MITSUBISHI ELECTRIC

MELFA

Industrial Robots

Instruction Manual
(Troubleshooting)

CR1/CR2/CR3/CR4/CR7/CR8/CR9
Controller

Art. no.: 132314

21 01 2005
MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION
Version K
BFP-A5993
 Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.

CAUTION All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
→ Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures of oper-
ating the robot, and to the measures to be taken when an error occurs or when restart-
ing. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
→ Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
→ Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
→ Indication of teaching work in progress

WARNING Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
→ Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and follow
this method.
→ Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
→ Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→ Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

CAUTION Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environ-
ment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting the robot
in a non-designated posture could lead to personal injuries or faults from dropping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise source,
positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable. Failure to
observe this could lead to contact defects or wire breakage.

CAUTION Make sure that the workpiece weight, including the hand, does not exceed the rated load
or tolerable torque. Exceeding these values could lead to alarms or faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to observe
this could lead to personal injuries or damage if the object comes off or flies off during
operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to malfunc-
tioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure the pri-
ority right for the robot control. Failure to observe this could lead to personal injuries or
damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral
devices because of programming mistakes, etc.

CAUTION Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.

CAUTION Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.

WARNING When the robot arm has to be moved by hand from an external area, do not place hands
or fingers in the openings. Failure to observe this could lead to hands or fingers catching
depending on the posture.

CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF. If the robot controller main power is turned OFF during automatic operation,
the robot accuracy could be adversely affected.Moreover, it may interfere with the
peripheral device by drop or move by inertia of the arm.

CAUTION Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic operation or
rewriting the program or parameters, the internal information of the robot controller may
be damaged.
C.Precautions for the basic configuration are shown below.(When CR1-571/CR1B-571 is used for the
controller.)

CAUTION Provide an earth leakage breaker that packed together on the primary power
supply of the controller as protection against electric leakage. Confirm the set-
ting connector of the input power supply voltage of the controller, if the type
which more than one power supply voltage can be used. Then connect the
power supply.
Failure to do so could lead to electric shock accidents.

Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.
*Except the above: Single phase 180-253VAC.

Rear side of controller

Earth leakage
breaker
(NV)

Cover

Terminal

Cover

Terminal cover

Protective earth
terminal
(PE)

WARNING For using RH-5AH/10AH/15AH.

While pressing the brake releasing switch on the robot arm, beware of the arm
which may drop with its own weight.
Dropping of the hand could lead to a collision with the peripheral equipment or
catch the hands or fingers.
Revision history
Date of print Specifications No. Details of revisions

1999-06-16 BFP-A5993Z-* First print

1999-07-28 BFP-A5993Z-a Change title.

1999-09-24 BFP-A5993Z-b Error in writing correction.

1999-11-10 BFP-A5993 Error in writing correction.

1999-12-03 BFP-A5993-A Error in writing correction.

The error no. L1820 was added.

1999-12-17 BFP-A5993-B Error in writing correction of L1820.

2000-08-17 BFP-A5993-C Change title.

Error in writing correction.

2000-09-19 BFP-A5993-D Error in writing correction.

2001-03-21 BFP-A5993-E Error in writing correction.

2002-06-25 BFP-A5993-F The error number of software version H5 was added.

Error in writing correction.

2002-09-20 BFP-A5993-G The error no. was added. (H0027, L2804, L4201, L4920, L7071, C7310, L7330, L7331, L7332).
The error was corrected. (H0025, H0026).
Error in writing correction.

2003-07-02 BFP-A5993-H The error number of software version J1 was added.

Change title.
Error in writing correction.

2003-09-24 BFP-A5993-J The error number of software version J2 was added.

Error in writing correction.

2005-01-21 BFP-A5993-K The error number of software version K1 was added.

Error in writing correction.
■ Introduction

Thank you for purchasing the Mitsubishi industrial robot. This instruction manual describes the causes and
measures for errors that may occur while using the robot.
If an error should occur, refer to this manual and take appropriate measures.

・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The contents of this manual are subject to change without notice.
・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
・ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed.".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.

Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION

 Contents
Page
1 Error list ............................................................................................................................................................................................... 1-1
2Appendix ............................................................................................................................................................................. Appendix-33
Appendix 1: Place where fuse replacement is required ............................................................................... Appendix-33

i
 Page

ii
 1Error list

1 Error list
When an error occurs, a 5-digit error No. (example: "C0010") will appear at the STATUS NUMBER display on the
operation panel at the front of the controller, and the [RESET] switch lamp will light.
If any key, such as the T/B [MENU] key is pressed, a 4-digit error No. (number excluding first character, for
example "0010" will appear for C0010) will appear on the T/B LCD display.
The message, cause and measures to be taken are displayed in Table 1-1 for the error Nos. that may appear.
Also, a detailed message will be displayed on the Error History screen of the T/B, depending on the error No. of
the error occurred. Check by displaying the Error History screen after resetting the error.
If the error recurs even after the measures in the table are taken, contact your dealer.

[Note] ・ The meaning of the error Nos. in Table 1-1 are shown below.
□ ００００ ＊
・ An error marked with a * reset by turning the power OFF and
ON. Take the measures given.
・ The error type is indicated with a 4-digit number.
・ Three types of error classes are inidcated.
Ｈ ： High level error.............The servo turns OFF.
Ｌ ： Low level error .............The operation will stop.
Ｃ ： Warning ............................The operation will continue.

・ The axis No. may be indicated at the last digit of the error No.
Example) H0931 No. 1 axis motor overcurrent.

Table 1-1 ： Error list

Error No. Error cause and measures
H0001 Error message Fail safe error (SRVOFF)
Cause The system may be abnormal.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0002 Error message Fail safe error (STOP)
Cause The system may be abnormal.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0009 * Error message Version UP (ALL)
Cause Message at version up.
Measures Turn the power OFF and ON once.
C0010 Error message Illeagal Version (file)
Cause The version is inconsistent.
Measures The file has been automatically initialized. The program is being deleted.
C0011 Error message Illeagal Version (system data)
Cause The version is inconsistent.
Measures The file has been automatically initialized. Turn the power OFF and ON once.
C0012 Error message Initialize (error log)
Cause The error log has been initialized because of version mismatch or the error log file is abnormal.
Measures Reset the alarm, and continue the operation.
C0013 * Error message Illeagal file
Cause Data including programs may have been damaged.
Measures Contact the nearest dealer as the initialization operation is required.
H0014 * Error message System error (illegal MECHA)
Cause A character string cannot exceed 14 characters.
Measures Re-input the correct name.

Error no. H0001 1-1

1Error list

Error No. Error cause and measures

H0015 * Error message Illeagal Version (file)
Cause Illeagal Version (file)
Measures Contact the maker.
L0016 * Error message Turn the power OFF and ON once
Cause The time from turning the power OFF to turning the power ON again is too short.
Measures Give more time before turning the power ON again after turning the power OFF.
C0018 Error message Illeagal Version (add memory)
Cause Version mismatch.
Measures The file has been automatically initialized.
H0020 * Error message System Error(same name is Backup data.)
Cause The same data name is already in use.
Measures Change the name.
H0021 * Error message System Error(Backup data is Count over.)
Cause The control region is overflowing.
Measures Change the software to increase the control region.
H0022 * Error message System Error(Backup data is no area.)
Cause The region is too small.
Measures Change the software to increase the region.
C0023 Error message Add memory was detached/attached
Cause Add memory was detached/attached.
Measures Please check wearing of an add memory.
H0025 * Error message Files will be saved to ROM
Cause Program, parameter and log files will be saved to ROM.
Measures Turn the power OFF and power ON once.
H0026 * Error message Files will be loaded from ROM
Cause Program, parameter and log files will be loaded from ROM.
Measures Turn the power OFF and power ON once.
H0027 * Error message Backup or restore is canceled
Cause Backup or restore is canceled.
Measures Turn the power OFF and power ON once.
L0030 Error message Hand error. LS release
Cause This is a user setting error.
Measures Reset the error after removing the cause.
L0031 Error message Air pressure error
Cause This is a user setting error.
Measures Reset the error after releasing the cause.
H0039 Error message Door Switch Signal line is faulty.
Cause The door switch open signal line is not stable.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0040 Error message Door Switch Signal is Input
Cause The door switch is open.
Measures Close the door connected to the input signal of door switch.
H0041 * Error message Comm. error (Remote I/O #1)
Cause An error was found in the communication line for remote I/O channel 1.
Measures Confirm the communication cable or connected device's power supply.
H0042 * Error message Comm. error (Remote I/O #2)
Cause An error was found in the communication line for remote I/O channel 2.
Measures Confirm the communication cable or connected device's power supply.

1-2 Error no. H0015 *

 1Error list

Error No. Error cause and measures

H0043 * Error message Comm. error (Remote I/O #3)
Cause An error was found in the communication line for remote I/O channel 3.
Measures Confirm the communication cable or connected device's power supply.
H0050 Error message EMG signal is input. (external)
Cause The external emergency stop is being input.
Measures Release the external emergency stop signal.
H0051 Error message EMG line is faulty.(external)
Cause The emergency stop line isn't stable.
Measures When it comes back, contact to the dealer.
H0052 Error message EMG signal is input.(Add.Axis1)
Cause The external emergency stop is being input to the additional axis card.
Measures Cancel the external emergency stop 1.
H0053 Error message EMG signal is input.(Add.Axis2)
Cause The external emergency stop is being input to the additional axis amplifier.
Measures Cancel the external emergency stop 2.
H0060 Error message EMG signal is input. (O.Panel)
Cause The operation panel emergency stop is being input.
Measures Cancel the operation panel emergency stop.
H0061 Error message EMG line is faulty.(0.Panel)
Cause The emergency stop line isn't stable.
Measures When it comes back, contact to the dealer.
H0070 Error message EMG signal is input. (T.Box)
Cause The T/B emergency stop is being input.
Measures Cancel the T/B emergency stop.
H0071 Error message EMG line is faulty.(T.Box)
Cause The emergency stop line isn't stable.
Measures When it comes back, contact to the dealer.
H0072 Error message An error was found in the T/B remove switch operation.
Cause The operation to mount/dismount the T/B was not performed normally.
Measures Operate again the following keys.
"MODE key switch", "T/B remove switch", "T/B enable/disable changeover switch"
H0073 Error message An error was found in the T/B remove switch line.
Cause The T/B remove switch line is not stable.
Measures When it comes back, contact to the dealer.
H0074 Error message An error was found in the T/B [ENABLE/DISABLE] switch double-system.
Cause The T/B [ENABLE/DISABLE] switch isn't stable.
Measures When it comes back, contact to the dealer.
H0075 Error message TB communication error
Cause Communication between the RC and TB was cut off.
Measures When it comes back, contact to the dealer.
H0082 * Error message Fuse is broken (air hand I/F)
Cause The pneumatic hand's fuse has broken.
Measures Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for
details.
H0083 * Error message Fuse is broken(hand input power)
Cause The pneumatic hand's power fuse has broken.
Measures Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for
details.

