero. Cause: For integral color change systems only: A color change cycle cannot be
Remedy: Replace the Old Battery with a new battery of same kind. executed. There are no steps defined for that color change cycle.
PAIN-165 WARN CE switch must be in AUTO Remedy: Check the color change cycle for the current color and the next color. The
Cause: The CE mode switch is not in AUTO. cycle data must have at least one step defined.
Remedy: Select AUTO mode from the CE mode switch! PAIN-201 WARN Pushout cycle cancelled
PAIN-166 PAUS Operation mode AUTO Selected Cause: For integral color change systems only: A color change pushout cycle was
Cause: The CE mode switch was placed into AUTO executing during production when it was aborted by an E-STOP. The paint line status is
Remedy: A mode change on the CE mode switch will pause your system. You must unknown.
reset your system after a mode change!!! Remedy: Reset the system and continue. The color change logic will automatically do a
PAIN-167 PAUS Operation mode T1 Selected pushout cycle before the next color change.
Cause: The CE mode switch was placed into T1 PAIN-202 WARN Color select-input fuse blown
Remedy: A mode change on the CE mode switch will pause your system. You must Cause: For integral color change systems only: For systems using the color selector
reset your system after a mode change!!! board: the input from the input fuse is ON. The color selector board is reporting a blown
PAIN-168 PAUS Operation mode T2 Selected fuse.
Cause: The CE mode switch was placed into T2 Remedy: Change the fuse as soon as possible. The robot will continue to operate as
Remedy: A mode change on the CE mode switch will pause your system. You must usual, but the color selection may not be working properly.
reset your system after a mode change!!! PAIN-203 WARN Color select-output fuse blown
PAIN-169 PAUS adj out of limit at line %s Cause: For integral color change systems only: For systems using the color selector
Cause: Prog Adj out of limit in adj precheck board: the input from the output fuse is ON. The color selector board is reporting a blown
Remedy: Check the alarm log to find out at which position motion error will occur, use fuse.
CLR_Adj to clear the adj value Remedy: Change the fuse as soon as possible. The robot will continue to operate as
PAIN-170 WARN I/O Hardware not installed usual, but the color selection may not be working properly.
Cause: I/O Hardware selected is physically not installed PAIN-204 WARN Illegal manual cycle %s received
Remedy: Make sure I/O Hardware that is being selected is installed correctly! Cause: For integral color change systems only: An illegal color change cycle number
PAIN-171 WARN Data Error (see FR:dterrors.ls) was sent by the PLC. Cycle numbers 1-8, and 21, 22, and 23 are legal cycle numbers for
Cause: I/O Auto Configurator data file contains errors! PaintTool version 1.30 and older.
Remedy: Go to File menu and DISPLAY FR:dterrors.ls for a description of error w/ Remedy: Make sure the PLC is sending a legal color change cycle number.
corresponding line no. PAIN-205 WARN Color cycle aborted
PAIN-172 PAUS Servo Disconnect Cause: For integral color change systems only: A color change cycle was cancelled by
Cause: Servo is disconnected. an E-STOP.
Remedy: Connect servo, and then press reset. Remedy: Reset the system. If in production mode, the color change cycle will be started
PAIN-173 PAUS Chain 1 (+24v) abnormal over from the beginning.
Cause: Single chain 1 (+24V) failure occurred PAIN-206 WARN Illegal manual cycle start
Remedy: Repair the circuit of the chain 1 (+24V) on hardware Set CHAIN FAILURE Cause: For integral color change systems only: In manual mode, a cycle start was
detection to TRUE on SYSTEM/CONFIG screen And push reset button on Teach received from the PLC but no manual cycle is selected.
pendant Remedy: The PLC must first select the manual cycle to be run, and then send the start
PAIN-174 PAUS Chain 2 (0v) abnormal signal.
Cause: Single chain 2 (0V) failure occurred PAIN-207 PAUS Color Valve + PrgSol both ON
Remedy: Repair the circuit of the chain 2 (0V) on hardware Set CHAIN FAILURE Cause: For integral color change systems only: During the execution of a color change
detection to TRUE on SYSTEM/CONFIG screen And push reset button on Teach cycle, the color enable output and the Purge Solvent output are not allowed to be ON at
pendant the same time. If the color change cycles attempt to do this, the cycle is aborted. (This is
PAIN-175 PAUS NTED input to prevent contamination of the paint lines.)
Cause: Non Teacher Enabling Device is released Remedy: Check the cycle data table and make sure the color enable and Purge Solvent
Remedy: Press Non Teacher Enabling Device and then press reset. outputs are never ON at the same time.
PAIN-176 PAUS TP OFF in T1,T2/Door open PAIN-208 WARN Using default valve cycle data
Cause: Teach Pendant is disabled when mode switch is T1 or T2 Or Controller door is Cause: For integral color change systems only: If there is no paint in the paint lines
opened Or mis-wiring of hardware connection (current color = 0) and a color change cycle is executed, the color change cycle data for
Remedy: Change the TP Enable/Disable switch to ON And close controller door And the first defined valve is used.
press RESET If the reset is not effective, correct hardware connection Remedy: Status message only.
PAIN-177 WARN Deadman switch released PAIN-209 ABRT Selected color valve not defined
Cause: The teach pendant deadman switch is released. Cause: For integral color change systems only: The color valve selected has no data
Remedy: This is just a notification. defined.
PAIN-178 PAUS Short term Chain abnormal Remedy: Define the color valve using the SETUP menus under VALVES.
Cause: Chain failure alarm is detected in short term PAIN-210 WARN Illegal code in NEXT color %s
Remedy: If this error occurs with deadman switch release alarm, release deadman Cause: The system color number that is next in the queue is illegal.
switch again and press deadman switch Or if this error occurs with another safety signal Remedy: This error should never occur during normal PaintTool operation. The system
errors, reproduce same safety error. And press reset If SRVO-230, 231 occurs, refer the color numbers are being when they are put into to queue.
cause and Remedy of SRVO-230,231 PAIN-211 WARN Application enable is OFF
PAIN-179 WARN Chain failure is repaired Cause: This message is displayed when the application enable input turns OFF. When
Cause: Chain failure is repaired this input is OFF, the GUN and color change outputs are blocked from turning ON.
Remedy: Status of Chain failure is changed to normal when system check chain failure Remedy: Status message only.
again And press reset PAIN-212 WARN Illegal manual color %s received
PAIN-180 WARN Cannot reset chain failure Cause: For integral color change systems only: The color valve selected by the PLC in
Cause: Reset chain failure detection can not be executed manual mode has no data defined.
Remedy: Repair the circuit of the chain 1 (+24V) on hardware Press E.STOP button on Remedy: Check the color valve number sent by the PLC. If it is correct, then define the
T.P and Twist the teach pendant emergency stop push button clockwise to release. color valve using the SETUP menus under VALVES.
Press reset. PAIN-213 ABRT Attempt to use illegal cycle number %s
PAIN-181 PAUS Brake Release Switch On Cause: This error should never occur during normal PaintTool operation.
Cause: The Brake Release switch on the Standard Operator Panel is ON! Remedy: Contact FANUC Robotics service personnel.
Remedy: Turn the Brake Release switch to the OFF position to engage the brakes PAIN-214 WARN Manaul mode is locked at T.P.
PAIN-182 WARN Col %s range err/preset %%override Cause: The cell is attempting to perform manual operations while an operator is also
Cause: System color specified contained percent preset override data which was outside performing manual operations at the teach pendant.
the pre- defined allowable range for percent overrides. Remedy: Wait for the operator to finish with the teach pendant. Then try again.
Remedy: No action required. The override percent value was automatically adjusted to PAIN-215 WARN Manual mode is locked at CRT.
the closest valid value. Cause: The cell is attempting to perform manual operations while an operator is also
PAIN-183 WARN Data err :Col %s preset %%override performing manual operations at the CRT.
Cause: System color data has uninitialized percent preset override information. This Remedy: Wait for the operator to finish with the CRT. Then try again.
happens when color data created on previous version of software is loaded into the PAIN-216 WARN Color Valve + PrgAir both ON
controller. Cause: For integral color change systems only: During the execution of a color change
Remedy: If error occurs each time system color table data is accessed, it may be cycle, the color enable output and the Purge Air output are not allowed to be ON at the
necessary to create new color table data on controller. same time. If the color change cycles attempt to do this, the cycle is aborted. (This is to
PAIN-184 WARN Eff. preset range err (%s) prevent contamination of the paint lines.)
Cause: Effective preset/estat values (after applying preset %% override factor for Remedy: Check the cycle data table and make sure the color enable and Purge Air
specified color, gun and parameter number) are outside the permissible range for that outputs are never ON at the same time.
parameter. PAIN-217 WARN CC Waiting for arm to be home
Remedy: Verify that the preset/estat value in the table is within acceptable range for the Cause: For integral color change systems only: The color change task is waiting for the
parameter. Check the override percentages defined for that color. Examine effective robot to be at the home position before a color change cycle can be executed.
preset values to see if values are within ranges for all parameters. Remedy: Send the robot to the home position.
PAIN-185 WARN Color %s data access error PAIN-218 WARN CC automatic cycles executing
Cause: Could not access data on specified system color. Data may not have been Cause: For integral color change systems only: Indication of color change task executing
created on this controller, or may have been accidentally cleared. a color change cycle.
Remedy: Create new system color data using SETUP colors screen on teach pendant. Remedy: Status message only.
PAIN-190 WARN Invalid instruction argument PAIN-219 WARN CC task could not start PUSHOUT task
Cause: During program execution, a paint instruction was encountered with an out of Cause: The color change task could not start the pushout task.
range argument. Remedy: Verify pushout task is loaded and cold start the controller.
Remedy: Edit the current program and verify that all instruction arguments are valid. PAIN-220 WARN ColorEnb + PrgSol both ON
PAIN-191 WARN Invalid gun selection Cause: For integral color change systems only: During the manual I/O testing of color
Cause: The argument to the GUN SELECT instruction is outside of the range defined in change I/O the color enable output and Purge Solvent output are not allowed to be ON at
the SETUP screen. the same time.
Remedy: Modify the offending GUN SELECT argument to be within the valid range. Remedy: Don't attempt to turn ON the outputs at the same time.
PAIN-192 WARN Preplan instruction twice PAIN-221 WARN ColorEnb + PrgAir both ON
Cause: Interpreter is attempting to preplan a paint instruction twice. This should not Cause: For integral color change systems only: During the manual I/O testing of color
happen during normal PaintTool operation. change I/O the color enable output and the Purge Air output are not allowed to be ON at
Remedy: Contact FANUC Robotics service personnel. the same time.
PAIN-193 WARN Invalid preset index Remedy: Don't attempt to turn ON the outputs at the same time.
Cause: A PRESET instruction argument is out of range. PAIN-222 WARN Selected color valve not defined
Remedy: Modify the offending PRESET argument to be within the valid range. Cause: For integral color change systems only: The color valve selected has no data
PAIN-194 PAUS Unknown mnenomic instruction defined.
Cause: An unknown instruction was encountered during program execution. This may Remedy: Define the color valve using the SETUP menus under VALVES.
happen if the program was copied from a different installation. PAIN-223 WARN More than one system color
Remedy: Delete the offending instruction. Cause: Manual color change from teach pendant: Warning: the system changes the
PAIN-195 PAUS Unknown AMR status current system color to match the fill color valve. More than one system color uses the
Cause: This error should never occur during normal PaintTool operation. current valve. The wrong system color may be set - and the wrong preset data may be
Remedy: Contact FANUC Robotics service personnel. used in wet test cycle.
PAIN-196 WARN Preset index out of range Remedy: Temporarily change the system color setup
Cause: A PRESET instruction argument is out of range. PAIN-224 WARN No system color for valve
Remedy: Modify the offending PRESET argument to be within the valid range. Cause: Manual color change from teach pendant: Warning: the system changes the
PAIN-197 PAUS Can't set output current system color to match the fill color valve. No system color uses the current valve.
Cause: A Function instruction is used while the Option is not loaded. The wrong system color may be set - and the wrong preset data may be used in wet test
Remedy: Load the Function Instruction Option in order to run and set the output cycle.
correctly. Remedy: Temporarily change the system color setup
PAIN-198 WARN Invalid GunSelect position PAIN-225 WARN Application enable is ON
Cause: A GunSelect instruction that would change the state of the gun(s) is not Cause: This message is displayed when the application enable input turns ON. When
positioned as an option on a motion line. This instruction will not complete any operation. this input is ON, the GUN and color change outputs are allowed to turn ON.
Such and instruction by itself on a line in a program can not properly control the timing of Remedy: Status message only.
the changes in the gun outputs. Note that if the gun is not programmed to be ON then a PAIN-230 WARN Mix valves setup incomplete
Gunselect can be on a line by itself. Note that this alarm may not occur in all cases. Cause: SETUP 2K Valves: The 2K valves have not been properly setup.
Remedy: Move the Gunselect instruction onto a motion line and delete the stand alone Remedy: Run setup program to reinitialize 2k valves.
instruction line. If needed add another motion line and record an appropriate position. PAIN-231 WARN Enabling ResEnb+MixSol not allowed
PAIN-200 ABRT %s not defined Cause: An attempt was made to enable the Mix Resin Valve with the Mix Solvent Valve
enabled.
34
Remedy: Check the cycle data table and make sure the Mix Resin and Mix Solvent Change Timeout needs to be increased. The Full Can counts have not been properly
outputs are never ON at the same time. calculated.
PAIN-232 WARN Enabling HrdEnb+MixSol not allowed Remedy: Establish cause of timeout. Verify canister position feedback operating
Cause: An attempt was made to enable the Mix Hardener Valve with the Mix Solvent properly. Feedback can be verified by checking the analog input (AIN[1, DISP]). Check
Valve enabled. paint supply system. Check color change valve operation. Check the color valve, if it is a
Remedy: Check the cycle data table and make sure the Mix Hardener and Mix Solvent color change fault or the dock solvent if this occurs during a scale calibration. Increase
outputs are never ON at the same time. the Color Change Timeout. If the gun has been changed then a scale calibration may be
PAIN-233 WARN Enabling ResEnb+MixAir not allowed required. Reset, and attempt to continue if this occur during automatic mode. If the robot
Cause: An attempt was made to enable the Mix Resin Valve with the Mix Air Valve is stuck in the docking station then, switch to manual mode and run a de-dock move to
enabled. take the robot home. If this alarm occurs during a scale calibration then increase the
Remedy: Check the cycle data table and make sure the Mix Resin and Mix Air outputs Scale Cal Step Time (40 seconds by default). It could require more time depending on
are never ON at the same time. the material used to scale calibrate.
PAIN-234 WARN Enabling HdrEnb+MixAir not allowed PAIN-249 WARN %s abort, can empty timeout
Cause: An attempt was made to enable the Mix Hardener Valve with the Mix Air Valve Cause: Cause : The canister position counts did not reach the empty canister check
enabled. counts before the Color Change Timeout expired. If this occurs during a Scale
Remedy: Check the cycle data table and make sure the Mix Hardener and Mix Air Calibration, then the can was not empty before the Scale Cal Step Time expired. This
outputs are never ON at the same time. condition can exist from no paint exiting the can or a loss of canister position feedback
PAIN-235 WARN Improper valve state detected from the linear potentiometer. The Color Change Timeout needs to be increased. The
Cause: An attempt was made to enable the 2k pumps with improper valve settings. Empty Can counts have not been properly calculated.
Remedy: Color Enable, and Mix Resin must be on when running one component. Color Remedy: Establish cause of timeout. Verify canister position feedback operating
Enable, Mix Resin, and Mix Hardener must be on when running two component. properly. Feedback can be verified by checking the analog input (AIN[1, DISP]). Check
PAIN-236 WARN TP disabled - Calib. aborted color change valve operation. Check the dump valve in the case of the paint not exiting
Cause: Calibration was aborted because the teach pendant was disabled during the the canister. Increase the Color Change Timeout. If the gun has been changed then a
process. scale calibration may be required. Reset, and attempt to continue if this occur during
Remedy: Keep the teach pendant enabled during calibration. This will not be applicable automatic mode. If the robot is stuck in the docking station then, switch to manual mode
to Control Reliable robot controllers, as the teach pendent can not be turned on in and run a de-dock move to take the robot home. If this alarm occurs during a scale
auto/manual mode. Calibration must be done from the GUI. Calibration can not be calibration then increase the Scale Cal Step Time (40 seconds by default). It could
performed from the teach pendant for Control Reliable robot controllers. require more time depending on the material used to scale calibrate.
PAIN-237 WARN Linear Potentiometer Unstable PAIN-250 WARN Auto Calibration aborted
Cause: During Auto Calibration, the feedback from the linear potentiometer revealed Cause: Genera l Cause: The AccuStat auto calibration could not continue. This is
large fluctuations in canister position over a short period of time. If the linear normally the result of an operation time out. The auto calibration can abort for several
potentiometer has been improperly installed or the magnet has been misaligned, it may reasons. The function of this alarm is as follows. First, the Auto Calibration Aborted alarm
be the cause of this alarm. will post if an error has occurred. The next alarm will contain the cause of the auto
Remedy: Change the applicator and repair the malfunctioning linear potentiometer. Retry calibration to abort.
calibration with a different applicator. Cause: Cause 1: While searching for the minimum or maximum flow rates in the cal
PAIN-238 WARN Table not adapted, max err exceeded table, the calibration timed-out by reaching the maximum number of attempts to establish
Cause: While operating in hybrid mode, Accustat determined that discrepancy between the minimum or maximum flow rate output values. This can be a result of improper fluid
actual paint used during the job and the expected paint usage was too high to adapt to it. restriction selection, non-attainable cal table flow ranges, or a bad fluid regulator. The
The color change valves not operating properly. Color change solvent or air has been left resulting alarms would be PAIN-251, Failed to find upper limit or PAIN-252, Failed to find
in the canister. Indicator that there may be a problem with the applicator. The regulator lower limit.
may not be opening/closing properly. The restrictor has changed in size. The maximum Remedy: Remedy1. Increase the number of Maximum Calibration Trys in the AccuStat
hybrid adaptation value has been set too low. The Hybrid Mode Gain is too high. If the setup. Verify restrictor, regulator and calibration flow rate range in the AccuStat Color
TPR is below the Low Confidence Min (cc), then the Low Confidence Gain may be too Data for that valve.
high. Cause: Cause 2: Calibration resulted in non- increasing command values in the
Remedy: Determine cause for flow discrepancy. Check the regulator, fluid or restrictors calibration table data. The slope of the calibration table is negative. Increasing output
for a plugged or restricted passageway. Verify that the Hybrid Mode Gain in the AccuStat values do not result in increased flow rate. The result error code will be PAIN-254 Non-
color data is not too high (default is 20). Verify that the Hybrid Mode Gain Factor is not increasing cal table.
set too high (default is 1.0). Setup the Low Confidence Min (ccs) for low TPRs. Make the Remedy: Remedy 2: Verify all equipment is operating properly. Check the linear
Low Confidence Gain, lower to account for the less resolution at low flow rates. Use other potentiometer feedback (AIN[1, DISP], the regulator operation, and that trigger is opening
alarms that occur during this job to help debug the problem. This alarm is a warning by and closing properly. Verify attainable values have been set in the AccuStat Color Data
default. No immediate action is necessary unless it has impacted the job appearance. for the requested minimum and maximum flow rates.
Perform an Auto Calibration on that color valve. If this alarm has faulted the robot the Cause: Cause 3: The calibration routine calculated output values that are above or below
robot, then reset and continue the job. the maximum or minimum output values defined in the Applicator Parameters for the fluid
PAIN-239 WARN TPR Mismatch (%s) PGOT Required regulator. The minimum output values in counts are (low- res: 200, hi-res: 1600) and the
Cause: The previous job gun on time for the current job differs from the calculated preset maximum output values in counts are (low-res: 1000, and hi-res: 8000). The restrictor
gun on times used for the TPR calculation by more than the allowed tolerance. The Gun size is not compatible with the desired flow rate range and the material attempting to be
On Time stored in the job header does not correspond to the preset on times read from calibrated. The resulting error codes will be PAIN-255 Calculated output > max output or
the job processes. This can be a result of process changes done on the fly. The robot will PAIN-256 Calculated output < min output.
not have the proper amount of paint to run the job. Remedy: Remedy 3: Verify that the fluid regulator is functioning properly. Change the
Remedy: Perform a PGOT test cycle on the job that caused the TPR mismatch alarm. If fluid restrictor size to better accommodate the requested flow rate range. Change the
the robot has filled sufficiently for the job, then it will automatically correct the TPR when requested flow rate range in the AccuStat Color Data setup.
the job is completed. If the robot has faulted due to this alarm, then reset and continue Cause: Cause 4: The calibration has been aborted by the user or has been interrupted
the job. If this alarm commonly occurs due to on the fly process changes, then increase by another fault. If the cell has been emergency stopped during the calibration. The robot
the Gun On Time Error Tolerance. Caution must be used in setting this value too high, failed to reach the proper location in order to calibrate. See other alarms to determine the
because if the new gun on time is sufficiently higher than the old gun on time in the cause of the fault.
header, the TPR will be too low and the gun will run out of paint. Remedy: Remedy 4: Determine the cause of the fault to the robot. Check the alarm log
PAIN-240 WARN Dedock required, robot at dock to aid finding the cause of the fault. If the robot has not moved to position, verify that the
Cause: An attempt was made to move the robot while it was in the docking station. This proper path has been taught.
alarm occurs when attempting to move the robot in manual mode, without first moving it PAIN-251 WARN Failed to find Upper limit
out of the docking station. An attempt was made to move the robot to purge position or Cause: AccuStat could not reach the upper flow limit in the number of times set at the
enable special moves, while the robot is in the docking station. calibration screen. The upper limit flow rate can not be achieved. Fluid restrictor is too
Remedy: Request to de-dock before initiating robot motion. Robot is at dock and must small. The flow rate or can position feedback is unstable.
run dedock before other moves are enabled. Reset the robot, put the cell in manual Remedy: Verify all equipment is working properly. Check Color Data upper limit. Check
mode, and run the de-dock move from the MCP. applicator parameters to make sure that App Parameter Max limit is not below the
PAIN-241 WARN De-Docking program is undefined AccuStat Color Data upper limit. Increase Auto cal hi/low tolerance or Trys for hi/low from
Cause: No path data has been taught for DEDOCK.TP. Something has caused the the AccuStat setup screen. Check feedback.
position to become invalid. PAIN-252 WARN Failed to find Lower limit
Remedy: Teach the robot path for the de- docking operation. The de-dock path is a Cause: AccuStat could not reach the lower flow limit in the number of times set at the
special position. After teaching, or touching up special position paths, the power on the calibration screen. The lower limit flow rate can not be achieved. Fluid restrictor is too
robot controller must be cycled for the changes to take effect. large. The flow rate or the canister position feedback is unstable.
PAIN-242 WARN Docking program is undefined Remedy: Verify all equipment is working properly. Check Color Data lower limit. Check
Cause: No path data has been taught for DOCK.TP. Something has caused the position applicator parameters to make sure that App Parameter Min limit is not above the
to become invalid. AccuStat Color Data lower limit. Increase Auto cal hi/low tolerance or Trys for high/low
Remedy: Teach the robot path for the docking operation. The dock path is a special from the AccuStat setup screen. Check feedback.
position. After teaching, or touching up special position paths, the power on the robot PAIN-253 WARN Beaker Timeout, Scale Cal Aborted
controller must be cycled for the changes to take effect. Cause: Not enough time has been allowed to fully empty the canister, by the Beaker Fill
PAIN-243 WARN Docking station not retracted Timeout. The canister did not empty due to the trigger or regulator not opening. There
Cause: The position and proximity switch are not functioning properly. The docking has been a loss of canister position feedback.
station has not retracted fast enough. The Docking Cylinder Timeout is set too low. Remedy: Check the regulator and gun to be sure they are functioning properly. Increase
Check for obstructions, misalignments and for faulty switch. Beaker Fill Timeout from AccuStat setup screen. Fix the trigger or regulator. Verify
Remedy: Check the position and the proximity switch. Repair the pneumatic or electric canister position feedback (AIN[1, DISP]).
circuit if necessary. Adjust the pneumatic controls for the retract/extend. Increase the PAIN-254 WARN (%s) Non-increasing cal table
Docking Cylinder Timeout Value. Verify that the digital inputs and outputs have the Cause: After the calibration table has been shifted or a new calibration table created, a
proper state. By default: DIN[130, DSR] = ON; DIN[129, DSE] = OFF; DOUT[147, RDS] = non-increasing table of flow command values is detected. Unstable flow rates
ON; DOUT[146, EDS] = OFF. If the dock has retracted, and the I/O has been verified, encountered. Canister position change is not proportional to fluid regulator command.
then reset and continue the robot. The canister position feedback is unstable.
PAIN-244 WARN Docking station not extended Remedy: Verify regulator is working properly. Verify fluid restrictor is suitable for the
Cause: The position and proximity switch are not functioning properly. The docking desired flow rates. Check proper feedback from the linear potentiometer. If this occurs as
station has not extended fast enough. The Docking Cylinder Timeout is set too low. a result of a table shift, calibrate the color valve in which the cal table has become non-
Check for obstructions, misalignments and for faulty switch. increasing.
Remedy: Check the position and the proximity switch. Repair the pneumatic or electric PAIN-255 WARN Calculated output > Max Output
circuit if necessary. Adjust the pneumatic controls for the retract/extend. Increase the Cause: The calculated command counts are above the Applicator Parameter Maximum
Docking Cylinder Timeout Value. Verify that the digital inputs and outputs have the Output value (1000 counts, or 8000 counts hires). Fluid restrictor is too small or the
proper state. By default: DIN[129, DSE] = ON; DIN[130, DSR] = OFF; DOUT[147, RDS] = regulator is not working properly.
OFF; DOUT[146, EDS] = ON. If the dock has extended, and the I/O has been verified, Remedy: Determine what is limiting the flow rate. Check the Color Data Hi/Low flow
then reset and continue the robot. range settings. PAIN- 256, Calculated output < min output
PAIN-245 WARN Robot NOT at docking position PAIN-256 WARN Calculated output < Min Output
Cause: The request to enter the dock was given but the robot did not reach the docking Cause: The calculated command counts are below the Applicator Parameter Minimum
position. Dock attempt did not complete and the docking station could not extend. Robot Output value (200 counts, or 1600 counts hi-res). Fluid restrictor is too large or the
faulted on the way to the docking station, see other faults. The robot did not report it was regulator is not working properly.
at the docking station, because the dock special position was not taught. Remedy: Restrict fluid flow with smaller restrictor. Check the Color Data Hi/Low flow
Remedy: Check the path data and ensure the last position in DOCK.TP has a FINE range settings.
position type. Verify that the DOCK.TP special position has been taught. The controller PAIN-257 WARN (%s) Canister Out Of Paint
power must be cycled after special positions are taught. If the Dock path did not complete Cause: Canister ran out of paint during the job.
execution, then determine why execution was halted. Reset the robot and continue the Remedy: Verify proper TPR was calculated. Verify the fill is completing successfully.
job. The robot should complete the motion automatically. If the robot does not complete Check for other alarms that occurred during this job. Make sure all equipment is
the motion, then in manual mode, move the robot home. After the cell has been put into operating properly, such as the trigger or regulator. Check can empty timeout value
manual mode the job must be reinitialized. (default = 1500 ms). Perform Auto Calibration on that color if all parts are operating
PAIN-247 ABRT No TPR calculated for job properly. Increase the Flow Control Confidence parameter in the AccuStat setup screen
Cause: The PGOT procedure was not performed on the processes used within the to help prevent running out of paint.
selected job (style). The TPR is equal to zero. No Preset Gun On Time for job could be PAIN-259 WARN Failed to reach setpoint
found. Job has not been test cycled. Cause: The Tolerance Band is too narrow (low), or the regulator is not working properly
Remedy: Perform the PGOT procedure on the desired job (style). Test cycle job or allow The adaptive gain for that color may be too low, not and the flow rate is not adapting fast
it correct itself by running the process in production, if enough paint has been loaded into enough. The potentiometer is not operating properly. The trigger delay may not be set
the canister. properly, if trigger events are too close together.
PAIN-248 WARN %s abort, can fill timeout Remedy: Check regulator operation and Adaptive Gain settings in the AccuStat Color
Cause: The canister position counts did not reach the fill counts before the Color Change Data for that color valve. Verify the trigger delays are setup properly.
Timeout expired. If this occurs during a Scale Calibration, then the can was not filled PAIN-260 WARN TPR exceeds Can Volume
before the Scale Cal Step Time expired. This condition can exist from no paint entering Cause: The calculated TPR is more than the can has volume for. The TPR for that job is
the can or a loss of canister position feedback from the linear potentiometer. The Color too large. If the TPR for a job normally approaches the limit of the size of the canister,
35
then the adaptive fill tolerance may attempt to add additional paint beyond the limit of the Remedy: In some way decrease the yield. Use smaller restrictors in the gun if the high
canister volume. end flow rate can still obtained. Otherwise accept a larger tolerance band. If the value
Remedy: Setup for a re-dock. Decrease the Adaptive Fill Gain parameter in the AccuStat given in the alarm is equal to the Minimum tolerance band set minimum tolerance band
setup screen. Reduce the size of the job if it is larger than 1550 ccs. This is the maximum equal to the yield for that color. Otherwise increase the Percent tolerance band.
volume of the AccuStat canister. PAIN-273 WARN %sFlow rate avg. error excessive
PAIN-261 WARN Canister Fill Error Cause: Checks for how far the flow rate is from the set point have been too high Possible
Cause: Prior to painting the job, the can is checked to see if enough paint has been put causes are: sticking I/P transducer, bad fluid regulator frequent fluid pressure changes or
into the can (cylinder position counts >= TPR counts). This can happen if the waiting for a bad Accuflow Interface board.
can full condition is falsely satisfied. Possible causes are air in the canister due to faulty Remedy: Check and change the transducer, replace the fluid regulator or service the
color change cycles or unstable readings from the linear potentiometer. Many times this surge suppression system on the fluid supply pump. If the alarm occurs on many or all
happens because the air has not been pushed out of the dump before the fill valve is colors then increase the Max. error from setpoint parameter.
opened. PAIN-274 WARN %sCalibration successful
Remedy: Make sure that paint has reached the docking station before starting the step Cause: Used to notify the cell controller that a calibration has completed successfully.
to open the fill valve. A fix could be increasing the amount of time of the step to fill the Remedy: No remedy is needed.
paint line before opening the fill valve. With air in the can, once the piston pressure has PAIN-275 WARN %sCalibration aborted
been reapplied the air will compress causing the cylinder position to fall below the fill Cause: Accuflow calibration could not continue. This may be due to the fluid lines not
counts. being filled. Check for other alarms in the log.
PAIN-262 WARN Auto Calibration Successful Remedy: The best remedy may be found from the previous alarm in the log. This is
Cause: The Color Valve selected for Auto Calibration has successfully completed the usually the result of incorrect setup parameters, or incomplete hardware setup. If the flow
calibration sequence. hardware is operating correctly, set the color parameter for pulsing pump supply to YES.
Remedy: N/A PAIN-276 WARN %sCal. low flow rate reset
PAIN-263 WARN Non-decreasing canister position Cause: During Accuflow calibration the low flow rate could not be reached. A new low
Cause: If the gun has been on for the amount of time specified as Canister Check Time flow rate was established.
and the amount of change in cylinder position counts has not reached the Minimum Remedy: Possibly decrease the Gain modifier used for the color. The new low flow rate
Canister Change Counts, this alarm will post. This can be caused by low flow rates, is shown as point 2 in the calibration table. This value can be visually checked and
where it takes longer to see this minimum cylinder position change. Could be an indicator accepted.
of trouble with the linear potentiometer or the feedback circuit. PAIN-277 WARN %sCal. max. flow rate reset
Remedy: Lower the Minimum Canister Change Counts or increase the Canister Check Cause: During Accuflow calibration, the expected maximum flow rate could not be
Time. Check the feedback from the linear potentiometer or repair the low voltage wire for reached at the maximum output. A new maximum flow was established.
the canister feedback circuit. Remedy: Possibly decrease the Gain modifier used for the color. The new maximum
PAIN-264 WARN Canister Position Increasing flow rate is shown as point 10 in the calibration table. This value can be visually checked
Cause: This is caused by the piston moving during a color change when the piston is and accepted.
held at the bottom of the can for cleaning. In the event that the cleaning solvent and air PAIN-278 WARN %sCal. time out at max. flow
pressure, overcome the piston air pressure, then this alarm will occur. Cause: Accuflow timed out trying to reach the maximum flow rate. Possible causes are:
Remedy: Perform a scale calibration to insure that the calculated value for the Can a high gain, a sticking I/P transducer, a bad fluid regulator or frequent fluid pressure
Empty Check Counts is valid. Increase the Fill Error Tolerance. Verify that the piston changes.
pressure is not being restricted. Remedy: Possibly decrease the Gain modifier used for the color. Retry the calibration.
PAIN-265 WARN Intermittent Connection Detected Check and change the transducer if necessary, replace the fluid regulator or service the
Cause: A reading of 0 counts on the analog inpit (AIN[1,DISP]) causes the alarm, surge suppression system on the fluid supply pump. The calibration timeout parameter
intermittent connection. This is an indicator of potentiometer trouble during job playback, can be increased.
caused by an open/short circuit in cylinder position feedback. This alarm only occurs PAIN-279 WARN %sCal. time out at low flow
during a job or color change in auto mode. Regular, but not consistent postings of this Cause: Accuflow timed out trying to reach the lowest flow rate, typically 100 cc/min.
alarm indicates a poor electrical connection in the feedback circuit. The electrical Possible causes are: a high gain, a sticking I/P transducer, a bad fluid regulator or
connector at the QD plate, when damaged or worn can cause this alarm. Induced noise frequent fluid pressure changes.
in the feedback circuit from poor grounding leads to this temporary condition as well. Remedy: Possibly decrease the Gain modifier used for the color. Retry the calibration.
Resistors inside the robot controller set the supply voltage to the linear potentiometer and Check and change the transducer if necessary, replace the fluid regulator or service the
it should be 10 Volts. surge suppression system on the fluid supply pump. The calibration timeout parameter
Remedy: Replace the electrical connector on the QD plate. Verify proper grounding of can be increased.
the feedback circuit. Replace the low voltage cable in the robot arm. Check the supply PAIN-280 WARN %sZero fluid flow rate detected
voltage to the linear potentiometer. Cause: All of the conditions were set for fluid to be flowing and a zero flow rate was
PAIN-266 WARN Flow Error High, Valve: %s measured. This may be due to no fluid pressure or pilot air pressure. With a very low flow
Cause: If the percentage of paint left in the can exceeds the TPR by the Job Total Error rate the gain may be too high. One of the following items may be broken: Color Valve,
Tolerance, then this alarm will post. If the paint usage exceeds the TPR by the Job Total Color select board, gun trigger, flow meter, flow meter pickup, Accuflow interface board,
Error Tolerance, then also this alarm will post. Most of the time, the can will run out of or the 32 point input module.
paint before the paint usage exceeds the TPR by this percentage. This indicates that the Note, Accuflow automatically changes to Open Loop when this failure occurs.
fluid flow has been restricted or the can has run out of paint. Remedy: If fluid can be seen coming from the applicator, check: flow meter, flow meter
Remedy: The paint needs to be calibrated or the adaptive gain for that color valve is too pickup, Accuflow interface and the 32 point input module. Other- wise check the other
high. The regulator may not be actuating properly from not running a clean out cycle items listed above. If it occurs with very low flow rates decrease the Gain modifier.
before the end of the shift. Often other error conditions will occur prior to this alarm. PAIN-281 WARN %sLower output did not lower flow
Check the alarm log to help detect other symptoms leading to this alarm. Cause: As Accuflow steps down through the 10 points in the calibration table, it expects
PAIN-267 WARN Applicator Disabled during job a lower flow for each decrease in the commanded flow value. In this case, the flow did
Cause: If the applicator is disabled at the end of the job, then the table will not adapt in not decrease. This can be caused by low or pulsing fluid pressure, insufficient exhaust or
hybrid mode. no quick exhaust on the fluid pilot air.
Remedy: N/A Remedy: Retry the calibration. Check that an adequate and stable flow rate is provided
PAIN-268 WARN Scale Calibration Aborted by the system for this color. Decreasing the leveling trys may help. Check that fluid pilot
Cause: The scale calibration sequence did not complete. Can be caused by timeout or regulator air line has adequate exhaust capability. Reevaluate the size of the restrictor in
fill/empty error. the gun.
Remedy: Check the alarm log to see what conditions caused the calibration to abort. In PAIN-282 WARN %sTime out during a cal. test
most cases, the scale cal can timeout from one of the following alarms: PAIN-253 Beaker Cause: While measuring hysteresis, time up, or time down the Accuflow system timed
timeout, scale cal abort, PAIN-248, CC abort, can full timeout, PAIN-249 CC abort, can out. This indicates the high or low flow rate could not be reached.
empty timeout. Verify all equipment is operation properly. See other alarm cause/remedy. Remedy: Retry the calibration. Check that the high flow rate can be reached
PAIN-269 WARN Scale Calibration Successful consistently. If not an increase in the Tolerance band may be required.
Cause: The scale calibration sequence has completed successfully. PAIN-283 WARN %sMin. output has flow > setpoint
Remedy: N/A Cause: With a minimum control output the flow rate was measured to be higher than the
PAIN-270 WARN %sCal. table adapted out tolerance setpoint (requested flow). The fluid pressure may have become too high. The I/P
Cause: The fluid pressure or fluid viscosity for the current color has changed transducer or fluid regulator may be stuck open. There may be a fairly large fluid leak.
dramatically. This change has occurred since the last calibration of this color. The Note, Accuflow automatically changes to Open Loop when this failure occurs.
change was beyond the percentage value setting of the Adaptive tolerance parameter. Remedy: Calibrating the color will establish a new cracking pressure (minimum control
Remedy: Correct the fluid pressure or viscosity for the current color. If the pressure or output) for a changed fluid pressure. Check and replace if necessary the fluid regulator
viscosity was purposely changed then the color can be calibrated to eliminate this alarm. and I/P transducer. See the Fluid flow leak alarms for other options.
The setting for the Adaptive tolerance can be increased if the variation shown by the PAIN-284 WARN %sMax. output has flow < setpoint
calibration table for this color is acceptable. Cause: With a maximum control output the flow rate was measured to be lower than the
PAIN-271 WARN %sCal. table adapted in tolerance setpoint (requested flow). The gun may be clogging. A fluid or pilot air line may be
Cause: This status warning indicates that the the conditions which caused a table pinched. The fluid pressure may have become too low. The I/P transducer may be
adapted out of tolerance alarm have been eliminated or disappeared. broken.
Remedy: None Required Note, Accuflow automatically changes to Open Loop when this failure occurs.
PAIN-272 WARN Dyn. yield > tolerance band (%s) Remedy: Check the gun tip and the whole gun for clogging. Check the fluid lines for
Cause: As a particular flow rate set point is being output, the yield ((cc/min)/cnt) for that pinching, especially at places where they flex. Check the fluid supply pressure. Check
flow rate was larger than the tolerance band for it. It is not likely that the set point will be and replace if necessary the I/P transducer.
reached. This may be due to the restrictors in the gun being too large. PAIN-285 WARN %sFlow setpoint below globals
C
ause: The requested fluid flow output command is below the calibrated range of the the error, record the software version number and contact your local distributor or the
color. FANUC Robotics hotline.
Remedy: Adjust the fluid flow output command in the preset argument to be within the PAIN-291 WARN %s0 fluid flow rate timeout
calibrated range. Cause: All of the conditions were set for fluid to be flowing and a zero flow rate was
PAIN-286 WARN %sRequested flow above cal. table measured for longer than the Zero flow timeout parameter. This may be caused by: a
Cause: The requested fluid flow output command is above the calibrated range of the broken applicator trigger, a loss of fluid supply pressure, a broken fluid flow meter, a
color. broken cable (to the flow meter), or a Zero flow timeout value that is too short.
Remedy: Adjust the fluid flow output command in the preset argument to be within the Note, AccuFlow temporarily automatically changes to Open Loop when this alarm occurs.
calibrated range. Perform the necessary steps to increase the Max. Controllable Flow Remedy: Check that the gun is properly triggering. If fluid was observed to be flowing,
obtained during calibration. Recalibrate the color. check and possibly replace the fluid flow meter. Possibly increase the Zero flow timeout
PAIN-287 WARN %sSlow fluid flow leak detected parameter (by about 25%).
Cause: A small amount of fluid flow was detected when the gun was not turned on. This PAIN-292 WARN %sMax. flow below mid point
may be caused by a loose fitting, leaking dump valve, etc. Cause: This alarm occurs only during calibration. The flowrate measured at the
Remedy: No immediate remedy is required, the paint system will continue to function maximum control and one half of the maximum control output was nearly the same. Less
properly. The various fluid lines and valves should be inspected and repaired. than one half of the control output range is useable. The system may still function even
PAIN-288 WARN %sFast fluid flow leak detected though this alarm has occurred. This may be caused by low fluid pressure, a faulty
Cause: A large amount of fluid flow was detected when the gun was not turned on. This transducer or regulator or the wrong I/P transducer being installed (100 psi range instead
may be caused by the dump valve being stuck on or a broken fitting, broken paint line, of 50 psi range).
etc. Remedy: Increase the fluid pressure. Check that the transducer is functioning properly
Note that each time the fluid begins to leak fast the color valve will be turned off. This will and that it is has the correct pressure range, change it if appropriate. The system may
prevent the robot from spraying the part. operate, but performance can be improved with one of the above remedies.
Remedy: The various fluid lines and valves should be inspected and repaired PAIN-316 WARN HookUp confirmation failed
immediately. Check and repair if necessary the dump pilot valve and the dump valve. Cause: This is a warning during teach operations that the opener device failed to move
PAIN-289 WARN %sFailed to reach setpoint to the requested position.
Cause: This may be caused by pulsing paint pressure or a broken I/P transducer. If it Remedy: Check opener wiring.
occurs on most colors then there may be a small setting of the Minimum set point (ms) PAIN-317 WARN HookDown confirmation failed
for the specific installation setup or one of the tolerance band settings may be too small Cause: This is a warning during teach operations that the opener device failed to move
for the yield of the system. to the requested position.
Remedy: Increase the Minimum set point (ms). If the FLUID transducer is noisy change Remedy: Check opener wiring.
it. If this occurs on specific colors, check the surge suppression system fluid supply PAIN-318 WARN HookHigh confirmation failed
system. If the calibration yield values are more than half of the min. tolerance band then Cause: This is a warning during teach operations that the opener device failed to move
increase the tolerance band. to the requested position.
PAIN-290 WARN %sAccuflow softpart init failed Remedy: Check opener wiring.
Cause: The Accuflow softpart is not running. The I/O assigned & used by the softpart is PAIN-319 WARN HookBase confirmation failed
not available or the softpart did not load correctly. Additional info. is available during Cause: This is a warning during teach operations that the opener device failed to move
controller power up at the debug console (smon). to the requested position.
Remedy: Check and correct the assignments or hardware for the I/O used by Accuflow. Remedy: Check opener wiring.
Especially the I/O points: Set Point Reached, Flow Rate GIN &flow diag. AOUT. Reload PAIN-320 WARN Hook2Up confirmation failed
the Accuflow option, watch for alarms during the load. Document the events that led to Cause: This is a warning during teach operations that the opener device failed to move
to the requested position.
36
Remedy: Check opener wiring. Cause: This TPE program does not have zone data. This job was probably not created
PAIN-321 WARN Hook2Down confirmation failed using the job generation screen.
Cause: This is a warning during teach operations that the second opener device failed to Remedy: Create a new job.
move to the requested position. PAIN-384 WARN Job %s has zone data errors
Remedy: Check opener wiring. Cause: There are errors in the zone data that will not allow the job to execute.
PAIN-322 WARN Hook2High confirmation failed Remedy: Use the DATA SPRAY ZONE EDIT screen and make the necessary changes.
Cause: This is a warning during teach operations that the second opener device failed to PAIN-385 WARN Spray behind job %s position
move to the requested position. Cause: The current speed of the conveyor is too fast for the speed, etc. of this Job and
Remedy: Check opener wiring. Color Group. etc......
PAIN-323 WARN Hook2Base confirmation failed Remedy: Decrease the speed at which the conveyor is moving. Increase the Target
Cause: This is a warning during teach operations that the second opener device failed to Speed or Fan width or both for the current Color Group. Decrease the Percent Overlap
move to the requested position. for the current Color Group.
Remedy: Check opener wiring. PAIN-386 WARN %s moves wrong way
PAIN-325 WARN Opener action not loaded Cause: For this machine type, the profile is wrong. For a side machine, the profile must
Cause: Opener program is not loaded. move up and down more than it moves in and out. This is most likely to occur when a
Remedy: Load opener program before attempting to run it as an action in production. robot is used as a recip.
PAIN-326 ABRT HookUp confirmation failed Remedy: Edit this profile or teach a new profile.
Cause: This is an error during production operations that the opener device failed to PAIN-387 WARN %s moves out of order
move to the requested position. Cause: For a side recip, the moves must be taught either as an up stroke - with each
Remedy: Cancel the job and check opener wiring. move higher than the previous, or as a down stroke - with each move lower than the
PAIN-327 ABRT HookDown confirmation failed previous move. For a top recip, the moves must be taught either as an in stroke - with
Cause: This is an error during production operations that the opener device failed to each move in more than the previous, or as a out stroke - with each move out further
move to the requested position. than the previous move Remedy: Edit this profile or teach a new profile.
Remedy: Cancel the job and check opener wiring. Remedy: N/A
PAIN-328 ABRT HookHigh confirmation failed PAIN-388 WARN %s has less than 2 moves
Cause: This is an error during production operations that the opener device failed to Cause: A profile must have at least 2 moves.
move to the requested position. Remedy: Edit this profile or teach a new profile.
Remedy: Cancel the job and check opener wiring. PAIN-389 WARN %s has more than 30 moves
PAIN-329 ABRT HookBase confirmation failed Cause: A profile cannot have more than 30 moves.
Cause: This is an error during production operations that the opener device failed to Remedy: Edit this profile or teach a new profile.
move to the requested position. PAIN-390 WARN %s moves along conveyor
Remedy: Cancel the job and check opener wiring. Cause: The profile should not move in the Y-Axis direction. This is most likely to occur
PAIN-330 PAUS Hook2Up confirmation failed when a robot is used as a recip.
Cause: This is an error during production operations that the second opener device Remedy: Edit this profile or teach a new profile.
failed to move to the requested position. PAIN-391 WARN Job %s generation failed
Remedy: Cancel the job and check opener wiring. Cause: An error occurred during job generation.
PAIN-331 PAUS Hook2Down confirmation failed Remedy: See the previous error in the ALARMS log for the reason the generation failed.
Cause: This is an error during production operations that the second opener device PAIN-392 WARN %s longer than max length
failed to move to the requested position. Cause: The taught profile is longer than the Max Profile Length defined in the Smart
Remedy: Cancel the job and check opener wiring. Recip SETUP screen.
PAIN-332 PAUS Hook2High confirmation failed Remedy: Adjust the end point positions of the profile If this cannot be done, then the Max
Cause: This is an error during production operations that the second opener device Profile Length must be increased. Note that this increase may require that the speed of a
failed to move to the requested position. particular Color Group be changed.
Remedy: Cancel the job and check opener wiring. PAIN-393 WARN %s cannot move linear
PAIN-333 PAUS Hook2Base confirmation failed Cause: The positions in the profile have different configurations. This is not allowed.
Cause: This is an error during production operations that the second opener device Remedy: Edit this profile or teach a new profile.
failed to move to the requested position. PAIN-394 WARN Paint instruction ignored
Remedy: Cancel the job and check opener wiring. Cause: Running a program that contains Paint instructions (GUNSEL,PRESET,
PAIN-334 ABRT Door search failed ESTAT,COAT) that are not supported by recips.
Cause: The opener failed to find the part during door search operations. Remedy: Warning only
Remedy: Reteach the opener search position. PAIN-395 WARN Cannot read Profile %s
PAIN-343 PAUS Door held input lost Cause: A profile that is used in the job's zone data does not exist.
Cause: The door held input was lost during part held scanning. Remedy: The profile must exist before a job is generated. Check if the correct profile
Remedy: Check the input as soon as possible. If the job can still be continued activate number was entered. Teach the profile if it does not already exist.
ignore part signal to disable scanning operations. PAIN-396 WARN Zone data is incorrect
PAIN-344 PAUS Door detect sensor malfunction Cause: There are errors in the zone data that will not allow the job to be generated.
Cause: The door held sensor was damaged or is malfunctioning Remedy: Look at the ALARM screen to see the specific errors. Use the DATA SPRAY
Remedy: Check the sensor and fix it. If the job can still be continued activate ignore part ZONE EDIT screen and make the necessary changes.
signal to disable scanning operations. PAIN-402 WARN Jobs Gen, recip setup incomplete
PAIN-345 PAUS No MIR to resume tracking motion Cause: The reciprocator setup must be complete before a job can be generated.
Cause: Robot/Opener cannot resume tracking Remedy: Define all SETUP RECIPROCATOR and SETUP COLOR GROUPS items.
Remedy: Contact FANUC Robotics service personnel PAIN-404 WARN WAITCONV[] late %s times for job
PAIN-350 WARN Illegal Opener macro Called Cause: Some strokes of the job are too late on the part. The current speed of the
Cause: Two Cross-Conveyor Request macros have been called without waiting for the conveyor is too fast for the speed, etc. of this Job and Color Group.
1st Request macro. Remedy: Decrease the speed at which the conveyor is moving. Increase the Target
Remedy: Delete one of the Request macros or add a Wait macro between these Speed or Fan width or both for the current Color Group. Decrease the Percent Overlap
macros. for the current Color Group.
PAIN-360 WARN Error opening TPE program PAIN-405 WARN Job Generation is active
Cause: This error should never occur during normal PaintTool operation. Cause: Cannot go into production when a job is being generated.
Remedy: Contact FANUC Robotics service personnel. Remedy: Wait for the job generation to complete.
PAIN-361 WARN TPE Built-in error PAIN-406 WARN %s has not been generated
Cause: This error should never occur during normal PaintTool operation. Cause: In production or TEST CYCLE. The selected job cannot be run until it has been
Remedy: Contact FANUC Robotics service personnel. generated.
PAIN-362 WARN TPE find/read header error Remedy: Use the job generation function to generate the job. Fix all errors preventing
Cause: This error should never occur during normal PaintTool operation. the job from being generated properly.
Remedy: Contact FANUC Robotics service personnel. PAIN-407 WARN %s unreachable
PAIN-363 WARN TPE error reading instruction Cause: The profile position can not be played back at the specified Z value. The
Cause: This error should never occur during normal PaintTool operation. mechanical unit can not reach the position.
Remedy: Contact FANUC Robotics service personnel. Remedy: Reteach the profile or specify a new Z value.
PAIN-364 WARN TPE wrong type of program PAIN-408 WARN %s excessive torque
Cause: This error should never occur during normal PaintTool operation. Cause: The average torque on the indicated axis is too high.
Remedy: Contact FANUC Robotics service personnel. Remedy: Reteach the profiles used to generate the job.
PAIN-365 WARN TPE error closing a program PAIN-409 WARN Bad cur_color no.[%d]
Cause: This error should never occur during normal PaintTool operation. Cause: The cur_color number is out of range.
Remedy: Contact FANUC Robotics service personnel. Remedy: Check [PASHELL] cur_color between (1-MAX_VALVES(31))
PAIN-367 WARN Selected program not found PAIN-410 WARN Bad preset index [%d]
Cause: A job that is selected for DATA ZONE EDIT or TEST RUN does not exist. Cause: The preset index is out of range (1-MAX_PRESET(20)).
Remedy: Generate the job or select a job that does exist. Remedy: Check Preset[] index and Preset[R[]] index value
PAIN-368 WARN out of(strt,end)ext1 at line%s PAIN-411 WARN Bad cal.tbl.(color[%d]-parm[%d])
Cause: The ext1 of current position exceed out of range of start EXT1 to end EXT1 Cause: Parameter cal. table does not increase.
Remedy: it won't affect the xrail smoothing process. choose another smoothing range if Remedy: Check color and parameter cal. tables
you want PAIN-413 WARN No preset data (syscolor=[%s])
PAIN-369 WARN TPE's motion group must be 1 Cause: No preset data for error color was found.
Cause: The Motion group of TPE must be 1 when using Xrail Manager Remedy: Check [PAPS1] preset_data for table entry
Remedy: choose another TP program which use for motion Group 1 PAIN-414 WARN No estat data (syscolor=[%s])
PAIN-370 WARN TPE Header size mismatch Cause: No estat data for error color was found.
Cause: The TPE program header size is inadequate. The program may have been Remedy: Check [PAPSSCHG] preset_data for table entry
created on an older version. Header information may not be correctly stored. PAIN-415 ABRT %s group mask(%d) != tracking schedule group(%d)
Remedy: Try 'SELECT'ing the program, go to 'DETAILS','NEXT','END'. If this does not Cause: This TP program group mask does not match group (robot or opener) in tracking
work, create a new TP program and paste the lines from the old program into it. schedule
PAIN-375 WARN Recip setup not complete Remedy: Check each robot and opener PROCESS to verify that the tracking schedule
Cause: Some smart recip setup items cannot be zero. number is assigned to this group.
Remedy: Define setup items. PAIN-416 WARN No defined color (color=[%d])
PAIN-376 WARN Color Grp. %s not complete Cause: The color that has been sent with the current job has not been defined!
Cause: Some color group setup items cannot be zero. Remedy: You must define this color in the SETUP Color Table before initing the robot
Remedy: Define setup items. with this color
PAIN-377 WARN Gun Target/Tool not set PAIN-430 WARN %sCal. table adapted out tolerance
Cause: The Gun Offset Distance must be set to a correct and non zero value. Cause: The fluid pressure or fluid viscosity for the current color has changed
Remedy: Measure the Gun Offset Distance and enter it in the Smart Recip SETUP dramatically. This change has occurred since the last calibration of this color. The
screen. change was beyond the percentage value setting of the Adaptive tolerance parameter.
PAIN-378 WARN Recip setup: %s Remedy: Correct the fluid pressure or viscosity for the current color. If the pressure or
Cause: Setup item described is zero. viscosity was purposely changed then the color can be calibrated to eliminate this alarm.
Remedy: Enter the required value. The setting for the Adaptive tolerance can be increased if the variation shown by the
PAIN-379 WARN Group setup: %s calibration table for this color is acceptable.
Cause: Setup item described is zero. PAIN-431 WARN %sCal. table adapted in tolerance
Remedy: Enter the required value. Cause: This status warning indicates that the the conditions which caused a table
PAIN-380 WARN WAITCONV[] late for line %s adapted out of tolerance alarm have been eliminated or disappeared.
Cause: The first stroke that was late on the part for this job started at this line. The Remedy: None Required
current speed of the conveyor is too fast for the speed, of this Job and Color Group. PAIN-432 WARN CH2:Dyn. yield > tolerance band (%s)
Remedy: Decrease the speed at which the conveyor is moving. Increase the Target Cause: As a particular flow rate set point is being output, the yield ((cc/min)/cnt) for that
Speed or Fan width or both for the current Color Group. Decrease the Percent Overlap flow rate was larger than the tolerance band for it. It is not likely that the set point will be
for the current Color Group. reached. This may be due to the restrictors in the gun being too large.
PAIN-381 WARN Zone starts must be increasing Remedy: In some way decrease the yield. Use smaller restrictors in the gun if the high
Cause: The job cannot be generated if the zone starts are not increasing. end flow rate can still obtained. Otherwise accept a larger tolerance band. If the value
Remedy: Use the JOB GENERATION screen and make the job starts increasing. given in the alarm is equal to the Minimum tolerance band set minimum tolerance band
PAIN-382 WARN Zone top/bot must be decreasing equal to the yield for that color. Otherwise increase the Percent tolerance band.
Cause: The top value must be bigger than the bottom value for each spray zone of a job. PAIN-433 WARN %sFlow rate average error high
Remedy: Use the DATA SPRAY ZONE EDIT screen and make the necessary changes. Cause: Checks for how far the flow rate is from the set point have been too high Possible
PAIN-383 WARN Recip zone header error/missing causes are: sticking I/P transducer, bad fluid regulator frequent fluid pressure changes or
a bad Accuflow Interface board.
37
Remedy: Check and change the transducer, replace the fluid regulator or service the Remedy: Check that the gun is properly triggering. If fluid was observed to be flowing,
surge suppression system on the fluid supply pump. If the alarm occurs on many or all check and possibly replace the fluid flow meter. Possibly increase the Zero flow timeout
colors then increase the Max. error from setpoint parameter. parameter (by about 25%).
PAIN-434 WARN %sCalibration successful PAIN-452 WARN %sMax. flow below mid point
Cause: Used to notify the cell controller that a calibration has completed successfully. Cause: This alarm occurs only during calibration. The flowrate measured at the
Remedy: No remedy is needed. maximum control and one half of the maximum control output was nearly the same. Less
PAIN-435 WARN %sCalibration aborted than one half of the control output range is useable. The system may still function even
Cause: Accuflow calibration could not continue. This may be due to the fluid lines not though this alarm has occurred. This may be caused by low fluid pressure, a faulty
being filled. Check for other alarms in the log. transducer or regulator or the wrong I/P transducer being installed (100 psi range instead
Remedy: The best remedy may be found from the previous alarm in the log. This is of 50 psi range).
usually the result of incorrect setup parameters, or incomplete hardware setup. If the flow Remedy: Increase the fluid pressure. Check that the transducer is functioning properly
hardware is operating correctly, set the color parameter for pulsing pump supply to YES. and that it is has the correct pressure range, change it if appropriate. The system may
PAIN-436 WARN %sCal. low flow rate reset operate, but performance can be improved with one of the above remedies.
Cause: During Accuflow calibration the low flow rate could not be reached. A new low PAIN-458 WARN CH1:Dyn. yield > tolerance band (%s)
flow rate was established. Cause: As a particular flow rate set point is being output, the yield ((cc/min)/cnt) for that
Remedy: Possibly decrease the Gain modifier used for the color. The new low flow rate flow rate was larger than the tolerance band for it. It is not likely that the set point will be
is shown as point 2 in the calibration table. This value can be visually checked and reached. This may be due to the restrictors in the gun being too large.
accepted. Remedy: In some way decrease the yield. Use smaller restrictors in the gun if the high
PAIN-437 WARN %sCal. max. flow rate reset end flow rate can still obtained. Otherwise accept a larger tolerance band. If the value
Cause: During Accuflow calibration, the expected maximum flow rate could not be given in the alarm is equal to the Minimum tolerance band set minimum tolerance band
reached at the maximum output. A new maximum flow was established. equal to the yield for that color. Otherwise increase the Percent tolerance band.
Remedy: Possibly decrease the Gain modifier used for the color. The new maximum PAIN-460 WARN Pump 1 IN low pressure warning
flow rate is shown as point 10 in the calibration table. This value can be visually checked Cause: Pump #1 inlet pressure has been below the low warning limit for a user
and accepted. configurable period of time. This condition is usually caused by one or more of the
PAIN-438 WARN %sCal. time out at max. flow following:
Cause: Accuflow timed out trying to reach the maximum flow rate. Possible causes are: 1. The low pressure warn limit is set too high.
a high gain, a sticking I/P transducer, a bad fluid regulator or frequent fluid pressure 2. The low pressure sensitivity is set too short.
changes. 3. The pilot line to resin color valve is removed or broken.
Remedy: Possibly decrease the Gain modifier used for the color. Retry the calibration. 4. The resin color valve has failed.
Check and change the transducer if necessary, replace the fluid regulator or service the 5. The supply pressure is too low.
surge suppression system on the fluid supply pump. The calibration timeout parameter 6. The supply line (hose, etc.) is removed or broken.
can be increased. 7. The resin inlet transducer has failed.
PAIN-439 WARN %sCal. time out at low flow 8. The inlet regulator has failed.
Cause: Accuflow timed out trying to reach the lowest flow rate, typically 100 cc/min. Remedy: Make sure the low pressure warning limit is appropriate. Make sure the low
Possible causes are: a high gain, a sticking I/P transducer, a bad fluid regulator or pressure sensitivity is appropriate. Check the pilot line to resin color that is being used.
frequent fluid pressure changes. Verify that the resin color valve being used is not faulty. Make sure the supply pressure is
Remedy: Possibly decrease the Gain modifier used for the color. Retry the calibration. appropriate. Check the supply line from paint kitchen. Check the resin inlet transducer as
Check and change the transducer if necessary, replace the fluid regulator or service the follows: Through the Analog I/O menu verify the transducer is spanning from near 200
surge suppression system on the fluid supply pump. The calibration timeout parameter cnts (0 psi) to 600+ cnts (50-80 psi) during a color change cycle. Check the inlet regulator
can be increased. as follows: Through the Analog I/O menu verify the command 200-1000 cnts (0-100 psi)
PAIN-440 WARN %sZero fluid flow rate detected spanning by verifying the output psi at the transducer test port.
Cause: All of the conditions were set for fluid to be flowing and a zero flow rate was PAIN-461 PAUS Pump 1 IN low pressure fault
measured. This may be due to no fluid pressure or pilot air pressure. With a very low flow Cause: Pump #1 inlet pressure has been below the low fault limit for a user configurable
rate the gain may be too high. One of the following items may be broken: Color Valve, period of time. This condition is usually caused by one or more of the following:
Color select board, gun trigger, flow meter, flow meter pickup, Accuflow interface board, 1. The low pressure fault limit is set too high.
or the 32 point input module. 2. The low pressure sensitivity is set too short.
Note, Accuflow automatically changes to Open Loop when this failure occurs. 3. The pilot line to resin color valve is removed or broken.
Remedy: If fluid can be seen coming from the applicator, check: flow meter, flow meter 4. The resin color valve has failed.
pickup, Accuflow interface and the 32 point input module. Other- wise check the other 5. The supply pressure is too low.
items listed above. If it occurs with very low flow rates decrease the Gain modifier. 6. The supply line (hose, etc.) is removed or broken.
PAIN-441 WARN %sLower output did not lower flow 7. The resin inlet transducer has failed.
Cause: As Accuflow steps down through the 10 points in the calibration table, it expects 8. The inlet regulator has failed.
a lower flow for each decrease in the commanded flow value. In this case, the flow did Remedy: Make sure the low pressure warning limit is appropriate. Make sure the low
not decrease. This can be caused by low or pulsing fluid pressure, insufficient exhaust or pressure sensitivity is appropriate. Check the pilot line to resin color that is being used.
no quick exhaust on the fluid pilot air. Verify that the resin color valve being used is not faulty. Make sure the supply pressure is
Remedy: Retry the calibration. Check that an adequate and stable flow rate is provided appropriate. Check the supply line from paint kitchen. Check the resin inlet transducer as
by the system for this color. Decreasing the leveling trys may help. Check that fluid pilot follows: Through the Analog I/O menu verify the transducer is spanning from near 200
regulator air line has adequate exhaust capability. Reevaluate the size of the restrictor in cnts (0 psi) to 600+ cnts (50-80 psi) during a color change cycle. Check the inlet regulator
the gun. as follows: Through the Analog I/O menu verify the command 200-1000 cnts (0-100 psi)
PAIN-442 WARN %sTime out during a cal. test spanning by verifying the output psi at the transducer test port.
Cause: While measuring hysteresis, time up, or time down the Accuflow system timed PAIN-462 WARN Pump 1 IN high pressure warning
out. This indicates the high or low flow rate could not be reached. Cause: Pump #1 inlet pressure has been above the high warning limit for a user
Remedy: Retry the calibration. Check that the high flow rate can be reached configurable period of time. This condition is usually caused by one or more of the
consistently. If not an increase in the Tolerance band may be required. following:
PAIN-443 WARN %sMin. output has flow > setpoint 1. The high pressure warn limit is set too low.
Cause: With a minimum control output the flow rate was measured to be higher than the 2. The high pressure sensitivity is set too short.
setpoint (requested flow). The fluid pressure may have become too high. The I/P 3. The supply pressure is set too high.
transducer or fluid regulator may be stuck open. There may be a fairly large fluid leak. 4. The resin inlet transducer has failed.
Note, Accuflow automatically changes to Open Loop when this failure occurs. 5. The inlet regulator has failed.
Remedy: Calibrating the color will establish a new cracking pressure (minimum control Remedy: Make sure the high pressure warning limit is appropriate. Make sure the high
output) for a changed fluid pressure. Check and replace if necessary the fluid regulator pressure sensitivity is appropriate. Make sure the supply pressure is appropriate. Check
and I/P transducer. See the Fluid flow leak alarms for other options. the resin inlet transducer as follows: Through the Analog I/O menu verify the transducer
PAIN-444 WARN %sMax. output has flow < setpoint is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color change
Cause: With a maximum control output the flow rate was measured to be lower than the cycle. Check the resin inlet regulator as follows: Through the Analog I/O menu verify the
setpoint (requested flow). The gun may be clogging. A fluid or pilot air line may be command 200-1000 cnts (0-100 psi) spanning by verifying the output psi at the
pinched. The fluid pressure may have become too low. The I/P transducer may be transducer test port.
broken. PAIN-463 PAUS Pump 1 IN high pressure fault
Note, Accuflow automatically changes to Open Loop when this failure occurs. Cause: Pump #1 inlet pressure has been above the high fault limit for a user
Remedy: Check the gun tip and the whole gun for clogging. Check the fluid lines for configurable period of time. This condition is usually caused by one or more of the
pinching, especially at places where they flex. Check the fluid supply pressure. Check following:
and replace if necessary the I/P transducer. 1. The high pressure fault limit is set too low.
PAIN-445 WARN %sFlow setpoint below globals 2. The high pressure sensitivity is set too short.
Cause: The requested fluid flow output command is below the calibrated range of the 3. The supply pressure is set too high.
color. 4. The resin inlet transducer has failed.
