error code tables

error code tables

ERROR CODE TABLES

Vertical articulated V* SERIES

Horizontal articulated H* SERIES

Cartesian coordinate XYC SERIES

Integrated compact type XR SERIES

Options

Vision device

Vision-21 SERIES

Programming support tool WINCAPSIII

Preface

Thank you for purchasing the DENSO robot. This book lists error codes to be displayed on the teach pendant or mini-pendant if an error occurs in the robot series given below. Those error codes are followed by detailed explanation and recovery action to be taken.

If an error occurs, use this book together with the related instruction manuals.

Options

Robot series covered by this book

**-G series robot with RC7 controller - Vertical articulated, V* SERIES

- Horizontal articulated, H*-G SERIES

- Cartesian coordinate XYC-4G SERIES

- Integrated compact type, XR-G SERIES

- Vision device,

Vision-21 SERIES

- Programming support tool WINCAPSIII

CONTENTS

1

Guide to Using This Book ......................................................................................................................................................................................................................................................1

2

Controller Error Code Table .................................................................................................................................................................................................................................................3

1 Guide to Using This Book

1

Guide to Using This Book

This book covers "controller error codes" that would appear on the teach pendant (TP) or mini-pendant (MP) if an error occurs in the robot controller when the robot is in operation.

Those error codes will be followed by error messages.

Errors that could occur in the robot controller may be classified into five levels. Depending upon the error level, the controller's reaction to errors will differ as listed below. If Level 4 error occurs, for example, the controller will output Robot Error signal, stop the program in emergency, switch the motion mode from external to internal, and turn the motor power off.

Note: Level 0 is displayed only for 600C (emergency stop ON).

Error Level List

Level 1

Level 2

Level 3

Error level

Errors when using TP/MP*

1

*

3

Other errors

The robot controller

Outputs this error signal: Makes the program come to: Switches the motion mode: Turns the motor power:

*

3

- - - -

Errors when using TP/MP*

1

*

3

-*

4

- - -

Other errors Robot Warning*

5

Halt - -

- - - -

Off*

2

Off

Off (Restart disabled)

Level 4

Level 5

*

1

If caused during operation with the teach pendant or mini-pendant errors 6000s and run-time errors will be treated in the same way as for "Other errors" listed on the next line.

*

2

If any of errors 6071 to 607B and 6671 to 667B (software motion limit over, out of motion space, or singular point), 607F (figure mismatch), 6081 to 6088

(Jx command speed limit over), and 6AF3 (Interference area detected by J1, 2, 3) occurs when the robot is in operation in Manual mode, then the robot controller will not cut off the motor power.

*

3

External operation is accepted even when a level 1 error or a level 2 or 3 error in TP/MP operation is displayed.

*

4

In version 2.324 or later, if error 21F3 (Enable Auto OFF) in Level 2 occurs, the controller always issues the Robot Warning signal. Note that setting the parameter [65: Warning output (0: Enable, 1: Disable)] to 1 prevents the controller from issuing the signal during teach pendant (TP) or mini-pendant (MP) operation. To access the parameter, use the function keys: [F4 I/O]―[F6 Aux.]―[F1 Set H/W] on the teach pendant screen.

*

5

If any of "Other errors" in Level 2 occurs, the RC7 controller issues a Robot Error or Robot Warning signal depending upon the allocation mode.

Robot Error in the mini I/O dedicated mode; Robot Warning when using a DeviceNet, CC-Link, PROFIBUS, or Parallel I/O board in the compatible or standard mode, in I/O-box compatible or standard mode, or in compatible or standard mode (compatible with RC5).

1

1 Guide to Using This Book

Error level

Outputs this error signal:

Makes the program come to:

Errors when using

TP/MP

Other errors

Robot Warning

Robot Error

Halt

(Instantaneous stop)

Emergency stop

Switches the motion mode:

Turns the motor power:

External

 Internal

Off

Off

(Restart disabled)

Definition of Terms Used in the Error Level List

Errors caused by misoperation of the teach pendant (TP) or mini-pendant (MP) .

Errors caused during program execution, dedicated I/O input operation, or servo operation.

The robot controller will output the Robot Warning signal to the external equipment (e.g., PLC) to tell the occurrence of an insignificant error (Level 2 error).

The robot controller will output the Robot Error signal to the external equipment (e.g., PLC) to tell the occurrence of a fatal error (Level 3 error or higher one).

The robot stops if Level 2 or 3 error occurs.

When decelerating the motor speeds for this stop, the robot traces the same motion path as in the normal motion.

The robot stops in emergency if Level 4 or 5 error occurs.

Each axis motor decelerates at the maximum rate for this stop, so the motion path may be different from that in the normal motion, particularly in CP motion.

If an error occurs in the external automatic mode, then the mode switches to the internal automatic mode.

If the motor power is ON when an error occurs, the controller will turn the motor power OFF.

If the motor power is ON when an error occurs, the controller will turn the motor power OFF.

To restart, you need to turn the controller power OFF and ON. Without it, if you attempt to turn the motor power ON, then error 27A6 "Not executable due to fatal error" will result.

2

2 Controller Error Code Table

2

Controller Error Code Table

Code Message Level Description

1201 Prepare for communication

(unconnected)

1202 Prepare for communication

(unconnected)

4 DeviceNet module operation is normal and connection with the master device is explicitly established, however, the I/O connection is not established.

Remedy

4 The DeviceNet module is operating normally, but I/O connection is not yet established, although the explicit connection with the master device is established.

Establish a connection from the master device.

If the network connection can be established even after this error that occurred during a power-on sequence, then increase the wait time for network error detection.

Establish connection from the master device.

1203 Prepare for communication (idle status)

1204 Prepare for communication (I/O timeout)

1205 Robot access failure in DPRAM

120A Slave exclusive flag failure

120B DeviceNet master exclusive flag failure

120C The network error cleared

1210 DeviceNet internal communication error

1213 Disconnected/bus-off state

4

4

The DeviceNet module is operating normally, but only empty data has been received from the master device within the specified time period.

The DeviceNet module is operating normally, but no data has been received from the master device within the specified time period.

Check the contents of the I/O data sent from the master device.

If the network connection can be established even after this error that occurred during a power-on sequence, then increase the wait time for network error detection.

Check and ensure that (a) there is no broken wire in the network cable, (b) the connectors are properly inserted, (c) the cable length is within the limit, and (d) the termination resistor is properly installed at the right position.

If the network connection can be established even after this error that occurred during a power-on sequence, then increase the wait time for network error detection.

Power the controller off and on for restart. 4 The robot cannot access the DPRAM on the DeviceNet or CC-Link board.

4 Any exclusive flag of the DeviceNet slave station or the communications processor in the CC-Link remote device is not set normally.

Check that the DeviceNet slave board or CC-Link remote device board is correctly installed. If the error persists, the board may be damaged.

4 The exclusive flag of DeviceNet master communication processor is not working normally.

Check the connection of the DeviceNet master board. If the error persists, the board may be defective.

3 An network error on the DeviceNet, PROFIBUS or CC-Link has been removed.

Carry out the error removal process with the teach pendant, operating panel, or external equipment.

4 Communications data is abnormal due to noises. Turn the robot controller power off and then on. Retry the operation.

1215 Prep. to communicate(initial set error)

4 Network cable is disconnected or bus is OFF (network not connected).

Verify that the cable connector is securely plugged in at the robot side.

If this error occurs after you change the DIP switch settings, verify that the network communication speed matches DIP switch settings.

4 DeviceNet communication process part did not receive initial setting from the controller.

Verify that the network communication speed matches the DIP switch settings.

3

2 Controller Error Code Table

Code Message Level

1216 Transfer data length abnormal

1217 Same node No. specified duplication

1218 FlashRom BCC error

1219 Parameter information area error

121A Robot control area error

Description

4 The number of input/output slots for DeviceNet exceeds the specified range.

Remedy

Change the input slot number for DeviceNet to one of 8-32, and that of output slot to one of 7-32, turn the control power OFF and then ON again.

Change the node number so that the node number of the controller does not overlap other nodes.

4 Controller node number is overlapped with another node in the online status.

4 A BCC error has occurred in the flash ROM on the DeviceNet board. Power the controller off and on for restart.

4 A data error has occurred in the parameter information area on the

DeviceNet board.

Power the controller off and on for restart.

4 A data error has occurred in the Robot Controller's control area on the DeviceNet board.

Power the controller off and on for restart..

121D Scanlist data table error 4 A data error has occurred in the scan list data table on the DeviceNet board.

Power the controller off and on for restart.

Power the controller off and on for restart. 121E Scanlist mapping information area error

4 A data error has occurred in the scan list mapping information area on the DeviceNet board.

121F The reset service request received 1 The DeviceNet board received a reset service request.

4 DeviceNet master initialization did not end normally.

The DeviceNet board resets itself and automatically starts communication.

Turn off the power switch of the controller and then restart operation. 1221 Busy time of Master exceeded setup value

1222 Master failed in the scanlist formation

4 Scan list creation processing of the DeviceNet master failed. Perform scan list creation processing again.

1223 Serial number is un-decision

1224 The setup of master board is unusual

1225 Serial number change failure

1226 EPR change failure

1227 ISD change failure

1228 Scanlist change failure

1229 Master FlashROM failure (serial

No)

122A Master FlashROM failure (EPR)

4

4

No serial number is decided for the DeviceNet master.

Abnormal setting information is defined in the DeviceNet master.

4 Serial number rewriting failed due to any factor in the DeviceNet master.

4 EPR rewriting failed due to any factor. Perform EPR rewrite processing again.

4 ISD rewriting failed due to any factor in the DeviceNet master. Perform ISD rewrite processing again.

4 Scan list rewriting failed due to any factor in the DeviceNet master.

Perform scan list rewrite processing again.

4 A serial number could not be written normally in Flash ROM of the

DeviceNet master.

4 EPR could not be written normally in Flash ROM of the DeviceNet master.

Enter a serial number from the teach pendant.

Turn OFF the power switch of the controller once and restart operation.

Perform serial number rewrite processing again.

Turn OFF the power switch of the controller, confirm whether the board is securely inserted, and perform the same processing again.

Turn OFF the power switch of the controller, confirm whether the board is securely inserted, and perform the same processing again.

4

2 Controller Error Code Table

Code Message Level

122B Master FlashROM failure (ISD)

Description

4 ISD could not be written normally in Flash ROM of the DeviceNet master.

Remedy

Turn OFF the power switch of the controller, confirm whether the board is securely inserted, and perform the same processing again.

122C Master FlashROM failure (scanlist) 4 A scan list could not be written normally in Flash ROM of the

DeviceNet master.

122D DeviceNet Master board doesn't exist

122F DeviceNet IDLE state

2

4

An attempt was made to change DeviceNet master board data to a controller without DeviceNet master board.

The DeviceNet board is not sending or receiving I/O data.

1230 Robot access failure in

DPRAM(slave)

1231 EtherNet/IP Hardware Revision

Error

1232 Reset command receiving state

4 The robot controller cannot access the DPRAM in the DeviceNet slave module or on the CC-Link remote device board.

2 The revision of the connected EtherNet/IP board is not compatible with the controller.

CIFX other than CIFX50-RE\DENSO or the latest version of

CIFX50-RE\DENSO which is not supported with this ROM image is connected.

4 A reset command was received from the master device.

1237 DeviceNet internal EEPROM failure

1238 Slave board access failure in

DPRAM

1239 Out of set output range

123A Out of set input range

4 An EEPROM error was detected in the self-check of the communications unit.

4 The communication software in the DeviceNet slave station or

CC-Link remote device cannot access the DPRAM.

Turn OFF the power switch of the controller, confirm whether the board is securely inserted, and perform the same processing again.

Install the DeviceNet master board to the controller and perform the same operation.

Turn the controller power off and then on. Retry the operation.

Restart the robot controller and then try the operation again.

If the controller is equipped with CIFX other than CIFX50-RE\DENSO, mount CIFX50-RE\DENSO.

If the controller is equipped with the latest version of

CIFX50-RE\DENSO, update the ROM image.

Restart the robot controller and then try the operation again.

1233 Restart before using EtherNet/IP 2 Once the controller is connected to the EtherNet/IP board and started up, a EtherNet/IP board specification confirmation is initiated.

After the specification confirmation, the controller needs to be restarted.

The specification confirmation will not be executed after restart.

Restart the controller.

1234 DeviceNet internal RAM failure

1235 EtherNet/IP Command Timeout

Error

1236 DeviceNet internal DPRAM failure

4 A RAM error was detected in the self-check of the communications unit.

4 An exclusive access processing timeout has occurred since multiple tasks accessed the Ethernet/IP board.

4 A DPRAM error was detected in the self-check of the communications unit.

Restart the robot controller and then try the operation again.

Press [F4 I/O]-[F6 Aux.]-[F1 Set H/W] to call up the I/O Hardware

Settings window. Increase the values of "77: Ethernet/IP Input

Timeout" and "78: Ethernet/IP Output Timeout".

Restart the robot controller and then try the operation again.

Restart the robot controller and then try the operation again.

Restart the robot controller and then try the operation again.

2 Output address is out of the specified range, therefore, output is not available.

Check output address.

2 Input address is out of the specified range, therefore, input is not available.

Check input address.

5

2 Controller Error Code Table

Code Message Level

123B EtherNet/IP error

123C Prepare for EtherNet/IP communication

123D The EtherNetIP connection was closed

123E EtherNet/IP error

123F EtherNet/IP Runtime error

1240 Slave I/O area overlaps

1241 I/O area range over

1242 Non-registrable slave detection

1243 Registered slave doesn't exist

Description

4 An error has occurred in the Ethernet/IP module.

4 The Ethernet/IP module is operating normally, but the connection with the master device has not been established yet.

4

4

4

4

4

4

4

The I/O connection with the master device has been broken.

An error has occurred in the Ethernet/IP module.

A runtime error has occurred in the Ethernet/IP module.

An invalid node address is specified for the slave.

The slave I/O area exceeds the valid range.

The I/O size of one slave exceeds 64 bytes.

No slave is registered in the scan list.

Remedy

Restart the controller and retry the operation.

Establish a connection from the master device. Also check that there is no Ethernet cable breakage or other Ethernet problems.

If the network connection can be established even after this error has occurred during a power-on sequence, then increase the wait time for network error detection.

Establish a connection from the master device. Also check that there is no Ethernet cable breakage or other Ethernet problems.

Restart the controller and retry the operation.

Restart the controller and retry the operation.

Specify a node address again so that the slave I/O area is not overlapped.

Correct the node address so that the I/O area does not exceed the valid range.

Specify the I/O size with 64 bytes or fewer again.

Register slave information into the scan list by teach pendant operation.

1244 Inconsistent IO slave size

1245 No response from slave

1246 MACID overlaps

1247 BusOff condition is detected

1248 No network power supply

1249 CAN transmission time out

4 The I/O size of the slave unmaches one registered in the scan list. Rescan from pendant or return the I/O size of the lave to the registered one.

4 No response was returned from the slave.

4 The node address of this node is used by another node.

4 Network entered communication disabled state.

4 No DeviceNet network power is supplied.

4 Transmission to the CAN chip failed on the DeviceNet master.

Normally operate the abnormal slave.

Change the node address of either node.

Turn OFF the power switch of the controller and restart operation.

Confirm the network power supply line.

Locate and solve the problem occurring on the network.

This error can happen when there is no other node in the network and the network is powered on.

Power the controller off and on for restart. 124A DeviceNet RAM failure 4 The DeviceNet's communications software detected a hardware error of RAM.

124B DeviceNet master ROM failure 4 DeviceNet master communication part software detected a ROM hardware error.

124C DeviceNet master DPRAM failure 4 DeviceNet master communication part software detected a DPRAM hardware error.

Turn OFF the power of the controller and restart operation.

Turn OFF the power of the controller and restart operation.

6

2 Controller Error Code Table

Code Message Level

124D DeviceNet board access failure in

DPRAM

Description Remedy

4 The DeviceNet's communications software cannot access DPRAM.

Power the controller off and on for restart.

Turn OFF the power of the controller and restart operation.

Turn OFF the power of the controller and restart operation.

124E Robot side setup bit failure

124F Master communication start is unusual

125C EtherNet/IP internal EEPROM failure

125D EtherNet/IP address specified twice

125E EtherNet/IP board initialization error

125F EtherNet/IP configuration error

1268 EtherNet/IP communication error

1269 EtherNet/IP receiving timeout

126A CIF board access error

126B CIF board DPRAM access error

126C CIF board initialization error

126D CIF board watchdog error

126E Failed CIF board resetting

126F Network is not established

127A CIF board failure

4 The robot set an invalid bit in the DeviceNet master.

4 An error occurred in network communication processing at initialization of the DeviceNet master.

4 Self-check of the Ethernet/IP module has detected an EEPROM error.

4 The same IP address has been double assigned to the Ethernet/IP module and any other device.

4 The initialization process of the Ethernet/IP module has not completed normally.

4 The Ethernet/IP module has not accepted initial settings sent from the controller.

4 A communications error has occurred during communication with the Ethernet/IP module.

4 A timeout has occurred during data reception from the Ethernet/IP module.

5 Failed to access the CIF board.

5 Failed to access the DPRAM on the CIF board.

5 Failed to initialize the CIF board.

5 An error has occurred in the watchdog timer on the CIF board.

5 Failed to reset the CIF board.

4 On the CIF board, no network (e.g., PROFIBUS) has been established.

5 A CIF board error has occurred.

127B CIF board message send time out 5 During message transmission from the CIF board, a timeout has occurred.

Restart the controller and retry the operation.

Change the IP address of either one.

Restart the controller and retry the operation.

Check the configuration of the Ethernet/IP module.

Check that there is no Ethernet cable breakage or other Ethernet problems.

1. Check that there is no network failure.

2. Check the network configuration.

Restart the controller.

Restart the controller. If the error persists, the CIF board may be defective.

Restart the controller. If the error persists, the CIF board may be defective.

Restart the controller. If the error persists, the CIF board may be defective.

Restart the controller. If the error persists, the CIF board may be defective.

(1)Check the connection of the line.

(2)Check the network settings (e.g., node address).

(3)Check lines for breaks.

Restart the controller. If the error persists, the CIF board may be defective.

Restart the controller. If the error persists, the CIF board may be defective.

7

2 Controller Error Code Table

Code Message Level

127C CIF board message received time out

127D communication watchdog is invalid

127E Network configuration mismatch

127F CIF board Initializing

128A CC-Link board error at power on

Description Remedy

5 During message reception on the CIF board, a timeout has occurred. Restart the controller. If the error persists, the CIF board may be defective.

4 The communications watchdog timer is set to "Disable." Set the watchdog timer to "Enable"; otherwise, the system cannot check whether the network is established.

Check the network settings (e.g., module type). 4 The configuration data sent from the master unit mismatches that preset in the slave unit.

4 You attempted to perform any operation that is not allowed during initialization of the CIF board.

4 When turned on, the robot controller has detected a hardware error on the CC-Link remote device board.

Wait for approx. 20 seconds and then retry the operation.

Restart the robot controller and then try the operation again.

128B CC-Link <- controller handshake error

128C CC-Link DPRAM data error

128D CC-Link communication error

128E CC-Link station number error

4 An error has occurred in the process of exchanging the status information between the controller and CC-Link remote device board.

Restart the robot controller and then try the operation again.

4 A data error has occurred in the DPRAM. on the CC-Link remote device board.

4 CC-Link does not operate.

Restart the robot controller and then try the operation again.

1.Check that the CC-Link settings made in the controller are not discrepant from those in the master station.

2.Check that the CC-Link cable is not broken or the connector is plugged in.

3.Check that there is no welding machines or machinery emitting electric noise near the robot unit or its controller.

In addition to the above check points, check the status of the LEDs on the front of the CC-Link remote device board.

Set it within the specified range. 2 "Remote station address + (Number of local stations - 1)" is out of the range from 1 to 63.

2 The transmission rate switch is set to any position other than 0 to 4. Set the transmission rate switch to any of the 0 to 4 positions. 128F CC-Link communication speed error

1298 EtherNet/IP sending timeout

1299 EtherNet/IP licence error

129A CC-Link occupied stations error

4 A timeout has occurred during data transmission to the Ethernet/IP module.

4 The Ethernet/IP module lacks the license.

1. Check that there is no network failure.

2. Check the network configuration.

Check the license of the Ethernet/IP module added.

4 The number of local (occupied) stations is out of the range from 2 to

4.

Set it within the specified range.

8

2 Controller Error Code Table

Code Message Level

129B CC-Link CRC error

129C CC-Link initialization error

129D CC-Link check sum error

Description

1 The CC-Link board detected a CRC error. The data containing a

CRC error will not be read into the controller; only data correctly received will be read. Therefore, no abnormal robot operation will result.

5 Failed to initialize the CC-Link board.

129E CC-Link board access failure in

DPRAM

15A0 Received data error

5 A check-sum error has occurred in the flash ROM on the CC-Link

Remote Device board.

4 The robot cannot access the DPRAM on the CC-Link Remote

Device board.

3 Received data includes an error.

Remedy

1.Check that there is no welding machine or machinery emitting electric noise near the robot unit or its controller.

2.Check that the termination resistor is set in place.

3.Check that the cable length is proper.

Turn the controller power off and then on. Retry the operation.

Power the controller off and on for restart.

Power the controller off and on for restart.

15A1 Receiving timeout

15A2 Sending timeout

15A3 Receiving buffer overflow

15A4 Received delimiter error

15A5 Serial port communication error

15A6 Ethernet communication error

15A8 Packet failure

15A9 Communication data error

3 Receiving timeout occurred.

3 Sending timeout occurred.

3 The number of receiving data exceeded available input number.

3 Received separate code (delimiter) is not correct.

5 Communication error occurred due to excess retry number.

5 Communication error occurred due to excess retry number.

1 Communication packet failed.

1 Communication error occurred due to excess NAK retry number.

1.Check the communication settings.

2.Check the number of communication data.

3.Turn power OFF and then back ON.

1.Change the receiving timeout time.

2.Check the communication cable.

3.Turn OFF the power and turn it ON.

1.Change the receiving timeout time.

2.Check the communication cable.

3.Turn power OFF and then back ON.

1.Check the communication setting.

2.Check the number of communication data.

3.Turn power OFF and then back ON.

1.Check the delimiter.

2.Check the number of communication data.

3.Turn power OFF and then back ON.

1.Change the number of communication retries.

2.Check the communication cable.

3.Turn the power OFF and then back ON.

1.Change the number of communication retries

2.Check the communication cable.

3.Turn power OFF and then back ON.

1.Check the communication setting.

2.Check the number of communication data.

3.Turn power OFF and then back ON.

1.Change the number of NAK communication retries.

2.Check the communication cable.

3.Turn power OFF and then back ON.

9

2 Controller Error Code Table

Code Message Level

15AA Same IP address specified twice

2003 Value out of range

2004 CAL not executed

Description Remedy

2

3

IP address is overlapped.

A numeric value given as process parameter was out of range.

2 Attempt was made to execute a process executable after completion of CAL.

Set IP address so that it does not overlap.

Designate a value in the designated range before executing the process again.

Execute CAL before executing the process again.

2005 Manual mode not selected

2006 Turn ON the motor power

2008 Robot stop is activated

200A Turn OFF the motor power

200B Robot is running

2019 Cannot turn on power during turn off

201E Machine lock ON

202E mini I/O data error

202F Controller specifications error

2031 Program not found

3 The specified command can be executed only in the manual mode.

Select the manual mode and retry.

2 Attempt was made to execute a process executable with the motor power ON.

Turn ON the motor power before executing the process again.

Turn OFF the robot stop status before executing the process again. 2 Attempt was made to execute a process that is not available in the robot stop ON status.

2 Attempt was made to execute a process that is not available in the motor power OFF status.

Turn OFF the motor power before executing the process again.

2 You attempted to perform any operation that is not allowed when the robot is in operation.

Wait for the robot to stop and then start the desired operation.

3 You attempted to turn the motor power ON while motor turning OFF sequence is in progress.

Wait for the motor turning OFF sequence to complete and then turn the motor power on.

Use the teach pendant to release the machine lock. 2 You attempted to switch the motion mode in machine lock state by using the operating panel.

5 Data error from the mini I/O occurred.

4 1.The robot type does not match the controller type.

2.The controller's encoder processor does not support the selected robot type.

Check that there is no noise source (e.g., welding machine) near the robot unit or controller. And restart the controller.

1.Make a suitable combination of the robot unit and controller, then restart the controller.

2.Update the encoder processor program to match the program version with the robot type, then restart the controller.

2 Object program for process execution was not found. 1.Check if the wrong program number is designated.

2.Check if a program was loaded after it was transmitted or compiled.

3.Check if a transmit error occurs when the execution form file is sent from WINCAPSIII to the controller.

4.Check if an error has occurred during compiling by the controller.

5.Create the execution form file again by using WINCAPSIII or the controller. Disable the DATE INSPECTION option in WINCAPSIII at this time.

6.Check if the status of the command area and the data area are settled when the strobe signal rises in the standard mode.

7.Check if the program select signal status is settled when the program start signal rises in the compatible mode.

10

2 Controller Error Code Table

Code Message Level

2032 Data area 1 remains undefined

2033 I/O parity error occurred

2034 Internal I/O out of range

2035 Data area remains undefined

203C CPU overheated

203D Power supply error

203E Power supply A watchdog error

203F Power supply B watchdog error

204D Power supply communication time-out

207B Cannot move to this position

20F1 Semaphore creation error

20F2 Semaphore taking error

2103 Time to change controller backup battery

Description

2 The content of data area 1 is undefined by the program motion command in the standard I/O mode.

4 Failed to communicate with the power supply system.

2 The point read is a singular point.

5 An error has occurred when the controller attempted to create the semaphore.

5 An error has occurred when the controller attempted to get semaphore.

1 It is time to replace the backup battery in the controller.

Remedy

1.Execute again after correcting the status of data area 1.

2.Check if the status of data area 1 is settled when the strobe signal rises.

3 The parity bit status of system-I/O input only is not an odd parity.

2 Attempt was made to read or write in an area other than the internal

I/O using the standard I/O read and write commands.

Correct so that I/O read and write objects are in the internal I/O range.

2 The data area is not yet defined by I/O commands.

Set the parity bit status so that the number of bits which are ON in the system input only I/O and the parity bits of the I/O parity calculation object are odd.

2.Set the parity parameter of I/O hardware setting to invalid if no parity bit is detected.

3.Check if the status of the command area and data area are settled when the strobe signal rises in the standard mode.

4.Check if the program select signal status is settled when the program start signal rises in the compatible mode.

1.Define the data area properly and then try again.

2.Make sure that the data area is properly defined before the strobe signal is turned on.

Wait for the internal temperature to decrease. 4 The internal temperature inside the CPU has exceeded the predetermined value.

5 Failed to start the power supply system. If the error persists after rebooting the controller, you need to investigate or repair the controller.

5 A watchdog error occurred in power supply A.

5 A watchdog error occurred in power supply B.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

Set the reading point to a point other than a singular point.

Turn the controller power off and then on. Retry the operation.

Turn the controller power off and then on. Retry the operation.

Replace the controller backup battery and set the date for the next inspection of the battery.

11

2 Controller Error Code Table

Code Message Level

2106 Backup battery low voltage

2107 Backup memory failure

Description

4 The voltage level of the backup battery for the memory containing manager files has dropped below the specified level. Therefore, those manager files may be defective.

It is impossible to turn the motor on or start programs until any recovery process is followed.

4 An error has occurred in the backup memory containing manager files. Therefore, those manager files may be defective.

It is impossible to turn the motor on or start programs until any recovery process is followed.

Remedy

Contact your DENSO representative.

Contact your DENSO representative.

217D Internal processing delay

217E Internal processing error

217F Pendant mode switch is not Auto

2187 Communication error with TP or

OP or MP

3 1.A delay has occurred in message processing because one of

PRINTMSG, HOLD, HALT or PRINTLBL commands have been executed sequentially in the PAC program.

2.A delay has occurred in message processing because "Clear

Robot Error" commands of I/O commands have been sequentially executed.

3.A delay has occurred in message processing because "Clear

Robot Error" commands from an ORiN application have been sequentially executed.

5 An error occurred in message processing.

1.Modify the PAC program (e.g. add DELAY commands) so that the corresponding commands are NOT executed sequentially.

2.Modify the PLC ladder so that "Clear Robot Error" commands of I/O commands are NOT executed sequentially.

3. Modify the program so that "Clear Robot Error" commands from an

ORiN application are NOT executed sequentially.

Turn OFF the power switch on the controller and restart the operation.

3 An operation through an I/O device was attempted while the pendant switch is not in Auto mode. That is, you attempted to execute

"Operation preparation start" or "Program start" in compatible mode or an I/O command in standard mode.

To execute an I/O operation other than error removal, set the pendant mode switch to Auto.

4 A communication error has occurred between the teach pendant and the controller.

Possible causes are:

1. Pendant cable broken, short-circuited, or loosely connected.

2. Teach pendant defective.

Check the following, reconnect the teach pendant, and restart the controller.

If the error persists, contact the DENSO Robot Service Section.

1. The pendant cable is correctly connected, without damage or short-circuit.

2. The teach pendant is not broken or damaged.

21B9 Local variable editing 2 You attempted to carry out any operation not allowed during editing of local variables.

After completion of local variable editing, retry the operation.

21BA Interference check execution error 4 An error was detected during the execution of an interference check. Check the interference check setting.

Ensure also that the IO port number of the destination is set to general output or internal IO.

21BB Loading

21BC Compiling

21BD Program editing

2

2

2

This operation is not available during loading.

This operation is not available during compiling.

This operation is not available during program editing.

Execute this operation after loading is finished.

Execute this operation after compiling is finished.

Execute this operation after program editing is finished.

12

2 Controller Error Code Table

Code Message Level

21BE Parameter editing

21BF Not executable while robot is suspended

21C0 Subtraction error

Description

2 This operation is not available during parameter editing.

2 Variable cannot be moved during robot suspension.

5 Controller internal error.

21C1 Debug exception

21C2 NMI interruption

21C3 Break point

21C4 INTO command overflow

21C5 Boundary check fault

21C6 Illegal operation code

21C7 Device not usable

21C8 Double fault

21C9 Coprocessor segment over

21CA Illegal TSS

21CB Illegal segment

21CC Stack segment fault

21CD General protection exception

21CE Page exception

21CF (Intel reservation)

21D0 Coprocessor error (overflow)

21D1 Adjustment check

21D2 Only signal handler was called

21D3 Error occurred

21D4 Cannot operate from TP

21D5 Cannot operate from PC

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 Controller internal error.

5 1. Digit overflow occurred in the program.

2. Controller internal error.

5 Controller internal error.

5 Controller internal error.

1 Attempt was made to execute a process that is not allowed when another error occurs.

1 Attempt was made to execute a process not executable from the teach pendant, mini-pendant or operating panel.

1 Attempt was made to execute a process not executable from a personal computer.

Remedy

Execute this operation after parameter editing is finished.

Release the robot suspension status.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

1. Reboot the controller and correct the digit overflow.

2. Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Turn OFF the controller power switch and restart the operation.

Clear the current error before executing the process again.

Execute from a usable device (I/O device or personal computer).

Execute from a device (I/O device, teach pendant, mini-pendant or operating panel).

13

2 Controller Error Code Table

Code Message Level Description

21D6 Cannot operate from external I/O 1 Attempt was made to execute a process not executable from the external I/O.

21D7 Select dummy I/O mode

21D8 Release dummy I/O mode

21D9 Hand cable disconnected

21DB Failure to allocate memory

21DC Internal task stopped

Remedy

Execute from a usable device (personal computer, teach pendant, mini-pendant or operating panel).

1 Attempt was made to execute a process executable only in the dummy I/O mode.

1 Attempt was made to execute a process not executable in the dummy I/O mode.

Select the dummy I/O mode before executing the process again.

Release the dummy I/O mode before executing the process again.

3 With the "Hand IO. interruption" parameter being set to "1: Valid," the

HAND I/O signal was turned from ON to OFF. (This error code is only for the RC5 controller.)

The "Hand IO. interruption" parameter is not usually used, so set it to

"0: Invalid" (factory default).

