Code Alarm CR3 Instruction manual

MITSUBISHI
Mitsubishi Industrial Robot
CR1/CR2/CR3/CR4/CR7/CR8/CR9
Controller
INSTRUCTION MANUAL
Troubleshooting
BFP-A5993-K
Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
→ Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of operating the robot, and to the measures to be taken when an error occurs or when restarting. Carry out work following this plan. (This also applies to maintenance work with the
power source turned ON.)
→ Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
→ Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
→ Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
→ Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
this method.
→ Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating that
maintenance work is in progress on the start switch, etc.
→ Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
→ Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
CAUTION
Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION
Transport the robot with the designated transportation posture. Transporting the robot
in a non-designated posture could lead to personal injuries or faults from dropping.
CAUTION
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
CAUTION
Wire the cable as far away from noise sources as possible. If placed near a noise source,
positional deviation or malfunction could occur.
CAUTION
Do not apply excessive force on the connector or excessively bend the cable. Failure to
observe this could lead to contact defects or wire breakage.
CAUTION
Make sure that the workpiece weight, including the hand, does not exceed the rated load
or tolerable torque. Exceeding these values could lead to alarms or faults.
WARNING
WARNING
CAUTION
WARNING
Securely install the hand and tool, and securely grasp the workpiece. Failure to observe
this could lead to personal injuries or damage if the object comes off or flies off during
operation.
Securely ground the robot and controller. Failure to observe this could lead to malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the priority right for the robot control. Failure to observe this could lead to personal injuries or
damage if the robot is started with external commands.
CAUTION
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
CAUTION
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral
devices because of programming mistakes, etc.
CAUTION
Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.
CAUTION
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING
When the robot arm has to be moved by hand from an external area, do not place hands
or fingers in the openings. Failure to observe this could lead to hands or fingers catching
depending on the posture.
CAUTION
Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF. If the robot controller main power is turned OFF during automatic operation,
the robot accuracy could be adversely affected.Moreover, it may interfere with the
peripheral device by drop or move by inertia of the arm.
CAUTION
Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic operation or
rewriting the program or parameters, the internal information of the robot controller may
be damaged.
C.Precautions for the basic configuration are shown below.(When CR1-571/CR1B-571 is used for the
controller.)
CAUTION
Provide an earth leakage breaker that packed together on the primary power
supply of the controller as protection against electric leakage. Confirm the setting connector of the input power supply voltage of the controller, if the type
which more than one power supply voltage can be used. Then connect the
power supply.
Failure to do so could lead to electric shock accidents.
Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.
*Except the above: Single phase 180-253VAC.
Rear side of controller
Earth leakage
breaker
(NV)
Cover
Terminal
Cover
Terminal cover
Protective earth
terminal
(PE)
WARNING
For using RH-5AH/10AH/15AH.
While pressing the brake releasing switch on the robot arm, beware of the arm
which may drop with its own weight.
Dropping of the hand could lead to a collision with the peripheral equipment or
catch the hands or fingers.
Revision history
Date of print
Specifications No.
Details of revisions
1999-06-16
BFP-A5993Z-*
First print
1999-07-28
BFP-A5993Z-a
Change title.
1999-09-24
BFP-A5993Z-b
Error in writing correction.
1999-11-10
BFP-A5993
Error in writing correction.
1999-12-03
BFP-A5993-A
Error in writing correction.
The error no. L1820 was added.
1999-12-17
BFP-A5993-B
Error in writing correction of L1820.
2000-08-17
BFP-A5993-C
Change title.
Error in writing correction.
2000-09-19
BFP-A5993-D
Error in writing correction.
2001-03-21
BFP-A5993-E
Error in writing correction.
2002-06-25
BFP-A5993-F
The error number of software version H5 was added.
Error in writing correction.
2002-09-20
BFP-A5993-G
The error no. was added. (H0027, L2804, L4201, L4920, L7071, C7310, L7330, L7331, L7332).
The error was corrected. (H0025, H0026).
Error in writing correction.
2003-07-02
BFP-A5993-H
The error number of software version J1 was added.
Change title.
Error in writing correction.
2003-09-24
BFP-A5993-J
The error number of software version J2 was added.
Error in writing correction.
2005-01-21
BFP-A5993-K
The error number of software version K1 was added.
Error in writing correction.
■ Introduction
Thank you for purchasing the Mitsubishi industrial robot. This instruction manual describes the causes and
measures for errors that may occur while using the robot.
If an error should occur, refer to this manual and take appropriate measures.
・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The contents of this manual are subject to change without notice.
・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
・ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed.".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
Copyright(C) 1999 MITSUBISHI ELECTRIC CORPORATION
Contents
Page
1 Error list ............................................................................................................................................................................................... 1-1
2Appendix ............................................................................................................................................................................. Appendix-33
Appendix 1: Place where fuse replacement is required ............................................................................... Appendix-33
i
Page
ii
1Error list
1 Error list
When an error occurs, a 5-digit error No. (example: "C0010") will appear at the STATUS NUMBER display on the
operation panel at the front of the controller, and the [RESET] switch lamp will light.
If any key, such as the T/B [MENU] key is pressed, a 4-digit error No. (number excluding first character, for
example "0010" will appear for C0010) will appear on the T/B LCD display.
The message, cause and measures to be taken are displayed in Table 1-1 for the error Nos. that may appear.
Also, a detailed message will be displayed on the Error History screen of the T/B, depending on the error No. of
the error occurred. Check by displaying the Error History screen after resetting the error.
If the error recurs even after the measures in the table are taken, contact your dealer.
[Note] ・ The meaning of the error Nos. in Table 1-1 are shown below.
□ 0000 *
・ An error marked with a * reset by turning the power OFF and
ON. Take the measures given.
・ The error type is indicated with a 4-digit number.
・ Three types of error classes are inidcated.
H : High level error.............The servo turns OFF.
L : Low level error .............The operation will stop.
C : Warning ............................The operation will continue.
・ The axis No. may be indicated at the last digit of the error No.
Example) H0931 No. 1 axis motor overcurrent.
Table 1-1 : Error list
Error No.
H0001
H0002
H0009 *
C0010
C0011
C0012
C0013 *
H0014 *
Error cause and measures
Error message
Fail safe error (SRVOFF)
Cause
The system may be abnormal.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Fail safe error (STOP)
Cause
The system may be abnormal.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Version UP (ALL)
Cause
Message at version up.
Measures
Turn the power OFF and ON once.
Error message
Illeagal Version (file)
Cause
The version is inconsistent.
Measures
The file has been automatically initialized. The program is being deleted.
Error message
Illeagal Version (system data)
Cause
The version is inconsistent.
Measures
The file has been automatically initialized. Turn the power OFF and ON once.
Error message
Initialize (error log)
Cause
The error log has been initialized because of version mismatch or the error log file is abnormal.
Measures
Reset the alarm, and continue the operation.
Error message
Illeagal file
Cause
Data including programs may have been damaged.
Measures
Contact the nearest dealer as the initialization operation is required.
Error message
System error (illegal MECHA)
Cause
A character string cannot exceed 14 characters.
Measures
Re-input the correct name.
Error no. H0001
1-1
1Error list
Error No.
H0015 *
L0016 *
C0018
H0020 *
H0021 *
H0022 *
C0023
H0025 *
H0026 *
H0027 *
L0030
L0031
H0039
H0040
H0041 *
H0042 *
Error cause and measures
Error message
Illeagal Version (file)
Cause
Illeagal Version (file)
Measures
Contact the maker.
Error message
Turn the power OFF and ON once
Cause
The time from turning the power OFF to turning the power ON again is too short.
Measures
Give more time before turning the power ON again after turning the power OFF.
Error message
Illeagal Version (add memory)
Cause
Version mismatch.
Measures
The file has been automatically initialized.
Error message
System Error(same name is Backup data.)
Cause
The same data name is already in use.
Measures
Change the name.
Error message
System Error(Backup data is Count over.)
Cause
The control region is overflowing.
Measures
Change the software to increase the control region.
Error message
System Error(Backup data is no area.)
Cause
The region is too small.
Measures
Change the software to increase the region.
Error message
Add memory was detached/attached
Cause
Add memory was detached/attached.
Measures
Please check wearing of an add memory.
Error message
Files will be saved to ROM
Cause
Program, parameter and log files will be saved to ROM.
Measures
Turn the power OFF and power ON once.
Error message
Files will be loaded from ROM
Cause
Program, parameter and log files will be loaded from ROM.
Measures
Turn the power OFF and power ON once.
Error message
Backup or restore is canceled
Cause
Backup or restore is canceled.
Measures
Turn the power OFF and power ON once.
Error message
Hand error. LS release
Cause
This is a user setting error.
Measures
Reset the error after removing the cause.
Error message
Air pressure error
Cause
This is a user setting error.
Measures
Reset the error after releasing the cause.
Error message
Door Switch Signal line is faulty.
Cause
The door switch open signal line is not stable.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Door Switch Signal is Input
Cause
The door switch is open.
Measures
Close the door connected to the input signal of door switch.
Error message
Comm. error (Remote I/O #1)
Cause
An error was found in the communication line for remote I/O channel 1.
Measures
Confirm the communication cable or connected device's power supply.
Error message
Comm. error (Remote I/O #2)
Cause
An error was found in the communication line for remote I/O channel 2.
Measures
Confirm the communication cable or connected device's power supply.
1-2 Error no. H0015 *
1Error list
Error No.
H0043 *
H0050
H0051
H0052
H0053
H0060
H0061
H0070
H0071
H0072
H0073
H0074
H0075
H0082 *
H0083 *
Error cause and measures
Error message
Comm. error (Remote I/O #3)
Cause
An error was found in the communication line for remote I/O channel 3.
Measures
Confirm the communication cable or connected device's power supply.
Error message
EMG signal is input. (external)
Cause
The external emergency stop is being input.
Measures
Release the external emergency stop signal.
Error message
EMG line is faulty.(external)
Cause
The emergency stop line isn't stable.
Measures
When it comes back, contact to the dealer.
Error message
EMG signal is input.(Add.Axis1)
Cause
The external emergency stop is being input to the additional axis card.
Measures
Cancel the external emergency stop 1.
Error message
EMG signal is input.(Add.Axis2)
Cause
The external emergency stop is being input to the additional axis amplifier.
Measures
Cancel the external emergency stop 2.
Error message
EMG signal is input. (O.Panel)
Cause
The operation panel emergency stop is being input.
Measures
Cancel the operation panel emergency stop.
Error message
EMG line is faulty.(0.Panel)
Cause
The emergency stop line isn't stable.
Measures
When it comes back, contact to the dealer.
Error message
EMG signal is input. (T.Box)
Cause
The T/B emergency stop is being input.
Measures
Cancel the T/B emergency stop.
Error message
EMG line is faulty.(T.Box)
Cause
The emergency stop line isn't stable.
Measures
When it comes back, contact to the dealer.
Error message
An error was found in the T/B remove switch operation.
Cause
The operation to mount/dismount the T/B was not performed normally.
Measures
Operate again the following keys.
