Nachi Robot Error Code Manual AX - 06

6 ERROR CODE LIST
The list of error codes and counter measures are described on this chapter.
Output type
No Classification Condition Contents Measure Release (Teach/Playback)
Power failure auto- When Primary power is lost Check that output from the power Error reset
saving fault during or voltage drops the current unit(SR1) on the PCB rack is 5V. If
CPU board latest shut-down. status of the controller is not replace power unit(SR1).
4 ALARM/ALARM
failure saved to RESUME.DAT.
The robot is not This error occurs when the There are another equipment and Please do error
corresponding to the robot does not reach the a possibility to interfere. reset or turn on
record point. position even if ten seconds the drive
12 Servo failure have passed since the preparation. ERROR/ERROR
command position was
output to the robot.
Abnormal velocity Abnormal velocity command Modify abnormal axis motion to be After removal of
command. Modify data is calculated. minimized. Contact our service failure, please
20 Servo failure abnormal axis motion. department in case axis motion is carry out "failure- ERROR/ERROR
not so big. reset".
Abnormal servo This failure occurs when the 1. Please confirm whether the After removal of
tracking robot does not follow to the power-supply voltage decreases. failure, please
command position. 2. Please confirm whether set carry out "failure-
value is different from actual value reset".
21 Servo failure of tool weight or tool gravity center ERROR/ERROR
or tool inertia moment. It is thought
that there is a problem in the robot
manipurator or hardware besides.
Position Deviation This failure occurs when the (1)Please confirm whether the After removal of
error deviation between the robot manipulator interferes in failure, please
command and encoder data something.(2)Please confirm that carry out "failure-
position exceeds the set the Pay-load is within the nominal reset".
22 Servo failure permissible deviation. rating.(3)If failure persists, the ERROR/ERROR
problem may be a mechanical
defect in the manipulator, contact
our service department.
Encoder wiring This failure occurs when the (1)Please confirm whether After removal of
disconnection wiring for the encoder has connector CNEC1/CNEC2 of servo failure, please
been disconnected, or there substrate UM221 is correctly carry out "failure-
is no encoder power supply. connected.(2)Please confirm the reset".
power supply voltage of the
Amplifier unit
23 encoder.(3)Please confirm whether ERROR/ERROR
failure
CNR4 is correctly
connected.(4)Please confirm
wiring in the robot manipulator
referring to "Manipulator
Maintenance Manual".
Servo CPU stop This failure occurs when the (1)Please confirm servo substrate After removal of
servo CPU on servo UM221 insertion.(2)Please confirm failure, please
substrate UM221 stops. the power supply of servo turn on power
Amplifier unit
24 substrate UM221.(3)Please supply of the ERROR/ERROR
failure
replace the drive unit. controller again.
Encoder Bit jump This failure occurs when the (1)Please confirm whether After removal of
amount of the change of the connector CNEC1/CNEC2 of servo failure, please
encoder data is abnormal substrate UM221 is correctly carry out "failure-
connected.(2)Please confirm the reset".
power supply voltage of the
25 Servo failure encoder.(3)Please confirm whether ERROR/ERROR
CNR4 is correctly
6-1
Output type
Interference detected This failure occurs when the (1)Please confirm whether the After removal of
robot manipulator collides robot manipulator interferes in failure, please
with something. something.(2)Please confirm that carry out "failure-
the Pay-load is within the nominal reset".
rating.(3)Please confirm the
26 Servo failure interference detection level.(4)If ERROR/ERROR
failure persists, the problem may
be a mechanical defect in the
manipulator, contact our service
department.
Encoder data change This failure occurs when the (1)Please confirm whether After removal of
after stop encoder data continues to connector CNEC1/CNEC2 of servo failure, please
change after the command substrate UM221 is correctly carry out "failure-
position is stops connected.(2)Please confirm reset".
changing(i.e. manipulator whether CNR4 is correctly
should not be moving). connected.(3)Please confirm
27 Servo failure wiring in the robot manipulator ERROR/ERROR
Maintenance Manual".(4)Please
confirm the manipulator is not
obstructed by anything.(5)Please
confirm that the Pay-load is within
the nominal rating.
Low voltage of motor This failure occurs when the (1)Please confirm whether the After removal of
power Motor power supply supply voltage decreases more failure, please
Amplifier unit
28 voltage(P-N) are lower than than a normal value.(2)Please carry out "failure- ERROR/ERROR
failure
regular setting level. replace the drive unit. reset".
Encoder absolute This failure occurs when (1)Please confirm the supply After removal of
data failure fault is detected in the voltage of the encoder refering to failure, please
encoder. "AX controller maintenance turn on power
30 Encoder failure manual".(2)Please confirm the supply of the ERROR/ERROR
wiring of the encoder.(3)Please controller again.
reset the encoder.
Motor rotation too fast This failure occurs if at the (1)Please confirm the supply After removal of
when turning Motors time of turning Motors ON, voltage of the encoder refering to failure, please
ON the encoder speed is too "AX controller maintenance turn on power
31 Encoder failure fast. manual".(2)Please confirm the supply of the ERROR/ERROR
reset the encoder.
Over current This failure occurs when the (1)Please confirm whether the After removal of
current in the drive unit robot manipulator interferes in failure, please
exceeds the rated value. something.(2)Please confirm that carry out "failure-
32 Servo failure rating.(3)Please confirm the cable ERROR/ERROR
between the controller and the
robot manipulator.
Synchronous failure Synchronous failure of servo If error persists, Contact our Error reset
of servo command. command occurred in servo service department.
33 Servo failure system. ERROR/ERROR
Over load This failure occurs when the (1)Please confirm whether the After removal of
current in the motor or drive robot manipulator interferes in failure, please
unit exceeds the rated value. something.(2)Please confirm that carry out "failure-
38 Servo failure rating.(3)Please confirm the cable ERROR/ERROR
between the controller and the
robot manipulator.
6-2
Output type
Over rotation This failure occurs when the (1)Please confirm whether setting After removal of
number of rotations of of the Pay-load and center of failure, please
motors exceeds a maximum gravity is correct.(2)Please confirm carry out "failure-
rotation speed limit. that the Pay-load is within the reset".
39 Servo failure nominal rating.(3)If failure persists, ERROR/ERROR
the problem may be a mechanical
defect in the manipulator, contact
our service department.
The abnormalities in CPU built in the teach Please check whether there are Control power
CPU in a T/P pendant stopped. any abnormalities in a T/P and a supply is re-
connection cable. Please reswitch switched on.
40 TP failure ERROR/ERROR
on a power supply. Please
exchange a T/P, when an error still
comes out.
Over temperature of This failure occurs when the (1)Please confirm that the Pay- After removal of
motor motor temperature rises load is within the nominal failure, please
abnormally. rating.(2)Please confirm the wiring carry out "failure-
of the motor thermostat refering to reset".
Amplifier unit "Manipulator Maintenance
42
Manual".(3)Please stop the robot ERROR/ERROR
failure
in order to lowering the motor
temperature, and restart.(4)If
failure persists, please lower the
operation speed of the robot.
Over speed This failure occurs when the (1)Please confirm whether After removal of
rotation speed of motors is connector CNEC1/CNEC2 of servo failure, please
abnormal. substrate UM221 is correctly carry out "failure-
connected.(2)Please confirm reset".
Amplifier unit whether CNR4 is correctly
43 ERROR/ERROR
failure connected.(3)Please confirm
Over voltage of motor This failure occurs when the (1)Please confirm whether CNR is After removal of
power Motor power supply correctly connected.(2)Please failure, please
voltage(P-N) are higher than confirm that the Pay-load is within carry out "failure-
Amplifier unit regular setting level. the nominal rating.(3)Please reset".
44 ERROR/ERROR
failure confirm the cable between the
controller and the robot
manipulator.
Over temperature of This failure occurs when the (1)Check the fans are After removal of
regenerative temperature of the operating.(2)Please secure space failure, please
discharge resister regenerative discharge 20cm or more in backside of carry out "failure-
resister rises abnormally. controller.(3)Please check wiring of reset".
Amplifier unit
46 the thermostat for regenerative ERROR/ERROR
failure
discharge resister.(4)Please
confirm the CNSV connector of the
sequence PCB is connected.
Encoder counter This failure occurs when the (1)Please confirm the supply After removal of
overflow/underflow counter overflow/underflow voltage of the encoder refering to failure, please
of the encoder is occured. "AX controller maintenance turn on power
reset the encoder.
Encoder data This failure occurs when the (1)Please confirm whether After removal of
transmission failure communication data with the connector CNEC1/CNEC2 of servo failure, please
encoder is abnormal or the substrate UM221 is correctly turn on power
encoder has been connected.(2)Please confirm the supply of the
disconnected. power supply voltage of the controller again.
encoder.(3)Please confirm whether
51 Servo failure CNR4 is correctly ERROR/ERROR
6-3
Output type
Encoder battery This failure occurs when the (1)Please confirm the supply After removal of
charge low voltage of the battery in the voltage of the encoder refering to failure, please
encoder has decreased. "AX controller maintenance turn on power
manual".(2)Please confirm the supply of the
52 Encoder failure ERROR/ERROR
reset the encoder.
Encoder data This failure occurs when the (1)Please confirm the supply After removal of
abnormal change in the encoder data voltage of the encoder refering to failure, please
is abnormal. "AX controller maintenance carry out "failure-
54 Servo failure manual".(2)Please confirm the reset". ERROR/ERROR
wiring of the encoder.
Motor rotation too fast Because the motor had been (1)Please confirm the supply After removal of
when power off rotated at high speed when voltage of the encoder refering to failure, please
the power off, the amount of "AX controller maintenance turn on power
55 Encoder failure the rotation of the encoder manual".(2)Please confirm the supply of the ERROR/ERROR
was not able to be detected wiring of the encoder.(3)Please controller again.
correctly. reset the encoder.
Encoder pre-load This failure occurs if the pre- (1)Please confirm the supply After removal of
failure load operation of the voltage of the encoder refering to failure, please
encoder was not correctly "AX controller maintenance carry out "failure-
done. manual".(2)Please confirm reset".
56 Servo failure whether the robot manipulator ERROR/ERROR
interferes in something.(3)Please
confirm the wiring of the encoder.
Encoder count status This failure occurs when the (1)Please confirm the supply After removal of
failure Encoder data(absolute) is voltage of the encoder refering to failure, please
abnormal. "AX controller maintenance turn on power
reset the encoder.
Can't follow conveyer Error occurs when the robot Reduce the speed of the conveyer, Error reset.
speed. system can not perform its or check the connection of
59 Control failure task at the current conveyer conveyer pulse line. ERROR/ERROR
speed.
Circuit protector This failure occurs when a (1)Please confirm wire harness After removal of
tripped circuit breaker trips. and wiring in the robot failure, please
Amplifier unit manipulator. (2)Please confirm carry out "failure-
61 ERROR/ERROR
failure whether the motor power line does reset".
the short-circuit.
Emergency stop was Error occurs when it has a Turn power ON again and try After removal of
shortly input or condition that again. failure, please
Magnetic SW was cut communication cable, carry out "failure-
off. connection of Emergency reset".
62 Control failure stop, Over travel limit switch, ERROR/ERROR
Arm interference limit switch
or motor thermostats is open
or poor connection.
Controller Error occurs when the Check the fans are operating, or Failure reset by
temperature fault. temperature of the core of clean up the heat exchanger. "reset-key" is
CPU board the controller becomes possible
63 ERROR/ERROR
failure abnormality high.
Drive unit power This failure occurs when Please replace the drive unit. Failure reset by
Amplifier unit failure drive unit power VP15(+15V) "reset-key" is
64 was not supplied. possible. ERROR/ERROR
failure
6-4
Output type
Over travel limit This failure occurs when an (1) If no LS is physically being After removal of
switch activated axis reaches the end of its actuated then wiring to a LS is failure, please
travel and actuates an Over disconnected or cut off.(2) If LS is carry out "failure-
travel limit switch(LS). This physically being actuated, then reset".
Amplifier unit error seldom occurs because move the manipulator by the teach
65 ERROR/ERROR
failure the Software limit usually pendant operation while LS
stops the manipulator before releasing switch ON.
it reaches the LS.
Low voltage of brake This failure occurs when (1)Please confirm the CNMS Failure reset by
power brake power supply PB connector of the power unit is "reset-key" is
decreases. connected. (2)Please confirm the possible.
CNPW connector of the power unit
is connected. (3).Please confirm
Amplifier unit
66 whether fuse (F2) of the power unit ERROR/ERROR
failure
is cut. (3)Please confirm the CNSV
connector of the sequence PCB is
connected.
Drive unit IPM failure This failure occurs when (1)Please confirm the cable Failure reset by
current of power module between the controller and the "reset-key" is
Amplifier unit (IPM) in the drive unit flows robot manipulator.(2)Please possible.
72 ERROR/ERROR
failure more than permitted range. replace the drive unit.
Drive Unit heatsink This failure occurs when the (1)Please confirm whether the After removal of
temperature fault temperature of the heatsink ambient temperature exceeds the failure, please
in the drive unit exceeds the specification. (2) Please confirm carry out "failure-
Amplifier unit permitted range. the power-supply voltage is within reset".
73 ±10%. (3)Please confirm the rear ERROR/ERROR
failure
fan rotates. (4)Please confirm
whether the heat sink is
blockaged.
Motor regeneration This failure occurs when the (1)Please confirm whether the Failure reset by
circuit fault regenerative discharge CNR connector of the drive unit is "reset-key" is
Amplifier unit circuit is disconnected by a connected. (2)Please confirm possible.
74
large current or heat. resistance of the discharge register ERROR/ERROR
failure
5 ohm.
CPU fan fault. Error occurs when the fan of Check the fans are operating, or Failure reset by
CPU board the CPU becomes 2000 exchange CPU board. "reset-key" is
77
r.p.m. or less possible ERROR/ERROR
failure
CPU bord power Error occurs when the power Check the power supply unit, or Failure reset by
CPU board fault. of the CPU becomes 10% or exchange the Power supply unit. "reset-key" is
78
less possible ERROR/ERROR
failure
CPU bord Error occurs when the Check the fans are operating, or Failure reset by
CPU board temperature fault. temperature of the CPU clean up the fans. "reset-key" is
79 becomes abnormality high. possible ERROR/ERROR
failure
CPU bord power Error occurs when the power Check the power supply unit, or Failure reset by
CPU board fault. of the CPU becomes 5% or exchange the Power supply unit. "reset-key" is
80
less possible ERROR/ERROR
failure
CPU bord battery Error occurs when the (1)Please set up the date correctly. Failure reset by
CPU board failure voltage of lithium battery on (2)Please exchange battery. "reset-key" is
81
CPU bord has decreased. possible ERROR/ERROR
failure
5th axis operating Error occurs when 5th-axis Select [Constants][Machine No reset
range exceeded. moves out of its Operating constants] and use the correct axis operations
range. Operating range can operation keys to move back into neccesary.
Operational
99 be exceeded when the 5th- the 5th-axis Operating range. ALARM/ERROR
failure
axis(and 6th-axis) is moved Warning! damage can occur if 5th-
via the rotation of the 4th- axis hits arm 1.
axis.
6-5
Output type
Ext. Motors-off' signal Error occurs when Motors- Ensure that Motors-OFF is not After removal of
is being given or ON button is pressed while being given when pressing Motors- failure, please
Motors-OFF button the Motors-OFF button is ON button. carry out "failure-
105 Control failure being held. held or external motors-OFF reset". ERROR/ERROR
signal is being given.
The motors are not The motors are not ON. Turn motors ON by pressing the No reset
Operational ON. Motor-ON button. operations
106 INFO/ALARM
failure neccesary
TP connect failure It becomes this failure when Connect TP properly. Exchange Failure reset by
TP isn't connected and a TP when it is out. "reset-key" is
116 TP failure ERROR/ERROR
cable is out. possible.
The robot's joint It will become this error if a Please move to software stroke Error reset.
angle exceeded the robot joint angle reaches the within the limits by manual
Operational
121 software stroke software stroke range. operation (each axis). ALARM/ERROR
failure
range.
The robot's joint It will become this error if a Please motor power on in Error reset.
angle exceeded the robot joint angle reaches the machine constant/software limit at
software stroke software stroke the EXPERT level and move to
range.(Current range.(Current position) software stroke within the limit by
position) manual operation. Please turn on
122 Servo failure ERROR/ERROR
the motor as it is, when error
occurred only with the axis without
brakes.
The angle which an The 1st arm and the 2nd Please move in the direction Error reset.
arm makes is too arm may cause interference where interference does not take
Operational large. with a position. place by manual operation.
129 ALARM/ERROR
failure
The angle which an The 1st arm and the 2nd Please move in the direction Error reset.
Operational arm makes is too arm may cause interference where interference does not take
130 small. with a position. place by manual operation. ALARM/ERROR
failure
Collision sensor Error occurs when a signal is Remove obstruction, check After removal of
actuated. received from the collision condition of the tool, reset the failure, please
131 Control failure sensor. collision sensor, and restart robot. carry out "failure- ERROR/ERROR
reset".
The robot's joint It will become this error if a Please move to link software Error reset.
angle exceeded the robot joint angle reaches the stroke within the limits by manual
Operational link software stroke link software stroke range. operation (each axis).
132 ALARM/ERROR
failure range.
Shift value limit This error occurs if the Reset the limit No reset
exceeded. allowable shift distance is value[Constants][Shift limit & operations
Operational too large. evaluation value] and retry neccesary.
173 ERROR/ERROR
failure program.
Primary power supply Error occurs when the Power Check the status of the Error reset.
fault. supply unit detects that Primary(mains) power supply.
Emergency primary power is below
177 ERROR/ERROR
stop failure nominal level.
An axis key was held This error occurs when an Input Motors-ON signal ensuring After removal of
while 'Motors-ON' axis key on the teach the axis keys are not held down. failure, please
signal was given. pendant is actuated while carry out "failure-
179 Control failure motors-ON signal is given. reset". ERROR/ERROR
Palletize-end does This error occurs when a Correct the sequence of Palletize No reset
not follow Palletize palletize-end function(M47) and Palletize end functions in the operations
201 function. does not follow Palletize program. neccesary. ERROR/ERROR
function(M48).
6-6
Output type
More than 32 When palletizing of 32 or Please refer to Palletize function No reset
Palletizing routines more is executed at the manual for details. operations
202 ERROR/ERROR
not allowed. same time, this error is neccesary.
detected.
Palletize data is This error occured caliculate Please refer to palletize data. No reset
abnormal. shift value is failed from operations
203
palletize data. neccesary. ERROR/ERROR
Designated command Error occurs when a shift Correct the program. No reset
position exceeds function, etc. tries to send operations
Operational Robot operating area. the robot out of the robot neccesary.
243 ALARM/ERROR
failure operating area.
Danger of Robot Robot wrist may interfere Correct the program. No reset
Operational interference. with under the part of operations
244 manipulator body. neccesary. ALARM/ERROR
failure
Wrist posture Error occurs when the Correct the program. No reset
calculation fault. controller can not calculate operations
Operational
246 the wrist posture at a neccesary. ERROR/ERROR
failure
particular position in space.
There is a tool which Because tool center of (1)Please execute automatic tool No reset
exceeds rating. gravity or tool weight has center of gravity setting.(2)Please operations
exceeded rating, it becomes verify whether the tool has not neccesary.
Operational medium speed playback. exceeded rating.(3)When the tool
247 ALARM/ALARM
failure has exceeded rating, please make
sure to be settled inside rating.
Pose calculation This error occurs when all Check pose data. No reset
Operational failed. axis angles can not be operations
257 calculated in robot language neccesary. ERROR/ERROR
failure
file.
Conveyer motion Error occurs when the Stop the conveyer, reset, and Error reset.
during test . conveyer running signal is restart test.
detected during executing a
270 Control failure program in Conveyer ERROR/ERROR
simulation or test mode.
Conveyer pulses Error occurs when the Check that the pulse generator is Error reset.
exceeded limit. number of conveyer pulses functioning correctly.
271 Control failure exceeds 10KHz. ERROR/ERROR
The error was It becomes this error when Check the environment of Built-in Unusual reset is
detected by Built-in Built-in PLC detects an error. PLC of operation. carried out after
367 PLC failure PLC. changing Built-in ERROR/ERROR
PLC into a
running state
Safety plug is not This error occurs when a Insert the Safety plug in Auto After removal of
inserted or the state Motors ON mode. failure, please
of safety plug signal command(button) is given in carry out "failure-
has changed in teach Auto mode when the Safety reset".
379 Control failure ERROR/ERROR
mode. plug is not inserted or the
state of safety plug signal
has changed in teach mode.
It is scan time over of It detects, when the Correct Ladder program. An error will be
Built-in PLC. scanning time of Built-in PLC canceled if it is
is too long. download after
550 PLC failure correcting ladder ERROR/ERROR
program so that
Scan time may
be set to less
than 30 msecs
6-7
Output type
Vision sensor not It detects, when the vision Correct vision sensor connection After removal of
connected. sensor is not connected. line. failure, please
582 turn on power ERROR/ERROR
supply of the
controller again
Welder Error occurs when the 1.Check power supply of the Error reset
communication welder board is not correctly welder and communication cables,
Spot weld
674 fault(No reply). connected, or backup files and power ON again. 2.Initialize ALARM/ALARM
failure
are incorrect. welder data.
Welder Error occurs when received Check power supply of the welder Error reset
Spot weld communication data from the welder board and communication cables, and
675
fault(Check sum). is abnormal. power ON again. ALARM/ALARM
failure
Welder Error occurs when received Check power supply of the welder Error reset
Spot weld communication data from the welder board and communication cables, and
676
fault(Message is abnormal. power ON again. ALARM/ALARM
failure
wrong).
Major Welder fault. Error occurs when the Remove the cause of weld fault. Error reset
welder board generate the
Spot weld
677 weld fault. ERROR/ERROR
failure
Executive EPROM Error occurs when a system Install the system software once Turn off the
checksum error. software checksum error of more. power.
Spot weld welder timer substrate is
694 ERROR/ERROR
failure detected.
LCA EPROM Error occurs when a system Install the system software once Turn off the
checksum error. software checksum error of more. power.
Spot weld welder timer substrate is
695 ERROR/ERROR
failure detected.
Application EPROM Error occurs when an Install the system software once Turn off the
checksum error. application EPROM more. power.
Spot weld
696 checksum error of welder ERROR/ERROR
failure
timer substrate is detected.
DPR error. Error occurs when a DPR Install the system software once Turn off the
error of welder timer more. power.
Spot weld
697 substrate is detected. ERROR/ERROR
failure
Invalid Conveyer Error occurs when a Check a conveyer pulse input Error reset.
register value. conveyer register value circuit.
704 Control failure exceeded value of ERROR/ERROR
<Err.detect.just after
playback>.
The angle between The 3rd axis tended to Please move in the direction Error reset.
3rd axis and ground is operate exceeding 3rd angle where 3rd angle incline does not
Operational over. incline. take place by manual operation.
705 ALARM/ERROR
failure
Spot Welder SCR1 Failure occurs when the Check the Thermo. Temp. fault After removal of
thermal switch Thermo. Temp. fault signal signal and the spot welding unit. failure, please
Spot weld
749 actuated. is received by the controller. carry out "failure- ERROR/ERROR
failure
reset".
Spot Welder SCR2 Failure occurs when the Check the Thermo. Temp. fault After removal of
thermal switch Thermo. Temp. fault signal signal and the spot welding unit. failure, please
Spot weld
750 actuated. is received by the controller. carry out "failure- ERROR/ERROR
failure
reset".
Isolation contact Failure occurs when the Refer to the Welder timing Manual. After removal of
failed to pull in. isolation contact of the failure, please
Spot weld
759 welder fails to actuate carry out "failure- ERROR/ERROR
failure
correctly. reset".
6-8
Output type
Isolation contact Failure occurs when the Refer to the Welder timing Manual. After removal of
stuck close. isolation contact of the failure, please
Spot weld
760 welder fails to actuate carry out "failure- ERROR/ERROR
failure
correctly. reset".
Welder board not Error occurs if the welding Install the welder board. Error reset.
Spot weld installed. timer PCB does not exists in
762 the controller when welding ERROR/ERROR
failure
is attempted.
Robot moved during This error occurs when Check manipulator arm After removal of
Motors-on sequence. shock sensor actuated while interference with jig. if error failure, please
777 Control failure torch touches a work. persists, abort Motor-on and carry out "failure- ERROR/ERROR
contact our dept. reset".
Motion stop. It becomes this error when (1)Turn on the power again. Turn on the
CPU board main CPU detects a motion Please confirm the error is power again.
783 ERROR/ERROR
failure stop. released.(2)Please reinstall the
system.
I/O timeout. It becomes this error when Turn on the power again. If the Turn on the
CPU board main CPU detects a I/O error is not released, reinstall the power again.
785 ERROR/ERROR
failure system stop. system.
Watchdog Timeout It becomes this error when (1)Turn on the power again. Turn on the
Error. Watchdog Circuit detects a Please confirm the error is power again.
motion stop. released.(2)Please enlarge
CPU board
787 Interpolation Cycle Time.(3)Please ERROR/ERROR
failure
insert a CPU board or an I/O
board(UM212/L8800M) firmly
again.
Movement too large Error occurs when Check the condition of the Check the
in Compliance movement by an external Compliance control performance. constants of the
CPU board control. force is too large while in Compliance
788 ERROR/ERROR
failure Compliance control. control function.
CPU error. It becomes this error when (1)Turn on the power again. Turn on the
an CPU error occurs in CPU Please confirm the error is power again.
board. released.(2)Please insert a CPU
CPU board board firmly again.(3)When the
789 ERROR/ERROR
failure phenomenon recurs, please inform
our service section.
Conveyer not Error occurs when conveyer Check the conveyor is functioning. Error reset.
running. pulse never changes more Or check the wiring between Pulse
895 Control failure than 1 second, after start LS Generator and AX controller. ERROR/ERROR
is given.
Too little conveyer Error occurs when a After Separate input timing of a starting Error reset.
pulse counted. conveyer start LS is input, command from conveyer start LS
though it was passed signal.
<Conv.pulse check start
time>, when it is short of
value of <Conv.pulse error
check> value.
Servo command stop This failure occurs when the Please refer to the troubleshooting After removal of
update of the command of the controller maintenance failure, please
value transmitted to the manual. carry out "failure-
898 Servo failure ERROR/ERROR
servo stops during a certain reset".
time.
serveo clock halted This failure occurs when the (1)Please confirm the supply After removal of
clock of servo substrate voltage of the servo substrate failure, please
Amplifier unit UM221 halted. UM221.(2)Please replace the drive turn on power
902 ERROR/ERROR
failure unit. supply of the
controller again.
6-9
Output type
Servo communication This failure occurs when the (1)Please confirm whether After removal of
stop communication between connector CNUSB of servo failure, please
CPU substrate and the servo substrate UM221 is correctly carry out "failure-
Amplifier unit substrate stops. connected.(2)Please confirm the reset". Wait
903 ERROR/ERROR
failure supply voltage of the servo more than 5
substrate UM221.(3)Please seconds for next
replace the drive unit. motor power on.
I/O board connect I/O board(UM212/L8800M) is Please confirm whether I/O board Turn on the
failure. not recognized. (1)I/O board is correctly connected. power again.
connect failure.(2)I/O board
troubles. (MACH etc.) (3)I/O
CPU board board DIP-SW setting
904 mistake.(4)Contact failure ERROR/ERROR
failure
between CPU board and
Riser board
(UM209/L8800R). (5)Storage
board trouble.
The communication The details of a An unusual cause is removed Unusual reset is

