No.

1L21700L-E-3

series

INSTRUCTION MANUAL

CONTROL AND
MAINTENANCE
FUNCTION

■ Read and follow these instructions and all safety blocks carefully.
■ Have only trained and qualified persons install, operate, or service this unit.

■ Give this manual to the operator.

■ For help, call your distributor.

 Be Sure to Read Instruction Manuals Before Use
Thank you for using the Daihen "Almega" series arc welding robot.

Please be sure to read the instruction manuals listed below (including this manual) and the instruction manuals
provided with the equipment, and use all the products correctly.
In particular, please be sure to read "Chapter 1 Safety Precautions" in the "Quick Start" instruction manual before
starting to use the products in order to ensure your safety and the safety of others. Store the instruction manual in
a safe place for future reference.

Instruction manuals related to the manipulator “V/B/H series”, and the robot control unit “FD11” are as follows.

■Standard Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
QUICK START Point on Safety, Transportation and Installation,
1L21700A
Turning the power on/off and manual operation, etc.
SETUP Safety precautions, installing & connecting method,
1L21700B starting up, periodical inspection, solution at the time
of failure
CONTROLLER MAINTENANCE Specifications of controller, explanation of each parts
1L21700K
and maintenance, parts list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11130A
（NB4 / NB4L / NB15 / NV6 / NV6L / NV20 / NH5） list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11312A
（NV50） list, etc.
MANIPULATOR Specifications or maintenance of manipulator, parts
1L11306A
（NV166 / NV210） list, etc.
BASIC OPERATIONS Explanation of manual operation, teaching, automatic
1L21700C operation, file utilities, backing-up data, basic
operations of Arc/Spot welding application, etc.
EXTERNAL INPUT/OUTPUT Interfacing method with external control device, list of
1L21700H
I/O signals and start/halt the automatic operation, etc.
Software PLC Create program, Input/output relay lists, List of
1L21700J
command words, etc.
CONTROL AND MAINTENANCE Edit logging, User Check, Troubleshooting, etc.
1L21700L
FUNCTION

■Application Manuals
Instruction
Instruction Manual Type Main Contents
Manual No.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700F
(ARC WELDING) technique, etc.
APPLICATION MANUAL Basic settings, functions for arc welding, teaching
1L21700E
(SPOT WELDING) technique, etc.
Instruction manuals are available other than the above for each optional function that you have purchased.

[Notes] 1. Specifications and information contained in these manuals are subject to change at any time without notice.
2. The screen display of a teach pendant shown in the manual are described as examples, which may be different from the actual
ones.
3. Although we cautiously compiled this standard specification to eliminate as much error as possible, we do not take any
responsibility for damages resulting from neither direct nor indirect errors.
4. The manual is a part of robot products. When transferring or selling off a robot, be sure to append the manual.
5. No part of this manual may be reproduced without permission.
6. Prohibited altering or remodeling
- Do not alter or remodel our products.
- You may get injured or have your equipment damaged because of fire, failure or malfunction caused by altering or
remodeling the product.
- The warranty does not cover any altered or remodeled products.

-1-
 Notice

Notes on Safety
The instructions that you are required to obey in order to prevent injury or physical damage to the operator or other
nearby persons are classified and explained as shown below in the provided instruction manuals (including this
manual).

Cases in which death or serious injury are assured if handed incorrectly, and which
avoidance of such dangers is also considered extremely difficult.
DANGER

Cases in which death or serious injury can be expected if handled incorrectly.

WARNING

Cases in which injury or physical damage can be expected if handled incorrectly.

CAUTION

The following symbols are also used for important checkpoints:

A particularly important checkpoint is shown.

IMPORTANT

INFO.
Useful information is shown.

POINT Info for deeper understanding for the main text is shown.

Note that even the matters which are described as CAUTION can result in serious accident depending on the
conditions. Be sure to keep the safety notes since they describe very important matters.

The meanings of “Serious injury”, “Minor injury”, and “Damage” described above are as follows.

Injury which has the aftereffect by loss of eyesight, an injury, the burn (high/low
Serious injury temperature), an electric shock, fracture, poisoning, etc. and that which requires
hospitalization and long-term treatment as an outpatient.

Injury which does not require either hospitalization or long-term treatment as an

Minor injury
outpatient, a burn (high temperature, low temperature), and an electric shock.

Direct and indirect damage in connection with damage of property and

Damage
equipment.

-2-
 Table of Contents

Table of Contents

Chapter 1 User Management

1.1 User management ..................................................................................................................... 1-1
1.1.1 Enabling user management .............................................................................................. 1-2
1.1.2 Automatic log-out setting ................................................................................................... 1-3
1.1.3 Registering the users allowed to perform the editing operations ...................................... 1-4
1.1.4 Setting the user operation limitations ................................................................................ 1-6
1.1.5 Copying user registration information ............................................................................... 1-7
1.1.6 User information editing .................................................................................................... 1-9
1.2 Using the user management function...................................................................................... 1-10
1.2.1 Log-in operation............................................................................................................... 1-10
1.2.2 Log-out operation ............................................................................................................ 1-11
1.2.3 User information at log-in ................................................................................................ 1-12

Chapter 2 Edit logging

2.1 Concerning edit logging............................................................................................................. 2-1

2.2 Referencing the edit logging...................................................................................................... 2-2

2.2.1 Editor logging monitor displays ......................................................................................... 2-2
2.2.2 Editor logging monitor functions ........................................................................................ 2-7

Chapter 3 User Check

3.1 User Check ................................................................................................................................ 3-1

3.2 Setting the user check ............................................................................................................... 3-2

3.2.1 Setting up the check item .................................................................................................. 3-2
3.2.2 Allocating input/output signals ........................................................................................... 3-6
3.2.3 When reaching the inspection timing ................................................................................ 3-6
3.2.4 When check and part replacement are completed............................................................ 3-7

Chapter 4 Troubleshooting
4.1 When failure has occurred......................................................................................................... 4-1

4.2 Concerning the failure details .................................................................................................... 4-2

4.2.1 Failure category................................................................................................................. 4-2
4.2.2 Concerning criticality codes and failure codes .................................................................. 4-3
4.3 Concerning “System Failure”..................................................................................................... 4-4
4.3.1 Outline of “System Failure”................................................................................................ 4-4
4.3.2 How to recover and response to the failures..................................................................... 4-4
4.4 Troubleshooting ......................................................................................................................... 4-5
4.4.1 Assumed cause of each error code................................................................................... 4-5
4.4.2 Assumed cause of each phenomenon .............................................................................. 4-9
4.5 Displaying the failure log ......................................................................................................... 4-12
4.5.1 Function of the failure log monitor ................................................................................... 4-13
4.5.2 Settings regarding the failure log..................................................................................... 4-14
4.5.3 Failure filtering function ................................................................................................... 4-18

1
Table of Contents

4.5.4 Displaying the system failure log..................................................................................... 4-21

4.5.5 Frequency of the failure occurrence................................................................................ 4-22
4.6 Failure list ................................................................................................................................ 4-25

2
Chapter 1 User Management

This chapter describes the user management function.

1.1 User management ......................................................................................1-1
1.1.1 Enabling user management .................................................................1-2
1.1.2 Automatic log-out setting......................................................................1-3
1.1.3 Registering the users allowed to perform the editing operations..........1-4
1.1.4 Setting the user operation limitations ...................................................1-6
1.1.5 Copying user registration information...................................................1-7
1.1.6 User information editing .......................................................................1-9
1.2 Using the user management function .......................................................1-10
1.2.1 Log-in operation .................................................................................1-10
1.2.2 Log-out operation ............................................................................... 1-11
1.2.3 User information at log-in ...................................................................1-12
 1.1 User management

1.1 User management

The user management function is a maintenance function designed to enable the robot to be operated safely in
an operating environment in which a multiple number of users will be operating one robot controller.
The function places limits on the editing operations performed by users for the robot, and allows only registered
users to perform the allowed editing operations. Even with the registered users, it limits the operations they can
perform by their level of experience: For instance, beginners may perform only simple setting operations whereas
experienced operators may perform sophisticated setting operations. In this way, the function prevents mistakes
that would be made if all editing operations were allowed for all users, and it does this by establishing a number of
user levels.
When the function is enabled, registered users must log in if they wish to perform editing operations. When users
log in, they can perform only those editing operations within the range allowed for their particular user level. If no
users have logged in, the protection level will be set to the BEGINNER status so no editing operations can be
performed.

Furthermore, when this function is enabled, the following operations for the protection level change (R314)
function are restricted.
(1) The protection level cannot be changed while a user has logged in.
(2) The protection level cannot be changed even when there is no logged-in user. However, in order to
manage this function, the level can be changed by an operator having the qualification as SPECIALIST.
(3) When this controller starts up, it will always start up in the BEGINNER status regardless of the <Constant
Setting> - [1 Control Constants] - [8 Protecting level select ion] setting.

 “Editing operations” to be restricted by this function refers to operations to change

IMPORTANT the constants of the robot system and to edit the task programs or condition files.
There are no restrictions on other operations without editing, such as check
operation, playback operation and monitor startup.
 The qualification of operator can be switched to SPECIALIST, even when this
function is enabled. It is therefore recommended to change the default
SPECIALIST password.
For details on the steps taken to change the password, see Section 4.7.3
“How to change the passwords” in the “SETUP MANUAL”.
 When the user management function is set to “enabled,” the following operations are
restricted for BEGINNER operators.
 Task program copying operations
 Copying operations using ＜Service＞- [7 File Manager]
 Step speed change operations
 Step accuracy change operations
 Step pass-through/positioning change operations

1-1
1.1 User management

1.1.1 Enabling user management

The factory default setting of the user management function has been “Disabled.” But can be
turned to “Enabled” by the following operating.
The qualifications level of SPECIALIST is required to carry out the functions described in this
section.

Enabling the user management function

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[1 User Management function].
≫ The screen on which to set user management is displayed.

2 Bring the cursor to “User management function,” and press [ENABLE] +[right] to
＋ select the “Enabled” setting.

3 After the setting has been established, press f12 <Complete>.

≫ The previous screen is restored.

1-2
 1.1 User management

1.1.2 Automatic log-out setting

The log-out operation will be automatically performed, after a certain period of time has elapsed
without any operation. Even if user forgot to log out, this function serves to secure the user
management function by preventing another user from operating the robot without permission.

POINT The automatic log-out function is executed only in the teach mode. Log-out is not
implemented automatically in the playback mode.

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -

[1 User Management Function].
≫ When the user management function is set to “enabled,” the setting items for the
automatic log-out function are displayed as shown below.

2 Bring the cursor to “Automatic log out function,” and press [ENABLE] +[right] to
＋ select the “Enabled” setting.
3 Bring the cursor to “Automatic log out time,” and set the non-operation time.

4 After the setting has been established, press f12 <Complete>.

≫ The previous screen is restored.

1-3
1.1 User management

1.1.3 Registering the users allowed to perform the editing operations

The first step which must be taken is to register the users who are allowed to perform the robot
editing operations. Users can be registered by following the steps described below. Up to 999
users can be registered.
To set the function, the operator must have the qualifications level of SPECIALIST.

Registering the users

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[2 User Registration].
≫The screen on which to register the users is displayed.

Table 1.1.1 User registration setting items

Data registered Input range Description
User ID (*) 3-digit number This is the ID for identifying the users. With user management,
from 001 to 999 users are controlled using these IDs.
The same ID cannot be set for more than one user.
Password A number This is the numerical value data for authenticating users when
consisting of 0 they log in.
to 8 digits If no data is input, there will be no password for users to enter.
User name (*) 1 to 14 Input the name of the user to be registered here.
characters
Protect level (*) BEGINNER Enter the protection level of the user to be registered here.
USER
EXPERT
SPECIALIST
Comment Max. 20 Comments on users may be entered in this field.
characters
Limited operation Check box □Change program
□Change arc condition setting
ON/OFF □Change arc constant setting
□Change sensor condition setting
□Change sensor constant setting
□Conversion program
□File manager
Input is required for all the items indicated by an asterisk (*).
For details on the operation limitations, refer to “Operation Limitations” in chapter 2.

2 Press f8 <Next User>.

≫The lowest ID among the currently unregistered user IDs is displayed in the “User
ID” field.

1-4
 1.1 User management

3 Press f9 <User List>.

≫A list of the currently registered users is displayed.

This key is used to switch the user listing method between ascending
order and descending order.

This key is used to delete the information of the selected user.

4 After the setting has been established, press f12 <Complete>.

≫The user information is registered, and the previous screen is restored.

1-5
1.1 User management

1.1.4 Setting the user operation limitations

This function serves to place limitations on some operations carried out by the registered users,
as shown in Table 1.1.1.

Table 1.1.1 Setting items of operation limitation function and descriptions of limitations imposed

Setting item Description of limitation imposed

Limitations are imposed on the file operations (creating new files and copying,
Change program deleting and renaming existing files) for task programs and on the editing
operations (step recording, insertion, deletion and overwriting).
Change arc condition Limitations are imposed on the selection operations for the <Service> -
setting [21 Arc Welding Application] menu.
Change arc constant Limitations are imposed on the selection operations for the <Constant Setting>
setting - [14 Arc Welding Application] menu.
Change sensor Limitations are imposed on the selection operations for the <Service> -
condition setting [29 Sensor Application] menu.
Change sensor Limitations are imposed on the selection operations for the <Constant Setting>
condition setting - [19 Sensor Application] menu.
Limitations are imposed on the selection operations for the <Service> -
Program conversion
[9 Program Conversion] menu.
Limitations are imposed on the selection operations for the <Service> -
File manager
[7 File Manager] menu.

Shown below is an example of a menu which appears when limitations have been imposed
on operation.
The menus which cannot be selected are shown in gray.

Fig. 1.1.1 Example of menu display when operations have been limited

Setting the operation limitations

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[2 User Registration].
≫ The screen on which to register the users is displayed.

For details of the limitations imposed on each item, refer to Table 1.1.1.
2 Using [up/down], bring the cursor to the “Limited operation” check boxes which
correspond to the items to be set.
For the settings on items other than the operation limitations, refer to Chapter 1 User
Management.

1-6
 1.1 User management

3 To set an operation limitation, press [1] while holding down [ENABLE].

＋ ≫A check mark (limitation) is now set in the box for the item specified.

4 To release an operation limitation, press [2] while holding down [ENABLE].

＋
≫The check mark (limitation) set in the box for the item specified is now removed.
5 After performing the settings, press f12 <Complete>.
≫ The settings are recorded.

1.1.5 Copying user registration information

The user registration information is stored in the “USERID.CON” filename. By copying this file
between robots, it is possible to transfer the user information from one robot to another. When the
same user information is used for managing two or more robots, it is more convenient to copy the
user registration information by the operations described below.
To perform this operation, the operator must have the qualifications level of SPECIALIST or
above.

Writing the user registration information

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[2 User Registration].
≫ User registration screen appears.

2 Press f10 <File Write> on the user registration screen in section 1.2.3.
≫The folder and file in which the information is to be written are displayed.

3 Specify the folder in which the information is to be written, and press f12
<Execute>.
≫This complete the writing process.

1-7
1.1 User management

Reading the user registration information

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[2 User Registration].
≫ User registration screen appears.

2 Press f11 <File Read> on the user registration screen in section 1.2.3.
≫The folder and file from which the information is to be read are displayed.

3 Specify the file from which the information is to be read, and press f12
<Execute>.
≫ If there are no problems in the file which is read, the file is read, the user
information is then updated, and the previous screen is restored.
≫ If you try to read in the same user ID as the registered one, a message confirming
whether or not to overwrite the existing data appears as shown below. Select “Yes”
only for the ID to be updated.

1-8
 1.1 User management

1.1.6 User information editing

Registered user information can be edited by taking the steps below.
To perform this operation, the operator must have the qualifications level of SPECIALIST or
above.

Editing the user information

1 Press <Constant Setting> - [1 Control Constants] - [17 User Management] -
[3 Edit a registered user].
≫The registered user list screen is displayed.

2 Select the user whose information is to be edited, and press [Enter].

≫The information of the selected user is displayed.

3 After editing the user information, press f12 <Complete>.

≫After the edited data has been registered, the previous screen is restored.

1-9
1.2 Using the user management function

1.2 Using the user management function

1.2.1 Log-in operation

User must log into the robot controller to perform editing operations. There are the following three
ways to log in.
(1) Select R503 (Log-in) from the short-cut functions.
(2) Select <Service Utilities>-[33 User management]-[1.Log in]
(3) Allocate the function <Log in> (code 1503) to an f key and press the f key.

f key
for log-in

INFO. When there is already any logged-in user, the user will be automatically
logged out.

Logging in
1 Perform one of the above three operations.
≫ The log-in input screen is displayed.

USER NAME

Enter the user ID, and the registered user name will be displayed in the user name
field.

2 Input the user ID and password in this order.

≫ If there are no problems with the authentication of the password, log-in is
completed, and the previous screen is restored.

If a user has forgotten the password, the password must be changed. For details on how
to change the password, refer to “User information editing” in section 1.1.6 on
IMPORTANT page 1-9.

1-10
 1.2 Using the user management function

3 If the user ID is not recognized in step 1 above, move the cursor to the [USER
NAME] button, and press [Enter].
≫ The screen which lists the registered users is displayed.

4 After selecting the user, press [Enter].

≫ The previous screen is restored, and the designated user is now selected.

1.2.2 Log-out operation

After finishing the editing operation, user must perform the log-out operation to leave the logged-in
status.
As with log-in, log-out can be performed in one of the following three ways.
(1) Select R504 (Log-out) from the short-cut functions.
(2) Select <Service Utilities>-[33 User management]-[2.Log out]
(3) Allocate the function <Log in> (code 1503) to an f key and press f key under the
logged-in status.

f key <Log in>

The f key for <User log in> is indicated as
a key for log out under the logged-in status.
INFO.
Automatic log-out
If the automatic log-out function is set to “enabled,” a user will automatically
be logged out when the non-operation time has reached the selected period
of time.

Logging out
1 Perform one of the above three operations.
≫The log-out screen is displayed.

2 Select [OK], and press [Enter].

≫After log-out, the previous screen is restored.

When log-out is initiated, the protection level returns to BEGINNER, thus limiting the
POINT subsequent editing operations. To proceed with editing again, the user needs to log in
again.

1-11
1.2 Using the user management function

1.2.3 User information at log-in

If the user is logged in, an icon indicating ‘logged-in’ appears in the changeable status display
area. The user ID is displayed on the icon so that the logged-in user can be identified. When the
user logs out, the icon is cleared.
In the example given below, the user with the “001” user ID has logged in.

This section describes the steps for checking the user information at log-in and the steps for
changing the user information of a logged-in user.

Checking the information of the logged-in user

1 While the user is logged in, execute the System Environment short-cut (R286).
≫The information of the currently logged-in user is now displayed.

286

User ID
Log-in time
User name
Comment
Operator class

2 Press [Reset].
≫The previous screen is restored.

Changing the user information of the user who is logged in

1 While the user is logged in, execute the short-cut (R505) Edit own user
information.
≫ The user information now appears in gray.
505

1-12
 1.2 Using the user management function

2 To edit the information, press f12 <Edit>.

≫ The password confirmation screen now appears for authenticating the user.

Password 3 Input the password.

≫ The previous user information screen is displayed, and status in which the user
information can be edited is established.

4 Move the cursor to the item to be edited, and after editing, press f12
<Complete>.
≫The edited data is stored, and the previous screen is restored.

1-13
Chapter 2 Edit logging

This chapter describes the edit logging function.

2.1 Concerning edit logging ...............................................................................2-1
2.2 Referencing the edit logging .......................................................................2-2
2.2.1 Editor logging monitor displays ............................................................2-2
2.2.2 Editor logging monitor functions ...........................................................2-7
 2.1 Concerning edit logging

2.1 Concerning edit logging

The edit logging function, which is designed for maintenance purposes, makes it possible to initiate a speedy
recovery from logged information when an editing error has caused trouble in operation. It achieves this by
leaving a log of the changes made to the files and setting items edited by the users--that is to say, who made the
changes, when they were made, what changes were made and in what way they were made.
Only task programs and arc welding conditions are logged in the edit logging. With the arc welding conditions, the
editing of the arc welding conditions and arc welding constants are logged.

 If edit logging data is to be returned to previous values, this must be done manually.
 The edit logging function logs changes made by the editing operation of user.
Automatically changed data, e.g. deviation when using a sensor, is not to be logged in
IMPORTANT the history..

Set the maximum numbers which can be acquired for the task program edit log and the edit log for the arc
welding conditions. The edit logging function can be disabled by setting the edit logging numbers to zero.
To set the function, the operator must have the qualifications level of EXPERT or above.
The edit logging function is normally disabled. The function can be set to “Enabled” by operating as follows.

Enabling the edit logging function

1 Press <Constant Setting> - [24 Logging Data] - [5 Edit Logging Item].
≫ The edit logging setting screen is displayed.

2 Enter the maximum number of the edit operations to be logged. A figure

Numerical selected from 0-10 can be entered in the hundreds digit field. When 0 is
value input, the function is disabled.

If the entered maximum number of the edit operations to be logged is smaller than the
actual number of the edit operations already logged, older log data beyond the confines of
IMPORTANT the maximum number will be deleted.

3 After the setting has been established, press f12 <Complete>.

≫ After setting the maximum edit logging number, the previous screen is restored.

2-1
2.2 Referencing the edit logging

2.2 Referencing the edit logging

The edit logging data can be referenced using the monitors. There are two editor logging monitors, each for a
different type of logging data. “61 Program editor logging” is used for task programs whereas “62 Arc welding
editor logging” is used for the arc welding conditions.

2.2.1 Editor logging monitor displays

Displaying the task program editor logging monitor

1 Press <Service Utilities> - [Monitor 1-4] - [61 Program editor logging].
≫ The task program editor logging monitor is displayed.

Operation date/time Task program, Editing type

Step number

Editing type: Displayed in this column are the general descriptions which enable the
editing operations to be identified.(See Table 2.2.1.)

2-2
 2.2 Referencing the edit logging

Table 2.2.1 Editing types

Operation location Display message Description of operation
Program editor Recorded step Operation for teaching movement command
Inserted step Operation for adding movement command
Overwritten step Operation for overwriting movement command
Modified position of Operation for modifying position of movement command
step
Deleted step Operation for deleting movement command or function command
Teached func step Operation for teaching function command
Modified step Operation for changing parameter of movement command
Undo Undo operation after performing editing operation
Redo Redo operation after performing undo operation
Program screen Screen Insertion operation using screen editor
editor Editor(Insert)
Screen Editor Editing operation using screen editor
(Modify)
Screen Editor Step deletion using screen editor
(Delete)
File manager Copy file Copying operation for program files
Delete file Deletion operation for program files
Rename file Renaming operation for program files
Program converter Condition/Speed Program conversion menu no.1
Copy step Program conversion menu no.2
Angle Program conversion menu no.3
XYZ shift Program conversion menu no.4
Tool Program conversion menu no.5
Mirror image Program conversion menu no.6
3D shift Program conversion menu no.7
Language Program conversion menu no.8
Point Shift Program conversion menu no.9
Expansion/reduction Program conversion menu no.10
External axis shift Program conversion menu no.11
Format Conversion Program conversion menu no.12
Unit Conversion Program conversion menu no.13
Pitch Copy & Shift Program conversion menu no.16
Multi Welding Program conversion menu no.17
Welding condition Create welding file Creation operation for welding-related (welding, weaving, etc.) condition files
editor Delete welding file Deletion operation for welding-related (welding, weaving, etc.) condition files
Edit welding file Editing operation for existing welding-related condition data
Online modification On-line modification operation for welding condition data
of welding condition
Welding constants Edit welding Changing operation for welding-related constant settings
constant data
Create file File creation operation for welding characteristic, welding condition databases, etc.
Copy file File copying operation for welding characteristic, welding condition databases, etc.
Delete file File deletion operation for welding characteristic, welding condition databases, etc.
Welding constants Inserted record Record addition operation for welding condition databases
(welding condition Deleted record Record deletion operation for welding condition databases
databases) Modified record Record modification operation for welding condition databases

2-3
2.2 Referencing the edit logging

2 Using [up/down], bring the cursor to the log whose detailed information is to be
displayed, and press [Enter].
≫ The detailed information is displayed in the bottom half of the screen.

Line 1: Detailed listing description

The items are displayed in the following sequence.
Editing type Filename Step no. [User information]

• The user information is displayed only when the user management function
has been enabled.

Line 2: Guide message

The guide messages are displayed when the position data has been displayed. In
the example shown above, a guide message is not displayed, and a blank line is
shown.

Lines 3, 4: Pre-change and post-change values

When, as shown above, the system has a multiple number of mechanisms, all the
mechanism data is displayed when movement commands have been modified.

3 Press [Enter] again.

≫ The detailed information screen is closed.

2-4
 2.2 Referencing the edit logging

Displaying the arc welding editor logging monitor

1 Press <Service Utilities> - [Monitor 1-4] - [62 Arc welding editor logging].
≫ The arc welding editor logging monitor is displayed.

Editing type
Operation date/time Refer to Table 2.2.1

Data type Editing location

 Condition filenames in the case of condition files
 Task program names and step numbers in the
case of direct values
 Menu names in the case of constant settings

Table 2.2.2 List of data types

Data type Description
PRG Program
AS/AE Arc start condition, Arc end condition
WS Weaving condition
RT Arc retry condition
MOV Robot operation condition
MOF Multi-offset condition
RRS Robot RS condition
Arc start condition in multipass welding
ASM/AEM
Arc end condition in multipass welding
Arc start in multipass welding
ASMV/AEMV Arc end in multipass welding
(variables)
RS RS condition
CON Welding constants

2-5
2.2 Referencing the edit logging

2 Using [up/down], bring the cursor to the log whose detailed information is to be
displayed, and press [Enter].
≫ The detailed information is displayed in the bottom half of the screen.

Detailed listing
description

Title of edited data

Pre-change value

Post-change value

Line 1: Detailed listing description

The items are displayed in the following sequence.
Editdit

• The step numbers are displayed only when the edited data are direct values
rather than condition files.
• The user information is displayed only when the user management function has
been enabled.

Line 2: Title of edited data

The names of the items displayed during editing are displayed.

Line 3: Pre-edited and post-edited values

The settings before and after editing are displayed. However, in the case of radio
buttons and combo boxes, the numbers starting from the first of the items
selected are displayed on the left as numerical values (counted from zero). On
the right, a message for the data selected at the time is displayed. An example is
shown on the left below.
However, “-” is displayed if the message is of a type which can be changed. The
example shown below on the right is a case in point.

3 Press [Enter] again.

≫ The detailed information screen is closed.

2-6
 2.2 Referencing the edit logging

2.2.2 Editor logging monitor functions

A number of different display methods are available for the editor logging monitors to make it
easier to analyze the edit logging concerned.
Before proceeding, change to the operator qualifications level of USER or above.

Using the display selection function of the editor logging monitors

1 Select the editor logging monitor (task program or welding conditions), and
press [EDIT].
≫ The title bar of the editor logging monitor turns red, and a number of soft keys used
for the editor logging monitor are displayed.

6
1

1 For changing the items sorted

Use this key to change the items sorted in the edit logging. As the initial
value, the items are sorted in the date/time sequence. Each time the key is
pressed, the sorted items change as follows:
Date/time sequence Program number sequence User ID sequence

POINT The user ID sequence can be selected only when the user
management function has been enabled.

2 For changing the sorting sequence

Use this key to switch the sorting between ascending and descending
order.
The sorting reference is based on the items which were set using key 1 .

3 For splitting the screen

Use this key to split the screen into the top half and bottom half.

2-7
2.2 Referencing the edit logging

4 For moving up/down

Use this key to move up or down when the screen has been split using key
4.

5 For selecting the display

This f key is displayed only when the arc welding editor logging monitor is
used.
Use it to change the items whose edit logging is to be displayed. As the
initial value, all items are displayed. Each time this key is pressed, the
items to be displayed change as follows:
All items Welding conditions Welding constants

6 Clearing the edit logging

Use this key to clear all the edit logging information. (For this, the operator
must have the qualifications level of EXPERT or above.)

2 Press [RESET/R].
≫ The title bar and soft keys are restored to the original statuses.

2-8
Chapter 3 User Check

This section describes the user check function for notifying operators of the robot
inspection timing, parts replacement timing and other inspection-related
information.

3.1 User Check .................................................................................................3-1

3.2 Setting the user check ................................................................................3-2
3.2.1 Setting up the check item......................................................................3-2
3.2.2 Allocating input/output signals...............................................................3-6
3.2.3 When reaching the inspection timing ....................................................3-6
3.2.4 When check and part replacement are completed ................................3-7
 3.1 User Check

3.1 User Check

User check function is used to notify the operators of the inspection timing of the robot and the exchange timing
of the parts.
The check Items and the setting values to be checked can be freely set up to 8 types in each mechanism or arc
welding power supply.
For example, the setting such as “giving notice of the tip replacement when the time taken for the arc welding
reaches 100 min.” is possible. When reaching the specified inspection timing, the message which prompts the
operator to check is displayed on the teach pendant, and, at the same time, the user maintenance signal is
output to notify the operators of the inspection timing.

INFO.  This function corresponds to “System Maintenance Function” of conventional EX-C

series robot controller.
 Change the operator qualification to EXPERT or higher in advance.

 To output the user maintenance signal, the signal-allocation setting is required. As for
the set signal in this function, refer to “3.2.2 Allocating input/output signals”.

 Checking for the check item is performed in 5 min-periods. For this reason, the notice
of the inspection requirement cannot be given at the time of reaching the inspection
timing. (refer to e.g.1)

 The check time is updated at the timing of checking the check item. For this reason,
when the robot controller is powered off, the time during off-state of the controller
cannot be counted as the check time. Powered OFF
(refer to e.g.2)
Inspection period (5 min.)

IMPORTANT

Checking items Checking items

E.g.1) E.g.2)
Even if the arc time reaches the Even if the arc welding is performed
inspection timing at this point, the during this time, the arc time cannot be
notice cannot be given. counted.
The notice of the inspection can be The time to be checked such as the arc
given at the timing of “Checking items”. time is updated at the timing of
“Checking items”.

3-1
3.2 Setting the user check

3.2 Setting the user check

3.2.1 Setting up the check item

Follow the procedure below to configure the check item.
(1) Select the target of the check (“Mechanism” / “Arc welding”).
(2) Select the mechanism to be set, when the target of the check is “Mechanism”.
(In the case of one-mechanical configuration, no selection is required.)
(3) Select the arc welding power supply to be set, when the target of the check is “Arc
welding power supply”. (In the case of one-arc welding power supply configuration, no
selection is required.)
(4) Select the check item number. (Up to 8 types can be set)
(5) Set the message of the inspection timing. (E.g. Tip replacement)
(6) Select the suitable time category for the content of the inspection from the table below.
(7) Configure the setting value to be checked. (Inspection timing)

Table 3.2.1 Kind of check available when the target of the check is “Mechanism”
Kind of check Contents
The target number of months from the current date can be set.
Calendar For example, in the case of giving notice of the inspection timing in a year
from today.
The accumulated time of the activated this controller can be set. The
Energizing
value shall be set by the hour.
The accumulated time from the servo power-on to the servo power-off
Servo ON can be set.
The value shall be set by the hour.
The accumulated value of time taken for the automatic operation can be
Operation set.
The value shall be set by the hour.

Table 3.2.2 Kind of check available when the target of the check is “Arc welding power supply”
Kind of check Contents
The target number of months from the current date can be set.
Calendar For example, in the case of giving notice of the inspection timing in a year
from today.
The total hours of the accumulated welding time taken for the automatic
Arc ON operation and the welding time during the check welding can be set. The
value shall be set by the minute.
The accumulated number of welding can be set in units of from the arc
Welding counts
start to the arc end.
The accumulated consumption of wire used in the welding can be set.
The value shall be set in units of Kg.
Consumption of wire
Note; this function can be set when the D-series welding power supply
without DA is selected.

INFO.
If the setting value to be checked is set to 0, the notice of the inspection cannot be given.

3-2
 3.2 Setting the user check

Setting up the check item for the mechanism

1 Open <Service> - [25.Robot Diagnosis] - [5.User Check].
≫ The list screen of the user check items is displayed.

2 Select “Mechanism” in the Check object field. Then, select the mechanism to be
checked in [Unit / Mechanism].
≫ The selected mechanism No. is displayed on the f7 key.

3 Move the cursor to the content field and press [Enter].

≫ The setting screen of the user check items is displayed.

The setting items and the display contents are as follows.

3-3
3.2 Setting the user check

Table 3.2.3
Items Details
Mechanism No. The selected mechanism No. is displayed.
No The check item No. is displayed.
Content The check content is set as comment.
The set-up contents at this point are used for the message to
prompt the operator to check.
For example, in the case where the check content is set to
“annual inspection”, as shown below, the message is set in the
beginning of the check message and displayed on the teach
pendant, when reaching the inspection timing.
(Check message)
【annual inspection】Exchange the axis. After that 0 clearing
of “Consumtion time until present”

Note that press [ENABLE] + [Edit] to configure the settings. Edit

the check contents on the soft keyboard.
Check day The date when the check complete procedure is performed is
displayed.
Last Modified The date when the check content is modified is displayed.
Kind at time Select the kind of time to be checked.
For details, refer to Table 3.2.1.
Set time (Remainder) Set the setting value to be checked. (inspection timing)
The items other than “Calendar” in Kind of check field are set in
this process. The parenthetic value indicates the rest of hours for
the inspection timing.
Calendar Set the setting value to be checked. (inspection timing)
The item, “Calendar”, in the Kind of check field is set in this
process. The parenthetic value indicates the date to be checked.
When this key is pressed, the inspection timing is reset.
In addition, this key is also used after the check is completed. For
details, refer to “3.2.4 When check and part replacement are
completed”.

4 Press f9 <Prev No> or f10 <Next No>, when changing to the different check item
No., and change the check item No.

5 Set the check content and press f12 <Complete>.

≫ The previous setting screen is returned.
The set check content is displayed in the content field.

3-4
 3.2 Setting the user check

Setting up the check item for the arc welding

1 Open <Service> - [25.Robot Diagnosis] - [5.User Check].
≫ The list screen of the user check items is displayed.

2 Select “Welder” for Check object.

Then, move the cursor to the welder field to select the welding power supply to be
checked.

3 Move the cursor to the content field and press [Enter].

≫ The setting screen of the user check items is displayed.

Setting items are as follows.

Table 3.2.4 Details of the items
Items Details
Welder A selected arc welding power supply is displayed.
Kind at time Select the kind of time to be checked.
For details, refer to Table 3.2.2.

4 Press f9 <Prev No> or f10 <Next No>, when changing to the different check item
No.

5 Set the check content and press f12 <Complete>.

≫ The previous setting screen is returned.
The set check content is displayed in the content field.

3-5
3.2 Setting the user check

3.2.2 Allocating input/output signals

The basic I/O signals used in the user check function are as follows.
The I/O signals are used for the mechanism check and the arc welding power supply. “M1 to M9”
shown in the table below denotes the mechanism No. and “W1 to W4” denotes the arc welding
power supply No.
Those I/O signals are not allocated before shipment. If necessary to use them, refer to the
instruction manuals “SET UP” to allocate the signals.

Table 3.2.5 Input signal

Input signal name Application Function.
User chk complete 1 to 8 Mechanism The inspection timing is reset for the next
checkup. The number from 1 to 8 defined
（M1 to M9）
as the check item No. can be set in each
User chk complete 1 to 8 Arc welding power check item.
（W1 to W4） supply

Table 3.2.6 Output signal

Input signal name Application Function.
User maintenance 1 to 8 Mechanism The signal of the check item that reaches
the inspection timing is output. The
（M1 to M9）
number from 1 to 8 defined as the check
User maintenance 1 to 8 Arc welding power item No. can be set in each check item.
（W1 to W4） supply

3.2.3 When reaching the inspection timing

When the inspection items specified in advance have reached the inspection timing, the message
will appear on the Teach pendant. Also, the signals shown in the Table 3.2.6 are output.
The check item that reaches the inspection timing is highlighted in red on the list screen of user
check items.

Display of the check message

The set check contents

are displayed.

Display of the check items that reach the inspection timing

The items are

highlighted in red.

3-6
 3.2 Setting the user check

3.2.4 When check and part replacement are completed

After completing the inspection operation, the corresponding user inspection signals for check are
to be reset, and the upcoming inspection timing is reconfigured.
Completing the inspection and the replacement of components, be sure to implement the
completion of inspection.

For the check complete procedure, there are two methods as follows.
(1) Manual operation
Perform the check complete procedure with the teach pendant on the setting screen of the
user check item.

(2) Input signal

Change the user chk complete signal set in each check item to ON.

User complete operation on the setting screen of user check item

1 Open [5.User Check] in <Service> - [25.Robot Diagnosis].
≫ The list screen of the user check items is displayed.

2 Select the check item to perform the complete procedure from the check items of 1
to 8, and press [Enter].
≫ The setting screen of the user check items is displayed.

3 Press f8 <Check Complete>.

≫ The following confirmation screen is displayed.

4 Select “YES” and press [Enter].

≫ The selected check item is completed.

If “NO” is selected, the selected check item cannot be completed.

3-7
Chapter 4 Troubleshooting

This chapter describes the symptom and its measures on the failure code of
robot controller.

4.1 When failure has occurred.........................................................................4-1

4.2 Concerning the failure details ....................................................................4-2
4.2.1 Failure category ....................................................................................4-2
4.2.2 Concerning criticality codes and failure codes ......................................4-3
4.3 Concerning “System Failure”.....................................................................4-4
4.3.1 Outline of “System Failure” ...................................................................4-4
4.3.2 How to recover and response to the failures.........................................4-4
4.4 Troubleshooting.........................................................................................4-5
4.4.1 Assumed cause of each error code.......................................................4-5
4.4.2 Assumed cause of each phenomenon ..................................................4-9
4.5 Displaying the failure log .........................................................................4-12
4.5.1 Function of the failure log monitor.......................................................4-13
4.5.2 Settings regarding the failure log ........................................................4-14
4.5.3 Failure filtering function .......................................................................4-18
4.5.4 Displaying the system failure log.........................................................4-21
4.5.5 Frequency of the failure occurrence....................................................4-22
4.6 Failure list ................................................................................................4-25
<FLYLEAF>
These white letters will not be printed. Do not delete these letters.
 4.1 When failure has occurred

4.1 When failure has occurred

When a failure has occurred in the robot, the failure monitor starts, and the details of the failure (name of its
category, date/time of its occurrence, description and remedial action) are displayed on the teach pendant.

(1)
(5)

(2)
(6)

(3)

(7)
(4)

(1) Failure category The name of the failure category appears here.
(2) Failure code and cause The failure code and cause appear here.
The failure code is alphanumerically expressed. In the example of
the screen shown above, “A2101” is the failure code.
(3) Details and remedial action The details of the failure and the remedial action to be taken appear
here.
Use the remedial action displayed here as a reference, and
eliminate the cause of the failure.
(4) Release method The method used to release the failure display appears here.
When all the contents of (3) and (4) do not appear in the display
area, scroll the screen using [up or down].
(5) Number of failure incidents The figure on the right indicates the number of failure incidents
which have occurred simultaneously. Only one failure incident is
displayed on the screen at one time.
To view other types of trouble, press [ENABLE] and [up or down].
(6) Date/time of occurrence The date and time of the failure occurrence appear here.
(7) F11<Trouble Shooting> When a failure that requires e.g. parts inspection or parts
replacement occurs, this <Trouble Shooting> will show up here.
(Not all of the errors support this) When this key is pressed, the
inspection/part replacement procedure will be displayed.(Visual
Maintenance Support Function)
(8) f12 <Failure Reset> Press this to release the failure display.
The failure display can also be released by pressing [RESET/R]
twice.