"MODE key switch", "T/B remove switch", "T/B enable/disable changeover switch"
Error message
An error was found in the T/B remove switch line.
Cause
The T/B remove switch line is not stable.
Measures
When it comes back, contact to the dealer.
Error message
An error was found in the T/B [ENABLE/DISABLE] switch double-system.
Cause
The T/B [ENABLE/DISABLE] switch isn't stable.
Measures
When it comes back, contact to the dealer.
Error message
TB communication error
Cause
Communication between the RC and TB was cut off.
Measures
When it comes back, contact to the dealer.
Error message
Fuse is broken (air hand I/F)
Cause
The pneumatic hand's fuse has broken.
Measures
Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for
details.
Error message
Fuse is broken(hand input power)
Cause
The pneumatic hand's power fuse has broken.
Measures
Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for
details.
Error no. H0043 *
1-3
1Error list
Error No.
H0084 *
H0085 *
H0086
L0091
H0100 *
L0101
C0102
L0110
C0111
C0112
C0460
H0470 *
L0480
C049n *
(n indicates the
axis number (1
to 8).)
H050n *
(n indicates the
axis number (1
to 8).)
H0510 *
Error cause and measures
Error message
Fuse is broken(O/P)
Cause
The operation panel's power fuse has broken.
Measures
Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for
details.
Error message
Fuse is broken(External EMG)
Cause
The external emergency stop's power fuse has broken.
Measures
Exchange the fuse. Refer to the Page 33, "Appendix 1: Place where fuse replacement is required"for
details.
Error message
Hand module overcurrent
Cause
The motorized hand's motor or circuit board has broken.
Measures
Exchange the motorized hand's motor or circuit board.
Error message
Can't access the Special signal
Cause
The dedicated output signal is assigned to the specified signal. This signal cannot be used in duplicate.
Measures
Change the output No., or change the dedicated output assignment parameter.
Error message
Temperature in the Controlle is too high
Cause
The intake fan is not operating, or the fan filter is clogged.
Measures
Check the operation of the intake fan, or clean or replace the fan filter if necessary.
Error message
Temperature in the Controlle is too high
Cause
The intake fan is not operating, or the fan filter is clogged.
Measures
Check the operation of the intake fan, or clean or replace the fan filter if necessary.
Error message
Temperature in the Controlle is too high
Cause
The intake fan is not operating, or the fan filter is clogged.
Measures
Check the operation of the intake fan, or clean or replace the fan filter if necessary.
Error message
Overload(UPS)The UPS is spent
Cause
The UPS is spent.
Measures
Replace the UPS.
Error message
No UPS's battery voltage.
Cause
The UPS's battery is spent.
Measures
Replace the UPS's battery.
Error message
Open the UPS's battery cover
Cause
Open the UPS's battery cover
Measures
Close the UPS's battery cover
Error message
Motor thermal error(Add.Axis)
Cause
Overheating of the addition axis motor was detected
Measures
Please exchange the cooling fan of the addition axis motor
Error message
Abnormality of DB(Add.Axis)
Cause
The addition axis dynamic brake is abnormal
Measures
Check the dynamic brake unit and the cable connection
Error message
THR-RR error(Add.Axis)
Cause
Overheating of the regenerative resistor (Add.Axis) was detected
Measures
Exchange the cooling fan of the regenerative resistor (Add.Axis)
Error message
Alarm of fan in the robot
Cause
Fan in the robot might be out of order
Measures
Please exchange the fan in the robot
Error message
Servo axis setting error
Cause
The servo amplifier's axis setting rotary switch setting is illegal.
Measures
Correctly set.
Error message
The converter setting is illegal
Cause
The converter's rotary switch setting and parameter SVPTYP setting do not match.
Measures
Correctly set.
1-4 Error no. H0084 *
1Error list
Error No.
H0520 *
H053n *
(n indicates the
axis number (1
to 8).)
H054n *
(n indicates the
axis number (1
to 8).)
H055n *
(n indicates the
axis number (1
to 8).)
H056n *
(n indicates the
axis number (1
to 8).)
H057n *
(n indicates the
axis number (1
to 8).)
H058n *
(n indicates the
axis number (1
to 8).)
H059n *
(n indicates the
axis number (1
to 8).)
H060n *
(n indicates the
axis number (1
to 8).)
H061n *
(n indicates the
axis number (1
to 8).)
H062n *
(n indicates the
axis number (1
to 8).)
H063n *
(n indicates the
axis number (1
to 8).)
Error cause and measures
Error message
Robot axis setting illegal
Cause
The setting of the servo axis used by the mechanism is duplicated with another mechanism's axis.
Measures
Correctly set.
Error message
Servo sys. error (memory)
Cause
The servo amplifier memory IC's check sum is illegal.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo sys. error (over run)
Cause
The servo amplifier software data process did not end within the specified time.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo sys. error (mag. pole pos)
Cause
An error was detected in the magnetic pole position detection signal of the detector.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo sys. error (A/D
Cause
An error was found in the servo amplifier's A/D converter during initialization.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Encoder error (EEPROM)
Cause
An error was detected in EEPROM data of the serial pulse encoder.
Measures
Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
Error message
Encoder error (LED)
Cause
The LED of the serial pulse encoder has been deteriorated.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Encoder error (position data)
Cause
An error was detected in the position data within a single rotation of the encoder.
Measures
Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
Error message
Encoder no-signal detection 1
Cause
An error was detected in the operating input of the detector mounted on the edge of the motor.
Measures
Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
Error message
Encoder no-signal detection 2
Cause
An error was detected in the operating input of the detector mounted on the edge of the machine.
Measures
Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
Error message
Servo amplifier LSI error
Cause
An operation error was detected in the LSI of the servo amplifier.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Unused axis servo error
Cause
A power module error occurred in an axis which not use the movement control.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error no. H0520 *
1-5
1Error list
Error No.
H064n *
(n indicates the
axis number (1
to 8).)
H065n *
(n indicates the
axis number (1
to 8).)
H066n *
(n indicates the
axis number (1
to 8).)
H067n *
(n indicates the
axis number (1
to 8).)
H068n *
(n indicates the
axis number (1
to 8).)
H0690 *
H0700 *
H0710 *
H0720 *
H0730 *
H0740 *
H0750 *
H0760 *
Error cause and measures
Error message
System error (ABS CPU)
Cause
An error in the CPU of the absolute position linear scale was detected.
Measures
Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
Error message
Absolute position error
Cause
An error was detected in the absolute position detection circuit within the absolute position linear scale.
Measures
Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
Error message
Incremental position error
Cause
An error was detected in the relative position detection circuit within the absolute position linear scale.
Measures
Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
Error message
Encoder CPU error
Cause
An error was detected in the CPU of the position detector.
Measures
Turn the power OFF and ON once. Also, carefully check whether there is no deviation in the operating
position of the robot. If it is deviated, set the origin position (OP) again. For more information about the
operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to Maintenance."
When it comes back, contact to the dealer.
Error message
Encoder LED error
Cause
Deterioration of the position detector's LED was detected.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Regeneration circuit error
Cause
A regenerative transistor or resistor error was detected.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
P.S. external contactor fusing
Cause
The contactor was turned ON even though READY is OFF.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Power supply rush relay error
Cause
The relay for the rush resistance short-circuit doesn't turn on.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Power supply watch dog
Cause
The converter software process did not end within the specified time.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Power supply rush relay fusing
Cause
The rush resistance short-circuit relay did not turn OFF.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Power supply main circuit error
Cause
The charge operation of the main circuit capacitor is not normal.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Power supply memory error
Cause
An error in the memory circuit of converter was detected.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Power supply/AD converter error
Cause
An error was detected in the A/D converter of the converter.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
1-6 Error no. H064n * (n indicates the axis number (1 to 8).)
1Error list
Error No.
H078n *
(n indicates the
axis number (1
to 8).)
H079n *
(n indicates the
axis number (1
to 8).)
H080n *
(n indicates the
axis number (1
to 8).)
H081n *
(n indicates the
axis number (1
to 8).)
H0820 *
H082n *
(n indicates the
axis number (1
to 8).)
H083n *
(n indicates the
axis number (1
to 8).)
H0840 *
H0850 *
H0860
H087n *
(n indicates the
axis number (1
to 8).)
H0880 *
H088n *
(n indicates the
axis number (1
to 8).)
H089n
(n indicates the
axis number (1
to 8).)
H090n *
(n indicates the
axis number (1
to 8).)
H091n *
(n indicates the
axis number (1
to 8).)
Error cause and measures
Error message
Servo amplifier watch dog
Cause
The servo amplifier software process is not operating correctly.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo amplifier boad error
Cause
An error was detected in the servo amplifier's PCB.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo amplifier clock error
Cause
An error was detected in the servo amplifier's clock.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo amplifier undervotlage
Cause
The PN bus voltage dropped to 200V or less. Momentary power failure may have occurred.
Measures
Check the primary voltage.
Error message
Motor ground fault
Cause
A motor ground fault was detected. A connection or conductance error may have occurred in the motor
cable.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo amplifier overvoltage
Cause
The PN bus voltage rose to 400V or more.
Measures
Check the primary power supply voltage. Turn the power OFF and ON once.
Error message
Instantaneous power failure(SRV)
Cause
A power shutdown status of 50 msec or longer has occurred.
Measures
Check the power voltage. Turn the power OFF and ON once.
Error message
Power supply voltage incorrect
Cause
The input power (L1, L2, L3) has an open phase, the voltage is not within the specifications, or the 100V/
200V specifications changeover setting is incorrect.
Measures
Check the power connection, power state or the setting.
Error message
Power supply overvoltage
Cause
The voltage across the converter's L+ and L- exceeded 410V.
Measures
Check the power supply connection and power supply state.
Error message
Encoder thermal error
Cause
The built-in thermal protector of the serial pulse encoder has been activated.
Measures
Turn the controller power OFF, wait a while, and then turn ON again. When it comes back, contact to the
dealer.
Error message
Power module overheat
Cause
Overheating of the power module regenerative resistor was detected.
Measures
Turn the controller power OFF, wait a while, and then turn ON again. When it comes back, contact to the
dealer.
Error message
Servo amplifier motor overheat
Cause
The position detector's thermal protector activated.
Measures
Turn the controller power OFF, wait a while, and then turn ON again. Decrease the acceleration/
deceleration time of the operation speed, for instance.
Refer to "Detailed explanation of command words"/"ACCEL (Accelerate)," "OVRD (Override)" and "SPD
(Speed)," or "Detailed explanation of Robot Status Variable"/"M_SETADL," "M_LDFACT" and "Functions
set with parameters"/"JADL (Optimum acceleration/deceleration adjustment rate)" of the Separate
Volume, "INSTRUCTION MANUAL/Detailed Explanation of Functions and Operations."
Error message
Absolute position overspeed
Cause
It moved 45 mm/sec or faster with the absolute position linear scale during initialization.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo amplifier overspeed
Cause
A speed exceeding the motor's tolerable speed was detected.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error no. H078n * (n indicates the axis number (1 to 8).)
1-7
1Error list
Error No.
H0920 *
H092n *
(n indicates the
axis number (1
to 8).)