error occurred. communication error should based on a sub code. carried out after
956 check a sub code. removing an ERROR/ERROR
unusual cause.
The system error was The details of a Please inform system service of a Unusual reset is
detected. communication error should sub code. carried out after
check a sub code. removing an
957 ERROR/ERROR
unusual cause.
The error was They are the abnormalities The defect of a communication A
detected with the self of a communication board. board is considered. communication
check of a Please check the details of board is
958 ERROR/ERROR
communication abnormalities to system exchanged.
board. service.
A communication The communication board Please check the slot ID of a field

The setting
board is not found. specified on the constant bus hardware setup. value of a field
959 setting screen is not found. bus hardware ERROR/ERROR
setup is
changed.
A part or all I/O links Since the between title has Please check the device which the If a problem is
are stopping. occurred in the I/O device, a problem has generated by the field solved, it will
robot cannot be started. bus monitor. restore
automatically. (In
order to solve a
960
problem, the re- ERROR/ERROR
injection of a
power supply
may be required)
T/P selector switch is Playback is impossible while Set T/P selector switch to AUTO.
After removal of
967 Control failure MANUAL. T/P selector switch is set to failure, please ERROR/ERROR
MANUAL. carry out "failure-
reset".
Playback unavailable Error occurs when you input Please input playback command After removal of
973 Control failure because Deadman playback command while after Deadman SW is released failure, please ERROR/ERROR
SW is not released you were gripping the position. carry out "failure-
position. Deadman SW. reset".
Magnetic switch is not Error occurs when a signal Please exchange sequence board After removal of
active. from a magnetic switch is UM213. failure, please
not received within the carry out "failure-
975 Control failure specified time after Motors reset". ERROR/ERROR
ON signal is given.
Analog input board is Although analog input Turn off the power and connect Error reset.
not installed. Or (output) board is not analog Input (output) board
1003 Control failure analog output board installed, analog input correctly. ERROR/ERROR
is not installed. (output) function is executed.
6 - 10
Output type
PWM of the This error occurs when PWM There are some problems in the After removal of
disconnected is not turned off even if a brake and the PWM control circuit failure, please
mechanism has been certain time passes after the of sequence PCB. Please replace carry out "failure-
1012 Control failure turned on. mechanism diconnection. the sequence PCB or the drive reset". ERROR/ERROR
unit.
Manipulator battery This warning occurs when (1)Please exchange the battery After the battery
warning the voltage of the battery in referring to "Robot Manipulator is exchanged,
the robot manipulator Maintenance Manual". (2) Please please carry out
decreases. perform the Encoder Reset and "failure-reset"
Encoder Correction. and then turn on
1016 Encoder failure INFO/INFO
the power supply
of the controller
again.
Safety unit circuit is Error occurs when the Turn power OFF and ON again. After removal of
abnormal. disagreement detection or After wiring is confirmed, safety failure, please
1048 Control failure abnormal of the relay is unit is exchanged when the error carry out "failure- ERROR/ERROR
detected with safety unit. occurs again. reset".
This IWB does not Error occurs when the IWB Replace new version. After removal of
support MFDC version is old. failure, please
Spot weld
1049 carry out "failure- ERROR/ERROR
failure
reset".
Analog output board Analog output board is not Install the analog output board. Error reset.
1050 not installed. exists in the controller. ERROR/ERROR
The welder board Error occurs when the Power ON again. If error persists Error reset
Spot weld failed in initialization. initialization of the welder replace the I/F printed circuit
1055 ALARM/ALARM
failure board is not complete. board.
Memory error is Error occurs when an Power ON again after executing Error reset
Spot weld detected by the internal memory of the R930, and confirm each parameter
1056
welder board. welder board is destroyed. of the timer. ALARM/ALARM
failure
Timer controller CPU Nothing acknowledge from Replace the timer PCB (PMU). Error reset
Spot weld is not ready. timer controller CPU.
1058 ALARM/ALARM
failure
Conveyer mode can Conveyer mode was tried to Change conveyer mode after Error reset.
not be changed while be changed while robot stopped.
playback moving.
Conveyer running Conveyer running signal was In conveyer normal mode, turn on Error reset.
signal was not not received in conveyer conveyer running signal.
received. normal mode.
The gun nozzle is The flow pressure exceeded Please clean the gun nozzle. Error reset
1820 choked up. a set value. ERROR/ERROR
The pressure The flow pressure exceeded Please clean the gun nozzle. Error reset
1821 exceeded the upper a set value. ERROR/ERROR
bound.
The pressure The flow pressure exceeded Please clean the gun nozzle. Error reset
1822 exceeded the lower a set value. ERROR/ERROR
bound.
Playback unavailable Error occurs when input Please input playback command After removal of
2002 Control failure because motors-off playbk command while it is after motors-on is thrown. failure, please ALARM/ALARM
sequence is executing the motor-off carry out "failure-
executing. sequence. reset".
Spot welding function The mistake of the method 1.Please confirm the welding After recording
can not be carried of recording the welding number. 2.Please record spot the move step,
Spot weld out. function is found. welding function after step 1. Please Check
2003
3.You tried to drive the GUN Go. ALARM/ALARM
failure
mechanism which was not able to
be driven with this unit.
6 - 11
Output type
T/P selector switch is Manual operation is Set T/P selector switch to After removal of
AUTO. impossible while T/P selector MANUAL. failure, please
2006 Control failure switch is set to AUTO. carry out "failure- INFO/INFO
reset".
WI cancel operation This error occurs when WI Please operate WI cancel after a No reset
Operational is disabled. (Servo cancel is operated during a motor power on. operations
2021
gun) servo gun motor power off. neccesary. INFO/INFO
failure
Variable which gives This error occurs when Please set value to the variable or Please set value
speed parameter is speed parameter of Moving change speed parameter to to the variable or
invalid. command made by Robot numerical value. change speed
Operational
2022 Language is given by parameter to ALARM/ALARM
failure
variable and its value is numerical value.
invalid.
The change in the tip The difference between the Check the lack of gun tip. If it is no Error reset
consumption detected consumption detected by trouble, execute gun search 1.
by search 3 is search 3 and the
Spot weld abnormal. consumption detected by
2027 ALARM/ALARM
failure search 1 exceeded the
search 3 abnormal tip
change.
The encoder data of The servo gun axis did not Please reconsider the recorded Error reset
gun axis is not stop while waiting to reach position. If the position has no
Spot weld
2044 steady. the specified pressure. problem, replace the Drive Unit ALARM/ALARM
failure
Ready to weld status Welder power turned off or Check the peripheral system or Error reset.
from welder board welder error occurred, a welder.
Spot weld isn't completed, or a weld-enabled signal not
2049 weld-enabled signal given. ALARM/ALARM
failure
isn't input.
Robot does not keep This error occurs if robot Return robot to the basic position Error reset.
the basic position does not keep the basic by manual operation without Multi
Operational between multi driven position between multi Drive Conrtol. If this error occurs
2050 axises. driven axises. again, check the basic position or ERROR/ERROR
failure
the level of error detection.
Pressure already Servo Gun Pressure already Pressure value is too low when Error reset
achieved to the achieved to the designated servo gun axis does not move.
Spot weld designated value for value for manual operation. Review pressure data.
2055 ALARM/ALARM
failure manual operation.
There is a possibility Setting rectangular Please set the tool constant The error is not
that the interpolation coordinate system is (length and center of gravity) again released until
operation and the de- different registering the tool by present rectangular coordinate measures are
and acceleration and now. system. Or, please change setting executed.
Operational control are not rectangular coordinate system.
2059 correctly done due to ALARM/ALARM
failure
a set disagreement of
rectangular
coordinate system.
4th axis operating Error occurs when 4th-axis Select [Constants][Machine No reset
range exceeded. moves out of its Operating constants] and use the correct axis operations
range. Though 4th axis is operation keys to move back into neccesary.
within the software motion the 4th-axis Operating range.
Operational
2060 range, the 4th axis Warning! damage can occur if 4th- ALARM/ERROR
failure
occasionally exceeds the axis hits arm 1.
range of motion by receiving
axis interference from other
axes.
6 - 12
Output type
Weld condition dose Weld condition setting with Check the desired condition The error is not
not exist. group, the weld condition is number and retry. released until
1-16(Group16 is 1-15).Weld measures are
Spot weld condition number is out of executed.
2062 ALARM/ALARM
failure range.; Error occurs when
the power is resorted if this
transmission failed.
Weld condition group Spot weld function(Fn119 or Please record weld condition with The error is not
number is not set. Fn303) was executed group function(Fn282) before released until
Spot weld without recording weld executing spot welding measures are
2063 ALARM/ALARM
failure condition with group function(Fn119 or Fn303). executed.
function(Fn282).
The memory medium The detection reason is that Whether the device such as An error will be
is not prepared. the specified device was not memory cards and floppy disks canceled if some
Operational detected when the file specified by the file operation keys are
2082 INFO/INFO
failure operation is done. menu is correctly installed is pushed.
confirmed.
The memory medium When it is going to copy a Please prepare the memory An error will be
is read-only. file to a write-protected medium to which writing is made canceled if some
Operational
2083 floppy disk etc., this error and perform a copy from the keys are INFO/INFO
failure
sets. beginning once again. pushed.
It cannot process in It was going to copy to the Please change a file name or a An error will be
Operational the same device. same device by the same device and redo copy operation canceled if some
2089 file name. again. keys are INFO/INFO
failure
pushed.
Max. follow angle Error occurs when the robot Check the press syncronize Error reset
over. was about to follow more parameters.
2090 Control failure than the max. follow angle. ERROR/ERROR
Record point of press Error occurs when the Confirm record point of press Error reset.
synchronous step is position of press interlock synchronous step.
2091 Control failure not available. waiting step and a ERROR/ERROR
synchronous step is
different.
It is not possible to Error occurs when playback Please do playback start from Error reset
CPU board start from a current start is done from press steps other than press
2092 step. synchronous step. synchronous step. ALARM/ALARM
failure
Press brake sync. is Error occurs if execution of a Set Conveyer shape in Press. Error reset.
not available. function related to the press
brake is attempted when
2093 Control failure Press is not selected with ERROR/ERROR
Conveyer type.
Stop or External stop Error occurs when a Start Release Stop button or External Error reset.
signal being given. command is given while the stop signal(if External stop signal
Operational Stop button is being held or cable is cut the external stop signal
2101 External stop signal is being is considered as being given. INFO/INFO
failure
given.
The emergency stop Where an emergency stop Please cancel an emergency stop Abnormalities
button or the external button or an external button and an external emergency are reset.
emergency stop is emergency stop signal is stop signal.
Operational inputted. inputted, it detects, when the
2103
Motors-ON signal or the INFO/INFO
failure
External Motors-ON signal is
inputted.
6 - 13
Output type
Motors-OFF button or In the state where the Please cancel a Motors-OFF Abnormalities
external Motors-OFF Motors-OFF button or the button and an external Motors-OFF are reset.
is inputted. external Motors-OFF signal signal.
Operational is inputted, when the Motors-
2104 INFO/INFO
failure ON signal or the external
Motors-ON signal is inputted,
it detects.
Playback unavailable The start is impossible, Please start after turning on Abnormalities
because servo because the start operation MSHP. are reset.
Operational system has not been is done before MSHP is
2106
turned on yet. turned on. INFO/INFO
failure
It is not possible to This It is prohibited to start Please start after specifying the abnormally
start by specifying the specifying the function move step. resets.
function step because there is the position
Operational
2108 where the function is INFO/INFO
failure
executed is not an original
position but a possibility.
The internal operation It detects, when starting Please operate it after setting Abnormalities
signal was inputted in selection tends to push the starting selection or program are reset.
the state of external Motors-ON button or a selection as an inside.
selection. starting button in the state of
Operational the exterior or it is going to
2111 choose a program from TP INFO/INFO
failure
in the state of the program
selection exterior.
The external It detects, when the Motors- Please perform external operation Abnormalities
operation signal was ON or the start signals are after setting up starting selection or are reset.
inputted in the state inputted from the exterior in program selection outside.
of internal selection. the state of an inside of start
selection or a program
Operational
2112 selection signal is inputted INFO/INFO
failure
from the exterior in the state
of the inside of program
selection.
Shift register contains Error occurs when data Setting data in shift register. abnormally
no data. aren't established in resets.
2118 specified shift register. ALARM/ALARM
Setting the call This error occurs when the Please correct the program so that This error is
instruction is number of step call and the number of call return released if the
improper. return instruction is match or instructions is corresponding, and step set do over
Operational
2138 the multiple call exceeds a multiple call should not exceed again and restart ALARM/ALARM
failure
eight times. eight times. playback.
The unit composition This error occurs when the Please correct the called program This error is
is a different program. program jump or call number value. released if the
instruction directly jumps or correct program
Operational calls the program that the set do over
2141 ALARM/ALARM
failure unit is different. again and restart
playback.
Program number This error occurs when the Check the desired program No reset
Operational selected is not program number designated number and retry. operations
2142 available. is more than 9999. neccesary. INFO/INFO
failure
There is no end. If there is no end mark when Please record the end instruction. This error is
playback executing, this released if
Operational error is detected after the restart playback.
2144 INFO/INFO
failure last step is executed.
6 - 14
Output type
Program is too large. Error occurs when number of Edit program in order to reduce its No reset
bytes of a program is too size. operations
Operational large. neccesary.
2150 INFO/INFO
failure
The program or the This error occurs when the Please correct the program This error is
file does not exist. program number is specified number to a correct value the jumpreleased if a
Operational which does not exist in the call ahead. correct program
2151 INFO/INFO
failure program jump call is setted again
instruction. and restart
playback.
The step does not This error is detected when Please correct the step number to This error is
exist. the step number which does a correct value at the jump released if the
Operational not exist in the step jump call destination. correct step set
2152 instruction is specified. do over again INFO/INFO
failure
and restart
playback.
Change of a This error occurs if a Please teach by the same This error will be
coordinate system coordinate system is coordinate system during circular. canceled if a
Operational cannot be performed changed during circular. program is
2161
during circular. corrected and INFO/INFO
failure
restarted.
Change of a tool This error occurs if a tool is Please teach by the same tool This error will be
cannot be performed changed during circular. during circular. canceled if a
Operational during circular. program is
2164 INFO/INFO
failure corrected and
restarted.
The file is protected. All protected files or files Because the specified file Please release
partially protected (program (program or constant) contains protecting the
Operational or constant) tried to be important data, protecting is put so file (program or
2165 INFO/INFO
failure corrected and deleted. that constant).
The reproduction It detects, when it is going to The specified work program is not When you start,
protection of the carry out reproduction or a program which should be used please choose
Operational program is carried check GO of the work for operation operation. Step 1 from T/P.
2166 out. program which required ALARM/ALARM
failure
reproduction protection from
a head step (Step 0).
The amount of the When there is no point or Recreate the 10 point program (4 Error reset
movement of each less 10 point data effective point under tool constant setting
axis is too small in the to the calculation, and the only) ensuring the recorded points
Operational automatic tool program is not clearly are exactly the same point in
2167
constant setting. Or, recorded the same point space. INFO/INFO
failure
the number of record excluding the error by the
steps does not teaching.
suffice.
There is an axis of In the state of the present Please exchange the slowdown Abnormalities
less than 1,000 hours operation, the life- machine of the axis displayed as are reset.
till overhaul cycle expectancy time (time until it early as possible. Please clear "the
Preventive attainment. reaches a life) of the consumption time by present" zero
2168 maintenance displayed axis turned into with an overhaul cycle prediction ALARM/ALARM
message 1,000 or less hours. menu after exchange. (The
qualification more than Expert is
required)
Shift value limit This error occurs if the Reset the limit No reset
2173 exceeded. allowable shift distance is value[Constants][Shift limit & operations ALARM/ALARM
too large. evaluation value] and retry neccesary.
This function cannot The function which cannot Please record this function on the Error reset
2174 Control failure be available during be used during conveyor step which is not conveyor ALARM/ALARM
conveyor synchronization was used. synchronization.
synchronization.
The file path is not The system cannot find the Please check whether a file path is No reset
Operational found. path specified. right. operations
2175
neccesary. INFO/INFO
failure
6 - 15
Output type
The file access is The process cannot access Please try once again. If it still No reset
Operational denied. the file because it is being recurs, please re-switch on the operations
2176 used by another process. controller. neccesary. INFO/INFO
failure
Conveyer running Conveyer running signal was In conveyer normal mode, turn on No reset
signal was not not received in conveyer conveyer running signal. If the operations
received. normal mode. signal is not used, set [When neccesary.
turning off conveyor running signal.
2181 Control failure ALARM/ALARM
= Ignore] in [Constant: 20
Conveyor constant: 4 Conveyor
added function] menu.
Step number selected This error occurs when Check the desired step number No reset
is not available. designated step number and retry. operations
Operational
2185 does not exist. neccesary. INFO/INFO
failure
The program is not This error occurs when the Please start after recording the This error is
Operational recorded nor program which is not program or selecting other released if it sets
2194 selected. recorded is selclted and start programs. a correct INFO/INFO
failure
playback. program and
restart playback
Palletize-end does This error occurs when a Correct the sequence of Palletize No reset
not follow Palletize palletize-end function(M47) and Palletize end functions in the operations
2201 function. does not follow Palletize program. neccesary. ALARM/ALARM
function(M48).
More than 32 When palletizing of 32 or Please refer to Palletize function No reset

