ERROR&WARNING CODE
(Software)system version
Applicable to ARV01-001 and after
Third edition
Revised
NACHI-FUJIKOSHI Corp.
ERROR CODE with an underline express SYSTEM-ERROR
CODE
ERROR MESSAGE
CONTENTS
COUNTER PLAN
(1) Format and reload good files in Internal
(RAM) memory.
(2) Replace RAM memory in AR controller,
Main CPU board (UM870) or RAM board
(UM802) PCB.
(1) Check that output of power supply unit
(SR1) in board rack is P5, P12, P15 and N15
v dc to M0 return.
(2) Check if primary AC supply voltage is
not -10% of the specification or under.
(3) Check constant setting mode group 2,
Item number 6, Power detection <disable,
enable> on newer software version this item
is missing and the controller is enable.
(4) Replace power supply unit (SR1).
(5) Replace Main CPU board (UM850 or
UM870 PCB).
(6) Replace RAM memory board (UM870 or
UM802 PCB).
(1) Turn power ON again.
(2) Check power supply (SR1) and (SR2).
(3) Replace the Servo amplifier board
(UM834-1 or UM834-2, UM860 or
UM883/UM884 PCB).
(4) Down load good robot constant files in
AR controller.
(1) Designate a bigger accuracy number A0
thru A3 or newer software A0 thru A7 (A0 is
smallest).
(2) Check the encoder supply voltage (SR2).
Refer to the robot manipulator maintenance
manual for check location.
(3) Check encoder wiring and connections.
(4) Check if the Position Loop Gain is to low
(Call Nachi).
(1) Check the encoder supply voltage (SR2).
Refer to the robot manipulator maintenance
manual for check location.
(2) Check encoder wiring and connectors.
(3) Check Servo amplifier CPU board
(UM834-1 or UM834-2, UM860 or
UM883/UM884).
(1) Check jumper setting of Servo amplifier
CPU board and network resistance. Refer to
the "Robot AR controller maintenance
manual."
(2) Replace Servo amplifier CPU board
(UM834-1 or UM834-2).
E0002
Program check-sum
fault.
This error is detected when data RAM
(internal memory) has an error
(faulty).
E0004
Status saving fault at the
latest shut-down.
When power failure or voltage drop is
detected, data is transferred to CMOS
memory. If this transfer fails, this
error occurs when power is restored.
E0010
Servo units are not ready. This error occurs when the Servo
Turn off and turn on
amplifier CPU board (UM834,
again.
UM860 or UM883/884 PCB ) is not
prepared properly with power turned
ON.
E0012
Accuracy not matched.
This error occurs if the current
encoder value does not match the
commanded encoder value 10 seconds
after the commanded value was given.
E0013
Servo error: No speed
command.
This error occurs if speed data is not
received every 200 ) s.
E0018
Setting of Amp. card(s)
is not correct.
This error occurs when jumper setting
of Servo amplifier CPU board
controlling the motor is wrong
(UM834 - 1 & 2).
2
E0020
ERROR CODE with an underline express SYSTEM-ERROR
Servo error: Abnormal
This error occurs when Motors are
(1) Check robot manipulator current position
change in command data. turned ON and there is abnormal
and step go to a safe position.
change in command value, when
(2) Check Main CPU board (UM850, or
compared to previous value.
UM870) or Servo amplifier CPU board
(UM834, UM860 or UM883/UM884).
(3) Contact our service department.
E0021
Servo following error.
This error occurs when the deviation
in the command encode data velocity
exceeds the set permissible deviation.
Example, The manipulator collides
with something.
E0022
Servo error: Deviation
error.
This error occurs if the set deviation
error level is exceeded.
E0023
Servo error: Encoder
cable broken.
This error occurs when the encoder
cables is not connected or the encoder
is not communicating to the Servo
amplifier CPU board (UM834-1,
UM834-2, UM860 and UM883/884).
E0024
Servo error: CPU error.
This error occurs when the CPU in the
servo amplifier CPU board is faulty
(UM834-1or 2, UM860, UM883 or
UM884 PCB).
3
(1) Check if the robot manipulator has not
collided with something..
(2) Check that load does not exceed rating.
(3) When (1) or (2) is applicable, the robot is
considered to have an error.
(4) Check for mechanical defect in the
manipulator arm.
(5) Check Drive Amp Unit (Servo Amp.
Unit) and axis motor.
(6) Check Servo amplifier CPU board
UM834-1 and UM834-2, UM860 and
UM883/884.
(7) Check Sequence board UM837, UM880
and UM191.
(1) Check if the robot interferes with
anything.
(2) Check that load does not exceed rating.
(3) When (1) or (2) is applicable, the robot is
considered to have an error.
(4) Contact Nachi service department.
(1) Check if connector CNEC of servo
amplifier board is connected properly.
(2) Check if CNR4, CNR5 (CNR5 not used
on some robot arm type) are connected
properly.
(3) Check encoder power supply (SR2) P5E
and M5E for 5 v dc inside manipulator arm.
(4) Refer to "Robot manipulator maintenance
manual" and check wiring in the manipulator.
(5) Check Servo amplifier CPU board
(UM834-1 or UM834-2, UM860 and
UM883/UM884).
(1) Check circuit board power supply (SR1).
(2) Turn power OFF and check if circuit
board is firmly inserted in the CPU Unit
(board rack).
(3) Replace the Servo amplifier CPU board
(UM834-1or UM834-2, UM860 or
UM883/UM884 PCB).
E0025
E0026
E0027
E0028
E0029
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when encoder data
(1) Check if connector CNEC of servo
change is abnormal.
amplifier CPU board is connected properly.
(2) Check if CNR4 and CNR5 (CNR5 not
used on some robot arm type) are connected
properly.
(3) Refer to "Robot manipulator maintenance
manual" and check wiring in the manipulator.
(4) Check motor and encoder or replace
motor and encoder.
(5) Check the Servo amplifier CPU board
(UM834-1or 2, UM860 or UM883/UM884
PCB).