Remedy: Adjust the fluid flow output command in the preset argument to be within the 5. The inlet regulator has failed.
calibrated range. Remedy: Make sure the high pressure fault limit is appropriate. Make sure the high
PAIN-446 WARN %sRequested flow above cal. table pressure sensitivity is appropriate. Make sure the supply pressure is appropriate. Check
Cause: The requested fluid flow output command is above the calibrated range of the the resin inlet transducer as follows: Through the Analog I/O menu verify the transducer
color. is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color change
Remedy: Adjust the fluid flow output command in the preset argument to be within the cycle. Check the inlet regulator as follows: Through the Analog I/O menu verify the
calibrated range. Perform the necessary steps to increase the Max. Controllable Flow command 200-1000 cnts (0-100 psi) spanning by verifying the output psi at the
obtained during calibration. Recalibrate the color. transducer test port.
PAIN-447 WARN %sSlow fluid flow leak detected PAIN-464 WARN Pump 1 OUT low pressure warning
Cause: A small amount of fluid flow was detected when the gun was not turned on. This Cause: Pump #1 outlet pressure has been below the low warning limit for a user
may be caused by a loose fitting, leaking dump valve, etc. configurable period of time. This condition is usually caused by one or more of the
Remedy: No immediate remedy is required, the paint system will continue to function following:
properly. The various fluid lines and valves should be inspected and repaired. 1. The low pressure warn limit is set too high.
PAIN-448 WARN %sFast fluid flow leak detected 2. The low pressure sensitivity is set too short.
Cause: A large amount of fluid flow was detected when the gun was not turned on. This 3. The pilot line to resin color valve is removed or broken.
may be caused by the dump valve being stuck on or a broken fitting, broken paint line, 4. The resin color valve has failed.
etc. 5. The supply pressure is too low.
Note that each time the fluid begins to leak fast the color valve will be turned off. This will 6. The supply line (hose, etc.) is removed or broken.
prevent the robot from spraying the part. 7. A broken coupling between the servo motor and pump.
Remedy: The various fluid lines and valves should be inspected and repaired 8. The resin outlet transducer has failed.
immediately. Check and repair if necessary the dump pilot valve and the dump valve. Remedy: Make sure the low pressure warning limit is appropriate. Make sure the low
PAIN-449 WARN %sFailed to reach setpoint pressure sensitivity is appropriate. Check the pilot line to resin color that is being used.
Cause: This may be caused by pulsing paint pressure or a broken I/P transducer. If it Verify that the resin color valve being used is not faulty. Make sure the supply pressure is
occurs on most colors then there may be a small setting of the Minimum set point (ms) appropriate. Check the supply line from paint kitchen. Verify that the pump is rotating with
for the specific installation setup or one of the tolerance band settings may be too small motor. Check the resin outlet transducer as follows: Through the Analog I/O menu verify
for the yield of the system. the transducer is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a
Remedy: Increase the Minimum set point (ms). If the FLUID transducer is noisy change color change cycle.
it. If this occurs on specific colors, check the surge suppression system fluid supply PAIN-465 PAUS Pump 1 OUT low pressure fault
system. If the calibration yield values are more than half of the min. tolerance band then Cause: Pump #1 outlet pressure has been below the low fault limit for a user
increase the tolerance band. configurable period of time. This condition is usually caused by one or more of the
PAIN-450 WARN %sAccuflow softpart init Failed following:
Cause: The Accuflow softpart is not running. The I/O assigned & used by the softpart is 1. The low pressure fault limit is set too high.
not available or the softpart did not load correctly. Additional info. is available during 2. The low pressure sensitivity is set too short.
controller power up at the debug console (smon). 3. The pilot line to resin color valve is removed or broken.
Remedy: Check and correct the assignments or hardware for the I/O used by Accuflow. 4. The resin color valve has failed.
Especially the I/O points: Set Point Reached, Flow Rate GIN &flow diag. AOUT. Reload 5. The supply pressure is too low.
the Accuflow option, watch for alarms during the load. Document the events that led to 6. The supply line (hose, etc.) is removed or broken.
the error, record the software version number and contact your local distributor or the 7. A broken coupling between the servo motor and pump.
FANUC Robotics hotline. 8. The resin outlet transducer has failed.
PAIN-451 WARN %s0 fluid flow rate timeout Remedy: Make sure the low pressure fault limit is appropriate. Make sure the low
Cause: All of the conditions were set for fluid to be flowing and a zero flow rate was pressure sensitivity is appropriate. Check the pilot line to resin color that is being used.
measured for longer than the Zero flow timeout parameter. This may be caused by: a Verify that the resin color valve being used is not faulty. Make sure the supply pressure is
broken applicator trigger, a loss of fluid supply pressure, a broken fluid flow meter, a appropriate. Check the supply line from paint kitchen. Verify that the pump is rotating with
broken cable (to the flow meter), or a Zero flow timeout value that is too short. motor. Check the resin outlet transducer as follows: Through the Analog I/O menu verify
Note, AccuFlow temporarily automatically changes to Open Loop when this alarm occurs. the transducer is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a
color change cycle.
PAIN-466 WARN Pump 1 OUT high pressure warning
38
Cause: Pump #1 outlet pressure has been above the high warning limit for a user Cause: Pump #2 inlet pressure has been above the high fault limit for a user
configurable period of time. This condition is usually caused by one or more of the configurable period of time. This condition is usually caused by one or more of the
following: following:
1. The high pressure warn limit is set too low. 1. The high pressure fault limit is set too low.
2. The high pressure sensitivity is set too short. 2. The high pressure sensitivity is set too short.
3. The pump start/stop anticipates not setup correctly. 3. The supply pressure is set too high.
4. Obstructed line, trigger or check valve. 4. The hardener inlet transducer has failed.
5. The pilot line to mix resin valve is removed or broken. 5. The inlet regulator has failed.
6. The mix resin valve has failed. Remedy: Make sure the high pressure fault limit is appropriate. Make sure the high
7. The resin outlet transducer has failed. pressure sensitivity is appropriate. Make sure the supply pressure is appropriate. Check
Remedy: Make sure the high pressure warning limit is appropriate. Make sure the high the hardener inlet transducer as follows: Through the Analog I/O menu verify the
pressure sensitivity is appropriate. Make sure the pump start/stop anticipates are transducer is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color
appropriate. Make sure the lines, trigger or check valve are not obstructed. Check the change cycle. Check the hardener inlet regulator as follows: Through the Analog I/O
pilot line to mix resin valve. Verify that the mix resin valve is not faulty. Check the resin menu verify the command 200-1000 cnts (0-100 psi) spanning by verifying the output psi
outlet transducer as follows: Through the Analog I/O menu verify the transducer is at the transducer test port.
spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color change cycle. PAIN-484 WARN Pump 2 OUT low pressure warning
PAIN-467 PAUS Pump 1 OUT high pressure fault Cause: Pump #2 outlet pressure has been below the low warning limit for a user
Cause: Pump #1 outlet pressure has been above the high fault limit for a user configurable period of time. This condition is usually caused by one or more of the
configurable period of time. This condition is usually caused by one or more of the following:
following: 1. The low pressure warn limit is set too high.
1. The high pressure fault limit is set too low. 2. The low pressure sensitivity is set too short.
2. The high pressure sensitivity is set too short. 3. The pilot line to hardener color valve is removed or broken.
3. The pump start/stop anticipates not setup correctly. 4. The hardener color valve has failed.
4. Obstructed line, trigger or check valve. 5. The supply pressure is too low.
5. The pilot line to mix resin valve is removed or broken. 6. The supply line (hose, etc.) is removed or broken.
6. The mix resin valve has failed. 7. A broken coupling between the servo motor and pump.
7. The resin outlet transducer has failed. 8. The hardener outlet transducer has failed.
Remedy: Make sure the high pressure fault limit is appropriate. Make sure the high Remedy: Make sure the low pressure warning limit is appropriate. Make sure the low
pressure sensitivity is appropriate. Make sure the pump start/stop anticipates are pressure sensitivity is appropriate. Check the pilot line to hardener color that is being
appropriate. Make sure the lines, trigger or check valve are not obstructed. Check the used. Verify that the hardener color valve being used is not faulty. Make sure the supply
pilot line to mix resin valve. Verify that the mix resin valve is not faulty. Check the resin pressure is appropriate. Check the supply line from paint kitchen. Verify that the pump is
outlet transducer as follows: Through the Analog I/O menu verify the transducer is rotating with motor. Check the hardener outlet transducer as follows: Through the Analog
spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color change cycle. I/O menu verify the transducer is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80
PAIN-468 WARN Pump 1 fluid flow rate > set point psi) during a color change cycle.
Cause: The actual flow rate out of pump #1 as measured by the fluid flow meter has PAIN-485 PAUS Pump 2 OUT low pressure fault
been continuously greater than a set point window (a percentage) for a user configurable Cause: Pump #2 outlet pressure has been below the low fault limit for a user
period of time. configurable period of time. This condition is usually caused by one or more of the
Remedy: Do a fluid flow test on pump #1 with a beaker and verify that the beaker following:
amount matches the pump #1 size (cc/rev). Verify that the correct KFT factor has been 1. The low pressure fault limit is set too high.
entered for the fluid flow meter per the manufacturers specification. Check the operation 2. The low pressure sensitivity is set too short.
of the inlet regulator to verify that no (blow by) is occurring across the pump. 3. The pilot line to hardener color valve is removed or broken.
PAIN-469 WARN Pump 1 fluid flow rate < set point 4. The hardener color valve has failed.
Cause: The actual flow rate out of pump #1 as measured by the fluid flow meter has 5. The supply pressure is too low.
been continuously less than a set point window (a percentage) for a user configurable 6. The supply line (hose, etc.) is removed or broken.
period of time. 7. A broken coupling between the servo motor and pump.
Remedy: Do a fluid flow test on pump #1 with a beaker and verify that the beaker 8. The hardener outlet transducer has failed.
amount matches the pump #1 size (cc/rev). Verify that the correct KFT factor has been Remedy: Make sure the low pressure fault limit is appropriate. Make sure the low
entered for the fluid flow meter per the manufacturers specification. Check the operation pressure sensitivity is appropriate. Check the pilot line to hardener color that is being
of the inlet regulator to verify that no (blow by) is occurring across the pump. used. Verify that the hardener color valve being used is not faulty. Make sure the supply
PAIN-470 WARN Pump 1 zero fluid flow rate detected pressure is appropriate. Check the supply line from paint kitchen. Verify that the pump is
Cause: Zero fluid flow out of pump #1 is detected. This condition is usually caused by rotating with motor. Check the hardener outlet transducer as follows: Through the Analog
one or more of the following: I/O menu verify the transducer is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80
1. A loose mechanical coupling between the motor and pump. psi) during a color change cycle.
2. A broken line between the pump and trigger. PAIN-486 WARN Pump 2 OUT high pressure warning
Remedy: Check the mechanical coupling between the motor and the pump. Make sure Cause: Pump #2 outlet pressure has been above the high warning limit for a user
the line from pump to trigger is ok. configurable period of time. This condition is usually caused by one or more of the
PAIN-471 WARN Pump 1 motor velocity limit following:
Cause: The motor velocity for pump #1 has exceeded its operating limit. The motor 1. The high pressure warn limit is set too low.
speed will be reduced to be within operating limit. The motor speed for pump #2 will be 2. The high pressure sensitivity is set too short.
reduced to maintain a proper fluid ratio. 3. The pump start/stop anticipates not setup correctly.
Remedy: Lower the flow rate to within the motor limit. 4. Obstructed line, trigger or check valve.
PAIN-472 WARN Pump 1 motor servo not ready 5. The pilot line to mix hardener valve is removed or broken.
Cause: The servo power to pump #1 is not ready. 6. The mix hardener valve has failed.
Remedy: Usually, the servo not ready occurs when servo power is turned off for some 7. The hardener outlet transducer has failed.
reason, such as E-stop condition, and/or machine locked. Correct the condition and reset Remedy: Make sure the high pressure warning limit is appropriate. Make sure the high
the controller. pressure sensitivity is appropriate. Make sure the pump start/stop anticipates are
PAIN-473 WARN Pump 1 totals differ > tolerance appropriate. Make sure the lines, trigger or check valve are not obstructed. Check the
Cause: The actual total flow out of pump #1 as measured by the fluid flow meter has a pilot line to mix hardener valve. Verify that the mix hardener valve is not faulty. Check the
value that is different than the commanded total flow. This difference is larger than the hardener outlet transducer as follows: Through the Analog I/O menu verify the transducer
total flow tolerance. is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color change
Remedy: Do a fluid flow test on pump #1 with a beaker and verify that the beaker cycle.
amount matches the pump #1 size (cc/rev). Verify that the correct KFT factor has been PAIN-487 PAUS Pump 2 OUT high pressure fault
entered for the fluid flow meter per the manufacturers specification. Check the operation Cause: Pump #2 outlet pressure has been above the high fault limit for a user
of the inlet regulator to verify that no (blow by) is occurring across the pump. Verify that configurable period of time. This condition is usually caused by one or more of the
pump #1 does not have excessive wear. following:
PAIN-480 WARN Pump 2 IN low pressure warning 1. The high pressure fault limit is set too low.
Cause: Pump #2 inlet pressure has been below the low warning limit for a user 2. The high pressure sensitivity is set too short.
configurable period of time. This condition is usually caused by one or more of the 3. The pump start/stop anticipates not setup correctly.
following: 4. Obstructed line, trigger or check valve.
1. The low pressure warn limit is set too high. 5. The pilot line to mix hardener valve is removed or broken.
2. The low pressure sensitivity is set too short. 6. The mix hardener valve has failed.
3. The pilot line to hardener color valve is removed or broken. 7. The hardener outlet transducer has failed.
4. The hardener color valve has failed. Remedy: Make sure the high pressure fault limit is appropriate. Make sure the high
5. The supply pressure is too low. pressure sensitivity is appropriate. Make sure the pump start/stop anticipates are
6. The supply line (hose, etc.) is removed or broken. appropriate. Make sure the lines, trigger or check valve are not obstructed. Check the
7. The hardener inlet transducer has failed. pilot line to mix hardener valve. Verify that the mix hardener valve is not faulty. Check the
8. The inlet regulator has failed. hardener outlet transducer as follows: Through the Analog I/O menu verify the transducer
Remedy: Make sure the low pressure warning limit is appropriate. Make sure the low is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color change
pressure sensitivity is appropriate. Check the pilot line to hardener color that is being cycle.
used. Verify that the hardener color valve being used is not faulty. Make sure the supply PAIN-488 WARN Pump 2 fluid flow rate > set point
pressure is appropriate. Check the supply line from paint kitchen. Check the hardener Cause: The actual flow rate out of pump #2 as measured by the fluid flow meter has
inlet transducer as follows: Through the Analog I/O menu verify the transducer is been continuously greater than a set point window (a percentage) for a user configurable
spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color change cycle. period of time.
Check the inlet regulator as follows: Through the Analog I/O menu verify the command Remedy: Do a fluid flow test on pump #2 with a beaker and verify that the beaker
200-1000 cnts (0-100 psi) spanning by verifying the output psi at the transducer test port. amount matches the pump #2 size (cc/rev). Verify that the correct KFT factor has been
PAIN-481 PAUS Pump 2 IN low pressure fault entered for the fluid flow meter per the manufacturers specification. Check the operation
Cause: Pump #2 inlet pressure has been below the low fault limit for a user configurable of the inlet regulator to verify that no (blow by) is occurring across the pump.
period of time. This condition is usually caused by one or more of the following: PAIN-489 WARN Pump 2 fluid flow rate < set point
1. The low pressure fault limit is set too high. Cause: The actual flow rate out of pump #2 as measured by the fluid flow meter has
2. The low pressure sensitivity is set too short. been continuously less than a set point window (a percentage) for a user configurable
3. The pilot line to hardener color valve is removed or broken. period of time.
4. The hardener color valve has failed. Remedy: Do a fluid flow test on pump #2 with a beaker and verify that the beaker
5. The supply pressure is too low. amount matches the pump #2 size (cc/rev). Verify that the correct KFT factor has been
6. The supply line (hose, etc.) is removed or broken. entered for the fluid flow meter per the manufacturers specification. Check the operation
7. The hardener inlet transducer has failed. of the inlet regulator to verify that no (blow by) is occurring across the pump.
8. The inlet regulator has failed. PAIN-490 WARN Pump 2 zero fluid flow rate detected
Remedy: Make sure the low pressure fault limit is appropriate. Make sure the low Cause: Zero fluid flow out of pump #2 is detected. This condition is usually caused by
pressure sensitivity is appropriate. Check the pilot line to hardener color that is being one or more of the following:
used. Verify that the hardener color valve being used is not faulty. Make sure the supply 1. A loose mechanical coupling between the motor and pump.
pressure is appropriate. Check the supply line from paint kitchen. Check the hardener 2. A broken line between the pump and trigger.
inlet transducer as follows: Through the Analog I/O menu verify the transducer is Remedy: Check the mechanical coupling between the motor and the pump. Make sure
spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color change cycle. the line from pump to trigger is ok.
Check the inlet regulator as follows: Through the Analog I/O menu verify the command PAIN-491 WARN Pump 2 motor velocity limit
200-1000 cnts (0-100 psi) spanning by verifying the output psi at the transducer test port. Cause: The motor velocity for pump #2 has exceeded its operating limit. The motor
PAIN-482 WARN Pump 2 IN high pressure warning speed will be reduced to be within operating limit. The motor speed for pump #1 will be
Cause: Pump #2 inlet pressure has been above the high warning limit for a user reduced to maintain a proper fluid ratio.
configurable period of time. This condition is usually caused by one or more of the Remedy: Lower the flow rate to within the motor limit.
following: PAIN-492 WARN Pump 2 motor servo not ready
1. The high pressure warn limit is set too low. Cause: The servo power to pump #2 is not ready.
2. The high pressure sensitivity is set too short. Remedy: Usually, the servo not ready occurs when servo power is turned off for some
3. The supply pressure is set too high. reason, such as E-stop condition, and/or machine locked. Correct the condition and reset
4. The hardener inlet transducer has failed. the controller.
5. The inlet regulator has failed. PAIN-493 WARN Pump 2 totals differ > tolerance
Remedy: Make sure the high pressure warning limit is appropriate. Make sure the high Cause: The actual total flow out of pump #2 as measured by the fluid flow meter has a
pressure sensitivity is appropriate. Make sure the supply pressure is appropriate. Check value that is different than the commanded total flow. This difference is larger than the
the hardener inlet transducer as follows: Through the Analog I/O menu verify the total flow tolerance.
transducer is spanning from near 200 cnts (0 psi) to 600+ cnts (50-80 psi) during a color Remedy: Do a fluid flow test on pump #2 with a beaker and verify that the beaker
change cycle. Check the resin inlet regulator as follows: Through the Analog I/O menu amount matches the pump #2 size (cc/rev). Verify that the correct KFT factor has been
verify the command 200-1000 cnts (0-100 psi) spanning by verifying the output psi at the entered for the flow meter per the manufacturers specification. Check the operation of the
transducer test port. inlet regulator to verify that no (blow by) is occurring across the pump. Verify that pump
PAIN-483 PAUS Pump 2 IN high pressure fault #2 does not have excessive wear.
39
PAIN-494 WARN %sCalibration aborted Remedy: Check and repair the various air lines. Check and repair the air booster. Check
Cause: The IPC auto calibration aborted. and repair the I/P transducer. Possibly increase the Max. control out (ms) parameter.
Remedy: Ensure pumps are operating correctly. Ensure that the delay parameter is set PAIN-514 WARN %sMax. output has flow < setpoint
to a sufficient amount. Cause: With a maximum control output the flow rate was measured to be lower than the
PAIN-495 WARN (%s) Non-increasing cal table setpoint (requested flow). The Max. control out (ms) parameter effects the sensitivity of
Cause: The IPC auto calibration aborted because the calibration table is not increasing this alarm. This is likely caused by a clogged air cap. This may be caused by: pinched air
with the commanded flow rate. lines, a broken I/P transducer or a broken air flow sensor. Note, AccuAir temporarily
Remedy: Ensure pumps are operating correctly. Ensure that the speed command delay automatically changes to Open Loop when this alarm occurs.
(used to allow the motor RPM to settle) is set to a sufficient amount. Remedy: Check, clean and possibly replace the air cap. If air is observed to be flowing
PAIN-496 WARN (%s) Zero PSI (when commanded), possibly replace the air flow sensor. Check for a pinched air line.
Cause: The IPC auto calibration aborted because zero PSI was detected while the IPC Check and repair the I/P transducer. Possibly increase the Max. control out (ms)
system was determining the maximum flow rate during the auto calibration or while the parameter (by about 50%).
IPC system was determining one of the calibration points. PAIN-515 WARN %sFlow setpoint below globals
Remedy: Ensure pumps are operating correctly. Ensure that the speed command delay Cause: The requested air flow setpoint is below the range of the current parameter
(used to allow the motor RPM to settle) is set to a sufficient amount. If the setup settings.
parameter, 'Max speed cap:', was enabled, ensure that the parameter 'User speed cap:', Remedy: Adjust the air flow setpoint to be within the range of controllable flows.
was not set to high - the pressure will eventually plateau at higher speed commands. PAIN-516 WARN %sRequested flow above cal. table
Alternate action is to disable 'Max speed cap:' and re-calibrate. Cause: The requested air flow setpoint is above the calibrated range for Fan Air. The
PAIN-498 WARN Color(%s) Res:Hrd ratio is 0.0:0.0 maximum value is shown as point number 10 in the calibration table.
Cause: The color identified in the error message has a default ratio (0.0:0.0) defined. Remedy: Adjust the air flow setpoint to be within the calibrated range of this parameter.
The IPC pumps can only run when a non-zero ratio is defined. Perform the necessary steps to increase the maximum flow obtained during calibration.
Remedy: Change the default ratio for this color in the Setup Color Detail menu. This may involve increasing the diameter of the air lines supplying Fan air to the
PAIN-500 WARN %sCal. table adapted out,output up applicator or changing the type of air booster used.
Cause: The relationship of the output command to the flow rate obtained has changed PAIN-517 WARN %sSlow air flow leak detected
significantly since the last calibration. There is now a larger output required to get the Cause: A small amount of air flow was detected when the gun was not turned on. This
same flow rate. This can be caused by: a clogged air cap, clogged gun, pinched air lines may be caused by a leaking trigger valve, leaking air line, or any other air leak between
or large losses of air supply pressure. Note that the system continues to close the loop the air flow sensor and the gun.
and generally maintain requested flow rates even after this alarm if there are no other Remedy: No immediate remedy is required, the paint system will continue to function
alarms occurring. This alarm can provide early warning of the possible failures. This properly. The applicator and various air lines should be inspected and repaired.
alarm is controlled by the Adaptive tolerance parameter. PAIN-518 WARN %sFast air flow leak detected
Remedy: Check, clean and possibly replace the air cap. Check for a large loss of air Cause: A large amount of air flow was detected when the gun was not turned on. This
supply pressure. Check for pinched air lines or clogged air passages in the gun. may be caused by a leaking trigger valve, leaking air line, broken air line, broken
Recalibrate to immediately clear the alarm. Increase the Adaptive tolerance parameter to applicator, or any other air leak between the air flow sensor and the gun.
allow larger changes without alarming Remedy: The the applicator and the various air lines should be inspected and repaired
PAIN-501 WARN %sCal. table adapted in tolerance immediately.
Cause: Just a notification that the calibration table has returned to the normal operating PAIN-519 WARN %sFailed to reach setpoint
range (as defined by the Adaptive tolerance ). Cause: This is caused by a failure of the AccuAir system to reach the setpoint (within the
Remedy: No remedy is needed. tolerance band) within the time allowed. The time that the system is allowed to take to
PAIN-502 WARN %sDyn. yield > %% tolerance band reach setpoint is controlled by the Min. Setpoint reached (ms) parameter. This may be
Cause: As a particular flow rate set point is being output the yield (slpm/cnt) for that flow caused by a sticking transducer, a system that is too slow for the current setting of Min.
rate was approximately larger than the percent tolerance. It is not likely that the set point Setpoint reached or a system yield that is too large for the tolerance band setting.
will be reached within the specified tolerances. This may be caused by the use of a flow Remedy: If the Fan Air control I/P transducer is noisy or broken change it. If the
rate setpoint that is above the value that the air system can provide. calibration yield values are more than half of the min. Tolerance band then increase this
Remedy: In some way decrease the yield. Use larger diameter air lines to supply air to tolerance value. If the Flow delay parameter is large or this alarm is occurring on many
the cap. Use a larger ratio booster (2:1 instead of 1:1) booster (if the system can not robots then increase the Minimum setpoint reached parameter.
supply the high flow rates provided). Use a smaller ratio booster. Otherwise accept a PAIN-520 WARN %s0 air flow rate timeout
larger tolerance band. Increase the Percent tolerance band (by about 50%). Cause: All of the conditions were set for air to be flowing and a zero flow rate was
PAIN-503 WARN %sFlow rate avg. error excessive measured for longer than the Zero flow timeout parameter. This may be caused by: a
Cause: Comparisons of how far the measured flow rate is from the setpoint had too large clogged air cap, a broken applicator trigger, broken air lines, a loss of air supply
of a result. The size of the error between measured flow and setpoint that will cause this pressure, a broken air flow sensor, a broken cable (to the flow sensor), or a Zero flow
alarm is controlled by the Max. error from setpoint parameter. Possible causes are: timeout value that is too short. Note, AccuAir temporarily automatically changes to Open
clogged air cap, sticking I/P transducer, bad air booster or pinching air lines. Loop when this alarm occurs.
Remedy: Check, clean and possibly replace the air cap. Check for oscillating air Remedy: Check, clean and possibly replace the air cap. Check that the gun is properly
pressure on the output of the I/P transducer. If found replace the transducer. Check for a triggering. If air was observed to be flowing, check and possibly replace the air flow
large loss of air supply pressure or pinched air lines. If the alarm occurs on both Fan Air sensor. Check for a broken air line. Possibly increase the Zero flow timeout parameter
and Atomizing Air or many robots then possibly increase the Max. error from setpoint (by about 25%).
parameter. PAIN-521 WARN %sWarning, learn item failed
PAIN-504 WARN %sCalibration successful Cause: While completing operations to measure the equipment delays the equipment did
Cause: Used to notify the cell controller that a calibration has been completed not respond within the expected timeout.
successfully. Remedy: Retry the operation by setting the Equipment learn to Redo and calibrate
Remedy: No remedy is needed. again. Check for other AccuAir alarms in the alarm log then follow the remedies for those
PAIN-505 WARN %sCalibration aborted alarms. If there are no other alarms follow the remedies for the Failed to reach setpoint
Cause: AccuAir calibration could not complete. This may be due to the air supply being alarm.
off. Check for other alarms in the log. This may be due to incorrect setup parameters or PAIN-522 WARN %sDyn. yield > min tolerance band
incomplete hardware setup. Cause: As a particular flow rate set point is being output the yield (slpm/cnt) for that flow
Remedy: The best remedy may be found from the previous alarm in the log. Request a rate was approximately larger than the percent tolerance. It is not likely that the set point
proper air flow at the cap, check that it occurs. Check that the Sensor scale and various will be reached within the specified tolerances. This may be caused by the use of a flow
other parameters are set properly. Increase the Calibration time out parameter. rate setpoint that is below the value that the air system can accurately provide.
PAIN-506 WARN %sCal. low flow rate reset Remedy: In some way decrease the yield. Use larger diameter air lines to supply air to
Cause: This is a warning not a failure. During AccuAir calibration the low flow rate could the cap. Use a smaller ratio booster. Otherwise accept a larger tolerance band. Increase
not be properly reached. A new flow was established. The target flow rate is determined the minimum tolerance (by about 50%).
by the Table point no. 2 parameter. PAIN-523 WARN %sCal. table adapted out, down
Remedy: The new flow rate is shown as point 2 in the calibration table. This value can Cause: The relationship of the output command to the flow rate obtained has changed
be visually checked and accepted. Increase the yield of the system by increasing air line significantly since the last calibration. There is now a smaller output required to get the
diameters to the applicator. The Table point no. 2 parameter can be increased (by about same flow rate. This can be caused by: air leaks, a loose air cap or a significant increase
100%). of air supply pressure Note that the system continues to close the loop and generally
PAIN-507 WARN %sCal. max. flow rate reset maintain requested flow rates even after this alarm if there are no other alarms occurring.
Cause: This is a warning, not a failure. During AccuAir calibration the expected This alarm can provide early warning of the possible failures. This alarm is controlled by
maximum flow rate could not be reached at the maximum output. A new maximum flow the Adaptive tolerance parameter.
rate was established. Remedy: Check that the air cap is tight on the gun. Check, clean and possibly replace
Remedy: The new maximum flow rate is shown as point 10 in the calibration table. This the air cap. Check for leaks in air lines or at fittings. Check for cracks or breaks in the
value can be visually checked and accepted. gun. Check for a large increase of air supply pressure. Recalibrate to immediately clear
PAIN-508 WARN %sCal. time out at max. flow the alarm. Increase the Adaptive tolerance parameter to allow larger changes without
Cause: The AccuAir controls timed out trying to reach the maximum flow rate. Possible alarming
causes are: a high gain, a sticking I/P transducer, too large of a yield for the current PAIN-524 WARN %sMax. flow is below midpt. output
tolerance band or the system response is too slow for the current setting of the Cause: During calibration it was found that the maximum amount of flow occurred with
Calibration time out parameter. the command output at only the middle (midpoint) of the range. This indicates that there
Remedy: Retry the calibration. Possibly decrease the Gain modifier parameter. Possibly is wrong equipment installed or the equipment is faulty. This may also indicate a large air
increase the Percent tolerance band parameter. Check and change the transducer if leak.
necessary. Possibly increase the Calibration time out parameter (by about 10 seconds). Remedy: Check that the I/P transducer is the right range, if not replace it. Check that the
PAIN-509 WARN %sCal. time out at low flow booster has the correct ratio, typically 1 to 1. If the alarm log also has a leak alarm follow
Cause: The AccuAir controls timed out trying to reach the minimum flow rate, this flow the remedies for that alarm If this equipment must be used reduce the Max. control value
rate is the Table point no. 2 parameter. Possible causes are: a high gain, a sticking I/P for this parameter by about 20%.
transducer, too large of a yield for the current tolerance band or the system response is PAIN-525 WARN %sLeak detect when zeroing meter
too slow for the current setting of the Calibration time out parameter. Cause: When attempting to automatically zero (tare) the air flow meter the flow reading
Remedy: Retry the calibration. Possibly decrease the Gain modifier parameter. Possibly from it was large enough to indicate a possible leak.
increase the Percent tolerance band parameter. Check and change the transducer if Remedy: Complete the procedure to manually zero (tare) the air flow meter for this
necessary. Possibly increase the Calibration time out parameter (by about 10 seconds). channel. With the air lines all reconnected and air pressure on, if the display on the air
Possibly increase the Table point no. 2 parameter (by about 100%). flow meter reads more flow than the Fast leak flow parameter then follow the cause &
PAIN-510 WARN %s0 air flow rate detected remedy for the Fast air flow leak detected alarm.
Cause: All of the conditions were set for air to be flowing and a zero flow rate was PAIN-530 WARN %sCal. table adapted out,output up
measured. This may be caused by: a broken applicator trigger, pinched air lines, a loss Cause: The relationship of the output command to the flow rate obtained has changed
(or near loss) of air supply pressure, a broken air flow sensor, a broken cable (to the flow significantly since the last calibration. There is now a larger output required to get the
sensor), or a Trigger delay that is too short. Note, AccuAir temporarily automatically same flow rate. This can be caused by: a clogged air cap, clogged gun, pinched air lines
changes to Open Loop when this alarm occurs. or large losses of air supply pressure. Note that the system continues to close the loop
Remedy: Check, clean and possibly replace the air cap. Check that the gun is properly and generally maintain requested flow rates even after this alarm if there are no other
triggering. If air was observed to be flowing check and possibly replace the air flow alarms occurring. This alarm can provide early warning of the possible failures. This
sensor. Check for a pinched air line. Increase the Trigger delay parameter (by about alarm is controlled by the Adaptive tolerance parameter.
50%). Remedy: Check, clean and possibly replace the air cap. Check for a large loss of air
PAIN-511 WARN %sLower output did not lower flow supply pressure. Check for pinched air lines or clogged air passages in the gun.
Cause: As the AccuAir calibration steps down through the 10 points in the calibration Recalibrate to immediately clear the alarm. Increase the Adaptive tolerance parameter to
table, it expects a lower flow for each decrease in the command flow value. In this case allow larger changes without alarming
the flow did not decrease. This can be caused by insufficient exhaust, no quick exhaust PAIN-531 WARN %sCal. table adapted in tolerance
on the pilot air line, too large of a hysteresis in control equipment, or the system response Cause: Just a notification that the calibration table has returned to the normal operating
is too slow for the current setting of the Calibration step delay parameter. range (as defined by the Adaptive tolerance ).
Remedy: Retry the calibration. Check that the pilot air line to the booster has sufficient Remedy: No remedy is needed.
exhaust capability. Increase the Calibration step delay parameter (by about 100%). PAIN-532 WARN %sDyn. yield > %% tolerance band
Reducing the Leveling tries parameter may help. Cause: As a particular flow rate set point is being output the yield (slpm/cnt) for that flow
PAIN-512 WARN %sTime out during a cal. test rate was approximately larger than the percent tolerance. It is not likely that the set point
Cause: While measuring hysteresis, time up or time down the Closed loop system timed will be reached within the specified tolerances. This may be caused by the use of a flow
out. This indicates that the high or low flow rate can not be reached consistently. rate setpoint that is above the value that the air system can provide.
Remedy: Retry the calibration. Check that the high flow rate can be reached Remedy: In some way decrease the yield. Use larger diameter air lines to supply air to
consistently, if not an increase in the tolerance band may be required. the cap. Use a larger ratio booster (2:1 instead of 1:1) booster (if the system can not
PAIN-513 WARN %sMin. output has flow > setpoint supply the high flow rates provided). Use a smaller ratio booster. Otherwise accept a
Cause: With a minimum control output the flow rate was measured to be higher than the larger tolerance band. Increase the Percent tolerance band (by about 50%).
setpoint (requested flow). The Max. control out (ms) parameter effects the sensitivity of PAIN-533 WARN %sFlow rate avg. error excessive
this alarm. This may be caused by a leaking or broken air line between the flow sensor Cause: Comparisons of how far the measured flow rate is from the setpoint had too large
and the applicator. The I/P transducer may be stuck open. The air booster may be stuck of a result. The size of the error between measured flow and setpoint that will cause this
open or leaking. This may be caused by a faulty air flow sensor (reading more flow than alarm is controlled by the Max. error from setpoint parameter. Possible causes are:
there really is). Note, AccuAir temporarily automatically changes to Open Loop when this clogged air cap, sticking I/P transducer, bad air booster or pinching air lines.
alarm occurs.
40
Remedy: Check, clean and possibly replace the air cap. Check for oscillating air Remedy: Check, clean and possibly replace the air cap. Check that the gun is properly
pressure on the output of the I/P transducer. If found replace the transducer. Check for a triggering. If air was observed to be flowing, check and possibly replace the air flow
large loss of air supply pressure or pinched air lines. If the alarm occurs on both Fan Air sensor. Check for a broken air line. Possibly increase the Zero flow timeout parameter
and Atomizing Air or many robots then possibly increase the Max. error from setpoint (by about 25%).
parameter. PAIN-551 WARN %sWarning, learn item failed
PAIN-534 WARN %sCalibration successful Cause: While completing operations to measure the equipment delays the equipment did
Cause: Used to notify the cell controller that a calibration has been completed not respond within the expected timeout.
successfully. Remedy: Retry the operation by setting the Equipment learn to Redo and calibrate
Remedy: No remedy is needed. again. Check for other AccuAir alarms in the alarm log then follow the remedies for those
PAIN-535 WARN %sCalibration aborted alarms. If there are no other alarms follow the remedies for the Failed to reach setpoint
Cause: AccuAir calibration could not complete. This may be due to the air supply being alarm.
off. Check for other alarms in the log. This may be due to incorrect setup parameters or PAIN-552 WARN %sDyn. yield > min tolerance band
incomplete hardware setup. Cause: As a particular flow rate set point is being output the yield (slpm/cnt) for that flow
Remedy: The best remedy may be found from the previous alarm in the log. Request a rate was approximately larger than the percent tolerance. It is not likely that the set point
proper air flow at the cap, check that it occurs. Check that the Sensor scale and various will be reached within the specified tolerances. This may be caused by the use of a flow
other parameters are set properly. Increase the Calibration time out parameter. rate setpoint that is below the value that the air system can accurately provide.
PAIN-536 WARN %sCal. low flow rate reset Remedy: In some way decrease the yield. Use larger diameter air lines to supply air to
Cause: This is a warning not a failure. During AccuAir calibration the low flow rate could the cap. Use a smaller ratio booster. Otherwise accept a larger tolerance band. Increase
not be properly reached. A new flow was established. The target flow rate is determined the minimum tolerance (by about 50%).
by the Table point no. 2 parameter. PAIN-553 WARN %sCal. table adapted out, down
Remedy: The new flow rate is shown as point 2 in the calibration table. This value can Cause: The relationship of the output command to the flow rate obtained has changed
be visually checked and accepted. Increase the yield of the system by increasing air line significantly since the last calibration. There is now a smaller output required to get the
diameters to the applicator. The Table point no. 2 parameter can be increased (by about same flow rate. This can be caused by: air leaks, a loose air cap or a significant increase
100%). of air supply pressure Note that the system continues to close the loop and generally
PAIN-537 WARN %sCal. max. flow rate reset maintain requested flow rates even after this alarm if there are no other alarms occurring.
Cause: This is a warning, not a failure. During AccuAir calibration the expected This alarm can provide early warning of the possible failures. This alarm is controlled by
maximum flow rate could not be reached at the maximum output. A new maximum flow the Adaptive tolerance parameter.
rate was established. Remedy: Check that the air cap is tight on the gun. Check, clean and possibly replace
Remedy: The new maximum flow rate is shown as point 10 in the calibration table. This the air cap. Check for leaks in air lines or at fittings. Check for cracks or breaks in the
value can be visually checked and accepted. gun. Check for a large increase of air supply pressure. Recalibrate to immediately clear
PAIN-538 WARN %sCal. time out at max. flow the alarm. Increase the Adaptive tolerance parameter to allow larger changes without
Cause: The AccuAir controls timed out trying to reach the maximum flow rate. Possible alarming
causes are: a high gain, a sticking I/P transducer, too large of a yield for the current PAIN-554 WARN %sMax. flow is below midpt. output
tolerance band or the system response is too slow for the current setting of the Cause: During calibration it was found that the maximum amount of flow occurred with
Calibration time out parameter. the command output at only the middle (midpoint) of the range. This indicates that there
Remedy: Retry the calibration. Possibly decrease the Gain modifier parameter. Possibly is wrong equipment installed or the equipment is faulty. This may also indicate a large air
increase the Percent tolerance band parameter. Check and change the transducer if leak.
necessary. Possibly increase the Calibration time out parameter (by about 10 seconds). Remedy: Check that the I/P transducer is the right range, if not replace it. Check that the
PAIN-539 WARN %sCal. time out at low flow booster has the correct ratio, typically 1 to 1. If the alarm log also has a leak alarm follow
Cause: The AccuAir controls timed out trying to reach the minimum flow rate, this flow the remedies for that alarm If this equipment must be used reduce the Max. control value
rate is the Table point no. 2 parameter. Possible causes are: a high gain, a sticking I/P for this parameter by about 20%.
transducer, too large of a yield for the current tolerance band or the system response is PAIN-555 WARN %sLeak detect when zeroing meter
too slow for the current setting of the Calibration time out parameter. Cause: When attempting to automatically zero (tare) the air flow meter the flow reading
Remedy: Retry the calibration. Possibly decrease the Gain modifier parameter. Possibly from it was large enough to indicate a possible leak.
increase the Percent tolerance band parameter. Check and change the transducer if Remedy: Complete the procedure to manually zero (tare) the air flow meter for this
necessary. Possibly increase the Calibration time out parameter (by about 10 seconds). channel. With the air lines all reconnected and air pressure on, if the display on the air
Possibly increase the Table point no. 2 parameter (by about 100%). flow meter reads more flow than the Fast leak flow parameter then follow the cause &
PAIN-540 WARN %s0 air flow rate detected remedy for the Fast air flow leak detected alarm.
Cause: All of the conditions were set for air to be flowing and a zero flow rate was PAIN-560 WARN Data Monitor is disabled
measured. This may be caused by: a broken applicator trigger, pinched air lines, a loss Cause: Data Monitor subsystem has been disabled, by user choice or automatically
(or near loss) of air supply pressure, a broken air flow sensor, a broken cable (to the flow because limit on data files set by the user has been reached
sensor), or a Trigger delay that is too short. Note, AccuAir temporarily automatically Remedy: Enable Data Monitor Operation from the Utilities- Data Monitor screen. On
changes to Open Loop when this alarm occurs. Setup-Diagnostics screen, consider increasing Max Data Files Stored or setting Disable
Remedy: Check, clean and possibly replace the air cap. Check that the gun is properly After Max Files to NO, if these settings caused Data Monitor to to be disabled. See
triggering. If air was observed to be flowing check and possibly replace the air flow PaintTool Setup and Operations Manual Advanced Functions for more information.
sensor. Check for a pinched air line. Increase the Trigger delay parameter (by about PAIN-561 WARN Maximum DMON Data Files exceeded
50%). Cause: The limit on data files that may be stored by the Data Monitor subsystem has
PAIN-541 WARN %sLower output did not lower flow been reached.
Cause: As the AccuAir calibration steps down through the 10 points in the calibration Remedy: On Setup-Diagnostics screen, consider increasing Max Data Files Stored or
table, it expects a lower flow for each decrease in the command flow value. In this case setting Disable After Max Files to NO. See PaintTool S & O manual (Advanced
the flow did not decrease. This can be caused by insufficient exhaust, no quick exhaust Functions) for more information on these items.
on the pilot air line, too large of a hysteresis in control equipment, or the system response PAIN-562 WARN DMON in progress, item locked
is too slow for the current setting of the Calibration step delay parameter. Cause: Data Monitor session is in progress and user tried to change setup that could
Remedy: Retry the calibration. Check that the pilot air line to the booster has sufficient affect current session.
exhaust capability. Increase the Calibration step delay parameter (by about 100%). Remedy: Wait till the end of Data Monitor session. If in Automatic Sampling mode, this
Reducing the Leveling tries parameter may help. happens at job end. If sampling in Asynchronous mode, set SAMPLE NOW, under
PAIN-542 WARN %sTime out during a cal. test Setup-Diagnostics to STOP, to stop current session.
Cause: While measuring hysteresis, time up or time down the Closed loop system timed PAIN-563 WARN Asynchronous DataMonitor disabled
out. This indicates that the high or low flow rate can not be reached consistently. Cause: Asynchronous Data Monitoring has been disabled
Remedy: Retry the calibration. Check that the high flow rate can be reached Remedy: To re-enable, ensure that Utilities-Data Monitor-Data Monitor Operation is
consistently, if not an increase in the tolerance band may be required. enabled. Set Setup-Diagnostics-Auto Sample Each Job to NO.
PAIN-543 WARN %sMin. output has flow > setpoint PAIN-565 WARN DMON file management disabled
Cause: With a minimum control output the flow rate was measured to be higher than the Cause: File management features have been disabled because user set Setup-
setpoint (requested flow). The Max. control out (ms) parameter effects the sensitivity of Diagnostics-Max Data Files Stored to 0. Stored data will be over-written by subsequent
this alarm. This may be caused by a leaking or broken air line between the flow sensor sampling sessions.
and the applicator. The I/P transducer may be stuck open. The air booster may be stuck Remedy: No action required. To re-enable, you may set Max Data Files to non-zero
open or leaking. This may be caused by a faulty air flow sensor (reading more flow than value Ensure that destination data storage device has adequate space. See PaintTool S
there really is). Note, AccuAir temporarily automatically changes to Open Loop when this & O manual (Advanced Functions)
alarm occurs. PAIN-566 WARN DMON file management enabled
Remedy: Check and repair the various air lines. Check and repair the air booster. Check Cause: File management features have been enabled because user set Setup-
and repair the I/P transducer. Possibly increase the Max. control out (ms) parameter. Diagnostics-Max Data Files Stored value. Data Monitor will store as many old data files
PAIN-544 WARN %sMax. output has flow < setpoint as indicated.
Cause: With a maximum control output the flow rate was measured to be lower than the Remedy: No action required if destination data storage device has adequate space. To
setpoint (requested flow). The Max. control out (ms) parameter effects the sensitivity of disable, set value to 0. See PaintTool S & O manual (Advanced Functions) for more
this alarm. This is likely caused by a clogged air cap. This may be caused by: pinched air information.
lines, a broken I/P transducer or a broken air flow sensor. Note, AccuAir temporarily PAIN-567 WARN Sample_start builtin exec failed
automatically changes to Open Loop when this alarm occurs. Cause: Karel builtin SAMPLE_START returned bad status.
Remedy: Check, clean and possibly replace the air cap. If air is observed to be flowing Remedy: Contact your FANUC service representative.
(when commanded), possibly replace the air flow sensor. Check for a pinched air line. PAIN-568 WARN Sample_end builtin exec failed
Check and repair the I/P transducer. Possibly increase the Max. control out (ms) Cause: Karel builtin SAMPLE_END returned bad status.
parameter (by about 50%). Remedy: Contact your FANUC service representative.
PAIN-545 WARN %sFlow setpoint below globals PAIN-569 WARN Monitor session not started
Cause: The requested air flow setpoint is below the range of the current parameter Cause: Data Monitor session not started. This could be because both methods for
settings. starting Data Monitor session are enabled.
Remedy: Adjust the air flow setpoint to be within the range of controllable flows. Remedy: Disable either <Auto sample each job> or <Asynch. Start Enable> items.
PAIN-546 WARN %sRequested flow above cal. table PAIN-580 PAUS %sGlss Breakage Detected
Cause: The requested air flow setpoint is above the calibrated range for Fan Air. The Cause: During production, one of the glass strands feeding through the chopper motor
maximum value is shown as point number 10 in the calibration table. was detected broken by its corresponding microphone sensor.
Remedy: Adjust the air flow setpoint to be within the calibrated range of this parameter. Remedy: Jog the robot away from the fault location and re-thread the glass strand
Perform the necessary steps to increase the maximum flow obtained during calibration. through the chopper motor. Jog the robot near the fault location and continue the cycle.
This may involve increasing the diameter of the air lines supplying Fan air to the PAIN-581 PAUS %sCatalyst Flow Error
applicator or changing the type of air booster used. Cause: During production, the catalyst flow stopped which is causing only the resin to
PAIN-547 WARN %sSlow air flow leak detected flow.
Cause: A small amount of air flow was detected when the gun was not turned on. This Remedy: This can be due to a faulty Kobold sensor or mechanical problems to the
may be caused by a leaking trigger valve, leaking air line, or any other air leak between catalyst pump.
the air flow sensor and the gun. PAIN-582 WARN %s flow command warning
Remedy: No immediate remedy is required, the paint system will continue to function Cause: During production, an increase in command output was issued in order to
properly. The applicator and various air lines should be inspected and repaired. maintain setpoint. This increase surpassed the Command Warning percentage value. An
PAIN-548 WARN %sFast air flow leak detected additional jump in command output may fault the robot
Cause: A large amount of air flow was detected when the gun was not turned on. This Remedy: This problem may be due to a clogged gun tip or old equipment. Clean the gun
may be caused by a leaking trigger valve, leaking air line, broken air line, broken tip, check the lines, and/or equipment.
applicator, or any other air leak between the air flow sensor and the gun. PAIN-583 PAUS %s flow command alarm
Remedy: The the applicator and the various air lines should be inspected and repaired Cause: During production, a significant increase in command output was issued in order
immediately. to maintain setpoint. This increase surpassed the Command Alarm percentage value
PAIN-549 WARN %sFailed to reach setpoint which faulted the robot.
Cause: This is caused by a failure of the AccuAir system to reach the setpoint (within the Remedy: This problem may be due to a clogged gun tip or old equipment. Clean the gun
tolerance band) within the time allowed. The time that the system is allowed to take to tip, check the lines, and/or equipment.
reach setpoint is controlled by the Min. Setpoint reached (ms) parameter. This may be PAIN-584 PAUS %s0 res flow rate T.O.
caused by a sticking transducer, a system that is too slow for the current setting of Min. Cause: All of the conditions were set for resin fluid to be flowing and a zero flow rate was
Setpoint reached or a system yield that is too large for the tolerance band setting. measured. This may be caused by: a broken applicator trigger, a loss of resin fluid supply
Remedy: If the Fan Air control I/P transducer is noisy or broken change it. If the pressure, a broken flow meter, a broken cable (to the flow meter), or a Zero fluid flow
calibration yield values are more than half of the min. Tolerance band then increase this timeout value that is too short. Note, Accuchop automatically faults the robot when this
tolerance value. If the Flow delay parameter is large or this alarm is occurring on many alarm occurs.
robots then increase the Minimum setpoint reached parameter. Remedy: Check that the gun is properly triggering. If fluid was observed to be flowing,
PAIN-550 WARN %s0 air flow rate timeout check and possibly replace the fluid flow meter. Possibly increase the Zero flow timeout
Cause: All of the conditions were set for air to be flowing and a zero flow rate was parameter (by about 25%).
measured for longer than the Zero flow timeout parameter. This may be caused by: a PAIN-585 PAUS %sMax output has flow < setpoint
clogged air cap, a broken applicator trigger, broken air lines, a loss of air supply Cause: With a maximum control output, the flow rate was measured to be lower than the
pressure, a broken air flow sensor, a broken cable (to the flow sensor), or a Zero flow setpoint (requested flow). The resin gun may be clogging. The resin or pilot air line may
timeout value that is too short. Note, AccuAir temporarily automatically changes to Open be pinched. The resin fluid pressure may have become too low. The I/P transducer may
Loop when this alarm occurs. be broken.
41
Note: Accuchop automatically faults the robot and enters into Open Loop when this Remedy: In FREE configuration, can be set INTER only one direction (ROW, COLUMN
failure occurs. or LAYER)
Remedy: Check the gun tip and the whole gun for clogging. Check the resin lines for PALT-031 WARN Can not be set FREE or INTER
pinching, especially at places where they flex. Check the resin supply pressure. Check Cause: In FREE configuration, can not be set INTER over two directions
and replace if necessary the I/P transducer. Remedy: In FREE configuration, can be set INTER only one direction (ROW, COLUMN
PAIN-586 PAUS %sMin output has flow > setpoint or LAYER)
Cause: With a minimum control output the flow rate was measured to be higher than the PALT-032 PAUSE Pallet stn %s not taught
flow rate setpoint. The resin fluid pressure may have become too high. The I/P Cause: Pallet station specified in PalletSystem setup is not taught
transducer or fluid regulator may be stuck open. There may be a fairly large fluid leak. Remedy: Teach pallet station specified in PalletSystem setup
Note: Accuchop automatically faults the robot and enters into Open Loop when this PALT-033 WARN This speed type isn't supported
failure occurs. Cause: Palletizing option doesn't support this speed type
Remedy: Calibrating the resin will establish a new cracking pressure (minimum control Remedy: Please select the other motion statement.
output) for a changed fluid pressure. Check and replace, if necessary, the resin fluid PALT-033 WARN This speed type isn't supported
regulator and I/P transducer. Cause: Palletizing option doesn't support this speed type
PAIN-587 PAUS %s0 gls feed rate T.O. Remedy: Please select the other motion statement.
Cause: All of the conditions were set for glass to be feeding and a zero feed rate was PALT-038 PAUSE Infeed stn %s not taught
measured. This may be caused by: a broken applicator trigger, a broken chopper motor Cause: Infeed station specified in PalletSystem setup is not taught
sensor, a broken cable (to chopper motor sensor), or a Zero glass feed timeout value that Remedy: Teach infeed station specified in PalletSystem setup
is too short. PALT-040 PAUSE Unknown flip type %s
Note, Accuchop automatically faults the robot when this alarm occurs. Cause: Specified flip type is unknown to PalletTool
Remedy: If the glass is not feeding from the chopper motor, check: the items listed Remedy: Check the value of flip type in Unit load setup It should be a known flip type.
above or the 32 point input module. If it occurs with very low feed rates, decrease the PALT-041 PAUSE Infeed stn %s not found
Gain modifier. Cause: Specified infeed station is not taught or loaded
PAIN-588 PAUS %sMax output has feed < setpoint Remedy: Teach or load the infeed station
Cause: With a maximum control output, the glass feed rate was measured to be lower PALT-045 WARN Cannot change PC file data
than the setpoint (requested feed). The chopper motor may be clogging. Cause: Unit load data file was created using Palletmate PC
Note: Accuchop automatically faults the robot and enters into Open Loop when this Remedy: Data created using Palletmate PC cannot be changed in PalletTool. You must
failure occurs. go back to the PC to make the changes and then retransfer the file
Remedy: Check and clean the chopper motor if it is clogged. Check and replace if PALT-046 WARN Could not run task %s
necessary the I/P transducer. Cause: While PalletTool was internally trying to run another program in multi-tasking
PAIN-589 PAUS %sMin output has feed > setpoint mode, an error occurred.
Cause: With a minimum control output the glass feed rate was measured to be higher Remedy: ABORT ALL and retry.
than the feed rate setpoint. The motor (glass) RPM may have become too high. The I/P PALT-048 PAUSE Error opening %s
transducer may be stuck open. Cause: An error occurred while PalletTool was trying to open a .TP program
Note: Accuchop automatically faults the robot and enters into Open Loop when this Remedy: Make sure that the .TP program is loaded & retry
failure occurs. PALT-049 PAUSE Set_pos_tpe %s
Remedy: Calibrating the glass will establish a new cracking pressure (minimum control Cause: An error occurred while PalletTool was trying to set a position in a .TP program
output). Check and replace, if necessary, the I/P transducer. Remedy: Cold start the controller and retry.
PAIN-591 WARN RDU Full - Proc Champ disabled PALT-050 PAUSE Error closing %s
Cause: The report file generated by Process Champion has filled the RDU device to its Cause: An error occurred while PalletTool was trying to open a .TP program
capacity. This forces the system to disable Process Champion auto mode so that no Remedy: Cold start the controller and retry.
further auto appending is performed on the file. The file has been copied to FR: and is PALT-051 PAUSE Slip sheet not supported
deleted from RDU: Cause: Slip sheet support is not provided
Remedy: Re-enable Process Champion auto mode by setting the 'Set Process Remedy: Disable slip sheet in the PalletSystem menu
Champion Mode' parameter to Auto. To prevent FR: from filling to capacity, remove the PALT-052 WARN Pattern not supported
file from FR: to another device, ie PCMCIA card. Cause: Some patterns from older versions of PalletTool are no longer supported.
PALT Error Codes Remedy: Create a new unitload; select a different pattern.
PALT-001 ABORT Inadequate register value PALT-053 WARN Gripper is not DOUBLE type
Cause: Column/row/layer number is illegal. Cause: Depalletizing was chosen with a gripper other than single
Remedy: Please confirm palletizing register. Remedy: Choose single gripper for depalletizing
PALT-001 ABORT Inadequate register value PALT-054 PAUSE Invalid parts requested %s
Cause: Column/row/layer number is illegal. Cause: A request for picking up 0 part was received
Remedy: Please confirm palletizing register. Remedy: Abort all and retry.
PALT-002 WARN Maximum layers = 40 PALT-055 PAUSE Error in CNV_STR_CONF
Cause: Layer number greater than maximum allowed layers was specified Cause: Internal error occurred
Remedy: Specify a layer number less than the allowed maximum Remedy: Abort all and retry.
PALT-003 WARN Cannot Flip Lt or Wd for Unique PALT-057 PAUSE Gripper type not supported: %s
Cause: Length or width flip was specified for a unique matrix which is not allowed Cause: Specified gripper is unknown to PalletTool
Remedy: Specify No flip or diagonal (length and width) flip for the unique matrix Remedy: Check the value of gripper-id in Optimal path setup. The valid range is 1-9. 10
PALT-004 ABORT Increment value is ill is also allowed if the multi-case option is loaded. 11 and 12 are also allowed if the fork
Cause: Increment value of palletizing config screen is illegal. option is loaded.
Remedy: Please correct increment value PALT-058 WARN Cannot select PC pattern
PALT-004 ABORT Increment value is ill Cause: A Palletmate PC pattern cannot be selected while creating or modifying a unit
Cause: Increment value of palletizing config screen is illegal. load
Remedy: Please correct increment value Remedy: Choose Single, Doubleside, DoubleTop or Unique Other patterns can only be
PALT-010 ABORT Route pattern unfound transferred from Palletmate PC
Cause: Route pattern unfound. PALT-059 WARN Error using CLEAR built-in
Remedy: Check route pattern in palletizing route pattern screen. Cause: An error occurred while clearing a variable file. If a .vr file was loaded into
PALT-010 ABORT Route pattern unfound memory at controlled-start, it can only be cleared at controlled start.
Cause: Route pattern unfound. Remedy: See error PALT-133 for details.
Remedy: Check route pattern in palletizing route pattern screen. PALT-063 WARN Id is uninit in UL %s
PALT-011 WARN Position has not been taught Cause: Product-id is not set in the UL file
Cause: Position is yet to be taught Remedy: Set product_id in the UL file from Unit load setup
Remedy: Position must be taught PALT-064 WARN MOVE TO done
PALT-012 PAUSE MOVE-TO could not execute %s Cause: The motion to P1, P2 or P3 on the teaching aid was successful.
Cause: Motion control was not obtained for robot motion Remedy: This is only a warning/notification message
Remedy: Check if another task is running or if the teach pendant is enabled. Teach PALT-065 PAUSE Invalid reg value %s
pendant should be disabled Cause: An invalid register value was encountered
PALT-013 PAUSE GET_VAR failed %s Remedy: From the DATA menu, verify that the register contains the correct value.
Cause: Data in a setup menu could not be set PALT-066 PAUSE Reg %s could not be set
Remedy: Cold start the controller and retry. Cause: Register operation failed
PALT-014 PAUSE SET_VAR failed %s Remedy: Check if the register is defined, if it is between 1-64 and if it has the right value.
Cause: Data in a setup menu could not be set Must ABORT ALL and retry
Remedy: Cold start the controller and retry. PALT-067 PAUSE Reg value not set %s
PALT-015 WARN Could not create station file Cause: Could not set an internally calculated value V to the register R
Cause: An error occurred while creating an infeed or pallet station file. Remedy: From the DATA menu, verify that the register is defined, is in the range 1-64,
Remedy: Cold start the controller and retry. and has the correct value. Must ABORT ALL and retry
PALT-018 PAUSE Could not load .VR file PALT-068 PAUSE Infeed/Pallet for UL %s unknown
Cause: The .VR file does not exist or an error occurred in communication Cause: The infeed on which the unit load enters the work cell was not assigned in
Remedy: Check the communication line and make sure that the file exists on the floppy PalletSystem menu
PALT-019 PAUSE Could not create unit load file Remedy: Make the infeed-unit load assignment in the PalletSystem setup menu. ABORT
Cause: An error occurred while creating unit load file ALL and retry
Remedy: Cold start the controller and retry. PALT-069 PAUSE Invalid UL %s found
PALT-020 ABORT Could not open .DT file for read Cause: A valid unit load number was not found at the layer indicated for the mixed unit
Cause: An error occurred while opening a .DT file load
Remedy: Cold start the controller and retry. Remedy: From the Mixed UnitLd menu, indicate valid unit load numbers for each unit
PALT-021 WARN IO_STATUS error occurred layer. ABORT ALL and retry.
Cause: An I/O error occurred during data transfer PALT-071 WARN Not all pallets assigned UL
Remedy: Cold start the controller and retry. Cause: Not all the pallets have been assigned a unit load in PalletSystem menu
PALT-022 WARN Could not save .VR file %s Remedy: This is only a warning message. Make sure in PalletSystem menu, that all the
Cause: Error occurred while saving a .VR file pallets have a corresponding unit load assigned.
Remedy: Cold start the controller and retry. PALT-072 WARN Not all infeeds assigned UL
PALT-024 ABORT Calculation error occurred Cause: Not all the infeeds have been assigned a unit load in PalletSystem menu
Cause: Palletizing data is incomplete. Remedy: This is only a warning message. Make sure in PalletSystem menu, that all the
Remedy: Teach bottom point all? Teach rout point all? infeeds have a corresponding unit load assigned.
PALT-024 ABORT Calculation error occurred PALT-073 WARN Station teaching completed
Cause: Palletizing data is incomplete. Cause: All the teaching aid points have been taught and the teaching of the station is
Remedy: Teach bottom point all? Teach rout point all? complete.
PALT-026 ABORT Cannot read/write to PL[] Remedy: This is only a notification message.
Cause: Cannot read/write to palletizing register. PALT-074 PAUSE Perch position not taught
Remedy: Check palletizing register index Cause: Perch position is uninitialized (Not taught)
PALT-026 ABORT Cannot read/write to PL[] Remedy: Select PM_MAIN from the SELECT screen, go to DATA menu, and record
Cause: Cannot read/write to palletizing register. variable perch after jogging robot to the perch position. ABORT and retry.
Remedy: Check palletizing register index PALT-081 WARN Moving to perch position..
PALT-028 WARN Could not access files Cause: Notification to user that the robot will move to perch position.
Cause: Error occurred while accessing the floppy disk Remedy: This is only a warning message.
Remedy: Make sure the communication is correct & retry PALT-082 WARN Indexing pallet %s
PALT-029 WARN File transfer not done Cause: Notification to user that the pallet is being indexed.
Cause: File transfer was not successful. Some data may not have been transferred Remedy: This is only a warning message.
Remedy: Cold start the controller and retry. PALT-083 WARN Placing slip sheet %s
PALT-030 WARN Pallet number is over max Cause: Notification to user that slip sheet is being placed.
Cause: Don't teach palletizing instruction over 16 Remedy: This is only a warning message.
Remedy: palletizing instruction don't teach more than 16 in this program, Please teach PALT-085 PAUSE Operator Panel E-stop ON
another program. Cause: Program cannot run with operator panel E-STOP
PALT-030 WARN Pallet number is over max Remedy: Release Operator panel E-stop, press reset and push cycle start to continue.
Cause: Don't teach palletizing instruction over 16 PALT-086 PAUSE Teach pendant E-stop ON
Remedy: palletizing instruction don't teach more than 16 in this program, Please teach Cause: Program cannot run with teach pendant E-STOP
another program. Remedy: Release teach pendant E-stop, press reset and push cycle start to continue.
PALT-031 WARN Can not be set FREE or INTER PALT-087 PAUSE Teach pendant is enabled
Cause: In FREE configuration, can not be set INTER over two directions Cause: Program cannot run with teach pendant enabled
42
Remedy: Disable teach pendant, press reset, and push cycle start to continue. Cause: An old smaller NUMREG.VR or POSREG.VR file was loaded onto the controller.
PALT-088 WARN Pal Stop must be disabled The number of registers or position registers was changed to fewer than what the current
Cause: Pallet stop is already on. You can only have either cycle stop or pallet stop on. version of PalletTool needs.
Not both. Remedy: PalletTool logic has automatically set the number of registers to the necessary
Remedy: Disable pallet stop, then enable cycle stop. size again. But a cold start is needed to increase the register or position register table
PALT-089 WARN Cycle Stop must be disabled size. Do a cold start.
Cause: Cycle stop is already on. You can only have either cycle stop or pallet stop on. PALT-141 WARN Cycle power to increase macros
Not both. Cause: An old smaller SYSMACRO.SV file was loaded onto the controller. The number
Remedy: Disable cycle stop, then enable pallet stop. of macros was changed to fewer than what the current version of PalletTool needs.
PALT-091 PAUSE Slip sheet stack door open Remedy: PalletTool logic has automatically set the number of macros to the necessary
Cause: One of the slip sheet stack doors is open size again. But it needs a cold start in order for the macro table size to be increased. Do
Remedy: Find out which slip sheet stack door is open and close it. Press Cycle start to a cold start.
resume. PALT-142 WARN Program not selected
PALT-101 WARN File is in use by robot. Cannot transfer Cause: To run a .tp program in local you must first select the program.
Cause: The unit load file that was being attempted to transfer is being used by the robot. Remedy: Press SELECT key and choose a program to run. If trying to run PalletTool, the
It is being used in production or is being edited using SETUP UNITLOAD or SETUP key switch must be in REMOTE.
OPTIMAL PATH. PALT-143 WARN Data in use by Robot
Remedy: First stop the robot. Then ABORT ALL. Then attempt to transfer Cause: The robot is in production. Setup data cannot be changed during production.
PALT-105 WARN Station not taught Remedy: Wait until production is aborted and then make the changes.
Cause: Either (P1,P2) or (P1, P3) or (P2, P3) or (P1,P2,P3) were all taught at the same PALT-144 WARN Visit layer spacing/flip menus
point Cause: Number of layers in the unit load was changed
Remedy: Use MODIFY under Infeed Stn setup and reteach the frame points P1, P2 and Remedy: This is only a warning message to remind the user to visit the layer flips and
P3 correctly layer spacing menus to make sure that flips and spacing are correct for all the layers.
PALT-106 WARN Cannot switch in 1 Pallet Cell PALT-145 WARN %s
Cause: There is only 1 pallet in the work cell. Cause: General status messages.
Remedy: This is only a warning message. NOSWITCH is the only option allowed for 1 Remedy: N/A
Pallet cell PALT-146 WARN UOP Ignored. Wrong Start Mode
PALT-108 WARN Part not present in tool %s Cause: The operator selects which device can be used to start palletizing on the SETUP
Cause: Did not get part presence or faulty part presence sensor. Pallet System menu. Start device can be set to SOP or UOP/PLC or PTPC.
Remedy: Check if the gripper is in contact with the part and why part presence is not Remedy: UOP/PLC must be set as the start device or the UOP signal will be ignored.
coming on PALT-147 WARN SOP Ignored. Wrong Start Mode
PALT-109 WARN Part still present in tool %s Cause: The operator selects which device can be used to start palletizing on the SETUP
Cause: Part presence sensor is still detecting part or faulty sensor Pallet System menu. Start device can be set to SOP or UOP/PLC or PTPC.
Remedy: Check if part presence is OFF and if not if the sensor is ok. Remedy: SOP must be set as the start device or the SOP signal will be ignored.