H093n *
(n indicates the
axis number (1
to 8).)
H094n
(n indicates the
axis number (1
to 8).)
H095n
(n indicates the
axis number (1
to 8).)
H096n
(n indicates the
axis number (1
to 8).)
H097n
(n indicates the
axis number (1
to 8).)
H098n
(n indicates the
axis number (1
to 8).)
H101n
(n indicates the
axis number (1
to 8).)
H102n
(n indicates the
axis number (1
to 8).)
H1030 *
H104n *
(n indicates the
axis number (1
to 8).)
H107n *
(n indicates the
axis number (1
to 8).)
H108n *
(n indicates the
axis number (1
to 8).)
H1090 *
H109n *
(n indicates the
axis number (1
to 8).)
Error cause and measures
Error message
Power module overcurrent
Cause
A servo amplifier or power supply overcurrent was detected. An error was detected in the servo amplifier's
gate circuit. A connection or conductance error may have occurred in the motor cable .
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Motor overcurrent
Cause
An excessive current flowed to the motor, or the A/D converter output is abnormal. An abnormality may
have occurred in the connection of the motor's power line.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Overload (over weight 1)
Cause
Operation tight for a motor (operation with high duty) was performed more than fixed time.
Measures
Decrease the acceleration/deceleration time of the operation speed, for instance.
Refer to "Detailed explanation of command words"/"ACCEL (Accelerate)," "OVRD (Override)" and "SPD
(Speed)," or "Detailed explanation of Robot Status Variable"/"M_SETADL," "M_LDFACT" and "Functions
set with parameters"/"JADL (Optimum acceleration/deceleration adjustment rate)" of the Separate
Volume, "INSTRUCTION MANUAL/Detailed Explanation of Functions and Operations."
Error message
Overload (over weight 2)
Cause
The maximum output current continued for more than one second.
Measures
Check the load weight and the robot pressing, etc.
Error message
Excessive error 1
Cause
The position error exceeded at servo ON.
Measures
Check the load weight and press, etc. If the surrounding temperature is low, or starting after stopping
operation for an extended period of time, perform running-in operation at low speed or use the warm-up
operation mode.
Error message
Excessive error 2
Cause
The position error exceeded at servo OFF.
Measures
Check the moving robot arm by something power.
Error message
Excessive error 3
Cause
The motor current was not flowing when excessive error 1.
Measures
Check the motor connection wire connection.
Error message
Collision detection
Cause
A collision was detected.
Measures
Release the collision state.
Error message
Servo AMP over-regeneration
Cause
The additional axis exceeded the regenerative performance limit.
Measures
Check the regenerative capacity and parameters for the additional axis.
Error message
Power supply over-regeneration
Cause
The converter's regenerative performance limit was exceeded.
Measures
Wait at least 15 minutes in the power ON state, and then turn the power OFF and ON.
Error message
Encoder init communication error
Cause
An abnormality may have occurred in the position detector cable connection.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Encoder communication error
Cause
Communication with the position detector was cut off.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo AMP communication error
Cause
An abnormality may have occurred in the communication cable connection.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo AMP initialization error
Cause
An abnormality may have occurred in the servo axis settings (parameters, rotary switches).
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
1-8 Error no. H0920 * H092n * (n indicates the axis number (1 to 8).)
1Error list
Error No.
H1100 *
H111n
(n indicates the
axis number (1
to 8).)
H112n *
(n indicates the
axis number (1
to 8).)
H113n *
(n indicates the
axis number (1
to 8).)
H114n *
(n indicates the
axis number (1
to 8).)
H115n *
(n indicates the
axis number (1
to 8).)
H116n *
(n indicates the
axis number (1
to 8).)
H117n *
(n indicates the
axis number (1
to 8).)
H118n *
(n indicates the
axis number (1
to 8).)
H119n *
(n indicates the
axis number (1
to 8).)
H1200 *
H121n *
(n indicates the
axis number (1
to 8).)
H122n *
(n indicates the
axis number (1
to 8).)
H123n *
(n indicates the
axis number (1
to 8).)
H1240 *
H125n *
(n indicates the
axis number (1
to 8).)
Error cause and measures
Error message
Servo AMP communication error
Cause
An abnormality may have occurred in the communication cable connection.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
SRV-AMP RS-232C comm. error
Cause
A communication error was detected between the servo amplifier and PC.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
Encoder ABS position data lost
Cause
The absolute position data in the position detector was lost.
Measures
Check the battery voltage and position detector cable.
Error message
Encoder per rotation data error
Cause
An error was detected in the position detector's one rotation data.
Measures
Check the repeatability and ambient environment. When it comes back, contact to the dealer.
Error message
SRV-AMP Comm. data error (CRC)
Cause
A CRC error was detected in the data from the RC.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
Large command position
Cause
The command position from the RC is abnormally large.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
SRV-AMP Comm. error (frame)
Cause
An error was detected in the communication frame from the RC.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
SRV-AMP Comm. error (info)
Cause
An error was detected in the communication information from the RC.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
Servo amplifier feedback error 1
Cause
Pulses skipped in the position detector's feedback signal.
Measures
Check the detector cable connection and conductivity. When it comes back, contact to the dealer.
Error message
Servo amplifier feedback error 2
Cause
Displacement occurred in the feedback amounts between the detectors on the motor edge and on the
machine edge.
Measures
Check the detector cable connection and conductivity. When it comes back, contact to the dealer.
Error message
SRV-AMP Comm. data error (CRC)
Cause
A CRC error was detected in the communication data from the servo amplifier.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
SRV-AMP Comm. data error (ID)
Cause
A data ID error was detected in the communication data from the servo amplifier.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
SRV-AMP Comm. data error(axisNo)
Cause
An axis No. error was detected in the communication data from the servo amplifier.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
SRV-AMP Comm. data error(SubID)
Cause
A Sub ID error was detected in the communication data from the servo amplifier.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
SRV-AMP Comm. data error(frame)
Cause
An No. of received frames error was detected in the communication data from the servo amplifier.
Measures
Check the communication cable connection and conductivity. When it comes back, contact to the dealer.
Error message
Servo amplifier parameter error
Cause
An error was detected in the servo parameter.
Measures
Contact the maker.
Error no. H1100 *
1-9
1Error list
Error No.
C126n
(n indicates the
axis number (1
to 8).)
C127n
(n indicates the
axis number (1
to 8).)
C128n
(n indicates the
axis number (1
to 8).)
C129n
(n indicates the
axis number (1
to 8).)
C130n
(n indicates the
axis number (1
to 8).)
C131n
(n indicates the
axis number (1
to 8).)
C132n
(n indicates the
axis number (1
to 8).)
C133n
(n indicates the
axis number (1
to 8).)
C134n
(n indicates the
axis number (1
to 8).)
C135n
(n indicates the
axis number (1
to 8).)
H136n *
(n indicates the
axis number (1
to 8).)
C137n
(n indicates the
axis number (1
to 8).)
C138n
(n indicates the
axis number (1
to 8).)
H139n
(n indicates the
axis number (1
to 8).)
Error cause and measures
Error message
Encoder communication error
Cause
Initial communication could not be established with the low-speed serial type absolute position linear scale.
Measures
Check the detector cable connection and conductivity. When it comes back, contact to the dealer.
Error message
Encoder communication error
Cause
The serial data of absolute position was abnormally transmitted.
Measures
Check the detector cable connection and conductivity. Also, carefully check whether there is no deviation
in the operating position of the robot. If it is deviated, set the origin position (OP) again. For more information about the operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to
Maintenance." When it comes back, contact to the dealer.
Error message
Encoder serial format error
Cause
Absolute position serial data format was incorrect.
Measures
Check the detector cable connection and conductivity. Also, carefully check whether there is no deviation
in the operating position of the robot. If it is deviated, set the origin position (OP) again. For more information about the operating procedure, refer to the separate volume, "Instruction Manual/Robot Arm Setup to
Maintenance." When it comes back, contact to the dealer.
Error message
Absolute position fluctuation
Cause
The absolute position data fluctuated when the power was turned ON.
Measures
Check whether the axis moved due to arm dropping or external force when the power was turned ON.
Error message
Servo AMP MP scale F/B error
Cause
Excessive displacement was detected in the feedback amounts between the detector and the MP scale.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Servo AMP MP scale offset error
Cause
Excessive displacement was detected in the feedback amounts between the detector and the MP scale.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Multi-rotation data error
Cause
An error was detected in the position detector's multi-rotation data.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Encoder battery voltage low
Cause
The battery voltage supplied to the position detector dropped.
Measures
Replace the backup battery. For more information about the replacement procedure, refer to the separate
volumes, "Instruction Manual/Robot Arm Setup to Maintenance".
Error message
Over-regeneration warning
Cause
The regenerative level of the additional axis has risen to 80% or more.
Measures
Check the regenerative capacity and parameters for the additional axis.
Error message
Overload warning
Cause
The overload level reached 80% or more.
Measures
Check the load weight and the robot for collisions, etc.
Error message
Absolute position counter error
Cause
The counter of absolute position is illegal.
Measures
Replace the batteries of both the robot arm and controller.
Error message
Illegal parameter (servo)
Cause
A parameter was set exceeding the setting range.
Measures
The parameter has not been changed. Reset the correct value. When it comes back, contact to the dealer.
Error message
Removing control axis (servo)
Cause
An instruction to remove the axis was issued by the controller.
Measures
Cancel the instruction of removing axis.
Error message
Emergency stop (Servo amplifier)
Cause
The controller emergency stop is being input.
Measures
Release the emergency stop state.
1-10 Error no. C126n (n indicates the axis number (1 to 8).)
1Error list
Error No.
C1400
H1410
C1420
C143n
(n indicates the
axis number (1
to 8).)
H144n *
(n indicates the
axis number (1
to 8).)
H1450 *
H1460 *
H1470 *
H1480 *
H1490 *
H150n *
(n indicates the
axis number (1
to 8).)
H156n
(n indicates the
axis number (1
to 8).)
H157n
(n indicates the
axis number (1
to 8).)
C158n
(n indicates the
axis number (1
to 8).)
H1600 *
H1610 *
Error cause and measures
Error message
Regeneration(AUX) frequency over
Cause
Regeneration at the limit of the converter's regenerative performance has occurred frequently.
Measures
Check the regeneration capacity. When it comes back, contact to the dealer.
Error message
Instantaneous power failure(SRV)
Cause
Momentary power failure of 25 msec or longer has occurred.
Measures
Check the power supply.
Error message
Over-regeneration warning
Cause
The regeneration level reached 80% or more.
Measures
Lower the robot's movement speed.
Error message
Servo amplifier main circuit OFF
Cause
The servo for the additional axis was turned ON when the main circuit power was OFF.
Measures
Turn the additional axis' main circuit power ON.
Error message
System error (servo 2)
Cause
Trouble occurred in the current processing processor.
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error message
Instantaneous stop(DC24V)
Cause
The 24V DC voltage has dropped at the power supply.
Measures
Check CN22 connecter.
Error message
Power supply overcurrent
Cause
Overcurrent in the power module in the power supply.