Servo error:
This is detected when the robot
(1) Check if the robot manipulator has not
Interference.
interferes with anything.
interferes with anything.
(2) Check that load does not exceed rating.
(3) Check motor and encoder operation and
brake circuits (UM837 or UM886).
(4) When (1) or (2) is applicable, the robot is
considered to have an error.
(5) If the error persists the problem may be a
mechanical defect in the manipulator.
Servo error: Encoder
This error occurs when the encoder
(1) Check if connector CNEC of Servo
data changed too much.
data continues to change after the
amplifier CPU board is connected properly
command position is stop changing.
(UM834-1, UM834-2, UM860, or
UM883/UM884 PCB).
(2) Check if CNR4, CNR5 (CNR5 not used
on some robot arm type) is connected
properly.
(3) Check motor and encoder operation and
brake circuits (UM837 or UM886).
(4) Refer to "Robot manipulator maintenance
manual" and check encoder wiring.
(5) Check if manipulator is free from
obstruction..
(6) Check if Pay load exceeds the rating.
(7) If the error persists the problem may be a
mechanical defect in the manipulator.
(8) Contact Nachi service department.
Servo error: Drive unit
This error occurs when the +15V dc
(1) Check if primary supply voltage drops
voltage down.
drops to +13V dc or less on the Servo
below normal value (±10%).
detecting circuit on the UM843-1 or 2 (2) Check if output voltage of switching
PCB in the Servo Drive Amp (Servo
regulator in the Servo Amp. unit is +15 v dc
Amp. Unit) or when the 100 V ac
±0.5 v dc (AR 10, 11 or 13 controllers).
drops to less than 80 v ac for 20MSEC (3) Check 18 v ac on Servo Amp. Unit from
or more.
T13 in Power supply unit (AR 50, 51, 52 or
54 controller).
(3) Check connectors on the Drive Amp. Unit
(Servo Amp. Unit).
Servo error: Check sum This error occurs when a check-sum
(1) Check supply voltage of encoder (SR2)
error in encoder.
error is detected in encoder memory.
P5E & M5E. Refer to "Robot manipulator
maintenance manual" for check location.
(2) Check wiring of the encoder.
(3) Reset (zero) the encoder and then encoder
correction (offset) is completed.
(4) Replace the encoder or motor.
Servo error: Bit jump.
4
E0030
E0031
E0032
E0033
E0034
E0035
E0036
E0037
ERROR CODE with an underline express SYSTEM-ERROR
Error occurs when fault is detected in
(1) Check supply voltage of encoder (SR2)
the encoder.
P5E & M5E. Refer to "Robot manipulator
maintenance manual" for check location.
(2) Check wiring of the encoder.
(3) Change encoder or motor.
Servo error: Motors'
Error occurs if at the time of turning
(1) Check supply voltage of encoder (SR2)
rotation too fast when
Motors ON, the motor rotation is more P5E & M5E. Refer to "Robot manipulator
power on.
than 4000rpm.
maintenance manual" for check location.
(2) Check wiring of the encoder.
(3) Change the encoder or motor.
Servo error: OverThis error occurs when current in the
(1) Check connectors CNEC and CNBS of
current.
Servo Drive Unit (Servo Amp. Unit)
servo amplifier board and connector CNBS
exceeds the rated value.
of Servo Drive Unit (Servo Amp. Unit).
(2) Check cable between the controller and
robot manipulator arm.
(3) Check motor or replace motor.
(4) If the error persists the problem may be a
mechanical defect in the manipulator.
The I/O slave returns no
This error occurs when the Master I/O (1) Check Connector CNIO of Master I/O
answer.
board (Built in PC) and Sequence
board (UM836, UM872 or UM873) and
board are not communicating (Slave
connector CNIO of Sequence board UM837
CPU, UM837).
PCB.
(2) Replace Master I/O board (Built in PC) or
Sequence board (UM837).
(3) When installing a new Master I/O board
check switch settings (J3).
The amplifier unit
This error is detected when Servo
(1) Check that the Servo amplifier CPU
returns no answer.
amplifier CPU board is not connected
board is connected correctly.
properly or faulty communication with (2) Check board jumpers if just installed.
circuit board (UM834, UM860,
(3) Replace Servo amplifier CPU board.
UM883 /884).
I/O CPU error.
This error occurs when the main CPU (1) Check if Main CPU board and Master I/O
board (UM850 or UM870) has a
board is connected correctly.
communication error with the Master
(2) Replace the Master I/O (Built in PC)
I/O board (UM836, UM872 or
board or Main CPU board.
UM873).
Servo error: Fuse blown. This error occurs when the fuse in the
(1) Check connectors in Servo Drive Unit.
Servo Drive Unit (Servo Amp. Unit) is (2) Check motor.
blown (30 AMP. or 40 AMP.).
(3) Check motor cable for short to ground or
phase to phase.
(4) Replace motor or Servo Drive Unit or
Servo amplifier CPU board (UM834-1 &
UM834-2, UM860 or UM883/UM884).
Servo error: High speed This error occurs when a robot hits an (1) Move the robot from the obstruction if
interference detection.
obstruction.
one exists.
(2) Check that the pay-load is within the
rated weight.
(3) Check Auto tool center in constant
setting mode.
(4) Enter an accurate tool Center of Gravity
and weight or run Auto tool load center
software in Service menu, item number 42 (
software R21.63 or higher and UM860
software M2.00, S1.03 or higher).
Servo error: Sensor
check error.
5
ERROR CODE with an underline express SYSTEM-ERROR
This error is detected when the set
(1) Check Servo Amp. Unit (Servo Drive
value of the electronic thermal relay is Amplifier) and Sever amplifier CPU board
exceeded.
(UM834-1 & UM834-2, UM860 or
UM883/UM884).
(2) Check manipulator for tool loading.
(3) Check for abnormal sounds from bearings
and gears.
(4) Check brake power (REC1 = + 24 v dc)
and brakes circuits on all motors (UM837 or
UM886).