4-1
4.2 Concerning the failure details

4.2 Concerning the failure details

4.2.1 Failure category

The failure categories which are displayed at (1) on the previous page are established to enable
where the failure has occurred to be pinpointed to some extent.

Table 4.2.1 Failure category

Failure category Main failure
Emergency stop failure Emergency stop triggered by input from overrun, shock sensor, etc.
Control sequence Failure detected by monitoring of control systems such as magnet switches and circuit
failure protectors, etc.
CPU board failure Watchdog timer detection or other CPU board-related failure occurrence.
Servo failure Failure detected by IPM drive unit software.
Amplifier unit failure Failure detected by IPM drive unit hardware.
Encoder failure Failure detected by internal of encoder.
Teach pendant failure Failure detected by teach pendant.
PLC failure Failure detected by PLC.
User failure Failure defined by the operator
Operation failure Failure caused by an operation error made by operator.
Spot welding failure Failure inherent to “spot welding function” (but not included above)
Arc welding failure Failure inherent to “arc welding function” (but not included above)
FieldBus failure Failure inherent to "FieldBus function" (but not included above)
Shift failure Failure inherent to "Shift function" (but not included above)
Auto Calibration failure Failure inherent to "Automatic Calibration function" (but not included above)
Sealing failure Failure inherent to "Sealing function" (but not included above)
Vision sensor failure Failure inherent to "Vision sensor function" (but not included above)
FLEXhand failure Failure inherent to "FLEXhand function" (but not included above)
Preventive
Failure inherent to "Preventive maintenance function" (but not included above)
maintenance message
Request maintenance Message to require the inspection (but not included above)

4-2
 4.2 Concerning the failure details

4.2.2 Concerning criticality codes and failure codes

The failure codes displayed at (2) on the previous page are expressed using the following format.

[Example] Control sequence failure code E1103

E 1 1 0 3
(A) (B)
(A) Criticality codes
The failure detected by the robot is classified into three types by their level of criticality.

Table 4.2.2 Criticality codes

Type of failure Details
E (errors) Failure caused by parts failure or internal data failure which prohibits continued operation
until the cause of the failure is eliminated, and failure which may potentially injure the
operator or damage the robot system if operation is continued are classified as E
(errors).
If E (error) occurs during the auto operation, the robot system servo is turned off.
A (alarms) Failure which may lead to an error at a future point in time, failure which must be
remedied now or failure requiring simple operations, checks and/or remedial action
before robot operation or movements are continued even though it may not potentially
injure the operator or damage the robot system are classified as A (alarms).
If A (alarm) occurs during the auto operation, the robot system servo remains on,
stopping temporarily.
I (Information) Failure requiring that the operator and ambient devices be informed of the occurrence of
irregularities even though they will not interfere with continued robot operations or
movements is classified as I (information). Information may sometimes be conveyed not
when a failure has occurred but when the robot is operating normally.
If I (information) occurs during the auto operation, robot system displays the message on
the teach pendant, operating continuously.

(B) Failure codes

These are 4-digit numbers used to identify a failure. (See the following pages.)

4-3
4.3 Concerning “System Failure”

4.3 Concerning “System Failure”

4.3.1 Outline of “System Failure”

The function “System Failure” is to stop the system safely when the software has detected
unrecoverable errors. The errors may stem from the hardware failures such as CPU or memory
defects and software failures.

Display example of teach pendant when “System Failure” occurred

4.3.2 How to recover and response to the failures

When this error happens, the robot makes an emergency stop, which will disable all the
following operation.
Therefore, the recovering measures needs to be taken as follows.

【How to recover the failures】

Shut off the robot controller, and turn on the power again.

【How to response to the failures】

Please make a contact to our service engineers with the details of errors such as;
“Operation you have done”, “Operating situation”, and “Error Code”, “Flag”,
“Address”, “Stack” indicated on Teach pendant.

4-4
 4.4 Troubleshooting

4.4 Troubleshooting
Perform inspection and part replacement safely, observing the following instructions.
4.4.1 Assumed cause of each error code
When an error occurs, you can estimate the part which causes the error from the error code.
In case of an error, please investigate the cause in decreasing order of the possibility, using this
table.

Table 4.4.1 Assumed cause of each error code

Operation panel / box

ambient temp.
Primary power supply &
Power unit

Multi power Supply unit

CPU board

Sequence board

Riser board

Arc I/F board

I/O board

IPM drive unit

Regenerative resistor

Control cable (robot wiring)

Manipulator & load

Motor & encoder

Reduction gear

Teach pendant

Jig controller
Error code
None No TP indication ○ ◎ ◎ ◎ ○ ◎ ◎
The automatic saving function at
the timing of the power failure
4 ◎ ◎ ◎ ○ △
detection (or controller power
OFF operation) failed.
The robot cannot reach the
12 ◎ ◎ ○ ○
recorded point.

21 Abnormal servo tracking ○ ◎ ○ ○ ◎

22 Position Deviation error ○ ◎ ○ ○

24 Servo CPU stop ○ ◎

25 Encoder Bit jump ● ● ●

26 Interference detected ○ ○ ○ ○

27 Encoder data change after stop ● ● ●

28 Low voltage of motor power ◎ ◎ △ ◎

29 Encoder absolute data error ◎

30 Encoder absolute data failure ◎

Motor rotation too fast when

31 ◎
turning the motors ON

32 Over current ○ ○ ◎ ○

38 Over load ○ ○ ◎

39 Over rotation ○ ○ ○

40 The abnormalities in CPU in a T/P ◎

42 Over temperature of motor ○ ○ ◎ ○

43 Over speed ○ ◎

44 Over voltage of motor power ◎ ◎

Over temperature of regenerative

46 ○ ○ ◎ ◎ ○ ◎
discharge resister
◎：Big possibility, ●：Big possibility or external noise, ○：Moderate possibility, △：Small possibility

4-5
4.4 Troubleshooting

Operation panel / box

ambient temp.
Primary power supply &
Power unit

Multi power Supply unit

CPU board

Sequence board

Riser board

Arc I/F board

I/O board

IPM drive unit

Regenerative resistor

Control cable (robot wiring)

Manipulator & load

Motor & encoder

Reduction gear

Teach pendant

Jig controller
Error code
Encoder counter
50 ◎
overflow/underflow
Encoder data
51 ● ● ●
transmission failure

52 Encoder battery error ◎ ○

54 Positional deviation ◎ ◎

Encoder battery charge

55 ○ ○ ◎
low
Encoder count status
57 ◎
failure
Emergency stop was
62 shortly input or Magnetic ○ ○ ○ ○ ○ △ ○
SW was cut off.
64 Drive unit power failure ◎

Over travel limit switch

65 ○ ◎
activated
Low voltage of brake
66 ◎
power

72 Drive unit IPM failure ◎ ◎ ○

Motor regeneration circuit

74 ○ ◎ ◎
fault

78 CPU board power fault. ○ ◎

CPU board temperature

79 ○ ◎ ◎
fault.

80 CPU board power fault. ◎ ◎ ○

81 CPU board battery failure ◎

106 The motors are not ON. ○ ◎ ○ ◎

116 TP connect failure ○ ◎ ◎

The T/P connection is

119 ○ ◎
abnormal.
Primary power supply
177 ◎ ○ ○ ◎
fault.
Safety plug is not inserted
or the state of safety plug
379 ◎ ○
signal has changed in
teach mode.
Teach pendant touch
659 ◎
panel error.
Robot moved during
777 ○ ○ ○ ○ ○
Motors-ON sequence.

783 Motion stop. ○

787 Watchdog Timeout Error. ◎ ◎ ○

902 servo clock halted ○ ○

◎：Big possibility, ●：Big possibility or external noise, ○：Moderate possibility, △：Small possibility

4-6
 4.4 Troubleshooting

Operation panel / box

ambient temp.
Primary power supply &
Power unit

Multi power Supply unit

CPU board

Sequence board

Riser board

Arc I/F board

I/O board

IPM drive unit

Regenerative resistor

Control cable (robot wiring)

Manipulator & load

Motor & encoder

Reduction gear

Teach pendant

Jig controller
Error code
Servo communication
903 ○ ○
stop
Sequence board connect
904 ◎ ◎ ○
failure.
Abnormal setting of the
905 ◎
I/O board.
T/P selector switch is set
967 ○ ◎ ○ ◎
to MANUAL.
Playback unavailable
973 because Enable SW is ○ ◎
not released position.
Magnetic switch is not
975 ○ ◎ ○ ○
active.
Confirm magnet-ON
976 ○ ○ ○
(Fixed input IN28) is OFF.

1001 PWM was cut off. ◎ ◎

Manipulator battery
1016 ◎ ◎
warning
The magnetic switch
1048 contacts were welded ◎ ◎ ◎
and stick each other.
T/P SELECTOR
1051 ○ ◎
SWITCH

1052 EXT EMG STOP ○ ○

The inconsistency was detected in the sequence circuit.

1053 SFP ○ ○

G-STOP
1054 ○ ○
(G_EMG)
TEACH /
1059 ○ ○
PLAYBACK SEL

1060 MAT SW ○ ○

HI-SPEED
1061 ○ ○
TEACH
EMERGENCY
1062 ○ ○ ◎
STOP
T/P EMERGENCY
1063 ○ ◎
STOP

1064 CRON ◎
Playback unavailable
because Motors-OFF
2002 ○ ○
sequence is being
executed.
T/P selector switch is set
2006 ○ ◎
to AUTO.
Stop or External stop
2101 ○ ○ ◎ ◎
signal being given.
The emergency stop
button or the external
2103 ○ ◎ ◎ ◎
emergency stop is
inputted.
External Motors-OFF is
2104 inputted. ○ ◎

◎：Big possibility, ●：Big possibility or external noise, ○：Moderate possibility, △：Small possibility

4-7
4.4 Troubleshooting

Operation panel / box

ambient temp.
Primary power supply &
Power unit

Multi power Supply unit

CPU board

Sequence board

Riser board

Arc I/F board

I/O board

IPM drive unit

Regenerative resistor

Control cable (robot wiring)

Manipulator & load

Motor & encoder

Reduction gear

Teach pendant

Jig controller
Error code
Playback unavailable
because servo system
2106 ◎ ○ ◎
has not been turned on
yet.
The internal operation
signal was inputted in the
2111 ◎ ○ ○
state of external
selection.
The external operation
2112 signal was inputted in the ◎ ◎
state of internal selection.
Emergency stop signal
2400 ○ ◎
input line failure.
Safety signal input line
2401 ○ ◎
failure(Safety plug)
Safety signal input line
2402 ○ ◎ ◎ ◎
failure (Enable / Mat SW)
Playback unavailable
because the enable
2973 ○ ◎ ○
switch is not in the
release position.
Pause or External
2974 pause signal being ○ ○ ◎
given.
Can't communicate with
4002 ◎
the welding power supply.
Can't communicate with
4003 ◎
the welding power supply.

4016 The Arc-I/F is not found. ○ ◎

It was not possible to
4099 communicate with the arc ◎
welding power supply.
Shock sensor detected
4920 ○ ○ ◎ ◎
the collision.
Servo communication
9208 ◎ ◎ ◎ ◎
initialization failure

9209 Brake fuse off ◎ ○ ○

Drive unit power failure

9213 ◎
(15V)
Low voltage of sequence
9216 ○ ○
control power supply
An inconsistency was
9220 detected in the servo ○ ○
failure.
9229 Brake fuse off.(F1) ○ ○ ○

Drive unit power failure

9240 ○ ○
(24V)
Drive unit precharge
9241 ◎
failure

9242 Drive unit phase lack. ○ ○ ◎

◎：Big possibility, ●：Big possibility or external noise, ○：Moderate possibility, △：Small possibility

4-8
 4.4 Troubleshooting

4.4.2 Assumed cause of each phenomenon

Possible causes of failures are summarized below.
We have prepared a table respectively for three patterns of failure occurrence. Refer to the
corresponding table to estimate the part causing the failure.

In case of a failure occurring right after program start-up

If any of the following phenomena or errors occurs right after the control power ON and program
start-up, the problem may lie in the connection between the corresponding connector and the
printed circuit board, or connection of the related cable.
In case of following problem, check whether the corresponding connector is correctly connected.

Table 4.4.2 Assumed cause of each phenomenon 1

Part estimated to have caused the error
No. Phenomenon / Error message Error code Connector Name of the unit
name (board)
The power supply of the controller cannot be None CNPW Multi power supply unit
turned on.
1
None CNRSTIN Power unit

The TＰ screen is black. None CNTP Sequence board

3
4 The cooling fan does not function. None CNFAN IPM drive unit
Over travel LS operation
5 E0065 CNEC1 IPM drive unit
E0065 CN78E IPM drive unit
Error in regeneration discharge resistor
6 temperature rise E0046 CNR IPM drive unit
Error in servo communication start E9208 CNCOM IPM drive unit
E9208 CNVP IPM drive unit
E9208 CNP24V Multi power supply unit
7
E9208 CNRSTIN Power unit
E9208 CNLAN3 CPU board
E9208 CNPW Multi power supply unit
8 Detection of power failure E0177 CNPW Multi power supply unit

4-9
4.4 Troubleshooting

In case of a failure occurring at the time of servo power ON

If any of the following phenomena or errors occurs before or at the time of turning on of the servo
power, the problem may lie in the connection between the corresponding connector and the
printed circuit board, or connection of the related cable.
In case of a following problem, check whether the corresponding connector is correctly
connected.

Table 4.4.3 Assumed cause of each phenomenon 2

Part estimated to have caused the
error
No. Phenomenon / Error message Error code
Connector Name of the unit
name (board)
The power supply of the controller is turned off. None CNPW Multi power supply unit
1
The screen of the teach pendant has turned black. None CNTP Sequence board
2
None CMPW Multi power supply unit
3 The screen of the teach pendant has turned white. None CNTP Sequence board
4 The cooling fan does not function. None CNFAN IPM drive unit
Over travel LS operation
5 E0065 CNEC1 IPM drive unit
E0065 CN78E IPM drive unit
6
Error in regeneration discharge resistor temperature E0046 CNR IPM drive unit
rise
Servo communication stopped E0903 CNCOM IPM drive unit
E0903 CNRST IPM drive unit
7
E0903 CNPW Multi power supply unit

Detection of an impact by the shock sensor A4920 CNMCH IPM drive unit
8
A4920 CNEC1 IPM drive unit
Detection of power failure
9
E0177 CNPW Multi power supply unit
10 Announcement of “data not saved” A0004 CNPW Multi power supply unit
Brake power supply voltage drop E0066 CNRST IPM drive unit
11

12 Motion stopped E0783 CNPW Multi power supply unit

13
Error in regeneration discharge resistor temperature E0046 CNR IPM drive unit
rise

4-10
 4.4 Troubleshooting

In case of a failure occurring during servo operation

If any of the following phenomena or errors occurs after turning on of the servo power, the
problem may lie in the connection between the corresponding connector and the printed circuit
board, or connection of the related cable.
In case of a following problem, check whether the corresponding connector is correctly
connected.

Table 4.4.4 Assumed cause of each phenomenon 3

Part estimated to have caused the
error
No. Phenomenon / Error message Error code
Connector Name of the unit
name (board)
The power supply of the controller is turned off. None CNPW Multi power supply unit
1
The screen of the teach pendant has turned black. None CNPW Multi power supply unit
2
None CNTP Sequence board
3 The screen of the teach pendant has turned white. None CNTP Sequence board
4 The cooling fan does not function. None CNFAN IPM drive unit
5 Power failure of the servo None CNMS IPM drive unit
Over travel LS operation
6 E0065 CNEC1 IPM drive unit
E0065 CN78E IPM drive unit
Servo communication stopped E0903 CNCOM IPM drive unit
E0903 CNRST IPM drive unit
7
E0903 CNPW Multi power supply unit

Detection of an impact by the shock sensor A4920 CNMCH IPM drive unit
8
A4920 CNEC1 IPM drive unit
Detection of power failure
9
E0177 CNPW Multi power supply unit
10 Announcement of “data not saved” A0004 CNPW Multi power supply unit
Brake power supply voltage drop E0066 CNRST IPM drive unit
11

12 Motion stopped E0783 CNVP IPM drive unit

13 Error in motor temperature rise E0042 CNBK2 IPM drive unit
Error in motor power supply / regeneration E0074 CNR IPM drive unit
14
discharge circuit
15 Motor power supply voltage drop E0028 CNRST IPM drive unit

16
Error in regeneration discharge resistor temperature E0046 CNSR IPM drive unit
rise

4-11
4.5 Displaying the failure log

4.5 Displaying the failure log

This function enables to display the failure log occurred in the past.

Displaying the failure log

1 Proceed to <Service Utilities> - [Monitor 1-4] – [Failure Log].

≫ The “Failure Logging Monitor” appears.

Date of failure
occurrence Failure code Details

2 Move a cursor to a specific failure to display its details using [Up/Down] key, and
press [Enter].
≫The lower half of the screen shows detailed information.

Date of failure Category of

occurrence failure cause
Failure code
Details

Location of error

Details and
measures

How to release
the failure

3 Again, press [Enter].

≫ The details screen closes.

4-12
 4.5 Displaying the failure log

4.5.1 Function of the failure log monitor

On the failure log monitor, various functions are provided to analyze the failures in particular.

Using the display function of failure log monitor

1 Activate the “Failure Logging Monitor”, and press [Edit].

≫ A title bar on the monitor turns red, and its dedicated soft keys appear.

1 7

2 8

3 9

1 Filter
Enables to pick up a particular failure to display. (The operator
qualification of EXPERT or higher is required.)
Page 4-18, “4.5.3 Failure filtering function”.

2 Sort <Date/Code/Prog./Step>
Changes a sorting factor of the failure log.
Since the default is set at “Date”, the items change in sequence as shown
below by pressing this key every time.
Date Code Prog. Step

3 Sort
Switches ascending/descending sort.
The sorting factor is as specified in [2].

4 Move
Moves up and down when the screen separation is set ON in [5].

5 Screen Separation
The screen is split into two sections.

6 Filter <All/Error/Alarm/Information>
Changes a level of importance to display the failure log. Since the default
is set to display the logs of all levels of importance, the items change in
sequence as shown below by pressing this key every time.
All Error Alarm Information

4-13
4.5 Displaying the failure log

7 Failure Log Clear

Clears the failure log.
(The operator qualification of EXPERT or higher is required.)

8 Fail Freq.
The frequency of failure occurrence is graphically indicated and analyzed.
(The operator qualification of EXPERT or higher is required.)
Page 4-22, 4.5.5 “Frequency of the failure occurrence”.

9 System Failure
The frequency of failure occurrence is graphically indicated and analyzed.
(The operator qualification of EXPERT or higher is required.)
Page 4-21, 4.5.4 “Displaying the system failure log”.

2 Press [Reset/R] key.

≫ The title bar and soft keys are restored.

4.5.2 Settings regarding the failure log

The constants regarding the failure log are given in the table below.

Table 4.5.1 Constants regarding the failure log

Constant name Details Setting item/ Default
range
Error Specifies Save/Not save for the failure of Save/ Save
which level of importance is “Error”. Not save
Alarm Specifies Save/Not save for the failure of Save/ Save
which level of importance is “Alarm”. Not save
Information Specifies Save/Not save for the failure of Save/ Not save
which level of importance is “Information”. Not save
Separate save Set this constant to “Enable” to save failure Disable/Enable Disable
logs of the specified failure code separately
from the other normal failures.
When setting to “Enable”, an appropriate
failure code shall be designated in advance.
Info. by failure logs Specifies Not occur/Occur whether or not to Not occur/ Not occur
output the information by the number of Occur
failure logs.
If setting to “Occur”, Information (I2412) is
output when the remaining of failure logs
reaches the specified number of “Remainder
of logs”.
Remainder of logs When setting “Info. by failure logs” to “Occur”, 0～99 0
the remainder of logs shall be specified to
output the Information.
Info. by separate logs Specifies Not occur/Occur whether or not to Not occur/ Not occur
output the information by the number of logs Occur
to save separately.
If setting to “Occur”, Information (I2413) is
output when the remaining of failure logs
reaches the specified number of “Remainder
of separate logs”.
Remainder of separate logs When setting “Info. by separate logs” to 0～999 0
“Occur”, the remainder of logs shall be
specified to output the Information.

4-14
 4.5 Displaying the failure log

POINT
<Number of failure logs to store>
Usually, the maximum of 200 failure logs can be stored. Exceeding this number, the logs are
to be deleted in the chronological sequence, the oldest one first.

<Separate save>
When the “Separate save” has been set to “Enable”, the failure logs even exceeding 200 will
not be deleted but moved and saved in a different area as long as those are specified by the
failure code.
Note that the different area can store the maximum of 1000 failure logs. Exceeding this
number, the logs are to be deleted in the chronological sequence, the oldest one first.

Set the operator qualification to EXPERT or higher in advance.

Configuring the failure log

1 Open <Constant Setting> - [24 Logging Data] – [1 Error Logger Item].

≫ The “Error Logger Item” screen appears.

2 Configure the log by the following operation.

To select the constant for setting:

Use [Up/Down] key.

To enter the value:

Entering
a value
Enter a value using the numerical key, and press [Enter].

To change the choice:

＋
Press [Right/Left] with holding [ENABLE].

3 Upon completion of the setting, press f12<Complete>.

≫ The setting is saved to restore the original screen.

To set the Separate save to “Enable”, an appropriate failure code shall be

designated in advance.
IMPORTANT

4-15
4.5 Displaying the failure log

Specifying the failure code to save separately

1 Set the Separate save to “Enable”.

≫ The f8 <Select> soft key appears.

2 Press f8 <Select> key.

≫ The “Select Failure Log” screen appears.

3 Specify the failure code to save separately by the following operation.

To change the failure code input field to configure:

Use [Up/Down] key.

To scroll the page:

Press f9 and f10 <Scroll page> key.

To directly enter the value with numerical keys:

Entering
a value Enter a value using the numerical key, and press [Enter].

4-16
 4.5 Displaying the failure log

To enter the value referring to the registered failure code:

Press f8 <Refer> key.
≫The “Failure code” screen appears.

Align a cursor on a specific failure code to select using [Up/Down] key, and
press [Enter].
≫The “Select Failure Log” screen is restored with the desired code selected.

4 Upon completion of the setting, press f12<Complete>.

≫ The failure code to save separately is set, and the “Error Logger Item” screen is
restored.

4-17
4.5 Displaying the failure log

4.5.3 Failure filtering function

The Failure Logging Monitor enables to filter a specified failure to display.

Table 4.5.2 Type of failure

Item Details Setting range in
filtering
Failure code Failures of the specified failure code are filtered. 0～9999

Classification Failures categorized in the specified classification code －

code are filtered.
For details, Page 4-2, “4.2.1 Failure category”.
Mode The failures occurred in the specified mode are filtered. Teach mode/
There are two alternatives of mode; Teach mode and Playback mode
Playback mode.
Unit Only the failures of the specified unit number are filtered. 1～9
Mechanism Failures occurred in the mechanism of the specified 1～9
mechanism number are filtered.
Axis Only servo-related failures occurred in the axis of the 1～9
specified axis number are filtered.
Welder Only failures occurred in the welder of the specified 1～4
welder number are filtered.
Sensor Only failures occurred in the sensor of the specified 1～12
sensor number are filtered.
Program Only failures occurred in the specified program number 0～9999
are filtered.
Step Only failures occurred in the specified step number are 0～9999
filtered.

POINT <Multiple choices of the filtering items>

It is available to select two or more filtering items by AND condition.

Set the operator qualification to EXPERT or higher in advance.

4-18
 4.5 Displaying the failure log

Filtering and displaying the failure

1 Activate the “Failure Logging Monitor”, and press [Edit].

≫A title bar on the monitor turns red, and its dedicated soft keys appear.

2 Press f2 <Filter> key.

≫The “Failure Filtering Setting” screen appears.

3 Move a cursor to the desired filtering item using [Up/Down] key.

Press [Enable] + [1].

＋
≫ The selected item is check-marked.
To uncheck the item, press [Enable] + [2].

4 Align a cursor on the value input field or the desired field using
[Up/Down/Right/Left] key, and set the conditions.

To enter the value:

Entering a
value
Enter a value using the numerical key, and press [Enter].

To choose from the list:

Press [Enter] to select the desired item from the pull-down list, and press
[Enter] again.

4-19
4.5 Displaying the failure log

To select the failure code (available only when the filtering item is set at “Failure
code”):
Align a cursor on the value input field of failure code.
≫ Then, f8 <Refer> key appears.
Press f8 <Refer> key.
≫The “Failure code” screen appears.

Align a cursor on a specific failure code to select using [Up/Down] key, and
press [Enter].
≫ The “Failure Filtering Setting” screen is restored with the failure code entered.

5 Upon completion of the setting, press f12<Complete>.

≫ The Failure Logging Monitor is restored, which displays only a specified failure.

4-20
 4.5 Displaying the failure log

4.5.4 Displaying the system failure log

It is available to display the system failure log.
To use this function, specify the operator qualification to EXPERT or higher in advance.

Displaying the system failure log

1 Activate the “Failure Logging Monitor”, and press [Edit].

≫ A title bar on the monitor turns red, and its dedicated soft keys appear.

2 Press f10 <System Failure> key.

≫The system failure log appear.

3 Press f10 <Fail Log> key.

≫ The screen returns to 1.

4 Press [Reset/R] key.

≫ The title bar and soft keys are restored.

4-21
4.5 Displaying the failure log

4.5.5 Frequency of the failure occurrence

Graphically displaying the frequency of failure occurrence, failure analysis is available.
Monitoring items on the graph can be selected from the ones given in the table below.

Table 4.5.3 Monitoring item

Item Details
Failure code Graphically displays the frequency of failure occurrence.

Program Graphically displays the frequency of failure occurrence

by every program.
Program - Step Graphically displays the frequency of failure occurrence
by every step.
Time Graphically displays the frequency of failure occurrence
by the time.
It is indicated hour-by-hour between 0 and 23.
User Check Graphically displays the frequency of failure occurrence
by the time of user check.
For details of the time of user check, see “Chapter
4．User Check”.

Set the operator qualification to EXPERT or higher in advance.

Graphically displaying the frequency of failure occurrence

1 Activate the “Failure Logging Monitor”, and press [Edit].

≫ A title bar on the monitor turns red, and its dedicated soft keys appear.

2 Press f9 <Fail Freq.> key.

≫ The frequency of failure occurrence is graphically displayed.

1 6

2 7

3 8

Monitoring item Graphical indication of

Frequency of failure in the frequency of failure
each item in each item

4-22
 4.5 Displaying the failure log

1 Monitor Item Setting

Specifies the monitoring item for the graph.
Page 4-23, ”Specifies the monitoring item for frequency”.

2 Filter
Filters and displays a specific failure.
Page 4-18, “4.5.3 Failure filtering function”.

3 Sort <Val./Item>
Changes the sorting factor either to "Val." or “Item”.
The default is set at “Val”.

4 Move
Moves up and down when the screen separation is set by [5].

5 Screen Separation
The screen is split into two sections.

6 Cause Classification
Graphically displays the frequency of classification of failure cause.
Pressing this key again, the screen is restored.
For details of the cause classification, see Page 4-2, “4.2.1 Failure
category”.

7 Failure Log Clear

Clears the failure log.

8 Fail Log
The screen returns to 1.

3 Press [Reset/R] key.

≫ The title bar and soft keys are restored.

Specifies the monitoring item for frequency

1 Press f1 <Monitor Item Setting> key.

≫ The “Setting of the Failure Frequency Monitor” screen appears.

4-23
4.5 Displaying the failure log

2 Press [Enable] + [Right/Left] key to select the item for graphic display.
＋

3 The following settings are required if you have selected “User Check”.
≫The setting items “User Check Object”, “User Check Content”, and “Division unit of
user check” become available.

The setting item and its details are as follows.

Item Details
User Check Object Selects Mechanism/Arc welding and its corresponding
number.
User Check Content Selects the inspection details specified by “User Check”.
Division unit of user Specifies the unit for each user check time.
check Note that the inspection item determines the unit to be used
as shown below.
Check item Category of time Unit
Mechanism Calendar Month
Current-conducting time H
Servo ON time H
Operating hours H
Arc welding Calendar Month
Arcing time Minute
Number of welding times Time
Amount of wire Kg
consumption

4 Upon completion of the setting, press f12<Complete>.

≫ The Failure Logging Monitor is restored, which displays a graph of the specified
items.

4-24
 4.6 Failure list

4.6 Failure list

All the failure codes are listed from the next page.

(Meaning of Symbols)
E: Error, A: Alarm, I: Information

4-25
4.6 Failure list

4-26
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
CPU Program check-sum Error occurs when abnormality is Please copy the file by the file restore. Error reset.
2 board fault. found in the work program. A A A A on on
failure
CPU The automatic saving When the primary power is turned (1)Check the output voltage of the power supply unit Error reset.
board function at the timing of OFF or when the primary power (5V). (2)Replace the power supply unit. (3)Replace the
failure the power failure voltage dropped abnormally, the sequence board.
detection (or controller current status of the controller (e.g.
4 power OFF operation) step number etc.) will be A A A A on on
failed. automatically saved to the internal
memory. This error will be
displayed if the automatic saving
process failed.
Servo The robot cannot reach This error occurs when the robot (1)Please confirm whether the robot manipulator Please do error
failure the recorded point. does not reach the position even if interferes in something. (2)Please confirm that the reset or turn on
ten seconds have passed since the Pay-load is within the nominal rating. (3)Check if the the drive
command position was output to concerned axis is hard to move by using brake release preparation.
12 E E E E on on
the robot. function. (4)Replace the drive unit. (5)Replace the
motor. (6)Check the internal wiring of the robot or the
control cable between the robot and the controller by
referring to the instruction manual "MANIPULATOR".
Servo Abnormal velocity Abnormal velocity command data (1) Modify abnormal axis motion to be minimized. After removal of
failure command. Modify is calculated. Contact our service department in case axis motion is failure, please
abnormal axis motion. not so big. (2) Confirm the switching to the teach mode carry out
20 E E E E on on
is performed after the deceleration is completed. This "failure-reset".
error may occur due to the switching to the teach mode
before the deceleration is completed.
Servo Abnormal servo This failure occurs when the robot (1)Check the primary power voltage. (2)Check whether After removal of
failure tracking does not follow to the command the actual load exceeds the maximum payload value or failure, please
position. not. (3)Check whether the ambient temperature is not carry out
below 0 degree. (4)Check if the concerned axis is hard "failure-reset".
21 to move by using brake release function. (5)Replace E E E E on on
the drive unit. (6)Replace the motor. (7)Check the
internal wiring of the robot or the control cables
between the robot and the controller by referring to the
instruction manual "MANIPULATOR".
Servo Position Deviation error This failure occurs when the (1)Check whether the robot manipulator interferes with After removal of
failure deviation between the command something. (2)Check whether the actual load exceeds failure, please
and encoder data position exceeds the maximum payload value or not. (3)Check if the carry out
the set permissible deviation. concerned axis is hard to move by using brake release "failure-reset".
22 E E E E on on
function. (4)Replace the drive unit. (5)Replace the
motor. (6)Check the internal wiring of the robot or the
control cables between the robot and the controller by
referring to the instruction manual "MANIPULATOR".
Amplifier Servo CPU stop This failure occurs when the servo (1)Power ON again. (2)Please check the voltage of the After removal of
unit CPU on servo substrate UM221 24V power supply on servo substrate failure, please
failure stops. (UM351(L21700X00)). (3)Please replace the drive unit. turn on power
24 E E E E on on
supply of the
controller
again.
Servo Encoder Bit jump This failure occurs when the (1)Please confirm whether connectors After removal of
failure amount of the encoder current CNEC1/CNEC2/CN78E on the servo board UM351 failure, please
position exceeds the borderline for (L21700x00) are correctly connected. And, check the carry out
the encoder bit jump detection. damages on them. (2)Please confirm connector "failure-reset".
CNR4/CN2 between the controller and the robot.
(3)Please confirm the power supply voltage of the
encoder. For details, refer to the instruction manual
"CONTROLLER MAINTENANCE". (4) Confirm the
25 E E E E on on
switching to the teach mode is performed after the
deceleration is completed. This error may occur due to
the switching to the teach mode before the deceleration
is completed. (5)Please replace the drive unit.
(6)Please replace the power supply unit. (7)Please
replace the motor or the encoder. (8)Please confirm the
wiring in the robot manipulator referring to the
instruction manual "MANIPULATOR".
Servo Interference detected This failure occurs when the robot (1)Please confirm whether the robot manipulator After removal of
failure manipulator collides with interferes with something. (2)Please confirm that the failure, please
something. weight, center of gravity, moment of inertia of the tool carry out
match with the actual load. (3)Please lower the "failure-reset".
26 detection level or invalidate the problem part by using E E E E on on
FN230. (4)Check if the concerned axis is hard to move
by using brake release function. (5)Please confirm the
cable between the controller and the robot.(U,V,W and
brake control line) (6)Please replace the drive unit.
Servo Encoder data change This failure occurs when the (1)Please check whether the connectors After removal of
failure after stop encoder data continues to change CNEC1/CNEC2/CN78E on the servo board failure, please
while the command position value UM351(L21700X00) are correctly connected. And, carry out
is stopping. check the damages on them. (2)Please check whether "failure-reset".
CNR4/CN2 is correctly connected. (3)Please check the
power supply voltage of the encoder. (4)Please check
that the Pay-load is within the nominal rating. (5)Please
27 check if the manipulator interferes with something or E E E E on on
not. (If this error occurs when the robot stops)
(6)Please replace the drive unit. (7)Please replace the
power supply unit. (8)Please replace the power supply
unit. (9)Please replace the motor or the encoder.
(10)Please check the wiring in the robot manipulator or
the control cables (wire harness) by referring to
"MANIPULATOR MANUAL".
Amplifier Low voltage of motor This failure occurs when the Motor (1)Check the connection of CNRST on the front of drive After removal of
unit power power supply voltage (P-N) are unit correctly. (2)Check that a primary voltage of the failure, please
failure lower than regular setting level. controller is within the specification. (3) Please confirm carry out
28 that a power supply to CNRST is around AC200V. If "failure-reset". E E E E on on
the supply voltage is low, please replace a power unit.
If the supply voltage is within the specification, please
replace the drive unit.
Encoder Encoder incremental Error occurs when fault is detected (1)Check if the encoder power supply voltage is normal After removal of
failure data errorr in the encoder. or not (Refer to "CONTROLLER MAINTENANCE failure, please
29 E E E E on on
MANUAL"). (2)Please reset the encoder. (3)Check turn on power
encoder wiring. (4)Replace the motor or the encoder. supply of the

4-26
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
controller
again.
Encoder Encoder absolute data This failure occurs when an (1)Please turn OFF the controller power. (2)Please After removal of
failure failure absolute data fault is detected replace the motor or the encoder. (3)Please check the failure, please
inside the encoder. power supply voltage of the encoder referring to turn on power
30 E E E E on on
"CONTROLLER MAINTENANCE MANUAL". (4)Please supply of the
check the wiring of the encoder. controller
again.
Encoder Motor rotation too fast This failure occurs if at the time of (1)Please check the power supply voltage of the After removal of
failure when turning the turning Motors ON, the encoder encoder referring to "CONTROLLER MAINTENANCE failure, please
motors ON speed is too fast. MANUAL". (2)Please check the wiring of the encoder. turn on power
31 E E E E on on
(3)Please reset the encoder. supply of the
controller
again.
Servo Over current This failure occurs when the (1)Please check whether the robot manipulator After removal of
failure current in the drive unit exceeds interferes with something. (2)Please check that the failure, please
the rated value. Pay-load is within the nominal rating. (3)Check if the carry out
concerned axis is hard to move by using brake release "failure-reset".
function. (4)Please check the connectors CNP1-8,
CNBK1, CNBK2,and CNSW. (5)Please replace the
32 drive unit. (6)Please replace the motor of the E E E E on on
concerned axis. (7)Please check the internal wiring of
the robot. (motor current U,V,W and brake control line)
(8) Please check the control cables (wire-harnesses)
between the controller and the robot manipulator.
(9)Please adjust the over current detection level ("Peak
Amps error")(external axis).
Servo Synchronous failure of Synchronous failure of servo If error persists, Contact our service department. Error reset.
33 failure servo command. command occurred in servo E E E E on on
system.
Encoder Over temperature of This failure occurs when the (1)Please confirm that the Pay-load is within the After removal of
failure encoder encoder temperature rises nominal rating. (2)Please stop the robot in order to failure, please
37 abnormally. lowering the motor temperature, and restart. (3)If carry out E E E E on on
failure persists, please lower the operation speed of the "failure-reset".
robot. (4) Please exchange motor and encoder.
Servo Over load This failure occurs when the (1)Please check whether the robot manipulator After removal of
failure current in the motor or drive unit interferes with something. (2)Please check that the failure, please
exceeds the rated value. Pay-load is within the nominal rating. (3)Check if the carry out
concerned axis is hard to move by using brake release "failure-reset".
function. (4)Please check the connectors CNP1-8,
CNBK1,CNBK2, or CNSW on the drive unit. (5)Please
38 replace the drive unit. (6)Please replace the concerned E E E E on on
motor. (7)Please check the internal wiring of the robot.
(motor current U,V,W and brake control line). (8)Please
check the control cables (wire-harnesses) between the
controller and the robot manipulator. (9)Please adjust
the over load detection level ("Overload error")
(external axis).
Servo Over rotation This failure occurs when the (1)Please check whether the robot manipulator After removal of
failure number of rotations of motors interferes with something. (2)Please check whether the failure, please
exceeds a maximum rotation setting of the Pay-load and center of gravity are carry out
39 speed limit. correct. (3)Check if the concerned axis is hard to move "failure-reset". E E E E on on
by using brake release function. (4)Please replace the
motor or the encoder. (5)Please replace the drive unit.
(6)Please replace the manipulator wirings.
TP failure The abnormalities in CPU built in the teach pendant Please check whether there are any abnormalities in Turn on the
CPU in a T/P stopped. the T/P and the connection cable. Please turn OFF and power again.
40 E E E E on on
ON the main power supply. Please replace the T/P,
when an error still comes out.
Amplifier Over temperature of This failure occurs when the motor (1)Please check that the Pay-load is within the nominal After removal of
unit motor temperature rises abnormally. rating. (2)Please check the wiring of the motor failure, please
failure thermostat referring to "CONTROLLER carry out
MAINTENANCE MANUAL" and "MANIPULATOR "failure-reset".
MANUAL". (3)Please check the connector CNBK2 on
42 E E E E on on
the drive unit. (4)Please stop the robot in order to
lowering the motor temperature, and restart. (5)If the
failure persists, please lower the operation speed of the
robot or add a DELAY function (FN50) in the program
to lower the duty.
Amplifier Over speed This failure occurs when the (1)Please check whether the connectors After removal of
unit rotation speed of motors is CNEC1/CNEC2/CN78E on the servo board UM351 failure, please
failure abnormal. (L21700X00) are correctly connected. (2)Please carry out
replace the drive unit. (3)Please replace the motor or "failure-reset".
43 E E E E on on
the encoder. (4)Please check the manipulator wirings
and the control cables (wire-harness) between the
controller and the manipulator referring to
"MANIPULATOR MANUAL".
Amplifier Over voltage of motor This failure occurs when the Motor (1)Please check whether CNR is correctly connected. After removal of
unit power power supply voltage (P-N) are (2)Please check the discharge register (5-ohm or failure, please
44 E E E E on on
failure higher than regular setting level. 30-ohm) (3)Please replace the drive unit. carry out
"failure-reset".
Amplifier Over temperature of This failure occurs when the (1)Check if the fans are operating. (2)Please check the After removal of
unit regenerative discharge temperature of the regenerative wiring of the sensor. (3)Please replace the discharge failure, please
failure resister discharge resister rises register. (4)Please replace the drive unit. (5)Please carry out
abnormally. check the voltage of the 24V power supply. (6)Please "failure-reset".
46 E E E E on on
replace the multi power supply unit. (7)If the failure
persists, please lower the operation speed of the robot
or add a DELAY function (FN50) in the program to
lower the duty.
Encoder Encoder counter This failure occurs when the (1)Please turn ON the power supply of the controller After removal of
failure overflow/underflow counter overflow/underflow again. (2)Please replace the motor or the encoder. failure, please
occurred inside the encoder unit. (3)Please check the power supply voltage of the turn on power
50 E E E E on on
encoder referring to "CONTROLLER MAINTENANCE supply of the
MANUAL". (4)Please check the wiring of the encoder. controller
again.
Servo Encoder data This failure occurs when the (1)Please check whether the connectors After removal of
failure transmission failure communication data with the CNEC1/CNEC2/CN78E on the servo board UM351 failure, please
51 encoder is abnormal or the (L21700X) are correctly connected. (2)Please check turn on power E E E E on on
encoder has been disconnected. whether the CNR4 or CN2 is correctly connected. And supply of the
check the damages on them. (3)Please confirm the controller