Palletizing routines more is executed at the manual for details. operations
2202 not allowed. same time, this error is neccesary. ALARM/ALARM
detected.
Palletize data is This error occured caliculate Please refer to palletize data. No reset
abnormal. shift value is failed from operations
2203 palletize data. neccesary. ALARM/ALARM
Multiplex palletize This error occured multiplex Please confirm a robot program. No reset
over. palletize beyond 8 is carried operations
2204 out. neccesary. ALARM/ALARM
Conveyer sync. is not Failure occurs if execution of Enable Conveyer synchronization Error reset
available. a function related to the
Conveyer is attempted when
2230 Control failure Conveyer synchronization ALARM/ALARM
has not been enabled.
The step data is This error occurs when the Please set a correct parameter This error is
abnormal. value which is not permitted again. released if a
as a parameter of the correct program
Operational function instruction is setted or step is setted
2250 ALARM/ALARM
failure while playback executing, and restart
and the robot stops. playback.
Incorrect Register or Error occurs when incorrect Enter the correct register or Error reset
variable number. Register or variable number variable number.
Operational
2251 is used in a program. ALARM/ALARM
failure
Division by 0. This error occurs when a Check the program. Check the
Operational value is divided by 0 in robot program.
2255 language file. ALARM/ALARM
failure
The program can not This error occurs when the The number of program Please do error
reserve any more. number of program reservation should cope with it by reset.
Operational reservations exceeds ten. the sequence etc. not to
2268 ALARM/ALARM
failure accumulate too much.
6 - 16
Output type
Conveyer running Error occurs when a Turn off the conveyer running input Error reset.
signal is ON. Conveyer running signal is signal OFF.
2272 Control failure inputed when conveyer ERROR/ERROR
simulation or test mode.
Analog input override Error occurs when analog Check the program, and delete Error reset.
and digital input input override (FN169) and function.
override can not be digital input override (FN277)
Spot weld
2277 used at same time. are played at the same time. ALARM/ALARM
failure
No signal input while The specified interruption Please confirm the state of the Error reset
executing FN227 signal was not input whiel sensor, the connection with the
Spot weld
2300 executing FN227. controller and the number of the ALARM/ALARM
failure
signal.
There is no referring This error occurs when the Please start after recording a move This error will be
to point for the circle program on which the move command before or after the circle canceled if a
middle point (C1). command is not recorded middle point (C1). program is
Operational
2301 before or after the circle corrected and ALARM/ALARM
failure
middle point (C1) is started. restarted.
There is no referring This error occurs when the Please start after recording a move This error will be
to point for the circle program on which the move command before the circle end canceled if a
Operational end point (C2). command is not recorded point (C2). program is
2302
before the circle middle end corrected and ALARM/ALARM
failure
(C2) is started. restarted.
It is protected with the It detects, when it is going to Since the specified file (program or Please release
password. correct or delete the file (a constant) contains important data, protecting the
Operational program, constant) protected protection is applied file (program or
2353 INFO/INFO
failure with the password. constant).
Playback mode of This error occurs when Select <1 cycle> mode. No reset
Search write function Search write function is operations
2356 ALARM/ALARM
is not corrected. attempted when not in <1 neccesary.
cycle> mode.
Search range This error occurs when the Modify(enlarge) the search range No reset
exceeded. robot moves beyond search or program to rectify error. operations
2357
range neccesary. ALARM/ALARM
Search base step This error occurs if a Search The Search base step position(s) No reset
position is not is attempted without the will be automatically written into operations
2358 defined. existence of the Search base the functions. neccesary. ALARM/ALARM
step position.
Search Start not This error occurs when a Alter program to give correct No reset
followed by Search Search start does not follow Search start/end sequence. operations
2359 End. a Search End function. neccesary. ALARM/ALARM
The setting of a case This failure occurs when a Please check a case jump and This failure is
jump function is case jump and a case jump correspondence of a case jump released if a
Operational unsuitable. end do not correspond while end. correct program
2360
playback executing, and the is setted and INFO/INFO
failure
robot will stop. restart playback.
It was going to jump This failure occurs when the Please set a correct parameter This failure is
beyond the case jump condition value of a case again. released if a
range. jump is too large and there is correct program
Operational no jump step in the program is setted and
2361 INFO/INFO
failure while playback executing, restart playback.
this abnormality is detected,
and the robot will stop.
6 - 17
Output type
Scan of Built-in PLC Although Built-in PLC status Built-in PLC status is set as Unusual reset is
has stopped. is except <Disabled>, when <RUN> by constant mode, and carried out after
scan of Built-in PLC has scan is started. changing Built-in
2367 PLC failure stopped, it becomes this PLC into a run ALARM/ALARM
error at the time of robot state.
operation.
Connection with Built- It becomes this error when Please check the environment of Unusual reset is
in PLC cannot be connection with Built-in PLC Built-in PLC of operation. carried out after
performed. cannot be performed. changing Built-in
2368 PLC failure PLC into a ALARM/ALARM
starting state.
Built-in PLC cannot It becomes this error when Please check the environment of Unusual reset is
be started. Built-in PLC cannot be Built-in PLC of operation. carried out after
started. changing Built-in
2369 PLC failure ALARM/ALARM
PLC into a
starting state.
Built-in PLC cannot It becomes this error when Please check the environment of Unusual reset is
be stopped. Built-in PLC cannot be Built-in PLC of operation. carried out after
2370 PLC failure stopped. changing Built-in ALARM/ALARM
PLC into a
starting state
There is no resource It will become this error if a Download a PLC ladder program. After download,
performed by Built-in starting demand is it changes into a
PLC. performed in the state where starting state
2371 PLC failure ALARM/ALARM
there is no resource and unusual
performed by Built-in PLC. reset is carried
out.
PLC-Engine has not It becomes this error when it Please check the environment of Again, a starting
been started. is not able to start by the Built-in PLC of operation. setup is carried
starting demand of PLC- out, it changes
2372 PLC failure Engine. into a starting ALARM/ALARM
state, and
unusual reset is
carried out.
The error was It becomes this error when Please carry out program check by Unusual reset is
detected by Program an error is detected by [3 PLC program check] of [14 PLC carried out.
2373 PLC failure check at the time of Program check at the time of program Edit] of Service. ALARM/ALARM
PLC-Engine starting. PLC-Engine starting.
The function data is This error occurs when the Please set the function again. This error is
abnormal. function instruction which is released if a
Operational not permitted is setted while correct program
2383
playback executing, and the or step is setted ALARM/ALARM
failure
robot stops. and restart
playback.
3 of the step points Error occurs when 3 step Designate step positions not in the Designate step
for On-transfer are in points are situated along the same line for the On-line transfer positions not in
line. same line for the On-line function. the same line for
2387 ALARM/ALARM
Transfer(M53,M54). the On-line
transfer function.
There is no user Error occurs when there is Create a user function definition A power supply
Operational function definition no data which defined the file. is re-switched on
2390 data. specified user function. after creating a ALARM/ALARM
failure
user function
definition file
There is no user Error occurs when there is Create a user function definition A power supply
function definition no data which defined the file. is re-switched on
Operational data. specified user function. after creating a
2391 ALARM/ALARM
failure user function
definition file.
User failure is not The error file was not found. Please define Failure by [Service] Error reset
Operational defined. →[25 Robot diagnosis]→[6 User
2410 ERROR/ERROR
failure error].
6 - 18
Output type
The specified welder The servo gun connected Modify the program. Error reset
cannot be used with with the specified welder is
Spot weld this unit. not defined as a mechanism
2435 ALARM/ALARM
failure of this unit.
The servo gun is not The welder with which the Modify the program. Error reset
connected with the servo gun was not
Spot weld specified welder. connected when the servo
2436 ALARM/ALARM
failure gun function was used was
specified.
Abnormal panel Dramatic difference of panel Check the weld condition data and This error is
thickness detected. thickness exists between real work piece thickness. released if
Spot weld
2437 recorded value in weld restart playback. ALARM/ALARM
failure
condition and detected
value.
RIO detected the An abnormal communication Please check the connection and Error reset.
communications was generated by the RIO the RIO scanner of the
2497 ALARM/ALARM
error. link. communication cable.
The RIO interface is There is no answer from the Please exchange the RIO Error reset.
abnormal. RIO interface. interface.
2498 ALARM/ALARM
Step number not This error occurs when a Please designate a step number This error is
designated. command only valid after and retry. released if a
designating a step number is correct program
Operational attempted without step or step is setted
2518
designation. and restart INFO/INFO
failure
playback.
File read or write This failure occurs when the Please try once again, after delete No reset
fault. media format does not the file. operations
match the format selected in neccesary.
Operational
2527 the controller or the file has INFO/INFO
failure
been corrupted.",
The memory medium When memory media, such By Service / File Manager / Format It will be
is not discriminable. as a FIROPPI disk and an memory card/Floppy disk, please canceled if some
Operational memory card, are not use it after initializing a memory keys are
2528
initialized, this error occurs. medium. pushed. INFO/INFO
failure
Welder fault. Error occurs when a Welder Check the welder unit. This error is
fault input signal is received released if
by the controller after the restart playback.
Spot weld
2536 completion of a welding ALARM/ALARM
failure
sequence.
Welding time Error occurs if a Weld Check the welder is operating This error is
exceeded limit. competed signal is not input normally. released if
Spot weld before the designated time restart playback.
2537 ALARM/ALARM
failure period.
The gun not open. Error occurs if the Gun Check the GUN or welding unit. This error is
Spot weld closed signal is received released if
2538 after the welding sequence restart playback. ALARM/ALARM
failure
ends.
The gun is not half Error occurs if the Gun half- Check the GUN or welding unit. This error is
open. open signal is not received released if
Spot weld after Open gun half signal is restart playback.
2539 ALARM/ALARM
failure output by the controller.
6 - 19
Output type
The gun is not fully Error occurs if the Gun full- Check the GUN or welding unit. This error is
open. open signal is not received released if
Spot weld after Open gun fully signal is restart playback.
2540 ALARM/ALARM
failure output by the controller.
Stuck Weld GUN Error occurs if the System Error occurs if the Weld stuck This error is
detected. fault signal is detected after signal is received when the released if
Spot weld completion of a welding welding sequence ends. restart playback.
2541 ALARM/ALARM
failure sequence.
Coolant fault #1. Error occurs if the Water flow Check the GUN or welding unit. This error is
switch #1 signal is detected released if
Spot weld after completion of a welding restart playback.
2542 ALARM/ALARM
failure sequence.
Coolant fault #2. Error occurs if the Water flow Check the GUN or welding unit. This error is
switch #2 signal is detected released if
2543 ALARM/ALARM
failure sequence.
Air pressure fault. Error occurs if the Air Check the GUN or welding unit. This error is
pressure switch signal is released if
Spot weld detected after completion of restart playback.
2544 ALARM/ALARM
failure a welding sequence.
Transformer Error occurs if the Thermo. Check the GUN or welding unit. This error is
temperature fault. temp. fault signal is detected released if
2545 ALARM/ALARM
failure sequence.
Peripheral system Error occurs if the System Check the GUN or welding unit. This error is
fault. fault signal is detected after released if
Spot weld completion of a welding restart playback.
2546 ALARM/ALARM
failure sequence.
Both of half-open and Error occurs if both the Gun Check the GUN or welding unit to This error is
full-open signals are half-open signal and Gun determine the cause of the two released if
given. full-open signal are received simultaneous signals. restart playback.
Spot weld simultaneously after Open
2552 ALARM/ALARM
failure gun half signal is output by
the controller.
Vision sensor Error was detected in the Please confirm whether there is After removal of
communication data data format which had been loosening of connector. failure, please
error. sent from the vision sensor. turn on power
2582
supply of the ALARM/ALARM
controller again.
Vision sensor returns It takes time to process the Please modify setting of the vision After removal of
no answer. vision sensor too much. sensor. failure, please
turn on power
2583
controller again.
Vision sensor error. Error was detected in the Please refer to the manual of the After removal of
vision sensor. vision sensor. failure, please
turn on power
2584
controller again.
Vision sensor function The function execution by Please cancel the vision mode, Error reset
can not be carried the check go/back is not and do the check go/back.
2585 out. permitted in the vision mode. ALARM/ALARM
6 - 20
Output type
Seam welding Carrying out this function is Please modify program or constant Error reset
function can not be not permitted during seam data.
Spot weld
2594 carried out. welding. Or errors are in ALARM/ALARM
failure
constant data.
It was going to The function about another Please modify program. Error reset
execute the function units, such as CALLFAR, is
Spot weld which is not permitted not permitted during seam
2595 ALARM/ALARM
failure during seam welding. welding.
Servo gun auto- It is not possible to compute (1)Please make the servo gun No reset
setting gets abnormal the servo gun inertia using position more wildly between pose operations
data. current gathered by 1 and pose 2. (2)Please confirm neccesary.
Operational parametor auto-setting the servo parameters of target
2601 ALARM/ALARM
failure servo gun mechanism.
User coordinate does Failure occurs when use of Define User coordinate system(s) No reset
not exist. User coordinate is attempted in [Service][10 User Coord. operations
Operational without the coordinate Definition]before attempting to use neccesary.
2605 ALARM/ALARM
failure system being pre-defined. it.
SHARP I/F: JW32CV When the data exchange Please confirm setting of JW32CV Error reset.
module cannot be with the module cannot be module.
2620 PLC failure recognized. processed, this error is ALARM/ALARM
detected.
SHARP I/F: Memory Error occurs when Memory Refer to the Self-check section of Error reset.
error detected. failure in the JW32CV the JW32CV Manual.
2621 PLC failure module self-check is ALARM/ALARM
detected.
SHARP I/F: CPU Error occurs when CPU Refer to the Self-check section of Error reset.
detected.
SHARP I/F: I/O error Error occurs when I/O failure Refer to the Self-check section of Error reset.
detected. in the JW32CV module self- the JW32CV Manual.
2623 PLC failure check is detected. ALARM/ALARM
SHARP I/F: Special Error occurs when Special Refer to the Self-check section of Error reset.
I/O error detected. I/O failure in the JW32CV the JW32CV Manual.
detected.
SHARP I/F: Option Error occurs when Option Refer to the Self-check section of Error reset.
detected.
SHARP I/F: Power Error occurs when Power Refer to the Self-check section of Error reset.
detected.
SHARP I/F: Extend Error occurs when Extend Refer to the Self-check section of Error reset.
Power error detected. Power failure in the JW32CV the JW32CV Manual.
detected.
SHARP I/F: A sequence program of Please start a sequence program Error reset.
Sequence program is JW32CV module is stopping. of JW32CV module.
2628 PLC failure stopping. ALARM/ALARM
6 - 21
Output type
Tip dresser abnormal. This error occurs when Please check the normal input This error is
normal input signal from tip signal from the tip dresser. released if
Spot weld
2657 dresser is lost during tip restart playback. ALARM/ALARM
failure
dress function.
Conveyer Error occurs if a command or Turn Conveyer synchronization ON Error reset.

synchronization not function is attempted
2671 Control failure ON requiring Conveyer ALARM/ALARM
synchronization ON.
Usage of MAPPING MAPPING function is re- Modify program to rectify error. Error reset
function is wrong. executed while MAPPING
2672 execution. ALARM/ALARM
Usage of ALIGNMENT function is re- Modify program to rectify error. Error reset
ALIGNMENT function executed while ALIGNMENT
2673 is wrong. execution. ALARM/ALARM
Sensors don't turn There was no input of Confirm that the work passes on Error reset
2674
on.(ALIGMNENT) alignment sensors while the alignmnet sensors. Adjust ALARM/ALARM
ALIGNMENT searching. sensor sensitivity. Confirm
connection from sensors.
Bending shift volume For glass handling, bending Modify bending table to correct Error reset
2675 is bigger than the shift is calculated too big. value. ALARM/ALARM
error limit.
No support function This error occurs if no No support function is not used. No reset
for SJ type support function for SJ is operations
2676 manipulator. executed. neccesary. ALARM/ALARM
Major Welder error. Error occurs when the Remove the cause of weld error. Error reset
welder board generate the
Spot weld
2677 weld error. ALARM/ALARM
failure
Welding command is Error occurs when the Remove the cause of weld error. Error reset
not execute. welder board abort welding
Spot weld
2678 command sequence. ALARM/ALARM
failure
Data level too low for In the automatic tool center (1)Teach points that enough No reset
Auto tool load center of gravity set function, it is unbalanced torque is exerted on operations
Operational setting. not possible to calculate by J3,J5 and J6 axis. (2)Make the neccesary.
2698
the gathered current value. wrist posture vary greatly between ALARM/ALARM
failure
step 1 and step 2 positions.
The measurement This failure occurs when (1)Please correct the teaching so No reset
result of the gathered speed or current that move range is wide as much operations
automatic setting of data are abnormal. as possible. (2)Please correct the neccesary.
Operational tool moment of inertia teaching so that the move axis is
2699 ALARM/ALARM
failure is abnormal. not influenced by gravity.
Servo gun pressure is Error occurs when the set Error occurs when the set gun This error is
not achieved. gun pressure is not achieved pressure is not achieved within the released if
Spot weld within the time period set in time period set in restart playback.
2701
[Constant][General [Constant][General characteristic ALARM/ALARM
failure
characteristic of Servo Gun]. of Servo Gun].
GUN SEARCH not Error occurs when a GUN Please modify the execution timing Error reset.
complete. search function is of the tip consumption detection.
abnormally interrupted by a
Spot weld Spot welding function. Or,
2703 ALARM/ALARM
failure the order of executing the tip
consumption detection is
wrong.
6 - 22
Output type
WI signal does not Error occurs when a WI Check the welder is operating This error is
become off. signal, from the last weld normally. released if
Spot weld sequence, remains on more restart playback.
2710
than 5s after a GUN or ALARM/ALARM
failure
WELD signal is output by the
controller.
Weld control is not Error occurs when the weld Install the latest software version. Error reset.
Spot weld
2757 supported by control software is too old. ALARM/ALARM
failure
MEDLAN command.
Different spot welding Error occurs when a gun Correct the program, otherwise Error reset
gun mounted. different from the gun attach the correct gun before using
Spot weld specified in a Spot welding Spot welding function.
2763 ALARM/ALARM
failure function is detected.
Servo Gun Move-tip Servo Gun Move-tip Replace the worn Move-tip and Error reset
Spot weld consumption consumption exceeded the detect tip consumption again.
2781
exceeded maximum maximum limit. ALARM/ALARM
failure
limit.
Servo Gun Settle-tip Servo Gun Settle-tip Replace the worn Settle-tip and Error reset
Spot weld consumption consumption exceeded the detect tip consumption again.
2782 exceeded maximum maximum limit. ALARM/ALARM
failure
limit.
The difference of tip When the synchronous Please execute synchronous Error reset
consumption is too welding was executed, the welding again after exchanging the
large. The difference of tip consumption tip, and detecting the tip
Spot weld synchronous welding of master gun and slave gun consumption.
2783 ALARM/ALARM
failure was not executed. exceeded the alarm
detection level.
The synchronous 1.Specified cancer is not Please reconsider gun/welder Error reset
welding cannot be connected. 2.The same number.
executed. welder is specified.
Spot weld 3.Specified gun is not in the
2784 ALARM/ALARM
failure unit. 4. Guns with different
installation has been
selected. 5. The servo gun
exists together to the air gun
Mechanism is not Error occurs when a mount Attach a mechanism before using Error reset
mounted. mechanism function is a mount mechanism function.
attempted without a
Operational mechanism being attached.
2800 ALARM/ALARM
failure Or, the sub-mechanism input
signal line has been
disconnected.
Sub-mechanism Because two or more Please input the submechanism Error reset
cannot be selected. submechanism input signal input signal correctly, and using a
Operational has been turned on, the mount mechanism function.
2801 ALARM/ALARM
failure connected mechanism
cannot be selected.
Mechanism number is The mechanism number Please set the mechanism number Error reset
Operational wrong. which was not able to correctly.
2802 ALARM/ALARM
failure change the mechanism was
selected.
Different mechanism Error occurs when a Please correct the program. Error reset
Operational mounted. mechanism different from
2803 ALARM/ALARM
failure the mechanism specified in
a step is detected.
Conflict of Error occurs when the Please correct the program. Error reset
Operational mechanism change. change function was
2804 ALARM/ALARM
failure executed for the mechanism
using other units.
Mechanism number is The mechanism number Please set the mechanism number Error reset
Operational wrong. which was not able to correctly.
2805 ALARM/ALARM
failure change the mechanism was
selected.
The temperature of The temperature of the seal Please check the temperature Error reset
the material material exceeded the set adjuster.
2823 ALARM/ALARM
exceeded the upper upper bound value.
bound.
6 - 23
Output type
The temperature of The temperature of the seal Please check the temperature Error reset
the material material exceeded the set adjuster.
2824 ALARM/ALARM
exceeded the lower lower bound value.
bound.
Flow ready fault. Error occurs when the set Please check whether the Error reset
pressure is not achieved specified pressure is appropriate.
2825 ALARM/ALARM
within the time period set in
constant.
The material is lack. The seal material in the Please modify the timing of reload. Error reset
pump does not suffice for
2826 ALARM/ALARM
the specified amount.
The sealing The robot stopped while Please cancel the cause of Error reset
incomplete. flowing or the pump position stopping or modify the timing to
2827 ALARM/ALARM
reached flow limit. flow after the reload operation is
done.
The sealing operation Other sealing operation is Please modify the timing of Error reset
cannnot be executed. executing. operation.
2828 ALARM/ALARM
The reload operation Because Motor's on is turn Please modify the timing of Error reset
is incomplete. off while reloading, reload operation.
2829 operation is not able to be ALARM/ALARM
completed.
Dispense incomplete. Reached flow limit. Please modify the timing to flow Error reset
2830 after the reload operation is done. ALARM/ALARM
The analog input It is setting which uses the Please modify setting whether to Error reset
board is a thermo sensor and the install the analog input board.
uninstallation. pressure sensor though the
2831 analog input board is not ALARM/ALARM
installed.
The dispense function Specified gun is not defined Please modify program. Error reset
can not be carried in the unit.
2832 ALARM/ALARM
out.
The specified welder The specified welder is not Modify the welder number. Error reset
Spot weld is not effective. effectively set by the spot
2908 welding constant. ALARM/ALARM
failure
Spot welding gun is It was judged that spot Connect gun mechanically. When Error reset
not mechanically welding gun was not gun is connected, check the
connected mechanically connected disconnection of the signal line.
Spot weld
2923 because the connection ALARM/ALARM
failure
signal was not input.
Speed type endless Error occurs when speed Please set the mechanism number The error is not
cannot be executed. type endless was not able to again. released until
Operational be executed. measures are
2937
executed. ALARM/ALARM
failure
Signals of multi input Error occurs when a multi Create the multi input conditions, Please carry out
are not designated. input function was attempted or replace the function to normal "failure-reset".
Operational
2945 playback with no condition input. INFO/INFO
failure
number.
User coordinate It is necessary to select user Execute [FN113 Change No reset