(5) Check sequence board (UM837, UM880
or UM191).
(6) Check motors.
(7) Refer to troubleshooting in manual.
E0038
Servo error: Over-load
E0039
Servo error: Overrotation.
This error occurs when the set
maximum revolutions are exceeded.
E0040
The teach pendant's CPU
error.
This error occurs when a fault in the
CPU of the teach pendant is detected.
E0041
Operator panel's CPU
error.
This error occurs when CPU error of
the separate operation panel is
detected.
6
(1) Check Servo Amp. Unit (Servo Drive
Amplifier) and Sever amplifier CPU board
(UM834, UM860 or UM883UM884).
(2) Check manipulator for tool loading.
(3) Check for abnormal sounds from bearing
and gears.
(4) Lower playback speed.
(5) Refer to troubleshooting.
(1) Turn power ON again.
(2) Check data transmission circuit.
(3) Replace Teach pendant (ROP 300 or ROP
500).
(4) Replace main CPU board (UM850 or
UM870 PCB).
(5) Contact Nachi service department if the
error still exists.
(1) Turn power ON again.
(2) Check data circuit and connectors to
operator panel.
(3) Replace operation panel.
(4) Contact Nachi service department if the
error still exist.
E0042
E0044
E0046
E0048
E0048
E0049
E0050
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when abnormal
(1) Check wiring of thermostat of motor.
motor temperature is detected.
Refer to "Robot manipulator maintenance
manual."
Note: If new Servo Amp. Unit is
(2) Stop the robot, Check motor and restart
installed on a AR 50, 51, 52 or 54
after motor temperature cool down.
check jumper JP2 on UM886 board,
(3) Lower the operating speed of the robot if
for motor thermal (shorted for 6axis
the same error still occurs or change motor.
operation and open for 7 or 8 axis
(4) Check input signal Motor thermostat in
operation)
monitor mode or the input signal circuit.
Over voltage found in
This error is detected when motor
(1) Check Servo heat sync cooling fans and
drive unit, or heat sink
supply voltage (P-N) exceeds the set
check that the heat sync is clean.
exceeded temp. limit.
value or the Servo heat sink
(2) Check primary voltage not to exceed + 10
temperature rises excessively and TH
% of specified value.
on the heat sync has opened.
(3) Check manipulator for abnormal
operation.
(4) Check Sequence board (UM837 or
UM880).
(5 ) Replace Servo Amp. Unit (Servo Drive
Amp. 1 or 2)
(6) Check maintenance manual.
(1) Check TS1 and TS2 input for TH1 and
The discharge resisters
This error is detected when the
/or TH2 thermostat censor switch.
exceeded temperature
Regenerative discharge resistor
(2) Check cooling fans and the back of
limit.
temperature rises excessively or the
controller cabinet has 20 cm open space.
resistor circuit is open.
(3) Check discharge resistor DSR10 and/or
DSR11.
TS1or TS2 input for TH1 and/or TH2
(4) Check primary voltage not to exceed + 10
sensors on AR10, AR11 or AR13
% of specified value.
controller.
(5) Check maintenance manual trouble
shooting.
TH1 in AR50, AR51, AR52 or AR54
controller.
Please set up pay load
This error occurs when unbalanced
(1) Check Auto tool center in constant setting
value again.
torque greatly differs from real torque. mode.
Software R21.63 or higher Check
(2) Enter an accurate tool Center of Gravity
Auto tool load center setting in
and weight.
Service menu (item number 42).
The direct-teach card's
Unused
CPU error.
The direct-tech card
Unused
returns no answer.
Servo error: CTR-OVF. This error occurs when encoder
(1) Check the supply voltage (SR2) of the
counter overflows or underflows.
encoder. Refer to "Robot Manipulator
maintenance manual" for check location.
(2) Turn power OFF and check jumper
setting of Servo amplifier CPU board. (See
"maintenance manual" for check location).
(3) If the error is not released by (1) and (2)
above, zero (reset) setting of the encoder.
(3) Replace motor and encoder.
Motor temperature fault.
7
E0051
E0052
E0054
E0055
E0055
E0056
E0057
E0059
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when serial data
(1) Check the power supply voltage of the
from the encoder has an error.
encoder (SR2). Refer to "Robot manipulator
maintenance manual" for check location.
(2) Turn power OFF and check jumper
setting of Servo amplifier CPU boards
(UM834-1 &-2, UM860 or UM883/884).
(3) Check wiring and connectors for encoder
serial data to Servo amplifier CPU board.
(4) Check if relay CRD5 of UM837 or
UM880 PCB is turned ON (LED on relay
lights UM837 only) in one second after
power is turned ON.
(5) Primary power may be turned OFF
instantaneously. Turn power ON again.
(6) Replace encoder or motor.
If the above is not applicable, contact Nachi
service department.
Servo error: Battery
This error occurs when battery voltage (1) Check battery voltage if 3 v dc or less
discharged.
drops to 3v dc or less. Battery are
replace battery. Refer to "Robot manipulator
inside controller on circuit board/s (1
maintenance manual for check location.
to 3) and inside manipulator arm (3 to (2) Check wiring of the encoder.
6).
(3) When battery voltage is to low the battery
must be replaced and the encoder zero
(reset).
Servo error: Position
This error occurs when encoder data
(1) Check supply voltage of encoder (SR2).
deviation.
change is abnormal.
Refer to "Robot manipulator maintenance
manual" for check location.
(2) Turn power OFF and check jumper
setting of servo amplifier board (UM834,
UM860 or UM884/884).
(3) If the above is not applicable check robot
constant file for robot manipulator set up.
(4) Zero (Reset) encoder.
(5) Replace encoder or motor.
Servo error: Encoder
Error occurs when the data received
(1) Check encoder power supply (SR2).
data abnormal.
from the encoder is abnormal. The
(2) Check encoder wiring.
controller monitors and compares the
(3) Change encoder or motor/encoder.
serial and incremental data received.