4-27
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
power supply voltage of the encoder. (4)Please replace again.
the drive unit. (5)Please replace the motor or the
encoder. (6)Please check the manipulator wirings and
the control cables (wire-harness) between the
controller and the manipulator referring to
"MANIPULATOR MANUAL".
Encoder Encoder battery charge This failure occurs when the (1)Reset the encoder and turn on power supply of the After removal of
failure low voltage of the battery in the controller again.(2)Confirm battery of abnormal axis. failure, please
encoder has decreased. (3)Please confirm battery voltage (up to 3.6V). turn ON power
(4)Replace motor and encoder. (5)Confirm wiring of supply of the
battery and encoder. (6)Replace drive unit. controller
52 again. For E E E E on on
details, refer to
"SETUP
MANUAL" and
"MANIPULATO
R MANUAL".
Servo Invalid encoder type This failure occurs when the invalid Please check [Machine Constants] [Motor and After removal of
failure encoder type is selected. Encoder][Encoder type]. failure, please
turn on power
53 E E E E on on
supply of the
controller
again.
Servo Encoder data abnormal This failure occurs when the (1)Please check the supply voltage of the encoder After removal of
failure change of the encoder data is referring to "CONTROLLER MAINTENANCE failure, please
54 E E E E on on
abnormal. MANUAL". (2)Please check the wiring of the encoder. carry out
"failure-reset".
Encoder Motor rotation too fast Because the motor had been (1)Please reset the encoder and turn on power supply After removal of
failure when power off rotated at high speed when the of the controller again.(2)Please replace motor and failure, please
power off, it became impossible to encoder. (3)Please check the wiring of the encoder. turn on power
detect the absolute amount of the (4)Please check the supply voltage of the encoder supply of the
55 E E E E on on
encoder rotation correctly. (This referring to "CONTROLLER MAINTENANCE controller
detection is done inside the MANUAL". (5)Please replace the drive unit. (6)Please again.
encoder unit and the error status is replace the multi power supply unit.
sent to the controller.)
Servo Encoder pre-load This failure occurs if the pre-load (1)Please confirm the supply voltage of the encoder After removal of
failure failure operation of the encoder was not referring to "Controller maintenance manual".(2)Please failure, please
56 E E E E on on
correctly done. confirm whether the robot manipulator interferes in carry out
something.(3)Please confirm the wiring of the encoder. ""failure-reset"".
Encoder Encoder count status This failure occurs when the (1)Please reset the encoder and turn on power supply After removal of
failure failure Encoder data(absolute) is of the controller again. (2)Please replace the motor or failure, please
abnormal. the encoder. (3)Please check the wiring of the encoder. turn on power
57 (4)Please check the supply voltage of the encoder supply of the E E E E on on
referring to "CONTROLLER MAINTENANCE controller
MANUAL". (5)Please replace the drive unit. (6)Please again.
replace the multi power supply unit.
Control Can't follow conveyer Error occurs when the robot Reduce the speed of the conveyer, or check the Error reset.
59 failure speed. system can not perform its task at connection of conveyer pulse line. E E E E on on
the current conveyer speed.
Control Emergency stop was This error occurs when it has a (1)Please check the wiring of the emergency-stop, the After removal of
failure shortly input or condition that communication mode selector switch, and the safety plug. (2)Please failure, please
Magnetic SW was cut cable, connection of Emergency replace the sequence board (UM352(L21700F00)). carry out
62 E E E E on on
off. stop, Mode select "failure-reset".
signals(Teach/Play) or Safety plug
is open or poor connection.
CPU Controller temperature Error occurs when the temperature Check the fans are operating, or clean up the heat After removal of
board fault. of the core of the controller exchanger. failure, please
63 E E E E on on
failure becomes abnormality high. carry out
"failure-reset".
Amplifier Drive unit power failure This failure occurs when drive unit (1)Please check the wiring of drive unit. (2)Please After removal of
unit power VP15(+15V) was not replace the drive unit. failure, please
64 E E E E on on
failure supplied. carry out
"failure-reset".
Amplifier Over travel limit switch This failure occurs when an axis (1) If there is no LS that is being pushed physically, the After removal of
unit activated reaches the end of its travel and wirings for the LS may be broken. (2) If the LS is failure, please
failure actuates an Over travel limit switch physically being actuated, then move the manipulator carry out
65 E E E E on on
(LS). towards the normal motion range by the teach pendant "failure-reset".
operation in the setting screen of "software-limit". (3)
Replace the drive unit.
Amplifier Low voltage of brake This failure occurs when brake (1)Please confirm the cables of CNBKP-CNPB(drive After removal of
unit power power supply PB decreases. unit). (2)Please replace the drive unit. failure, please
66 E E E E on on
failure carry out
"failure-reset".
Amplifier Drive unit IPM failure This failure occurs when current of (1)Please confirm internal wirings and the cable After removal of
unit power module (IPM) in the drive between the controller and the robot failure, please
72 E E E E on on
failure unit flows more than permitted manipulator.(2)Please replace the drive unit.(3)Please carry out
range. replace the abnormal motor. "failure-reset".
Amplifier Motor regeneration This failure occurs when the (1)Please check whether the CNR connector of the After removal of
unit circuit fault regenerative discharge circuit is drive unit is connected or not. (2)Please check the failure, please
74 E E E E on on
failure disconnected (broken) by large wiring of the discharge resistor. (3)Please check the carry out
current or heat. resistance of the discharge resistor 5 ohm / 3 ohm. "failure-reset".
Amplifier Error of brake control The breakdown was detected in Please replace the Drive Unit. After removal of
unit circuit brake control circuit (relay, failure, please
failure diode),or break release switches turn on power
75 was used just after the motor-off supply of the E E E E on on
sequence. Please do not release controller
the brake, so that there is danger to again.
which the arm falls.
CPU CPU board power fault. This error occurs when the power (1)Check the 5V supply voltage of multi power supply After removal of
board supply for the CPU is out of the unit. For details, refer to "CONTROLLER failure, please
78 failure range of 3.3V +/- 10%. MAINTENANCE MANUAL". (2)Please replace the carry out E E E E on on
multi power supply unit. (3)Please replace the CPU "failure-reset".
board.
CPU CPU board This error occurs when the (1)Check the cooling fans on the rack unit are After removal of
board temperature fault. temperature of the CPU becomes operating. (2)Clean up the cooling fans. failure, please
79 E E E E on on
failure 65 degree or more. carry out
"failure-reset".
CPU CPU board power fault. This error occurs when the power (1)Check the 5V supply voltage of multi power supply After removal of
80 board supply voltage for the CPU unit. For details, refer to "CONTROLLER failure, please E E E E on on
failure becomes +10% (higher) or MAINTENANCE MANUAL". (2)Please replace the carry out

4-28
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
-6%(lower) from the rated voltage. multi power supply unit. (3)Please replace the CPU "failure-reset".
board.
CPU CPU board battery This error occurs when the voltage (1)Please exchange the battery. Then, (2)Please set After removal of
board failure of battery on the CPU board has up the date correctly. failure, please
81 E E E E on on
failure decreased. carry out
"failure-reset".
Operation 5th axis operating Error occurs when 5th-axis moves Select [Constants][Machine constants] and use the No reset
al failure range exceeded. out of its Operating range. correct axis operation keys to move back into the operations
Operating range can be exceeded 5th-axis Operating range. Warning! damage can occur necessary.
99 A E A E on on
when the 5th-axis(and 6th-axis) is if 5th-axis hits arm 1.
moved via the rotation of the
4th-axis.
Control Ext. Motors-off' signal Error occurs when Motors-ON Ensure that Motors-OFF is not being given when After removal of
failure is being given or button is pressed while the pressing Motors-ON button. failure, please
105 Motors-OFF button Motors-OFF button is held or carry out E E E E on on
being held. external motors-OFF signal is "failure-reset".
being given.
Operation The motors are not ON. The motors are not ON. Turn motors ON by pressing the Motor-ON button. No reset
106 al failure operations I A I A on on
necessary.
TP failure TP connect failure It becomes this failure when TP Connect TP properly. Exchange TP when it is out. After removal of
isn't connected and a cable is out. failure, please
116 E E E E on on
carry out
"failure-reset".
TP failure TP connect failure This error occurs when TP is Connect TP properly. Exchange TP when it is out. Turn on the
117 connected after the control power power again. E E E E on on
supply is turned on.
TP failure The teach pendant Abnormality was detected by the Please confirm whether there is something that it is Error reset.
118 reception is abnormal. key notification reception from possible to become a noise source in the vicinity of A A A A on on
teach pendant. teach pendant and the cable.
TP failure The T/P connection is Abnormality was detected by the Please confirm whether there is something that it is Error reset.
119 abnormal. sending and receiving processing possible to become a noise source in the vicinity of the A A A A on on
from the T/P. T/P and the cable.
Operation The robot's joint angle It will become this error if a robot Please move to software stroke within the limits by Error reset.
121 al failure exceeded the software joint angle reaches the software manual operation (each axis). A E A E on on
stroke range. stroke range.
Servo The robot's joint angle It will become this error if a robot Please motor power on in machine constant/software Error reset.
failure exceeded the software joint angle reaches the software limit at the EXPERT level and move to software stroke
122 stroke range.(Current stroke range.(Current position) within the limit by manual operation. Please turn on the E E E E on on
position) motor as it is, when error occurred only with the axis
without brakes.
Operation The angle which an The 1st arm and the 2nd arm may Please move in the direction where interference does Error reset.
129 A E A E on on
al failure arm makes is too large. cause interference with a position. not take place by manual operation.
Operation The angle which an The 1st arm and the 2nd arm may Please move in the direction where interference does Error reset.
130 A E A E on on
al failure arm makes is too small. cause interference with a position. not take place by manual operation.
Control Collision sensor Error occurs when a signal is Remove obstruction, check condition of the tool, reset After removal of
failure actuated. received from the collision sensor. the collision sensor, and restart robot. failure, please
131 E E E E on on
carry out
"failure-reset".
Operation The robot's joint angle It will become this error if a robot Please move to link software stroke within the limits by Error reset.
132 al failure exceeded the link joint angle reaches the link manual operation (each axis). A E A E on on
software stroke range. software stroke range.
Emergenc Primary power supply Error occurs when the Power Check the status of the Primary(mains) power supply. Error reset.
177 y stop fault. supply unit detects that primary E E E E on on
failure power is below nominal level.
Operation Designated command Error occurs when a shift function, Correct the program. No reset
243 al failure position exceeds Robot etc. tries to send the robot out of operations A E A E on on
operating area. the robot operating area. necessary.
Operation Danger of Robot Robot wrist may interfere with Correct the program. No reset
244 al failure interference. under the part of manipulator body. operations A E A E on on
necessary.
Operation The bend direction of The bend direction of J3 axis is Please correct the angle of J3 axis to the same After removal of
al failure J3 axis is different, different at the starting point and direction. failure, please
245 A E A E on on
interpolation cannot be the terminal point. carry out
continued. "failure-reset".
Operation Wrist posture When the posture is calculated, Please insert the step in the middle so that the change No reset
al failure calculation fault. this error occurs when the wrist amount of the wrist axis in one step may become small. operations
246 A E A E on on
Please insert the goes the inverse direction from Please reduce the accuracy in the step before and after necessary.
middle step. teaching position. the error's occurring.
Operation There is a tool which Because tool center of gravity or (1)Please execute automatic tool center of gravity No reset
al failure exceeds rating. tool weight has exceeded rating, it setting.(2)Please verify whether the tool has not operations
247 I I I I on on
becomes medium speed playback. exceeded rating.(3)When the tool has exceeded rating, necessary.
please make sure to be settled inside rating.
The gravity bend The flexion it tried to revise, but the Please take a second look tool setting. Center of No reset
248 revision quantity is too revision quantity exceeded error gravity of the tool or mass of the tool, occur when it is operations A E A E on on
big. inspection angle. large. Please execute Automatic COG setting. necessary.
Operation Controller cannot make When the robot moves by the At the teach mode, the robot's wrist center point moves No reset
al failure trajectory at the J1 linear/circle interpolation, the from the J1 singular area by joint jog operation. At the operations
250 A E A E on on
singular area. robot's wrist center point cannot playback mode, please modify the teach point and/or necessary.
pass the J1 singular area. change for the joint interpolation.
Operation The bend direction of The direction of J5 arm is different Please correct the angle of J4 axis so that the direction After removal of
al failure J4 axis is different, more than 180 degrees at the of J5 arm becomes less than 180 degrees. failure, please
251 A E A E on on
interpolation cannot be starting point and the terminal carry out
continued. point. "failure-reset".
Operation Pose calculation failed. This error occurs when all axis Check pose data. No reset
257 al failure angles can not be calculated in operations E E E E on on
robot language file. necessary.
Control Conveyer motion Error occurs when the conveyer Stop the conveyer, reset, and restart test. Error reset.
failure during test . running signal is detected during
270 E E E E on on
executing a program in Conveyer
simulation or test mode.
Control Conveyer pulses Error occurs when the number of Check that the pulse generator is functioning correctly. Error reset.
271 E E E E on on
failure exceeded limit. conveyer pulses exceeds 10KHz.
PLC The error was detected It becomes this error when Built-in Check the environment of Built-in PLC of operation. Unusual reset
failure by Built-in PLC. PLC detects an error. is carried out
after changing
367 E E E E on on
Built-in PLC
into a starting
state.

4-29
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
Control Safety plug is not This error occurs when a Motors Insert the Safety plug in Auto mode. After removal of
failure inserted or the state of ON command(button) is given in failure, please
safety plug signal has Auto mode when the Safety plug is carry out
379 E E E E on on
changed in teach not inserted or the state of safety "failure-reset".
mode. plug signal has changed in teach
mode.
Operation Compound motion limit | J5 axis | + | J6 axis | exceeded Please move to the limit by manual operation (each No reset
493 al failure over. limit value. axis).When it cannot move, at the [Constants][Machine operations A E A E on on
constants][Software limit] please try again. necessary.
Operation Over movable area of Compound motion J5 and J6 of Please move to the limit by manual operation (each No reset
494 al failure ATRAC4 flat type. ATRAC4 flat type over movable axis).When it cannot move, at the [Constants][Machine operations A E A E on on
area. constants][Software limit] please try again. necessary.
PLC It is scan time over of It detects, when the scanning time Correct Ladder program. An error will be
failure Built-in PLC. of Built-in PLC is too long. canceled if it is
download after
correcting
550 ladder program E E E E on on
so that Scan
time may be set
to less than 30
msecs.
Vision Vision sensor not It detects, when the vision sensor is Correct vision sensor connection line. After removal of
sensor connected. not connected. failure, please
failure turn on power
582 E E E E on on
supply of the
controller
again.
TP failure Teach pendant touch Error occurs if at the time of turning Touch panel is not touched for turn power ON again. If After removal of
panel error. power ON, the touch panel of teach error persists change the Teach pendant. failure, please
pendant is pushed. turn on power
659 E E E E on on
supply of the
controller
again.
Spot weld Welder communication Error occurs when the welder (1)Check power supply of the welder and Error reset.
674 failure fault(No reply). board is not correctly connected, or communication cables, and power ON again. A A A A on on
backup files are incorrect. (2)Initialize welder data.
Spot weld Welder communication Error occurs when received data Check power supply of the welder and communication Error reset.
675 A A A A on on
failure fault(Check sum). from the welder board is abnormal. cables, and power ON again.
Spot weld Welder communication Error occurs when received data Check power supply of the welder and communication Error reset.
676 A A A A on on
failure fault(Message wrong). from the welder board is abnormal. cables, and power ON again.
Spot weld Major Welder fault. Error occurs when the welder Remove the cause of weld fault. Error reset.
677 E E E E on on
failure board generate the weld fault.
Spot weld Executive EPROM Error occurs when a system Install the system software once more. Turn on the
694 failure checksum error. software checksum error of welder power again. E E E E on on
timer substrate is detected.
Spot weld LCA EPROM Error occurs when a system Install the system software once more. Turn on the
695 failure checksum error. software checksum error of welder power again. E E E E on on
timer substrate is detected.
Spot weld Application EPROM Error occurs when an application Install the system software once more. Turn on the
696 failure checksum error. EPROM checksum error of welder power again. E E E E on on
timer substrate is detected.
Spot weld DPR error. Error occurs when a DPR error of Install the system software once more. Turn on the
697 E E E E on on
failure welder timer substrate is detected. power again.
Control Invalid Conveyer Error occurs when a conveyer Check a conveyer pulse input circuit. Error reset.
704 failure register value. register value exceeded value of E E E E on on
<Err.detect.just after playback>.
Operation The angle between 3rd The 3rd axis tended to operate Please move in the direction where 3rd angle incline Error reset.
705 al failure axis and ground is exceeding 3rd angle incline. does not take place by manual operation. A E A E on on
over.
Operation The angle between The flange tended to operate Please move the manipulator towards the normal Error reset.
706 al failure flange and ground is exceeding flange incline. motion range by the teach pendant operation in the A E A E on on
over. setting screen of "software-limit".
Servo Robot over This failure occurs when the (1)Please check that the Pay-load is within the nominal After removal of
failure temperature temperature of the motor, the rating. (2)Please check the wiring of the motor brake failure, please
encoder, the harness, and the referring to "MANIPULATOR MANUAL". (3)Please carry out
727 E E E E on on
connector guessed from the motor lower the temperature of the abnormal location, and "failure-reset".
current and the motor speed is lower the outside temperature. (4)If failure persists,
abnormal. please lower the operation speed of the robot.
Spot weld Spot Welder SCR1 Failure occurs when the Thermo. Check the Thermo. Temp. fault signal and the spot After removal of
failure thermal switch Temp. fault signal is received by welding unit. failure, please
749 E E E E on on
actuated. the controller. carry out
"failure-reset".
Spot weld Spot Welder SCR2 Failure occurs when the Thermo. Check the Thermo. Temp. fault signal and the spot After removal of
failure thermal switch Temp. fault signal is received by welding unit. failure, please
750 E E E E on on
actuated. the controller. carry out
"failure-reset".
Spot weld Isolation contact failed Failure occurs when the isolation Refer to the Welder timing Manual. After removal of
failure to pull in. contact of the welder fails to failure, please
759 E E E E on on
actuate correctly. carry out
"failure-reset".
Spot weld Isolation contact stuck Failure occurs when the isolation Refer to the Welder timing Manual. After removal of
failure close. contact of the welder fails to failure, please
760 E E E E on on
actuate correctly. carry out
"failure-reset".
Spot weld Welder board not Error occurs if the welding timer Install the welder board. Error reset.
failure installed. PCB does not exists in the
762 E E E E on on
controller when welding is
attempted.
Control Robot moved during This error occurs when the robot (1)Please check the connectors CNP1-CNP5 on the After removal of
failure Motors-ON sequence. moved during Motors-ON drive unit. (2)Please check whether the robot failure, please
777 sequence. manipulator interferes with something. (3)Please carry out E E E E on on
replace the drive unit. (4)Please replace the power unit. "failure-reset".
(5)Please replace the motor.
CPU Motion stop. This error occurs when the main (1)Please remove the CPU board and the sequence Turn on the
board CPU detects a motion stop. (This board, and insert them again. (2)If this failure persists, power again.
783 failure error is detected in the CPU board replace the sequence board. (3)Please replace the E E E E on on
and the sequence board.) CPU board. (4)Please replace the system-CF for
re-installing the system.
785 CPU I/O timeout. It becomes this error when main Turn on the power again. If the error is not released, Turn on the E E E E on on

4-30
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
board CPU detects a I/O system stop. reinstall the system. power again.
failure
CPU Watchdog Timeout This error occurs when the (1)Turn ON the power again. Please confirm the error Turn on the
board Error. Watchdog Circuit detects a motion is released. (2)Please enlarge "Interpolation Cycle power again.
787 failure stop. Time". (3)Please remove the CPU board or the E E E E on on
sequence board (UM352(L21700F00)) and install them
again.
CPU Movement too large in Error occurs when movement by Check the condition of the Compliance control Check the
board Compliance control. an external force is too large while performance. constants of the
788 failure in Compliance control. Compliance E E E E on on
control
function.
CPU CPU error. It becomes this error when an CPU (1)Turn on the power again. Please confirm the error is Turn on the
board error occurs in CPU board. released.(2)Please insert a CPU board firmly power again.
789 E E E E on on
failure again.(3)When the phenomenon recurs, please inform
our service section.
Control Conveyer not running. Error occurs when conveyer pulse Check the conveyor is functioning. Or check the wiring Error reset.
895 failure never changes more than 1 between Pulse Generator and AX controller. E E E E on on
second, after start LS is given.
Control Too little conveyer Error occurs when a After conveyer Separate input timing of a starting command from Error reset.
failure pulse counted. start LS is input, though it was conveyer start LS signal.
897 passed <Conv.pulse check start E E E E on on
time>, when it is short of value of
<Conv.pulse error check> value.
Servo Servo command stop This failure occurs when the (1) Connect the connector CNCOM correctly. (2) If the After removal of
failure update of the command value error is not remedied, replace the IPM drive unit. failure, please
898 E E E E on on
transmitted to the servo stops carry out
during a certain time. "failure-reset".
Amplifier servo clock halted This failure occurs when the clock (1)Please confirm the supply voltage of the servo board After removal of
unit of servo board UM351(L21700X00) UM351(L21700X00). (2)Please replace the drive unit. failure, please
failure halted. turn on power
902 E E E E on on
supply of the
controller
again.
Amplifier Servo communication This failure occurs when the (1)Please confirm whether connector CNCOM of servo After removal of
unit stop communication between CPU board UM351(L21730X) on the drive unit is correctly failure, please
failure board and the servo board stops. connected.(2)Please confirm whether connector carry out
CNLAN3 of CPU board is correctly "failure-reset".
903 E E E E on on
connected.(3)Please replace the drive unit.(4)Please Wait more than
replace the CPU board.(5)Please replace the cable 5 seconds for
between the drive unit and the CPU board. next motor
power on.
CPU Sequence board Sequence Please check whether the sequence board is correctly Turn on the
904 board connect failure. board(UM352(L21700F00)) is not connected or not. power again. E E E E on on
failure recognized.
CPU Abnormal setting of the I/O board is not recognized. Check DIP-SW on the I/O board. Turn on the
905 board I/O board. DIP-SW on the I/O board is power again. E E E E on on
failure incorrect.
Amplifier Abnormal output of the Error occurs when 1) disconnect Please check 1) connector on the analog sensor board, After removal of
unit servo gun pressure between pressure sensor and AX 2) the connection between pressure sensor and AX failure, please
failure sensor. controller, 2) pressure sensor controller, 3) exchange new pressure sensor. turn on power
910 E E E E on on
troubles, 3) troubles of the analog supply of the
sensor board in AX controller. controller
again.
Amplifier Autozero failure of Because analog input signal has Please check 1) connection of analog input line 2) After removal of
unit analog input. the offset value, autozero cannot analog input signal by its manual. failure, please
failure be executed. turn on power
911 E E E E on on
supply of the
controller
again.
Operation The allowed This failure is detected when (1)Please move the robot to the position in a Error reset.
al failure unbalanced torque is moving to the position in which the permissible torque in the constant setting mode.
919 exceeded. allowed unbalanced torque is (2)Please correct the teaching so as not to exceed the A E A E on on
exceeded. position in a permissible torque. (3)Please confirm
installed posture. (4)Please confirm the tool load.
FieldBus The communication The details of a communication An unusual cause is removed based on a sub code. After removal of
failure error occurred. error should check a sub code. failure, please
956 E E E E on on
carry out
"failure-reset".
FieldBus The system error was The details of a communication Check the setting in a field bus hardware setup screen. After removal of
failure detected. error should check a sub code. failure, please
957 E E E E on on
carry out
"failure-reset".
FieldBus The error was detected They are the abnormalities of a The defect of a communication board is considered. A
failure with the self check of a communication board. Please communication
958 E E E E on on
communication board. check the details of abnormalities board is
to system service. exchanged.
FieldBus A communication The communication board Please check the slot ID of a field bus hardware setup. The setting
failure board is not found. specified on the constant setting value of a field
959 screen is not found. bus hardware E E E E on on
setup is
changed.
FieldBus A part or all I/O links Since the between title has Please check the device which the problem has If a problem is
failure are stopping. occurred in the I/O device, a robot generated by the field bus monitor. solved, it will
cannot be started. restore
automatically.
(In order to
960 solve a E E E E on on
problem, the
re-injection of a
power supply
may be
required)
Control T/P selector switch is Playback operation is impossible (1)Set the T/P selector switch to AUTO. (2)Please After removal of
failure set to MANUAL. while the T/P selector switch is set replace the T/P. (3)Please replace the sequence board failure, please
967 E E E E on on
to MANUAL. (UM352(L21700F)). carry out
"failure-reset".
Control Magnetic switch is not This error occurs when a signal (1)Please check the cable of the power unit and the After removal of
975 failure active. from a magnetic switch is not drive unit. (2)Please replace the sequence board failure, please E E E E on on
received within the specified time UM352/L21700F00. (3)Please replace the multi power carry out

4-31
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
after the Motors ON signal is given. supply unit. "failure-reset".
Control Confirm magnet-ON This error occurs when the (1)Please replace the power unit. (2)Please replace the After removal of
failure (Fixed input IN28) is Confirm magnet-ON (Fixed input sequence board (UM352/L21700F00). failure, please
OFF. IN28) is unexpectedly cut OFF turn on power
976 E E E E on on
during motor power ON condition. supply of the
controller
again.
Control Both teach and Neither teach mode nor playback Please confirm the operation mode signals connection. After removal of
failure playback mode signal mode signal is turned ON. failure, please
977 E E E E on on
is not fixed. carry out
"failure-reset".
Control PWM was cut off. Error occurs when software can't (1)Replace power unit. (2)Replace drive unit. Error reset.
1001 failure be selected the cause which a E E E E on on
PWM signal was cut off.
Control Analog input board is Although analog input (output) Turn off the power and connect analog Input (output) Error reset.
failure not installed. Or analog board is not installed, analog input board correctly.
1003 E E E E on on
output board is not (output) function is executed.
installed.
Control PWM of the This error occurs when PWM is not There are some problems in the brake and the PWM After removal of
failure disconnected turned off even if a certain time control circuit of sequence PCB. Please replace the failure, please
1012 E E E E on on
mechanism has been passes after the mechanism sequence PCB or the drive unit. carry out
turned on. disconnection. "failure-reset".
Encoder Manipulator battery This warning occurs when the (1)Please exchange the battery referring to Instruction After the
failure warning voltage of the battery in the robot Manual "Manipulator". (2) Please perform the Encoder battery is
manipulator decreases. Reset and Encoder Correction. exchanged,
please carry
out
1016 "failure-reset" I I I I on on
and then turn
on the power
supply of the
controller
again.
Servo Robot over This failure occurs when the (1)Please confirm that the Pay-load is within the After removal of
failure temperature temperature of the motor, the nominal rating. (2)Please confirm the wiring of the failure, please
encoder, the harness, and the motor brake referring to "Manipulator Maintenance carry out
1024 connector guessed from the motor Manual". (3)Please lowering the temperature of an "failure-reset". I I I I on on
current and the motor speed is abnormal location, and lowering the outside
abnormal. temperature. (4)If failure persists, please lower the
operation speed of the robot.
Control Master-ON circuit is This error occurs when the magnet (1)Replace the sequence board UM352/L21700F00. After removal of
failure inconsistent. on confirming input signal (fixed (2)Replace the power unit. failure, please
1046 input IN28) is not turned ON within carry out E E E E on on
the designated time after consist of "failure-reset".
conditions.
Control The magnetic switch This error occurs when the (1)Please check the cables (from the power unit to the After removal of
failure contacts were welded contacts of the magnetic switch drive unit(CNMS) / from the drive unit to the sequence failure, please
and stick each other. were welded and stick each other. board (CNSV) ). (2)Please replace the power unit. carry out
1048 E E E E on on
(3)Please replace the sequence board "failure-reset".
UM352/L21700F00. (4)Please replace the multi power
supply unit. (5)Please replace the drive unit.
Spot weld This IWB does not Error occurs when the IWB version Replace new version. After removal of
failure support MFDC is old. failure, please
1049 E E E E on on
carry out
"failure-reset".
Control The inconsistency was This failure occurs when the (1)Please check whether only one of signals is input or After removal of
failure detected with the inconsistency or abnormal was only one contact is weld at the T/P selector switch. failure, please
1051 E E E E on on
sequence circuit.(T/P detected in duplicated signal at the (2)Please replace the sequence board carry out
selector switch) T/P enable switch. UM352/L21700F00. "failure-reset".
Control An inconsistency was This failure occurs when the (1)Please check whether only one of the signals is After removal of
failure detected in the inconsistency or abnormality was input or only one contact is weld at the external failure, please
1052 sequence detected in the duplicated signal emergency stop. (2)Please replace the sequence carry out E E E E on on
circuit.(Ext.emergency circuit for the external emergency board UM352/L21700F00. "failure-reset".
stop) stop.
Control An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is After removal of
failure detected with the inconsistency or abnormality was input or only one contact is weld at the safety plug. failure, please
1053 E E E E on on
sequence detected in the duplicated signal (2)Please replace the sequence board carry out
circuit.(safety plug) circuit for the safety plug. UM352/L21700F00. "failure-reset".
Control An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is After removal of
failure detected in the inconsistency or abnormality was input or only one contact is weld at the G-STOP input. failure, please
1054 E E E E on on
sequence detected in the duplicated signal (2)Please replace the sequence board carry out
circuit.(G-STOP) circuit for the G-STOP input. UM352/L21700F00. "failure-reset".
Spot weld The welder board failed Error occurs when the initialization Power ON again. If error persists replace the I/F printed Error reset.
1055 failure in initialization. of the welder board is not circuit board. A A A A on on
complete.
Spot weld Memory error is Error occurs when an internal Power ON again after executing R930, and confirm Error reset.
1056 failure detected by the welder memory of the welder board is each parameter of the timer. A A A A on on
board. destroyed.
Spot weld Timer controller CPU is Nothing acknowledge from timer Replace the timer PCB (PMU). Error reset.
1058 A A A A on on
failure not ready. controller CPU.
Control An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is After removal of
failure detected in the inconsistency or abnormality was input or only one contact is welded at the failure, please
1059 sequence detected in the duplicated signal Teach/Playback select input. (2)Please replace the carry out E E E E on on
circuit.(Teach/Playback circuit for the Teach/Playback sequence board UM352/L21700F00. (3)Please replace "failure-reset".
select) select input. the operation box or operation panel.
Control An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is After removal of
failure detected in the inconsistency or abnormality was input or only one contact is welded at the Mat switch failure, please
1060 E E E E on on
sequence circuit.(Mat detected in the duplicated signal input. (2)Please replace the sequence board carry out
switch) circuit for the Mat switch input. UM352/L21700F00. "failure-reset".
Control An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is After removal of
failure detected in the inconsistency or abnormality was input or only one contact is welded at the High-speed failure, please
1061 sequence detected in the duplicated signal teach input. (2)Please replace the sequence board carry out E E E E on on
circuit.(High-speed circuit for the High-speed teach UM352/L21700F00.(3)Please replace the operation "failure-reset".
teach) input. box or operation panel.
Control An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is After removal of
failure detected in the inconsistency or abnormality was input or only one contact is welded at the emergency failure, please
1062 sequence detected in the duplicated signal stop. (2)Please replace the sequence board carry out E E E E on on
circuit.(emergency circuit for the emergency stop. UM352/L21700F00. (3)Please replace the operation "failure-reset".
stop) box or the operation panel.
1063 Control An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is After removal of E E E E on on

4-32
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure detected in the inconsistency or abnormality was input or only one contact is welded at the T/P failure, please
sequence circuit.(T/P detected in the duplicated signal emergency stop. (2)Please replace the sequence carry out
emergency stop) circuit for the T/P emergency stop. board UM352/L21700F00.(3)Please replace the teach "failure-reset".
pendant.
Control An inconsistency was This failure occurs when an (1)Please check whether only one of the signals is After removal of
failure detected in the inconsistency or abnormality was input or only one contact is welded at the CRON input. failure, please
1064 E E E E on on
sequence detected in the duplicated signal (2)Please replace the sequence board carry out
circuit.(CRON) circuit for the CRON input. UM352/L21700F00. "failure-reset".
Spot weld The welder is not Error occurs when the initialization (1) Check power supply of the welder and Error reset.
failure initialized. of the welder is not complete. communication cables, and power ON again.
1065 A A A A on on
(2)Initialize welder data. (3) If error persists replace the
welder.
Spot weld The welder board failed Error occurs when the initialization Power ON again. If error persists replace the welder Error reset.
1155 failure in initialization. of the RE-01 welder board is not board (RE-01). A A A A on on
complete.
Spot weld Memory error is Error occurs when an internal Power ON again. If error occurs again, replace the After removal of
failure detected by the welder memory of the welder board is welder board. failure, please
board. destroyed. turn on power
1156 E E E E on on
supply of the
controller
again.
Spot weld Timer controller CPU is Nothing acknowledge from timer Replace the timer PCB (RE-01). Error reset.
1158 E E E E on on
failure not ready. controller CPU.
Operation Invalid relative program Error occurs when a CALL is made Alter relative program call functions in the program. Error reset.
1174 al failure call command found. within a relative program call A A A A on on
function more than 2 times.
Sealing The gun nozzle is The flow pressure exceeded a set Please clean the gun nozzle. Error reset.
1820 E E E E on on
failure choked up. value.
Sealing The pressure The flow pressure exceeded a set Please clean the gun nozzle. Error reset.
1821 failure exceeded the upper value. E E E E on on
bound.
Sealing The pressure The flow pressure exceeded a set Please clean the gun nozzle. Error reset.
1822 failure exceeded the lower value. E E E E on on
bound.
Operation This function cannot be The function which cannot be used Please record this function on the step which is not Error reset.
1823 al failure available during during Adaptive Motion was used. Adaptive Motion. A A A A on on
Adaptive Motion.
Operation Movement too large in Error occurs when movement by Check Adaptive Motion conditions. Error reset.
1824 al failure Adaptive Motion. an external force is too large while E E E E on on
in Adaptive Motion.
Operation Controller cannot make Robot cannot pass the singular Please modify the teach point. Error reset.
1825 al failure trajectory at the area during Adaptive Motion E E E E on on
singular area. 'Follow' type.
Sensor Force sensor input It is detected when the amount of (1)Please don't give the force sensor much power. After removal of
failure changed too much. change of the force sensor input in (2)Please confirm whether the force sensor is correct. failure, please
1826 E E E E on on
each scanning exceeds error (3)Modify the error detection level. carry out
detection level set in constants. ""failure-reset"".
Sensor No reaction from force It is detected when the force sensor (1)Please confirm whether the force sensor is correct. After removal of
failure sensor. input stays in maximum or (2)Modify the error detection time. failure, please
1827 E E E E on on
minimum value longer than error carry out
detection time set in constants. . ""failure-reset"".
Force The shift value or the It is detected when the shift value (1)Modify motion to minimize force (torque). (2)Modify After removal of
control force (torque) value of or the force(torque) value of force motion to minimize shift value. (3)Modify the error failure, please
error force control exceeded control exceeded error detection detection value. carry out
1828 E E E E on on
the error detection value set in ""failure-reset"".
value. constants.[1]:force,[2]:torque,[3]:shi
ft(X/Y/Z),[4]:shift(RX/RY/RZ)
Force Abnormal velocity of It is detected when velocity of axis (1)Check the force control condition. (2)Check the After removal of
control axis is calculated by exceeded maximum value is force sensor. failure, please
1829 E E E E on on
error force control. calculated by force control. carry out
""failure-reset"".
Force The mechanism for (1)Force control dose not support (1)Check mechanism number of function parameter. After removal of
control force control cannot be mechanism except manipulator (2)Modify the program so that there is only one failure, please
error selected. mechanism. Or Specified mechanism under force control condition. carry out
mechanism is not in the ""failure-reset"".
1830 unit.(2)There is another A A A A on on
mechanism under force control
condition. The force control cannot
be executed at the same time for
two or more mechanisms.
Force The coordinate for Another coordinate is used by force (1)Check the coordinate number of selected condition After removal of
control force control cannot be control condition. The coordinate as function parameter. (2)Modify the program so that failure, please
1831 error selected. for force control can not be same coordinate is used under force control condition. carry out A A A A on on
changed under force control ""failure-reset"".
condition.
Force Force Control function The mistake of the method of Please record force control function after step 1 or After recording
control can not be carried out. recording the force control function move step. the move step,
1832 A A A A on on
error is found. Please Check
Go.
Force GETFORCE2 function GETFORCE2 function is already GETFORCE2 function is started after GETFORCE2 This error will
control can not be carried out. carried out. function is ended. be canceled if a
1833 error program is A A A A on on
corrected and
restarted.
Force Route Coordinate can The follows occurred under force Modify the robot program. No reset
control not be created under control condition. (1)"Interpolation operations
error force control condition. Off" Step was carried out. (2)Touch necessary.
1834 function was carried out. (3) Robot E E E E on on
moved to the direction of Z axis of
tool coordinate. (4) The robot
passed discontinuous track.
Force The Tool No. was The Tool No. can not be changed Modify the robot program. No reset
1835 control changed during force during force control motion. operations A A A A on on
error control motion. necessary.
Sensor Abnormal zero position It is detected when zero position (1)Please confirm whether the force sensor is correct. After removal of
failure value of force sensor is value of force sensor exceeds error (2)Modify the error detection level. failure, please
1836 E E E E on on
detected. detection level set in constants. carry out
""failure-reset"".
2002 Control Playback unavailable This error occurs when a (1)Please push the Motors-ON button after the After removal of A A A A on on