Measures
Check the AC power line. When it comes back, contact to the dealer.
Error message
Frequency error
Cause
AC frequency is out of range.
Measures
Check the AC power line frequency. When it comes back, contact to the dealer.
Error message
Power supply parameter error
Cause
Illegal at the power supply parameter.
Measures
Set the correct parameter.
Error message
Power supply overheat
Cause
Overheating of the power module or regenerative resistance.
Measures
Check the fan on rear of power supply.
Error message
Motor combination error
Cause
Illegal combination with additional servo amp and motor.
Measures
Use additional servo amp with correctly combination.
Error message
Excessive error 4
Cause
The axis moved while executing servo ON processing.
Measures
When it comes back, contact to the dealer.
Error message
Non-registered servo error
Cause
A non-registered servo alarm occurred.
Measures
If the alarm cannot be reset, turn the power OFF and ON. When it comes back, contact to the dealer.
Error message
Non-registered servo warning
Cause
A non-registered servo warning occurred.
Measures
If the alarm cannot be reset, turn the power OFF and ON. When it comes back, contact to the dealer.
Error message
System error (No robot setted)
Cause
None of the mechanisms are set.
Measures
Set the mechanisms for at least one unit. When it comes back, contact to the dealer.
Error message
System error (illegal MEMECH)
Cause
The mechanism module name is illegal or not registered.
Measures
Correctly set. When it comes back, contact to the dealer. When it comes back, contact to the dealer.
Error no. C1400
1-11
1Error list
Error No.
C1620
C1630
C1640
C1650
C1660
C1670
H1680
H1681
C1690
C1700
C1710
C1720
C1730
C1740
C1750
C1760
Error cause and measures
Error message
Illegal robot No.
Cause
The designated mechanism No. is incorrect.
Measures
Set the correct mechanism No.
Error message
Cannot servo ON (during error)
Cause
The servo cannot be turned ON during a servo error.
Measures
Reset the servo error before turning the servo ON.
Error message
Cannot servo ON (DEADMAN OFF)
Cause
The servo cannot be turned ON while the deadman switch is OFF.
Measures
Turn the deadman switch ON before turning the servo ON.
Error message
Cannot servo ON (brake OFF)
Cause
The servo cannot be turned ON when there is an axis with the brakes released.
Measures
Lock the brakes for all axes before turning the servo ON.
Error message
Cannot servo ON (SRVON process)
Cause
The servo cannot be turned ON during the servo ON process.
Measures
Operate it after servo ON process is finished.
Error message
Cannot servo ON (SRVOFF process)
Cause
The servo OFF process is being carried out.
Measures
Operate it after servo OFF process is finished.
Error message
Cannot servo ON (timeout)
Cause
The servo did not turn ON within the specified time.
Measures
Check for errors in the servo amplifier. When it comes back, contact to the dealer.
Error message
Unexpected servo OFF
Cause
The servo turned OFF unexpectedly.
Measures
Check for errors in the servo amplifier. When it comes back, contact to the dealer.
Error message
Cannot brake operation (DEADMAN)
Cause
The brakes cannot be released while the deadman switch is OFF.
Measures
Turn the deadman switch ON before operating.
Error message
Cannot brake operation (EMG)
Cause
The brakes cannot be released while the emergency stop is input.
Measures
Release the emergency stop state before operating.
Error message
Cannot brake operation (SRVON)
Cause
The brakes cannot be operated during servo ON.
Measures
Turn the servo OFF before operating.
Error message
Cannot brake operation (BRK OFF)
Cause
The brakes cannot be released during the brake release process.
Measures
Operate it after brake is released.
Error message
Cannot brake operation (BRK ON)
Cause
The brakes cannot be locked during the brake lock process.
Measures
Operate it after brake is locked.
Error message
Servo parameter change failure
Cause
Other parameters cannot be changed during the parameter change process.
Measures
Carry out the parameter change process again.
Error message
Servo parameter change failure
Cause
Changes of the servo parameter failed.
Measures
Carry out the parameter change process again.
Error message
Illegal origin data
Cause
The origin setting data is not correct.
Measures
Set the correct origin setting data.
1-12 Error no. C1620
1Error list
Error No.
C1770
C1780
C1781
H1790 *
H1800 *
H1810 *
L182n
(n indicates the
axis number (1
to 8).)
L1830
L184n
(n indicates the
axis number (1
to 8).)
C1850
L1860
C1870 *
L2000
L2010
L2020
L2030
Error cause and measures
Error message
Origin setting incomplete
Cause
The origin is not set.
Measures
Re-execute after setting the origin.
Error message
Cannot set origin (illegal axis)
Cause
The origin was not set simultaneously for the interference axis.
Measures
Set the origin simultaneously for the interference axis.
Error message
Cannot set origin (SRVON)
Cause
The origin was set during servo ON.
Measures
Turn the servo OFF before setting the origin.
Error message
Illegal parameter (MEJAR)
Cause
The operation range setting parameter MEJAR setting is incorrect.
Measures
Correct the parameter MEJAR.
Error message
Illegal parameter (MEMAR)
Cause
The ABS operation range setting parameter MEMAR setting is incorrect.
Measures
Correct the parameter MEMAR.
Error message
Illegal parameter (USERORG)
Cause
The user origin setting parameter USERORG setting is incorrect.
Measures
Correct the parameter USERORG.
Error message
Pos. data disagree.Check origin
Cause
Position data changed during power off.
Measures
Check the origin, re-install if shifting.
Error message
JRC. Exseeds the Pos. limit
Cause
The JRC instruction exceeding the operation range was executed.
Measures
Check the current position and the operating range.
Error message
JRC Qtt. Setting Too Large
Cause
The movement amount setting of the JRC is excessive.
Measures
Correct the JRCQTT parameter.
Error message
Instantaneous power failure
Cause
A power failure status of 20 msec or longer has occurred.
Measures
Check the power supply connection and power supply state.
Error message
Illegal parameter (TLC)
Cause
The setting of the TLC parameter that sets the approach direction was incorrect.
Measures
Correct the TLC parameter. (=X/Y/Z)
Error message
Cooling fan No.XX stopped
Cause
Cooling fan No.XX in the controller might be out of order.
Measures
Please exchange the cooling fan.
Error message
The servo is OFF
Cause
Because servo is turned off, the robot can't move.
Measures
Turn the servo ON and then restart.
Error message
Pulse output was not possible
Cause
There is an error in the pulse output designation.
Measures
Correct the program.
Error message
Reading external position data
Cause
A command that cannot be executed while reading the external commands was executed.
Measures
Correct the program.
Error message
JOG operation cannot be accepted
Cause
The JOG operation request was issued when the JOG operation request could not be accepted.
Measures
Set the JOG operation request unacceptable state.
Error no. C1770
1-13
1Error list
Error No.
H2031 *
H209n
(n indicates the
zone number (1
to 8).)
H211n
(n indicates the
plane number (1
to 8).)
H2129
H2130
H213n
(n indicates the
axis number (1
to 8).)
H2140
H214n
(n indicates the
axis number (1
to 8).)
H215n
(n indicates the
axis number (1
to 8).)
H2160
H216n
(n indicates the
axis number (1
to 8).)
H217n
(n indicates the
axis number (1
to 8).)
H2180
H2181
H2182
Error cause and measures
Error message
"Illegal parameter(JOGTSJ,JOGJSP)"
Cause
The parameter JOGTSJ, JOGJSP settings are not correct.
Measures
Set the set dimension to 5 or less.
Error message
In interference zone n
Cause
Movement outside the user-defined area "n" range was attempted.
Measures
Adjust the position.
Error message
Free plane n overrun
Cause
Movement outside the plane defined with free plane "n" was attempted.
Measures
Adjust the position.
Error message
Free plane limit data illegal
Cause
The free plane data setting value is illegal.
Measures
Input correct data.
Error message
Speed is excessive (command)
Cause
The speed limit was exceeded.
Measures
Lower the speed.
Error message
Jn Speed is excessive (command)
Cause
The axis "n" speed limit was exceeded.
Measures
Lower the speed.
Error message
ABS limit over
Cause
The ABS limit was exceeded
Measures
Referring to "Operation to Temporarily Reset an Error that Cannot Be Canceled" in the separate volume,
"Instruction Manual/Detailed Explanation of Functions and Operations", reset the error and move within
the operation range using JOG operation.
Error message
Jn +ABS limit over
Cause
The axis "n" + ABS limit was exceeded.
Measures
Referring to "Operation to Temporarily Reset an Error that Cannot Be Canceled" in the separate volume,
"Instruction Manual/Detailed Explanation of Functions and Operations", reset the error and move the axis
"n" within the operation range using JOG operation.
Error message
Jn -ABS limit over
Cause
The axis "n" - ABS limit was exceeded.
Measures
Referring to "Operation to Temporarily Reset an Error that Cannot Be Canceled" in the separate volume,
"Instruction Manual/Detailed Explanation of Functions and Operations", reset the error and move the axis
"n" within the operation range using JOG operation.
Error message
Joint angle exceeds the limit
Cause
The joint limit was exceeded.
Measures
Adjust the position.
Error message
Jn (+) angle exceeds the limit
Cause
The axis "n" + Joint limit was exceeded.
Measures
Adjust the position.
Error message
Jn (-) angle exceeds the limit
Cause
The axis "n" - Joint limit was exceeded.
Measures
Adjust the position.
Error message
"X,Y,Z data exceeds the limit"
Cause
The XYZ limit was exceeded.
Measures
Adjust the position.
Error message
X(+) data exceeds the limit
Cause
The X axis + XYZ limit was exceeded.
Measures
Adjust the position.
Error message
Y(+) data exceeds the limit
Cause
The Yaxis + XYZ limit was exceeded.
Measures
Adjust the position.
1-14 Error no. H2031 *
1Error list
Error No.
H2183
H2191
H2192
H2193
H2500
L2600
L2601
L2602
L2603
L2700
C2710
C2720
C272n
(n indicates the
axis number (1
to 8).)
C2730
C273n
(n indicates the
axis number (1
to 8).)
C2740
Error cause and measures
Error message
Z(+) data exceeds the limit
Cause
The Z axis + XYZ limit was exceeded.
Measures
Adjust the position.
Error message
X(-) data exceeds the limit
Cause
X(-) data exceeds the limit
Measures
Change the position data
Error message
Y(-) data exceeds the limit
Cause
Y(-) data exceeds the limit
Measures
Change the position data
Error message
Z(-) data exceeds the limit
Cause
Z(-) data exceeds the limit
Measures
Change the position data
Error message
Tracking encoder data error
Cause
An error was detected in the data of tracking encoder.
Measures
Check the repeatability and ambient environment.
Error message
Position data exseeds the limit
Cause
The position data is outside the operation range.
Measures
Adjust the position.
Error message
Start pos. exseeds the limit
Cause
The start position is outside the operation range.
Measures
Adjust the position.
Error message
DSTN pos. exseeds the limit
Cause
The target position is outside the operation range.
Measures
Adjust the position.
Error message
Med pos. data exseeds the limit
Cause
The intermediate position is outside the operation range.