Servo error: Motors'
Error occurs if at motors off, motor
(1) Check encoder power supply (SR2) and
rotation too fast when
rotation is more that 4000 rpm.
that all encoder have P5E & M5E (+5 v dc).
power down.
(2) Check wiring of the encoder.
(3) Zero (Reset) encoder.
(4) Replace encoder or motor/encoder.
Servo error: Preload
Error occurs if Pre-loading of the
(1) Check encoder power supply (SR2) and
error.
encoder is not preformed when start is that all encoder have P5E & M5E (+5 v dc).
commanded.
(2) Check wiring of the encoder.
(3) Zero (Reset) encoder.
(4) Replace encoder or motor/encoder.
Servo error: Count
This error occurs when encoder has no (1) Zero (Reset) encoder.
status error.
status.
(2) Replace encoder or motor/encoder.
Can't follow, because the This error occurs when the Robot
(1) Reduce the conveyor speed.
conveyor is too fast.
system can not perform its task at the
(2) Check conveyor pulse line.
current conveyor speed.
Servo err: Data
transmission error.
8
E0060
E0061
E0062
E0064
E0065
E0066
E0067
E0068
ERROR CODE with an underline express SYSTEM-ERROR
This error is detected when the inside
(1) The controller cabinet ambient air
temperature of the controller cabinet
temperature must be less than 45 C.
rises abnormally.
(2) Check heat exchanger fans.
(3) Check controller cabinet thermal switch.
(4) Check for sufficient good air circulation
inside controller cabinet and back panel air
vents (Robot controller must have 200 cm
clearance for air circulation).
Thermal relay or circuit
This error occurs when thermal relay
(1) Check Thermal relay OL1.
protector tripped.
(0L1) or circuit protector (CP) trips.
(2) Check all circuit protectors, (CP).
(3) Check input signal in monitor mode or
the input signal circuit.
Motors-on sequence
This error is detected when the input
(1) Check sequence board (UM837 or
fault.
signal of magnetic switch (MSHP) is
UM880).
not returned within the specified time
(2) Check Servo Amp. Unit (Servo Drive
after Motors ON push button is
Amp. 1 & 2) in coming power.
pressed.
(3) Check MSHP.
(4) Check MSHP input signal (MSHP-ON
END)in monitor mode or the input signal
circuit.
I/O card power unit
This error occurs when P1-M1 or P2- (1) Check connector CNP and CNPB on the
error.
M2 (P2-M2 usually an option and P1- sequence board (UM837 PCB) or Brake
M1 is supplied in place) and brake
board UM886 on AR52 controller.
power PB-MB are not supplied to
(2) Check output voltage +24Vdc (P1-M1)of
sequence board (UM837 PCB). With
power supply unit (SR1) on the PCB rack
AR52 controller check for brake
and power supply unit (SR3) output voltage
power on UM886 board and Power
+24Vdc (P2-M2 an option usually).
Supply Unit for REC1.
(3) Check Brake power supply (REC1).
Over travel limit switch
This error occurs when an axis reaches (1) If this error occurs even when the limit
was activated.
the end of its travel and actuates an
switch is not actuated, then the wiring to the
over travel limit switch. Usually this
limit switch is disconnected or broken.
error does not occur because software
(2) Move manipulator axis off the limit
limit is set a little inside of this limit
switch using the axis operation key and the
switch.
dead-man switch on the Teach pendant in
Constant setting mode.
(3) Check UM837 or UM880 and
UM803/080 boards.
(4) Check input signal in monitor mode or
the input signal circuit..
Arm interference limit
This error occurs when the robot is
(1) Move manipulator axis off the limit
switch was activated.
moving beyond the operating range or switch using the axis operation key and the
hits LS (limit switch).
dead-man switch on the Teach pendant in
Constant setting mode.
(2) If no Limit Switch is physically being
actuated then wiring to a Limit Switch is
disconnected or cut.
(3) Check sequence board (UM837, UM880
or UM191 PCB).
(4) Check input signal in monitor mode or
the input signal circuit..
The I/O master returns
This error occurs when CPU of Master (1) Check if Master I/O (Built in PC) board is
no answer.
I/O (Built in-PC) board does not work connected correctly.
correctly (UM836, UM872 or UM873 (2) Replace Master I/O board.
PCB).
Software version of the
Unused
I/O master board is too
old.
Controller temperature
fault.
9
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when a fault in the
(1) Check that the cables are connected
connection between the operation
properly in the controller cabinet.
panel and controller cabinet.
(2) Check that the cable is not broken.
(3) Replace the separate operation panel if
the error is not corrected by (1) and (2)
above.
(4) Check input signal in monitor mode to
check communication.
Unused
E0069
Operator panel
connection fault.
E0070
E0082
The sensor for directteach is in NullAbnormal condition.
The sensor for directteach has detected OverForce fault.
Can't copy from TAPE to
TAPE
Media is not ready.
E0083
Media is write-protected
E0084
Media is full.
E0088
The file already exists.
E0089
The same device is
selected for source and
target.
Setting or application of
the serial port is wrong.
E0071
E0080
E0091
E0094
Tape ID1 error.
E0095
Tape ID2 Error.
E0096
State No. is wrong.
Unused
This error occurs when copying from
tape to tape is attempted.
This error occurs if there is no
memory media (i.e. floppy disk,
digital cassette) when copying or
directory operation is done. This error
also occurs when the digital cassette
cover is not closed.
This error occurs if the media is writeprotected when copying is attempted
to floppy disk or tape (digital cassette).
This error occurs if there is no
capacity left when recording is
attempted to the floppy disk, tap
(digital cassette), IC card or internal
memory.
This error occurs when conversion is
attempted to the existing file name by
R 116 code (Program number
conversion).
This error occurs when copying is
attempted to same device in the same
name.
This error occurs when the serial port
has a setup problem.
This error occurs when tape or digital
cassette is defective.
This error occurs when tape or digital
cassette has an error.
This error occurs when the sum total
of steps and function numbers in the
program are too large.