Access: [F4 I/O]—[F6 Aux.]—[F1 Set H/W]—"5: Hand IO. interruption"

3 An attempt to allocate process memory was made to stop a batch of programs, but the attempt failed.

Turn OFF the controller power switch and restart the operation.

5 The internal process task failed and the stop status activated, therefore, processing was aborted.

Turn OFF the controller power switch and restart the operation.

21DD Undefined I/O device

21DE Release machine lock

21DF Activate machine lock

21E0 Program is running

21E1 All programs stopped

21E2 Cannot execute in manual mode

2 Attempt was made to operate a device not defined as an I/O device. Turn OFF the controller power switch and restart the operation.

2 Attempt was made to execute a process not executable in machine lock status.

Release machine lock before executing the process again.

Select machine lock before executing the process again. 2 Attempt was made to execute a process executable only in machine lock status.

2 Attempt was made to execute a process not executable during program running.

Terminate all the programs before executing the process.

Run the program before executing the process again after. 2 Attempt was made to execute a process executable only during program running.

2 Attempt was made to execute a process not executable in the manual mode.

Select a mode other than the manual mode before executing the process again.

21E3 Select manual mode

21E4 Cannot execute in teach check mode

21E5 Select teach check mode

2 Attempt was made to execute a process executable only in the manual mode.

2 Attempt was made to execute a process not executable in the teach check mode.

2 Attempt was made to execute a process executable only in the teach check mode.

Select the manual mode before executing the process again.

Select a mode other than the teach check mode before executing the process again.

Execute again after selecting the teach check mode.

21E6 Cannot execute in automatic mode 2 Attempt was made to execute a process not executable in the automatic mode.

21E7 Select automatic mode 2 Attempt was made to execute a process executable only in the automatic mode.

Select a mode other than the automatic mode before executing the process again.

Select the automatic mode before executing the process again.

14

2 Controller Error Code Table

Code Message Level Description

21E8 Cannot execute in external mode 2 Attempt was made to execute a process not executable in the external mode.

21E9 Select external mode

21EA CAL has been executed

21EB Release the deadman switch

21EC Press the deadman switch

Select a mode other than the external mode before executing the process again.

Remedy

2 Attempt was made to execute a process executable only in the external mode.

2 Attempt was made to execute a process executable only before CAL processing.

Select the external mode before executing the process again.

Turn OFF the power switch and back ON and execute the process before executing CAL.

Release the deadman switch before executing the process again. 2 Attempt was made to execute a process not executable with the deadman switch ON.

2 Attempt was made to execute a process executable only with the deadman switch ON.

Press the deadman switch before executing the process again.

21ED Robot stop OFF

21EE Halt ON

21EF Halt OFF

21F0 Step stop ON

21F1 Step stop OFF

21F2 Enable Auto ON

21F3 Enable Auto OFF

21F4 Undefined I/O command

21F5 Same program is running

21F6 Can't change speed while program running

2 Attempt was made to execute a process not executable with the robot stop status OFF.

Turn ON the robot stop status before executing the process again.

2 Attempt was made to execute a process not executable with the halt

I/O input ON.

Turn OFF the halt I/O input before executing the process again.

2 Attempt was made to execute a process not executable with the halt

I/O input OFF.

Turn ON the halt I/O input before executing the process again.

2 Attempt was made to execute a process not executable with the step stop I/O input ON.

Turn OFF the step stop I/O input before executing the process again.

2 Attempt was made to execute a process executable with the step stop I/O input OFF.

Turn ON the step stop I/O input before executing the process again.

2 Attempt was made to execute a process executable with the automatic enable I/O input ON.

2 Attempt was made to execute a process not executable with the automatic enable I/O input OFF.

Turn OFF the automatic enable I/O input before executing the process again.

Turn ON the automatic enable I/O input before executing the process again.

2 The status of the command area was not defined using the standard mode I/O.

1.Check if the status was defined as an I/O command.

2.When the strobe signal is input, Check if the I/O command area status is secured.

2 During program execution, Attempt was made to execute the same program again.

2 During program execution, a speed change command was received from the external device. However, it failed.

Reconsider the process so that the same program does not start during program execution.

Change after the motion is finished, because changing the speed from the external device is prohibited during program execution.

15

2 Controller Error Code Table

Code Message Level

21F7 Cannot take arm semaphore

21F8 Cannot release arm semaphore

Description

4 1.A task having no arm semaphore tried to execute robot motion-related commands.

2.Attempt was made to take arm semaphore but another task already had the arm semaphore.

4 Attempt was made to release the arm semaphore although another task has already taken the arm semaphore.

Remedy

1.Take the arm semaphore with the TAKEARM statement, and execute the robot motion related commands.

2.Change the programs so that multiple programs do not attempt to take the arm semaphore at the same time.

Edit the program so that the task that took the arm semaphore with the

TAKEARM statement also releases the arm semaphore.

21F9 Cannot take vision semaphore 4 1.A task having no vision semaphore tried to execute vision related commands.

2.Attempt was made to take the vision semaphore although another task already took the vision semaphore.

1.Execute vision-related commands after taking semaphore using the

TAKEVIS statement.

2.Change so that multiple programs do not attempt to take the vision semaphore at the same time.

21FA Cannot release vision semaphore 4 Attempt was made to release the vision semaphore although another task has already taken the vision semaphore.

21FB Reserved output area writing error 3 An attempt was made to access a write-inhibited system area.

Edit the program so that the task that took the vision semaphore with the TAKEVIS statement also releases the vision semaphore.

Check the output address.

21FC Enable Auto signal OFF

21FD Enable Auto signal ON

21FE Power OFF during compiling

2 In the internal and external mode, the external automatic enable signal turned OFF.

2 In the manual and teach check mode, the external automatic enable signal turned ON.

4 The controller power supply turned OFF during compiling.

Match the select SW and the external automatic enable signal status and then determine the mode.

Match the select SW and the external automatic enable signal status and then determine the mode.

Compile again or transfer an execution file from WINCAPSIII.

2200 I/O execution fail

220F I/O device changed

4 Failed to process I/Os.

5 The status or configuration of I/O devices has been changed since the last operation. (Example: A new DeviceNet Slave board has been mounted.)

2220 Not available I/O option board set 4 The combination of the I/O devices is not suitable.

Example: DeviceNet and CC-Link are not compatible in a controller.

222E Communication to restart failed

(master)

2 Communication of the DeviceNet master restarted after parameter change, but it failed.

2250 Cancel b-CAP slave mode

2254 Cannot execute in b-CAP slave mode

Turn the controller power off and then on. Retry the operation.

Update the I/O status and configuration settings and then restart the controller.

Make a suitable combination of I/O devices.

Confirm whether the cable connected to the DeviceNet master board is loosened, and restart communication by rescanning.

4 The b-CAP slave mode has been canceled because a stop command (Emergency stop, Halt, or Step stop) was entered to all

PAC programs or an error occurred in the b-CAP slave mode.

To run the robot in the b-CAP slave mode, execute "Switch to b-CAP slave mode" command (slvChangeMode) again.

4 Attempted to perform any operation that is not allowed in the b-CAP slave mode.

Cancel the b-CAP slave mode and retry the operation.

16

2 Controller Error Code Table

Code Message Level

2257 Media read CRC error

Description Remedy

5 Reading failed due to abnormal check sum in CRC of the read data. 1 Check to see that the FG (frame ground) terminals of the robot body and controller are grounded.

2 Check to see that there is no noise-generating equipment (welder, etc.) near the robot body and controller.

3 Operate the robot again after turning the controller power off once.

4 If the same error occurs again, the data is destroyed. Manually input the setting data again.

225B DeviceNet master data is not found 2 The controller power was turned OFF during compilation.

2280 Maximum connection of USB was exceeded

1 Connecting a USB device to the robot controller has exceeded the maximum number of USB device connection times allowed with the controller power turned on.

Compile again or transfer an execution file from WINCAPSIII.

To access the USB device, reboot the robot controller and then connect the USB device again.

2281 USB cannot be recognized

2282 USB cannot be connected at the same time

1 The robot controller cannot find the USB device since the USB device has been removed without being released.

1 You attempted to connect such a USB device that cannot share the controller with one previously connected.

2283 USB was detached without release 1 The USB device has been disconnected without being released. The controller cannot access any USB device until you reboot the controller.

(You should release the USB device first and then disconnect it.)

2284 COM2 has no privilege of running. 3 Attempted to turn motors ON and run PAC programs via COM2 although COM2 has no permission to do so.

2285 COM3 has no privilege of running.

2286 COM4 has no privilege of running.

3

3

Attempted to turn motors ON and run PAC programs via COM3 although COM3 has no permission to do so.

Attempted to turn motors ON and run PAC programs via COM4 although COM4 has no permission to do so.

To access the USB device, reboot the robot controller and then connect the USB device again.

Do not connect more than one data storage USB device such as a

USB FDD to the controller.

To access the USB device, reboot the robot controller and then connect the USB device again.

Permission for external run can be given to any one of the following:

COM2, COM3, COM4, Ethernet, and I/O. Select COM2 on the teach pendant screen called up by pressing [F6 Set]-[F5 Set Com.]-[F6

Ext.Run] or on the mini-pendant screen called up by pressing

[COM]-[Ext.Run]-[Ext.Run].

Permission for external run can be given to any one of the following:

COM2, COM3, COM4, Ethernet, and I/O. Select COM3 on the teach pendant screen called up by pressing [F6 Set]-[F5 Set Com.]-[F6

Ext.Run] or on the mini-pendant screen called up by pressing

[COM]-[Ext.Run]-[Ext.Run].

Permission for external run can be given to any one of the following:

COM2, COM3, COM4, Ethernet, and I/O. Select COM4 on the teach pendant screen called up by pressing [F6 Set]-[F5 Set Com.]-[F6

Ext.Run] or on the mini-pendant screen called up by pressing

[COM]-[Ext.Run]-[Ext.Run].

17

2 Controller Error Code Table

Code Message Level

2287 Ethernet has no privilege of running.

2288 The IP addr has no privilege of running.

2289 I/O has no privilege of running.

2296 RobSlave doesn't take arm semaphore.

22A0 b-CAP Packet failure

22EF Not b-CAP slave mode

22F0 System failure in S-LinkV

22F1 Shorted between 24V and D in

S-LinkV

22F2 Shorted between D and G in

S-LinkV

22F3 Error or Broken wire in S-LinkV

22F4 Added non-recognized unit in

S-LinkV

22F5 Power failure in S-LinkV

Description

3 Attempted to turn motors ON and run PAC programs via Ethernet although Ethernet has no permission to do so.

3

3

4

4

4

4

4

Attempted to turn motors ON and run PAC programs from an IP address having no permission to do so.

Attempted to turn motors ON and run PAC programs via I/O although I/O has no permission to do so.

+24V and D in S-LinkV short-circuited.

Short circuit occurred between D and G in S-LinkV.

An error occurred in I/O unit or the PLC I/O connector recognition unit, or the communications wire was broken.

An unrecognized unit was added to the S-LinkV.

-Short circuit occurred in the output line of the S-LinkV output unit.

-I/O device drive power shut down.

Remedy

Permission for external run can be given to any one of the following:

COM2, COM3, COM4, Ethernet, and I/O. Select Ethernet on the teach pendant screen called up by pressing [F6 Set]-[F5 Set

Com.]-[F6 Ext.Run] or on the mini-pendant screen called up by pressing [COM]-[Ext.Run]-[Ext.Run].

When Ethernet has permission for external run, it can turn motors ON and run PAC programs from the specified IP only. Make IP settings on the teach pendant screen called up by pressing [F6 Set]-[F5 Set

Com.]-[F6 Ext.Run]-[ClientIP] or on the mini-pendant screen called up by pressing [COM]-[Ext.Run]-[Client IP].

Permission for external run can be given to any one of the following:

COM2, COM3, COM4, Ethernet, and I/O. Select I/O on the teach pendant screen called up by pressing [F6 Set]-[F5 Set Com.]-[F6

Ext.Run] or on the mini-pendant screen called up by pressing

[COM]-[Ext.Run]-[Ext.Run].

Make the "RobSlave" obtain an arm semaphore and then execute

"Switch to b-CAP slave mode" command (slvChangeMode).

4 Attempted to execute "Switch to b-CAP slave mode" command

(slvChangeMode) when the robot motion PAC program "RobSlave" had not obtained an arm semaphore yet.

4 The b-CAP command packet contains any error.

4 Attempted to execute the motion command slvMove from b-CAP when not in the b-CAP slave mode.

4 A system error occurred in the S-LinkV board.

Check commands and their parameters in the b-CAP packet.

Switch to the b-CAP slave mode and execute slvMove.

1.Turn the controller power off and then on. Retry the operation.

2.If the error persists, contact the S-LinkV board manufacturer.

Repair the short-circuited section (between +24V and D) of the communication line. (Refer to the S-LinkV instruction manual.)

Repair the short-circuited section (between D and G) of the communication line. (Refer to the S-LinkV instruction manual.)

First, pinpoint the defective unit by pressing the [F8 Error search↓] or

[F9 Error search ↑]on the I/O monitor screen of the teach pendant

(TP). Then, check the related units and connectors. (Refer to the

S-LinkV instruction manual.)

Press the [F12 SLKV reset] on the I/O monitor screen of the teach pendant (TP) and carry out the system setting. If "SLINKV communication condition Good" appears, it means OK.

Check the output unit and its drive power source.

18

2 Controller Error Code Table

Code Message Level

22F6 System reset failure in S-LinkV

22F7 S-LinkV H/W setting failure

235A Power off while receiving data

235B Power OFF during files saving

235C Files saving

23E9 Semaphore error

2481 End-effector is out of allowable area

4

5

2

System settings abnormal.

Description

Any of the I/O setting switches (SW3 and SW4) on the S-LinkV board is not set to "input."

When high-speed transfer setting was valid, the power was turned

OFF without saving data during transfer from WINCAPSIII to the controller or after transfer ended.

Remedy

Check the system settings.

1.Take measures for electric noise sources in the vicinity of the robot and controller.

2.Check the wiring rules including wire length again.

3.Check the wiring for weak contact.

(Refer to the S-LinkV instruction manual.)

Turn the controller power off. Set all of the I/O setting switches (SW3 and SW4) to "input."

When this error occurred, the execution-format file gets undefined, and deleted.

After transfer ended, save the file or edit it with the teach pendant for compilation.

5 The power was turned OFF during file saving. The program file may be destroyed.

Restart the system and then confirm the contents of the program file.

Perform transfer, editing, and compilation as required.

2 This operation is invalid because file saving is in progress.

5 Access to I/O failed.

Perform this operation after file saving ends.

Turn OFF the controller power switch and restart the operation.

2490 The robot arm end enters inhibit area0

2491 The robot arm end enters inhibit area1

2492 The robot arm end enters inhibit area2

2493 The robot arm end enters inhibit area3

2494 The robot arm end enters inhibit area4

3 In Continue-start operation the distance between the auto-adjustment position and the present position is out of allowable range.

Increase parameters of arm allowable range of auto position adjustment.

4 Tool-end invaded forbidden area

4 Tool-end invaded forbidden area

Cancel area 0 during motor off and move out of area 0, then make area 0 effective.

Release machine-lock when machine-lock occurs.

Cancel area 1 during motor off and move out of area 1 ,then make area 1 effective.

Release machine-lock when machine-lock occurs.

4 Tool-end invaded forbidden area

4

4

Tool-end invaded forbidden area

Tool-end invaded forbidden area

Cancel area 2 during motor off and move out of area 2, then make area 2 effective.

Release machine-lock when machine-lock occurs.

Cancel area 3 during motor off and move out of area 3, then make area 3 effective.

Release machine-lock when machine-lock occurs.

Cancel area 4 during motor off and move out of area 4, then make area 4 effective.

Release machine-lock when machine-lock occurs.

19

2 Controller Error Code Table

Code Message Level

2495 The robot arm end enters inhibit area5

2496 The robot arm end enters inhibit area6

2497 The robot arm end enters inhibit area7

2498 The arm end enters inhibit area0(DIRECT)

2499 The arm end enters inhibit area1(DIRECT)

249A The arm end enters inhibit area2(DIRECT)

249B The arm end enters inhibit area3(DIRECT)

249C The arm end enters inhibit area4(DIRECT)

249D The arm end enters inhibit area5(DIRECT)

249E The arm end enters inhibit area6(DIRECT)

249F The arm end enters inhibit area7(DIRECT)

24A0 Time to change robot backup battery

25B2 Program list displaying

25B3 Valiable values displaying

25E0 Debug mode enable

Description

4 Tool-end invaded forbidden area

4

4

Tool-end invaded forbidden area

Tool-end invaded forbidden area

2 In direct teaching mode, the tool end enters the prohibited area.

2 In direct teaching mode, the tool end enters the prohibited area.

2 In direct teaching mode, the tool end enters the prohibited area.

2 In direct teaching mode, the tool end enters the prohibited area.

2 In direct teaching mode, the tool end enters the prohibited area.

2 In direct teaching mode, the tool end enters the prohibited area.

Remedy

Cancel area 5 during motor off and move out of area 5, then make area 5 effective.

Release machine-lock when machine-lock occurs.

Cancel area 6 during motor off and move out of area 6, then make area 6 effective.

Release machine-lock when machine-lock occurs.

Cancel area 7 during motor off and move out of area 7, then make area 7 effective.

Release machine-lock when machine-lock occurs.

Move the tool end outside prohibited area 0.

Move the tool end outside prohibited area 1.

Move the tool end outside prohibited area 2.

Move the tool end outside prohibited area 3.

Move the tool end outside prohibited area 4.

Move the tool end outside prohibited area 5.

2 In direct teaching mode, the tool end enters the prohibited area.

2 In direct teaching mode, the tool end enters the prohibited area.

Move the tool end outside prohibited area 6.

Move the tool end outside prohibited area 7.

1 It is time to replace the encoder backup battery (robot). Replace the encoder backup battery (robot).

2 This operation is not available during displaying the program list. Execute this operation after the program list has been displayed.

2 This operation is not available during displaying variable values.

3 WINCAPS III has switched the robot controller to Debug mode. The controller issues this error signal, telling the external equipment that the controller is in Debug mode.

Execute this operation after the variable values have been displayed.

The controller exits Debug mode when it is canceled from WINCAPS

III.

20

2 Controller Error Code Table

Code Message Level

25E1 Debug mode disable

25E2 Communication error with PC

25E3 Cannot set no more Io Log

25E4 Cannot execute in debug mode

Description

3 When WINCAPS III switched the robot controller to Debug mode, a communications delay has occurred between WINCAPS III and the controller.

Remedy

3 The Debug mode has been canceled from WINCAPS III. The controller issues this error signal, telling the external equipment that the controller exits Debug mode.

Remove this error with the teach pendant, mini-pendant, or external equipment.

Check the Ethernet cable for breaks. Or connect the PC directly to the robot controller using a crossover cable, not via the network, and then try it again.

The upper limit is 50 at a time. Specify 50 I/Os or less. 3 The number of I/Os specified for logging has exceeded the upper limit.

3 You have attempted to perform an operation not allowed in Debug mode.

Cancel Debug mode and try it again.

25E6 Cannot start PAC in Debug Mode 3 The controller in Debug mode cannot initiate PAC programs from the teach pendant panel.

25E7 Communication isn't permitted. 3 You have attempted to switch the robot controller to Debug mode from WINCAPS III having no communication permission.

Cancel Debug mode and try to initiate programs again.

Check the communication permission setting. (It is necessary to enable Read/Write for the RS-232 interface or Read/Write with individual IP address specifications for the Ethernet interface.)

26B0 The robot arm end enters inhibit area8

4 The end-of-arm tooling has entered interference check area 8. With motors OFF, make interference check area 8 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

26B1 The robot arm end enters inhibit area9

4 The end-of-arm tooling has entered interference check area 9.

26B2 The robot arm end enters inhibit area10

26B3 The robot arm end enters inhibit area11

4

4

The end-of-arm tooling has entered interference check area 10.

The end-of-arm tooling has entered interference check area 11.

With motors OFF, make interference check area 9 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 10 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 11 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

26B4 The robot arm end enters inhibit area12

4 The end-of-arm tooling has entered interference check area 12. With motors OFF, make interference check area 12 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

21

2 Controller Error Code Table

Code Message Level

26B5 The robot arm end enters inhibit area13

26B6 The robot arm end enters inhibit area14

26B7 The robot arm end enters inhibit area15

26B8 The robot arm end enters inhibit area16

26B9 The robot arm end enters inhibit area17

Description

4 The end-of-arm tooling has entered interference check area 13.

4

4

4

4

The end-of-arm tooling has entered interference check area 14.

The end-of-arm tooling has entered interference check area 15.

The end-of-arm tooling has entered interference check area 16.

The end-of-arm tooling has entered interference check area 17.

26BA The robot arm end enters inhibit area18

4 The end-of-arm tooling has entered interference check area 18.

26BB The robot arm end enters inhibit area19

26BC The robot arm end enters inhibit area20

26BD The robot arm end enters inhibit area21

4

4

4

The end-of-arm tooling has entered interference check area 19.

The end-of-arm tooling has entered interference check area 20.

The end-of-arm tooling has entered interference check area 21.

Remedy

With motors OFF, make interference check area 13 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 14 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 15 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 16 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 17 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 18 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 19 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 20 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 21 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

22

2 Controller Error Code Table

Code Message Level

26BE The robot arm end enters inhibit area22

26BF The robot arm end enters inhibit area23

26C0 The robot arm end enters inhibit area24

Description

4 The end-of-arm tooling has entered interference check area 22.

26C1 The robot arm end enters inhibit area25

4 The end-of-arm tooling has entered interference check area 25.

26C2 The robot arm end enters inhibit area26

26C3 The robot arm end enters inhibit area27

26C4 The robot arm end enters inhibit area28

26C5 The robot arm end enters inhibit area29

26C6 The robot arm end enters inhibit area30

4

4

4

4

4

4

4

The end-of-arm tooling has entered interference check area 23.

The end-of-arm tooling has entered interference check area 24.

The end-of-arm tooling has entered interference check area 26.

The end-of-arm tooling has entered interference check area 27.

The end-of-arm tooling has entered interference check area 28.

The end-of-arm tooling has entered interference check area 29.

The end-of-arm tooling has entered interference check area 30.

Remedy

With motors OFF, make interference check area 22 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 23 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 24 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 25 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 26 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 27 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 28 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 29 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

With motors OFF, make interference check area 30 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

23

2 Controller Error Code Table

Code Message Level

26C7 The robot arm end enters inhibit area31

Description

4 The end-of-arm tooling has entered interference check area 31.

26E0 The arm end enters inhibit area8:DIRECT

26E1 The arm end enters inhibit area9:DIRECT

26E2 The arm end enters inhibit area10:DIRECT

26E3 The arm end enters inhibit area11:DIRECT

26E4 The arm end enters inhibit area12:DIRECT

26E5 The arm end enters inhibit area13:DIRECT

26E6 The arm end enters inhibit area14:DIRECT

26E7 The arm end enters inhibit area15:DIRECT

26E8 The arm end enters inhibit area16:DIRECT

26E9 The arm end enters inhibit area17:DIRECT

26EA The arm end enters inhibit area18:DIRECT

26EB The arm end enters inhibit area19:DIRECT

26EC The arm end enters inhibit area20:DIRECT

26ED The arm end enters inhibit area21:DIRECT

26EE The arm end enters inhibit area22:DIRECT

2 In Direct mode, the end-of-arm tooling has entered interference check area 8.

2 In Direct mode, the end-of-arm tooling has entered interference check area 9.

2 In Direct mode, the end-of-arm tooling has entered interference check area 10.

2 In Direct mode, the end-of-arm tooling has entered interference check area 11.

2 In Direct mode, the end-of-arm tooling has entered interference check area 12.

2 In Direct mode, the end-of-arm tooling has entered interference check area 13.

2 In Direct mode, the end-of-arm tooling has entered interference check area 14.

2 In Direct mode, the end-of-arm tooling has entered interference check area 15.

2 In Direct mode, the end-of-arm tooling has entered interference check area 16.

2 In Direct mode, the end-of-arm tooling has entered interference check area 17.

2 In Direct mode, the end-of-arm tooling has entered interference check area 18.

2 In Direct mode, the end-of-arm tooling has entered interference check area 19.

2 In Direct mode, the end-of-arm tooling has entered interference check area 20.

2 In Direct mode, the end-of-arm tooling has entered interference check area 21.

2 In Direct mode, the end-of-arm tooling has entered interference check area 22.

Remedy

With motors OFF, make interference check area 31 inactive, move the end-of-arm tooling out of the area, and then make the area active. If the robot is machine-locked, release it once and follow the same procedure.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

24

2 Controller Error Code Table

Code Message Level

26EF The arm end enters inhibit area23:DIRECT

Description

2 In Direct mode, the end-of-arm tooling has entered interference check area 23.

Remedy

Move the end-of-arm tooling out of the area.

26F0 The arm end enters inhibit area24:DIRECT

26F1 The arm end enters inhibit area25:DIRECT

26F2 The arm end enters inhibit area26:DIRECT

26F3 The arm end enters inhibit area27:DIRECT

26F4 The arm end enters inhibit area28:DIRECT

2 In Direct mode, the end-of-arm tooling has entered interference

2 check area 24.

2 In Direct mode, the end-of-arm tooling has entered interference check area 25.

2 In Direct mode, the end-of-arm tooling has entered interference check area 26.

2 In Direct mode, the end-of-arm tooling has entered interference check area 27.

In Direct mode, the end-of-arm tooling has entered interference check area 28.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

26F5 The arm end enters inhibit area29:DIRECT

26F6 The arm end enters inhibit area30:DIRECT

26F7 The arm end enters inhibit area31:DIRECT

26F8 The robot arm end enters inhibit area

27A1 Deletion of program/variables completed

27A2 Forbidden operation in backup processing

2 In Direct mode, the end-of-arm tooling has entered interference check area 29.

2 In Direct mode, the end-of-arm tooling has entered interference check area 30.

2 In Direct mode, the end-of-arm tooling has entered interference check area 31.

4 The end-of-arm tooling has invaded the prohibited area defined by the high-sensitive position & posture detection function.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

Move the end-of-arm tooling out of the area.

26F9 The arm end enters inhibit area:DIRECT

2 In the direct teaching mode, the end-of-arm tooling has invaded the prohibited area defined by the high-sensitive position & posture detection function.

279C Can't set, when a DETECT is valid. 2 Hand I/O interrupt and DETECT are not enabled simultaneously.

2 DETECT and Hand I/O interrupt are not enabled simultaneously. 279D Can't set.(HandIO Interruption is valid)

279E Inconsistent robot stop input

27A0 Initialized

3

5

No input at one of two robot stop input lines.

The RAM drive was cleared due to a RAM drive initialization error.

Turn the motor power off (release the machine if locked), disable the high-sensitive position & posture detection function using the

RESETPOSTUREAREA command, and then move the end-of-arm tooling out of the prohibited area.

Move the end-of-arm tooling out of the prohibited area.

Disable the DETECT.

Disable the hand I/O interrupt.

Check the wiring of the robot stop circuit.

Restart the controller and set each item again.

5 The ROM drive (programs and variables) was cleared by ROM drive initialization error.

Restart the controller and load programs and variables in the controller again.

2 Forbidden operation was executed during FD (floppy disk) processing.

Execute the operation again after FD (floppy disk) process is finished.

25

2 Controller Error Code Table

Code Message Level

27A3 Write-enable setting overlapped

Description

2 Two or more ports are selected from COM2, COM3, COM4 and

Ethernet as the read/write port in communication permission setting.

Remedy

Select only one port from COM2, COM3, COM4, and Ethernet in communication permission setting.

27A4 Illegal character used in file name 2 File name has unusable characters.

27A5 Backup processing failed(internal error)

3 Internal error occurred during FD (floppy disk) processing.

27A6 Not executable due to fatal error

27A7 Initial communication error in

TP/OP

27A8 Unable to Continue

Change the file name.

To retry FD processing, turn OFF the controller power switch and restart the operation.

2 Although a serious error of Level 5 or higher one had occurred, you attempted to perform operation without recovery from the error.

4 A communications error occurred in the teach pendant (TP), mini-pendant (MP), or operating panel (OP) when the controller was started.

Turn OFF the power switch of the controller and restart the operation.

If the error persists, replace the teach pendant, mini-pendant or operating panel.

3 Continue-start was executed when it was not permitted.

Check the error log.

Remove errors of Level 5 or higher and then restart the controller.

Execute Continue-start only when Continue-start permission signal is

ON.

27A9 Continue-start failed

27AA Reset-program input is set

27AB Failed automatic position restoration

27AC Sending system data

4 Executed operation was not permitted during Continue-start.

2

4

Program reset signal is ON.

Failed in auto position adjustment at Continue-start.

2 The SYSTEM data is being sent.

Do not execute such operations during Continue-start.

Turn off the program reset signal and then start again.

A program reset signal being on during Continue Start triggers this error.

Before Continue Start, turn off the program reset signal.

Robot moved to the position unrecoverable by auto position adjustment.

Wait until the transmission of the SYSTEM data is completed.

27AD System update normal completed

27AE System update failed

27AF System update not permitted

27B0 RobotType not defined

5

5

System Update is completed.

Failed in System Update.

2 System Update was executed from WINCAPSIII when not permitted by the controller.

2 Robot type is undefined.

Reboot the controller.

Retry System Update.(The controller does not restart if power is shut down before System Update completion.)

Permit System Update from WINCAPSIII with the controller.

27B1 RobotType not match

27B2 Flash cannot be allocated

2

2

Robot type is not consistent.

Could not allocate Flash area to save control logs.

Robot type is not defined. Set the Robot type with the teach pendant or transfer the saved data. Robot type is set on the data transfer. Then reboot the controller.

Robot type saved in FD and the Robot type of the controller is inconsistent. Set the Robot type with the teach pendant and then reboot the controller.

Cannot allocate Flash area to save control logs. Collect control log data with WINCAPSIII before power shut down.

26

2 Controller Error Code Table

Code Message Level Description Remedy

27B9 Error storage pointer out of range 3 The loading pointer of the error loading function is out of the specified range.

This occurs when the I type variable at the head of the error loading function buffer is rewritten.

27BA Error storage function parameter error

3 The I type variable buffer for storing errors is wrongly set or the pointer value has been rewritten.

Do not rewrite the I type variable of the error loading function buffer.

(When an error is loaded after occurrence of this error, however, the pointer is automatically set to the beginning of the buffer.)

Check the buffer settings. If the settings are correct, check if the pointer value has been rewritten or not.

Enable the function or stop the operation. 27BB Error storage function is not effective

27BC Not setting argument

3 The attempted operation needs to enable the function for storing errors in the I type variable buffer.

2 You attempted to run a program involving arguments when the argument setting window could not be opened.

Restart the controller, check that the argument setting window can be opened, and then retry the operation.

27BD Controller initialization is unusual

27BE Can't start motion from here.

27BF Updating system

27C0 Restore Finished. [CONTINUE] to restart.

27C1 Restoration Failed. Abnormal

Program No.

5 In the powering-on sequence of the controller, initialization has failed.

2

1

3

In easy teaching, you attempted to run a command not allowed in the current robot status.

2 Updating the system.

The program is normally restored to the state upon power interruption.

More than 32 program steps were running upon power interruption.

27C2 Restoration Failed. (Memory Over) 3 Failure in backup of the program information upon power interruption.

Restart the controller.

Before starting robot motion under arc interpolation control and executing DEPART command, move the robot arm to the destination position defined in the immediately preceding motion command.

Wait until updating is completed.

Do not turn the controller power off during updating.

Operation restarts from the state upon power interruption by

[Conti-start].

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

27C3 Restoration Failed. (Process Info) 3 Failure in backup of the program information upon power interruption.

27C4 Restoration Failed. (Status Info) 3 Failure in backup of the program information upon power interruption.

27C5 Restoration Failed. (Continue Info) 3 Failure in backup of the program information upon power interruption.

27C6 Restoration Failed. (Servo Info) 3 Failure in backup of the program information upon power interruption.

27C7 Restoration Failed. (Program

Restart)

3 Failed in restoration to the state upon power interruption.

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

27

2 Controller Error Code Table

Code Message Level

27C8 Restoration Failed. (Vision

Command)

Description Remedy

3 Power interruption occurred during execution of a visual instruction. Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

27C9 Restoration Failed.