PALT-112 WARN NOSWITCH illegal when pallets > 1 PALT-148 PAUSE Approach Posn out of range
Cause: Number of pallets is greater than 1 and the pallet switch was NOSWITCH. This is Cause: The approach position the robot is trying to go to is not reachable. The preceding
not allowed in PalletTool. error should be : 'Error: Pallet=x Unit=y'. This means that the robot was working with
Remedy: This is only a warning message. By default, PalletTool forces PER_PICK. The pallet x and box y when the error occurred.
user can change this to other values except NOSWITCH. Remedy: See error PALT-010 for details.
PALT-113 WARN Please enable teach pendant PALT-149 PAUSE Unit Posn out of range
Cause: Program cannot run if teach pendant is not enabled. Cause: The placement position the robot is trying to go to is not reachable.
Remedy: This if for safety reasons. Enable TP and and press Tool 1 or Tool 2 hardkey Remedy: See error PALT-010 for details.
you wish PALT-150 WARN Loading error - %s
PALT-114 WARN Must index pallet before changing product Cause: There was a problem loading the specified file.
Cause: A partial or completed pallet is present at the station where you want to change Remedy: Check the communication line and make sure that the file exists on the floppy
product If the existing pallet is not indexed, then the new product will crash with the PALT-151 WARN %s exists. Not loaded
existing pallet. Cause: The specified file already exists on the controller.
Remedy: Choose Index pallet from the menu and index the existing pallet first. Remedy: Delete the file from the controller before reloading.
PALT-115 WARN Coldstart setup complete. PALT-152 WARN Warning-ignoring entry where CASE# was 0.
Cause: Part of the application setup of an R-J2 robot is done at the first cold start. This Cause: The gripper's setup information has a case number of zero which is illegal.
may take up to 20 seconds. The teach pendant Hints menu will be displayed before Remedy: Edit the gripper data.
PalletTool has loaded all its .tp programs and macros. NOTE: PalletTool needs an PALT-153 WARN Initializing Data
addition cold start after its application setup cold start to fully setup its macros. Cause: Initializing data for production.
Remedy: This is an informational message only. Remedy: This is only a status message.
PALT-117 WARN Error creating new variables PALT-154 WARN Error setting gripper data %s
Cause: An error occurred while creating a new file. Cause: Could not read or write the gripper data.
Remedy: Check the available memory. If RAM is full, clear unneeded data and try again. Remedy: Check the available memory. Try to reload a backup of the gripper data.
Cold start the controller and retry. PALT-156 PAUSE Current pallet unknown
PALT-118 WARN Cannot use MODIFY Cause: R[80] is not setup properly when SET UTOOL macros are used.
Cause: Could not find the requested data. Remedy: Make sure R[80] contains the number of the desired pallet.
Remedy: Teach or load the required data. PALT-157 PAUSE UTOOL unknown for tool %s
PALT-119 WARN Stn file not loaded or created Cause: The utool of the pallet requested in R[80] is not setup properly.
Cause: Specified station is not taught or loaded Remedy: Make sure all the stations are completely setup.
Remedy: Teach or load the station PALT-159 WARN Can change UnitLd on palt %s only
PALT-121 WARN Could not read %s Cause: The answer to the question 'Change product at pallet:' is the pallet needing a
Cause: Could not read the unitload .dt file - Data error. new unitload.
Remedy: Check the motet communication and PTPC status. Remedy: Change the unitload number of the selected pallet.
PALT-122 WARN Cannot go to DETAIL page PALT-160 WARN PalletTool aborted
Cause: Not all the gripper information has been specified in PalletSystem setup. Cause: PalletTool production is aborted because of some error.
Remedy: Go to Gripper setup and fill in the gripper information. Remedy: Status message. Other messages in the ALARM log will See other errors in the
PALT-123 WARN Data modification disallowed ALARM log for details.
Cause: The robot is in production. Setup data cannot be changed during production. PALT-161 WARN 'Not all cases have I/O defined
Remedy: Wait until production is aborted and then make the changes. Cause: Each of the gripper's cases must have inputs and outputs defined for control.
PALT-124 WARN Setting length = width Remedy: Complete the gripper information tables.
Cause: The data was not setup properly. The illegal data was corrected automatically. PALT-162 WARN Recvd PLC signal for indexing pallet %s
Remedy: Make sure the value is as needed. Cause: Status message only.
PALT-125 WARN Setting width = length Remedy: N/A
Cause: The data was not setup properly. The illegal data was corrected automatically. PALT-163 WARN Infeed I/O undefined-OKTOPICK.TP
Remedy: Make sure the value is as needed. Cause: The infeed I/O must be setup using MENU SETUP INFEED STN, SET IO.
PALT-126 WARN Setting layer = 1 Remedy: Make sure the infeed I/O is setup.
Cause: The data was not setup properly. The illegal data was corrected automatically. PALT-164 WARN Gripper number not set in register
Remedy: Make sure the value is as needed. Cause: R[15] is not setup properly when gripper macros are used.
PALT-127 WARN Flip not allowed Remedy: Make sure R[15] contains the number of the desired gripper.
Cause: The data was not setup properly. The illegal data was corrected automatically. PALT-165 WARN Invalid Gripper number set in register
Remedy: Make sure the value is as needed. Cause: R[15] is not setup properly when gripper macros are used. The Gripper numbers
PALT-128 WARN Pallet Switch type changed supported in PalletTool are: single = 1 double icc = 3 Triple case = 5 custom 1 = 6
Cause: The data was not setup properly. The illegal data was corrected automatically. custom 2 = 7 custom 3 = 8 custom 4 = 9 multi case = 10 fork pick = 11 bag push = 12
Remedy: Make sure the value is as needed. Remedy: Make sure R[15] contains the number of the desired gripper.
PALT-131 WARN Layer num outside range (1-40) PALT-166 WARN Upgrading %s variable file
Cause: Layer count cannot be more than 40 or less than 1. Cause: Certain variable files can change with each release of PalletTool. Files saved
Remedy: Pick a legal layer. with an older release are automatically updated as needed.
PALT-132 WARN Cannot resume program Remedy: Status message only.
Cause: Program cannot run because an error condition will not clear. When on the PALT-167 WARN Variable file is older version
ALARM page, select this error and press HELP to see error detail. Cause: Certain variable files can change with each release of PalletTool. Files saved
Remedy: Fix the error condition, press reset, with an older release are automatically updated as needed.
PALT-133 WARN Could not clear file Remedy: Status message only.
Cause: 1. If the unitload is being used in production it cannot be cleared. PALT-168 WARN Units/layer %s exceeds allowed maximum
2. If a unitload was loaded into memory at controlled-start, it can only be cleared at Cause: 1. The number of units in the unitload is less than the start unit entered.
controlled start. 2. The number of units is greater than the maximum allowed (50).
Remedy: 1. Wait until production is aborted and clear the unit load. Remedy: Enter a smaller number of layers.
2. If the unitload was loaded at controlled-start, you will have to go to controlled start to PALT-169 WARN Number of layers %s exceeds allowed maximum
clear it. At controlled start press MENUS, select Clear UnitLd. You will only be able to Cause: 1. The number of layers in the unitload is less than the start layer entered.
clear unitloads that were loaded at controlled start from the controlled start menu. 2. The number of layers is greater than the maximum allowed (40).
PALT-134 WARN STAKOPEN macro failed Remedy: Enter a smaller number of layers.
Cause: An error caused the STAKOPEN macro to fail. See the next error in the ALARM PALT-170 WARN Invalid pattern type in data file
log for details. Cause: An illegal matrix type was received from PalletTool PC.
Remedy: Make changes depending on the particular error. Remedy: Check the motet communication and PTPC status.
PALT-135 WARN PLC_INF macro failed PALT-171 PAUSE System still in fault state
Cause: An error caused the PLC_INF macro to fail. See the next error in the ALARM log Cause: An error condition exists such that the robot cannot be reset.
for details. Remedy: Fix the error condition, press reset.
Remedy: Make changes depending on the particular error. PALT-172 ABORT Invalid infeed number from PLC %s
PALT-136 WARN PLC_PAL macro failed Cause: PLC sent an invalid infeed number. The number must be greater than 0 and less
Cause: An error caused the PCL_PAL macro to fail. See the next error in the ALARM log than or equal to the 'number of infeeds' setup.
for details. Remedy: Make sure a valid infeed number was sent by PLC. Check the PLC
Remedy: Make changes depending on the particular error. communication status.
PALT-137 WARN Unit load num out of range PALT-173 ABORT Invalid Pallet number from PLC %s
Cause: Specified Unit load number was out of range Cause: PLC sent an invalid pallet number. The number must be greater than 0 and less
Remedy: Specify a Unit load number in the range 1-999 than or equal to the 'number of pallets' setup.
PALT-138 WARN Only Pal OR Cycle stop allowed Remedy: Make sure a valid pallet number was sent by PLC. Check the PLC
Cause: Pallet stop or cycle stop is already on. You can only have either cycle stop or communication status.
pallet stop on. Not both. PALT-174 WARN Setup Application Completed
Remedy: Disable one before trying to enable the other. Cause: Indicates that PalletTool controlled start setup is complete.
PALT-139 WARN %s :wrist angle correction failed Remedy: This is only a status message.
Cause: The routine that calculates the final destination position while moving from the PALT-175 ABORT Can't use labels-out for triple gripper
current source position has failed. The preceding error should be : 'Error: Infeed=x Cause: Labels out is supported only for the single and double case gripper.
Pallet=y Unit=x'. This means that the robot was working with infeed x, pallet y and box z Remedy: This is an informational message only.
when the error occurred. PALT-176 ABORT Cannot upgrade vr file
Remedy: Check that all positions are in range. Cause: An error occurred while attempting to upgrade an older variable file to the current
PALT-140 WARN Cycle power to increase registers release format.
Remedy: Create a new file.
PALT-177 ABORT Single or Double pattern not supported
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Cause: The selected unitload has the wrong matrix type. (it is less than type 4). This very Cause: During part drop recovery a part was dropped. PalletTool does not support
old data is no longer supported by PalletTool. further recovery.
Remedy: Create a new unitload. Remedy: Check why parts are being dropped. Continue normal restart of palletizing.
PALT-178 WARN Data not calculated for UL %s PALT-214 WARN The tool pointer length is changed.
Cause: To run in production, each unitload's optimal path data must be calculated. Cause: Warning. You have changed the length of the station teaching tool. All station
Remedy: Go to SETUP OPTPTIMAL PATH for this unitload and press the CALC key position must be taught using the SAME tool length.
PALT-179 WARN GETINF.TP not setup correctly Remedy: Make sure all station positions are taught with the same tool length.
Cause: GETINF returned an infeed number which is assigned ul = 0. PALT-215 WARN Moving to maintenance position..
Remedy: Check GETINF.TP for infeed/unitload data. Check production setup data. Cause: Notification to user that the robot will move to gripper maintenance position.
PALT-180 WARN Label data may need updating Remedy: This is only a warning message.
Cause: The optimal path data was automatically update. PALT-216 ABORT SlipSheet pos. must be cartesian representation
Remedy: Check the labels out data for completeness. This is only a status message. Cause: A slip sheet position registers have positions that are taught in JOINT
PALT-181 WARN Labels-out disabled representation. For the slip sheet logic to work properly, the positions must be taught in
Cause: Labels out was selected for a gripper that is not supported. cartesian representation.
Remedy: This is an informational message only. Remedy: Change the position representation to CARTESIAN. Press DATA, [TYPE],
PALT-182 WARN Not allowed for this gripper type Position Regs, select the register, press position, [REPRE], cartesian.
Cause: Labels out is supported only for the single and double case gripper. --OR-- 'Place PALT-217 PAUSE Position is not reachable
remaining boxes' is not allowed for single case grippers. Cause: The position the robot is trying to go to is not reachable.
Remedy: This is an informational message only. Remedy: Verify that the value of $UTOOL and/or $MNUTOOL are correct If the robot
PALT-183 WARN Cycle stop disabled stopped while heading towards the pallet, then check the value of Pallet approach length
Cause: The cycle stop option has been disabled. and width in Optimal path setup You may have specified large pallet offsets or you may
Remedy: This is a status message only. need to specify a correct pallet offset in the Optimal path setup
PALT-184 WARN Cycle stop enabled PALT-220 WARN Message buffer to PC is full
Cause: The cycle stop option has been enabled. Cause: More than 20 messages have not been read by PTPC. It seems like the
Remedy: This is a status message only. communication is slow or stopped.
PALT-185 WARN Pallet stop disabled Remedy: Check the motet communication and PTPC status.
Cause: The pallet stop option has been disabled. PALT-221 WARN PTPC message type %s - illegal data received
Remedy: This is a status message only. Cause: Message received from PalletTool-PC/MOTET was not in the proper format. PT-
PALT-186 WARN Pallet stop enabled PTPC message types: 1-start 2-cycle stop 3-pallet stop 4-status 5-go 6-abort 7-unit data
Cause: The pallet stop option has been enabled. 8-pallet data 9-part drop 10-hold 11-reset 12-change done 13-index 14-op.grip 15-cancel
Remedy: This is a status message only. 16-unitload 17-setup 18-monitor grip 19-stop grip 20-alarms
PALT-187 WARN Active only during palletizing Remedy: Check the motet communication and PTPC status.
Cause: Cycle stop and Pallet Stop functions are only available when the robot is PALT-222 WARN PTPC command ignored, in wrong mode
palletizing. Cause: PalletTool is not in the correct mode to act on this message.
Remedy: This is an informational message only. Remedy: Try operation again.
PALT-188 WARN Palletizing:STEP mode not allowed PALT-223 WARN PTPC %s - ignored, robot busy
Cause: The STEP key was pressed before entering or while in palletizing mode. Cause: PalletTool is busy and cannot act on this message.
Remedy: This is only a warning message. The STEP mode is automatically cleared by Remedy: Try operation again.
the system. PALT-224 WARN Invalid infeed number from PTPC: %s
PALT-189 ABORT Unit load data error. Cause: PTPC sent an invalid infeed number. The number must be greater than 0 and
Cause: Unit load gripper data has not been completely setup. less than or equal to the 'number of infeeds' setup.
Remedy: Check the variable pick_ar_tc_n and pick_ar_tc_f in the unit load file. Also Remedy: Make sure a valid infeed number was sent by PTPC. Make sure that the robot
check the variables new_order_n and new_order_f. has current setup data from PTPC. Check the motet communication and PTPC status.
PALT-190 WARN .VR file has not been created PALT-225 WARN Invalid Pallet number from PTPC: %s
Cause: During the transfer of data from the PC, the .VR data file could not be created. Cause: PTPC sent an invalid pallet number. The number must be greater than 0 and
Remedy: Check the available memory. If RAM is full, clear unneeded data and try again. less than or equal to the 'number of pallets' setup.
PALT-191 WARN TEMP DRAM memory is low Remedy: Make sure a valid pallet number was sent by PTPC. Make sure that the robot
Cause: Temporary memory is getting too low to download more Unit Load files. has current setup data from PTPC. Check the motet communication and PTPC status.
Remedy: Warning only. Delete any unneeded data before down-loading Unit Load files. PALT-226 WARN Invalid Gripper number from PTPC: %s
PALT-192 WARN Cannot CALC; TEMP memory low Cause: PTPC sent an invalid gripper number. See PALT-165 for legal gripper numbers.
Cause: Temporary memory is too low to calculate a unit load. Remedy: Check the motet communication and PTPC status.
Remedy: Delete any unneeded data and coldstart before attempting to calculate the unit PALT-227 WARN Wrong unitload recvd from PTPC: %s
load. Cause: PTPC sent the wrong unit load. The unitload that was expected is given in the
PALT-193 WARN File copy not done error message.
Cause: File not copied. File in use or not enough memory to copy. Remedy: Check the motet communication and PTPC status.
Remedy: Cold start the controller and retry. PALT-228 WARN Unitload not recvd from PTPC %s
PALT-194 WARN Units missing in sequence. Cause: PTPC did not send the requested unitload data.
Cause: All units must be picked up. Not all the units have been listed in the NEW Remedy: Check the motet communication and PTPC status.
column. PALT-229 WARN Setup data not recvd from PTPC
Remedy: Check that no units have been listed twice, change the NEW info and VERIFY Cause: PTPC did not sent the requested setup data.
again. Remedy: Check the motet communication and PTPC status.
PALT-195 WARN All units not picked up. PALT-230 WARN using unitload NOT from PTPC
Cause: The total of the 'PLACE's must add up to the PICK number for each row of the Cause: PalletTool requested a unitload from PTPC that PTPC did not have. But
config table. PalletTool has a copy of the unitload which it will use.
Remedy: Make sure the sum of the PLACEs add up to the PICK. Remedy: Warning only. Make sure the right unitload is being used. Consider changing
PALT-196 WARN Pick too big error: row %s the control so that Unitload - Use data from: is set to ROBOT/PTPC.
Cause: The PICK size cannot be bigger than the gripper's number of grips. PALT-231 WARN PTPC: must be PAUSED or ABORTED
Remedy: Check the selected gripper's grip size, and change the PICK info and VERIFY Cause: PalletTool is not in the correct mode to act on this message.
again. Remedy: Pause or abort the robot and try operation again.
PALT-197 WARN Illegal place sequence: row %s PALT-235 ABORT Fork infeed positions not taught.
Cause: The PLACE values must be put into placed into PL1 column first, then PL2, then Cause: The conveyor infeed positions must be taught in order to use the fork or bag
PL3. The total of the 'PLACE's must add up to the PICK number for each row of the gripper.
config table. Remedy: Teach the conveyor infeed positions.
Remedy: Make sure the sum of the PLACEs add up to the PICK and in the proper PALT-236 ABORT Errors in infeed positions.
columns. Cause: The conveyor infeed positions must be taught correctly in order to use the fork or
PALT-198 WARN Other error: row %s bag gripper.
Cause: General Configuration table error. Remedy: Teach the conveyor infeed positions.
Remedy: Check the configuration data. PALT-237 ABORT Fork not big enough to pick box
PALT-199 WARN All units not listed in FlipConfig Cause: The boxes are too big for this fork gripper.
Cause: All units must be picked up. Remedy: Check conveyor infeed positions and gripper utool values.
Remedy: Check that no units have been listed twice, change the NEW info and VERIFY PALT-240 WARN Infeed %s end-of-batch signal received
again. Cause: MULTI_IO.TP logic received a signal to perform end of batch processing.
PALT-200 WARN All units not listed in NoFlip Remedy: Status message only.
Cause: All units must be picked up. PALT-241 WARN Infeed %s IGNORE end-of-batch signal
Remedy: Check that no units have been listed twice, change the NEW info and VERIFY Cause: Previous end of batch signal processing still in progress, or cycle stop or pallet
again. stop in progress.
PALT-201 WARN Too many units picked up. Remedy: Status message only.
Cause: The total of the 'PLACE's must add up to the PICK number for each row of the PALT-242 WARN End-of-batch PLC - request infeed number
config table. And total number must add up to the number of units in a layer. Cause: Requesting pallet, unitload and infeed information from PLC.
Remedy: Make sure the sum of the PLACEs add up to the PICK. Remedy: Status message only.
PALT-202 WARN Illegal. At perch or maintenance. PALT-243 WARN End-of-batch PLC - wrong part ID method
Cause: Part drop recovery: selected option cannot be used when the robot is at perch or Cause: Part ID select method must be set to PLC.
at the gripper maintenance position. Remedy: Set Part ID method to PLC. (MENUS, SETUP, PalletSystem)
Remedy: Choose another option. PALT-244 WARN Wait for PLC index pallet %s
PALT-203 WARN NO boxes are remaining. Cause: End of batch complete. Waiting for PLC to index the pallet.
Cause: Part drop recovery: selected option must have boxes remaining in the gripper. Remedy: Status message only.
Remedy: Choose another option or check gripper sensors. PALT-245 WARN End-of-batch processing error
PALT-204 WARN Illegal:boxes are remaining! Cause: End of batch request is ignored.
Cause: Part drop recovery: selected option cannot have boxes remaining in the gripper. Remedy: Status message only.
Remedy: Choose another option or check gripper sensors. PALT-246 WARN End-of-batch none at infeed
PALT-205 WARN Error - Processing UL data NOT done Cause: Nothing at infeed to pickup.
Cause: There are errors in the unit load data so that the CALC calculations failed. Remedy: Status message only.
Remedy: Correct the unit load errors and CALC again. PALT-247 WARN End-of-batch enough at infeed
PALT-206 WARN Invalid Unit load req: ul %s Cause: Expected fewer than needed boxes at infeed.
Cause: The requested unit load's gripper type cannot be run on this controller. That is, a Remedy: End of batch only when not enough at infeed.
multi-case gripper unit load can only be run if the multi- case option is loaded on the PALT-248 ABORT End-of-batch part drop - abort
controller. Cause: Dropped a box during end of batch logic.
Remedy: Choose another unit load. Remedy: Take care of dropped box and continue.
PALT-207 WARN Item %s : illegal data ignored PMON Error Codes
Cause: There is something wrong with the data that was entered. PMON-001 WARN Failed to notify PC Monitor
Remedy: Fix the entered data and try again. Cause: The PC Monitor task could not be notified.
PALT-208 WARN Item %s : duplicate data ignored Remedy: Refer to the associated error code.
Cause: The item in error is a duplicate of another entry on the menu. OS -012 System error
Remedy: Check the entered data. The duplicate is ignored. This error may be seen when attempting to monitor a variable or I/O point using
PALT-209 WARN Cannot CALC; PTPC production running. the .StartMonitor method. It occurs when you have performed a restore from a controller
Cause: Cannot calculate this unit load during production when PalletTool PC is set as that did not have the PCIF option installed.
the data device. To fix this error, set system variable $SCR.$LPCOND_TIME to 40 and cycle power. This
Remedy: Try again when not running production. variable is set to zero on controllers that do not have the PCIF option installed. When set
PALT-210 WARN Xfer in process, cannot edit file to zero, the task that performs monitoring is not started on powerup.
Cause: Cannot edit the same unitload as being transferred from PalletTool PC. PMON-002 WARN Memory allocation failure
Remedy: Try again when not transferring or running the unitload. Cause: Not enough memory to create client connection
PALT-211 WARN Unitload not replaced. Remedy: Perform COLD start of controller.
Cause: Could not read the .dt file - Data error. But a unitload with the same name still PMON-003 WARN Connect to PMON server failed
exists on the robot. Cause: Failure to connect to PMON Server
Remedy: Check the motet communication and PTPC status. Remedy: Check physical connections and check to see if PMON server is running on the
PALT-212 WARN DT file not read: %s PC
Cause: The unitload data file transferred from PalletTool PC was not read because there PMON-004 WARN PMON initialization failure
is not enough memory to save the unitload on the robot. Cause: The PC Monitor task had an initialization failure..
Remedy: Delete any unneeded data and coldstart. Remedy: Refer to the associated error code.
PALT-213 ABORT Dropped part during recovery-abort PMON-005 WARN PMON timer failure
Cause: The PC Monitor task had an internal timer failure.
44
Remedy: Refer to the associated error code. PRIO-021 SYST Unknown I/O hardware
PMON-006 WARN PMON task status read failed Cause: An unknown device is connected to the I/O Link connector. This device is not
Cause: The PC Monitor task had an internal task status read failure. The accompanying recognized by the current controller software version.
cause code identifies the failure. Remedy: Replace the device with a device that is compatible with the current software or
Remedy: Refer to cause code. install a version of software that recognizes the device.
PMON-007 WARN Lost connection to %s PRIO-022 SYST Too much I/O data on I/O link
Cause: The PC Monitor Server lost a connection with the named client. Cause: The devices connected to the I/O Link exceed the I/O link capacity. A total of 64
Remedy: This is a warning and may be normal. bytes of data each are available for input and output devices connected to the I/O link.
PMON-008 WARN PMON curpos read failed Process I/O boards typically use 16 bytes of input and 16 bytes of output each. Digital
Cause: The PC Monitor task had an internal CURPOS read failure. modules generally use one byte for each 8 ports. Analog modules generally use two
Remedy: Refer to the associated error code. bytes per port
PMON-009 WARN PMON monitor not found Remedy: Disconnect some devices.
Cause: The PC Monitor task had an internal monitoring failure. The requested monitor PRIO-023 WARN No ports of this type
number was not found in the list of monitors. Cause: There are no ports of the type (e.g., GIN) specified in an I/O statement or built-in
Remedy: Somehow, PMON is out of sync with the PC. In some cases, this may be call.
normal if the PC is attempting to clean up after an internal error. Remedy: Change the port type, add I/O hardware with the required type of ports, or
PRIO Error Codes define ports (e.g., GIN or GOUT) of the specified type.
PRIO-001 WARN Illegal port type code PRIO-033 WARN PLC interface init. fault %d
Cause: The port type code specified is invalid. This error code can be returned by Cause: The PLC interface board is bad or not installed.
several of the Digital I/O-related builtins (e.g., SET_PORT_ASG) when an invalid port Remedy: Check that the PLC interface board is properly installed. Check the LED status
type code is supplied. on PLC interface board. Refer to the FANUC Robotics manual, A User's Guide to the
Remedy: Use one the port types defined in IOSETUP.KL. FANUC Robotics SYSTEM R-J3 Controller Remote I/O interface for an Allen-Bradley
PRIO-002 WARN Illegal port number PLC or A User's Guide to the FANUC Robotics Genius Network Interface for GE FANUC.
Cause: The port number is invalid or not presently assigned. Port numbers must be in PRIO-034 WARN PLC interface general fault %d
the range of 1-32767. However, operator panel (SOP) port numbers can be zero. In most Cause: The PLC interface board is faulted.
cases (e.g., DOUT[n] = Off and calls to the SET_PORT_SIM builtin), the specified port Remedy: Check the LED status on the PLC interface board. Refer to the FANUC
already must be assigned. Robotics manual, A User's Guide to the FANUC Robotics SYSTEM R-J3 Controller
Remedy: Correct the port number. Remote I/O interface for an Allen-Bradley PLC or A User's Guide to the FANUC Robotics
PRIO-003 SYST No memory available Genius Network Interface for GE FANUC.
Cause: Memory required for this operation is not available. PRIO-035 WARN PLC interface serial fault %d
Remedy: Delete unneeded KAREL programs and/or variables to free memory. Cause: The serial link to a PLC has failed.
PRIO-004 WARN Too few ports on module Remedy: Check the LED status on PLC interface board. Refer to the FANUC Robotics
Cause: There are not enough ports on the specified board or module to make the manual, A User's Guide to the FANUC Robotics SYSTEM R-J3 Controller Remote I/O
specified assignments. This error code can be returned from the SET_PORT_ASG built- interface for an Allen-Bradley PLC or A User's Guide to the FANUC Robotics Genius
in. Network Interface for GE FANUC PLC.
Remedy: Correct either the first port number or the number of ports. PRIO-037 SYST Not supported for spec. port type
PRIO-005 WARN bad port number Cause: The operation is not supported for the specified port type.
Cause: The specified port number in an assignment is invalid. Port numbers must be in Remedy: Check the specified port type.
the range of 1 - 32767. PRIO-063 WARN Bad I/O asg: rack %d slot %d
Remedy: Correct the port number so that it is within the valid range. Cause: One or more assignments to the process I/O board or module at the specified
PRIO-006 WARN bad port number rack and slot was invalid when the controller was turned on.
Cause: The specified port number in an assignment (e.g., DIN[1] = ON) is invalid. The Remedy: Check the connections and power to the board or rack and that the module(s)
port number must be in the range of 1 - 32767. are firmly installed. If the board or module has been permanently removed, moved to a
Remedy: Correct the port number so that it is within the valid range. different Model A slot or had its switch settings changed (model B), use the CONFIG
PRIO-007 WARN No match in SET_PORT_ASG de-assign option on the Digital I/O menu to delete or update the assignment(s).
Cause: This error code is returned by the KAREL built-in SET_PORT_ASG when it is PRIO-070 WARN PLC interface option not loaded
used as ade-assign request (with a physical port type of zero) and the logical ports Cause: An A-B RIO or Genius Network board is installed but the PLC software option is
specified are not presently assigned. not installed.
Remedy: Correct the port number. Remedy: Install the PLC I/O (A-B/GENIUS) software option. Refer to the FANUC
PRIO-008 WARN physical ports not found Robotics manual, A User's Guide to the FANUC Robotics SYSTEM R-J3 Controller
Cause: The physical port to which ports are being assigned in a SET_PORT_ASSIGN Remote I/O interface for an Allen-Bradley PLC or A User's Guide to the FANUC Robotics
built-in call does not exist. Genius Network Interface for GE FANUC.
Remedy: Correct the rack number, slot number, port type, or port number. PRIO-072 WARN Too many pulses active
PRIO-009 WARN number of ports invalid Cause: The maximum of number of concurrent pulse output statements is 255.
Cause: The number of ports in a SET_PORT_ASG call is invalid. This must be in the Remedy: Modify program logic to ensure that not over 255 pulses are active at one time.
range of 1 - 128 for digital port types (e.g., DIN), 1-16 for groups, and 1 for analog port PRIO-076 WARN PLC I/O hardware not installed
types. Cause: A PLC I/O board is not installed in the backplane.
Remedy: Correct the number of ports, so that it is within the valid range. Remedy: Install a PLC I/O board into the backplane Refer to the installation procedure in
PRIO-010 WARN bad physical port number A User's Guide to the FANUC Robotics SYSTEM R-J3 Controller Remote I/O interface
Cause: An invalid physical port number is specified in a call to the KAREL built-in for an Allen-Bradley PLC or A User's Guide to the FANUC Robotics Genius Network
SET_PORT_ASG. This must be greater than 0. Interface for GE FANUC.
Remedy: Correct the physical port number, so that it is greater than 0. PRIO-081 STOP I/O is not initialized
PRIO-011 WARN Assignment overlaps existing one Cause: This indicates that an severe error has occurred during I/O initialization at
Cause: The port numbers in a SET_PORT_ASG call overlap existing assignments. controller power-up. Other messages in the log will indicate the specific problems.
Remedy: Correct the first port number or number of ports or delete existing assignment Remedy: Check other error messages displayed on the TP alarm screen. The conditions
using the Digital I/O CONFIG screen or a SET_PORT_ASG call with physical port type indicated by these messages need to be corrected and the controller powered down and
zero. up before the robot can be used.
PRIO-012 WARN Bad board address PRIO-083 STOP Digital I/O is not recovered
Cause: The rack and/or slot number specified in a call of the KAREL built-in Cause: Digital output port states are not recovered when semi-hot start is enabled
SET_PORT_ASG is invalid or refers to an unused rack/slot number. because I/O device configuration or assignments have changed. All outputs will be reset
Remedy: Correct the rack and/or slot number. to OFF.
PRIO-013 WARN No analog input sequence for bd Remedy: Cold start the application.
Cause: An attempt was made to delete an analog input sequence that has not been PRIO-089 STOP PMC is not supported on this hardware
defined. Cause: PMC function is not supported on this main board.
Remedy: Check the rack and/or slot number and that an analog input sequence has Remedy: Change main board or remove PMC function. If you need clear this alarm,
previously been defined. please turn off K17.2 (SDO[10139]). PMC does not run at power up, and this alarm does
PRIO-014 WARN Analog input sequnce too long not occur until you order to run PMC program.
Cause: The specified analog input sequence is too long; sequences must have from 1 to PRIO-090 WARN SNPX communication error
15 ports numbers. Cause: Error occurs at SNPX communication.
Remedy: Supply a sequence of an appropriate length. Remedy: Please refer cause code.
PRIO-017 WARN I/O point not simulated PRIO-100 STOP Model B comm fault %srack:%d slot:%d
Cause: Attempt to set the state of an input port that is not simulated. Cause: Communication between the Model B interface unit and DI/DO units, or between
Remedy: Use the I/O menu or the SET_PORT_SIM KAREL built-in to set the port DI/DO units, is lost.
simulated or do not set the port. Remedy: Check the power and cabling from Model B interface unit and DI/DO unit, or
PRIO-020 STOP I/O Link comm error %x, %x, %x, %x (hex) between DI/DO units.
Cause: Indicates that an error has been detected in communication between the MAIN PRIO-102 WARN Cycle power to restart PLC I/O
CPU PCB and the process I/O board, Model-A I/O racks, or Model-B I/O interface units. Cause: The PLC Interface hardware (A-B RIO or Genius Network PCB) is already
The most common causes of this are the following: running and can not be restarted without cycling power.
o Power to a remote I/O rack or Model-B I/O interface unit is interrupted. Remedy: Turn off and then turn on the controller.
o The cable between the MAIN CPU PCB and the process I/O board, racks, or Model-B PRIO-104 STOP Device is off-line
interface units has been disconnected or is faulty. Cause: An attempt has been made to access to a port assigned to a device or board
o Electrical interference between the I/O cables and other cables. This can be eliminated which is offline. This might be the result of an error or device having been set offline
by physically separating the I/O cables from other wiring. In very electrically noisy manually.
environments, it might be necessary to use optical isolators with these cables. Remedy: For DeviceNet ports, troubleshoot as follows: Check the status of the
Remedy: Check the cabling between theMAIN CPU PCB (JB-18 connector) and the DeviceNet board using the Digital I/O DeviceNet screen. If the status field for the board is
process I/O board and/or model A or B interface modules. Check power to the remote OFF, set it ONLINE. If the status is ERROR, check the following:
Model A I/O racks and model B I/O interface modules. If corrections to these do not 1.) The daughter board is installed on the Interface board.
correct the problem, check the four numbers displayed in this error message. The first 2.) There is power on the network. If these do not indicate a problem, set the board
value must be interpreted bit-wise. If a bit is 1, the corresponding condition has been ONLINE. If the board is ONLINE, check the DEV LST screen entry for the indicated
detected: device. If the status field for the device is OFF, set it ONLINE. If the status is ERROR,
Bit 0: (CFER) A CRC or framing error has been detected by the SLC-2 chip on the MAIN check the following:
CPU PBC. This is most frequently the result of the problems listed above. Otherwise, it 1. The device is physically present on the network.
might indicate faulty SLC-2 chip, wiring between this and the JB-1B connector on the 2. The baud rate is set correctly.
main PCB, or faulty process I/O, model-A I/O rack, or model-B interface unit. 3. There are not devices with duplicate MAC-Id's on the network.
Bit 1: (CALM) An error has been detected by a slave SLC-2 (process I/O board, Model-A 4. The device with the required MAC-Id is the device type indicated in the DEV LST
rack, or Model B interface unit). More information is provided by the second number screen.
displayed with the PRIO-020 error. PRIO-106 STOP Device with port is off-line
Bit 2: (CMER) A communication error has been detected by a slave SLC-2. The potential Cause: An attempt was made to access a port assigned to a device which is offline. For
causes are similar to those for a CFER. DeviceNet ports, troubleshoot as follows: This might be caused by an error or the device
Bit 3: (IPRER): Internal parity error accessing SLC-2 internal RAM. This indicates a being manually set offline.
faulty SLC-2 chip. In this case, the third and fourth numbers displayed with the PRIO-020 Remedy: First, determine the port type and number being accessed. Then use the
error is the address and and data for which the error was detected. This indicates a faulty appropriate Digital I/O CONFIG screen to determine the DeviceNet board and device
SLC-2 chip. MAC-Id to which the port is assigned. Check the status of the DeviceNet board using the
Bit 4: (OPRER): Parity error accessing external RAM by the SLC-2 chip. This might Digital I/O DeviceNet screen. If the status field for the board is OFF, set it ONLINE. If the
indicate bad DRAM or CMOS memory on the MAIN CPU PCB. status is ERROR, check the following:
Bit 5: (ALMI): Indicates an alarm signalled from outside the SLC-2. Check the controller 1.) The daughter board is installed on the Interface board.
Alarm Log for other errors reported. 2.) There is power on the network. After the problem is corrected, use the Digital I/O
Bit 6: (BSY): Auto scan is running. This might be either 0 or 1 and does not indicate an DeviceNet DEV LST screen to set the board ONLINE. If the board is ONLINE, check the
error. DEV LST screen entry for the indicated device. If the status field for the device is OFF,
Bit 7: (CEND): Auto-scan cycle has completed. This might be either 0 or 1 and does not set it ONLINE. If the status is ERROR, check the following:
indicate an error. 1. The device is physically present on the network.
The second number displayed is significant only if the CMER bit above is one. 2. The baud rate is set correctly.
Bits 0-4: Indicate the position in the I/O Link chain of the slave unit in which error was 3. There are no devices with duplicate MAC-Id's on the network.
detected. A value of 1 indicates the unit connected directly to the I/O LINK connector. 4. The device with the required MAC-Id is the device type indicated in the DEV LST
Bit 5 ( CFER): Indicates a CRC or framing error detected by the slave SLC-2. The screen. Once the problem is corrected, use the DEV LST screen to set the device
causes are similar to those for a CFER error detected by the MAIN CPU SLC-2. ONLINE.
Bit 6 ( ALMI): Indicates an error asserted outside the slave SLC-2. This may indicate a PRIO-119 WARN Too many DIGITAL I/O ports
problem with process I/O board, model-B I/O rack, or model-B interface unit hardware. Cause: There are too many DIGITAL I/O ports.
Bit 7 ( SYALM): Indicates a watchdog alarm or parity error detected by the slave SLC-2. Remedy: Disconnect some DIGITAL I/O devices.
This may indicate a problem with the process I/O board, model-A rack, or model-B PRIO-121 WARN Stop PMC program
interface unit. Cause: You can not do this operation when PMC program is running.
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Remedy: Please stop PMC program execution. Remedy: Cycle power to the controller for the changes to take affect.
PRIO-125 SYST SLC2 initialization error PRIO-160 STOP CNET Connections Broken Bd %d
Cause: The SLC2 is in an error state at the end of initialization. Cause: All connections to the card are broken. No I/O is exchanged and all ports are
Remedy: Check SYSFAIL of the other PCB. Also check the main PCB. Offline. This happens when a network configuration is being performed or the Scan list is
PRIO-126 WARN No PMC program being changed.
Cause: PMC program does not exit. Remedy: Finish the change. When the network is completed, the connections will be
Remedy: Download PMC program. restored. If scan list is changed, the power will have cycled for the interface to the
PRIO-127 WARN PMC file load error restarted.
Cause: PMC program format is incorrect. PRIO-161 WARN CNET Network Change Occurring
Remedy: Download PMC program again. Cause: A config tool is performing a network change.
PRIO-128 PAUSE T,C,K and D data may be lost Remedy: Finish the change. When the network is completed, the connections will be
Cause: Saving of keep relay (K), Timer (T), Counter (C) and Data table (D) at last power restored. If scan list is changed, the power will have cycled for the interface to the
down is failed. Current data of them may be old value. restarted.
Remedy: Load PARAM.PMC file. PRIO-162 WARN CNET Connections Restored Bd %d
PRIO-129 WARN SUB%d is not supported Cause: The CNET interface has restored the connections.
Cause: Illegal function command is found in PMC program. Remedy: This is a caution message to the user.
Remedy: Please check PMC program. PRIO-163 WARN CNET Network Change Complete
PRIO-130 WARN PMC option is not installed Cause: The config tool has completed the network change.
Cause: Integrated PMC option (A05B-2400-J760) is not installed. Remedy: This is a caution message to the user.
Remedy: Please install Integrated PMC option. PRIO-164 STOP CNET Scan list modified Bd %d
PRIO-131 WARN PMC file name error Cause: A config tool has modified the scan list of the interface card.
Cause: 1. File name must be LADDER.PMC ot PARAM.PMC. The other file name is Remedy: At this point, a network config needs to performed using a network config tool
used for save or load. such as RSNetworx.
2. Device name to access is too long. PRIO-165 WARN CNET Connection Not Found
Remedy: 1. Change file name to LADDER.PMC for PMC program, PARAM.PMC for Cause: The interface could not establish a connection as it was not found.
PMC parameter file. Remedy: Verify the scan-list configuration and match it with the target device. Verify the
2. Make device name string short. connection paths. The connection path expected by the scan- list can be found in the
PRIO-132 WARN PMC operation is locked EDS file for the target device. The connection path supported by the target device can be
Cause: One of the following is locked by another task. PMC program edit, DI/O port found in its documentation. Verify that the target device and the EDS file used by the
simulation change, PMC program backup. Scanner config match.
Remedy: Please try again later, or use the other method. PRIO-166 WARN CNET Invalid Connection Type
PRIO-133 WARN PMC program size is too big Cause: Invalid connection type in scanlist.
Cause: Step of PMC program is too big. Remedy: Use correct EDS file in the scan-list config tool and reload the scan-list.
Remedy: Please check PMC program step size. PRIO-167 WARN CNET Vend ID/Prod. Code Mismatch
PRIO-134 WARN Invalid PMC addr %s%d.%d Cause: The vendor ID of the device in the scan-list and that of the actual device do not
Cause: Specified PMC address is not valid for R-J3 PMC. match.
Remedy: Please check address in PMC program. Remedy: Use correct EDS file and reconfigure the scan-list of the CNET interface on the
PRIO-135 WARN PMC address is not assigned system.
Cause: Specified PMC address is not assigned to any device. PRIO-168 WARN CNET Invalid Connection Size
Remedy: Please check address in PMC program. Cause: The connection size of the device in the scanlist does not match the target
PRIO-136 WARN BYTE access to %s%d.%d device.
Cause: Specified PMC address can not be used as byte address. Remedy: Verify correct size and reload the scan-list using the config tool
Remedy: Please check address in PMC program. PRIO-169 WARN CNET Device Not Configured
PRIO-137 WARN BIT access to %s%d.%d Cause: The connection has not been scheduled
Cause: Specified PMC address can not be used as bit address. Remedy: Run a network configuration tool such as RSNetworx and configure the
Remedy: Please check address in PMC program. network.
PRIO-138 WARN %s%d is used in SUB%d PRIO-170 WARN CNET Product Type Mismatch
Cause: Specified address can not be used in specified function command. - F0-F255 Cause: The Product Type of the device in the scan-list and that of the actual device do
and G0-G255 can not be used except MOVW. - Odd address of F0-F255 and G0-G255 not match.
can not be used in MOVW. Remedy: Use correct EDS file and reconfigure the scan-list of the CNET interface on the
Remedy: Please check address in PMC program. system.
PRIO-139 WARN Invalid CNC addr %x.%x(hex) PRIO-171 WARN CNET Maj/Min Revision Mismatch
Cause: Specified CNC address is invalid. Cause: The Major/Minor revision of the device in the scan-list and that of the actual
Remedy: Please check PMC type of FAPT LADDER II. device do not match.
PRIO-140 WARN Can't display all PMC errors Remedy: Use correct EDS file and reconfigure the scan-list of the CNET interface on the
Cause: There are more than 10 errors in PMC program. And error display is stopped. system.
There may be more errors. PRIO-172 WARN CNET Target App Out of Conn.
Remedy: Check the other PMC errors. Cause: The target device does not have enough connections
PRIO-141 WARN Invalid PMC program Remedy: Close some connections to target device.
Cause: PMC program data is invalid. PRIO-173 WARN CNET Needs Network Config.
Remedy: Check PMC program, and load again. Cause: The connection has not been scheduled
PRIO-142 WARN Need E-STOP or CTRL start Remedy: Run a network configuration tool such as RSNetworx and configure the
Cause: To write PMC program to flash file, E-SOP must be pressed or start mode is network.
controlled start. PRIO-174 WARN CNET Connection Lost
Remedy: Press E-STOP or do controlled start. Cause: The connection to the remote device is lost.
PRIO-143 PAUSE Writting PMC program to ROM Remedy: Check network connections. Check to see that the remote device is online.
Cause: You can not clear alarm status during writing PMC program program to ROM. Check the status of the remote device.
Remedy: Press wait until writing PMC program is completed. PRIO-175 WARN CNET Bad Device State
PRIO-144 PAUSE Faild to run PMC program Cause: The device is not in correct state to respond to this connection request.
Cause: Faild to run PMC program. Remedy: Run a network configuration tool such as RSNetworx and configure the
Remedy: Refer to the previous error messages. network. Check if any other scanner has existing connection to the device.
PRIO-145 PAUSE Purging flash file, please wait PRIO-176 WARN CNET Connection Request Failed
Cause: Purging flash file now. It takes a few minutes. Don't cut power until 'Flash file Cause: Remote device refused the connection. This could be due to an invalid
purge is completed' is displayed. connection path.
Remedy: It is message only. Remedy: Verify that the correct EDS file is being used for the device. Check the target
PRIO-146 WARN Flash file purge is completed device configuration.
Cause: Purge of flash file is completed. PRIO-177 WARN CNET Invalid configuration
Remedy: It is message only. Cause: The Card has an invalid scan-list configuration.
PRIO-147 SYST DIO config file too new Remedy: Check the configuration on the scanner config tool. Verify correct EDS files are
Cause: The DIO configuration file (.IO) file loaded is in a format that is too new to load on used. Verify Input and Output sizes to devices.
this controller PRIO-178 WARN Blk scns lost; %d %d %d
Remedy: Save the DIO configuration on a compatible version and load this file. Cause: A group of consecutive scans were lost; if n1=1, scans were lost on the main
PRIO-148 SYST DIO config file too old processor; if n1 = 2, scans were lost on the communications processor; n2 = number of
Cause: The DIO configuration file (.IO) file loaded is in a format that is too old to load on lost scans; if n2 is less than 5, this may not be a serious problem; n3 = total scans since
this controller pwr up since power-up. Generally indicates overloading of the indicated processor.
Remedy: Save the DIO configuration on a compatible version and load this file. Remedy: Review software configuration to determine how loading can be reduced.
PRIO-149 WARN Invalid assignment recorded PRIO-179 WARN Run scns lost; %d %d %d
Cause: An invalid port assignment has been recorded Cause: A group of scans were lost within a run of 100 scans. If n1=1, scans were lost on
Remedy: No action is necessary; the invalid assignment will not be in effect until it is the main processor; if n1 = 2, scans were lost on the communications processor; n2 =
corrected or the DIO configuration is changed. number of lost scans; if n2 is less than 20, this may not be a serious problem; n3 = total
PRIO-150 STOP CNET Card Init Error Bd %d scans since pwr up since power-up. Generally indicates overloading of the indicated
Cause: The ControlNet card failed to initialize. Possible problems can be the following: processor.
* The board system variable for firmware is invalid. Correct the value or restore the Remedy: Review software configuration to determine how loading can be reduced.
system variables. PRIO-180 WARN CNET Sys Err %d %d 0x%x
* The board firmware is not supported. Restore system variables. If necessary reload the Cause: An element could not be added to the system I/O scan When this error is posted,
controller. ControlNet I/O is not Operational. Possible causes are:
* The card or the motherboard is defective * Invalid Configuration of scanner scan list
Remedy: Look at possible causes. Remedies are mentioned therein. * Too many I/O points for any given CNET device
PRIO-151 WARN CNET Internal Error 0x%x * Too many I/O points in the whole system
Cause: ControlNet option encountered an internal error. The number is the system error Remedy: Verify all I/O is valid. Check all CNET devices &new-line and ensure the sizes
in hexadecimal. are reasonable. Max I/O is limited by that allowed for the system.
Remedy: Please look up the error to find the root cause. PRIO-181 WARN CNET Conn. Req. Timeout
PRIO-152 WARN CNET Invalid Scan Config Bd %d Cause: Target device did not respond to the connection request.
Cause: The configuration loaded on the CNET daughterboard is invalid. Remedy: Verify that the target device is online and the status is OK. Verify that correct
Remedy: Reload the configuration from the config tool. For adapter mode, verify that all EDS file was used for the Scan-list configuration in the scanner configuration tool.
parameters are correct. Verify that EDS files used for the config tool are valid. Verify that PRIO-182 WARN CNET CCO Change Aborted
the configuration of the scan- list is valid in the config tool. Cause: Network change was aborted. Connections will be restored and I/O will be
PRIO-153 WARN CNET Conn. Ownership Conflict exchanged.
Cause: The target connection is already owned by some other device. Remedy: This is a caution message.
Remedy: Verify all connections to the target device from all scanners on the network. PRIO-183 WARN Unknown port type name
Inputs to a device cannot be multicast Cause: Unrecognized port type name supplied to tpptnptc
PRIO-154 STOP CNET Duplicate Mac ID Bd %d Remedy: Supply name from element tp_daio_tp_names_c in tpdaio*.utx &new-line
Cause: Duplicate MAC-ID detected PRIO-184 WARN CNET Connection Idle
Remedy: Check MAC-IDs of all devices on the network Cause: The target (adapter) connection is idle. A scanner has not connected yet. All the
PRIO-155 STOP CNET Network Error Bd %d ports corresponding to this device will be offline.
Cause: The CNET card is not attached to the network. Remedy: Check the remote scanner configuration. Check the sizes and other
Remedy: Check wiring to the card. Check for duplicate MAC-ID. Ensure that there is at configuration parameters such as vendor ID, product code, product type, revision and
least one other device on the network. connection path and verify they are correct. Verify that the scanner is online.
PRIO-156 STOP CNET Er %s Bd %d MAC %d PRIO-185 WARN CNET Config Er %d %d
Cause: The connection for the device Mac listed encountered an error. The Er number is Cause: There is an error with the Scan-list configuration.
the ControlNet error code. Remedy: Refer to the cause code.
Remedy: Refer to cause code if listed. If not, refer to the ControlNet error code in the PRIO-186 WARN CNET Invalid Header size
System manual or the ControlNet specification Cause: The input header size in case of scanner mode or the output header size in case
PRIO-157 STOP CNET Err Loading BIN file Bd %d of adapter is invalid.
Cause: The firmware for the card could not be loaded. Remedy: Enter a valid header size. The valid header is less that or equal to the total
Remedy: Refer to cause code. Verify Board sys vars to check for validity of values connection size. The total connection size is a sum of the I/O size and the header size.
PRIO-158 WARN CNET File Not Found PRIO-187 WARN CNET Invalid Num of Slots
Cause: The firmware file was not found Cause: The number of slots for the device in the scan is invalid.
Remedy: Verify Board sysvars $CN_BD_INFO[%d] are set correctly. Remedy: Verify the configuration in the scanner config tool and reload the configuration.
PRIO-159 WARN CNET Cycle pwr to restart scan Verify that the EDS files are valid.
Cause: Scan list was modified. ControlNet interface is stopped. PROF Error Codes
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PROF-000 STOP System error(%d) Remedy: Change the NOABORT task attribute or use the KCL ABORT command with
Cause: System internal error the FORCE option.
Remedy: Contact FANUC Robotics Hotline. PROG-023 WARN Task is not paused
PROF-001 WARN PROFIBUS PCB not installed Cause: The specified program is not paused.
Cause: PROFIBUS is not installed Remedy: Pause the program.
Remedy: Please install PROFIBUS PCB. PROG-024 WARN Not have motion history
PROF-002 STOP PROFIBUS PCB abnormal(%d) Cause: The motion path record is lost.
Cause: PROFIBUS PCB is abnormal. Remedy: Do not attempt backwards execution at this time.
Remedy: Please exchange PROFIBUS PCB PROG-025 WARN Cannot execute backwards
PROF-003 STOP Slave Config data error Cause: Backward execution cannot be used.
Cause: Configuration data is abnormal. Remedy: Do not use backwards execution here.
Remedy: Please change configuration data on Master PROG-026 WARN No more motion history
PROF-004 STOP Slave Param data error Cause: Backward execution cannot be used any more. The current line is on top of the
Cause: Parameter data is abnormal. memorized path.
Remedy: Please change parameter data on Master Remedy: Do not use backwards execution here.
PROF-005 STOP Master Slave Param error(%d) PROG-027 WARN Invalid task number
Cause: Slave Parameter sets is abnormal. Cause: The task number specified is invalid.
Remedy: Please change Slave Parameter sets on R-J2 Master Remedy: Check the task number.
PROF-006 STOP Another Master Lock(%d) PROG-029 WARN Buffer size is not enough
Cause: Setting of slave is abnormal. Cause: This indicates an internal system error.
Remedy: Please change slave setting. Remedy: Perform a cold start:
PROF-007 STOP Parameter Fault(%d) 1. Turn off the robot.
Cause: Setting of slave is abnormal. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Remedy: Please change slave setting. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
PROF-008 STOP Invalid Slave Responce(%d) cleared, document the events that led to the error and call your FANUC Robotics
Cause: Setting of slave is abnormal. technical representative.
Remedy: Please change slave setting. PROG-030 WARN Attribute is not found
PROF-009 STOP Slave not supported(%d) Cause: The specified task attribute is not found.
Cause: Setting of slave is abnormal. Remedy: Check the attribute.
Remedy: Please change slave setting. PROG-031 WARN Attribute is write protected
PROF-010 STOP Config Fault(%d) Cause: The specified task attribute is write protected.
Cause: Setting of slave is abnormal. Remedy: Do not try to change the attribute.
Remedy: Please change slave setting. PROG-032 WARN Invalid value for attribute
PROF-011 STOP Slave not ready(%d) Cause: The value for the specified attribute is invalid.
Cause: Setting of slave is abnormal. Remedy: Check the attribute value.
Remedy: Please change slave setting. PROG-034 WARN Routine not found
PROF-012 STOP Slave not existent(%d) Cause: The specified routine cannot be found.
Cause: Setting of slave is abnormal. Remedy: Check the routine name and verify it is loaded.
Remedy: Please change slave setting. PROG-035 WARN Not locked the specified group
PROF-013 STOP CMI error(code = %d) Cause: Motion control for the specified group cannot be locked.
Cause: Master firmware is abnormal. Remedy: Check the teach pendant enable switch and other running programs to
Remedy: Please exchange PROFIBUS PCB determine who has motion control.
PROF-014 STOP DP error(code = %d) PROG-036 WARN The length of trace array is 0
Cause: Master firmware is abnormal. Cause: Not enough memory or the task attribute is not set correctly.
Remedy: Please exchange PROFIBUS PCB Remedy: Set the trace buffer length using the KCL SET TASK TRACELEN command.
PROF-015 STOP DP sub error(code = %d) PROG-037 WARN No data in the trace array
Cause: Master firmware is abnormal. Cause: There is no execution record in memory.
Remedy: Please exchange PROFIBUS PCB Remedy: Turn on tracing using the KCL SET TRACE ON command.
PROF-016 STOP Slave communicatin stop PROG-039 WARN locked, but not get mctl
Cause: PROFIBUS PCB is abnormal. Cause: Motion control for the specified group was reserved, but it cannot be obtained.
Remedy: Please exchange PROFIBUS PCB Remedy: Check the teach pendant enable switch and other running programs to
PROF-017 STOP Slave disconnected determine who has motion control.
Cause: Slave is disconnected. PROG-040 PAUSE Already locked by other task
Remedy: Please connect cable to Slave. Cause: Motion control for the specified group was already reserved by another program.
PROF-018 STOP Exist specific diag(%d) Remedy: Check the other running programs to determine who has motion control.
Cause: A status message exists in the slave specific diagnostic area in the received PROG-041 WARN mctl denied because released
diagnostic data. Cause: Motion control is released. The teach pendant currently has motion control. The
Remedy: Please investigate the specific diagnostic data. robot cannot be started until motion control is obtained.
PROG Error Codes Remedy: Disable the teach pendant.
PROG-001 ABORT Invalid pointer is specified PROG-042 WARN Already released
Cause: This indicates an internal system error. Cause: Motion control was already released.
Remedy: Perform a cold start: Remedy: If you had expected that the task may have already released the group, this
1. Turn off the robot. may not be an error. Otherwise, check UNLOCK_GROUP usage.
2. On the teach pendant, press and hold the SHIFT and RESET keys. PROG-043 WARN Already released by you
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: Motion control was already released by request of this program.
cleared, document the events that led to the error and call your FANUC Robotics Remedy: If you had expected that the task may have already released the group, this
technical representative. may not be an error. Otherwise, check UNLOCK_GROUP usage.
PROG-002 ABORT Invalid task name is specified PROG-044 WARN Arm has not been released yet
Cause: The task name specified is invalid. Cause: Motion control was not released yet.
Remedy: Check the task name. Remedy: If you had expected that the task may have already locked the group, this may
PROG-003 ABORT Invalid prog name is specified not be an error. Otherwise, check LOCK_GROUP usage.
Cause: The program name specified is invalid. PROG-045 WARN Other than requestor released
Remedy: Check the program name. Cause: Motion control was already released by the request of another program.
PROG-005 WARN Program is not found Remedy: If you had expected that another task may have already released the group,
Cause: The specified program cannot be found. this may not be an error. Otherwise, check UNLOCK_GROUP usage.
Remedy: Check the program name. PROG-046 PAUSE TP is enabled while running (%s^7)
PROG-006 WARN Line is not found Cause: The teach pendant was enabled while the program is executing.
Cause: The specified line number cannot be found. Remedy: Disable the teach pendant and resume the program.
Remedy: Check the line number. PROG-047 PAUSE TP is disabled while running (%s^7)
PROG-007 WARN Program is already running Cause: The teach pendant was disabled while the program is executing.
Cause: The specified program is already being executed. Remedy: Enable the teach pendant and use shift-FWD to resume execution.
Remedy: Check the program name. PROG-048 PAUSE Shift released while running (%s^7)
PROG-008 WARN In a rtn when creating a task Cause: The shift key was released while the program is executing.
Cause: Execution cannot be started in sub-routine program. Remedy: Hold the shift key and press the FWD key to resume execution.
Remedy: Check the line number. PROG-049 WARN Cannot release, robot moving
PROG-009 WARN Line not same rtn as paused at Cause: Motion control cannot be released because the robot is moving.
Cause: Resumption was attempted at a different line from the paused line. Remedy: Check the status of robot motion.
Remedy: Check the line number. PROG-050 WARN Abort still in progress
PROG-010 WARN Not same prg as paused Cause: The program is in the process of being aborted.
Cause: Resumption was attempted in a different program from the paused one. Remedy: Wait a second. If this error continues to occur, perform a cold start:
Remedy: Check the program name. 1. Turn off the robot.
PROG-011 PAUSE Cannot get the motion control 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Cause: Motion control cannot be obtained. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Remedy: Check the teach pendant enable switch and other running programs to cleared, document the events that led to the error and call your FANUC Robotics
determine who has motion control. technical representative.
PROG-012 WARN All groups not on the top PROG-051 WARN Cannot skip the return stmt
Cause: There is paused motion later than motion that was attempted to resume. Cause: The specified lines to which a move was attempted exceed the number of lines in
Remedy: Resume the motion paused the last time. the program.
PROG-013 WARN Motion is stopped by program Remedy: Check the line number.
Cause: This motion was paused by the MOTION PAUSE instruction. Only the RESUME PROG-052 ABORT Process is aborted while executing
MOTION program instruction can can resume the motion. Cause: The user application task was forced to abort while the application is executing.
Remedy: Use RESUME MOTION instruction in the program. The AMR may not have been completely processed.
PROG-014 WARN Max task number exceed Remedy: This requires no special action for the user.
Cause: The number of programs you attempted to start exceeded the maximum number. PROG-053 ABORT User AX is not running
Remedy: Abort dispensable programs or perform a CTRL start and select PROGRAM Cause: The user application task was not executed.
INIT option to increase the number of tasks allowed. Remedy: Start the user application task before executing the application.
PROG-015 WARN Cannot execute backwards PROG-054 PAUSE FWD released while running (%s^7)
Cause: Backward execution cannot be used. Cause: FWD key was released while the program is executing.
Remedy: Do not use backward execution at this point Remedy: Hold the FWD key with shift key to resume execution.
PROG-016 WARN Task is not found PROG-055 PAUSE BWD released while running (%s^7)
Cause: The specified task is not running or paused. Cause: BWD key was released while the program is executing.
Remedy: Check the task name. The task name is always the name of the program that Remedy: Hold the BWD key with shift key to resume execution.
was run. The task name will not change even if the running program calls a routine from PROG-056 ABORT Motion data out is enable
a different program. Cause: Motion data output function is enable instead of machin lock id disable.
PROG-017 WARN Task is not running Remedy: Please disable motion data output in test cycle menu.
Cause: The specified task is not running. PWD Error Codes
Remedy: Check the task name. PWD -001 NONE Login (%s) Install
PROG-018 ABORT Motion stack overflowed Cause: A user with Install level access logged in.
Cause: Too many programs are paused. Remedy: This is a status message you can use for tracking operations performed by the
Remedy: Resume or abort some programs. users.
PROG-019 WARN Ignore pause request PWD -002 NONE Logout (%s) Install
Cause: The request to pause the program was ignored. Cause: A user with Install level access logged out.
Remedy: Change the NOPAUSE task attribute or use the KCL PAUSE command with Remedy: This is a status message you can use for tracking operations performed by the
the FORCE option. users.
PROG-020 WARN Task is already aborted PWD -003 NONE Login (%s) Setup
Cause: The specified program was already aborted. Cause: A user with Setup level access logged in.
Remedy: Check the program name. Remedy: This is a status message you can use for tracking operations performed by the
PROG-021 WARN Ignore abort request users.
Cause: The request to abort the program was ignored. PWD -004 NONE Logout (%s) Setup
Cause: A user with Setup level access logged out.
47
Remedy: This is a status message you can use for tracking operations performed by the Remedy: This is a status message you can use for tracking operations performed by the
users. users.
PWD -005 NONE Login (%s) Program PWD -036 NONE Logout (%s) Install from SMON
Cause: A user with Program level access logged in. Cause: A user with Install level access logged out from SMON.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: This is a status message you can use for tracking operations performed by the
users. users.
PWD -006 NONE Logout (%s) Program PWD -037 NONE Logout (%s) Install from KCL
Cause: A user with Program level access logged out. Cause: A user with Install level access logged out from SMON.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: This is a status message you can use for tracking operations performed by the
users. users.
PWD -007 NONE Password Timeout (%s) PWD -038 NONE Logout (%s) Install from Teach Pendant
Cause: A user was logged out because of a password timeout. Cause: A user with Install level access logged out from SMON.
Remedy: Log in, if required. Adjust the timeout value if it is too short. Remedy: This is a status message you can use for tracking operations performed by the
PWD -008 NONE Create program %s.TP users.
Cause: A teach pendant program was created. PWD -039 NONE Logout (%s) Install from CRT/Keyboard
Remedy: This is a status message you can use for tracking operations performed by the Cause: A user with Install level access logged out from SMON.
users. Remedy: This is a status message you can use for tracking operations performed by the
PWD -009 NONE Delete program %s.TP users.
Cause: A teach pendant program was deleted. PWD -040 NONE Login (%s) Setup from KCL
Remedy: This is a status message you can use for tracking operations performed by the Cause: A user with Setup level access logged in.
users. Remedy: This is a status message you can use for tracking operations performed by the
PWD -010 NONE Rename %s.TP as %s.TP users.
Cause: A teach pendant program was renamed. PWD -041 NONE Login (%s) Setup from Teach Pendant
Remedy: This is a status message you can use for tracking operations performed by the Cause: A user with Setup level access logged in.
users. Remedy: This is a status message you can use for tracking operations performed by the
PWD -011 NONE Set %s.TP subtype from %s to %s users.
Cause: A teach pendant program subtype was changed. For example, a .TP program PWD -042 NONE Login (%s) Setup from CRT/Keyboard
was changed to a Macro (.MR). Cause: A user with Setup level access logged in.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: This is a status message you can use for tracking operations performed by the
users. users.
PWD -012 NONE Set %s.TP comment PWD -043 NONE Logout (%s) Setup from KCL
Cause: A teach pendant program comment was edited. Cause: A user with Setup level access logged out from KCL.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: This is a status message you can use for tracking operations performed by the
users. users.
PWD -013 NONE Set %s.TP group mask PWD -044 NONE Logout (%s) Setup from Teach Pendant
Cause: The group mask of a teach pendant program was changed. Cause: A user with Setup level access logged out from Teach Pendant.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: This is a status message you can use for tracking operations performed by the
users. users.
PWD -014 NONE Set %s.TP write protect on PWD -045 NONE Logout (%s) Setup from CRT/Keyboard
Cause: Write protection was enabled for the program. This helps prevent mistaken edits Cause: A user with Setup level access logged out from CRT/Keyboard.
of the program. Remedy: This is a status message you can use for tracking operations performed by the
Remedy: This is a status message you can use for tracking operations performed by the users.
users. PWD -046 NONE Login (%s) Program from Teach Pendant
PWD -015 NONE Set %s.TP write protect off Cause: A user with Program level access logged in from Teach Pendant.
Cause: Write protection was disabled for the program. The program can be edited. Remedy: This is a status message you can use for tracking operations performed by the
Remedy: This is a status message you can use for tracking operations performed by the users.
users. PWD -047 NONE Login (%s) Program from CRT/Keyboard
PWD -016 NONE Set %s.TP ignore pause on Cause: A user with Program level access logged in from CRT/Keyboard.
Cause: The ignore pause feature was enabled for the program. Remedy: This is a status message you can use for tracking operations performed by the
Remedy: This is a status message you can use for tracking operations performed by the users.
users. PWD -048 NONE Logout (%s) Program from Teach Pendant
PWD -017 NONE Set %s.TP ignore pause off Cause: A user with Program level access logged out from Teach Pendant.
Cause: The ignore pause feature was disabled for the program. Remedy: This is a status message you can use for tracking operations performed by the
Remedy: This is a status message you can use for tracking operations performed by the users.
users. PWD -049 NONE Logout (%s) Program from CRT/Keyboard
PWD -018 NONE Write line %d, %s.TP Cause: A user with Program level access logged out from CRT/Keyboard.
Cause: A teach pendant program line was edited. Remedy: This is a status message you can use for tracking operations performed by the
Remedy: This is a status message you can use for tracking operations performed by the users.
users. PWD -050 NONE Pwd Timeout (%s) from SMON
PWD -019 NONE Delete line %d, %s.TP Cause: A user was logged out because of a password timeout from SMON.
Cause: A teach pendant program line was deleted. Remedy: Log in, if required. Adjust the timeout value if it is too short.
Remedy: This is a status message you can use for tracking operations performed by the PWD -051 NONE Pwd Timeout (%s) from KCL
users. Cause: A user was logged out because of a password timeout from KCL.
PWD -020 NONE Write pos %d, %s.TP Remedy: Log in, if required. Adjust the timeout value if it is too short.