10
(1) Copy tape data in the other memory
media and copy it to the tape.
(1) Prepare memory media and retry.
(1) Use an unprotected media device and
retry.
(1) Create space in current media device or
use another.
(1) Convert to a file number that dose not
exist.
(1) Change the file name or device and do it
again.
(1) Check Constant Setting Group 1, item
number 13 for setup.
(2) Check the condition menu, item 27 Serial
Port settings and set to match with Constant
Setting mode.
(1) Retry if the error is not released, replace
the tape or digital cassette.
(1) Retry if the error is not released, replace
the tape or digital cassette.
(1) Edit program to make the number of steps
or function smaller.
E0099
E0101
E0104
E0105
E0106
E0107
E0110
E0111
E0112
E0115
E0116
ERROR CODE with an underline express SYSTEM-ERROR
(1) B-axis may be moved toward the
Applies only to In-line wrists
B-axis may exceed its operation range operating range by the teach pendant.
(2) Press the axis operation button in the
by axis interference (*Note) from
constant setting mode to move it outside of
other axis even if B-axis does not
the operating range for some reason. Use
exceed the software stroke.
care to ensure that B-axis is not brought in
In robots built with in-line wrist, the
constant with No. 1 arm.
B-axis angle exceeds its operation
(3) B-axis operating range is determined by
range. (*Note) Axis interference
B-axis software limit and constant position.
When R2-axis is rotated, B-axis and
(4) When the step recorded with linear
R1-axis rotate mechanically due to
construction of the drive system of the interpolation ON is played back, the
wrist axis. The encoder data of B-axis operation range may be exceeded in course
of operation even if the recorded point is
and R1 axis do not change.
within the operation range.
Degree of interference varies
In such case, it is necessary to change the
depending on the type of the robot.
recorded position or to do teaching with
When R2-axis rotates 360( B-axis
linear interpolation OFF.
and R1-axis rotate 3( to 6(.
Stop or external stop
This error occurs when the start
(1) Check the external stop signal input and
signal is given.
command is input even if the stop
correct if missing (Hard wire input or RIO
signal is not given.
input).
(2) Check robot constant for signal or reload
robot constant file.
Motors-off signal is
This error occurs if external Motors(1) Check the Motors-OFF input circuit.
given
ON is input when "Motors-OFF"
(2) Check monitor mode input signal for
button is input or external Motors-OFF motors ON and OFF input signal condition.
signal is given.
External Motors-off
The error occurs if "Motors-ON"
(1) Release the Motors-OFF signal.
signal is given.
button is pressed when external
(2) Check monitor mode input signal for
Motors-OFF signal is input
motors ON and OFF input signal condition.
The motors are not
This error occurs when axis operation
(1) Press Motors-ON button and turn motors
turned ON.
or start is attempted with Motors-OFF. ON.
Please set a step number This error occurs when Original
(1) Set the step or input [RESET] - [SET].
before restarting.
Position Return function is enabled
The reset will take the step counter to 0 and
and start is attempted after robot arm
move robot arm with CAUTION.
has dropped in excess of the set limit
in the function.
Axis number
This error occurs if the program is
(1) A wrong robot program may be selected.
mismatched between the selected when the number of axes in
(2) Check robot constant file.
program and constants.
the program is different from the
number of robot axes.
External mode is
This error occurs if Motors ON button (1) Disable “External Start” mode in the
selected. Internal
or start button is pressed when
condition menu or use R 5 code.
operation is not
“external start” mode is selected.
available.
Internal mode is selected. This error occurs if Motors ON
(1) Enable External Start in Condition menu
External operation is not command or start command is input
or use R 5 code.
available.
from an external unit when external
(2) Check monitor mode input signal for
start is in effective.
External start input signal condition. If
signal is on check for External start input and
disable input.
Other external start
This error occurs when the External
(1) Select constant setting group 2, item
source is selected.
Start signal is receiver using the
number 22 External Start and set correctly
CNIN2 connector (digital) and the
<digital, MAP, Network>.
controller is set for MAP or Network.
(2) Change the External Start signal from the
CNIN2 connector to MAP or Network.
The teach pendant
This error occurs when the teach
(1) Check if the teach pendant is connected
returns no answer.
pendant (ROP 300 or ROP 500) is not properly to the main CPU board.
communicating with the main CPU
(2) Check data transmission circuit.
board (UM850 or UM870 PCB).
(3) Replace the teach pendant or CPU board.
B-axis limit exceeded
limit.
11
E0117
E0118
E0119
E0120
E0121
E0122
E0123
E0124
E0125
E0126
E0127
E0128
E0129
ERROR CODE with an underline express SYSTEM-ERROR
In interpolation shift of on-line shift
Record the interpolation shift calculation
function, interpolation function must
preparation function in a desired step
be executed before interpolation shift
between the shift data request step and
ON function is executed without
interpolation shift ON.
execution of the interpolation shift
calculation preparation function.
No data are entered into
This error occurs if XYZ shift or onModify the program to transmit data before
the shift register.
line coordinate transformation is
on-line XYZ shift or on-line coordinate
executed even when data is not
transformation is executed.
received from RS232C port in the online XYZ shift or on-line coordinate
transformation.
Registration of original
There is a function to output he
Register the original position again if the
position data is deleted.
original position signal in terms of
original position signal is necessary.
software by registering an optional
step of an optional program as the
center of the original position and by
designating the size of the area.
Shift error.
The same gun shooting angle (against
(1) Even when E0120 is displayed, program
work) as in the original program is
transformation is continued except for the
automatically made in the transformed transformation impossible point.
program during coordinate
transformation. However, the
The transformed program can then be played
transformation may be impossible
back in 1 step mode to find the
physically depending on gun fitting
transformation impossible step. Then modify
method and work setting method.
the tool shooting angle of the original
This error occurs in the above case.
program step.
(2) When the coordinate transformation
function is used, the machine constants must
be set accurately. Check setting data if the
error cannot be released.