(INPUT/LINEINPUT)

27CA Restoration Failed. (Semaphore)

27CB Restore Failed. Robot stop is activated.

27CC Restore Failed. Save Err at Power

Cut.

27CD Restore Finished.

27CE Restoration Failed. (Compliance)

27CF Restoration Failed. (Memory Read

Error)

27D0 Semaphore release error

27D3 Cannot take J1 semaphore

27D4 Cannot take J2 semaphore

27D5 Cannot take J3 semaphore

27D6 Cannot take J4 semaphore

3 Power interruption occurred during data receiving.

3 Power interruption occurred during execution of a program using semaphore.

2 Robot stop instruction is ON upon returning to the automatic mode after power recovery.

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

Reset the robot stop instruction. Power recovery processing starts after resetting.

3 Failed in backup of the program information upon power interruption. Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

1 The program is restored normally to the state upon power interruption.

Operation starts by [Conti-start] from the state upon power interruption.

3 A power failure occurred when the compliance control was in use. The restoration function failed so that the program starts from the first step. Before restart the controller, therefore, thoroughly check that restarting does not affect the equipment.

3 Failed in restoration of the program state upon power interruption. Power recovery failed. Since the program is executed from the start, restart operation after fully checking no influence on the equipment.

5 An error has occurred when the controller attempted to release the semaphore.

4 (1)A task, that had gotten no arm group containing J1, attempted to execute the J1 motion related command.

(2)A task attempted to get an arm group containing J1, but any other task had already gotten it.

Turn the controller power off and then on. Retry the operation.

(1)Get an arm group containing J1 with the TAKEARM statement, and then execute J1 motion related command.

(2)Correct the program so that more than one program will not attempt to get an arm group containing J1 at the same time.

4 (1)A task, that had gotten no arm group containing J2, attempted to execute the J2 motion related command.

(2)A task attempted to get an arm group containing J2, but any other task had already gotten it.

(1)Get an arm group containing J2 with the TAKEARM statement, and then execute J2 motion related command.

(2)Correct the program so that more than one program will not attempt to get an arm group containing J2 at the same time.

4 (1)A task, that had gotten no arm group containing J3, attempted to execute the J3 motion related command.

(2)A task attempted to get an arm group containing J3, but any other task had already gotten it.

(1)Get an arm group containing J3 with the TAKEARM statement, and then execute J3 motion related command.

(2)Correct the program so that more than one program will not attempt to get an arm group containing J3 at the same time.

4 (1)A task, that had gotten no arm group containing J4, attempted to execute the J4 motion related command.

(2)A task attempted to get an arm group containing J4, but any other task had already gotten it.

(1)Get an arm group containing J4 with the TAKEARM statement, and then execute J4 motion related command.

(2)Correct the program so that more than one program will not attempt to get an arm group containing J4 at the same time.

28

2 Controller Error Code Table

Code Message Level

27D7 Cannot take J5 semaphore

27D8 Cannot take J6 semaphore

27D9 Cannot take J7 semaphore

Description Remedy

4 (1)A task, that had gotten no arm group containing J5, attempted to execute the J5 motion related command.

(2)A task attempted to get an arm group containing J5, but any other task had already gotten it.

(1)Get an arm group containing J5 with the TAKEARM statement, and then execute J5 motion related command.

(2)Correct the program so that more than one program will not attempt to get an arm group containing J5 at the same time.

4 (1)A task, that had gotten no arm group containing J6, attempted to execute the J6 motion related command.

(2)A task attempted to get an arm group containing J6, but any other task had already gotten it.

(1)Get an arm group containing J6 with the TAKEARM statement, and then execute J6 motion related command.

(2)Correct the program so that more than one program will not attempt to get an arm group containing J6 at the same time.

4 (1)A task, that had gotten no arm group containing J7, attempted to execute the J7 motion related command.

(2)A task attempted to get an arm group containing J7, but any other task had already gotten it.

(1)Get an arm group containing J7 with the TAKEARM statement, and then execute J7 motion related command.

(2)Correct the program so that more than one program will not attempt to get an arm group containing J7 at the same time.

27DA Cannot take J8 semaphore

2A10 ElectricGripper0:Over load

4 (1)A task, that had gotten no arm group containing J8, attempted to execute the J8 motion related command.

(2)A task attempted to get an arm group containing J8, but any other task had already gotten it.

2 If suspended, the joint cannot be moved by variables.

(1)Get an arm group containing J8 with the TAKEARM statement, and then execute J8 motion related command.

(2)Correct the program so that more than one program will not attempt to get an arm group containing J8 at the same time.

Release the suspension of the joint. 27E3 Not executable while joint is suspended

27F3 The number of variable outside range

Increase the number of global variables concerned or specify smaller variable number in the DETECT command.

27F4 Largest acquisition quantity excess 3 Exceeded the maximum number that can be gotten at the execution time of DETECT command.

(1)Increase the maximum number to be specified in DETECT command.

(2)Check that the FG wires of the robot unit and controller are grounded.

(3)Check that there is no noise source (e.g., welding machine) near the robot unit or controller.

27F5 Vision operating

3 The number of variables for getting the current position has exceeded the declared ones at the execution time of DETECT command.

2 You attempted to perform any operation that is not allowed when the vision board is in operation.

Do not perform such operation when the vision board is in operation.

3 An overload (motor overload) occurred. The following causes are likely.

1. Motor defect

2. Parameter defect

3. Insufficient power line capacity

4. Significant wear in electric gripper mechanism

Perform the following for the respective number in the description.

1. Replace the electric gripper if the motor armature resistance is low, or if the motor is abnormally heavy when manually rotated.

2. Set the actuator type again.

3. Check the power supply capacity, and increase if insufficient.

4. Check whether the mechanism moving parts are heavy, and readjust.

29

2 Controller Error Code Table

Code Message Level

2A11 ElectricGripper0:Machine

Reference over

2A12 ElectricGripper0:PowerSupplyVolt age low

2A13 ElectricGripper0:Position deviation over

2A14 ElectricGripper0:Internal comm. error

2A15 ElectricGripper0:No 24V Power supply

2A16 ElectricGripper0:System fault1

2A17 ElectricGripper0:Feedback error1

3

Description

A condition in which data transfer/receipt between each electric gripper control board element was not possible for a fixed length of time occurred.

3 The motor 24 VDC power supply is not ON.

Remedy

3 The encoder Z-phase position has shifted from the initial value. The following causes are likely.

1. The electric gripper was replaced.

2. The fingers were replaced at the origin close side.

3. Encoder Z-phase wire damage, fault

Perform the following for the respective number in the description.

1. Clear the machine reference.

2. Clear the machine reference. Set the origin to the open side.

3. Replace the electric gripper.

3 The power supply voltage dropped below 80% of the rated value. Check the power supply capacity, and increase if insufficient. (Most power is consumed when reaching origin return , when the mechanism is starting up, and when accelerating/decelerating.)

3 A position deviation over error occurred. The following causes are likely.

1. Mechanical lock

2. A collision occurred while moving in acceleration/deceleration movement mode.

3. Motor wire damage, incorrect wiring

4. Parameter defect

Perform the following for the respective number in the description.

1. Check whether a mechanical lock has occurred at the mechanism moving parts.

2. Review the movement mode.

3. Check the motor wire, encoder signal wire connection.

4. Set the actuator type again.

Reboot the robot controller and motor power supply. Contact DENSO

WAVE if the problem persists.

3

3

An electric gripper control board system fault occurred.

Unable to control motor power. The following causes are likely.

1. The excitation position and encoder position do not match due to an initial processing defect when the power is turned ON.

2. Encoder count miss due to external noise, etc.

Perform the following.

1. Turn ON the 24 VDC power supply.

2. Check the wiring.

Perform the following.

1. If there is a source of noise nearby, move it a sufficient distance away that it will have no adverse influence.

2. Reboot the robot controller and motor power supply. Contact

DENSO WAVE if the problem persists.

Perform the following for the respective number in the description.

1. Reboot the power, check whether any external force is being applied to the fingers, and then perform origin return.

2. If there is a source of noise nearby, move it a sufficient distance away that it will have no adverse influence.

2A18 ElectricGripper0:Feedback error2 3 Unable to control motor power. The following causes are likely.

1. Encoder signal wire damage

2. The slide block is secured.

2A19 ElectricGripper0:Abnormal volutage

3 An overvoltage condition occurred. The following causes are likely.

1. Power supply voltage rise caused by regeneration

2. Incorrect motor power supply voltage

Perform the following for the respective number in the description.

1. Check the encoder signal wire connection.

2. Release the slide block.

Perform the following for the respective number in the description.

1. Lower the mechanism operation duty.

2. Check the motor power supply voltage.

30

2 Controller Error Code Table

Code Message Level

2A1A ElectricGripper0:System fault2

Description

3 An electric gripper control board system fault occurred.

Remedy

Perform the following.

1. If there is a source of noise nearby, move it a sufficient distance away that it will have no adverse influence.

2. Reboot the robot controller and motor power supply. Contact

DENSO WAVE if the problem persists.

Check the motor wire connection. 2A1B ElectricGripper0:Feedback error3 3 Unable to control motor power. Motor wire damage or incorrect connection are the likely causes.

2A1C ElectricGripper0:Overcurrent 3 An overcurrent condition occurred. The following causes are likely.

1. Motor defect

2. Gripper control board defect

3. Parameter defect

Perform the following for the respective number in the description.

1. Replace the electric gripper.

2. Replace the electric gripper control board.

3. Set the actuator type again.

2A1D ElectricGripper0:Initialization error

2A1E ElectricGripper0:Watchdog error

3 Failed to initialize the electric gripper control board.

3 An error occurred during robot controller and electric gripper control board watchdog monitoring.

Reboot the robot controller and motor power supply. Contact DENSO

WAVE if the problem persists.

Perform the following.

1. If there is a source of noise nearby, move it a sufficient distance away that it will have no adverse influence.

2. Reboot the robot controller and motor power supply. Contact

DENSO WAVE if the problem persists.

2A1F Electric Gripper internal access error

2A20 ElectricGripper0:Over soft limit

3 An error occurred when the robot controller accessed the electric gripper control board.

3 A position outside the soft limit was specified while jogging, direct teaching, or during teaching playback.

Reboot the robot controller and motor power supply. Contact DENSO

WAVE if the problem persists.

Perform the following.

1. Review the movement destination position.

2. Review the soft limit.

Perform origin return. 2A21 ElectricGripper0:OriginReturn unfinished

2A22 ElectricGripper0:Motor power off

2A24 ElectricGripper0:Emergency stop on

2A25 ElectricGripper0:Gripper moving

3 An attempt was made to issue to a movement command without performing origin return.

3 An attempt was made to issue to a movement command with the motor OFF.

3 An attempt was made to issue to a movement command during an emergency stop (emergency stop contacts open status).

3 An attempt was made to issue to a movement command during electric gripper movement.

Turn ON the motor.

Clear the emergency stop condition (short circuit the emergency stop contacts.)

Movement commands cannot be issued during electric gripper operation.

Wait until the BUSY signal (executing flag) turns OFF, etc., and issue the movement command when the electric gripper is not operating.

31

2 Controller Error Code Table

Code Message Level

2A27 ElectricGripper0:OriginReturn error

2A29 ElectricGripper0:Invalid data

Description Remedy

3 Unable to find Z-phase during origin return. The following causes are likely.

1. Actuator type input mistake

2. Z-phase signal wire damage

3 Outside data input range

Perform the following for the respective number in the description.

1. Set the actuator type again.

2. Replace the motor cable.

Check the input data.

2A2A ElectricGripper0:Invalid parameter 3 Failed to set parameters during electric gripper control board initialization, etc. when the power was turned ON. The following causes are likely.

1. The actuator types has not been set. (This will always occur if the actuator type is not set when purchasing the electric gripper control board.)

2. Parameter input mistake

Set the actuator type again.

2A2C ElectricGripper0:Internal time out

2A2D ElectricGripper0:Command time out

3 A timeout occurred when the robot controller accessed the electric gripper control board following an electric gripper operation command.

Reboot the robot controller and motor power supply. Contact DENSO

WAVE if the problem persists.

3 When specifying a timeout following an electric gripper library gripper operation command, the operation was not completed within the time permitted.

Review the timeout value.

2A2E ElectricGripper0:Grip failure

2A2F Electric Gripper Invalid board number

2AF1 Encoder reference position error

3 When gripping operation is performed, the electric gripper reached its target position without gripping.

3 When the board number is specified at the electric gripper library, the number for a board that is not mounted was specified, or a valued outside the board number range was specified.

3 1. The robot type does not match the robot controller.

2. The encoder is normal, but the 2nd or 3rd axis (1st or 2nd axis for the VP series) was moved when the controller power was off.

3. The motor was replaced.

4. An encoder positional error has occurred in the 2nd or 3rd axis

(1st or 2nd axis for the VP series).

In any of the above cases, a programmed operation is prohibited.

Perform the following.

1. Check whether the workpiece is actually at the grip position.

2. Check whether the target position is a position at which the workpiece can be gripped.

Review the board number.

To clear the error caused by reason 1 or 2, send the arm data

(including CALSET value) of the corresponding robot to the controller using WINCAPSIII.

To clear the error caused by reason 3, perform CALSET for the corresponding axis.

If the error persists after the above error recoveries, the possible cause can be an encoder error. Check whether a positional error has occurred on the 2nd or 3rd axis (1st or 2nd axis for the VP series) and perform CALSET for the problem axis.

Note: This error can be cleared also by transmitting the arm data

(including CALSET value) of the corresponding robot to the controller from WINCAPSIII.

32

2 Controller Error Code Table

Code Message Level

2AF2 During a software limit check release

2AF4 cooling fan error

Description

2 When the software motion limits are temporarily invalid, you attempted to move joints using variables or get the current arm position into variables.

2 The controller detects the built-in cooling fan being out of order.

2AF5 Couldn't get encoder data at power off

2C01 AC input over voltage

2C02 AC input under voltage

2C07 Interruption power detected

2C09 DC-BUS over voltage

2C0A DC-BUS under voltage

2C0B Contactor circuit failure

2C0C DC-output over voltage

2C0D DC-output under voltage

Remedy

Make the software motion limits valid and then retry the operation.

2 Failed to detect encoder data in the AC powering-off sequence.

First remove the error factor, move the robot arm to a safe area, and then replace the cooling fan.

1.Check whether the AC power was shut down during robot operation.

2.Check the current position of the robot.

Check the AC input voltage value. 5 The AC-input voltage exceeded the permissible upper value in the power supply inside the controller.

5

5

The AC-input voltage exceeded the permissible lower value in the power supply inside the controller.

Interruption power detected in the AC power supply.

Confirm whether the AC power cable is connected.

Check the AC input voltage value.

(1) Check the connection of the AC power supply cable.

(2) Check the AC power supply voltage.

5 The DC-BUS voltage exceeded the permissible upper value in the power supply inside the controller.

5 The DC-BUS voltage exceeded the permissible lower value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

5 The motor powering-ON sequence has terminated halfway since the bus voltage source was not charged normally.

5 The DC-output voltage exceeded the permissible upper value in the power supply inside the controller.

5 The DC-output voltage exceeded the permissible lower value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

2C0E IPM module over voltage

2C0F IPM module under voltage

2C10 DC5VH over voltage

2C11 DC5VH under voltage

2C26 Power board regenerative circuit failure

5 The voltage to the IPM module exceeded the permissible upper value in the power supply inside the controller.

5 The voltage to the IPM module exceeded the permissible lower value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

5 The voltage of 5VH-line exceeded the permissible upper value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

5 The voltage of 5VH-line exceeded the permissible lower value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

5 A regenerative resistor driver circuit failure was detected in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

33

2 Controller Error Code Table

Code Message Level

2C29 BUS-capacitor over voltage

Description

5 The voltage of BUS-capacitor exceeded the permissible upper value in the power supply inside the controller.

Remedy

If the error persists after rebooting the controller, you need to investigate or repair the controller.

2C2A DC-BUS-capacitor over voltage 5 The voltage of DC-BUS-capacitor exceeded the permissible upper value in the power supply inside the controller.

2C2B Regenerative-resistor overheated 5 The temperature of regenerated-resistor exceeded the permissible upper value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

Check the filter clogged or low rotation of the fan.

If the error persists after checking, you need to investigate or repair the controller.

2C2E 11VH over voltage

2C2F 11VH under voltage

2C30 Power board overheated (A)

5 The voltage of 11VH-line exceeded the permissible upper value in the power supply inside the controller.

5 The voltage of 11VH-line exceeded the permissible lower value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

5 The temperature of board (A) exceeded the permissible upper value in the power supply inside the controller.

Check the filter clogged or low rotation of the fan.

If the error persists after checking, you need to investigate or repair the controller.

2C50 DC5V of power board over voltage 5 The voltage of 5V-line exceeded the permissible upper value in the power supply inside the controller.

2C51 DC5V of power board under voltage

5 The voltage of 5V-line exceeded the permissible lower value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

5 The voltage of 12V-line exceeded the permissible upper value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

2C52 DC12V of power board over voltage

2C53 DC12V of power board under voltage

2C54 DC24V of power board over voltage

2C55 DC24V of power board under voltage

5

5

5

The voltage of 12V-line exceeded the permissible lower value in the power supply inside the controller.

The voltage of 24V-line exceeded the permissible upper value in the power supply inside the controller.

The voltage of 24V-line exceeded the permissible lower value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

2C56 DC24V of power board over voltage(IO)

2C57 DC24V of power board under voltage(IO)

2C58 DC24V of power board over voltage(MB)

2C59 DC24V of power board under voltage(MB)

5 The voltage of 24V-(I/O)-line exceeded the permissible upper value in the power supply inside the controller.

5 The voltage of 24V-(I/O)-line exceeded the permissible lower value in the power supply inside the controller.

5 The voltage of 24V(MB)-line exceeded the permissible upper value in the power supply inside the controller.

5 The voltage of 24V(MB)-line exceeded the permissible lower value in the power supply inside the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

34

2 Controller Error Code Table

Code Message Level

2C71 Power board communication error(A-B)

2C72 Comm. error between power and engine

2C80 Power board overheated (B-1)

Description

5 Comm. error between CPUs on the power board inside the controller.

5 Comm. error between power and engine inside the controller.

5 The temperature of board (B-1) exceeded the permissible upper value in the power supply inside the controller.

Remedy

If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

Check the filter clogged or low rotation of the fan.

If the error persists after checking, you need to investigate or repair the controller.

2C81 Power board overheated (B-2)

2CA1 Caution:Power board overheated(A)

2CB0 cooling fan error

2CB1 Caution:Fan speed dropped

2CB2 Caution:Power board overheated(B-1)

2CB3 Caution:IPM Board overheated

2CB4 Lamp disconnection

2CB5 Caution:Power board overheated(B-2)

330B Project directory not found

5

2C82 IPM harness board overheated (B) 5

The temperature of board (B-2) exceeded the permissible upper value in the power supply inside the controller.

The temperature of IPM harness board (B) exceeded the permissible upper value in the power supply inside the controller.

Check the filter clogged or low rotation of the fan.

If the error persists after checking, you need to investigate or repair the controller.

Check the filter clogged or low rotation of the fan.

If the error persists after checking, you need to investigate or repair the controller.

Check the filter clogged and cooling fan. 1 The temperature of board (A) exceeded the warning value in the power supply inside the controller.

2

1

The cooling fan stop detected inside the controller.

The low rotation of cooling fan detected inside the controller.

Check the cooling fan.

Check the cooling fan.

1 The temperature of board (B-1) exceeded the warning value in the power supply inside the controller.

1 The temperature of IPM harness board exceeded the warning value in the power supply inside the controller.

2 Disconnection of the motor-on detected lamp.

Check the filter clogged and cooling fan.

Check the filter clogged and cooling fan.

Check the wiring or connection.

1 The temperature of board (B-2) exceeded the warning value in the power supply inside the controller.

Check the filter clogged and cooling fan.

330C Cannot create project file

330D Cannot open program file

5 A failure occurred in saved memory area of the program.

3 Memory capacity required for compiling was not sufficient or a failure occurred in memory area for storing programs.

3 A failure occurred in saved memory area of the program.

After turning OFF the controller power, turn it ON again and send the data (WINCAPSIII or FD) again.

Delete files not required and reduce the number of programs.

If the error persists carry out the same remedy as 330B.

After turning OFF the controller power, turn it ON again and send the data (WINCAPSIII or FD) again.

330E Cannot open compile condition set file

330F Cannot create compile log file

3 A failure occurred in saved memory area of the program. After turning OFF the controller power, turn it ON again and send the data (WINCAPSIII or FD) again.

3 Memory capacity required for compiling was not sufficient or a failure occurred in memory area for storing programs.

Delete unnecessary files and reduce the number of programs.

If the error persists carry out the same remedy as 330B.

35

2 Controller Error Code Table

Code Message Level

331A Project file is broken

331B Compile error

331C Disk capacity isn't enough for compiling

Description Remedy

3 Memory capacity required for compiling was not sufficient or a failure occurred in memory area for storing programs.

After turning OFF the controller power, turn it ON again and send data

(WINCAPSII or FD) again.

3 An error occurred in compiling.

3 Memory capacity required for compiling was not sufficient.

Check the compile log and correct the position at which the error occurred.

Delete unnecessary files and recompile.

If the error persists, delete files and compile with WINCAPSIII. Then transmit it.

331D Link error

331E Cannot find PAC file to be compiled

331F More than 256 PAC files to be compiled

3B3D Subscript value out of permissible range

3B3E Value out of permissible range

3 An error occurred in linking.

2 Compiling was executed without PAC file of compiling object.

2 Attempt was made to compile more than 256 PAC files.

Check the compile log and correct the position at which the error occurred.

Create a PAC file or transmit the PAC file from WINCAPSIII. Then change the setting SW to Use and execute compiling.

Reduce the number of compiling object PAC files to 256 or less.

3 Subscript of <Error in execution> array exceeded the defined range. Check the value of the variable used as a subscript.

Check the value of the variable used as an argument.

3C71 Subscript of array out of range

3 A value designated as an <Error in execution> argument exceeded the permissible range.

3 Shown out of the range available to describe as a subscript of the array, when the array variable subscript was designated with constants.

3 Specified variable or constant types are incorrect.

Check the upper limit value for the subscript and correct it.

Check the specified data type and correct it. 3CB7 Variable and/or constant types not match

3CBB Wrong command format

3CC2 Error occurred during error processing

3CC4 RESUME isn't in error processing routine

3 Syntax error. Check the syntax and correct it.

3 While processing errors <Error in execution> another error occurred. Check the cause of the error and correct the program.

3 RESUME statement was executed with a normal process of <Error in execution>.

42A1 Vision board not mounted

42A2 Vision parameter 1 out of range

3 1.The vision board is not mounted.

2.Cannot recognize vision board.

3 Parameter 1 of the vision command is out of range.

The RESUME statement is not present except for the error process or the control errors in processing due to branch commands other than the ON ERROR GOTO statement.

1.Mount the vision board.

2.Delete the vision only instructions from the program.

3.If the vision board is mounted, initialize the vision board from the teaching board.

4.Turn OFF the power switch on the controller and restart the operation.

Correct the corresponding parameters.

36

2 Controller Error Code Table

Code Message Level

42A3 Vision parameter 2 out of range

42A4 Vision parameter 3 out of range

42A5 Vision parameter 4 out of range

42A6 Vision parameter 5 out of range

42A7 Vision parameter 6 out of range

42A8 Vision parameter 7 out of range

42A9 Vision parameter 8 out of range

42AA Vision parameter 9 out of range

42AB Vision parameter 10 out of range

42AC Vision parameter 11 out of range

42AD Vision parameter 12 out of range

42AE Vision parameter 13 out of range

42AF Vision parameter 14 out of range

42B0 Transmission command failure

42B1 Reception command failure

42B2 Camera input error

42B3 Vision undefined command

42B4 No response from vision board

42B5 Vision board failure

42B6 Window shape error

Description

3 Parameter 2 of the vision command is out of range.

3 Parameter 3 of the vision command is out of range.

3 Parameter 4 of the vision command is out of range.

3 Parameter 5 of the vision command is out of range.

3 Parameter 6 of the vision command is out of range.

3

3

3

3

Parameter 7 of the vision command is out of range.

Parameter 8 of the vision command is out of range.

Parameter 9 of the vision command is out of range.

Parameter 10 of the vision command is out of range.

Remedy

Correct the corresponding parameters.

Correct the corresponding parameters.

Correct the corresponding parameters.

Correct the corresponding parameters.

Correct the corresponding parameters.

Correct the corresponding parameters.

Correct the corresponding parameters.

Correct the corresponding parameters.

Correct the corresponding parameters.

3 Parameter 11 of the vision command is out of range.

3 Parameter 12 of the vision command is out of range.

Correct the corresponding parameters.

Correct the corresponding parameters.

3

3

3

3

Parameter 13 of the vision command is out of range.

Parameter 14 of the vision command is out of range.

A failure occurred in the communication protocol with the vision board (sending).

A failure occurred in the communication protocol with the vision board (receiving).

Correct the corresponding parameters.

Correct the corresponding parameters.

1.Initialize the vision board from the teaching board.

2.Turn OFF the power switch on the controller and restart the operation.

1.Initialize the vision board from the teaching board.

2.Turn OFF the power switch on the controller and restart the operation.

3 1.The camera is not connected.

2.A failure was detected with the camera or the camera cable.

3 1.Undefined instruction for the vision board

2.Communication error occurred.

1.Connect the camera.

2.Initialize the vision board from the teaching board.

3.Reboot the camera and the controller power.

1.Initialize the vision board from the teaching board.

2.Turn OFF the power switch on the controller and restart the operation.

3 vision

2.Turn OFF the power switch on the controller and restart the operation.

3 A vision board communication error. 1.Initialize the vision board from the teaching board.

2.Turn OFF the power switch on the controller and restart the operation.

3 The window setting is out of range. Correct the corresponding window settings.

37

2 Controller Error Code Table

Code Message Level

42B7 Vision board undefined

42B8 Vision receiving timeout

42B9 Vision sending timeout

Remedy

1.Initialize the vision board from the teaching board.

2.Turn OFF the power switch on the controller and restart the operation.

1.Initialize the vision board from the teaching board.

2.Turn OFF the power switch on the controller and restart the operation.

1.Initialize the vision board from the teaching board.

2.Turn OFF the power switch on the controller and restart the operation.

42BA Vision communication protocol error

3 1.An error occurred in communication.

2.This occurs when vision the instructions are executed after a communication timeout occurs.

1.Initialize the vision board from the teaching board.

2.Turn OFF the power switch on the controller and restart the operation.

42BB Error in vision command execution 3 The vision commands are not executable with the set parameters. Correct the corresponding vision command (parameter) settings.

52D0 Main memory failure

52D1 Buzzer failure

52D2 Backlight failure

52D3 Motor LED failure

5 The controller detected a failure by R/W check on the CPU built-in memory in the teach pendant.

2 The controller detected a failure by R/W check on the buzzer I/O in the teach pendant.

Replace the teach pendant.

Replace the teach pendant or its cable.

3 The controller detected a failure by R/W check on the backlight I/O in the teach pendant.

If the backlight does not properly illuminate, replace the teach pendant.

2 The controller detected a failure by R/W check on the motor LED I/O in the teach pendant.

If the motor LED does not properly illuminate, replace the teach pendant.

52D4 Machine lock LED failure

52D5 GIVF failure

2 The controller detected a failure by R/W check on the machine lock

LED I/O in the teach pendant.

If the machine lock LED does not properly illuminate, replace the teach pendant.

3 The controller checks if GVIF LOS in the teach pendant is set at Low

(0). (L: digital transmission signal being sent, H: digital transmission signal stopped)

If the image is improperly displayed, replace the teach pendant or the cable.

52D6 Touch panel failure 1

52D7 Touch panel failure 2

52D8 Touch panel failure 3

3

3

Description

3 An error occurred on the vision board.

Communication timeout occurred (receiving).

Communication timeout occurred (sending).

2 The controller outputs 00 to the scan signal line (bit 2-4 of port E) of the analog touch panel and checks the reading through the same port.

Replace the teach pendant.

2 The controller outputs 01 to the scan signal line (bit 2-4 of port E) of the analog touch panel and checks the reading through the same port.

Replace the teach pendant.

2 The controller outputs 010 to the scan signal line (bit 2-4 of port E) of the analog touch panel and checks the reading through the same port.

Replace the teach pendant.

38

2 Controller Error Code Table

Code Message Level

52D9 Touch panel failure 4

Description

2 The controller outputs 100 to the scan signal line (bit 2-4 of port E) of the analog touch panel and checks the reading through the same port.

Replace the teach pendant.

Remedy

52DA Dedicated key failure 1

52DB Dedicated key failure 2

52DC Dedicated key failure 3

52DD Dedicated key failure 4

52DE Dedicated key failure 5

52DF RTS failure

52E5 Panel Timer Stopped

52E6 Panel Timer delay

52E7 Panel Action timeout

3 The controller outputs 0001 to the SW matrix scan signal line (bit 6-9 of port E) and checks the reading through the same port. It does not check the return line.

Replace the teach pendant.

3 The controller outputs 0010 to the SW matrix scan signal line (bit 6-9 of port E) and checks the reading through the same port. It does not check the return line.

Replace the teach pendant.

3 The controller outputs 0100 to the SW matrix scan signal line (bit 6-9 of port E) and checks the reading through the same port. It does not check the return line.

Replace the teach pendant.

3 The controller outputs 1000 to the SW matrix scan signal line (bit 6-9 of port E) and checks the reading through the same port. It does not check the return line.

Replace the teach pendant.

3 The controller outputs 0000 to the SW matrix scan signal line (bit 6-9 of port E) and checks the reading through the port. It does not check the return line.

Replace the teach pendant.

5 The controller detected a failure in the RTS signal line of the teach pendant or the cable.

1 The panel timer stopped. No timer event can be caused.

Replace the teach pendant or the cable.

1

3

Panel timer events cannot be started at the specified intervals.

A panel parts events could not be executed within the specified timeout.

1.Reduce the number of timers or descriptions of the timer event processing.

2.Adjust the interval time of generating timer actions.

1.Reduce the number of timers or descriptions of the timer action

(event processing).

2.Adjust the timer event interval time.

1.Reduce the descriptions of the timer event command.

2.Adjust the "Timeout" on the panel.

52E8 Panel Timer processing timeout 3 There is a timer event whose processing time is longer than the timer interval.

1.Reduce the number of timers or descriptions of the timer event processing.

2.Adjust the timer event interval time.

531C Memory isn't enough for compiling 5 Memory necessary for compilation is not enough. 1. Close all windows and recompile.

2. If this error recurs, reduce the number of programs and compile. Or, compile with WINCAPSIII and send data to the controller.

39

2 Controller Error Code Table

Code Message Level

53E3 Insufficient memory

5790 Speed over in Direct Teaching

6002 Wrong operation mode

6003 Excess in effective value range

6004 Calibration not executed

Description

5 The amount of memory is insufficient to display the screen you requested.

4

3

Excessive speed in manual operation occurred during teaching in direct mode.

5791 J1 speed over in Direct Teaching 4 Excessive speed (axis 1) in manual operation occurred during teaching in direct mode.

5792 J2 speed over in Direct Teaching 4 Excessive speed (axis 2) in manual operation occurred during teaching in direct mode.

5793 J3 speed over in Direct Teaching 4 Excessive speed (axis 3) in manual operation occurred during teaching in direct mode.

5794 J4 speed over in Direct Teaching 4 Excessive speed (axis 4) in manual operation occurred during teaching in direct mode.

5795 J5 speed over in Direct Teaching 4 Excessive speed (axis 5) in manual operation occurred during teaching in direct mode.

5796 J6 speed over in Direct Teaching 4 Excessive speed (axis 6) in manual operation occurred during teaching in direct mode.

5797 J7 speed over in Direct Teaching 4 Excessive speed (axis 7) in manual operation occurred during teaching in direct mode.

5798 J8 speed over in Direct Teaching 4 Excessive speed (axis 8) in manual operation occurred during

6001 Not executable teaching in direct mode.

The specified operation is not executable.

Remedy

Turn the controller power off and then on. Retry the operation.