Error no. H0043 * 1-3

1Error list

Error No. Error cause and measures

H0084 * Error message Fuse is broken(O/P)
Cause The operation panel's power fuse has broken.
Measures Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for
details.
H0085 * Error message Fuse is broken(External EMG)
Cause The external emergency stop's power fuse has broken.
Measures Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for
details.
H0086 Error message Hand module overcurrent
Cause The motorized hand's motor or circuit board has broken.
Measures Exchange the motorized hand's motor or circuit board.
L0091 Error message Can't access the Special signal
Cause The dedicated output signal is assigned to the specified signal. This signal cannot be used in duplicate.
Measures Change the output No., or change the dedicated output assignment parameter.
H0100 * Error message Temperature in the Controlle is too high
Cause The intake fan is not operating, or the fan filter is clogged.
Measures Check the operation of the intake fan, or clean or replace the fan filter if necessary.
L0101 Error message Temperature in the Controlle is too high
Cause The intake fan is not operating, or the fan filter is clogged.
Measures Check the operation of the intake fan, or clean or replace the fan filter if necessary.
C0102 Error message Temperature in the Controlle is too high
Cause The intake fan is not operating, or the fan filter is clogged.
Measures Check the operation of the intake fan, or clean or replace the fan filter if necessary.
L0110 Error message Overload(UPS)The UPS is spent
Cause The UPS is spent.
Measures Replace the UPS.
C0111 Error message No UPS's battery voltage.
Cause The UPS's battery is spent.
Measures Replace the UPS's battery.
C0112 Error message Open the UPS's battery cover
Cause Open the UPS's battery cover
Measures Close the UPS's battery cover
C0460 Error message Motor thermal error(Add.Axis)
Cause Overheating of the addition axis motor was detected
Measures Please exchange the cooling fan of the addition axis motor
H0470 * Error message Abnormality of DB(Add.Axis)
Cause The addition axis dynamic brake is abnormal
Measures Check the dynamic brake unit and the cable connection
L0480 Error message THR-RR error(Add.Axis)
Cause Overheating of the regenerative resistor (Add.Axis) was detected
Measures Exchange the cooling fan of the regenerative resistor (Add.Axis)
C049n * Error message Alarm of fan in the robot
(n indicates the
Cause Fan in the robot might be out of order
axis number (1
to 8).) Measures Please exchange the fan in the robot
H050n * Error message Servo axis setting error
(n indicates the
Cause The servo amplifier's axis setting rotary switch setting is illegal.
axis number (1
to 8).) Measures Correctly set.
H0510 * Error message The converter setting is illegal
Cause The converter's rotary switch setting and parameter SVPTYP setting do not match.
Measures Correctly set.

1-4 Error no. H0084 *

 1Error list

Error No. Error cause and measures

H0520 * Error message Robot axis setting illegal
Cause The setting of the servo axis used by the mechanism is duplicated with another mechanism's axis.
Measures Correctly set.
H053n * Error message Servo sys. error (memory)
(n indicates the
Cause The servo amplifier memory IC's check sum is illegal.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H054n * Error message Servo sys. error (over run)
(n indicates the
Cause The servo amplifier software data process did not end within the specified time.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H055n * Error message Servo sys. error (mag. pole pos)
(n indicates the
Cause An error was detected in the magnetic pole position detection signal of the detector.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H056n * Error message Servo sys. error (A/D
(n indicates the
Cause An error was found in the servo amplifier's A/D converter during initialization.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H057n * Error message Encoder error (EEPROM)
(n indicates the
Cause An error was detected in EEPROM data of the serial pulse encoder.
axis number (1
to 8).) Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
H058n * Error message Encoder error (LED)
(n indicates the
Cause The LED of the serial pulse encoder has been deteriorated.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H059n * Error message Encoder error (position data)
(n indicates the
Cause An error was detected in the position data within a single rotation of the encoder.
axis number (1
to 8).) Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
H060n * Error message Encoder no-signal detection 1
(n indicates the
Cause An error was detected in the operating input of the detector mounted on the edge of the motor.
axis number (1
to 8).) Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
H061n * Error message Encoder no-signal detection 2
(n indicates the
Cause An error was detected in the operating input of the detector mounted on the edge of the machine.
axis number (1
to 8).) Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
H062n * Error message Servo amplifier LSI error
(n indicates the
Cause An operation error was detected in the LSI of the servo amplifier.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H063n * Error message Unused axis servo error
(n indicates the
Cause A power module error occurred in an axis which not use the movement control.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.

Error no. H0520 * 1-5

1Error list

Error No. Error cause and measures

H064n * Error message System error (ABS CPU)
(n indicates the
Cause An error in the CPU of the absolute position linear scale was detected.
axis number (1
to 8).) Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
H065n * Error message Absolute position error
(n indicates the
Cause An error was detected in the absolute position detection circuit within the absolute position linear scale.
axis number (1
to 8).) Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
H066n * Error message Incremental position error
(n indicates the
Cause An error was detected in the relative position detection circuit within the absolute position linear scale.
axis number (1
to 8).) Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
H067n * Error message Encoder CPU error
(n indicates the
Cause An error was detected in the CPU of the position detector.
axis number (1
to 8).) Measures Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
H068n * Error message Encoder LED error
(n indicates the
Cause Deterioration of the position detector's LED was detected.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0690 * Error message Regeneration circuit error
Cause A regenerative transistor or resistor error was detected.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0700 * Error message P.S. external contactor fusing
Cause The contactor was turned ON even though READY is OFF.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0710 * Error message Power supply rush relay error
Cause The relay for the rush resistance short-circuit doesn't turn on.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0720 * Error message Power supply watch dog
Cause The converter software process did not end within the specified time.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0730 * Error message Power supply rush relay fusing
Cause The rush resistance short-circuit relay did not turn OFF.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0740 * Error message Power supply main circuit error
Cause The charge operation of the main circuit capacitor is not normal.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0750 * Error message Power supply memory error
Cause An error in the memory circuit of converter was detected.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H0760 * Error message Power supply/AD converter error
Cause An error was detected in the A/D converter of the converter.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.

1-6 Error no. H064n * (n indicates the axis number (1 to 8).)

 1Error list

Error No. Error cause and measures

H078n * Error message Servo amplifier watch dog
(n indicates the
Cause The servo amplifier software process is not operating correctly.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H079n * Error message Servo amplifier boad error
(n indicates the
Cause An error was detected in the servo amplifier's PCB.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H080n * Error message Servo amplifier clock error
(n indicates the
Cause An error was detected in the servo amplifier's clock.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H081n * Error message Servo amplifier undervotlage
(n indicates the
Cause The PN bus voltage dropped to 200V or less. Momentary power failure may have occurred.
axis number (1
to 8).) Measures Check the primary voltage.
H0820 * Error message Motor ground fault
H082n * Cause A motor ground fault was detected. A connection or conductance error may have occurred in the motor
(n indicates the
cable.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H083n * Error message Servo amplifier overvoltage
(n indicates the
Cause The PN bus voltage rose to 400V or more.
axis number (1
to 8).) Measures Check the primary power supply voltage. Turn the power OFF and ON once.
H0840 * Error message Instantaneous power failure(SRV)
Cause A power shutdown status of 50 msec or longer has occurred.
Measures Check the power voltage. Turn the power OFF and ON once.
H0850 * Error message Power supply voltage incorrect
Cause The input power (L1, L2, L3) has an open phase, the voltage is not within the specifications, or the 100V/
200V specifications changeover setting is incorrect.
Measures Check the power connection, power state or the setting.
H0860 Error message Power supply overvoltage
Cause The voltage across the converter's L+ and L- exceeded 410V.
Measures Check the power supply connection and power supply state.
H087n * Error message Encoder thermal error
(n indicates the
Cause The built-in thermal protector of the serial pulse encoder has been activated.
axis number (1
to 8).) Measures Turn the controller power OFF, wait a while, and then turn ON again. When it comes back, contact to the
dealer.
H0880 * Error message Power module overheat
H088n *
Cause Overheating of the power module regenerative resistor was detected.
(n indicates the
axis number (1 Measures Turn the controller power OFF, wait a while, and then turn ON again. When it comes back, contact to the
to 8).) dealer.
H089n Error message Servo amplifier motor overheat
(n indicates the
Cause The position detector's thermal protector activated.
axis number (1
to 8).) Measures Turn the controller power OFF, wait a while, and then turn ON again. Decrease the acceleration/
deceleration time of the operation speed, for instance.
Refer to "Detailed explanation of command words"/"ACCEL (Accelerate)," "OVRD (Override)" and "SPD
(Speed)," or "Detailed explanation of Robot Status Variable"/"M_SETADL," "M_LDFACT" and "Functions
set with parameters"/"JADL (Optimum acceleration/deceleration adjustment rate)" of the Separate
Volume, "INSTRUCTION MANUAL/Detailed Explanation of Functions and Operations."
H090n * Error message Absolute position overspeed
(n indicates the
Cause It moved 45 mm/sec or faster with the absolute position linear scale during initialization.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H091n * Error message Servo amplifier overspeed
(n indicates the
Cause A speed exceeding the motor's tolerable speed was detected.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.