Software stroke
This error occurs if the software limit
(1) Move the axis toward the inside of the
exceeded limit. (S-axis)
is reached during Teach mode or
stroke.
Playback operation.
(2) Constant Setting may have to be used.
Software stroke
This error occurs if the software limit
(1) Move the axis toward the inside of the
exceeded limit. (H- axis) is reached during Teach mode or
stroke.
Playback operation.
(2) Constant Setting may have to be used.
Software stroke
This error occurs if the software limit
(1) Move the axis toward the inside of the
exceeded limit. (V- axis) is reached during Teach mode or
stroke.
Playback operation.
(2) Constant Setting may have to be used.
Software stroke
This error occurs if the software limit
(1) Move the axis toward the inside of the
exceeded limit. (R2is reached during Teach mode or
stroke.
axis)
Playback operation.
(2) Constant Setting may have to be used.
Software stroke
This error occurs if the software limit
(1) Move the axis toward the inside of the
exceeded limit. (B- axis) is reached during Teach mode or
stroke.
Playback operation.
(2) Constant Setting may have to be used.
Software stroke
This error occurs if the software limit
(1) Move the axis toward the inside of the
exceeded limit. (R1is reached during Teach mode or
stroke.
axis)
Playback operation.
(2) Constant Setting may have to be used.
Software stroke
This error occurs if the software limit
(1) Move the axis toward the inside of the
exceeded limit. (T1is reached during Teach mode or
stroke.
axis)
Playback operation.
(2) Constant Setting may have to be used.
Software stroke
This error occurs if the software limit
(1) Move the axis toward the inside of the
exceeded limit. (T2is reached during Teach mode or
stroke.
axis)
Playback operation.
(2) Constant Setting may have to be used.
The angle between the H' This error occurs when the angle
(1) Move arms in the direction to prevent
axis and the 'V' axis is
between the H axis and the V axis is
interference.
too large.
greater than the set limit.
(2) Constant Setting may have to be used.
Interpolation shift
calculation has not been
done.
12
E0130
E0131
E0134
E0138
E0139
E0142
E0143
E0144
E0146
E0147
E0148
E0149
E0150
E0151
E0152
E0153
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the angle
(1) Move arms in the direction to prevent
between the H axis and the V axis is
interference.
smaller than the set limit .
(2) Constant Setting may have to be used.
The error occurs when the collision
(1) Check if tool is deformed. If the cause of
sensor is actuated.
contact can be removed, Motors-ON will
restart the robot.
(2) Set the collision sensor as normal open.
Given data is wrong.
This error occurs when a signal is
(1) Remove obstruction and check condition
received from the collision sensor.
of the tool.
(2) Reset collision sensor and restart robot.
Invalid CALL command This error occurs when a CALL is
(1) Modify call function the program.
found.
made within a CALL function more
than 8 times.
Frequency condition
This error occurs if the number outside (1) Input a correct value for the frequence
register is 1 to 8. Range the permissible range is used for the
register (0-127).
from 0 to 255.
frequence register.
Selected program
This error occurs if the program
(1) Check the desired program number and
number is not available.
number dose not exist.
retry.
No more program is
This error occurs when the memory
(1) Delete unnecessary program and continue
available.
capacity is exceeded depending on the record operation.
number of function.
(2) Select the use of IC card or Floppy 1 to
store program data.
End mark not found.
Function not recorded in program.
(1) Record M92 END function in the desired
step in the program.
F1 = M92 END
This function does not
This error is detected if a function is
(1) Select the proper step before attempting
exist.
not recorded in the selected step and
to delete the function.
an attempt is made to delete a function (2) Display to the function in the step and
or the function is not displayed to.
then delete.
The speed designation is This error occurs if a number outside
(1) Input a correct value.
exceeded limit.
the range is input.
P = 0.01 to 100 sec. (Interp. OFF)
L or C = 1 to 2300, MM/sec. (Interp.
ON)
The speed designation is This error occurs if a number outside
(1) Input a correct value for the speed used.
exceeded limit. (0.01
the range is input.
sec- 100 sec)
Given time value is not
This error occurs when the time
(1) Enter time within 0.1 to 60 seconds.
correct.
designated is not within acceptable
range.
Program is too large.
This error occurs when the program is (1) Edit program in order to reduce its size.
too large.
Program (or file) not
This error occurs when start command (1) Select the program.
found.
or record button is pressed without
(2) Check function of external sequence if
selecting the program number.
external program selection is effective.
When binary input or FIFO function is used
in the external program selection mode, the
strobe signal is necessary to receive the
program selection signal. Refer to operation
instructions "connection of various signals".
Step not found.
This error occurs, if the step
(1) Modify the jump destination step number.
designated with jump function, etc.
does not exist.
Given tool number is not This error occurs when a tool number
(1) Use the tool number 0 to 3, or 0 to 7, or 0
available. Must be 0
other than 0-3 is selected or on newer
to 15, or 0 to 31.
through 3.
software up to 32 tables ( 0-31).
The angle between the “
H” axis and the 'V' axis
is too small.
The collision sensor was
actuated.
13
E0155
E0156
E0157
E0158
E0159
E0160
E0162
E0163
E0164
E0165
E0166
E0167
E0168
E0173
ERROR CODE with an underline express SYSTEM-ERROR
The system software does not support
(1) Install newer system software for robot
the robot type in the constant file.
arm type.
(2) Create a new robot constant file with new
software.
(3) Contact Nachi service department.
Improper use of the
This error occurs when in Teach mode (1) Select the last recorded step in the
record key.
and the [REC] key is pressed and the
program and then [REC] the step.
step counter is not on the last recorded (2) Modify the step data.
step in the program.
Interrupted by help.
This error occurs if the HELP key is
(1) Preform operation again.
pressed while processing data.
No data is given.
This error occurs if [SET] key is
(1) Press [M] and enter data then press [SET]
pressed after pressing the [M] key.
key.
The four points are in the This error occurs when transformation Re-programming 4 points.
same plane.
calculation cannot be done because
four points taught off-line are in the
same plane in the coordinate
transformation function.