If this error occurs during program editing, removing a part of that program may fix this problem.

Carefully prevent excessive force application when operating the robot.

Carefully prevent excessive force application when operating the robot.

Carefully prevent excessive force application when operating the robot.

Carefully prevent excessive force application when operating the robot.

Carefully prevent excessive force application when operating the robot.

Carefully prevent excessive force application when operating the robot.

Carefully prevent excessive force application when operating the robot.

Carefully prevent excessive force application when operating the robot.

Carefully prevent excessive force application when operating the robot.

1.Enter again in executable status.

2.Enter a proper command.

Select the mode suitable for the operation. 2 The specified operation does not match the selected operation mode.

3 The specified value of various commands exceeds the permissible range.

Examples

1.Set value of speed is not 0.1 - 100.

2.The using condition parameter is not within designation available range.

3.Number of robot figures exceeds 31.

3 1.The program was executed before calibration.

2.Manual XY and TOOL motion were executed.

Enter the correct value again.

Execute calibration and operate again.

40

2 Controller Error Code Table

Code Message Level

6005 Manual mode not selected

Description

2 The manual XY mode, tool mode or the individual axis mode is not selected.

6006 Motor power is off

6008 Robot stop is on

6009 Turning off controller and restart

600A Motor power is ON

600B Robot is running

600C Emergency stop ON

600D Deadman switch off

600E RobotType not specified

600F Do CAL after initializing encoder data

6014 Calibration aborted

6015 Avoiding passing throuth singular point

6016 Singular point avoiding motion completed

6017 Vector calculation error

Remedy

Select a mode to manually operate.

3 The motor power is not ON.

2 Attempted to turn the motor power ON when the robot stop input signal was OFF (open circuit).

Possible causes are:

1. Robot stop button being depressed (broken) on the teach pendant.

2. Pendant cable broken, short-circuited, or loosely connected.

3. Equipment wiring faulty (e.g., contact failure of the safety door).

4. Mini I/O faulty.

Turn ON the motor power.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The emergency stop button on the teach pendant is not depressed.

2. The pendant cable is correctly connected, without damage or short-circuit.

3. The robot stop input signals from the safety door, etc. are normal.

4. The mini I/O fuse (F5) is not blown.

5 After an error, which required a restart, occurred the motor power attempted to turn ON without turning OFF the controller power.

3 An unavailable operation was executed while the motor power was

ON.

3 The robot performed inoperable running.

0 The robot stop input was turned OFF(open) to stop the robot emergently. The robot stop button was pressed.

If the robot is in the external automatic mode at this time, it is changed to the internal automatic mode.

2 The deadman switch is turned OFF.

1 The robot arm has passed through the vicinity of a singular point, completing the singular point avoiding motion.

3 Posture vectors (normal, orient, and approach) were not correctly set.

Turn OFF the power switch on the controller and restart the operation.

Operate after turning off the motor power.

After the robot stops, restart operation.

Set the robot stop input to ON (short).Release the robot stop button.

Operate with the deadman switch pressed.

5 Robot type setting is incomplete or wrong. Set the correct Robot type or transfer necessary parameters to the controller. Then turn OFF the power switch and restart the operation.

Execute calibration and operate again. 3 The encoder preset data was initialized because data was not received by the encoder occurred.

3 Calibration execution aborted.

1 The robot arm is in singular point avoiding motion since it is passing through the vicinity of a singular point.

-

If this error occurs in automatic booting with the operation preparation start, check that the step stop and the halt of the system input are not

OFF. If OFF, set them to ON (short).

-

Properly set the specified vector and the type T variable.

41

2 Controller Error Code Table

Code Message Level

6018 Arc interpolation calculation error

6019 Path plane setting error

601A Tool change not allowed

601B Parameter change not allowed

601C Change the posture

601D Motion restart command not executed

601E Machine lock on

601F Decrease the path start displacement

602A Motor on failure

602B Motor on failure

Description

4 Arc interpolation through a specified passing position to a destination position is not available or a path shift due to deceleration stop occurred.

4 The path plane cannot be calculated with the MKPL and the

ROTATE command.

3 The tool attempted to change in status but the tool change was not available.

Remedy

Set the passing or the destination position correctly. If this error occurs when restarting the robot after it is stopped with the motor OFF, curing motion, use the halt as the means to stop the robot.

A plane can not be formed with a vector specified as the argument.

Correctly set it again.

Changing the tool is not allowed while the robot is in motion. After the motion stops, operate again.

3 Attempted to change the parameter status but the parameter change was not allowed.

When the motor power is ON, you cannot change parameters. Turn

OFF the motor power and operate again.

1 The motion destination figure position does not meet the motion finish.

There are times when the figure at the motion destination position does not match with that of the motion finish. Execute teaching again, at the motion finish position. The occurrence of this error does not affect the motion.

3 Controller internal error. Set the robot stop input to ON and then to OFF before restarting the robot.

Release the machine lock and operate again. 2 Operations not available such as

1.Motor on

2.Brake releasing

3.Calibration or CALSET was executed while the machine was locked.

1 The set path start displacement distance exceeds the permissible value.

2

2

Communication timeout occurred and failed motor on.

Communication data error occurred and failed motor on.

Set the path start displacement distance again. The path start displacement distance should be less than half of the moving distance.

If the error persists after turning the motor on again, you need to investigate or repair the controller.

If the error persists after turning the motor on again, you need to investigate or repair the controller.

602C PWR communication error1

602D PWR communication error2

6038 Improper arm parameter

6039 Servo watchdog error

603A Servo CPU error

1 Power communication timeout occurred and stopped to execute a process.

1 Power communication data error occurred and stopped to execute a process.

3 Arm parameter failure

If the error occurs frequently, you need to investigate or repair the controller.

If the error occurs frequently, you need to investigate or repair the controller.

5 A delay has occurred in an interrupt processing.

Transmit the arm manager file corresponding to the robot and reboot the robot.

Reboot the robot controller and perform the operation again.

5 Controller internal failure (Servo CPU stops.) Turn OFF the power switch of the controller and restart the operation.

42

2 Controller Error Code Table

Code Message Level

603B Restart controller to change servo ctrl

Description

5 Restarting the controller is required for changing the control system. Restart the controller.

6071 Cur. Position J1 soft motion limit over

6072 Cur. Position J2 soft motion limit over

6073 Cur. Position J3 soft motion limit over

Remedy

3 Current position exceeded the software motion limit of the 1st axis in motion.

The 1st axis exceeded the software motion limit during CP motion for deceleration stop.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if the robot does not pass the vicinity of the singular point in the CP motion, and correct the program so that it avoids the singular point.

However, if you return the robot to the motion space, move the axes in manual mode. Axis movement may be impossible in XY or TOOL mode.

4.If this error occurs with increase In CP motion speed, decrease the speed.

3 Current position exceeded the software motion limit of the 2nd axis in motion.

The 2nd axis exceeded the software motion limit during CP motion for deceleration stop.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if the robot does not pass the vicinity of the singular point in the CP motion, and correct the program so that it avoids the singular point.

However, if you return the robot to the motion space, move the axes in manual mode. Axis movement may be impossible in XY or TOOL mode.

4.If this error occurs with increase In CP motion speed, decrease the speed.

3 Current position exceeded the software motion limit of the 3rd axis in motion.

The 3rd axis exceeded the software motion limit during CP motion for deceleration stop.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if the robot does not pass the vicinity of the singular point in the CP motion, and correct the program so that it avoids the singular point.

However, if you return the robot to the motion space, move the axes in manual mode. Axis movement may be impossible in XY or TOOL mode.

4.If this error occurs with increase In CP motion speed, decrease the speed.

43

2 Controller Error Code Table

Code Message Level

6074 Cur. Position J4 soft motion limit over

Description Remedy

3 Current position exceeded the software motion limit of the 4th axis in motion

The 4th axis exceeded the software motion limit during CP motion for deceleration stop.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if the robot does not pass the vicinity of the singular point in the CP motion, and correct the program so that it avoids the singular point.

However, if you return the robot to the motion space, move the axes in manual mode. Axis movement may be impossible in XY or TOOL mode.

4.If this error occurs with increase In CP motion speed, decrease the speed.

6075 Cur. Position J5 soft motion limit over

6076 Cur. Position J6 soft motion limit over

3 Current position exceeded the software motion limit of the 5th axis in motion

The 5th axis exceeded the software motion limit during CP motion for deceleration stop.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if the robot does not pass the vicinity of the singular point in the CP motion, and correct the program so that it avoids the singular point.

However, if you return the robot to the motion space, move the axes in manual mode. Axis movement may be impossible in XY or TOOL mode.

4.If this error occurs with increase In CP motion speed, decrease the speed.

3 Current position exceeded the software motion limit of the 6th axis in motion

The 6th axis exceeded the software motion limit during CP motion for deceleration stop.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if the robot does not pass the vicinity of the singular point in the CP motion, and correct the program so that it avoids the singular point.

However, if you return the robot to the motion space, move the axes in manual mode. Axis movement may be impossible in XY or TOOL mode.

4.If this error occurs with increase In CP motion speed, decrease the speed.

44

2 Controller Error Code Table

Code Message Level

6077 Cur. Position J7 soft motion limit over

Description Remedy

3 (1)Current position exceeded the software motion limit of the 7th axis in motion

(2)The 7th axis exceeded the software motion limit during CP motion for deceleration stop.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if the robot does not pass the vicinity of the singular point in the CP motion, and correct the program so that it avoids the singular point.

However, if you return the robot to the motion space, move the axes in manual mode. Axis movement may be impossible in XY or TOOL mode.

4.If this error occurs with increase In CP motion speed, decrease the speed.

6078 Cur. Position J8 soft motion limit over

6079 Current pos. out of operation range

1

607A Current pos. out operation range 2

607B Current pos. is in singular point

3 (1)The current position exceeded the software motion limit of the 8th axis in motion.

(2)The 8th axis exceeded the software motion limit during CP motion at the deceleration stop.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if the robot does not pass the vicinity of the singular point in the CP motion, and correct the program so that it avoids the singular point.

However, if you return the robot to the motion space, move the axes in manual mode. Axis movement may be impossible in XY or TOOL mode.

4.If this error occurs with increase In CP motion speed, decrease the speed.

3 Current position reached out of motion space.

3 Current position reached out of operation range.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if target position of PTP motion and P/T variables in P2J and

T2J commands specify a position and a figure where robot movement is physically possible.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check if you followed correct procedures to change the data.

3.Check if target position of PTP motion and P/T variables in P2J and

T2J commands specify a position and a figure where robot movement is physically possible.

Set the contents of the position variable to a non- singular point value.

607C Singular point avoiding motion disabled

3 Current position is at a singular point, which disables execution of reverse coordinate transformation command.

1 The 4th-axis has rotated in high speed because the singular point avoiding motion was disabled.

Enable the singular point avoiding motion to inhibit the 4th-axis from rotation.

45

2 Controller Error Code Table

Code Message Level

607D Not movable near singular point

607E Cannot move in this posture

607F Robot posture mismatch

6081 J1 command speed limit over

6082 J2 command speed limit over

6083 J3 command speed limit over

6084 J4 command speed limit over

Description

4 The robot cannot move because it passes near a singular point in the CP motion.

3 Cannot move to the specified position in this shape.

3 1.Having specified a figure different from the current figure at the destination point in the CP motion, the specified motion is not possible.

2.When you restart the motion from the halt during the path motion from the PTP motion to the CP, the figure at the halt does not meet the one at the destination position of the CP motion.

Remedy

Select PTP mode if no interference occurs during robot movement.

Correct the program to avoids a singular point in the CP motion.

3.If this error occurs with increase in CP motion speed, decrease the speed.

Change the shape and re-execute.

1.The robot does not move if the wrist, elbow and arm figures do not match the current figures at the destination positions, excluding a few exceptions. If this error occurs, teach the robot so that the wrist, the elbow and the arm figures match with those of the current figures.

2.This error may be possibly occurred when restarting the robot after it is stopped with the halt during path motion from the PTP motion to the

CP motion.

Do not designate the path motion if you need to restart the robot after the robot stops during path motion from the PTP motion to the CP motion.

3 The CP motion cannot execute with the specified speed because the speed command value of the 1st axis exceeds the limit value.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

3.Set the control set of motion optimization to 2 or 3.

3 The CP motion cannot execute with the specified speed because the speed command value of the 2nd axis exceeds the limit value.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

3.Set the control set of motion optimization to 2 or 3.

3 The CP motion cannot execute with the specified speed because the speed command value of the 3rd axis exceeds the limit value.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

3.Set the control set of motion optimization to 2 or 3.

3 The CP motion cannot execute with the specified speed because the speed command value of the 4th axis exceeds the limit value.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

3.Set the control set of motion optimization to 2 or 3.

46

2 Controller Error Code Table

Code Message Level

6085 J5 command speed limit over

6086 J6 command speed limit over

Description Remedy

3 The CP motion cannot execute with the specified speed because the speed command value of the 5th axis exceeds the limit value.

3 The CP motion cannot execute with the specified speed because the speed command value of the 6th axis exceeds the limit value.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

3.Set the control set of motion optimization to 2 or 3.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

3.Set the control set of motion optimization to 2 or 3.

6087 J7 command speed limit over

6088 J8 command speed limit over

6089 J1 command speed limit over

(servo)

608A J2 command speed limit over

(servo)

608B J3 command speed limit over

(servo)

3 The CP motion cannot execute with the specified speed because the speed command value of the 7th axis exceeds the limit value.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

3.Set the control set of motion optimization to 2 or 3.

3 The CP motion cannot execute with the specified speed because the speed command value of the 8th axis exceeds the limit value.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

3.Set the control set of motion optimization to 2 or 3.

4 The CP motion cannot execute with the specified speed because the speed command value of the 1st axis exceeds the limit value.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed.

4 The CP motion cannot execute with the specified speed because the speed command value of the 2nd axis exceeds the limit value.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed.

4 The CP motion cannot execute with the specified speed because the speed command value of the 3rd axis exceeds the limit value.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed.

47

2 Controller Error Code Table

Code Message Level

608C J4 command speed limit over

(servo)

608D J5 command speed limit over

(servo)

608E J6 command speed limit over

(servo)

Description Remedy

4 The CP motion cannot execute with the specified speed because the speed command value of the 4th axis exceeds the limit value.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed.

4 The CP motion cannot execute with the specified speed because the speed command value of the 5th axis exceeds the limit value.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed.

4 The CP motion cannot execute with the specified speed because the speed command value of the 6th axis exceeds the limit value.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed.

608F J7 command speed limit over(servo)

6090 J8 command speed limit over(servo)

6091 J1 power module failure

4 The CP motion cannot execute with the specified speed because the speed command value of the 7th axis exceeds the limit value.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed.

4 The CP motion cannot execute with the specified speed because the speed command value of the 8th axis exceeds the limit value.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed.

5 The power module of the corresponding axis detected overcurrent or voltage drop of the control power.

Possible causes are:

1. Motor & encoder cable broken.

2. Oil, cutting water, or dust gotten into the controller.

3. Controller defective.

4. Power voltage drop.

5. Abnormal controller temperature.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The filters of the controller are not clogged.

2. The cooling fans of the controller are working normally.

3. The controller is installed in an environment where the temperature is not high and there is no oil mist.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. The power supply voltage is within the reference range.

48

2 Controller Error Code Table

Code Message Level

6092 J2 power module failure

6093 J3 power module failure

Description Remedy

5 The power module of the corresponding axis detected overcurrent or voltage drop of the control power.

Possible causes are:

1. Motor & encoder cable broken.

2. Oil, cutting water, or dust gotten into the controller.

3. Controller defective.

4. Power voltage drop.

5. Abnormal controller temperature.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The filters of the controller are not clogged.

2. The cooling fans of the controller are working normally.

3. The controller is installed in an environment where the temperature is not high and there is no oil mist.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. The power supply voltage is within the reference range.

5 The power module of the corresponding axis detected overcurrent or voltage drop of the control power.

Possible causes are:

1. Motor & encoder cable broken.

2. Oil, cutting water, or dust gotten into the controller.

3. Controller defective.

4. Power voltage drop.

5. Abnormal controller temperature.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The filters of the controller are not clogged.

2. The cooling fans of the controller are working normally.

3. The controller is installed in an environment where the temperature is not high and there is no oil mist.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. The power supply voltage is within the reference range.

6094 J4 power module failure

6095 J5 power module failure

5 The power module of the corresponding axis detected overcurrent or voltage drop of the control power.

Possible causes are:

1. Motor & encoder cable broken.

2. Oil, cutting water, or dust gotten into the controller.

3. Controller defective.

4. Power voltage drop.

5. Abnormal controller temperature.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The filters of the controller are not clogged.

2. The cooling fans of the controller are working normally.

3. The controller is installed in an environment where the temperature is not high and there is no oil mist.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. The power supply voltage is within the reference range.

5 The power module of the corresponding axis detected overcurrent or voltage drop of the control power.

Possible causes are:

1. Motor & encoder cable broken.

2. Oil, cutting water, or dust gotten into the controller.

3. Controller defective.

4. Power voltage drop.

5. Abnormal controller temperature.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The filters of the controller are not clogged.

2. The cooling fans of the controller are working normally.

3. The controller is installed in an environment where the temperature is not high and there is no oil mist.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. The power supply voltage is within the reference range.

49

2 Controller Error Code Table

Code Message Level

6096 J6 power module failure

6097 J7 power module failure

Description Remedy

5 The power module of the corresponding axis detected overcurrent or voltage drop of the control power.

Possible causes are:

1. Motor & encoder cable broken.

2. Oil, cutting water, or dust gotten into the controller.

3. Controller defective.

4. Power voltage drop.

5. Abnormal controller temperature.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The filters of the controller are not clogged.

2. The cooling fans of the controller are working normally.

3. The controller is installed in an environment where the temperature is not high and there is no oil mist.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. The power supply voltage is within the reference range.

5 The power module of the corresponding axis detected overcurrent or voltage drop of the control power.

Possible causes are:

1. Motor & encoder cable broken.

2. Oil, cutting water, or dust gotten into the controller.

3. Controller defective.

4. Power voltage drop.

5. Abnormal controller temperature.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The filters of the controller are not clogged.

2. The cooling fans of the controller are working normally.

3. The controller is installed in an environment where the temperature is not high and there is no oil mist.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. The power supply voltage is within the reference range.

6098 J8 power module failure

609F power module failure

5 The power module of the corresponding axis detected overcurrent or voltage drop of the control power.

Possible causes are:

1. Motor & encoder cable broken.

2. Oil, cutting water, or dust gotten into the controller.

3. Controller defective.

4. Power voltage drop.

5. Abnormal controller temperature.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The filters of the controller are not clogged.

2. The cooling fans of the controller are working normally.

3. The controller is installed in an environment where the temperature is not high and there is no oil mist.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. The power supply voltage is within the reference range.

5 An error for an unknown axis occurs in the power module. This error may cause a serious damage in the controller. Be sure to follow the steps below.

1)Check that the controller is installed correctly as specified in the

INSTALLATION & MAINTENANCE GUIDE.

2)Check that all power modules are inserted correctly into the specified slots.

3)Check the current ambient temperature.

4)Clean up the fan filters.

50

2 Controller Error Code Table

Code Message Level

60B1 J1 current offset failure

60B2 J2 current offset failure

60B3 J3 current offset failure

60B4 J4 current offset failure

60B5 J5 current offset failure

Description

5 Abnormal current flow through the corresponding axis was detected.

Possible causes are:

1. Motor & encoder cable broken.

2. Controller defective.

5 Abnormal current flow through the corresponding axis was detected.

Possible causes are:

1. Motor & encoder cable broken.

2. Controller defective.

5 Abnormal current flow through the corresponding axis was detected.

Possible causes are:

1. Motor & encoder cable broken.

2. Controller defective.

5 Abnormal current flow through the corresponding axis was detected.

Possible causes are:

1. Motor & encoder cable broken.

2. Controller defective.

5 Abnormal current flow through the corresponding axis was detected.

Possible causes are:

1. Motor & encoder cable broken.

2. Controller defective.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The controller is installed in an environment where the temperature is not high and there is no oil mist.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The controller is installed in an environment where the temperature is not high and there is no oil mist.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The controller is installed in an environment where the temperature is not high and there is no oil mist.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The controller is installed in an environment where the temperature is not high and there is no oil mist.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The controller is installed in an environment where the temperature is not high and there is no oil mist.

51

2 Controller Error Code Table

Code Message Level

60B6 J6 current offset failure

60B7 J7 current offset failure

60B8 J8 current offset failure

Description

5 Abnormal current flow through the corresponding axis was detected.

Possible causes are:

1. Motor & encoder cable broken.

2. Controller defective.

5 Abnormal current flow through the corresponding axis was detected.

Possible causes are:

1. Motor & encoder cable broken.

2. Controller defective.

5 Abnormal current flow through the corresponding axis was detected.

Possible causes are:

1. Motor & encoder cable broken.

2. Controller defective.

60BE Multi operation buffer overflow

60BF Multi operation buffer release failure

60C0 Robot 1 motion control buffer failure

60C1 Robot 2 motion control buffer failure

60C2 Path creation stack failure

5

5

5

5

Controller internal error (software)

Controller internal error (software)

Controller internal error (software)

Controller internal error (software)

60C3 Path creation buffer failure

60C4 Path creation file failure

5 Controller internal error (software)

5

5

Controller internal error (software)

Path creation parameter error.

60C5 Servo file failure 5 Servo parameter error.

60C6 Deceleration stop command failure 4 Controller internal error (Command value for deceleration stop cannot be created.)

60C7 Command transfer buffer write error

5 Controller internal error (Command value storage buffer is not present.)

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The controller is installed in an environment where the temperature is not high and there is no oil mist.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The controller is installed in an environment where the temperature is not high and there is no oil mist.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The controller is installed in an environment where the temperature is not high and there is no oil mist.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Transmit the arm manager file corresponding to the robot and reboot.

Transmit the arm manager file corresponding to the robot and reboot.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

52

2 Controller Error Code Table

Code Message Level

60C8 Command transfer buffer read error

Description

5 Controller internal error (Command value is not created.)

60C9 Path creation aborted

60CA Halt processing aborted

60CB Deceleration stop aborted

60CC Halt time over

5 Controller internal error (Path creation process stopped.)

5 Controller internal error (Halt process failed.)

5 Controller internal error (Deceleration stop process failed.)

5 Controller internal error (Halt process unfinished.)

60CD Deceleration stop time over 5 Controller internal error (Deceleration stop process unfinished.)

60CE Internal cycle processing aborted 5 Controller internal error (Host internal cycle process stop failure)

60CF Motion command processing aborted

5 Controller internal error (Motion command process stop failure)

60D0 Motion optimize function inexecutable

4 Command speed could not be changed when the control set of motion optimization was 2 or 3.

Remedy

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

60D1 Motion optimization parameter error

4 Acceleration cannot be calculated due to load condition parameter failure when the control set of motion optimization mode was 2 or 3.

60D2 Mass of payload out of setting range

3 End load setting value is outside the robot specifications.

60DA Can't operate to the Z-axis position 1 With the current settings of arch start and end positions, the robot arm cannot reach the commanded Z-coordinate.

60DB decreased TCP speed

60DC Executing pass restart process

60DD Execute CAL

1 The specified rotation is so much that the robot cannot run at the specified TCP speed. The TCP speed has been decreased.

1 Since stop processing was performed during path operation, save processing was performed at restart.

2 Fetch of the correct position data failed. CAL execution is necessary.

60DE Rotary motion other than specified 4 While the arc interpolation command is executing, after a path motion, with the other motion command, you attempted to hold the robot and restart.

60DF Automatic slowdown in progress 1 The command speed was changed when the control set of motion optimization was 2 or 3.

1.Reduce the speed or set the motion of the PTP, if there is no problem, such as interference, on the motion path.

2.Check the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point.

Enter the proper load condition value according to the practical load.

Enter the proper end load setting value.

Correct the current arch settings.

Set the smaller rotation angle. If it is impossible, decrease the whole robot speed.

After save processing ended, return to normal operation.

Turn ON the motor and execute CAL.

If the robot is held during execution of the arc interpolation command, after the path motion with the other motion command, and you restart the operation, the radius of the rotation and the motion position may change. Do not execute such operation.

To avoid changing the command speed, set the control set of motion optimization to 0 or 1, and reduce the speed so that the command speed failure will not occur.

53

2 Controller Error Code Table

Code Message Level

60E0 Log data retrieving error

60E1 Log data recording error

60E2 Obtain log

Description

5 Controller internal error. (A control log obtaining failure.)

5 Controller internal error. (A control log recording failure.)

60E3 Log area allocation error

2 Attempt was made to refer to the load estimation value without obtaining control log.

4 Control log is not available because of insufficient data area for the control log function.

Remedy

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Obtain the control log and operate again.

60EF Reset compliance mode

60F0 Task creation error

60F1 Semaphore creation error

60F2 Semaphore taking error

60F3 Gravity compensation task stopped

60F4 Compliance processing delay

2 The motor was turned OFF during conference control and compliance control was ended forcibly.

5 Controller internal error occurred. (An OS error.)

5

5

5

Controller internal error occurred. (An OS error.)

Controller internal error occurred. (An OS error.)

Controller internal error occurred (OS error).

Reset to the default value if the control log recording mode was altered.

If the error occurs with default settings, the memory capacity is insufficient and the memory capacity shall be increased to use the control log function.

When the motor was turned OFF during compliance control, continue start is disabled. Reset the program and restart operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

4 Compliance processing delayed.

60F5 Compliance control is not executable

60F6 Improper compliance parameter

4 When the compliance is valid, the current is limited or gravity compensation is invalid.

60F7 Compliance state is unchangeable 4 Compliance function switching error.

Make the current limit invalid and the gravity compensation invalid, then restart operation.

5 The specified compliance parameter exceeded the allowable range. Specify the compliance parameter in the allowable range.

Turn OFF the power switch of the controller once and restart operation.

60F8 Compliance deviation excess error 4 The compliance position deviation exceeded the allowable value.

60F9 Improper compliance set/reset operation

4 Program reset or step-back operation was performed during compliance set/reset operation. The program was reset due to an error.

60FA Not Executable in compliance control

60FB Improper compliance reference

4 The gravity compensation was made invalid, the current limit was made valid, or the compliance parameter was changed during compliance processing.

4 An improper compliance reference value was specified during compliance control.

This error may occur when the controller keyboard is operated or the communication frequency by the RS232C or Ethernet is high where the compliance is valid. Lower the communication frequency.

Change the allowable value of the compliance position deviation.

When performing program reset or step-back operation at instantaneous stop during compliance invalid operation, turn OFF the motor once and make the compliance invalid.

Make the compliance invalid to invalidate the gravity compensation, validate the current limit, or change the compliance parameter.

Confirm whether the extreme power is applied due to the interference of the robot. Also check whether the robot is moved in the compliance control direction.

54

2 Controller Error Code Table

Code Message Level

60FC Speed limit over in compliance mode

60FD PTP motion is not execurable

60FE Servo CPU version unmatched

60FF Exception error occurred

Description Remedy

3 The specified speed is limited within 50% during compliance control.

This error occurs when 50% is exceeded for operation.

Specify the internal speed so that the specified speed is within 50%.

Change to CP operation 3 PTP operation cannot be performed during compliance control. This error occurs when PTP operation is executed.

2 The servo CPU is too old; so, its functions are unusable.

5 The servo CPU is too old; so, its functions are unusable.

Upgrade the version of the servo CPU.

Turn OFF the power switch of the controller once and restart operation.

6101 Watchdog error

6102 Power failure

5 The CPU has been freezing.

Possible causes are:

1. Program highly loaded in processing (high-speed loop).

2. External noise, e.g., static electricity.

5 A power supply error was detected.

Possible causes are given below.

Note that this error that occurs when the power is shut down is not regarded as abnormal.

1. Power supply out of the range (e.g., low voltage and overvoltage).

2. Controller defective.

1 The memory backup battery voltage is low.

Check the following and restart the controller.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. There is no external noise source in the vicinity.

Check the following and restart the controller.

If the error persists, contact the DENSO Robot Service Section.

1. The power supply voltage is within the reference range.

2. There is no contact failure in the power cable connector.

Save all data with WINCAPSIII and replace the backup battery. 6103 Warning: Backup battery low voltage

6104 Power failure(DC)

6105 Power failure(DB)

5 1.The +24V output source is short-circuited.

2.The power voltage in the controller has been dropped.

3.The counter electromotive force of the servomotor is abnormal.

4.The power supply board is faulty.

If this error message appears when you turn the controller off, it means no problem.

5 1.The DB relay has been melted.

2.The power supply board is faulty.

1.At the wiring end of the controller I/O cable, check for a short between the +24V and 0V leads or between the +24V lead and output terminal.

2.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

3.If the error persists after rebooting the controller, you need to investigate or repair the controller.

If the error persists after rebooting the controller, you need to investigate or repair the controller.

55

2 Controller Error Code Table

Code Message Level

6111 J1 excess error

Description Remedy

4 The difference between the current encoder value (current position) of the corresponding axis and the command value exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. Inappropriate settings.

3. Motor & encoder cable broken.

4. Controller defective.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

4. The robot motion (speed and acceleration) is not too fast.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The robot motion is smooth and no abnormal noise is heard.

8. The power supply voltage is within the reference range.

6112 J2 excess error

6113 J3 excess error

4 The difference between the current encoder value (current position) of the corresponding axis and the command value exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. Inappropriate settings.

3. Motor & encoder cable broken.

4. Controller defective.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

4. The robot motion (speed and acceleration) is not too fast.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The robot motion is smooth and no abnormal noise is heard.

8. The power supply voltage is within the reference range.

4 The difference between the current encoder value (current position) of the corresponding axis and the command value exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. Inappropriate settings.

3. Motor & encoder cable broken.

4. Controller defective.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

4. The robot motion (speed and acceleration) is not too fast.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The robot motion is smooth and no abnormal noise is heard.

8. The power supply voltage is within the reference range.

56

2 Controller Error Code Table

Code Message Level

6114 J4 excess error

Description Remedy

4 The difference between the current encoder value (current position) of the corresponding axis and the command value exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. Inappropriate settings.

3. Motor & encoder cable broken.

4. Controller defective.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

4. The robot motion (speed and acceleration) is not too fast.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The robot motion is smooth and no abnormal noise is heard.

8. The power supply voltage is within the reference range.

6115 J5 excess error

6116 J6 excess error

4 The difference between the current encoder value (current position) of the corresponding axis and the command value exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. Inappropriate settings.

3. Motor & encoder cable broken.

4. Controller defective.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

4. The robot motion (speed and acceleration) is not too fast.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The robot motion is smooth and no abnormal noise is heard.

8. The power supply voltage is within the reference range.

4 The difference between the current encoder value (current position) of the corresponding axis and the command value exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. Inappropriate settings.

3. Motor & encoder cable broken.

4. Controller defective.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

4. The robot motion (speed and acceleration) is not too fast.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The robot motion is smooth and no abnormal noise is heard.

8. The power supply voltage is within the reference range.

57

2 Controller Error Code Table

Code Message Level

6117 J7 excess error

Description Remedy

4 The difference between the current encoder value (current position) of the corresponding axis and the command value exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. Inappropriate settings.

3. Motor & encoder cable broken.

4. Controller defective.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

4. The robot motion (speed and acceleration) is not too fast.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The robot motion is smooth and no abnormal noise is heard.

8. The power supply voltage is within the reference range.

6118 J8 excess error

6119 J1 overcurrent

4 The difference between the current encoder value (current position) of the corresponding axis and the command value exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. Inappropriate settings.

3. Motor & encoder cable broken.

4. Controller defective.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

4. The robot motion (speed and acceleration) is not too fast.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The robot motion is smooth and no abnormal noise is heard.

8. The power supply voltage is within the reference range.

4 An overcurrent error has occurred in the V-phase of the J1 motor. 1.Check each joint (including hand and workpieces) for no interference with surrounding devices, piping or wiring.

2.If the joint interferes with any mechanical end so as to cause this error, change the software limit or check that the CALSET operation has been correctly performed.

3.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

4.Check that the robot controller cable is securely connected to the robot unit and controller.

5.Check that the FG terminals of the robot unit and controller are grounded.