Cause: A teach pendant program position was recorded. PWD -052 NONE Pwd Timeout (%s) from Teach Pendant
Remedy: This is a status message you can use for tracking operations performed by the Cause: A user was logged out because of a password timeout from Teach Pendant.
users. Remedy: Log in, if required. Adjust the timeout value if it is too short.
PWD -021 NONE Delete pos %d, %s.TP PWD -053 NONE Pwd Timeout (%s) from CRT/Keyboard
Cause: A teach pendant program position was deleted. Cause: A user was logged out because of a password timeout from CRT/Keyboard.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: Log in, if required. Adjust the timeout value if it is too short.
users. QMGR Error Codes
PWD -022 NONE Renumber pos %d as %d, %s.TP QMGR-001 WARN Queue is full
Cause: A teach pendant program position number was changed. Cause: An attempt was made to add entry to a queue when the queue was full.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: Use GET_QUEUE to remove entries or use a larger value for queue size in the
users. INIT_QUEUE call.
PWD -023 NONE Set application data %s.TP QMGR-002 WARN Queue is empty
Cause: For some tool products, a teach pendant program may contain application Cause: An Attempt to use GET_QUEUE when there are no entries in the queue This is
related data. This message indicates the data has changed. the normal result when no entries have been added or all have been removed by
Remedy: This is a status message you can use for tracking operations performed by the previous calls.
users. Remedy: No remedy is required.
PWD -024 NONE Delete application data %s.TP QMGR-003 WARN Bad sequence no
Cause: For some tool products, a teach pendant program may contain application Cause: A bad sequence_no value is used in an INSERT_QUEUE or DELETE_QUEUE
related data. This message indicates some data was deleted. call. The value may be less than 1 or greater than the sequence number of the last entry
Remedy: This is a status message you can use for tracking operations performed by the in the queue.
users. Remedy: Correct the value
PWD -025 NONE Load %s QMGR-004 WARN Bad n_skip value
Cause: The named file was loaded. Cause: n_skip parameter in COPY_QUEUE call is less than zero
Remedy: This is a status message you can use for tracking operations performed by the Remedy: Use zero or a positive value
users. ROUT Error Codes
PWD -026 NONE Load %s as Program %s ROUT-022 PAUSE Bad index in ORD
Cause: The named file was loaded. The program name may differ from the file name. Cause: Incorrect number is specified for ORD builtin routine.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: Specify a number less than the string length.
users. ROUT-023 PAUSE Bad index in SUBSTR
PWD -027 NONE Edit %s Sch %d %s Cause: Incorrect number is specified for SUBSTR builtin routine.
Cause: A schedule was edited. Press HELP for more information. Remedy: Specify a number less than the string length.
Remedy: This is a status message you can use for tracking operations performed by the ROUT-024 PAUSE SUBSTR length less than 0
users. Cause: Negative number is specified for length argument for SUBSTR builtin routine.
PWD -028 NONE Copy %s Sch %d to %d Remedy: Specify a positive number.
Cause: The data in a schedule was copied to another schedule. ROUT-025 ABORT Illegal semaphore number
Remedy: This is a status message you can use for tracking operations performed by the Cause: Incorrect number is specified for semaphore id.
users. Remedy: Specify a number between 1 and 32.
PWD -029 NONE Clear %s Sch %d ROUT-026 WARN Illegal group number
Cause: The schedule was cleared, meaning the values were set to zero. Cause: Invalid group number is specified.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: Specify existing group number.
users. ROUT-027 WARN String size not big enough
PWD -030 NONE (%s to %s)%s Cause: Specified string variable does not have enough room to hold the return data.
Cause: This message is used to provide detailed information for PWD-027. For example: Remedy: specify larger size string variable.
PWD -027 Edit Weld Sch 1 Voltage PWD -030 (24.0 to 25.0) Volts ROUT-028 ABORT Illegal file attribute number
Remedy: This is a status message you can use for tracking operations performed by the Cause: Incorrect file attribute id was specified.
users. Remedy: Specify correct file attribute id.
PWD -031 WARN QUICK MENUS forced ROUT-029 ABORT Illegal file attribute value
Cause: The Operator password level does not have access to the FULL MENUS. Either Cause: Incorrect file attribute value was specified.
a timeout occurred or a user logged out. Remedy: Specify correct attribute value.
Remedy: Press the TP MENUS hardkey and select SETUP PASSWORDS. Log in with ROUT-030 WARN Non existent register number
either the Install, Setup, or Program password level. Press the TP FCTN hardkey and Cause: A non-existent register number is specified.
select QUICK/FULL MENUS to return to FULL MENUS. Remedy: Specify a correct register number.
PWD -032 NONE Login (%s) Install from SMON ROUT-031 WARN Illegal register type
Cause: A user with Install level access logged in from SMON. Cause: Incorrect register type is specified.
Remedy: This is a status message you can use for tracking operations performed by the Remedy: Specify the correct register type for the attempted operation.
users. ROUT-032 ABORT Position type mismach
PWD -033 NONE Login (%s) Install from KCL Cause: Position type is not correct for the operation.
Cause: A user with Install level access logged in from KCL. Remedy: Specify correct position type.
Remedy: This is a status message you can use for tracking operations performed by the ROUT-033 ABORT Illegal attribute type
users. Cause: Illegal attribute id was specified.
PWD -034 NONE Login (%s) Install from Teach Pendant Remedy: Specify correct attribute id.
Cause: A user with Install level access logged in from Teach Pendant. ROUT-034 WARN Not a TPE program
Remedy: This is a status message you can use for tracking operations performed by the Cause: A non-tpe is specified.
users. Remedy: Specify a program name other than a Karel program.
PWD -035 NONE Login (%s) Install from CRT/Keyboard ROUT-035 WARN Value is out of range
Cause: A user with Install level access logged in from CRT/Keyboard. Cause: The specified value is out of range.
48
Remedy: Specify a value within the range. RPM -027 ERR_STOP_C Illegal arc instruction.
ROUT-036 ABORT Illegal port id value Cause: Stand alone arc start used
Cause: Incorrect port id was used Remedy: Use motion attached arc start instruction
Remedy: Specify correct port id. RPM -028 ERR_STOP_C Segment too short
ROUT-037 ABORT Bad TPE header size Cause: The segment for RPM is either zero length move or too short
Cause: Value used in SET_HEAD_TPE for bfr_size is invalid. Remedy: Zero length RPM motion is not allow
Remedy: Use buffer size in the range 1-255. RPM -039 ERR_STOP_C Incompatible RPM data:nonCD/CD
ROUT-038 PAUSE Uninitialized TPE position Cause: RPM data has coordinated motion but TPE doesn't have. Or RPM data has non-
Cause: Attempt to access position data or type from TPE program when the position has coordinated motion but TPE has.
not been recorded. Remedy: Use same coordinated motion type (CD or non-CD) to both TAST and RPM
Remedy: Record position data using the TPP TOUCHUP function program.
ROUT-039 WARN Executing motion exists RTCP Error Codes
Cause: Cannot unlock group while motion is executing. RTCP-001 PAUSE Wrist Joint is not allow
Remedy: Wait until executing motion has completed. Cause: Wrist joint orient type resume is not allow in RTCP motion.
ROUT-040 WARN Stopped motion exists Remedy: Change $MCR_GRP[*].$RSM_ORIENT to 1 (OR_RS_WORLD).
Cause: Cannot unlock group while stopped motion exists. RTCP-002 PAUSE VRTCP not calibrated
Remedy: Resume stopped motion and wait until motion has completed or cancel Cause: VRTCP is not calibrated.
stopped motion. Remedy: Calibrate VRTCP.
ROUT-041 ABORT Dym. disp. var. not static RTCP-003 STOP VRTCP Invalid UTool No.
Cause: Variable displayed for dynamic display is not a static variable. Parameter may be Cause: Invalid UTool for VRTCP.
a local or constant. Neither of these is permitted as the displayed variable in Remedy: Change UTool No. for VRTCP.
INI_DYN_DIS calls. RTCP-004 PAUSE VRTCP overlapped Leader Group
Remedy: Copy constant or local variable to static variable and use this inINI_DYN_DIS* Cause: Some VRTCPs have same Leader GP No.
call. Remedy: Use different Leader GP No.
ROUT-042 WARN TPE parameters do not exist RTCP-005 PAUSE VRTCP overlapped RTCP No.
Cause: The parameter designated by param_no does not exist. Cause: Some VRTCPs have same Remote TCP No.
Remedy: Confirm the param_no and the parameter in CALL/MACRO command in main Remedy: Use different Remote TCP No.
TPE program. RTCP-006 SYSTEM VRTCP pulse to angle conv.
ROUT-043 WARN TPE parameter %s wrong data type Cause: Conversion failure from pulse to angle.
Cause: The parameter data type does not match the CALL/MACRO argument data type. Remedy: Do COLD start.
Remedy: Confirm the parameter data type in CALL/MACRO command in main TPE SCIO Error Codes
program. SCIO-003 WARN Cannot teach any more.
ROUT-044 WARN Tag name too long Cause: You cannot add the instruction to the same line. The size of mnemonic code
Cause: Tag name supplied in MSG_CONNECT, MSG_DISCO, or MSG_PING call was exceeds maximum size of one line data.
too long. Remedy: Please reduce the instruction like a parameter string.
Remedy: Use tag name not over 12 characters. SCIO-016 WARN Prog uses un-installed option.
ROUT-045 WARN Dictionary name too long Cause: The TPP program being loaded uses an option which is not installed on the
Cause: Dictionary name supplied in built-in call is too long. &new_linw controller where the program is being loaded (target controller).
Remedy: Use name of 4 or less characters. Remedy: Determine what options are installed on the controller on which the program
ROUT-046 WARN Option array not initialized was saved (source controller) and are not installed on the target controller Then, on the
Cause: Call to apnd_mtn_opt, write_xyzwpr, or write_joint with option array not initialized source controller, check which of these is used in the program. Assuming the option(s)
Remedy: Initialize the array by calling INIT_MTN_OPT are authorized for the target controller, install the necessary options. If some of these
ROUT-047 WARN Stream buffer full options are not authorized, it ay be necessary to remove uses of the unauthorized option
Cause: Stream instruction program buffer is full. uses and re-save the program on the source controller.
Remedy: Wait for stream program execution to complete more instructions, then retry. SCIO-020 WARN LBL[%d] exists in line %d:
ROUT-048 WARN Stream not active Cause: This label number exists in another line.
Cause: The streaming program is not currently running. Remedy: Select another label number.
Remedy: Issue the function on an active stream program. SCIO-030 WARN JOINT motion in slave program
ROUT-049 WARN Invalid motion options Cause: Robot Link slave program and slave alone program can not use JOINT motion
Cause: The motion option data supplied in the motion write routine call is not valid, or statement.
does not match the specified motion type. Remedy: Record this line as LINER or CIRCULAR motion statement
Remedy: Initialize and fill the motion options correctly. SCIO-031 WARN JOINT position in slave program
ROUT-050 WARN Comment in SET_TPE_CMT too long Cause: Robot Link slave program and slave alone program can not use JOINT position
Cause: A string containing over 16 characters passed as comment argument in representation.
SET_TPE_CMT call. Argument truncated to 16 characters. Remedy: Record this line as CARTESIAN position representation
Remedy: Use comment string of 16 or fewer characters. SCIO-032 WARN Master UT mismatch
RPC Error Codes Cause: Current Tool frame number of Master robot is different from Master Tool Number
RPC -001 WARN Can't encode arguments specified in Program detail menu.
Cause: The client could not encode its arguments in a remote procedure call. Remedy: Change Tool frame number of Master Robot or change master tool number in
Remedy: Check the cause code. Program detail menu.
RPC -002 WARN Can't decode result SCIO-033 WARN Slave can have only one motion line
Cause: The client could not decode the results of a remote procedure call. Cause: Robot link Slave program can have only one motion line.
Remedy: Check the cause code. Remedy: Please teach only one line in slave program.
RPC -003 WARN Unable to send SEAL Error Codes
Cause: The client could not send the data for a remote procedure call. SEAL-000 ABORT DispenseTool internal error
Remedy: Check the cause code. Cause: This error is caused when DispenseTool encounters a problem it is unable to
RPC -004 WARN Unable to receive solve internally. This fault is almost always caused by style paths which do things which
Cause: The client could not receive a reply from a remote procedure call. were not anticipated when this software was written. The reasons for this could be:
Remedy: Check the cause code. 1. The sealing path is too fast
RPC -005 WARN Call timed out 2. The sealing instructions (SS and SE) are too close together
Cause: The client timed out while waiting for a reply from a remote procedure call. 3. The delay and timing values specified in your sealing schedules are too large or do not
Remedy: Check the server connection. make sense.
RPC -006 WARN Incompatible versions of RPC 4. Your robot's CPU has failed
Cause: The server received an older version of the RPC protocol. Remedy: Write down the exact error number and message shown. Write down exactly
Remedy: Update the client software to use the same version of the RPC protocol. what your robot was doing at the time of the failure. Make sure you include: Program
RPC -007 WARN Authentication error name, line number, robot's location in the work cell, any cell I/O or other communication
Cause: The client or server received an unauthorized remote procedure call. activity, and exactly what the robot was doing right before the fault occurred. This fault is
Remedy: Check the cause code. usually fixed by doing a COLD start. If that does not work, contact your supervisor or call
RPC -008 WARN Program unavailable the FANUC Robotics Hot Line.
Cause: The server received a remote procedure call for a program which it does not SEAL-001 WARN %s
support. Cause: This error is caused when DispenseTool encounters a problem it is unable to
Remedy: Update the server software. solve internally. This fault is almost always caused by style paths which do things which
RPC -009 WARN Program/version mismatch were not anticipated when this software was written. The reasons for this could be:
Cause: The server received a remote procedure call which uses the wrong version of a 1. The sealing path is too fast
program. 2. The sealing instructions (SS and SE) are too close together
Remedy: Update the client or server software. 3. The delay and timing values specified in your sealing schedules are too large or do not
RPC -010 WARN Procedure unavailable make sense.
Cause: The server received a remote procedure call for a procedure which it does not 4. Your robot's CPU has failed
support. Remedy: Write down the exact error number and message shown. Write down exactly
Remedy: Update the server software. what your robot was doing at the time of the failure. Make sure you include: Program
RPC -011 WARN Server can't decode arguments name, line number, robot's location in the work cell, any cell I/O or other communication
Cause: The server could not decode the arguments of a remote procedure call. activity, and exactly what the robot was doing right before the fault occurred. This fault is
Remedy: Check the client software. usually fixed by doing a COLD start. If that does not work, contact your supervisor or call
RPC -013 WARN Unknown host the FANUC Robotics Hot Line.
Cause: The client could not determine the server for the remote procedure call. SEAL-002 STOP Flow rate update failed
Remedy: Check the system variables which configure the offline RPC server. Cause: This error is caused when DispenseTool encounters a problem it is unable to
RPC -016 WARN Remote procedure call failed solve internally. This fault is almost always caused by style paths which do things which
Cause: The remote procedure call failed. were not anticipated when this software was written. The reasons for this could be:
Remedy: Check the cause code. 1. The sealing path is too fast
RPC -018 WARN Low = %d, High = %d 2. The sealing instructions (SS and SE) are too close together
Cause: The server received a remote procedure call which uses the wrong version of a 3. The delay and timing values specified in your sealing schedules are too large or do not
program. The versions supported are shown. make sense.
Remedy: Update the client or server software. 4. Your robot's CPU has failed
RPM Error Codes Remedy: Write down the exact error number and message shown. Write down exactly
RPM -001 WARN n_buffers invalid what your robot was doing at the time of the failure. Make sure you include: Program
Cause: The value for $RPM_CONFIG.$N_BUFFERS is invalid name, line number, robot's location in the work cell, any cell I/O or other communication
Remedy: Set $RPM_CONFIG.$N_BUFFERS in the range 1-100 activity, and exactly what the robot was doing right before the fault occurred. This fault is
RPM -002 WARN record_size invalid usually fixed by doing a COLD start. If that does not work, contact your supervisor or call
Cause: The value for $RPM_CONFIG.$DATA_SIZE is invalid the FANUC Robotics Hot Line.
Remedy: Set $RPM_CONFIG.$DATA_SIZE in the range 4-32 SEAL-003 STOP Digital I/O update failed
RPM -005 ERR_SYS_C memory allocation failed Cause: This error is caused when DispenseTool encounters a problem it is unable to
Cause: There is not enough cmos memory for this rpm segment solve internally. This fault is almost always caused by style paths which do things which
Remedy: Increase the cmos memory by deleting unused TPE Or increase pitch value so were not anticipated when this software was written. The reasons for this could be:
that rpm do not need so much cmos space. 1. The sealing path is too fast
RPM -009 ERR_STOP_C segment not in buffer 2. The sealing instructions (SS and SE) are too close together
Cause: Attempt to playback a segment that is not recorded in the specified buffer 3. The delay and timing values specified in your sealing schedules are too large or do not
Remedy: Check that RECORD is active for this segment and using the correct buffer make sense.
number. 4. Your robot's CPU has failed
RPM -013 ERR_STOP_C invalid buffer no Remedy: Write down the exact error number and message shown. Write down exactly
Cause: Buffer number specifed is invalid what your robot was doing at the time of the failure. Make sure you include: Program
Remedy: Use a buffer number in the range 1-$RPM_CONFIG.$N_BUFFERS name, line number, robot's location in the work cell, any cell I/O or other communication
RPM -014 ERR_STOP_C record not stored activity, and exactly what the robot was doing right before the fault occurred. This fault is
Cause: This segment was not recorded usually fixed by doing a COLD start. If that does not work, contact your supervisor or call
Remedy: Re-record the whole path the FANUC Robotics Hot Line.
RPM -020 WARN read record not stored SEAL-004 WARN DispenseTool error at %d
Cause: There is no rpm data is stored in this segment Cause: This error is caused when DispenseTool encounters a problem it is unable to
Remedy: Check the position number Or re-record again solve internally. This fault is almost always caused by style paths which do things which
RPM -026 ERR_STOP_C Pitch value too small. were not anticipated when this software was written. The reasons for this could be:
Cause: Pitch value is too small 1. The sealing path is too fast
Remedy: Time pitch value have to equal or greater than 100 2. The sealing instructions (SS and SE) are too close together
49
3. The delay and timing values specified in your sealing schedules are too large or do not 1. A Gun On output is assigned to a output point which is nonzero and does not exist.
make sense. 2. A Start Meter output is assigned to a output point which is nonzero and does not exist.
4. Your robot's CPU has failed 3. A Atomizing Air output is assigned to a output point which is nonzero and does not
Remedy: Write down the exact error number and message shown. Write down exactly exist.
what your robot was doing at the time of the failure. Make sure you include: Program 4. There is a problem with the software setup of the I/O system.
name, line number, robot's location in the work cell, any cell I/O or other communication 5. There is a problem with the hardware setup of the I/O system.
activity, and exactly what the robot was doing right before the fault occurred. This fault is Remedy: Go to the Equipment Output menu and verify that all the Gun on, Start Meter,
usually fixed by doing a COLD start. If that does not work, contact your supervisor or call and Atomizing Air outputs are correctly defined or their indexes are set to zero. If the
the FANUC Robotics Hot Line. VALUE of a output port is '****', then the index number must be set to zero and the robot
SEAL-005 WARN DispenseTool error at %s must be cold started. You must cold start the robot after changing anything on this menu.
Cause: This error is caused when DispenseTool encounters a problem it is unable to SEAL-031 WARN %s
solve internally. This fault is almost always caused by style paths which do things which Cause: Site-specific alarm caused by changes made for customer
were not anticipated when this software was written. The reasons for this could be: Remedy: Please consult FANUC Robotics regarding specific changes made for your
1. The sealing path is too fast site.
2. The sealing instructions (SS and SE) are too close together SEAL-032 WARN %s
3. The delay and timing values specified in your sealing schedules are too large or do not Cause: Site-specific alarm caused by changes made for customer
make sense. Remedy: Please consult FANUC Robotics regarding specific changes made for your
4. Your robot's CPU has failed site.
Remedy: Write down the exact error number and message shown. Write down exactly SEAL-033 WARN %s
what your robot was doing at the time of the failure. Make sure you include: Program Cause: Site-specific alarm caused by changes made for customer
name, line number, robot's location in the work cell, any cell I/O or other communication Remedy: Please consult FANUC Robotics regarding specific changes made for your
activity, and exactly what the robot was doing right before the fault occurred. This fault is site.
usually fixed by doing a COLD start. If that does not work, contact your supervisor or call SEAL-034 WARN %s
the FANUC Robotics Hot Line. Cause: Site-specific alarm caused by changes made for customer
SEAL-006 STOP Memory request failed Remedy: Please consult FANUC Robotics regarding specific changes made for your
Cause: This error is caused when DispenseTool encounters a problem it is unable to site.
solve internally. This fault is almost always caused by style paths which do things which SEAL-035 WARN %s
were not anticipated when this software was written. The reasons for this could be: Cause: Site-specific alarm caused by changes made for customer
1. The sealing path is too fast Remedy: Please consult FANUC Robotics regarding specific changes made for your
2. The sealing instructions (SS and SE) are too close together site.
3. The delay and timing values specified in your sealing schedules are too large or do not SEAL-036 WARN %s
make sense. Cause: Site-specific alarm caused by changes made for customer
4. Your robot's CPU has failed Remedy: Please consult FANUC Robotics regarding specific changes made for your
Remedy: Write down the exact error number and message shown. Write down exactly site.
what your robot was doing at the time of the failure. Make sure you include: Program SEAL-037 WARN %s
name, line number, robot's location in the work cell, any cell I/O or other communication Cause: Site-specific alarm caused by changes made for customer
activity, and exactly what the robot was doing right before the fault occurred. This fault is Remedy: Please consult FANUC Robotics regarding specific changes made for your
usually fixed by doing a COLD start. If that does not work, contact your supervisor or call site.
the FANUC Robotics Hot Line. SEAL-038 WARN %s
SEAL-007 STOP Condition handler failed Cause: Site-specific alarm caused by changes made for customer
Cause: This error is caused when DispenseTool encounters a problem it is unable to Remedy: Please consult FANUC Robotics regarding specific changes made for your
solve internally. This fault is almost always caused by style paths which do things which site.
were not anticipated when this software was written. The reasons for this could be: SEAL-039 WARN %s
1. The sealing path is too fast Cause: Site-specific alarm caused by changes made for customer
2. The sealing instructions (SS and SE) are too close together Remedy: Please consult FANUC Robotics regarding specific changes made for your
3. The delay and timing values specified in your sealing schedules are too large or do not site.
make sense. SEAL-040 WARN %s
4. Your robot's CPU has failed Cause: Site-specific alarm caused by changes made for customer
Remedy: Write down the exact error number and message shown. Write down exactly Remedy: Please consult FANUC Robotics regarding specific changes made for your
what your robot was doing at the time of the failure. Make sure you include: Program site.
name, line number, robot's location in the work cell, any cell I/O or other communication SEAL-041 STOP Seal not ready
activity, and exactly what the robot was doing right before the fault occurred. This fault is Cause: The system ready signal(DI) turns off when the sealant is dispensed.
usually fixed by doing a COLD start. If that does not work, contact your supervisor or call Remedy: Check the system ready signal of the sealing equipment or disable the system
the FANUC Robotics Hot Line. ready signal.
SEAL-008 STOP System call failed SEAL-042 ABORT Part ID mismatch detected
Cause: This error is caused when DispenseTool encounters a problem it is unable to Cause: Transmitted and received part IDs to dispensing equipments do not match.
solve internally. This fault is almost always caused by style paths which do things which Remedy: Check wiring of group I/O line for part ID and part ID acknowledge signals.
were not anticipated when this software was written. The reasons for this could be: Check dispensing equipment for proper operation.
1. The sealing path is too fast SEAL-043 STOP High pressure
2. The sealing instructions (SS and SE) are too close together Cause: The pressure signal is above its upper limit for set time when the sealant is
3. The delay and timing values specified in your sealing schedules are too large or do not dispensed.
make sense. Remedy: Check the pressure signal of the sealing equipment, disable to check the high
4. Your robot's CPU has failed pressure signal, or set the time high pressure timeout to a larger value.
Remedy: Write down the exact error number and message shown. Write down exactly SEAL-044 STOP Low pressure (E%d)
what your robot was doing at the time of the failure. Make sure you include: Program Cause: The pressure signal is below its lower limit for set time when the sealant is
name, line number, robot's location in the work cell, any cell I/O or other communication dispensed.
activity, and exactly what the robot was doing right before the fault occurred. This fault is Remedy: Check the pressure signal of the sealing equipment, disable to check the low
usually fixed by doing a COLD start. If that does not work, contact your supervisor or call pressure signal, or set the time low pressure timeout to a larger value.
the FANUC Robotics Hot Line. SEAL-045 STOP High pressure (E%d)
SEAL-009 WARN Data missing: %s Cause: The pressure signal is above its upper limit for set time when the sealant is
Cause: This error is caused when DispenseTool encounters a problem it is unable to dispensed.
solve internally. This fault is almost always caused by style paths which do things which Remedy: Check the pressure signal of the sealing equipment, disable to check the high
were not anticipated when this software was written. The reasons for this could be: pressure signal, or set the time high pressure timeout to a larger value.
1. The sealing path is too fast SEAL-046 STOP Seal not start
2. The sealing instructions (SS and SE) are too close together Cause: The gun full open signal(DI) has been on for the set time since sealing start.
3. The delay and timing values specified in your sealing schedules are too large or do not Remedy: Check the gun full open signal of the sealing equipment, disable the check for
make sense. this feature, or set the timeout for a longer period.
4. Your robot's CPU has failed SEAL-047 STOP Seal interrupt
Remedy: Write down the exact error number and message shown. Write down exactly Cause: The gun full open signal(DI) has been on for the set time since sealing start.
what your robot was doing at the time of the failure. Make sure you include: Program Remedy: Check the gun full open signal of the sealing equipment, disable the check for
name, line number, robot's location in the work cell, any cell I/O or other communication this feature, or set the timeout for a longer period.
activity, and exactly what the robot was doing right before the fault occurred. This fault is SEAL-048 ABORT Dispenser mode mismatch (E%d)
usually fixed by doing a COLD start. If that does not work, contact your supervisor or call Cause: Dispenser switch position does not match equipment set up
the FANUC Robotics Hot Line. Remedy: Check key switch on the dispensing equipment and equipment setup
SEAL-021 WARN Gun on/off too late: Sch %d SEAL-049 WARN Calibrations not complete (E%d)
Cause: In the Schedule number listed, the Gun On signal has been set up to turn on or Cause: One or more calibration procedures are not complete
off too long after the node the SS[] or SE is attached to. Currently, if this signal is set up Remedy: Visit equipment SETUP menu and complete all calibration procedures
to turn on or off greater than 100ms after the node, this warning will be posted and the SEAL-050 WARN Shot meter not full (E%d)
signal will fore 100ms after the node. These are the formulas used to determine when the Cause: The dispenser should be full at this point, and is not.
gun will be turned on or off relative to the node for seal schedule 'n': For SS[n]: Remedy: Check that the dispenser is full for this operation.
Time_Before = EQUIPMENT_DELAY - GUNON_DELAY For SE: Time_Before = SEAL-051 WARN Both Drums are empty (E%d)
EQUIPMENT_DELAY - GUNOFF_DELAY Note that a NEGATIVE Time_Before means Cause: Both drums are empty
AFTER the node. Remedy: Check sealant supply drums to be sure they are properly filled
Remedy: There is no real danger in this condition. You should be aware that if you try to SEAL-052 ABORT Same fault posted repeatedly (E%d)
turn the gun on or off after 100ms AFTER the node, the signal will always be fired 100ms Cause: Same fault occurs repeatedly
after the node and this warning will be posted. To correct this problem, make the Remedy: Check dispensing equipment and clear the reported fault
equipment_delay more positive or the gunon/gunoff delay more negative, to move the SEAL-053 WARN Robot is in dry run mode
firing of the signal up earlier. Cause: Dry run parameter is ON.
SEAL-022 WARN Meter on too late: Sch %d Remedy: Set DRY RUN parameter to OFF and run calibration again.
Cause: In the Schedule number listed, the Start Meter signal has been set up to turn on SEAL-054 WARN Robot lock mode is ON
or off too long after the node the SS[] or SE is attached to. Currently, if this signal is set Cause: Robot lock parameter is ON.
up to turn on or off greater than 100ms after the node, this warning will be posted and the Remedy: Set ROBOT LOCK parameter to OFF and run calibration again.
signal will fire 100ms after the node. These are the formulas used to determine when this SEAL-055 ABORT Part ID out of range
signal will be turned on or off relative to the node for seal schedule 'n': For SS[n]: Cause: The Part ID in the JOB header is out of the allowed range for this robot.
Time_Before = PRE_PRESSURE_DELAY + EQUIPMENT_DELAY - GUNON_DELAY Remedy: Make sure the Part ID in the JOB header is between 0 and the maximum Part
For SE[n]: Time_Before = DE_PRESSURE_DELAY + EQUIPMENT_DELAY - ID allowed on this equipment.
GUNOFF_DELAY Note that a NEGATIVE Time_Before means AFTER the node. SEAL-056 WARN Dispenser not ready (E%s)
Remedy: There is no real danger in this condition. You should be aware that if you try to Cause: Dispenser ready input signal from dispenser is OFF.
turn this signal on or off after 100ms AFTER the node, the signal will always be fired Remedy: Check dispenser manual for further information.
100ms after the node and this warning will be posted. To correct this problem, make the SEAL-057 WARN Dispenser fault (E%s)
pre/de_pressure_delay or equipment_delay more positive or the gunon/gunoff delay Cause: A fault was detected at the dispensing controller.
more negative, to move the firing of the signal up earlier. Remedy: Perform the standard dispenser fault recovery procedure. See the dispensing
SEAL-023 WARN Air on/off too late: Sch %d controller's manual for more information.
Cause: In the Schedule number listed, the Atomizing Air signal has been set up to turn SEAL-058 WARN Flow rate fault (E%s)
on or off too long after the node the SS[] or SE is attached to. Currently, if this signal is Cause: The dispenser has detected a abnormally low or high material flow rate. This
set up to turn on or off greater than 100ms after the node, this warning will be posted and could be caused by a plugged gun.
the signal will fire 100ms after the node. These are the formulas used to determine when Remedy: See the dispensing equipment manual for more information. You could try
this signal will be turned on or off relative to the node for seal schedule 'n': For SS[n]: cleaning and purging the gun.
Time_Before = ATOMIZING_ON_DELAY + EQUIPMENT_DELAY - GUNON_DELAY For SEAL-059 WARN Not calibrated warning (E%s)
SE[n]: Time_Before = ATOMIZING_OFF_DELAY + EQUIPMENT_DELAY - Cause: One or more calibration procedures are not complete
GUNOFF_DELAY Note that a NEGATIVE Time_Before means AFTER the node. Remedy: Visit equipment SETUP menu and complete all calibration procedures
Remedy: There is no real danger in this condition. You should be aware that if you try to SEAL-060 WARN High pressure (E%d)
turn this signal on or off after 100ms AFTER the node, the signal will always be fired Cause: The high pressure signal(DI) has been on for the configured time during sealing.
100ms after the node and this warning will be posted. To correct this problem, make the Remedy: Check the sealing equipment high pressure signal, disable the check for the
atomizing_on/off/_delay or equipment_delay more positive or the gunon/gunoff delay high pressure signal, or set the timeout value for a longer period
more negative, to move the firing of the signal up earlier. SEAL-061 WARN Seal not ready
SEAL-024 WARN Error in motion triggering Cause: The system ready signal(DI) turns off when sealant is being dispensed.
Cause: The high performance I/O triggering system (Motion Trigger) has returned a bad Remedy: Check the sealing equipment ready signal or disable the check of the
status. When this occurs, the redundant triggering system will take over, but the quality of equipment ready signal.
the SSs and SEs will be poor. This condition is usually caused by one or more of the SEAL-062 WARN Reload fault (E%d)
following: Cause: There is a reload problem with the meter
50
Remedy: Check the shot meter Cause: User input was zero for air pressure.
SEAL-063 WARN High pressure Remedy: Check why air pressure is zero during calibration.
Cause: The high pressure signal(DI) has been on for the configured time during sealing. SEAL-100 WARN NO scale factor/bias (E%d)
Remedy: Check the sealing equipment high pressure signal, disable the check for the Cause: The Scale factor or bias is zero
high pressure signal, or set the timeout value for a longer period Remedy: Perform the calibration procedures
SEAL-064 WARN Not at purge position SEAL-101 WARN Volume strobe timeout (E%d)
Cause: Robot is not at purge position Cause: The volume timer expired
Remedy: Make sure the robot returns to purge position at the end of each cycle Remedy: Check dispensing equipment for faults, or give the time out variable more time
SEAL-065 WARN Maximum purge count reached SEAL-102 WARN Press calib incomplete (E%d)
Cause: The Auto Purge feature has determined that the robot should purge now, but the Cause: Pressure calibration has not been completed.
maximum number of purges it is allowed to perform in a row (as set in the equipment Remedy: Perform pressure calibration before running this calibration.
setup menu) has been reached. SEAL-103 WARN Dispenser not in AUTO (E%d)
Remedy: Increase the maximum number of purges allowed or remove the disposable Cause: Dispenser Auto Mode signal to the robot has dropped.
mixing tip from the gun, to prepare it for long term inactivity. Remedy: Make sure dispenser mode selection is set to AUTO or MANUAL as needed
SEAL-066 WARN Seal not start SEAL-104 WARN Analog cal incomplete (E%d)
Cause: The gun full open signal(DI) has been on for the set time since sealing start. Cause: Analog voltage calibration has not been completed.
Remedy: Check the gun full open signal of the sealing equipment, disable the check for Remedy: Perform analog calibration before running this calibration.
this feature, or set the timeout for a longer period. SEAL-105 STOP Dispenser not ON (E%d)
SEAL-067 WARN Seal interrupt Cause: The Dispenser On signal (from the dispenser to the robot) has dropped.
Cause: Gun full open signal(DI) has been on for too long while dispensing. Remedy: Turn on the dispenser.
Remedy: Check the gun full open signal of sealing equipment, disable the checking of SEAL-106 WARN Upstream under press (E%d)
this alarm, or set the timeout value to a longer time. Cause: Upstream pressure has dropped below setpoint value for more than time limit.
SEAL-068 WARN Flow command excessive%s Remedy: Use on-board diagnostics on the dispenser controller to verify that the
Cause: Flow command output voltage is larger than the maximum output. upstream pressure sensor is in order, replace sensor as required.
Remedy: Decrease the motion speed or increase the maximum output. SEAL-107 WARN Matl calib incomplete (E%d)
SEAL-069 WARN Dispenser malfunction (E%d) Cause: Material learn calibration has not been completed.
Cause: The dispensing equipment controller has detected a fault in its hardware. Remedy: Perform material calibration before running this calibration.
Remedy: Perform maintenance and debug procedures as described in the dispensing SEAL-108 WARN Material timeout = 0 (E%d)
equipment manual. Cause: Material learn timeout value is zero
SEAL-070 WARN Gun malfunction (E%d) Remedy: Set timeout to nonzero value before running this calibration.
Cause: A dispensing gun malfunction has been detected by the dispensing controller. SEAL-109 WARN Low press>=high press (E%d)
Remedy: Perform dispensing gun maintenance and debug procedures. Cause: Low pressure atomizing air input was greater or equal to high pressure
SEAL-071 WARN Gun full open too long (E%d) Remedy: Check atomizing air equipment
Cause: A low pressure condition has been detected by the dispensing controller SEAL-110 STOP System/drive not ready (E%d)
Remedy: Check the pressure sensors at all points in the system. Perform standard Cause: System and Drive Ready signal (from the dispenser to the robot) has dropped.
system debug and maintenance procedures. Remedy: Perform standard dispenser maintenance procedures.
SEAL-072 WARN High nozzle pressure (E%d) SEAL-111 WARN Negative volume read (E%d)
Cause: A high pressure condition has been detected in the dispensing gun nozzle. In Cause: Volume read was negative.
specific, nozzle pressure signal is greater than (NOZZLE SENSOR RATING/100) * 5 Remedy: Check dispensing equipment and run calibration again.
volts for over one second. SEAL-112 WARN Vol sig cal incomplete (E%d)
Remedy: Reduce system pressure if it is permissible. Select a nozzle pressure Cause: Volume signal calibration has not been completed.
transducer with a wider operating range. Remedy: Perform volume signal calibration.
SEAL-073 WARN High dispensed volume (E%d) SEAL-113 WARN I/O config incomplete (E%d)
Cause: The volume of material dispensed on the previous job was above the preset limit. Cause: At least one I/O signal assignment is zero.
Remedy: Verify that the volume limits are correct for the specified job. Remedy: Set proper I/O ports for all necessary dispenser I/O.
SEAL-074 WARN Low dispensed volume (E%d) SEAL-114 WARN Dispenser not ready (E%d)
Cause: The volume of material dispensed on the previous job was below the preset limit Cause: Dispenser ready input signal from dispenser is OFF.
Remedy: Verify that the volume limits are correct for the specified job. Remedy: Check dispenser manual for further information.
SEAL-075 WARN Flow meter fault (E%d) SEAL-115 WARN No material flow (E%d)
Cause: A error was detected in the flow meter readings. Cause: The dispenser has detected a abnormally low or high material flow rate. This
Remedy: Verify that the flowmeter is operating correctly. could be caused by a plugged gun.
SEAL-076 WARN Bead defect detected (E%d) Remedy: See the dispensing equipment manual for more information. You could try
Cause: An incorrect bead condition was detected. cleaning and purging the gun.
Remedy: Perform dispensing gun maintenance procedures. SEAL-116 WARN Flow command too low
SEAL-077 WARN Sealer equipment fault (E%d) Cause: Flow command output voltage is lower than the minimum output.
Cause: An unknown error code was received from the dispensing controller. Remedy: Increase the motion speed or decrease the minimum output.
Remedy: Check the dispensing controller for an error condition. Also check the SEAL-117 WARN System/drive not ready (E%d)
communication link between the dispensing controller and robot controller. Cause: System and Drive Ready signal (from the dispenser to the robot) has dropped.
SEAL-078 WARN Dispenser comm fault (E%d) Remedy: Perform standard dispenser maintenance procedures.
Cause: An error was encountered reading fault data from the dispenser SEAL-118 WARN Dispenser not in AUTO (E%d)
Remedy: Check the communications link between the dispenser and robot Cause: Dispenser Auto Mode signal to the robot has dropped.
SEAL-079 WARN Dispenser E-stop (E%d) Remedy: Make sure dispenser mode selection is set to AUTO or MANUAL as needed
Cause: An Emergency Stop condition was detected at the dispensing controller SEAL-119 WARN Low pressure (E%d)
Remedy: Clear the fault and perform the proper Emergency Stop recovery procedure. Cause: A low pressure warning has been detected by the dispensing controller
SEAL-080 WARN Dispenser fault (E%d) Remedy: Check system pressure. Check the pressure sensors in the system. Perform
Cause: A fault was detected at the dispensing controller. standard system debug and maintenance procedures.
Remedy: Perform the standard dispenser fault recovery procedure. See the dispensing SEAL-120 WARN Dispenser not ON (E%d)
controller's manual for more information. Cause: The Dispenser On signal (from the dispenser to the robot) has dropped.
SEAL-081 WARN Volume comp at maximum (E%d) Remedy: Turn on the dispenser.
Cause: Interim value for volume has exceeded maximum interim limit. SEAL-121 STOP Dispense signal fault (E%d)
Remedy: Re-learn part or increase maximum limit. Cause: The Dispensing signal (from the dispenser to the robot) should be high during
SEAL-082 WARN Drum A empty (E%d) dispensing, but it is not.
Cause: The first of the two drums is empty Remedy: Perform dispenser maintenance procedures to determine why dispensing is
Remedy: This is a warning to the operator that the drum might need service not occurring as it should. Also verify that the dispensing schedule data is correct, and
SEAL-083 WARN Drum B empty (E%d) that the dispenser I/O to/from the robot has been mapped correctly.
Cause: The second of the two drums is empty. SEAL-122 ABORT Sealing task already active
Remedy: This is a warning to the operator that the drum might need service. Cause: You tried to run a JOB or PROC TPP while another JOB or PROC TPP is
SEAL-084 WARN Reload timed out (E%d) already running in another task.
Cause: Reload of shot meter took longer than the specified time. Remedy: Only one sealing task may be running at any time. This means that only one
Remedy: Check your dispensing equipment for faults, to make sure time out is long JOB or PROC may be running at any time. You must abort the JOB or PROC which is
enough. already running before starting a new one.
SEAL-085 WARN Calibration aborted SEAL-123 ABORT Job aborted
Cause: Calibration aborted due to user request or possible fault. Cause: The current Job has been aborted due to a fatal error.
Remedy: If unknown cause -- see next most recent alarm for help. Remedy: Correct the cause of this error, which is usually posted immediately after this
SEAL-086 WARN Volume strobe timeout (E%d) one.
Cause: Volume present signal not received from Pro-Flo unit. SEAL-124 ABORT Critical IO is invalid
Remedy: Run calibration again - check Pro-Flo unit for malfunction. Cause: This error is usually caused by an IO point which is required by DispenseTool
SEAL-087 WARN Volume above limit (E%d) being set to an invalid index number or type.
Cause: The volume of material dispensed on the previous job was above the preset limit. Remedy: Make sure that all inputs and outputs on the Dispenser IO screen are set to
Remedy: Verify that the volume limits are correct for the specified job. valid IO points (the VALUE is not shown as *****) or the index number has been is set to
SEAL-088 WARN Material cal timeout (E%d) 0. Cold start the robot controller after making any changes to this screen.
Cause: Material cal complete signal not received from Pro-Flo unit. SEAL-129 ABORT Index incorrect
Remedy: Check Pro-Flo for malfunction or increase dispense time. Cause: The index value of seal start instruction is invalid.
SEAL-089 WARN Volume below limit (E%d) Remedy: Check the index value of this SS instruction.
Cause: The volume of material dispensed on the previous job was below the preset limit SEAL-131 ABORT SS/SE timing invalid
Remedy: Verify that the volume limits are correct for the specified job. Cause: This error is caused by timing problems with Sealing commands (SS or SE).
SEAL-090 WARN Nozzle over pressure (E%d) Timing problems could occur if the robot does not have enough time to plan for a sealing
Cause: The problem is either the nozzle pressure is greater than setpoint for more than instruction before the robot passes that point in the path. For example: If the user is using
time limit or the upstream hose is ruptured and is leaking material. a sealing schedule with a gunon delay of 1000ms and a gunoff delay of -1000ms and the
Remedy: Use on-board diagnostics on the dispensing controller to verify that the nozzle robot executes the seam in 1500ms, the DispenseTool will detect the logic problem and
pressure sensor is in order, replace sensor as required. Check for clog in gun or nozzle post this fault. A path which has many sealing instructions very close to each other
tip. If the problem is ruptured hose, replace hose (closer than 30mm at 500mm/sec) is likely to have this problem.
SEAL-091 WARN Matl weight input = 0 (E%d) Remedy: Make sure there is adequate time for each SS and SE to execute. You may do
Cause: User input was zero for material weight. this by making sure you have only the minimum number of points in your path that you
Remedy: Run calibration again - do not enter zero for material weight. require. DispenseTool works best with as few points as possible. Also, make sure none
SEAL-092 WARN Specific gravity = 0 (E%d) of your schedules have gunon, gunoff, or equipment delays beyond that which is needed
Cause: User input was zero for specific gravity. (usually between -100ms and +100ms is adequate). NOTE: Whenever a SEAL-131
Remedy: Assign a nonzero value for specific gravity. Run cal again. - occurs, the robot MUST be cold started to recover.
SEAL-093 WARN Volume read is zero (E%d) SEAL-132 WARN Seam segment too short
Cause: Zero volume was detected from Pro-Flo analog signals. Cause: There was not enough time between a SS and the next SS or SE for the flow
Remedy: Check Pro-Flo for malfunction. rate computations to be done.
SEAL-094 WARN Dispense time is zero (E%d) Remedy: Step through your sealing PROCess program, making sure there is at least a
Cause: User input was zero for dispense time. centimeter between the points attached to each sealing instruction. Increase the distance
Remedy: Assign a nonzero value for dispense time. Run cal again. - between sealing instructions, delete one of the sealing instructions, or slow the robot
SEAL-095 WARN Nozzle under pressure (E%d) down.
Cause: Nozzle pressure has dropped below setpoint value for more than time limit. SEAL-144 WARN Joint motion
Remedy: Use on-board diagnostics on the dispenser controller to verify that the nozzle Cause: Robot moved with joint motion during sealing.
pressure sensor is in order, replace sensor as required. Remedy: Change motion type from joint to linear or circular.
SEAL-096 WARN Matl press entered=0 (E%d) SEAL-147 ABORT Equipment does not exist
Cause: User input was zero for material pressure. Cause: This equipment is not exist.
Remedy: Check why material pressure is zero during calibration. Remedy: Check the equipment number in the program detail display.
SEAL-097 WARN Pressure read is zero (E%d) SEAL-148 ABORT No SE Instruction
Cause: No change in analog signal from pressure transducer. Cause: SE instruction is not exist.
Remedy: Check pressure transducer and ensure varying pressures during calibration. Remedy: Add an SE instruction.
SEAL-098 WARN Upstream over pressure (E%d) SEAL-149 ABORT No equipment number set
Cause: Upstream pressure is greater than setpoint for more than time limit. Cause: Equipment is not set on this program.
Remedy: Use on-board diagnostics on the dispenser controller to verify that the Remedy: Set the equipment number in the program detail display.
upstream pressure sensor is in order, replace sensor as required. Check for clog in gun SEAL-150 ABORT Equipment is already busy
or nozzle tip Cause: Other program is using this equipment now.
SEAL-099 WARN Air pressure entered=0 (E%d) Remedy: Change the equipment number or check interlock of each program.
SEAL-151 ABORT TPP not created correctly
51
Cause: The teach pendant program is not created properly Remedy: Use on-board diagnostics on the dispenser controller to verify that the nozzle
Remedy: Check program header if the teach pendant program is either a JOB or a pressure sensor is in order, replace sensor as required.
PROCESS type to ensure application data header is created correctly SEAL-211 WARN Upstream over press (E%s)
SEAL-152 WARN I/O not correctly assigned Cause: Upstream pressure is greater than setpoint for more than time limit.
Cause: The index value or type of this I/O port is incorrectly assigned. Remedy: Use on-board diagnostics on the dispenser controller to verify that the
Remedy: If you wish to use this I/O port, set the port index and I/O type to the correct upstream pressure sensor is in order, replace sensor as required. Check for clog in gun
values. Verify that a valid value is shown on the I/O menu for this I/O port instead of If or nozzle tip
you do not wish to use this I/O point, set the index number to zero. SEAL-212 WARN Upstream under press (E%s)
SEAL-153 WARN Program is running Cause: Upstream pressure has dropped below setpoint value for more than time limit.
Cause: You can not set volume set point while a program is running Remedy: Use on-board diagnostics on the dispenser controller to verify that the
Remedy: Volume set points must be established after program execution upstream pressure sensor is in order, replace sensor as required.
SEAL-155 WARN No SS Instruction before SE SEAL-213 WARN Sealer equipment fault (E%s)
Cause: There is no SS instruction before SE. Cause: An unknown error code was received from the dispensing controller.
Remedy: Check SS instruction on this program. Remedy: Check the dispensing controller for an error condition. Also check the
SEAL-156 WARN MOV_ TPP execution failure communication link between the dispensing controller and robot controller.
Cause: Unsuccessful execution of a MOV_ type program. SEAL-214 WARN No material flow (E%s)
Remedy: Ensure MOV_ program is executable. Reset holds and emergency stops. Cause: The dispenser has detected a abnormally low or high material flow rate. This
SEAL-157 WARN Seal schedule data is zero could be caused by a plugged gun.
Cause: Desired volume or bead width for first sealing schedule was zero. Remedy: See the dispensing equipment manual for more information. You could try
Remedy: Enter a valid setting for desired volume or bead width. cleaning and purging the gun.
SEAL-159 WARN UTOOL #1 is not taught SEAL-215 WARN Reload timed out (E%s)
Cause: Current utool is zero - has not been taught. Cause: Reload of shot meter took longer than the specified time.
Remedy: Teach utool before running this calibration. Remedy: Check your dispensing equipment for faults, to make sure time out is long
SEAL-160 WARN REFPOS is not taught enough.
Cause: Current REFPOS has not been taught - is zero. SEAL-216 WARN Reload fault occurred (E%s)
Remedy: Teach REFPOS before running OFFSET calibration. Cause: There is a reload problem with the meter
SEAL-161 WARN OFFSET out of range Remedy: Check the shot meter
Cause: Difference between REFPOS and OFFSET positions was too large. SEAL-217 WARN NO scale factor/bias (E%s)
Remedy: Check for damaged tool, change tip and run calibration again. Cause: The Scale factor or bias is zero
SEAL-162 WARN OFFSET config mismatch Remedy: Perform the calibration procedures
Cause: Difference exists between REFPOS and OFFSET position configurations. SEAL-218 ABORT Same fault posted (E%s)
Remedy: Run calibration again while maintaining REFPOS configuration Cause: Same fault occurs repeatedly
SEAL-163 WARN File is not closed Remedy: Check dispensing equipment and clear the reported fault
Cause: File to be executed is not closed. SEAL-219 WARN Volume strobe timeout (E%s)
Remedy: Perform cold start or temporarily SELECT a different file. Cause: The volume timer expired
SEAL-164 WARN File does not exist Remedy: Check dispensing equipment for faults, or give the time out variable more time
Cause: File to be executed does not exist. SEAL-220 WARN Volume out of range (E%s)
Remedy: Create and teach the file. Cause: The volume dispensed in the last job was out of the normal volumetric range of
SEAL-170 WARN Invalid tool position material dispensed for this job. This could be caused by terminating the job early,
Cause: Commanded tool position is not valid causing much less material to be dispensed. This could also be caused by problems with
Remedy: Check supply air to the tool Check proximity sensors on the tool the material, such as using material which has exceeded its shelf life.
SEAL-171 WARN Gripper not opened (GP%s) Remedy: This warning is normal if it was caused by terminating a job early. If this error
Cause: All grippers are not opened happens during normal production, examine the quality of the dispensed job and verify
Remedy: Check to see if release mechanism is working that the dispenser and material are in good condition.
SEAL-172 WARN Gripper not closed (GP%s) SEAL-221 WARN Bubble detected (E%d)
Cause: All grippers on this valve are not closed Cause: A significant bubble was dispensed with the material during the job. This is
Remedy: Check to see if clamping mechanism is working usually caused by improper loading of new material. NOTE: This will often cause poor
SEAL-173 WARN Part not present (GP%s) quality sealing. Examine the finished part for any gaps in the sealant bead.
Cause: Sensors not reporting part present Remedy: Make sure any new material is loaded properly into the supply pump. Make
Remedy: Check sensor correct operation sure all excess air has been drained off before using any new material.
SEAL-174 WARN Part Present (GP%s) SEAL-222 WARN Dispenser not ON (E%s)
Cause: Sensors reporting part present Cause: The Dispenser On signal (from the dispenser to the robot) has dropped.
Remedy: Check sensor correct operation Remedy: Turn on the dispenser.
SEAL-175 WARN Un-assigned Bit mask SEAL-223 WARN Dispenser not in AUTO (E%s)
Cause: Variable $sltlstup[1].valve is not assigned Cause: Dispenser Auto Mode signal to the robot has dropped.
Remedy: Go to Tool Setup and setup gripper configuration Remedy: Make sure dispenser mode selection is set to AUTO or MANUAL as needed
SEAL-177 WARN EOAT timed out: Flip SEAL-224 WARN System/drive not ready (E%s)
Cause: The Four Position End of Arm tool was moved, but the FLIP sensor reports that Cause: System and Drive Ready signal (from the dispenser to the robot) has dropped.
the tool is not in the correct FLIP/UNFLIP position (could be ON or OFF) after the timeout Remedy: Perform standard dispenser maintenance procedures.
period set on the tool setup menu expired. SEAL-225 WARN Low pressure warning (E%s)
Remedy: Check air supply to the four position tool. Check proximity sensors on the four Cause: A low pressure warning has been detected by the dispensing controller
position tool. If the tool is slow, increase the timeout delay on the tool setup screen to Remedy: Check system pressure. Check the pressure sensors in the system. Perform
allow enough time for the tool to complete motion. standard system debug and maintenance procedures.
SEAL-178 WARN EOAT timed out: Unflip SEAL-226 WARN High pressure warning (E%s)
Cause: The Four Position End of Arm tool was moved, but the UNFLIP sensor reports Cause: The pressure signal is above its upper limit for set time when the sealant is
that the tool is not in the correct UNFLIP/FLIP position (could be ON or OFF) after the dispensed.
timeout period set on the tool setup menu expired. Remedy: Check the pressure signal of the sealing equipment, disable to check the high
Remedy: Check air supply to the four position tool. Check proximity sensors on the four pressure signal, or set the time high pressure timeout to a larger value.
position tool. If the tool is slow, increase the timeout delay on the tool setup screen to SEAL-227 WARN Low pressure fault (E%s)
allow enough time for the tool to complete motion. Cause: A low pressure warning has been detected by the dispensing controller
SEAL-179 WARN EOAT timed out: Extend Remedy: Check system pressure. Check the pressure sensors in the system. Perform
Cause: The Four Position End of Arm tool was moved, but the EXTEND sensor reports standard system debug and maintenance procedures.
that the tool is not in the correct EXTEND/RETRACT position (could be ON or OFF) after SEAL-228 WARN High pressure fault (E%s)
the timeout period set on the tool setup menu expired. Cause: The pressure signal is above its upper limit for set time when the sealant is
Remedy: Check air supply to the four position tool. Check proximity sensors on the four dispensed.
position tool. If the tool is slow, increase the timeout delay on the tool setup screen to Remedy: Check the pressure signal of the sealing equipment, disable to check the high
allow enough time for the tool to complete motion. pressure signal, or set the time high pressure timeout to a larger value.
SEAL-180 WARN EOAT timed out: Retract SEAL-229 WARN Calibration incomplete (E%s)
Cause: The Four Position End of Arm tool was moved, but the RETRACT sensor reports Cause: One or more calibration procedures are not complete
that the tool is not in the correct RETRACT/EXTEND position (could be ON or OFF) after Remedy: Visit equipment SETUP menu and complete all calibration procedures
the timeout period set on the tool setup menu expired. SEAL-230 WARN High Dispensed Volume (E%d)
Remedy: Check air supply to the four position tool. Check proximity sensors on the four Cause: High Dispensed Volume.
position tool. If the tool is slow, increase the timeout delay on the tool setup screen to Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
allow enough time for the tool to complete motion. SEAL-231 WARN Low Dispensed Volume (E%d)
SEAL-182 WARN Invalid kinematic solution Cause: Low Dispensed Volume.
Cause: Current robot position invalid. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
Remedy: Run calibration again. SEAL-232 WARN High Material Supply Pressure (E%d)
SEAL-183 WARN Tool offset internal error Cause: High Material Supply Pressure.
Cause: Internal tool offset calibration error. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
Remedy: Contact FANUC Robotics Hotline. SEAL-233 WARN Low Material Supply Pressure (E%d)
SEAL-200 WARN Dispenser malfunction (E%s) Cause: Low Material Supply Pressure.
Cause: The dispensing equipment controller has detected a fault in its hardware. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
Remedy: Perform maintenance and debug procedures as described in the dispensing SEAL-234 WARN No Material Supply Pressure (E%d)
equipment manual. Cause: No Material Supply Pressure.
SEAL-201 WARN Gun malfunction (E%s) Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
Cause: A dispensing gun malfunction has been detected by the dispensing controller. SEAL-235 WARN Nozzle Clog or Down Stream Blockage (E%d)
Remedy: Perform dispensing gun maintenance and debug procedures. Cause: Nozzle Clog or Down Stream Blockage.
SEAL-202 WARN Gun full open too long (E%s) Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
Cause: A low pressure condition has been detected by the dispensing controller SEAL-236 WARN Gun Cable Failure (E%d)
Remedy: Check the pressure sensors at all points in the system. Perform standard Cause: Gun Cable Failure.
system debug and maintenance procedures. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
SEAL-203 WARN High nozzle pressure (E%s) SEAL-237 WARN Flowmeter/Booster Pump Failure (E%d)
Cause: A high pressure condition has been detected in the dispensing gun nozzle. In Cause: Flowmeter/Booster Pump Failure.
specific, nozzle pressure signal is greater than (NOZZLE SENSOR RATING/100) * 5 Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
volts for over one second. SEAL-238 WARN Nozzle Pressure Transducer Failure (E%d)
Remedy: Reduce system pressure if it is permissible. Select a nozzle pressure Cause: Nozzle Pressure Transducer Failure.
transducer with a wider operating range. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
SEAL-204 WARN High dispensed volume (E%s) SEAL-239 WARN Flowmeter cable Failure (E%d)
Cause: The volume of material dispensed on the previous job was above the preset limit. Cause: Flowmeter cable Failure.
Remedy: Verify that the volume limits are correct for the specified job. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
SEAL-205 WARN Low dispensed volume (E%s) SEAL-240 WARN Upstream Pressure Transducer Failed (E%d)
Cause: The volume of material dispensed on the previous job was below the preset limit Cause: Upstream Pressure Transducer Failed.
Remedy: Verify that the volume limits are correct for the specified job. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
SEAL-206 WARN Flow meter fault (E%s) SEAL-241 WARN Upstream Pressure Transducer Cable Failed (E%d)
Cause: A error was detected in the flow meter readings. Cause: Upstream Pressure Transducer Cable Failed.
Remedy: Verify that the flowmeter is operating correctly. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
SEAL-207 WARN Bead defect detected (E%s) SEAL-242 WARN Robot Signal Out of Sequence (E%d)
Cause: An incorrect bead condition was detected. Cause: Robot Signal Out of Sequence.
Remedy: Perform dispensing gun maintenance procedures. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
SEAL-208 WARN Volume comp at max (E%s) SEAL-243 WARN Gun Failure (E%d)
Cause: Interim value for volume has exceeded maximum interim limit. Cause: Gun Failure.
Remedy: Re-learn part or increase maximum limit. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
SEAL-209 WARN Nozzle over pressure (E%s) SEAL-244 WARN Bead Defect Detected (E%d)
Cause: The problem is either the nozzle pressure is greater than setpoint for more than Cause: Bead Defect Detected.
time limit or the upstream hose is ruptured and is leaking material. Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document.
Remedy: Use on-board diagnostics on the dispensing controller to verify that the nozzle SEAL-245 WARN Joint Motion While Dispensing
pressure sensor is in order, replace sensor as required. Check for clog in gun or nozzle Cause: Joint motion is used between SS and SE instructions
tip. If the problem is ruptured hose, replace hose Remedy: Use Linear or Circular motion between SS and SE instructions
SEAL-210 WARN Nozzle under press (E%s) SEAL-250 WARN High Dispensed Volume (E%s)
Cause: Nozzle pressure has dropped below setpoint value for more than time limit. Cause: High Dispensed Volume.
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Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. SEAL-288 WARN Application setup not done
SEAL-251 WARN Low Dispensed Volume (E%s) Cause: The application specific TPPs and macros have not been loaded.
Cause: Low Dispensed Volume. Remedy: Perform a controlled start, then select SETUP APPLICATION under the FCTN
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. menu while the application disk is in the drive.
SEAL-252 WARN High Material Supply Pressure (E%s) SEAL-289 STOP Macro table already full
Cause: High Material Supply Pressure. Cause: DispenseTool has attempted to install additional macros, but the macro table
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. (under menu SETUP:Macros) was already full.
SEAL-253 WARN Low Material Supply Pressure (E%s) Remedy: Reduce number of macros needed and remove them from the macro table or
Cause: Low Material Supply Pressure. contact FANUC Robotics and request a update to expand macro table size.
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. SEAL-290 STOP Invalid call to SL__INST
SEAL-254 WARN No Material Supply Pressure (E%s) Cause: SL__INST has been called, but there was no valid macro index number in
Cause: No Material Supply Pressure. register 32.
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. Remedy: Do not run SL__INST as a program, only call SL__INST from a macro after
SEAL-255 WARN Nozzle Clog or Down Stream Blockage (E%s) setting a valid macro index number up in register 32.
Cause: Nozzle Clog or Down Stream Blockage. SEAL-291 WARN No start sealing input defined
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. Cause: The PNS Ack Verified input, which is needed with the current communication
SEAL-256 WARN Gun Cable Failure (E%s) configuration, has not been defined.
Cause: Gun Cable Failure. Remedy: Set up a PNS Ack Verified in the Cell Input I/O menu and restart the robot.
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. SEAL-292 STOP Max Error table entry exceeded
SEAL-257 WARN Flowmeter/Booster Pump Failure (E%s) Cause: In setting up the Default error table the maximum number of error table entries
Cause: Flowmeter/Booster Pump Failure. ($ERRSEV_NUM) was exceeded.
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. Remedy: Go into controlled start, Press MENU-0, then choose PROGRAM SETUP.
SEAL-258 WARN Nozzle Pressure Transducer Failure (E%s) Change the Error Severity Table entry to be a larger number in order to contain all default
Cause: Nozzle Pressure Transducer Failure. errors, and press FCTN-START (COLD). After Cold Start, go back into the Error Table
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. setup screen and manually enter in those error that were not setup correctly.
SEAL-259 WARN Flowmeter cable Failure (E%s) SEAL-294 WARN Style bit is out of range (E%s)
Cause: Flowmeter cable Failure. Cause: The style bit in your JOB program is either less than 0 or great than the
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. maximum style bit value.
SEAL-260 WARN Upstream Pressure Transducer Failed (E%s) Remedy: Set up a bigger maximum style bit or change the style bit in your JOB header
Cause: Upstream Pressure Transducer Failed. SEAL-295 WARN Key I/O is not assigned (E%s)
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. Cause: The key dispenser input such as dispenser ready is not assigned.
SEAL-261 WARN Upstream Pressure Transducer Cable Failed (E%s) Remedy: You must set the port index and the type of the dispenser input to the correct
Cause: Upstream Pressure Transducer Cable Failed. values. Verify that a valid value is shown on the I/O menu for the I/O port instead of
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. SEAL-296 STOP Configurable error table empty
SEAL-262 WARN Robot Signal Out of Sequence (E%s) Cause: The DispenseTool configurable error table is empty.
Cause: Robot Signal Out of Sequence. Remedy: No action is required, but user should be aware that configurable fault reporting
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. will not function at full capacity.
SEAL-263 WARN Gun Failure (E%s) SEAL-297 WARN Dispenser meter near empty (E%s)
Cause: Gun Failure. Cause: This warning is posted when the system detects that the meter near empty signal
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. is asserted during dispensing.
SEAL-264 WARN Bead Defect Detected (E%s) Remedy: 1. Reload the meter prior to start dispensing for the seam.
Cause: Bead Defect Detected. 2. Lower the flow rate so that it can cover the entire seam
Remedy: Refer to Nordson Pro-Flo II dispenser equipment user document. SEAL-298 WARN %s option has not been loaded
SEAL-265 WARN Major Dispenser Fault on (E%s) Cause: The option required to setup this equip- ment has not been loaded.
Cause: A Major Fault was detected on the dispensing equipment. Remedy: Please load the required option, and then try to set this equipment type.
Remedy: Refer to dispensing equipment for fault details. SEAL-299 WARN Enc Belt slip (E%d, Mtr %s)
SEAL-266 WARN Minor Dispenser Fault on (E%s) Cause: System has detected that the encoder to meter belt linkage is slipping.
Cause: A Minor Fault was detected on the dispensing equipment. Remedy: Tighten the belt tension.
Remedy: Refer to dispensing equipment for fault details. SEAL-300 WARN %s I/O not mapped correctly
SEAL-267 WARN Volume dispensed out of range (E%s) Cause: Specified I/O point has not been assigned.
Cause: Volume OK signal NOT received from dispensing equipment. Remedy: Assign specified I/O point before attempting calibration.
Remedy: Refer to dispensing equipment for fault details. SEAL-301 WARN OK to reload timeout (E%d)
SEAL-268 WARN Flow rate is zero (E%d) Cause: Timed out waiting for the OK to reload signal from the Cell controller.
Cause: This error is reported when the process mode is wet and the computed flow rate Remedy: Make sure that the Input signal for OK to Reload is mapped and is coming on
is equal to zero. in response to the Reload Request signal.
Remedy: Refer to dispensing equipment for fault details. SEAL-302 WARN IPD has not been configd (E%d)
SEAL-269 WARN Flow command below set point (E%d) Cause: IPD mastering and/or calibrations have not been completed. IPD cannot leave
Cause: This error is reported when the computed flow rate command is less than the SHUTOFF mode unless they are completed.
minimum flow rate specified by the user during the equipment setup. Remedy: Complete IPD mastering and calibrations.
Remedy: Refer to dispensing equipment for fault details. SEAL-303 WARN Unable to go FULL resume dist
SEAL-270 WARN Flow command above set point (E%d) Cause: Robot was unable to go back the full resume distance because the last taught
Cause: This error is reported when the computed flow rate command is great than the point was reached before full distance was traversed. Gap may result.
user specified (or calibrated) maximum flow rate, which is specified specified under the Remedy: 1. Shorten the resume distance.
equipment setup. 2. Re-teach points so that there is more distance between points.
Remedy: Refer to dispensing equipment for fault details. SEAL-304 WARN Force FFR Process Recov items
SEAL-271 WARN Channel 2 analog is zero (E%d) Cause: Fast Fault Recovery has ended and process specific recovery options must be
Cause: This error is reported when the process mode is wet and the computed Channel displayed.
2 analog command is equal to zero. Remedy: Choose a process specific recovery option
Remedy: Refer to dispensing equipment for fault details. SEAL-305 WARN Dispense complete timeout (E%s)
SEAL-272 WARN Channel 2 analog is below set point (E%d) Cause: Fast Fault Recovery has ended and process specific recovery options must be
Cause: This error is reported when the computed Channel 2 analog command is less displayed.
than the minimum Channel 2 analog output specified by the user during the equipment Remedy: Choose a process specific recovery option
setup. SENS Error Codes
Remedy: Refer to dispensing equipment for fault details. SENS-000 SYSTEM Unknown error
SEAL-273 WARN Channel 2 analog is above set point (E%d) Cause: System internal error
Cause: This error is reported when the computed Channel 2 analog is great than the Remedy: Contact FANUC Robotics Hotline.
user specified (or calibrated) maximum Channel 2 analog output, which is specified SENS-001 STOP Hardware error occurred
under the equipment setup. Cause: During data reception, parity, overrun and framing errors occurred.