Error no. H078n * (n indicates the axis number (1 to 8).) 1-7

1Error list

Error No. Error cause and measures

H0920 * Error message Power module overcurrent
H092n *
Cause A servo amplifier or power supply overcurrent was detected. An error was detected in the servo amplifier's
(n indicates the
gate circuit. A connection or conductance error may have occurred in the motor cable .
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H093n * Error message Motor overcurrent
(n indicates the
Cause An excessive current flowed to the motor, or the A/D converter output is abnormal. An abnormality may
axis number (1
to 8).) have occurred in the connection of the motor's power line.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H094n Error message Overload (over weight 1)
(n indicates the
Cause Operation tight for a motor (operation with high duty) was performed more than fixed time.
axis number (1
to 8).) Measures Decrease the acceleration/deceleration time of the operation speed, for instance.
Refer to "Detailed explanation of command words"/"ACCEL (Accelerate)," "OVRD (Override)" and "SPD
(Speed)," or "Detailed explanation of Robot Status Variable"/"M_SETADL," "M_LDFACT" and "Functions
set with parameters"/"JADL (Optimum acceleration/deceleration adjustment rate)" of the Separate
Volume, "INSTRUCTION MANUAL/Detailed Explanation of Functions and Operations."
H095n Error message Overload (over weight 2)
(n indicates the
Cause The maximum output current continued for more than one second.
axis number (1
to 8).) Measures Check the load weight and the robot pressing, etc.
H096n Error message Excessive error 1
(n indicates the
Cause The position error exceeded at servo ON.
axis number (1
to 8).) Measures Check the load weight and press, etc. If the surrounding temperature is low, or starting after stopping
operation for an extended period of time, perform running-in operation at low speed or use the warm-up
operation mode.
H097n Error message Excessive error 2
(n indicates the
Cause The position error exceeded at servo OFF.
axis number (1
to 8).) Measures Check the moving robot arm by something power.
H098n Error message Excessive error 3
(n indicates the
Cause The motor current was not flowing when excessive error 1.
axis number (1
to 8).) Measures Check the motor connection wire connection.
H101n Error message Collision detection
(n indicates the
Cause A collision was detected.
axis number (1
to 8).) Measures Release the collision state.
H102n Error message Servo AMP over-regeneration
(n indicates the
Cause The additional axis exceeded the regenerative performance limit.
axis number (1
to 8).) Measures Check the regenerative capacity and parameters for the additional axis.
H1030 * Error message Power supply over-regeneration
Cause The converter's regenerative performance limit was exceeded.
Measures Wait at least 15 minutes in the power ON state, and then turn the power OFF and ON.
H104n * Error message Encoder init communication error
(n indicates the
Cause An abnormality may have occurred in the position detector cable connection.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H107n * Error message Encoder communication error
(n indicates the
Cause Communication with the position detector was cut off.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H108n * Error message Servo AMP communication error
(n indicates the
Cause An abnormality may have occurred in the communication cable connection.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H1090 * Error message Servo AMP initialization error
H109n *
Cause An abnormality may have occurred in the servo axis settings (parameters, rotary switches).
(n indicates the
axis number (1 Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
to 8).)

1-8 Error no. H0920 * H092n * (n indicates the axis number (1 to 8).)
 1Error list

Error No. Error cause and measures

H1100 * Error message Servo AMP communication error
Cause An abnormality may have occurred in the communication cable connection.
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H111n Error message SRV-AMP RS-232C comm. error
(n indicates the
Cause A communication error was detected between the servo amplifier and PC.
axis number (1
to 8).) Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H112n * Error message Encoder ABS position data lost
(n indicates the
Cause The absolute position data in the position detector was lost.
axis number (1
to 8).) Measures Check the battery voltage and position detector cable.
H113n * Error message Encoder per rotation data error
(n indicates the
Cause An error was detected in the position detector's one rotation data.
axis number (1
to 8).) Measures Check the repeatability and ambient environment. When it comes back, contact to the dealer.
H114n * Error message SRV-AMP Comm. data error (CRC)
(n indicates the
Cause A CRC error was detected in the data from the RC.
axis number (1
to 8).) Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H115n * Error message Large command position
(n indicates the
Cause The command position from the RC is abnormally large.
axis number (1
to 8).) Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H116n * Error message SRV-AMP Comm. error (frame)
(n indicates the
Cause An error was detected in the communication frame from the RC.
axis number (1
to 8).) Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H117n * Error message SRV-AMP Comm. error (info)
(n indicates the
Cause An error was detected in the communication information from the RC.
axis number (1
to 8).) Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H118n * Error message Servo amplifier feedback error 1
(n indicates the
Cause Pulses skipped in the position detector's feedback signal.
axis number (1
to 8).) Measures Check the detector cable connection and conductivity. When it comes back, contact to the dealer.
H119n * Error message Servo amplifier feedback error 2
(n indicates the
Cause Displacement occurred in the feedback amounts between the detectors on the motor edge and on the
axis number (1
to 8).) machine edge.
Measures Check the detector cable connection and conductivity. When it comes back, contact to the dealer.
H1200 * Error message SRV-AMP Comm. data error (CRC)
Cause A CRC error was detected in the communication data from the servo amplifier.
Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H121n * Error message SRV-AMP Comm. data error (ID)
(n indicates the
Cause A data ID error was detected in the communication data from the servo amplifier.
axis number (1
to 8).) Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H122n * Error message SRV-AMP Comm. data error(axisNo)
(n indicates the
Cause An axis No. error was detected in the communication data from the servo amplifier.
axis number (1
to 8).) Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H123n * Error message SRV-AMP Comm. data error(SubID)
(n indicates the
Cause A Sub ID error was detected in the communication data from the servo amplifier.
axis number (1
to 8).) Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H1240 * Error message SRV-AMP Comm. data error(frame)
Cause An No. of received frames error was detected in the communication data from the servo amplifier.
Measures Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
H125n * Error message Servo amplifier parameter error
(n indicates the
Cause An error was detected in the servo parameter.
axis number (1
to 8).) Measures Contact the maker.

Error no. H1100 * 1-9

1Error list

Error No. Error cause and measures

C126n Error message Encoder communication error
(n indicates the
Cause Initial communication could not be established with the low-speed serial type absolute position linear scale.
axis number (1
to 8).) Measures Check the detector cable connection and conductivity. When it comes back, contact to the dealer.
C127n Error message Encoder communication error
(n indicates the
Cause The serial data of absolute position was abnormally transmitted.
axis number (1
to 8).) Measures Check the detector cable connection and conductivity. Also, carefully check whether there is no deviation
in the operating position of the robot. If it is deviated, set the origin position (OP) again. For more informa-
tion about the operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to
Maintenance." When it comes back, contact to the dealer.
C128n Error message Encoder serial format error
(n indicates the
Cause Absolute position serial data format was incorrect.
axis number (1
to 8).) Measures Check the detector cable connection and conductivity. Also, carefully check whether there is no deviation
in the operating position of the robot. If it is deviated, set the origin position (OP) again. For more informa-
tion about the operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to
Maintenance." When it comes back, contact to the dealer.
C129n Error message Absolute position fluctuation
(n indicates the
Cause The absolute position data fluctuated when the power was turned ON.
axis number (1
to 8).) Measures Check whether the axis moved due to arm dropping or external force when the power was turned ON.
C130n Error message Servo AMP MP scale F/B error
(n indicates the
Cause Excessive displacement was detected in the feedback amounts between the detector and the MP scale.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
C131n Error message Servo AMP MP scale offset error
(n indicates the
Cause Excessive displacement was detected in the feedback amounts between the detector and the MP scale.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
C132n Error message Multi-rotation data error
(n indicates the
Cause An error was detected in the position detector's multi-rotation data.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
C133n Error message Encoder battery voltage low
(n indicates the
Cause The battery voltage supplied to the position detector dropped.
axis number (1
to 8).) Measures Replace the backup battery. For more information about the replacement procedure, refer to the separate
volumes, "Instruction Manual/Robot Arm Setup to Maintenance".
C134n Error message Over-regeneration warning
(n indicates the
Cause The regenerative level of the additional axis has risen to 80% or more.
axis number (1
to 8).) Measures Check the regenerative capacity and parameters for the additional axis.
C135n Error message Overload warning
(n indicates the
Cause The overload level reached 80% or more.
axis number (1
to 8).) Measures Check the load weight and the robot for collisions, etc.
H136n * Error message Absolute position counter error
(n indicates the
Cause The counter of absolute position is illegal.
axis number (1
to 8).) Measures Replace the batteries of both the robot arm and controller.
C137n Error message Illegal parameter (servo)
(n indicates the
Cause A parameter was set exceeding the setting range.
axis number (1
to 8).) Measures The parameter has not been changed. Reset the correct value. When it comes back, contact to the dealer.
C138n Error message Removing control axis (servo)
(n indicates the
Cause An instruction to remove the axis was issued by the controller.
axis number (1
to 8).) Measures Cancel the instruction of removing axis.
H139n Error message Emergency stop (Servo amplifier)
(n indicates the
Cause The controller emergency stop is being input.
axis number (1
to 8).) Measures Release the emergency stop state.

1-10 Error no. C126n (n indicates the axis number (1 to 8).)

 1Error list

Error No. Error cause and measures

C1400 Error message Regeneration(AUX) frequency over
Cause Regeneration at the limit of the converter's regenerative performance has occurred frequently.
Measures Check the regeneration capacity. When it comes back, contact to the dealer.
H1410 Error message Instantaneous power failure(SRV)
Cause Momentary power failure of 25 msec or longer has occurred.
Measures Check the power supply.
C1420 Error message Over-regeneration warning
Cause The regeneration level reached 80％ or more.
Measures Lower the robot's movement speed.
C143n Error message Servo amplifier main circuit OFF
(n indicates the
Cause The servo for the additional axis was turned ON when the main circuit power was OFF.
axis number (1
to 8).) Measures Turn the additional axis' main circuit power ON.
H144n * Error message System error (servo 2)
(n indicates the
Cause Trouble occurred in the current processing processor.
axis number (1
to 8).) Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.
H1450 * Error message Instantaneous stop(DC24V)
Cause The 24V DC voltage has dropped at the power supply.
Measures Check CN22 connecter.
H1460 * Error message Power supply overcurrent
Cause Overcurrent in the power module in the power supply.
Measures Check the AC power line. When it comes back, contact to the dealer.
H1470 * Error message Frequency error
Cause AC frequency is out of range.
Measures Check the AC power line frequency. When it comes back, contact to the dealer.
H1480 * Error message Power supply parameter error
Cause Illegal at the power supply parameter.
Measures Set the correct parameter.
H1490 * Error message Power supply overheat
Cause Overheating of the power module or regenerative resistance.
Measures Check the fan on rear of power supply.
H150n * Error message Motor combination error
(n indicates the
Cause Illegal combination with additional servo amp and motor.
axis number (1
to 8).) Measures Use additional servo amp with correctly combination.
H156n Error message Excessive error 4
(n indicates the
Cause The axis moved while executing servo ON processing.
axis number (1
to 8).) Measures When it comes back, contact to the dealer.
H157n Error message Non-registered servo error
(n indicates the
Cause A non-registered servo alarm occurred.
axis number (1
to 8).) Measures If the alarm cannot be reset, turn the power OFF and ON. When it comes back, contact to the dealer.
C158n Error message Non-registered servo warning
(n indicates the
Cause A non-registered servo warning occurred.
axis number (1
to 8).) Measures If the alarm cannot be reset, turn the power OFF and ON. When it comes back, contact to the dealer.
H1600 * Error message System error (No robot setted)
Cause None of the mechanisms are set.
Measures Set the mechanisms for at least one unit. When it comes back, contact to the dealer.
H1610 * Error message System error (illegal MEMECH)
Cause The mechanism module name is illegal or not registered.
Measures Correctly set. When it comes back, contact to the dealer. When it comes back, contact to the dealer.