Measures
Adjust the position.
Error message
CMP error (different mode)
Cause
The designated mode is different from the current mode.
Measures
Execute CMP OFF and then designate.
Error message
CMP error (displacement)
Cause
The displacement magnitude of the compliance operation exceeded the specified value.
Measures
Correct the program, position or other item so that the displacement magnitude can be reduced.
Error message
CMP error (joint angle)
Cause
CMP Command exceeds the limit of a joint angle.
Measures
Adjust the position data or reduce the displacement.
Error message
CMP error (Jn joint angle)
Cause
CMP Command exceeds the limit of joint angle of joint "n" axis
Measures
Change the position data or reduce displacement.
Error message
CMP error (axis speed)
Cause
CMP Command exceeds the limit of a speed.
Measures
Change the position data or slow down.
Error message
CMP error (Jn axis speed)
Cause
CMP Command exceeds the limit of speed of joint "n" axis.
Measures
Change the position data or slow down.
Error message
CMP error (coordinates conv.)
Cause
An error was detected in the coordinates conversion of CMP command.
Measures
Adjust the position data.
Error no. H2183
1-15
1Error list
Error No.
L2750
L2800
L2801
L2802
L2803
L2804
L2810
H2820
H2830
H2840
H2850
H2860
H2870
H2880 *
H2890
L2900
Error cause and measures
Error message
Cannot execute while tracking
Cause
Cannot execute while tracking
Measures
Execute the "TRK OFF" command, and then execute the "CMP OFF" command.
Error message
Illegal position data
Cause
This may occur for a position to which the robot cannot reach.
Measures
Adjust the position.
Error message
Illegal position data (start)
Cause
This may occur for a starting position to which the robot cannot reach.
Measures
Adjust the position.
Error message
Illegal position data (dstn)
Cause
This may occur for a ending position to which the robot cannot reach.
Measures
Adjust the position.
Error message
Illegal position data (intmed)
Cause
The auxiliary point position data for interpolation processing in an arc was inappropriate.
Measures
Adjust the position.
Error message
SPDOPT can't be operated
Cause
A singular point area exists on the locus.
Measures
Change an interpolation type or destination position.
Error message
Posture flag is disagree
Cause
The structure flag of the start point and end point don't match.
Measures
Adjust the position data.
Error message
Illegal ACCEL ratio
Cause
This occurs when the acceleration/deceleration ratio is too small.
Measures
Adjust the acceleration/deceleration ratio to a larger value.
Error message
System error(ipol posture type)
Cause
The TYPE argument of the MOV instruction was set to -1 or a similar value.
Measures
Change the TYPE argument of the MOV instruction to a correct value (0, 1, etc).
Error message
System error (ipol parameters)
Cause
The parameter may have been damaged.
Measures
When it comes back, contact to the dealer.
Error message
System error (ipol norm)
Cause
The norm is illegal. A problem occurred in internal computation processing.
Measures
When it comes back, contact to the dealer.
Error message
System error (ipol type)
Cause
An illegal interpolation process method is being used. A problem occurred in internal computation processing.
Measures
When it comes back, contact to the dealer.
Error message
System error(ipol data undef)
Cause
The interpolation position data has not been defined. A problem occurred in internal computation processing.
Measures
When it comes back, contact to the dealer.
Error message
System error (ipol data area)
Cause
The memory is insufficient for the inside operation.
Measures
When it comes back, contact to the dealer.
Error message
System error (undefined err)
Cause
An undefined error number was generated in internal computation processing.
Measures
When it comes back, contact to the dealer.
Error message
System ERROR MO0
Cause
An error occurred in the internal processing.
Measures
When it comes back, contact to the dealer.
1-16 Error no. L2750
1Error list
Error No.
L3100
L3110
L3120
L3130
L3140
L3150
L3170
L3180
L3200
L3210
L3220
L3230
L3240
L3250
L3251
L3252
Error cause and measures
Error message
PROC stack over
Cause
For example, if it jumped by GOSUB but did not return by the RETURN instruction, or if it escaped by
GOTO using the FOR and NEXT instructions, stack memory decreased gradually.
Measures
Correct so that in the case of GOSUB, return by RETURN, and in the case of FOR and NEXT, do not exit
by GOTO.
Error message
Argument value range over
Cause
The argument value is not within the range.
Measures
Check the argument range and reinput.
Error message
No. of arguments is over
Cause
The number of arguments in the command executed was incorrect.
Measures
Check the No. of arguments and reinput.
Error message
COM file is already opened
Cause
Opening of a file already opened was attempted.
Measures
Check the file No. and re-execute.
Error message
Can't open COM file
Cause
The file cannot be opened.
Measures
Check the file No. and re-execute.
Error message
Cannnot PTINT (INPUT mode)
Cause
The file open mode is INPUT, so writing is not possible.
Measures
Check the file No. and open mode, and re-execute.
Error message
Cannot INPUT (OUTPUT mode)
Cause
The file open mode is OUTPUT, so writing is not possible.
Measures
Check the file No. and open mode, and re-execute.
Error message
System error (array range over)
Cause
System error (array range over)
Measures
When it comes back, contact to the dealer
Error message
This file is read only
Cause
The file cannot be read.
Measures
Check the contents of the file.
Error message
This variable is write protected
Cause
Writing of this variable is prohibited.
Measures
Check the variable protection setting.
Error message
Nesting over
Cause
A nest-over error occurred in IF of the IF instruction or FOR of the FOR instruction.
Measures
Correct the program and re-execute.
Error message
FOR NEXT statements unmatch
Cause
The No. of FOR and NEXT statements do not match.
Measures
Correct the program and re-execute.
Error message
"Nesting over (FOR,WHILE)"
Cause
The No. of nesting stages exceeded 16 stages (FOR,WHILE).
Measures
Correct the program.
Error message
WHILE WEND statements unmatch
Cause
The No. of WHILE and WHEN statements do not match.
Measures
Correct the program and re-execute.
Error message
Number of jump destination exceeds 32
Cause
The number of branches defined exceeded 32.
Measures
Correct the program and re-execute.
Error message
IF ENDIF statements unmatch
Cause
IF ENDIF statements unmatch.
Measures
Correct the program and re-execute.
Error no. L3100
1-17
1Error list
Error No.
L3253
L3254
L3255
L3260
L3270
L3280
L3281
L3282
L3283
L3284
L3285
L3286
L3287
L3288
L3289
L3290
Error cause and measures
Error message
"Nesting over (IF,ENDIF)"
Cause
The No. of nesting stages exceeded 8 stages (IF).
Measures
Correct the program and re-execute.
Error message
SELECT END SELECT statements unmatch
Cause
SELECT END SELECT statements unmatch.
Measures
Correct the program and re-execute.
Error message
IF ELSE statements unmatch
Cause
IF ELSE statements unmatch.
Measures
Correct the program and re-execute.
Error message
Cannot exec for all slots
Cause
Execution with all slots designated is not possible.
Measures
Designate an individual slot and try again.
Error message
The command size is exceeded
Cause
The command size is exceeded.
Measures
Specify within single-byte 256 characters.
Error message
Cannot execute without GETM
Cause
The command you attempted to execute cannot be executed without GETM. Or, a non-existing mechanical
number was specified.
Measures
Execute it after executing the RELM and GETM commands in another task slot.
Error message
Cannot execute during RUN
Cause
Cannot execute during operation.
Measures
Cannot execute during operation.
Error message
"Can't RUN(not select, attribute)"
Cause
The program is not selected or the attribute is illegal.
Measures
Load the program into the specified task slot. Or, change the program attributes.
Error message
Cannot execute during RUN
Cause
The previous command is being executed.
Measures
The previous command is being executed.
Error message
Cannot execute while editing
Cause
Cannot execute while editing.
Measures
Cannot execute while editing.
Error message
Cannot execute (RUN or WAI)
Cause
can't execute in the state of stopping or executing.
Measures
Reset the program (cancel the abort status).
Error message
Program is empty
Cause
Execution of an empty program was attempted.
Measures
Make the program or select the correct program.
Error message
Cannot execute (ERROR ALWAYS)
Cause
This command cannot be used when the start conditions are ERROR and ALWAYS.
Measures
Correct the program.
Error message
Cannot execute while editing
Cause
That program cannot be executed because it is being edited.
Measures
Finish editing the program first, and then start it.
Error message
Program does not exist (SLT*)
Cause
The program designated in the slot table does not exist.
Measures
Correct the slot parameter.
Error message
System slot cannot be executed
Cause
The system slot cannot be executed.
Measures
Check whether another slot (user slot) is being operated.
1-18 Error no. L3253
1Error list
Error No.
L3300
L3310
L3320
L3330
L3340
L3350
L3360
L3361
L3370
L3380
L3390
L3400
L3500
L3600
L3700
L3710
Error cause and measures
Error message
User slot cannot be executed
Cause
A user slot cannot be executed.
Measures
Check whether the system slot is being operated.
Error message
Cannot execute XRUN (Runing)
Cause
XRUN is not possible as the designated slot is operating.
Measures
Stop the specification slot, and execute.
Error message
Cannnot execute XRUN (empty)
Cause
XRUN is not possible as the program has not been selected.
Measures
Specify program name to the argument or execute XLOAD.
Error message
Cannnot execute XSTP (empty)
Cause
XSTP is not possible as the program has not been selected.
Measures
correct the program, and execute.
Error message
Cannnot execute XRST (empty)
Cause
XRST is not possible as the program has not been selected.
Measures
Resetting is possible in the state of waiting only.
Error message
Cannnot execute XRST (Running)
Cause
XRST is not possible as the program is executing.
Measures
Stop execution, and do it.
Error message
Cannnot execute XLOAD (not PSA)
Cause
XLOAD cannot be executed when the program cannot be selected.
Measures
Execute XRST, and do it.
Error message
Can not load the program(SLT*)
Cause
A non-existing program was specified in the slot parameter (SLTn).
Measures
A non-existing program was specified in the slot parameter (SLTn).
Error message
Cannnot execute XCLR (empty)
Cause
XCLR is not possible as the program has not been selected.
Measures
XCLR can only be executed to enable program selection.
Error message
Cannnot execute XCLR (not PSA)
Cause
Program selection is not enabled.
Measures
Execute XCLR after resetting the program (canceling the abort status).
Error message
Cannot use arc pallet
Cause
Cannot use arc pallet.
Measures
Change to another method.
Error message
System error (PROC stack over)
Cause
System error. (Processor stack overflow. )
Measures
When it comes back, contact to the dealer
Error message
Ilegal format input (INPUT)
Cause
The type of the variable specified by INPUT and the type of the received data do not match.
Measures
Check the format.
Error message
Jump destination does not exist
Cause
No jump destination was found for the DEF ACT, ON COM and ON GOTO commands.
Measures
Check the jump destination.
Error message
Undefined variable
Cause
It was attempted to reference a variable that has not been initialized.
Measures
Define a variable, enter an initial value, and then use it.
Error message
Nesting over (CALLP)
Cause
Program CALL is used more than the limitation.