Remedy: Refer to dispensing equipment for fault details. Remedy: Check that the communication setting between the robot and sensor sides is
SEAL-274 WARN Dispenser not pressurized (E%s) not wrong.
Cause: Dispenser is not pressurized SENS-002 STOP DSR off when transmission
Remedy: Refer to dispensing equipment for fault details. Cause: An attempt was made for data transmission, but DSR signal at the sensor side is
SEAL-275 WARN Dispenser meter not full (E%s) in OFF-state.
Cause: Dispenser meter is not full Remedy: Check that the specification and disconnection of cable connecting the robot
Remedy: Refer to dispensing equipment for fault details. and sensor.
SEAL-276 WARN Dispense meter not pressurized (E%s) SENS-003 STOP Undefined TCC received
Cause: Dispense meter is not pressurized Cause: The undefined TCC was received from the sensor.
Remedy: Refer to dispensing equipment for fault details. Remedy: Check the data sent from the sensor.
SEAL-277 WARN Drum empty (E%s) SENS-004 STOP Invalid software parity
Cause: Drum is empty Cause: BCC of the received data from the sensor is wrong.
Remedy: Refer to dispensing equipment for fault details. Remedy: Check the data sent from the sensor.
SEAL-278 WARN Auto purge requested (E%s) SENS-005 STOP Invalid data format
Cause: Auto purge is requested Cause: The format of the received data is wrong.
Remedy: Refer to dispensing equipment for fault details. Remedy: Check the data sent from the sensor.
SEAL-279 WARN primer check passed (E%s) SENS-006 STOP Response time over
Cause: Primer check passed (E%s) Cause: The answer from the sensor is not received within the allowable time.
Remedy: Refer to dispensing equipment for fault details. Remedy: Check that the sensor side does not stop due to an error, for example.
SEAL-280 WARN Primer check failed (E%s) SENS-007 STOP Interval time over
Cause: Primer check failed Cause: The interval of characters sent from the sensor exceeded the allowable time.
Remedy: Refer to dispensing equipment for fault details. Remedy: Check that the sensor side does not stop due to an error, for example.
SEAL-281 WARN Felt not advanced (E%s) SENS-008 STOP Calculate matrix error
Cause: Felt not advanced Cause: Calculating transform matrix is impossible.
Remedy: Refer to dispensing equipment for fault details. Remedy: Check the compensation data sent from the sensor.
SEAL-282 WARN Meter Empty (E%d, Mtr %s) SPOT Error Codes
Cause: This warning is posted when the system detects that the meter has reached to its SPOT-000 WARN Unknown error (SWG0)
stroke limit during dispensing. After this condition, the system automatically switches to Cause: An internal error has occurred.
the other meter, and continue dispensing. Remedy: Cold start the controller
Remedy: 1. Reposition the meter prior to start dispensing for the seam. SPOT-001 PAUSE Backup not closed %s
2. Lower the flow rate so that it can cover the entire seam Cause: BU=* was specified in the SPOT instruction for backup state before the weld, but
SEAL-283 WARN Both Meters Empty the backup was opened at the time the instruction was executed.
Cause: This warning is posted when the system detects that both meters have reached Remedy: Make sure that the backup is closed when using the BU=* command. Edit the
to their stroke limit during dispensing. This situation occurs if the material supply pressure BU=* to BU=C, or insert a BACKUP=CLOSE statement prior to this statement.
is too low. After this condition, the system automatically stops dispensing, but the robot SPOT-002 PAUSE Iso contactor fault %s
keeps moving. Use Error table to change the severity to PAUSE if you want to pause the Cause: The isolation contactor on the specified weld controller is in a fault condition. If no
program with this warning. program is running, then this message is posted if either the Iso contactor output is high
Remedy: 1. Increase the material supply pressure. or the Iso contactor input is high. If a program is running, or a manual weld is being
2. Lower the flow rate. executed, then the output, if defined, must be high, and the input, if defined, must be high
SEAL-284 WARN Plugged Tip Detected (E%d) too.
Cause: The system has detected that the material flow has been blocked. Remedy: Make sure that the CLOSE CONTACTOR macro instruction has been
Remedy: 1. Check and clean the gun tip. programmed in the teach pendant program.
SEAL-285 WARN Premature Reload Term (E%d) SPOT-003 PAUSE Water saver OK fault %s
Cause: One meter could not complete reloading before the other meter has come to Cause: The water saver input is low.
near-empty zone. Remedy: Check the input from the weld controller, and reset as necessary.
Remedy: 1. Increase the material supply pressure SPOT-004 PAUSE Water flow OK fault %s
2. Lower the flow rate Cause: The water flow OK input is low.
SEAL-287 WARN Cmd prs NOT achieved (E%d) Remedy: Check the input from the weld controller, and reset as necessary.
Cause: The material pressure did not reach the specified pressure within the specified SPOT-005 PAUSE X-former OK fault %s
time. Cause: The transformer OK input is low.
Remedy: 1. Check the IPD air supply pressure Remedy: Check the input from the weld controller, and reset as necessary.
2. Increase the pressure tolerance ($ipd_config[].press_tol) SPOT-006 PAUSE Weld enable mismatch %s
53
Cause: The weld enable status from the weld controller does not match the robot's weld Cause: The BU Open Detect input was not received within the specified timeout period.
enable status. Remedy: Verify the input is assigned correctly; verify the input is being made when the
Remedy: Check the robot's weld enable status on the TEST CYCLE menu and compare backup gun is opened; or if needed, increase the timeout value (in $spoteqsetup.
it to the weld controller's weld enable status. These must be the same. $bu_op_to).
SPOT-007 PAUSE Weld in process timeout %s SPOT-034 PAUSE Backup close fault %s
Cause: The robot timed out waiting for the Weld in Process input. from the weld Cause: The BU Close Detect input was not received within the specified timeout period.
controller. Remedy: Verify the input is assigned correctly; verify the input is being made when the
Remedy: Check the Weld I/O menu, as well as all wiring. If the input is going high, try backup gun is closed; or if needed, increase the timeout value (in $spoteqsetup.
increasing the timeout by setting $spoteqsetup[].$wld_inpr_to to a bigger number. The $bu_cl_to).
default is 2000 ms, or 2 seconds. SPOT-035 PAUSE Invalid equipment (%s defined)
SPOT-008 PAUSE Weld complete timeout %s Cause: An invalid equipment number was specified.
Cause: The robot timed out waiting for the Weld Complete input from the weld controller. Remedy: The current number of equipments that the system is configured for is
Remedy: Check the Weld I/O menu, as well as all wiring. If the input is going high, try displayed in the error message. Only use the value one up to and including the number
increasing the timeout by setting $spoteqsetup[].$wld_comp_to to a bigger number. The posted on the error line. If you need to increase the number of equipment, then perform
default is 2000 ms, or 2 seconds. an INIT start (backup all files first), and enter the new number of equipment when
SPOT-009 WARN Got weld complete early %s prompted during the SETUP APPLICATION menu
Cause: The Weld Complete input was detected before the Weld in Process input was SPOT-036 PAUSE Invalid weld controller (%s defined)
received. Cause: An invalid weld controller number was specified.
Remedy: Check the length of the weld controller's Weld Complete output. It may need to Remedy: The current number of weld controllers that the system is configured for is
be decreased. displayed in the error message. Only use the value one up to and including the number
SPOT-010 PAUSE Major alarm detected %s posted on the error line. If you need to increase the number of weld controllers, then
Cause: A Major Alarm was received. perform a controlled start, and define the new number of weld controllers when prompted
Remedy: Check the weld controller for the reason for this alarm. Reset the fault, then during the SETUP APPLICATION menu
chose Skip/Retry option to continue the program. SPOT-037 WARN No gun contactors defined
SPOT-011 WARN Minor alarm detected %s Cause: The GUN CONTACTOR TPE instruction was programmed, but no gun
Cause: A Minor Alarm was received. contactors are defined.
Remedy: Check the weld controller for the reason for this alarm. Remedy: Gun contactors are defined at controlled start, from the SETUP APPLICATION
SPOT-012 PAUSE Bad schedule (S=%s) option under the FCTN key. If extra gun contactors are defined at controlled start, then
Cause: An invalid weld schedule was programmed in the teach pendant program. the Equipment I/O menu will allow you to define the I/O for the gun contactor.
Remedy: Check the S= value of the current line of the teach pendant program. The SPOT-038 WARN Stud feed hopper low: add studs
smallest schedule number allowed is 0. For digital weld controllers, the the largest Cause: The stud low detect prox switch in the feed hopper for the current Power unit has
schedule number allowed depends on the width of the Weld Schedule group output. If indicated that the hopper needs more studs.
this GOUT is 4 I/O points wide, then the maximum schedule is 15. If the GOUT is 5 I/O Remedy: Refill the hopper, or, if it is not low, check the function of the prox.
points wide, then the maximum schedule is 31. For serial weld controllers, the maximum SPOT-039 PAUSE System air pressure below 85psi
schedule is 32. Re-program the S= value in the teach pendant program. Cause: The welder power unit air pressure detect switch has indicated that the system
SPOT-013 PAUSE Undefined pressure (P=*) air has fallen below the minimum operating level of 85 psi.
Cause: A P=* was encountered in the teach pendant program, but no previous pressure Remedy: Increase system air pressure.
value has been used. SPOT-040 WARN Stud Welder Not Ready
Remedy: Be sure to include a direct pressure value instead of using the *. Cause: The Ready Relay for the current stud welding power unit is off. This is caused by
SPOT-014 PAUSE BACKUP CLOSE DETECT timed out %s the unit having a fault that has not been reset.
Cause: The robot timed out waiting for the backup gun to close. Remedy: Reset the fault
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, SPOT-041 WARN Tool not attached %s
try increasing the timeout by setting $spoteqsetup[].$bu_cl_to to to a bigger number. The Cause: A TPE instruction was programmed to use a tool change equipment, but that tool
default is 2000 ms, or 2 seconds. was not attached to the arm.
SPOT-015 PAUSE GUN CLOSE DETECT timed out %s Remedy: Make sure that the proper tool is attached to the arm before attempting to use
Cause: The robot timed out waiting for the gun to close. it. Tool changes are done with TPE macros. Make sure that a call to the correct macro is
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, made before attempting the SPOT or BACKUP operation.
try increasing the timeout by setting $spoteqsetup[].$gun_cl_to to to a bigger number. SPOT-042 WARN Stud Welder Time Out Fault
The default is 2000 ms, or 2 seconds. Cause: The robot detected a Stud Welder Time Out Fault from the current controller
SPOT-016 PAUSE BACKUP OPEN DETECT timed out %s during a weld. This fault occurs when the controller does not detect a completed weld or
Cause: The robot timed out waiting for the backup gun to open. a bad weld after the timer times out. Usually means that the stud is welded to both the
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, target and the gun.
try increasing the timeout by setting $spoteqsetup[].$bu_op_to to to a bigger number. Remedy: Once the robot is paused, carefully pry the gun and the stud apart, then reset
The default is 2000 ms, or 2 seconds. fault on weld controller and resume the program.
SPOT-017 PAUSE GUN OPEN DETECT timed out %s SPOT-043 PAUSE Stud Welder Weld Fault
Cause: The robot timed out waiting for the gun to open. Cause: The Stud Weld controller has signaled the robot that a weld fault has occurred.
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, This indicates that insufficient current was passed during the weld, generally resulting in
try increasing the timeout by setting $spoteqsetup[].$bu_cl_to (gun open = backup close) a poor quality weld.
to to a bigger number. The default is 2000 ms, or 2 seconds. Remedy: The stud checker will automatically verify the quality of the weld. If bad, check
SPOT-018 PAUSE Serial comm error %s the position of the gun at the weld spot. Also check the schedule settings.
Cause: A serial communications error was detected. SPOT-044 WARN Stud Welder Arc Voltage Fault
Remedy: Ensure that all cables to the serial port are properly connected, and that the Cause: This fault is signaled by the Stud Weld controller if the voltage sensor reports too
weld controller is powered on. The error code that is appended to this error message is little arc voltage during the weld process. May result in a poor quality weld.
the status of attempted read/write operation. Remedy: The stud checker will automatically verify the quality of the weld. If bad, check
SPOT-019 PAUSE Serial polling timeout the position of the gun at the weld spot to insure that the tip is the correct distance.
Cause: A timeout occurred while polling the serial weld controller for status information. SPOT-045 WARN No Current detected: %s
Remedy: Ensure that all cables to the serial port are properly connected, and that the Cause: The robot did not see the current sensor input go high throughout the weld,
weld controller is powered on. Retry the command. indicating no current
SPOT-020 PAUSE Not in safe starting position Remedy: Check the weld controller to verify that the schedule does include a heat
Cause: The robot has been jogged away from the position where the teach pendant was setting. If so, verify operation of sensor
enabled. SPOT-046 WARN Weld auto retried %s time(s)
Remedy: Move the robot back to the position where the teach pendant was enabled, Cause: The Auto Retry Weld feature encountered a weld fault and retried the weld the
abort the program, or continue (in linear motion) from position where the robot is currently indicated number of times. This warning is posted for every. SPOT instruction
positioned. encountered in which the weld was retried at least once.
SPOT-021 PAUSE GUN CLOSE DETECT input is on %s Remedy: This is just a warning to let the operator know that a weld was retried, and to
Cause: The GUN CLOSE DETECT input is high at the same time that the GUN OPEN alert the operator that weld controller maintenance may be required.
DETECT input is to be checked. SPOT-047 WARN Collision Detection Alarm
Remedy: Check the sensors to verify that the inputs are being properly turned on and Cause: A Collision Detection Alarm has been detected. The robot may have collided with
off. an object or a Tip Stick may have occurred.
SPOT-022 PAUSE GUN OPEN DETECT input is on %s Remedy: Carefully jog the robot away from interfering objects or free the weld gun from
Cause: The GUN OPEN DETECT input is high at the same time that the GUN CLOSE the Tip Stick.
DETECT input is to be checked. SPOT-048 PAUSE No Coll. Guard Reg. Defined
Remedy: Check the sensors to verify that the inputs are being properly turned on and Cause: No register has been defined for use with the Collision Guard Update macro.
off. Remedy: Use the Collision Guard SETUP screen to define a register for use with the
SPOT-023 PAUSE BU CLOSE DETECT is on %s macro.
Cause: The GUN OPEN DETECT input is high at the same time that the GUN CLOSE SPOT-049 PAUSE Coll. Guard Reg. Data Error
DETECT input is to be checked. Cause: The data contained in the Collision Guard macro register is not an integer or is
Remedy: Check the sensors to verify that the inputs are being properly turned on and not in the range of 1 to 200.
off. Remedy: Enter the correct data into the Collision Guard macro register.
SPOT-024 PAUSE BU OPEN DETECT is on %s SPOT-050 PAUSE Bad Pressure (EP=%s)
Cause: The GUN OPEN DETECT input is high at the same time that the GUN CLOSE Cause: An invalid binary equalization pressure was programmed in the teach pendant
DETECT input is to be checked. program.
Remedy: Check the sensors to verify that the inputs are being properly turned on and Remedy: Check the EP= value of the current line of the teach pendant program. The
off. smallest valve pressure allowed is 0. For digital weld controllers, the largest pressure
SPOT-025 PAUSE Bad pressure (P=%s) number allowed depends on the width of the Equalization Pressure group output. If this
Cause: An invalid binary valve pressure was programmed in the teach pendant program. GOUT is 4 I/O points wide, then the maximum pressure is 15. If the GOUT is 5 I/O points
Remedy: Check the P= value of the current line of the teach pendant program. The wide, then the maximum pressure is 31. For serial weld controllers, the maximum
smallest valve pressure allowed is 0. For digital weld controllers, the largest pressure pressure is 15. Re-program the EP= value in the teach pendant program.
number allowed depends on the width of the Valve Pressure group output. If this GOUT SPOT-051 PAUSE Undefined Pressure (EP=*)
is 4 I/O points wide, then the maximum pressure is 15. If the GOUT is 5 I/O points wide, Cause: Undefined pressure (EP=*) Cause: A EP=* was encountered in the teach
then the maximum pressure is 31. For serial weld controllers, the maximum pressure is pendant program, but no previous pressure value has been used.
15. Re-program the P= value in the teach pendant program. Remedy: Be sure to include a direct equalization pressure value instead of using the *.
SPOT-026 PAUSE Reset welder timeout %s SPOT-052 PAUSE Suspect Weld
Cause: The robot timed out waiting for the weld controller to reset a major fault Cause: Suspect Weld Cause: A faulty stud weld has occurred. pressure value has been
Remedy: Check the weld controller for the reason for this alarm. Reset the fault, then used.
chose Skip/Retry option to continue the program. Remedy: Check the stud that generated the error and remove if necessary. Remedy:
SPOT-027 PAUSE Serial sequence not started Select the appropriate type of recover by pressing F4 [CHOICE].
Cause: A system failure has caused internal synchronization problems SPOT-053 WARN Feeder Low - Gun1
Remedy: Please cold start controller Cause: The stud feeder for gun 1 is low on studs.
SPOT-028 PAUSE Serial initialization failed Remedy: Add more studs to the feeder for gun 1 at an appropriate time.
Cause: Serial port specification is invalid SPOT-054 WARN Feeder Low - Gun2
Remedy: Make sure that the port exists Cause: The stud feeder for gun 2 is low on studs.
SPOT-029 PAUSE Serial option not loaded Remedy: Add more studs to the feeder for gun 2 at an appropriate time.
Cause: Incorrect options loaded for serial weld control SPOT-055 PAUSE Stud Controller Fault1
Remedy: Make sure serial options properly loaded. Cause: Stud Controller Fault1 Cause: A weld controller fault has occurred on gun 1
SPOT-030 PAUSE Gun contactor fault %s Remedy: Check the stud welding controller for the reason for this fault. Reset the fault,
Cause: The specified gun contactor is in a fault condition. If a program is running, or a then choose the appropriate type of fault recovery.
manual weld is being executed, then the output, if defined, must be high, and the input, if SPOT-056 PAUSE Weld Head Not Retracted-Gun1
defined, must be high too. Cause: Weld Head Not Retracted-Gun1 Cause: Studwelding gun 1 has not been
Remedy: Make sure that the correct macro instruction has been programmed in the retracted.
teach pendant program. Remedy: Press SHIFT-GUN which will return the studwelding gun to its retracted
SPOT-031 PAUSE Gun open fault %s position. Reset the fault, then choose the appropriate type of fault recovery.
Cause: This error is only posted for set/reset type guns. The shot pin was not correctly SPOT-057 PAUSE Weld Head Not Retracted-Gun2
set, so the gun could not be opened. Cause: Weld Head Not Retracted-Gun2 Cause: Studwelding gun2 has not been
Remedy: Check the setting of the shot pin. Make sure the shot pin has been made retracted.
before attempting to close the gun. Remedy: Press SHIFT-GUN which will return the studwelding gun to its retracted
SPOT-032 PAUSE Gun close fault %s position. Reset the fault, then choose the appropriate type of fault recovery.
Cause: The Gun Close Detect input was not received within the specified timeout period. SPOT-058 PAUSE Studwelder - Air Pressure Low
Remedy: Verify the input is assigned correctly; verify the input is being made when the Cause: Studwelded - Air Pressure Low Cause: The studwelding controller detect that the
gun is closed; or if needed, increase the timeout value (in $spoteqsetup.$gun_cl_to). air pressure has fallen below the minimum operating level of 85 psi.
SPOT-033 PAUSE Backup open fault %s Remedy: Increase system air pressure.
54
SPOT-059 PAUSE Stud Controller Fault2 is 4 I/O points wide, then the maximum pressure is 15. If the GOUT is 5 I/O points wide,
Cause: Stud Controller Fault1 Cause: A weld controller fault has occurred on gun 2 then the maximum pressure is 31. For serial weld controllers, the maximum pressure is
Remedy: Check the stud welding controller for the reason for this fault. Reset the fault, 15. Re-program the P= value in the teach pendant program.
then choose the appropriate type of fault recovery. SPOT-096 PAUSE Reset welder timeout-gun 1
SPOT-063 STOP %s Cause: The robot timed out waiting for the weld controller to reset a major fault
Cause: A weld fault has happened on the weld controller. Remedy: Check the weld controller for the reason for this alarm. Reset the fault, then
Remedy: Please refer to manual for weld controller for detailed info on the fault. chose Skip/Retry option to continue the program.
SPOT-064 WARN %s SPOT-100 PAUSE Gun contactor fault %s-gun 1
Cause: A weld alert has happened on the weld controller. Cause: The specified gun contactor is in a fault condition. If a program is running, or a
Remedy: Please refer to manual for weld controller for detailed info on the alert. manual weld is being executed, then the output, if defined, must be high, and the input, if
SPOT-065 WARN %s defined, must be high too.
Cause: A weld event has happened on the weld controller. Remedy: Make sure that the correct macro instruction has been programmed in the
Remedy: This is logging information only. No remedy is required. teach pendant program.
SPOT-066 WARN Iwc NOT ready SPOT-101 PAUSE Gun open fault %s-gun 1
Cause: Iwc NOT ready Cause: Unable to perform operation, due to IWC status. Cause: This error is only posted for set/reset type guns. The shot pin was not correctly
Remedy: Please see specific IWC error status and follow that remedy. set, so the gun could not be opened.
SPOT-067 PAUSE No Shunt Trip output for WC:%s Remedy: Check the setting of the shot pin. Make sure the shot pin has been made
Cause: Shunt Trip output not defined Cause: The Shunt Trip output has not been before attempting to close the gun.
defined. SPOT-102 PAUSE Gun close fault %s-gun 1
Remedy: Please define a DO[] for the Shunt Trip. Cause: The Gun Close Detect input was not received within the specified timeout period.
SPOT-071 PAUSE Backup not closed-gun 1 Remedy: Verify the input is assigned correctly; verify the input is being made when the
Cause: BU=* was specified in the SPOT instruction for backup state before the weld, but gun is closed; or if needed, increase the timeout value (in $spoteqsetup.$gun_cl_to).
the backup was opened at the time the instruction was executed. SPOT-103 PAUSE Backup open fault %s-gun 1
Remedy: Make sure that the backup is closed when using the BU=* command. Edit the Cause: The BU Open Detect input was not received within the specified timeout period.
BU=* to BU=C, or insert a BACKUP=CLOSE statement prior to this statement. Remedy: Verify the input is assigned correctly; verify the input is being made when the
SPOT-072 PAUSE Iso contactor fault-gun 1 backup gun is opened; or if needed, increase the timeout value (in $spoteqsetup.
Cause: The isolation contactor on the specified weld controller is in a fault condition. If no $bu_op_to).
program is running, then this message is posted if either the Iso contactor output is high SPOT-104 PAUSE Backup close fault %s-gun 1
or the Iso contactor input is high. If a program is running, or a manual weld is being Cause: The BU Close Detect input was not received within the specified timeout period.
executed, then the output, if defined, must be high, and the input, if defined, must be high Remedy: Verify the input is assigned correctly; verify the input is being made when the
too. backup gun is closed; or if needed, increase the timeout value (in $spoteqsetup.
Remedy: Make sure that the CLOSE CONTACTOR macro instruction has been $bu_cl_to).
programmed in the teach pendant program. SPOT-120 PAUSE Bad Pressure (EP=%s)-gun 1
SPOT-073 PAUSE Water saver fault-gun 1 Cause: An invalid binary equalization pressure was programmed in the teach pendant
Cause: The water saver input is low. program.
Remedy: Check the input from the weld controller, and reset as necessary. Remedy: Check the EP= value of the current line of the teach pendant program. The
SPOT-074 PAUSE Water flow fault-gun 1 smallest valve pressure allowed is 0. For digital weld controllers, the largest pressure
Cause: The water flow OK input is low. number allowed depends on the width of the Equalization Pressure group output. If this
Remedy: Check the input from the weld controller, and reset as necessary. GOUT is 4 I/O points wide, then the maximum pressure is 15. If the GOUT is 5 I/O points
SPOT-075 PAUSE X-former fault-gun 1 wide, then the maximum pressure is 31. For serial weld controllers, the maximum
Cause: The transformer OK input is low. pressure is 15. Re-program the EP= value in the teach pendant program.
Remedy: Check the input from the weld controller, and reset as necessary. SPOT-121 PAUSE Undefined Pressure (EP=*)-gun 1
SPOT-076 PAUSE Weld enable mismatch-gun 1 Cause: Undefined pressure (EP=*) Cause: A EP=* was encountered in the teach
Cause: The weld enable status from the weld controller does not match the robot's weld pendant program, but no previous pressure value has been used.
enable status. Remedy: Be sure to include a direct equalization pressure value instead of using the *.
Remedy: Check the robot's weld enable status on the TEST CYCLE menu and compare SPOT-141 PAUSE Backup not closed-gun 2
it to the weld controller's weld enable status. These must be the same. Cause: BU=* was specified in the SPOT instruction for backup state before the weld, but
SPOT-077 PAUSE Weld in process timeout-gun 1 the backup was opened at the time the instruction was executed.
Cause: The robot timed out waiting for the Weld in Process input. from the weld Remedy: Make sure that the backup is closed when using the BU=* command. Edit the
controller. BU=* to BU=C, or insert a BACKUP=CLOSE statement prior to this statement.
Remedy: Check the Weld I/O menu, as well as all wiring. If the input is going high, try SPOT-143 PAUSE Water saver OK fault-gun 2
increasing the timeout by setting $spoteqsetup[].$wld_inpr_to to a bigger number. The Cause: The water saver input is low.
default is 2000 ms, or 2 seconds. Remedy: Check the input from the weld controller, and reset as necessary.
SPOT-078 PAUSE Weld complete timeout-gun 1 SPOT-144 PAUSE Water flow OK fault-gun 2
Cause: The robot timed out waiting for the Weld Complete input from the weld controller. Cause: The water flow OK input is low.
Remedy: Check the Weld I/O menu, as well as all wiring. If the input is going high, try Remedy: Check the input from the weld controller, and reset as necessary.
increasing the timeout by setting $spoteqsetup[].$wld_comp_to to a bigger number. The SPOT-145 PAUSE X-former OK fault-gun 2
default is 2000 ms, or 2 seconds. Cause: The transformer OK input is low.
SPOT-079 WARN Got weld complete early-gun 1 Remedy: Check the input from the weld controller, and reset as necessary.
Cause: The Weld Complete input was detected before the Weld in Process input was SPOT-146 PAUSE Weld enable mismatch %s-gun 2
received. Cause: The weld enable status from the weld controller does not match the robot's weld
Remedy: Check the length of the weld controller's Weld Complete output. It may need to enable status.
be decreased. Remedy: Check the robot's weld enable status on the TEST CYCLE menu and compare
SPOT-080 PAUSE Major alarm detected-gun 1 it to the weld controller's weld enable status. These must be the same.
Cause: A Major Alarm was received. SPOT-147 PAUSE Weld in process timeout %s-gun 2
Remedy: Check the weld controller for the reason for this alarm. Reset the fault, then Cause: The robot timed out waiting for the Weld in Process input. from the weld
chose Skip/Retry option to continue the program. controller.
SPOT-081 WARN Minor alarm detected-gun 1 Remedy: Check the Weld I/O menu, as well as all wiring. If the input is going high, try
Cause: A Minor Alarm was received. increasing the timeout by setting $spoteqsetup[].$wld_inpr_to to a bigger number. The
Remedy: Check the weld controller for the reason for this alarm. default is 2000 ms, or 2 seconds.
SPOT-082 PAUSE Bad schedule (S=%s)-gun 1 SPOT-148 PAUSE Weld complete timeout %s-gun 2
Cause: An invalid weld schedule was programmed in the teach pendant program. Cause: The robot timed out waiting for the Weld Complete input from the weld controller.
Remedy: Check the S= value of the current line of the teach pendant program. The Remedy: Check the Weld I/O menu, as well as all wiring. If the input is going high, try
smallest schedule number allowed is 0. For digital weld controllers, the the largest increasing the timeout by setting $spoteqsetup[].$wld_comp_to to a bigger number. The
schedule number allowed depends on the width of the Weld Schedule group output. If default is 2000 ms, or 2 seconds.
this GOUT is 4 I/O points wide, then the maximum schedule is 15. If the GOUT is 5 I/O SPOT-149 WARN Got weld complete early %s-gun 2
points wide, then the maximum schedule is 31. For serial weld controllers, the maximum Cause: The Weld Complete input was detected before the Weld in Process input was
schedule is 32. Re-program the S= value in the teach pendant program. received.
SPOT-083 PAUSE Undefined pressure (P=*)-gun 1 Remedy: Check the length of the weld controller's Weld Complete output. It may need to
Cause: A P=* was encountered in the teach pendant program, but no previous pressure be decreased.
value has been used. SPOT-150 PAUSE Major alarm detected %s-gun 2
Remedy: Be sure to include a direct pressure value instead of using the *. Cause: A Major Alarm was received.
SPOT-084 PAUSE BACKUP CLOSE timed out-gun 1 Remedy: Check the weld controller for the reason for this alarm. Reset the fault, then
Cause: The robot timed out waiting for the backup gun to close. chose Skip/Retry option to continue the program.
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, SPOT-151 WARN Minor alarm detected %s-gun 2
try increasing the timeout by setting $spoteqsetup[].$bu_cl_to to to a bigger number. The Cause: A Minor Alarm was received.
default is 2000 ms, or 2 seconds. Remedy: Check the weld controller for the reason for this alarm.
SPOT-085 PAUSE GUN CLOSE timed out-gun 1 SPOT-152 PAUSE Bad schedule (S=%s)-gun 2
Cause: The robot timed out waiting for the gun to close. Cause: An invalid weld schedule was programmed in the teach pendant program.
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, Remedy: Check the S= value of the current line of the teach pendant program. The
try increasing the timeout by setting $spoteqsetup[].$gun_cl_to to to a bigger number. smallest schedule number allowed is 0. For digital weld controllers, the the largest
The default is 2000 ms, or 2 seconds. schedule number allowed depends on the width of the Weld Schedule group output. If
SPOT-086 PAUSE BACKUP OPEN timed out-gun 1 this GOUT is 4 I/O points wide, then the maximum schedule is 15. If the GOUT is 5 I/O
Cause: The robot timed out waiting for the backup gun to open. points wide, then the maximum schedule is 31. For serial weld controllers, the maximum
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, schedule is 32. Re-program the S= value in the teach pendant program.
try increasing the timeout by setting $spoteqsetup[].$bu_op_to to to a bigger number. SPOT-153 PAUSE Undefined pressure (P=*)-gun 2
The default is 2000 ms, or 2 seconds. Cause: A P=* was encountered in the teach pendant program, but no previous pressure
SPOT-087 PAUSE GUN OPEN timed out-gun 1 value has been used.
Cause: The robot timed out waiting for the gun to open. Remedy: Be sure to include a direct pressure value instead of using the *.
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, SPOT-154 PAUSE BACKUP CLOSE DETECT timed out %s-gun 2
try increasing the timeout by setting $spoteqsetup[].$bu_cl_to (gun open = backup close) Cause: The robot timed out waiting for the backup gun to close.
to to a bigger number. The default is 2000 ms, or 2 seconds. Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high,
SPOT-088 PAUSE Serial comm error %s-gun 1 try increasing the timeout by setting $spoteqsetup[].$bu_cl_to to to a bigger number. The
Cause: A serial communications error was detected. default is 2000 ms, or 2 seconds.
Remedy: Ensure that all cables to the serial port are properly connected, and that the SPOT-155 PAUSE GUN CLOSE DETECT timed out %s-gun 2
weld controller is powered on. The error code that is appended to this error message is Cause: The robot timed out waiting for the gun to close.
the status of attempted read/write operation. Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high,
SPOT-089 PAUSE Serial polling timeout-gun 1 try increasing the timeout by setting $spoteqsetup[].$gun_cl_to to to a bigger number.
Cause: A timeout occurred while polling the serial weld controller for status information. The default is 2000 ms, or 2 seconds.
Remedy: Ensure that all cables to the serial port are properly connected, and that the SPOT-156 PAUSE BACKUP OPEN DETECT timed out %s-gun 2
weld controller is powered on. Retry the command. Cause: The robot timed out waiting for the backup gun to open.
SPOT-092 PAUSE GUN OPEN DETECT input is on %s-gun 1 Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high,
Cause: The GUN OPEN DETECT input is high at the same time that the GUN CLOSE try increasing the timeout by setting $spoteqsetup[].$bu_op_to to to a bigger number.
DETECT input is to be checked. The default is 2000 ms, or 2 seconds.
Remedy: Check the sensors to verify that the inputs are being properly turned on and SPOT-157 PAUSE GUN OPEN DETECT timed out %s-gun 2
off. Cause: The robot timed out waiting for the gun to open.
SPOT-093 PAUSE BU CLOSE DETECT is on %s-gun 1 Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high,
Cause: The GUN OPEN DETECT input is high at the same time that the GUN CLOSE try increasing the timeout by setting $spoteqsetup[].$bu_cl_to (gun open = backup close)
DETECT input is to be checked. to to a bigger number. The default is 2000 ms, or 2 seconds.
Remedy: Check the sensors to verify that the inputs are being properly turned on and SPOT-165 PAUSE Bad pressure (P=%s)-gun 2
off. Cause: An invalid binary valve pressure was programmed in the teach pendant program.
SPOT-094 PAUSE BU OPEN DETECT is on %s-gun 1 Remedy: Check the P= value of the current line of the teach pendant program. The
Cause: The GUN OPEN DETECT input is high at the same time that the GUN CLOSE smallest valve pressure allowed is 0. For digital weld controllers, the largest pressure
DETECT input is to be checked. number allowed depends on the width of the Valve Pressure group output. If this GOUT
Remedy: Check the sensors to verify that the inputs are being properly turned on and is 4 I/O points wide, then the maximum pressure is 15. If the GOUT is 5 I/O points wide,
off. then the maximum pressure is 31. For serial weld controllers, the maximum pressure is
SPOT-095 PAUSE Bad pressure (P=%s)-gun 1 15. Re-program the P= value in the teach pendant program.
Cause: An invalid binary valve pressure was programmed in the teach pendant program. SPOT-166 PAUSE Reset welder timeout %s-gun 2
Remedy: Check the P= value of the current line of the teach pendant program. The Cause: The robot timed out waiting for the weld controller to reset a major fault
smallest valve pressure allowed is 0. For digital weld controllers, the largest pressure Remedy: Check the weld controller for the reason for this alarm. Reset the fault, then
number allowed depends on the width of the Valve Pressure group output. If this GOUT chose Skip/Retry option to continue the program.
55
SPOT-170 PAUSE Gun contactor fault %s-gun 2 Remedy: Check the weld controller for the reason for this alarm. Reset the fault, then
Cause: The specified gun contactor is in a fault condition. If a program is running, or a chose Skip/Retry option to continue the program.
manual weld is being executed, then the output, if defined, must be high, and the input, if SPOT-240 PAUSE Gun contactor fault %s-both guns
defined, must be high too. Cause: The specified gun contactor is in a fault condition. If a program is running, or a
Remedy: Make sure that the correct macro instruction has been programmed in the manual weld is being executed, then the output, if defined, must be high, and the input, if
teach pendant program. defined, must be high too.
SPOT-171 PAUSE Gun open fault %s-gun 2 Remedy: Make sure that the correct macro instruction has been programmed in the
Cause: This error is only posted for set/reset type guns. The shot pin was not correctly teach pendant program.
set, so the gun could not be opened. SPOT-241 PAUSE Gun open fault %s-both guns
Remedy: Check the setting of the shot pin. Make sure the shot pin has been made Cause: This error is only posted for set/reset type guns. The shot pin was not correctly
before attempting to close the gun. set, so the gun could not be opened.
SPOT-172 PAUSE Gun close fault %s-gun 2 Remedy: Check the setting of the shot pin. Make sure the shot pin has been made
Cause: The Gun Close Detect input was not received within the specified timeout period. before attempting to close the gun.
Remedy: Verify the input is assigned correctly; verify the input is being made when the SPOT-242 PAUSE Gun close fault %s-both guns
gun is closed; or if needed, increase the timeout value (in $spoteqsetup.$gun_cl_to). Cause: The Gun Close Detect input was not received within the specified timeout period.
SPOT-173 PAUSE Backup open fault %s-gun 2 Remedy: Verify the input is assigned correctly; verify the input is being made when the
Cause: The BU Open Detect input was not received within the specified timeout period. gun is closed; or if needed, increase the timeout value (in $spoteqsetup.$gun_cl_to).
Remedy: Verify the input is assigned correctly; verify the input is being made when the SPOT-243 PAUSE Backup open fault %s-both guns
backup gun is opened; or if needed, increase the timeout value (in $spoteqsetup. Cause: The BU Open Detect input was not received within the specified timeout period.
$bu_op_to). Remedy: Verify the input is assigned correctly; verify the input is being made when the
SPOT-174 PAUSE Backup close fault %s-gun 2 backup gun is opened; or if needed, increase the timeout value (in $spoteqsetup.
Cause: The BU Close Detect input was not received within the specified timeout period. $bu_op_to).
Remedy: Verify the input is assigned correctly; verify the input is being made when the SPOT-244 PAUSE Backup close fault %s-both guns
backup gun is closed; or if needed, increase the timeout value (in $spoteqsetup. Cause: The BU Close Detect input was not received within the specified timeout period.
$bu_cl_to). Remedy: Verify the input is assigned correctly; verify the input is being made when the
SPOT-190 PAUSE Bad Pressure (EP=%s)-gun 2 backup gun is closed; or if needed, increase the timeout value (in $spoteqsetup.
Cause: An invalid binary equalization pressure was programmed in the teach pendant $bu_cl_to).
program. SPOT-245 PAUSE Bad Pressures (EP=%s)-both guns
Remedy: Check the EP= value of the current line of the teach pendant program. The Cause: An invalid binary equalization pressure was programmed in the teach pendant
smallest valve pressure allowed is 0. For digital weld controllers, the largest pressure program.
number allowed depends on the width of the Equalization Pressure group output. If this Remedy: Check the EP= value of the current line of the teach pendant program. The
GOUT is 4 I/O points wide, then the maximum pressure is 15. If the GOUT is 5 I/O points smallest valve pressure allowed is 0. For digital weld controllers, the largest pressure
wide, then the maximum pressure is 31. For serial weld controllers, the maximum number allowed depends on the width of the Equalization Pressure group output. If this
pressure is 15. Re-program the EP= value in the teach pendant program. GOUT is 4 I/O points wide, then the maximum pressure is 15. If the GOUT is 5 I/O points
SPOT-191 PAUSE Undefined Pressure (EP=*)-gun 2 wide, then the maximum pressure is 31. For serial weld controllers, the maximum
Cause: Undefined pressure (EP=*) Cause: A EP=* was encountered in the teach pressure is 15. Re-program the EP= value in the teach pendant program.
pendant program, but no previous pressure value has been used. SPOT-246 PAUSE Undefined Pressures (EP=*)-both guns
Remedy: Be sure to include a direct equalization pressure value instead of using the *. Cause: Undefined pressure (EP=*) Cause: A EP=* was encountered in the teach
SPOT-211 PAUSE Backup not closed %s-both guns pendant program, but no previous pressure value has been used.
Cause: BU=* was specified in the SPOT instruction for backup state before the weld, but Remedy: Be sure to include a direct equalization pressure value instead of using the *.
the backup was opened at the time the instruction was executed. SPOT-350 WARN IWC board not found
Remedy: Make sure that the backup is closed when using the BU=* command. Edit the Cause: IWC board not found Cause: No IWC boards were found on the controller.
BU=* to BU=C, or insert a BACKUP=CLOSE statement prior to this statement. Remedy: If an IWC board was expected, this indicates that there is probably a serious
SPOT-212 PAUSE Iso contactor fault %s-both guns hardware problem and the board should be replaced. If an IWC board is not expected,
Cause: The isolation contactor on the specified weld controller is in a fault condition. If no then the IWC driver should be removed from the configuration.
program is running, then this message is posted if either the Iso contactor output is high SPOT-351 WARN IWC driver not running
or the Iso contactor input is high. If a program is running, or a manual weld is being Cause: IWC driver not running Cause: The IWC driver is waiting for the PC/104
executed, then the output, if defined, must be high, and the input, if defined, must be high motherboard to complete its reset cycle.
too. Remedy: This is a system programming error.
Remedy: Make sure that the CLOSE CONTACTOR macro instruction has been SPOT-352 WARN Invalid IWC index
programmed in the teach pendant program. Cause: Invalid IWC index Cause: The specified IWC board is not installed.
SPOT-213 PAUSE Water saver OK fault %s-both guns Remedy: This is a system programming error.
Cause: The water saver input is low. SPOT-353 WARN IWC message in progress
Remedy: Check the input from the weld controller, and reset as necessary. Cause: IWC message in progress Cause: A message cannot be sent to the IWC
SPOT-214 PAUSE Water flow OK fault %s-both guns because a previous message transaction is still in progress.
Cause: The water flow OK input is low. Remedy: This is a system programming error.
Remedy: Check the input from the weld controller, and reset as necessary. SPOT-354 WARN Invalid IWC msg buffers
SPOT-215 PAUSE X-former OK fault %s-both guns Cause: Invalid IWC msg buffers Cause: The buffers sent for a message transaction are
Cause: The transformer OK input is low. not valid in number and/or length.
Remedy: Check the input from the weld controller, and reset as necessary. Remedy: This is a system programming error.
SPOT-216 PAUSE Weld enable mismatch %s-both guns SPOT-355 WARN Invalid IWC function code
Cause: The weld enable status from the weld controller does not match the robot's weld Cause: Invalid IWC function code Cause: The function request to the IWC driver is
enable status. invalid.
Remedy: Check the robot's weld enable status on the TEST CYCLE menu and compare Remedy: This is a system programming error.
it to the weld controller's weld enable status. These must be the same. SPOT-356 WARN Checksum error, IWC msg send
SPOT-217 PAUSE Weld in process timeout %s-both guns Cause: Checksum error, IWC msg send Cause: The IWC reported a checksum error
Cause: The robot timed out waiting for the Weld in Process input. from the weld during a message send operation. This may indicate a problem with the board or driver
controller. software.
Remedy: Check the Weld I/O menu, as well as all wiring. If the input is going high, try Remedy: Notify Product Development.
increasing the timeout by setting $spoteqsetup[].$wld_inpr_to to a bigger number. The SPOT-357 WARN Invalid buffer, IWC msg send
default is 2000 ms, or 2 seconds. Cause: Invalid buffer, IWC msg send Cause: The IWC reported an invalid buffer during a
SPOT-218 PAUSE Weld complete timeout %s-both guns message send operation. This may indicate a problem with the board or driver software.
Cause: The robot timed out waiting for the Weld Complete input from the weld controller. Remedy: Notify Product Development.
Remedy: Check the Weld I/O menu, as well as all wiring. If the input is going high, try SPOT-358 WARN Checksum error, IWC msg recv
increasing the timeout by setting $spoteqsetup[].$wld_comp_to to a bigger number. The Cause: Checksum error, IWC msg recv Cause: An invalid checksum was computed on a
default is 2000 ms, or 2 seconds. message segment received from the IWC board. This may indicate a problem with the
SPOT-219 WARN Got weld complete early %s-both guns board or driver software.
Cause: The Weld Complete input was detected before the Weld in Process input was Remedy: Notify Product Development.
received. SPOT-359 WARN Invalid buffer, IWC msg recv
Remedy: Check the length of the weld controller's Weld Complete output. It may need to Cause: Invalid buffer, IWC msg recv Cause: An invalid buffer tag was detected on a
be decreased. message segment received from the IWC board. This may indicate a problem with the
SPOT-220 PAUSE Major alarm detected %s-both guns board or driver software.
Cause: A Major Alarm was received. Remedy: Notify Product Development.
Remedy: Check the weld controller for the reason for this alarm. Reset the fault, then SPOT-360 WARN IWC buffer too small
chose Skip/Retry option to continue the program. Cause: IWC buffer too small Cause: The buffer passed to the IWC driver was too small
SPOT-221 WARN Minor alarm detected %s-both guns to hold the message received from the IWC.
Cause: A Minor Alarm was received. Remedy: This is a system programming error.
Remedy: Check the weld controller for the reason for this alarm. SPOT-361 WARN Ack timeout, IWC msg send
SPOT-222 PAUSE Bad schedule (S=%s)-both_guns Cause: Ack timeout, IWC msg send Cause: The IWC did not acknowledge a message
Cause: An invalid weld schedule was programmed in the teach pendant program. segment that was sent to it.
Remedy: Check the S= value of the current line of the teach pendant program. The Remedy: Notify Product Development.
smallest schedule number allowed is 0. For digital weld controllers, the the largest SPOT-362 WARN Timeout, IWC msg recv
schedule number allowed depends on the width of the Weld Schedule group output. If Cause: Timeout, IWC msg recv Cause: The IWC did not send a response message
this GOUT is 4 I/O points wide, then the maximum schedule is 15. If the GOUT is 5 I/O within the allowable time limit.
points wide, then the maximum schedule is 31. For serial weld controllers, the maximum Remedy: Notify Product Development.
schedule is 32. Re-program the S= value in the teach pendant program. SPOT-363 WARN IWC motherboard error
SPOT-223 PAUSE Undefined pressure (P=*)-both guns Cause: IWC motherboard error Cause: The IWC driver was unable to communicate with
Cause: A P=* was encountered in the teach pendant program, but no previous pressure the PC/104 motherboard driver.
value has been used. Remedy: Notify Product Development.
Remedy: Be sure to include a direct pressure value instead of using the *. SPOT-364 WARN IWC has invalid DPRAM signature
SPOT-224 PAUSE BACKUP CLOSE DETECT timed out %s-both guns Cause: IWC has invalid DPRAM signature Cause: An IWC board was detected, but the
Cause: The robot timed out waiting for the backup gun to close. contents of the dual-port RAM area is not what is expected.
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, Remedy: Make sure that the correct type of IWC board is installed. If the problem
try increasing the timeout by setting $spoteqsetup[].$bu_cl_to to to a bigger number. The persists, swap in a new board.
default is 2000 ms, or 2 seconds. SPOT-365 WARN Unsupported IWC version/rev level
SPOT-225 PAUSE GUN CLOSE DETECT timed out %s-both guns Cause: Unsupported IWC version/rev level Cause: An IWC board was detected, but the
Cause: The robot timed out waiting for the gun to close. version and/or &new_liine revision level of its dual-port RAM is not supported by the
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, installed driver.
try increasing the timeout by setting $spoteqsetup[].$gun_cl_to to to a bigger number. Remedy: Install an IWC with a compatible version level, or check to see if there is an
The default is 2000 ms, or 2 seconds. updated version of the driver available.
SPOT-226 PAUSE BACKUP OPEN DETECT timed out %s-both guns SPOT-366 WARN Unable to register IWC interrupt
Cause: The robot timed out waiting for the backup gun to open. Cause: Unable to register IWC interrupt Cause: The driver was unable to register an
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, interrupt for the IWC board.
try increasing the timeout by setting $spoteqsetup[].$bu_op_to to to a bigger number. Remedy: Notify Product Development.
The default is 2000 ms, or 2 seconds. SPOT-367 WARN Only 40 functions allowed in a schedule
SPOT-227 PAUSE GUN OPEN DETECT timed out %s-both guns Cause: Only 40 functions allowed in a schedule Cause: User tried to insert more than 40
Cause: The robot timed out waiting for the gun to open. functions into a schedule.
Remedy: Check the Equipment I/O menu, as well as all wiring. If the input is going high, Remedy: Do not insert more than 40 functions in a schedule.
try increasing the timeout by setting $spoteqsetup[].$bu_cl_to (gun open = backup close) SPOT-368 WARN Imp. can only come before weld FCTN
to to a bigger number. The default is 2000 ms, or 2 seconds. Cause: Imp. can only come before weld FCTN Cause: User tried to insert an impulse
SPOT-235 PAUSE Bad pressure-both guns function(function 60) before a non weld function.
Cause: An invalid binary valve pressure was programmed in the teach pendant program. Remedy: Insert the impulse function directly before a weld function.
Remedy: Check the P= value of the current line of the teach pendant program. The SPOT-369 WARN FCTN not supported by the timer
smallest valve pressure allowed is 0. For digital weld controllers, the largest pressure Cause: FCTN not supported by the timer Cause: The user directly entered an invalid
number allowed depends on the width of the Valve Pressure group output. If this GOUT function number to be inserted.
is 4 I/O points wide, then the maximum pressure is 15. If the GOUT is 5 I/O points wide, Remedy: Choose another function from the choice list, or lookup the function number of
then the maximum pressure is 31. For serial weld controllers, the maximum pressure is a valid function.
15. Re-program the P= value in the teach pendant program. SPOT-370 WARN Could not download schedule %d
SPOT-236 PAUSE Reset welder timeout %s-both guns Cause: Could not download schedule %s Cause: The schedule failed 2 download tries to
Cause: The robot timed out waiting for the weld controller to reset a major fault the timer.
Remedy: Try cycle power.
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SPOT-371 WARN Could not download stepper %d the servo power to turn on. 9) Press COORD until the JOINT coordinate system is
Cause: Could not download stepper %s Cause: The stepper failed 2 download tries to selected. 10) Continuously press and hold the DEADMAN switch and turn the teach
the timer. pendant ON/OFF switch to ON. 11) Jog the overtraveled axis off of the overtravel switch.
Remedy: Try cycle power. When you have finished jogging, you can release the SHIFT key. 12) Turn the teach
SPOT-372 WARN Could not read sequence file %d pendant ON/OFF switch to OFF and release the DEADMAN switch. NOTE: If you
Cause: Could not read sequence file %d Cause: The sequence file could not be read accidentally release the key during this procedure, you will need to repeat Step 7).
from the FROM. 2. While you hold down the SHIFT key, press RESET to clear the alarm.
Remedy: Make sure the sequence exists on FROM. 3. Replace the servo amplifier.
SPOT-373 WARN Could not download setup data 4. If this does not clear the alarm, verify that all connectors are securely connected.
Cause: Could not download setup data Cause: The setup data failed 2 download tries to SRVO-006 SERVO Hand broken
the timer. Cause: A safety hand has broken. If no broken hand can be found, however, the most
Remedy: Try cycle power. likely cause is the HBK signal of a robot connection cable being at the 0 V level.
SPOT-374 WARN Could not download Dynamic data Remedy: 1. While holding down the SHIFT key, press the alarm release button to clear
Cause: Could not download Dynamic data Cause: The dynamic data failed 2 download the alarm.
tries to the timer. 2. While holding down the SHIFT key, position the tool to the workplace by jogging. 1)
Remedy: Try cycle power. Replace the safety hand. 2) Check the cable.
SPOT-375 WARN Could not read stepper file %d 3. Check cable RP1 for loose connection, damaged pins, or damaged cable.
Cause: Could not read stepper file %d Cause: The stepper file could not be read from 4. Replace the servo amplifier.
the FROM. SRVO-007 SERVO External emergency stops
Remedy: Make sure the stepper exists on FROM. Cause: The external emergency stop push button is pressed. On the terminal block of
SPOT-376 WARN Could not read setup file %s the printed circuit board for the operator panel, no connection is established between
Cause: Could not read setup file Cause: The setup file could not be read from the EMGIN1 and EMGIN2.
FROM. Remedy: If using external emergency stop, clear the source of the fault, and press
Remedy: Make sure the setup file exists on FROM. RESET. If not using external emergency stop, check the wiring at EMGIN1 and EMGIN2.
SPOT-377 WARN Could not read file %s SRVO-008 SERVO Brake fuse blown
Cause: Could not read file %s Cause: The named file could not be read from the Device. Cause: The brake fuse is blown on the EMG Control PCB.
Remedy: Make sure the file exists on the Device. Remedy: Replace the fuse. Check the LED (FALM) on the printed circuit board for
SPOT-378 WARN IWC ID jumpers incorrect emergency stop control to determine whether the fuse has blown.
Cause: IWC ID jumpers incorrect Cause: The ID jumpers on the IWC card(s) are not set SRVO-009 SERVO Pneumatic pressure alarm
so that the cards can be identified as card #1 and card #2 Cause: The pneumatic pressure alarm indicates the presence of a defect. If the
Remedy: If there is one card in the system, its ID must be set to 1. If there are two cards, pneumatic pressure alarm is not detected, however, the most likely cause is the PPABN
one must be set as card 1 and the other as card 2 according to which slots they are in. signal of a robot connection cable being at the 0 V level.
SPOT-379 WARN IWC slave busy Remedy: If the pneumatic pressure alarm is not detected, check the cable.
Cause: IWC slave busy Cause: IWC slave busy bit is set in status word. SRVO-010 SERVO Belt broken
Remedy: Retry operation after a short delay. Cause: The belt broken robot digital input (RDI7) is asserted.
SPOT-380 WARN Invalid IWC Firmware Version Remedy: 1. If the belt is found to be defective in any way, repair it and then press the
Cause: Invalid IWC Firmware Version Cause: The firmware versions on the timer card RESET key.
must be the same if there are 2 timers. Either the firmware version itself is different, or 2. When the belt is found to be normal, the signal RDI[7] in the robot connection cable
the revision level of the firmware is different. might be abnormal. Check the cable.
Remedy: Make sure the firmware version and revision level match for both cards. It 3. Check the system variable $PARAM_GROUP.$BELT_ENABLE.
could be viewed by plugging in one card at a time and viewing the revision level of each. SRVO-011 SERVO TP released while enabled
SRIO Error Codes Cause: The teach pendant attachment switch on the operator panel was operated while
SRIO-001 WARN S. PORT ILLEGAL FUNCTION CODE the teach pendant was enabled.
Cause: Illegal function code was specified. System error. Remedy: Reconnect the teach pendant cable to continue operation.
Remedy: System error. SRVO-012 SERVO Power failure recovery
SRIO-002 WARN SERIAL PORT NOT OPEN Cause: Normal power on (hot start).
Cause: Serial port is not opened. Remedy: This is just a notification. You do not have to do anything for this warning
Remedy: Open serial port before using it. message.
SRIO-003 WARN SERIAL PORT ALREADY OPEN SRVO-013 SYSTEM Srvo module config changed
Cause: Serial port has already been opened, and it was tried to be opened again. Cause: Upon power-up with power restoration enabled (hot start), the configuration of
Remedy: Do not try to open the serial port which has already be opened. the DSP modules on the axis control printed circuit board and the multi-function printed
SRIO-004 WARN SERIAL PORT NOT INITIALIZE circuit board has been changed.
Cause: Serial port is not initialized. Remedy: Turn on the power in cold start mode.
Remedy: Initialize the serial port before using it. SRVO-014 WARN Fan motor abnormal
SRIO-005 WARN SERIAL PORT DSR OFF Cause: A fan motor in the control unit is abnormal.
Cause: Serial port DSR is off. Remedy: Check the fan motors and fan motor connection cables. Replace any faulty fan
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there motor(s) and/or cable(s).
exists a noise source near controller. Check target device status. SRVO-015 SERVO System over heat
SRIO-006 WARN SERIAL PORT PARITY ERROR Cause: The temperature of the control unit is higher than the specified value.
Cause: Serial port parity error occurred. Remedy: 1. If the ambient temperature is higher than the specified temperature (45
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there degrees C), provide ventilation to reduce the ambient temperature to the specified value.
exists a noise source near controller. 2. Check that the fans are operating normally. If not, check the fan motors and fan motor
SRIO-007 WARN SERIAL PORT OVERRUN ERROR connection cables. Replace any faulty fan motor(s) and/or cables(s).
Cause: Serial port overrun error occurred. 3. If the thermostat on the backplane printed circuit board is faulty, replace the backplane
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there unit.
exists a noise source near controller. SRVO-016 SERVO Cooling water volume drop
SRIO-008 WARN SERIAL PORT FRAME ERROR Cause: Cooling water volume dropped.
Cause: Serial port frame error occurred. Remedy: Consult your FANUC Robotics technical representative.
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there SRVO-017 SERVO No robot internal mirror
exists a noise source near controller. Cause: No robot internal mirror.
SRIO-009 WARN S. PORT PARITY & OVERRUN Remedy: Consult your FANUC Robotics technical representative.
Cause: Serial port parity error and overrun error occurred. SRVO-018 SERVO Brake abnormal
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there Cause: The current for brake exceeded the specification.
exists a noise source near controller. Remedy: 1. Verify that the RM1 cable that carries the signal wires from the the controller
SRIO-010 WARN S. PORT PARITY & FRAME to the robot is securely connected and that the pins and cable are not damaged.
Cause: Serial port parity error and frame error occurred 2. Check the brake cable.
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there 3. Replace the servo amplifier if bad.
exists a noise source near controller. SRVO-019 SERVO SVON input
SRIO-011 WARN S. PORT OVERRUN & FRAME Cause: On the terminal block on the printed circuit board of the operator panel, no
Cause: Serial port overrun error and frame error occurred. connection is established between signals *SVON1 and *SVON2. When an external
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there switch is connected, it should be checked.
exists a noise source near controller. Remedy: Establish a connection between *SVON1 and *SVON2.
SRIO-012 WARN S. PORT PRTY & OVRRN & FRM SRVO-020 SERVO SRDY off (TP)
Cause: Serial port parity error, overrun error, and frame error occurred. Cause: The teach pendant cable is disconnected or a momentary break occurred in any
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there one of the TP emergency stop circuits: TP emergency stop, DEADMAN, or fence.
exists a noise source near controller. Remedy: Check the teach pendant cable and connections.
SRIO-013 WARN S. PORT DSR OFF & HARDWARE ERR SRVO-021 SERVO SRDY off (Group:%d Axis:%d)
Cause: Serial port DSR is off and hardware error occurred. Cause: When HRDY is on, SRDY is off even though no other alarm cause is present.
Remedy: Check if serial port setup is correct. Check if cable is broken. Check if there HRDY is the signal sent from the host to the servo system to specify whether to turn the
exists a noise source near controller. Check target device status. Check the hardware. servo amplifier's MCC on or off. SRDY is the signal sent from the servo system to the
SRIO-014 WARN S. PORT ILLEGAL REQUEST COUNT host to indicate whether the servo amplifier's MCC is on or off. Generally, if a servo
Cause: Serial port request count is illegal. System error. amplifier's MCC is not turned on despite the signal for turning the MCC on having been
Remedy: System error. issued, an alarm is issued for the servo amplifier. The host does not issue this alarm
SRIO-015 WARN SERIAL PORT CANCEL (SRDY off) if an alarm for the servo amplifier is detected. So, this alarm indicates that the
Cause: Cancel current serial port setup. This code does not appear at normal time. MCC is not turned on when no error can be found.
System error. Remedy: 1. Check whether the door is open. Also check the door switch.
Remedy: System error. 2. Check the following cables. Replace them if necessary: connector CRR15 on the
SRIO-016 WARN S. PORT POWER FAILURE CANCEL emergency stop board, terminals A1 and A2 on the MCC contactor, and connector
Cause: Initialize serial port at power failure recovery. This code does not appear at CRR20 on the emergency stop board that connects to terminals 1, 2, 3 of the MCC
normal time. System error. contactor.
Remedy: System error. 3. Replace the magnetic contactor and then the emergency stop printed circuit board.
SRVO Error Codes WARNING: Before you continue to the next step, perform a complete controller backup
SRVO-001 SERVO Operator panel E-stop to save all of your programs and settings from memory for this robot. After you complete
Cause: The operator panel emergency stop push button is pressed. the next step, restore the saved data to the new Main CPU board if memory has been
Remedy: Twist the operator panel emergency stop push button clockwise to release. lost. Otherwise, you could injure personnel, damage equipment, or lose data.
Press RESET. 4. Verify that the battery is securely connected to the Main CPU board before removing
SRVO-002 SERVO Teach pendant E-stop the board. Replace the axis control card on the Main CPU board.
Cause: The teach pendant emergency stop push button is pressed. 5. Replace the MCC contactor.
Remedy: Twist the teach pendant emergency stop push button clockwise to release. 6. If this does not clear the alarm, verify that all connectors are securely connected.
Press RESET. SRVO-022 SERVO SRDY on (Group:%d Axis:%d)
SRVO-003 SERVO Deadman switch released Cause: SRDY was already on when an attempt was made to turn on the MCC with
Cause: The teach pendant deadman switch is released while the teach pendant is HRDY. HRDY is the signal sent from the host to the servo system to specify whether to
enabled. turn the servo amplifier's MCC on or off. SRDY is the signal sent from the servo system
Remedy: Press teach pendant deadman switch. Press RESET. to the host to indicate whether a servo amplifier's MCC is on or off.
SRVO-004 SERVO Fence open Remedy: WARNING: Before you continue to the next step, perform a complete controller
Cause: On the terminal block on the printed circuit board of the operator panel, no backup to save all of your programs and settings from memory for this robot. After you
connection is established between the FENCE1 and FENCE2 signals. When a safety complete the next step, restore the saved data to the new Main CPU board if memory
door is connected, it is open. has been lost. Otherwise, you could injure personnel, damage equipment, or lose data.
Remedy: Establish a connection between FENCE1 and FENCE2, then press the RESET 1. Verify that the battery is connected to the Main CPU board before removing the Main
key. When a safety door is connected, close the door before starting work. CPU board. Replace the axis control card on the Main CPU board.
SRVO-005 SERVO Robot overtravel 2. Replace the servo amplifier.
Cause: A hardware limit switch on an axis was tripped. Usually, robot movement cannot 3. If this does not clear the alarm, verify that all connectors are securely connected.
exceed a limit beyond the maximum range of movement (software limits) for each axis. SRVO-023 SERVO Stop error excess(G:%d A:%d)
However, when the robot is shipped, the overtravel state is set for transit. Cause: A excessive servo positional error occurred when the motor stopped.
Remedy: Perform the following steps: Remedy: 1. Check whether the applied load exceeds the rating. If so, reduce the applied
1. Jog the robot off of the overtravel switch: 1) Press MENUS. 2) Select MANUAL load. If an excessive load is applied, the torque required for acceleration, deceleration,
FCTNS. 3) Press F1, [TYPE]. 4) Select OT_RELEASE. The axis that has overtraveled and so forth exceeds the maximum available torque of the motor. Therefore, it might
will display TRUE in either OT_MINUS or OT_PLUS. 5) Move the cursor to the prove impossible to correctly respond to an issued command, resulting in the output of
OT_MINUS or OT_PLUS value of the axis in overtravel. 6) Press F2, RELEASE. The this alarm.
value of the overtraveled axis should change back to FALSE. 7) Press and hold down the 2. Check each interphase voltage of the three-phase voltage (200 VAC) applied to the
SHIFT key until you have completed Steps 1) through 4). 8) Press RESET and wait for servo amplifier. If the voltage is found to be 170 VAC or below, check the input power
57
supply voltage. A sub-standard voltage, applied to a servo amplifier, results in a lower- SRVO-040 WARN Mastered at mark pos(G:%d)
than-normal torque. Therefore, it might prove impossible to correctly respond to an Cause: Zero position master is done with mark position (not with zero position).
issued command, thus resulting in the output of this alarm. Check phase-to-phase Remedy: This message is only for S-420iR. S-420iR has the mark at non-zero position
voltage across the three pins of connector CRM38A or CRM38B of the servo amplifier. for J2 and J3. So Zero position master is not done with zero pos for S-420iS. Confirm the
3. If the input power supply voltage is found to be 170 VAC or higher, replace the servo position of each axis to be at mark position. If the robot is not S-420iR, $scr_grp.
amplifier. $robot_model may be wrong. Set correct $scr_grp.$robot_model.
4. Check the motor power cables (RM1, RM2, RM3) for damage, to cable or pins, and SRVO-041 SERVO MOFAL alarm (Grp:%d Ax:%d)
that the connector is securely connected. WARNING: By completing the next step you Cause: A value specified with a command is too large.
will be altering the positional reference for the robot since you are replacing hardware. Remedy: Document the events that led to the error and call your FANUC Robotics
You must slowly verify all positional data and touch-up any paths or points that have technical representative.
changed. Otherwise, you could injure personnel or damage equipment. SRVO-042 SERVO MCAL alarm(Group:%d Axis:%d)
5. Replace the motor, and remaster the robot. Cause: The servo amplifier magnetic contactor (MCC) is welded closed. This is an S-
SRVO-024 SERVO Move error excess(G:%d A:%d) 900-specific alarm.
Cause: When the robot moved, the servo positional error exceeded a previously Remedy: 1. If this alarm occurs with a SRVO-049 OHAL1, turn the power off for 15
specified value ($PARAM_GROUP.$MOVER_OFFST or $PARAM_GROUP. seconds. Then turn the power back on.
$TRKERRLIM). For example, this error will occur if the feedrate of the robot differs from 2. Check the cable between the servo amplifier and the axis control printed circuit board.
that specified. 3. Replace the servo amplifier.
Remedy: 1. Check whether the applied load exceeds the rating. If so, reduce the applied 4. Replace the axis control printed circuit board.
load. If an excessive load is applied, the torque required for acceleration, deceleration, SRVO-043 SERVO DCAL alarm(Group:%d Axis:%d)
and so forth exceeds the maximum available torque of the motor. Therefore, it prove Cause: The energy produced by the regenerative discharge is excessive. As a result, all
impossible to respond to an issued command correctly, causing this alarm to occur. the generated energy cannot be dissipated as heat. When a robot is to be operated, a
2. Check each interphase voltage of the three-phase voltage (200 VAC) applied to the servo amplifier feeds energy to the robot. Along its vertical axis, however, the robot
servo amplifier. If the voltage is found to be 170 VAC or below, check the input power moves downward using potential energy. If the decrease in the potential energy exceeds
supply voltage. A sub-standard voltage, applied to a servo amplifier, results in a lower- the acceleration energy, the servo amplifier receives energy from the motor. This also
than-normal torque. Therefore, it might prove impossible to correctly respond to an occurs during deceleration even if the force of gravity has no effect. This energy is called
issued command, thus resulting in the output of this alarm. Check the phase-to-phase regenerative energy. Normally, the servo amplifier dissipates this regenerative energy by
voltage across the three pins of connector CRM38A of the servo amplifier. converting it to heat. When the amount of regenerative energy exceeds the amount of
3. If the input power supply voltage is found to be 170 VAC or higher, replace the servo energy that can be dissipated as heat, excess energy accumulates in the servo amplifier,
amplifier. thus triggering this alarm.