4-33
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure because Motors-OFF Motors-ON command is input while Motors-OFF sequence has been finished. (2)Please failure, please
sequence is being the Motors-OFF sequence is being input the Motors-ON command after the Motors-OFF carry out
executed. executed. sequence has been finished. (3)Replace the sequence "failure-reset".
board UM352/L21700F00.
Spot weld Spot welding function The mistake of the method of (1)Please confirm the welding number. (2)Please After recording
failure can not be carried out. recording the welding function is record spot welding function after step 1. (3)You tried the move step,
2003 A A A A on on
found. to drive the GUN mechanism which was not able to be Please Check
driven with this unit. Go.
Control T/P selector switch is In Teach mode, Motors are not Set the T/P selector switch to MANUAL side. After removal of
failure set to AUTO. able to be ON while T/P selector failure, please
2006 A A A A on on
switch is set to AUTO. carry out
"failure-reset".
Operation It was going to start This error occurs if it starts while Please start after ending the editor on the screen. This error is
al failure while the work program the work program was edited on released if it
was edited on the the screen. starts again
2010 A A A A on on
screen. after ending the
editor on the
screen.
Operation WI cancel operation is This error occurs when WI cancel Please operate WI cancel after a motor power on. No reset
2021 al failure disabled. (Servo gun) is operated during a servo gun operations I I I I on on
motor power off. necessary.
Operation Variable which gives This error occurs when speed Please set value to the variable or change speed Please set
al failure speed parameter is parameter of Moving command parameter to numerical value. value to the
invalid. made by Robot Language is given variable or
2022 by variable and its value is invalid. change speed A A A A on on
parameter to
numerical
value.
Spot weld The change in the tip The difference between the Check the lack of gun tip. If it is no trouble, execute gun Error reset.
failure consumption detected consumption detected by search 3 search 1.
2027 by search 3 is and the consumption detected by A A A A on on
abnormal. search 1 exceeded the search 3
abnormal tip change.
Operation Designated command This failure occurs when the (1)Please move the robot to the position in a Error reset.
al failure position exceeds Robot operation radius exceeds the permissible torque in the constant setting mode.
2030 operating area. limitation. (2)Please correct the teaching so as not to exceed the A E A E on on
position in a permissible torque. (3)Please confirm
installed posture. (4)Please confirm the tool load.
Spot weld The function can not be The function was attempted that is Please execute the function after releasing the Error reset.
2038 failure used while servo gun is not allowable while servo gun is separation. A A A A on on
separating. separationg.
Spot weld The encoder data of The servo gun axis did not stop Please reconsider the recorded position. If the position Error reset.
2044 failure gun axis is not steady. while waiting to reach the specified has no problem, replace the Drive Unit A A A A on on
pressure.
Spot weld The command Error occurs when a pressure too Use pressures adequate for the Servo gun being used. Error reset.
2048 failure pressure is out of great or too small for the Servo gun A A A A on on
range. is designated.
Spot weld Ready to weld status Welder power turned off or welder Check the peripheral system or welder. Error reset.
failure from welder board isn't error occurred, a weld-enabled
2049 completed, or a signal not given. A A A A on on
weld-enabled signal
isn't input.
Operation Robot does not keep This error occurs if robot does not Return robot to the basic position by manual operation Error reset.
al failure the basic position keep the basic position between without Multi Drive Control. If this error occurs again,
2050 E E E E on on
between multi driven multi driven axes. check the basic position or the level of error detection.
axes.
Spot weld Pressure already Servo Gun Pressure already Pressure value is too low when servo gun axis does not Error reset.
failure achieved to the achieved to the designated value move. Review pressure data.
2055 A A A A on on
designated value for for manual operation.
manual operation.
Operation There is a possibility Setting rectangular coordinate Please set the tool constant (length and center of The error is not
al failure that the interpolation system is different registering the gravity) again by present rectangular coordinate released until
operation and the tool and now. system. Or, please change setting rectangular measures are
de-and acceleration coordinate system. executed.
2059 control are not correctly A A A A on on
done due to a set
disagreement of
rectangular coordinate
system.
Operation 4th axis operating Error occurs when 4th-axis moves Select [Constants][Machine constants] and use the No reset
al failure range exceeded. out of its Operating range. Though correct axis operation keys to move back into the operations
4th axis is within the software 4th-axis Operating range. Warning! Damage can occur necessary.
2060 motion range, the 4th axis if 4th-axis hits arm 1. A E A E on on
occasionally exceeds the range of
motion by receiving axis
interference from other axes.
Spot weld Weld condition dose Weld condition setting with group, Check the desired condition number and retry. The error is not
failure not exist. the weld condition is 1-16(Group16 released until
2062 A A A A on on
is 1-15).Weld condition number is measures are
out of range. executed.
Spot weld Weld condition group Spot weld function(Fn119 or Please record weld condition with group The error is not
failure number is not set. Fn303) was executed without function(Fn282) before executing spot welding released until
2063 A A A A on on
recording weld condition with group function(Fn119 or Fn303). measures are
function(Fn282). executed.
Operation The memory medium is The detection reason is that the Whether the device such as memory cards specified by It will be
al failure not prepared. specified device was not detected the file operation menu is correctly installed is canceled if
2082 I I I I on on
when the file operation is done. confirmed. some keys are
pushed.
Operation The memory medium is When it is going to copy a file to a Please prepare the memory medium to which writing is It will be
al failure read-only. write-protected memory cards etc., made and perform a copy from the beginning once canceled if
2083 A A A A on on
this error sets. again. some keys are
pushed.
Operation It cannot process in the It was going to copy to the same Please change a file name or a device and redo copy It will be
al failure same device. device by the same file name. operation again. canceled if
2089 A A A A on on
some keys are
pushed.
Control Max. follow angle over. Error occurs when the robot was Check the press synchronized parameters. Error reset.
2090 failure about to follow more than the max. E E E E on on
follow angle.
2091 Control Record point of press Error occurs when the position of Confirm record point of press synchronous step. Error reset. E E E E on on

4-34
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure synchronous step is not press interlock waiting step and a
available. synchronous step is different.
CPU It is not possible to start Error occurs when playback start is Please do playback start from steps other than press Error reset.
2092 board from a current step. done from press synchronous step. synchronous step. A A A A on on
failure
Control Press brake sync. is Error occurs if execution of a Set Conveyer shape in Press. Error reset.
failure not available. function related to the press brake
2093 E E E E on on
is attempted when Press is not
selected with Conveyer type.
FieldBus Specified channel Channel number or the slave node Please confirm channel number or the slave node Error reset.
2100 failure number or slave node number specified with FN312 or number. E E E E on on
number is not used. R502 is not used.
Operation Stop or External stop Error occurs when a Start Release Stop button or External stop signal(if External Error reset.
al failure signal being given. command is given while the Stop stop signal cable is cut the external stop signal is
2101 I I I I on on
button is being held or External considered as being given.
stop signal is being given.
Operation The emergency stop Where an emergency stop button Please cancel an emergency stop button and an Error reset.
al failure button or the external or an external emergency stop external emergency stop signal.
emergency stop is signal is inputted, it detects, when
2103 I I I I on on
inputted. the Motors-ON signal or the
External Motors-ON signal is
inputted.
Operation External Motors-OFF is In the state where the external Please cancel the external Motors-OFF signal. Error reset.
al failure inputted. Motors-OFF signal is inputted,
2104 when the Motors-ON signal or the I I I I on on
external Motors-ON signal is
inputted, it detects.
Operation Playback unavailable The start is impossible, because Please start after turning on MSHP. Error reset.
al failure because servo system the start operation is done before
2106 I I I I on on
has not been turned on MSHP is turned on.
yet.
Operation It is not possible to start This It is prohibited to start Please start after specifying the move step. Error reset.
al failure by specifying the specifying the function because
2108 function step there is the position where the I I I I on on
function is executed is not an
original position but a possibility.
Operation It is not possible to start It is not possible to start by Please select the move step or the function step that Error reset.
2109 al failure by selecting this selecting this function step. can be executed from, and start. A A I I on on
function step.
PLC Toyopuc I/F:The Toyopuc I/F:The sequence Please confirm Toyopuc I/F. Automatically
failure sequence program has program has stopped. restores, when
2110 E E E E on on
stopped. the problem is
solved.
Operation The internal operation It detects, when starting selection Please operate it after setting starting selection or Error reset.
al failure signal was inputted in tends to push the Motors-ON program selection as an inside.
the state of external button or a starting button in the
2111 selection. state of the exterior or it is going to I I I I on on
choose a program from TP in the
state of the program selection
exterior.
Operation The external operation It detects, when the Motors-ON or Please perform external operation after setting up Error reset.
al failure signal was inputted in the start signals are inputted from starting selection or program selection outside.
the state of internal the exterior in the state of an inside
2112 selection. of start selection or a program I I I I on on
selection signal is inputted from the
exterior in the state of the inside of
program selection.
Operation Settings were changed. This error is detected when Please cycle the primary power to initialize the state. Error reset.
al failure To initialize the status, Motors-ON command is inputted in
2113 E E E E off off
please cycle the a state where some settings were
primary power. changed.
Shift Shift register contains Error occurs when data aren't Setting data in shift register. Error reset.
2118 failure no data. established in specified shift A A A A on on
register.
Shift The command buffer of Too many command of serial Please modify robot program. Error reset.
failure serial communication is communication requested at the
2119 full. The same time. A A A A on on
communication
command failed.
Operation Setting the call This error occurs when the number Please correct the program so that the number of call This error is
al failure instruction is improper. of step call and return instruction is return instructions is corresponding, and a multiple call released if the
match or the multiple call exceeds should not exceed eight times. step set do
2138 A A A A on on
eight times. over again and
restart
playback.
Operation The unit composition is This error occurs when the Please correct the called program number value. This failure is
al failure a different program. program jump or call instruction released if a
directly jumps or calls the program correct
2141 that the unit is different. program is A A A A on on
settled and
restart
playback.
Operation Program number This error occurs when the Check the desired program number and retry. No reset
2142 al failure selected is not program number designated is operations I I I I on on
available. more than 9999. necessary.
Operation There is no end. If there is no end mark when Please record the end instruction. This error is
al failure playback executing, this error is released if
2144 I I I I on on
detected after the last step is restart
executed. playback.
Operation Program is too large. Error occurs when number of bytes Edit program in order to reduce its size. No reset
2150 al failure of a program is too large. operations I I I I on on
necessary.
Operation The program or the file This error occurs when the Please correct the program number to a correct value This failure is
al failure does not exist. program number is specified which the jump call ahead. released if a
does not exist in the program jump correct
2151 call instruction. program is I I I I on on
settled and
restart
playback.
2152 Operation The step does not This error is detected when the Please correct the step number to a correct value at the This error is I I I I on on

4-35
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
al failure exist. step number which does not exist jump destination. released if the
in the step jump call instruction is correct step set
specified. do over again
and restart
playback.
Operation The usage of the flow This error is detected when the Please correct the program so that the usage of the This error is
al failure control instruction is usage of the flow control instruction flow control instruction may become proper. released if it
improper. is wrong. reactivates
after the
program is
2155 corrected so A A A A on on
that the usage
of the flow
control
instruction may
become proper.
Operation Change of a coordinate This error occurs if a coordinate Please teach by the same coordinate system during This error will
al failure system cannot be system is changed during circular. circular. be canceled if a
2161 performed during program is I I I I on on
circular. corrected and
restarted.
Operation Change of a tool This error occurs if a tool is Please teach by the same tool during circular. This error will
al failure cannot be performed changed during circular. be canceled if a
2164 during circular. program is I I I I on on
corrected and
restarted.
Operation The file is protected. All protected files or files partially Because the specified file (program or constant) Please release
al failure protected (program or constant) contains important data, protecting is put so that the protecting the
2165 I I I I on on
tried to be corrected and deleted. content is not carelessly changed. file (program or
constant).
Operation The reproduction It detects, when it is going to carry The specified work program is not a program which When you start,
al failure protection of the out reproduction or check GO of should be used for operation operation. please choose
2166 program is carried out. the work program which required Step 1 from A A A A on on
reproduction protection from a T/P.
head step (Step 0).
Operation The amount of the When there is no point or less 10 Recreate the 10 point program (4 point under tool Error reset.
al failure movement of each axis point data effective to the constant setting only) ensuring the recorded points are
is too small in the calculation, and the program is not exactly the same point in space.
2167 automatic tool constant clearly recorded the same point I I I I on on
setting. Or, the number excluding the error by the teaching.
of record steps does
not suffice.
Operation A step number is It is displayed, when the specified Please specify a move function. Error reset.
al failure unsuitable. step does not exist, or when the
2169 A A A A off off
step of a reference program is the
function step.
Operation Tool postures differ. It is displayed when the tool Please make a tool posture the same. Error reset.
2170 al failure posture in two specified points is A A A A off off
not the same.
Operation Tool number does not The tool number recorded on the Please make a tool number the same. Error reset.
2171 al failure match. specified step differs from the A A A A off off
selected tool number.
Shift Shift value limit This error occurs if the allowable Reset the limit value[Constants][Shift limit & evaluation No reset
2173 failure exceeded. shift distance is too large. value] and retry program. operations A A A A on on
necessary.
Control This function cannot be The function which cannot be used Please record this function on the step which is not Error reset.
failure available during during conveyor synchronization conveyor synchronization.
2174 A A A A on on
conveyor was used.
synchronization.
Operation The file path is not The system cannot find the path Please check whether a file path is right. No reset
2175 al failure found. specified. operations I I I I on on
necessary.
Operation The file access is The process cannot access the file Please try once again. If it still recurs, please re-switch No reset
2176 al failure denied. because it is being used by another on the controller. operations I I I I on on
process. necessary.
Control Conveyer running Conveyer running signal was not In conveyer normal mode, turn on conveyer running No reset
failure signal was not received in conveyer normal mode. signal. If the signal is not used, set [When turning off operations
2181 A A A A on on
received. conveyor running signal. = Ignore] in [Constant: 20 necessary.
Conveyor constant: 4 Conveyor added function] menu.
Operation Step number selected This error occurs when designated Check the desired step number and retry. No reset
2185 al failure is not available. step number does not exist. operations I I I I on on
necessary.
Operation The program is not This error occurs when the Please start after recording the program or selecting This error is
al failure recorded nor selected. program which is not recorded is other programs. released if it
selected and start playback. sets a correct
2194 I I I I on on
program and
restart
playback.
Shift Palletize-end does not This error occurs when a Correct the sequence of Palletize and Palletize end No reset
2201 failure follow Palletize palletize-end function(M47) does functions in the program. operations A A A A on on
function. not follow Palletize function(M48). necessary.
Shift More than 32 When palletizing of 32 or more is Terminate the unnecessary palletize.(by using R55 or No reset
2202 failure Palletizing routines not executed at the same time, this R377) operations A A A A on on
allowed. error is detected. necessary.
Shift Palletize data is This error occurred calculate shift Please refer to palletize data. No reset
2203 failure abnormal. value is failed from palletize data. operations A A A A on on
necessary.
Shift Multiplex palletize over. This error occurs when multiplex Please confirm a robot program. No reset
2204 failure palletize beyond 8 is carried out. operations A A A A on on
necessary.
Control Conveyer sync. is not Failure occurs if execution of a Enable Conveyer synchronization Error reset.
failure available. function related to the Conveyer is
2230 attempted when Conveyer A A A A on on
synchronization has not been
enabled.
Operation PUBLIC.INC file is This failure occurs when the Please confirm the definition of variables. Error reset.
2240 al failure wrong. mistake is found in the method of A A A A on on
defining the variable.
2241 Operation COSNT.INC file is This failure occurs when the Please confirm the definition of names. Error reset. A A A A on on

4-36
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
al failure wrong. mistake is found in the method of
defining the name.
Operation Module file is wrong. This failure occurs when the Please confirm the method of the function. Error reset.
2242 al failure mistake is found in the method of A A A A on on
recording the function.
Operation The variable Data file is This failure occurs when it failed in Please set the initial data of variables, after to select Error reset.
2243 al failure wrong. the preservation of the variable program. A A A A on on
data file.
Operation The variable data is an The variable of irregular data Please set the initial data of variable. Error reset.
2244 A A A A on on
al failure irregular value. cannot be used.
Operation The variable cannot be The variable data of other unit Please review the variable. Error reset.
2245 A A A A on on
al failure rewritten. cannot be rewritten.
Operation The variable doesn't The variable that doesn't exist Please review the variable. Error reset.
2246 A A A A on on
al failure exist. cannot be used.
Operation The variable has The existing variable cannot be Please review the variable. Error reset.
2247 A A A A on on
al failure already existed. redefined.
Operation The mistake is found in The function command that cannot Please confirm the method of the function. Error reset.
al failure the method of be used is recorded whether to find
2248 A A A A on on
recording the function. the mistake in the method of
recording the function.
Operation The step data is This error occurs when the value Please set a correct parameter again. This error is
al failure abnormal. which is not permitted as a released if a
parameter of the function correct
2250 instruction is settled while playback program or step A A A A on on
executing, and the robot stops. is settled and
restart
playback.
Operation Incorrect Register or Error occurs when incorrect Enter the correct register or variable number. Error reset.
2251 al failure variable number. Register or variable number is A A A A on on
used in a program.
Operation Failed in reading or This error occurs when the variable Please confirm the number of variables which are read Error reset.
2252 A A A A on on
al failure writing variable. is continuously read or written. or written.
Operation The parameter for the This error occurs when an illegal Please correct the parameter. Although
al failure function command parameter is found in the function re-start
exceeds the normal command while playback operation operation is
2253 range. and the robot stops. possible, A A A A on on
please correct
the teaching
program.
Operation The Dynalog function This error occurs when an illegal Please set a correct function command again. This error is
al failure command exceeds the function command is found while released if a
normal range. playback operation, and the robot correct
2254 stops. program or step A A A A on on
is settled and
restart
playback.
Operation Division by 0. This error occurs when a value is Check the program. Check the
2255 A A A A on on
al failure divided by 0 in robot language file. program.
Operation Playback unavailable Error occurs when input playback Please start after the compilation processing ends. No reset
2256 al failure because compilation command while it is executing the operations A A A A on on
process is executing. compilation process. necessary.
Operation Outside wrist posture The wrist operated by posture Please operate the robot so that the wrist posture may Error reset.
2258 al failure limit range beyond the limits of the posture operate within the range of the limit. A A A A on on
limit setting.
Operation It is the tool which does Step of the tool where 0 is set to When step of the tool which does not use wrist posture Error reset.
al failure not appoint limit angle limit angle the when regulation limit is played back, please set wrist posture limit to
2259 A A A A on on
effective of wrist posture limit was invalidity.
played back.
Operation The program can not This error occurs when the number The number of program reservation should cope with it Error reset.
2268 al failure reserve any more. of program reservations exceeds by the sequence etc. not to accumulate too much. A A A A on on
ten.
Control Conveyer running Error occurs when a Conveyer Turn off the conveyer running input signal OFF. Error reset.
2272 failure signal is ON. running signal is inputted when E E E E on on
conveyer simulation or test mode.
Spot weld Analog input override Error occurs when analog input Check the program, and delete function. Error reset.
failure and digital input override (FN169) and digital input
2277 A A A A on on
override can not be override (FN277) are played at the
used at same time. same time.
Spot weld No signal input while The specified interruption signal Please confirm the state of the sensor, the connection Error reset.
2300 failure executing FN227 was not input while executing with the controller and the number of the signal. A A A A on on
FN227.
Operation There is no referring to This error occurs when the Please start after recording a move command before or This error will
al failure point for the circle program on which the move after the circle middle point (C1). be canceled if a
2301 middle point (C1). command is not recorded before or program is A A A A on on
after the circle middle point (C1) is corrected and
started. restarted.
Operation There is no referring to This error occurs when the Please start after recording a move command before This error will
al failure point for the circle end program on which the move the circle end point (C2). be canceled if a
2302 point (C2). command is not recorded before program is A A A A on on
the circle middle end (C2) is corrected and
started. restarted.
Operation Step is too big. Error occurs when number of bytes Modify or delete the step. Error reset.
2303 A A A A on on
al failure of a step is too big.
Shift Playback mode of This error occurs when Search Select <1 cycle> mode. No reset
2356 failure Search write function is write function is attempted when operations A A A A on on
not corrected. not in <1 cycle> mode. necessary.
Shift Search range This error occurs when the robot Modify (enlarge) the search range or program to rectify No reset
2357 failure exceeded. moves beyond search range error. operations A A A A on on
necessary.
Shift Search base step This error occurs if a Search is The Search base step position(s) will be automatically No reset
2358 failure position is not defined. attempted without the existence of written into the functions. operations A A A A on on
the Search base step position. necessary.
Shift Search Start not This error occurs when a Search Alter program to give correct Search start/end No reset
2359 failure followed by Search start does not follow a Search End sequence. operations A A A A on on
End. function. necessary.
Operation The setting of a case This failure occurs when a case Please check a case jump and correspondence of a This failure is
al failure jump function is jump and a case jump end do not case jump end. released if a
2360 I I I I on on
unsuitable. correspond while playback correct
executing and the robot will stop. program is

4-37
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
settled and
restart
playback.
Operation It was going to jump This failure occurs when the Please set a correct parameter again. This failure is
al failure beyond the case jump condition value of a case jump is released if a
range. too large and there is no jump step correct
2361 in the program while playback program is I I I I on on
executing, this abnormality is settled and
detected, and the robot will stop. restart
playback.
PLC Scan of Built-in PLC Although Built-in PLC status is Built-in PLC status is set as <RUN> by constant mode, Unusual reset
failure has stopped. except <Disabled>, when scan of and scan is started. is carried out
Built-in PLC has stopped, it after changing
2367 A A A A on on
becomes this error at the time of Built-in PLC
robot operation. into a starting
state.
PLC Connection with Built-in It becomes this error when Please check the environment of Built-in PLC of Unusual reset
failure PLC cannot be connection with Built-in PLC operation. is carried out
performed. cannot be performed. after changing
2368 A A A A on on
Built-in PLC
into a starting
state.
PLC Built-in PLC cannot be It becomes this error when Built-in Please check the environment of Built-in PLC of Unusual reset
failure started. PLC cannot be started. operation. is carried out
after changing
2369 A A A A on on
Built-in PLC
into a starting
state.
PLC Built-in PLC cannot be It becomes this error when Built-in Please check the environment of Built-in PLC of Unusual reset
failure stopped. PLC cannot be stopped. operation. is carried out
after changing
2370 A A A A on on
Built-in PLC
into a starting
state.
PLC There is no resource It will become this error if a starting Download a PLC ladder program. After download,
failure performed by Built-in demand is performed in the state it changes into
PLC. where there is no resource a starting state
2371 A A A A on on
performed by Built-in PLC. and unusual
reset is carried
out.
PLC PLC-Engine has not It becomes this error when it is not Please check the environment of Built-in PLC of Again, a
failure been started. able to start by the starting demand operation. starting setup is
of PLC-Engine. carried out, it
changes into a
2372 A A A A on on
starting state,
and unusual
reset is carried
out.
PLC The error was detected It becomes this error when an error Please carry out program check by [3 PLC program Error reset.
failure by Program check at is detected by Program check at check] of [14 PLC program Edit] of Service.
2373 A A A A on on
the time of PLC-Engine the time of PLC-Engine starting.
starting.
Operation The function data is This error occurs when the function Please set the function again. This error is
al failure abnormal. instruction which is not permitted is released if a
settled while playback executing, correct
2383 and the robot stops. program or step A A A A on on
is settled and
restart
playback.
Shift 3 of the step points for Error occurs when 3 step points are Designate step positions not in the same line for the Designate step
failure On-transfer are in line. situated along the same line for the On-line transfer function. positions not in
On-line Transfer (M53,M54). the same line
2387 A A A A on on
for the On-line
transfer
function.
Operation There is no user Error occurs when there is no data Create a user function definition file. A power supply
al failure function definition data. which defined the specified user is re-switched
function. on after
2390 A A A A on on
creating a user
function
definition file.
Operation There is no user Error occurs when there is no data Create a user function definition file. A power supply
al failure function definition data. which defined the specified user is re-switched
function. on after
2391 A A A A on on
creating a user
function
definition file.
Emergenc Emergency stop signal This Error occurs when First, release all emergency stop switches, and perform First, release all
y stop input line failure. disagreement has happened operation again. If the error recurs, check whether the emergency
failure between dual emergency stop emergency stop SW line is correctly wired. stop switches,
signal input lines. (1) Cable failure and perform
(contact failure, broken wire) operation
(2)Emergency stop switch troubles. again. If
2400 E E E E on on
impossible,
remove the
cause of the
error, and turn
on the power
again.
Emergenc Safety signal input line This Error occurs when First, release safety plugs, and perform operation First, release
y stop failure(Safety plug) disagreement has happened again. If the error recurs, check whether the safety safety plugs,
failure between dual safety signal input plug line is correctly wired. and perform
lines. (1) Cable failure(contact operation
failure, broken wire) (2)Safety plug again. If
2401 troubles. impossible, E E E E on on
remove the
cause of the
error, and turn
on the power
again.

4-38
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
Emergenc Safety signal input line This error occurs when First, release enable switches, and perform the First, release
y stop failure(Enable / Mat disagreement has happened operation again. If the error recurs, check whether the enable
failure SW) between dual safety signal input enable switch line is correctly wired. switches, and
lines. (1) Cable failure(contact perform the
failure, broken wire) (2)Enable / operation
Mat SW troubles. again. If it is
2402 E E E E on on
impossible,
remove the
cause of the
error, and turn
ON the power
again.
Operation User failure is not The error file was not found. Please define Failure by [Service] - [25 Robot Error reset.
2410 E E E E on on
al failure defined. Diagnosis] - [6 User Error].
Request It became a check time check Please do the check completion processing after it The check
maintena limit. checks. completion
2411 I I E E on on
nce processing is
done.
Request Information by number The number of remainder failure The failure log file is backing up preserved if Error reset.
maintena of failure log log reached a set value. necessary. Afterwards, "Failure log clear" is executed
2412 nce by the failure logging monitor. Or, information on the I I E E on on
number of failure log is set to "Not Occur" by the error
logger item.
Request Information by number The number of remainder another The failure log file is backing up preserved if Error reset.
maintena of another preservation preservation failure log reached a necessary. Afterwards, "Failure log clear" is executed
2413 nce failure log set value. by the failure logging monitor. Or, information on the I I E E on on
number of another preservation failure log is set to "Not
Occur" by the error logger item.
Spot weld The specified welder The servo gun connected with the Modify the program. Error reset.
2435 failure cannot be used with specified welder is not defined as a A A A A on on
this unit. mechanism of this unit.
Spot weld The servo gun is not The welder with which the servo Modify the program. Error reset.
failure connected with the gun was not connected when the
2436 A A A A on on
specified welder. servo gun function was used was
specified.
Spot weld Abnormal panel Dramatic difference of panel Check the weld condition data and real work piece This error is
failure thickness detected. thickness exists between recorded thickness. released if
2437 A A A A on on
value in weld condition and restart
detected value. playback.
FieldBus RIO detected the An abnormal communication was Please check the connection and the RIO scanner of Error reset.
2497 A A A A on on
failure communications error. generated by the RIO link. the communication cable.
FieldBus The RIO interface is There is no answer from the RIO Please exchange the RIO interface. Error reset.
2498 A A A A on on
failure abnormal. interface.
Operation Step number not This error occurs when a command Please designate a step number and retry. This error is
al failure designated. only valid after designating a step released if a
number is attempted without step correct
2518 designation. program or step A A A A on on
is settled and
restart
playback.
Operation File read or write fault. This failure occurs when the media Please try once again, after delete the file. No reset
al failure format does not match the format operations
2527 I I I I on on
selected in the controller or the file necessary.
has been corrupted.
Operation The memory medium is When memory media, such as a By Service / File Manager / Format memory It will be
al failure not discriminable. FIROPPI disk and a memory card, card/Floppy disk, please use it after initializing a canceled if
2528 I I I I on on
are not initialized, this error occurs. memory medium. some keys are
pushed.
Operation Bad program file. Error occurs when data header of Delete the program file. Error reset.
2530 A A A A on on
al failure program file is crashed.
Spot weld File operation of FTP FTP client menu is closed, when The file under writing might be damaged. Please No reset
failure client is canceled. upload or download executed. confirm the file that is uploaded or downloaded. Please operations
2535 A A A A on on
delete and execute download or upload again when the necessary.
file has been damaged.
Spot weld Welder fault. Error occurs when a Welder fault Check the welder unit. This error is
failure input signal is received by the released if
2536 A A A A on on
controller after the completion of a restart
welding sequence. playback.
Spot weld Welding time exceeded Error occurs if a Weld competed Check the welder is operating normally. This error is
failure limit. signal is not input before the released if
2537 A A A A on on
designated time period. restart
playback.
Spot weld The gun not open. Error occurs if the Gun closed Check the GUN or welding unit. This error is
failure signal is received after the welding released if
2538 A A A A on on
sequence ends. restart
playback.
Spot weld The gun is not half Error occurs if the Gun half-open Check the GUN or welding unit. This error is
failure open. signal is not received after Open released if
2539 A A A A on on
gun half signal is output by the restart
controller. playback.
Spot weld The gun is not fully Error occurs if the Gun full-open Check the GUN or welding unit. This error is
failure open. signal is not received after Open released if
2540 A A A A on on
gun fully signal is output by the restart
controller. playback.
Spot weld Stuck Weld GUN Error occurs if the System fault Error occurs if the Weld stuck signal is received when This error is
failure detected. signal is detected after completion the welding sequence ends. released if
2541 A A A A on on
of a welding sequence. restart
playback.
Spot weld Coolant fault #1. Error occurs if the Water flow Check the GUN or welding unit. This error is
failure switch #1 signal is detected after released if
2542 A A A A on on
completion of a welding sequence. restart
playback.
Spot weld Coolant fault #2. Error occurs if the Water flow Check the GUN or welding unit. This error is
failure switch #2 signal is detected after released if
2543 A A A A on on
completion of a welding sequence. restart
playback.
Spot weld Air pressure fault. Error occurs if the Air pressure Check the GUN or welding unit. This error is
2544 failure switch signal is detected after released if A A A A on on
completion of a welding sequence. restart

4-39
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
playback.
Spot weld Transformer Error occurs if the Thermo. temp. Check the GUN or welding unit. This error is
failure temperature fault. fault signal is detected after released if
2545 A A A A on on
completion of a welding sequence. restart
playback.
Spot weld Peripheral system fault. Error occurs if the System fault Check the GUN or welding unit. This error is
failure signal is detected after completion released if
2546 A A A A on on
of a welding sequence. restart
playback.
Spot weld Both of half-open and Error occurs if both the Gun Check the GUN or welding unit to determine the cause This error is
failure full-open signals are half-open signal and Gun full-open of the two simultaneous signals. released if
2552 given. signal are received simultaneously restart A A A A on on
after Open gun half signal is output playback.
by the controller.
Spot weld Servo-gun is not Error occurs when the servo gun is Please confirm to the sequence of weld-timer. This error is
failure executed to obey the not achieved to command released if
2555 A A A A on on
welder sequence. pressure. restart
playback.
Vision Vision sensor Internal error in the vision sensor Please check hardware of vision sensor. After removal of
sensor communication data system was detected. failure, please
failure error. turn on power
2570 A A A A on on
supply of the
controller
again.
Vision Vision sensor Too many commands to vision Please modify timing of function execution. After removal of
sensor command/reply buffer sensor or replies from vision failure, please
2571 A A A A on on
failure overflow. sensor at the same time. carry out
"failure-reset".
Vision Vision sensor Vision sensor could not recognize Please check the measure object is within measure After removal of
sensor recognition error. the measure object. area. If the object is within measure area, please failure, please
failure modify measure condition parameters or adjust lighting turn on power
2572 A A A A on on
environment. supply of the
controller
again.
Vision Vision sensor shift The measure object isn't within Please check the measure object is within shift area. If After removal of
sensor error. shift area or vision sensor could not the object is within shift area, please modify measure failure, please
failure recognize the measure object. condition parameters or adjust lighting environment. turn on power
2573 A A A A on on
supply of the
controller
again.
Vision Error about frame Frame grabber is out of order. Please replace the frame grabber board. After removal of
sensor grabber. failure, please
failure turn on power
2574 A A A A on on
supply of the
controller
again.
Vision Image acquire error. Acquiring image timeout detected. Please check camera setting. If this is right, replace the After removal of
sensor Or Camera cable is cut / camera is camera cable / camera. failure, please
failure out of order. turn on power
2575 A A A A on on
supply of the
controller
again.
Vision Vision sensor socket Fail to create the socket which Please check setting of connection to vision sensor After removal of
sensor error. connects to vision sensor unit. unit. failure, please
failure turn on power
2576 A A A A on on
supply of the
controller
again.
Vision Vision sensor type Vision sensor function recorded by Please remove the vision sensor function and record After removal of
sensor error. another vision sensor type is done. again. failure, please
failure turn on power
2577 A A A A on on
supply of the
controller
again.
Vision Measure of Vision Vision measure wait function was Please measure again, or record Vision measure wait After removal of
sensor sensor is not complete. done without measuring, or Vision function before Vision shift function. failure, please
failure shift function was done before turn on power
2578 A A A A on on
measure completed. supply of the
controller
again.
Vision The measurement time The measurement processing time Please modify the method of measuring the vision After removal of
sensor is over. too much or the trigger signal line sensor, and check the trigger signal line. failure, please
failure has been disconnected. turn on power
2579 A A A A on on
supply of the
controller
again.
Vision Vision sensor Error was detected in the data Please confirm whether there is loosening of After removal of
sensor communication data format which had been sent from connector. failure, please
failure error. the vision sensor. turn on power
2582 A A A A on on
supply of the
controller
again.
Vision Vision sensor returns It takes time to process the vision Please modify setting of the vision sensor. After removal of
sensor no answer. sensor too much. failure, please
failure turn on power
2583 A A A A on on
supply of the
controller
again.
Vision Vision sensor error. Error was detected in the vision Please refer to the manual of the vision sensor. After removal of
sensor sensor. failure, please
failure turn on power
2584 A A A A on on
supply of the
controller
again.
Vision Vision sensor function The function execution by the Please cancel the vision mode, and do the check Error reset.
2585 sensor can not be carried out. check go/back is not permitted in go/back. A A A A on on
failure the vision mode.
Vision A synchronous gap The vision sensor was not able to Please slow down the conveyer speed. Error reset.
2586 sensor was occurred by a complete processing while the A A A A on on
failure vision correction conveyer moved at trigger

4-40
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
conveyer synchronous intervals.
function.
Spot weld Playback unavailable The visual teaching correction Please set the visual teaching correction function to Error reset.
failure because visual function is set as enable. disable.
2587 A A A A on on
teaching correction is
valid.
Vision The measurement The distance between the Please measure these points again. Error reset.
sensor point exceeded the measurement points is abnormal or
2588 I I I I on on
failure distance limit. the shape of the measurement
point is abnormal.
Vision A multiple The measurement had been Please modify the measurement execution timing. Error reset.
2589 sensor measurement executed again before the A A A A on on
failure happened. measurement was completed.
Vision Shift range over. The measurement result is out of Please check the position of the work. Error reset.
2590 sensor shift range. I I I I on on
failure
Vision Vision sensor error. Error was detected in the vision Please refer to the manual of the vision sensor. After removal of
sensor sensor. failure, please
2591 I I I I on on
failure carry out
"failure-reset".
Operation Multiple shift failure. A shift, an online transformation, Modify program to rectify error. Error reset.
al failure and the base coordinate shift with
2592 A A A A on on
the vision sensor were executed in
the multiple.
Vision The measurement time The measurement processing time Please modify the method of measuring the vision Error reset.
2593 sensor is over. too much or the trigger signal line sensor, and check the trigger signal line. I I I I off off
failure has been disconnected.
Spot weld Seam welding function Carrying out this function is not Please modify program or constant data. Error reset.
2594 failure can not be carried out. permitted during seam welding. Or A A A A on on
errors are in constant data.
Spot weld It was going to execute The function about other units, Please modify program. Error reset.
failure the function which is such as CALLFAR, is not permitted
2595 A A A A on on
not permitted during during seam welding.
seam welding.
Vision No base position data There is no base position before Please register base position. Error reset.
2596 sensor set. doing the shift function. I I I I on on
failure
Vision Measure point data is This failure occurs when the (1)Please measure these points again. (2)Please Error reset.
sensor abnormal. measurement point data is confirm base positional data.
failure insufficient or the measurement
2597 I I I I on on
position contradicts the data of a
base position when the shift
amount is calculated.
Vision The measurement type When the measurement type was a (1)Please confirm the measurement type. (2)Please Error reset.
2598 sensor is abnormal. setting of 2D, it tried to execute use the 'SHIFTR' function at 2D measurement. A A A A on on
failure 'VLOCCVT' function.
Shift Shift register contains Error occurs when data aren't Setting data in shift register. Error reset.
2599 failure no data. established in specified shift I I I I on on
register.
Operation Servo gun auto-setting It is not possible to compute the (1)Please make the servo gun position more wildly No reset
2601 al failure gets abnormal data. servo gun inertia using current between pose 1 and pose 2. (2)Please confirm the operations A A A A on on
gathered by parameter auto-setting servo parameters of target servo gun mechanism. necessary.
Operation User coordinate does Failure occurs when use of User Define User coordinate system(s) in [Service][10 User No reset
al failure not exist. coordinate is attempted without the Coord. Definition]before attempting to use it. operations
2605 A A A A on on
coordinate system being necessary.
pre-defined.
Operation User coordinate is This error is detected when the Define User coordinate system(s) in [Service][10 User No reset
al failure indefinite. base of specified user coordinates Coord. Definition]before attempting to use it. operations
2606 is not in agreement with the necessary. A A A A on on
operation standard mechanism of
the current unit.
Operation The user coordinate Failure occurs although step is Please select stationary tool defined by the world No reset
al failure number which cannot Stationary tool interpolation, the coordinate using FN67. operations
be used as the operation standard mechanism is necessary.
2607 A A A A on on
Stationary tool chosen as the base of Stationary
coordinate was tool coordinate.
chosen.
Operation The user coordinate This function is not permitted for Please define user coordinate defined by the world No reset
2608 al failure number which cannot using user coordinate on TCF coordinate. operations A A A A on on
be used was chosen. coordinate system. necessary.
Operation The coordinate which Work coordinate or user coordinate Please change coordinate. No reset
al failure cannot be used was on TCF coordinate was used for operations
2609 A A A A on on
chosen. the manipulator set as the necessary.
operation standard mechanism.
Operation Pause substitution Without executing move command, Please teach move command after LETCOORDP No reset
2610 al failure overlaps. pause substitution to the same function and execute. operations A A A A on on
mechanism was performed. necessary.
Operation Modifying user Modifying user coordinate failed for Please correct instruction points. No reset
al failure coordinate failed. one reason of the followings. operations
(1)[OZX order] is chosen though it necessary.
is instruction of two or less points.
2611 (2)The points are less than three A A A A on on
points. (3)Three points are on the
same line. (4)Position data is not
encoder. (5)User coordinates
register file does not exist.
PLC SHARP I/F: JW32CV When the data exchange with the Please confirm setting of JW32CV module. Error reset.
2620 failure module cannot be module cannot be processed, this A A A A on on
recognized. error is detected.
PLC SHARP I/F: Memory Error occurs when Memory failure Refer to the Self-check section of the JW32CV Manual. Error reset.
2621 failure error detected. in the JW32CV module self-check A A A A on on
is detected.
PLC SHARP I/F: CPU error Error occurs when CPU failure in Refer to the Self-check section of the JW32CV Manual. Error reset.
2622 failure detected. the JW32CV module self-check is A A A A on on
detected.
PLC SHARP I/F: I/O error Error occurs when I/O failure in the Refer to the Self-check section of the JW32CV Manual. Error reset.
2623 failure detected. JW32CV module self-check is A A A A on on
detected.
2624 PLC SHARP I/F: Special I/O Error occurs when Special I/O Refer to the Self-check section of the JW32CV Manual. Error reset. A A A A on on

4-41
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure error detected. failure in the JW32CV module
self-check is detected.
PLC SHARP I/F: Option Error occurs when Option failure in Refer to the Self-check section of the JW32CV Manual. Error reset.
2625 failure error detected. the JW32CV module self-check is A A A A on on
detected.
PLC SHARP I/F: Power Error occurs when Power failure in Refer to the Self-check section of the JW32CV Manual. Error reset.
2626 failure error detected. the JW32CV module self-check is A A A A on on
detected.
PLC SHARP I/F: Extend Error occurs when Extend Power Refer to the Self-check section of the JW32CV Manual. Error reset.
2627 failure Power error detected. failure in the JW32CV module A A A A on on
self-check is detected.
PLC SHARP I/F: Sequence A sequence program of JW32CV Please start a sequence program of JW32CV module. Error reset.
2628 A A A A on on
failure program is stopping. module is stopping.
PLC Toyopuc I/F is Toyopuc I/F is not found. Please confirm whether Toyopuc I/F is installed. Please turn on
failure uninstallation. the power
2651 supply again E E E E on on
after Toyopuc
I/F installs.
PLC Toyopuc I/F:I/O There is no response from Please confirm Toyopuc I/F. Automatically
failure refreshing has stopped. Toyopuc I/F. restores,
2652 when the E E E E on on
problem is
solved.
PLC Toyopuc Toyopuc I/F detected the dual port Please refer to the manual of Toyopuc I/F. Automatically
failure I/F:Abnormality is memory malfunction. restores, when
2653 E E E E on on
found in the dual port the problem is
memory. solved.
PLC Error occurred by Toyopuc I/F detected the error. Please refer to the manual of toyopuc I/F. Automatically
failure toyopuc I/F. restores,
2654 when the E E E E on on
problem is
solved.
PLC The communication The communication with Toyopuc The bad electrical contact of Toyopuc I/F or bad Please reenter
failure with Toyopuc I/F got I/F did the time-out. functionality of UM237 is thought. the power
2655 the suspension. supply after E E E E on on
removing a
wrong cause.
Spot weld Current of tip dresser This error occurs when the servo (1)Please confirm the tip dress condition.(2)Please After removal of
failure abnormal. dresser is exceeded beyond confirm the cable between the controller and the servo failure, please
current range. tip dresser.(3)Please replace the motor.(4)Please turn on power
2656 A A A A on on
replace the drive unit. supply of the
controller
again.
Spot weld Tip dresser abnormal. This error occurs when normal Please check the normal input signal from the tip This error is
failure input signal from tip dresser is lost dresser. released if
2657 A A A A on on
during tip dress function. restart
playback.
Operation The user window has The user window has not been The user window has not been opened. This error will
al failure not been opened. opened. be canceled if a
2658 program is I I I I on on
corrected and
restarted.
Operation Other user tasks use Other user tasks use the user Other user tasks use the user window. This error will
al failure the user window. window. be canceled if a
2659 program is I I I I on on
corrected and
restarted.
Spot weld Length of tip dressed This error occurs when the dress (1)Please confirm the tip dress condition.(2)Please After removal of
failure abnormal. length of tip is exceeded beyond confirm the tip consumption. failure, please
dress length range. turn on power
2660 A A A A on on
supply of the
controller
again.
Spot weld Tip dress cannot be Servo gun tip cannot be dressing (1)If tip dress control "servo" then set the tip dress After removal of
failure executed that is servo during of search write. search write "Enabled", else set the servo gun search failure, please
gun search write is write "Disabled". turn on power
2661 A A A A on on
enabled. supply of the
controller
again.
PLC 2port ram is abnormal. Abnormality of 2port ram occurred. Please confirm the contact failure of Toyopuc I/F, Please reenter
failure confirm the stop of PC, and confirm reset of PC. the power
2662 supply after E E E E on on
removing a
wrong cause.
PLC The interface is Failed in the data reading from PC. Please confirm the contact failure of Toyopuc I/F, Please reenter
failure abnormal with PC. confirm the stop of PC, and confirm reset of PC. the power
2663 supply after E E E E on on
removing a
wrong cause.
Shift X Bending shift volume For glass handling, X bending shift Modify XY bending table to correct value. Error reset.
2669 failure is bigger than the error is calculated too big. E E E E on on
limit.
Shift Y Bending shift volume For glass handling, Y bending shift Modify XY bending table to correct value. Error reset.
2670 failure is bigger than the error is calculated too big. E E E E on on
limit.
Control Conveyer Error occurs if a command or Turn Conveyer synchronization ON Error reset.
2671 failure synchronization not ON function is attempted requiring A A A A on on
Conveyer synchronization ON.
Shift Usage of MAPPING MAPPING function is re-executed Modify program to rectify error. Error reset.
2672 A A A A on on
failure function is wrong. while MAPPING execution.
Shift Usage of ALIGNMENT ALIGNMENT function is Modify program to rectify error. Error reset.
2673 failure function is wrong. re-executed while ALIGNMENT A A A A on on
execution.
Shift Sensors don't turn There was no input of alignment Confirm that the work passes on the alignment Error reset.
2674 failure on.(ALIGMNENT) sensors while ALIGNMENT sensors. Adjust sensor sensitivity. Confirm connection A A A A on on
searching. from sensors.
Shift Bending shift volume is For glass handling, bending shift is Modify bending table to correct value. Error reset.
2675 failure bigger than the error calculated too big. E E E E on on
limit.