Measures
Reduce the call count of CALLP (nesting).
Error no. L3300
1-19
1Error list
Error No.
L3720
L3810
L3820
L3830
L3840
L3850
L3860
L3870
L3880
L3890
L3900
L3910
L3930
L3940
L3950
L3960
Error cause and measures
Error message
RC NX statements unmatch
Cause
RC NX statements unmatch
Measures
Match the numbers of RC and NX.
Error message
Different argument type
Cause
The type of an argument in an arithmetic operation, monadic operation, comparison operation or each function is different.
Measures
Designate the correct argument.
Error message
Undefined intermediate code
Cause
A program or system status variable may have been damaged.
Measures
Restore using the backup data. If the backup data is not available, it is necessary to create a program again.
Error message
Cannot execute GETM
Cause
GET of the mechanisms is not possible.
Measures
Check whether the designated mechanisms are being used with a different slot.
Error message
RETURN without GOSUB
Cause
RETURN was executed without using GOSUB.
Measures
Check the program.
Error message
Undefined PLT
Cause
The DEF PLT command was not executed.
Measures
Use it after defining a pallet with the DEF PLT command.
Error message
Illegal position data defined
Cause
There is an error in the position data.
Measures
Check the position data definition.
Error message
Illegal mech No.
Cause
The mechanical number specified in the argument of the system status variables was invalid.
Measures
Input the correct mechanism No.
Error message
Illegal slot No.
Cause
The task slot number specified in the argument of the system status variables was invalid.
Measures
Input the correct slot No.
Error message
System error (make MCODE)
Cause
An error has occurred when creating an operation instruction. The program may have been damaged.
Measures
Restore using the backup data. If the backup data is not available, it is necessary to create a program again.
Error message
JRC Command is disable
Cause
The JRCEXE parameter is disabled, so it cannot be used.
Measures
Change the JRCEXE parameter, and then execute.
Error message
Cannnot execute (JRC 0)
Cause
JRC 0 can not execute for robot arm axis.
Measures
Correctly set.
Error message
This command cannot be executed
Cause
Collision detection is effective
Measures
Repeal collision detection (execute COLCHK OFF)
Error message
COLCHK cannot be executed
Cause
An exclusive function is performing with COLCHK
Measures
Repeal the corresponding function
Error message
NOERR cannot be executed
Cause
Interruption using M_COLSTS is invalid
Measures
Define interruption using M_COLSTS and confirm it
Error message
This ACT No. cannot be repealed
Cause
NOERR of collision detection is performed
Measures
Repeal this interruption after canceling NOERR
1-20 Error no. L3720
1Error list
Error No.
L3970
L3980
L3981
L4000
Error cause and measures
Error message
COLCHK cannot be performed
Cause
Collision detection serves as prohibition of use
Measures
Change parameter COL into use permission
Error message
M_LDM cannot be executed
Cause
PREC command is executed
Measures
Repeal high accuracy mode (execute PREC OFF)
Error message
PREC cannot be executed
Cause
M_LDM command is executed
Measures
Set load mode 1 (execute M_LDM=0)
Error message
System error (time out)
Cause
There is a problem in the program's exclusive process.
Measures
L4100
L4110
L4120
L4130
L4140
L4150
L4160
L4170
L4180
L4190
L4200
L4201
When it comes back, contact to the dealer.
Error message
No. of registered file is full
Cause
The No. of program has been exceeded.
Measures
Delete any unnecessary programs.
Error message
Memory area is full
Cause
The program and data have exceeded the capacity.
Measures
Delete any unnecessary programs or data. Or, purchase an optional extension memory cassette.
Error message
Too long program name
Cause
The program name is a maximum of 12 characters with 3 extension characters.
Measures
Set the program name to within 12 characters and 3 extension characters.
Error message
Illegal program name
Cause
An illegal character was used in the program name.
Measures
Only numbers and alphabetic characters can be used.
Error message
The program was not found
Cause
The designated program was not found.
Measures
Designate a different program, or create the designated program.
Error message
Program is faulty
Cause
Power shutdown may have occurred during the write operation.
Measures
The file may have been damaged. Delete the file.
Error message
Not a robot program
Cause
The designated program is not a robot program.
Measures
Designate a different program.
Error message
The program is being edited
Cause
The program is being edited.
Measures
Close the program being edited.
Error message
Program is running
Cause
The program is running.
Measures
Stop the program.
Error message
The program is selected
Cause
The program is preparing to execute.
Measures
Reset the program.
Error message
Cannot write to file
Cause
Write operation is prohibited, or the file capacity is insufficient.
Measures
1. Enable file writing. 2. Delete unnecessary files.
Error message
Can't operate in ROM mode
Cause
Can't operate in ROM mode.
Measures
Change to RAM mode.
Error no. L3970
1-21
1Error list
Error No.
L4210
L4220
L4230
L4240
L4250
L4300
L4310
L4320
L4330
L4340
L4350
L4360
L4370
L4380
L4390
L4400
Error cause and measures
Error message
Too long statement
Cause
The command statement length is limited to 127 characters.
Measures
Delete the No. of characters in the command statement to within 127 characters.
Error message
Syntax error
Cause
There is an error in the syntax of the input command statement.
Measures
Re-input in the correct syntax after checking the contents.
Error message
The line No. does not exist
Cause
There is no specified line number.
Measures
Check the contents, and reinput the correct line No.
Error message
The statement is write protected
Cause
The command statement is write protected.
Measures
Cancel the write protection.
Error message
No more lines or variables
Cause
Reading of lines and variables exceeding the registered ones.
Measures
Check the programs.
Error message
Too longvariable name
Cause
The variable name length is limited to 8 characters.
Measures
Shorten the variable name to within 8 characters.
Error message
Ilegal character is used
Cause
A character other than A to Z or 0 to 9 was used.
Measures
Use the character which can be used.
Error message
The variable is write protected
Cause
The variable is write protected.
Measures
1. Use a writable variable. 2. Cancel the write protection.
Error message
The variable is read protected
Cause
The variable is read protected.
Measures
1. Use a writable variable. 2. Cancel the write protection.
Error message
The variable is not defined
Cause
The variable has not been defined.
Measures
Define the variable.
Error message
Duplicate definition (Val.)
Cause
Variables already defined cannot be redefined with the DIM or DEF statements.
Measures
1. Change the variable name and define. 2. Delete the defined variable.
Error message
Same variable used (65535 times)
Cause
Example: 10 P1=P1+P2 references P1 twice and P2 once.
Measures
Change the program to reduce the No. of times the same variable is used.
Error message
Error in the array element
Cause
1. The array elements exceeds the define range, or 2. The specified variable is not an array.
Measures
1. Correct the number of array elements within one to the maximum elements. 2. Do not specify array elements.
Error message
Cannot delete variables (used)
Cause
Variables used in a command statement cannot be deleted.
Measures
Delete the command statement using the variable.
Error message
Variable type combination error
Cause
The type of the user-defined external variable is different.
Measures
Match the variable types.
Error message
Program is faulty.
Cause
The content of the program is abnormal.
Measures
Delete the program.
1-22 Error no. L4210
1Error list
Error No.
L4410
L4420
L4430
L4440
L4450
L4460
L4800
Error cause and measures
Error message
Renumbering data error
Cause
There is an error in the data designated with renumbering.
Measures
Reset the data.
Error message
Line No exceeds 32767
Cause
The new line No. or line gap is large.
Measures
Do not use line Nos. exceeding 32767.
Error message
Not found the string searched
Cause
The character string searched for was not found.
Measures
Check the program.
Error message
Duplicate definition (label)
Cause
A label already defined cannot be redefined.
Measures
1. Change the label name. 2. Delete the defined label line.
Error message
The variable No. is out of range
Cause
Position/counter/string No. is out of range.
Measures
Change the variable number within the allowable range.
Error message
Argument value range over
Cause
Argument value range over.
Measures
Confirm the argument range, and correct the value.
Error message
System error (System base prog)
Cause
The base program for the system could not be opened. Or, the system base program name was not specified correctly in the parameter.
Measures
L4810
L4811 *
L4820
L4900
Error message
The global variable defined by user is not available
Cause
The parameter "PRGUSR" is not correct.
Measures
To use user-defined external variables, it is necessary to set the name of the program describing only
variable definitions in the PRGUSR parameter.
Error message
The global variable redefined
Cause
A system global variable is defined in user global.
Measures
Correct the program.
Error message
No editing program
Cause
The program was closed while editing. For example, the program being edited is closed when a key switch
enable/disable operation is performed via the T/B during online editing on a PC.
Measures
Try editing the program again.
Error message
System error (Prog Hndl)
Cause
The program name used by internal processing is not normal.
Measures
L4910
L4920
H5000
L5010
When it comes back, contact to the dealer.
When it comes back, contact to the dealer.
Error message
Robot Language is mismatched
Cause
The parameter RLNG is mismatched. (1:MELFA-BASIC Ⅳ , 0:MOVEMASTER command)
Measures
Re-set RLNG or select an other program.
Error message
There is no backup data in ROM
Cause
There is no backup data in ROM.
Measures
Please operate after backup.
Error message
TB Enable key is ON
Cause
The [T/B ENABLE/DISABLE" switch is "ENABLE", when the [MODE] switch of the operation panel is
"AUTO".
Measures
Invalidate the T/B Enable key, or enter the teach mode of operation panel.
Error message
AUTOENA signal is OFF
Cause
The automatic operation possible signal is OFF.
Measures
Turn the automatic operation possible signal ON, or enter the teach mode.
Error no. L4410
1-23
1Error list
Error No.
L5100
L5110
L5120
L5130
L5140
L5150
L5200 *
L5210 *
L5400
L5410
L5420
L5430
L5600
C5610
L5620
L5630
Error cause and measures
Error message
No program is selected
Cause
A program is not selected for the designated slot.
Measures
Select a program for the designated slot.
Error message
Continuous RUN is not possible
Cause
A different program name has been designated.
Measures
Designate the correct program name.
Error message
Cannot select program (not PSA)
Cause
The specified slot is not in the program selection state.
Measures
Reset the program.
Error message
Cannot execute servo on
Cause
A servo OFF process is taking place.
Measures
Wait for the servo to turn OFF before turning the servo ON.
Error message
Cannot read the file
Cause
Reading is being carried out, or editing is being carried out.
Measures
Close the file being edited, or read after the reading is completed.
Error message
The origin has not been set
Cause
The origin has not been set.
Measures
Set the origin.
Error message
Parameter error (TASKMAX)
Cause
The TASKMAX parameter setting value has been exceeded (initial value: 8, maximum value: 32).
Measures
Reduce the number of multi tasks, or change the TASKMAX parameter.
Error message
Parameter error (MECHAMAX)
Cause
The No. of multi mechanisms has exceeded the limit.
Measures
Reduce the No. of multi mechanisms.
Error message
All robot cannot be designated
Cause
All mechanisms cannot be specified.
Measures
Specify an independent mechanism number.
Error message
Non-existent mode
Cause
It has been changed to a mode other than Auto/Teach.
Measures
Contact the maker.