4. Check the motor power cables (RM1, RM2, RM3) for damage, to cable or pins, and Remedy: When the LED indicator of the servo amplifier PSM displays '8' (DCOH alarm)
that the connector is securely connected. WARNING: By completing the next step you (the DCOH alarm is issued when the thermostat detects overheating of the regenerative
will be altering the positional reference for the robot since you are replacing hardware. resistor):
You must slowly verify all positional data and touch-up any paths or points that have 1. This alarm might be raised when acceleration/deceleration is frequently performed or
changed. Failure to perform this could result in injury to personnel, damage to equipment, when a large amount of regenerative energy is generated in the vertical axis. In such
or lost data. cases, the robot should be used under less demanding conditions.
5. Replace the motor, and remaster the robot. 2. Check fuse FU1 on the servo amplifier.
SRVO-025 SERVO Motn dt overflow (G:%d A:%d) 3. Replace the regenerative resistor.
Cause: The value entered with a command is too large. 4. Check the cable between the servo amplifier (CRR45A) and the regenerative resistor.
Remedy: Perform a cold start: Replace it if necessary.
1. Turn off the robot. 5. If this does not clear the alarm, verify that all connectors are securely connected.
2. On the teach pendant, press and hold the SHIFT and RESET keys. SRVO-044 SERVO HVAL alarm(Group:%d Axis:%d)
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: The DC voltage (DC link voltage) of the main circuit power supply is abnormally
cleared, document the events that led to the error and call your FANUC Robotics high. The LED indicator of the servo amplifier PSM displays '7'.
technical representative. Remedy: 1. Check the three-phase input voltage applied to the servo amplifier. When
SRVO-026 WARN Motor speed limit(G:%d A:%d) the voltage is 253 VAC or higher, check the input power supply voltage. If the motor is
Cause: An attempt was made to exceed the maximum rated motor speed abruptly accelerated or decelerated while the three-phase input voltage exceeds 253
($PARAM_GROUP.$MOT_SPD_LIM). The motor speed is clamped to its maximum VAC, this alarm might be issued.
rated value. 2. Check whether the applied load is within the rated value. If the rated load is exceeded,
Remedy: This is just a notification. However, you should attempt to eliminate this error reduce the applied load. If a load exceeds the rated value, built-up regenerative energy
and not repeat the circumstances that led up to it. might cause this alarm to be issued even when the three-phase input voltage satisfies
SRVO-027 WARN Robot not mastered(Group:%d) the specifications.
Cause: An attempt was made to perform calibration, but mastering has not yet been 3. Check the cables (CN3 and CN4) in the amplifier. Replace them if necessary.
completed. 4. Check the cable between the main CPU printed circuit board (JRV1) and the printed
Remedy: Perform mastering from the calibration screen [6 SYSTEM CALIBRATION]. circuit board for the emergency stop control (JRV1).
SRVO-030 SERVO Brake on hold (Group:%d) 5. Replace the servo amplifier.
Cause: When the temporary stop alarm function ($SCR.$BRKHOLD_ENB=1) is enabled, SRVO-045 SERVO HCAL alarm(Group:%d Axis:%d)
this alarm is issued whenever a temporary stop is made. When this function is not to be Cause: An excessively high current flowed through the main circuit of a servo amplifier.
used, disable the function. The LED indicator on the servo amplifier PSM displays '-'. One of the red LEDs (HC1 to
Remedy: Disable [TEMPORARY STOP/SERVO OFF] on the general item setting screen HC6) above the 7-segment LED is lit, indicating the axis for which the HCAL alarm is
[6 GENERAL SETTING ITEMS]. detected.
SRVO-031 SERVO User servo alarm (Group:%d) Remedy: 1. Relax operating conditions if cooling down clears this problem.
Cause: A user servo alarm was issued. This alarm is raised when the system variable 2. Disconnect the motor power line from the terminal block of the servo amplifier, then
$MCR_GRP[i].$SOFT_ALARM is set to TRUE. Only KAREL users can use this variable. turn on the power. If this alarm is still issued, replace the servo amplifier.
Remedy: This is just a notification. You do not have to do anything for this warning 3. Remove the motor power line from the terminal block of the servo amplifier, then check
message. the insulation between U, V, and W of the motor power line and GND. If a short circuit is
SRVO-033 WARN Robot not calibrated(Grp:%d) found, check the motor, robot connection cable, or robot internal cable. If any abnormality
Cause: An attempt was made to set a reference point for simple mastering, but is found, replace the faulty hardware.
calibration has not yet been completed. 4. Remove the motor power line from the terminal block of the servo amplifier, then check
Remedy: Perform calibration by performing the procedure below: the resistance between U and V, V and W, and W and U of the motor power line using a
1. Turn on power. measuring instrument capable of detecting very low resistances. If the measured
2. Execute [CALIBRATION] from the calibration screen [6 SYSTEM CALIBRATION]. resistances differ from each other, check the motor, robot connection cable, or robot
SRVO-034 WARN Ref pos not set (Group:%d) internal cable. If any abnormality is found, replace the faulty hardware.
Cause: An attempt was made to perform simple mastering, but a required reference 5. Replace the servo amplifier.
point has not yet been set 6. If this does not clear the alarm, verify that all connectors are securely connected.
Remedy: Set a reference point for simple mastering from the calibration screen. SRVO-046 SERVO OVC alarm (Group:%d Axis:%d)
SRVO-035 WARN Joint speed limit(G:%d A:%d) Cause: This alarm is issued to protect the motor when there is a danger of thermal
Cause: An attempt was made to exceed the maximum joint speed ($PARAM_GROUP. destruction when the root-mean-square current value, calculated internally by the servo
$JNTVELLIM). The joint speed is clamped to its maximum rated value. system, exceeds the maximum permissible value.
Remedy: Every attempt should be made to eliminate this error. Remedy: 1. Check the operating conditions of the robot. If the robot's ratings, such as
SRVO-036 SERVO Inpos time over (G:%d A:%d) the rated duty cycle and load, are exceeded, modify the use of the robot such that the
Cause: The in-position monitor time ($PARAM_GROUP.$INPOS_TIME) has elapsed, rated values are not exceeded.
but the in-position state ($PARAM_GROUP.$STOPTOL) h=as not yet been set. 2. Check each interphase voltage of the three-phase voltage (200 VAC) applied to the
Remedy: 1. Check whether the applied load exceeds the rating. If so, reduce the applied servo amplifier connector CRR38A, which is 3-phase, and connector CRR39, which is
load. If an excessive load is applied, the torque required for acceleration, deceleration, single-phase. If the applied voltage is found to be 170 VAC or less, check the input power
and so forth exceeds the maximum available torque of the motor. Therefore, it might supply voltage.
prove impossible to correctly respond to an issued command, resulting in the output of 3. Replace the servo amplifier.
this alarm. 4. If this does not clear the alarm, verify that all connectors are securely connected.
2. Check each interphase voltage of the three-phase voltage (200 VAC) applied to the 5. Replace the motor.
servo amplifier. If the voltage is found to be 170 VAC or below, check the input power SRVO-047 SERVO LVAL alarm(Group:%d Axis:%d)
supply voltage. A sub-standard voltage, applied to a servo amplifier, results in a lower- Cause: Despite the external magnetic contactor for a servo amplifier being on, the DC
than-normal torque. Therefore, it might prove impossible to correctly respond to an voltage (DC link voltage) of the main circuit power supply or the control power supply
issued command, thus resulting in the output of this alarm. Check phase-to-phase voltage (+5 V) is excessively low.
voltage across the three pins of connector CRM38A of the servo amplifier. Remedy: When the LED indicator on the servo amplifier displays '6' (this alarm is issued
3. If the input power supply voltage is found to be 170 VAC or higher, replace the servo when the control power supply voltage (+5 V) is excessively low):
amplifier. 1. Replace the servo amplifier.
4. Check the motor power cables (RM1, RM2, RM3) for damage, to cable or pins, and 2. Replace the power supply PCB.
that the connector is securely connected. WARNING: By completing the next step you SRVO-048 SERVO MOH alarm (Group:%d Axis:%d)
will be altering the positional reference for the robot since you are replacing hardware. Cause: Never occurs on R-Model J.
You must slowly verify all positional data and touch-up any paths or points that have Remedy: None applicable.
changed. Otherwise, you could injure personnel or damage equipment. SRVO-049 SERVO OHAL1 alarm (Grp:%d Ax:%d)
5. Replace the motor, and remaster the robot. Cause: The servo amplifier's built-in thermostat was actuated. The LED indicator on the
SRVO-037 SERVO IMSTP input (Group:%d) servo amplifier PSM displays '3'.
Cause: The *IMSTP signal, which is a peripheral device I/O signal, is applied. Remedy: 1. Check the operating conditions of the robot. If any of the ratings specified for
Remedy: Turn on the *IMSTP signal. the robot, such as its rated duty cycle or load, are exceeded, modify the use of the robot
SRVO-038 SERVO Pulse mismatch (G:%d A:%d) so that the ratings are not exceeded.
Cause: A pulse count detected when the controller was turned off differs from that 2. Check whether the fuse (F1, F2) in the servo amplifier has blown.
detected when the controller was turned on. This alarm is asserted after exchange of the 3. Replace the servo amplifier.
pulse coder or battery for backup of the pulse coder data, or loading backup data to the 4. If this does not clear the alarm, verify that all connectors are securely connected.
main board. 5. Replace the transformer.
Remedy: First perform an APC reset and remaster the robot: SRVO-050 SERVO Collision Detect alarm (G:%d A:%d)
1. Press MENUS. Cause: An excessively large disturbance torque is estimated by the servo software. A
2. Select SYSTEM. collision was detected.
3. Press F1, [TYPE]. Remedy: 1. Check whether the robot has collided with an object. If so, reset the system,
4. Select MASTER/CAL. then move the robot away from the location of the collision by jogging.
5. Press F3, [RES-PCA]. 2. Check that the applied load does not exceed the maximum rating. If the rated load is
6. Press RESET. exceeded, reduce the applied load. If the robot is used with an excessive load applied,
7. Perform a Cold start. WARNING: By completing the next step you will be altering the the estimated disturbance might become excessively large, resulting in this alarm being
positional reference for the robot since you are replacing hardware. You must slowly output.
verify all positional data and touch-up any paths or points that have changed. Otherwise, 3. Check each interphase voltage of the three-phase voltage (200 VAC) applied to the
you could injure personnel or damage equipment. servo amplifier. If the applied voltage is found to be 170 VAC or less, check the input
8. Remaster the robot if needed. If remastering is performed, you must verify all of your power supply voltage.
robot paths to prevent damage to equipment. If the pulse mismatch is not reset: 4. Replace the servo amplifier.
1. Check the pulse coder cable from the motor. SRVO-051 SERVO CUER alarm(Group:%d Axis:%d)
2. Check the internal cable set next. Cause: The offset of a current feedback is excessively large.
3. Check the P1 cable from the robot to the controller, verify that there are no pins Remedy: 1. Replace the servo amplifier.
damaged at the robot base connection and that there is not damage to the cable. 2. If this does not clear the alarm, verify that all connectors are securely connected.
4. Replace the pulse coder and remaster as stated in the APC RESET procedure above. SRVO-053 WARN Disturbance excess(G:%d A:%d)
SRVO-039 SERVO Motor speed excess(G:%d A:%d) Cause: Disturbance estimated in the software exceeded the threshold value. There is a
Cause: CMC cannot work because the calculated motor speed exceeded the possibility that the load held in the wrist exceeded the robot specification.
specification.
Remedy: Reduce the motion speed or disable CMC.
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Remedy: If operation is allowed to continue, a detection error might result. On the status Cause: The servo software detected a disturbance torque that was too high when motion
screen containing the disturbance value, specify a new value for the acceptable starts, and tripped a Tip stick detection alarm.
disturbance limit. Remedy: Reset the robot by using the teach pendant reset and JOG the robot away from
SRVO-054 SYSTEM DSM memory error (DSM:%d) any obstruction. If no tip stick detection or collision, the load on the robot may exceed the
Cause: The DSP module program memory is defective. specification. Check input power to the servo amplifier. It should be greater than 170
Remedy: WARNING: Before you continue to the next step, perform a complete controller VAC phase-to-phase. Also check the voltage between U-V, V-W, and U-W. Each should
backup to save all your programs and settings from memory for this robot. After you measure the same (~210VAC).
complete the next step, restore the saved data to the new main CPU board if memory SRVO-077 SERVO Dynamic brake alarm(G:%d A:%d)
has been lost. Otherwise, you could injure personnel, damage equipment, or lose data. Cause:
Replace the axis control card on the main CPU board. Remedy:
SRVO-055 SERVO FSSB com error 1 (G:%d A:%d) SRVO-081 WARN EROFL alarm (Track enc:%d)
Cause: An FSSB communication error from SRVO to SLAVE occurred. Cause: The line tracking pulse count overflowed.
Remedy: Check the FSSB hardware connection. Remedy: Contact your FANUC Robotics technical representative.
SRVO-056 SERVO FSSB com error 2 (G:%d A:%d) SRVO-082 WARN DAL alarm(Track encoder:%d)
Cause: An FSSB communication error from SLAVE to SRVO occurred. Cause: The line tracking pulse coder is disconnected.
Remedy: Check the FSSB hardware connection. Remedy: 1. Check the pulse coder cable.
SRVO-058 SYSTEM FSSB 1 init error 2. Replace the pulse coder.
Cause: An FSSB 1 communication error occurred during initialization. SRVO-083 WARN CKAL alarm (Track enc:%d)
Remedy: Check the FSSB 1 hardware connection of fiber cables between the amplifier Cause: The clock for the rotation counter in the line tracking pulse coder is abnormal.
and DSP card. Remedy: Refer to the SRVO-061 remedy.
SRVO-059 SYSTEM Servo amp init error SRVO-084 WARN BZAL alarm (Track enc:%d)
Cause: Servo amplifier initialization failed. Cause: This alarm is issued when the battery for backing up the absolute position data
Remedy: Check the servo amplifier or connection of the servo amplifier. for the pulse coder is not connected.
SRVO-060 SYSTEM FSSB 2 init error Remedy: Refer to the description for the SRVO-062 BZAL alarm.
Cause: An FSSB 2 communication error occurred during initialization. SRVO-085 WARN RCAL alarm (Track enc:%d)
Remedy: Check the FSSB 2 hardware connection of fiber cables between the amplifier Cause: The built-in rotation counter on the line tracking pulse coder is abnormal.
and DSP card. Remedy: Refer to SRVO-063.
SRVO-061 SERVO CKAL alarm(Group:%d Axis:%d) SRVO-086 WARN PHAL alarm (Track enc:%d)
Cause: The clock for the rotation counter in the pulse coder is abnormal. Cause: This alarm is issued when the phase of a pulse signal generated by the pulse
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or coder is abnormal.
SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Remedy: Refer to the description for the SRVO-064 PHAL alarm.
Replace the pulse coder or motor and master the robot. SRVO-087 WARN BLAL alarm (Track enc:%d)
SRVO-062 SERVO BZAL alarm(Group:%d Axis:%d) Cause: This alarm is issued when the battery voltage for backing up the absolute
Cause: This alarm is issued when the battery for backing up the absolute position data of position data of the pulse coder has dropped.
the pulse coder is not connected. The battery cable inside the robot might have become Remedy: Refer to the description of the SRVO-065 BLAL alarm.
disconnected. SRVO-088 WARN CSAL alarm (Track enc:%d)
Remedy: Correct the cause of the alarm, then turn on power again after setting the Cause: The line tracking pulse coder ROM checksum data is abnormal.
system variable $MCR.$SPC_RESET to TRUE. Master the robot. Remedy: Refer to SRVO-066 remedy.
SRVO-063 SERVO RCAL alarm(Group:%d Axis:%d) SRVO-089 WARN OHAL2 alarm (Track enc:%d)
Cause: The built-in rotation counter on the pulse coder is abnormal. Cause: The motor has overheated.
Remedy: 1. Eliminate the cause of the alarm. Set the system variable $MCR. Remedy: Refer to the description of the SRVO-067 OHAL2 alarm.
$SPC_RESET to TRUE, and turn the power off and then on again. Master the robot. SRVO-090 WARN DTERR alarm (Track enc:%d)
2. Replace the pulse coder. Master the robot. NOTE: The RCAL alarm might be Cause: An error occurred during the communication between the pulse coder and the
displayed when any of the SERVO-068 DTERR, SERVO-069 CRCERR, or SERVO-070 main CPU printed circuit board.
STBERR alarms is raised. In this case, however, this alarm can be safely ignored. Remedy: Refer to the description of the SRVO-068 DTERR alarm.
SRVO-064 SERVO PHAL alarm(Group:%d Axis:%d) SRVO-091 WARN CRCERR alarm (Track enc:%d)
Cause: This alarm is issued when the phase of a pulse signal generated by the pulse Cause: An error occurred during the communication between the pulse coder and the
coder is abnormal. main CPU printed circuit board.
Remedy: Replace the pulse coder. After replacing, master the robot. NOTE: If a DTERR, Remedy: Refer to the description of the SRVO-069 CRCERR alarm.
CRCERR, or STBERR alarm is issued, this alarm might also be output at the same time. SRVO-092 WARN STBERR alarm (Track enc:%d)
Should this occur, however, this alarm can be safely ignored. Cause: An error occurred during the communication between the pulse coder and the
SRVO-065 WARN BLAL alarm(Group:%d Axis:%d) main CPU printed circuit board.
Cause: The battery voltage for the pulse coder has dropped below the allowable Remedy: Refer to the description of the SRVO-070 STBERR alarm.
minimum. SRVO-093 WARN SPHAL alarm (Track enc:%d)
Remedy: Replace the battery. When this alarm is issued, immediately replace the Cause: This alarm is issued when the positional data sent from the pulse coder is
battery while the system power is turned on. If the BZAL alarm is issued because the considerably greater than the previous data.
battery is not replaced in time, positional data will be lost, thus making it necessary to Remedy: Refer to the description of the SRVO-071 SPHAL alarm.
master the robot. SRVO-094 WARN PMAL alarm (Track enc:%d)
SRVO-066 SERVO CSAL alarm(Group:%d Axis:%d) Cause: The pulse coder might be faulty.
Cause: The pulse coder ROM checksum data is abnormal. Remedy: Refer to description of the SRVO-072 PMAL alarm.
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-095 WARN CMAL alarm (Track enc:%d)
SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Cause: The pulse coder might be faulty. Or, noise might have caused the pulse coder to
Replace the pulse coder or motor and master the robot. malfunction.
SRVO-067 SERVO OHAL2 alarm (Grp:%d Ax:%d) Remedy: Refer to the description of the SRVO-073 CMAL alarm.
Cause: The temperature inside the pulse coder has become too high, causing the built-in SRVO-096 WARN LDAL alarm (Track enc:%d)
thermostat to actuate. Cause: The LED on the pulse coder has become disconnected.
Remedy: 1. Check the operating conditions of the robot. If any of the ratings specified for Remedy: Refer to description of the SRVO-074 LDAL alarm.
the robot, such as its rated duty cycle or load, are exceeded, modify the use of the robot SRVO-097 WARN Pulse not established(Enc:%d)
so that the ratings are not exceeded. Cause: The absolute position of the pulse coder has not yet been established.
2. If this alarm is issued, even when the power is turned on and the motor has not Remedy: Refer to description of the SRVO-075 Pulse not established alarm.
overheated, replace the motor. SRVO-101 SERVO Robot overtravel(Robot:%d)
SRVO-068 SERVO DTERR alarm (Grp:%d Ax:%d) Cause: A robot overtravel limit switch has been pressed.
Cause: A request signal was sent to the serial pulse coder, but no serial data was Remedy: Refer to SRVO-005.
returned. SRVO-102 SERVO Hand broken (Robot:%d)
Remedy: 1. Check the shielding for the pulse coder cables to ground. The ground wire is Cause: The hand broken (*HBK) robot input is asserted.
the yellow and green wire connected to the robot base. Remedy: Refer to SRVO-006.
2. Inspect the pulse coder cable set for breaks, internal robot set, and P1 cable running SRVO-103 SERVO Air pressure alarm(Rbt:%d)
from the robot to the controller. WARNING: By completing the next step you will be Cause: The pneumatic pressure (PPABN) robot input is asserted.
altering the positional reference for the robot since you are replacing hardware. You must Remedy: Refer to SRVO-009.
slowly verify all positional data and touch-up any paths or points that have changed. SRVO-105 SERVO Door open or E.Stop
Otherwise, you could injure personnel or damage equipment. Cause: The controller door has been opened, emergency stop signals have been
3. Replace the pulse coder and remaster the robot. detected for a short time, or a hardware connection has been mis-wired.
4. Replace the P1 cable. Remedy: Close controller door and press RESET. If the reset is not effective, correct the
5. Replace the internal cable set. hardware connection.
SRVO-069 SERVO CRCERR alarm (Grp:%d Ax:%d) SRVO-106 SERVO Door open/E.Stop(Robot:%d)
Cause: A serial data change occurred during transfer. Cause: The controller door has been opened, emergency stop signals have been
Remedy: 1. Check the shielding for the pulse coder cables to ground. The ground wire is detected for a short time, or a hardware connection has been mis-wired.
the yellow and green wire connected to the robot base. Remedy: Close controller door and press RESET. If the reset is not effective, correct the
2. Inspect the pulse coder cable set for breaks, internal robot set, and P1 cable running hardware connection.
from the robot to the controller. WARNING: By completing the next step you will be SRVO-107 SERVO Ext brake abnormal(Rbt:%d)
altering the positional reference for the robot since you are replacing hardware. You must Cause: The FET current for brake of an extended axis (brake number 2 or greater)
slowly verify all positional data and touch-up any paths or points that have changed. exceeded the specification.
Otherwise, you could injure personnel or damage equipment. Remedy: Check the brake for zero or abnormally low impedance. Then check the brake
3. Replace the pulse coder and remaster the robot. cable. Then check 200VAC. Then check the servo amplifier or emergency stop control
4. Replace the P1 cable. PCB if brake ports are used.
5. Replace the internal cable set. SRVO-108 SERVO Press RESET to enable robot
SRVO-070 SERVO STBERR alarm (Grp:%d Ax:%d) Cause: When the Enable/Disable switch is changed to enable, a reset is necessary for
Cause: A serial data start bit or stop bit error occurred. execution.
Remedy: 1. Check the shielding for the pulse coder cables to ground. The ground wire is Remedy: Press the RESET key to enable the robot.
the yellow and green wire connected to the robot base. SRVO-111 SERVO Softfloat time out(G:%d)
2. Inspect the pulse coder cable set for breaks, internal robot set, and P1 cable running Cause: Follow-up time is over. when softfloat is OFF.
from the robot to the controller. WARNING: By completing the next step you will be Remedy: Make $SFLT_FUPTIM larger.
altering the positional reference for the robot since you are replacing hardware. You must SRVO-112 PAUSE Softfloat time out(G:%d)
slowly verify all positional data and touch-up any paths or points that have changed. Cause: Follow-up time is over. when softfloat is OFF.
Otherwise, you could injure personnel or damage equipment. Remedy: Make $SFLT_FUPTIM larger.
3. Replace the pulse coder and remaster the robot. SRVO-113 SERVO Cart. error excess(G:%d %s)
4. Replace the P1 cable. Cause: While Cartesian Softfloat is being executed, the position error on the rectangular
5. Replace the internal cable set. coordinates becomes greater than the tolerance that is set by the user.
SRVO-071 SERVO SPHAL alarm (Grp:%d Ax:%d) Remedy: Find and remove the cause of the position error becoming greater. Or, make
Cause: The feedback speed is abnormally high (3750 rpm or greater). the tolerance larger, turn off and then turn on the controller. The tolerance is the value of
Remedy: 1. This alarm does not indicate the main cause of the problem issued together the following system variables. X direction [mm] : $PARAM_GROUP[].$CB_IX Y direction
with the PHAL alarm (SRVO-064). [mm] : $PARAM_GROUP[].$CB_IY Z direction [mm] : $PARAM_GROUP[].$CB_IZ
2. Check whether the load applied to the robot exceeds the maximum rating. If the rated SRVO-121 SERVO Excessive acc/dec time(G:%d)
load is exceeded, reduce the applied load. After replacing, master the robot. Cause: Acceleration time is much longer.
3. Replace the pulse coder of the motor. Remedy: Contact your FANUC Robotics technical representative.
SRVO-072 SERVO PMAL alarm(Group:%d Axis:%d) SRVO-122 SERVO Bad last ang(internal)(G:%d)
Cause: The pulse coder might be faulty. Cause: The last angle update request does not match the current angle.
Remedy: Replace the pulse coder, then master the robot. Remedy: Contact your FANUC Robotics technical representative.
SRVO-073 SERVO CMAL alarm(Group:%d Axis:%d) SRVO-125 WARN Quick stop speed over (G:%d)
Cause: The pulse coder might be faulty, or noise might be causing the pulse coder to Cause: Motion speed is too high to perform quick stop.
malfunction. Remedy: Reduce the motion speed.
Remedy: Perform simple mastering and improve the shielding. SRVO-126 SERVO Quick stop error (G:%d)
SRVO-074 SERVO LDAL alarm(Group:%d Axis:%d) Cause: The program was over in the process of a quick stop.
Cause: The LED on the pulse coder has become disconnected. Remedy: Press RESET.
Remedy: Replace the pulse coder, then master the robot. SRVO-130 SERVO OHAL1(PSM) alarm (G:%d A:%d)
SRVO-075 WARN Pulse not established(G:%d A:%d) Cause: The servo amplifier (PMS) overheated.
Cause: The absolute position of the pulse coder has not yet been established. Remedy: Refer to the maintenance manual.
Remedy: Jog the robot along each axis for which this alarm is issued, until the alarm is SRVO-131 SERVO LVAL(PSM) alarm(G:%d A:%d)
not re-issued after being cleared. Cause: The DC voltage on the main power circuit of the servo amplifier is lower than the
SRVO-076 SERVO Tip Stick Detection(G:%d A:%d) specification, even though MCC is on.
Remedy: Refer to the maintenance manual.
59
SRVO-132 SERVO HCAL(PSM) alarm(G:%d A:%d) SRVO-164 SYSTEM DSM/Servo param mismatch
Cause: The current in the main power circuit of the servo amplifier exceeded Cause: The DSM (Digital Servo Module) type is mismatched to the servo parameter
specification. version.
Remedy: Refer to the maintenance manual. Remedy: Change the current DSP-IV module to DSP_V or initialize the robot library
SRVO-133 SERVO FSAL(PSM) alarm (G:%d A:%d) again to load the correct servo parameter file.
Cause: The cooling fan for the control circuit stopped. SRVO-171 WARN MotorSpd lim/DVC(G:%d A:%d)
Remedy: Refer to the maintenance manual. Cause: The motor cannot rotate as fast as the calculated speed required for the current
SRVO-134 SERVO DCLVAL(PSM) alarm (G:%d A:%d) motion.
Cause: The back-up charge circuit for the amplifier has trouble. Remedy: This is just a notification. You do not have to do anything for this warning
Remedy: Check the cables and connections between the amplifier (CN1) and the MCC. message.
Check the fuse (F1,F3) in the transformer. If using a B-cabinet, replace the EMG control SRVO-172 WARN MotorSpd lim/DVC0(G:%d A:%d)
printed circuit board. Replace the amplifier. Cause: The motor cannot rotate as fast as the calculated speed required for the current
SRVO-135 SERVO FSAL alarm (G:%d A:%d) motion.
Cause: The cooling fan for control circuit stopped. Remedy: This is just a notification. You do not have to do anything for this warning
Remedy: Check or replace the fan. message.
SRVO-136 SERVO DCLVAL alarm (G:%d A:%d) SRVO-173 WARN MotorSpd lim/DVC1(G:%d A:%d)
Cause: The back-up charge circuit for the amplifier has trouble. Cause: The motor cannot rotate as fast as the calculated speed required for the current
Remedy: Check the cables and connections between the amplifier (CN1) and the MCC. motion.
Check the fuse (F1,F3) in the transformer. If using a B-cabinet, replace the EMG control Remedy: This is just a notification. You do not have to do anything for this warning
printed circuit board. Replace the amplifier. message.
SRVO-137 SERVO DAL alarm (G:%d A:%d) SRVO-174 WARN MotorAcc lim/DVC(G:%d A:%d)
Cause: DAL alarm of an amplifier. Cause: The motor cannot accelerate as much as the calculated acceleration required for
Remedy: Refer to the maintenance manual. the current motion.
SRVO-138 SERVO SDAL alarm (G:%d A:%d) Remedy: This is just a notification. You do not have to do anything for this warning
Cause: The feedback data from pulse coder was abnormal by; message.
1. Noise on the pulse coder. SRVO-176 SERVO CJ/Illegal Mode %d,%d
2. The interpolation circuits of the pulse coder are broken. Cause: The wrong CJ mode was used.
Remedy: 1. If the alarm disappeared by power off/on, please make sure the cable Remedy: Internal motion error. Contact your FANUC Robotics technical representative
shields are grounded. immediately.
2. If this problem occurs repeatedly, replace the pulse coder and master the robot. SRVO-179 WARN Motor torque limit(G:%d A:%d)
SRVO-141 SERVO OHAL1(CNV) alarm (G:%d A:%d) Cause: Torque on the axis is over the limit. Acceleration is reduced automatically to
Cause: A servomotor's built-in thermostat was actuated. avoid torque saturation
Remedy: Refer to SRVO-049. Remedy: This is just a notification. You do not have to do anything for this warning
SRVO-142 SERVO OHAL1(INV) alarm (G:%d A:%d) message.
Cause: The servo amplifier overheated. SRVO-181 SERVO Mcmd input while estimating(G:%d)
Remedy: If the robot is overloaded or the duty cycle exceeds specification, this alarm Cause: The robot was going to move while identifying the payload.
occurs. Check the regenerative discharge transistor. Check the thermostat on the servo Remedy: Press RESET. Be careful not to move the robot while identifying the payload.
amplifier after the servo amplifier has cooled. It should not be open. If the problem SRVO-182 PAUSE Needed init. has not been done
persists, replace the servo amplifier. Check the controller cabinet fans for blocked filters; Cause: Internal system error. The initialization of the system variable or the internal work
clean them if necessary. memory has not been done.
SRVO-143 SERVO PSFLAL(CNV) alarm (G:%d A:%d) Remedy: Perform Power OFF/ON:
Cause: Input power applied to the amplifier has been lost. 1. Turn off the robot.
Remedy: Check the connections and cables of the input power. 2. Turn on the robot. If the error is not cleared, document the events that led to the error
SRVO-144 SERVO LVAL(INV) alarm (G:%d A:%d) and call your FANUC Robotics technical representative.
Cause: The DC voltage of the main circuit power supply is excessively low. SRVO-183 PAUSE ROBOT isn't ready
Remedy: Refer to SRVO-047. Cause: Servo ready is off.
SRVO-145 SERVO LVAL(CNV-DC) alarm(G:%d A:%d) Remedy: Remove the cause of Servo ready not being on. Then, press RESET.
Cause: This alarm indicates a problem with the back-up charge circuit for the amplifier. SRVO-184 PAUSE Other task is processing
Remedy: Refer to SRVO-147. Cause: The data region this command is going to use is already locked by an other task.
SRVO-146 SERVO LVAL(INV-DC) alarm(G:%d A:%d) Remedy: Wait the other task finishing the process. And, retry.
Cause: The DC voltage of the main circuit power supply is too low. SRVO-185 PAUSE Data is for other group
Remedy: Check each interphase voltage of the three-phase voltage (200 VAC) applied Cause: The data this command is going to use is another group's data.
to the servo amplifier. If the applied voltage is found to be 170 VAC or less, check the Remedy: Get the data of the group that this command is to use. And, retry.
input power supply voltage. Replace the servo amplifier. SRVO-186 PAUSE Needed Data has not been got
SRVO-147 SERVO LVAL(DCLK) alarm (G:%d A:%d) Cause: There is no data that this command will use, or, the data in the buffer is not the
Cause: This alarm indicates a problem with the back-up charge circuit for the amplifier. data of the needed mode.
Remedy: 1. Check the cable between the servo amplifier (CN1) and the MCC. Replace it Remedy: Get the needed data. And, retry.
if necessary. SRVO-187 PAUSE Need specfing Mass
2. For a model using the B cabinet, check whether the transformer fuses (F1 and F3) Cause: The mass parameter is needed in order to estimate the current payload's
have blown. parameters.
3. Replace the printed circuit board for emergency stop control. Remedy: Specify the mass parameter when estimating the current payload's
4. Replace the servo amplifier. parameters.
SRVO-148 SERVO HCAL(CNV) alarm (G:%d A:%d) SRVO-191 SYSTEM Illegal Joint Speed (G:%d A:%d)
Cause: The current in the main power circuit of the servo amplifier exceeded Cause: The motion command exceeded specification.
specification. Remedy: Internal motion error. Contact your FANUC Robotics technical representative
Remedy: Disconnect the motor power wires from the servo amplifier and turn on power. immediately.
If an HCAL occurs, replace the transistor module or servo amplifier. Measure the SRVO-192 SERVO Fence open/SVON input
resistance between GND and U, V, W individually on the cable terminals. If shorted, Cause: The fence circuit is open or the SVON input circuit is open.
determine if the cable or motor is bad. Check the resistance between U-V, V-W, and W-U Remedy: Close the fence circuit or SVON input circuit, and then press RESET.
using a measuring instrument sensitive enough to detect small resistances at the cable SRVO-193 SERVO SVON input
terminations. If the resistances are the same, replace the servo amplifier. If the Cause: The SVON input circuit is open.
resistances are different, determine if the cable or motor is bad. If the problem persists, Remedy: Close SVON input circuit, and then press RESET. Refer to the maintenance
replace the SIF module on the axis control for the defective axis. manual for details.
SRVO-149 SERVO HCAL(INV) alarm (G:%d A:%d) SRVO-194 SERVO Servo disconnect
Cause: An excessively high current flowed through the main circuit of a servo amplifier. Cause: Servo is disconnected.
Remedy: Refer to SRVO-045. Remedy: Connect servo, and then press RESET. Refer to the maintenance manual for
SRVO-150 SERVO FSAL(CNV) alarm (G:%d A:%d) details.
Cause: The cooling fan for the control circuit stopped. SRVO-195 SERVO NTED/Servo disconnect
Remedy: Check the fan. Replace it if necessary. Cause: The Non Teacher Enabling Device is released or servo is disconnected.
SRVO-151 SERVO FSAL(INV) alarm (G:%d A:%d) Remedy: Press the Non Teacher Enabling Device or connect servo, and then press
Cause: The cooling fan for the control circuit stopped. RESET. Refer to the maintenance manual for details.
Remedy: Check or replace the fan. SRVO-196 SYSTEM Fence open/SVON input (SVON abnormal)
SRVO-152 SERVO IPMAL(INV) alarm (G:%d A:%d) Cause: The fence circuit is open or the SVON input circuit is open and mis-wiring on the
Cause: The IPM module has trouble. SVON is detected.
Remedy: 1. The IPM might be overheated. Reset the emergency stop after Remedy: Power off. Correct the wiring on SVON. Close the fence circuit or SVON input
approximately ten minutes. Disconnect the power lines from the terminals on the circuit, and then press RESET.
amplifier, and check the insulation of PE from U, V, and W. SRVO-197 SYSTEM SVON input (SVON abnormal)
2. If there are short circuits, disconnect the motor connector power lines and check the Cause: The SVON input circuit is open and mis-wiring on SVON is detected.
insulation of PE from U, V, and W. 1) Replace the motor if U, V, and W short-circuit with Remedy: Power off. Correct the wiring on SVON. Close the SVON input circuit, and then
PE. 2) Replace the power lines if U, V, and W do not short-circuit with PE. press RESET.
3. Noise on the actual current (IR, IS) running in the amplifier module might cause this SRVO-199 PAUSE Control Stop
alarm. Remove this noise such as with taking ground of sealed earth. Cause: Control Stop is detected.
4. Replace the amplifier. Remedy: After this alarm, a fence open or SVON input alarm is detected. See the
SRVO-153 SERVO CHGAL(CNV) alarm (G:%d A:%d) remedy of the next alarm.
Cause: Charging of the main circuit could not finish within the specified time. SRVO-200 WARN Control box fan abnormal
Remedy: The DC link might cause a short-circuit. Check the connections. Also, electric Cause: The control box fan motor has failed.
resistance to restrict charge current might be defective. Replace the wiring board. Remedy: Check and/or replace the fan. Refer to the maintenance manual for details.
SRVO-154 SERVO HVAL(CNV-DC) alarm (G:%d A:%d) SRVO-201 SERVO Panel E-stop or SVEMG abnormal
Cause: The DC voltage of the main circuit power supply is abnormally high. Cause: The operator panel emergency stop push button is pressed and miswiring on
Remedy: Refer to SRVO-044. SVEMG is detected. Or the operator panel emergency stop push button is pressed slowly
SRVO-155 SERVO DCAL(CNV) alarm (G:%d A:%d) so that SVEMG signal is delayed.
Cause: The energy produced by regenerative discharge is excessive. Remedy: Check the wiring of SVEMG. If the wiring of SVEMG is not connected, correct
Remedy: Refer to SRVO-043. the wiring of SVEMG. If the wiring has no problem, twist the operator panel emergency
SRVO-156 SERVO IPMAL alarm (G:%d A:%d) stop push button clockwise to release. Press RESET. Refer to the maintenance manual
Cause: The IPM module has trouble. for details.
Remedy: Replace the IPM module. Refer to the maintenance manual for details. SRVO-202 SERVO TP E-stop or SVEMG abnormal
SRVO-157 SERVO CHGAL alarm (G:%d A:%d) Cause: The teach pendant emergency stop push button is pressed and miswiring on
Cause: Charging of the main circuit could not finish within the specified time. SVEMG is detected.
Remedy: The DC link might cause a short-circuit. Check the connections. Electric Remedy: Check the wiring of SVEMG. If the wiring of SVEMG is not connected, correct
resistance to restrict charge current might be defective. Replace the wiring board. Refer the wiring of SVEMG. If the wiring has no problem, twist the teach pendant emergency
to the maintenance manual for details. stop push button clockwise to release. Press RESET. Refer to the maintenance manual
SRVO-160 SERVO Panel/External E-stop for details.
Cause: The emergency stop button on the operator panel was pressed, or the external SRVO-204 SYSTEM External(SVEMG abnormal) E-stop
emergency stop function was activated. EMGIN1 and EMGINC are not strapped to each Cause: The external emergency stop push button is pressed and mis-wiring on SVEMG
other. Or, EMGIN2 and EMGINC are not strapped to each other. is detected.
Remedy: Release the emergency stop button. If the external emergency stop function Remedy: Power off. Correct the wiring on SVEMG. If using external emergency stop,
has been activated, remove the cause. If no cause can be found, and no jumper is clear the source of the fault, and press RESET. Refer to the maintenance manual for
installed between EMGIN1 and EMGINC or between EMGIN2 and EMGINC on the details.
terminal block of the emergency stop control printed circuit board, but cables are SRVO-205 SYSTEM Fence open(SVEMG abnormal)
connected to the terminals, check the cables. Cause: The fence circuit is open and mis-wiring on SVEMG is detected.
SRVO-161 SERVO Fence open or Deadman SW Remedy: Power off. Correct the wiring on SVEMG. Close the fence circuit and then
Cause: The teach pendant deadman switch is released or the fence circuit is open. press RESET. Refer to the maintenance manual for details.
Remedy: Press teach pendant deadman switch or determine the cause of the fence and SRVO-206 SYSTEM Deadman switch (SVEMG abnormal)
then press RESET. Cause: The teach pendant deadman switch is released while the teach pendant is
SRVO-162 SERVO Deadman/Fence or Panel/External E-stop enabled. And miswiring on SVEMG is detected.
Cause: The deadman switch is released, the fence circuit is open, the operator panel Remedy: Power off. Correct the wiring on SVEMG Power on. Press the teach pendant
ESTOP button is pressed, or the external ESTOP signal is received. deadman switch. Press RESET. Refer to the maintenance manual for details.
Remedy: Remove the cause then press RESET. SRVO-207 SERVO TP switch abnormal or Door open
SRVO-163 SYSTEM DSM hardware mismatch Cause: The SVEMG signal is detected while the fence is opened and the teach pendant
Cause: Different DSM (Digital Servo Module) are mounted on the controller is enabled and the Deadman switch is not released. Or, the controller door is opened
Remedy: Change the DSM hardware to be same.
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while the fence is opened and the teach pendant is enabled and the Deadman switch is Cause: Status of MAINON1 signal is still OFF even if SVEMG is ON It is abnormal of
not released E.STOP circuit
Remedy: Close the controller door. If door is not opened, correct the wiring on SVEMG. Remedy: Repair the circuit of E.Stop hardware Power off/on again
Or correct the enable switch and deadman switch on the teach pendant. Press RESET. SRVO-260 SERVO Chain 1 (NTED) abnormal
Refer to the maintenance manual for details. Cause: Single chain 1 (+24V) failure occurred when Non Teacher Enabling Device is
SRVO-208 SERVO Extended axis brake abnormal released
Cause: The FET current for the brake of an extended axis (brake number 2 or greater) Remedy: Repair the circuit of the chain 1 (+24V) on Non Teacher Enabling Device
exceeded the specification. hardware. Set CHAIN FAILURE detection to TRUE on SYSTEM/CONFIG screen And
Remedy: Check the brake for zero or abnormally low impedance. Then check the brake push reset button on Teach pendant
cable. Then check 200VAC. Then check servo amplifier or emergency stop control PCB SRVO-261 SERVO Chain 2 (NTED) abnormal
if brake ports are used. Refer to the maintenance manual for details. Cause: Single chain 2 (0V) failure occurred when Non Teacher Enabling Device is
SRVO-209 SERVO Robot-2 SVEMG abnormal released
Cause: Mis-wiring of the SVEMG signal on Robot 2 is detected. Remedy: Repair the circuit of the chain 2 (0V) on Non Teacher Enabling Device
Remedy: Power off. Correct the wiring of SVEMG on the controller of the second robot. hardware. Set CHAIN FAILURE detection to TRUE on SYSTEM/CONFIG screen And
Close the fence circuit and then press RESET. push reset button on Teach pendant
SRVO-210 SERVO EX_robot SVEMG abnormal SRVO-262 SERVO Chain 1 (SVDISC) abnormal
Cause: Mis-wiring of SVEMG signal on Extended robot is detected. Cause: Single chain 1 (+24V) failure occurred when servo disconnected signal is
Remedy: Power off. Correct the wiring on SVEMG on controller of Extended robot. Close asserted
fence circuit and then press reset. Remedy: Repair the circuit of the chain 1 (+24V) on Servo disconnect signal circuit. Set
SRVO-211 SERVO TP OFF in T1,T2 CHAIN FAILURE detection to TRUE on SYSTEM/CONFIG screen And push reset button
Cause: Teach Pendant is disabled when mode switch is T1 or T2 and Robot1 and on Teach pendant
Robot2 are disconnected Or mis-wiring of hardware connection SRVO-263 SERVO Chain 2 (SVDISC) abnormal
Remedy: Change the TP Enable/Disable switch to ON And press RESET If the reset is Cause: Single chain 2 (0V) failure occurred when servo disconnected signal is asserted
not effective, correct hardware connection Remedy: Repair the circuit of the chain 2 (0V) on Servo disconnect signal circuit. Set
SRVO-212 SERVO Trans over heat CHAIN FAILURE detection to TRUE on SYSTEM/CONFIG screen And push reset button
Cause: Transformer Overheat signal is asserted on Teach pendant
Remedy: Change program to be slow down SRVO-264 SYSTEM E.STOP circuit abnormal 1
SRVO-213 SERVO Fuse blown (PanelPCB) Cause: Weld occurs on E.STOP unit
Cause: The fuse on Panel PCB is blown Remedy: Repair the circuit of MON3 on E.STOP unit
Remedy: Replace fuse on 6 Panel PCB SRVO-265 SERVO E.STOP circuit abnormal 2
SRVO-214 SERVO Fuse blown (Amp) Cause: MON3 status is ON when servo is ready The status of MON3 is abnormal
Cause: The fuse on 6 axis amplifier is blown Remedy: Repair the circuit of MON3 on E.STOP unit
Remedy: Replace fuse on 6 axis amplifier SRVO-266 SERVO FENCE1 status abnormal
SRVO-215 SERVO Fuse blown (Aux axis) Cause: FENCE1 status is still ON when FENCE signal is asserted
Cause: The fuse on Aux axis amplifier is blown Remedy: Repair the circuit of FENCE1
Remedy: Replace fuse on Aux axis amplifier SRVO-267 SERVO FENCE2 status abnormal
SRVO-216 SERVO OVC(total) (%d) Cause: FENCE2 status is still ON when FENCE signal is asserted
Cause: Total current of is over the limit. Because robot motion is too aggressive Remedy: Repair the circuit of FENCE2
Remedy: Change program speed to be slow SRVO-268 SERVO SVOFF1 status abnormal
SRVO-221 SERVO Lack of DSP (G:%d A:%d) Cause: SVOFF1 status is still ON when SVOFF signal is asserted
Cause: There is a lack of DSP chip for the axis, which is set in the $AXISORDER system Remedy: Repair the circuit of SVOFF1
variable. SRVO-269 SERVO SVOFF2 status abnormal
Remedy: Check whether the number of the DSP is enough on the DSP board related to Cause: SVOFF2 status is still ON when SVOFF signal is asserted
the axis number of $SCR_GRP[].$AXISORDER[]. Change the DSP board that has Remedy: Repair the circuit of SVOFF2
enough DSP. Or change the setting of $AXISORDER. SRVO-270 SERVO EXEMG1 status abnormal
SRVO-222 SERVO Lack of Amp (Amp:%d) Cause: EXEMG1 status is still ON when EXEMG signal is asserted
Cause: FSSB shows the amp module does not exist Remedy: Repair the circuit of EXEMG1
Remedy: Check whether fiber cable to the amp is connected correctly. Or change the SRVO-271 SERVO EXEMG2 status abnormal
fiber cable to the amp And check whether power of the amp is normal or not. Or verify Cause: EXEMG2 status is still ON when EXEMG signal is asserted
whether the setting of $AXISORDER[] and $AMP_NUM[]. are correct or not Remedy: Repair the circuit of EXEMG2
SRVO-230 SERVO Chain 1 (+24v) abnormal SRVO-272 SERVO SVDISC1 status abnormal
Cause: A single chain 1 (+24V) failure occurred. Cause: SVDISC1 status is still ON when SVDISC signal is asserted
Remedy: Repair the circuit of the chain 1 (+24V) on the hardware. Set CHAIN FAILURE Remedy: Repair the circuit of SVDISC1
detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the teach SRVO-273 SERVO SVDISC2 status abnormal
pendant. Cause: SVDISC2 status is still ON when SVDISC signal is asserted
SRVO-231 SERVO Chain 2 (0v) abnormal Remedy: Repair the circuit of SVDISC2
Cause: A single chain 2 (0V) failure occurred. SRVO-274 SERVO NTED1 status abnormal
Remedy: Repair the circuit of the chain 2 (0V) on the hardware. Set CHAIN FAILURE Cause: NTED1 status is still ON when NTED signal is asserted
detection to TRUE on the SYSTEM/CONFIG screen. Push RESET on the teach pendant. Remedy: Repair the circuit of NTED1
SRVO-232 SERVO NTED input SRVO-275 SERVO NTED2 status abnormal
Cause: A Non Teacher Enabling Device is released Cause: NTED2 status is still ON when NTED signal is asserted
Remedy: Press the Non Teacher Enabling Device and then press RESET. Remedy: Repair the circuit of NTED2
SRVO-233 SERVO TP OFF in T1,T2/Door open SRVO-276 SERVO Disable on T2 mode
Cause: The teach pendant is disabled when the mode switch is in T1 or T2. Or, the Cause: T2 mode is not permitted to move robot
controller door is opened. Or, there is a mis-wiring of a hardware connection. Remedy: Change mode switch to T1 ot AUTO
Remedy: Set the TP Enable/Disable switch to ON, close the controller door, and press SRVO-277 SYSTEM Panel E-stop(SVEMG abnormal)
RESET. If the reset is not effective, correct the hardware connection. Cause: The operator panel emergency stop push button is pressed and miswiring on
SRVO-234 WARN Deadman switch released SVEMG is detected.
Cause: The teach pendant deadman switch is released. Remedy: Check the wiring of SVEMG. If the wiring of SVEMG is not connected, correct
Remedy: This is just a notification. the wiring of SVEMG. If the wiring has no problem, twist the operator panel emergency
SRVO-235 SERVO Short term Chain abnormal stop push button clockwise to release. Press RESET. Refer to the maintenance manual
Cause: A chain failure alarm is detected in short term. for details.
Remedy: If this error occurs with a deadman switch release alarm, release the deadman SRVO-278 SYSTEM TP E-stop(SVEMG abnormal)
switch again and press the deadman switch. Or, if this error occurs with another safety Cause: The teach pendant emergency stop push button is pressed and miswiring on
signal error, reproduce the same safety error and press RESET. If SRVO-230 or SRVO- SVEMG is detected.
231 occur, refer the to cause and remedy of these errors. Remedy: Check the wiring of SVEMG. If the wiring of SVEMG is not connected, correct
SRVO-236 WARN Chain failure is repaired the wiring of SVEMG. If the wiring has no problem, twist the teach pendant emergency
Cause: A chain failure has been repaired. stop push button clockwise to release. Press RESET. Refer to the maintenance manual
Remedy: The status of the chain failure has changed to normal when the system for details.
checked the chain failure again. Press RESET. SRVO-279 SYSTEM Circuit abnormal 3 (%d)
SRVO-237 WARN Cannot reset chain failure Cause: Status of MON1,MON2,MON3 signals are abnormal on COLD START Value
Cause: Reset chain failure detection cannot be executed. shows MON1,MON2,MON3 signal status Bit 0 : MON1 ON ,
Remedy: Repair the circuit of the chain 1 (+24V) on the hardware. Press the emergency Bit 1: MON2 ON,
stop on the teach pendant and twist the teach pendant emergency stop push button Bit 3: MON3 ON
clockwise to release. Press RESET. Remedy: Repair the circuit of MON1,MON2,MON3 on E.STOP unit
SRVO-238 SERVO Chain 1 (SVON) abnormal SRVO-280 SERVO SVOFF input
Cause: A single chain 1 (+24V) failure occurred when the SVON (Servo ON/OFF switch) Cause: SVOFF (Servo OFF signal) input asserted.
input was asserted. Remedy: Determine the cause to input SVOFF and repair.
Remedy: Repair the circuit of chain 1 (+24V) on the SVON hardware. Set CHAIN SRVO-281 SYSTEM SVOFF input(SVEMG abnormal)
FAILURE detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the Cause: SVOFF input circuit is detected and mis-wiring on SVEMG is detected.
teach pendant. Remedy: Power off. Correct the wiring on SVEMG Close SVOFF input circuit, and then
SRVO-239 SERVO Chain 2 (SVON) abnormal press reset.
Cause: A single chain 2 (0V) failure occurred when a SVON (Servo ON/OFF switch) SRVO-282 SERVO Chain 1 (SVOFF) abnormal
input was asserted. Cause: Single chain 1 (+24V) failure occurred when SVOFF input (Servo OFF signal) is
Remedy: Repair the circuit of the chain 2 (0V) on SVON the hardware. Set CHAIN asserted.
FAILURE detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the Remedy: Repair the circuit of chain 1 (+24V) on SVOFF hardware Set CHAIN FAILURE
teach pendant. detection to TRUE on SYSTEM/CONFIG screen And push reset button on Teach
SRVO-240 SERVO Chain 1 (FENCE) abnormal pendant
Cause: A single chain 1 (+24V) failure occurred when the FENCE circuit was opened. SRVO-283 SERVO Chain 2 (SVOFF) abnormal
Remedy: Repair the circuit of the chain 1 (+24V) on FENCE the hardware. Set CHAIN Cause: Single chain 2 (0V) failure occurred when SVOFF input (Servo OFF signal) is
FAILURE detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the asserted.
teach pendant. Remedy: Repair the circuit of the chain 2 (0V) on SVOFF hardware Set CHAIN
SRVO-241 SERVO Chain 2 (FENCE) abnormal FAILURE detection to TRUE on SYSTEM/CONFIG screen And push reset button on
Cause: A single chain 2 (0V) failure occurred when FENCE circuit was opened. Teach pendant
Remedy: Repair the circuit of the chain 2 (0V) on the FENCE hardware. Set CHAIN SRVO-290 SERVO DClink HC alarm(G:%d A:%d)
FAILURE detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the Cause: DC link high current alarm occurred on the amp
teach pendant. Remedy:
SRVO-242 SERVO Chain 1 (EXEMG) abnormal SRVO-291 SERVO IPM over heat (G:%d A:%d)
Cause: A single chain 1 (+24V) failure occurred when External Emergency stop input Cause: IPM over heat alarm occurred
was asserted. Remedy:
Remedy: Repair the circuit of the chain 1 (+24V) on the External Emergency stop SRVO-292 SERVO EXT.FAN alarm (G:%d A:%d)
hardware. Set CHAIN FAILURE detection to TRUE on SYSTEM/CONFIG the screen. Cause: External FAN alarm occurred on the amp
Press RESET on the teach pendant. Remedy:
SRVO-243 SERVO Chain 2 (EXEMG) abnormal SRVO-293 SERVO DClink(PSM) HCAL(G:%d A:%d)
Cause: A single chain 2 (0V) failure occurred when External Emergency stop input was Cause: DC link high current alarm occurred on the PSM Input power is abnormal or PSM
asserted. unit is broken
Remedy: Repair the circuit of the chain 2 (0V) on the External Emergency stop Remedy: Check input power to PSM Check the voltage between U-V,V-W,and U-W.
hardware. Set CHAIN FAILURE detection to TRUE on the SYSTEM/CONFIG screen. Change PSM unit
Press RESET on the teach pendant. SRVO-294 SERVO EXT.FAN(PSM) alarm(G:%d A:%d)
SRVO-244 SERVO Chain 1 abnormal(Rbt:%d) Cause: External FAN is abnormal on alpha PSM or alpha PSMR
Cause: A single chain 1 (+24V) failure occurred. Remedy: Exchange external FAN
Remedy: Repair the circuit of the chain 1 (+24V) on the hardware. Set CHAIN FAILURE SRVO-295 SERVO SVM COM alarm(G:%d A:%d)
detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the teach Cause: SVM communication error occurs Cable between PSM and SVM is disconnected
pendant. SVM is abnormal. Or PSM is abnormal
SRVO-245 SERVO Chain 2 abnormal(Rbt:%d) Remedy: Change cable between PSM and SVM Change SVM. Or change PSM
Cause: A single chain 2 (0V) failure occurred. SRVO-296 SERVO PSM DISCHG alm(G:%d A:%d)
Remedy: Repair the circuit of the chain 2 (0V) on the hardware. Set CHAIN FAILURE Cause: Discharge power of PSM discharge is abnormal Motion is too aggressive. Fan,
detection to TRUE on the SYSTEM/CONFIG screen. Press RESET on the teach which is cooling for PSMR, is abnormal
pendant. Remedy: Change program speed to be lower Or check whether Fan for PSMR is
SRVO-250 SERVO SVEMG/MAINON1 abnormal working If the fan is out of order, exchange the fan
SRVO-297 SERVO PSM LowVolt alm(G:%d A:%d)
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Cause: PSM control power is low voltage Cable between PSM and SVM is disconnected Cause: Specified condition has invalid host name.
PSM is abnormal. Or SVM is abnormal Remedy: Input correct host name.
Remedy: Change cable between PSM and SVM Change PSM. Or change SVM SSPC-157 SEV_STOP Intrupt signal (WT,C:%d)
SRVO-298 SYSTEM SRVO velocity alm(G:%d A:%d) Cause: Approach wait interrupt signal is turned to ON
Cause: Calculated velocity value is abnormal on Servo Remedy: Please turn off interrupt signal.
Remedy: Check status of pulse coders and motors Power off and on to reset SSPC-158 SEV_STOP App_WAIT timeout (WT,C:%d)
SRVO-300 SERVO Hand broken/HBK disabled Cause: Approach wait limit has passed.
Cause: A safety hand broken is detected when setting of HBK is disabled. The most Remedy: Restart again if opponent is far away enough.
likely cause is the HBK signal of a robot connection cable being from 24V to the 0 V SSPC-159 SEV_STOP App_WAIT can't be used(WT,G:%d)
level. Cause: Approach wait cannot be used with: Tracking motion of slave of simultaneous
Remedy: Press reset key to clear alarm. Verify whether robot has hand broken robot link Continuous turn function.
equipment or not. If it doesn't have, HBK signal status is changed Remedy: Don't use approach wait with these types of motion.
SRVO-301 SERVO Hand broken/HBK dsbl(Rbt:%d) SSPC-160 SEV_WARN App_STOP is TMP_DISed(ST,C:%d)
Cause: A safety hand broken is detected when setting of HBK is disabled. The most Cause: IASTOP[*] = TMP_DIS is executed.
likely cause is the HBK signal of a robot connection cable being from 24V to the 0 V Remedy: If you want to enable this combination, please enable it.
level. SSPC-161 SEV_WARN App_STOP is enabled (ST,C:%d)
Remedy: Press reset key to clear alarm. Verify whether robot has hand broken Cause: Resume from different line when a program is paused.
equipment or not. If it doesn't have, HBK signal status is changed Remedy: If you want to disable this combination, enable it by IASTOP instruction.
SRVO-302 SERVO Set Hand broken to ENABLE SSPC-162 SEV_WARN App_WAIT is enabled (WT,C:%d)
Cause: A signal of safety hand broken is not detected when setting of HBK is disabled. Cause: IAWAIT[*] = ENABLE is executed.
Setting of Hand broken is not correct Remedy: If you don't want to use this condition, please disable it.
Remedy: Change Hand broken to Enable. Press reset key to clear alarm. SSPC-163 SEV_WARN App_WAIT is disabled (WT,C:%d)
SRVO-303 SERVO Set HBK to ENABLE(Rbt:%d) Cause: Resume from different line when a program is paused.
Cause: A signal of safety hand broken is not detected when setting of HBK is disabled. Remedy: If you want to use this condition, enable it by IAWAIT instruction.
Setting of Hand broken is not correct SSPC-168 SEV_STOP (%s,%d) invalid group number
Remedy: Change Hand broken to Enable. Press reset key to clear alarm. Cause: The group number specified to Approach_RATE[] instruction is invalid number.
SRVO-310 SERVO ABC Unexpected Motion(G:%d) Remedy: Specify the correct group number.
Cause: Arm Bending Control (ABC) compensation value is too big. SSPC-169 SEV_STOP (%s,%d) invalid rate value
Remedy: Internal motion error. Contact your FANUC Robotics technical representative Cause: The rate value specified to Approach_RATE[] instruction is invalid. It must be the
immediately. value from 0% to 100%
SSPC Error Codes Remedy: Specify the correct rate value.
SSPC-001 SEV_WARN Waiting until space gets clear SSPC-181 SEV_WARN Comm init error %d %s
Cause: Special checking space is not clear. Cause: Comm init error
Remedy: Wait for the special checking space to clear. Remedy: Confirm hostname, IP address
SSPC-002 SEV_STOP Occer dead lock condition SSPC-182 SEV_SERVO Invalid hostname (%s)
Cause: The priority of space is invalid Cause: Invalid hostname
Remedy: Set the priority valid Remedy: Confirm hostname, IP address
SSPC-003 SEV_STOP AccuPath not allowed SSPC-183 SEV_SERVO Invalid address (%s)
Cause: Space Check function is not compatible with AccuPath. AccuPath is not allowed. Cause: Invalid IP address
Remedy: Not use AccuPath or disable space check function Remedy: Confirm hostname & IP address
SSPC-004 SEV_STOP CTV option not allowed SSPC-184 SEV_SERVO Number of host exceed limit
Cause: Space Check function is not compatible with Continuous Turn CTV option. The Cause: Specified host is too many
CTV motion option is not allowed. Remedy: Reduce target host
Remedy: Remove CTV option or disable space check function SSPC-185 SEV_SERVO Number of element exceed limit
SSPC-101 SEV_SERVO (G:%d) is close to target Cause: Enabled element is too many
Cause: Interaction is detected. Remedy: Reduce enabled element
Remedy: You can reset the alarm with SHIFT+RESET and can jog the robot to the out of SSPC-186 SEV_SERVO Invalid element (%s,%d,%d)
the interacted area. This key operation disable the interaction check temporarily while the Cause: Invalid element
SHIFT key is being pressed. Remedy: Confirm element contents
SSPC-102 SEV_STOP (G:%d) is close to target(qstop) SSPC-187 SEV_WARN Receive invalid data %d %s
Cause: Interaction is detected. Cause: Receive invalid data
Remedy: You can reset the alarm with SHIFT+RESET and can jog the robot to the out of Remedy: Confirm target host's setup
the interacted area. This key operation disable the interaction check temporarily while the SSPC-188 SEV_SERVO Invalid data for send %d
SHIFT key is being pressed. Cause: Invalid data exists to send
SSPC-104 SEV_SYSTEM APDT error %x Remedy: Confirm own element setup
Cause: Internal error. SSPC-189 SEV_SERVO Timeout element (%s,%d,%d)
Remedy: Please call customer service. And report %x. Cause: Target element is too old information
SSPC-105 SEV_SERVO Too many settings Remedy: Confirm target host is working
Cause: APDT setting is too many. SSPC-190 SEV_STOP No communication (%s)
Remedy: Reduce the number of interaction element or combination setting. Cause: Target is OFF or comm stopped
SSPC-111 SEV_SERVO Invalid comb type (ST,C:%d,%s) Remedy: Check target host and communication line
Cause: The model type in combination setting screen is invalid. SSPC-191 SEV_SERVO Target elem not exist(ST,C:%d,%s)
Remedy: Confirm the model type in the combination setting. Cause: Specified element does not exist
SSPC-112 SEV_SERVO Invalid comb index(ST,C:%d,%s) Remedy: Confirm own setup & target setup
Cause: The index number in combination setting screen is invalid. SSPC-192 SEV_STOP Target elem not exist(PA,C:%d,%s)
Remedy: Confirm the index number in the combination setting. Cause: Specified element does not exist
SSPC-113 SEV_SERVO APDT isn't supported (ST,G:%d) Remedy: Confirm own setup & target setup
Cause: The group number specified in combination setting is invalid. SSPC-193 SEV_WARN IAL detect overload (%d)
Remedy: Confirm the index number in the combination setting. Cause: APDT task is overload
SSPC-114 SEV_SERVO Not calibrated (ST,G:%d) Remedy: Increase ITP
Cause: The group is not calibrated. SSPC-202 SEV_STOP Obstacle Detected(G:%d)
Remedy: Perform the calibration for the group. Cause: Collision Detected for the group
SSPC-115 SEV_SERVO Invalid utool number (ST,G:%d) Remedy: Abort the program and jog away
Cause: Invalid tool number SSPC-203 SEV_SERVO Check combination type mismatch
Remedy: Confirm current tool number Cause: Check combination type mismatch
SSPC-116 SEV_SERVO Invalid hand num(ST,G:%d,UT:%d) Remedy: Change check combination type
Cause: The hand number related to the current tool number is invalid. SSPC-204 SEV_SERVO Two points not form a line
Remedy: Confirm the hand number. Cause: Two points not form a line
SSPC-117 SEV_SERVO Common frame setting (ST,G:%d) Remedy: Move the two points apart
Cause: There is no calibration data for the group. SSPC-205 SEV_SERVO Three points not form a plane
Remedy: Perform the calibration between the group and the base frame group. Cause: Three points not form a plane
SSPC-118 SEV_SERVO Invalid element (ST,%s:%d,%d) Remedy: Move the three points apart
Cause: There is an invalid model element. SSPC-206 SEV_SERVO Four points not form a box
Remedy: Check the link type and link number of the model element. Cause: Four points not form a box
SSPC-120 SEV_SERVO Invalid fixture obj (ST,F:%d) Remedy: Move the four points apart
Cause: The taught group number of the fixture elements is invalid. SSPC-207 SEV_SERVO Check combination not supported
Remedy: Confirm the taught jour number of the fixture elements. Cause: Check combination not supported
SSPC-131 SEV_STOP Invalid comb type (WT,C:%d,%s) Remedy: Check the check combinations
Cause: The model type in combination setting screen is invalid. SSPC-208 SEV_WARN Unit vector formation error
Remedy: Confirm the model type in the combination setting. Cause: Unit vector formation error
SSPC-132 SEV_STOP Invalid comb index(WT,C:%d,%s) Remedy: Internal error
Cause: The index number in combination setting screen is invalid. SSPC-209 SEV_SERVO Robot in too far(G:%d)
Remedy: Confirm the index number in the combination setting. Cause: Robot goes into obstacle for more than 3 ITPs before resulting the priority issue
SSPC-133 SEV_STOP APDT isn't supported (WT,G:%d) Remedy: Internal error
Cause: The group number specified in combination setting is invalid. SSPC-210 SEV_SERVO Comb check I/O Setting invalid
Remedy: Confirm the index number in the combination setting. Cause: I/O Point used for combination checking is invalid
SSPC-134 SEV_STOP Not calibrated (WT,G:%d) Remedy: Use a non-zero index for the corresponding I/O point
Cause: The group is not calibrated. SSPC-211 SEV_STOP Obstacle Detected(G:%d^2)
Remedy: Perform the calibration for the group. Cause: Collision Detected for the group
SSPC-135 SEV_STOP Invalid utool number (WT,G:%d) Remedy: Abort the program and jog away
Cause: Invalid tool number SVGN Error Codes
Remedy: Confirm current tool number SVGN-001 STOP Serious Internal error
SSPC-136 SEV_STOP Invalid hand num(WT,G:%d,UT:%d) Cause: Internal Servo Gun error
Cause: The hand number related to the current tool number is invalid. Remedy: Record error and report to hotline.