Error no. C1400 1-11

1Error list

Error No. Error cause and measures

C1620 Error message Illegal robot No.
Cause The designated mechanism No. is incorrect.
Measures Set the correct mechanism No.
C1630 Error message Cannot servo ON (during error)
Cause The servo cannot be turned ON during a servo error.
Measures Reset the servo error before turning the servo ON.
C1640 Error message Cannot servo ON (DEADMAN OFF)
Cause The servo cannot be turned ON while the deadman switch is OFF.
Measures Turn the deadman switch ON before turning the servo ON.
C1650 Error message Cannot servo ON (brake OFF)
Cause The servo cannot be turned ON when there is an axis with the brakes released.
Measures Lock the brakes for all axes before turning the servo ON.
C1660 Error message Cannot servo ON (SRVON process)
Cause The servo cannot be turned ON during the servo ON process.
Measures Operate it after servo ON process is finished.
C1670 Error message Cannot servo ON (SRVOFF process)
Cause The servo OFF process is being carried out.
Measures Operate it after servo OFF process is finished.
H1680 Error message Cannot servo ON (timeout)
Cause The servo did not turn ON within the specified time.
Measures Check for errors in the servo amplifier. When it comes back, contact to the dealer.
H1681 Error message Unexpected servo OFF
Cause The servo turned OFF unexpectedly.
Measures Check for errors in the servo amplifier. When it comes back, contact to the dealer.
C1690 Error message Cannot brake operation (DEADMAN)
Cause The brakes cannot be released while the deadman switch is OFF.
Measures Turn the deadman switch ON before operating.
C1700 Error message Cannot brake operation (EMG)
Cause The brakes cannot be released while the emergency stop is input.
Measures Release the emergency stop state before operating.
C1710 Error message Cannot brake operation (SRVON)
Cause The brakes cannot be operated during servo ON.
Measures Turn the servo OFF before operating.
C1720 Error message Cannot brake operation (BRK OFF)
Cause The brakes cannot be released during the brake release process.
Measures Operate it after brake is released.
C1730 Error message Cannot brake operation (BRK ON)
Cause The brakes cannot be locked during the brake lock process.
Measures Operate it after brake is locked.
C1740 Error message Servo parameter change failure
Cause Other parameters cannot be changed during the parameter change process.
Measures Carry out the parameter change process again.
C1750 Error message Servo parameter change failure
Cause Changes of the servo parameter failed.
Measures Carry out the parameter change process again.
C1760 Error message Illegal origin data
Cause The origin setting data is not correct.
Measures Set the correct origin setting data.

1-12 Error no. C1620

 1Error list

Error No. Error cause and measures

C1770 Error message Origin setting incomplete
Cause The origin is not set.
Measures Re-execute after setting the origin.
C1780 Error message Cannot set origin (illegal axis)
Cause The origin was not set simultaneously for the interference axis.
Measures Set the origin simultaneously for the interference axis.
C1781 Error message Cannot set origin (SRVON)
Cause The origin was set during servo ON.
Measures Turn the servo OFF before setting the origin.
H1790 * Error message Illegal parameter (MEJAR)
Cause The operation range setting parameter MEJAR setting is incorrect.
Measures Correct the parameter MEJAR.
H1800 * Error message Illegal parameter (MEMAR)
Cause The ABS operation range setting parameter MEMAR setting is incorrect.
Measures Correct the parameter MEMAR.
H1810 * Error message Illegal parameter (USERORG)
Cause The user origin setting parameter USERORG setting is incorrect.
Measures Correct the parameter USERORG.
L182n Error message Pos. data disagree.Check origin
(n indicates the
Cause Position data changed during power off.
axis number (1
to 8).) Measures Check the origin, re-install if shifting.
L1830 Error message JRC. Exseeds the Pos. limit
Cause The JRC instruction exceeding the operation range was executed.
Measures Check the current position and the operating range.
L184n Error message JRC Qtt. Setting Too Large
(n indicates the
Cause The movement amount setting of the JRC is excessive.
axis number (1
to 8).) Measures Correct the JRCQTT parameter.
C1850 Error message Instantaneous power failure
Cause A power failure status of 20 msec or longer has occurred.
Measures Check the power supply connection and power supply state.
L1860 Error message Illegal parameter (TLC)
Cause The setting of the TLC parameter that sets the approach direction was incorrect.
Measures Correct the TLC parameter. (=X/Y/Z)
C1870 * Error message Cooling fan No.XX stopped
Cause Cooling fan No.XX in the controller might be out of order.
Measures Please exchange the cooling fan.
L2000 Error message The servo is OFF
Cause Because servo is turned off, the robot can't move.
Measures Turn the servo ON and then restart.
L2010 Error message Pulse output was not possible
Cause There is an error in the pulse output designation.
Measures Correct the program.
L2020 Error message Reading external position data
Cause A command that cannot be executed while reading the external commands was executed.
Measures Correct the program.
L2030 Error message JOG operation cannot be accepted
Cause The JOG operation request was issued when the JOG operation request could not be accepted.
Measures Set the JOG operation request unacceptable state.

Error no. C1770 1-13

1Error list

Error No. Error cause and measures

H2031 * Error message "Illegal parameter(JOGTSJ,JOGJSP)"
Cause The parameter JOGTSJ, JOGJSP settings are not correct.
Measures Set the set dimension to 5 or less.
H209n Error message In interference zone n
(n indicates the
Cause Movement outside the user-defined area "n" range was attempted.
zone number (1
to 8).) Measures Adjust the position.
H211n Error message Free plane n overrun
(n indicates the
Cause Movement outside the plane defined with free plane "n" was attempted.
plane number (1
to 8).) Measures Adjust the position.
H2129 Error message Free plane limit data illegal
Cause The free plane data setting value is illegal.
Measures Input correct data.
H2130 Error message Speed is excessive (command)
Cause The speed limit was exceeded.
Measures Lower the speed.
H213n Error message Jn Speed is excessive (command)
(n indicates the
Cause The axis "n" speed limit was exceeded.
axis number (1
to 8).) Measures Lower the speed.
H2140 Error message ABS limit over
Cause The ABS limit was exceeded
Measures Referring to "Operation to Temporarily Reset an Error that Cannot Be Canceled" in the separate volume,
"Instruction Manual/Detailed Explanation of Functions and Operations", reset the error and move within
the operation range using JOG operation.
H214n Error message Jn +ABS limit over
(n indicates the
Cause The axis "n" + ABS limit was exceeded.
axis number (1
to 8).) Measures Referring to "Operation to Temporarily Reset an Error that Cannot Be Canceled" in the separate volume,
"Instruction Manual/Detailed Explanation of Functions and Operations", reset the error and move the axis
"n" within the operation range using JOG operation.
H215n Error message Jn -ABS limit over
(n indicates the
Cause The axis "n" - ABS limit was exceeded.
axis number (1
to 8).) Measures Referring to "Operation to Temporarily Reset an Error that Cannot Be Canceled" in the separate volume,
"Instruction Manual/Detailed Explanation of Functions and Operations", reset the error and move the axis
"n" within the operation range using JOG operation.
H2160 Error message Joint angle exceeds the limit
Cause The joint limit was exceeded.
Measures Adjust the position.
H216n Error message Jn (+) angle exceeds the limit
(n indicates the
Cause The axis "n" + Joint limit was exceeded.
axis number (1
to 8).) Measures Adjust the position.
H217n Error message Jn (-) angle exceeds the limit
(n indicates the
Cause The axis "n" - Joint limit was exceeded.
axis number (1
to 8).) Measures Adjust the position.
H2180 Error message "X,Y,Z data exceeds the limit"
Cause The XYZ limit was exceeded.
Measures Adjust the position.
H2181 Error message X(+) data exceeds the limit
Cause The X axis + XYZ limit was exceeded.
Measures Adjust the position.
H2182 Error message Y(+) data exceeds the limit
Cause The Yaxis + XYZ limit was exceeded.
Measures Adjust the position.

1-14 Error no. H2031 *

 1Error list

Error No. Error cause and measures

H2183 Error message Z(+) data exceeds the limit
Cause The Z axis + XYZ limit was exceeded.
Measures Adjust the position.
H2191 Error message X(-) data exceeds the limit
Cause X(-) data exceeds the limit
Measures Change the position data
H2192 Error message Y(-) data exceeds the limit
Cause Y(-) data exceeds the limit
Measures Change the position data
H2193 Error message Z(-) data exceeds the limit
Cause Z(-) data exceeds the limit
Measures Change the position data
H2500 Error message Tracking encoder data error
Cause An error was detected in the data of tracking encoder.
Measures Check the repeatability and ambient environment.
L2600 Error message Position data exseeds the limit
Cause The position data is outside the operation range.
Measures Adjust the position.
L2601 Error message Start pos. exseeds the limit
Cause The start position is outside the operation range.
Measures Adjust the position.
L2602 Error message DSTN pos. exseeds the limit
Cause The target position is outside the operation range.
Measures Adjust the position.
L2603 Error message Med pos. data exseeds the limit
Cause The intermediate position is outside the operation range.
Measures Adjust the position.
L2700 Error message CMP error (different mode)
Cause The designated mode is different from the current mode.
Measures Execute CMP OFF and then designate.
C2710 Error message CMP error (displacement)
Cause The displacement magnitude of the compliance operation exceeded the specified value.
Measures Correct the program, position or other item so that the displacement magnitude can be reduced.
C2720 Error message CMP error (joint angle)
Cause CMP Command exceeds the limit of a joint angle.
Measures Adjust the position data or reduce the displacement.
C272n Error message CMP error (Jn joint angle)
(n indicates the
Cause CMP Command exceeds the limit of joint angle of joint "n" axis
axis number (1
to 8).) Measures Change the position data or reduce displacement.
C2730 Error message CMP error (axis speed)
Cause CMP Command exceeds the limit of a speed.
Measures Change the position data or slow down.
C273n Error message CMP error (Jn axis speed)
(n indicates the
Cause CMP Command exceeds the limit of speed of joint "n" axis.
axis number (1
to 8).) Measures Change the position data or slow down.
C2740 Error message CMP error (coordinates conv.)
Cause An error was detected in the coordinates conversion of CMP command.
Measures Adjust the position data.