4-42
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
Shift No support function for This error occurs if no support No support function is not used. No reset
2676 failure SJ type manipulator. function for SJ is executed. operations A A A A on on
necessary.
Spot weld Major Welder Error occurs when the welder Remove the cause of the error. Error reset.
2677 A A A A on on
failure error(Fault). board generate the error(Fault).
Spot weld Welding command is Error occurs when the welder Remove the cause of weld error. Error reset.
2678 failure not execute. board abort welding command A A A A on on
sequence.
Shift Torsion shift volume is For glass handling, torsion shift is Modify twist table to correct value. Error reset.
2679 failure bigger than the error calculated too big. E E E E on on
limit.
Operation The position of X1 The position of X1 of the robot Please correct the position of X1 by use of Adjust Error reset.
al failure exceeded the amount exceeds the amount of the Position key.
2680 A A A A on on
of the compulsion compulsion return.
return.
Operation The position of X1 The value of X1 in the set step Please set X1 below the record position tolerable Error reset.
al failure exceeded the record exceeds the record position quantity.
2681 A A A A on on
position tolerable tolerable quantity.
quantity.
Shift Sensors don't turn There was no input of alignment Confirm connection from sensors. Error reset.
2682 A A A A on on
failure on.(MAPPING) sensors while MAPPING.
Shift Glass Handling : The For glass handling, the J1 angle of 1) On [Constant Setting]-[Machine Error reset.
failure SJ type manipulator's the earth does not equal to the J2 Parameters]-[Encoder Correct], the J1 angle of the
2683 1st and 2nd arms are angle of the earth. earth equals to the J2 angle of the earth. 2) After the E E E E on on
unbalanced. memory format of the controller, this error occurs. The
encoder correct is exactly executed.
Shift Glass Handling : For glass handling, dynamic Please take a second look accelerating twisted revision Error reset.
failure Dynamic twisted twisted correction value exceeded parameter.
2684 correction value error inspection level. A E A E on on
over.(Accelerating
revision)
Shift Glass Handling : For glass handling, dynamic Please take a second look teach point twisted revision Error reset.
failure Dynamic twisted twisted correction value exceeded parameter.
2685 correction value error inspection level. A E A E on on
over.(Teach point
revision)
Shift Glass Handling : For glass handling, dynamic Please take a second look position twisted revision Error reset.
failure Dynamic twisted twisted correction value exceeded parameter.
2686 A E A E on on
correction value error inspection level.
over.(Position)
Spot weld Major Welder error. Error occurs when the welder Remove the cause of weld error. Error reset.
2687 A A A A on on
failure board generate the weld error.
Spot weld Welding command is Error occurs when the welder Remove the cause of weld error. Error reset.
2688 failure not execute. board abort welding command A A A A on on
sequence.
Operation Data level too low for In the automatic tool center of (1)Teach points that enough unbalanced torque is No reset
al failure Auto tool load center gravity set function, it is not exerted on J3,J5 and J6 axis. (2)Make the wrist posture operations
2698 A A A A on on
setting. possible to calculate by the vary greatly between step 1 and step 2 positions. necessary.
gathered current value.
Operation The measurement This failure occurs when gathered (1)Please correct the teaching so that move range is No reset
al failure result of the automatic speed or current data are wide as much as possible. (2)Please correct the operations
2699 A A A A on on
setting of tool moment abnormal. teaching so that the move axis is not influenced by necessary.
of inertia is abnormal. gravity.
Spot weld Servo gun pressure is Error occurs when the set gun Error occurs when the set gun pressure is not achieved This error is
failure not achieved. pressure is not achieved within the within the time period set in [Constant][General released if
2701 time period set in characteristic of Servo Gun]. restart A A A A on on
[Constant][General characteristic playback.
of Servo Gun].
Spot weld GUN SEARCH not Error occurs when a GUN search Please modify the execution timing of the tip Error reset.
failure complete. function is abnormally interrupted consumption detection.
2703 by a Spot welding function. Or, the A A A A on on
order of executing the tip
consumption detection is wrong.
Spot weld WI signal does not Error occurs when a WI signal, Check the welder is operating normally. This error is
failure become off. from the last weld sequence, released if
2710 remains on more than 5s after a restart A A A A on on
GUN or WELD signal is output by playback.
the controller.
Spot weld Weld control is not Error occurs when the weld control Install the latest software version. Error reset.
2757 failure supported by MEDLAN software is too old. A A A A on on
command.
Spot weld Different spot welding Error occurs when a gun different Correct the program, otherwise attach the correct gun Error reset.
2763 failure gun mounted. from the gun specified in a Spot before using Spot welding function. A A A A on on
welding function is detected.
Spot weld Servo Gun Move-tip Servo Gun Move-tip consumption Replace the worn Move-tip and detect tip consumption Error reset.
2781 failure consumption exceeded exceeded the maximum limit. again. A A A A on on
maximum limit.
Spot weld Servo Gun Settle-tip Servo Gun Settle-tip consumption Replace the worn Settle-tip and detect tip consumption Error reset.
2782 failure consumption exceeded exceeded the maximum limit. again. A A A A on on
maximum limit.
Spot weld The difference of tip When the synchronous welding Please execute synchronous welding again after Error reset.
failure consumption is too was executed, the difference of tip exchanging the tip, and detecting the tip consumption.
2783 large. The synchronous consumption of master gun and A A A A on on
welding was not slave gun exceeded the alarm
executed. detection level.
Spot weld The synchronous (1)Specified cancer is not Please reconsider gun/welder number. Error reset.
failure welding cannot be connected. (2)The same welder is
executed. specified. (3)Specified gun is not in
the unit. (4) Guns with different
installation have been selected.
2784 (5)The servo gun exists together to A A A A on on
the air gun. (6)MEDbus welding I/F
is specified in
SYNCSPOT(FN303). (7)MEDbus
welding I/F is not specified in
SYNCSPOTIWB(FN316).
Spot weld Welding point is far This error occurs when the welding Please check not to collide from other equipment. Error reset.
2785 failure from a recorded point. point is far from a recorded point. Please check settings as below, servo gun contact A A A A on on
detect, tool constant parameters, servo gun tip

4-43
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
consumption, servo gun bend characters.
Spot weld It was going to start It will generate, if it starts while Please start after releasing WI. Error reset.
failure while waiting for WI of waiting for WI of manual or external
2786 A A A A on on
manual or external welding.
welding.
Operation Mechanism is not Error occurs when a mount Attach a mechanism before using a mount mechanism Error reset.
al failure mounted. mechanism function is attempted function.
without a mechanism being
2800 A A A A on on
attached. Or, the sub-mechanism
input signal line has been
disconnected.
Operation Sub-mechanism Because two or more Please input the submechanism input signal correctly, Error reset.
al failure cannot be selected. submechanism input signal has and using a mount mechanism function.
2801 A A A A on on
been turned on, the connected
mechanism cannot be selected.
Operation Mechanism number is The mechanism number that was Please set the mechanism number correctly. Error reset.
al failure wrong. not able to change the mechanism
2802 or was being registered with the A A A A on on
Connection simultaneously mech.
table by the slave was selected. .
Operation Different mechanism Error occurs when a mechanism Please correct the program. Error reset.
2803 al failure mounted. different from the mechanism A A A A on on
specified in a step is detected.
Operation Conflict of mechanism Error occurs when the change Please correct the program. Error reset.
2804 al failure change. function was executed for the A A A A on on
mechanism using other units.
Operation Mechanism number is The mechanism number which was Please set the mechanism number correctly. Error reset.
2805 al failure wrong. not able to change the mechanism A A A A on on
was selected.
Operation The state of the master The connection of the mechanism Please connect the mechanism again after separating Error reset.
al failure mechanism and the registered in “Connection the mechanism once.
2806 slave mechanism is the simultaneously mech. table” of the A A A A on on
disagreements. mechanism change is a
disagreement.
Sealing The temperature of the The temperature of the seal Please check the temperature adjuster. Error reset.
2823 failure material exceeded the material exceeded the set upper A A A A on on
upper bound. bound value.
Sealing The temperature of the The temperature of the seal Please check the temperature adjuster. Error reset.
2824 failure material exceeded the material exceeded the set lower A A A A on on
lower bound. bound value.
Sealing Flow ready fault. Error occurs when the set pressure Please check whether the specified pressure is Error reset.
2825 failure is not achieved within the time appropriate. A A A A on on
period set in constant.
Sealing The material is lack. The seal material in the pump does Please modify the timing of reload. Error reset.
2826 failure not suffice for the specified A A A A on on
amount.
Sealing The sealing The robot stopped while flowing or Please cancel the cause of stopping or modify the Error reset.
2827 failure incomplete. the pump position reached flow timing to flow after the reload operation is done. A A A A on on
limit.
Sealing The sealing operation Other sealing operation is Please modify the timing of operation. Error reset.
2828 A A A A on on
failure cannot be executed. executing.
Sealing The reload operation is Because Motor's on is turn off while Please modify the timing of operation. Error reset.
2829 failure incomplete. reloading, reload operation is not A A A A on on
able to be completed.
Sealing Dispense incomplete. Reached flow limit. Please modify the timing to flow after the reload Error reset.
2830 A A A A on on
failure operation is done.
Sealing The analog input board It is setting which uses the thermo Please modify setting whether to install the analog Error reset.
failure is a uninstallation. sensor and the pressure sensor input board.
2831 A A A A on on
though the analog input board is
not installed.
Sealing The dispense function Specified gun is not defined in the Please modify program. Error reset.
2832 A A A A on on
failure can not be carried out. unit.
Operation The command which is In a controller with the force/torque Please correct not to use the analog input use function No reset
al failure not permitted was sensor, the commands of a force/torque sensor and others with the same operations
executed in the (SPDDOWNA etc.) which use the controller. necessary.
2850 A A A A on on
controller with the analog input's of those other than a
force/Torque sensor. force/torque sensor cannot be
used.
Operation The force/torque Force/torque sensor function is Please modify parameter. Error reset.
2851 al failure sensor function can not disabled. A A A A on on
be carried out.
FLEXhan Clamp position limit It detects when clamping motion (1)Confirm a place of the work piece. (2)Confirm the Error reset.
2852 d failure over. quantity exceeds 'Clamp position recorded position of the clamping start step. A A A A on on
limit' setting.
FLEXhan The air assist It detects when the air assist (1)Confirm whether FLEXhand grips the work Error reset.
d failure mechanism is mechanism is located on the correctly.(2)Confirm whether FLEXhand is dropping the
2853 A A A A on on
abnormal. clamping end during the clamp work.
function is executed.
FLEXhan FLEXhand clamping It detects when clamping motion (1)Confirm FLEXhand clamps the work piece well. if it Error reset.
2854 d failure motion time over. time exceeds the setting 'Wait time doesn't, correct its position or recorded step position. A A A A on on
for clamp action'. (2)Correct setting 'Clamping pressure' higher.
FLEXhan Air assist mechanism It detects when input signal from Confirm whether the air assist mechanism works Error reset.
d failure does not work. the air assist mechanism is not correctly. (2)Confirm whether the signal from the air
2855 A A A A on on
change even if its activation signal assist mechanism is input correctly.
is output.
FLEXhan Clamp function usage It detests when FN362 clamp Confirm and correct the program. Error reset.
2856 d failure is wrong. function is executed again while A A A A on on
FLEXhand is clamping.
FLEXhan Unclamp function It detests when FN363 unclamp Confirm and correct the program. Error reset.
2857 d failure usage is wrong. function is executed while A A A A on on
FLEXhand is not clamping.
FLEXhan Unclamp direction is It detests when FLEXhand tries to (1)Confirm setting of 'Opened finger position'. (2)If the Error reset.
2858 d failure not correct. move to clamping direction when parameter is 0, the setting 'Standard unclamp distance' A A A A on on
unclamp function is executed. in service menu is used. Confirm the setting.
Operation A fetched signal status I-signal status fetched by 'FN528 (1)Control the I-signal status so as not to change until a This failure is
al failure has changed. FETCH' function must not change function referring the signal is executed. (2)Modify released if
2859 E E A A on on
before a function referring the 'FN528 FETCH' recorded step. restart
I-signal is executed. playback.
2860 Operation Effective steps which Executed position step number (1)Modify 'FN528 FETCH' recorded step. (2)Effective This failure is E E A A on on

4-44
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
al failure FETCH result is exceed the setting number of span of fetched signal can be modified at "Constant released if
available was Effective span of a fetched signal Setting:6 Signals:1 Signal Condition". restart
exceeded. before reaching the step which is playback.
checked by the signal set by fetch
function.
Shift The designated The palletize pattern of designated (1)Please designated a defined palletize number. After removal of
failure palletize No. is not number is not defined. (2)Please define palletize pattern of the designated failure, please
2861 A A A A on on
registered. number. carry out
"failure-reset".
Shift The designated Palletize status is registered in (1)Please designated an executed palletize number. After removal of
failure palletize number has palletize register when executing it (2)Please execute palletize of the designated number failure, please
never been executed once, and maintained until even once before doing this operation. carry out
2862 yet. resetting it. This operation cannot "failure-reset". A A A A on on
be done to palletize number
unregistered in the palletize
register.
Shift Designate a palletize This operation is possible only the (1)Please designated a palletize number under After removal of
failure number under palletize number under execution. execution. (2)Please execute palletize of the failure, please
2863 A A A A on on
execution. designated number before doing this operation. carry out
"failure-reset".
Shift This function is not This error occurs if this function is Do not use this function in the unit without manipulator. No reset
2864 failure supported to the unit executed in the unit without operations A A A A on on
without manipulator. manipulator. necessary.
Shift Palletize function can A move step is needed just after Please record move step just after Error reset.
2865 A A A A on on
failure not be carried out. FN388(PALLET3_SELZ) step. FN388(PALLET3_SELZ).
Spot weld Welder fault. Error occurs when the Welder fault Check the welder unit. After removal of
failure signal is detected in a welding failure, please
sequence. turn on power
2866 A A A A on on
supply of the
controller
again.
Spot weld Coolant fault #1. Error occurs when the Water flow Check the GUN or welding unit. After removal of
failure switch #1 signal is detected in a failure, please
welding sequence. turn on power
2867 A A A A on on
supply of the
controller
again.
Spot weld Coolant fault #2. Error occurs when the Water flow Check the GUN or welding unit. After removal of
failure switch #2 signal is detected in a failure, please
welding sequence. turn on power
2868 A A A A on on
supply of the
controller
again.
Spot weld Air pressure fault. Error occurs when the Air pressure Check the GUN or welding unit. After removal of
failure switch signal is detected in a failure, please
welding sequence. turn on power
2869 A A A A on on
supply of the
controller
again.
Spot weld Transformer Error occurs when the Thermo. Check the GUN or welding unit. After removal of
failure temperature fault. temp. fault signal is detected in a failure, please
welding sequence. turn on power
2870 A A A A on on
supply of the
controller
again.
Spot weld Peripheral system fault. Error occurs when the System fault Check the System. After removal of
failure signal is detected in a welding failure, please
sequence. turn on power
2871 A A A A on on
supply of the
controller
again.
Spot weld The move-electrode The move-electrode diameter is Replace the worn move-electrode and detect electrode Error reset.
failure diameter is less than less than the minimum diameter consumption again.
2872 A A A A on on
the minimum diameter. set by the seam welding
parameters.
Spot weld The settle-electrode The settle-electrode diameter is Replace the worn settle-electrode and detect electrode Error reset.
failure diameter is less than less than the minimum diameter consumption again.
2873 A A A A on on
the minimum diameter. set by the seam welding
parameters.
Spot weld The specified welder is The specified welder is not Modify the welder number. Error reset.
2908 failure not effective. effectively set by the spot welding A A A A on on
constant.
Spot weld Spot welding gun is not It was judged that spot welding gun Connect gun mechanically. When gun is connected, Error reset.
failure mechanically was not mechanically connected check the disconnection of the signal line.
2923 A A A A on on
connected because the connection signal was
not input.
Operation Speed type endless Error occurs when speed type Please set the mechanism number again. The error is not
al failure cannot be executed. endless was not able to be released until
2937 A A A A on on
executed. measures are
executed.
Operation The change in an Because the endless control 1. Please confirm the endless control method. 2. Error reset
al failure endless control cannot method is not set to "Change", the Please confirm the mechanism number.
2938 A A A A off off
be executed. specified mechanism cannot be
executed.
Operation The function can not be The function was attempted that is Please execute the function after change control type Error reset
al failure used in velocity control. not allowable while change type of change type endless axis to position control.
2939 A A A A off off
endless axis is controlled by
velocity control.
Operation Signals of multi input Error occurs when a multi input Create the multi input conditions, or replace the Error reset.
2945 al failure are not designated. function was attempted playback function to normal input. I I I I on on
with no condition number.
Shift User coordinate It is necessary to select user Execute [FN113 Change coordinate for shift] before No reset
2946 failure number is not selected. coordinate number before shift shift functions. operations A A A A on on
function at user coordinate. necessary.
FieldBus Settled area of Area of common memory settled After change setting into correct one, perform No reset
2961 failure common memory is by robot controller is already used re-initialization of field bus. operations A A A A on on
overlapped. by other node. necessary.
Operation Stationary tool is not Failure occurs when Stationary tool Please select stationary tool using FN67. No reset
2971 al failure selected. is not selected although step is operations A A A A on on
Stationary tool interpolation. necessary.

4-45
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
Control Playback unavailable This error occurs when a playback (1)Please input the playback command after releasing After removal of
failure because the enable command was input while the the enable switch. (2)Replace the teach pendant. failure, please
2973 A A A A on on
switch is not in the enable switch is being grasped. (3)Replace the sequence board UM352/L21700F00. carry out
release position. "failure-reset".
Operation Pause or External Error occurs when a Start Release Pause or External pause signal(if External Error reset.
al failure pause signal being command is given while the pause pause signal cable is cut the external pause signal is
2974 A A A A on on
given. signal is being held or External considered as being given.
pause signal is being given.
Control It cannot be started Error occurs when a start Please release G-STOP by turning on G-STOP signal Error reset.
2975 A A A A on on
failure under G-STOP. command is given under G-STOP. (TBEX1).
Preventiv System Memory System Memory Protection is Please change System Memory Protection enable. Please change
e Protection disabled disabled. You must not turn off the System
maintena controller. Memory
2976 nce Protection A A A A on on
message enable and
restart the
controller.
Preventiv System Memory System Memory Protection is Please change System Memory Protection enable. Please change
e Protection disabled disabled. You must not turn off the System
maintena controller. Memory
2977 nce Protection I I I I off off
message enable and
restart the
controller.
Preventiv System Memory System Memory Protection is Please change System Memory Protection enable. Please change
e Protection disabled disabled. You may lose the data of System
maintena system memory at power off. Memory
2978 nce Protection E E E E on on
message enable and
restart the
controller.
Operation Duplicate output signal FN35 was going to carried out or Please clear attribute assignment in order not to Error reset.
2999 al failure attribute. set on output signal which attribute is duplicate. A A A A on on
assigned attribute already.
Control Far distance between a Since stopping during high-speed If a limit for error detection is too small, change the Robot can
failure current position and a playback and so on, robot couldn't value in constant setting. Position Recovery is restart from
position at putting normally stop on the trajectory. invalidated setting both recovery limit values to zero. there without
3010 I I I I on on
servo-power off. Since the distance is over the limit reset operation.
for error detection value, robot can't
recovery.
Spot weld Weld tip may be worn. This warning occurs when the Check the Gun tip and reset the counter. No reset
3018 failure Weld counter exceeds the limit operations I I I I on on
value. necessary.
Control Too far distance Since stopping during high-speed If a limit for error detection is too small, change the Error reset.
failure between a current playback and so on, robot couldn't value in constant setting. Robot can't
position and a position normally stop on the trajectory. playback, until
3021 A A A A on on
at putting servo-power Since the distance is over the limit step is set.
off. for error detection value, robot can't
recovery.
Operation Take care of not Since the position for recovery There is no way. No reset
al failure recovering position at couldn't record, never recover the operations
the next servo on. position at the next servo on necessary.
3022 I I I I on on
without related to distance. This
might be occurred at servo off
during recovery position.
Spot weld The external operation The external operation of servo Please execute of external operation while program is No reset
failure of servo gun is not gun was executed while running stopping or servo gun is separating. operations
3037 I I I I on on
permitted while running program. necessary.
program.
Control Please release both of This failure occurs when grasping Please release both of the enable switches. No reset
failure the enable switches. the enable switch after detecting operations
3051 I I I I off off
inconsistency without releasing necessary.
both of them.
Spot weld Cannot startup while When the startup is input during the Please input the startup instruction after text read/write No reset
failure read/write text processing execution by text operation ends. operations
3057 I I I I on on
executing. read/write screen, this error is necessary.
output.
CPU CPU board This error occurs when detecting (1)Check the fans on the rack unit are operating, or Error reset.
3079 board temperature warning. the temperature alarm on the CPU clean up them. (2)Replace the rack-unit fan. I I I I on on
failure board. (3)Replace the CPU board.
Operation Auto backup can't It was not a connection to the FTP Please confirm host name, user ID, password, and No reset
al failure connect to FTP server server that was backing up of an initial folder of ftp client. operations
for auto backup. automatic backup ahead. Or, necessary.
3081 I I I I on on
neither an initial folder nor the
folder of this name existed on the
home directory of the FTP server.
Operation Abnormality occurred The thing backed up automatically Please confirm the state of the storage medium. No reset
al failure while backing up cannot be done. The storage operations
3082 automatically. medium is not prepared, and necessary. I I I I on on
read-only and memory capacity
shortage, etc. are thought.
Operation The memory medium is When it is going to copy a file to a Please prepare the memory medium to which writing is It will be
al failure read-only. write-protected memory cards etc., made and perform a copy from the beginning once canceled if
3083 I I I I on on
this error sets. again. some keys are
pushed.
Operation Media device is full. Failure occurs if there is no Create space in current media device or use another. No reset
al failure memory space left when operations
3084 I I I I on on
attempting to copy to external necessary.
device or internal memory.
Operation The memory media is The detection reason is that the Whether the device such as memory cards specified by It will be
al failure not prepared. specified device was not detected the file operation menu is correctly installed is canceled if
3085 I I I I on on
when the file operation is done. confirmed. some keys are
pushed.
Operation Auto backup can't Because T/P was not connected, it Please connect T/P. No reset
al failure connect to the T/P was not able to access the T/P operations
3086 I I I I on on
external memory for external memory. necessary.
auto backup.
Operation It failed in the The attestation to TP external Please check connection of TP external memory. No reset
3087 al failure attestation with TP. memory went wrong. operations I I I I on on
necessary.

4-46
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
Operation It cannot process in the It was going to copy to the same Please change a file name or a device and redo copy It will be
al failure same device. device by the same file name. operation again. canceled if
3089 I I I I on on
some keys are
pushed.
Spot weld Cannot startup while When the startup is input during the Please input the startup instruction after text read/write No reset
failure read/write text processing execution by text operation ends. operations
3097 I I I I off off
executing. read/write screen, this error is necessary.
output.
Control In OFF-mode, motors Both of play and teach signal are Please confirm play and teach signals are connected No reset
3103 failure are not able to be ON. OFF. exactly. operations I I I I off off
necessary.
Operation Number of axes Failure occurs when the number of Check the program file type is compatible with the No reset
al failure miss-matched. axes used in a program is not constants currently in use. operations
3110 I A I A on on
compatible with the unit constant necessary.
files.
PLC The alarm was Toyopuc I/F detected the alarm. Please refer to the manual of Toyopuc I/F. Automatically
failure generated by Toyopuc restores, when
3111 A A A A on on
I/F. the problem is
solved.
PLC SHARP I/F: Battery Warning occurs when the battery Replace the battery for the memory backup. No reset
3112 failure error occurred. for the memory backup is nothing operations. I I I I on on
or discharged.
PLC SHARP I/F: It exists It exists together to fieldbus Disable fieldbus functions, and reenter the power Error reset.
3113 failure together to fieldbus functions. supply. I I I I on on
functions.
Operation Data given is incorrect. Data keyed-in is out of range or not Input suitable data. No reset
3134 al failure defined. operations I I I I on on
necessary.
Spot weld Servo Gun Dramatic tip Warning is given when the set Check the lack of gun tip. No reset
failure consumption change warning limit for gun tip operations
3137 detected. consumption is exceeded. Tip necessary. I I I I on on
consumption warning signal is
outputted.
Spot weld Welder version is Welder version is unmatched. Initialize welder data. No reset
3138 failure unmatched. operations I I I I on on
necessary.
Spot weld Welder backup file is Welder backup file is not found. Initialize welder data. No reset
3141 failure not found. operations I I I I on on
necessary.
Spot weld Welder error occurred. Welder detects ALERT or FAULT. Refer to the Welder Manual. Error reset.
3142 I I I I on on
failure
Preventiv It seems to reach at the The decelerator of the displayed (1)Please execute the grease exchange. (2)Please After
e grease exchange time. axis reached at the grease refer to the robot maintenance manual for the exchanging
maintena exchange time. exchange method and the exchange part. grease, Please
nce reset at the
3146 message [Service] I I I I on on
[Robot
Diagnosis][Gre
ase Exchange
Cycle] menu.
Preventiv It seems to reach at the The decelerator, the bearing or (1)Please execute the grease replenishment. (2)Please After
e grease replenishment balancer of the displayed axis refer to the robot maintenance manual for the replenishing
maintena time. reached at the grease replenishment method and the replenishment part. grease, Please
nce replenishment time. reset at the
3147 I I I I on on
message [Service][Robot
Diagnosis][Gre
ase Exchange
Cycle] menu.
Preventiv There is an axis which The presumption generation torque (1)Change to ratings or less when the robot load Error reset.
e exceeds the allowance exceeded a permissible value by condition is investigated, and weight and the wrist
maintena and maximum torque. displayed program step and axis. torque exceed it to ratings.(Gravity setting is used)
nce (2)There is a possibility to exceed the acceleration
3148 I I I I on on
message which can be used. (Check the step before and after)
(3)There is a possibility with a large interference
torque, too. (Drop the acceleration of the displayed
step.)
Preventiv It is a program which In the displayed program, longevity (1)Change to ratings or less when the robot load Error reset.
e remarkably shortens is within at 5000 hours.There is a condition is investigated, and weight and the wrist
maintena longevity. possibility which is the program of torque exceed it to ratings. (Gravity setting is used)
nce call/jump origin when the call/jump (2)The amount of operation is, and the average speed
message are used. and the average torque greatly exceed ratings because
of largeness or high speed, and there is a possibility
3149 I I I I on on
that longevity has shortened. Reduce the amount of
operation of the object axis or slow down the speed if
there is no obstacle in work. (program diagnosis)
(3)There is a possibility to be generated because the
cycle time is remarkably short. Slow down the speed
overall.
Preventiv There is a possibility It is detected when there is a big (1)Please confirm whether the setting of the load Error reset.
e that the setting of the difference between the longevities weight and center of gravity is correct. (2)Please
maintena load weight and center calculated from longevity and the change to ratings or less when the robot load condition
3150 nce of gravity is inapposite. motor speed calculated from the is investigated, and weight and the wrist torque exceed I I I I on on
message current. it to ratings. (3)There is a possibility that the trouble
occurs in the robot when not corresponding to the
above-mentioned.
Operation The program or the file This error occurs when the Please correct the program number to a correct value This failure is
al failure does not exist. program number is specified which the jump call ahead. released if a
does not exist in the program jump correct
3151 call instruction. program is I I I I on on
settled and
restart
playback.
Operation This robot type is Error occurs when a program Please select a suitable program. Error reset.
3155 al failure different. created for different robot type is A A A A on on
read.
Spot weld Servo Gun Move-tip Warning is given when the set Check the Gun tip. If tips are good check the setting Error reset.
failure consumption warning for Move-tip consumption otherwise change the tip to the new one, and detect tip
3156 I I I I on on
approaching limit. limit is exceeded. Tip consumption consumption again.
warning signal is outputted.
3157 Spot weld Servo Gun Settle-tip Warning is given when the set Check the Gun tip. If tips are good check the setting Error reset. I I I I on on

4-47
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure consumption warning for Settle-tip consumption otherwise change the tip to the new one, and detect tip
approaching limit. limit is exceeded. Tip consumption consumption again.
warning signal is outputted.
Spot weld Servo Gun Move-tip Servo Gun Move-tip consumption Replace the worn Move-tip and detect tip consumption Error reset.
3158 failure consumption exceeded exceeded the maximum limit. again. I I I I on on
maximum limit.
Spot weld Servo Gun Settle-tip Servo Gun Settle-tip consumption Replace the worn Settle-tip and detect tip consumption Error reset.
3159 failure consumption exceeded exceeded the maximum limit. again. I I I I on on
maximum limit.
Spot weld The change in the tip The difference between the Check the lack of gun tip. If it is no trouble, execute gun Error reset.
failure consumption detected consumption detected by search 3 search 1.
3160 by search 3 is and the consumption detected by I I I I on on
abnormal. search 1 exceeded the search 3
abnormal tip change.
Spot weld Servo gun pressure is Error occurs when the set gun Check the external pressure value. Error reset.
3161 I I I I on on
failure not achieved. pressure is not achieved.
Spot weld GUN SEARCH not The order of executing the tip Please modify the execution timing of the tip Error reset.
3162 I I I I on on
failure complete. consumption detection is wrong. consumption detection.
Operation The file is protected. All protected files or files partially Because the specified file (program or constant) Please release
al failure protected (program or constant) contains important data, protecting is put so that the protecting the
3165 I I I I on on
tried to be corrected and deleted. content is not carelessly changed. file (program or
constant).
Preventiv There is the axis in The life time of the axis displayed Exchange the axis early. After that 0 clearing of Error reset.
e 1000 hours for with present operated (time to "Consumption time until present".
3168 maintena overhaul. reaching to longevity) became I I I I on on
nce 1,000 hours or less.
message
Preventiv There is the axis in 0 The life time of the axis displayed Exchange the axis. After that 0 clearing of Error reset.
e hours for overhaul. with present operated (time to "Consumption time until present".
3169 maintena reaching to longevity) became 0 I I I I on on
nce hour or less.
message
Operation It was going to start, This error occurs if it starts when Please check unit ready signal output conditions, and This error is
al failure when unit was not unit is not ready. start after making it the unit ready. released if it
3170 ready. starts again I I I I on on
after making it
the unit ready.
Spot weld Abnormal panel Dramatic difference of panel Check the weld condition data and real work piece No reset
failure thickness detected. thickness exists between recorded thickness. operations
3175 I I I I on on
value in weld condition and necessary.
detected value.
CPU Controller temperature Information occurs when the Check the fans are operating, or clean up the heat No reset
board fault. temperature of the core of the exchanger. operations
failure controller exceeds 60℃. If this necessary.
3177 I I I I on on
state lasts 10 min, motor power will
be automatically shutdown and
E0063 displayed.
Spot weld Re-weld is not allowed. You did re-weld except for the time Please restart after set a step in auto mode, or do No reset
3178 failure of abnormal welding. manual weld. operations I I I I on on
necessary.
Conveyer running Conveyer running signal was not In conveyer normal mode, turn on conveyer running No reset
3181 signal was not received in conveyer normal mode. signal. operations I I I I on on
received. necessary.
Operation The program is not This error occurs when the Please reserve after recording the program or selecting This error is
al failure recorded nor selected. program which is not recorded is other programs. released if it
selected and reserve playback. sets a correct
3194 I I I I on on
program and
reserve
playback.
Operation Command not possible This command is not able to be Stop the program and retry the command. No reset
3218 al failure while running program. used during the execution of a operations I I I I on on
program. necessary.
Operation It is protected with the It detects, when it is going to Since the specified file (program or constant) contains Set the
al failure record-disable-switch correct or delete the file (a important data, protection is applied record-disable-
or the password. program, constant) protected with switch to OFF
3353 I I I I on on
the password. or release
password
protecting.
Servo Rising of motor torque The motor torque in a cycle went Check whether there is any cause of raising motor No reset
3354 failure is observed. up as compared with the average torque, about motors, reduction gears or cables etc. operations I I I I on on
value the 10 cycles past. necessary.
Spot weld Current feedback of In the servo gun with pressure Please check the pressure sensor, the axis motor of No reset
3355 failure servo gun is abnormal. sensor, the axis current to servo gun, or those cables connected. operations I I I I on on
pressurizing power is abnormal. necessary.
Operation The memory medium is When memory media, such as a By Service / File Manager / Format memory It will be
al failure not discriminable. FIROPPI disk and an memory card/Floppy disk, please use it after initializing a canceled if
3528 I I I I on on
card, are not initialized, this error memory medium. some keys are
occurs. pushed.
Spot weld Welder fault. Error occurs when a Welder fault Check the welder unit. No reset
failure input signal is received by the operations
3536 I I I I on on
controller after the completion of a necessary.
welding sequence.
Spot weld Welding time exceeded Error occurs if a Weld competed Check the welder is operating normally. No reset
3537 failure limit. signal is not input before the operations I I I I on on
designated time period. necessary.
Spot weld The gun not open. Error occurs if the Gun closed Check the GUN or welding unit. No reset
3538 failure signal is received after the welding operations I I I I on on
sequence ends. necessary.
Spot weld The gun is not half Error occurs if the Gun half-open Check the GUN or welding unit. No reset
failure open. signal is not received after Open operations
3539 I I I I on on
gun half signal is output by the necessary.
controller.
Spot weld The gun is not fully Error occurs if the Gun full-open Check the GUN or welding unit. No reset
failure open. signal is not received after Open operations
3540 I I I I on on
gun fully signal is output by the necessary.
controller.
Spot weld Stuck Weld GUN Error occurs if the System fault Error occurs if the Weld stuck signal is received when No reset
3541 failure detected. signal is detected after completion the welding sequence ends. operations I I I I on on
of a welding sequence. necessary.