number is not coordinate number before coordinate for shift] before shift operations
2946 ALARM/ALARM
selected. shift function at user functions. neccesary.
coordinate.
Setted area of Area of common memory After change setting into correct No reset
common memory is setted by AX is already used one, perform re-initialization of field operations
2961 ALARM/ALARM
overlapped. by other node. bus. neccesary.
6 - 24
Output type
Stationary tool is not Failure occurs when Please select stationary tool using No reset
selected. Stationary tool is not FN67. operations
Operational selected although step is neccesary.
2971 ALARM/ALARM
failure Stationary tool interpolation.
Playback unavailable Error occurs when you input Please input playback command After removal of
because Deadman playback command while after Deadman SW is released failure, please
2973 Control failure SW is not released you were gripping the position. carry out "failure- ALARM/ALARM
position. Deadman SW. reset".
Pause or External Error occurs when a Start Release Pause or External pause No reset
pause signal being command is given while the signal(if External pause signal operations
Operational given. pause signal is being held or cable is cut the external pause neccesary.
2974
External pause signal is signal is considered as being ALARM/ALARM
failure
being given. given.
Duplicate output FN35 was going to carried Please clear attribute assignment No reset
signal attribute. out or set on output signal in order not to attribute is operations
Operational
2999 which assigned attribute duplicate. neccesary. ALARM/ALARM
failure
already.
Far distance between Since stopping during high- If a limit for error detection is too Robot can
a current position and speed playback and so on, small, change the value in restart from
a position at putting robot couldn't normally stop constant setting. Position there without
servo-power off. on the trajectry. Since the Recovery is invalidated setting reset operation.
3010 Control failure distance is over the limit for both recovery limit values to zero. INFO/INFO
error detection value, robot
can't recovery.
Weld tip may be This warning occurs when Check the Gun tip and reset the No reset
Spot weld worn. the Weld counter exceeds counter. operations
3018
the limit value. neccesary. INFO/INFO
failure
Too far distance Since stopping during high- If a limit for error detection is too After carry out
between a current speed playback and so on, small, change the value in "failure-reset",
position and a robot couldn't normally stop constant setting. robot can restart.
position at putting on the trajectry. Since the
3021 Control failure servo-power off. distance is over the limit for ALARM/ALARM
error detection value, robot
can't recovery.
Take care of not Since the position for There is no way. No reset
recovering position at recovery couldn't recorded, operations
the next servo on. never recover the position at neccesary.
Operational the next servo on without
3022
related to distance. This INFO/INFO
failure
might be occured at servo
off during recovery position.
Cannot startup while When the startup is input Please input the startup instruction No reset
read/write text during the processing after text read/write operation operations
Spot weld executing. execution by text read/write ends. neccesary.
3057 INFO/INFO
failure screen, this error is output.
Abnormality occurred The thing backed up Please confirm the state of the No reset
while backing up automatically cannot be storage medium. operations
automatically. done. The storage medium neccesary.
Operational is not prepared, and read-
3082 INFO/INFO
failure only and memory capacity
shortage, etc. are thought.
The memory medium When it is going to copy a Please prepare the memory An error will be
Operational is read-only. file to a write-protected medium to which writing is made canceled if some
3083
floppy disk etc., this error and perform a copy from the INFO/INFO
failure keys are
sets. beginning once again. pushed.
6 - 25
Output type
Media device is full. Failure occurs if there is no Create space in current media No reset
memory space left when device or use another. operations
Operational attempting to copy to neccesary.
3084 INFO/INFO
failure external device or internal
memory.",
The memory media is The detection reason is that Whether the device such as An error will be
not prepared. the specified device was not memory cards and floppy disks canceled if some
Operational detected when the file specified by the file operation keys are
3085 INFO/INFO
failure operation is done. menu is correctly installed is pushed.
confirmed.
It cannot process in It was going to copy to the Please change a file name or a An error will be
Operational the same device. same device by the same device and redo copy operation canceled if some
3089
file name. again. keys are INFO/INFO
failure
pushed.
Number of axes miss- Failure occurs when the Check the program file type is No reset
matched. number of axes used in a comptible with the constants operations
Operational program is not compatible currently in use. neccesary.
3110 INFO/ALARM
failure with the unit constant files.
SHARP I/F: Battery Warning occurs when the Replace the battery for the No reset
error occurred. battery for the memory memory backup. operations.
3112 PLC failure backup is nothing or INFO/INFO
discharged.
SHARP I/F: It exists It exists together to fieldbus Disable fieldbus functions, and Error reset.
together to fieldbus functions. reenter the power supply.
3113 PLC failure INFO/INFO
functions.
Data given is Data keyed-in is out of range Input suitable data. No reset
Operational incorrect. or not defined. operations
3134 INFO/INFO
failure neccesary
Servo Gun Dramatic Warning is given when the Check the lack of gun tip. No reset
tip consumption set warning limit for gun tip operations
Spot weld change detected. consumption is exceeded. neccesary.
3137
Tip consumption warning INFO/INFO
failure
signal is outputted.
Welder version is Welder version is Initialize welder data. No reset