Error no. H2183 1-15

1Error list

Error No. Error cause and measures

L2750 Error message Cannot execute while tracking
Cause Cannot execute while tracking
Measures Execute the "TRK OFF" command, and then execute the "CMP OFF" command.
L2800 Error message Illegal position data
Cause This may occur for a position to which the robot cannot reach.
Measures Adjust the position.
L2801 Error message Illegal position data (start)
Cause This may occur for a starting position to which the robot cannot reach.
Measures Adjust the position.
L2802 Error message Illegal position data (dstn)
Cause This may occur for a ending position to which the robot cannot reach.
Measures Adjust the position.
L2803 Error message Illegal position data (intmed)
Cause The auxiliary point position data for interpolation processing in an arc was inappropriate.
Measures Adjust the position.
L2804 Error message SPDOPT can't be operated
Cause A singular point area exists on the locus.
Measures Change an interpolation type or destination position.
L2810 Error message Posture flag is disagree
Cause The structure flag of the start point and end point don't match.
Measures Adjust the position data.
H2820 Error message Illegal ACCEL ratio
Cause This occurs when the acceleration/deceleration ratio is too small.
Measures Adjust the acceleration/deceleration ratio to a larger value.
H2830 Error message System error(ipol posture type)
Cause The TYPE argument of the MOV instruction was set to -1 or a similar value.
Measures Change the TYPE argument of the MOV instruction to a correct value (0, 1, etc).
H2840 Error message System error (ipol parameters)
Cause The parameter may have been damaged.
Measures When it comes back, contact to the dealer.
H2850 Error message System error (ipol norm)
Cause The norm is illegal. A problem occurred in internal computation processing.
Measures When it comes back, contact to the dealer.
H2860 Error message System error (ipol type)
Cause An illegal interpolation process method is being used. A problem occurred in internal computation process-
ing.
Measures When it comes back, contact to the dealer.
H2870 Error message System error(ipol data undef)
Cause The interpolation position data has not been defined. A problem occurred in internal computation process-
ing.
Measures When it comes back, contact to the dealer.
H2880 * Error message System error (ipol data area)
Cause The memory is insufficient for the inside operation.
Measures When it comes back, contact to the dealer.
H2890 Error message System error (undefined err)
Cause An undefined error number was generated in internal computation processing.
Measures When it comes back, contact to the dealer.
L2900 Error message System ERROR MO0
Cause An error occurred in the internal processing.
Measures When it comes back, contact to the dealer.

1-16 Error no. L2750

 1Error list

Error No. Error cause and measures

L3100 Error message PROC stack over
Cause For example, if it jumped by GOSUB but did not return by the RETURN instruction, or if it escaped by
GOTO using the FOR and NEXT instructions, stack memory decreased gradually.
Measures Correct so that in the case of GOSUB, return by RETURN, and in the case of FOR and NEXT, do not exit
by GOTO.
L3110 Error message Argument value range over
Cause The argument value is not within the range.
Measures Check the argument range and reinput.
L3120 Error message No. of arguments is over
Cause The number of arguments in the command executed was incorrect.
Measures Check the No. of arguments and reinput.
L3130 Error message COM file is already opened
Cause Opening of a file already opened was attempted.
Measures Check the file No. and re-execute.
L3140 Error message Can't open COM file
Cause The file cannot be opened.
Measures Check the file No. and re-execute.
L3150 Error message Cannnot PTINT (INPUT mode)
Cause The file open mode is INPUT, so writing is not possible.
Measures Check the file No. and open mode, and re-execute.
L3170 Error message Cannot INPUT (OUTPUT mode)
Cause The file open mode is OUTPUT, so writing is not possible.
Measures Check the file No. and open mode, and re-execute.
L3180 Error message System error (array range over)
Cause System error (array range over)
Measures When it comes back, contact to the dealer
L3200 Error message This file is read only
Cause The file cannot be read.
Measures Check the contents of the file.
L3210 Error message This variable is write protected
Cause Writing of this variable is prohibited.
Measures Check the variable protection setting.
L3220 Error message Nesting over
Cause A nest-over error occurred in IF of the IF instruction or FOR of the FOR instruction.
Measures Correct the program and re-execute.
L3230 Error message FOR NEXT statements unmatch
Cause The No. of FOR and NEXT statements do not match.
Measures Correct the program and re-execute.
L3240 Error message "Nesting over (FOR,WHILE)"
Cause The No. of nesting stages exceeded 16 stages (FOR,WHILE).
Measures Correct the program.
L3250 Error message WHILE WEND statements unmatch
Cause The No. of WHILE and WHEN statements do not match.
Measures Correct the program and re-execute.
L3251 Error message Number of jump destination exceeds 32
Cause The number of branches defined exceeded 32.
Measures Correct the program and re-execute.
L3252 Error message IF ENDIF statements unmatch
Cause IF ENDIF statements unmatch.
Measures Correct the program and re-execute.

Error no. L3100 1-17

1Error list

Error No. Error cause and measures

L3253 Error message "Nesting over (IF,ENDIF)"
Cause The No. of nesting stages exceeded 8 stages (IF).
Measures Correct the program and re-execute.
L3254 Error message SELECT END SELECT statements unmatch
Cause SELECT END SELECT statements unmatch.
Measures Correct the program and re-execute.
L3255 Error message IF ELSE statements unmatch
Cause IF ELSE statements unmatch.
Measures Correct the program and re-execute.
L3260 Error message Cannot exec for all slots
Cause Execution with all slots designated is not possible.
Measures Designate an individual slot and try again.
L3270 Error message The command size is exceeded
Cause The command size is exceeded.
Measures Specify within single-byte 256 characters.
L3280 Error message Cannot execute without GETM
Cause The command you attempted to execute cannot be executed without GETM. Or, a non-existing mechanical
number was specified.
Measures Execute it after executing the RELM and GETM commands in another task slot.
L3281 Error message Cannot execute during RUN
Cause Cannot execute during operation.
Measures Cannot execute during operation.
L3282 Error message "Can't RUN(not select, attribute)"
Cause The program is not selected or the attribute is illegal.
Measures Load the program into the specified task slot. Or, change the program attributes.
L3283 Error message Cannot execute during RUN
Cause The previous command is being executed.
Measures The previous command is being executed.
L3284 Error message Cannot execute while editing
Cause Cannot execute while editing.
Measures Cannot execute while editing.
L3285 Error message Cannot execute (RUN or WAI)
Cause can't execute in the state of stopping or executing.
Measures Reset the program (cancel the abort status).
L3286 Error message Program is empty
Cause Execution of an empty program was attempted.
Measures Make the program or select the correct program.
L3287 Error message Cannot execute (ERROR ALWAYS)
Cause This command cannot be used when the start conditions are ERROR and ALWAYS.
Measures Correct the program.
L3288 Error message Cannot execute while editing
Cause That program cannot be executed because it is being edited.
Measures Finish editing the program first, and then start it.
L3289 Error message Program does not exist (SLT*)
Cause The program designated in the slot table does not exist.
Measures Correct the slot parameter.
L3290 Error message System slot cannot be executed
Cause The system slot cannot be executed.
Measures Check whether another slot (user slot) is being operated.

1-18 Error no. L3253

 1Error list

Error No. Error cause and measures

L3300 Error message User slot cannot be executed
Cause A user slot cannot be executed.
Measures Check whether the system slot is being operated.
L3310 Error message Cannot execute XRUN (Runing)
Cause XRUN is not possible as the designated slot is operating.
Measures Stop the specification slot, and execute.
L3320 Error message Cannnot execute XRUN (empty)
Cause XRUN is not possible as the program has not been selected.
Measures Specify program name to the argument or execute XLOAD.
L3330 Error message Cannnot execute XSTP (empty)
Cause XSTP is not possible as the program has not been selected.
Measures correct the program, and execute.
L3340 Error message Cannnot execute XRST (empty)
Cause XRST is not possible as the program has not been selected.
Measures Resetting is possible in the state of waiting only.
L3350 Error message Cannnot execute XRST (Running)
Cause XRST is not possible as the program is executing.
Measures Stop execution, and do it.
L3360 Error message Cannnot execute XLOAD (not PSA)
Cause XLOAD cannot be executed when the program cannot be selected.
Measures Execute XRST, and do it.
L3361 Error message Can not load the program(SLT*)
Cause A non-existing program was specified in the slot parameter (SLTn).
Measures A non-existing program was specified in the slot parameter (SLTn).
L3370 Error message Cannnot execute XCLR (empty)
Cause XCLR is not possible as the program has not been selected.
Measures XCLR can only be executed to enable program selection.
L3380 Error message Cannnot execute XCLR (not PSA)
Cause Program selection is not enabled.
Measures Execute XCLR after resetting the program (canceling the abort status).
L3390 Error message Cannot use arc pallet
Cause Cannot use arc pallet.
Measures Change to another method.
L3400 Error message System error (PROC stack over)
Cause System error. (Processor stack overflow. )
Measures When it comes back, contact to the dealer
L3500 Error message Ilegal format input (INPUT)
Cause The type of the variable specified by INPUT and the type of the received data do not match.
Measures Check the format.
L3600 Error message Jump destination does not exist
Cause No jump destination was found for the DEF ACT, ON COM and ON GOTO commands.
Measures Check the jump destination.
L3700 Error message Undefined variable
Cause It was attempted to reference a variable that has not been initialized.
Measures Define a variable, enter an initial value, and then use it.
L3710 Error message Nesting over (CALLP)
Cause Program CALL is used more than the limitation.
Measures Reduce the call count of CALLP (nesting).