Remedy: Confirm the hand number. SVGN-002 STOP No sysvar pointer
SSPC-137 SEV_STOP Common frame setting (WT,G:%d) Cause: This is an internal system error.
Cause: There is no calibration data for the group. Remedy: Record error and report to hotline.
Remedy: Perform the calibration between the group and the base frame group. SVGN-003 STOP No global variables
SSPC-138 SEV_STOP Invalid element (WT,%s:%d,%d) Cause: This is an internal system error.
Cause: There is an invalid model element. Remedy: Record error and report to hotline.
Remedy: Check the link type and link number of the model element. SVGN-004 STOP Unable to Allocate Memory
SSPC-140 SEV_STOP Invalid fixture obj (WT,F:%d) Cause: A failure occurred while allocating memory.
Cause: The taught group number of the fixture elements is invalid. Remedy: Check amount of memory being used by the system. Perform a cold start on
Remedy: Confirm the taught jour number of the fixture elements. the controller. Record error and report to hotline.
SSPC-151 SEV_WARN App_STOP (ST,C:%d) is disabled SVGN-005 STOP Wrong TPP inst. format
Cause: This combination is originally disabled on setup screen. Cause: This SPOT instruction format is not correct. This SPOT instruction is not
Remedy: If you want to use this one,enable this combination on setup screen. available.
SSPC-152 SEV_STOP App_STOP (ST,C:%d) is disabled Remedy: Reteach this instruction with current configuration.
Cause: This combination is originally disabled on setup screen. SVGN-006 STOP Another TASK used this equip.
Remedy: Enable this combination on setup screen. Cause: Another TPP specified this equipment and now executing or paused.
SSPC-153 SEV_STOP (WT,C:%d) is enabled by other Remedy: Force abort another TPP.
Cause: This combination is already enabled by another program. SVGN-007 STOP Pre execution failed
Remedy: Disable this combination first. Cause: Pre-execution has some trouble and system pauses the program execution for
SSPC-154 SEV_STOP (ST,C:%d) is disabled by other safety.
Cause: another program disabled this condition. Remedy: Press RESET to clear the error and continue the program. If this error
Remedy: Enable this combination by the program that use this one. continues to occur, perform a cold start by turning off the robot, then while pressing
SSPC-155 SEV_STOP Invalid host name (ST,C:%d) SHIFT and RESET on the teach pendant, turn the robot back on. If the error is not
Cause: Specified condition has invalid host name. cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Input correct host name. technical representative.
SSPC-156 SEV_STOP Invalid host name (WT,C:%d) SVGN-008 STOP Syntax error
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Cause: Instruction syntax error. This instruction is for air gun spot. Cause: Specified number is not valid for $GUNNUM.
Remedy: Reteach the instruction. Reteach servo gun SPOT instruction. Remedy: $GUNNUM can be set only 1 or 2 which is corresponding to GUN1 or GUN2
SVGN-009 STOP Motion Group config. mismatch SVGN-057 STOP Tip Wear Down Cal. is IMCOMP.
Cause: Different motion group assigned motion group to robot TCP side tip and motion Cause: The Tip Wear Down Calibration is not completed.
group in this program. Remedy: Please perform the Tip Wear Down Calibration.
Remedy: Check the motion group of this program or robot group motion of servo gun SVGN-058 STOP UT or UF is different.
configuration. Cause: The tool frame number or user frame number is different from the standard
SVGN-010 STOP Invalid SG group config. position.
Cause: Invalid servo gun group number. Remedy: Change the frame number to same number of standard position.
Remedy: Check the servo gun group motion of servo gun configuration. SVGN-059 STOP Cannot read specified PR[].
SVGN-011 STOP Can not execute instruction(s). Cause: System cannot read the position register which is specified by $PRINDEX.
Cause: Incremental, offset or tool offset instructions can not execute with servo gun Remedy: Check the number of $PRINDEX.
SPOT instruction at the same program line. SVGN-060 WARN Pressure program is not set.
Remedy: Reteach this SPOT instruction to another line stand alone. Cause: The pressure program name is not set correctly.
SVGN-012 STOP Invalid value for index Remedy: Set correct program name in manual operation setup screen.
Cause: The index value is invalid. The register index value is invalid. SVGN-061 WARN Backup program is not set.
Remedy: Check the index value. Cause: The backup program name is not set correctly.
SVGN-013 STOP Pressure exceeds limit Remedy: Set correct program name in manual operation setup screen.
Cause: Specified pressure is too high. SVGN-062 WARN Pressure data is not selected.
Remedy: Lower pressure. Cause: Pressure data index for manual operation is not selected.
SVGN-014 STOP Associate TID not found Remedy: Set the pressure data in the pressure data setup screen. And set TRUE to the
Cause: This is an internal system error. item of MANUAL
Remedy: Record error and report to hotline. SVGN-063 WARN Pressure data is not set.
SVGN-015 STOP Setup Configuration error Cause: Specified pressure data index is not set the valid pressure data.
Cause: Some servo gun configuration data are invalid. Remedy: Set the valid pressure data to the specified pressure data index.
Remedy: Check servo gun configuration data. SVGN-070 PAUSE Gun Change is DISABLED.
SVGN-016 STOP Specified pressure too low Cause: This equipment is set to Air Gun. Or the gun change setup is disabled.
Cause: Specified pressure value is too low. Pressure coefficient-B value is bigger than Remedy: Set the equipment type to Servo Gun in initial setup screen, and Enable Gun
specified pressure value. change.
Remedy: Higher pressure. Lower Pressure coefficient-B. SVGN-071 PAUSE Machine lock is ENABLE.
SVGN-017 STOP Invalid pressure coefficient Cause: Machine lock for robot axes is enabled at gun attach instruction.
Cause: Invalid pressure coefficient-A value. Remedy: Release machine lock.
Remedy: Change pressure coefficient-A value from 0.1 up to 100. SVGN-072 PAUSE Illegal assignment of gun axis.
SVGN-018 STOP Illegal torque limit value Cause: Gun number assignment are wrong .
Cause: Illegal torque limit value is specified. Remedy: Confirm Gun number assignment.
Remedy: Check the max motor torque in servo gun setup menu. Check the specified SVGN-073 PAUSE Gun not detatched (AXISORDER).
pressure and pressure coefficientA,B. Cause: Gun is not detached. Some AXISORDER are not 0.
SVGN-019 WARN Pressure shortage Remedy: GUN ATTACH instruction can be executed only when no gun is attached.
Cause: Actual pressure is shortage. SVGN-074 PAUSE Gun not detatched.
Remedy: Check the status of tip contact. Cause: Gun is not detached. Gun attach input signal is OFF.
SVGN-020 STOP Pressure shortage Remedy: GUN ATTACH instruction can be executed only when no gun is attached.
Cause: Actual pressure is shortage. SVGN-075 PAUSE Gun not attached.
Remedy: Check the status of tip contact. Cause: Gun is not attached. Gun attach input signal is ON.
SVGN-021 STOP Uninitialized BU condition Remedy: GUN DETACH instruction can be executed only when a gun is attached.
Cause: Servo gun condition BU is not initialized. SVGN-076 PAUSE Another process is executing.
Remedy: Add a servo gun condition instruction. Cause: Another program is executing GUN ATTACH or GUN DETACH instruction.
SVGN-022 STOP Uninitialized Pres. condition $CHG_PHASE is not 0 at executing the instruction.
Cause: Pressure condition is not initialized. Pressure condition value is invalid. Remedy: Wait until another program end GUN ATTACH/DETACH instruction.
Remedy: Add a servo gun condition instruction. SVGN-077 PAUSE Gun identify signal is OFF.
SVGN-023 STOP Incomplete Pressure calibration Cause: Gun identify signal is OFF.
Cause: Incomplete pressure calibration. Remedy: Confirm the setting for Gun identify signal.
Remedy: Please calibrate pressure in Pressure Calibration menu. SVGN-078 PAUSE Gun set signal is OFF.
SVGN-024 STOP Incomplete Wear Down calibration Cause: Gun set signal is OFF.
Cause: Incomplete Wear Down calibration. Remedy: Confirm the setting for Gun set signal.
Remedy: Please calibrate in Wear Down Calibration menu. SVGN-079 PAUSE Gun change canceled.
SVGN-025 STOP Illegal BU condition number Cause: GUN ATTACH or GUN DETACH instruction is canceled while executing the
Cause: Invalid BU condition number is specified. instruction.
Remedy: Specify existing BU condition number. Remedy: Do COLD START the system.
SVGN-026 STOP Illegal P condition number SVGN-080 PAUSE Gun change timeout.
Cause: Invalid P condition number is specified. Cause: GUN ATTACH or GUN DETACH instruction become timeout while executing the
Remedy: Specify existing P condition number. instruction.
SVGN-027 STOP Untaught element encountered Remedy: Do COLD START the system.
Cause: This instruction is not taught completely. SVGN-081 SYSTEM Gun mastering data is lost.
Remedy: Teach this instruction. Cause: Mastering data of the gun is lost by a pause while mastering.
SVGN-028 STOP Pos. type is JOINT Remedy: Do COLD START the system. Then master the gun by manual operation.
Cause: Position type is JOINT. SVGN-082 PAUSE Gun mastering is failed.
Remedy: Change position type to XYZWPR. Cause: Gun mastering is failed by a pause while mastering.
SVGN-029 STOP Over max motor torque value Remedy: Continue to retry mastering.
Cause: The convert value from specified pressure value to torque limit value exceeds the SVGN-083 PAUSE GUN ATTACH is failed.
max torque value. Cause: GUN ATTACH instruction failed. Please see cause code.
Remedy: Check the specified pressure value. Check the max torque value. Remedy: Please see cause code.
SVGN-030 STOP Tip Stick detection SVGN-084 PAUSE GUN DETACH is failed.
Cause: Tip stick detection DI is ON Cause: GUN DETACH instruction failed. Please see cause code.
Remedy: Remedy: Please see cause code.
SVGN-031 STOP Tear Off is executing SVGN-085 PAUSE Robot not mastered(Gun axis).
Cause: When tear off function is executing, program cannot be started. Cause: The mastering of servo gun axis has not been performed yet. System variable
Remedy: Restart program after tear off function finished. $master_done set FALSE.
SVGN-032 STOP Tip increased error(Gun) Remedy: Please perform the mastering of the servo gun axis.
Cause: The tip wear down value of gun side exceeds the increased error. SVGN-086 PAUSE Robot not calibrated(Gun axis).
Remedy: Some chips may stick to the gun side tip. Please check the tip. Cause: The calibration of servo gun axis has not been performed yet. System variable
SVGN-033 STOP Tip increased error(Robot) $calibrate set FALSE.
Cause: The tip wear down value of robot side exceeds the increased error. Remedy: Please calibrate the servo gun axis.
Remedy: Some chips may stick to the robot side tip. Please check the tip. SVGN-087 PAUSE Ref pos not set(Gun axis).
SVGN-034 STOP Pressure value over Cause: Reference position has not been set when quick mastering.
Cause: Actual pressure is over. Remedy: Quick mastering may not be possible. Fixture or zero master.
Remedy: Check the status of tip contact. SVGN-088 PAUSE Another gun is attached.
SVGN-035 STOP Pressure enable time out Cause: The another gun which is different from the gun number specified by GUN
Cause: Pressure enable signal has not input after time out. DETACH instruction is attached.
Remedy: Check the reason of pressure enable signal off. Or Fix the value of time Remedy: Verify the gun number of GUN DETACH instruction.
out($SPOTEQSETUP[1].$PEN_TMOUT). SVGN-089 PAUSE Calibrate motion is failed.
SVGN-036 STOP Comp confirmation time out Cause: While the calibrate motion, the detect condition was not triggered.
Cause: Comp confirmation signal has not input after time out. Remedy: Verify the detect condition in the gun change setup screen.
Remedy: Check the reason of comp confirmation signal off. Or Fix the value of time SVGN-090 PAUSE PR[] index is not set.
out($SPOTEQSETUP[1].$NSE_TMOUT). Cause: The PR[] index for the calibrate motion is not set.
SVGN-037 STOP Illegal pressure enable signal Remedy: Please set PR[] index for the calibrate motion in the gun change setup screen.
Cause: Pressure enable signal number is illegal. SVGN-091 PAUSE Touch torque is not set.
Remedy: Setup pressure enable signal in SPOT I/O. Cause: The Touch torque for the calibrate motion is not set.
SVGN-038 STOP Illegal comp confirmation signal Remedy: Please set Touch torque for the calibrate motion in the gun change setup
Cause: Comp confirmation signal number is illegal. screen.
Remedy: Setup comp confirmation signal in SPOT I/O. SVGN-092 PAUSE Detect signal is not set.
SVGN-040 STOP Thickness out of tolerance Cause: The Detect signal for the calibrate motion is not set.
Cause: Measured thickness deviates more than specified tolerance. Remedy: Please set Detect signal for the calibrate motion in the gun change setup
Remedy: Check part or re-enter part thickness. screen.
SVGN-041 WARN No more available memory(PERM) SVGN-093 PAUSE Gun does not stop.
Cause: There is not enough permanent memory. It is impossible to allocate the system Cause: At the Gun Zero Master[] instruction, Servo gun axis does not stop.
variable. Remedy: After servo gun axis stops, execute the Gun Zero Master[] instruction.
Remedy: Please increase the size of S-RAM module. Or, decrease the value of SVGN-094 PAUSE GUN EXCHANGE failed
$SGSYSCFG.$M_GUN_NUM. Cause: At the Gun exchange[] instruction, the new gun could not be activated.
SVGN-042 WARN Lack of $SGGUN Remedy: Make sure that the each servogun has valid axisorder
Cause: The number of $SGGUN is less than the total axis number of servo gun group. SVGN-095 PAUSE Gun type is not opposable.
Remedy: Please increase $SGSYSCFG.$M_GUN_NUM to be larger than the total axis Cause: Opposable gun type is required for target gun.
number of servo gun group. Remedy: Set gun type as opposable, if appropriate.
SVGN-051 WARN Backup stroke is not selected. SYST Error Codes
Cause: Backup stroke index for manual operation is not selected. SYST-001 PAUSE HOLD button is being pressed
Remedy: Set the stroke in the backup stroke setup screen. And set TRUE to the item of Cause: You attempted an operation while the hold button (input) is pressed.
MANUAL Remedy: Clear the hold button (input), and try the same operation.
SVGN-052 WARN Motion group mismatch. SYST-002 PAUSE HOLD is locked by program
Cause: The motion group number of the user program for manual pressure or manual Cause: Meaning: The condition that the robot is being held is locked by the program, and
backup is not matched to the Servo Gun group. it could not be cleared.
Remedy: Change the motion group number of the program to match the Servo Gun Cause: If a HOLD statement is executed in a Karel program, the held condition can only
SVGN-053 WARN Backup stroke is not set. be cleared by the same program using the UNHOLD statement/action, or by aborting the
Cause: Specified backup stroke index is not set the valid stroke value. program. If a motion is attempted in such condition, this error message is displayed.
Remedy: Set the valid backup stroke to the specified backup stroke index. Remedy: Wait until the UNHOLD statement is executed by the karel program, or abort
SVGN-054 STOP $EQNUM is invalid number. the karel program.
Cause: $EQNUM is not use in the system. SYST-003 WARN TP is enabled
Remedy: Set the valid equipment number to $EQNUM. Cause: The attempted operation could not be done because the teach pendant is
SVGN-055 STOP $EQNUM is not Servo Gun. enabled.
Cause: The equipment specified by $EQNUM is not assigned to the Servo Gun Remedy: Disable the teach pendant, and try the same operation again.
Remedy: Set the equipment number which is assigned to Servo Gun to $EQNUM. SYST-004 WARN SOP is enabled
SVGN-056 STOP $GUNNUN is invalid number.
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Cause: The attempted operation could not be done because the System Operator Panel Cause: System did semi-hot start
is enabled. Remedy: This is just a notification. You do not have to do anything for this warning
Remedy: Turn the REMOTE switch on the SOP to REMOTE side, and try the same message.
operation again. SYST-037 ABORT Key switch broken
SYST-005 WARN UOP is the master device Cause: Improper input from Key switch
Cause: The attempted operation could not be done because the User Operator Panel is Remedy: Please fix the CE Sign key switch
enabled. SYST-038 PAUSE Operation mode T1 Selected
Remedy: Turn the REMOTE switch to local (if the operation is attempted from the SOP), Cause: Operation mode T1 Selected
or set the $RMT_MASTER system variable correctly. Refer to the SYSTEM R-J2 Remedy: This is just a notification. You do not have to do anything for this warning
Software Reference Manual, Chapter 2 "System Variables", for more information on message.
system variables. SYST-039 PAUSE Operation mode T2 Selected
SYST-006 WARN KCL is the master device Cause: Operation mode T2 Selected
Cause: The attempted operation could not be done because KCL is the master device. Remedy: This is just a notification. You do not have to do anything for this warning
Remedy: Turn the REMOTE switch to local (if the operation is attempted from the SOP), message.
or set the $RMT_MASTER system variable correctly. Refer to the SYSTEM RJ-2 SYST-040 PAUSE Operation mode AUTO Selected
Software Reference Manual, Chapter 2 "System Variables", for more information on Cause: Operation mode AUTO Selected
system variables. Remedy: This is just a notification. You do not have to do anything for this warning
SYST-007 WARN NETWORK is the master device message.
Cause: The attempted operation could not be done because the NETWORK command SYST-041 PAUSE Ovrd Select could not ENABLED
processor is the master device. Cause: DI index is invalid
Remedy: Turn the REMOTE switch to local (if the operation is attempted from the SOP), Remedy: Please set valid DI index
or set the $RMT_MASTER system variable correctly. Refer to the SYSTEM R-J2 SYST-042 PAUSE DEADMAN defeated
Software Reference Manual, Chapter 2 "System Variables", for more information on Cause: The mode switch was changed from T1 or T2 mode to AUTO mode and the
system variables. DEADMAN was already pressed. The DEADMAN must be released when switching to
SYST-008 WARN Nothing is the master device AUTO mode
Cause: The system variable $RMT_MASTER is set to disable all devices. Therefore, no Remedy: Release the DEADMAN and press RESET.
remote device can issue motion. SYST-043 PAUSE TP disabled in T1/T2 mode
Remedy: Turn the REMOTE switch to local (if the operation is attempted from the SOP), Cause: The mode selector is in T1 or T2 and the TP ON/OFF switch is in the OFF
or set the $RMT_MASTER system variable correctly. Refer to the SYSTEM R-J2 position
Software Reference Manual, Chapter 2 "System Variables", for more information on Remedy: Turn the TP ON/OFF switch to ON. Press RESET.
system variables. SYST-044 SYSTEM (Abnormal) TP disabled in T1/T2 mode
SYST-009 WARN Safety Fence open Cause: The mode selector is in T1 or T2 and the TP ON/OFF switch is in the OFF
Cause: The attempted operation could not be done because the safety fence is open. position and SVOFF is ON. This is an abnormal condition.
Remedy: Close the safety fence, and try the same operation again. Remedy: Call your FANUC Robotics technical representative.
SYST-010 WARN Max num task reached SYST-045 PAUSE TP enabled in AUTO mode
Cause: The number of task has reached the maximum. Cause: The mode selector is in AUTO and the TP ON/OFF switch is in the ON position
Remedy: Abort one of the running task. Remedy: Turn the TP ON/OFF switch to OFF. Press RESET.
SYST-011 WARN Failed to run task SYST-046 SYSTEM Control Reliable/CE Mark config mismatch
Cause: The system has failed to run the program. Cause: Either 1.Control Reliable or CE Mark hardware exists but the CR or CE Mark
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. option has not been loaded,or 2.The Control Reliable/CE Mark option has been loaded
SYST-012 WARN Not in remote but the hardware is not available.
Cause: Remote condition is not satisfied. Remedy: If the Control Reliable/CE Mark option has not been loaded, load the Control
Remedy: Turn the remote switch on. Reliable/ CE Mark option. If it has been loaded then this is a system without the Control
SYST-013 WARN Invalid program number Reliable/ CE Mark hardware and the system must be totally reloaded WITHOUT the
Cause: The specified PNS number is not in the range of 1 to 9999. Control Reliable/CE Mark option.
Remedy: Specify correct program number. SYST-047 WARN Continuing from distant position
SYST-014 WARN Program select failed Cause: Attempt to continue program from distant position from stopped position.
Cause: PNS operation has failed by some reason. Remedy: Respond ABORT or CONTINUE in the prompt box on at the teach pendant
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. SYST-048 ABORT NECALC couldn't get work memory
SYST-015 WARN Robot Service Request failed Cause: OS couldn't give NECALC soft part enough memory
Cause: RSR operation has failed by some reason. Remedy: Please increase Controller's memory
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen. SYST-049 ABORT SFCALC couldn't get work memory
SYST-016 WARN ENBL signal is off Cause: OS couldn't give SFCALC soft part enough memory
Cause: ENBL signal in UOP is off Remedy: Please increase Controller's memory
Remedy: Set ENBL signal ON SYST-050 WARN Invalid time in trigger request
SYST-017 WARN Single step operation effective Cause: Invalid time used in TG request
Cause: Single step operation is effective Remedy: Time must be less than 6,000,000 us
Remedy: Disable single step switch SYST-051 PAUSE SYTG overrun: %d %d %x %d %d
SYST-018 WARN Continuing from different line Cause: Excessive time in trigger routines First number indicates event routine (1) or scan
Cause: Attempt to continue program from different line from paused line routine (2). Second number indicates individual overrun (1) or excessive cumative CPU
Remedy: Respond YES or NO in the prompt box on at the teach pendant use (2). Third number: event number(hexadecimal) or scan routine address Fourth
SYST-019 WARN Program not selected number: limit (microseconds or 100ths of one pct) Fifth number: time used (microseconds
Cause: Program has not been selected or 100ths of one pct)
Remedy: Select a program from the program select menu on the teach pendant, or using Remedy: Event or scan routine need to be made more efficient, scan rate reduced, or
PNS system variable values increased to permit more CPU usage.
SYST-020 WARN Program not verified by PNS SYST-052 WARN Trigger slot already used: %d
Cause: Program specified by PNS is different from current selected program. This error Cause: Specified entry already used
occurs in R-J Mate only Remedy: Use cancel request to delete old entry
Remedy: Select a correct program from the program select menu on the teach pendant SYST-053 WARN Invalid fast_DIN no: %d
SYST-021 WARN System not ready, press reset Cause: Specified Fast-DIN number is invalid
Cause: An error has been detected by the system Remedy: Use Valid Fast-DIN
Remedy: Press RESET to clear error condition SYST-054 WARN Event-ID already used: %d
SYST-022 WARN PNS not zero, cannot continue Cause: Specified event ID already in use
Cause: Paused program cannot be continued if PNS input ports are not zero This error Remedy: Use unique event ID or cancel previous request
occurs in R-J Mate only SYST-055 WARN Event-ID not found: %d
Remedy: Set all PNS input ports to OFF Cause: Specified event ID is not presently in use
SYST-023 SYSTEM Teach Pendant communication error Remedy: Check event ID
Cause: A communication cable is broken. SYST-056 WARN Scan routine list full
Remedy: Check the teach pendant cable. Replace the cable if necessary. Cause: A call to syscnrtn was made when the scan list was full. A maximum of 10 scan
SYST-024 WARN PNSTROBE is OFF. Cannot start exec routines, including the standard table scanning routine, may be active at one time.
Cause: Because PNSTROBE is off, prod_start could not be processed Remedy: Either cancel scan routines that are no longer needed or combine scan
Remedy: Set PNSTROBE input to ON routines
SYST-025 WARN Teach Pendant is different type SYST-057 WARN Illegal interval
Cause: The type of teach pendant being connected, is different from the one that was Cause: The interval parameter in a call to syscnrtn was greater than 1000000 (1
disconnected. second).
Remedy: Connect the same type of teach pendant as disconnected. Remedy: Use a value in the range 1-1000000
SYST-026 WARN System normal power up SYST-058 WARN Duplicate scan routine
Cause: System has executed normal power startup Cause: syscnrtn was called specifying a routine and data_p that is already being
Remedy: This is just a notification. You do not have to do anything for this warning scanned
message. Remedy: Don't request the same rtn/data_p twice
SYST-027 PAUSE HOT start failed (Error:%d) SYST-059 WARN Scan routine not active
Cause: HOT start has failed for one of the following reasons: Cause: syclclsc was called with a routine and data_p that that does not match any active
1. Power failed during system start up. scans
2. Flash ROM module was changed. Remedy: Don't cancel a non-existent scan
3. A run-time error occurred. SYST-060 WARN Duplicate cond/act table
4. System internal error 1. Cause: syaddtbl called with pointer to table that is already in the scan list
5. System internal error 2. Remedy: Add table only once
Remedy: COLD start is selected automatically. SYST-061 WARN Scan table list full
SYST-028 WARN (%s) Program timed out Cause: syaddtbl called when all 10 condition/action table slots are already in use
Cause: $PWR_HOT,$PWR_SEMI program has been aborted by the system due to time Remedy: Cancel tables that are no longer needed or combine tables.
out (40sec) SYST-062 WARN Scan table not active
Remedy: Decrease program size so that it can be executed within the time out limit Cause: sycncltb called with cond/act table that is not active.
SYST-029 PAUSE Robot was connected (Group:%d) Remedy: Check for duplicate sycncltb call or wrong table pointer
Cause: The connect/isolate key was turn to the connect side SYST-063 WARN Scan time record seq error
Remedy: This is just a notification. You do not have to do anything for this warning Cause: System error: consecutive time interval start calls
message. Remedy: Contact FANUC Robotics with information on events leading up to error
SYST-030 PAUSE Robot was isolated (Group:%d) SYST-064 WARN Bad scan table data
Cause: The connect/isolate key was turn to the isolate side Cause: System error: Invalid data in scan table The following can result in this error: Too
Remedy: This is just a notification. You do not have to do anything for this warning many cond/action sets (max = 10) Invalid condition code Invalid action code Too many
message. actions (max = 3)
SYST-031 SYSTEM F-ROM parity Remedy: Contact FANUC Robotics with information on events leading up to error
Cause: An error has occurred accessing F-ROM SYST-065 ABORT SFCALC overrun
Remedy: Perform a cold start: Cause: SFCALC task can't get enough MPU power.
1. Turn off the robot. Remedy: Please reduce some software options or disable some motion groups which
2. On the teach pendant, press and hold the SHIFT and RESET keys. had been enabled.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not SYST-066 PAUSE Teach Pendant communication error
cleared, document the events that led to the error and call your FANUC Robotics Cause: Communication with the advanced Teach Pendant was interrupted.
technical representative. Remedy: Too much communication may have caused the interrupt. Check the teach
SYST-032 WARN ENBL signal from UOP is lost pendant cable. Replace the cable if necessary.
Cause: ENBL input signal from UOP is lost SYST-067 SYSTEM Panel HSSB disconnect
Remedy: Determine and correct the cause of loss of this signal. Cause: Panel HSSB communication is disconnected.
SYST-033 WARN SFSPD signal from UOP is lost Remedy: Check panel HSSB hardware connection.
Cause: SFSPD input signal from UOP is lost SYST-069 WARN Program number out of range
Remedy: Determine and correct the cause of loss of this signal. Cause: The selected style number is zero or greater than the size of the style table.
SYST-034 WARN HOLD signal from SOP/UOP is lost Remedy: Select a valid style number, or adjust the size of the table.
Cause: HOLD input signal from SOP/UOP is lost SYST-070 WARN No program name in table
Remedy: Determine and correct the cause of loss of this signal. Cause: There is no program name in the style table.
SYST-035 WARN Low or No Battery Power in PSU. Remedy: Put a valid program name in the proper place in the style table.
Cause: Battery in PSU board is low in power. SYST-071 WARN Program not found
Remedy: Replace the Old Battery with a new battery of same kind. Cause: The selected style program does not exist on the controller.
SYST-036 WARN Semi power failure recovery Remedy: Create a program for the style, or put a valid program name in the style table.
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SYST-072 WARN Program not enabled Cause: The PNS strobe input, which is required with the current program selection
Cause: The selected style program is not enabled. options, has not been defined.
Remedy: Set the VALID field to YES in the style table. Remedy: Set up a PNS strobe input in the Cell Input I/O menu and restart the robot.
SYST-073 WARN Manual selection mismatch SYST-119 WARN No echo strobe output defined
Cause: The style input does not match the manually selected style. Cause: The acknowledgement strobe output, which is required with the current program
Remedy: The PLC must send a style code that matches the manual selection. selection options, has not been defined.
SYST-074 WARN Karel shell failed Remedy: Set up an acknowledgement strobe output in the Cell Output I/O menu and
Cause: Communications with the Karel shell extension failed. restart the robot.
Remedy: Cold start the controller. SYST-120 WARN No style option input defined
SYST-075 WARN Shell init failure Cause: One or more style option inputs, which are required with the current program
Cause: The shell was unable to start due to resource allocation failures. selection options, have not been defined.
Remedy: Cold start the controller. Remedy: Set up the style option inputs in the Cell Input I/O menu and restart the robot.
SYST-076 WARN Shell condition setup failure SYST-121 WARN No decision input group defined
Cause: The shell could not set up its required condition handlers. Cause: The decision code input group, which is required with the current program
Remedy: Cold start the controller. selection options, has not been defined.
SYST-077 WARN Entered INTERLOCK mode Remedy: Set up a decision code input group in the Cell Input I/O and Group I/O menus
Cause: The controller is interlocked with the PLC and restart the robot.
Remedy: This is an informational message. There is no error. SYST-122 WARN No style output group defined
SYST-078 WARN Entered ISOLATE mode Cause: The echo/manual style output group, which is required with the current program
Cause: The controller is isolated from PLC control. selection options, has not been defined.
Remedy: This is an informational message. There is no error Remedy: Set up a style output group in the Cell Output I/O and Group I/O menus and
SYST-079 WARN Startup check failed restart the robot.
Cause: One or more of the pre-startup system checks failed. SYST-123 WARN No option output defined
Remedy: Look for a previous message that indicates exactly which check failed and take Cause: One or more style option outputs, which are required with the current program
corrective action. selection options, have not been defined.
SYST-080 WARN Fault must be reset Remedy: Set up the style option outputs in the Cell Output I/O menu and restart the
Cause: The system is in a faulted state. robot.
Remedy: Reset the fault before trying the operation again. SYST-124 WARN No decision output group defined
SYST-081 WARN Not at home position Cause: The decision code output group, which is required with the current program
Cause: The program can not start because the robot is not at the defined home position. selection options, has not been defined.
Remedy: Move the robot to the home position. Remedy: Set up a decision code output group in the Cell Output I/O and Group I/O
SYST-082 WARN Not within resume tolerance menus and restart the robot.
Cause: The program can not be resumed because the robot has been moved from the SYST-125 WARN No in-cycle output defined
position on the path where it stopped. Cause: The in-cycle output, which is required with the current program selection options,
Remedy: Jog the robot back to the correct position. has not been defined.
SYST-083 WARN I/O is simulated Remedy: Set up an in-cycle output in the Cell Output I/O menu and restart the robot.
Cause: One or more I/O points are simulated. SYST-126 WARN No task-OK output defined
Remedy: Unsimulate all I/O before trying to start the program. Cause: The task_OK output, which is required with the current program selection
SYST-084 WARN I/O forced unsimulated options, has not been defined.
Cause: The system has forced all I/O to be unsimulated. Remedy: Set up a task-OK output in the Cell Output I/O menu and restart the robot.
Remedy: This is an informational message. SYST-127 WARN No isolate output defined
SYST-085 WARN Gen override not 100% Cause: The isolate mode output, which is required with the current program selection
Cause: The general speed override is not 100% options, has not been defined.
Remedy: Set the override to 100%. Remedy: Set up an isolate mode output in the Cell Output I/O menu and restart the
SYST-086 WARN Gen override forced to 100% robot.
Cause: The system has forced the general speed override to 100% SYST-128 WARN No interlock output defined
Remedy: This is an informational message. Cause: The interlock mode output, which is required with the current program selection
SYST-087 WARN Prog override not 100% options, has not been defined.
Cause: The program override is not 100%. Remedy: Set up an interlock mode output in the Cell Output I/O menu and restart the
Remedy: Set the override to 100%. robot.
SYST-088 WARN Prog override forced to 100% SYST-129 WARN No manual style output defined
Cause: The system has forced the program speed override to 100%. Cause: The manual style request output, which is required with the current program
Remedy: This is an informational message. selection options, has not been defined.
SYST-089 WARN Machine lock on Remedy: Set up a manual style request output in the Cell Output I/O menu and restart
Cause: The machine lock is on, motion can not occur. the robot.
Remedy: Turn off the machine lock. SYST-130 WARN Program still running
SYST-090 WARN Machine lock forced off Cause: The shell is already running an active program.
Cause: The system has forced machine lock to the off state. Remedy: Finish or abort the current program before requesting a new program selection.
Remedy: This is an informational message. SYST-131 WARN Invalid manual style request
SYST-091 WARN Single step active Cause: The manual style request cannot be done. There is also a secondary error
Cause: The program is in single-step mode. posted that gives the reason.
Remedy: Take the system out of single-step mode. Remedy: Examine the secondary error message.
SYST-092 WARN Single step forced off SYST-132 WARN Manual request timed out
Cause: The system has forced single-stepping to be off. Cause: The specified manual style was not requested by the PLC within the allowable
Remedy: This is an informational message. time period.
SYST-093 WARN Process not ready Remedy: Determine why the PLC did not respond to the request, or increase the timeout
Cause: The program can not start because the process is not ready. value.
Remedy: Make the process equipment ready for running a program. SYST-133 WARN System trigger request early
SYST-094 WARN Process forced ready Cause: A request for a system trigger function (scan routine, etc) was made before the
Cause: The system has forced the process equipment to the ready state. tables for these are initialized.
Remedy: This is an informational message. Remedy: Defer any of these requests until late in the cold-start process
SYST-095 ABORT Remote diagnose internal error SYST-134 WARN Max. freq. exceeded ch.: %d
Cause: Internal Error in Remote Diagnose function. Cause: A frequency input connected to one of the HDI inputs momentarily or for an
Remedy: Internal error extended time had a frequency exceeding the setting for the maximum. The channel or
SYST-103 WARN Not-home ignored input number is indicated in the alarm text.
Cause: User bypassed not-home condition at program startup. Remedy: Reduce or eliminate the noise on the signal with additional grounding or
Remedy: None needed - warning only. shielding. If the frequency dip switch setting on the HDI Pulse Module is for the low range
SYST-104 WARN Resume tolerance ignored (640 Hz) and normal input frequencies will be above this, change the settings. Change
Cause: User bypassed TCP position tolerance at program resume. the dip switch setting to the high range (1000 Hz) and the system variable
Remedy: None needed - warning only. $FQINT_SETUP[n].$FREQ_MAX_AL to 1020. If the frequency dip switch setting on the
SYST-105 WARN Simulated I/O ignored HDI Pulse Module is for the high range (1000 Hz) and normal input frequencies will
Cause: User bypassed I/O simulated at program startup. always be below the low range change the setting to the low range. If the device
Remedy: None needed - warning only. providing the frequency (a flow meter for example) is providing frequencies above 1000
SYST-106 WARN Gen override ignored Hz, either change settings on the meter or change the type of meter so that the
Cause: User bypassed general override < 100% at program startup. frequency provided is reduced. To disable this alarm, change the setting of the system
Remedy: None needed - warning only. variable $FQINT_SETUP[n].$FREQ_MAX_AL to 1200 if using the HDI Pulse Module or
SYST-107 WARN Prog override ignored to 0 otherwise.
Cause: User bypassed program override < 100% at program startup. SYST-135 WARN Invalid Clock, Please Reset
Remedy: None needed - warning only. Cause: The system clock has an invalid time. The clock may not have been set.
SYST-108 WARN Machine lock ignored Remedy: Reset the system Clock using the SYSTEM Clock TP page
Cause: User bypassed machine lock at program startup. SYST-136 WARN System Time was reset
Remedy: None needed - warning only. Cause: The system clock was reset by an Operator.
SYST-109 WARN Single step ignored Remedy: Check the system Clock using the SYSTEM Clock TP page
Cause: User bypassed single-step condition at program startup. SYST-137 WARN Device not found
Remedy: None needed - warning only. Cause: The requested device is not installed on the motherboard.
SYST-110 WARN Process ready ignored Remedy: Request only valid devices.
Cause: User bypassed process not ready at program startup. SYST-138 WARN Motherboard not installed
Remedy: None needed - warning only. Cause: The specified motherboard is not installed.
SYST-111 WARN No home pos defined Remedy: Specify only installed motherboards.
Cause: No home position defined for motion group 1. SYST-139 WARN Invalid motherboard request
Remedy: Enable at least one reference position for group 1 as a home position, or Cause: The specified motherboard index is not a valid value.
disable the home position startup check. Remedy: This is a programming error. Specify only index 0 or 1
SYST-112 WARN No production start input defined SYST-140 WARN Invalid IRQ specified
Cause: The production start input, which is required with the current program selection Cause: An invalid interrupt number was specified by the device driver.
options, has not been defined. Remedy: Specify an IRQ from 3 through 7 only.
Remedy: Set up a production start input in the Cell Input I/O menu and restart the robot. SYST-141 WARN BMON was updated
SYST-113 WARN No style input group defined Cause: BMON was automatically updated because of a newer version.
Cause: The style number input group, which is required with the current program Remedy: Check BMON version.
selection options, has not been defined. SYST-142 WARN ABS time in sytmrev in past
Remedy: Set up a style number input group in the Cell Input I/O and Group I/O menus Cause: The time specified for a timed event has already passed The event will trigger
and restart the robot. immediately
SYST-114 WARN No RSR input defined Remedy: Specify a later time for the event
Cause: One or more RSR inputs, which are required with the current program selection SYST-143 WARN pkt_data_size too big
options, have not been defined. Cause: pkt_data_size parameter in syinpev_gen call is too big.
Remedy: Set up the RSR inputs in the Cell Input I/O menu and restart the robot. Remedy: Use size <= MAX_PKT_DATA in sytglib.h
SYST-115 WARN No PNS select input defined SYST-144 WARN Bad DO specfied by %s
Cause: One or more PNS selection inputs, which are required with the current program Cause: Invalid or unassigned DOUT number specified in the indicated system variable.
selection options, have not been defined. Remedy: Set the system variable to zero (no port used) or to a valid port number and
Remedy: Set up the PNS selection inputs in the Cell Input I/O and Group I/O menus and ensure that the indicated DOUT is assigned.
restart the robot. SYST-145 WARN DO specfied by %s OFFLINE
SYST-116 WARN No RSR echo output defined Cause: DOUT specified in the indicated system variable is Off-line.
Cause: One or more RSR echo outputs, which are required with the current program Remedy: Set the device to which the DOUT is assigned On-line.
selection options, have not been defined. SYST-146 WARN n_pkts invalid
Remedy: Set up the RSR echo outputs in the Cell Output I/O menu and restart the robot. Cause: n_pkts_parameter in syinpev_gen call is invalid.
SYST-117 WARN No PNS echo output defined Remedy: Use value in the range of 1 to 20, or zero if evnt_rtn_2 not used
Cause: The PNS echo outputs, which are required with the current program selection SYST-148 PAUSE Dynamic Brake is Disabled
options, have not been defined. Cause: Dynamic Brake is disabled by dynamic brake release request signal
Remedy: Set up the PNS echo outputs in the Cell Output I/O and Group I/O menus and (DI[$DYN_BRK.$DI_IDX]).
restart the robot. Remedy: If you would like to turn on servo, please turn off dynamic brake release
SYST-118 WARN No PNS strobe input defined request signal.
SYST-149 WARN Dynamic Brake is Enabled
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Cause: Dynamic Brake is enabled because dynamic brake release request is turned off. Remedy: Check the values for the current and previous positions.
Remedy: It is message only. TCPP-015 WARN Invalid time into segment
SYST-150 WARN Cursor is not on line 1 Cause: The time computed for the current segment exceeds the segment length.
Cause: The program is started except from the 1st line. Remedy: Check the value for the current position data.
Remedy: Respond YES or NO in the prompt box on at the teach pendant TCPP-016 WARN No cfseg data
SYST-151 WARN Start again (%s, %d) Cause: The Cartesian Filter data is not valid.
Cause: After the program is started except from the 1st line, respond YES in the prompt Remedy: Check to make sure that the Cartesian Filter option has been properly loaded
box on at the teach pendant. and initialized.
Remedy: Start the same program again. TCPP-017 WARN Modone computation error
SYST-152 WARN Cannot force DO's in AUTO mode Cause: The internal Motion Done computation generated an error.
Cause: Attempt to force output signal while controller is in AUTO mode Remedy: No action is necessary, but the TCP Speed value will not be valid for several
Remedy: Exit AUTO mode before doing this operation motions.
SYST-153 WARN Cannot SIM/UNSIM DO's in AUTO mode TCPP-018 WARN Begin Error Mode at line:%d^5
Cause: Attempt to force output signal while controller is in AUTO mode Cause: The program positions beginning with this line have caused an error condition
Remedy: Exit AUTO mode before doing this operation which makes further speed prediction invalid. The speed prediction task has therefore
SYST-154 WARN No start in ISOLATE/BYPASS mode entered an error handling mode within which it discontinues speed prediction but
Cause: Production start received when controller is in ISOLATE or BYPASS mode provides the actual robot speed as an output reference with an affective equipment delay
Remedy: Put controller into AUTO or INTERLOCK mode before doing this operation time of 0. (That is, with $TCPPIR.$TCDELAY = 0.)
SYST-155 SYSTEM ABC overrun Remedy: Check the error log to find speed limit errors which may be causing this TCPP
Cause: ARM Bending Control function can't get enough MPU power. error to occur. Check the program beginning with this line to determine if the robot can
Remedy: Please reduce some software options or disable some motion groups which not function as programmed. Modify the program to avoid all such speed limit errors. In
had been enabled. cases which list speed limit errors for the wrist axes, the error can often be eliminated by
SYST-156 SYSTEM Unknown hard ware changing the motion command from using mm/sec speed commands to using deg/sec
Cause: This PCB is not used on this controller. speed commands which better control motion with large wrist orientation changes.
Remedy: Mount the correct PCB. TCPP-019 WARN Speed Ovrd Mode at line:%d^5
SYST-157 SYSTEM CE/RIA software does not exist Cause: A speed override occurred beginning with this line causing an error condition
Cause: CE/RIA software does not exist in this controller. which makes further speed prediction invalid. The speed prediction task has therefore
Remedy: Install CE/RIA option to this controller. entered an error handling mode within which it discontinues speed prediction but
SYST-158 PAUSE Robot cannot move in T2 mode provides the actual robot speed as an output reference.
Cause: The mode selector is in T2. Robot cannot move in T2 mode. Remedy: Normal prediction will resume automatically once the speed override has
Remedy: Change the mode switch to T1 or AUTO mode. propagated through the system. No further action is required. The user should avoid this
TAST Error Codes during production program execution and should be aware that it may invalidate live
TAST-000 WARN unknown error (TAST00) application testing since neither the robot nor the speed prediction task are performing as
Cause: Internal system error programmed.
Remedy: Cold start controller TCPP-020 WARN TCPP internal cartseg error
TAST-001 WARN TAST global vars failure Cause: Internal error when searching cart segment.
Cause: The Through Arc Seam Tracking (TAST) variables are not loaded Remedy: No action is necessary, but the TCP Speed value will not be valid.
Remedy: Perform a controlled start to initialize motion softparts TCPP-021 WARN Allocate TCPP/VC memory error
TAST-002 STOP TAST error IO allocation Cause: Internal error when allocating memory to TCPP AccuPath segment.
Cause: An IO memory allocation error has occurred Remedy: Check amount of memory being used by system. Perform a cold start on the
Remedy: Perform a cold start of controller controller.
TAST-003 STOP TAST IO initialization failed TCPP-022 STOP Invalid delay time specified
Cause: An analog port number error has occurred Cause: Internal error specified delay time for TCP extension is too big
Remedy: Check a connection of process IO board Remedy: System problem. Need to fix the problem by modifying code.
TAST-004 STOP TAST IO start failed TG Error Codes
Cause: IOSETRTN error has occurred TG -000 WARN unknown error (TG00)
Remedy: Perform a cold start of controller Cause: Internal system error
TAST-005 WARN TAST time tick missing Remedy: Cold start controller
Cause: Time tick missing in TAST IO memory TG -001 STOP Error allocating data
Remedy: Change the value of weaving frequency to be lower or the value of comp timing Cause: Not enough memory
on TAST data screen to be longer Remedy: Check memory configuration to see if it meets the requirement
TAST-006 STOP TAST memory dispose failure TG -002 WARN Illegal I/O Port
Cause: An IO memory disposition error has occurred Cause: Illegal IO Port
Remedy: Perform a cold start of controller Remedy: Reassign IO port
TAST-007 STOP TAST RPM saving failure TG -003 WARN Illegal I/O Port Type
Cause: RPM data saving error has occurred Cause: Illegal IO Port Type
Remedy: Check RPM softparts was loaded correctly If same position IDs are used at Remedy: Reassign IO port type
same RPM record section, change position IDs to different one TG -004 WARN Bad Command Value
TAST-008 STOP TAST incorrect schedule num Cause: Motion trigger has been told to set a I/O port to a value which that port cannot be
Cause: An invalid TAST schedule number was specified set to.
Remedy: Change the schedule number to be in range (1 - 20) Remedy: A digital port must always be set to 1 or 0. You must set the corresponding
TAST-009 STOP TAST weave freq is too low command_value to a 1 or 0
Cause: An invalid weaving frequency was specified for TAST TG -005 WARN Bad Alternate Value
Remedy: Change the frequency value to be higher Cause: Motion trigger has been told to set a I/O port to a value which that port cannot be
TAST-010 STOP TAST software error (SRIF) set to.
Cause: Internal system error (SRIF) Remedy: A digital port must always be set to 1 or 0. You must set the corresponding
Remedy: Perform a cold start of controller command_value to a 1 or 0
TAST-011 STOP TAST software error (PMPT) TG -006 WARN Bad Time Before
Cause: Internal system error (PMPT) Cause: Illegal Time Before
Remedy: Perform a cold start of controller Remedy: Time before must be greater than -0.1 seconds
TAST-012 STOP TAST software error (INTP) TG -007 WARN Bad Schedule Number
Cause: Internal system error (INTP) Cause: schedule number out of range
Remedy: Perform a cold start of controller Remedy: Reassign to a valid schedule
TAST-013 STOP TAST software error TG -008 WARN Could not trigger I/O
Cause: Internal system error Cause: An I/O port was not triggered when it was supposed to. This is usually caused by
Remedy: Perform a cold start of controller too many I/O events being set up to fire within too short a time frame.
TAST-014 STOP TAST weave freq is too high Remedy: You must adjust your path so that it does not try to fire so many I/O events
Cause: Weaving frequency is too high for TAST within a such a short time. Start by moving the last few motions before this error occurred
Remedy: Change the value of weaving frequency to be lower further apart and/or slowing them down.
TCPP Error Codes THSR Error Codes
TCPP-000 WARN Unknown (TC00) THSR-001 PAUSE Illegal instruction sequence
Cause: System internal error. Cause: Trying to execute a touch sensing instruction out of sequence. For example, a
Remedy: Contact FANUC Robotics Hotline.. Search Start instruction follows a Offset start instruction without Offset end in between.
TCPP-001 WARN No global variables Remedy: Please check the touch sensing instruction sequence, or abort the current
Cause: TCP Speed Prediction global variables are not loaded. program and start again.
Remedy: Perform a controlled start and initialize motion softparts. THSR-002 PAUSE Illegal schedule number
TCPP-002 WARN No mmr pointer Cause: The input schedule number is beyond the allowable range.
Cause: This is an internal system error. Remedy: Choose a schedule number from 1 to 32.
Remedy: Perform a cold start on the controller. THSR-003 PAUSE Illegal work frame number
TCPP-003 WARN No mir pointer Cause: The input work frame number is beyond the allowable range
Cause: This is an internal system error. Remedy: Choose a work frame number from 1 to 32.
Remedy: Perform a cold start on the controller. THSR-004 PAUSE Illegal output PR number
TCPP-004 WARN No sysvar pointer Cause: The input position register number is beyond the allowable range.
Cause: This is an internal system error. Remedy: Choose an appropriate position register number.
Remedy: Perform a cold start on the controller. THSR-005 PAUSE Illegal search PR number
TCPP-005 WARN No tcppir pointer Cause: The specified position register for search result is beyond the allowable range.
Cause: This is an internal system error. Remedy: Choose an appropriate position register number.
Remedy: Perform a controlled start and initialize the motion softparts. THSR-006 STOP Search without search start
TCPP-006 WARN Error allocating memory Cause: Search instruction without search start.
Cause: A failure occurred while allocating memory. Remedy: Add search start instruction.
Remedy: Check amount of memory being used by system. THSR-007 PAUSE Invalid touch I/O assignment
TCPP-007 WARN Error making TCPP mailbox Cause: The touch I/O assignment is incorrect.
Cause: This is an internal system error. Remedy: Please check touch I/O setup screen under the setup menu.
Remedy: Perform a cold start on the controller. THSR-008 PAUSE Arc enable detected
TCPP-008 WARN Error making TCPP spmktsk Cause: The arc weld circuitry is enable.
Cause: This is an internal system error. Remedy: Please disable arc welding circuitry before enabling touch sensing.
Remedy: Perform a cold start on the controller. THSR-009 WARN Teach pendant not enabled
TCPP-009 WARN Pnts too close before line:%d^5 Cause: The Teach pendant is disable.
Cause: The program positions prior to this line are too close together to allow proper Remedy: Enable the teach pendant.
speed prediction to be performed. It is also most likely that the robot can not perform at THSR-010 PAUSE Illegal motion state
the programmed speed either. Cause: The motion system is in error state.
Remedy: The positions being executed prior to the one specified should be moved Remedy: Hit the reset button to reset the controller.
further apart, or the programmed speed should be decreased. THSR-011 PAUSE Illegal sensor port number
TCPP-010 WARN Error writing PLAN mailbox Cause: The specified search port is beyond the allowable range.
Cause: This is an internal system error. Remedy: Change the port type and port number in the touch I/O sub-menu.
Remedy: Perform a cold start on the controller. THSR-012 PAUSE Illegal search pattern
TCPP-011 WARN Pred time skips first motion Cause: The specified search pattern is not recognizable.
Cause: The first motion segment time (time between first two taught points) is shorter Remedy: Change the search pattern in the touch sensor schedule.
than the prediction equipment delay time as specified by $TCPPIR.$TCDELAY. THSR-013 PAUSE Illegal number of search
Remedy: Extend time of first motion segment (increase distance or decrease speed) to Cause: Number of searches is not coincident with the search. pattern.
allow TCP Speed Prediction to begin during the first motion segment. Remedy: Change the search pattern or add/delete search instructions.
TCPP-012 WARN Invalid TCPP filter type THSR-014 WARN Illegal search distance
Cause: The motion was commanded using an invalid motion filter type. Cause: This is a warning message. The specified search distance is beyond the
Remedy: Check program setup to ensure proper program header data, motion types, allowable range. A default speed is used.
and position data. Remedy: Change the search speed in the touch sensor schedule.
TCPP-013 WARN Invalid TCPP start pos THSR-015 WARN Illegal search speed
Cause: The start position is not valid. Cause: The specified search speed is beyond the allowable range.
Remedy: Check the values for the current and previous positions. Remedy: Change the search speed in the touch sensor schedule.
TCPP-014 WARN Invalid TCPP destination pos THSR-016 WARN Illegal return speed
Cause: The destination position is not valid. Cause: The specified return speed is beyond the allowable range. A default speed is
used.
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Remedy: Change the return speed in the touch sensor schedule. TPIF-010 WARN Cancel enter by application
THSR-017 PAUSE No contact with part Cause: Program is protected
Cause: The search produces no contact with the part Remedy: Try edit after release protection by application
Remedy: Use touchup to teach a new search start position. TPIF-011 WARN Item is not found
THSR-018 PAUSE Too many searches Cause: Item is not found below this line
Cause: Too many searches for the specified search pattern. Remedy: Try another item or close search function
Remedy: Delete unnecessary search instructions TPIF-012 WARN Kinematics solution is invalid
THSR-019 PAUSE Mixing search types Cause: Cannot translate position data
Cause: NONE search type can not be mixed with directional search within one search Remedy: Check the configuration of robot and $MNUTOOL/$MNUFRAM system
pattern. variables
Remedy: Delete all searches with NONE type or delete coordinated searches. TPIF-013 WARN Other program is running
THSR-020 PAUSE Geometic computing error Cause: You cannot select a program when another program is running or paused.
Cause: The searches do not generate a satisfactory offset Remedy: Select a program after aborting the program which is currently running or
Remedy: Check the search pattern and search instructions in the pattern. paused.
THSR-021 PAUSE Points are too close TPIF-014 WARN Teach pendant is disabled
Cause: The touched positions are too close to each other. Cause: You cannot edit a program when the teach pendant is disabled.
Remedy: Teach new search start positions Remedy: First enable the teach pendant, then edit the program.
THSR-022 PAUSE Part is not mastered TPIF-015 WARN Bad position register index
Cause: Search instructions have no master data. Cause: Specified aa invalid index of position register
Remedy: Mastering the part first Remedy: Check the index of position register
THSR-023 WARN No search start TPIF-016 WARN Memory access failed (%s^1)
Cause: The search instruction does not have a search start. Cause: Illegal case occurred on software.
Remedy: Add search start before search Remedy: Perform a cold start:
THSR-024 WARN No offset start 1. Turn off the robot.
Cause: The offset end instruction does not have an associated offset start instruction. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Remedy: Add offset start instruction 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
THSR-025 PAUSE Nested search start cleared, document the events that led to the error and call your FANUC Robotics
Cause: The search start instruction is nested inside another search start instruction. technical representative.
Remedy: Add a search_end instruction in appropriate place or delete extra search start TPIF-017 WARN Memory read failed
THSR-026 PAUSE Nested offset start Cause: Illegal case occurred on software.
Cause: The offset start instruction is nested inside another offset start instruction. Remedy: Perform a cold start:
Remedy: Add a offset_end instruction in appropriate place or delete extra offset start 1. Turn off the robot.
THSR-027 STOP Preplan is not allowed 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Cause: No preplan motion inside search start. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Remedy: It is normal to issue an stop error when preplan is on within search start cleared, document the events that led to the error and call your FANUC Robotics
THSR-028 PAUSE Group number mismatch technical representative.
Cause: The search motion has to be in group 1. motion. TPIF-018 WARN Unspecified index value
Remedy: Use group 1 to record search motions. Cause: Specified index value is invalid.
THSR-029 WARN No contact warning Remedy: Check specified index value.
Cause: The search produces no contact with the part TPIF-019 WARN This item cannot be replaced
Remedy: Use touchup to teach a new search start position. Cause: This item cannot be replaced
THSR-030 STOP Contact before search Remedy: Try another item or close replace function
Cause: Wire makes contact with part before search motion starts TPIF-020 NONE Mnaction search error
Remedy: Check part and wire, or teach a new search start position. Cause: Illegal case occurred on software.
THSR-031 WARN Illegal register number Remedy: Perform a cold start:
Cause: The input register number is illegal, and it is reset by the software to the 1. Turn off the robot.
maximum available number. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
Remedy: Check the input data. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
THSR-032 PAUSE Position type mismatch cleared, document the events that led to the error and call your FANUC Robotics
Cause: The position type in the position register should be XYZWPR type. Joint technical representative.
representation is not allowed. TPIF-021 NONE Mnteach software error
Remedy: Change the position representation to XYZWPR type. Cause: Illegal case occurred in software.
THSR-033 PAUSE Not enough points Remedy: Perform a cold start:
Cause: Touch sensing system does not have enough points to compute the geometry 1. Turn off the robot.
Remedy: Record more points 2. On the teach pendant, press and hold the SHIFT and RESET keys.
THSR-034 STOP No bwd on search motion 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: Touch sensing does not allow backward execution on search motion cleared, document the events that led to the error and call your FANUC Robotics
Remedy: Do not Shift-BWD on search technical representative.
THSR-035 STOP Error Allocating Data TPIF-023 WARN WJNT and RTCP are not compatible
Cause: Not enough memory Cause: Wjnt and RTCP are not compatible.
Remedy: Remove unneeded loaded variables and programs Remedy: Remove Wjnt or RTCP before adding the other.
THSR-036 STOP Coord pair is not available TPIF-030 WARN Program name is NULL
Cause: Coord motion is not installed or not calibrated Cause: Program name is not set properly.
Remedy: Install coord motion and calibrate cd pair Remedy: Set a proper program name
THSR-037 STOP Illegal motion ref. grp. TPIF-031 WARN Remove num from start of Program name
Cause: Simple search must have schd_ref_grp = 1 Cause: Start of program name is numeric.
Remedy: Modify reference grp Remedy: Remove numeric value from beginning of program name.
THSR-038 STOP Not matches to leader grp. TPIF-032 WARN Remove space from Program name
Cause: Touch frame or schedule reference grp mismatches leader grp Cause: Space is included in program name.
Remedy: Modify reference grp Remedy: Remove space from program name.
THSR-039 STOP Reference grp mismatch TPIF-033 WARN Remove comma from Program name
Cause: None simple search requires frame Reference grp equal to schedule reference Cause: Comma is included in program name.
grp Remedy: Remove comma from program name.
Remedy: Modify reference grp TPIF-034 WARN Remove dot from Program name
THSR-040 STOP Search Distance Short Cause: Dot is included in program name.
Cause: Search distance in touch schedule is too short Remedy: Remove dot from program name.
Remedy: Increase search distance in touch schedule TPIF-035 WARN Remove minus from Program name
THSR-041 PAUSE Invalid touch group mask Cause: Minus is included in program name.
Cause: Invalid touch sensing group mask in program detail. Remedy: Remove minus from program name.
Remedy: Check group mask in T.P. program header, each program can support only TPIF-036 WARN Not enough memory
one group touch sensing, group 1 or 2. Cause: There is not enough memory available.
TPIF Error Codes Remedy: Delete unused program.
TPIF-001 WARN Mnemonic editor error (%s^1) TPIF-037 WARN Program must be selected by TP
Cause: Illegal case occurred on software. Cause: Only the Teach Pendant default program can be edited on the CRT
Remedy: Perform a cold start: Remedy: Select the program on the Teach Pendant before editing on the CRT
1. Turn off the robot. TPIF-038 WARN Invalid char in program name
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Invalid character in program name
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Remove invalid character from program name
cleared, document the events that led to the error and call your FANUC Robotics TPIF-040 WARN Label already exists
technical representative. Cause: Same label No. already exists
TPIF-002 WARN Operating system error (%s^1) Remedy: Change to different label No.
Cause: Illegal case occurred on software. TPIF-041 WARN MNUTOOLNUM number is invalid
Remedy: Perform a cold start: Cause: Specified MNUTOOLNUM number is invalid
1. Turn off the robot. Remedy: Check system variable $MNUTOOLNUM
2. On the teach pendant, press and hold the SHIFT and RESET keys. TPIF-042 WARN MNUFRAMENUM number is invalid
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: Specified MNUFRAMNUM number is invalid
cleared, document the events that led to the error and call your FANUC Robotics Remedy: Check system variable $MNUFRAMNUM
technical representative. TPIF-043 WARN External change is valid
TPIF-003 WARN Window I/O error (%s^1) Cause: You cannot change the robot (group), because the function that select robot by
Cause: Illegal case occurred on software. external DI is valid.
Remedy: Perform a cold start: Remedy: Set system variable $MULTI_ROBO.CHANGE_SDI to ZERO
1. Turn off the robot. TPIF-044 WARN Program is unsuitable for robot
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: The group mask of program differs from selected robot (group)
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: Check selected robot (group) or check program attributes group mask
cleared, document the events that led to the error and call your FANUC Robotics TPIF-045 WARN Pallet number is over max
technical representative. Cause: Cannot teach more than 16 Palletizing instructions in one program,
TPIF-004 WARN Memory write error Remedy: Teach another program.
Cause: Illegal case occurred on software. TPIF-046 WARN Motion option is over max
Remedy: Perform a cold start: Cause: Too many motion options for default motion
1. Turn off the robot. Remedy: Decrease motion options for default motion
2. On the teach pendant, press and hold the SHIFT and RESET keys. TPIF-047 WARN Invalid program is selected
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Cause: Program type is wrong
cleared, document the events that led to the error and call your FANUC Robotics Remedy: Select TPE program
technical representative. TPIF-048 WARN Running program is not found
TPIF-005 WARN Program is not selected Cause: There is currently no program running that can be monitored.
Cause: The program was not selected yet, when the program was displayed at the Remedy: Run program before attempting to monitor.
TEACH screen. TPIF-049 WARN Port number is invalid
Remedy: Select a program in the SELECT screen. Cause: Port is not set for outside device
TPIF-006 WARN SELECT is not taught Remedy: Set port for outside device
Cause: This taught statement needed the SELECT statement before the current line. TPIF-050 WARN Macro does not exist
Remedy: Teach the SELECT statement before the current line. Cause: A program is not assigned to this macro command
TPIF-007 WARN Robot is not calibrated Remedy: Assign a program to this macro command
Cause: The robot has not been calibrated properly. TPIF-051 WARN Program has been selected by PNS
Remedy: Calibrate the robot properly.. Cause: When a program has been selected by PNS, you cannot select program from
TPIF-008 WARN Memory protect violation SELECT screen
Cause: The program is write protected. Remedy: Turn off the PNSTROBE signal.
Remedy: Release protection of the program on the SELECT screen. TPIF-052 WARN FWD/BWD is disabled
TPIF-009 WARN Cancel delete by application Cause: When the Disabled FWD function has been selected, you cannot execute the
Cause: Program is protected program by TP
Remedy: Release protection of the program on the SELECT screen then delete the Remedy: Select the Disabled FWD in the function menu, then you can release from the
program. Disable FWD
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TPIF-053 WARN Not editing background program Remedy: Select the Disabled FWD in the function menu, then you can release from the
Cause: The program has not been selected by BACKGROUND editing Disable FWD
Remedy: Select the BACKGROUND program in the SELECT screen TPIF-108 WARN Form error, line %d, item %d
TPIF-054 WARN Could not end editing Cause: The Form Manager detected an error on the specified line with the specified
Cause: 1. There is not enough memory. item.
2. The background program is invalid. Remedy: Refer to the cause code on the ALARM log screen for the actual error.
Remedy: 1. Delete unnecessary programs. TPIF-109 WARN %v not specified correctly
2. Confirm the background program. Cause: The Form Manager detected an error when displaying a %v item.
TPIF-055 WARN Could not recovery original program Remedy: To specify the %v enumeration type in a form dictionary, use lower case v
Cause: Failed recovering original program which has been selected by the followed by the dictionary element which specifies the program name and variable name
BACKGROUND of the variable which contains the display values. For example:
Remedy: End editing by the END_EDIT of [EDCMD] again before executing the original "Enum Type: " "-%6v(enum_fkey)"
program which has been selected by the BACKGROUND $-,enum_fkey "TPEX"
TPIF-056 WARN This program is used by the CRT "CHOICE_ARRAY"
Cause: The program of BACKGROUND cannot be selected by the CRT and TP at the In the above example, CHOICE_ARRAY is a KAREL string array variable in program
same time TPEX which contains the enumeration choices. The enumeration choices are displayed
Remedy: End editing by the END_EDIT of [EDCMD] at the CRT in a subwindow.
TPIF-057 WARN This program is used by the TP TPIF-110 WARN Screen used by other device
Cause: The program of BACKGROUND cannot be selected by the CRT and TP at the Cause: The screen you are attempting to use on the TP is currently displayed on CRT or
same time the screen you are attempting to use on the CRT is currently displayed on TP
Remedy: End editing by the END_EDIT of [EDCMD] at the TP Remedy: Exit from the screen on the other device
TPIF-060 WARN Can't record on cartesian (G:%d) TPIF-116 WARN System variable error: %s
Cause: This current position is in singularity Cause: System variable name is invalid
Remedy: You can record this position on joint type only by selecting the function key. Remedy: Check the spelling and format of the name.
TPIF-061 WARN Group[%s] has not recorded TPIF-117 WARN Cannot backup to device: %s
Cause: This position data has not been changed to displayed groups because you Cause: The default device is not valid for backup
selected the function key which did not record the position, when checking in singularity Remedy: Select a valid device and try again
Remedy: Check this recorded position again before execution TPIF-118 WARN File error for %s
TPIF-062 WARN AND operator was replaced to OR Cause: File error
Cause: All AND operators on this line were replaced with OR operators. Remedy: Perform a cold start:
Remedy: You cannot mix AND and OR operator on a the same line. Verify that all logical 1. Turn off the robot.
operators on this line are the same before execution. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
TPIF-063 WARN OR operator was replaced to AND 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not
Cause: All OR operator on this line were replaced by AND operators. You cannot mix cleared, document the events that led to the error and call your FANUC Robotics
AND OR operator on a the same line technical representative.
Remedy: Verify all logical operators on this line before execution TPIF-119 WARN File compression failed
TPIF-064 WARN Too many AND/OR operator(Max.4) Cause: Failed creating compressed file
Cause: Too many AND/OR operators (Max.4 on a single line) Remedy: Check backup device
Remedy: Teach the logical operation on another line TPIF-120 WARN Device failure
TPIF-065 WARN Arithmetic operator was unified to +- or */ Cause: Device failure
Cause: Arithmetic operator on this line was changed to +- or */. Cannot mix arithmetic + Remedy: Check device and try again
and - operators with * and / operators on the same line. TPIF-121 WARN Invalid copy. Use MOVE key.
Remedy: Verify all arithmetic operators on this line before execution Cause: Cannot COPY a file on a Memory device to the same Memory device.
TPIF-066 WARN Too many arithmetic operator(Max.5) Remedy: Use the MOVE key and try again
Cause: Too many arithmetic operators (Max.5 on a single line) TPIF-128 WARN Verify logic of pasted line(s)
Remedy: Teach the arithmetic operation on another line Cause: The reverse motion copy function does not support the following motion option
TPIF-067 WARN Too many arguments (Max.10) instruction.