Spot weld unmatched. unmatched. operations
3138
failure
Welder backup file is Welder backup file is not Initialize welder data. No reset
Spot weld not found. found. operations
3141
failure
Welder error Welder detects ALERT or Refer to the Welder Manual. No reset
Spot weld occurred. FAULT. operations
3142 neccesary. INFO/INFO
failure
It seems to reach at The decelerator of the (1)Please execute the grease After exchanging
the grease exchange displayed axis reached at the exchange. (2)Please refer to the grease, Please
time. grease exchange time. robot maintenance manual for the reset at the
Preventive exchange method and the [Service][Robot
3146 maintenance exchange part. Diagnosis][Grea INFO/INFO
message se Exchange
Cycle] menu.
It seems to reach at The decelerator, the bearing (1)Please execute the grease After
the grease or balancer of the displayed replenishment. (2)Please refer to replenishing
replenishment time. axis reached at the grease the robot maintenance manual for grease, Please
Preventive replenishment time. the replenishment method and the reset at the
3147 maintenance replenishment part. [Service][Robot INFO/INFO
message Diagnosis][Grea
se Exchange
Cycle] menu.
6 - 26
Output type
There is an axis The presumption generation 1.Change to ratings or less when Please do error
which exceeds the torque exceeded a the robot load condition is reset.
allowance and permissible value by investigated, and weight and the
maximum torque. displayed program step and wrist torque exceed it to ratings.
axis. (Gravity setting is used)2.There is
Preventive a possibility to exceed the
3148 maintenance acceleration which can be used. INFO/INFO
message (Check the step before and
after)3.There is a possibility with a
large interference torque, too.
(Drop the acceleration of the
displayed step.)
It is a program which In the displayed program, 1.Change to ratings or less when Please do error
remarkably shortens longevity is within at 5000 the robot load condition is reset.(Override
longevity. hours.There is a possibility investigated, and weight and the function is used)
Preventive
which is the program of wrist torque exceed it to ratings.
3149 maintenance INFO/INFO
call/jump origin when the (Gravity setting is used)
message
call/jump are used.
The program or the This error occurs when the Please correct the program This error is
file does not exist. program number is specified number to a correct value the jump released if a
which does not exist in the call ahead. correct program
Operational program jump call is setted again
3151 INFO/INFO
failure instruction. and restart
playback.
Servo Gun Move-tip Warning is given when the Check the Gun tip. If tips are good No reset
consumption set warning for Move-tip check the setting otherwise operations
approaching limit. consumption limit is change the tip to the new one, and neccesary.
Spot weld exceeded. Tip consumption detect tip consumption again.
3156 INFO/INFO
failure warning signal is outputted.
Servo Gun Settle-tip Warning is given when the Check the Gun tip. If tips are good No reset
consumption set warning for Settle-tip check the setting otherwise operations
approaching limit. consumption limit is change the tip to the new one, and neccesary.
Spot weld exceeded. Tip consumption detect tip consumption again.
3157 INFO/INFO
failure warning signal is outputted.
The file is protected. All protected files or files Because the specified file Please release
partially protected (program (program or constant) contains protecting the
or constant) tried to be important data, protecting is put so file (program or
Operational corrected and deleted. that constant).
3165 INFO/INFO
failure
There is the axis in The life time of the axis Exchange the axis early. After that Please do error
1000 hours for displayed with present 0 clearing of "Consumption time reset.
Preventive overhaul. operated (time to reaching to until present".
3168 maintenance longevity) became 1,000 INFO/INFO
message hours or less.
There is the axis in 0 The life time of the axis Exchange the axis. After that 0 Please do error
hours for overhaul. displayed with present clearing of "Consumption time until reset.
Preventive operated (time to reaching to present".
3169 maintenance longevity) became 0 hour or INFO/INFO
message less.
It was going to start, This error occurs if it starts Please check unit ready signal This error is
when unit was not when unit is not ready. output conditions, and start after released if it
Operational ready. making it the unit ready. starts again after
3170
making it the INFO/INFO
failure
unit ready.
6 - 27
Output type
Abnormal panel Dramatic difference of panel Check the weld condition data and No reset
thickness detected. thickness exists between real work piece thickness. operations
Spot weld recorded value in weld neccesary.
3175
condition and detected INFO/INFO
failure
value.
Controller Information occurs when the Check the fans are operating, or No reset
temperature fault. temperature of the core of clean up the heat exchanger. operations
the controller exceeds 60℃. neccesary.
CPU board If this state lasts 10 min,
3177 INFO/INFO
failure motor power will be
automatically shutdown and
E0063 displayed.,
Re-weld is not You did re-weld except for Please restart after set a step in No reset
allowed. the time of abnormal auto mode, or do manual weld. operations
Spot weld welding. neccesary.
3178 INFO/INFO
failure
Conveyer running Conveyer running signal was In conveyer normal mode, turn on No reset
signal was not not received in conveyer conveyer running signal. operations
3181 Control failure received. normal mode. neccesary. INFO/INFO
The program is not This error occurs when the Please reserve after recording the This error is
recorded nor program which is not program or selecting other released if it sets
Operational selected. recorded is selclted and programs. a correct
3194 reserve playback. program and INFO/INFO
failure
reserve
playback.
Command not This command is not able to Stop the program and retry the No reset
possible while be used during the execution command. operations
Operational
3218 running program. of a program. neccesary INFO/INFO
failure
It is protected with the It detects, when it is going to Since the specified file (program or Set the record-
record-disable-switch correct or delete the file (a constant) contains important data, disable-switch to
Operational or the password. program, constant) protected protection is applied OFF or release
3353
with the password. password INFO/INFO
failure
protecting.
The memory medium When memory media, such By Service / File Manager / Format It will be
is not discriminable. as a FIROPPI disk and an memory card/Floppy disk, please canceled if some
Operational memory card, are not use it after initializing a memory keys are
3528 INFO/INFO
failure initialized, this error occurs. medium. pushed.
Welder fault. Error occurs when a Welder Check the welder unit. No reset
fault input signal is received operations
Spot weld by the controller after the neccesary.
3536
completion of a welding INFO/INFO
failure
sequence.
Welding time Error occurs if a Weld Check the welder is operating No reset
exceeded limit. competed signal is not input normally. operations
Spot weld before the designated time neccesary.
3537 period. INFO/INFO
failure
The gun not open. Error occurs if the Gun Check the GUN or welding unit. No reset
closed signal is received operations
Spot weld after the welding sequence neccesary.
3538 ends. INFO/INFO
failure
6 - 28
Output type
The gun is not half Error occurs if the Gun half- Check the GUN or welding unit. No reset
open. open signal is not received operations
Spot weld after Open gun half signal is neccesary.
3539 output by the controller. INFO/INFO
failure
The gun is not fully Error occurs if the Gun full- Check the GUN or welding unit. No reset
open. open signal is not received operations
Spot weld after Open gun fully signal is neccesary.
3540 output by the controller. INFO/INFO
failure
Stuck Weld GUN Error occurs if the System Error occurs if the Weld stuck No reset
detected. fault signal is detected after signal is received when the operations
Spot weld completion of a welding welding sequence ends. neccesary.
3541 INFO/INFO
failure sequence.
Coolant fault #1. Error occurs if the Water flow Check the GUN or welding unit. No reset
switch #1 signal is detected operations
Spot weld after completion of a welding neccesary.
3542 INFO/INFO
failure sequence.
Coolant fault #2. Error occurs if the Water flow Check the GUN or welding unit. No reset
switch #2 signal is detected operations
3543 INFO/INFO
failure sequence.
Air pressure fault. Error occurs if the Air Check the GUN or welding unit. No reset
pressure switch signal is operations
Spot weld detected after completion of neccesary.
3544 INFO/INFO
failure a welding sequence.
Transformer Error occurs if the Thermo. Check the GUN or welding unit. No reset
temperature fault. temp. fault signal is detected operations
3545 INFO/INFO
failure sequence.
Peripheral system Error occurs if the System Check the GUN or welding unit. No reset
fault. fault signal is detected after operations
Spot weld completion of a welding neccesary.
3546 INFO/INFO
failure sequence.
Both of half-open and Error occurs if both the Gun Check the GUN or welding unit to No reset
full-open signals are half-open signal and Gun determine the cause of the two operations
given. full-open signal are received simultaneous signals. neccesary.
Spot weld
3552 simultaneously after Open INFO/INFO
failure
gun half signal is output by
the controller.
Manual axis moving Error occurs if manual axis Please releasing WI. Please release
Spot weld cannot be operated moving during waiting for the WI.
3553 INFO/INFO
failure during waiting for WI. WI.
Minor Welder error. Error occurs when the Remove the cause of weld error. Error reset
Spot weld welder board generate the
3677 INFO/INFO
failure weld error.
Weld error reset is Error occurs when welder Error reset. Error reset
not execute. command execute without
Spot weld reset the error.
3678 INFO/INFO
failure
6 - 29
Output type
It stopped in the It will generate, if it comes to Please carry out manual operation No reset
home stop position. the position registered by again. operations
Operational setup of a home stop neccesary
3700
position function. INFO/INFO
failure
Option un-setting up. It generates, when it is going Please set up an option. No reset
to use the option function operations
Operational which is not set up. neccesary
3701 INFO/INFO
failure
Communication The welding power supply Check the connection of the Turn on the
timeout occurred didn't respond. welding power supply to the controller and
between the controller. the welding
4000 Arc weld failure controller and the power supply ERROR/ERROR
welding power again.
supply.
Received data failure. The data which are received Check the connection of the Turn on the
from the welding power welding power supply to the controller and
supply are incorrect. controller. the welding
4001 Arc weld failure power supply ERROR/ERROR
again.
Can't communicate The communication between Check the connection of the Turn on the
with the welding the controller and the welding power supply to UM204. controller and
power supply. welding power supply is the welding
4002 Arc weld failure shutdown. power supply ERROR/ERROR
again.
Can't communicate The communication driver Check the connection of the Turn on the
with the welding detected the failure. welding power supply to the controller and
power supply. controller. And check the the welding
4003 Arc weld failure connection of UM204 board. power supply ERROR/ERROR
again.
The registration of the The kind of registered WPS Register WPS correctly, or set Dip After
welding power supply and actual WPS are not switch of Robot I/F board correctly. registeration/sett
is incorrect. same, or the Dip switch ing, turn on the
4004 Arc weld failure setting of Robot I/F board controller and ERROR/ERROR
inside the welding power the welding
supply is wrong. power supply
again.
It is weaving condition In simultaneous weaing, Please make weaving conditions Reset failure.
Operational disagreement. weaving conditions are not in in agreement.
4102
agreement. ALARM/ERROR
failure
Mechanism Error in The mechanism number Specify correct mechanism Reset failure.
Operational External axis relative specified in the 1st number which belongs to current
4900
move function parameter is not belong to unit. ERROR/ERROR
failure
(FN407). current unit.
Axis Error in External The axis number specified in Check the axis number of 2nd Reset failure.
axis relative move the 2nd parameter is not parameter taught in the function
Operational function defined in a mechanism of command, and teach again.
4901 ERROR/ERROR
failure (FN407:RELMOV) 1st parameter.
Mechanism type The mechanism specified in Select a unit which has positioner Reset failure.
Operational error. 1st paramter is neither or slider, and then specify a
4902
positioner nor slider. positioner or a slider in 1st ERROR/ERROR
failure
parameter.
Playback was started Since the data when power Please perform the Encoder Error reset.
in the state that the failure did not be saved Correction (with position record
basic posture of any correctly, the position data of method) to the axis in which
Operational axes is not setup. endless rotation axis has not abnormalities have generated.
4905
been resumed to the data ALARM/ALARM
failure
before power failure.
6 - 30
Output type
Mechanism* is servo The manual operation, Check the mechanism whose Reset failure.
off. check operation or playback servo power is OFF, and turn it
operation has been ON.
Operational performed for a mechanism
4910
whose servo power has ALARM/ERROR
failure
been individually set to OFF.
SPN parameter error. Mechanisms other than the Review the mechanisms which Reset failure.
ones targeted for operation have been specified by the servo
have been specified in the ON command (SPN).
Operational
4911 servo ON command (SPN). ALARM/ERROR
failure
SPF parameter error. Mechanisms other than the Review the mechanisms which Reset failure.
ones targeted for operation have been specified by the servo
have been specified in the OFF command (SPF).
Operational
4912 servo OFF command ALARM/ERROR
failure
Shock sensor Since the shock sensor Cancel shock sensor by manual Error reset.
detected the collision. detected the collision, the operation.
robot was stopped for safety.
Emergency
4920 ALARM/ERROR
stop failure
Module mechanism This failure occurs when a Please change a interporation type Error reset.
interpolation failure. module mechanism cannot to [joint] or make the same the
reach the position and the wrist axis angle of a starting point
Operational
4921 posture. and an ending point. ALARM/ERROR
failure
Alarm carried out Alarm carried out number-of- Please fix failure from the cause of Error reset
number-of-times times generating of alarm.
generating of regulation, and was breaking
Emergency
4999 regulation, and was down. ERROR/ERROR
stop failure
breaking down.
The weaving The speed of weaving Correct the distance between After removal of
trajectory exceeded trajectory has been weaving points, frequency, or failure, please
regulation speed. exceeded the regulation speed. turn on power
speed, since the move supply of the
5005 Arc weld failure distance between weaving controller again. ALARM/ALARM
points is too long, or the
frequency (speed) is too
high.
The amount of The amount of posture Please correct posture change of After removal of
posture change of change between weaving taught weaving pattern data. failure, please
taught weaving points is too large. turn on power
5006 Arc weld failure exceeded the supply of the ALARM/ALARM
restriction value. controller again.
Pose calculation Each axis angle can't be Check the posture data in weaving After removal of
failed. calculated. The posture data condition. failure, please
specified in the weaving turn on power
5007 Arc weld failure ALARM/ALARM
condition is incorrect. supply of the
controller again.
Permission speed The stop time of weaving Stop time is made small or Reset failure.
over occurred. conditions was too large at frequency is dropped. Or please
maintenance of welding change into not carrying out
Operational time, or frequency was too welding time maintenance.
5008 ALARM/ALARM
failure high, and permission speed
over occurred.
6 - 31
Output type
The welding current The difference between the Check the welding conditions(wire Reset failure.
value has exceeded welding current value extension etc). There is possibility
the allowable limit. measured by the welding of missmatch the welding
power supply and the taught characteristic data to your