Error no. L3300 1-19

1Error list

Error No. Error cause and measures

L3720 Error message RC NX statements unmatch
Cause RC NX statements unmatch
Measures Match the numbers of RC and NX.
L3810 Error message Different argument type
Cause The type of an argument in an arithmetic operation, monadic operation, comparison operation or each func-
tion is different.
Measures Designate the correct argument.
L3820 Error message Undefined intermediate code
Cause A program or system status variable may have been damaged.
Measures Restore using the backup data. If the backup data is not available, it is necessary to create a program again.
L3830 Error message Cannot execute GETM
Cause GET of the mechanisms is not possible.
Measures Check whether the designated mechanisms are being used with a different slot.
L3840 Error message RETURN without GOSUB
Cause RETURN was executed without using GOSUB.
Measures Check the program.
L3850 Error message Undefined PLT
Cause The DEF PLT command was not executed.
Measures Use it after defining a pallet with the DEF PLT command.
L3860 Error message Illegal position data defined
Cause There is an error in the position data.
Measures Check the position data definition.
L3870 Error message Illegal mech No.
Cause The mechanical number specified in the argument of the system status variables was invalid.
Measures Input the correct mechanism No.
L3880 Error message Illegal slot No.
Cause The task slot number specified in the argument of the system status variables was invalid.
Measures Input the correct slot No.
L3890 Error message System error (make MCODE)
Cause An error has occurred when creating an operation instruction. The program may have been damaged.
Measures Restore using the backup data. If the backup data is not available, it is necessary to create a program again.
L3900 Error message JRC Command is disable
Cause The JRCEXE parameter is disabled, so it cannot be used.
Measures Change the JRCEXE parameter, and then execute.
L3910 Error message Cannnot execute (JRC 0)
Cause JRC 0 can not execute for robot arm axis.
Measures Correctly set.
L3930 Error message This command cannot be executed
Cause Collision detection is effective
Measures Repeal collision detection (execute COLCHK OFF)
L3940 Error message COLCHK cannot be executed
Cause An exclusive function is performing with COLCHK
Measures Repeal the corresponding function
L3950 Error message NOERR cannot be executed
Cause Interruption using M_COLSTS is invalid
Measures Define interruption using M_COLSTS and confirm it
L3960 Error message This ACT No. cannot be repealed
Cause NOERR of collision detection is performed
Measures Repeal this interruption after canceling NOERR

1-20 Error no. L3720

 1Error list

Error No. Error cause and measures

L3970 Error message COLCHK cannot be performed
Cause Collision detection serves as prohibition of use
Measures Change parameter COL into use permission
L3980 Error message M_LDM cannot be executed
Cause PREC command is executed
Measures Repeal high accuracy mode (execute PREC OFF)
L3981 Error message PREC cannot be executed
Cause M_LDM command is executed
Measures Set load mode 1 (execute M_LDM=0)
L4000 Error message System error (time out)
Cause There is a problem in the program's exclusive process.
Measures When it comes back, contact to the dealer.
L4100 Error message No. of registered file is full
Cause The No. of program has been exceeded.
Measures Delete any unnecessary programs.
L4110 Error message Memory area is full
Cause The program and data have exceeded the capacity.
Measures Delete any unnecessary programs or data. Or, purchase an optional extension memory cassette.
L4120 Error message Too long program name
Cause The program name is a maximum of 12 characters with 3 extension characters.
Measures Set the program name to within 12 characters and 3 extension characters.
L4130 Error message Illegal program name
Cause An illegal character was used in the program name.
Measures Only numbers and alphabetic characters can be used.
L4140 Error message The program was not found
Cause The designated program was not found.
Measures Designate a different program, or create the designated program.
L4150 Error message Program is faulty
Cause Power shutdown may have occurred during the write operation.
Measures The file may have been damaged. Delete the file.
L4160 Error message Not a robot program
Cause The designated program is not a robot program.
Measures Designate a different program.
L4170 Error message The program is being edited
Cause The program is being edited.
Measures Close the program being edited.
L4180 Error message Program is running
Cause The program is running.
Measures Stop the program.
L4190 Error message The program is selected
Cause The program is preparing to execute.
Measures Reset the program.
L4200 Error message Cannot write to file
Cause Write operation is prohibited, or the file capacity is insufficient.
Measures 1. Enable file writing. 2. Delete unnecessary files.
L4201 Error message Can't operate in ROM mode
Cause Can't operate in ROM mode.
Measures Change to RAM mode.

Error no. L3970 1-21

1Error list

Error No. Error cause and measures

L4210 Error message Too long statement
Cause The command statement length is limited to 127 characters.
Measures Delete the No. of characters in the command statement to within 127 characters.
L4220 Error message Syntax error
Cause There is an error in the syntax of the input command statement.
Measures Re-input in the correct syntax after checking the contents.
L4230 Error message The line No. does not exist
Cause There is no specified line number.
Measures Check the contents, and reinput the correct line No.
L4240 Error message The statement is write protected
Cause The command statement is write protected.
Measures Cancel the write protection.
L4250 Error message No more lines or variables
Cause Reading of lines and variables exceeding the registered ones.
Measures Check the programs.
L4300 Error message Too longvariable name
Cause The variable name length is limited to 8 characters.
Measures Shorten the variable name to within 8 characters.
L4310 Error message Ilegal character is used
Cause A character other than A to Z or 0 to 9 was used.
Measures Use the character which can be used.
L4320 Error message The variable is write protected
Cause The variable is write protected.
Measures 1. Use a writable variable. 2. Cancel the write protection.
L4330 Error message The variable is read protected
Cause The variable is read protected.
Measures 1. Use a writable variable. 2. Cancel the write protection.
L4340 Error message The variable is not defined
Cause The variable has not been defined.
Measures Define the variable.
L4350 Error message Duplicate definition (Val.)
Cause Variables already defined cannot be redefined with the DIM or DEF statements.
Measures 1. Change the variable name and define. 2. Delete the defined variable.
L4360 Error message Same variable used (65535 times)
Cause Example: 10 P1=P1+P2 references P1 twice and P2 once.
Measures Change the program to reduce the No. of times the same variable is used.
L4370 Error message Error in the array element
Cause 1. The array elements exceeds the define range, or 2. The specified variable is not an array.
Measures 1. Correct the number of array elements within one to the maximum elements. 2. Do not specify array ele-
ments.
L4380 Error message Cannot delete variables (used)
Cause Variables used in a command statement cannot be deleted.
Measures Delete the command statement using the variable.
L4390 Error message Variable type combination error
Cause The type of the user-defined external variable is different.
Measures Match the variable types.
L4400 Error message Program is faulty.
Cause The content of the program is abnormal.
Measures Delete the program.

1-22 Error no. L4210

 1Error list

Error No. Error cause and measures

L4410 Error message Renumbering data error
Cause There is an error in the data designated with renumbering.
Measures Reset the data.
L4420 Error message Line No exceeds 32767
Cause The new line No. or line gap is large.
Measures Do not use line Nos. exceeding 32767.
L4430 Error message Not found the string searched
Cause The character string searched for was not found.
Measures Check the program.
L4440 Error message Duplicate definition (label)
Cause A label already defined cannot be redefined.
Measures 1. Change the label name. 2. Delete the defined label line.
L4450 Error message The variable No. is out of range
Cause Position/counter/string No. is out of range.
Measures Change the variable number within the allowable range.
L4460 Error message Argument value range over
Cause Argument value range over.
Measures Confirm the argument range, and correct the value.
L4800 Error message System error (System base prog)
Cause The base program for the system could not be opened. Or, the system base program name was not speci-
fied correctly in the parameter.
Measures When it comes back, contact to the dealer.
L4810 Error message The global variable defined by user is not available
Cause The parameter "PRGUSR" is not correct.
Measures To use user-defined external variables, it is necessary to set the name of the program describing only
variable definitions in the PRGUSR parameter.
L4811 * Error message The global variable redefined
Cause A system global variable is defined in user global.
Measures Correct the program.
L4820 Error message No editing program
Cause The program was closed while editing. For example, the program being edited is closed when a key switch
enable/disable operation is performed via the T/B during online editing on a PC.
Measures Try editing the program again.
L4900 Error message System error (Prog Hndl)
Cause The program name used by internal processing is not normal.
Measures When it comes back, contact to the dealer.
L4910 Error message Robot Language is mismatched
Cause The parameter RLNG is mismatched. (1:MELFA-BASIC Ⅳ , 0:MOVEMASTER command)
Measures Re-set RLNG or select an other program.
L4920 Error message There is no backup data in ROM
Cause There is no backup data in ROM.
Measures Please operate after backup.
H5000 Error message TB Enable key is ON
Cause The [T/B ENABLE/DISABLE" switch is "ENABLE", when the [MODE] switch of the operation panel is
"AUTO".
Measures Invalidate the T/B Enable key, or enter the teach mode of operation panel.
L5010 Error message AUTOENA signal is OFF
Cause The automatic operation possible signal is OFF.
Measures Turn the automatic operation possible signal ON, or enter the teach mode.

Error no. L4410 1-23

1Error list

Error No. Error cause and measures

L5100 Error message No program is selected
Cause A program is not selected for the designated slot.
Measures Select a program for the designated slot.
L5110 Error message Continuous RUN is not possible
Cause A different program name has been designated.
Measures Designate the correct program name.
L5120 Error message Cannot select program (not PSA)
Cause The specified slot is not in the program selection state.
Measures Reset the program.
L5130 Error message Cannot execute servo on
Cause A servo OFF process is taking place.
Measures Wait for the servo to turn OFF before turning the servo ON.
L5140 Error message Cannot read the file
Cause Reading is being carried out, or editing is being carried out.
Measures Close the file being edited, or read after the reading is completed.
L5150 Error message The origin has not been set
Cause The origin has not been set.
Measures Set the origin.
L5200 * Error message Parameter error (TASKMAX)
Cause The TASKMAX parameter setting value has been exceeded (initial value: 8, maximum value: 32).
Measures Reduce the number of multi tasks, or change the TASKMAX parameter.
L5210 * Error message Parameter error (MECHAMAX)
Cause The No. of multi mechanisms has exceeded the limit.
Measures Reduce the No. of multi mechanisms.
L5400 Error message All robot cannot be designated
Cause All mechanisms cannot be specified.
Measures Specify an independent mechanism number.
L5410 Error message Non-existent mode
Cause It has been changed to a mode other than Auto/Teach.
Measures Contact the maker.
L5420 Error message Illegal slot No.
Cause A task slot number other than 1 through TASKMAX (parameter) is specified.
Measures Designate the correct task slot.
L5430 Error message Illegal robot No.
Cause The mechanism designation is illegal.
Measures Designate the correct mechanism.
L5600 Error message Cannot execute during an error
Cause Cannot execute during an error.
Measures Reset the error.
C5610 Error message Cannot execute during STOP ON
Cause Cannot execute during stop signal input.
Measures Turn the stop signal OFF and execute.
L5620 Error message Cannot execute during CSTOP ON
Cause Cannot execute during cycle stop signal input.
Measures Turn the cycle stop signal OFF.
L5630 Error message Cannot execute during SRVOFF ON
Cause Cannot execute during servo OFF signal input.
Measures Turn the servo OFF signal OFF.