4-48
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
Spot weld Coolant fault #1. Error occurs if the Water flow Check the GUN or welding unit. No reset
3542 failure switch #1 signal is detected after operations I I I I on on
completion of a welding sequence. necessary.
Spot weld Coolant fault #2. Error occurs if the Water flow Check the GUN or welding unit. No reset
3543 failure switch #2 signal is detected after operations I I I I on on
completion of a welding sequence. necessary.
Spot weld Air pressure fault. Error occurs if the Air pressure Check the GUN or welding unit. No reset
3544 failure switch signal is detected after operations I I I I on on
completion of a welding sequence. necessary.
Spot weld Transformer Error occurs if the Thermo. temp. Check the GUN or welding unit. No reset
3545 failure temperature fault. fault signal is detected after operations I I I I on on
completion of a welding sequence. necessary.
Spot weld Peripheral system fault. Error occurs if the System fault Check the GUN or welding unit. No reset
3546 failure signal is detected after completion operations I I I I on on
of a welding sequence. necessary.
Spot weld Both of half-open and Error occurs if both the Gun Check the GUN or welding unit to determine the cause No reset
failure full-open signals are half-open signal and Gun full-open of the two simultaneous signals. operations
3552 given. signal are received simultaneously necessary. I I I I on on
after Open gun half signal is output
by the controller.
Spot weld Manual axis moving Error occurs if manual axis moving Please release WI. Please release
3553 failure cannot be operated during waiting for WI. the WI. I I I I on on
during waiting for WI.
Spot weld Servo-gun is not Error occurs when the servo-gun is Please confirm to the sequence of weld-timer. No reset
3555 failure executed to obey the not achieved to command operations I I I I on on
welder sequence. pressure. necessary.
Spot weld Current of tip dresser This error occurs when the servo (1)Please confirm the tip dress condition.(2)Please Error reset.
failure abnormal. dresser is exceeded beyond confirm the cable between the controller and the servo
3656 I I I I on on
current range. tip dresser.(3)Please replace the motor.(4)Please
replace the drive unit.
Spot weld Current of tip dresser This error occurs when the dress (1)Please confirm the tip dress condition.(2)Please Error reset.
3660 failure abnormal. length of tip is exceeded beyond confirm the tip consumption. I I I I on on
dress length range.
Request Cooler fans stopped. Error occurs when cooler fans (1)Please check the cable connector CNMCH. After removal of
maintena stopped. (2)Please confirm internal wirings and the cable failure, please
3666 nce between the controller and the robot manipulator. carry out I I I I on on
(3)Please replace cooler fans. (4)Please replace the "failure-reset".
drive unit.
Spot weld Minor Welder Error occurs when the welder Remove the cause of the warning. Error reset.
3677 failure warning(Alarm). board generate the I I A A on on
warning(Alarm).
Spot weld Weld error reset is not Error occurs when welder Error reset. Error reset.
3678 failure executed. command execute without reset I I A A on on
the error.
Spot weld Minor Welder error. Error occurs when the welder Remove the cause of weld error. Error reset.
3687 I I A A on on
failure board generate the weld error.
Spot weld Weld error reset is not Error occurs when welder Error reset. Error reset.
3688 failure executed. command execute without reset I I A A on on
the error.
Spot weld RE-01 battery error Lithium battery cannot be used if it Please exchange the lithium batteries referring to the After removal of
failure does. "RE-01 maintenance manual". failure, please
turn on power
3689 A A A A on on
supply of the
controller
again.
Spot weld RE-01 battery charge Error occurs when the voltage of Please exchange the lithium batteries referring to the After removal of
failure low lithium battery on RE-01 board has "RE-01 maintenance manual". failure, please
decreased. turn on power
3690 A A A A on on
supply of the
controller
again.
Operation It stopped in the home It will generate, if it comes to the Please carry out manual operation again. No reset
3700 al failure stop position. position registered by setup of a operations I I I I on on
home stop position function. necessary.
Operation Option un-setting up. It generates, when it is going to use Please set up an option. No reset
3701 al failure the option function which is not set operations I I I I on on
up. necessary.
Vision Illegal request of Conveyor sync. request method is Please modify constant setting. Or, cancel edit mode. No reset
sensor conveyor sync. different from vision sensor operations
3702 failure constant setting. Or, it was necessary. I I I I on on
requested when edit mode of vision
sensor.
Vision The measurement When conveyor sync. is requested, Please modify parameters. Or, check input signals. No reset
3703 sensor number is unsetting. the measurement number is a operations I I I I on on
failure unsetting. necessary.
Vision The buffer is full. The The conveyer speed is too fast. Please slow down the conveyer speed. No reset
sensor measurement result operations
3704 I I I I on on
failure was not able to be necessary.
stored.
Vision The pose search shift The shift data corresponding to the Please check master data for pose search. No reset
sensor data cannot be master data number that has been operations
3782 I I I I on on
failure acquired. sent from the vision sensor is not necessary.
registered.
Encoder The error counter of the The error counter of the encoder Please check the encoder. Error reset.
3790 failure encoder exceeded the exceeded the setting value. I I I I on on
setting value.
User Abnormal shift data The received shift data contains Please confirm the state of PC that transmits the shift No reset
3800 failure received. the status that notifies abnormality. data. operations I I I I on on
necessary.
Spot weld Welder communication Error occurs when the welder is not (1)Check power supply of the welder and Error reset.
3810 I I I I off off
failure fault(No reply). correctly connected. communication cables. (2)Initialize welder data.
Operation Welder option isn't set It generates, when it is going to use Please set up an welder option. No reset
3811 al failure up. the welder option function which is operations I I I I on on
not set up. necessary.
Spot weld Welder version is Welder version is unmatched. Cannot restore a welding parameter using the backup No reset
3812 failure unmatched. data of a welder different in a version. operations I I I I on on
necessary.
Spot weld Welder error occurred. Welder detects FAULT. Refer to the Welder Manual. Error reset.
3813 A A A A on on
failure

4-49
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
Spot weld Welder error occurred. Welder detects ALERT. Refer to the Welder Manual. Error reset.
3814 I I I I on on
failure
Spot weld The move-electrode The move-electrode diameter is Please check the electrode. The electrode is not worn Error reset.
failure diameter is less than less than the warning diameter set out, and correct the seam welding parameters. The
3872 the warning diameter. by the seam welding parameters. electrode is worn out, and replace the worn I I I I on on
move-electrode and detect electrode consumption
again..
Spot weld The settle-electrode The settle-electrode diameter is Please check the electrode. The electrode is not worn Error reset.
failure diameter is less than less than the warning diameter set out, and correct the seam welding parameters. The
3873 the warning diameter. by the seam welding parameters. electrode is worn out, and replace the worn I I I I on on
settle-electrode and detect electrode consumption
again..
FieldBus A part or all I/O links Since the between title has Please check the device which the problem has If a problem is
failure are stopping. occurred in the I/O device, a robot generated by the field bus monitor. solved, it will
cannot be started. restore
automatically.
(In order to
3960 solve a I I I I on on
problem, the
re-injection of a
power supply
may be
required)
Arc weld Communication The welding power supply didn't Check the connection of the welding power supply to Turn on the
failure timeout occurred respond. the controller. controller and
4000 between the controller the welding E E E E on on
and the welding power power supply
supply. again.
Arc weld Received data failure. The data which are received from Check the connection of the welding power supply to Turn on the
failure the welding power supply are the controller. controller and
4001 incorrect. the welding E E E E on on
power supply
again.
Arc weld Can't communicate The communication between the Check the connection of the welding power supply to Turn on the
failure with the welding power controller and the welding power (L21700S00/UM355). controller and
4002 supply. supply is shutdown. the welding E E E E on on
power supply
again.
Arc weld Can't communicate The communication driver detected Check the connection of the welding power supply to Turn on the
failure with the welding power the failure. the controller. And check the connection of controller and
4003 supply. UM355(L21700S00) board. the welding E E E E on on
power supply
again.
Arc weld The registration of the The kind of registered WPS and Register WPS correctly, or set Dip switch of Robot I/F After
failure welding power supply actual WPS are not same, or the board correctly. registration/sett
is incorrect. Dip switch setting of Robot I/F ing, turn on the
4004 board inside the welding power controller and E E E E on on
supply is wrong. the welding
power supply
again.
Arc weld The welding power The control software of the welding Please update the welding power supply. After updating,
failure supply of old version is power supply is old. turn on the
connected. controller and
4005 E E E E on on
the welding
power supply
again.
Arc weld The welding power The servo of the wire feed control Please update the welding power supply. After updating,
failure supply version is wrong unit does not turn on/off because turn on the
4006 E E E E on on
for the servo wire feed the software of the welding power welding power
control. supply is old. supply again.
Arc weld The control software is The welding power supply doesn't The control software of the welding power supply must The control
failure abnormal in the correspond to the stitch pulse improve in the version. software of the
welding power supply. welding function. welding power
supply
improves in the
version, and
4007 the power E E E E on on
supply in the
robot controller
and the welding
power supply is
turned on
again.
Arc weld The welding power The Synchro-welding is not Please update the welding power supply. After updating,
failure supply version does not executed because the software of turn on the
4008 support the the welding power supply does not welding power E E E E on on
Synchro-welding by support the Synchro-welding by supply again.
CAN communication. CAN communication.
Arc weld The welding power The Synchro-welding is not Please setup the Synchro-welding by RS-422 Error reset.
failure supply does not executed because the welding communication.
4009 support the power supply does not support the E E E E on on
Synchro-welding by Synchro-welding by CAN
CAN communication. communication.
Arc weld The arc welding cannot The arc welding power supply The upgrade should do the software of the arc welding Error reset.
4010 failure be done. doesn't correspond to the welding power supply. E E E E on on
condition slope function.
Arc weld The arc welding cannot The arc welding power supply The upgrade should do the software of the arc welding Error reset.
failure be done. doesn't correspond to the welding power supply.
4011 E E E E on on
characteristic data self adjustment
function.
Arc weld The gas mass flow The arc welding power supply The upgrade should do the software of the arc welding Error reset.
4012 failure control function cannot doesn't correspond to the gas power supply. E E E E on on
be used. mass flow control function.
Arc weld The control software is The welding power supply doesn't Please update the welding power supply. After updating,
failure abnormal in the correspond to the cycle pulsed turn on the
4013 E E E E on on
welding power supply. welding function. welding power
supply again.
Arc weld It was not possible to Abnormality occurred by the Confirm the connection with the welding power supply Turn the
4014 failure communicate with the communication with the robot or the peripherals. Or, in the function of the welding welding power E E E E on on
robot controller or the controller or peripherals on the power supply, confirm the setting of the transmission supply on

4-50
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
peripherals on the arc welding power supply. rate of the CAN communication. again.
welding power supply.
Arc weld Microcomputer control The failure occurs in the controller Turn the welding power supply on again. Confirm an Failure reset,
failure failure occurred in the of the welding power supply. abnormal display of the arc welding power supply, and and turn on the
4015 E E E E on on
welding power supply. contact our service when abnormality relapses. Back welding power
up files to external CF memory. supply again.
Arc weld The Arc-I/F is not The Arc-I/F board(L21700S) Check the connection of the Arc-I/F(L21700S) to the Turn on the
4016 failure found. doesn't connect with the sequence sequence board(L21700F). power again. E E E E off off
board(L21700F).
Arc weld CAN baudrate setting CAN baudrate of the Arc-I/F Set CAN baudrate 500Kbps. And turn on the power Turn on the
4017 E E E E on on
failure is failure. board(L21700S) couldn't set. again. power again.
Arc weld The communication The communication error has Please check the connection between the Arc-I/F Error reset.
failure error has occurred. occurred between the Arc-I/F board(L21700S) and the sequence board(L21700F).
4018 E E E E on on
board(L21700S) and the sequence You might exchange their boards. Please contact our
board(L21700F). service department.
Arc weld The communication The communication error has Please check the connection between the Arc-I/F Error reset.
failure error has occurred. occurred between the Arc-I/F board(L21700S) and the sequence board(L21700F).
4019 E E E E on on
board(L21700S) and the sequence You might exchange their boards. Please contact our
board(L21700F). service department.
Arc weld The cold tandem The welding power supply doesn't Please update the welding power supply. After updating,
failure welding function cannot correspond to the cold tandem turn on the
4020 E E E E on on
be used. welding function. welding power
supply again.
Arc weld The wire touch The welding power supply doesn't Please update the welding power supply. After updating,
failure detection cannot be correspond to the wire touch turn on the
4021 E E E E on on
used. detection. welding power
supply again.
Arc weld Communication The controller of the welding power Turn off the power supply in the welding power supply, Turn the
failure timeout occurred inside supply didn't respond. and contact our service. welding power
4085 E E E E on on
the welding power supply on
supply. again.
Arc weld It was not possible to There is no response from the arc Check the connection of the welding power supply to Turn the
failure communicate with the welding power supply. (L21700S00/UM355). welding power
4099 E E E E on on
arc welding power supply on
supply. again.
Operation It is weaving condition In simultaneous weaving, weaving Please make weaving conditions in agreement. Error reset.
4102 A E A E on on
al failure disagreement. conditions are not in agreement.
Operation Mechanism Error in The mechanism number specified Specify correct mechanism number which belongs to Error reset.
4900 al failure External axis relative in the 1st parameter does not current unit. E E E E on on
move function (FN407). belong to current unit.
Operation Axis Error in External The axis number specified in the Check the axis number of 2nd parameter taught in the Error reset.
al failure axis relative move 2nd parameter is not defined in a function command, and teach again.
4901 E E E E on on
function mechanism of 1st parameter.
(FN407:RELMOV)
Operation Mechanism type error. The mechanism specified in 1st Select a unit which has positioner or slider, and then Error reset.
4902 al failure parameter is neither positioner nor specify a positioner or a slider in 1st parameter. E E E E on on
slider.
Operation G-STOP input value is This error is detected when the Please confirm the G-STOP input value. After removal of
al failure not corresponding. G-STOP input value in two failure, please
systems is not corresponding. turn on power
4903 E E E E on on
supply of the
controller
again.
Operation Playback was started in Since the data when power failure Please perform the Encoder Correction (with position Error reset.
al failure the state that the basic did not be saved correctly, the record method) to the axis in which abnormalities have
4905 posture of any axes is position data of endless rotation generated. A A E E on on
not setup. axis has not been resumed to the
data before power failure.
Operation The position of the The basic position of endless Please perform the Encoder reset and Correction (with Error reset.
al failure endless rotation axis is rotation axis was not able to be position record method) to the axis in which
4906 E E E E on on
abnormal. restored correctly by the abnormalities have generated.
mechanism change.
Operation Mechanism* is servo The manual operation, check Check the mechanism whose servo power is OFF, and Error reset.
al failure off. operation or playback operation turn it ON.
4910 has been performed for a A E A E on on
mechanism whose servo power
has been individually set to OFF.
Operation SPN parameter error. Mechanisms other than the ones Review the mechanisms which have been specified by Error reset.
al failure targeted for operation have been the servo ON command (SPN).
4911 A E A E on on
specified in the servo ON
command (SPN).
Operation SPF parameter error. Mechanisms other than the ones Review the mechanisms which have been specified by Error reset.
al failure targeted for operation have been the servo OFF command (SPF).
4912 A E A E on on
specified in the servo OFF
command (SPF).
Servo Mechanism servo OFF Because robot doesn't reach the (1)Please confirm whether the robot manipulator After removal of
failure cannot be executed. command position, servo OFF interferes in something.(2)Please confirm that the failure, please
4914 cannot be executed. Pay-load is within the nominal rating.(3)If failure carry out E E E E on on
persists, the problem may be a mechanical defect in "failure-reset".
the manipulator, contact our service department.
Operation The instruction value of This error detected when the Please confirm followings to the mechansim to which After removal of
al failure the mechanism to difference between the instruction servo off is set. (1)Instruction angle is not changed. failure, please
which servo OFF is set position and the current position (2)Current angle is not changed, by the external force. carry out
4915 A E A E on on
has changed. exceeds a regulated value in the "failure-reset".
mechanism to which servo OFF is
set.
Emergenc Shock sensor detected Since the shock sensor detected Cancel shock sensor by manual operation. Error reset.
4920 y stop the collision. the collision, the robot was stopped A E A E on on
failure for safety.
Operation Module mechanism This failure occurs when a module Please change an interpolation type to [joint] or make Error reset.
4921 al failure interpolation failure. mechanism cannot reach the the same the wrist axis angle of a starting point and an A E A E on on
position and the posture. ending point.
Operation The connection This error is detected, when the Please improve registration of the Spray machine, and Error reset.
al failure mechanism of the Spray machine set as the first a setup of a connection mechanism.
4930 Spray machine does parameter is not registered or the E E E E off off
not exist. connection mechanism is not set
up.
Operation The Spray machine This error is detected when the Please record by the Spray machine number belonging Error reset.
4931 E E E E off off
al failure does not belong to a mechanism connected to the Spray to the present unit.

4-51
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
current unit. machine set as the first parameter
does not belong to the present unit.
Operation Rotation shaft By the case of extension Please reset up correctly the rotation shaft information Error reset.
al failure information is unusual. synchronization control, the corresponding to the shaft number set as the Thermal
rotation shaft information over the spraying start conditions.
shaft number set as Thermal
4932 E E E E off off
spraying start conditions is not set
up, or this error is detected when
the interval of a start position-end
position is less than 300mm.
Emergenc Alarm carried out Alarm carried out number-of-times Please fix failure from the cause of alarm. Error reset.
y stop number-of-times generating of regulation, and was
4999 failure generating of breaking down. E E E E on on
regulation, and was
breaking down.
Arc weld The weaving trajectory The speed of weaving trajectory Correct the distance between weaving points, After removal of
failure exceeded regulation has been exceeded the regulation frequency, or speed. failure, please
speed. speed, since the move distance carry out
5005 A A A A on on
between weaving points is too "failure-reset".
long, or the frequency (speed) is
too high.
Arc weld The amount of posture The amount of posture change Please correct posture change of taught weaving After removal of
failure change of taught between weaving points is too pattern data. failure, please
5006 A A A A on on
weaving exceeded the large. carry out
restriction value. "failure-reset".
Arc weld Pose calculation failed. Each axis angle can't be Check the posture data in weaving condition. After removal of
failure calculated. The posture data failure, please
5007 A A A A on on
specified in the weaving condition carry out
is incorrect. "failure-reset".
Operation Permission speed over The stop time of weaving Stop time is made small or frequency is dropped. Or Error reset.
al failure occurred. conditions was too large at please change into not carrying out welding time
5008 maintenance of welding time, or maintenance. A A A A on on
frequency was too high, and
permission speed over occurred.
Arc weld The welding current The difference between the Check the welding conditions (wire extension etc). Error reset.
failure value has exceeded welding current value measured by There is possibility of mismatch the welding
the allowable limit. the welding power supply and the characteristic data to your environment if this failure
5010 A A A A on on
taught one has exceeded the occurs over and over again. In such case, adjust the
allowable limit set by the arc welding characteristic data by the adjustment of
constants. welding condition function etc.
Arc weld The welding voltage The difference between the Check the welding conditions (wire extension etc). Error reset.
failure value has exceeded welding voltage value measured by There is possibility of mismatch the welding
the allowable limit. the welding power supply and the characteristic data to your environment if this failure
5011 A A A A on on
taught one has exceeded the occurs over and over again. In such case, adjust the
allowable limit set by the arc welding characteristic data by the adjustment of
constants. welding condition function etc.
Arc weld The welding power The controller couldn't Turn on the welding power supply. In case the welding Error reset.
failure supply has been turned communicate with the welding power supply has been already turned on, check the
5013 A A A A on on
off. power supply. connection of the welding power supply to the
controller.
Arc weld Arc start failure. No arc has been generated in spite Check the workpiece's condition, wire's condition, and This failure is
failure of retrying the arc start. connection of the cable. released if
5014 A A A A on on
restart
playback.
Arc weld Arc outage was Arc outage occurred during Eliminate all causes of arc outage, for instance by This failure is
failure detected. welding. adjusting the wedling conditions, fixing wire feed released if
5015 A A A A on on
failure, and so on. restart
playback.
Arc weld Wire stick has been Wire has stuck. Cut stuck wire. This failure is
failure detected. released if
5016 A A A A on on
restart
playback.
Arc weld Low gas pressure. Low gas pressure signal is Supply gas. Error reset.
5017 A A A A on on
failure inputted.
Arc weld Lack of wire was Wire not fed signal is inputted. Supply wire. Error reset.
5018 A A A A on on
failure detected.
Arc weld Lack of water was Cooling water signal is inputted. Supply water. Error reset.
5020 A A A A on on
failure detected.
Arc weld Arc welding The registered welding Register the welding characteristic data for the using Error reset.
5021 failure characteristic data characteristic data isn't for the one. A A A A on on
failure. connected welding power supply.
Arc weld Welding voltage Welding voltage adjustment Modify the task program. Error reset.
failure adjustment method method has been changed from
5022 can't be changed while the synergetic control to the A A A A on on
welding. individual control, and vise versa
while welding.
Arc weld Failure of the welding W.P.S failure signal is inputted, or Read through the welding power supply instruction Error reset.
5023 failure power supply occurred. failure of the welding power supply manual and eliminate all causes. A A A A on on
occurs.
Arc weld Input voltage shortage The primary input voltage of the Refer to the instruction manual of the welding power Error reset.
5024 failure failure occurred in the welding power supply has supply (Failure Name: Input voltage shortage) and A A A A on on
welding power supply. decreased. eliminate all causes.
Arc weld Output overcurrent The average current used for the Refer to the instruction manual of the welding power Error reset.
5025 failure occurred in the welding inner control of the welding power supply (Failure Name: Output overcurrent) and A A A A on on
power supply. supply exceeds the limit. eliminate all causes.
Arc weld Thermal overload An internal temperature of the Refer to the instruction manual of the welding power Error reset.
5026 failure occurred in the welding welding power supply rises. supply (Failure Name: Thermal overload) and eliminate A A A A on on
power supply. all causes.
Arc weld Input overvoltage The primary input voltage of the Refer to the instruction manual of the welding power Error reset.
5027 failure occurred in the welding welding power supply exceeds the supply (Failure Name: Input overvoltage) and eliminate A A A A on on
power supply. threshold. all causes.
Arc weld Loss of phase occurred Loss of phase in the primary input Refer to the instruction manual of the welding power Error reset.
5028 failure in the welding power of the welding power supply. supply (Failure Name: Loss of phase) and eliminate all A A A A on on
supply. causes.
Arc weld Inverter drive circuit The failure occurs around the Refer to the instruction manual of the welding power Error reset.
5029 failure failure occurred in the inverter drive circuit of the welding supply (Failure Name: Inverter drive circuit error) and A A A A on on
welding power supply. power supply. eliminate all causes.
Arc weld Arc voltage detection Arc voltage detection failure or arc Refer to the instruction manual of the welding power Error reset.
5030 A A A A on on
failure failure occurred in the voltage detecting line failure supply (Failure Name: Arc voltage detecting line

4-52
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
welding power supply. occurred. error/detection error) and eliminate all causes.
Arc weld Microcomputer failure The failure occurs in the welding Refer to the instruction manual of the welding power Error reset.
5031 failure occurred in the welding power supply. supply (Failure Name: Microcomputer failure) and A A A A on on
power supply. eliminate all causes.
Arc weld Encoder failure was Failure exists in the encoder of a Refer to the instruction manual of the welding power Error reset.
5032 failure detected by the welding wire feed unit or encoder cables supply (Failure Name: Encoder error) and eliminate all A A A A on on
power supply. are not connected. causes.
Arc weld Current detection line The failure(the connector is Refer to the instruction manual of the welding power Error reset.
failure failure occurred in the disconnected etc) exists in the supply (Failure Name: 9. Current detection error).
5033 A A A A on on
welding power supply. current detecting cable of the
welding power supply.
Arc weld Gas check failure The gas check switch of the Turn OFF the gas check switch of the welding power Error reset.
failure occurred in the welding welding power supply is ON for supply.
5034 A A A A on on
power supply. more than two minutes without a
break.
Arc weld Secondly transistor The surge power of the second Refer to the instruction manual of the welding power Error reset.
5035 failure failure occurred in the transistor for the welding power supply (Failure Name: Secondly transistor failure) and A A A A on on
welding power supply. supply is abnormally high. eliminate all causes.
Arc weld Water pressure failure Cooling water flow is not sufficient Refer to the instruction manual of the welding power Error reset.
5036 failure occurred in the welding when using a water cooled torch. supply (Failure Name: Water pressure error) and A A A A on on
power supply. eliminate all causes.
Arc weld Secondly transistor The surge power of the second Refer to the instruction manual of the welding power Error reset.
5037 failure failure occurred in the transistor for the robot welding supply (Failure Name: Secondly transistor failure) and A A A A on on
welding power supply. power supply is abnormally high. eliminate all causes.
Arc weld The specified welding The specified welding power Register the welding power supply which is specified Error reset.
5038 failure power supply can't use supply isn't defined in this unit. by the task program, or modify the task program. A A A A on on
in this unit.
Arc weld A control power supply A control power supply failure Refer to the instruction manual of the welding power Error reset.
5039 failure failure occurred in the occurred in welding power supply. supply (Failure Name: (The wire feed control A A A A on on
welding power supply. board)Control power supply) and eliminate all causes.
Arc weld An electric detection A connector inside the welding Refer to the instruction manual of the welding power Error reset.
failure vessel failure occurred power supply may be supply (Failure Name: The first･second electric current
5040 A A A A on on
in welding power miss-connected. error) and eliminate all causes.
supply.
Arc weld The excess failure of Inside temperature of the welding Refer to the instruction manual of the welding power Error reset.
5041 failure the use rate occurred in power supply rises. supply (Failure Name: The excess of the use rate) and A A A A on on
welding power supply. eliminate all causes.
Arc weld A temperature failure An unusual fever appears on the Refer to the instruction manual of the welding power Error reset.
failure occurred in the wire wire feed control circuit of the supply (Failure Name: The temperature wrong point of
5042 feed control circuiting welding power supply. the wire feed control circuit) and eliminate all causes. A A A A on on
the welding power
supply.
Arc weld The load of wire feed The wire feed load has exceeded A load is on the wire feeder by wear of the liner, the Error reset.
5043 failure exceeded allowable the allowable value set in the arc chip defect, and so on. Remove the factors. A A A A on on
value. constant.
Arc weld The control power The control power supply of the The voltage of primary power may decrease in an Failure reset,
failure supply of the welding welding power supply was reset. instance. Check the voltage of primary power. and turn on the
5045 A A A A on on
power supply was welding power
reset. supply again.
Arc weld The welding If the welding characteristic data Turn on the welding power supply again. Error reset.
5046 failure characteristic data are are not installed, Arc function A A A A on on
not installed. commands can't be execute.
Arc weld The arc characteristic The arc function attempted Please modify the task program. Error reset.
5047 failure can't be changed while changing the arc characteristic into A A A A on on
arc welding. the incorrect one.
Arc weld The incorrect welding The welding method of the arc Please modify the task program. Error reset.
failure method is specified. function and the welding method of
5048 A A A A on on
the arc characteristic aren't the
same.
Arc weld The arc characteristic Read file failure occurs while Please initialize the arc characteristic file. Error reset.
5049 A A A A on on
failure file can't be read. reading the arc characteristic file.
Arc weld The wire feed Read file failure occurs while Please initialize the wire feed characteristic file. Error reset.
5050 failure characteristic file can't reading the wire feed characteristic A A A A on on
be read. file.
Arc weld The arc welding wave Read file failure occurs while Please initialize the arc welding wave data file. Error reset.
5051 failure control file can't be reading the arc welding wave A A A A on on
read. control file.
Arc weld The arc constant file Read file failure occurs while Please initialize the arc constant file. Error reset.
5052 A A A A on on
failure can't be read. reading the arc constant file.
Arc weld Welding voltage The voltage adjusting method Modify the task program. Error reset.
failure adjustment method currently taught differs from the
5053 A A A A on on
differs. voltage adjusting method of
characteristic data.
Arc weld WCR Short-circuit Error WCR of W-I/F had short-circuited Please check the state of W-I/F or a welding power This failure is
failure at the time of arc start. supply. released if
5054 A A A A on on
restart
playback.
Arc weld The electrode The electrode and the work are Please modify the task program. Error reset.
5056 A A A A on on
failure short-circuited failure. short-circuited while arc welding.
Arc weld The Filler Wire heating During Filler Wire heating, inside Please check the wire inside an electric supply tip, and This failure is
failure failure. the electric supply tip, a wire melts the heating cable failure (contact failure, broken wire). released if
5057 A A A A on on
and was cut. restart
playback.
Arc weld The Filler Wire heating It can consider that there was no Please check the wire inside an electric supply tip, and This failure is
failure Defect. wire in an electric supply tip, or a the heating cable failure (contact failure, broken wire). released if
5058 wire melts and was cut inside the restart A A A A on on
electric supply tip at the time of playback.
heating.
Arc weld The wire short-circuited The wire and the work are Please check the state of W-I/F, and a welding power This failure is
failure failure. short-circuited while arc welding. supply. released if
5059 A A A A on on
restart
playback.
Arc weld The heating Read file failure occurs while Please initialize the heating characteristic file. Error reset.
5060 failure characteristic file can't reading the heating characteristic A A A A on on
be read. file.
Arc weld The arc condition file The arc condition file which is Please create the arc condition file or edit the task Error reset.
5061 failure doesn't exist. specified by the arc welding program. A A A A on on
function doesn't exist.
5062 Arc weld The offset condition file The offset condition file or the multi Please create the offset condition file or the multi offset Error reset. A A A A on on

4-53
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure or the multi offset file offset file which is specified by the file, or edit the task program.
doesn't exist. multi offset function doesn't exist.
Arc weld The weaving A communication failure has been Please check connection between an extension serial Turn on the
failure synchronization went detected between the welding board and a welding power supply. controller and
5063 wrong. power supply and the extension the welding A A A A on on
serial board. power supply
again.
Arc weld The weaving condition The weaving condition file which is Please create the weaving condition file or edit the task Error reset.
5064 failure file doesn't exist. specified by the weaving function program. A A A A on on
doesn't exist.
Arc weld The power supply of a Communication with a feed control When you turn on a feed control device or the power Error reset.
5065 failure feed control device is device was not completed. supply is already on, please check connection with a A A A A on on
not on. feed control device.
Arc weld Pump failure occurred Cooling water flow is not sufficient Refer to the instruction manual of the welding power Error reset.
5066 failure in the welding power when using a water cooled torch. supply (Failure Name: Pump error) and eliminate all A A A A on on
supply. causes.
Arc weld The arc retry condition The arc retry condition file which is Please create the arc retry condition file or edit the task Error reset.
5067 failure file doesn't exist. specified by the arc welding program. A A A A on on
function doesn't exist.
Arc weld The arc robots The arc robots condition file which Please create the robots condition file or edit the task Error reset.
5068 failure condition file doesn't is specified by the arc welding program. A A A A on on
exist. function doesn't exist.
Arc weld The robot move The robot move condition file which Please create the robot move condition file or edit the Error reset.
5069 failure condition file doesn't is specified by the arc welding task program. A A A A on on
exist. function doesn't exist.
Arc weld The arc rs condition file The arc rs condition file which is Please create the rs condition file or edit the task Error reset.
5070 failure doesn't exist. specified by the arc welding program. A A A A on on
function doesn't exist.
Arc weld The module error in Abnormality occurs by the module Refer to the instruction manual of the welding power Error reset.
failure WPS. in the welding power supply. supply and eliminate all causes.(An abnormal number
5071 A A A A on on
of the welding power supply has been described in the
above-mentioned parentheses.)
Arc weld The speed failure of the The speed failure of the wire feed Refer to the instruction manual of the welding power Error reset.
failure wire feed control circuit control circuit occurred in the supply and eliminate all causes.
5072 A A A A on on
occurred in the welding welding power supply.
power supply.
Arc weld Input voltage shortage The primary input driver of the Refer to the instruction manual of the welding power Error reset.
5073 failure failure occurred in the welding power supply has supply(Failure Name: The primary input driver) and A A A A on on
welding power supply. decreased. eliminate all causes.
Arc weld The cooler fan failure The cooler fan's rotation has fallen Refer to the instruction manual of the welding power Error reset.
5074 failure occurred in the welding or it stops. supply(Failure Name: The cooler fan failure) and A A A A on on
power supply. eliminate all causes.
Arc weld A control power supply The temperature rises in the Refer to the instruction manual of the welding power Error reset.
failure abnormal temperature control power supply. supply(Failure Name: A control power supply abnormal
5075 A A A A on on
occurred in the welding temperature) and eliminate all causes.
power supply.
Arc weld The arc welding power The failure occurs in servo feeder Refer to the instruction manual of the servo feeder unit Error reset.
failure supply detected unit. and eliminate all causes.(An abnormal number of the
5076 A A A A on on
abnormality of the servo feeder unit has been described in the
servo feeder unit. above-mentioned parentheses.)
Arc weld The controller couldn't Abnormality occurred by the Please confirm the connection of the arc welding power Error reset.
failure communicate with the communication between the arc supply and the servo feeder unit.
5077 A A A A on on
servo feeder unit. welding power supply and the
servo feeder unit.
Arc weld The power supply of a Communication with a gas mass When you turn on a gas mass flow control unit or the Error reset.
5078 failure gas mass flow control flow control unit was not power supply is already on, please check connection A A A A on on
unit is not on. completed. with a gas mass flow control unit.
Arc weld The gas equipment file The gas equipment file which is Please create the gas equipment file or edit the gas Error reset.
5079 failure doesn't exist. specified by the gas mass flow mass flow control data. A A A A on on
control file doesn't exist.
Operation Resources were not The wait time of resource Modify the wait time specified in FORK or CALLFAR Error reset.
5080 al failure securable at the time of reservation was over. command. A A A A on on
starting.
Operation The appointed program The same number program exists. Delete the program not to overlap with file operation. Error reset.
5081 al failure cannot be edited / A A A A on on
playback.
Operation Operation or command The option of Multi-unit is not set Please set up the option of Multi-unit. Error reset.
5082 al failure for Multi-unit cannot be up. A A A A on on
executed.
Operation The unit-branch Some unit-branch commands were Please correct the program so that the unit-branch Error reset.
5083 al failure commands cannot be tried to execute at the same time. commands does not be executed at the same time. A A A A on on
executed.
Operation The unit-branch A unit-branch commands FORK Please correct the program so that the unit-branch Error reset.
5084 al failure commands cannot be were tried to execute in the already commands does not be executed in the already forked A A A A on on
executed. forked program. program.
Arc weld Communication The controller of the welding power Check the route of cable and ground connection. Turn the
failure timeout occurred inside supply didn't respond. welding power
5085 A A A A on on
the welding power supply on
supply. again.
Arc weld There is an illegal Condition changing from Melt Please correct the taught program. No reset
failure section of melt down Down Control to Normal Control or operations
5086 A A A A on on
control within an arc from Normal Control to Melt Down necessary.
welding section. Control, is not acceptable.
Arc weld There is an illegal Condition changing from Melt Please correct the taught program. No reset
failure section of melt down Down Control to Normal Control or operations
5087 A A A A on on
control within an arc from Normal Control to Melt Down necessary.
welding section. Control, is not acceptable.
Arc weld Back bead has Arc welder has changed the Please re-designe the welding condition or the taught No reset
5088 failure detected. welding condition. path. operations I I I I on on
necessary.
Arc weld Deviation of welding Deviation of welding path toward Please re-designe the taught path. No reset
5089 failure path has detected. upper plate has occurred. operations I I I I on on
necessary.
Arc weld Tandem-Arc-Start-com A move command must be inserted Modify the task program. Error reset.
5090 failure mand is between preceding and trailing A A A A on on
incorrect.(Fe-wire) arc-start-command.
Arc weld Tandem-Arc-Start-com Trailing-arc-start-command must Modify the task program. Error reset.
5091 failure mand is follow A A A A on on
incorrect.(Al-wire) preceding-arc-start-command

4-54
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
continually.
Arc weld The Electrode type is Trailing-arc-start-command is Modify the task program. Error reset.
5092 failure incorrect. taught before A A A A on on
preceding-arc-start-command.
Arc weld The current execution It is prohibited to start since the Please set the step which the multipass section Error reset.
5093 failure pass is in another different offset might be applied. suitable for the current execution pass or change the A A A A on on
multipass section current execution pass.
Arc weld The arc welding power During installation of an arc Please perform again after the completion of Error reset.
failure supply is installed. welding power supply, neither installation of an arc welding power supply.
5094 operation of the arc welding power A A A A on on
supply nor execution of playback
command can be performed.
Arc weld Motor overcurrent Short circuit in the power line to the Refer to the instruction manual of the welding power Error reset.
5095 failure occurred in the welding motor or motor overload happens. supply (Failure Name: Motor overcurrent) and eliminate A A A A on on
power supply. all causes.
Arc weld The emergency is The emergency stop is input or the Please cancel an emergency stop button and an Error reset.
failure stopping or the welding wiring of the STOP terminals in the external emergency stop signal, and check the
5096 A A A A on on
power supply is welding power supply is connection of the welding power supply to the
stopping. disconnected. controller.
Arc weld Arc voltage cannot be Arc start failure using RS control or Check the work piece’s condition, wire's condition, Error reset.
failure detected while RS arc voltage detection failure connection of the cable, and RS control condition. Or
5097 control. occurred in the welding power refer to the instruction manual of the welding power A A A A on on
supply. supply (Failure Name: Arc voltage detection error) and
eliminate all causes.
Arc weld EP start failure. The arc welding characteristic data Register the correct welding characteristic data. Or Error reset.
failure of EP mode isn't registered. Or the Correct EP start condition.
5098 welding voltage adjustment method A A A A on on
of EP mode is different from EN
mode.
Arc weld The arc welding power The arc welding power supply Please do not operate the welding power supply during Failure reset,
failure supply was operated cannot be operated during playback. and turn on the
5099 A A A A on on
during playback. playback. welding power
supply again.
Arc weld EP start failure. EP start condition of AS function is Correct EP start condition. Error reset.
5100 A A A A on on
failure wrong.
Arc weld An adjustment Arc-Monitor isn't indicated. Indicate Arc-Monitor, and confirm an adjustment This failure is
failure movement start is condition. released if
5101 A A A A on on
unusual. restart
playback.
Arc weld An adjustment program A start program is different from the Start by the specified adjustment program. This failure is
failure choice is unusual. adjustment program. released if
5102 A A A A on on
restart
playback.
Arc weld Adjustment welding The welding mode of the AS Check the welding mode to adjust. Error reset.
failure mode wrong point. function is different from the
5103 A A A A on on
welding mode of the adjustment
object.
Arc weld Pilot arc start failure. The pilot arc was not turned on. Check the connection condition of the cable. This failure is
failure released if
5104 A A A A on on
restart
playback.
Arc weld A plasma unit/WPS is Abnormality occurs by a plasma Please see the manual of a plasma fine unit or Plasma Error reset.
5105 failure abnormal. fine unit or Plasma Welding Power Welding Power Supply. A A A A on on
Supply.
Arc weld The pilot arc outage is The pilot arc outage occurred. Check the connection condition of the cable. This failure is
failure abnormal. released if
5106 A A A A on on
restart
playback.
Arc weld Pilot arc OFF error. The pilot arc was not able to be Check the connection condition of the cable. Error reset.
5107 A A A A on on
failure turned off.
Arc weld Pilot arc ON error. Since the purge was turned on, the Turn off the purge. Error reset.
5108 failure pilot arc was not able to be turned A A A A on on
on.
Arc weld The error occurs in The error occurs in servo wire feed Refer to the instruction manual of the servo wire feed Error reset.
5109 failure servo wire feed control control unit. control unit and eliminate all causes. A A A A on on
unit.
Arc weld Retract operation was Stop retract for the protection of If you operate retract more, execute 90 seconds later. Error reset.
5110 failure executed over 10 Assist Feeder. A A A A on on
seconds.
Arc weld Stitch pulse welding The synchronized control, the FC Please change the welding condition. Error reset.
failure control error. control, the slope control or the
5111 adjustment of the WCD cannot be A A A A on on
executed by the stitch pulse
welding.
Arc weld Stitch pulse welding The stitch pulse cannot weld with Please change the registration of the weld power Error reset.
5112 failure unit setting error. the unit to which two or more supply in the unit. A A A A on on
welding machines are registered.
Arc weld WCR input signal The WCR input signal is not Please allocate the WCR input signal. Error reset.
5113 A A A A on on
failure unsetting. allocated.
Arc weld Arc welding unit setting For the unit to which two or more Please change the registration of the welding machine Error reset.
5114 failure abnormality. welding machines are registered, it in the unit. A A A A on on
is not possible to weld.
Arc weld The WCR OFF WCR was not turned off in the time Please check the WCR signal from "WCR OFF waiting Error reset.
5115 failure time-out is abnormal. limit. time" of the welding constant and the welding power A A A A on on
supply.
Arc weld There is a wrong arc The AS command more than two Please modify the task program. Error reset.
failure start command in the passing is recorded by one
5118 A A A A on on
tool change setting mechanism.
welding power supply.
Arc weld There is a wrong AS The Synchro or FC welding is Please teach again after deleting the AS command. Error reset.
5119 A A A A on on
failure command. taught to the AS command.
Arc weld The arc welding power The failure occurs in gas mass flow Refer to the instruction manual of the gas mass flow Error reset.
failure supply detected control unit. control unit and eliminate all causes.(An abnormal
5120 A A A A on on
abnormality of the gas number of the gas mass flow control unit has been
mass flow control unit. described in the above-mentioned parentheses.)
Arc weld The gas mass flow The difference between the gas Please confirm [The remainder pressure of gas Error reset.
failure value has exceeded mass flow value measured by the cylinder, the piping of the gas, and the setting of the
5121 A A A A on on
the allowable limit. welding power supply and the gas mass flow control unit.
taught one has exceeded the