Cause: Too many arguments (Max.10 for a program or a macro) 1. Application command
Remedy: Check arguments of the program/macro 2. Skip, Quick Skip
TPIF-070 WARN Cannot teach the instruction 3. Incremental
Cause: Cannot teach the instruction. 4. Continuous turn
Remedy: Check the sub type of the program. 5. Time before
TPIF-071 WARN Cannot change sub type Remedy: Check the above motion option instruction. And modify the copied statement
Cause: Cannot change sub type correctly.
Remedy: Check sub type of the program TPIF-129 WARN Group motion inst. is pasted
TPIF-072 WARN Cannot change motion group Cause: The group motion instruction is copied. The reverse motion copy function does
Cause: Cannot change motion group not supported group motion instruction.
Remedy: Check sub type of the program Remedy: Check the group motion instruction. And modify the copied statement correctly.
TPIF-090 WARN This program has motion group TPIF-131 WARN Please set application mask data
Cause: The program specified in $PWR_HOT, $PWR_SEMI and $PWR_NORMAL must Cause: This program has no application mask
not have motion group. Remedy: Please set the application mask in the program detail screen
Remedy: Set * to all motion group in program detail screen on TP. TPIF-132 WARN Can't recover this operation
TPIF-091 WARN PREG access error Cause: Because the data for UNDO can not be saved, this operation can not recover by
Cause: An error occurred when accessing a position register. UNDO function
Remedy: Refer to the error cause code on the ALARM log screen. Remedy: Check the cause code. If the memory is full, please delete program or disable
TPIF-092 WARN Value %d expected %s UNDO function.
Cause: The value_array that was passed to a built-in was incorrectly specified. The error TPIF-133 WARN Can't recover this command
line shows the index into value_array where the error occurred and the type expected by Cause: Palletizing command and Compliance control command can not be recovered by
the built-in. UNDO function
Remedy: Make sure the value_array specifies the correct names for the variables and Remedy:
that the types expected are correct. TPIF-134 PAUSE CTRL Upgrade is Armed
TPIF-093 WARN USER menu must be selected Cause: CTRL Upgrade is Armed
Cause: A KAREL program called a user interface built-in which required the USER menu Remedy: This error is posted because CTRL Upgrade cannot be done while operating
to be displayed on the teach pendant or CRT. robot. Continue with CTRL Upgrade or ABORT
Remedy: Use FORCE_SPMENU(tp_panel, SPI_TPUSER, 1) before calling the user TPIF-135 SYST CTRL Upgrade is Started
interface built-in on the teach pendant. Use FORCE_SPMENU(crt_panel, SPI_TPUSER, Cause: CTRL Upgrade has Started
1) before calling the user interface built-in on the CRT. Remedy: This error is posted because CTRL Upgrade is underway. Allow the process to
TPIF-094 WARN USER2 menu must be selected complete. with CTRL Upgrade or ABORT
Cause: A KAREL program called a user interface built-in which required the USER2 TPIF-136 WARN Restore ERR, see FRD:REST_LOG.LS
menu to be displayed on the teach pendant or CRT. Cause: CTRL Upgrade Restore Failed
Remedy: Use FORCE_SPMENU(tp_panel, SPI_TPUSER2, 1) before calling the user Remedy: See FRD:REST_LOG.LS for a listing of files and status of attempt to load
interface built-in on the teach pendant. Use FORCE_SPMENU(crt_panel, each. Retry failed files from file menu.
SPI_TPUSER2, 1) before calling the user interface built-in on the CRT. TRAK Error Codes
TPIF-095 WARN Execution history table error TRAK-000 WARN Unknown error (TO00)
Cause: Software internal error Cause: System internal error
Remedy: Perform a controlled start (it isn't necessary to re-set the new item) Remedy: Cycle start controller
TPIF-097 WARN Can't display running task's history TRAK-001 STOP Track jnt move not allowed
Cause: The execution history of the executing program cannot be displayed Cause: Illegal joint move error
Remedy: Use this screen when the program is paused or aborted. Remedy: Change to linear move
TPIF-098 WARN %s was not run TRAK-002 STOP Track error allocating data
Cause: The program of $PWR_HOT, $PWR_SEMI or $PWR_NORMAL is not executed Cause: System internal error
Remedy: Refer to the error cause code. Use the Alarm Log screen. Remedy: Increase RAM size
TPIF-099 WARN This program is being edited TRAK-003 STOP Track global variable failure
Cause: The program specified in $PWR_HOT, $PWR_SEMI and $PWR_NORMAL is not Cause: System internal error
executed, when the program is in editing. Remedy: Increase RAM size
Remedy: Select the other program TRAK-004 STOP Track illegal schedule number
TPIF-100 WARN No vacant table space Cause: Schedule out of range error
Cause: Illegal case occurred on software. Remedy: Use legal schedule
Remedy: Perform a cold start: TRAK-005 STOP Track destination gone error
1. Turn off the robot. Cause: Destination out of window error
2. On the teach pendant, press and hold the SHIFT and RESET keys. Remedy: Move conveyor back
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not TRAK-006 WARN Track destination gone warning
cleared, document the events that led to the error and call your FANUC Robotics Cause: Destination out of window error
technical representative. Remedy: reteach destination
TPIF-101 WARN No such menu TRAK-007 WARN Unsupported function code
Cause: Illegal case occurred on software. Cause: System internal error
Remedy: Perform a cold start: Remedy: No action required
1. Turn off the robot. TRAK-008 WARN Not support semi hot start
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: Semi hot start is not supported for this function error
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not Remedy: No action required
cleared, document the events that led to the error and call your FANUC Robotics TRAK-009 STOP Track cart move not allowed
technical representative. Cause: Illegal cartesian move error
TPIF-102 WARN E.STOP is asserted Remedy: Change to joint move
Cause: FWD execution is selected while, E.STOP is asserted. TRAK-010 STOP Track no line track functn ptr
Remedy: Turn the E.STOP off. Then select FWD execution Cause: The Line Tracking function pointers do not exist. error
TPIF-103 WARN Dead man is released Remedy: Reload the tracking softparts.
Cause: FWD execution is selected while, DEADMAN switch is released. TRAK-011 STOP Track no CIRC Wrist Joint
Remedy: Press and hold down the DEADMAN, then select FWD execution Cause: Wrist-joint motion is not supported for CIRCULAR motions during Line Tracking.
TPIF-104 WARN Teach Pendant is disabled error
Cause: FWD execution is selected while, TP is disabled. Remedy: Change motion type to non-wrist-joint motion.
Remedy: Enable the teach pendant. Then select FWD execution. VARS Error Codes
TPIF-105 WARN Program is not selected VARS-001 WARN Corrupt variable file
Cause: FWD execution is requested without selection of program. Cause: An error has occurred trying to read specifed file. This file is corrupt or the media
Remedy: Select a program for execution Then select FWD execution is bad
TPIF-106 WARN Program is already running Remedy: Try a different file.
Cause: FWD execution is requested when program is running. VARS-002 WARN Open Error on File
Remedy: Abort the running program before requesting FWD execution Cause: The variable file does not exist on the device, director or media.
TPIF-107 WARN FWD/BWD is disabled Remedy: Place correct media in drive or select the proper device/directory and try again.
Cause: When the Disabled FWD function has been selected, you cannot execute the VARS-003 WARN %s array length updated
program by TP Cause: A variable being loaded from a variable file exists in memory. The array length
reflects what was in the variable file.
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Remedy: This is just a notification. You do not have to do anything for this warning Remedy: This is just a notification. You do not have to do anything for this message.
message. VARS-040 WARN Cannot load at CONTROL START 2
VARS-004 WARN %s memory not updated Cause: Variables may not be properly created if loaded at this time.
Cause: A variable being loaded from a variable file exists in memory. The variable file Remedy: Load variables at COLD start or at CONTROLLED START 1 before save
data cannot be loaded image operation.
Remedy: Clear the program and load the variables first before loading program. VARS-041 WARN Invalid Node Number
VARS-005 WARN %s PC array length ignored Cause: Path insertion or delete of a node occurred with node number which exceeded
Cause: A variable being loaded from a variable file exists in memory. The array length the number of nodes in a path.
reflects what was in the variable file. Remedy: Perform operation with a valid node number.
Remedy: This is just a notification. You do not have to do anything for this warning VARS-042 WARN TEMP type invalid for CMOS create
message. Cause: The type definition for the variable being created is in temporary DRAM memory.
VARS-006 WARN Unknown Variable Name This means variable cannot be remembered after power off
Cause: Referenced variable does not exist Remedy: The program with the type definition for the variable you are creating must be
Remedy: Load PC file or VR file to create the variable loaded at controlled start. This implies the type definition is image.
VARS-007 WARN Unknown Type Code VARS-043 WARN Variable memory pool is invalid
Cause: Referenced type code does not exist Cause: The memory pool for this variable does not exists on the controller. An auxiliary
Remedy: Load PC file or VR file to create the type board has probably been removed or replaced
VARS-008 WARN Type Name not found Remedy: Put the old board in back into the controller. If this board is not not available
Cause: Referenced type name does not exist then an INITIAL START is required
Remedy: Load PC file or VR file to create the named type VARS-044 WARN Group number mismatch on load
VARS-009 WARN SV Load at CTRL Start Only Cause: The variable file has different number of groups defined than controller.
Cause: A variable load has been requested while controller is capable of motion Remedy: You must configure the groups from controlled start setup before loading
Remedy: Create an error condition such as E-stop and load of variables is allowed variable files
VARS-010 WARN Variable/field write-protected VARS-045 WARN Mismatch SV - %s System %s
Cause: The variable or field you are trying to access is write protected Cause: The robot type referenced in the loaded SV file is different than the type that the
Remedy: This variable is not to be changed by customer for safety or other reasons If controller is setup for.
you are trying to change $SCR variables just change $PARAM_GROUP and cold start Remedy: Setup the controller for the proper robot type and load system variables which
VARS-011 WARN No data defined for program were saved on a compatible robot
Cause: Referenced program name does not have variables VARS-046 WARN Buffer size mismatch
Remedy: Load PC file or VR file to create the named program Cause: When transferring a variable to a different computer the memory buffer size is
VARS-012 WARN Create var - %s failed too small
Cause: Named variable could not be created. Remedy: Allocate a larger buffer for the transfer
Remedy: Refer to the error cause code. Use the Alarm Log screen to display the cause VARS-047 WARN Incompatible var file version
code. Cause: The variable file that you specified does not contain key information it is probably
VARS-013 WARN Variable Already Exists not a variable file
Cause: Referenced variable already exist in memory Remedy: This file is not useful. You need to get the information from a different file
Remedy: This is just a notification. You do not have to do anything for this warning VARS-048 WARN Name is too big
message. Cause: The variable name specified in the request is too long.
VARS-014 WARN Create type - %s failed Remedy: You must change the variable name to make it shorter.
Cause: Named type could not be create VARS-049 WARN Bad Element in a Structure
Remedy: Refer to the error cause code. Use the Alarm Log screen to display the cause Cause: The ASCII value specified is invalid.
code. Remedy: Specify a valid ASCII value.
VARS-015 WARN Too many vars/nodes/programs VARS-050 WARN PC Revision mismatch %s
Cause: The limit of variables types, programs or nodes has been reached Cause: The version of the saved PC image and saved VR image are different. This is
Remedy: You must delete some programs or reorganize programs to make more room probably because power was removed in the middle of the operation.
VARS-016 WARN Axis configuration mismatch Remedy: Load the PC file again.
Cause: The variables you are trying to load are were created on a controller with a VARS-051 WARN Illegal operation
different axis configuration Cause: The requested operation is not supported on this processor
Remedy: These variable cannot be used on this controller Remedy: You must do this operation in a different context
VARS-017 WARN Sysvar version mismatch VARS-052 WARN Variable %s converted
Cause: The system variable file you are attempting to load is not compatible with the Cause: A system variable file created on an earlier version has been loaded. The
loaded software version specified variable changed since that early release so it has been converted. Some
Remedy: You must use the default system variable file supplied with your version of information in the system variable may have been lost
software Remedy: This is informational.
VARS-018 WARN Compatible Type Already Exists VARS-053 WARN Input data pointer invalid
Cause: Referenced type already exists in memory Cause: The variable data pointer specified is incorrect Or an invalid pointer was sent to
Remedy: This is just a notification. You do not have to do anything for this warning the controller from a PC.
message. Remedy: This is an error in the application Check all pointers being sent from the PC
VARS-019 WARN Rename target exists using RPC calls.
Cause: You are attempting to rename a program to a program which already exists VARS-054 WARN Sysvars - %s loaded
Remedy: Use a different program name or delete the program and and variables from Cause: A system variable file created on an earlier version has been loaded.
existing program Remedy: This is informational.
VARS-020 WARN [%s]%s not fnd VARS-055 WARN Program name is not unique
Cause: Referenced variable is not found in the system Cause: Another program exists with the same program name in first eight Characters.
Remedy: Load PC file or VR file to create the variable Program name must be unique in the first eight characters.
VARS-021 WARN Memory allocation failure Remedy: Change the name of the program
Cause: There is no more permanent memory available in the system VARS-056 FATAL All types in use for %s
Remedy: You must delete unneeded programs, dictionaries or variables to make room Cause: All available system types are already being used on this controller.
VARS-022 WARN Duplicate creation TYPE mismatch Remedy: You cannot load any additional options on this controller. If you need a different
Cause: Variable that is being created already exists but is of a different type than what set of options you must reinitialize the controller with the new set of options
you are attempting to load/create VARS-122 BASE
Remedy: Delete existing variable before creating it as a different type Cause: When transferring a variable to a different computer the memory buffer size is
VARS-023 WARN Array len creation mismatch too small
Cause: Variable that is being created already exists but has different dimensions than Remedy: Allocate a larger buffer for the transfer
what you are attempting to load/create VARS-123 BASE
Remedy: Delete existing variable before creating it with conflicting dimensions Cause: The variable file that you specified does not contain key information it is probably
VARS-024 WARN Bad variable or register index not a variable file
Cause: You are attempting to use an invalid index into an array or path Remedy: This file is not useful. You need to get the information from a different file
Remedy: Use a valid index VARS-124 BASE
VARS-025 WARN Vision reference error Cause: The variable name specified in the request is too long.
Cause: Do not have vision hardware on this system so cannot load vision variables Remedy: You must change the variable name to make it shorter.
Remedy: Load these variables on an appropriate system VARS-125 BASE
VARS-026 WARN File sequence error Cause: The ASCII value specified is invalid.
Cause: The file which has been loaded is: A. Not a variable file B. A file on bad media C. Remedy: Specify a valid ASCII value.
A file not compatible with your current software. VARS-126 BASE
Remedy: Try a different file or convert the current file to an updated version. Cause: The requested operation is not supported on this processor
VARS-027 WARN Variable used by other program Remedy: You must do this operation in a different context
Cause: Variable is used by another program VARS-127 BASE
Remedy: Delete other program which references these variables Cause: All available system types are already being used on this controller.
VARS-028 WARN Value out of range Remedy: You cannot load any additional options on this controller. If you need a different
Cause: Value that you entered is not a valid value. It is either too big or too small set of options you must reinitialize the controller with the new set of options
Remedy: Consult your SYSTEM RJ-2 Controller Software reference Manual for valid VISN Error Codes
values for the variable you are changing VISN-001 WARN Vision diagnostics failed
VARS-029 WARN Requires PROGRAM password Cause: The hardware diagnostics executed by the V-400i system powerup failed.
Cause: The operation that you are attempting is password protected. Remedy: Replace the V-400i board set, if possible, or call your FANUC Robotics service
Remedy: You must go to the password setup screen and enter the PROGRAM representative.
password VISN-002 PAUSE Offset unknown-feature missing
VARS-030 WARN Requires SETUP password Cause: OBJ_OFFSET cannot determine the offset because one or more of the location
Cause: The operation that you are attempting is password protected. tools in the vision process failed to find the feature in the image.
Remedy: You must go to the password setup screen and enter the SETUP password Remedy: Use the vision training menus to determine why the object was not found, and
VARS-031 WARN Requires INSTALL password retrain the location tools if necessary. Add logic to the vision KAREL program to call the
Cause: The operation that you are attempting is password protected. FOUND_OK built-in to check if the vision process found the object before calling
Remedy: You must go to the password setup screen and enter the INSTALL password OBJ_OFFSET. Do not call OBJ_OFFSET if FOUND_OK returns FALSE.
VARS-032 WARN Variable size too big VISN-003 WARN Feature not found in the image
Cause: The variable you are loading is larger than 65,535 bytes or has an array element Cause: FOUND_ENDPTS cannot cannot determine the line end-points because the
larger than 32,767 bytes location tool in the vision process failed to find the feature in the image.
Remedy: Make the array size smaller or use a path data type for large arrayed variables Remedy: Use the vision training menus to determine why the feature was not found, and
Maximum path length is 2,007 Maximum node size is 32,767 retrain the location tool if necessary. Add logic to the vision KAREL program to call the
VARS-033 WARN Maximum path length exceeded FOUND_OK built-in to check if the vision process found the feature before calling
Cause: A path can only contain 2,007 nodes. FOUND_ENDPTS. Do not call FOUND_ENDPTS if FOUND_OK returns FALSE.
Remedy: You must break up the large path into smaller paths VISN-004 WARN Circle not found in the image
VARS-034 WARN Variable cannot be accessed Cause: FOUND_CIRCLE cannot cannot determine the circle parameters because the
Cause: The CMOS variable that you attempted to delete was created This could also be location tool in the vision process failed to find the circle in the image.
because a KAREL program, Network or KCL was adding deleting or doing a node Remedy: Use the vision training menus to determine why the circle was not found, and
operation when access was attempted retrain the location tool if necessary. Add logic to the vision KAREL program to call the
Remedy: Delete the variable in the same start mode that the variable was created. For FOUND_OK built-in to check if the vision process found the circle before calling
example if a CMOS variable was created at CONTROLLED start it must be deleted at FOUND_CIRCLE. Do not call FOUND_CIRCLE if FOUND_OK returns FALSE.
CONTROLLED start. If if is because of some access conflict the attempt the operation VISN-005 WARN Line not found in the image
again when no other variable accesses are in progress. Cause: FOUND_LINE or FOUND_PLANE cannot cannot determine the geometric
VARS-036 WARN CMOS memory is corrupt parameters because the location tool in the vision process failed to find the line in the
Cause: CMOS memory has been destroyed image.
Remedy: Controller initial start must be performed Remedy: Use the vision training menus to determine why the line was not found, and
VARS-037 WARN Position register is locked retrain the location tool if necessary. Add logic to the vision KAREL program to call the
Cause: Position register is locked by program operation FOUND_OK built-in to check if the vision process found the line before calling
Remedy: Wait until program is finished FOUND_CIRCLE. Do not call FOUND_LINE or FOUND_PLANE if FOUND_OK returns
VARS-038 WARN Cannot change CMOS/DRAM type FALSE.
Cause: An existing variable is being created in a different memory area (CMOS vs VISN-006 WARN Ellipse not found in the image
DRAM) Cause: FOUND_ELLIPS cannot cannot determine the ellipse parameters because the
Remedy: Delete the variable or change the memory type to be used. location tool in the vision process failed to find the ellipse in the image.
VARS-039 WARN Data set created Remedy: Use the vision training menus to determine why the ellipse was not found, and
Cause: Permanent memory was successfully allocated. retrain the location tool if necessary. Add logic to the vision KAREL program to call the
69
FOUND_OK built-in to check if the vision process found the ellipse before calling Remedy: Make sure the vision process is set up correctly by first calling INIT_FF_VSPR
FOUND_ELLIPS. Do not call FOUND_ELLIPS if FOUND_OK returns FALSE. for feature finding or INIT_OF_VSPR and ADD_MODEL_OF for automatic object finding.
VISN-007 WARN Region not found in the image VISN-033 WARN Invalid algorithm type %d
Cause: FOUND_BRDATA cannot cannot determine the connectivity parameters Cause: You called a built-in routine with VIS_PROCESS that uses an algorithm which is
because the location tool in the vision process failed to find the region in the image. not appropriate for that built-in. For example, you cannot call FOUND_MODEL with a
Remedy: Use the vision training menus to determine why the region was not found, and VIS_PROCESS which has been trained as a connectivity tool.
retrain the location tool if necessary. Add logic to the vision KAREL program to call the Remedy: Check the built-in description for restrictions on the parameters. Make sure that
FOUND_OK built-in to check if the vision process found the region before calling the VIS_PROCESS parameter contains data appropriate for the built-in routine being
FOUND_BRDATA. Do not call FOUND_BRDATA if FOUND_OK returns FALSE. called. The value of "xxx" indicates the type of VIS_PROCESS you passed in:
VISN-008 WARN Edge not found in the model 16. Shape Matching Feature Find Location Tool
Cause: An edge with the specified name does not exist in the model in the call to 17. Scanning Feature Find Location Tool
INIT_FF_VSPR, MATCH_LINE, or MODEL_LINE. 18. Edge Tracing Feature Find Location Tool
Remedy: Make sure the edge name and the model are correct. 19. Contour Match Location Tool
VISN-009 WARN Vertex not found in the model 20. Combine FF List Vision Process
Cause: A vertex with the specified name does not exist in the model in the call to 21. Match List Vision Process
MATCH_POINT or MODEL_POINT. 22. Automatic Object Find Location Tool
Remedy: Make sure the vertex name and the model are correct. 23. Connectivity Location Tool
VISN-010 WARN Circle not found in the model 24. Master Vision Process
Cause: A circle with the specified name does not exist in the model in the call to 25. Found Feature Measurement Tool
MATCH_CIRCLE or MODEL_CIRCLE. 26. Gauge Measurement Tool
Remedy: Make sure the circle name and the model are correct. 27. Pixel Statistics Measurement Tool
VISN-011 WARN Model edge is not a circle 29. Feature Find Location Tool, algorithm not specified
Cause: The specified model feature is not a circle in the call to MATCH_CIRCLE or VISN-034 WARN Feature and alg. do not match
MODEL_CIRCLE. Cause: You called INIT_FF_VSPR with a feature type and algorithm type that do not
Remedy: Make sure the circle name and the model are correct. match. For example, you cannot find a circle with the scanning algorithm.
VISN-012 WARN Model edge is not a line Remedy: Check the built-in description for restrictions on the parameters.
Cause: The specified model feature is not a line in the call to MATCH_LINE, or VISN-035 WARN Must supply initialized cam_setup
MODEL_LINE. Cause: The built-in routine CAM_CALIB, OPTIONS_CS, or TBL_SET_CS was called
Remedy: Make sure the line name and the model are correct. with a CAM_SETUP variable which has not been trained.
VISN-013 PAUSE Bad input array length %d Remedy: Train the CAM_SETUP variable before calling one of these built-in routines.
Cause: The array you passed to a routine has an invalid length (number of elements). VISN-037 WARN Vis_Proc. not Feature Find %d
The value of "xxx" indicates the length of the invalid array you used. Cause: You called the built-in routine WIN_GET_FF with a VIS_PROCESS which is not
Remedy: Check the built-in description for restrictions on the parameters. Change the trained as a location tool.
length of your array to accommodate your data. Remedy: Do not call WIN_GET_FF with this type of VIS_PROCESS. The value of "xxx"
VISN-014 PAUSE Bad cam_setup option # %d indicates the type of VIS_PROCESS you passed in:
Cause: One of the options you passed to OPTIONS_CS in the integer or real arrays is 20. Combine FF List Vision Process
out of range. The number indicates which array element was bad. The integer array 21. Match List Vision Process
elements are numbered starting with 1 and the real array elements are numbered starting 25. Found Feature Measurement Tool
with the last integer array element plus 1. NOTE If more than one option is bad, only one 26. Gauge Measurement Tool
is reported. 27. Pixel Statistics Measurement Tool
Remedy: Change the value of the bad array element. 29. Feature Find Location Tool, algorithm not specified
VISN-015 PAUSE Bad object find option # %d VISN-038 WARN Invalid camera number
Cause: One of the options you passed to OPTIONS_OF in the integer or real arrays is Cause: The built-in routine INIT_CS was called with a camera number which is out of
out of range. The number indicates which array element was bad. The integer array range.
elements are numbered starting with 1 and the real array elements are numbered starting Remedy: make sure that the camera number is within the range 1 to 32.
with the last integer array element plus 1. NOTE If more than one option is bad, only one VISN-039 WARN Invalid calibration method %d
is reported. Cause: The built-in routine INIT_CS was called with an invalid calibration method, or else
Remedy: Change the value of the bad array element. the built-in routine CAM_CALIB was called with a calibration method other than
VISN-016 PAUSE Bad scanning option # %d VCAL_ROBOT.
Cause: One of the options you passed to OPTIONS_FF in the integer or real arrays for Remedy: Check the built-in description for restrictions on the parameters.
the scanning algorithm is out of range. The number indicates which array element was VISN-040 WARN Cam_setup changed to NOT TRAINED
bad. The integer array elements are numbered starting with 1 and the real array Cause: The built-in routine OPTIONS_CS was called with integer array element 5 set to
elements are numbered starting with the last integer array element plus 1. NOTE If more 0.
than one option is bad, only one is reported. Remedy: If you want to change the CAM_SETUP parameters and force it to still be
Remedy: Change the value of the bad array element. trained, set integer array element 5 to 1 and provide a valid camera position as input.
VISN-017 PAUSE Bad shape match option # %d VISN-041 WARN Vision array length mismatch
Cause: One of the options you passed to OPTIONS_FF in the integer or real arrays for Cause: The array you passed to a built-in has the wrong number of elements.
the shape match algorithm is out of range. The number indicates which array element Remedy: Check the built-in description for the correct parameter types.
was bad. The integer array elements are numbered starting with 1 and the real array VISN-042 WARN Vision parameter value bad
elements are numbered starting with the last integer array element plus 1. NOTE If more Cause: You passed a parameter to a built-in that is incompatible with the function or with
than one option is bad, only one is reported. other parameters.
Remedy: Change the value of the bad array element. Remedy: Check the built-in description for restrictions on the parameters.
VISN-018 PAUSE Bad edge trace option # %d VISN-043 WARN Invalid feature type %d
Cause: One of the options you passed to OPTIONS_FF in the integer or real arrays for Cause: You called a built-in routine with VIS_PROCESS that is trained to find a feature
the edge tracing algorithm is out of range. The number indicates which array element which is not appropriate for that built-in. For example, you cannot call FOUND_LINE with
was bad. The integer array elements are numbered starting with 1 and the real array a VIS_PROCESS which has been trained to find a circle.
elements are numbered starting with the last integer array element plus 1. NOTE If more Remedy: Check the built-in description for restrictions on the parameters. The value of
than one option is bad, only one is reported. "xxx" indicates the type of feature found by the VIS_PROCESS you passed in:
Remedy: Change the value of the bad array element. 0. Line
VISN-019 PAUSE Bad connectivity option # %d 1. Elliptical Arc
Cause: One of the options you passed to OPTIONS_BR in the integer or real arrays is 2. Ellipse
out of range. The number indicates which array element was bad. The integer array 4. Circle
elements are numbered starting with 1 and the real array elements are numbered starting 5. Circular Arc
with the last integer array element plus 1. NOTE If more than one option is bad, only one 6. Edge List (includes corners)
is reported. VISN-044 WARN Invalid array index or length
Remedy: Change the value of the bad array element. Cause: The array or array index that you passed to a built-in is invalid.
VISN-020 WARN Convolution coeffs. truncated Remedy: Check the built-in description for restrictions on the parameters.
Cause: One or more of the elements in the convolution mask array you passed to VISN-045 WARN Cam_setup successfully TRAINED
CONVOLVE was greater than 31 127/128 or less than - 31 127/128 and was truncated. Cause: Informational message displayed by the built-in routine CAM_CALIB.
Remedy: Make sure all of the mask array elements are in range. Remedy: None is required.
VISN-021 WARN Point not located within image VISN-046 WARN Changed $WINDOW boundaries
Cause: The point passed to or returned from FOUND_LINE3D, FOUND_POINT, Cause: The search window used by the built-in routine is invalid or extends beyond the
PIXREAD, PIXWRITE, PLOT_POINT, or PLOT_SEGMENT is not within the camera field edges of the screen.
of view. Remedy: None necessary. Values are automatically modified by the built-in routine.
Remedy: Change the location of the point so that it within the field of view. VISN-047 WARN Invalid image type
VISN-022 WARN Window boundaries not in image Cause: The built-in routine MEAS_MUL_DIS, MEASURE_ALL, MEASURE_DIST, or
Cause: The window that was to be used for the attempted operation has boundaries that TRAIN_GAUGE was called with an invalid image type.
extend outside of the range of the screen. Remedy: The image type is specified in the first element of the gauge parameters, which
Remedy: Resize the window so that its boundaries are within the range of the screen. are stored in an array[4] of real type. Valid types are: IMG_ORIGINAL=1,
VISN-023 WARN Invalid window boundaries IMG_BINARY=2, IMG_CONVOLVE=3.
Cause: The window that was to be used for the attempted operation has invalid VISN-048 WARN Gauge not totally in image
boundaries, most likely, the high row (column) is less than the low row (column). Cause: The built-in routine MEAS_MUL_DIS, MEASURE_ALL, or MEASURE_DIST was
Remedy: Change the values of the high and/or low rows (columns). called with a gauge that was not totally in the image.
VISN-024 WARN Integer value %d out of range Remedy: Modify the gauge endpoints to be within the screen boundaries.
Cause: The integer value you specified is not within the valid range for that variable. VISN-049 PAUSE Invalid gauge width
Remedy: Check the parameter values to find the valid range. Cause: The built-in routine MEAS_MUL_DIS, MEASURE_ALL, MEASURE_DIST, or
VISN-025 WARN Invalid convolution parameters TRAIN_GAUGE was called with an invalid gauge width.
Cause: You supplied an illegal dimension, an invalid length array, or an invalid kernel Remedy: Modify the width. It must be within the range 1 to 3. The width is specified in
type when calling MAKE_KERNEL. the third element of the gauge parameters, which are stored in a n array[4] of real type.
Remedy: Refer to the MAKE_KERNEL built-in description for restrictions on the VISN-050 PAUSE Invalid Profile configuration %d
parameters. Cause: Element "xxx" in the configuration array, which is an input parameter to the built-
VISN-026 PAUSE Invalid direction value in routines PROFILE_FIND and PROFILE_MTCH, is invalid or out of range.
Cause: You supplied an invalid direction code when calling PROFILE. Remedy: Check the built-in description for restrictions on the parameters.
Remedy: Refer to the PROFILE built-in description for restrictions on the parameters. VISN-051 WARN Teach Pendant training active
VISN-027 PAUSE Invalid 3-D line parameters Cause: Vision variable training was attempted from the CRT menus or from a KAREL
Cause: You passed a three dimensional line variable to the routine L3_PL_INTER or program, but training is already active from the teach pendant menus.
LINE3D_INTER that is not in the normalized form. Remedy: Exit training from the teach pendant before attempting training from the CRT or
Remedy: Make sure the line is normalized. Mathematically, this means that the direction a KAREL program.
vector must have a magnitude of 1.0 and that the reference point must have a zero VISN-052 WARN CRT training active
component in the direction of the direction vector. Cause: Vision variable training was attempted from the teach pendant menus or from a
VISN-028 PAUSE Invalid plane parameters KAREL program, but training is already active from the CRT.
Cause: You passed a plane variable to the routine L3_PL_INTER or PLANE_INTER that Remedy: Exit training from the CRT menus before attempting training from the teach
is not in the normalized form. pendant or a KAREL program.
Remedy: Make sure the plane is normalized. Mathematically, this means that the normal VISN-053 WARN Karel program training active
vector must have a magnitude of 1.0. Cause: Vision variable training was attempted from the teach pendant menus or from the
VISN-029 WARN Vision process is not trained CRT menus, but training is already active from a KAREL program.
Cause: The VIS_PROCESS parameter which was passed to a built-in routine has not Remedy: Exit training from the KAREL program before attempting training from the teach
been trained. pendant or the CRT.
Remedy: Make sure to train the VIS_PROCESS variable before calling the built-in VISN-055 WARN Cam_setup is not trained
routine. Cause: The CAM_SETUP parameter which was passed to a built-in routine has not been
VISN-031 WARN Vision Driver: %d %d trained.
Cause: There are two possible causes of this error: Remedy: Make sure to train the CAM_SETUP variable before calling the built-in routine.
1. PROFILE was called with one of the diagonal directions (3 or 4), which are not VISN-056 WARN Incompatible vision variables
supported in this version of the software. Cause: The variable file you tried to LOAD contains vision variables that are
2. IMG_MOMENTS or MUL_BIN_MOMS were called. These built-in routines are not incompatible with the current software version.
supported in this version of the software. Remedy: The variables must be retrained.
Remedy: Do not attempt to use these unsupported features. VISN-057 WARN Cannot run due to reference
VISN-032 WARN Feature-find not setup Cause: The vision program cannot be run because it contains vision variables which
Cause: The built-in routine EXTRACT_FF, OPTIONS_FF, TRAIN_FF, TRAIN_OF, or refer to vision variables in another program, which has not been loaded.
WIN_SET_FF was called with a vision process which has not been set up. Remedy: Load the other program containing the required variables before attempting to
run this program.
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VISN-058 WARN Cannot delete due to reference Cause: The part could not be found due to one or more targets not being found or due to
Cause: The vision variable cannot be deleted because it is referred to by another vision the fit error being too large.
variable. Remedy: Check the status display to determine why the part was not found, correct the
Remedy: Delete the other vision variable first. problem, and try again.
VISN-059 WARN Error opening file VISN-093 ABORT 3DGP Target Not Found
Cause: A file open error occurred while trying to read or write a model file or an image Cause: The target was not found by the vision system.
file. Remedy: Use the target training menus to determine why the target was not found. If it is
Remedy: Make sure that the file device is ready and try again. a vision problem, retrain the target and try again.
VISN-060 WARN Error closing file VISN-094 ABORT 3DGP Offset Tolerance
Cause: A file close error occurred while trying to read or write a model file or an image Cause: The part offset computed by the vision system is larger than the offset tolerance.
file. Remedy: Check the part location to see whether it is within the specification. Check
Remedy: Make sure that the file device is ready and try again. whether the vision is finding targets correctly.
VISN-061 WARN Error reading file VISN-095 ABORT 3DGP Target Fit Tolerance
Cause: An error occurred while trying to read an image file. Cause: The found target positions are not consistent with the trained target positions.
Remedy: Make sure that the file device is ready and try again. Remedy: Use the Part Editor Menu to find and check each of the targets. Make sure
VISN-062 WARN Error writing file your lighting is consistent. Check to see if the part is bent or twisted.
Cause: An error occurred while trying to write a model file or an image file. VISN-096 ABORT 3DGP Solution Error
Remedy: Make sure that the file device is ready and try again. Cause: A mathematical error occurred while trying to find the part position.
VISN-063 WARN No vision variables in program Remedy: Check all of the cameras to make sure that the calibration frames are. aligned
Cause: Vision training was attempted from the teach pendant or CRT menus, but the correctly. Check whether the target reference positions are exact.
currently selected program does not have vision variables. VISN-097 WARN 3DGP Not All Targets Used
Remedy: Select the correct program before trying vision training. Cause: The fit error exceeded the target fit tolerance when all of the targets were used.
VISN-064 PAUSE Multiple views not allowed One or more bad targets were deleted, and a position was calculated using fewer targets.
Cause: A built-in routine has been called with a vision process which has been trained Remedy: Check the status display to determine which targets were declared bad and
for a multiple camera view location, but the built-in does not support this type of vision omitted from the calculations. Check whether the bad targets were found correctly.
process. Usually, this is because it is ambiguous which camera view to use. VISN-098 ABORT 3DGP General Fault
Remedy: Do not try to use this built-in with this type of vision process Cause: A severe internal error has occurred in the software.
VISN-065 PAUSE Location tool list not allowed Remedy: Contact FANUC Robotics Hotline.
Cause: A built-in routine has been called with a vision process which has been trained VISN-099 ABORT 3DGP Serial Communications Fault
with a location tool list, but the built-in does not support this type of vision process. Cause: An error has occurred while attempting to communicate with another robot using
Usually, this is because it is ambiguous which location tool to use. the serial communications lines.
Remedy: Do not try to use this built-in with this type of vision process Remedy: Check the communications cables.
VISN-066 PAUSE Model is not trained VISN-105 PAUSE Nominal position is not set
Cause: The built-in routine INIT_VP_VIEW has been called with a MODEL parameter Cause: The nominal data required for this vision mnemonic has not been set.
which has not been trained. Remedy: Carry out nominal execution and set nominal data.
Remedy: Train the MODEL before calling INIT_VP_VIEW. VISN-106 WARN Location tool is not trained
VISN-067 PAUSE View config. %d out of range Cause: The LOCATION TOOL parameter which was passed to the vision mnemonic has
Cause: The built-in routine INIT_VP has been called with an invalid viewing not been trained.
configuration. Remedy: Make sure to train the LOCATION TOOL variable before executing the vision
Remedy: Check the built-in description for restrictions on the parameters. mnemonic.
VISN-068 PAUSE Location type %d out of range VISN-107 WARN Meas. tool is not trained
Cause: The built-in routine INIT_VP_VIEW has been called with an invalid location type. Cause: The MEASUREMENT TOOL parameter which was passed to the vision
Remedy: Check the built-in description for restrictions on the parameters. mnemonic has not been trained.
VISN-069 PAUSE Output array is too short %d Remedy: Make sure to train the MEASUREMENT TOOL variable before executing the
Cause: The output array passed to the routine MEAS_RESULTS or VP_TOOL_LIST is vision mnemonic.
not long enough. VISN-108 WARN Vis_Proc. not a Loc. tool
Remedy: Increase the output array length and try again. Cause: You executed the vision mnemonic with a vision variable which is not trained as
VISN-070 PAUSE View number %d out of range a location tool.
Cause: The built-in routine INIT_VP_VIEW has been called with a view number larger Remedy: Specify a vision variable which is trained as a location tool.
than the number of views which were trained in the VIS_PROCESS variable. VISN-109 WARN Vis_Proc. not a Meas. tool
Remedy: Correct the requested view number and try again. Cause: You executed the vision mnemonic with a vision variable which is not trained as
VISN-071 ABORT 3DGP Bad Input Parameter a measurement tool.
Cause: Internal error in Host Simulator menu. Remedy: Specify a vision variable which is trained as a measurement tool.
Remedy: Contact FANUC Robotics. VISN-110 WARN Vis_Proc. not a Master VP
VISN-072 ABORT 3DGP Corrupt Vision Data Cause: You executed the vision mnemonic with a vision variable which is not trained as
Cause: Camera, target, or part data in memory has been corrupted. a master vision process.
Remedy: Check camera, target, or part variables using TP DATA menu. Remedy: Specify a vision variable which is trained as a master vision process.
VISN-073 ABORT 3DGP Vision Code Not Loaded VISN-111 WARN Same register number is used
Cause: A required KAREL routine was not loaded. Cause: Same register number is used as arguments in one vision instruction.
Remedy: Make sure the software is loaded properly. Remedy: Specify another register number.
VISN-074 ABORT 3DGP Task Not Active VISN-114 WARN Image buf. is write protected
Cause: The task IGP_TASK could not be run in the routine IGP_START in the module Cause: Cannot save the image into the specified image buffer by write protect.
IGP_TASK.KL Remedy: Try save the image after release write-protection of the image buffer.
Remedy: Make sure the software is loaded properly. VISN-115 WARN Image #%d erased by power down
VISN-075 ABORT 3DGP No Vision Hardware Installed Cause: The images of the image buffer #7 and #8 on the vision engine PCB were erased
Cause: No vision boards installed. The operator attempted to set the Use Internal by turning power of controller off. If image buffer #7 or #8 is saved, and the power is
Hardware flag or the idle active flag from the Host Simulator menu, but the V-400i turned off, this error is displayed when the power is turned on again.
software has not been loaded on the controller. Remedy: None.
Remedy: Make sure that the vision boards are installed and the V-400i software is VISN-116 WARN No image file
loaded. Cause: The images file is not existed.
VISN-076 ABORT 3DGP Package Not Running Remedy: None.
Cause: The task IGP_TASK is not running, but the task IGP_TRN3 is. IGP_TASK should VISN-118 WARN Adjusting gains and retrying
never abort, and is automatically started every time the operator selects the I3DGP Cause: The vision process find was unsuccessful. The light-meter window option is
guidance package from the menu list. enabled, so the gains will be adjusted for any lighting change and the vision process will
Remedy: Find out how IGP_TASK was aborted or paused. be tried again.
VISN-079 ABORT 3DGP Illegal Broadcast Mode Remedy: None.
Cause: One of the routines IGP_NEW_PART, IGP_NEW_TARG, or IGP_FND_TARG VISN-119 WARN No tracking schedule data
was called with the broadcast mode flag set but with the Use Internal Hardware flag not Cause: The tracking schedule data is not existed.
set. Remedy: INstall the tracking option.
Remedy: Do not attempt these operations while in Broadcast mode and not in Use VISN-120 WARN Invalid encoder setting
Internal Hardware mode. Cause: The setting data for pulse encoder is invalid, so the system can not read pulse
VISN-080 ABORT 3DGP No Work Cell by that Name count of encoder.
Cause: During the loading process, the specified work cell name could not be found in Remedy: Check the setting data in encoder setting screen and tracking schedule screen.
the bubble memory. VISN-121 WARN Invalid Find Next operation
Remedy: Check the spelling of the work cell name in the autoload file. Also make sure Cause: Only one location tool may be used in a find next operation. Or the first vision
that the work cell name is saved to the bubble memory. tool is not a location tool.
VISN-081 ABORT 3DGP No Part by that Name Remedy: Remove extra location type vision tools or ensure the first vision tool is not a
Cause: During the load process, the specified part name could not be found in the measurement tool or find/window offset.
bubble memory. VISN-122 WARN Invalid vision tool referenced
Remedy: Check the spelling of the part name in the autoload file. Also make sure that Cause: One of the vision tools references a vision tool that follows its location. Usually
the part name is saved to the bubble memory. caused by delete or move.
VISN-082 ABORT 3DGP No Target by that Name Remedy: Unreference the vision tool and retry the operation.
Cause: During the load process, the specified target name could not be found in the VISN-123 WARN Invalid offset tool referenced
bubble memory. Cause: One of the vision tools referenced by find/window offset tool is not valid for this
Remedy: Check the spelling of the target name in the autoload file. Also make sure that operation.
the target name is saved to the bubble memory. Remedy: Unreference the vision tool and retry the operation.
VISN-083 ABORT 3DGP No Camera by that Name VISN-124 PAUSE Tracking queue is full
Cause: During the load process, the specified camera name could not be found in the Cause: Tracking queue is full, so vision can not push vision result into tracking queue.
bubble memory. Remedy: Clear unnecessary queue or expand the number of tracking queue.
Remedy: Check the spelling of the camera name in the autoload file. Also make sure VISN-125 WARN No tracking queue to be popped
that the camera name is saved to the bubble memory. Cause: Can not pop vision result from tracking queue because tracking queue is empty.
VISN-085 ABORT 3DGP Library Request Time Out Remedy: Pop tracking queue after vision process is executed.
Cause: Timeout occurred while waiting for response from other robot. VISN-127 WARN Image buf. #%d not for system
Remedy: Check hardware and cables. Make sure destination names are correct if robot Cause: When visual tracking function uses the image buffer #7 or #8, the usage of the
is down. buffer is not for system.
VISN-086 ABORT 3DGP Process Time Out Remedy: Change the usage of the image buffer from USER to SYSTEM.
Cause: An error occurred while attempting to route a message to another robot. VISN-129 WARN Reference tool not trained
Remedy: Check hardware and cables. Make sure destination names are correct if robot Cause: A window can not be placed because the tool it references is not trained.
is down. Remedy: Retrain the tool that is referenced.
VISN-087 ABORT 3DGP Not Control of Hardware VISN-130 WARN Reference tool not defined
Cause: A vision request was received by a robot which has the Use Internal Hardware Cause: Attempt to use multi gauges without a proper reference tool.
flag turned off. Remedy: A reference tool must be selected before multi gauges can be used. The tool
Remedy: Check vision hardware. Make sure Use Internal Hardware is set to YES. should be a Connectivity tool.
VISN-088 ABORT 3DGP Work Cell Not Trained VISN-131 WARN A multi gauge references tool
Cause: You tried to select a work cell from the on-screen list in the Utilities Menu, or the Cause: Attempt to delete a reference tool that is referenced by a multi gauge.
Autoload Menu, when there are not any work cell files loaded into RAM. Remedy: Set multi gauge Use Rotation Ghost and Use Upside-down Ghost to NO and
Remedy: You must load the work cell files into RAM before they appear in the on-screen then remove reference.
list. VISN-132 WARN Reference tool not Connectivity
VISN-089 ABORT 3DGP Part Not Trained Cause: Attempt to use multi gauges without a proper Connectivity reference tool.
Cause: You have attempted to find a part by using the F10, FIND function key, in the Remedy: A reference tool must be selected before multi gauges can be used. The tool
Edit Parts Menu. should be a Connectivity tool.
Remedy: You must train a part completely before using the part. VISN-133 WARN Tool Referenced by Calc Offset tool
VISN-090 ABORT 3DGP Target Not Trained Cause: Attempt to disable multi gauges without removing its reference in calc offset.
Cause: You have tried to use a target before it has been trained completely. Remedy: The gauge name must be removed from the calc offset tool before disabling
Remedy: Train the target first. the multi gauge function.
VISN-091 ABORT 3DGP Camera Not Trained VISN-134 WARN Tool Referenced by Gauge tool
Cause: The camera must be calibrated before it can be specified for use by a target, a Cause: Attempt to remove a connectivity tool that is referenced by a multi gauge.
part, a work cell, or the V-400i vision system. Remedy: The multi gauge tool must be removed before the connectivity tool can be
Remedy: Calibrate the camera. removed.
VISN-092 ABORT 3DGP Part Not Found VISN-135 WARN Vision Variable in Temp_Pool
Cause: Design problem.
71
Remedy: Call your FANUC Robotics service. Remedy: Correct the cylinder length or the cylinder diameter in the sensor schedule
VISN-136 WARN 3DGP Vision Offset Retry Attempt screen.
Cause: The vision system is reattempting to find the part. VISN-552 PAUSE Bad cylindar direction
Remedy: None required. This is status information only. Cause: The cylinder direction must be +X, -X, +Y, -Y, +Z or -Z.
VISN-137 WARN 3DGP Configure Port %s to No Use Remedy: Correct the cylinder direction in the sensor schedule screen.
Cause: The communication port setup is incorrect. A port configured for use by 3DGP is VISN-553 PAUSE Bad verification number
in use by another device. Cause: The verification number must be positive.
Remedy: Press MENUS=>SETUP=>TYPE=>PORT INIT and set the communications Remedy: Correct the number in the sensor schedule screen.
port in question to NO USE. Go to the PORT SETUP menu in 3DGP and set up the VISN-554 PAUSE Bad sensor location
comm port as required. Cycle power when finished. Cause: The sensor location is not set rightly.
VISN-138 WARN 3DGP Failed to open Port %s Remedy: Correct the sensor location in the sensor data screen.
Cause: The vision system failed to initialize a communication port. May be posted with VISN-555 PAUSE Bad sensor frame
VISN-137. Cause: The sensor frame is not set rightly.
Remedy: If posted with VISN-137, use the remedy for VISN-137. Otherwise, check the Remedy: Correct the sensor frame in the sensor data screen.
vision communication cables and connections. VISN-556 PAUSE Schedule number mismatch
VISN-139 WARN 3DGP %s Cause: This schedule number and that of the previous sensor function are mismatch.
Cause: Site specific alarm. When PS > 1, they must be the same.
Remedy: Consult your system documentation. Remedy: Match them.
VISN-140 WARN 3DGP Run Without Offsets VISN-558 WARN Fail to calculate circle
Cause: Robot RUN WITHOUT OFFSETS input is on. This robot will NOT request a Cause: The sensor function failed.
VISION FIND, and the job will be processed without offsets. Remedy: Check the schedule and execute the function from the beginning.
Remedy: Check the RUN WITHOUT OFFSETS input from the PLC, it should be OFF. VISN-561 WARN Edges not got
Otherwise, the input may be simulated on the robot. If so, unsimulate the input. Cause: The sensor function failed. Because No edge points was got.
VISN-141 WARN 3DGP Required Target Not Found Remedy: Execute the function from the beginning. If this error often occurs, Set the
Cause: The vision system was unable to find a target with a 'MUST FIND' attribute. sensor schedule or teach the robot again so that the sensor may detect edge points.
Remedy: Retry the find part process. If this fails, you may need to touch-up the target. VISN-562 WARN Fail to calculate line
Otherwise, edit the 'Part' program and turn off the target's 'MUST FIND' attribute. Cause: The sensor function failed.
VISN-142 WARN 3DGP Vision Master Not Found Remedy: Execute the function from the beginning.
Cause: This robot could not find a valid vision master to send a message to. VISN-566 WARN No detected point
Remedy: Check to make sure that the VISION OFFSET DATA SOURCEs have been set Cause: There is no detected point.
up in the P_XXXXXX part file. Check that the port setup communications have been set Remedy: Set the sensor schedule or teach the robot again so that the sensor may detect
up correctly. Check the status of the MASTER ENABLE digital inputs. some points.
VISN-143 WARN 3DGP Vision Degrade Part Retry VISN-567 WARN No valid detected point
Cause: The find part attempt failed with a 'Fit Tolerance' error. The part file has been set Cause: There is no valid point.
up to retry vision by asking for another set of offsets, most likely using a three camera Remedy: Set the sensor schedule or teach the robot again so that the some valid points
find. may be left.
Remedy: This is a warning and no action is necessary unless this function is not desired. VISN-568 WARN Fail to find quasi-highest
To disable this functionality, edit the part file from the 3DGP menu and disable 'Use Cause: The sensor function failed.
Degrade Part If Fit Error' Remedy: Execute the function from the beginning.
VISN-506 PAUSE Function mismatch VISN-569 WARN Fail to find crowd
Cause: This sensor function and the previous one are mismatch. When PS > 1, they Cause: The sensor function failed.
must be the same. Remedy: Execute the function from the beginning.
Remedy: Match them. VISN-570 WARN Fail to find cylindar head
VISN-508 PAUSE Bad measurement position num Cause: The sensor function failed.
Cause: When PS > 1, it must be just one larger than the PS number of the previous Remedy: Execute the function from the beginning.
sensor function. VISN-573 WARN Previous function failed
Remedy: Correct the PS number. Cause: An alarm occurred in the previous function.
VISN-515 PAUSE Bad robot group Remedy: Execute the function from the beginning.
Cause: The robot group must be from 1 to 5. VISN-574 WARN No valid point within range
Remedy: Correct the group in the sensor schedule screen. Cause: The sensor function failed.
VISN-516 PAUSE Bad sensor data number Remedy: Execute the function from the beginning.
Cause: The sensor data number must be from 1 to 5 VISN-575 PAUSE Calibration check fail
Remedy: Correct the sensor data number in the sensor schedule screen. Cause: The calibration check fail.
VISN-517 PAUSE Bad status output number Remedy: Execute the function from the beginning.
Cause: The status output number is not set rightly. VISN-576 PAUSE Bad calibration check nominal
Remedy: Correct the status output number in the sensor schedule screen. Cause: The nominal of the calibration check is not set rightly.
VISN-518 PAUSE Bad offset type Remedy: Correct the nominal in the sensor schedule screen.
Cause: The offset type is not set rightly. VISN-578 PAUSE Bad calib check corner pos
Remedy: Correct the offset type in the sensor schedule screen. Cause: The scanner positions of corner points must be from 0 to 16383.
VISN-519 PAUSE Bad offset output number Remedy: Correct the scanner positions in the sensor schedule screen.
Cause: The offset output number is not set rightly. VISN-581 WARN Fail to calculate doughnut
Remedy: Correct the offset output number in the sensor schedule screen. Cause: The sensor function failed.
VISN-520 PAUSE Bad offset limit XYZ Remedy: Check the schedule and execute the function from the beginning.
Cause: The offset limit XYZ must be plus. VISN-582 WARN Fail to calculate plane
Remedy: Correct the offset limit XYZ in the sensor schedule screen. Cause: The sensor function failed.
VISN-521 PAUSE Bad offset limit angle Remedy: Check the schedule and execute the function from the beginning.
Cause: The offset limit angle must be plus. VISN-583 PAUSE Bad diameter margin
Remedy: Correct the offset limit angle in the sensor schedule screen. Cause: The diameter margin must be larger than the spot pitch.
VISN-522 WARN Offset position not calculated Remedy: Correct the diameter or the spot pitch in the sensor schedule screen.
Cause: The offset position exceed the offset limit or the sensor function failed. WEAV Error Codes
Remedy: Correct the offset limit in the sensor schedule screen. Or move the robot or the WEAV-000 WARN unknown error (WV00)
work so that the offset position may not exceed the limit. Cause: Internal system error
VISN-526 PAUSE Bad nominal position Remedy: Cold start controller
Cause: The nominal position is not set rightly. WEAV-001 WARN Weave global variable failure
Remedy: Correct the nominal position in the sensor schedule screen. Cause: Weave variables not loaded
VISN-527 WARN Actual position not calculated Remedy: Controlled start, initialize motion softparts
Cause: The sensor function failed. WEAV-002 STOP Weave motion data missing
Remedy: Execute the function from the beginning. Cause: Internal system error
VISN-528 PAUSE Actual position not normalized Remedy: Cold start controller
Cause: The sensor function failed. WEAV-003 STOP Weave error allocating data
Remedy: Execute the function from the beginning. Cause: Not enough memory
VISN-530 PAUSE Bad actual position Remedy: Remove unneeded loaded variables and programs
Cause: The actual position of the work is not set rightly. WEAV-004 STOP Weave system variable failure
Remedy: Detect the actual position again. Cause: Weave system variables not loaded or initialized
VISN-533 PAUSE Bad function Remedy: Controlled start, init motion softparts
Cause: The sensor function is different from that in the sensor schedule screen. WEAV-005 STOP Weave pattern does not exist
Remedy: Match them. Cause: Internal system error
VISN-534 PAUSE Bad laser intensity threshold Remedy: Delete Program line
Cause: The laser intensity threshold must be from 0 to 255. WEAV-006 STOP Weave illegal schedule number
Remedy: Correct the laser intensity threshold in the sensor schedule screen. Cause: Invalid weave schedule number
VISN-537 PAUSE Bad scanning center Remedy: Change weave schedule to be in limits
Cause: The scanning center is not set rightly. WEAV-007 STOP Weave illegal frequency value
Remedy: Correct the scanning center in the sensor schedule screen. Cause: Frequency value invalid
VISN-538 PAUSE Bad scanning range Remedy: Change frequency to be within limits
Cause: The scanning range is not set rightly. WEAV-008 STOP Weave illegal amplitude value
Remedy: Correct the scanning range in the sensor schedule screen. Cause: Weave amplitude value invalid
VISN-540 PAUSE Bad scanning direction Remedy: Change amplitude to be within limits
Cause: The scanning direction must be +X, -X, +Y or -Y. WEAV-009 STOP Weave illegal dwell value
Remedy: Correct the scanning direction in the sensor schedule screen. Cause: Weave dwell value invalid
VISN-541 PAUSE Bad scanning width Remedy: Change dwell to be within limits
Cause: The scanning width must be plus. WEAV-010 WARN Weave too many pre-exec WS
Remedy: Correct the scanning width in the sensor schedule screen. Cause: Several weave statements pre-executed
VISN-542 PAUSE Bad spot pitch Remedy: Warning only
Cause: The spot pitch must be plus. WEAV-011 WARN Unsupported function code
Remedy: Correct the spot pitch in the sensor schedule screen. Cause: Internal system error
VISN-543 PAUSE Bad number of scanning lines Remedy: Cold start controller
Cause: The number of scanning lines is too many or 0. WEAV-012 WARN Multi-group stop dwell invalid
Remedy: Correct scanning line interval or scanning rectangle. Cause: Stop dwell is specified but the program has multiple groups. Stop dwell is not
VISN-544 PAUSE Bad number of spots supported for multiple groups. Moving dwell is executed.
Cause: The number of spots is too many or 0. Remedy: Change Weave setup to use Moving Dwell
Remedy: Correct spot pitch or scanning range. WEAV-013 STOP Incorrect weaving vectors
VISN-545 PAUSE Bad sensing MAX Z Cause: Weaving vector can not be calculated because direction of weaving vector is not
Cause: The sensing MAX Z is not set rightly. correct
Remedy: Correct the sensing MAX Z in the sensor schedule screen. Remedy: Change path direction or setting of UTOOL to plan weaving vector correctly.
VISN-546 PAUSE Bad sensing MIN Z WEAV-014 STOP Wrist Joint Limit
Cause: The sensing MIN Z must be smaller than the sensing MAX Z. Cause: Wrist axes reaches to its limit
Remedy: Correct the sensing MIN Z or the sensing MAX Z in the sensor schedule Remedy: Change wrist configuration to allow wrist axes away from its limit.
screen. WEAV-015 STOP Wrist axes 5 closes to zero
VISN-547 PAUSE Bad dispersion of measurement Cause: Joint 5 is too close to zero
Cause: The dispersion of measurement is not set rightly. Remedy: Change wrist configuration to avoid singularity
Remedy: Correct the dispersion of measurement ($dispersion) in the system variable WEAV-016 STOP Unknown wrist configuration error
screen. Cause: Unknown wrist configuration error
VISN-549 PAUSE Bad edge judgement direction Remedy: Change wrist configuration
Cause: The edge judgement direction must be +X, -X, +Y, -Y, +Z or -Z. WEAV-017 STOP Run_ang exceeds tol_ang
Remedy: Correct the edge judgement direction in the sensor schedule screen. Cause: The angles of Weaving direction away from its best direction is larger than
VISN-550 PAUSE Bad diameter allowed tol_ang
Cause: The diameter must be larger than twice the spot pitch. Remedy: Change torch angle or increase the value of tol_ang
Remedy: Correct the diameter or the spot pitch in the sensor schedule screen. WEAV-018 STOP Invalid UTool
VISN-551 PAUSE Bad cylindar length Cause: The current utool has null value
Cause: The cylinder length must be larger than twice the cylinder diameter. Remedy: Use a valid utool
72
WNDW Error Codes Cause: The file name in an OPEN statement begins WD: or KB: but is not a valid format.
WNDW-001 WARN Invalid screen name format Remedy: The following forms are valid: WD:wnam KB:knam WD:wnam/knam
Cause: Format of screen name in DEF_SCREEN, ACT_SCREEN, or ATT_WINDOW_S KB:knam/wnam where wnam and knam are 1-4 alpha-numeric characters Correct the
call is invalid. format of the file name
Remedy: Screen names must be 1-4 alpha- characters Supply a valid screen name WNDW-019 WARN Write to file w/o window
WNDW-002 WARN Invalid window name format Cause: A write was issued to a file opened to a keyboard (KB:knam), but not a window
Cause: Format of window name in ATT_WINDOW_D, ATT_WINDOW_S, or Remedy: Either change the OPEN to specify a window or do not WRITE to the file
DET_WINDOW call or an OPEN statement is invalid. WNDW-020 WARN Bad buffer length on read
Remedy: Window names must be 1-4 alpha- characters Supply a valid window name Cause: The buffer_size parameter in a INI_DYN_DISI INI_DYN_DISR, INI_DYN_DISS
WNDW-003 WARN Invalid keybd. name format or READ_KB call is invalid
Cause: Invalid display device name in DEF_SCREEN or ATT_WINDOW_D call Remedy: Specify a value in the range 10-128 for INI_DYN_DISx calls; for READ_KB
Remedy: Use TP for teach pendant screen or CRT for KCL screen calls, specify a range of 1-128, unless the accept mask is zero, when a buffer_size value
WNDW-004 WARN Invalid disp dev name format of zero is permitted.
Cause: Invalid format of display device name in DEF_SCREEN or ATT_WINDOW_D call WNDW-021 WARN Invalid timeout value
Remedy: Device names must be 1-4 alpha- characters Supply a valid device name Cause: The time_out value in a READ_KB call is Invalid
WNDW-005 WARN Bad number of rows Remedy: The value must be less than 65535000. Use a valid value
Cause: Invalid n_rows in DEF_WINDOW call WNDW-022 WARN Zero term char mask in read
Remedy: n_rows value must be 1 to 50 Correct the value Cause: The terminate character mask in a keyboard read is zero.
WNDW-006 WARN Bad number of cols Remedy: Use a non-zero value for the terminate character mask
Cause: Invalid n_cols in DEF_WINDOW call WNDW-023 WARN Initial data too long
Remedy: n_cols value must be 1 to 132 Correct the value Cause: The init_data value is longer than the buffer size parameter
WNDW-007 WARN Bad row number Remedy: Either increase the value of buffer_size or specify a shorter string for init_value
Cause: Invalid value of row parameter in ATT_WINDOW_S, AT_WINDOW_D, or WNDW-024 WARN Attempt to read with no kb
SET_CURSOR call Cause: A READ_KB call or READ statement was executed on a file that was OPENed to
Remedy: For ATWINDOW_S or AT_WINDOW_D calls, row must be in the range 1- a window but not a keyboard
(display_device_size-window_size+1) Correct the row parameter value For Remedy: Either modify the OPEN FILE statement to specify a keyboard or do not use
SET_CURSOR calls, the value must be in the range 1-50 the file in a READ_KB call or READ statement
WNDW-008 WARN Bad col number WNDW-025 WARN Echo window for read not act
Cause: Invalid value of col parameter in ATT_WINDOW_S, AT_WINDOW_D, or Cause: A READ_KB call was executed where the specified file is opened to a window
SET_CURSOR call that is not attached to the active screen and the terminate mask included the no_window
Remedy: For ATWINDOW_S or AT_WINDOW_D calls, col must be in the range 1- bit
(display_device_size-window_size+1) Correct the col parameter value For Remedy: This may be a normal result if the user intended READ_KB requests to fail if
SET_CURSOR calls, the value must be in the range 1-132 the required window is not displayed. Otherwise, either modify the terminate mask or use
WNDW-011 WARN Unk. disp dev name ATT_WINDOW_D or ATT_WINDOW_S to attach the required window.
Cause: Unknown display device name in DEF_SCREEN or ATT_WINDOW_D call WNDW-026 WARN Read for same keys/kbd active
Remedy: Use TP for teach pendant screen or CRT for KCL screen Cause: A READ_KB call was executed where the the keyboard for the specified file
WNDW-012 WARN Unk k/b dev name currently has another READ_KB call or READ statement that accepts some of the same
Cause: Keyboard device specified in a PUSH_KEY_RD or POP_KEY_RD call or OPEN classes of keys and the terminate mask included the kbd_busy bit
statement is invalid Remedy: This may be a normal result if the user intended READ_KB requests to fail if
Remedy: Use 'TP' for teach pendant keys or 'CRT' for KCL keyboard the Keyboard is in use. Otherwise, modify the terminate mask, modify the accept mask of
WNDW-013 WARN Duplicate screen name this or the conflicting read, or use a PUSH_KEY_RD call to suspend conflicting reads
Cause: Screen name specified in DEF_SCREEN call is already defined WNDW-027 WARN Too many pushes active
Remedy: If the screen is a system-defined, it cannot be redefined. If the existing screen Cause: The maximum depth of key read PUSH operations has been exceeded.
definition is not being changed, this may not be a problem. Otherwise, it may be Remedy: Check for situations in which a PUSH_KEY may be executed and no
necessary to cold-start the controller to delete the existing definition: POP_KEY is executed.
1. Turn off the robot. WNDW-028 WARN Mis-match on push/pop seq
2. On the teach pendant, press and hold the SHIFT and RESET keys. Cause: This indicates that the pop_index specified in a POP_KEY_RD call is not the
3. While still pressing the SHIFT and RESET keys, turn on the robot. expected value, indicating that call are being made out of order.
WNDW-014 WARN Duplicate window name Remedy: Check the logic in use of PUSH_KEY_RD and POP_KEY_RD to ensure that
Cause: Window name specified in DEF_WINDOW call is already defined the pop_index values are being supplied in the correct order. If more than one task is
Remedy: If the window is a system-defined window, it cannot be redefined. If the window issuing PUSH_KEY_RD and POP_KEY_RD calls, extra care is required
is a system-defined, it cannot be redefined. If the existing window definition is not being WNDW-030 WARN Invalid time
changed, this may not be a problem. Otherwise, it may be necessary to cold-start the Cause: The interval parameter in a INI_DYN_DISI, INI_DYN_DISR, or INI_DYN_DISS
controller to delete the existing definition: call is invalid
1. Turn off the robot. Remedy: This must be in the range 1-32767 (ms)
2. On the teach pendant, press and hold the SHIFT and RESET keys. WNDW-032 WARN No match on var disp cncl
3. While still pressing the SHIFT and RESET keys, turn on the robot. Cause: There is no currently active dynamic display for variable and window specified in
WNDW-015 WARN Unknown screen name a CNC_DYN_DISI, CNC_DYN_DISR, or CNC_DYN_DISS call.
Cause: The screen name specified in a ATT_WINDOW_S, DET_WINDOW, or Remedy: Check the variable and window names. Also check logic to see that dynamic
ACT_WINDOW call is not defined display had been started and not already cancelled.
Remedy: Use the name of a defined screen WNDW-033 WARN Field width invalid
WNDW-016 WARN Unknown window name Cause: The field_width parameter in a call to one of the INI_DYN_DIS builtin routines is
Cause: The window name specified in a ATT_WINDOW_S, ATT_WINDOW_D, or invalid.
DET_WINDOW call or an OPEN statement is not defined Remedy: Value must be in the range of 0-255
Remedy: Use the name of a defined window WNDW-065 WARN window not attached to screen
WNDW-017 WARN Window already attchd to scrn Cause: The window specified in a DET_WINDOW call is not attached to the specified
Cause: The window name specified in a ATT_WINDOW_S, ATT_WINDOW_D is ready screen.
attached to the specified screen Remedy: This is only a warning. It can be ignored or avoided by not detaching windows
Remedy: If the present attach is acceptable, this may not be a problem. Otherwise it will that are not attached.
be necessary to call DET_WINDOW
WNDW-018 WARN Invalid file name string
73
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