1-24 Error no. L5100

 1Error list

Error No. Error cause and measures

L5640 Error message Cannot execute during RUN
Cause Cannot execute during operation.
Measures Stop the operation, and then execute.
L5650 Error message Cannot execute during STOP
Cause Cannot execute during stop operation.
Measures Complete the stop, and then execute.
L5660 Error message Edit during RUN(include ALWAYS)
Cause Editing cannot be performed while in operation (including continuous execution).
Measures Stop the program, and then execute.
L5990 Error message System error (Illegal command)
Cause Not exist command was executed.
Measures Execute the correct command.
L6010 Error message Illegal command
Cause This may have occurred because data was sent before the communication line was opened via a data link,
or an unregistered communication command was sent due to the mismatch between the versions of the
controller and support software.
Measures Send after the communication line is opened. Or, match the versions.
L6020 Error message The Operation is disable
Cause The operation rights have not been acquired.
Measures Acquire the operation rights.
L6030 Error message The editing operation is disable
Cause The editing operation rights have not been acquired.
Measures Acquire the editing operation rights.
L6040 Error message System error (illegal device No)
Cause A non-registered device No. was set.
Measures Set a valid device.
C6050 Error message The file cannot be opened
Cause The block file cannot be opened.
Measures Check the file, and designate the correct file.
C6060 Error message The mode is not TEACH
Cause Carry out parameter writing in the teach mode.
Measures Change to the teaching mode, and then execute.
C6070 Error message The time cannot be set
Cause The time setting can only be executed when the program is stopped and the servo is OFF.
Measures Stop the program and turn the servo OFF, and then set the time.
C6080 Error message Com mesg is too long
Cause The character string of a communication text exceeded the maximum number allowed.
Measures Verify the number of characters in a comment in various settings such as parameters.
C6500 Error message Not opened COM line
Cause OPEN was not executed by the program.
Measures Execute OPEN, and then send PRN.
H6510 Error message RS232C Parameter illgal
Cause Confirm the parameter, and correct.
Measures Adjust the communication setting parameters, and then turn the power ON again .
H6520 Error message RS422 Parameter illgal
Cause Setup the parameter
Measures Adjust the communication setting parameters, and then turn the power ON again.
H6530 * Error message COMDEV parameter is illegal
Cause Illegal parameter (COMDEV).
Measures Correct COMDEV parameter.

Error no. L5640 1-25

1Error list

Error No. Error cause and measures

L6600 Error message Signal number is out of range.
Cause The designated signal No. has not been defined.
Measures Change the signal No. to the correct No.
L6610 Error message Cannot output (hand input)
Cause The hand input signal cannot be written.
Measures Use the correct output signal.
L6620 Error message Cannot write (special INPUT)
Cause The input signal cannot be written into the robot dedicated area.
Measures Use an actual signal.
L6630 Error message Input signal cannot be written
Cause This is the actual signal input mode.
Measures Set a pseudo-input signal.
H6640 Error message Illegal param (special signal)
Cause The parameter setting is illegal.
Measures Correct the parameter yiu changed.
H6641 Error message Duplicate setting (special IN)
Cause The parameter setting is illegal.
Measures Correct the parameter of the dedicated input signal you changed.
H6642 Error message STOP is fixed signal No. 0
Cause The parameter setting is illegal.
Measures Set the parameter STOP(input) to 0.
H6643 Error message Illegal parameter (special Sig.)
Cause The parameter setting is illegal.
Measures Make the ending number larger than the starting number.
L6650 * Error message Duplicate setting (special OUT)
Cause The parameter setting is illegal.
Measures Correct the parameters.
L6651 * Error message Duplicate setting (HANDTYPE)
Cause The parameter setting is illegal.
Measures Correct the parameter.
L6660 Error message Cannot output (SPECIAL OUT)
Cause The program setting is illegal.
Measures Correct the program.
L6670 Error message Illegal OUT reset pattern
Cause The parameters are not defined in sets of 8 characters.
Measures Correct the parameters.
L6800 * Error message "Cancel pseudo-input mode, PW OFF"
Cause If pseudo input was canceled, it is necessary to turn the power ON again in order to prevent the erroneous
operation of the robot by external input signals.
Measures Turn the power OFF and then ON once. It switches to an external input signal.
C6900 Error message Pseudo-input signal mode
Cause Set with the parameters.
Measures To set a real signal, reset the parameter and then turn the power ON again.
C7000 Error message Copy source file was not found
Cause The copy source file was not found.
Measures Input the correct file name.
C7010 Error message Delete target file was not found
Cause The delete target file was not found.
Measures Input the correct file name.

1-26 Error no. L6600

 1Error list

Error No. Error cause and measures

C7020 Error message Rename target file was not found
Cause The rename target file was not found.
Measures Input the correct file name.
H7030 * Error message System error (param size over)
Cause The change capacity is too large.
Measures Contact the maker.
C7040 Error message Parameter changes prohibited
Cause Changing this parameter is prohibited as it is a dangerous parameter.
Measures Contact the maker.
H7050 Error message File is illegal
Cause This file is damaged.
Measures Contact the maker.
H7060 * Error message System error (RAM area full)
Cause The capacity has been exceeded.
Measures Contact the maker.
C7070 Error message Memory area is full
Cause The program and data have already exceeded the capacity.
Measures Delete any unnecessary programs or data.
L7071 Error message Not enough memory area for CTN
Cause Continue function needs more than 100Kbytes memory area.
Measures Delete any unnecessary programs.
C7080 Error message Can not read parameter
Cause Non-existent parameter or illegal password.
Measures 1. Input the correct parameter name 2. Input the correct password
C7081 Error message Can not write parameter
Cause Non-existent parameter or illegal password.
Measures 1. Input the correct parameter name 2. Input the correct password
C7090 Error message Parameter comment illgal
Cause The number of parameter comment characters exceeded the limit.
Measures Operation will not be affected, so continue the operation.
C7100 * Error message Add memory has not enough.
Cause Data is left in the extended memory.
Measures Perform program initialization using the TB to clear all data.
C7200 * Error message Add memory has same file.
Cause Add memory has same file name.
Measures Perform program initialization using the TB to clear all data.
H7300 * Error message Loading the parameter file.
Cause It is necessary to turn the power ON again to reflect the parameters.
Measures Turn the power OFF and ON once.
C7310 Error message Changed variables weren't saved
Cause The power was OFF during program execution.
Measures Don't turn the power OFF during program execution.
L7311 Error message The power was OFF during file saving
Cause The power was OFF during file saving.
Measures Don't turn the power OFF during file saving.
L7330 Error message Can't change in RAM mode
Cause When in RAM mode, the language selection (RLNG) and the enable/disable setting of continuity (CTN)
cannot be changed.
Measures Please change to RAM mode and perform again.

Error no. C7020 1-27

1Error list

Error No. Error cause and measures

L7331 Error message Can't change memory size in RAM mode
Cause Can't change memory size in RAM mode.
Measures Please change to RAM mode and perform again.
L7332 Error message Can't change to RAM mode in CTN mode
Cause Can't change to RAM mode in continue mode.
Measures Please change to RAM mode and perform again.
L7340 Error message Contine function cannot be used in DRAM mode
Cause Contine function cannot be used in DRAM mode
Measures Please change to RAM mode and perform again
L7341 Error message Can't change to DRAM mode in CTN mode
Cause Can't change to DRAM mode in CTN mode
Measures Please change to RAM mode and perform again
L7342 Error message Global extension cannot be used in DRAM mode
Cause Global extension cannot be used in DRAM mode
Measures Please change to RAM mode and perform again
L7343 Error message Can't change to DRAM mode in PRGGBL mode
Cause Can't change to DRAM mode in PRGGBL mode
Measures Please change to RAM mode and perform again
C7410 Error message 1 month inspection is now
Cause Carry out the monthly inspection.
Measures Carry out the 1 month inspection.
C7420 Error message 3 month inspection is now
Cause Carry out the 3 month inspection.
Measures Carry out the 3 month inspection.
C7430 Error message 6 month inspection is now
Cause Carry out the 6 month inspection.
Measures Carry out the 6 month inspection.
C7440 Error message 1 year inspection is now
Cause Carry out the 1 year inspection.
Measures Carry out the 1 year inspection.
C7500 Error message No battery voltage
Cause The battery is spent.
Measures Replace the battery of controller and load the data. For more information about the replacement procedure,
refer to the separate volumes, "Controller setup, basic operation, and maintenance.".
C7510 Error message Battery voltage low (R/C)
Cause The battery will be spent soon.
Measures Replace the battery of controller. For more information about the replacement procedure, refer to the
separate volumes, "Controller setup, basic operation, and maintenance.".
C7530 Error message Replenishment time of grease
Cause It seems that grease reached longevity
Measures Replenish grease
C7540 Error message Exchange time of the belt
Cause It seems that the belt reached longevity
Measures Execute the check and the exchange of the belt
C7520 Error message Battery consumption time is over
Cause The battery will be spent soon.
Measures Replace the batteries of both the robot arm and controller. For more information about the replacement
procedure, refer to the separate volumes, "Instruction Manual/Robot Arm Setup to Maintenance" and
"Controller setup, basic operation, and maintenance."