4-55
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
allowable limit set by the controller.
Arc weld The gas pressure value The gas pressure measured in the Please confirm the remainder pressure of gas cylinder, Error reset.
failure has exceeded the arc welding power supply the piping of the gas, and the setting of the gas mass
5122 A A A A on on
allowable limit. exceeded the limiting value set with flow control unit.
the controller.
Arc weld The set gas mass flow The set gas mass flow was not Please confirm the residual quantity of the gas cylinder, Error reset.
5123 failure is not output. output in specified time. the piping of the gas, and the setting of the gas mass A A A A on on
flow control unit.
Arc weld The gas flow control The control data in the gas flow Please confirm the power cable of the gas flow control Error reset.
5124 A A A A on on
failure unit was reset. control unit was reset. unit.
Arc weld The data to the gas The data set to the gas flow control Please confirm the data of the gas flow control unit. Error reset.
5125 failure flow control unit cannot unit is abnormal. A A A A on on
be set.
Arc weld Zero deviation error on Even if passing the specified time 1.Check the error judgment delay time. 2.Check the Error reset.
failure the gas flow control unit after Gas OFF, the actual gas flow gas type and the gas pressure at main cock. 3.The gas
5126 A A A A on on
was detected. could not restore 0 on the gas flow flow control unit may be damaged or broken down.
control unit. Please contact our customer service center.
Arc weld The analog output It is setting which uses the Plasma Please modify setting whether to install the analog Error reset.
5127 failure board is uninstallation. welder though the analog output output board. A A A A on on
board is not installed.
Arc weld Filler wire stick has Filler wire has stuck. Cut stuck wire. After removal of
failure been detected. failure, please
5128 A A A A on on
carry out
""failure-reset"".
Arc weld Filler touch detection It was not able to detect that a filler Please check the state of a filler wire, a welding After removal of
failure failure wire touched welding base metal. constant, and wiring. failure, please
5129 A A A A on on
carry out
""failure-reset"".
Operation Welding mode option Welding mode option which is not Please set up a welding mode option. No reset
5130 al failure un-setting up. set up was used. operations A A A A on on
necessary.
Operation Welding mode option Since the welding mode option is Since system memory protection was effective, an No reset
al failure can't use. not set up correctly, it can't use. option was not able to be written in a system operations
5131 A A A A on on
memory.Please once repeal a system memory necessary.
protection function and start a system again.
Arc weld Specified mode can't Since the welding unit is not Please use a welding unit with specified mode. No reset
5132 failure use. supporting specified mode, it can't operations A A A A on on
use. necessary.
Operation Welding mode option Since the welding mode option is Please restore the welding mode option on the welding No reset
5133 al failure can't use. not set up correctly, it can't use. mode option screen. operations A A A A on on
necessary.
Arc weld Cycle pulsed welding In the arc condition file of the cycle Please change the welding condition. Error reset.
failure control error. pulsed welding, the welding control
5134 must be "Cycle pulse" and the A A A A on on
slope condition must be specified
by "Distance".
Arc weld Cycle pulsed welding The condition of Cycle pulsed Please modify the task program. Error reset.
failure control error. welding is specified by 'AS'
5135 A A A A on on
function. It must be specified by
'ASS' function.
Arc weld The multipass section The 'ASM' function, the 'AEM' Please teach the 'MPS' function and the 'MPE' function. Error reset.
failure is abnormal. function, the 'OFFSET' function,
5136 and the 'EP' function cannot be A A A A on on
executed outside the multipass
section.
Arc weld The welding power Read file failure occurs while Please initialize the welding power supply secondly Error reset.
failure supply secondaly reading the welding power supply electric characteristic file.
5137 A A A A on on
electric characteristic secondaly electric characteristic
file can't be read. file.
Arc weld The first･second main The failure exists in the first･ Refer to the instruction manual of the welding power Error reset.
failure circuit failure occurred second main circuit of the welding supply (Failure Name: The first･second main circuit
5138 A A A A on on
in the welding power power supply. failure).
supply.
Arc weld It is necessary to turn The arc welding power supply Turn the welding power supply on again. Turn the
failure the welding power cannot be operated if it doesn't turn welding power
5139 A A A A on on
supply on again. on again. supply on
again.
Arc weld The speed of the wire The speed of the wire measured in Please confirm whether an excessive load contracts Error reset.
failure speed has exceeded the arc welding power supply has the wire feeder. Please contact our customer service
5140 the allowable limit. exceeded the allowable limit at the center when the permissible value is large. A A A A on on
speed of the wire that the arc
welding power supply output.
Arc weld Threshold trigger The threshold specified under the Please confirm the arc welding construction condition. Error reset.
failure welding record condition was
5143 A A A A on on
detected in the arc welding power
supply.
Arc weld The arc try condition The arc try condition file which is Please create the arc try condition file or edit the task Error reset.
5146 failure file doesn't exist. specified by the arc welding program. A A A A on on
function doesn't exist.
Sensor Sensor Function Wrong usage of sensor function is Please record sensor search function after move step. After recording
failure cannot be executed. detected in teaching program the move step,
5200 A A A A on on
Please Check
Go.
Sensor Search range This error occurs when the robot Modify (enlarge) the search range or program to rectify No reset
5201 failure exceeded. moves beyond search range error. operations A A A A on on
necessary.
Sensor Search range is short This error occurs when the robot Modify (shorten) the search range or program to rectify No reset
5202 failure detect the touch status within error. operations A A A A on on
minimum search range. necessary.
Sensor Deviation range This error occurs when the robot Modify (enlarge) the deviation range or program to No reset
5203 failure exceeded. moves beyond deviation range rectify error. operations A A A A on on
necessary.
Sensor Sensor number is This error occurs when the sensor Check that sensor settings and /or teaching programs. Error reset.
5204 failure mismatched. number in the sensor step does not A A A A on on
meet that of the connected sensor.
Sensor The input-and-output This error occurs when the Set up an input-and-output signal. Error reset.
5205 failure signal is not assigned. input-and-output signal required for A A A A on on
search operation is not assigned.
5206 Sensor A deviation file is This error occurs when read-out of Check a deviation file. Error reset. A A A A on on

4-56
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure wrong. a deviation file goes wrong.
Sensor A deviation file is not This error occurs when the Correct the file number. Error reset.
5207 failure found. specified deviation file cannot be A A A A on on
found.
Sensor Mechanism type is This error occurs when the Correct the file number. Error reset.
5208 failure mismatched. mechanism type in specified A A A A on on
deviation file is mismatched.
Sensor A detecting wire This error occurs when read-out of Check a detecting wire extension file. Error reset.
5209 failure extension file is wrong. a detecting wire extension file goes A A A A on on
wrong.
Sensor A detecting wire This error occurs when the Correct the file number. Error reset.
5210 failure extension file is not specified detecting wire extension A A A A on on
found. file cannot be found.
Sensor Coordinate systems This error occurs when the Correct the file number. Error reset.
failure are mismatched. coordinate systems are not
5211 A A A A on on
matched between selected
deviation files.
Sensor Cannot search. Search direction cannot be (1)Specify the search vector. (2)When the search Error reset.
failure specified because the search vector was already specified, modify the search vector.
5212 A A A A on on
vector is not taught, or calculating
search vector was failed.
Sensor Gap Over Detected gap is exceeded beyond Check that gap amount and modify allowable value if Error reset.
5213 A A A A on on
failure maximum allowable value. needed.
Sensor Gap short Detected gap becomes lower than Check that gap amount and modify allowable value if Error reset.
5214 A A A A on on
failure minimum allowable value. needed.
Sensor Groove depth over Detected groove depth is Check that groove depth amount and modify allowable Error reset.
5215 failure exceeded beyond maximum value if needed. A A A A on on
allowable value.
Sensor Groove depth short Detected groove depth becomes Check that groove depth amount and modify allowable Error reset.
5216 failure lower than minimum allowable value if needed. A A A A on on
value.
Sensor Angle1 over Detected angle1 is exceeded Check that angle1 amount and modify allowable value Error reset.
5217 A A A A on on
failure beyond maximum allowable value. if needed.
Sensor Angle1 short Detected angle1 becomes lower Check that angle1 amount and modify allowable value Error reset.
5218 A A A A on on
failure than minimum allowable value. if needed.
Sensor Angle2 over Detected angle2 is exceeded Check that angle2 amount and modify allowable value Error reset.
5219 A A A A on on
failure beyond maximum allowable value. if needed.
Sensor Angle2 short Detected angle2 becomes lower Check that angle2 amount and modify allowable value Error reset.
5220 A A A A on on
failure than minimum allowable value. if needed.
Sensor Groove un-detected Groove position cannot be (1)Check setting parameters in GFF file. (2)If you are Error reset.
failure detected provided with the optional data terminal, use Groove
5221 Data function in RD/AD tab menu, and modify the A A A A on on
teaching program so that laser data are properly
obtained.
Sensor Searching time over This error occurs when searching To short the searching time less than 2s or modify Error reset.
5222 A A A A on on
failure time is too long. sample rate in GFF file.
Sensor Sensor mounting error This error occurs when sensor (1)Specify sensor mounting direction. (2)Execute the After removal of
failure mounting is not set. sensor calibration before executing the ZJLETP failure, please
5223 A A A A on on
command. carry out
"failure-reset".
Sensor Unstable detection This error occurs when measured Check that target surface condition and/or Error reset.
5224 A A A A on on
failure data is unstable. measurement angle.
Sensor Out of measurement This error occurs when measured Check that target piece is located at desired position. Error reset.
5225 A A A A on on
failure distance distance is out of range.
Sensor Reference point error This error occurs when reference Execute trial motion to get reference point. Error reset.
5226 A A A A on on
failure point is not stored.
Sensor ZG1 workpiece This error occurs when the laser (1)At the ZG1 start point, the workpiece must be taught Error reset.
failure undetected reflection beam is not sufficiently within the measurement range. (2)When the workpiece
received in ZG1 starting. is placed within the measurement range, adjust the
angle of laser against the workpiece, and constantly
5227 A A A A on on
light the distance LED on laser head. (3)If you are
provided with the optional data terminal, use RD/AD
tab menu, and check that always 206 or higher laser
beam in the LEVEL display is received.
Sensor Gap file error This error occurs when wrong data Check the contents in gap file. Error reset.
5228 A A A A on on
failure is detected in gap file.
Sensor No gap file This error occurs when the Check the gap file number. Error reset.
5229 A A A A on on
failure specified gap file does not exist.
Sensor Gff file error This error occurs when wrong data Check that contents in GFF file. Error reset.
5230 A A A A on on
failure is detected in GFF file.
Sensor No gff file This error occurs when the Check that GFF file number. Error reset.
5231 A A A A on on
failure specified GFF file does not exist.
Sensor Sensor disconnected This error occurs when there is no Turn on the sensor unit. In case the sensor unit has Error reset.
5232 failure (Laser search) communication between laser been already turned on, check the connection of the E E E E on on
sensor and RC. sensor unit to the controller.
Sensor Communication This error occurs when there is no Check the connection of the sensor unit to the Turn on the
failure timeout occurred response from Laser Sensor Unit. controller. controller and
5233 E E E E on on
between the controller the sensor unit
and the sensor unit again.
Sensor Sensor condition file This error occurs when wrong data Check that contents in LSF or LSR file. Error reset.
5234 A A A A on on
failure error is detected in LSF or LSR file.
Sensor Sensor condition file is This error occurs when specified Check that LSF or LSR file number. Error reset.
5235 A A A A on on
failure not0 does. LSF or LSR file does not exist.
Sensor Sensor Failure This failure occurs when the error Check the sensor status by WeldCom. Error reset.
5236 E E E E on on
failure is issued from the sensor controller
Sensor Start Point un-detected This failure occurs when the start (1)Check the groove recognization by WeldCom. Error reset.
5237 failure point is not detected during ZF (2)Enlarge the ZF maximum search range. A A A A on on
search.
Sensor Cannot restart during Cannot restart during seam Do not modify the position and posture of the robot Error reset.
5238 failure seam tracking. tracking. when the robot is stopped in ZT period if the restarting A A A A on on
is required.
Sensor ZF Deviation range This error occurs when the Check detected position. If no problems exist, modify Error reset.
failure exceeded distance between the detected (enlarge) the ZF deviation range parameter or program
5239 A A A A on on
start point and ZF taught point to rectify error.
exceeded the deviation range.
Sensor ZF search range This error occurs when the robot Modify (enlarge) the search range or program to rectify Error reset.
5240 A A A A on on
failure exceeded moves beyond search range error.
Sensor ZT Position Deviation This error occurs when the robot Check the target position If no problems exist, modify Error reset.
5241 A A A A on on
failure range exceeded moves beyond Position deviation (enlarge) the ZT parameters or program to rectify error.

4-57
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
range
Sensor ZN offset range This error occurs when the setting Modify (enlarge) the ZN offset to rectify error. Error reset.
5242 A A A A on on
failure exceeded offset is beyond the range
Sensor ZN Search range This error occurs when the robot Modify (enlarge) the ZN search range or program to Error reset.
5243 failure exceeded. moves beyond search range during rectify error. A A A A on on
ZN.
Sensor End point un-detected End point of workpiece is not Modify (enlarge) ZN search range or program to rectify Error reset.
5244 A A A A on on
failure detected. error.
Sensor Deviation range This error occurs when the Check the detected point. If no problems exist, Modify Error reset.
failure exceeded. distance between the detected end (enlarge) the deviation range or program to rectify
5245 A A A A on on
point and taught point before ZE error.
exceeded the deviation range.
Sensor Laser ON Failed Laser is not activated. Turn on the Laser by ZON or manual operation. Error reset.
5246 A A A A on on
failure
Sensor Laser is not ready. ZF/ZT/ZJ will be performed before Wait 3 seconds or longer after ZON was performed Error reset.
5247 A A A A on on
failure 3 seconds after ZON is carried out. before ZF/ZT/ZJ.
Sensor Error in instruction of There is no move command Please improve instruction. Error reset.
failure ZN command. immediately after ZN command to
which a move command or ZT
command does not exist before ZN
5248 A A A A on on
command, or it is [ that two or more
move commands are taught
between ZN - ZE, etc. and ] a
factor.
Sensor ZT Posture Deviation This error occurs when the robot Check the target posture If no problems exist, modify Error reset.
5249 failure range exceeded moves beyond Posture deviation (enlarge) the ZT parameters or program to rectify error. A A A A on on
range
Sensor Sensor disconnected The controller couldn't Turn on the sensor unit. In case the sensor unit has Error reset.
5250 failure communicate with the sensor unit. been already turned on, check the connection of the A A A A on on
sensor unit to the controller.
Sensor Correction amount by Error is activated when the case Check that correct torch position. If it is OK, extend the Error reset.
failure arc-sensor exceeds that correction amount by the value CHASING RANGE in teaching parameter. If it is
5251 A A A A on on
specified value. sensor exceeds the specified value NG, try to adjust sensor parameters.
in teaching parameter.
Sensor Calculation turns to This error is activated when Check that welding condition to be stable. Error reset.
5252 failure unstable during stability of welding arc decreased A A A A on on
arc-sensing process. significantly.
Sensor Welding position This error is activated when the Try to re-adjust sensing parameters. Error reset.
failure cannot be detected deviation detection cannot be
5253 calculated during arc-sensing A A A A on on
process. Note that position
correction is not executed.
Sensor Unstable wire-feeding. Wire-feeding status turn to Check that equipments for wire feeding. Error reset.
5254 failure unstable. Deviation is lager than A A A A on on
specified value.
Sensor ST parameter error. The instruction parameter of ST It improves whether each parameter is setting within Error reset.
5255 A A A A on on
failure command is over the setting range. the limits.
Sensor The ET command less ET command is not taught after ST Please teach ET command. Error reset.
5256 failure program was command. A A A A on on
performed.
Sensor Abnormalities were An appointed basic data file does Please check a basic data file with a service menu. Error reset.
5257 failure found in the parameter not exist or a file cannot be read. A A A A on on
of basic data.
Sensor Error in instruction of ZG1 command in the weaving Please improve instruction. Error reset.
5258 A A A A on on
failure ZG1 command. section cannot be executed.
Sensor At the start-point In the start-point detection section Specify all the move commands, right before ZF Error reset.
failure detection or in the or the tracking section in command, in ST~ET section and in ZT~ZE section to
tracking section, the Synchromotion system, the move Synchromotion teaching ("H").
5259 move command with command is not taught as A A A A on on
no Synchromotion Synchromotion teaching ("H").
teaching (without "H")
was found.
Sensor Sensor stop signal Stop signal is input into the laser (1)Release Emergency Stop Button on the Laser After removal of
failure input. sensor unit. Sensor Unit. (2)Close the Emergency Stop Alarm Input failure, please
5260 A A A A on on
loop connected to CN2 on the laser sensor unit. carry out
"failure-reset".
Sensor Groove un-detected. Groove cannot be detected. (1)Check that LASER power is ON. (2)Check the cable After removal of
failure between Laser Sensor Unit and Sensor Head is failure, please
5261 connected properly. (3)Check the cable between Robot carry out A A A A on on
Controller and Laser Sensor Unit is connected "failure-reset".
properly.
Sensor Torch moving distance The distance corrected by the (1)Adjust the stability of groove detection by WeldCom. After removal of
failure over. sensor within 1 interpolation time (2)Check the cable between Robot Controller and failure, please
5262 A A A A on on
was exceeded over the internal Laser Sensor Unit is connected properly. In addition, carry out
distance. also check the sensor head cable. "failure-reset".
Sensor No SFM file This error occurs when specified Check SFM file number. Error reset.
5263 A A A A on on
failure SFM file does not exist.
Sensor SFM file error This error occurs when wrong data Check that contents in SFM file. Error reset.
5264 A A A A on on
failure is detected in SFM file.
Sensor Error in instruction of There is no move command Please improve instruction. Error reset.
failure DE command. immediately after DE command to
which a move command or ST
command does not exist before DE
5265 A A A A on on
command, or it is [ that two or more
move commands are taught
between DE - ET, etc. and ] a
factor.
Sensor DE Corrected point This error occurs when the order of (1)Modify the AS speed so that it is close to the proper Error reset.
5266 failure failure DE corrected point and ET taught one.(2)Modify DE taught point so that the distance A A A A on on
point are exchanged by tracking. between DE and ET taught point is longer.
Sensor JOINT command exists JOINT command cannot be Modify JOINT command in the teaching section (ST～ Error reset.
5267 failure in tracking section. executed in the tracking sensor ET, ZF～ZT～ZN～ZE) of tracking sensor to LIN A A A A on on
section. command or CIR1/CIR2 command.
Sensor Sensor Function An error is in a connection setup of Please check a constant setup and instruction of a No reset
5268 failure cannot be executed. a sensor and a mechanism. sensor. operations A A A A on on
necessary.
Sensor ZN Search destination This error occurs when the robot Modify () the ZN maximum distance so that the point Error reset.
5269 failure point is exceeded moves beyond Software Limit extended ZN maximum distance from the previous A A A A on on
range. range by ZN search. point of ZE is within the robot working range.

4-58
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
Sensor The tracking speed is a This error occurs when the tracking (1)Specify the AS speed properly so that it will not Error reset.
failure negative value. speed is set to a negative value by become negative by Adaptive Control. (2)Connect
5270 A A A A on on
speed change of Adaptive Control. WeldCom to the sensor, and review the setting "gap -
speed" in the spread sheet.
Sensor Error in instruction of This error occurs when ZT Modify ZT or ZE command. Error reset.
5271 failure ZE command outside command according to ZE does A A A A on on
tracking section not exist.
Sensor Continuous ZT This error occurs when continuous Check each sensor number of ZT command. Error reset.
5272 failure commands have same ZT commands have same sensor A A A A on on
sensor number. number.
Sensor Continuous ZN This error occurs when continuous Check each sensor number of ZN command. Error reset.
5273 failure commands have same ZN commands have same sensor A A A A on on
sensor number. number.
Sensor Continuous ZE This error occurs when continuous Check each sensor number of ZE command. Error reset.
5274 failure commands have same ZE commands have same sensor A A A A on on
sensor number. number.
Sensor ZN command This error occurs in case that ZN Modify ZN commands. Error reset.
failure according to ZT does commands for all laser sensors is
5275 not exist. not instructed when the tracking by A A A A on on
the plural laser sensors are
performed.
Sensor ZE command This error occurs when ZE Modify ZT or ZE command. Error reset.
5276 failure according to ZT does command according to ZT is not A A A A on on
not exist. instructed.
Sensor ZT command This error occurs when ZT Modify ZT or ZN command. Error reset.
5277 failure according to ZN does command according to ZN is not A A A A on on
not exist. instructed.
Sensor ZT command This error occurs when ZT Modify ZT or ZE command. Error reset.
5278 failure according to ZE does command according to ZE is not A A A A on on
not exist. instructed.
Sensor ZT command exists in This error occurs when ZT Modify ZT, ZN or ZE command. Error reset.
failure the section of command is instructed just after ZN
5279 A A A A on on
continuous ZN or ZE or ZE command.
commands.
Sensor ZN command exists in This error occurs when ZN Modify ZT, ZN or ZE command. Error reset.
failure the section of command is instructed just after ZT
5280 A A A A on on
continuous ZT or ZE or ZE command.
commands.
Sensor ZE command exists in This error occurs when ZE Modify ZT, ZN or ZE command. Error reset.
failure the section of command is instructed just after ZT
5281 A A A A on on
continuous ZT or ZN or ZN command.
commands.
Sensor Abnormal setting of This error occurs when both Modify the setting of External I/O detection in each ZN Error reset.
failure ON/OFF of External I/O settings of External I/O detection in command.
5282 A A A A on on
detection in ZN the continuous ZN instructions are
commands. not same.
Sensor Abnormal setting of This error occurs when both Modify the setting of input port number of External I/O Error reset.
failure input port number of settings of input port number of detection in each ZN command.
5283 External I/O detection External I/O detection in the A A A A on on
in ZN commands. continuous ZN instructions are not
same.
Sensor Abnormal setting of This error occurs when both Modify "Maximum distance" in each ZN command. Error reset.
failure "Maximum distance" in parameters of "Maximum distance"
5284 A A A A on on
ZN commands. in the continuous ZN instructions
are not same.
Sensor A reference position This error occurs if a reference Teach a reference position by executing manual Error reset.
5285 failure has not been taught. position is not taught when operation, macro-execution or trial operation. A A A A on on
executing SF2/ZF2.
Sensor An undefined dummy When executing SF2/ZF2, an To make a reference to the dummy point, modify the Error reset.
5286 failure point is being referred. undefined dummy point was patterned search macro so that the dummy point can A A A A on on
attempted to be referred. be referred after defined.
Sensor A vector is not taught. Since a vector is not taught, the Teach a vector (both its start point and end point). Error reset.
5287 failure motion direction of patterned A A A A on on
search cannot be operated.
Sensor An undefined When executing SF2/ZF2, an To make a reference to a temporary buffer point, Error reset.
5288 failure temporary buffer point undefined temporary buffer point modify the patterned search macro so that the A A A A on on
is being referred. was attempted to be referred. temporary buffer point can be referred after defined.
Sensor A vector cannot be (1)The motion start/end point of S (3)Check the vector specified by the temporary buffer Error reset.
failure defined or identified (search) command or M (move) point in each command, and remove the errors.
when executing command are the same. (2)When
5289 SF2/ZF2. executing the vector intersection A A A A on on
operation mode (a=1) by L (vector
calculation) command, two kinds of
vector are identical.
Sensor Logic error of the Parameter settings for the Review the contents of the patterned search macro and Error reset.
failure patterned search patterned search macro are fault, parameter settings for the patterned search (including
5290 A A A A on on
macro. which causes a SF2/ZF2 execution the set point).
failure.
Sensor An operation error A search target point of S (search) Review the contents of the patterned search macro and Error reset.
failure occurred when command or a motion target point parameter settings for the patterned search (including
5291 executing SF2/ZF2. of M (move) command were not the set point) so that the search target point and the A A A A on on
able to be obtained. motion target point can be got within the robot motion
range.
Sensor DE Search range This error occurs when the robot Modify (enlarge) the DE search range or program to Error reset.
5292 failure exceeded. moves beyond search range during rectify error. A A A A on on
DE.
Sensor The command of This error occurs when the Review the teaching in ZF-ZT and ZF-ZE section. Error reset.
5293 failure teaching prohibition in command not permitted has been A A A A on on
ZF and after taught in ZF-ZT and ZF-ZE section.
Sensor Adaptive welding Welding current specified by Check the lists of the specified spreadsheet in the Error reset.
failure current over adaptive control exceeds maximum sensor controller by WeldCom. If the spreadsheet is
5294 A A A A on on
current watch value of adaptive OK, increase maximum current watch value of adaptive
control. control.
Sensor Adaptive welding Welding current specified by Check the lists of the specified spreadsheet in the Error reset.
failure current short adaptive control becomes lower sensor controller by WeldCom. If the spreadsheet is
5295 A A A A on on
than minimum current watch value OK, decrease minimum current watch value of
of adaptive control. adaptive control.
Sensor Adaptive welding Welding voltage specified by Check the lists of the specified spreadsheet in the Error reset.
5296 A A A A on on
failure voltage over adaptive control exceeds maximum sensor controller by WeldCom. If the spreadsheet is

4-59
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
voltage watch value of adaptive OK, increase maximum voltage watch value of
control. adaptive control.
Sensor Adaptive welding Welding voltage specified by Check the lists of the specified spreadsheet in the Error reset.
failure voltage short adaptive control becomes lower sensor controller by WeldCom. If the spreadsheet is
5297 A A A A on on
than minimum voltage watch value OK, decrease minimum voltage watch value of
of adaptive control. adaptive control.
Sensor Adaptive travel speed Travel speed specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure over control exceeds maximum speed sensor controller by WeldCom. If the spreadsheet is
5298 A A A A on on
watch value of adaptive control. OK, increase maximum speed watch value of adaptive
control.
Sensor Adaptive travel speed Travel speed specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure short control becomes lower than sensor controller by WeldCom. If the spreadsheet is
5299 A A A A on on
minimum speed watch value of OK, decrease minimum speed watch value of adaptive
adaptive control. control.
Auto Auto Calibration An error is in the record method of Please record an automatic calibration function behind After recording
Calibratio function can not be an automatic calibration related a move command.Or please choose a mechanism the move step,
5300 A A A A on on
n failure carried out. function. correctly. Please Check
Go.
Auto Other units are running CALIBROB(FN702) cannot be Please perform CALIBROB (FN702) again after Error reset.
5301 Calibratio program. performed while running the stopping all units. A A A A on on
n failure program of other units.
Auto The maximum The amount of compensation of Please acquire a measuring point again after correcting Error reset.
Calibratio compensation value joint offset or a tool parameter is a gap of a robot using a torch gauge or a point mark.
5302 I I A A on on
n failure error. over the maximum set up by the
constant.
Auto The maximum search This error occurs when the robot Modify(enlarge) the search range or program to rectify No reset
5303 Calibratio distance error. moves beyond search range error. operations A A A A on on
n failure necessary.
Auto The reference point for This error occurs when reference Please acquire reference points. No reset
5304 Calibratio automatic calibrations points are not acquired. operations A A A A on on
n failure is not acquired. necessary.
Auto Reference point This error occurs when the "A" and Please make "A" and "B" points into the same No reset
5305 Calibratio Orientation error. "B" points have different orientation. operations A A A A on on
n failure orientation. necessary.
Auto Reference point It becomes this error when the Please make the same the orientation of B points of No reset
Calibratio orientation error (At the orientation of the reference point at A1, B1 point, A points of the direction search of Z or A2, operations
5306 A A A A on on
n failure time of the direction the time of the direction search of Z B-2 point, and the direction search of Z. necessary.
search of Z). differs from A1, B1 or A2, and B-2.
Auto The auto calibration This error occurs when the auto Please register an automatic calibration sensor by Error reset.
5307 Calibratio sensor is not calibration sensor required for constant setup. A A A A on on
n failure registered. search operation is not set up.
Auto The input-and-output This error occurs when the Set up an input-and-output signal. Error reset.
5308 Calibratio signal is not set up. input-and-output signal required for A A A A on on
n failure search operation is not set up.
Auto File reading error. A condition file cannot be read. Please set up constant data again or perform Error reset.
5309 Calibratio initialization. A A A A on on
n failure
Auto The abnormalities in an The parameter in an automatic Please set up a constant file correctly. Error reset.
5310 Calibratio automatic calibration calibration constant file is unusual. A A A A on on
n failure parameter.
Auto Automatic calibration It has not accessed whether a Please enable it to create a measurement file. Error reset.
5311 Calibratio measurement files measurement file could be created. A A A A on on
n failure error.
Auto The abnormalities in Reliability is not in the measured Please perform reference point acquisition again. Error reset.
Calibratio automatic calibration data. There is a possibility that the
5312 n failure correct. sensor might incorrect-detect or a A A A A on on
totter may be in attachment of a
tool.
Auto The abnormalities in Abnormalities occurred at the time Please perform reference point acquisition again. Error reset.
5313 Calibratio work program of work program compensation. A A A A on on
n failure compensation.
Auto The abnormalities in Abnormalities occurred at the time It is not especially. No reset
5314 Calibratio work program of work program compensation. operations I I I I on on
n failure compensation. necessary.
Auto A robot's position is Since a robot's position is shifted Please acquire a measuring point again after correcting Error reset.
5315 Calibratio shifted greatly. greatly, measurement is a gap of a robot to the range which can be measured A A A A on on
n failure uncontinuable. using a torch gauge or a point mark.
Auto All measuring points The gap of a robot was detected in Please measure all measuring points. Error reset.
5316 Calibratio are not acquired. the state where all measuring A A A A on on
n failure points have not measured.
Auto CALIBROB (FN702) Datum point acquisition mode It is not especially. Error reset.
5317 Calibratio cannot be performed. CALIBROB (FN702) was I I A A on on
n failure performed.
Auto Cannot search. It becomes this error when the Modify (enlarge) the search range or program to rectify Error reset.
5318 Calibratio inputted search operation distance error. A A A A on on
n failure is too large.
Auto The minimum search This error occurs when the robot Modify (enlarge) the search range or program to rectify No reset
5319 Calibratio distance error. moves beyond search range error. operations A A A A on on
n failure necessary.
Auto The abnormalities in Reliability is not in the measured Please perform measuring point acquisition again. Error reset.
Calibratio calibration data. There is a possibility that the
5320 n failure compensation at the sensor might incorrect-detect or a A A A A on on
time of totter may be in attachment of a
remeasurement. tool.
Auto The quick checki point Although the all-points Please measure the quick checki point again. Error reset.
Calibratio is not measured. measurement of the quick checki
5321 A A A A on on
n failure point is not carried out, MESPOS
(FN700) was performed.
Auto Reference point error. Reference point was not taken Please perform taking reference point from point 1Q. Error reset.
5322 Calibratio from point 1Q. A A A A on on
n failure
Auto Reference point error. Reference point was not taken Please perform taking reference point from point 1A. Error reset.
5323 Calibratio from point 1A. A A A A on on
n failure
Auto Measuring point This error occurs when the "A" and Please perform measuring point acquisition again. No reset
Calibratio Orientation error. "B" points have different operations
5330 n failure orientation. There is a possibility necessary. A A A A on on
that the sensor might
incorrect-detect or a totter may be

4-60
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
in attachment of a tool.
Auto Measuring point It becomes this error when the Please perform measuring point acquisition again. No reset
Calibratio orientation error(At the orientation of the measuring point operations
n failure time of the direction at the time of the direction search necessary.
search of Z). of Z differs from A1, B1 or A2, and
5331 A A A A on on
B-2.There is a possibility that the
sensor might incorrect-detect or a
totter may be in attachment of a
tool.
Auto The abnormalities in Reliability is not in the measured Please perform measuring point acquisition again. Error reset.
Calibratio automatic calibration data. There is a possibility that the
5332 n failure correct. sensor might incorrect-detect or a A A A A on on
totter may be in attachment of a
tool.
Auto The abnormalities in Abnormalities occurred at the time Please perform measuring point acquisition again. Error reset.
5333 Calibratio work program of work program compensation. A A A A on on
n failure compensation.
Auto Measuring point error. Measuring point was not taken Please perform taking measuring point from point 1Q. Error reset.
5334 Calibratio from point 1Q. A A A A on on
n failure
Auto Measuring point error. Measuring point was not taken Please perform taking measuring point from point 1A. Error reset.
5335 Calibratio from point 1A. A A A A on on
n failure
Sensor Abnormal setting of the This error occurs when the Review the minimum and maximum value of the speed Error reset.
failure speed monitoring minimum value of speed monitoring value.
5400 range monitoring value exceeds the A A A A on on
maximum value in the condition
settings for the adaptive control.
Sensor Abnormal setting of the This error occurs when the Review the minimum and maximum value of the Error reset.
failure current monitoring minimum value of current current monitoring value.
5401 range monitoring value exceeds the A A A A on on
maximum value in the condition
settings for the adaptive control.
Sensor Abnormal setting of the This error occurs when the Review the minimum and maximum value of the Error reset.
failure voltage monitoring minimum value of voltage voltage monitoring value.
5402 range monitoring value exceeds the A A A A on on
maximum value in the condition
settings for the adaptive control.
Sensor Adaptive condition An illegal setting change of an Please confirm the specified LSR file number. Please Error reset.
failure setting error adaptive condition was done in the confirm the content of the LSR file set when the
tracking section. Effective and the specified number is correct.
invalidity of an adaptive control
5403 A A A A on on
cannot be switched in the tracking
section, and the number of
samples of moving averages be
changed.
Sensor Adaptive weaving Weaving amplitude specified by Check the lists of the specified spreadsheet in the Error reset.
failure amplitude over adaptive control exceeds maximum sensor controller by WeldCom. If the spreadsheet is
5404 A A A A on on
amplitude watch value of adaptive OK, increase maximum amplitude watch value of
control. adaptive control.
Sensor ZF Posture Deviation This error occurs when the Check the target posture If no problems exist, modify Error reset.
failure range exceeded. difference between the target (enlarge) the ZF parameters or program to rectify error.
5406 posture calculated by ZF A A A A on on
instruction and the taught posture
exceeds Posture deviation range.
Sensor Maximum distance in Target position calculated by ZN Decrease the maximum distance in ZN command. Error reset.
failure ZN command is too command is out of the movable
5408 A A A A on on
long. area because Maximum distance
in ZN command is too long.
Sensor Stability waiting time The stability waiting time was (1)Modify (enlarge) stable waiting time to rectify error. Error reset.
failure over exceeded. (2)Modify the teaching point so that the groove is within
the field of view of laser. (3)When the groove is within
5410 A A A A on on
the field of view, modify the parameters by the software
attached to the sensor so that the groove is detected
normally.
Sensor ZJ Deviation range This error occurs when the Check detected position. If no problems exist, modify Error reset.
failure exceeded distance between the detected (enlarge) the ZJ deviation range parameter or program
5411 A A A A on on
point and ZJ reference point to rectify error.
exceeded the deviation range.
Sensor Adaptive Wire Speed Wire Speed specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure Over control exceeds maximum wire sensor controller by WeldCom. If the spreadsheet is
5412 A A A A on on
speed watch value of adaptive OK, increase maximum wire speed watch value of
control. adaptive control.
Sensor Adaptive Wire Speed Wire speed specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure Short control becomes lower than sensor controller by WeldCom. If the spreadsheet is
5413 A A A A on on
minimum wire speed watch value OK, decrease minimum wire speed watch value of
of adaptive control. adaptive control.
Sensor Area Over Detected area is exceeded beyond Check the area watch value(maximum) and enlarge if Error reset.
5414 A A A A on on
failure maximum allowable value. needed.
Sensor Area Short Detected area becomes lower than Check the area watch value(minimum) and decrease if Error reset.
5415 A A A A on on
failure minimum allowable value. needed.
Sensor Mismatch Over Detected mismatch is exceeded Check the mismatch watch value(maximum) and Error reset.
5416 A A A A on on
failure beyond maximum allowable value. enlarge if needed.
Sensor Mismatch Short Detected mismatch becomes lower Check the mismatch watch value(minimum) and Error reset.
5417 A A A A on on
failure than minimum allowable value. decrease if needed.
Sensor Search position was It differs from the position in which Please execute the trial movement or the edit, and get Error reset.
5418 failure changed. search position obtained reference reference position again. A A A A on on
position.
Sensor SF8 Max. Contents of the register specified in Check contents of the register specified in SF8. If there Error reset.
5419 failure Compensative-Surveill SF8 exceeded beyond Max. is no problem, increase Max. A A A A on on
ance val. Over Compensative-Surveillance val. Compensative-Surveillance val. in SF8.
Sensor SF8 Min. Contents of the register specified in Check contents of the register specified in SF8. If there Error reset.
5420 failure Compensative-Surveill SF8 becomes lower than Min. is no problem, decrease Min. A A A A on on
ance val. Short Compensative-Surveillance val. Compensative-Surveillance val. in SF8.
Sensor The touch detection It leaves the final instruction Contact our service department. Back up files to Turn on the
failure point is abnormal. position too much the position in external CF memory. Because the robot stop step is power again.
5421 A A A A on on
which the touch signal was different to the execute step, step-set must be needed
detected. for restart.
5422 Sensor Adaptive EN Ratio EN ratio specified by adaptive Check the lists of the specified spreadsheet in the Error reset. A A A A on on