Error message
Illegal slot No.
Cause
A task slot number other than 1 through TASKMAX (parameter) is specified.
Measures
Designate the correct task slot.
Error message
Illegal robot No.
Cause
The mechanism designation is illegal.
Measures
Designate the correct mechanism.
Error message
Cannot execute during an error
Cause
Cannot execute during an error.
Measures
Reset the error.
Error message
Cannot execute during STOP ON
Cause
Cannot execute during stop signal input.
Measures
Turn the stop signal OFF and execute.
Error message
Cannot execute during CSTOP ON
Cause
Cannot execute during cycle stop signal input.
Measures
Turn the cycle stop signal OFF.
Error message
Cannot execute during SRVOFF ON
Cause
Cannot execute during servo OFF signal input.
Measures
Turn the servo OFF signal OFF.
1-24 Error no. L5100
1Error list
Error No.
L5640
L5650
L5660
L5990
L6010
L6020
L6030
L6040
C6050
C6060
C6070
C6080
C6500
H6510
H6520
H6530 *
Error cause and measures
Error message
Cannot execute during RUN
Cause
Cannot execute during operation.
Measures
Stop the operation, and then execute.
Error message
Cannot execute during STOP
Cause
Cannot execute during stop operation.
Measures
Complete the stop, and then execute.
Error message
Edit during RUN(include ALWAYS)
Cause
Editing cannot be performed while in operation (including continuous execution).
Measures
Stop the program, and then execute.
Error message
System error (Illegal command)
Cause
Not exist command was executed.
Measures
Execute the correct command.
Error message
Illegal command
Cause
This may have occurred because data was sent before the communication line was opened via a data link,
or an unregistered communication command was sent due to the mismatch between the versions of the
controller and support software.
Measures
Send after the communication line is opened. Or, match the versions.
Error message
The Operation is disable
Cause
The operation rights have not been acquired.
Measures
Acquire the operation rights.
Error message
The editing operation is disable
Cause
The editing operation rights have not been acquired.
Measures
Acquire the editing operation rights.
Error message
System error (illegal device No)
Cause
A non-registered device No. was set.
Measures
Set a valid device.
Error message
The file cannot be opened
Cause
The block file cannot be opened.
Measures
Check the file, and designate the correct file.
Error message
The mode is not TEACH
Cause
Carry out parameter writing in the teach mode.
Measures
Change to the teaching mode, and then execute.
Error message
The time cannot be set
Cause
The time setting can only be executed when the program is stopped and the servo is OFF.
Measures
Stop the program and turn the servo OFF, and then set the time.
Error message
Com mesg is too long
Cause
The character string of a communication text exceeded the maximum number allowed.
Measures
Verify the number of characters in a comment in various settings such as parameters.
Error message
Not opened COM line
Cause
OPEN was not executed by the program.
Measures
Execute OPEN, and then send PRN.
Error message
RS232C Parameter illgal
Cause
Confirm the parameter, and correct.
Measures
Adjust the communication setting parameters, and then turn the power ON again .
Error message
RS422 Parameter illgal
Cause
Setup the parameter
Measures
Adjust the communication setting parameters, and then turn the power ON again.
Error message
COMDEV parameter is illegal
Cause
Illegal parameter (COMDEV).
Measures
Correct COMDEV parameter.
Error no. L5640
1-25
1Error list
Error No.
L6600
L6610
L6620
L6630
H6640
H6641
H6642
H6643
L6650 *
L6651 *
L6660
L6670
L6800 *
C6900
C7000
C7010
Error cause and measures
Error message
Signal number is out of range.
Cause
The designated signal No. has not been defined.
Measures
Change the signal No. to the correct No.
Error message
Cannot output (hand input)
Cause
The hand input signal cannot be written.
Measures
Use the correct output signal.
Error message
Cannot write (special INPUT)
Cause
The input signal cannot be written into the robot dedicated area.
Measures
Use an actual signal.
Error message
Input signal cannot be written
Cause
This is the actual signal input mode.
Measures
Set a pseudo-input signal.
Error message
Illegal param (special signal)
Cause
The parameter setting is illegal.
Measures
Correct the parameter yiu changed.
Error message
Duplicate setting (special IN)
Cause
The parameter setting is illegal.
Measures
Correct the parameter of the dedicated input signal you changed.
Error message
STOP is fixed signal No. 0
Cause
The parameter setting is illegal.
Measures
Set the parameter STOP(input) to 0.
Error message
Illegal parameter (special Sig.)
Cause
The parameter setting is illegal.
Measures
Make the ending number larger than the starting number.
Error message
Duplicate setting (special OUT)
Cause
The parameter setting is illegal.
Measures
Correct the parameters.
Error message
Duplicate setting (HANDTYPE)
Cause
The parameter setting is illegal.
Measures
Correct the parameter.
Error message
Cannot output (SPECIAL OUT)
Cause
The program setting is illegal.
Measures
Correct the program.
Error message
Illegal OUT reset pattern
Cause
The parameters are not defined in sets of 8 characters.
Measures
Correct the parameters.
Error message
"Cancel pseudo-input mode, PW OFF"
Cause
If pseudo input was canceled, it is necessary to turn the power ON again in order to prevent the erroneous
operation of the robot by external input signals.
Measures
Turn the power OFF and then ON once. It switches to an external input signal.
Error message
Pseudo-input signal mode
Cause
Set with the parameters.
Measures
To set a real signal, reset the parameter and then turn the power ON again.
Error message
Copy source file was not found
Cause
The copy source file was not found.
Measures
Input the correct file name.
Error message
Delete target file was not found
Cause
The delete target file was not found.
Measures
Input the correct file name.
1-26 Error no. L6600
1Error list
Error No.
C7020
H7030 *
C7040
H7050
H7060 *
C7070
L7071
C7080
C7081
C7090
C7100 *
C7200 *
H7300 *
C7310
L7311
L7330
Error cause and measures
Error message
Rename target file was not found
Cause
The rename target file was not found.
Measures
Input the correct file name.
Error message
System error (param size over)
Cause
The change capacity is too large.
Measures
Contact the maker.
Error message
Parameter changes prohibited
Cause
Changing this parameter is prohibited as it is a dangerous parameter.
Measures
Contact the maker.
Error message
File is illegal
Cause
This file is damaged.
Measures
Contact the maker.
Error message
System error (RAM area full)
Cause
The capacity has been exceeded.
Measures
Contact the maker.
Error message
Memory area is full
Cause
The program and data have already exceeded the capacity.
Measures
Delete any unnecessary programs or data.
Error message
Not enough memory area for CTN
Cause
Continue function needs more than 100Kbytes memory area.
Measures
Delete any unnecessary programs.
Error message
Can not read parameter
Cause
Non-existent parameter or illegal password.
Measures
1. Input the correct parameter name 2. Input the correct password
Error message
Can not write parameter
Cause
Non-existent parameter or illegal password.
Measures
1. Input the correct parameter name 2. Input the correct password
Error message
Parameter comment illgal
Cause
The number of parameter comment characters exceeded the limit.
Measures
Operation will not be affected, so continue the operation.
Error message
Add memory has not enough.
Cause
Data is left in the extended memory.
Measures
Perform program initialization using the TB to clear all data.
Error message
Add memory has same file.
Cause
Add memory has same file name.
Measures
Perform program initialization using the TB to clear all data.
Error message
Loading the parameter file.
Cause
It is necessary to turn the power ON again to reflect the parameters.
Measures
Turn the power OFF and ON once.
Error message
Changed variables weren't saved
Cause
The power was OFF during program execution.
Measures
Don't turn the power OFF during program execution.
Error message
The power was OFF during file saving
Cause
The power was OFF during file saving.
Measures
Don't turn the power OFF during file saving.
Error message
Can't change in RAM mode
Cause
When in RAM mode, the language selection (RLNG) and the enable/disable setting of continuity (CTN)
cannot be changed.
Measures
Please change to RAM mode and perform again.
Error no. C7020
1-27
1Error list
Error No.
L7331
L7332
L7340
L7341
L7342
L7343
C7410
C7420
C7430
C7440
C7500
C7510
C7530
C7540
C7520
Error cause and measures
Error message
Can't change memory size in RAM mode
Cause
Can't change memory size in RAM mode.
Measures
Please change to RAM mode and perform again.
Error message
Can't change to RAM mode in CTN mode
Cause
Can't change to RAM mode in continue mode.
Measures
Please change to RAM mode and perform again.
Error message
Contine function cannot be used in DRAM mode
Cause
Contine function cannot be used in DRAM mode
Measures
Please change to RAM mode and perform again
Error message
Can't change to DRAM mode in CTN mode
Cause
Can't change to DRAM mode in CTN mode
Measures
Please change to RAM mode and perform again
Error message
Global extension cannot be used in DRAM mode
Cause
Global extension cannot be used in DRAM mode
Measures
Please change to RAM mode and perform again
Error message
Can't change to DRAM mode in PRGGBL mode
Cause
Can't change to DRAM mode in PRGGBL mode
Measures
Please change to RAM mode and perform again
Error message
1 month inspection is now
Cause
Carry out the monthly inspection.
Measures
Carry out the 1 month inspection.
Error message
3 month inspection is now
Cause
Carry out the 3 month inspection.
Measures
Carry out the 3 month inspection.
Error message
6 month inspection is now
Cause
Carry out the 6 month inspection.
Measures
Carry out the 6 month inspection.
Error message
1 year inspection is now
Cause
Carry out the 1 year inspection.
Measures
Carry out the 1 year inspection.
Error message
No battery voltage
Cause
The battery is spent.
Measures
Replace the battery of controller and load the data. For more information about the replacement procedure,
refer to the separate volumes, "Controller setup, basic operation, and maintenance.".
Error message
Battery voltage low (R/C)
Cause
The battery will be spent soon.
Measures
Replace the battery of controller. For more information about the replacement procedure, refer to the
separate volumes, "Controller setup, basic operation, and maintenance.".
Error message
Replenishment time of grease
Cause
It seems that grease reached longevity
Measures
Replenish grease
Error message
Exchange time of the belt
Cause
It seems that the belt reached longevity
Measures
Execute the check and the exchange of the belt
Error message
Battery consumption time is over
Cause
The battery will be spent soon.
Measures
Replace the batteries of both the robot arm and controller. For more information about the replacement
procedure, refer to the separate volumes, "Instruction Manual/Robot Arm Setup to Maintenance" and
"Controller setup, basic operation, and maintenance."
1-28 Error no. L7331
1Error list
Error No.
H7600 *
H7601 *
H7602 *
H7603 *
H7604 *
H7605 *
H7606 *
H7607 *
H7608 *
H7609 *
H7610 *
H7611 *
H7612 *
H7613 *
H7620 *
C7630
Error cause and measures
Error message
Illegal parameter (AXMENO)
Cause
The additional axis mechanism No. is incorrect.
Measures
Correct parameter AXMENO and AXUNUM.
Error message
Illegal parameter (AXJNO)
Cause
The additional axis No. is incorrect.
Measures
Correct parameter AXJNO.