1-28 Error no. L7331

 1Error list

Error No. Error cause and measures

H7600 * Error message Illegal parameter (AXMENO)
Cause The additional axis mechanism No. is incorrect.
Measures Correct parameter AXMENO and AXUNUM.
H7601 * Error message Illegal parameter (AXJNO)
Cause The additional axis No. is incorrect.
Measures Correct parameter AXJNO.
H7602 * Error message Duplicate parameter (AXJNO)
Cause The additional axis No. has been used in duplicate.
Measures Correct parameter AXJNO.
H7603 * Error message Illegal parameter (AXUNT)
Cause The additional axis unit is incorrect.
Measures Correct parameter AXUNT.
H7604 * Error message Illegal parameter (AXACC)
Cause The additional axis acceleration time is incorrect.
Measures Correct parameter AXACC.
H7605 * Error message Illegal parameter (AXDCC)
Cause The additional axis deceleration time is incorrect.
Measures Correct parameter AXDEC.
H7606 * Error message Illegal parameter (AXGRTN)
Cause The additional axis gear ratio numerator is incorrect.
Measures Correct parameter AXGRTN.
H7607 * Error message Illegal parameter (AXGRTD)
Cause The additional axis gear ratio denominator is incorrect.
Measures Correct parameter AXGRTD.
H7608 * Error message Illegal parameter (AXMOTSET)
Cause The additional axis motor setting validity flag is incorrect.
Measures Correct parameter AXMOTSET.
H7609 * Error message Illegal parameter (AXMREV)
Cause The additional axis motor rated speed is incorrect.
Measures Correct parameter AXMREV.
H7610 * Error message Illegal parameter (AXJMX)
Cause The additional axis motor limit speed is incorrect.
Measures Correct parameter AXJMX.
H7611 * Error message Illegal parameter (AXENCR)
Cause The additional axis No. of encoder pulses is incorrect.
Measures Correct parameter AXENCR.
H7612 * Error message Illegal parameter (AXJOGTS)
Cause The additional axis JOG time constant is incorrect.
Measures Correct parameter AXJOGTS.
H7613 * Error message Turn the power OFF and ON once
Cause It is necessary to turn the power ON again because user mechanism setting has been performed.
Measures Turn the power OFF and ON once.
H7620 * Error message Plural Add-AxisI/F are installed
Cause This card can install one.
Measures Use only one of these interface cards.
C7630 Error message No additional-axis card
Cause No additional-axis card
Measures Install the additional axis interface card.

Error no. H7600 * 1-29

1Error list

Error No. Error cause and measures

H7700 * Error message Illegal OPTION Slot No.(CC-Link)
Cause CC-Link Card is installed SLOT1/3.
Measures Install CC-Link Card in SLOT2.
H7710 * Error message Can't set the Master Station
Cause The CC-Link interface card of the robot cannot be set at the master station.
Measures Set the rotary switch except 0.
H7720 * Error message Plural CC-Link Cards are installed
Cause This card can install one.
Measures Use only one of these interface cards.
L7730 Error message CC-Link Data link error
Cause A communication line error has occurred, or parameter settings on the master station side are invalid.
Measures Check the wiring, or re-examine parameter settings on the master station side.
L7731 Error message CC-Link Data link error
Cause A communication line error has occurred, or parameter settings on the master station side are invalid.
Measures Check the wiring, or re-examine parameter settings on the master station side.
L7750 Error message (CC-Link)No connect cable or illegal parameter
Cause The cable is not connected, or parameter settings on the master station side do not match.
Measures Check the cable connection, or power off the system and then restart.
H7760 * Error message CC-Link initialization error
Cause The parameters in the master station do not match.
Measures Match parameter settings on the master station side, and then restart.
L7780 Error message Illegal CC-Link register number
Cause The register number entered was out of the range.
Measures Enter a correct register number according to the station number.
L7781 Error message INPUT signal No. is for CC-Link
Cause A CC-Link signal number was specified although no CC-Link interface was mounted.
Measures Install CC-Link card.
H7799 * Error message CC-Link System error
Cause CC-Link System error
Measures Contact the maker.
H7800 Error message Ethernet card initialization Err
Cause The Ethernet card is broken.
Measures Check the Ethernet board.
H7802 * Error message Illegal OPTION Slot No. (Ether)
Cause Ethernet Card is installed SLOT2/3.
Measures Install the Ethernet Card in SLOT1.
H7803 * Error message Plural ethernet cards are installed
Cause This card can install one.
Measures Use only one of these interface cards.
H7810 Error message Ethernet NETIP parameter ERR
(NETIP,NETGW,NETPORT,NETPROC,NETLOGIN,NETPSSWD,NETTOUTR,NETTOUTS,MXTCOM1-3)
Cause Parameter settings are incorrect.
Measures Correct the parameters.
H7820 Error message MXT/MXScommand timeout
Cause The setting time of the MXTTOUT parameter has been exceeded.
Measures Make the MXTTOUT parameter value larger.
H7830 Error message "Ethernet card is not installed, or command disable"
Cause Ethernet card is not installed, or command disable.
Measures Install Ethernet interface card.

1-30 Error no. H7700 *

 1Error list

Error No. Error cause and measures

H7840 Error message MXT/MXS command Illegal received data
Cause The command argument and the data type do not match.
Measures Check the command and the data you are sending.
H7901 Error message OPTION1#1 Parameter illgal
Cause Correct the parameters.
Measures Correct the parameters, and then turn the power ON again.
H7902 * Error message OPTION1#2 Parameter illgal
Cause Correct the parameters.
Measures Correct the parameters, and then turn the power ON again.
H7903 Error message OPTION1#3 Parameter illgal
Cause Correct the parameters.
Measures Correct the parameters, and then turn the power ON again.
H7911 Error message OPTION2#1 Parameter illgal
Cause Correct the parameters.
Measures Correct the parameters, and then turn the power ON again.
H7912 Error message OPTION2#2 Parameter illgal
Cause Correct the parameters.
Measures Correct the parameters, and then turn the power ON again.
H7913 Error message OPTION2#3 Parameter illgal
Cause Correct the parameters.
Measures Correct the parameters, and then turn the power ON again.
H7920 * Error message Three EX-SIO Cards are installed
Cause This card can install one or two.
Measures Reduce these interface cards to one or two.
H7930 * Error message Illegal OPTION Slot No.(EX-SIO)
Cause EX-SIO Card is installed SLOT3.
Measures Install Expantion Sirial Card in SLOT1/2.
H7990 * Error message OptionCard illgal insert
Cause Check SLOT number
Measures Turn the power OFF, and then change the slot to mount it.
H8015 * Error message Plural Vision I/F are installed
Cause This card can install one.
Measures Use only one of these interface cards.
H8201 Error message Illegal param (TPTMMG)
Cause The TPTMMG parameter setting is illegal.
Measures Correct the TPTMMG parameter.
H8202 Error message Illegal param (TPERRNO)
Cause The TPERRNO parameter setting is illegal.
Measures Correct the TPERRNO parameter.
H8203 Error message Illegal param (TPSIGNO)
Cause The TPSIGNO parameter setting is illegal.
Measures Correct the TPSIGNO parameter.
H8204 Error message Illegal param (TRAP)
Cause The TRAP parameter setting is illegal.
Measures Correct the TRAP parameter.
H8206 Error message Failed in initialization (trap function)
Cause Failed in initialization (trap function)
Measures Turn the power OFF and ON once. When it comes back, contact to the dealer.

Error no. H7840 1-31

1Error list

Error No. Error cause and measures

H8207 Error message Failed in writing the data(trap function)
Cause Failed in writing the data.
Measures Please do the operation over again.
C8208 Error message There is a possibility of the flash ROM breakdown
Cause The rewriting count of the flash ROM has exceeded 100,000.
Measures Disable the trap function.
L8300 Error message There are a lot of GETPOS define
Cause GETPOS function are up to 8.
Measures Please use the same ACT No. or reset an unnecessary program.
L8310 Error message GETPOS undefined
Cause GETPOS undefined.
Measures Please define GETPOS.
H8320 Error message System Error (GETPOS)
Cause Internal data of GETPOS is illegal.
Measures Turn the power OFF and ON once.
H8400 Error message CTN data is illegal (PREC or M_LDM)
Cause CTN data is illegal. It changed to PREC OFF and M_LDM=0.
Measures Try to set be a PREC mode and M_LDM again.
H9000 Error message User High level error
～
Cause A high-level alarm was issued from the robot program.
H9099
Measures Check the program.
L9100 Error message User Low level error
～
Cause A low-level alarm was issued from the robot program.
L9199
Measures Check the program.
C9200 Error message User Caution level error
～
Cause A warning was issued from the robot program.
C9299
Measures Check the program.

1-32 Error no. H8207

 2Appendix

2 Appendix
Appendix 1: Place where fuse replacement is required

(1) Place where fuse replacement is required in the event of error No. H0082 *
Replace the fuse (F1) of the pneumatic hand interface (RZ365/RZ367 card).

Fuse（F1）
（Rating 1.6A）
CR1-571 controller CR2A-572 controller
(RZ386/RZ387 card） (RZ326/RZ327 card)

Enlargement

CR2/CR3/CR4/CR7/CR8 controller
Pneumatic hand interface (RZ181 card)
(RZ365/RZ375 card)

(2) Place where fuse replacement is required in the event of error No. H0083 *

■ When using the CR1-571 controller

Replace the fuse (F1) of the RZ386/RZ387 card.

Fuse（F1）
（Rating 1.6A）
Enlarge
ment

RZ386/RZ387 card

CR1-571 controller RZ386/RZ387 card

Place where fuse replacement is required Appendix-33

2Appendix

■ When using the CR2A-572 controller

Replace the fuse (F2) of the RZ326/RZ327 card.

Fuse（F2）
（Rating 1.6A）
Enl
ar g
em
ent
RZ326/RZ327 card

CR2A-572 controller RZ326/RZ327 card

■ When using the CR2/CR3/CR4/CR7/CR8 controller

Replace the fuse (F6) of the RZ181A card.

Fuse（F5）
（Rating 3.2A）

Enlargement
Fuse（F6）
R6ｘ2CPU （Rating 1.6A）

RZ181A card
Fuse（F7）
（Rating 0.6A）

RZ181A card

Appendix-34 Place where fuse replacement is required

 2Appendix

(3) Place where fuse replacement is required in the event of error No. H0084 *
Replace the fuse (F5) of the RZ181A card.

Fuse（F5）
（Rating 3.2A）

Enlargement
Fuse（F6）
R6ｘ2CPU （Rating 1.6A）

RZ181A card
Fuse（F7）
（Rating 0.6A）

RZ181A card

(4) Place where fuse replacement is required in the event of error No. H0085 *
Replace the fuse (F7) of the RZ181A card.

Fuse（F5）
（Rating 3.2A）

Enlargement
Fuse（F6）
R6ｘ2CPU （Rating 1.6A）

RZ181A card
Fuse（F7）
（Rating 0.6A）

RZ181A card

Place where fuse replacement is required Appendix-35

 MITSUBISHI ELECTRIC

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