4-61
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure Over control exceeds maximum EN ratio sensor controller by WeldCom. If the spreadsheet is
watch value of adaptive control. OK, increase maximum EN ratio watch value of
adaptive control.
Sensor Adaptive EN Ratio EN ratio specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure Short control becomes lower than sensor controller by WeldCom. If the spreadsheet is
5423 A A A A on on
minimum EN ratio watch value of OK, decrease minimum EN ratio watch value of
adaptive control. adaptive control.
Sensor Abnormal setting of the This error occurs when the Review the minimum and maximum value of the EN Error reset.
failure EN Ratio monitoring minimum value of EN ratio ratio monitoring value.
5424 range monitoring value exceeds the A A A A on on
maximum value in the condition
settings for the adaptive control.
Sensor Abnormal setting of the This error occurs when the Review the minimum and maximum value of the Wire Error reset.
failure Wire speed monitoring minimum value of Wire speed speed monitoring value.
5425 range monitoring value exceeds the A A A A on on
maximum value in the condition
settings for the adaptive control.
Sensor Normal Angle Over Detected Normal angle is Check that Normal angle amount and modify allowable Error reset.
5426 failure exceeded beyond maximum value if needed. A A A A on on
allowable value.
Sensor Normal Angle Short Detected Normal angle becomes Check that Normal angle amount and modify allowable Error reset.
5427 failure lower than minimum allowable value if needed. A A A A on on
value.
Sensor Sensor kind is This error occurs when the sensor Check that sensor settings and /or teaching programs. Reset failure.
5428 failure mismatched. kind in the sensor step does not A A A A on on
meet that of the connected sensor.
Sensor The target position and The target position and posture (1) Please correct specified Aim Angle and Lad Angle. Error reset.
failure posture cannot be were not able to be calculated (2) Please confirm whether detected Joint Normal
calculated. according to the detection value of Angle is an expected angle with the GAP file. It is likely
the sensor, taught aim angle and to become Joint Normal not anticipated according to
5429 A A A A on on
the lag angle. the state of Groove. (3) It is likely to become this
abnormality when the absolute amount of the offset is
too large at two point search. Please reduce it in that
case.
Operation Playback unavailable Error occurs when it is not able to Please confirm the starting condition of user task. Error reset.
al failure user task program start user task program ,because
5430 A A A A on on
because it is being used all user task or not exist user
used all user task. task program.
Sensor Tracking condition file The condition file specified by the Please create the tracking condition file or edit the Error reset.
5439 A A A A on on
failure doesn't exist. tracking function doesn't exist. program.
Sensor Tracking direction For the traveling direction of the Please change tracking coordinates. Error reset.
failure cannot be defined. torch is parallel to the direction of
5440 A A A A on on
gravity, tracking direction cannot be
defined.
Sensor The welding length of Test Tracking was not able to be Please correspond whether to lengthen the welding No reset
failure Test Tracking is completed normally, because the length or to slow down the speed or to raise the operations
5441 A A A A off on
insufficient. welding length was insufficient weaving frequency or to reduce one section necessary.
measurement frequency of the Test Tracking setting.
Sensor Test Tracking is Test Tracking is discontinued for Please OFF both sensor and weaving. No reset
5442 failure stopped. sensor OFF or weaving OFF. operations A A A A off on
necessary.
Sensor Data Sending Error. Data was not able to be sent to the Reboot AX System. Still, there is a possibility that the Turn on the
5443 failure sensor. increase serial board has been damaged when not power again. A A A A on on
released.
Sensor Sensor Receive Data NAK frame was received from the (1)Please confirm the connection of the cable between Error reset.
failure Error. sensor. the robot controller system and the arc sensor unit.
5444 A A A A on on
(2)Still, when it is not released, Control power supply is
re-switched on.
Sensor Sensor Send Data An abnormal frame was received (1)Please confirm the connection of the cable between After removal of
failure Error. from the sensor. the robot controller system and the arc sensor unit. failure, please
5445 A A A A on on
(2)Still, when it is not released, Control power supply is carry out
re-switched on. "failure-reset".
Sensor No Sensor Response. Response command from the (1)Please confirm the connection of the cable between After removal of
failure sensor was not able to be received. the robot controller system and the arc sensor unit. failure, please
5446 A A A A on on
(2)Still, when it is not released, Control power supply is carry out
re-switched on. "failure-reset".
Sensor Sensor ID error. Illegal Sensor ID. Please confirm the sensor setting. After removal of
failure failure, please
5447 A A A A on on
carry out
"failure-reset".
Sensor The controller could not The controller could not Reboot AX System and sensor unit. In case that the Reboot AX
5448 failure communicate with the communicate with the sensor unit. error still occurs after rebooting, check the connection system and E E E E on on
Sensor unit. of the sensor unit to the controller. sensor unit.
Sensor ST instruction or the The result of an online modification Please set 0 to current response after executing the Error reset.
5449 failure sample data file is cannot be applied to the sample test tracking. If TIG-AVC, set 0 to arc standard voltage. A A A A on on
wrong. data.
Sensor Extended Ethernet It failed in the start of extended Please confirm whether the extended Ethernet card is Reset failure.
failure Error Ethernet. correctly installed. Or, please confirm whether the MAC
address is correctly set. Still, there is a possibility that
5450 the version of OS is old when this abnormality occurs. A A A A on on
Please contact our service department after confirming
the version number of OS etc. Back up files to external
CF memory.
Sensor Sensor Lens Error Abnormality concerning the lens Please confirm whether the protective lens is correctly Reset failure.
5451 failure was detected with the sensor installed. Please wipe dirt off when the protective lens A A A A on on
camera. is dirty or exchange it for a new lens.
Sensor Sensor Interface Error The sensor detected the error Please treat it according to the instruction of the Reset failure.
failure concerning the telecommunication manual when abnormality is displayed on the display of
control. the sensor. Please put the power supply of the sensor
5452 and the controller again when abnormality is not A A A A on on
displayed. Please contact our service after confirming
the version of the sensor and the controller when same
abnormality is displayed afterward.
Sensor Sensor Hot Alarm An internal abnormal temperature Please drop the power supply of the sensor, and put Reset failure.
failure was detected with the sensor time for a while at once. Please turn on the power
5453 A A A A on on
camera. supply again after falling the temperature of the
camera.
Sensor Laser OFF The Laser is disabled. Please execute it after turning on the laser light. Please Reset failure.
5454 A A A A on on
failure check whether cables are correctly connected when it

4-62
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
doesn't turn on the laser light. Or, please put the power
supply of the sensor and the controller again.
Sensor The task number is The specified task number doesn't (1)Please specify the task number made with Reset failure.
failure wrong. exist in the sensor. WeldCom. (2)Please make the task library of the
5455 specified task number with WeldCom. (3)Please load A A A A on on
the task library file where the specified task number
exists into the sensor by using WeldCom.
Sensor The posture change The calculated target posture has (1) Please correct specified Aim Angle and Lead Angle. Reset failure.
failure amount is excessive. greatly changed into the posture (2) Please confirm whether detected Joint Normal
when groove is detected. And, Angle is an expected angle with the GAP file. It is likely
5456 when the amount of the change to become Joint Normal not anticipated according to A A A A on on
exceeds the posture change over the state of Groove. (3) Check that actual posture
watch value, this alarm is detected. change amount and modify the posture change over
watch value if needed.
User Installation Angle is Installation Angle is updated by Check [Constant Setting]->[12 Format and No reset
5500 failure updated. request from OLP. Configuration]->[5 Installation Angle]. operations A A A A on on
necessary.
User Tool Constants are Tool Constants are updated by Check [Constant Setting]->[3 Machine Constants]->[1 No reset
5501 failure updated. request from OLP. Tool Constants]. operations A A A A on on
necessary.
Operation Playback unavailable Error occurs when it is not able to Please confirm the starting condition of user task. Error reset.
al failure user task program start user task program ,because
5510 I I I I on on
because it is being used all user task or not exist user
used all user task. task program.
Operation Option un-setting up. It generates, when it is going to use Please set up an option. No reset
5701 al failure the option function which is not set operations A A A A on on
up. necessary.
Operation It cannot re-start. Movement in a return position or a Please re-start after a step-set out of the section. No reset
5702 al failure section state cannot be resumed. operations A A A A on on
necessary.
Shift The input-and-output This error occurs when the Set up an input-and-output signal. Error reset.
5703 failure signal is not set up. input-and-output signal is not set A A A A on on
up.
Shift Abnormality occurred The value of the shift input signal is Please the parity bit of the shift input signal must No reset
5704 failure by the parity check of not steady. normally input or confirm whether the noise has gotten operations A A A A on on
the shift input signal. on the signal. necessary.
Shift Other units are running This function command cannot be Please perform again after stopping all units. Error reset.
5705 failure program. performed while running the A A A A on on
program of other units.
Operation Application isn't set up. It generates when it is going to use Please set up the correct Application. Error reset.
5706 al failure the application function which is not A A A A on on
set up.
Arc weld The weaving trajectory The amount of movements of Please correct the amount of movements of weaving, No reset
failure exceeded regulation weaving pattern data large, or or frequency (speed). operations
6005 speed. frequency (speed) was large, the necessary. I I I I on on
speed of a weaving trajectory
exceeded regulation speed.
Arc weld The amount of posture The amount of change of the Please correct posture change of taught weaving Move posture
failure change of taught posture of weaving pattern data is pattern data. change
6006 I I I I on on
weaving exceeded the too large. restriction-withi
restriction value. n the limits.
Arc weld The welding current The difference between the Check the welding conditions(wire extension etc). No reset
failure value has exceeded welding current value measured by There is possibility of mismatch the welding operations
the allowable limit. the welding power supply and the characteristic data to your environment if this failure necessary.
6010 I I I I on on
taught one has exceeded the occurs over and over again. In such case, adjust the
allowable limit set by the arc welding characteristic data by the adjustment of
constants. welding condition function etc.
Arc weld The welding voltage The difference between the Check the welding conditions (wire extension etc). No reset
failure value has exceeded welding voltage value measured by There is possibility of mismatch the welding operations
the allowable limit. the welding power supply and the characteristic data to your environment if this failure necessary.
6011 I I I I on on
taught one has exceeded the occurs over and over again. In such case, adjust the
allowable limit set by the arc welding characteristic data by the adjustment of
constants. welding condition function etc.
Arc weld Arc start failure. No arc is generated after retrying. Check the work piece’s condition, wire's condition, and No reset
6014 failure connection of the cable. operations I I I I on on
necessary.
Arc weld Arc outage was Arc outage occurred during Eliminate all causes of arc outage, for instance by No reset
6015 failure detected. welding. adjusting the welding conditions; fixing wire feed operations I I I I on on
failure, and so on. necessary.
Arc weld Wire stick was Wire is stuck. Cut stuck wire. No reset
6016 failure detected. operations I I I I on on
necessary.
Arc weld Wire shortage was Not enough wire is inputted. Supply wire. No reset
6019 failure detected. operations I I I I on on
necessary.
Arc weld Input voltage shortage The primary input voltage of the Refer to the instruction manual of the welding power No reset
6024 failure failure occurred in the welding power supply has supply (Failure Name: Input voltage shortage) and operations I I I I on on
welding power supply. decreased. eliminate all causes. necessary.
Arc weld The load of wire feed It exceeded the allowable value A load is on the wire feed department by wear of the No reset
6043 failure exceeded allowable which the load of wire feed was set liner, the chip defect, and so on. Get rid of load factors. operations I I I I on on
value. up to by the welding fixed number. necessary.
Arc weld The battery of welding The battery of welding power Exchange a battery because it can't be connected any No reset
6044 failure power supply is supply is exhausted. more with the welding power supply. operations I I I I on on
exhausted. necessary.
Arc weld WCR Short-circuit Error WCR of W-I/F had connected too Please check the state of W-I/F, and a welding power No reset
6054 failure hastily at the time of an arc start. supply. operations I I I I on on
necessary.
Arc weld The cooler fan failure The cooler fan's rotation has fallen Refer to the instruction manual of the welding power No reset
6074 failure occurred in the welding or it stops. supply (Failure Name: The cooler fan failure) and operations I I I I on on
power supply. eliminate all causes. necessary.
Operation It was going to start the It will generate, if the unit Please start after waiting for the completion of starting. No reset
al failure unit containing the containing the resources under operations
6080 I I I I on on
resources under starting is started. necessary.
starting.
Arc weld Communication The controller of the welding power Check the route of cable and ground connection. No reset
failure timeout occurred inside supply didn't respond. operations
6085 I I I I on on
the welding power necessary.
supply.
6106 Arc weld The pilot arc outage is The pilot arc outage occurred. Check the connection condition of the cable. No reset I I I I on on

4-63
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure abnormal. operations
necessary.
Arc weld Setting error of the The failure limit by the rate cannot In the welding constant, please set a relative value. No reset
6107 failure failure limit type. be set by the version of this welder. operations I I I I on on
necessary.
Arc weld Pilot arc ON error. The pilot arc was not able to be Please check follows. (1)Turn off the purge (cleaning No reset
failure turned on. gas). (2)Release the emergency stop. (3)Reset plasma operations
6108 I I I I on on
unit/WPS error. (4)Set weld ON. (5)Set the registration necessary.
of welder "PlasmaDA" or "PlasmaWPS".
Arc weld Purge (Cleaning gas) The purge (cleaning gas) was not Please check follows. (1)Turn off the pilot arc. No reset
6109 failure ON error. able to be turned on. (2)Release the emergency stop. (3)Reset plasma unit operations I I I I on on
error. necessary.
Arc weld The management of The arc welding power supply The upgrade should do the software of the arc welding No reset
failure the consumption of the doesn't correspond to the power supply. operations
6116 wire of the user management of the consumption of necessary. I I I I on on
maintenance function the wire.
cannot be used.
Arc weld The Gas OFF Delay The arc welding power supply The upgrade should do the software of the arc welding No reset
6117 failure function cannot be doesn't correspond to the Gas Off power supply. Or, please set the Gas OFF Delay time operations I I I I on on
used. Delay function. to 0. necessary.
Arc weld The gas mass flow The difference between the gas Please confirm the remainder pressure of gas cylinder, No reset
failure value has exceeded mass flow value measured by the the piping of the gas, and the setting of the gas mass operations
the allowable limit. welding power supply and the flow control unit. necessary.
6121 I I I I on on
taught one has exceeded the
allowable limit set with the
controller.
Arc weld The gas pressure value The gas pressure measured in the Please confirm the remainder pressure of gas cylinder, No reset
failure has exceeded the arc welding power supply the piping of the gas, and the setting of the gas mass operations
6122 I I I I on on
allowable limit. exceeded the limiting value set with flow control unit. necessary.
the controller.
Arc weld The set gas mass flow The set gas mass flow was not Please confirm the residual quantity of the gas cylinder, No reset
6123 failure is not output. output in specified time. the piping of the gas, and the setting of the gas mass operations I I I I on on
flow control unit. necessary.
Arc weld The speed of the wire The speed of the wire measured in Please confirm whether an excessive load contracts No reset
failure speed has exceeded the arc welding power supply has the wire feeder. Please contact our customer service operations
6140 the allowable limit. exceeded the allowable limit at the center when the permissible value is large. necessary. I I I I on on
speed of the wire that the arc
welding power supply output.
Arc weld The welding recorder There is not becoming empty in the Please reduce the number of record data. No reset
6141 failure function cannot be memory that memorizes the operations I I I I on on
used. welding record data. necessary.
Arc weld The welding record file The file cannot be made because Please secure the free space of the device. No reset
6142 failure cannot be made. there is no free space of the operations I I I I on on
device. necessary.
Arc weld Threshold trigger The threshold specified under the Please confirm the arc welding construction condition. No reset
failure welding record condition was operations
6143 I I I I on on
detected in the arc welding power necessary.
supply.
Arc weld Welding recorder It was not a connection to the FTP Please confirm host name, user ID, password, and No reset
failure cannot connect to FTP server that was saving device for a initial folder of ftp client. operations
server. welding recorder. Or, neither an necessary.
6144 I I I I on on
initial folder nor the folder of this
name existed on the home
directory of the FTP server.
Arc weld Abnormality occurred The welding recorder cannot save Please confirm the state of the storage medium. No reset
failure while saving the record file. The storage medium is operations
6145 welding record file. not prepared and read-only and necessary. I I I I on on
memory capacity shortage, etc. are
thought.
Sensor Start Point un-detected This failure occurs when the start (1)Check the groove recognization by WeldCom. Error reset.
6237 failure point is not detected during ZF (2)Enlarge the ZF maximum search range. I I I I on on
search.
Sensor Cannot restart during Cannot restart during seam Do not modify the position and posture of the robot Error reset.
6238 failure seam tracking. tracking. when the robot is stopped in ZT period if the restarting I I I I on on
is required.
Sensor ZF Deviation range This error occurs when the Check detected position. If no problems exist, modify Error reset.
failure exceeded distance between the detected (enlarge) the ZF deviation range parameter or program
6239 I I I I on on
start point and ZF taught point to rectify error.
exceeded the deviation range.
Sensor ZF search range This error occurs when the robot Modify (enlarge) the search range or program to rectify Error reset.
6240 I I I I on on
failure exceeded moves beyond search range error.
Sensor ZT Position Deviation This error occurs when the robot Check the target position If no problems exist, modify Error reset.
6241 failure range exceeded moves beyond Position deviation (enlarge) the ZT parameters or program to rectify error. I I I I on on
range
Sensor ZN Search range This error occurs when the robot Modify (enlarge) the ZN search range or program to Error reset.
6243 failure exceeded. moves beyond search range during rectify error. I I I I on on
ZN.
Sensor Deviation range This error occurs when the Check the detected point. If no problems exist, Modify Error reset.
failure exceeded. distance between the detected end (enlarge) the deviation range or program to rectify
6245 I I I I on on
point and taught point before ZE error.
exceeded the deviation range.
Sensor ZT Posture Deviation This error occurs when the robot Check the target posture If no problems exist, modify Error reset.
6249 failure range exceeded moves beyond Posture deviation (enlarge) the ZT parameters or program to rectify error. I I I I on on
range
Sensor Groove un-detected. Groove cannot be detected. (1)Check that LASER power is ON.(2)Check the cable Take
failure between Laser Sensor Unit and Sensor Head is countermeasur
6261 connected properly.(3)Check the cable between Robot es and reset I I I I on on
Controller and Laser Sensor Unit is connected failure.
properly.
Sensor Adaptive welding Welding current specified by Check the lists of the specified spreadsheet in the Error reset.
failure current over adaptive control exceeds maximum sensor controller by WeldCom. If the spreadsheet is
6294 I I I I on on
current watch value of adaptive OK, increase maximum current watch value of adaptive
control. control.
Sensor Adaptive welding Welding current specified by Check the lists of the specified spreadsheet in the Error reset.
failure current short adaptive control becomes lower sensor controller by WeldCom. If the spreadsheet is
6295 I I I I on on
than minimum current watch value OK, decrease minimum current watch value of
of adaptive control. adaptive control.
Sensor Adaptive welding Welding voltage specified by Check the lists of the specified spreadsheet in the Error reset.
6296 I I I I on on
failure voltage over adaptive control exceeds maximum sensor controller by WeldCom. If the spreadsheet is

4-64
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
voltage watch value of adaptive OK, increase maximum voltage watch value of
control. adaptive control.
Sensor Adaptive welding Welding voltage specified by Check the lists of the specified spreadsheet in the Error reset.
failure voltage short adaptive control becomes lower sensor controller by WeldCom. If the spreadsheet is
6297 I I I I on on
than minimum voltage watch value OK, decrease minimum voltage watch value of
of adaptive control. adaptive control.
Sensor Adaptive travel speed Travel speed specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure over control exceeds maximum speed sensor controller by WeldCom. If the spreadsheet is
6298 I I I I on on
watch value of adaptive control. OK, increase maximum speed watch value of adaptive
control.
Sensor Adaptive travel speed Travel speed specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure short control becomes lower than sensor controller by WeldCom. If the spreadsheet is
6299 I I I I on on
minimum speed watch value of OK, decrease minimum speed watch value of adaptive
adaptive control. control.
Sensor Search range This error occurs when the robot Modify (enlarge) the search range or program to rectify No reset
6300 failure exceeded. moves beyond search range error. operations I I I I on on
necessary.
Sensor Search range is short This error occurs when the robot Modify (shorten) the search range or program to rectify No reset
6301 failure detect the touch status within error. operations I I I I on on
minimum search range. necessary.
Sensor Deviation range This error occurs when the robot Modify (enlarge) the deviation range or program to No reset
6302 failure exceeded. moves beyond deviation range rectify error. operations I I I I on on
necessary.
Sensor Gap Over Detected gap is exceeded beyond Check that gap amount and modify allowable value if Error reset.
6303 I I I I on on
failure maximum allowable value. needed.
Sensor Gap short Detected gap becomes lower than Check that gap amount and modify allowable value if Error reset.
6304 I I I I on on
failure minimum allowable value. needed.
Sensor Groove depth over Detected groove depth is Check that groove depth amount and modify allowable Error reset.
6305 failure exceeded beyond maximum value if needed. I I I I on on
allowable value.
Sensor Groove depth short Detected groove depth becomes Check that groove depth amount and modify allowable Error reset.
6306 failure lower than minimum allowable value if needed. I I I I on on
value.
Sensor Angle1 over Detected angle1 is exceeded Check that angle1 amount and modify allowable value Error reset.
6307 I I I I on on
failure beyond maximum allowable value. if needed.
Sensor Angle1 short Detected angle1 becomes lower Check that angle1 amount and modify allowable value Error reset.
6308 I I I I on on
failure than minimum allowable value. if needed.
Sensor Angle2 over Detected angle2 is exceeded Check that angle2 amount and modify allowable value Error reset.
6309 I I I I on on
failure beyond maximum allowable value. if needed.
Sensor Angle2 short Detected angle2 becomes lower Check that angle2 amount and modify allowable value Error reset.
6310 I I I I on on
failure than minimum allowable value. if needed.
Sensor Groove un-detected Groove position cannot be Check setting parameters in GFF file. Error reset.
6311 I I I I on on
failure detected
Sensor Unstable detection This error occurs when measured Check that target surface condition and/or Error reset.
6312 I I I I on on
failure data is unstable. measurement angle.
Sensor The target position and The target position and posture (1) Please correct specified Aim Angle and Lad Angle. No reset
failure posture cannot be were not able to be calculated (2) Please confirm whether detected Joint Normal operations
calculated. according to the detection value of Angle is an expected angle with the GAP file. It is likely necessary.
the sensor, taught aim angle and to become Joint Normal not anticipated according to
6329 I I I I on on
the lag angle. the state of Groove. (3) It is likely to become this
abnormality when the absolute amount of the offset is
too large at two point search. Please reduce it in that
case.
Sensor Correction amount by Error is activated when the case Check that current torch position. If it is OK, extend the Error reset.
failure arc-sensor exceeds that correction amount by the value CHASING RANGE in teaching parameter. If it is
6330 I I I I on on
specified value. sensor exceeds the specified value NG, try to adjust sensor parameters.
in teaching parameter.
Sensor Calculation turns to This error is activated when Check that welding condition to be stable. Error reset.
6331 failure unstable during stability of welding arc decreased I I I I on on
arc-sensing process. significantly.
Sensor Welding position This error is activated when the Try to re-adjust sensing parameters. Error reset.
failure cannot be detected deviation detection cannot be
6332 calculated during arc-sensing I I I I on on
process. Note that position
correction is not executed.
Sensor Unstable wire-feeding. Wire-feeding status turn to Check that equipments for wire feeding. Error reset.
6333 failure unstable. Deviation is lager than I I I I on on
specified value.
Sensor ST parameter error. The instruction parameter of ST It improves whether each parameter is setting within Error reset.
6334 I I I I on on
failure command is over the setting range. the limits.
Sensor ZJ Deviation range This error occurs when the Check detected position. If no problems exist, modify Error reset.
failure exceeded distance between the detected (enlarge) the ZJ deviation range parameter or program
6335 I I I I on on
point and ZJ reference point to rectify error.
exceeded the deviation range.
Sensor Adaptive Wire Speed Wire Speed specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure Over control exceeds maximum wire sensor controller by WeldCom. If the spreadsheet is
6336 I I I I on on
speed watch value of adaptive OK, increase maximum wire speed watch value of
control. adaptive control.
Sensor Adaptive Wire Speed Wire speed specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure Short control becomes lower than sensor controller by WeldCom. If the spreadsheet is
6337 I I I I on on
minimum wire speed watch value OK, decrease minimum wire speed watch value of
of adaptive control. adaptive control.
Sensor Area Over Detected area is exceeded beyond Check the area watch value (maximum) and enlarge if Error reset.
6338 I I I I on on
failure maximum allowable value. needed.
Sensor Area Short Detected area becomes lower than Check the area watch value (minimum) and decrease if Error reset.
6339 I I I I on on
failure minimum allowable value. needed.
Sensor Mismatch Over Detected mismatch is exceeded Check the mismatch watch value (maximum) and Error reset.
6340 I I I I on on
failure beyond maximum allowable value. enlarge if needed.
Sensor Mismatch Short Detected mismatch becomes lower Check the mismatch watch value (minimum) and Error reset.
6341 I I I I on on
failure than minimum allowable value. decrease if needed.
Sensor Adaptive EN Ratio EN ratio specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure Over control exceeds maximum EN ratio sensor controller by WeldCom. If the spreadsheet is
6342 I I I I on on
watch value of adaptive control. OK, increase maximum EN ratio watch value of
adaptive control.
Sensor Adaptive EN Ratio EN ratio specified by adaptive Check the lists of the specified spreadsheet in the Error reset.
failure Short control becomes lower than sensor controller by WeldCom. If the spreadsheet is
6343 I I I I on on
minimum EN ratio watch value of OK, decrease minimum EN ratio watch value of
adaptive control. adaptive control.
6344 Sensor Normal Angle Over Detected Normal angle is Check that Normal angle amount and modify allowable Error reset. I I I I on on

4-65
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
failure exceeded beyond maximum value if needed.
allowable value.
Sensor Normal Angle Short Detected Normal angle becomes Check that Normal angle amount and modify allowable Error reset.
6345 failure lower than minimum allowable value if needed. I I I I on on
value.
Sensor Adaptive weaving Weaving amplitude specified by Check the lists of the specified spreadsheet in the Error reset.
failure amplitude over adaptive control exceeds maximum sensor controller by WeldCom. If the spreadsheet is
6404 I I I I on on
amplitude watch value of adaptive OK, increase maximum amplitude watch value of
control. adaptive control.
TP failure Battery remainder The capacity of the battery of the Please connect with the cradle, and charge with the No reset
6448 amount shortage of the wireless T/P has decreased. battery. operations I I I I off off
wireless T/P. necessary.
TP failure Wireless strength Wireless strength of the wireless Please bring the wireless T/P close to the controller. No reset
6449 shortage of the T/P has weakened. operations I I I I off off
wireless T/P necessary.
User User failure. User failure. Please carry out "failure-reset". Error reset.
7000 E E E E on on
failure
Emergenc The robot's joint angle The robot's joint angle was not in Contact our service department. Back up files to Error reset.
y stop before and behind a agreement at the starting point of external CF memory. Because the robot stop step is
9001 A E A E on on
failure record point was not in this step and the target point of this different to the execute step, step-set must be needed
agreement. step. for restart.
Emergenc The amount of step The result which added the amount Contact our service department. Back up files to Error reset.
y stop movements is of step movements to the robot's external CF memory. Because the robot stop step is
9002 failure abnormal. joint angle in a starting point is not different to the execute step, step-set must be needed A E A E on on
in agreement with the robot joint for restart.
angle in a target point.
Operation Abnormal velocity Abnormal velocity command data Modify abnormal axis motion to be minimized. Contact After removal of
al failure command. Modify is calculated. our service department in case axis motion is not so failure, please
9003 abnormal axis motion. big. Back up files to external CF memory. Because the carry out E E E E on on
robot stop step is different to the execute step, step-set "failure-reset".
must be needed for restart.
Servo Position Deviation error This failure occurs when the (1)Please confirm whether the robot manipulator After removal of
failure deviation between the command interferes in something.(2)Please confirm that the failure, please
9005 and encoder data position exceeds Pay-load is within the nominal rating.(3)If failure carry out E E E E on on
the set permissible deviation. persists, the problem may be a mechanical defect in "failure-reset".
the manipulator, contact our service department.
Emergenc The robot's joint angle The robot joint angle of this step Contact our service department. Back up files to Turn on the
y stop before and behind a starting point and the robot joint external CF memory. Because the robot stop step is power again.
9011 E E E E on on
failure record point was not in angle of the last step target point is different to the execute step, step-set must be needed
agreement. different. for restart.
Emergenc The amount of step The result which added the amount Contact our service department. Back up files to Turn on the
y stop movements is of step movements to the robot's external CF memory. Because the robot stop step is power again.
9012 failure abnormal. joint angle in a starting point is not different to the execute step, step-set must be needed E E E E on on
in agreement with the robot joint for restart.
angle in a target point.
CPU Error of Interpolation Motion control section detected the Contact our service department. Back up files to Error reset.
board Stop. Time-out Error of Interpolation external CF memory. Because the robot stop step is
9020 E E E E on on
failure Stop. different to the execute step, step-set must be needed
for restart.
CPU Error of Waiting for Robot has not arrived at target Contact our service department. Back up files to Error reset.
board arriving of target position. external CF memory. Because the robot stop step is
9021 E E E E on on
failure position. different to the execute step, step-set must be needed
for restart.
CPU Error of Waiting for Robot has not arrived at target Contact our service department. Back up files to Error reset.
board arriving of accuracy position accurately. external CF memory. Because the robot stop step is
9022 E E E E on on
failure position. different to the execute step, step-set must be needed
for restart.
CPU Error of interruption of Position Command interrupted. Contact our service department. Back up files to Error reset.
board Position Command. external CF memory. Because the robot stop step is
9023 E E E E on on
failure different to the execute step, step-set must be needed
for restart.
CPU Error of mechanism Motion control section didn't Contact our service department. Back up files to Error reset.
9024 board resource acquisition. acquire mechanism resource. external CF memory. E E E E on on
failure
CPU Safety slow speed error Robot speed does not become Contact our service department. Back up files to Error reset.
board safety level. external CF memory. Because the robot stop step is
9025 E E E E on on
failure different to the execute step, step-set must be needed
for restart.
CPU Stop Release error Stop command of Motion control Contact our service department. Back up files to Error reset.
board section was not released. external CF memory. Because the robot stop step is
9026 E E E E on on
failure different to the execute step, step-set must be needed
for restart.
CPU Motion Calculation Motion control section detected Contact our service department. Back up files to Because the
board error Calculation error. external CF memory. Because the robot stop step is robot stop step
failure different to the execute step, step-set must be needed is different to
for restart. the execute
9028 step, step-set E E E E on on
must be
needed for
restart. Error
reset.
Emergenc Error of brake delay in The axis that the brake doesn't lock Turn motors ON by pressing the Motor-ON button.. Please do error
y stop interference detection. even if prescribed time has passed reset or turn on
9030 E E E E on on
failure since interference was detected the drive
exists. preparation.
Extremely frequent Frequent input-signal caused Check input-signal. Turn on the
9031 input-signal was system busy. power again. E E E E on on
detected.
Emergenc Reducer modeling When reversely making amends by Contact our service department. Back up files to Error reset.
y stop reverse amends error. the reducer modeling, the amount external CF memory. Because the robot stop step is
9032 E E E E on on
failure of amends exceeded a specified different to the execute step, step-set must be needed
value. for restart.
CPU Motion synchronous Synchronous processing inside a Contact our service department. Back up files to Error reset.
board error motion was not performed external CF memory. Because the robot stop step is
9033 E E E E on on
failure normally. different to the execute step, step-set must be needed
for restart.
CPU Waiting timeout for In spite of having canceled the Contact our service department. Back up files to Error reset.
9034 board robot starting synchronous waiting within a external CF memory. Because the robot stop step is E E E E on on
failure motion, a robot did not start for a different to the execute step, step-set must be needed

4-66
 Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
definite period of time. for restart.
Emergenc Stop interpolation Motion control section stopped the Contact our service department. Back up files to Turn on the
y stop calculation of interpolation. external CF memory. Because the robot stop step is power again.
9100 E E E E on on
failure different to the execute step, step-set must be needed
for restart.
Emergenc Exceed operation time The robot dose not work Contact our service department. Back up files to Turn on the
9101 y stop continuously. external CF memory. power again. E E E E on on
failure
Emergenc Playback cannot be I/O signal was not able to be Contact our service department. Back up files to Turn on the
9102 y stop continued. processed. external CF memory. power again. E E E E on on
failure
CPU System Error A breakpoint was encountered. Turn on the power again. If the error is not released, Turn on the
9103 board (RT_BREAKPOINT). reinstall the system. power again. E E E E on on
failure
CPU System Error The thread attempted to read from Turn on the power again. If the error is not released, Turn on the
board (RT_ACCESS_VIOLA or write to a virtual address for reinstall the system. power again.
9105 E E E E on on
failure TION). which it does not have the
appropriate access.
CPU System Error One of the operands in a Turn on the power again. If the error is not released, Turn on the
board (RT_FLT_DENORMAL floating-point operation is reinstall the system. power again.
9113 failure _OPERAND). denormal. A denormal value is one E E E E on on
that is too small to represent as a
standard floating-point value.
CPU System Error The thread attempted to divide a Turn on the power again. If the error is not released, Turn on the
9114 board (RT_FLT_DIVIDE_BY_ floating-point value by a reinstall the system. power again. E E E E on on
failure ZERO). floating-point divisor of zero.
CPU System Error The result of a floating-point Turn on the power again. If the error is not released, Turn on the
9115 board (RT_FLT_INEXACT_R operation cannot be represented reinstall the system. power again. E E E E on on
failure ESULT). exactly as a decimal fraction.
CPU System Error This exception represents any Turn on the power again. If the error is not released, Turn on the
9116 board (RT_FLT_INVALID_O floating-point exception not reinstall the system. power again. E E E E on on
failure PERATION). included in this list.
CPU System Error The exponent of a floating-point Turn on the power again. If the error is not released, Turn on the
board (RT_FLT_OVERFLOW operation is greater than the reinstall the system. power again.
9117 E E E E on on
failure ). magnitude allowed by the
corresponding type.
CPU System Error The exponent of a floating-point Turn on the power again. If the error is not released, Turn on the
board (RT_FLT_UNDERFLO operation is less than the reinstall the system. power again.
9119 E E E E on on
failure W). magnitude allowed by the
corresponding type.
CPU System Error The thread attempted to divide an Turn on the power again. If the error is not released, Turn on the
9120 board (RT_INT_DIVIDE_BY_ integer value by an integer divisor reinstall the system. power again. E E E E on on
failure ZERO). of zero.
CPU System Error The method has terminated due to Turn on the power again. If the error is not released, Turn on the
9129 board (RT_ILLEGAL_INSTR invalid parameters or property reinstall the system. power again. E E E E on on
failure UCTION). values.
CPU System Error (Mutex System Error. Mutex Timeout. (1)Please turn on the power again.(2)Please connect Turn on the
9140 board Timeout). and disconnect CPU board or system CF.(3)Please power again. E E E E on on
failure reinstall the system.(4)Please replace the CPU board.
CPU System Error (MailBox System Error. MailBox Timeout. (1)Please turn on the power again.(2)Please connect Turn on the
9144 board Timeout Error). and disconnect CPU board or system CF.(3)Please power again. E E E E on on
failure reinstall the system.(4)Please replace the CPU board.
Emergenc Stop interpolation by Motion control section stopped the Contact our service department. Back up files to Error reset.
9151 y stop system busy calculation of interpolation. external CF memory. E E E E on on
failure
CPU The Hibernation is not Because abnormality occurred Turn on the power again. If the error is not released, Error reset.
board enabled. when Hibernation file is made, the contact our service department. Back up files to
failure Hibernation is not enabled. external CF memory.
(Details) (1)Device opening
9152 abnormality of D drive. E E E E on on
(2)Hibernation file cannot be made.
(3)Can not lock D drive. (4)Can not
dismount D drive.(5)Can not unlock
D drive.
CPU An internal memory is When initialize an internal memory (1)Turn on the power again. If the error is not released, Turn on the
9153 board not normally allocated. is not normally allocated. contact our service department.(2)Please replace power again. E E E E on on
failure system CF.
CPU Motion process is not Can't recognize Motion process. Turn on the power again. If the error is not released, Turn on the
9200 board recognized. reinstall the system. power again. E E E E on on
failure
CPU I/O system is not Can't recognize I/O system. Turn on the power again. If the error is not released, Turn on the
9204 board recognized. reinstall the system. power again. E E E E on on
failure
CPU Servo communication This failure occurs when the (1)Please check whether the connector of the drive unit After removal of
board initialization failure communication between the CPU (CNCOM) is correctly connected. (2)Please check failure, please
failure board and the drive unit (the servo whether the connector of the CPU board (CNLAN3) is turn on power
9208 E E E E on on
board) cannot begin. correctly connected. (3)Please replace the drive unit. supply of the
(4)Please replace the CPU board. (5)Please replace controller
the cable between the drive unit and the CPU board. again.
Amplifier Brake fuse off This failure occurs when the fuse (1)Please exchange the brake fuse. (2)Replace the After removal of
unit F1 on the brake control board drive unit. failure, please
9209 E E E E on on
failure UM351/L21700X00 was cut. carry out
"failure-reset".
Amplifier Drive unit power failure This failure occurs when the drive Please replace the drive unit. After removal of
unit unit power PG15(+15V) was not failure, please
9213 E E E E on on
failure supplied. carry out
"failure-reset".
Control Low voltage of This failure occurs when the (1)Please check the voltage of sequence control power After removal of
failure sequence control voltage of sequence control power supply P1(24V). (2)Please remove the sequence board failure, please
power supply supply P1(24V) is decreases. and insert it again. (3)Please check the external signal turn on power
9216 E E E E on on
wire of I/O is correctly connected. (4)Please exchange supply of the
the multi power supply unit. (5)Please exchange the controller
sequence board. again.
Amplifier Servo shared memory This failure occurs when reading or Please replace the drive unit. After removal of
unit abnormal writing data to the shared memory failure, please
failure between servo communication turn on power
9217 E E E E on on
CPU and servo CPU was not supply of the
successfully finished. controller
again.

4-67
Error code list

Severity Output LOGGER

No. Class Condition Contents Measure Release
Teach Auto Teach Auto Teach Auto
CPU Servo CPU(#2) DP Servo CPU(#2) D.P.memory error Replace the Drive Unit. No reset
9218 board memory error. operations. E E E E on on
failure
CPU Servo CPU(#3) DP Servo CPU(#3) D.P.memory error Replace the Drive Unit. No reset
9219 board memory error. operations. E E E E on on
failure
Servo An inconsistency was This failure occurs when an (1)Please check whether the cable connected with After removal of
failure detected in the servo inconsistency was detected in CNSV has been disconnected. (2)Please turn OFF and failure, please
failure. servo failure. ON the primary power and restart the controller. turn on power
9220 E E E E on on
(3)Please replace the drive unit. (4)Please replace the supply of the
sequence board. UM352/L21700F00. controller
again.
CPU Servo CPU(#1 axis) is Nothing acknowledge form servo Replace the Drive Unit. No reset
9225 board not ready. CPU(#1 axis) operations. E E E E on on
failure
CPU Servo CPU(#2 axis) is Nothing acknowledge form servo Replace the Drive Unit. No reset
9226 board not ready. CPU(#2 axis) operations. E E E E on on
failure
CPU Servo CPU(#3 axis) is Nothing acknowledge form servo Replace the Drive Unit. No reset
9227 board not ready. CPU(#3 axis) operations. E E E E on on
failure
CPU Servo CPU(#4 axis) is Nothing acknowledge form servo Replace the Drive Unit. No reset
9228 board not ready. CPU(#4 axis) operations. E E E E on on
failure
Amplifier Brake fuse off.(F1) This failure occurs when the fuse (1)Please check brake fuse(F1) on servo board. After removal of
unit F1 on servo board (2)Please check the manipulator wirings and the failure, please
9229 E E E E on on
failure UM351/L21700X00 was cut. control cables between the robot and the controller. carry out
(3)Please replace the drive unit. "failure-reset".
CPU Servo CPU(#9 axis) is Nothing acknowledge form servo Replace the Drive Unit. No reset
9233 board not ready. CPU(#9 axis) operations. E E E E on on
failure
Operation Operational failure. Insertion external memory during Restart playback. No reset
9234 al failure playback. operations A A A A on on
necessary.
Amplifier Drive unit power failure This failure occurs when drive unit (1)Please check fuse(F3) on servo board After removal of
unit power (+24V) was not supplied. UM351/L21700X00. (2)Please check the cable failure, please
9240 E E E E on on
failure connector CNMCH,CNSV,CNMS,CNEC1. (3)Please carry out
replace the drive unit. "failure-reset".
Amplifier Drive unit precharge This failure occurs when drive unit (1)Please check supply voltage(+24V) for drive unit. After removal of
unit failure precharge was not executed. (2)Please replace the drive unit. failure, please
9241 E E E E on on
failure carry out
"failure-reset".
Amplifier Drive unit phase lack. This failure occurs when drive unit (1)Please check primary power source. (2)Please After removal of
unit lacked a phase of power supply. check supply voltage. (3)Please replace the power unit. failure, please
9242 E E E E on on
failure (4)Please replace the drive unit. carry out
"failure-reset".
Amplifier Drive unit power failure This failure occurs when drive unit Please replace the drive unit. After removal of
unit power P10V(+10V) was not failure, please
9243 E E E E on on
failure supplied. carry out
"failure-reset".
Amplifier Current sensor failure Error occurs if the current sensor is Please replace the Drive Unit. After removal of
unit abnormal. failure, please
failure turn on power
9244 E E E E on on
supply of the
controller
again.

4-68