Number of taught points This error occurs if three points or less (1) Re-programming four points or more.
must be greater than 3.
are taught in the coordinate
transformation.
More than 3 points are
This error occurs when circular
(1) When recording points on the same
necessary for circular
interpolation calculation cannot be
straight line, use linear interpolation or
interpolation.
completed because the start through
interpolation off.
end points of circular interpolation are (2) Re-teach the points for Circular
recorded on the same straight line.
interpolation.
Circular interpolation
This error occurs because there are
Taught three other points.
points locate on the same two same points between the start
line.
point and end point of circular
interpolation.
Tool change is not
This error occurs when an attempt
(1) Make the tool number constant during the
available during circular made to change the tool number
circular interpolation steps.
interpolation.
during circular interpolation.
This file is protected.
The memory protect function is
(1) Release protect on robot file or program
available to prevent careless deletion
file (Edit mode).
or change of programs. This error
occurs when deletion of the protected
program is attempted. Refer to the
operation instructions for details.
Playback is prohibited.
This error occurs when a playback
(1) Playback protect condition when step 0 or
protect is on a program.
step 1 is executed. Even the playback
protected program can be played back if step
2 or more is designated.
This program does not
This error is displayed when point data Record 10 or more same points.
consist of the same tool
needed for calculation is not available
center point.
for 10 or more points or the program
has no points the same (for example,
when the operation program is
designated). In the above case, the
interpolation constants are not
changed.
FIFO Registers exceeded This error occurs when 60 programs
(1) Make adjustment to prevent overflow in
limit. Must be up to 60.
are exceeded.
the FIFO register.
Shift value exceeded
Shift data is usually limited to 200
Do work after the shift data limit value is relimits.
mm. This error occurs when the
set.
above value is exceeded.
This robot type is not
allowed.
14
E0198
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when arc welding,
(1) Restart can be made after the welding
and the welding wire sticks to the
wire is cut off.
work piece longer than the set time
(2) Review welding condition (welding
limit, after arc off. Weld stick
current and voltage) weld stick detection
detection is done only when the weld
delay time, weld stick detection time, etc.
ON/OFF signal is ON in 1 cycle or
when weld stick occurs frequently.
continuous mode.
ARC-interlock signal is
This error occurs when arc welding
(1) Check the connection and cables to Weld
suspended.
interlock signal is not received by the
controller.
Robot controller.
(2) Check the weld interlock signal in Weld
controllers and Robot controller.
Source power down
This error occurs when power failure
(1) Check primary power condition.
fault.
process begins due to a Primary power
failure (-10% of main power),
instantaneous suspension or voltage
drop occurs.
Jump or call instruction,
When the deleted step was the jump or (1) Refer to the teaching sheet and leave as if
or the step is the base of
call destination step, deletion was
there is no problem.
the shift value.
already executed even if this error is
(2) When interference with work, etc. is
displayed and the destination step
expected, add or modify the point.
number is not change. (The jump
destination location is the next point
from the selected point).
Some axis key was held
This error is detected if the axis
(1) Turn Motor-ON with the axis operation
when 'Motors-on' was
operation key on the teach pendant is
key are not held down.
given.
pressed when Motors-ON is given.
Space V-axis are
This error occurs in the following
Move the robot manually. When this error
interfered.
equation is not satisfied when the
occurs during playback, modify
robot is SV120. SIN45( >/- SIN
programming.
VxSIN S where S = S-axis
angle, V = V-axis angle.
Selected step number is
This error occurs if a step is selected
(1) Select a step number in the program.
not available.
that is not in the program.
Robot # 1 not selected.
Refer to the multi-robot operating
instructions.
Robot # 2 not selected.
Refer to the multi-robot operating
instructions.
Robot # 3 not selected.
Refer to the multi-robot operating
instructions.
Robot # 4 not selected.
Refer to the multi-robot operating
instructions.
Program is not found for This error occurs when attempting to
(1) Record the program or start after other
Robot # 1.
start a program that is not recorded.
program is selected.
Program is not found for This error occurs when attempting to
(1) Record the program or start after other
Robot # 2.
start a program that is not recorded.
program is selected.
Program is not found for This error occurs when attempting to
(1) Record the program or start after other
Robot # 3.
start a program that is not recorded.
program is selected.
Program is not found for This error occurs when attempting to
(1) Record the program or start after other
Robot # 4.
start a program that is not recorded.
program is selected.
PWM is not ON.
Unused
E0199
PWM is not OFF.
E0201
Pelletize-end statement is
missing.
E0175
E0176
E0177
E0178
E0179
E0180
E0185
E0190
E0191
E0192
E0193
E0194
E0195
E0196
E0197
Weld stick detected.
Unused
Pelletize end statement is not
recorded, or there are to many
pelletize end statements, or the next
pelletize starts before the previous
pelletize was completed.
15
(1) Correct the sequence of Pelletize and
Pelletize End function in the program.
E0202
E0205
E0206
E0208
E0209
E0213
E0218
E0219
E0220
E0222
E0223
E0224
E0228
E0229
E0230
ERROR CODE with an underline express SYSTEM-ERROR
This error is detected if there are five
Refer to "Pelletizing function operating
or more pelletize locations in the
instructions" for details.
program to be executed.
Pelletizing error. The
This error occurs if start is made from Start after STEP, 0 and SET are pressed.
shift value may be left.
the step other than 0 when E0201 or
Refer to "Pelletizing function operating
E0202 occurs.
instructions" for details.
Because taught position is shifted by
the calculated data amount during
pelletizing, continuing may cause
steps to be sifted unintentionally.
Therefore, start from a step other than
0 is not allowed.
Presetting registers is
This error occurs if stop is made
(1) Do it after pelletizing is completed.
inhibited during
during pelletizing and the register is
pelletizing.
preset.
Pelletizing is suspended. When reset/set is done during pelletize Do pelletize reset.
to set the step 0, the counter, etc.