Error message
Duplicate parameter (AXJNO)
Cause
The additional axis No. has been used in duplicate.
Measures
Correct parameter AXJNO.
Error message
Illegal parameter (AXUNT)
Cause
The additional axis unit is incorrect.
Measures
Correct parameter AXUNT.
Error message
Illegal parameter (AXACC)
Cause
The additional axis acceleration time is incorrect.
Measures
Correct parameter AXACC.
Error message
Illegal parameter (AXDCC)
Cause
The additional axis deceleration time is incorrect.
Measures
Correct parameter AXDEC.
Error message
Illegal parameter (AXGRTN)
Cause
The additional axis gear ratio numerator is incorrect.
Measures
Correct parameter AXGRTN.
Error message
Illegal parameter (AXGRTD)
Cause
The additional axis gear ratio denominator is incorrect.
Measures
Correct parameter AXGRTD.
Error message
Illegal parameter (AXMOTSET)
Cause
The additional axis motor setting validity flag is incorrect.
Measures
Correct parameter AXMOTSET.
Error message
Illegal parameter (AXMREV)
Cause
The additional axis motor rated speed is incorrect.
Measures
Correct parameter AXMREV.
Error message
Illegal parameter (AXJMX)
Cause
The additional axis motor limit speed is incorrect.
Measures
Correct parameter AXJMX.
Error message
Illegal parameter (AXENCR)
Cause
The additional axis No. of encoder pulses is incorrect.
Measures
Correct parameter AXENCR.
Error message
Illegal parameter (AXJOGTS)
Cause
The additional axis JOG time constant is incorrect.
Measures
Correct parameter AXJOGTS.
Error message
Turn the power OFF and ON once
Cause
It is necessary to turn the power ON again because user mechanism setting has been performed.
Measures
Turn the power OFF and ON once.
Error message
Plural Add-AxisI/F are installed
Cause
This card can install one.
Measures
Use only one of these interface cards.
Error message
No additional-axis card
Cause
No additional-axis card
Measures
Install the additional axis interface card.
Error no. H7600 *
1-29
1Error list
Error No.
H7700 *
H7710 *
H7720 *
L7730
L7731
L7750
H7760 *
L7780
L7781
H7799 *
H7800
H7802 *
H7803 *
H7810
H7820
H7830
Error cause and measures
Error message
Illegal OPTION Slot No.(CC-Link)
Cause
CC-Link Card is installed SLOT1/3.
Measures
Install CC-Link Card in SLOT2.
Error message
Can't set the Master Station
Cause
The CC-Link interface card of the robot cannot be set at the master station.
Measures
Set the rotary switch except 0.
Error message
Plural CC-Link Cards are installed
Cause
This card can install one.
Measures
Use only one of these interface cards.
Error message
CC-Link Data link error
Cause
A communication line error has occurred, or parameter settings on the master station side are invalid.
Measures
Check the wiring, or re-examine parameter settings on the master station side.
Error message
CC-Link Data link error
Cause
A communication line error has occurred, or parameter settings on the master station side are invalid.
Measures
Check the wiring, or re-examine parameter settings on the master station side.
Error message
(CC-Link)No connect cable or illegal parameter
Cause
The cable is not connected, or parameter settings on the master station side do not match.
Measures
Check the cable connection, or power off the system and then restart.
Error message
CC-Link initialization error
Cause
The parameters in the master station do not match.
Measures
Match parameter settings on the master station side, and then restart.
Error message
Illegal CC-Link register number
Cause
The register number entered was out of the range.
Measures
Enter a correct register number according to the station number.
Error message
INPUT signal No. is for CC-Link
Cause
A CC-Link signal number was specified although no CC-Link interface was mounted.
Measures
Install CC-Link card.
Error message
CC-Link System error
Cause
CC-Link System error
Measures
Contact the maker.
Error message
Ethernet card initialization Err
Cause
The Ethernet card is broken.
Measures
Check the Ethernet board.
Error message
Illegal OPTION Slot No. (Ether)
Cause
Ethernet Card is installed SLOT2/3.
Measures
Install the Ethernet Card in SLOT1.
Error message
Plural ethernet cards are installed
Cause
This card can install one.
Measures
Use only one of these interface cards.
Error message
Ethernet NETIP parameter ERR
(NETIP,NETGW,NETPORT,NETPROC,NETLOGIN,NETPSSWD,NETTOUTR,NETTOUTS,MXTCOM1-3)
Cause
Parameter settings are incorrect.
Measures
Correct the parameters.
Error message
MXT/MXScommand timeout
Cause
The setting time of the MXTTOUT parameter has been exceeded.
Measures
Make the MXTTOUT parameter value larger.
Error message
"Ethernet card is not installed, or command disable"
Cause
Ethernet card is not installed, or command disable.
Measures
Install Ethernet interface card.
1-30 Error no. H7700 *
1Error list
Error No.
H7840
H7901
H7902 *
H7903
H7911
H7912
H7913
H7920 *
H7930 *
H7990 *
H8015 *
H8201
H8202
H8203
H8204
H8206
Error cause and measures
Error message
MXT/MXS command Illegal received data
Cause
The command argument and the data type do not match.
Measures
Check the command and the data you are sending.
Error message
OPTION1#1 Parameter illgal
Cause
Correct the parameters.
Measures
Correct the parameters, and then turn the power ON again.
Error message
OPTION1#2 Parameter illgal
Cause
Correct the parameters.
Measures
Correct the parameters, and then turn the power ON again.
Error message
OPTION1#3 Parameter illgal
Cause
Correct the parameters.
Measures
Correct the parameters, and then turn the power ON again.
Error message
OPTION2#1 Parameter illgal
Cause
Correct the parameters.
Measures
Correct the parameters, and then turn the power ON again.
Error message
OPTION2#2 Parameter illgal
Cause
Correct the parameters.
Measures
Correct the parameters, and then turn the power ON again.
Error message
OPTION2#3 Parameter illgal
Cause
Correct the parameters.
Measures
Correct the parameters, and then turn the power ON again.
Error message
Three EX-SIO Cards are installed
Cause
This card can install one or two.
Measures
Reduce these interface cards to one or two.
Error message
Illegal OPTION Slot No.(EX-SIO)
Cause
EX-SIO Card is installed SLOT3.
Measures
Install Expantion Sirial Card in SLOT1/2.
Error message
OptionCard illgal insert
Cause
Check SLOT number
Measures
Turn the power OFF, and then change the slot to mount it.
Error message
Plural Vision I/F are installed
Cause
This card can install one.
Measures
Use only one of these interface cards.
Error message
Illegal param (TPTMMG)
Cause
The TPTMMG parameter setting is illegal.
Measures
Correct the TPTMMG parameter.
Error message
Illegal param (TPERRNO)
Cause
The TPERRNO parameter setting is illegal.
Measures
Correct the TPERRNO parameter.
Error message
Illegal param (TPSIGNO)
Cause
The TPSIGNO parameter setting is illegal.
Measures
Correct the TPSIGNO parameter.
Error message
Illegal param (TRAP)
Cause
The TRAP parameter setting is illegal.
Measures
Correct the TRAP parameter.
Error message
Failed in initialization (trap function)
Cause
Failed in initialization (trap function)
Measures
Turn the power OFF and ON once. When it comes back, contact to the dealer.
Error no. H7840
1-31
1Error list
Error No.
H8207
C8208
L8300
L8310
H8320
H8400
H9000
~
H9099
L9100
~
L9199
C9200
~
C9299
Error cause and measures
Error message
Failed in writing the data(trap function)
Cause
Failed in writing the data.
Measures
Please do the operation over again.
Error message
There is a possibility of the flash ROM breakdown
Cause
The rewriting count of the flash ROM has exceeded 100,000.
Measures
Disable the trap function.
Error message
There are a lot of GETPOS define
Cause
GETPOS function are up to 8.
Measures
Please use the same ACT No. or reset an unnecessary program.
Error message
GETPOS undefined
Cause
GETPOS undefined.
Measures
Please define GETPOS.
Error message
System Error (GETPOS)
Cause
Internal data of GETPOS is illegal.
Measures
Turn the power OFF and ON once.
Error message
CTN data is illegal (PREC or M_LDM)
Cause
CTN data is illegal. It changed to PREC OFF and M_LDM=0.
Measures
Try to set be a PREC mode and M_LDM again.
Error message
User High level error
Cause
A high-level alarm was issued from the robot program.
Measures
Check the program.
Error message
User Low level error
Cause
A low-level alarm was issued from the robot program.
Measures
Check the program.
Error message
User Caution level error
Cause
A warning was issued from the robot program.
Measures
Check the program.
1-32 Error no. H8207
2Appendix
2 Appendix
Appendix 1: Place where fuse replacement is required
(1) Place where fuse replacement is required in the event of error No. H0082 *
Replace the fuse (F1) of the pneumatic hand interface (RZ365/RZ367 card).
Fuse(F1)
(Rating 1.6A)
CR1-571 controller
(RZ386/RZ387 card)
CR2A-572 controller
(RZ326/RZ327 card)
Enlargement
CR2/CR3/CR4/CR7/CR8 controller
(RZ181 card)
Pneumatic hand interface
(RZ365/RZ375 card)
(2) Place where fuse replacement is required in the event of error No. H0083 *
■ When using the CR1-571 controller
Replace the fuse (F1) of the RZ386/RZ387 card.
Fuse(F1)
(Rating 1.6A)
Enlarge
ment
RZ386/RZ387 card
CR1-571 controller
RZ386/RZ387 card
Place where fuse replacement is required Appendix-33
2Appendix
■ When using the CR2A-572 controller
Replace the fuse (F2) of the RZ326/RZ327 card.
Fuse(F2)
(Rating 1.6A)
Enl
ar g
em
ent
RZ326/RZ327 card
RZ326/RZ327 card
CR2A-572 controller
■ When using the CR2/CR3/CR4/CR7/CR8 controller
Replace the fuse (F6) of the RZ181A card.
Fuse(F5)
(Rating 3.2A)
Enlargement
Fuse(F6)
(Rating 1.6A)
R6x2CPU
RZ181A card
Fuse(F7)
(Rating 0.6A)
RZ181A card
Appendix-34 Place where fuse replacement is required
2Appendix
(3) Place where fuse replacement is required in the event of error No. H0084 *
Replace the fuse (F5) of the RZ181A card.
Fuse(F5)
(Rating 3.2A)
Enlargement
Fuse(F6)
(Rating 1.6A)
R6x2CPU
RZ181A card
Fuse(F7)
(Rating 0.6A)
RZ181A card
(4) Place where fuse replacement is required in the event of error No. H0085 *
Replace the fuse (F7) of the RZ181A card.
Fuse(F5)
(Rating 3.2A)
Enlargement
Fuse(F6)
(Rating 1.6A)
R6x2CPU
RZ181A card
Fuse(F7)
(Rating 0.6A)
RZ181A card
Place where fuse replacement is required Appendix-35
HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CABLE MELCO TOKYO
NAGOYA WORKS : 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN
JAN..2005 MEE Printed in Japan on recycled paper.
Specifications are subject to change without notice.