6.Decrease the speed and acceleration.

58

2 Controller Error Code Table

Code Message Level

611A J2 overcurrent

611B J3 overcurrent

611C J4 overcurrent

Description Remedy

4 An overcurrent error has occurred in the V-phase of the J2 motor. 1.Check each joint (including hand and workpieces) for no interference with surrounding devices, piping or wiring.

2.If the joint interferes with any mechanical end so as to cause this error, change the software limit or check that the CALSET operation has been correctly performed.

3.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

4.Check that the robot controller cable is securely connected to the robot unit and controller.

5.Check that the FG terminals of the robot unit and controller are grounded.

6.Decrease the speed and acceleration.

4 An overcurrent error has occurred in the V-phase of the J3 motor. 1.Check each joint (including hand and workpieces) for no interference with surrounding devices, piping or wiring.

2.If the joint interferes with any mechanical end so as to cause this error, change the software limit or check that the CALSET operation has been correctly performed.

3.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

4.Check that the robot controller cable is securely connected to the robot unit and controller.

5.Check that the FG terminals of the robot unit and controller are grounded.

6.Decrease the speed and acceleration.

4 An overcurrent error has occurred in the V-phase of the J4 motor. 1.Check each joint (including hand and workpieces) for no interference with surrounding devices, piping or wiring.

2.If the joint interferes with any mechanical end so as to cause this error, change the software limit or check that the CALSET operation has been correctly performed.

3.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

4.Check that the robot controller cable is securely connected to the robot unit and controller.

5.Check that the FG terminals of the robot unit and controller are grounded.

6.Decrease the speed and acceleration.

59

2 Controller Error Code Table

Code Message Level

611D J5 overcurrent

611E J6 overcurrent

611F J7 overcurrent

Description Remedy

4 An overcurrent error has occurred in the V-phase of the J5 motor. 1.Check each joint (including hand and workpieces) for no interference with surrounding devices, piping or wiring.

2.If the joint interferes with any mechanical end so as to cause this error, change the software limit or check that the CALSET operation has been correctly performed.

3.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

4.Check that the robot controller cable is securely connected to the robot unit and controller.

5.Check that the FG terminals of the robot unit and controller are grounded.

6.Decrease the speed and acceleration.

4 An overcurrent error has occurred in the V-phase of the J6 motor. 1.Check each joint (including hand and workpieces) for no interference with surrounding devices, piping or wiring.

2.If the joint interferes with any mechanical end so as to cause this error, change the software limit or check that the CALSET operation has been correctly performed.

3.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

4.Check that the robot controller cable is securely connected to the robot unit and controller.

5.Check that the FG terminals of the robot unit and controller are grounded.

6.Decrease the speed and acceleration.

4 An overcurrent error has occurred in the V-phase of the J7 motor. 1.Check each joint (including hand and workpieces) for no interference with surrounding devices, piping or wiring.

2.If the joint interferes with any mechanical end so as to cause this error, change the software limit or check that the CALSET operation has been correctly performed.

3.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

4.Check that the robot controller cable is securely connected to the robot unit and controller.

5.Check that the FG terminals of the robot unit and controller are grounded.

6.Decrease the speed and acceleration.

60

2 Controller Error Code Table

Code Message Level

6120 J8 overcurrent

6121 J1 overcurrent

6122 J2 overcurrent

6123 J3 overcurrent

4 An overcurrent error has occurred in the V-phase of the J8 motor. 1.Check each joint (including hand and workpieces) for no interference with surrounding devices, piping or wiring.

2.If the joint interferes with any mechanical end so as to cause this error, change the software limit or check that the CALSET operation has been correctly performed.

3.Check that the hand specifications (including workpieces) do not exceed the robot capacity.

4.Check that the robot controller cable is securely connected to the robot unit and controller.

5.Check that the FG terminals of the robot unit and controller are grounded.

6.Decrease the speed and acceleration.

4 Current flow through the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. End-of-arm load exceeding the reference value.

2. Robot colliding with any obstacle.

3. Sliding failure.

4. Motor & encoder cable broken.

5. Controller defective.

6. Robot internal wiring broken.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The end-of-arm load is not exceeding the reference value.

2. The robot arm is not in contact with any obstacles.

3. The robot motion is smooth and no abnormal noise is heard.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. No cutting water, oil, or dust has gotten into the controller.

4 the permitted value.

Possible causes are:

3. Sliding failure.

5. Controller defective.

Description

Current flow through the motor of the corresponding axis exceeded

1. End-of-arm load exceeding the reference value.

2. Robot colliding with any obstacle.

4. Motor & encoder cable broken.

6. Robot internal wiring broken.

4 Current flow through the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. End-of-arm load exceeding the reference value.

2. Robot colliding with any obstacle.

3. Sliding failure.

4. Motor & encoder cable broken.

5. Controller defective.

6. Robot internal wiring broken.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The end-of-arm load is not exceeding the reference value.

2. The robot arm is not in contact with any obstacles.

3. The robot motion is smooth and no abnormal noise is heard.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

Remedy

If the error persists, contact the DENSO Robot Service Section.

1. The end-of-arm load is not exceeding the reference value.

2. The robot arm is not in contact with any obstacles.

3. The robot motion is smooth and no abnormal noise is heard.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. No cutting water, oil, or dust has gotten into the controller.

61

2 Controller Error Code Table

Code Message Level

6124 J4 overcurrent

6125 J5 overcurrent

Description

4 Current flow through the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. End-of-arm load exceeding the reference value.

2. Robot colliding with any obstacle.

3. Sliding failure.

4. Motor & encoder cable broken.

5. Controller defective.

6. Robot internal wiring broken.

4 Current flow through the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. End-of-arm load exceeding the reference value.

2. Robot colliding with any obstacle.

3. Sliding failure.

4. Motor & encoder cable broken.

5. Controller defective.

6. Robot internal wiring broken.

6126 J6 overcurrent

6127 J7 overcurrent

4 Current flow through the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. End-of-arm load exceeding the reference value.

2. Robot colliding with any obstacle.

3. Sliding failure.

4. Motor & encoder cable broken.

5. Controller defective.

6. Robot internal wiring broken.

4 Current flow through the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. End-of-arm load exceeding the reference value.

2. Robot colliding with any obstacle.

3. Sliding failure.

4. Motor & encoder cable broken.

5. Controller defective.

6. Robot internal wiring broken.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The end-of-arm load is not exceeding the reference value.

2. The robot arm is not in contact with any obstacles.

3. The robot motion is smooth and no abnormal noise is heard.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The end-of-arm load is not exceeding the reference value.

2. The robot arm is not in contact with any obstacles.

3. The robot motion is smooth and no abnormal noise is heard.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The end-of-arm load is not exceeding the reference value.

2. The robot arm is not in contact with any obstacles.

3. The robot motion is smooth and no abnormal noise is heard.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The end-of-arm load is not exceeding the reference value.

2. The robot arm is not in contact with any obstacles.

3. The robot motion is smooth and no abnormal noise is heard.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. No cutting water, oil, or dust has gotten into the controller.

62

2 Controller Error Code Table

Code Message Level

6128 J8 overcurrent

6129 J1 overcurrent (software)

Description

4 Current flow through the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. End-of-arm load exceeding the reference value.

2. Robot colliding with any obstacle.

3. Sliding failure.

4. Motor & encoder cable broken.

5. Controller defective.

6. Robot internal wiring broken.

4 An overcurrent error on the 1st axis. The current to the motor exceeded the permissible value set in the software.

612A J2 overcurrent (software) 4 An overcurrent error on the 2nd axis. The current to the motor exceeded the permissible value set in the software.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The end-of-arm load is not exceeding the reference value.

2. The robot arm is not in contact with any obstacles.

3. The robot motion is smooth and no abnormal noise is heard.

4. There is no contact failure in the motor & encoder cable connector.

5. Any section of the motor & encoder cable is not broken or crushed.

6. No cutting water, oil, or dust has gotten into the controller.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

5.Check that the FG terminals on the robot and the controller are grounded.

6.Decrease the speed and acceleration.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

5.Check that the FG terminals on the robot and the controller are grounded.

6.Decrease the speed and acceleration.

63

2 Controller Error Code Table

Code Message Level

612B J3 overcurrent (software)

Description

4 An overcurrent error on the 3rd axis. The current to the motor exceeded the permissible value set in the software.

612C J4 overcurrent (software)

612D J5 overcurrent (software)

4 An overcurrent error on the 4th axis. The current to the motor exceeded the permissible value set in the software.

4 An overcurrent error on the 5th axis. The current to the motor exceeded the permissible value set in the software.

Remedy

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

5.Check that the FG terminals on the robot and the controller are grounded.

6.Decrease the speed and acceleration.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

5.Check that the FG terminals on the robot and the controller are grounded.

6.Decrease the speed and acceleration.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

5.Check that the FG terminals on the robot and the controller are grounded.

6.Decrease the speed and acceleration.

64

2 Controller Error Code Table

Code Message Level

612E J6 overcurrent (software)

612F J7 overcurrent(software)

6130 J8 overcurrent(software)

6131 J1 encoder cable disconnected

Description

4 An overcurrent error on the 6th axis. The current to the motor exceeded the permissible value set in the software.

4 Overcurrent error on the 7th axis. The current flown through the motor exceeded the permissible value set in the software.

4 Overcurrent error on the 8th axis. The current flown through the motor exceeded the permissible value set in the software.

4 1st axis cable is not connected or broken.

Remedy

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

5.heck that the FG terminals on the robot and the controller are grounded.

6.Decrease the speed and acceleration.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

5.Check that the FG terminals on the robot and the controller are grounded.

6.Decrease the speed and acceleration.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

5.Check that the FG terminals on the robot and the controller are grounded.

6.Decrease the speed and acceleration.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

65

2 Controller Error Code Table

Code Message Level

6132 J2 encoder cable disconnected

Description

4 2nd axis cable is not connected or broken.

6133 J3 encoder cable disconnected 4 3rd axis cable is not connected or broken.

6134 J4 encoder cable disconnected 4 4th axis cable is not connected or broken.

6135 J5 encoder cable disconnected 4 5th axis cable is not connected or broken.

6136 J6 encoder cable disconnected 4 6th axis cable is not connected or broken.

6137 J7 encoder cable disconnected 4 The 7th-axis cable is not connected or broken.

6138 J8 encoder cable disconnected 4 The 8th-axis cable is not connected or broken.

Remedy

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

66

2 Controller Error Code Table

Code Message Level

6139 Power module overheated

613A Power module overheated

6140 Motor brake fuse blown

Description Remedy

4 The temperature inside the robot controller has arisen abnormally. 1.Check the ambient temperature

2.Check that there is no obstruction to ventilation maintained by the fans inside the controller.

Once this error occurs, the motor will not be able to be turned on until the inside temperature drops below the specified level. Wait for at least one minute.

4 The temperature inside the robot controller has risen abnormally.

4 (1) The motor brake fuse was blown.

(2) The contactor was failed (Only for RC7M).

(3) The brake release relay is broken.

1.Check the ambient temperature

2.Check that there is no obstruction to ventilation maintained by the fans inside the controller.

Once this error occurs, the motor will not be able to be turned on until the inside temperature drops below the specified level. Wait for at least one minute.

Check the motor-encoder cable.

Check the motor.

(3) You need to investigate or repair the contactor (Only for RC7M).

6141 J1 power module failure 4 A fuse in the power module of the corresponding axis was blown.

Possible causes are:

1. Controller defective.

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

6142 J2 power module failure

6143 J3 power module failure

6144 J4 power module failure

4 A fuse in the power module of the corresponding axis was blown.

Possible causes are:

1. Controller defective.

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

4 A fuse in the power module of the corresponding axis was blown.

Possible causes are:

1. Controller defective.

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

4 A fuse in the power module of the corresponding axis was blown.

Possible causes are:

1. Controller defective.

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

It is necessary to repair the controller.

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No cutting water, oil, or dust has gotten into the controller.

It is necessary to repair the controller.

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No cutting water, oil, or dust has gotten into the controller.

It is necessary to repair the controller.

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No cutting water, oil, or dust has gotten into the controller.

It is necessary to repair the controller.

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No cutting water, oil, or dust has gotten into the controller.

67

2 Controller Error Code Table

Code Message Level

6145 J5 power module failure

6146 J6 power module failure

6147 J7 power module failure

6148 J8 power module failure

6149 J1 power module capacity failure

614A J2 power module capacity failure

Description

4 A fuse in the power module of the corresponding axis was blown.

Possible causes are:

1. Controller defective.

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

Remedy

It is necessary to repair the controller.

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No cutting water, oil, or dust has gotten into the controller.

4

4

A fuse in the power module of the corresponding axis was blown.

Possible causes are:

1. Controller defective.

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

A fuse in the power module of the corresponding axis was blown.

Possible causes are:

1. Controller defective.

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

It is necessary to repair the controller.

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No cutting water, oil, or dust has gotten into the controller.

It is necessary to repair the controller.

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No cutting water, oil, or dust has gotten into the controller.

4 A fuse in the power module of the corresponding axis was blown.

Possible causes are:

1. Controller defective.

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

It is necessary to repair the controller.

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No cutting water, oil, or dust has gotten into the controller.

4 The J1 power module does not match the motor parameter values.

1.Check the matching between the power module capacity and the connected motor's output.

2.Check the matching between the arm file being used and the robot model.

3.When the joint is used as an extended-joint, check that the extended-joint path parameters for the motor are correctly set.

4 The J2 power module does not match the motor parameter values.

1.Check the matching between the power module capacity and the connected motor's output.

2.Check the matching between the arm file being used and the robot model.

3.When the joint is used as an extended-joint, check that the extended-joint path parameters for the motor are correctly set.

68

2 Controller Error Code Table

Code Message Level

614B J3 power module capacity failure

Description Remedy

4 The J3 power module does not match the motor parameter values.

1.Check the matching between the power module capacity and the connected motor's output.

2.Check the matching between the arm file being used and the robot model.

3.When the joint is used as an extended-joint, check that the extended-joint path parameters for the motor are correctly set.

614C J4 power module capacity failure

614D J5 power module capacity failure

614E J6 power module capacity failure

614F J7 power module capacity failure

6150 J8 power module capacity failure

6170 Contoroller overload

4 The J4 power module does not match the motor parameter values.

1.Check the matching between the power module capacity and the connected motor's output.

2.Check the matching between the arm file being used and the robot model.

3.When the joint is used as an extended-joint, check that the extended-joint path parameters for the motor are correctly set.

4 The J5 power module does not match the motor parameter values.

1.Check the matching between the power module capacity and the connected motor's output.

2.Check the matching between the arm file being used and the robot model.

3.When the joint is used as an extended-joint, check that the extended-joint path parameters for the motor are correctly set.

4 The J6 power module does not match the motor parameter values.

1.Check the matching between the power module capacity and the connected motor's output.

2.Check the matching between the arm file being used and the robot model.

3.When the joint is used as an extended-joint, check that the extended-joint path parameters for the motor are correctly set.

4 The J7 power module does not match the motor parameter values.

1.Check the matching between the power module capacity and the connected motor's output.

2.Check the matching between the arm file being used and the robot model.

3.When the joint is used as an extended-joint, check that the extended-joint path parameters for the motor are correctly set.

4 The J8 power module does not match the motor parameter values.

1.Check the matching between the power module capacity and the connected motor's output.

2.Check the matching between the arm file being used and the robot model.

3.When the joint is used as an extended-joint, check that the extended-joint path parameters for the motor are correctly set.

4 An overload error occurred in the controller. Insert a timer between the motion commands or reduce the speed and acceleration.

Wait one minute before starting operation again.

69

2 Controller Error Code Table

Code Message Level

6171 J1 motor overload

6172 J2 motor overload

6173 J3 motor overload

Description

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

70

2 Controller Error Code Table

Code Message Level

6174 J4 motor overload

6175 J5 motor overload

6176 J6 motor overload

Description

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

71

2 Controller Error Code Table

Code Message Level

6177 J7 motor overload

6178 J8 motor overload

6180 Servo communication data error

Description

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4

5

Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

A controller internal error has occurred. (Servo-received data is out of the range.)

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

6181 Servo calculation time over

6182 Servo comm. interrupt delay (host) 5 Controller internal error (Interruption from servo exceeded the preset time.)

6183 Servo data check sum error

5

5

Controller internal error (Servo process time over.)

A check sum failure occurred in communicating data between the host and the servo.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

72

2 Controller Error Code Table

Code Message Level

6185 Host data check sum error

Description

5 A check sum failure occurred in communicating data between the host and the servo.

5 Controller internal error (An unregistered command was received from servo.)

5 Controller internal error (An unregistered command was received from upper module.)

5 Controller internal error (An unregistered command was received from host.)

Remedy

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

Turn OFF the power switch of the controller and restart the operation. 6186 Servo answer command receive error(host)

6189 Servo transmission command undefined

618A Host send command receive error

(servo)

618B Servo command mode unknown

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

618C Servo command delete error

618D Servo transmit command buffer overflow

618E Servo ans. command buffer overflow

618F Servo answer command mismatch 5 Controller internal error (There is no command that corresponds to the command returned from the servo.)

6199 J1 motor lock overload2 4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

619A J2 motor lock overload2

5 Controller internal error (The sub data quantity of command to send servo is not defined.)

5 Controller internal error (The corresponding command to the one answered from servo is not present.)

5

5

4

Controller internal error (The number of commands to send from servo is over.)

Controller internal error (The number of commands waiting for answer from servo is over.)

The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

73

2 Controller Error Code Table

Code Message Level

619B J3 motor lock overload2

Description

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

619C J4 motor lock overload2

619D J5 motor lock overload2

619E J6 motor lock overload2

619F J7 motor lock overload2

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

74

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

2 Controller Error Code Table

Code Message Level

61A0 J8 motor lock overload2

61A1 J1 torque limit time over

61A2 J2 torque limit time over

61A3 J3 torque limit time over

Description

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4

4 The of 2nd axis torque command reached its limit and the time exceeded its limit while maintaining that status.

4

The 1st axis torque command reached its limit and the time exceeded its limit while maintaining that status.

The 3rd axis torque command reached its limit and the time exceeded its limit while maintaining that status.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

75

2 Controller Error Code Table

Code Message Level

61A4 J4 torque limit time over

61A5 J5 torque limit time over

61A6 J6 torque limit time over

61A7 J7 torque limit time over

Description

4 The 4th axis torque command reached its limit and the time exceeded its limit while maintaining that status.

4 The 5th axis torque command reached its limit and the time exceeded its limit while maintaining that status.

4 The 6th axis torque command reached its limit and the time exceeded its limit while maintaining that status.

4 The 7th axis torque command reached its limit and the time exceeded its limit while maintaining that status.

Remedy

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

76

2 Controller Error Code Table

Code Message Level

61A8 J8 torque limit time over

Description

4 The 8th axis torque command reached its limit and the time exceeded its limit while maintaining that status.

61A9 J1 motor lock overload

61AA J2 motor lock overload

61AB J3 motor lock overload

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

Remedy

1.Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires).

2.If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET.

3.Check if the hand, including a work-piece, specification is outside the robot standard specifications.

4.Check if the cable between the robot and the controller is firmly plugged.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

77

2 Controller Error Code Table

Code Message Level

61AC J4 motor lock overload

Description

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

61AD J5 motor lock overload

61AE J6 motor lock overload

61AF J7 motor lock overload

61B0 J8 motor lock overload

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

4 The corresponding axis does not move.

Possible causes are:

1. Robot arm being in contact with an obstacle.

2. Sliding failure.

3. Motor & encoder cable broken.

4. Controller defective.

78

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The robot motion is smooth and no abnormal noise is heard.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

2 Controller Error Code Table

Code Message Level

61B1 J1 power module overload

61B2 J2 power module overload

Description

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

7. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

7. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

79

2 Controller Error Code Table

Code Message Level

61B3 J3 power module overload

61B4 J4 power module overload

Description

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

7. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

7. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

80

2 Controller Error Code Table

Code Message Level

61B5 J5 power module overload

61B6 J6 power module overload

Description

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

7. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

7. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

81

2 Controller Error Code Table

Code Message Level

61B7 J7 power module overload

61B8 J8 power module overload

61EC Press the deadman switch

61FF Overcurrent error (mode undetected)

6254 Cannot execute in b-CAP slave mode

6306 Can't operate in Direct teaching mode

Description

4 Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

4

3

4

Load applied to the corresponding axis exceeded the permitted value.

Possible causes are:

1. Program too highly loaded.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

The deadman switch was turned off during auto gain tuning.

An overcurrent error was accidentally detected.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

7. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The program is not highly loaded.

To decrease the load on the program, decrease the speed or acceleration, insert a timer (pause), or set the control set of motion optimization to "0."

(Leave at least one minute before retrying the operation.)

2. The end-of-arm load is not exceeding the reference value.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. The air balance cylinder is properly adjusted.

6. The robot motion is smooth and no abnormal noise is heard.

7. The software limits and CALSET are appropriately configured if the corresponding axis is in contact with the mechanical end.

Hold down the deadman switch during auto gain tuning.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Decrease the speed and acceleration.

4 Attempted to perform any operation that is not allowed in the b-CAP slave mode.

Cancel the b-CAP slave mode and retry the operation.

2 An action prohibited in direct teaching mode, e.g. turning the motor power off, was attempted.

Do not attempt operations prohibited in direct teaching mode.

82

2 Controller Error Code Table

Code Message Level

6308 Brake releasing

6401 J1 encoder acceleration error

Description

2 The motor power was attempted to turn ON during motor brake releasing.

5 1st axis encoder exceeded the acceleration limit value.

6402 J2 encoder acceleration error

6403 J3 encoder acceleration error

6404 J4 encoder acceleration error

6405 J5 encoder acceleration error

6406 J6 encoder acceleration error

6407 J7 encoder acceleration error

5 2nd axis encoder exceeded the acceleration limit value.

5 3rd axis encoder exceeded the acceleration limit value.

5 4th axis encoder exceeded the acceleration limit value.

5 5th axis encoder exceeded the acceleration limit value.

5 6th axis encoder exceeded the acceleration limit value.

5 The 7th-axis encoder exceeded the acceleration limit value.

Remedy

Lock the motor brake and turn ON the motor power.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

83

2 Controller Error Code Table

Code Message Level

6408 J8 encoder acceleration error

6411 J1 encoder system down failure

6412 J2 encoder system down failure

6413 J3 encoder system down failure

Description

5 The 8th-axis encoder exceeded the acceleration limit value.

5 Failed to read the encoder information of the corresponding axis.

Possible causes are:

1. Short of power supply to the encoder.

2. Encoder (motor) defective.

5 Failed to read the encoder information of the corresponding axis.

Possible causes are:

1. Short of power supply to the encoder.

2. Encoder (motor) defective.

5 Failed to read the encoder information of the corresponding axis.

Possible causes are:

1. Short of power supply to the encoder.

2. Encoder (motor) defective.

Remedy

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. All joints are normal (The indicators light in green), which should be checked with the ENC information on the teach pendant.

2. The remaining charge of the encoder backup battery is sufficient.

(The battery replacement time is not near.)

3. The encoder backup battery is correctly connected.

4. The encoder resetting, CALSET operation, etc., are correctly performed, which should be checked if the motor was replaced.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. All joints are normal (The indicators light in green), which should be checked with the ENC information on the teach pendant.

2. The remaining charge of the encoder backup battery is sufficient.

(The battery replacement time is not near.)

3. The encoder backup battery is correctly connected.

4. The encoder resetting, CALSET operation, etc., are correctly performed, which should be checked if the motor was replaced.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. All joints are normal (The indicators light in green), which should be checked with the ENC information on the teach pendant.

2. The remaining charge of the encoder backup battery is sufficient.

(The battery replacement time is not near.)

3. The encoder backup battery is correctly connected.

4. The encoder resetting, CALSET operation, etc., are correctly performed, which should be checked if the motor was replaced.

84

2 Controller Error Code Table

Code Message Level

6414 J4 encoder system down failure

6415 J5 encoder system down failure

6416 J6 encoder system down failure

6417 J7 encoder system down failure

Description

5 Failed to read the encoder information of the corresponding axis.

Possible causes are:

1. Short of power supply to the encoder.

2. Encoder (motor) defective.

5 Failed to read the encoder information of the corresponding axis.

Possible causes are:

1. Short of power supply to the encoder.

2. Encoder (motor) defective.

5 Failed to read the encoder information of the corresponding axis.

Possible causes are:

1. Short of power supply to the encoder.

2. Encoder (motor) defective.

5 Failed to read the encoder information of the corresponding axis.

Possible causes are:

1. Short of power supply to the encoder.

2. Encoder (motor) defective.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. All joints are normal (The indicators light in green), which should be checked with the ENC information on the teach pendant.

2. The remaining charge of the encoder backup battery is sufficient.

(The battery replacement time is not near.)

3. The encoder backup battery is correctly connected.

4. The encoder resetting, CALSET operation, etc., are correctly performed, which should be checked if the motor was replaced.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. All joints are normal (The indicators light in green), which should be checked with the ENC information on the teach pendant.

2. The remaining charge of the encoder backup battery is sufficient.

(The battery replacement time is not near.)

3. The encoder backup battery is correctly connected.

4. The encoder resetting, CALSET operation, etc., are correctly performed, which should be checked if the motor was replaced.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. All joints are normal (The indicators light in green), which should be checked with the ENC information on the teach pendant.

2. The remaining charge of the encoder backup battery is sufficient.

(The battery replacement time is not near.)

3. The encoder backup battery is correctly connected.

4. The encoder resetting, CALSET operation, etc., are correctly performed, which should be checked if the motor was replaced.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. All joints are normal (The indicators light in green), which should be checked with the ENC information on the teach pendant.

2. The remaining charge of the encoder backup battery is sufficient.

(The battery replacement time is not near.)

3. The encoder backup battery is correctly connected.

4. The encoder resetting, CALSET operation, etc., are correctly performed, which should be checked if the motor was replaced.

85

2 Controller Error Code Table

Code Message Level

6418 J8 encoder system down failure

Description

5 Failed to read the encoder information of the corresponding axis.

Possible causes are:

1. Short of power supply to the encoder.

2. Encoder (motor) defective.

6421 J1 encoder data not received

6422 J2 encoder data not received

6423 J3 encoder data not received

6424 J4 encoder data not received

6425 J5 encoder data not received

4 Failed to receive the encoder data of the corresponding axis.

Possible causes are:

1. Motor & encoder cable broken.

2. Motor defective.

3. Controller defective.

4. Robot internal wiring broken.

4 Failed to receive the encoder data of the corresponding axis.

Possible causes are:

1. Motor & encoder cable broken.

2. Motor defective.

3. Controller defective.

4. Robot internal wiring broken.

4 Failed to receive the encoder data of the corresponding axis.

Possible causes are:

1. Motor & encoder cable broken.

2. Motor defective.

3. Controller defective.

4. Robot internal wiring broken.

4 Failed to receive the encoder data of the corresponding axis.

Possible causes are:

1. Motor & encoder cable broken.

2. Motor defective.

3. Controller defective.

4. Robot internal wiring broken.

4 Failed to receive the encoder data of the corresponding axis.

Possible causes are:

1. Motor & encoder cable broken.

2. Motor defective.

3. Controller defective.

4. Robot internal wiring broken.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. All joints are normal (The indicators light in green), which should be checked with the ENC information on the teach pendant.

2. The remaining charge of the encoder backup battery is sufficient.

(The battery replacement time is not near.)

3. The encoder backup battery is correctly connected.

4. The encoder resetting, CALSET operation, etc., are correctly performed, which should be checked if the motor was replaced.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The FG is correctly grounded.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The FG is correctly grounded.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The FG is correctly grounded.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The FG is correctly grounded.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The FG is correctly grounded.

86

2 Controller Error Code Table

Code Message Level

6426 J6 encoder data not received

Description

4 Failed to receive the encoder data of the corresponding axis.

Possible causes are:

1. Motor & encoder cable broken.

2. Motor defective.

3. Controller defective.

4. Robot internal wiring broken.

6427 J7 encoder data not received

6428 J8 encoder data not received

6431 J1 encoder counter overflow

6432 J2 encoder counter overflow

6433 J3 encoder counter overflow

6434 J4 encoder counter overflow

6435 J5 encoder counter overflow

6436 J6 encoder counter overflow

6437 J7 encoder counter overflow

6438 J8 encoder counter overflow

6439 J1 encoder counter error3

4 Failed to receive the encoder data of the corresponding axis.

Possible causes are:

1. Motor & encoder cable broken.

2. Motor defective.

3. Controller defective.

4. Robot internal wiring broken.

4 Failed to receive the encoder data of the corresponding axis.

Possible causes are:

1. Motor & encoder cable broken.

2. Motor defective.

3. Controller defective.

4. Robot internal wiring broken.

5 The 1st axis multiple rotation data encoder overflowed.

5 The 2nd axis multiple rotation data encoder overflowed.

5 The 3rd axis multiple rotation data encoder overflowed.

5 The 4th axis multiple rotation data encoder overflowed.

5 The 5th axis multiple rotation data encoder overflowed.

5 The 6th axis multiple rotation data encoder overflowed.

5 The multi-rotation data of the 7th-axis encoder has overflowed.

5 The multi-rotation data of the 8th-axis encoder has overflowed.

5 A J1 encoder counter error (single rotation data) has occurred.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The FG is correctly grounded.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The FG is correctly grounded.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. There is no external noise source in the vicinity.

4. The FG is correctly grounded.

Reset the 1st axis encoder and execute CALSET.

Reset the 2nd axis encoder and execute CALSET.

Reset the 3rd axis encoder and execute CALSET.

Reset the 4th axis encoder and execute CALSET.

Reset the 5th axis encoder and execute CALSET.

Reset the 6th axis encoder and execute CALSET.

Reset the 7th-axis encoder and execute CALSET.

Reset the 8th-axis encoder and execute CALSET.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

87

2 Controller Error Code Table

Code Message Level

643A J2 encoder counter error3

643B J3 encoder counter error3

643C J4 encoder counter error3

643D J5 encoder counter error3

643E J6 encoder counter error3

643F J7 encoder counter error3

Description

5 A J2 encoder counter error (single rotation data) has occurred.

5 A J3 encoder counter error (single rotation data) has occurred.

5 A J4 encoder counter error (single rotation data) has occurred.

5 A J5 encoder counter error (single rotation data) has occurred.

5 A J6 encoder counter error (single rotation data) has occurred.

5 A J7 encoder counter error (single rotation data) has occurred.

Remedy

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

88

2 Controller Error Code Table

Code Message Level

6440 J8 encoder counter error3

6441 J1 encoder counter error

6442 J2 encoder counter error

6443 J3 encoder counter error

6444 J4 encoder counter error

6445 J5 encoder counter error

Description

5 A J8 encoder counter error (single rotation data) has occurred.

5 Failed to count the motor rpm correctly due to an encoder failure.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. External noise, e.g., static electricity.

5 Failed to count the motor rpm correctly due to an encoder failure.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. External noise, e.g., static electricity.

5 Failed to count the motor rpm correctly due to an encoder failure.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. External noise, e.g., static electricity.

5 Failed to count the motor rpm correctly due to an encoder failure.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. External noise, e.g., static electricity.

5 Failed to count the motor rpm correctly due to an encoder failure.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. External noise, e.g., static electricity.

Remedy

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

It is necessary to replace the encoder (motor).

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. No oil or water has gotten into the encoder (motor).

2. There is no external noise source in the vicinity.

3. There is no contact failure in the motor & encoder cable connector.

It is necessary to replace the encoder (motor).

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. No oil or water has gotten into the encoder (motor).

2. There is no external noise source in the vicinity.

3. There is no contact failure in the motor & encoder cable connector.

It is necessary to replace the encoder (motor).

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. No oil or water has gotten into the encoder (motor).

2. There is no external noise source in the vicinity.

3. There is no contact failure in the motor & encoder cable connector.

It is necessary to replace the encoder (motor).

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. No oil or water has gotten into the encoder (motor).

2. There is no external noise source in the vicinity.

3. There is no contact failure in the motor & encoder cable connector.

It is necessary to replace the encoder (motor).

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. No oil or water has gotten into the encoder (motor).