5010 Arc weld failure one has exceeded the environment if this failure occurs ALARM/ALARM
allowable limit set by the arc over and over again. In such case,
constants. adjust the welding characteristic
data by the adjudstment of welding
condition function etc.
The welding voltage The difference between the Check the welding conditions(wire Reset failure.
value has exceeded welding voltage value extension etc). There is possibility
the allowable limit. measured by the welding of missmatch the welding
5011 Arc weld failure one has exceeded the environment if this failure occurs ALARM/ALARM
The welding power The controller couldn't Turn on the welding power supply. Reset failure.
supply has been communicate with the In case the welding power supply
turned off. welding power supply. has been already turned on, check
5013 Arc weld failure the connection of the welding ALARM/ALARM
power supply to the controller.
Arc start failure. No arc has been generated Check the workpiece's condition, This failure is
in spite of retrying the arc wire's condition, and connection of released if
5014 Arc weld failure start. the cable. restart playback. ALARM/ALARM
Arc outage was Arc outage occurred during Eliminate all causes of arc outage, This failure is
5015 Arc weld failure detected. welding. for instance by adjusting the released if ALARM/ALARM
wedling conditions, fixing wire feed restart playback.
failure, and so on.
Wire stick has been Wire has stuck. Cut stuck wire. This failure is
detected. released if
5016 Arc weld failure restart playback. ALARM/ALARM
Low gas pressure. Low gas pressure signal is Supply gas. Reset faliure.
inputted.
Lack of wire was Wire not fed signal is Supply wire. Reset failure.
detected. inputted.
Lack of water was Cooling water signal is Supply water. Reset faliure.
detected. inputted.
Arc welding The registered welding Register the welding characteristic Reset faliure.
characteristic data characteristic data isn't for data for the using one.
5021 Arc weld failure failure. the connected welding ALARM/ALARM
power supply.
Welding voltage Welding voltage adjustment Modify the task program. Reset faliure.
adjustment method method has been changed
can't be changed from the synergetic control to
5022 Arc weld failure while welding. the individual control, and ALARM/ALARM
vise versa while welding.
Failure of the welding W.P.S failure signal is Read through the welding power Reset faliure.
power supply inputted, or failure of the supply instruction manual and
5023 Arc weld failure occurred. welding power supply eliminate all causes. ALARM/ALARM
occurs.
6 - 32
Output type
Input voltage The primary input voltage of Refer to the instruction manual of Reset failure.
shortage failure the welding power supply is the welding power supply(Failure
5024 Arc weld failure ocurred in the welding less than 80 % of the normal Name: Input voltage shortage ALARM/ALARM
power supply. value. error) and eliminate all causes.
Output overcurrent The average current used for Refer to the instruction manual of Reset faliure.
occurred in the the inner control of the the welding power supply (Failure
5025 Arc weld failure welding power welding power supply Name: Output overcurrent) and ALARM/ALARM
supply. exceeds the limit. eliminate all causes.
Thermal overload The surface temperature of Refer to the instruction manual of Reset faliure.
occurred in the the heat sink of the welding the welding power supply (Failure
5026 Arc weld failure welding power power supply exceeds 90oC. Name: Thermal overload) and ALARM/ALARM
supply. eliminate all causes.
Input overvoltage The primary input voltage of Refer to the instruction manual of Reset faliure.
occurred in the the welding power supply the welding power supply (Failure
5027 Arc weld failure welding power exceeds 115 % of the rated Name: Input overvoltage) and ALARM/ALARM
supply. value. eliminate all causes.
Loss of phase Loss of phase in the primary Refer to the instruction manual of Reset faliure.
occurred in the input of the welding power the welding power supply (Failure
5028 Arc weld failure welding power supply. Name: Loss of phase) and ALARM/ALARM
Inverter drive circuit The failure occurs around Refer to the instruction manual of Reset failure.
failure occurred in the the inverter drive circuit of the welding power supply (Failure
5029 Arc weld failure welding power the welding power supply. Name: Inverter drive circuit error) ALARM/ALARM
supply. and eliminate all causes.
Arc voltage detecting The failure(contact failure, Refer to the instruction manual of Reset faiuler.
line failure occurred in broken wire, wrong the welding power supply (Failure
the welding power electrode) occurs in arc Name: Arc voltage detecting line
5030 Arc weld failure supply. voltage detecting cable of error) and eliminate all causes. ALARM/ALARM
the welding power supply.
Microcomputer failure The failure occurs in the Refer to the instruction manual of Reset failure.
occurred in the welding power supply. the welding power supply (Failure
5031 Arc weld failure welding power Name: Microcomputer failure) and ALARM/ALARM
Encoder failure was Failure exists in the encoder Refer to the instruction manual of Reset failure.
detected by the of a wire feed unit or the welding power supply (Failure
5032 Arc weld failure welding power encoder cables are not Name: Encoder error) and ALARM/ALARM
supply. connected. eliminate all causes.
Current detection line The failure(the connector is Refer to the instruction manual of Reset failure.
failure occurred in the disconnected etc) exists in the welding power supply (Failure
5033 Arc weld failure welding power the current detecting cable of Name: 9. Current detection error). ALARM/ALARM
supply. the welding power supply.
Gas check failure The gas check switch of the Turn OFF the gas check switch of Reset failure.
occurred in the welding power supply is ON the welding power supply.
5034 Arc weld failure welding power for more than two minutes ALARM/ALARM
supply. without a break.
Secondaly transistor The surge power of the Refer to the instruction manual of Reset failure.
failure occurred in the second transistor for the the welding power supply (Failure
5035 Arc weld failure welding power welding power supply is Name: Secondaly transistor failure) ALARM/ALARM
supply. abnormally high. and eliminate all causes.
Water pressure Cooling water flow is not Refer to the instruction manual of Reset failure.
failure occurred in the sufficient when using a water the welding power supply (Failure
5036 Arc weld failure welding power cooled torch. Name: Water pressure error) and ALARM/ALARM
6 - 33
Output type
Secondaly transistor The surge power of the Refer to the instruction manual of Reset failure.
failure occurred in the second transistor for the the welding power supply (Failure
5037 Arc weld failure welding power robot welding power supply Name: Secondaly transistor failure) ALARM/ALARM
supply. is abnormally high. and eliminate all causes.
The specified welding The specified welding power Register the welding power supply Reset failure.
power supply can't supply isn't defined in this which is specified by the task
5038 Arc weld failure use in this unit. unit. program, or modify the task ALARM/ALARM
program.
A control power A control power supply Refer to the instruction manual of Reset failure.
supply failure failure occurred in welding the welding power supply (Failure
5039 Arc weld failure occurred in the power supply. Name: Control power supply) and ALARM/ALARM
welding power eliminate all causes.
supply.
An electric detection A connector inside the Refer to the instruction manual of Reset failure.
vessel failure welding power supply may the welding power supply (Failure
5040 Arc weld failure occurred in welding be miss-connected. Name: The first･second electric ALARM/ALARM
power supply. current error) and eliminate all
causes.
The excess failure of Inside temperature of the Refer to the instruction manual of Reset failure.
the use rate occurred welding power supply rises. the welding power supply (Failure
5041 Arc weld failure in welding power Name: The excess of the use rate) ALARM/ALARM
supply. and eliminate all causes.
A temperature failure An unusual fever appears on Refer to the instruction manual of Reset failure.
occurred in the wire the wire feed control circuit the welding power supply (Failure
feed control circuit ing of the welding power supply. Name: The temperature wrong
5042 Arc weld failure the welding power point of the wire feed control ALARM/ALARM
supply. circuit) and eliminate all causes.
The load of wire feed The wire feed load has A load is on the wire feeder by Reset failure.
exceeded allowable exceeded the allowable wear of the liner, the chip defect,
5043 Arc weld failure value. value set in the arc constant. and so on. Remove the factors. ALARM/ALARM
The control power The control power supply of The voltage of primary power may Reset failure.
supply of the welding the welding power supply decrease in an instance. Check
5045 Arc weld failure power supply was was reset. the voltage of primary power. ALARM/ALARM
reset.
The welding If the welding characteristic Turn on the welding power supply Reset failure.
characteristic data are data are not installed, Arc again.
5046 Arc weld failure not installed. function commands can't be ALARM/ALARM
execute.
The arc characteristic The arc function attempted Please modify the task program. Reset failure.
can't be changed changing the arc
5047 Arc weld failure while arc welding. characteristic into the ALARM/ALARM
incorrect one.
The incorrect welding The welding method of the Please modify the task program. Reset failure.
method is specified. arc function and the welding
5048 Arc weld failure method of the arc ALARM/ALARM
characteristic aren't the
same.
The arc characteristic Read file failure occurs while Please initialize the arc Reset failure.
file can't be read. reading the arc characteristic characteristic file.
5049 Arc weld failure file. ALARM/ALARM
The wire feed Read file failure occurs while Please initialize the wire feed Reset failure.
characteristic file can't reading the wire feed characteristic file.
5050 Arc weld failure be read. characteristic file. ALARM/ALARM
6 - 34
Output type
The arc welding wave Read file failure occurs while Please initialize the arc welding Reset failure.
control file can't be reading the arc welding wave data file.
5051 Arc weld failure read. wave control file. ALARM/ALARM
The arc constant file Read file failure occurs while Please initialize the arc constant Reset failure.
can't be read. reading the arc constant file. file.
Welding voltage The voltage adjusting Modify the task program. Reset faliure.
adjustment method method currently taught
5053 Arc weld failure differs. differs from the voltage ALARM/ALARM
adjusting method of
characteristic data.
WCR Short-circuit WCR of W-I/F had short- Please check the state of W-I/F or This failure is
Error circuited at the time of arc a welding power supply. released if
5054 Arc weld failure start. restart playback. ALARM/ALARM
The electrode short- The electrode and the work Please modify the task program. Reset failure.
circuited failure. are short-circuited while arc
5056 Arc weld failure welding. ALARM/ALARM
The Filler Wire During Filler Wire heating, Please check an electric supply tip. This failure is
heating failure. inside the electric supply tip, released if
5057 Arc weld failure a wire melts and was cut. restart playback. ALARM/ALARM
The Filler Wire It can consider that there Please check the wire inside an This failure is
heating Defect. was no wire in an electric electric supply tip. released if
supply tip, or a wire melts restart playback.
5058 Arc weld failure and was cut inside the ALARM/ALARM
electric supply tip at the time
of heating.
The wire short- The wire and the work are Please check the state of W-I/F, This failure is
circuited failure. short-circuited while arc and a welding power supply. released if
5059 Arc weld failure welding. restart playback. ALARM/ALARM
The heating Read file failure occurs while Please initialize the heating Reset failure.
characteristic file can't reading the heating characteristic file.
5060 Arc weld failure be read. characteristic file. ALARM/ALARM
The arc condition file The arc condition file which Please create the arc condition file Reset failure.
doesn't exist. is specified by the arc or edit the task program.
5061 Arc weld failure welding function doesn't ALARM/ALARM
exist.
The offset condition The offset condition file or Please create the offset condition Reset failure.
file or the multi offset the multi offset file which is file or the multi offset file, or edit
5062 Arc weld failure file doesn't exist. specified by the multi offset the task program. ALARM/ALARM
function doesn't exist.
The weaving A communication failure has Please check connection between Turn on the
synchronization went been detected between the an extension serial board and a controller and
5063 Arc weld failure wrong. welding power supply and welding power supply. the welding ALARM/ALARM
the extension serial board. power supply
again.
The weaving The weaving condition file Please create the weaving Reset failure.
condition file doesn't which is specified by the condition file or edit the task
5064 Arc weld failure exist. weaving function doesn't program. ALARM/ALARM
exist.
6 - 35
Output type
The power supply of Communication with a feed When you turn on a feed control Reset failure.
a feed control device control device was not device or the power supply is
is not on. completed. already on, please check
connection with a feed control
device.
Pump failure occurred Cooling water flow is not Refer to the instruction manual of Reset failure.
in the welding power sufficient when using a water the welding power supply (Failure
supply. cooled torch. Name: Pump error) and eliminate
all causes.
The arc retry The arc retry condition file Please create the arc retry Reset failure.
condition file doesn't which is specified by the arc condition file or edit the task
exist. welding function doesn't program.
exist.
Resources were not The wait time of resource Modify the wait time specified in Failure reset.
securable at the time reservation was over. FORK or CALLFAR command.
Operational of starting.
5080 ALARM/ALARM
failure
The appointed The same number program Delete the program not to overlap Reset failure.
program cannot be exists. with file operation.
Operational edited / playback.
5081 ALARM/ALARM
failure
Operation or The option of Multi-unit is not Please set up the option of Multi- An unusual
command for Multi- set up. unit. release key is
Operational unit cannot be pushed.
5082 ALARM/ALARM
failure executed.
The unit-branch Some unit-branch Please correct the program so that Reset failure.
Operational commands cannot be commands were tried to the unit-branch commands does
5083
executed. execute at the same time. not be executed at the same time. ALARM/ALARM
failure
The unit-branch A unit-branch commands Please correct the program so that Reset failure.
commands cannot be FORK were tried to execute the unit-branch commands does
Operational executed. in the already forked not be executed in the already
5084 ALARM/ALARM
failure program. forked program.
Communication The contollor of the welding Check the route of cable and Turn the welding
timeout occurred power supply didn't respond. ground connection. power supply on
5085 Arc weld failure inside the welding again. ALARM/ALARM
power supply.
There is a illegal Condition changing from Please correct the taught program. No reset
section of melt down Melt Down Control to Normal operations
control within a arc Control or from Normal neccesary.
5086 Arc weld failure welding section. Control to Melt Down ALARM/ALARM
Control, is not acceptable.
There is a illegal Condition changing from Please correct the taught program. No reset
section of melt down Melt Down Control to Normal operations
control within a arc Control or from Normal neccesary.
5087 Arc weld failure welding section. Control to Melt Down ALARM/ALARM
Control, is not acceptable.
Back bead has Arc welder has changed the Please re-designe the welding No reset
detected. welding condtion. condition or the taught path. operations
neccesary.
5088 Arc weld failure INFO/INFO
6 - 36
Output type
Deviation of welding Deviation of welding path Please re-designe the taught path. No reset
path has detected. toward upper plate has operations
occured. neccesary.
Tandem-Arc-Start- A move command must be Modify the task program. Reset faliure.
command is inserted between preceding
5090 Arc weld failure incorrect.(Fe-wire) and trailing arc-start- ALARM/ALARM
command.
Tandem-Arc-Start- Trailing-arc-start-command Modify the task program. Reset faliure.