2. There is no external noise source in the vicinity.

3. There is no contact failure in the motor & encoder cable connector.

89

2 Controller Error Code Table

Code Message Level

6446 J6 encoder counter error

6447 J7 encoder counter error

6448 J8 encoder counter error

6449 J1 encoder counter error2

644A J2 encoder counter error2

644B J3 encoder counter error2

644C J4 encoder counter error2

644D J5 encoder counter error2

644E J6 encoder counter error2

644F J7 encoder counter error2

6450 J8 encoder counter error2

6451 J1 Encoder G/A counter error

Description

5 Failed to count the motor rpm correctly due to an encoder failure.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. External noise, e.g., static electricity.

5 Failed to count the motor rpm correctly due to an encoder failure.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. External noise, e.g., static electricity.

5 Failed to count the motor rpm correctly due to an encoder failure.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. External noise, e.g., static electricity.

5

5

5

5

5

J1 encoder counter error (Coarse data)

5 J2 encoder counter error (Coarse data)

5 J3 encoder counter error (Coarse data)

5 J4 encoder counter error (Coarse data)

5 J5 encoder counter error (Coarse data)

J6 encoder counter error (Coarse data)

J7 encoder counter error (Coarse data)

J8 encoder counter error (Coarse data)

Controller internal error (G/A count error) occurred.

Remedy

It is necessary to replace the encoder (motor).

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. No oil or water has gotten into the encoder (motor).

2. There is no external noise source in the vicinity.

3. There is no contact failure in the motor & encoder cable connector.

It is necessary to replace the encoder (motor).

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. No oil or water has gotten into the encoder (motor).

2. There is no external noise source in the vicinity.

3. There is no contact failure in the motor & encoder cable connector.

It is necessary to replace the encoder (motor).

Contact the DENSO Robot Service Section and inform them of the results of the following checks.

1. No oil or water has gotten into the encoder (motor).

2. There is no external noise source in the vicinity.

3. There is no contact failure in the motor & encoder cable connector.

Restart the controller and CALSET J1.

Restart the controller and CALSET J2.

Restart the controller and CALSET J3.

Restart the controller and CALSET J4.

Restart the controller and CALSET J5.

Restart the controller and CALSET J6.

Restart the controller and CALSET J7.

Restart the controller and CALSET J8.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

90

2 Controller Error Code Table

Code Message Level

6452 J2 Encoder G/A counter error

Description

5 Controller internal error (G/A count error) occurred.

6453 J3 encoder G/A counter error 5 Controller internal error (G/A count error) occurred.

6454 J4 encoder G/A counter error 5 Controller internal error (G/A count error) occurred.

6455 J5 encoder G/A counter error 5 Controller internal error (G/A count error) occurred.

6456 J6 encoder G/A counter error 5 Controller internal error (G/A count error) occurred.

6457 J7 encoder G/A counter error 5 Controller internal error (G/A count error) occurred.

Remedy

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

91

2 Controller Error Code Table

Code Message Level

6458 J8 encoder G/A counter error

Description

5 Controller internal error (G/A count error) occurred.

6461 J1 encoder phase Rx signal interrupted

4 1st axis cable is not connected or broken.

6462 J2 encoder phase Rx signal interrupted

4 2nd axis cable is not connected or broken.

6463 J3 encoder phase Rx signal interrupted

4 3rd axis cable is not connected or broken.

6464 J4 encoder phase Rx signal interrupted

4 4th axis cable is not connected or broken.

6465 J5 encoder phase Rx signal interrupted

4 5th axis cable is not connected or broken.

6466 J6 encoder phase Rx signal interrupted

4 6th axis cable is not connected or broken.

Remedy

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

92

2 Controller Error Code Table

Code Message Level

6467 J7 encoder phase Rx signal interrupted

6468 J8 encoder phase Rx signal interrupted

6470 CALSET execution failed

6471 J1 CALSET execution failed

Description

4 The 7th-axis cable is not connected or broken.

4

3

2

The 8th-axis cable is not connected or broken.

CALSET execution error on all axes

CALSET execution error on the 1st axis

Remedy

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

1.Check if the cable between the robot and the controller is firmly plugged.

2.Check that the FG terminals on the robot and the controller are grounded.

3.Check if the cable of the axis is not broken.

Check if the motor can be turned ON. If possible, execute again. If not, reboot the system.

Move the corresponding axis a little bit with hand before executing

CALSET and return the axis again to the CALSET position.

6472 J2 CALSET execution failed

6473 J3 CALSET execution failed

6474 J4 CALSET execution failed

6475 J5 CALSET execution failed

6476 J6 CALSET execution failed

2

2

2

2

2

CALSET execution error on the 2nd axis

CALSET execution error on the 3rd axis

CALSET execution error on the 4th axis

CALSET execution error on the 5th axis

CALSET execution error on the 6th axis

Move the corresponding axis a little bit with hand before executing

CALSET and return the axis again to the CALSET position.

Move the corresponding axis a little bit with hand before executing

CALSET and return the axis again to the CALSET position.

Move the corresponding axis a little bit with hand before executing

CALSET and return the axis again to the CALSET position.

Move the corresponding axis a little bit with hand before executing

CALSET and return the axis again to the CALSET position.

Move the corresponding axis a little bit with hand before executing

CALSET and return the axis again to the CALSET position.

6477 J7 CALSET execution failed

6478 J8 CALSET execution failed

2

2

CALSET execution error on the 7th axis.

CALSET execution error on the 8th axis.

Move the corresponding axis a little bit with hand before executing

CALSET and return the axis again to the CALSET position.

Move the corresponding axis a little bit with hand before executing

CALSET and return the axis again to the CALSET position.

Cannot continue the operation. Restart from the top of the program. 6486 Excessive position gap for ARRIVE 2 At restart the deviation from the stop position exceeded the permissible value.

6488 Stop command in positioning check

6489 Invalid state for ARRIVE

1 Halt was executed while the controller was checking the positioning accuracy (@E) by accuracy check command.

Check of static accuracy was interrupted by the halt, and so the accuracy check has not been finished. Check the static accuracy when restarting the robot.

2 Cannot continue the operation because the condition designated by

ARRIVE command was not fulfilled.

Cannot continue the operation. Restart from the top of the program.

93

2 Controller Error Code Table

Code Message Level

648A Joint not available for ARRIVE

648B not message

Description

2 ARRIVE command was executed to the inoperable axis.

2 Cannot calculate parameters needed for arc operation.

2 Operation command was not executed. 648C No preceding motion command for

ARRIVE

648F This function is not supported

Remedy

Cannot continue the operation. Restart from the top of the program.

Cannot continue the operation. Restart from the top of the program.

Cannot continue the operation. Restart from the top of the program.

3 This operation has run out of the processing capacity of the CPU, so it cannot be executed.

Execution of this operation requires a higher performance CPU. For replacement of the CPU board, contact your DENSO representative.

64A1 J1 encoder low battery

64A2 J2 encoder low battery

64A3 J3 encoder low battery

64A4 J4 encoder low battery

64A5 J5 encoder low battery

64A6 J6 encoder low battery

64A7 J7 encoder low battery

64A8 J8 encoder low battery

64A9 J1 encoder preset status error

64AA J2 encoder preset status error

64AB J3 encoder preset status error

2 The 1st axis encoder back-up battery voltage dropped.

2 The 2nd axis encoder back-up battery voltage dropped.

2 The 3rd axis encoder back-up battery voltage dropped.

2 The 4th axis encoder back-up battery voltage dropped.

2 The 5th axis encoder back-up battery voltage dropped.

2 The 6th axis encoder back-up battery voltage dropped.

2 The 7th axis encoder back-up battery voltage dropped.

2 The 8th axis encoder back-up battery voltage dropped.

4 Failed to correctly recognize the current encoder position of the corresponding axis.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

4 Failed to correctly recognize the current encoder position of the corresponding axis.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

4 Failed to correctly recognize the current encoder position of the corresponding axis.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

Replace the encoder back-up battery.

Replace the encoder back-up battery.

Replace the encoder back-up battery.

Replace the encoder back-up battery.

Replace the encoder back-up battery.

Replace the encoder back-up battery.

Replace the encoder back-up battery.

Replace the encoder back-up battery.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No oil or water has gotten into the encoder (motor).

4. The robot arm is not in contact with any obstacles.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No oil or water has gotten into the encoder (motor).

4. The robot arm is not in contact with any obstacles.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No oil or water has gotten into the encoder (motor).

4. The robot arm is not in contact with any obstacles.

94

2 Controller Error Code Table

Code Message Level

64AC J4 encoder preset status error

Description

4 Failed to correctly recognize the current encoder position of the corresponding axis.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

64AD J5 encoder preset status error

64AE J6 encoder preset status error

64AF J7 encoder preset status error

64B0 J8 encoder preset status error

64B1 J1 encoder CRC check error

4 Failed to correctly recognize the current encoder position of the corresponding axis.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

4 Failed to correctly recognize the current encoder position of the corresponding axis.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

4 Failed to correctly recognize the current encoder position of the corresponding axis.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

4 Failed to correctly recognize the current encoder position of the corresponding axis.

Possible causes are:

1. Oil or water gotten into the encoder (motor).

2. Motor & encoder cable broken.

3. Robot internal wiring broken.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Encoder (motor) defective.

4. Controller defective.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No oil or water has gotten into the encoder (motor).

4. The robot arm is not in contact with any obstacles.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No oil or water has gotten into the encoder (motor).

4. The robot arm is not in contact with any obstacles.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No oil or water has gotten into the encoder (motor).

4. The robot arm is not in contact with any obstacles.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No oil or water has gotten into the encoder (motor).

4. The robot arm is not in contact with any obstacles.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no contact failure in the motor & encoder cable connector.

2. Any section of the motor & encoder cable is not broken or crushed.

3. No oil or water has gotten into the encoder (motor).

4. The robot arm is not in contact with any obstacles.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

95

2 Controller Error Code Table

Code Message Level

64B2 J2 encoder CRC check error

64B3 J3 encoder CRC check error

64B4 J4 encoder CRC check error

64B5 J5 encoder CRC check error

64B6 J6 encoder CRC check error

Description

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Encoder (motor) defective.

4. Controller defective.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Encoder (motor) defective.

4. Controller defective.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Encoder (motor) defective.

4. Controller defective.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Encoder (motor) defective.

4. Controller defective.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Encoder (motor) defective.

4. Controller defective.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

96

2 Controller Error Code Table

Code Message Level

64B7 J7 encoder CRC check error

64B8 J8 encoder CRC check error

64B9 J1 encoder overheated

64BA J2 encoder overheated

64BB J3 encoder overheated

64BC J4 encoder overheated

64BD J5 encoder overheated

64BE J6 encoder overheated

64BF J7 encoder overheated

64C0 J8 encoder overheated

Description

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Encoder (motor) defective.

4. Controller defective.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Encoder (motor) defective.

4. Controller defective.

3 The internal temperature of the 1st encoder has exceeded the set

3

3 value.

3 The internal temperature of the 2nd encoder has exceeded the set value.

The internal temperature of the 3rd encoder has exceeded the set value.

The internal temperature of the 4th encoder has exceeded the set value.

3 The internal temperature of the 5th encoder has exceeded the set value.

3 The internal temperature of the 6th encoder has exceeded the set value.

3 The internal temperature of the 7th encoder has exceeded the set value.

3 The internal temperature of the 8th encoder has exceeded the set value.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Wait until the encoder’s internal temperature drops to a value in the permissible range.

Wait until the encoder’s internal temperature drops to a value in the permissible range.

Wait until the encoder’s internal temperature drops to a value in the permissible range.

Wait until the encoder’s internal temperature drops to a value in the permissible range.

Wait until the encoder’s internal temperature drops to a value in the permissible range.

Wait until the encoder’s internal temperature drops to a value in the permissible range.

Wait until the encoder’s internal temperature drops to a value in the permissible range.

Wait until the encoder’s internal temperature drops to a value in the permissible range.

97

2 Controller Error Code Table

Code Message Level

64C1 J1 encoder framing error

64C2 J2 encoder framing error

64C3 J3 encoder framing error

Description

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Oil or water gotten into the encoder (motor).

4. Encoder (motor) defective.

5. Robot internal wiring broken.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Oil or water gotten into the encoder (motor).

4. Encoder (motor) defective.

5. Robot internal wiring broken.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Oil or water gotten into the encoder (motor).

4. Encoder (motor) defective.

5. Robot internal wiring broken.

64C4 J4 encoder framing error

64C5 J5 encoder framing error

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Oil or water gotten into the encoder (motor).

4. Encoder (motor) defective.

5. Robot internal wiring broken.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Oil or water gotten into the encoder (motor).

4. Encoder (motor) defective.

5. Robot internal wiring broken.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

98

2 Controller Error Code Table

Code Message Level

64C6 J6 encoder framing error

64C7 J7 encoder framing error

64C8 J8 encoder framing error

64D1 Failed to access J1 encoder correctly.

Description

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Oil or water gotten into the encoder (motor).

4. Encoder (motor) defective.

5. Robot internal wiring broken.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Oil or water gotten into the encoder (motor).

4. Encoder (motor) defective.

5. Robot internal wiring broken.

4 Failed to correctly recognize the encoder data of the corresponding axis.

Possible causes are:

1. External noise, e.g., static electricity.

2. Motor & encoder cable broken.

3. Oil or water gotten into the encoder (motor).

4. Encoder (motor) defective.

5. Robot internal wiring broken.

5 The controller failed to access the J1 encoder data.

64D2 Failed to access J2 encoder correctly.

5 The controller failed to access the J2 encoder data.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. There is no external noise source in the vicinity.

2. The FG is correctly grounded.

3. There is no contact failure in the motor & encoder cable connector.

4. Any section of the motor & encoder cable is not broken or crushed.

5. No oil or water has gotten into the encoder (motor).

6. No cutting water, oil, or dust has gotten into the controller.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

99

2 Controller Error Code Table

Code Message Level

64D3 Failed to access J3 encoder correctly.

Description

5 The controller failed to access the J3 encoder data.

64D4 Failed to access J4 encoder correctly.

5 The controller failed to access the J4 encoder data.

64D5 Failed to access J5 encoder correctly.

5 The controller failed to access the J5 encoder data.

64D6 Failed to access J6 encoder correctly.

5 The controller failed to access the J6 encoder data.

64D7 Failed to access J7 encoder correctly.

5 The controller failed to access the J7 encoder data.

64D8 Failed to access J8 encoder correctly.

5 The controller failed to access the J8 encoder data.

Remedy

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

100

2 Controller Error Code Table

Code Message Level

64E1 J1 encoder phase Rx not received(CABS)

Description

4 1st axis encoder communication error occurred.

64E2 J2 encoder phase Rx not received(CABS)

4 2nd axis encoder communication error occurred.

64E3 J3 encoder phase Rx not received(CABS)

4 3rd axis encoder communication error occurred.

Remedy

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

4.If the error occurred after motor change, check that the encoder ID number of the changed motor is correctly set. Check the error log if communication error on the other axes occurred. If error occurred on the specific axis through the 6th axis, then check the specific axis encoder connector is securely plugged. If error occurred on all axes, perform remedy 3.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

4.If the error occurred after motor change, check that the encoder ID number of the changed motor is correctly set. Check the error log if communication error on the other axes occurred. If error occurred on the specific axis through the 6th axis, then check the specific axis encoder connector is securely plugged. If error occurred on all axes, perform remedy 3.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

4.If the error occurred after motor change, check that the encoder ID number of the changed motor is correctly set. Check the error log if communication error on the other axes occurred. If error occurred on the specific axis through the 6th axis, then check the specific axis encoder connector is securely plugged. If error occurred on all axes, perform remedy 3.

101

2 Controller Error Code Table

Code Message Level

64E4 J4 encoder phase Rx not received(CABS)

Description

4 4th axis encoder communication error occurred.

64E5 J5 encoder phase Rx not received(CABS)

4 5th axis encoder communication error occurred.

64E6 J6 encoder phase Rx not received(CABS)

4 6th axis encoder communication error occurred.

Remedy

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

4.If the error occurred after motor change, check that the encoder ID number of the changed motor is correctly set. Check the error log if communication error on the other axes occurred. If error occurred on the specific axis through the 6th axis, then check the specific axis encoder connector is securely plugged. If error occurred on all axes, perform remedy 3.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

4.If the error occurred after motor change, check that the encoder ID number of the changed motor is correctly set. Check the error log if communication error on the other axes occurred. If error occurred on the specific axis through the 6th axis, then check the specific axis encoder connector is securely plugged. If error occurred on all axes, perform remedy 3.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

4.If the error occurred after motor change, check that the encoder ID number of the changed motor is correctly set. Check the error log if communication error on the other axes occurred. If error occurred on the specific axis through the 6th axis, then check the specific axis encoder connector is securely plugged. If error occurred on all axes, perform remedy 3.

102

2 Controller Error Code Table

Code Message Level

64E7 J7 encoder phase Rx not received(CABS)

Description

4 7th axis encoder communication error occurred.

64E8 J8 encoder phase Rx not received(CABS)

4 8th axis encoder communication error occurred.

64F1 J1 encoder CRC check error(CABS)

64F2 J2 encoder CRC check error(CABS)

4 CRC error on 1st axis encoder data occurred.

4 CRC error on 2nd axis encoder data occurred.

Remedy

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

4.If the error occurred after motor change, check that the encoder ID number of the changed motor is correctly set. Check the error log if communication error on the other axes occurred. If error occurred on the specific axis through the 6th axis, then check the specific axis encoder connector is securely plugged. If error occurred on all axes, perform remedy 3.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

4.If the error occurred after motor change, check that the encoder ID number of the changed motor is correctly set. Check the error log if communication error on the other axes occurred. If error occurred on the specific axis through the 6th axis, then check the specific axis encoder connector is securely plugged. If error occurred on all axes, perform remedy 3.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

103

2 Controller Error Code Table

Code Message Level

64F3 J3 encoder CRC check error(CABS)

64F4 J4 encoder CRC check error(CABS)

64F5 J5 encoder CRC check error(CABS)

64F6 J6 encoder CRC check error(CABS)

64F7 J7 encoder CRC check error(CABS)

Description

4 CRC error on 3rd axis encoder data occurred.

4

4

4

4

CRC error on 4th axis encoder data occurred.

CRC error on 5th axis encoder data occurred.

CRC error on 6th axis encoder data occurred.

CRC error on 7th axis encoder data occurred.

Remedy

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

64F8 J8 encoder CRC check error(CABS)

4 CRC error on 8th axis encoder data occurred. 1.Check that the FG (Frame Ground) terminals on the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check if the cable between the robot and the controller is firmly plugged.

64F9 More than one motor is connected 2 Since more than one motor is connected, ID setting is impossible. Connect only one motor and retry ID setting.

64FA Cutting of a belt was detected 3 The controller detects the U-joint drive belt being broken. Remove the robot cover and check or replace the belt.

104

2 Controller Error Code Table

Code Message Level Description

64FD Failed to access the encoder data. 4 The controller failed to access the encoder data.

64FE Encoder data error. 4 The controller detected a checksum error in encoder data.

Restart the controller.

Restart the controller.

Remedy

64FF Encoder error (mode undetected)

6600 Host-servo communicate IC error

(servo)

4 Though the encoder GA detected an encoder error; however, the encoder does not detect any error.

5 Controller internal error (A communication IC failure was detected in the servo initialization. A communication error occurred in servo communication.)

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

6601 Host-servo com. IC error (1:host-1) 5 Controller internal error (A send error was detected just before the host data was sent or when the periodical check was done.)

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

6602 Host-servo com. IC error (2:host-2) 5

6603 Host com. interrupt delay (servo)

6604 Servo command answer timeout

4

4

Controller internal error (A receiving error was detected just before host data was sent or when periodical check was done.)

Controller internal error (Interruption from host stops exceeds the fixed time.)

Controller internal error (The command finish answer from servo was not returned.)

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

105

2 Controller Error Code Table

Code Message Level

6605 Host-servo com. IC error (host receive)

Description

5 Controller internal error (A communication failure was detected just after the host data was received.)

6607 Servo parameter error

6608 Host parameter error

6609 System timer interrupt delay

660A Safety board communication error(ESC)

660B Safety board communication error(BOX)

6631 J1 speed limit over

5 An error has occurred in the servo parameter.

5 An error has occurred in operation parameters.

5 A delay has occurred in the internal clock.

5 A communications error of the safety board was detected.

Possible causes are:

1. Equipment circuit error.

2. External noise, e.g., static electricity.

3. Safety board defective.

5 A communications error of the safety box was detected.

Possible causes are:

1. Equipment circuit error.

2. External noise, e.g., static electricity.

3. Safety box defective.

4 Motion exceeded the 1st axis speed limit.

Remedy

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

Reboot the robot controller and perform the operation again.

Reboot the robot controller and perform the operation again.

Reboot the robot controller and perform the operation again.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The equipment circuit is operating normally.

2. There is no external noise source in the vicinity.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The equipment circuit is operating normally.

2. There is no external noise source in the vicinity.

6632 J2 speed limit over 4 Motion exceeded the 2nd axis speed limit.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

4.Transmit the arm manager file corresponding to the robot and reboot the controller.

5.Decrease the speed.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

4.Transmit the arm manager file corresponding to the robot and reboot the controller.

5.Decrease the speed.

106

2 Controller Error Code Table

Code Message Level

6633 J3 speed limit over

Description

4 Motion exceeded the 3rd axis speed limit.

6634 J4 speed limit over

6635 J5 speed limit over

6636 J6 speed limit over

4 Motion exceeded the 4th axis speed limit.

4 Motion exceeded the 5th axis speed limit.

4 Motion exceeded the 6th axis speed limit.

Remedy

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

4.Transmit the arm manager file corresponding to the robot and reboot the controller.

5.Decrease the speed.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

4.Transmit the arm manager file corresponding to the robot and reboot the controller.

5.Decrease the speed.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

4.Transmit the arm manager file corresponding to the robot and reboot the controller.

5.Decrease the speed.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

4.Transmit the arm manager file corresponding to the robot and reboot the controller.

5.Decrease the speed.

107

2 Controller Error Code Table

Code Message Level

6637 J7 speed limit over

6638 J8 speed limit over

6641 J1 acceleration limit over

6642 J2 acceleration limit over

Description

4 Motion exceeded the 7th axis speed limit

4 Motion exceeded the 8th axis speed limit

4 The acceleration of the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

5. Controller defective.

6. Motor defective.

4 The acceleration of the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

5. Controller defective.

6. Motor defective.

Remedy

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

4.Transmit the arm manager file corresponding to the robot and reboot the controller.

5.Decrease the speed.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

4.Transmit the arm manager file corresponding to the robot and reboot the controller.

5.Decrease the speed.

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The robot motion is smooth and no abnormal noise is heard.

4. The movable sections of the robot unit are not rattling.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The air balance cylinder is properly adjusted.

(Lowering the motor speed may avoid this type of errors.)

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The robot motion is smooth and no abnormal noise is heard.

4. The movable sections of the robot unit are not rattling.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The air balance cylinder is properly adjusted.

(Lowering the motor speed may avoid this type of errors.)

108

2 Controller Error Code Table

Code Message Level

6643 J3 acceleration limit over

6644 J4 acceleration limit over

6645 J5 acceleration limit over

6646 J6 acceleration limit over

Description

4 The acceleration of the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

5. Controller defective.

6. Motor defective.

4 The acceleration of the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

5. Controller defective.

6. Motor defective.

4 The acceleration of the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

5. Controller defective.

6. Motor defective.

4 The acceleration of the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

5. Controller defective.

6. Motor defective.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The robot motion is smooth and no abnormal noise is heard.

4. The movable sections of the robot unit are not rattling.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The air balance cylinder is properly adjusted.

(Lowering the motor speed may avoid this type of errors.)

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The robot motion is smooth and no abnormal noise is heard.

4. The movable sections of the robot unit are not rattling.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The air balance cylinder is properly adjusted.

(Lowering the motor speed may avoid this type of errors.)

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The robot motion is smooth and no abnormal noise is heard.

4. The movable sections of the robot unit are not rattling.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The air balance cylinder is properly adjusted.

(Lowering the motor speed may avoid this type of errors.)

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The robot motion is smooth and no abnormal noise is heard.

4. The movable sections of the robot unit are not rattling.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The air balance cylinder is properly adjusted.

(Lowering the motor speed may avoid this type of errors.)

109

2 Controller Error Code Table

Code Message Level

6647 J7 acceleration limit over

6648 J8 acceleration limit over

6651 Check command time over

665A Can not enable current limitation

665B Can not disable gravity compensation

Description

4 The acceleration of the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

5. Controller defective.

6. Motor defective.

Remedy

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The robot motion is smooth and no abnormal noise is heard.

4. The movable sections of the robot unit are not rattling.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The air balance cylinder is properly adjusted.

(Lowering the motor speed may avoid this type of errors.)

4

3

The acceleration of the motor of the corresponding axis exceeded the permitted value.

Possible causes are:

1. Robot colliding with any obstacle.

2. End-of-arm load exceeding the reference value.

3. Robot motion rattling or jerky.

4. Motor & encoder cable broken.

5. Controller defective.

6. Motor defective.

Failed to move to the specified position within the specified time.

Possible causes are:

1. Sliding failure.

2. Robot colliding with any obstacle.

3. End-of-arm load exceeding the reference value.

4. Inappropriate settings of "Encoder pulse count for positioning allowance" or "Positioning completion timeout."

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot arm is not in contact with any obstacles.

2. The end-of-arm load is not exceeding the reference value.

3. The robot motion is smooth and no abnormal noise is heard.

4. The movable sections of the robot unit are not rattling.

5. There is no contact failure in the motor & encoder cable connector.

6. Any section of the motor & encoder cable is not broken or crushed.

7. The air balance cylinder is properly adjusted.

(Lowering the motor speed may avoid this type of errors.)

Check the following.

If the error persists, contact the DENSO Robot Service Section.

1. The robot motion is smooth and no abnormal noise is heard.

2. The robot arm is not in contact with any obstacles.

3. The end-of-arm load is not exceeding the reference value.

4. The settings of "Encoder pulse count for positioning allowance" and

"Positioning completion timeout" are not too small.

Libraries "mvResetPulseWidth" and "mvResetPulseWidthJnt" revert the "Encoder pulse count for positioning allowance" to the default.

Library "mvResetTimeOut" reverts the "Positioning completion timeout" to the default.

3 Attempted to execute current limit setting while the gravity compensation is ineffective.

3 Attempted to disable the gravity compensation while the current limit is effective.

Execute current limit setting after enabling the gravity compensation.

Disable gravity compensation after releasing current limit.

110

2 Controller Error Code Table

Code Message Level

6671 Dest. pos. out of J1 soft motion limit

6672 Dest. pos. out of J2 soft motion limit

6673 Dest. pos. out of J3 soft motion limit

6674 Dest. pos. out of J4 soft motion limit

Description

3 1.The motion destination position of the 1st axis is out of the software motion limit.

2.The robot cannot physically perform linear movements in the CP motion for the coordinate entered.

3 1.The motion destination position of the 2nd axis is out of the software motion limit.

2.The robot cannot physically perform linear movements in the CP motion for the coordinate entered.

3 1.The motion destination position of the 3rd axis is out of the software motion limit.

2.The robot cannot physically perform linear movements in the CP motion for the coordinate entered.

3 1.The motion destination position of the 4th axis is out of the software motion limit.

2.The robot cannot physically perform linear movements in the CP motion for the coordinate entered.

Remedy

1.Change the motion destination position to within the motion space.

2.If this error occurs after you change the robot specifications

(CALSET), check that you have not executed wrong procedures to change the specification.

3.Check that the robot does not pass the singular point vicinity in the

CP motion and correct the program so that it avoids the singular point.

However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.

1.Change the motion destination position to within the motion space.

2.If this error occurs after you change the robot specifications

(CALSET), check that you have not executed wrong procedures to change the specification.

3.Check that the robot does not pass the singular point vicinity in the

CP motion and correct the program so that it avoids the singular point.

However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.

1.Change the motion destination position to within the motion space.

2.If this error occurs after you change the robot specifications

(CALSET), check that you have not executed wrong procedures to change the specification.

3.Check that the robot does not pass the singular point vicinity in the

CP motion and correct the program so that it avoids the singular point.

However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.

1.Change the motion destination position to within the motion space.

2.If this error occurs after you change the robot specifications

(CALSET), check that you have not executed wrong procedures to change the specification.

3.Check that the robot does not pass the singular point vicinity in the

CP motion and correct the program so that it avoids the singular point.

However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.

111

2 Controller Error Code Table

Code Message Level

6675 Dest. pos. out of J5 soft motion limit

6676 Dest. pos. out of J6 soft motion limit

6677 Dest. pos. out of J7 soft motion limit

6678 Dest. pos. out of J8 soft motion limit

Description

3 1.The motion destination position of the 5th axis is out of the software motion limit.

2.The robot cannot physically perform linear movements in the CP motion for the coordinate entered.

3 1.The motion destination position of the 6th axis is out of the software motion limit.

2.The robot cannot physically perform linear movements in the CP motion for the coordinate entered.

3 (1)The motion destination position of the 7th axis is out of the software motion limit.

(2)The robot cannot physically perform linear movements in the CP motion for the coordinate entered.

3 (1)The motion destination position of the 8th axis is out of the software motion limit.

(2)The robot cannot physically perform linear movements in the CP motion for the coordinate entered.

Remedy

1.Change the motion destination position to within the motion space.

2.If this error occurs after you change the robot specifications

(CALSET), check that you have not executed wrong procedures to change the specification.

3.Check that the robot does not pass the singular point vicinity in the

CP motion and correct the program so that it avoids the singular point.

However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.

1.Change the motion destination position to within the motion space.

2.If this error occurs after you change the robot specifications

(CALSET), check that you have not executed wrong procedures to change the specification.

3.Check that the robot does not pass the singular point vicinity in the

CP motion and correct the program so that it avoids the singular point.

However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.

1.Change the motion destination position to within the motion space.

2.If this error occurs after you change the robot specifications

(CALSET), check that you have not executed wrong procedures to change the specification.

3.Check that the robot does not pass the singular point vicinity in the

CP motion and correct the program so that it avoids the singular point.

However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.

1.Change the motion destination position to within the motion space.

2.If this error occurs after you change the robot specifications

(CALSET), check that you have not executed wrong procedures to change the specification.

3.Check that the robot does not pass the singular point vicinity in the

CP motion and correct the program so that it avoids the singular point.

However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.

112

2 Controller Error Code Table

Code Message Level

6679 Dest. position out of motion space

1

667A Dest. position out of motion space

2

Description

3 The motion destination position is out of the motion space.

3 The motion destination position is out of the motion space.

Remedy

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check that you followed correct procedures to change the data.

3.Specify a position and a figure where robot movements are physically possible as the target position of the PTP motion and P/T variables of P2J and T2J commands.

1.Re-specify the target position within the motion space.

2.If this error occurs after you change the robot data (by CALSET), check that you followed correct procedures to change the data.

3.Specify a position and a figure where robot movements are physically possible as the target position of the PTP motion and P/T variables of P2J and T2J commands.

Set the contents of the position variable to a non-singular point value. 667B Destination position in singular point

6680 Interference check task error

6681 Zeroing error

3 A singular point has been specified as the contents of the variable.

Therefore, reverse coordinate transformation command cannot execute.

5

4

The interference check task has detected an abnormality and stopped the robot.

The CALSET and RANG values are not matched with the zeroing values.

Restart the controller. If the error persists, contact your DENSO representative.

1. When the arm parameters (CALSET and RANG values) are backed up, send the arm parameters to the controller again.

2. When the arm parameters (CALSET and RANG values) are not backed up, perform CALSET again.

6682 Interference check data error

6685 Partial area and Tool interfere 1

5 Check the following.

1. The restricted area and the partial restricted area (robot entry-prohibited area) are properly configured.

2. The tool interference object and the arm interference monitor points are properly configured.

3. The robot mounting position is properly configured.

If the error persists, contact your DENSO representative.

6683 Restricted area and Tool interfere

1

2 A tool interference object has gotten out of the restricted area (under monitoring with the command value of the robot mounting position).

6684 Restricted area and Arm interfere 1 2 Arm interference monitor points have gotten out of the restricted area (under monitoring with the command value of the robot mounting position).

Move the robot arm to bring the tool interference object into the restricted area.

Move the robot arm to bring the arm interference monitor points into the restricted area.

2

The interference check data is abnormal.

A tool interference object has intruded into the partial restricted area

(robot entry-prohibited area) (under monitoring with the command value of the robot mounting position).

Move the robot arm to bring the tool interference object out of the partial restricted area (robot entry-prohibited area).

113

2 Controller Error Code Table

Code Message Level

6686 Partial area and Arm interfere 1

Description

2 Arm interference monitor points have intruded into the partial restricted area (under monitoring with the command value of the robot mounting position).

Remedy

Move the robot arm to bring the arm interference monitor points out of the partial restricted area (robot entry-prohibited area).

6687 Restricted area and Tool interfere

2

2 A tool interference object has gotten out of the restricted area (under monitoring with the current value of the robot mounting position).

6688 Restricted area and Arm interfere 2 2 Arm interference monitor points have gotten out of the restricted area (under monitoring with the current value of the robot mounting position).

6689 Partial area and Tool interfere 2 2 A tool interference object has intruded into the partial restricted area

(robot entry-prohibited area) (under monitoring with the current value of the robot mounting position).

Move the robot arm to bring the tool interference object into the restricted area.

Move the robot arm to bring the arm interference monitor points into the restricted area.

Move the robot arm to bring the tool interference object out of the partial restricted area (robot entry-prohibited area).

668A Partial area and Arm interfere 2 2 Arm interference monitor points have intruded into the partial restricted area (robot entry-prohibited area) (under monitoring with the current value of the robot mounting position).

Move the robot arm to bring the arm interference monitor points out of the partial restricted area (robot entry-prohibited area).

66D1 J1 software limit over (Compliance) 3 The 1 axis software limit was exceeded during compliance control. Correct the operation position so that the robot is operable in the software limit.

66D2 J2 software limit over (Compliance) 3 The 2 axis software limit was exceeded during compliance control. Correct the operation position so that the robot is operable in the software limit.

66D3 J3 software limit over (Compliance) 3 The 3 axis software limit was exceeded during compliance control. Correct the operation position so that the robot is operable in the software limit.

66D4 J4 software limit over (Compliance) 3 The 4 axis software limit was exceeded during compliance control. Correct the operation position so that the robot is operable in the software limit.

66D5 J5 software limit over (Compliance) 3 The 5 axis software limit was exceeded during compliance control. Correct the operation position so that the robot is operable in the software limit.

66D6 J6 software limit over (Compliance) 3 The 6 axis software limit was exceeded during compliance control. Correct the operation position so that the robot is operable in the software limit.

66D7 J7 software limit over (Compliance) 3 The 7th-axis software limit was exceeded during compliance control. Correct the operation position so that the robot is operable in the software limit.

66D8 J8 software limit over (Compliance) 3 The 8th-axis software limit was exceeded during compliance control. Correct the operation position so that the robot is operable in the software limit.

114

2 Controller Error Code Table

Code Message Level

6710 Servo communication initialization error

Description

5 Controller internal error. (The host and the servo communication process initialization failed.)

671A Command value calculation delay 4 Time-over error occurred in calculation of command value.

671B Servo command processing delay 4 Controller internal error. (A command interruption delay from the servo.)

6750 CALSET not executed

6751 Execute J1 CALSET

6752 Execute J2 CALSET

6753 Execute J3 CALSET

6754 Execute J4 CALSET

2 CALSET has not been executed on all axes.

2 CALSET has not been executed on the 1st axis.

2 CALSET has not been executed on the 2nd axis.

2 CALSET has not been executed on the 3rd axis.

2 CALSET has not been executed on the 4th axis.

Remedy

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

This error may occur if communication is frequently executed with the

RS232C and the Ethernet or if you operate the controller keyboard during the robot motion. Operate again after the robot stops.

1.Check that the FG (frame ground) terminals of the robot and the controller are grounded.

2.Check that the robot and the controller are away from noise source such as a welding machine.

3.Check that the cable between the robot and the controller is firmly plugged.

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

115

2 Controller Error Code Table

Code Message Level

6755 Execute J5 CALSET

6756 Execute J6 CALSET

6757 Execute J7 CALSET

6758 Execute J8 CALSET

6761 J1 command accel limit over

(servo)

6762 J2 command accel limit over

(servo)

6763 J3 command accel limit over

(servo)

Description

2 CALSET has not been executed on the 5th axis.

2

2

CALSET has not been executed on the 6th axis.

CALSET has not been executed on the 7th axis.

Remedy

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

2 CALSET has not been executed on the 8th axis.

4 The CP motion is not available with the specified speed because the acceleration command value exceeds the limit on the 1st axis.

1.If you did not execute CALSET after resetting the encoder, then execute CALSET.

2.If you did not transmit the arm parameters after clearing the memory, transmit the parameters.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

4 The CP motion is not available with the specified speed because the acceleration command value exceeds the limit on the 2nd axis.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

4 The CP motion is not available with the specified speed because the acceleration command value exceeds the limit on the 3rd axis.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

116

2 Controller Error Code Table

Code Message Level

6764 J4 command accel limit over

(servo)

Description Remedy

4 The CP motion is not available with the specified speed because the acceleration command value exceeds the limit on the 4th axis.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

6765 J5 command accel limit over

(servo)

6766 J6 command accel limit over

(servo)

6767 J7 command accel limit over

(servo)

6768 J8 command accel limit over

(servo)

4 The CP motion is not available with the specified speed because the acceleration command value exceeds the limit on the 5th axis.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

4 The CP motion is not available with the specified speed because the acceleration command value exceeds the limit on the 6th axis.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

4 The CP motion is not available with the specified speed because the acceleration command value exceeds the limit on the 7th axis.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

4 The CP motion is not available with the specified speed because the acceleration command value exceeds the limit on the 8th axis.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

117

2 Controller Error Code Table

Code Message Level Description

6769 J1 command accel limit over (host) 4 The CP motion is not available with the specified speed because acceleration command value exceeds the limit on the 1st axis.

676A J2 command accel limit over (host) 4 The CP motion is not available with the specified speed because acceleration command value exceeds the limit on the 2nd axis.

676B J3 command accel limit over (host) 4 The CP motion is not available with the specified speed because acceleration command value exceeds the limit on the 3rd axis.

676C J4 command accel limit over (host) 4 The CP motion is not available with the specified speed because acceleration command value exceeds the limit on the 4th axis.

676D J5 command accel limit over (host) 4 The CP motion is not available with the specified speed because acceleration command value exceeds the limit on the 5th axis.

Remedy

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

118

2 Controller Error Code Table

Code Message Level Description

676E J6 command accel limit over (host) 4 The CP motion is not available with the specified speed because acceleration command value exceeds the limit on the 6th axis.

676F J7 command accel limit over (host) 4 The CP motion is not available with the specified speed because acceleration command value exceeds the limit on the 7th axis.

6770 J8 command accel limit over (host) 4 The CP motion is not available with the specified speed because acceleration command value exceeds the limit on the 8th axis.

6771 J1 encoder speed over

6772 J2 encoder speed over

6773 J3 encoder speed over

6774 J4 encoder speed over

6775 J5 encoder speed over

6776 J6 encoder speed over

6777 J7 encoder speed over

6778 J8 encoder speed over

5

5

5 When the controller power was OFF, an encoder speed error

5 When the controller power was OFF, an encoder speed error

5 When the controller power was OFF, an encoder speed error

5 When the controller power was OFF, an encoder speed error

5

5

When the controller power was OFF, an encoder speed error occurred on the 1st axis.

When the controller power was OFF, an encoder speed error occurred on the 2nd axis. occurred on the 3rd axis. occurred on the 4th axis. occurred on the 5th axis. occurred on the 6th axis.

When the controller power was OFF, an encoder speed error occurred on the 7th axis.

When the controller power was OFF, an encoder speed error occurred on the 8th axis.

Remedy

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

1.Reduce the speed and the acceleration. If there are no problems, such as interference in the motion path, set the PTP motion.

2.Check that the robot does not pass the singular point vicinity in the

CP motion, and correct the program so that it avoids the singular point.

3.If an error occurs when the control set of motion optimization is set to 2 or 3, decrease the speed and deceleration.

When the controller power is OFF, if excess force is applied on the robot, this error occurs. Reset the encoder and execute CALSET.

When the controller power is OFF, if excess force is applied on the robot, this error occurs. Reset the encoder and execute CALSET.

When the controller power is OFF, if excess force is applied on the robot, this error occurs. Reset the encoder and execute CALSET.

When the controller power is OFF, if excess force is applied on the robot, this error occurs. Reset the encoder and execute CALSET.

When the controller power is OFF, if excess force is applied on the robot, this error occurs. Reset the encoder and execute CALSET.

When the controller power is OFF, if excess force is applied on the robot, this error occurs. Reset the encoder and execute CALSET.

When the controller power is OFF, if excess force is applied on the robot, this error occurs. Reset the encoder and execute CALSET.

When the controller power is OFF, if excess force is applied on the robot, this error occurs. Reset the encoder and execute CALSET.

119

2 Controller Error Code Table

Code Message Level

6781 J1 speed over at brake releasing

Description Remedy

2 When the brake is OFF, an encoder speed error occurred on the 1st axis.

When you move the robot by releasing the brake, do not apply excess force on the robot.

6782 J2 speed over at brake releasing

6783 J3 speed over at brake releasing

6784 J4 speed over at brake releasing

6785 J5 speed over at brake releasing

6786 J6 speed over at brake releasing

6787 J7 speed over at brake releasing

6788 J8 speed over at brake releasing

2 When the brake is OFF, an encoder speed error occurred on the 2nd axis.

When you move the robot by releasing the brake, do not apply excess force on the robot.

2 When the brake is OFF, an encoder speed error occurred on the 3rd axis.

When you move the robot by releasing the brake, do not apply excess force on the robot.

2 When the brake is OFF, an encoder speed error occurred on the 4th axis.

When you move the robot by releasing the brake, do not apply excess force on the robot.

2 When the brake is OFF, an encoder speed error occurred on the 5th axis.

When you move the robot by releasing the brake, do not apply excess force on the robot.

2 When the brake is OFF, an encoder speed error occurred on the 6th axis.

When you move the robot by releasing the brake, do not apply excess force on the robot.

2 When the brake is OFF, an encoder speed error occurred on the 7th axis.

When you move the robot by releasing the brake, do not apply excess force on the robot.

2 When the brake is OFF, an encoder speed error occurred on the 8th axis.

3 The restricted function(s) cannot be used.

When you move the robot by releasing the brake, do not apply excess force on the robot.

To use the restricted function, purchase the unlocker option. 678c The limitation function cannot be used

67B3 Move data restoration error

67B4 Arrive data restoration error

67B5 Restoration error(Not Auto mode motion)

67B6 Restoration error (Machine lock drive)

3 The power was turned off before storage of the operation command. Restarting in succession to the state before power off is impossible.

Since all programs and I-O units are initialized, operate the robot after moving the robot to a safe position to prevent it from coming into contact with any adjacent equipment.

3 The power was turned off before storage of the ARRIVE command data.

Restarting in succession to the state before power off is impossible.

Since all programs and I-O units are initialized, operate the robot after moving the robot to a safe position to prevent it from coming into contact with any adjacent equipment.

3 No operation command executed in the automatic mode.

3 The power switch turned off in machine lock status.

Restarting in succession to the state before power off is impossible.

Since all programs and I-O units are initialized, operate the robot after moving the robot to a safe position to prevent it from coming into contact with any adjacent equipment.

Restarting in succession to the state before power off is impossible.

Since all programs and I-O units are initialized, operate the robot after moving the robot to a safe position to prevent it from coming into contact with any adjacent equipment.

120

2 Controller Error Code Table

Code Message Level

67E7 Boundless rotatory joint isn't available

67E8 Not set boundless rotatory joint

Description

3 This command or operation cannot execute to a boundless rotatory joint.

67FE Error in initialization process

Remedy

Release the joint from the boundless rotation or do not execute this command or operation to the boundless rotatory joint.

3 This command or operation cannot execute to a limited rotatory joint. Set the joint for boundless rotation or do not execute this command or operation to the limited rotatory joint.

5 Controller internal error. (The host initialization process failed.) Turn OFF the power switch of the controller and restart the operation.

67FF Abnormal configuration

6809 Auto gain tuning is interrupted

680a Inertia identification error

680b Auto gain tuning warning 1

680c Auto gain tuning warning 2

5 Controller internal error (software failure).

3 The auto gain tuning process has been interrupted.

3 The inertia identification process is not possible during auto gain tuning

Turn OFF the power switch of the controller and restart the operation.

Execute auto gain tuning again.

Auto gain tuning is not possible. Implement manual gain tuning.

1 Overshoot was found at the end of motion during fine adjustment of gain.

To reduce the overshoot, implement manual gain tuning.

1 Slow settlement was found at the end of motion during fine adjustment of gain.

To reduce the settlement time, implement manual gain tuning.

680d Auto gain tuning warning 3

680e Servo data monitor error

1

4

Low-level oscillation was found during fine adjustment of gain.

Failed to monitor servo single-joint.

680f Auto gain tuning is not executable 3 The auto gain tuning start requirements are not satisfied.

5 A controller internal error (software error) has occurred.

5 A controller internal error (software error) has occurred.

5 A controller internal error (software error) has occurred.

5 A controller internal error (software error) has occurred.

To reduce the oscillation, implement manual gain tuning.

Clear the error and start monitoring the servo single-joint again.

Check the auto gain tuning start requirements and implement auto gain tuning again.

Restart the controller. 6819 Unexpected command (Host1)

681A Unexpected command (Host2)

681B Unexpected command (Host3)

681C Unexpected command (Servo1)

681D Unexpected command (Servo2)

681E Unexpected command (Servo3)

6829 Collision detection processing delay

682a Collision detection execution error

682b Improper collision detection operation

5

5

4

4

A controller internal error (software error) has occurred.

A controller internal error (software error) has occurred.

Collision detection processing not available in time.

Collision detection not available under compliance control.

Restart the controller.

Restart the controller.

Restart the controller.

Restart the controller.

Restart the controller.

This error could occur if the controller is frequently accessed via theRS-232C interface or Ethernet or from the teach pendant. Restrict access to the controller.

Cancel compliance control and then use the collision detection function.

4 During switching of collision detection between Enable and Disable, none of Halt (Stop), Program Reset, and Step Back is allowed.

To execute Halt (Stop), Program Reset, or Step Back during switching of collision detection, turn the motor off once.

121

2 Controller Error Code Table

Code Message Level

682f Collision error is not cleared

Description

2 Switched the operation mode without clearing a collision detection error.

6831 Collision error (J1)

6832 Collision error (J2)

6833 Collision error (J3)

6834 Collision error (J4)

6835 Collision error (J5)

6836 Collision error (J6)

6837 Collision error (J7)

6838 Collision error (J8)

6839 Track processing delay

2 Detected a collision of Joint 1.

2 Detected a collision of Joint 2.

2 Detected a collision of Joint 3.

2 Detected a collision of Joint 4.

2 Detected a collision of Joint 5.

2 Detected a collision of Joint 6.

2 Detected a collision of Joint 7.

2 Detected a collision of Joint 8.

4 Conveyor tracking delayed and was not completed within the specified time.

683A Track semaphore error

683B Track Enc.1 Speed error

683C Track Enc.2 Speed error

683D Internal track mode error

683E Track state is unchangable

683F Not set track reference data

6840 Out of track Area

6841 Interrupted track motion

6842 Track data buffer input error

4 A controller internal abnormality (OS abnormality) occurred.

3 Conveyor 1 (encoder 1) exceeded the limit speed.

3 Conveyor 2 (encoder 2) exceeded the limit speed.

4 Internal abnormality of conveyor tracking process.

3 Switching to tracking operation fails.

3 Internal abnormality of conveyor tracking process.

3 The target tracking position is outside the tracking range.

3 Tracking operation was interrupted because of stop input during tracking.

3 Abnormal argument of the TrackDataSet instruction.

Remedy

Clear a collision detection error and then try the intended operation again.

Check the collision state, remove the error cause, and clear the error.

Check the collision state, remove the error cause, and clear the error.

Check the collision state, remove the error cause, and clear the error.

Check the collision state, remove the error cause, and clear the error.

Check the collision state, remove the error cause, and clear the error.

Check the collision state, remove the error cause, and clear the error.

Check the collision state, remove the error cause, and clear the error.

Check the collision state, remove the error cause, and clear the error.

This error may occur when communication frequency by Ether net is high or when hand I/O interrupt occurs frequently. Decrease the communication or hand I/O interrupt frequency.

Turn the controller power switch once and restart operation.

Check the conveyor tracking parameter for the encoder speed upper limit.

Check if encoder 1 cable connection is normal.

Check the conveyor tracking parameter for the encoder speed upper limit.

Check if encoder 2 cable connection is normal.

Turn the controller power switch once and restart operation.

Disable the current limit, OFFSRVLOCK instruction and OFFPWM instruction when executing tracking operation.

Turn the controller power switch once and restart operation.

Set the upper and lower limits of the tracking range in conveyor tracking parameters correctly.

Restart the program.

Execute the TrackDataSet instruction as many time as the number of works recognized by the TrackDataSet instruction.

122

2 Controller Error Code Table

Code Message Level

6843 Track data buffer overflow

6844 Robot posture mismatch (track)

Description Remedy

3 The number of data saved in the tracking buffer was exceeded 100. The number of data saved in the tracking buffer increases and decreases with TrackDataGet instructions. Edit the program so that only TrackDataSet instructions are not executed continuously.

3 The robot form was changed during tracking operation. The robot form cannot be changed during tracking operation. Change the tracking operation position.

6845 Track Enc.1 under speed

6846 Track Enc.2 under speed

3 The speed of conveyor 1 (encoder 1) dropped below the set level. Check the lower limit of the encoder speed in conveyor tracking parameters.

Check if the encoder 1 cable is connected normally.

3 The speed of conveyor 2 (encoder 2) dropped below the set level. Check the lower limit of the encoder speed in conveyor tracking parameters.

Check if the encoder 2 cable is connected normally.

6847 Time out of waiting tracking motion 3 The work position did not come into the rage allowing tracking operation within the specified time.

Either change the timeout setting or change the tracking start range.

6848 Track parameter error

6849 Not Executable in tracking mode

684A Interrupt buffer overflow

684B Out of track start area

3

3

The tracking operation setting is invalidated.

An unexecutable processing was tried during tracking operation.

Set the parameter correctly.

Do not execute current limitation, OFFSRVLOCK instruction or

OFFPWM instruction during tracking operation.

3 Hand I/O interrupts occurred more than 100 times, but TrackDataSet was not executed.

Execute the TrackDataInitialize instruction, and clear the buffer.

Up to 100 work position data detected upon hand I/O interrupts can be stored. The work position data moves to the conveyor tracking data buffer upon execution of TrackDataSet. Always execute the

TrackDataSet instruction.

3 The object work is downstream the tracking start range (+ side) upon execution of the WaitTrackMove instruction, resulting in tracking failure.

Correctly set the tracking start range in conveyor tracking parameters.

684C Track Enc.1 Accel error

684D Track Enc.2 Accel error

6858 Free curve calculation error

6859 Free curve exec. condition error

685A Free curve pass point overflow

685B Number of free curve mismuch

685C Number of free curve pass point mismuch

3 Conveyer 1 (Encoder 1) accelerates abnormally.

3 Conveyer 2 (Encoder 2) accelerates abnormally.

3 Free curve calculation error occurred.

3 Free curve motion can not be executed,

3

3

3

Exceeding 200 viapoints were specified in free curve.

Free curve trajectory number is mismatched.

The viapoint number is mismatch.

Check the encoder 1 cable for connection.

Check the encoder 2 cable for connection.

Check that via points are adequate or not.

Check the executable conditions.

During conveyor tracking, no free curve motion is allowed.

Reduce viapoints up to 200.

Check the trajectory number of free curve.

Specify the viapoints if not specified.

Check the viapoint number of free curve.

123

2 Controller Error Code Table

Code Message Level

685D Free curve step back error

685E Free curve path deviation error

6868 External Tcp Mode is not supported

6869 External Tcp calculation error

6A91 J1 encoder communication error

(bit)

Description

After execution of the free curve motion, execute Step Back operation.

Remedy

3 Step back error is occurred in the free curve.

Modifying viapoints after a free curve motion does not allow a Step

Back operation on the free curve path specified before the modification of viapoints.

3 Path deviation is too much. Check that via points are adequate or not.

3 The option is not enabled or the current robot type does not support the external TCP mode.

Enable the option and use the robot type supporting the external TCP mode.

3 An external TCP processing error has occurred.

4 The J1 encoder data received is abnormal.

Check that the start- and end-points and viapoints are correctly registered. Modify them if the TCP processing fails.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

6A92 J2 encoder communication error

(bit)

4 The J2 encoder data received is abnormal.

6A93 J3 encoder communication error

(bit)

6A94 J4 encoder communication error

(bit)

6A95 J5 encoder communication error

(bit)

6A96 J6 encoder communication error

(bit)

6A97 J7 encoder communication error

(bit)

4 The J3 encoder data received is abnormal.

4 The J4 encoder data received is abnormal.

4 The J5 encoder data received is abnormal.

4 The J6 encoder data received is abnormal.

4 The J7 encoder data received is abnormal.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

124

2 Controller Error Code Table

Code Message Level

6A98 J8 encoder communication error

(bit)

6AA1 J1 encoder backup error

6AA2 J2 encoder backup error

Description Remedy

4

5

The J8 encoder data received is abnormal.

The J1 backup battery does not work so that the internal data has been lost.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the encoder backup battery connector is firmly plugged in.

(2)To recover from this error state, you need to reset the related encoder and perform CALSET.

5 The J2 backup has run out so that the internal data has been lost. (1)Check that the encoder backup battery connector is firmly plugged in.

(2)To recover from this error state, you need to reset the related encoder and perform CALSET.

6AA3 J3 encoder backup error

6AA4 J4 encoder backup error

6AA5 J5 encoder backup error

6AA6 J6 encoder backup error

6AA7 J7 encoder backup error

6AA8 J8 encoder backup error

5 The J3 backup battery has run out so that the internal data has been lost.

(1)Check that the encoder backup battery connector is firmly plugged in.

(2)To recover from this error state, you need to reset the related encoder and perform CALSET.

5 The J4 backup battery has run out so that the internal data has been lost.

(1)Check that the encoder backup battery connector is firmly plugged in.

(2)To recover from this error state, you need to reset the related encoder and perform CALSET.

5 The J5 backup battery has run out so that the internal data has been lost.

(1)Check that the encoder backup battery connector is firmly plugged in.

(2)To recover from this error state, you need to reset the related encoder and perform CALSET.

5 The J6 backup battery has run out so that the internal data has been lost.

(1)Check that the encoder backup battery connector is firmly plugged in.

(2)To recover from this error state, you need to reset the related encoder and perform CALSET.

5 The J7 backup battery has run out so that the internal data has been lost.

(1)Check that the encoder backup battery connector is firmly plugged in.

(2)To recover from this error state, you need to reset the related encoder and perform CALSET.

5 The J8 backup battery has run out so that the internal data has been lost.

(1)Check that the encoder backup battery connector is firmly plugged in.

(2)To recover from this error state, you need to reset the related encoder and perform CALSET.

125

2 Controller Error Code Table

Code Message Level

6AA9 J1 encoder initialize error

6AAA J2 encoder initialize error

6AAB J3 encoder initialize error

6AAC J4 encoder initialize error

6AAD J5 encoder initialize error

6AAE J6 encoder initialize error

6AAF J7 encoder initialize error

6AB0 J8 encoder initialize error

6AB1 J1 encoder absolute data error

Description

4 An error has occurred during initialization of the J1 encoder.

4 An error has occurred during initialization of the J2 encoder.

4 An error has occurred during initialization of the J3 encoder.

4 An error has occurred during initialization of the J4 encoder.

4 An error has occurred during initialization of the J5 encoder.

4 An error has occurred during initialization of the J6 encoder.

4 An error has occurred during initialization of the J7 encoder.

4 An error has occurred during initialization of the J8 encoder.

5 The J1 position data may be wrong.

Remedy

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

126

2 Controller Error Code Table

Code Message Level

6AB2 J2 encoder absolute data error

Description

5 The J2 position data may be wrong.

6AB3 J3 encoder absolute data error 5 The J3 position data may be wrong.

6AB4 J4 encoder absolute data error 5 The J4 position data may be wrong.

6AB5 J5 encoder absolute data error 5 The J5 position data may be wrong.

6AB6 J6 encoder absolute data error 5 The J6 position data may be wrong.

6AB7 J7 encoder absolute data error 5 The J7 position data may be wrong.

6AB8 J8 encoder absolute data error 5 The J8 position data may be wrong.

6AB9 J1 encoder error 5 A J1 encoder error has occurred.

Remedy

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)To recover from this error state, you need to reset the related encoder and perform CALSET.

127

2 Controller Error Code Table

Code Message Level

6ABA J2 encoder error

Description

5 A J2 encoder error has occurred.

6ABB J3 encoder error

6ABC J4 encoder error

6ABD J5 encoder error

6ABE J6 encoder error

5 A J3 encoder error has occurred.

5 A J4 encoder error has occurred.

5 A J5 encoder error has occurred.

5 A J6 encoder error has occurred.

6ABF J7 encoder error 5 A J7 encoder error has occurred.

Remedy

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)To recover from this error state, you need to reset the related encoder and perform CALSET.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)To recover from this error state, you need to reset the related encoder and perform CALSET.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)To recover from this error state, you need to reset the related encoder and perform CALSET.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)To recover from this error state, you need to reset the related encoder and perform CALSET.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)To recover from this error state, you need to reset the related encoder and perform CALSET.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)To recover from this error state, you need to reset the related encoder and perform CALSET.

128

2 Controller Error Code Table

Code Message Level

6AC0 J8 encoder error

Description

5 A J8 encoder error has occurred.

6AC1 J1 encoder over speed error

6AC2 J2 encoder over speed error

6AC3 J3 encoder over speed error

6AC4 J4 encoder over speed error

6AC5 J5 encoder over speed error

6AC6 J6 encoder over speed error

6AC7 J7 encoder over speed error

6AC8 J8 encoder over speed error

6AC9 J1 encoder communication error

5 The J1 speed was too high when the power was turned on.

5 The J2 speed was too high when the power was turned on.

5 The J3 speed was too high when the power was turned on.

5 The J4 speed was too high when the power was turned on.

5 The J5 speed was too high when the power was turned on.

5 The J6 speed was too high when the power was turned on.

5 The J7 speed was too high when the power was turned on.

5 The J8 speed was too high when the power was turned on.

4 The J1 encoder data has not been updated correctly.

6ACA J2 encoder communication error 4 The J2 encoder data has not been updated correctly.

6ACB J3 encoder communication error 4 The J3 encoder data has not been updated correctly.

6ACC J4 encoder communication error 4 The J4 encoder data has not been updated correctly.

6ACD J5 encoder communication error 4 The J5 encoder data has not been updated correctly.

Remedy

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)To recover from this error state, you need to reset the related encoder and perform CALSET.

When the robot is on halt, restart the controller.

When the robot is on halt, restart the controller.

When the robot is on halt, restart the controller.

When the robot is on halt, restart the controller.

When the robot is on halt, restart the controller.

When the robot is on halt, restart the controller.

When the robot is on halt, restart the controller.

When the robot is on halt, restart the controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

129

2 Controller Error Code Table

Code Message Level

6ACE J6 encoder communication error

Description

4 The J6 encoder data has not been updated correctly.

6ACF J7 encoder communication error 4 The J7 encoder data has not been updated correctly.

6AD0 J8 encoder communication error 4 The J8 encoder data has not been updated correctly.

6AD1 J1 encoder data not received 4 Cannot receive J1 encoder data.

6AD2 J2 encoder data not received 4 Cannot receive J2 encoder data.

6AD3 J3 encoder data not received 4 Cannot receive J3 encoder data.

6AD4 J4 encoder data not received 4 Cannot receive J4 encoder data.

Remedy

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)Check the cables between the robot unit and controller for connection.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)Check the cables between the robot unit and controller for connection.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)Check the cables between the robot unit and controller for connection.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)Check the cables between the robot unit and controller for connection.

130

2 Controller Error Code Table

Code Message Level

6AD5 J5 encoder data not received

6AD6 J6 encoder data not received

6AD7 J7 encoder data not received

6AD8 J8 encoder data not received

6AD9 J1 encoder over heat error

Description

4 Cannot receive J5 encoder data.

4

4

4

4

Cannot receive J6 encoder data.

Cannot receive J7 encoder data.

Cannot receive J8 encoder data.

The internal temperature of the J1 encoder is too high.

6ADA J2 encoder over heat error 4 The internal temperature of the J2 encoder is too high.

Remedy

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)Check the cables between the robot unit and controller for connection.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)Check the cables between the robot unit and controller for connection.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)Check the cables between the robot unit and controller for connection.

(1)Check that the FG wires of the robot unit and controller are grounded properly.

(2)Check that no noise sources (e.g., welding machines) are in the vicinity of the robot unit or controller.

(3)Check the cables between the robot unit and controller for connection.

This high temperature state may break the encoder, so follow the steps below.

(1)Check the temperature of the operating environment.

(2)Check that the specifications of the hand (inc. workpiece) do not exceed the acceptable capacity of the robot.

(3)Set timers between motion commands or decrease the speed and/or acceleration. (Before performing the operation again, wait for at least one minute.)

This high temperature state may break the encoder, so follow the steps below.

(1)Check the temperature of the operating environment.

(2)Check that the specifications of the hand (inc. workpiece) do not exceed the acceptable capacity of the robot.

(3)Set timers between motion commands or decrease the speed and/or acceleration. (Before performing the operation again, wait for at least one minute.)

131

2 Controller Error Code Table

Code Message Level

6ADB J3 encoder over heat error

6ADC J4 encoder over heat error

6ADD J5 encoder over heat error

6ADE J6 encoder over heat error

Description

4 The internal temperature of the J3 encoder is too high.

4

4

4

The internal temperature of the J4 encoder is too high.

The internal temperature of the J5 encoder is too high.

The internal temperature of the J6 encoder is too high.

6ADF J7 encoder over heat error 4 The internal temperature of the J7 encoder is too high.

Remedy

This high temperature state may break the encoder, so follow the steps below.

(1)Check the temperature of the operating environment.

(2)Check that the specifications of the hand (inc. workpiece) do not exceed the acceptable capacity of the robot.

(3)Set timers between motion commands or decrease the speed and/or acceleration. (Before performing the operation again, wait for at least one minute.)

This high temperature state may break the encoder, so follow the steps below.

(1)Check the temperature of the operating environment.

(2)Check that the specifications of the hand (inc. workpiece) do not exceed the acceptable capacity of the robot.

(3)Set timers between motion commands or decrease the speed and/or acceleration. (Before performing the operation again, wait for at least one minute.)

This high temperature state may break the encoder, so follow the steps below.

(1)Check the temperature of the operating environment.

(2)Check that the specifications of the hand (inc. workpiece) do not exceed the acceptable capacity of the robot.

(3)Set timers between motion commands or decrease the speed and/or acceleration. (Before performing the operation again, wait for at least one minute.)

This high temperature state may break the encoder, so follow the steps below.

(1)Check the temperature of the operating environment.

(2)Check that the specifications of the hand (inc. workpiece) do not exceed the acceptable capacity of the robot.

(3)Set timers between motion commands or decrease the speed and/or acceleration. (Before performing the operation again, wait for at least one minute.)

This high temperature state may break the encoder, so follow the steps below.

(1)Check the temperature of the operating environment.

(2)Check that the specifications of the hand (inc. workpiece) do not exceed the acceptable capacity of the robot.

(3)Set timers between motion commands or decrease the speed and/or acceleration. (Before performing the operation again, wait for at least one minute.)