command is must follow preceding-arc-
5091 Arc weld failure incorrect.(Al-wire) start-command continually. ALARM/ALARM
The Electrode type is Trailing-arc-start-command Modify the task program. Reset faliure.
incorrect. is taught before preceding-
5092 Arc weld failure arc-start-command. ALARM/ALARM
The current execution It is prohibited to start since Please set the step which the abnormally
pass is in another the different offset might be multipass section suitable for the resets.
Operational
5093 multipass section applied. current execution pass or change ALARM/ALARM
failure
the current execution pass.
The arc welding During installation of an arc Please perform again after the Reset failure.
power supply is welding power supply, completion of installation of an arc
installed. neither operation of the arc welding power supply.
welding power supply nor
5094 Arc weld failure execution of playback ALARM/ALARM
command can be performed.
Sensor Function Wrong usage of sensor Please record sensor search Please record
cannot be executed. function is detected in function after move step. after move step,
5200 Sensor failure teaching program then "Check Go" ALARM/ALARM
to make sure.
5201 Sensor failure range neccesary. ALARM/ALARM
Search range is short This error occurs when the Modify(shorten) the search range No reset
robot detect the touch status or program to rectify error. operations
5202 Sensor failure within minimum search neccesary. ALARM/ALARM
range.
Deviation range This error occurs when the Modify(enlarge) the deviation No reset
exceeded. robot moves beyond range or program to rectify error. operations
5203 Sensor failure deviation range neccesary. ALARM/ALARM
Sensor number is This error occures when the Check that sensor settings and /or Reset failure.
mismatched. sensor number in the sensor teaching programs.
5204 Sensor failure step does not meet that of ALARM/ALARM
the connected sensor.
The input-and-output This error occurs when the Set up an input-and-output signal. Reset failure.
signal is not input-and-output signal
5205 Sensor failure assigned. required for search operation ALARM/ALARM
is not assigned.
6 - 37
Output type
A deviation file is This error occurs when read- Check a deviation file. Reset failure.
wrong. out of a deviation file goes
5206 Sensor failure wrong. ALARM/ALARM
A deviation file is not This error occurs when the Correct the file number. Reset failure.
found. specified deviation file
5207 Sensor failure cannot be found. ALARM/ALARM
Mechanism type is This error occurs when the Correct the file number. Reset failure.
mismatched. mechanism type in specified
5208 Sensor failure deviation file is mismatched. ALARM/ALARM
A detecting wire This error occurs when read- Check a detecting wire extension Reset failure.
extension file is out of a detecting wire file.
5209 Sensor failure wrong. extension file goes wrong. ALARM/ALARM
A detecting wire This error occurs when the Correct the file number. Reset failure.
extension file is not specified detecting wire
5210 Sensor failure found. extension file cannot be ALARM/ALARM
found.
Coordinate systems This error occurs when the Correct the file number. Reset failure.
are mismatched. coordenate systems are not
matched between selected
5211 Sensor failure deviation files. ALARM/ALARM
Cannot search. Search direction cannot be (1)Specify the search vector. Reset failure.
specified because the (2)When the search vector was
search vector is not taught, already specified, modify the
5212 Sensor failure or calculating search vector search vector. ALARM/ALARM
was failed.
Gap Over Detected gap is exceeded Check that gap amount and modify Reset failure.
beyond maximum allowable allowable value if needed.
value.
5213 Sensor failure ALARM/ALARM
Gap short Detected gap becomes Check that gap amount and modify Reset failure.
lower than minimum allowable value if needed.
allowable value.
Groove depth over Detected groove depth is Check that groove depth amount Reset failure.
exceeded beyond maximum and modify allowable value if
allowable value. needed.
Groove depth short Detected groove depth Check that groove depth amount Reset failure.
becomes lower than and modify allowable value if
minimum allowable value. needed.
6 - 38
Output type
Angle1 over Detected angle1 is exceeded Check that angle1 amount and Reset failure.
beyond maximum allowable modify allowable value if needed.
value.
Angle1 short Detected angle1 becomes Check that angle1 amount and Reset failure.
lower than minimum modify allowable value if needed.
5218 Sensor failure allowable value. ALARM/ALARM
5219 Sensor failure value. ALARM/ALARM
5220 Sensor failure allowable value. ALARM/ALARM
Groove un-detected Groove position cannot be (1)Check setting parameters in Reset failure.
detected GFF file. (2)If you are provided
5221 Sensor failure with the optional data terminal, use ALARM/ALARM
Groove Data function in RD/AD tab
menu, and modify the teaching
program so that laser data are
Seaching time over This error occurs when To short the searching time less Reset failure.
searching time is too long. than 2s or modify sample rate in
GFF file.
Sensor mounting This error occurs when Specify sensor mounting direction. Reset failure.
parameter error sensor mounting parameter
is not set.
Unstable detection This error occurs when Check that target surface condition Reset failure.
measured data is unstable. and/or measurement angle.
Out of measurement This error occurs when Check that target piece is located Reset failure.
distance measured distance is out of at desired position.
range.
Reference point error This error occurs when Execute trial motion to get Reset failure.
reference point is not stored. reference point.
ZG1 workpiece This error occurs when the (1)At the ZG1 start point, the Reset failure.
undetected laser reflection beam is not workpiece must be taught within
sufficiently received in ZG1 the measurement range. (2)When
starting. the workpiece is placed within the
measurement range, adjust the
angle of laser against the
workpiece, and constantly light the
5227 Sensor failure distance LED on laser head. (3)If ALARM/ALARM
you are provided with the optional
data terminal, use RD/AD tab
menu, and check that always 206
or higher laser beam in the LEVEL
display is received.
Gap file error This error occurs when Check the contents in gap file. Reset failure.
wrong data is detected in
gap file.
No gap file This error occurs when the Check the gap file number. Reset failure.
specified gap file is not exist.
6 - 39
Output type
Gff file error This error occurs when Check that contents in GFF file. Reset failure.
GFF file.
No gff file This error occurs when the Check that GFF file number. Reset failure.
specified GFF file is not
exist.
Sensor disconnected This error occurs when there Turn on the sensor unit. In case Reset failure.
(Laser search) is no communication the sensor unit has been already
between laser sensor and turned on, check the connection of
5232 Sensor failure RC. the sensor unit to the controller. ERROR/ERROR
Communication This error occurs when there Check the connection of the Turn on the
timeout occurred is no response from Laser sensor unit to the controller. controller and
5233 Sensor failure between the Sensor Unit. the sensor unit ERROR/ERROR
controller and the again.
sensor unit
Lsf file error This error occurs when Check that contents in LSF file. Reset failure.
5234 Sensor failure wrong data is detected in ALARM/ALARM
LSF file.
No lsf file This error occurs when Check that LSF file number. Reset failure.
5235 Sensor failure specified LSF file is not exist. ALARM/ALARM
Sensor Failure This failure occurs when the Check the sensor status by Reset failure.
error is issued from the WinUser.
5236 Sensor failure sensor controller ERROR/ERROR
Start Point un- This failure occurs when the 1. Check the groove recognization Reset failure.
detected start point is not detected by WinUser.2. Enlarge the ZF
5237 Sensor failure during ZF search. maximum search range. ALARM/ALARM
Cannot restart during Cannot restart during seam Do not modify the position and Reset failure.
seam tracking. tracking. posture of the robot when the
5238 Sensor failure robot is stopped in ZT period if the ALARM/ALARM
restarting is required.
ZF Deviation range This error occurs when the Check detected position. If no Reset failure.
exceeded distance between the problems exist, moodify(enlarge)
5239 Sensor failure detected start point and ZF the ZF deviation range parameter ALARM/ALARM
taught point exceeded the or program to rectify error.
deviation range.
ZF search range This error occurs when the Modify(enlarge) the search range Reset failure.
exceeded robot moves beyond search or program to rectify error.
range
ZT Position Deviation This error occurs when the Check the target position If no Reset failure.
range exceeded robot moves beyond Position problems exist, moodify(enlarge)
5241 Sensor failure deviation range the ZT parameters or program to ALARM/ALARM
rectify error.
ZN offset range This error occurs when the Modify(enlarge) the ZN offset to Reset failure.
exceeded setting offset is beyond the rectify error.
5242 Sensor failure range ALARM/ALARM
ZN Search range This error occurs when the Modify(enlarge) the ZN search Reset failure.
exeeced. robot moves beyond search range or program to rectify error.
5243 Sensor failure range during ZN. ALARM/ALARM
End point un-detected End point of workpiece is not Modify(enlarge) ZN search range Reset failure.
5244 Sensor failure detected. or program to rectify error. ALARM/ALARM
6 - 40
Output type
Deviation range This error occurs when the Check the detected point. If no Reset failure.
exceeded. distance between the problems exist, Modify(enlarge) the
detected end point and deviation range or program to
5245 Sensor failure taught point before ZE rectify error. ALARM/ALARM
exceeded the deviation
range.
Laser ON Failed Laser is not activated. Turn on the Laser by ZON or Reset failure.
manual operation.
Laser is not ready. ZF or ZT will be performed Wait 3 seconds or longer after Reset failure.
before 3 seconds after ZON ZON was performed before ZF /
5247 Sensor failure is carried out. ZT. ALARM/ALARM
Error in instruction of There is no move command Please improve instruction. Reset failure.
ZN command. immediately after ZN
command to which a move
command or ZT command
5248 Sensor failure does not exist before ZN ALARM/ALARM
command, or it is [ that two
or more move commands
are taught between ZN - ZE,
etc. and ] a factor.
ZT Posture Deviation This error occurs when the Check the target posture If no Reset failure.
range exceeded robot moves beyond Posture problems exist, moodify(enlarge)
5249 Sensor failure deviation range the ZT parameters or program to ALARM/ALARM
rectify error.
Sensor disconnected The controller couldn't Turn on the sensor unit. In case Reset failure.
communicate with the the sensor unit has been already
sensor unit. turned on, check the connection of
5250 Sensor failure the sensor unit to the controller. ALARM/ALARM
Correction amount by Error is activated when the Check that currect torch position. If Error reset
arc-sensor exceeds case that correction amount it is OK, extend the value
specified value. by the sensor exceeds the CHASING RANGE in teaching
5251 Sensor failure specified value in teaching parameter. If it is NG, try to adjust ALARM/ALARM
parameter. sensor parameters.
Calculation turns to This error is activated when Check that welding condition to be Error reset
unstable during arc- stability of welding arc stable.
5252 Sensor failure sensing process. decreased significantly. ALARM/ALARM
Welding position This error is activated when Try to re-adjust sensing Error reset
cannot be detected the deviation detection parameters.
cannot be calculated during
5253 Sensor failure arc-sensing process. Note ALARM/ALARM
that position correction is not
executed.
Unstable wire- Wire-feeding status turn to Check that equipments for wire Error reset
feeding. unstable. Deviation is lager feeding.
5254 Sensor failure than specified value. ALARM/ALARM
ST parameter error. The instruction parameter of It improves whether each Error reset
ST command is over the parameter is setting within the
5255 Sensor failure setting range. limits. ALARM/ALARM
The ET command ET command is not taught Please teaching ET command. Error reset
less program was after ST command.
5256 Sensor failure performed. ALARM/ALARM
6 - 41
Output type
Abnormalities were An appointed basic data file Please check a basic data file with Error reset
found in the does not exist or a file a service menu.
5257 Sensor failure parameter of basic cannot be read. ALARM/ALARM
data.
Error in instruction of ZG1 command in the Please improve instruction. Reset failure.
ZG1 command. weaving section cannot be
executed.
At the start-point In the start-point detection Specify all the move commands, Reset failure.
detection or in the section or the tracking right before ZF command, in
tracking section, the section in Synchromotion ST~ET section and in ZT~ZE
move command with system, the move command section to Synchromotion teaching
5259 Sensor failure no Synchromotion is not taught as ("H"). ALARM/ALARM
teaching (without "H") Synchromotion teaching
was found. ("H").
Sensor stop signal Stop signal is input into the (1)Release Emergency Stop Take
input. laser sensor unit. Button on the Laser Sensor Unit. countermeasure
(2)Close the Emergency Stop s and reset
5260 Sensor failure Alarm Input loop connected to CN2 failure. ALARM/ALARM
on the laser sensor unit.
Groove un-detected. Groove cannot be detected. (1)Check that LASER power is ON Take
during start point detecting or countermeasure
seam tracking.(2)Check the cable s and reset
between Laser Sensor Unit and failure.
Sensor Head is connected
5261 Sensor failure properly.(3)Check the cable ALARM/ALARM
between Robot Controller and
Laser Sensor Unit is connected
properly.
Torch moving The distance corrected by (1)Adjust the stability of groove Take
distance over. the sensor within 1 detection by WinUser.(2)Check the countermeasure
interpolation time was cable between Robot Controller s and reset
5262 Sensor failure exceeded over the internal and Laser Sensor Unit is failure. ALARM/ALARM
distance. connected properly. In addition,
also check the sensor head cable.
No SFM file This error occurs when Check SFM file number. Reset failure.
specified SFM file is not
exist.
SFM file error This error occurs when Check that contents in SFM file. Reset failure.
5264 Sensor failure SFM file. ALARM/ALARM
JOINT command JOINT command cannot be Modify JOINT command in the Reset failure.
exists in tracking executed in the tracking teaching section (ST～ET, ZF～ZT
section. sensor section. ～ZN～ZE) of tracking sensor to
LIN command or CIR1/CIR2
command.
Sensor Function An error is in a connection Please check a constant setup and No reset
cannot be executed. setup of a sensor and a instruction of a sensor. operations
5268 Sensor failure mechanism. neccesary. ALARM/ALARM
A reference position This error occurs if a Teach a reference position by Reset failure.
has not been taught. reference position is not executing manual operation,
5285 Sensor failure taught when executing macro-execution or trial operation. ALARM/ALARM
SF2/ZF2.
An undefined dummy When executing SF2/ZF2, To make a reference to the Reset failure.
point is being an undefined dummy point dummy point, modify the patterned
5286 Sensor failure referred. was attempted to be search macro so that the dummy ALARM/ALARM
referred. point can be referred after defined.
6 - 42
Output type
A vector is not taught. Since a vector is not taught, Teach a vector (both its start point Reset failure.
the motion direction of and end point).
5287 Sensor failure patterned search cannot be ALARM/ALARM
operated.
An undefined When executing SF2/ZF2, To make a reference to a Reset failure.

temporary buffer point an undefined temporary temporary buffer point, modify the
is being referred. buffer point was attempted patterned search macro so that the
5288 Sensor failure to be referred. temporary buffer point can be ALARM/ALARM
referred after defined.
A vector cannot be (1)The motion start/end point (3)Check the vector specified by Reset failure.
defined or identified of S (search) command or M the temporary buffer point in each
when executing (move) command are the command, and remove the errors.
SF2/ZF2. same. (2)When executing
the vector intersection
operation mode (a=1) by L
(vector calcuation)
command, two kinds of
vector are identical.
Logic error of the Parameter settings for the Review the contents of the Reset failure.
patterned search patterned search macro are patterned search macro and
macro. fault, which causes a parameter settings for the
SF2/ZF2 execution failure. patterned search (including the set
point).
An operation error A search target point of S Review the contents of the Reset failure.
occurred when (search) command or a patterned search macro and
executing SF2/ZF2. motion target point of M parameter settings for the
(move) command were not patterned search (including the set
5291 Sensor failure able to be obtained. point) so that the search target ALARM/ALARM
point and the motion target point
can be got within the robot motion
range.
Auto Calibration An error is in the record Please record an automatic After recording
function can not be method of an automatic calibration function behind a move the move step,
5300 carried out. calibration related function. command.Or please choose a Please Check ALARM/ALARM
mechanism correctly. Go.
Other units are CALIBROB(FN702) cannot Please perform CALIBROB Please do error
running program. be performed while running (FN702) again after stopping all reset.(Override
5301 the program of other units. units. function is used) ALARM/ALARM
The maximum The amount of Please acquire a measuring point Please do error
compensation value compensation of joint offset again after correcting a gap of a reset.(Override
5302 error. or a tool parameter is over robot using a torch gauge or a function is used) INFO/INFO
the maximum set up by the point mark.
constant.
The maximum search This error occurs when the Modify(enlarge) the search range No reset
distance error. robot moves beyond search or program to rectify error. operations
5303 range neccesary. ALARM/ALARM
The reference point This error occurs when Please acquired reference points. No reset
for automatic reference points are not operations
5304 calibrations is not acquired. neccesary. ALARM/ALARM
acquired.
Reference point This error occurs when the Please make "A" and "B" points No reset
Orientation error. "A" and "B" points have into the same orientation. operations
5305 different orientation. neccesary. ALARM/ALARM
6 - 43
Output type
Reference point It becomes this error when Please make the same the No reset
orientation error(At the orientation of the orientation of B points of A1, B1 operations
the time of the reference point at the time of point, A points of the direction neccesary.
5306 direction search of Z). the direction search of Z search of Z or A2, B-2 point, and ALARM/ALARM
differs from A1, B1 or A2, the direction search of Z.
and B-2.
The auto calibration This error occurs when the Please register an automatic Reset failure.
sensor is not auto calibration sensor calibration sensor by constant
5307
registered. required for search operation setup. ALARM/ALARM
is not set up.
The input-and-output This error occurs when the Set up an input-and-output signal. Reset failure.
signal is not set up. input-and-output signal
5308 required for search operation ALARM/ALARM
is not set up.
File reading error. A condition file cannot be Please set up constant data again Reset failure.
read. or perform initialization.
5309 ALARM/ALARM
The abnormalities in The parameter in an Please set up a constant file Reset failure.
an automatic automatic calibration correctly.
5310 calibration parameter. constant file is unusual. ALARM/ALARM
Automatic calibration It has not accessed whether Please enable it to create a Reset failure.
measurement file a measurement file could be measurement file.
5311 error. created. ALARM/ALARM
The abnormalities in Reliability is not in the Please perform reference point Reset failure.
automatic calibration measured data. There is a acquisition again.
correct. possibility that the sensor
5312 might incorrect-detect or a ALARM/ALARM
totter may be in attachment
of a tool.
The abnormalities in Abnormalities occurred at Please perform reference point Reset failure.
work program the time of work program acquisition again.
5313 compensation. compensation. ALARM/ALARM
The abnormalities in Abnormalities occurred at It is not especially. No reset

work program the time of work program operations
5314 compensation. compensation. neccesary. INFO/INFO
A robot's position is Since a robot's position is Please acquire a measuring point Reset failure.
shifted greatly. shifted greatly, measurement again after correcting a gap of a
is uncontinuable. robot to the range which can be
5315 ALARM/ALARM
measured using a torch gauge or a
point mark.
All measuring points The gap of a robot was Please measure all measuring Reset failure.
are not acquired. detected in the state where points.
5316 all measuring points have ALARM/ALARM
not measured.
CALIBROB (FN702) Datum point acquisition It is not especially. Reset failure.