132

2 Controller Error Code Table

Code Message Level

6AE0 J8 encoder over heat error

6AE1 J1 encoder battery low voltage

6AE2 J2 encoder battery low voltage

6AE3 J3 encoder battery low voltage

6AE4 J4 encoder battery low voltage

6AE5 J5 encoder battery low voltage

6AE6 J6 encoder battery low voltage

6AE7 J7 encoder battery low voltage

6AE8 J8 encoder battery low voltage

6AE9 J1 encoder overflow warning

6AEA J2 encoder overflow warning

6AEB J3 encoder overflow warning

6AEC J4 encoder overflow warning

6AED J5 encoder overflow warning

6AEE J6 encoder overflow warning

6AEF J7 encoder overflow warning

6AF0 J8 encoder overflow warning

Description

4 The internal temperature of the J8 encoder is too high.

2 The battery voltage level of the J1 encoder has dropped.

2 The battery voltage level of the J2 encoder has dropped.

2 The battery voltage level of the J3 encoder has dropped.

2 The battery voltage level of the J4 encoder has dropped.

2 The battery voltage level of the J5 encoder has dropped.

2 The battery voltage level of the J6 encoder has dropped.

2 The battery voltage level of the J7 encoder has dropped.

2 The battery voltage level of the J8 encoder has dropped.

4 If the motor keeps running in the current direction, the J1 position encoder counter will be overflown.

4 If the motor keeps running in the current direction, the J2 position encoder counter will be overflown.

4 If the motor keeps running in the current direction, the J3 position encoder counter will be overflown.

4 If the motor keeps running in the current direction, the J4 position encoder counter will be overflown.

4 If the motor keeps running in the current direction, the J5 position encoder counter will be overflown.

4 If the motor keeps running in the current direction, the J6 position encoder counter will be overflown.

4 If the motor keeps running in the current direction, the J7 position encoder counter will be overflown.

4 If the motor keeps running in the current direction, the J8 position encoder counter will be overflown.

Remedy

This high temperature state may break the encoder, so follow the steps below.

(1)Check the temperature of the operating environment.

(2)Check that the specifications of the hand (inc. workpiece) do not exceed the acceptable capacity of the robot.

(3)Set timers between motion commands or decrease the speed and/or acceleration. (Before performing the operation again, wait for at least one minute.)

Replace the encoder backup battery of the related joint.

Replace the encoder backup battery of the related joint.

Replace the encoder backup battery of the related joint.

Replace the encoder backup battery of the related joint.

Replace the encoder backup battery of the related joint.

Replace the encoder backup battery of the related joint.

Replace the encoder backup battery of the related joint.

Replace the encoder backup battery of the related joint.

If you need to rotate the motor in the same direction further, reset the encoder of the related joint and perform CALSET.

If you need to rotate the motor in the same direction further, reset the encoder of the related joint and perform CALSET.

If you need to rotate the motor in the same direction further, reset the encoder of the related joint and perform CALSET.

If you need to rotate the motor in the same direction further, reset the encoder of the related joint and perform CALSET.

If you need to rotate the motor in the same direction further, reset the encoder of the related joint and perform CALSET.

If you need to rotate the motor in the same direction further, reset the encoder of the related joint and perform CALSET.

If you need to rotate the motor in the same direction further, reset the encoder of the related joint and perform CALSET.

If you need to rotate the motor in the same direction further, reset the encoder of the related joint and perform CALSET.

133

2 Controller Error Code Table

Code Message Level

6AF3 Interference area detected by

J1,2,3

6AF4 Can not eable Robot Calibration

Description Remedy

3 The end-effector has came in the defined interference check area. Run the robot to make the end-effector go out of the interference check area and then try the operation again.

2 Robot Calibration cannot be enabled since the related parameters are not configured.

Transmit the parameters provided at the purchase of the Robot

Calibration option from WINCAPS III to the controller and then restart the controller.

700B Robot is running

7047 Subroutine return stack overflow

7048 Undefined process command

7062 Mode change failure

71E0 Program is running

736A Error in stop process

736B Automatic load not permitted

736C The program may not start from the top

736D TC time detected. All programs stop.

3 The specified command cannot be executed during robot operation. Stop the robot and retry.

4 Number of calling subroutines exceeded their set value. 1.Check that the program, which had the error, does not call itself as a subroutine.

2.Check that the program calls the other program as a subroutine and that the subroutine calls the main program (calling) again as a subroutine.

3.Modify the program configuration so that subroutines are not called

(by CALL or GOSUB statement) more than the specified times (32 times).

4.Check that the subroutine called by a GOSUB statement has returned control to the calling program by a RETURN statement.

4 An undefined processing command in the current software attempted to execute.

1.Check that the controller software version matches with the

WINCAPSIII compiler version.

2.Re-create the execution form file using WINCAPSIII or the controller.

3.Check that no error occurs when the program is transferred from

WINCAPSIII to the controller and when the program is being loaded.

3 Failed in changing the operation mode. 1. Check the error log for the error that occurred immediately before, and avoid it.

2. Change the operation mode to internal or external automatic mode.

2 Attempted to perform an operation not executable while the program is in execution.

Restart the operation confirming that the program is not in execution.

4 Operation did not stop within a specified time after HALT and Robot stop.

Clear error and restart the operation.

1 When the Program List window or the Select Variable Type window was opened, you attempted to carry out automatic load.

2 A program in Teach-Check condition was attempted to start by RUN command from other program.

1 This condition occurs when TC time (non-operation time) exceeds the set time in SS function stop mode setting.

Try automatic load again with the teach pendant.

If the operation is confirmed to be safe, start the program. If not, restart the program after ‘HALT’ of the Teach-Check program.

Cannot start next operation by the unknown causes. Solve the causes.

134

2 Controller Error Code Table

Code Message Level

736E Cannot use this exec program version.

736F Can't start program with array arguments

737A Failed to write motion record

Description

4 Cannot load the program because the program version does not coincide with the controller version.

WINCAPS III version may be older than the controller software version.

Remedy

1. Upgrade WINCAPS III. To upgrade the software, start WINCAPS III

Trial CD shipped with the controller, and WINCAPS III that matchs with the controller version will be installed. WINCAPS III project data and license key information on older version is automatically saved and taken over by the upgraded version.

2. Recompile the program on the controller.

2 In stand alone mode, the current system does not support starting of programs containing array argument(s).

Only the CALL statement can call such a program that contains array argument(s).

1 Failed in recording robot operation command data used in step-back function.

Execute step start or cycle start in case of executing the step-back of the program.

The limitation of step back in this condition is up to the first robot operation command when step start or cycle start was executed after the error occurrence.

737B Failed to initialize motion record

737C Recorded motion execution error

737D No more motion record available

737E No motion record available

737F Executing recorded motion

738A Cannot change nonexistent parameter

738B Cannot change this parameter by program

738C RETURN destination not found

738D Program return stack broken

738E CRC error of BP's data

7395 Cannot start program during stop

1 Failed in initializing the robot operation command data used in step back function.

3 Failed in the execution of step back function. Or failed in step start or cycle start to the starting point of the step back operation

In case of using step back function, execute the robot operation command by step start or cycle start.

1 Cannot step back further.

1 No operation command data to be used in step back function was found.

1 In execution of step back operation, or in execution of step start / cycle start to the starting point of the step back operation.

In case of using step back function, switch off the controller power switch and restart the operation.

Execute the robot operation command by step start or cycle start.

Execute the robot operation command by step start or cycle start.

Execute step start or cycle start again.

3 A variable specified with the program does not exist. (The table number or element number is out of range.)

3 A variable specified with a program cannot be changed from the program.

3 RETURN command was used by the program not executed with

GOSUB.

4 The content of the Return stack is destroyed.

Read the program again and change or correct the program so that the table number and element number is within the range.

Read the program again and delete this command or correct the variable so that it is available to use.

Review the program and correct the RETURN position or GOSUB.

5

3

A break-point data error was detected.

The program cannot be started during stopping process.

1.Switch off the controller power switch and restart the operation.

2.Recompile the program.

3.Notify us if the condition is not improved by the recompile.

Release all break points, turn OFF the power switch of the controller, and specify break points for operation again.

After some time, restart the program.

135

2 Controller Error Code Table

Code Message Level

7396 An integer type variable cannot be used

Description

3 Integer variables cannot be used in approximate comparison operation.

7397 Undefined folder variable substance

7398 Type of folder variable mismatch

3 Attempted to use the folder variable not yet defined.

7399 Folder variable array mismatch

3 The type of folder variable in FOLDER declaration does not match that in EXTERN declaration.

3 The array subscript of folder variable in FOLDER declaration does not match that in EXTERN declaration.

739B Failure to allocate task control area 4 Memory area for multitasking program manager was not normally allocated.

739C Failure to initialize prog. exe. process

739D Failure to initialize step exe. process

739E Failure to load execution file

4

4

An error occurred when the multitasking program process section was initialized.

4 An error occurred when the step execution process section was initialized.

The controller could not load the execution form file.

739F Failure to create internal task

73A0 Own task deleting ID error

73A1 Failure to delete semaphore

4 Creation of a task, used in the internal process, failed.

4 The program called by the CALL statement attempted to forcibly terminate that calling program with the KILL statement.

4 Semaphore was not deleted normally.

Remedy

Change the variable type to single-precision or double-precision real.

Check the PAC program and define the folder variable.

Check the PAC program and make those types match each other.

Check the PAC program and make array subscripts each other.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

1.Check that the execution form file and the mutual reference file were transmitted from WINCAPSIII to the controller, before you execute loading.

2.Check that another error occurs in execution of loading with the error log function. If the error occurred, remove the cause of the error and reload them.

3.Check that no error occurs when a program is transferred from

WINCAPSIII to the controller.

4.Check that no error occurs when the compiling is executed in the controller.

5.Use WINCAPSIII or the controller and create the execution form file again.

6.Check that the file name (e.g., program name and project name) does not contain any prohibited character. For prohibited characters, refer to the WINCAPSIII Guide.

Turn OFF the power switch of the controller and restart the operation.

Do not attempt to forcibly terminate the calling program in the called program.

1.Check if the semaphore ID given with the GIVESEM statement is the same as that taken with the CREATESEM statement.

2.Turn OFF the power switch of the controller and restart the operation.

136

2 Controller Error Code Table

Code Message Level Description

73A2 Failure to create semaphore

73A4 Failure to initialize cycle process

4 Creation of a task used in the internal process failed.

73A3 Failure to terminate cycle process 4 The termination process for the CYCLE option executing section of the RUN statement could not execute.

4 Initialization for the CYCLE option executing section of the RUN statement could not execute.

73A5 Failure to start cycle process

73A6 Forbidden process tried during loading

4 The start process for the CYCLE option executing section of the

RUN statement could not execute.

4 A process command not available to execute attempted to execute in program load processing.

73A7 Cannot take cycle process semaphore

73A8 Failure to write Interpreter queue

73A9 Fail to release cycle process semaphore

73AA Cannot allocate interpreter memory

73AB Undefined variable format (1) appeared

73AC Undefined variable format (2) appeared

Remedy

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

1.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

2.Check that no error occurs when compiling is executed in the controller.

3.Use WINCAPSIII or the controller and create the execution form file again.

Turn OFF the power switch of the controller and restart the operation. 4 Internal process semaphore for execution of CYCLE option of RUN statement was not taken normally.

4 Transfer of an execution contents command to the program executing section failed.

4 Internal process semaphore for execution of CYCLE option of RUN statement was not released normally.

4 Memory area for execution form file interpreter was not allocated normally.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

Turn OFF the power switch of the controller and restart the operation.

4 Attempted to interpret variable data; however, different data from the variable data appeared in the execution form file.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

4 Attempted to interpret the variable data; however, different data from the variable data appeared in the execution form file.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

137

2 Controller Error Code Table

Code Message Level

73AD Non-integer type variable appeared

73AE Program internal No. not defined

73AF Program define start command not found

73B0 Program define No. out of setting range

Description Remedy

4 Integer data attempted to interpret; however, different data from the integer data appeared in the execution form file.

4 Attempted to be read a program number in program load processing; however, the number did not appear.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

4 Attempted to read the program definition; however, the command declaring the program start did not appear.

4 A program internal definition number was read; however, the value was out of permissible range.

1.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

2.Check that no error occurs when compiling is executed in the controller.

3.Use WINCAPSIII or the controller and create the execution form file again.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

138

2 Controller Error Code Table

Code Message Level

73B1 Cannot alloc. program define memory area

Description

4 Working memory for copying program contents in the program loading process was not allocated normally.

73B2 Program size differs from definition 4

73B3 Local variable not initialized

73B4 Failure to alloc. variable reading area

Program size declaration appeared at the head of the program definition and the practical program size did not match that definition.

4 1.A local variable was declared. The variable contents attempted to read without assigning a value at least once.

2.A attempted calling a subroutine; however, the corresponding program could not be found.

3.HOME is not set before execution of the GOHOME command.

4 Process area to read variable data from could not be allocated.

Remedy

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

5.The program size total number exceeds the system permissible value. Reduce the number of programs, which construct the project, recompile and load them.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

Case 1.:

-Review the program again and correct the program so that the value is assigned before the value of the local variable is read, after the program is loaded.

Case 2.:

-Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

-Check that no error occurs when compiling is executed in the controller.

- Use WINCAPSIII or the controller and create the execution form file again.

Case 3.:

Set the home position with the HOME command.

Turn OFF the power switch on the controller and restart the operation.

139

2 Controller Error Code Table

Code Message Level

73B5 Undefined variable format (1) appeared

73B6 Undefined variable format (2) appeared

73B8 Failure to write load data

73B9 Failure to read load data

73BA Program restart failed

73BB Failure to specify start program

73BC Program suspension failed

73BD Program restart failed

73C0 Failure to read break point reading area

73C1 Cannot set no more break points

Description Remedy

4 Attempted to interpret variable data; however, data different from the variable data appeared in the execution form file.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

4 Attempted to interpret variable data; however, data different from the variable data appeared in the execution form file.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

4 Attempted to transmit data to the process section, in order to load the program; however, transfer writing failed.

4 The process section attempted to read data, in order to load a program. However, the reading failed. An attempted to transmit data to the process section and to load the program, by transfer writing failed.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

4 The RUN command could not restart the program, which was in a hold status, due to the halt.

4 Program start was attempted by the teach pendant I/O or PAC RUN command. But the controller failed to specify the program number at the program interpreter.

Set the program to the stop status and execute again, from the top.

Turn OFF the power switch on the controller and restart the operation.

4 Attempt was made to suspend the program. But, it was terminated because of failure.

4 The controller failed to restart the program in hold status.

Turn OFF the power switch on the controller and restart the operation.

4 The controller failed to secure the reading area to read the break point setting lines.

Set the program to stop status and run the program again from the top.

Turn OFF the power switch on the controller and restart the operation.

73C2 No break point is set in a line

4 The number of break points attempted to set for the program exceeds the upper limit.

Release unnecessary break points and set again.

4 Attempt was made to delete the break point at a line where no break point was set.

Check if a break point is set on the line where the break point attempted to delete.

140

2 Controller Error Code Table

Code Message Level

73C3 Program stop designation undefined

Description

4 Attempt was made to set an undefined status process, to designate status for the break point, program execution trace, step start and step stop.

Remedy

Turn OFF the power switch on the controller and restart the operation.

73C4 Step stop specify semaphore not prepared

73C6 Failure to create break point semaphore

73C7 Failure to take break point semaphore

73C8 Failure to delete break point semaphore

73C9 Failure to obtain task status

4 Step stop was attempted. But the required internal semaphore was not prepared.

4 Internal semaphore for the break point process was not created normally.

4 Internal semaphore for the break point process was not taken normally.

4 Internal semaphore for the break point process was not deleted normally.

4 The program operation status was not obtained normally.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

Turn OFF the power switch on the controller and restart the operation. 73CA Failure to obtain task information 4 Attempted to obtain the program information; however, the information recorded section could not be found.

73CB Failure to search task information 4 The program information recorded section was searched; however, it could not be found.

1.The number of PAC programs, which construct the project, exceeds the set upper limit. Reduce the number of the PAC programs. Then, recompile and load them.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

141

2 Controller Error Code Table

Code Message Level

73CC Failure to alloc. task info record area

73CD Wrong data type of command argument

Description Remedy

4 When the program was being loaded, the program information attempted to record; however, it could not record because the record area was full.

1.The number of PAC programs, which construct the project, exceeds the set upper limit. Reduce the number of the PAC programs. Then, recompile and load them.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

4 When the program was executed, a command argument of a type, which does not correspond to the command attempted to execute, appeared.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

73CE Failure to get version char. string area

73CF Failure to read type P variables

73D0 Failure to read type T variables

73D2 Interpreter failure

4 The program tried to get the software specification version but failed to allocate the record memory area.

Turn OFF the power switch on the controller and restart the operation.

4 Type P variables were not normally read from the temporary storage.

1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

4 Type T variables were not normally read from the temporary storage. 1.Check that the controller software version corresponds to the

WINCAPSIII compiler version.

2.Check that no transmit error occurs when an execution form file is transmitted from WINCAPSIII to the controller.

3.Check that no error occurs when compiling is executed in the controller.

4.Use WINCAPSIII or the controller and create the execution form file again.

4 Data in the controller was somehow corrupted. Turn OFF the power switch on the controller and restart the operation.

142

2 Controller Error Code Table

Code Message Level

73D3 Code undefined

73D4 Lack of memory

Description Remedy

4 The controller attempted to execute an unexpected command. The following are the possible reasons.

1.The WINCAPSIII and controller versions do not match, which may occur if teaching is done with a computer.

2.The controller attempted to execute unsupported commands.

3.Data in the controller was somehow corrupted.

Case 1:Replace the version with the right one.

Case 2:Do not manually execute unsupported commands.

Case 3:Turn OFF the power switch on the controller and restart the operation.

4 A newly declared variable area could not be secured. Delete the declaration of unused variables and increase the memory space. If the teach pendant displays the program contents, close the window for operation.

73D5 Register failure

73D6 Unsupported command

73D7 Data size error

73D8 User code area not registered

73D9 No user code

73DA Type mismatch

73DB Data tag error

73DC Improper data length

73DD Zero division error

73DE External reference

73DF User code range error

73E0 User code range over

73E1 User code not registered

4 Data in the controller was corrupted. Turn OFF the power switch of the controller and restart the operation.

4 The controller attempted to execute unexpected command. The following are the possible reasons.

1.The WINCAPSIII and controller versions do not match, which may occur if teaching is done with a computer.

2.The controller attempted to execute unsupported commands.

3.Data in the controller was somehow corrupted.

In case of 1:Replace the version with the right one.

In case of 2:Do not manually execute unsupported commands.

In case of 3:Turn OFF the power switch of the controller and restart the operation.

4 Data in the controller was somehow corrupted. Turn OFF the power switch on the controller and restart the operation.

3 The variables have not been initialized.

3 Data in the controller was somehow corrupted.

4 Data in the controller was somehow corrupted.

4 1.Data type is different.

2.Data in the controller was somehow corrupted.

Read the program again and initialize the variables.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

1.Read the program again and check that there is an assignment to different type data and correct it.

2.Turn OFF the power switch on the controller and restart the operation.

4 1.The maximum number of characters exceeds the character string type.

2.Data in the controller was somehow corrupted.

1.Read the program again and check that there is an assignment to different type data and correct it.

2.Turn OFF the power switch on the controller and restart the operation.

4 The expression operation of which the denominator becomes 0 was attempted.

Read the program again and initialize the variables. Delete or change the operation to divide by 0.

Reconsider the value of the approximation comparison parameter. 4 The value of the approximation comparison parameter exceeds the permissible range.

4 Data in the controller was somehow corrupted.

4 Data in the controller was somehow corrupted.

4 Data in the controller was somehow corrupted.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

143

2 Controller Error Code Table

Code Message Level

73E2 Time data error

73E3 Lack of memory

Description

3 Time data attempted to operate with the character string functions.

However, the value not permissible.

4 The newly declared variable area could not be secured.

73E4 Out of I/O range

73E5 Undefined input/output device

Remedy

Reconsider the time data and change it to a permissible value.

Delete the declaration of unused variables and increase the memory space. If the teach pendant displays the program contents, close the window for operation.

3 An I/O number, which is outside the available range, was specified.

Read the program again and delete the command, which attempted to operate the I/O number, not available to use.

4 Device not available was selected.

4 The data area, which can be used by the program, is overfilled.

Read the program again and delete the command which, attempted to operate the device, not available to use.

Turn OFF the power switch on the controller and restart the operation. 73E6 Stack overflow

73E7 Stack underflow

73E8 Pose data error

73E9 Semaphore error

73EA Syntax error

73EB Undefined joint type

4 Data area that can be used by the program is insufficient.

4 The data in the controller was somehow corrupted.

4 The data in the controller was somehow corrupted.

4 1.The data type is different.

2.Character string not initialized was used.

3.The data in the controller was somehow corrupted.

4 Attempt was made to move unusable joint.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

Turn OFF the power switch on the controller and restart the operation.

1.Read the program again to check if there is an assignment with different type data and correct it.

2.Initialize (assign the data) the character string.

3.Turn OFF the power switch on the controller and restart the operation.

Read the program again and delete the command for moving the unusable joint.

73EC Unsupported command

73ED Unsupported command

4 The controller tried to execute unexpected commands. The possible causes are as follows:

1.Execution of an unsupported command.

2.Controller data was destroyed due to some reason.

Case 1:Do not manually execute unsupported commands.

Case 2:Turn OFF the power switch on the controller and reboot the operation.

4 The controller tried to execute unexpected commands. The possible causes are as follows:

1.Execution of an unsupported command.

2.Controller data was destroyed due to some reason.

Case 1:Do not manually execute unsupported commands.

Case 2:Turn OFF the power switch on the controller and reboot the operation.

73EE Cannot run (max. number of tasks) 4 The number of tasks, which exceeded the set number of user tasks, attempted to run.

Correct the number of user tasks, reboot the controller and try the operation again.

73EF Variable/element No. out of set range

73F0 Index error

3 Subscripts of array variables or element number types T, J and P exceeded the permissible range.

4 Array variable subscripts were not out of range.

Read the program again and change it so that the array subscript or the element number types T, J and P become permissible values or extend the array area.

Read the program again and change the values so that the array subscript becomes the permissible value.

144

2 Controller Error Code Table

Code Message Level

73F1 No project

Description

4 Although the execution available project was not present, loading was attempted.

73F2 Domain error

73F3 Value out of range

73F4 All memory initial (variable area error)

73F5 Local variable initialized

Create a project.

Remedy

4

4

The robot program arguments are out of range.

The robot program arguments are out of range.

Read the program again and change the value so that the argument becomes the permissible value.

Read the program again and change the value so that the argument becomes the permissible value.

5 A failure was found in the variable storage area in program loading.

This is information that the system found an error and the correction process was finished. However, because all the variables are initialized, execute the process to return the values of the variables back to their original values.

2 A value of the local variable was initialized. This is information that due to program transmission and compiling all the local variables are initialized.

3 Obtaining a position is not available because CAL is not executed. Return to the arm menu and execute CAL. 73F6 Cannot fetch position w/o CAL execution

73F7 Specified tool No. not usable

73F8 Failure to create semaphore

3 The specified TOOL number cannot be used.

4 Semaphore was not created normally.

73F9 Failure to delete semaphore

73FA Failure to take semaphore

73FB Semaphore taking timeout

73FC Failure to release semaphore

73FD Failure to release tasks wait semaphore

73FE Cannot start program with arguments

4 Semaphore was not deleted normally.

4 The specified semaphore ID is not valid, so the program failed to take a semaphore.

3 Timeout error occurred in taking semaphore.

3 Semaphore was not released normally.

3 Semaphore-waiting tasks were not released normally.

2 A program with arguments cannot run from the teach pendant, the operating panel or an external device.

Change the TOOL number in the program to the permissible value.

The maximum number of semaphores was exceeded. Reduce the number of created semaphores.

The semaphore to be deleted is not found. Review the usage of

DELETESEM function.

Review the program, observing the following instructions.

1. Use a semaphore ID already generated with CREATESEM.

2. Do not use a semaphore ID that has been deleted by DELETESEM.

The semaphore is used by another task. Review the usage of

TAKESEM function.

The semaphore to be released is not found. Review the usage of

GIVESEM function.

Semaphore to be released is not found. Review the usage of

FLUSHSEM function.

If you are calling a program with arguments, use another program.

145

2 Controller Error Code Table

Code Message Level Description

73FF Cannot start program during stop 2 Attempted to start a program during HALT processing.

(This error will occur also in Teach Check mode if you start a program immediately after releasing the deadman switch.)

Remedy

Wait for a while and then restart the program.

If HALT is commanded to all tasks, no program can run until all tasks come to stop.

If step-stop is commanded to all tasks but any task is stopped by

WAIT statement so as not to step-stop, then satisfy the WAIT condition to step-stop the task or stop that task. (If placed in Slow mode with the SS function, the task will come into the same state.)

When operating the robot through I/Os, switching the external mode or Auto Enable will cause stop to all tasks, so the program cannot start for a while. Wait for a second or more and start the program.

74FB Failed to save the robot type data. 4 The controller power was shut down during saving of the robot type data.

74FC Perform CALSET again.

Perform CALSET again.

4 The controller power was shut down during execution of CALSET. Perform CALSET again.

74FD Failed to access the encoder data. 4 The controller failed to access the encoder data.

74FE Encoder data error. 4 The controller detected a checksum error in encoder data.

75B0 client port open error 3 The specified client port is already occupied or invalid.

Restart the controller.

Restart the controller.

Change the port or correct the client port settings.

75B1 client port close error

7780 The max number of folder was exceeded

778C The limitation function cannot be used

3 The client port closing operation was not completed because it was attempted while another one commanded by any other program is in execution.

Modify the program so that the client port closing operation cannot be executed while the one commanded by any other program is in execution.

777F Conversion to real numbers failed. 3 The controller failed to convert binary data to real number data.

3 The number of folders created has exceeded the limit (256).

3 The restricted function(s) cannot be used.

Convert binary data to finite numbers and then try the operation again.

Decrease the number of folders below the limit and then try again.

To use the restricted function, purchase the unlocker option.

7799 The maximum number of TSR was exceeded

779A Ex-Joint is selected

3 The number of active supervisory tasks has exceeded its limit (32).

Modify the program so that the number of active supervisory tasks does not exceed 32.

3 The specified command cannot be executed when an additional axis is selected as a robot axis.

Select an axis other than additional axes and retry.

779B The maximum number of file was exceeded

3 The number of files created in the controller has exceeded the limit:

256 for PAC files and 256 for the combination of header files and operation panel files.

Decrease the number of files and then try again.

779F Failure to turn on the motor power 3 An error occurred because of failure in turning the motor ON for some reason during MOTOR instruction execution, or because of timeout in consecutive MOTOR instruction activation.

Restart after checking and eliminating the cause of failure in turning the motor power ON.

146

2 Controller Error Code Table

Code Message Level

77B7 Motor off command while robot is running

77B8 Motor on command with deadman switch off

Description

3 The MOTOR OFF command cannot execute when the robot is running.

3 In Robot System "Type A," the MOTOR ON command cannot execute when the deadman switch is released in Manual mode or

Teach check mode.

4 Attempted to get an undefined arm group.

Remedy

Correct your program so as not to execute the MOTOR OFF command when the robot is running.

When executing the MOTOR ON command in Manual mode or Teach check mode, hold down the deadman switch.

77D1 Undefined arm group

77D2 Arm group has been taken

77E4 EX(EXA) option can use only exjoint

77E5 This joint is not available

4

3

3

Attempted to get any other different arm group from that already gotten.

The EX (EXA) option cannot drive the robot joints.

The position of the extended joint disabled cannot be taken.

Correct the program. Or define the arm group, turn the controller power off and then on, and start the operation again.

Correct the program so as not to get the different arm group in the same program.

Correct the program so that no robot joint is included in the EX (EXA) option.

Correct the program. Or enable the extended joint, turn the controller power off and then on, then start the operation again.

77E6 Cannot take semaphore of invalid joint

77E7 Boundless rotatory joint isn't available

77E8 Not set boundless rotatory joint

77E9 Can't execute INIT(EXECUTING

INIT)

77EA Can not start Program in Manual

Mode

3 Cannot get an arm group containing an extended joint disabled.

3 This command or operation cannot execute to a boundless rotatory joint.

3 This command or operation cannot execute to a limited rotatory joint. Set the joint for boundless rotation or do not execute this command or operation to the limited rotatory joint.

4 During execution of an INIT command, the controller attempted to execute any other INIT command.

3 In Manual or Teach Check mode, a supervisory task attempted to start a user task.

Correct the program. Or enable the extended joint, turn the controller power off and then on, then start the operation again.

Release the joint from the boundless rotation or do not execute this command or operation to the boundless rotatory joint.

Correct the program so that during execution of an INIT command, any other INIT command will not run.

Stop the supervisory task or delete a user task start instruction written in the supervisory task.

77EB Can not execute this command by

TSR

77EC TSR setting is "P-TASK No Use"

77ED Cannot start TSR

77EE TSR can't be started continuously

77EF Failure to do calibration (INIT)

3 To prohibit robot motions, a supervisory task called the TAKEARM command.

Correct the program so that robot motions are written in a user task.

2 Attempted to start a supervisory task, but the supervisory task mode has been disabled.

Enable the supervisory task mode and restart the robot controller.

3 Attempted to run a supervisory task in general tasks.

1

3

A supervisory task is not allowed to start in succession.

Failed to CAL due to any cause during execution of INIT.

Correct the program not to attempt to start a supervisory task in general tasks.

To run a supervisory task in succession explicitly, correct the program so that the repetitions loop inside the supervisory task.

Fix the CAL failure cause and restart the robot controller.

147

2 Controller Error Code Table

Code Message Level

77F0 Failure to turn on the motor power(INIT)

77F1 Command exclusive to TSR

77F2 COM-DATA length too short

77F6 DETECT command is invalid.

77F7 Can't execute this operation by

TSR

77F8 TSR start Canceled

77F9 I/O output (Not depends on the setting)

77FA It is the undefined axis

77FB I/O number has overlapped

77FC Can't execute program (error occurring)

77FD The I/O number which is not declared

77FE System extension is invalid

Description

3 Failed to turn the motor on due to any cause during execution of

INIT.

INIT commands executed in succession have caused a timeout error.

3 In a general task, you attempted to execute a command(s) exclusively allowed for a supervisory task.

3 In binary transmission, the data length specified by <inputbytes> in linputb command is too short.

Remedy

Fix the failure cause and restart the robot controller.

3 Attempted to execute the DETECT command when disabled.

3 Attempted to execute operations unsupported by a supervisory task, e.g., step-run and starting of general tasks by a supervisory task at the occurrence of an error.

Enable the DETECT command.

Perform supported operations. Or correct the program so that it will cause no error.

2 The power was turned on with the deadman switch being held down, so no supervisory task has not started.

NOTE: This message will appear even when the supervisory task function is disabled if you turn the power on with the deadman switch being held down.

To start a supervisory task when turning the power on, do not press the deadman switch.

If this message appears when the supervisory task function is disabled, then delete it and proceed to your task.

2 Since a supervisory task is enabled, the I/O may be outputted independently of the machine lock setting.

3 Attempted to detect an undefined axis.

If a supervisory task is enabled, be careful with the I/O status which may be changed.

Use a DETECT command to define a robot joint or extended-joint that is applicable to JOINT.

3 The same I/O number has been double assigned in any other program.

3 Since an error has occurred, the supervisory task cannot start any general task program.

3 Attempted to turn off the I/O number that had not been turned on in the DETECT command.

3 The extended function is disabled so that it is not executable.

Correct the program so that the command executes in a supervisory task.

Send data whose length matches that specified by <inputbytes> from external equipment to the robot controller.

Declare any other I/O. Or avoid turning on the same I/O in the

DETECT command at the same time.

Correct the user program, settings, and conditions so that no error will occur in it.

Set the I/O number declared in the same program.

Enter the password of the desired extended function to enable the function.

148

Vertical articulated

Horizontal articulated

V* SERIES

H* SERIES

Cartesian coordinate XYC SERIES

Integrated compact type XR SERIES

Vision device

Vision-21 SERIES

Programming support tool WINCAPSIII

ERROR CODE TABLES

First Edition

Third Edition

Fourth Edition

April 2009

January 2011

October 2011

DENSO WAVE INCORPORATED

10N**C

The purpose of this manual is to provide accurate information in the handling and operating of the robot. Please feel free to send your comments regarding any errors or omissions you may have found, or any suggestions you may have for generally improving the manual.

In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual.

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