cannot be performed. mode CALIBROB (FN702)
5317 was performed. INFO/INFO
Cannot search. It becomes this error when Modify(enlarge) the search range Reset failure.
the inputted search or program to rectify error.
5318 operation distance is too ALARM/ALARM
large.
6 - 44
Output type
The minimum search This error occurs when the Modify(enlarge) the search range No reset
distance error. robot moves beyond search or program to rectify error. operations
5319 range neccesary. ALARM/ALARM
The abnormalities in Reliability is not in the Please perform measuring point Reset failure.
calibration measured data. There is a acquisition again.
compensation at the possibility that the sensor
5320 time of might incorrect-detect or a ALARM/ALARM
remeasurement. totter may be in attachment
of a tool.
The quick checki Although the all-points Please measure the quick checki Reset failure.
point is not measurement of the quick point again.
measured. checki point is not carried
5321 out, MESPOS (FN700) was ALARM/ALARM
performed.
Reference point error. Reference point was not Please perform taking reference Reset failure.
taken from point 1Q. point from point 1Q.
5322 ALARM/ALARM
Reference point error. Reference point was not Please perform taking reference Reset failure.
taken from point 1A. point from point 1A.
5323 ALARM/ALARM
Measuring point This error occurs when the Please perform measuring point No reset
Orientation error. "A" and "B" points have acquisition again. operations
different orientation. There is neccesary.
a possibility that the sensor
5330
might incorrect-detect or a ALARM/ALARM
totter may be in attachment
of a tool.
Measuring point It becomes this error when Please perform measuring point No reset
orientation error(At the orientation of the acquisition again. operations
the time of the measuring point at the time neccesary.
direction search of Z).
of the direction search of Z
differs from A1, B1 or A2,
5331 ALARM/ALARM
and B-2.There is a possibility
that the sensor might
incorrect-detect or a totter
may be in attachment of a
tool.
The abnormalities in Reliability is not in the Please perform measuring point Reset failure.
automatic calibration measured data. There is a acquisition again.
correct. possibility that the sensor
might incorrect-detect or a
5332
totter may be in attachment ALARM/ALARM
of a tool.
The abnormalities in Abnormalities occurred at Please perform measuring point Reset failure.
work program the time of work program acquisition again.
5333 compensation. compensation. ALARM/ALARM
Measuring point error. Measuring point was not Please perform taking measuring Reset failure.
taken from point 1Q. point from point 1Q.
5334 ALARM/ALARM
Measuring point error. Measuring point was not Please perform taking measuring Reset failure.
taken from point 1A. point from point 1A.
5335 ALARM/ALARM
6 - 45
Output type
Option un-setting up. It generates, when it is going Please set up an option. No reset
to use the option function operations
Operational
5701 which is not set up. neccesary ALARM/ALARM
failure
It cannot re-start. Movement in a return Please re-start after a step-set out No reset
position or a section state of the section. operations
Operational
5702 cannot be resumed. neccesary ALARM/ALARM
failure
The weaving The amount of movements Please correct the amount of No reset
trajectory exceeded of weaving pattern data movements of weaving, or operations
regulation speed. large, or frequency (speed) frequency (speed). neccesary.
was large, the speed of a
weaving trajectory exceeded
regulation speed.
The amount of The amount of change of the Please correct posture change of Move posture
posture change of posture of weaving pattern taught weaving pattern data. change
6006 Arc weld failure taught weaving data is too large. restriction-within INFO/INFO
exceeded the the limits.
restriction value.
The welding current The difference between the Check the welding conditions(wire No reset
value has exceeded welding current value extension etc). There is possibility operations
the allowable limit. measured by the welding of missmatch the welding neccesary.
6010 Arc weld failure one has exceeded the environment if this failure occurs INFO/INFO
The welding voltage The difference between the Check the welding conditions(wire No reset
value has exceeded welding voltage value extension etc). There is possibility operations
the allowable limit. measured by the welding of missmatch the welding neccesary.
one has exceeded the environment if this failure occurs
6011 Arc weld failure allowable limit set by the arc over and over again. In such case, INFO/INFO
Arc start failure. No arc is generated after Check the workpiece's condition, No reset
retrying. wire's condition, and connection of operations
6014 Arc weld failure the cable. neccesary. INFO/INFO
Arc outage was Arc outage occurred during Eliminate all causes of arc outage, No reset
detected. welding. for instance by adjusting the operations
6015 Arc weld failure wedling conditions, fixing wire feed neccesary. INFO/INFO
failure, and so on.
Wire stick was Wire is stuck. Cut stuck wire. No reset

detected. operations
6016 Arc weld failure neccesary. INFO/INFO
Wire shortage was Not enough wire signal is Supply wire. No reset
detected. inputted. operations
6019 Arc weld failure neccesary. INFO/INFO
The load of wire feed It exceeded the allowable A load is on the wire feed No reset
exceeded allowable value which the load of wire department by wear of the liner, operations
6043 Arc weld failure value. feed was set up to by the the chip defect, and so on. Get rid neccesary. INFO/INFO
welding fixed number. of load factors.
6 - 46
Output type
The battery of The battery of welding power Exchange a battery because it No reset
welding power supply supply is exhausted. can't be connected any more with operations
6044 Arc weld failure is exhausted. the welding power supply. neccesary. INFO/INFO
WCR Short-circuit WCR of W-I/F had Please check the state of W-I/F, No reset
Error connected too hastily at the and a welding power supply. operations
6054 Arc weld failure time of an arc start. neccesary. INFO/INFO
It was going to start It will generate, if the unit Please start after waiting for the Special release
the unit containing the containing the resources completion of starting. is not required.
Operational resources under under starting is started.
6080 INFO/INFO
failure starting.
Start Point un- This failure occurs when the 1. Check the groove recognization Reset failure.
detected start point is not detected by WinUser. 2. Enlarge the ZF
6237 Sensor failure during ZF search. maximum search range. INFO/INFO
Cannot restart during Cannot restart during seam Do not modify the position and Reset failure.
seam tracking. tracking. posture of the robot when the
6238 Sensor failure robot is stopped in ZT period if the INFO/INFO
restarting is required.
ZF Deviation range This error occurs when the Check detected position. If no Reset failure.
exceeded distance between the problems exist, moodify(enlarge)
6239 Sensor failure detected start point and ZF the ZF deviation range parameter INFO/INFO
taught point exceeded the or program to rectify error.
deviation range.
ZF search range This error occurs when the Modify(enlarge) the search range Reset failure.
exceeded robot moves beyond search or program to rectify error.
6240 Sensor failure range INFO/INFO
ZT Position Deviation This error occurs when the Check the target position If no Reset failure.
range exceeded robot moves beyond Position problems exist, moodify(enlarge)
6241 Sensor failure deviation range the ZT parameters or program to INFO/INFO
rectify error.
ZN offset range This error occurs when the Modify(enlarge) the ZN offset to Reset failure.
exceeded setting offset is beyond the rectify error.
6242 Sensor failure range INFO/INFO
ZN Search range This error occurs when the Modify(enlarge) the ZN search Reset failure.
exeeced. robot moves beyond search range or program to rectify error.
6243 Sensor failure range during ZN. INFO/INFO
Deviation range This error occurs when the Check the detected point. If no Reset failure.
exceeded. distance between the problems exist, Modify(enlarge) the
detected end point and deviation range or program to
6245 Sensor failure taught point before ZE rectify error. INFO/INFO
exceeded the deviation
range.
ZT Posture Deviation This error occurs when the Check the target posture If no Reset failure.
range exceeded robot moves beyond Posture problems exist, moodify(enlarge)
6249 Sensor failure deviation range the ZT parameters or program to INFO/INFO
rectify error.
6300 Sensor failure range neccesary. INFO/INFO
6 - 47
Output type
Search range is short This error occurs when the Modify(shorten) the search range No reset
robot detect the touch status or program to rectify error. operations
6301 Sensor failure within minimum search neccesary. INFO/INFO
range.
Deviation range This error occurs when the Modify(enlarge) the deviation No reset
exceeded. robot moves beyond range or program to rectify error. operations
6302 Sensor failure deviation range neccesary. INFO/INFO
Gap Over Detected gap is exceeded Check that gap amount and modify Reset failure.
beyond maximum allowable allowable value if needed.
6303 Sensor failure value. INFO/INFO
Gap short Detected gap becomes Check that gap amount and modify Reset failure.
lower than minimum allowable value if needed.
6304 Sensor failure allowable value. INFO/INFO
Groove depth over Detected groove depth is Check that groove depth amount Reset failure.
exceeded beyond maximum and modify allowable value if
6305 Sensor failure allowable value. needed. INFO/INFO
Groove depth short Detected groove depth Check that groove depth amount Reset failure.
becomes lower than and modify allowable value if
6306 Sensor failure minimum allowable value. needed. INFO/INFO
Groove un-detected Groove position cannot be Check setting parameters in GFF Reset failure.
detected file.
6311 Sensor failure INFO/INFO
Unstable detection This error occurs when Check that target surface condition Reset failure.
measured data is unstable. and/or measurement angle.
6312 Sensor failure INFO/INFO
Correction amount by Error is activated when the Check that currect torch position. If Error reset
arc-sensor exceeds case that correction amount it is OK, extend the value
specified value. by the sensor exceeds the CHASING RANGE in teaching
6330 Sensor failure specified value in teaching parameter. If it is NG, try to adjust INFO/INFO
parameter. sensor parameters.
Calculation turns to This error is activated when Check that welding condition to be Error reset
unstable during arc- stability of welding arc stable.
6331 Sensor failure sensing process. decreased significantly. INFO/INFO
6 - 48
Output type
Welding position This error is activated when Try to re-adjust sensing Error reset
cannot be detected the deviation detection parameters.
cannot be calculated during
6332 Sensor failure arc-sensing process. Note INFO/INFO
that position correction is not
executed.
Unstable wire- Wire-feeding status turn to Check that equipments for wire Error reset
feeding. unstable. Deviation is lager feeding.
6333 Sensor failure than specified value. INFO/INFO
ST parameter error. The instruction parameter of It improves whether each Error reset
ST command is over the parameter is setting within the
6334 Sensor failure setting range. limits. INFO/INFO
User failure. User failure. Please carry out "failure-reset". Error reset.
7000 User failure ERROR/ERROR
The robot's joint The robot's joint angle was Contact our service department. Error reset.
angle before and not in agreement at the Back up files to external CF
Emergency behind a record point starting point of this step and memory.
9001 ALARM/ERROR
stop failure was not in the target point of this step.
agreement.
The amount of step The result which added the Contact our service department. Error reset.
movements is amount of step movements Back up files to external CF
abnormal. to the robot's joint angle in a memory.
Emergency starting point is not in
9002 ALARM/ERROR
stop failure agreement with the robot
joint angle in a target point.
Abnormal velocity Abnormal velocity command Modify abnormal axis motion to be After removal of
command. Modify data is calculated. minimized. Contact our service failure, please
Operational abnormal axis motion. department in case axis motion is carry out "failure-
9003 ERROR/ERROR
failure not so big. reset".
The robot's joint The robot's joint angle was Contact our service department. Turn on the
angle before and not in agreement at the Back up files to external CF power again.
Emergency behind a record point starting point of this step and memory.
9011 ERROR/ERROR
stop failure was not in the target point of this step.
agreement.
The amount of step The result which added the Contact our service department. Turn on the
movements is amount of step movements Back up files to external CF power again.
abnormal. to the robot's joint angle in a memory.
Emergency starting point is not in
9012 ERROR/ERROR
stop failure agreement with the robot
joint angle in a target point.
Error of Interpolation Motion control section Contact our service department. Error reset
Stop. detected the Time-out Error Back up files to external CF
CPU board
9020 of Interpolation Stop. memory. ERROR/ERROR
failure
Error of Waiting for Robot has not arrived at Contact our service department. Error reset
arriving of target target position. Back up files to external CF
CPU board
9021 position. memory. ERROR/ERROR
failure
Error of Waiting for Robot has not arrived at Contact our service department. Error reset
arriving of accuracy target position accurately. Back up files to external CF
CPU board
9022 position. memory. ERROR/ERROR
failure
Error of interruption of Position Command Contact our service department. Error reset
Position Command. interrupted. Back up files to external CF
CPU board
9023 memory. ERROR/ERROR
failure
6 - 49
Output type
Error of mechanism Motion control section didn't Contact our service department. Error reset
resource acquisition. acquire mechanism Back up files to external CF
CPU board
9024 resource. memory. ERROR/ERROR
failure
Safety slow speed Robot speed does not Contact our service department. Error reset
error become safety level. Back up files to external CF
CPU board
failure
Stop Release error Stop command of Motion Contact our service department. Error reset
control section was not Back up files to external CF
CPU board
9026 released. memory. ERROR/ERROR
failure
Motion Calculation Motion control section Contact our service department. Error reset
error detected Calculation error. Back up files to external CF
CPU board
failure
Stop interpolation Motion control section Contact our service department. Control power
stopped the calculation of Back up files to external CF supply is re-
Emergency
9100 interpolation. memory. switched on. ERROR/ERROR
stop failure
System Error System Error. MailBox Turn on the power again. If the Turn on the
(MailBox Timeout Timeout. error is not released, reinstall the power again.
CPU board
9144 Error). system. ERROR/ERROR
failure
Stop interpolation by Motion control section Contact our service department. Reset failure.
system busy stopped the calculation of Back up files to external CF
Emergency
9151 interpolation. memory. ERROR/ERROR
stop failure
Motion process is not Can't recongnize Motion Turn on the power again. If the Turn on the
CPU board recognized. process. error is not released, reinstall the power again.
9200 ERROR/ERROR
failure system.
I/O system is not Can't recognize I/O system. Turn on the power again. If the Turn on the
CPU board recognized. error is not released, reinstall the power again.
9204 ERROR/ERROR
failure system.
Servo communication This failure occurs when the (1)Please confirm whether After removal of
initialization failure communication between connector CNUSB of servo failure, please
CPU substrate and the servo substrate UM221 is correctly turn on the
CPU board
9208 substrate cannot begin. connected.(2)Please confirm the power supply of ERROR/ERROR
failure
supply voltage of the servo the controller
substrate UM221.(3)Please again.
replace the drive unit.
Brake fuse off This failure occurs when the Please exchange the brake fuse. After removal of
fuse F1-1 or F1-2 or F1-3 on failure, please
Amplifier unit brake control substrate carry out "failure-
9209 ERROR/ERROR
failure UM222 was cut. reset".
Brake fuse This failure occurs when the Please exchange the brake fuse. After removal of
off.(additional axis) fuse F1-1 or F1-2 on brake failure, please
Amplifier unit control substrate UM226 carry out "failure-
9210 ERROR/ERROR
failure was cut. reset".
Contact of brake This failure occurs when the Please exchange the brake control After removal of
power control relay contact of brake power substrate UM222 referring to "AX failure, please
Amplifier unit was stuck control relay (CRBC1) on controller maintenance manual". turn on power
9211 ERROR/ERROR
failure brake control substrate supply of the
UM222 was stuck. controller again.
6 - 50
Output type
Drive unit power This failure occurs when Please replace the drive unit. Failure reset by
failure drive unit power PG15(+15V) "reset-key" is
Amplifier unit was not supplied. possible.
9213 ERROR/ERROR
failure
Over temperature of This failure occurs when the (1)Please confirm that the Pay- After removal of
motor.(additional axis) motor temperature rises load is within the nominal failure, please
abnormally. rating.(2)Please confirm the wiring carry out "failure-
of the motor thermostat refering to reset".
"Manipulator Maintenance
Amplifier unit
9214 Manual".(3)Please stop the robot ERROR/ERROR
failure
in order to lowering the motor
temperature, and restart.(4)If
failure persists, please lower the
operation speed of the robot.
Over temperature of This failure occurs when the (1)Check the fans are After removal of
regenerative temperature of the operating.(2)Please secure space failure, please
discharge regenerative discharge 20cm or more in backside of carry out "failure-
resister.(additional resister rises abnormally. controller.(3)Please check wiring of reset".
Amplifier unit axis) the thermostat for regenerative
9215 ERROR/ERROR
failure discharge resister.(4)Please
confirm the CNSV connector of the
sequence PCB is connected.
Servo shared This failure occurs when Please replace the drive unit. After removal of
memory abnormal reading or wrinting data to failure, please
the shared memory between turn on power
Amplifier unit servo communication CPU supply of the
9217 ERROR/ERROR
failure and servo CPU was not controller again.
successfully finished.
CPU board Servo CPU(#2) DP Servo CPU(#2) D.P.memory Replace the Drive Unit. No reset
9218 ERROR/ERROR
failure memory error. error operations
CPU board Servo CPU(#3) DP Servo CPU(#3) D.P.memory Replace the Drive Unit. No reset
9219 ERROR/ERROR
failure memory error. error operations
CPU board Servo CPU(#1 axis) is Nothing acknowledge form Replace the Drive Unit. No reset
9225 ERROR/ERROR
failure not ready. servo CPU(#1 axis) operations
9226 ERROR/ERROR
9227 ERROR/ERROR
9228 ERROR/ERROR
9229 ERROR/ERROR
9230 ERROR/ERROR
9231 ERROR/ERROR
9232 ERROR/ERROR
9233 ERROR/ERROR
6 - 51

Nachi Robot Error Code Manual AX - 06

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6 ERROR CODE LIST

The communication The details of a An unusual cause is removed Unusual reset is

A communication The communication board Please check the slot ID of a field

More than 32 When palletizing of 32 or Please refer to Palletize function No reset

Conveyer Error occurs if a command or Turn Conveyer synchronization ON Error reset.

User coordinate It is necessary to select user Execute [FN113 Change No reset

Welder version is Welder version is Initialize welder data. No reset

Tandem-Arc-Start- Trailing-arc-start-command Modify the task program. Reset faliure.

An undefined When executing SF2/ZF2, To make a reference to a Reset failure.

The abnormalities in Abnormalities occurred at It is not especially. No reset

CALIBROB (FN702) Datum point acquisition It is not especially. Reset failure.

Wire stick was Wire is stuck. Cut stuck wire. No reset

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