Refer to "Pelletizing function operating
remain. This error is detected because instructions" for details.
calculation errors may occur in the
counter if restart is made and
dangerous.
During shift operation,
Unused
recording can not be
made.
Encoder data is beyond
Mirror image transformation reverses
Refer to "Mirror image function operating
of operation range after
the sign of the axis angle on the basis
instructions" for details.
mirror image.
of the encoder standard value (0
degree position).
Therefore, the encoder data may
exceed its operating range if the 0
degree position is far apart from the
standard.
The operation is not
An illegal R command is input during (1) Do operation after stop.
available while running.
running.
FLOPPY DISK access
This error occurs if the floppy disk is
(1) Change the floppy disk.
fault.
physically damaged.
FLOPPY DISK
This error occurs if the floppy disk is
(1) Check the type of the floppy disk (2HD,
Read/Write error.
physically damaged.
2DD) in constant setting mode group2 item
number 15 and select the correct disk type.
(2) Replace the floppy disk.
File verify error.
This error occurs when verify of
(1) Check the two files for discrepancy.
internal RAM, IC card, or floppy disk
fails.
MAGNETIC TAPE
This error occurs when the tape or
(1) Replace the tape or digital cassette.
Read/Write error.
digital cassette cannot be Written to
and /or Read.
Can't verify TAPE and
This error occurs when TAPE to
Do it on others than the tape.
TAPE.
TAPE verify is attempted in the verify
function.
Can't access this floppy
This error occurs when the floppy disk Format the floppy disk or set the capacity
disk.
format or capacity doesn't match the
(2HD, 2DD) of the floppy disk in the
format or capacity selected in the
constant setting mode, group2 item number
controller.
15.
The R-code is not
This error occurs when the designated (1) Use HELP key to check the number.
available.
R-code does not exist.
Conveyor sync. is not
This error occurs, if the conveyor
(1) Enable the conveyor synchronization or
available.
related function is executed with
make a new constant file with conveyor
conveyor synchronization disabled.
synchronization enable.
Pelletizing loop must be
less than 5.
16
E0239
E0243
E0244
E0246
E0247
E0249
E0250
E0251
E0252
E0253
E0254
E0255
E0256
E0257
E0270
E0271
E0272
E0273
E0274
E0280
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs, if there is no
(1) Copy the necessary program into the
constant file in the RAM memory
external memory media and format it in the
(UM802 or UM870 PC B).
constant setting mode to make a constant file.
(2) Copy constant files from external media
to RAM memory.
Operation exceeded
This error occurs, if H-axis and V-axis Change programming.
designated area.
make a beeline at an optional point on
the path when the robot plays back
with interpolation ON.
Robot is in danger of
Tool may interfere with under the part (1) Modify the step or steps position.
interference.
or manipulator body.
Wrist figure calculation
This error occurs when it becomes
(1) Change position of step.
fault.
impossible to calculate the wrist
position in space.
Calculation can not make
Unused.
interpolation figure.
Rear limit over.
This error occurs when the back end of (1) Check the rear limit value in the constant
the first arm is going to move beyond
setting mode group 1 item 28 Rear limit.
the preset Rear limit.
Data type is wrong.
This error occurs when the function
(1) Check for any incorrect function
parameter is incorrect in the root
parameters as it may corrupt data.
language file.
Note: function data may be corrupted.
Register number is
This error occurs when the function
(1) Check function for any incorrect register
wrong.
parameter (function or variable) is
number or variable number.
wrong in the robot language.
Data out of range.
This error occurs when data exceeds
(1) Check the robot language file data.
the set rang in robot language.
Mismatched FOR-NEXT This error occurs when FOR-NEXT
Check FOR-NEXT combination.
identifier.
combination is wrong in the robot
language.
The pose number is not
This error occurs when the designated Check the pose number.
available.
pose number is wrong in the robot
language.
Divided by 0.
This error occurs when division is
Check the program.
done by 0 in the robot language.
Step data reading fault.
Program data is wrong and step data
Contact us.
cannot be read.
Pose calculation failed.
This error occurs when each axis angle Check pose data.
cannot be calculated from the pose
data made by the robot language.
Conveyor moved.
This error occurs when the conveyor
(1) Stop the conveyor and re-set the
moves in the conveyor simulation or
simulation mode or test mode in the
test mode (conveyor pulse is
condition menu..
monitored).
Too many conveyor
This error occurs when pulse
Check if the pulse generator is normal.
pulses counted.
frequency exceeds 10KHz.
Conveyor driving signal
This error occurs when the conveyor
Input the conveyor driving signal.
is given.
driving signal is not input during
operation of the conveyor.
Abnormal conveyor
This error occurs when the conveyor
(1) Check the conveyor constants.
constants.
constant set value has an error.
Conveyor synchro.
This error occurs when constants and
(1) Check constants file and program/s.
record error.
program data do not coincide
concerning conveyer synchronization.
Invalid Jig axis number.
This error occurs when the jig axis
Check the jig axis number.
number is wrong.
No constant file found.
Create constant.
17
ERROR CODE with an underline express SYSTEM-ERROR
Unused
E0290
No more file is available.
E0291
No more constant file is
available.
Number of axes
exceeded limit (up to
12).
Shift request is already
done. This function is
not available.
Hot save/load mode is
selected. This function is
not available.
Now HOT-EDIT mode.
Push ESC-KEY.
The function can not be
modified individually.
Memory is protected by
the record-disableswitch.
The points for
calculation are too
closed.
Operation of search write
function is wrong (must
be in 1 cycle).
Searching exceeded limit
of range.
E0292
E0293
E0294
E0297
E0298
E0353
E0355
E0356
E0357
E0358
Standard position is not
recorded.
E0359
Search function is being
used incorrectly.
E0360
Function-case-jump is
wrong
E0361
Function-case-jump area
exceeded limit.
E0363
Extra. PC CPU error.
This error occurs when more then four
Robot constant files are created.
This error occurs when the axes total
exceeds 12.
(1) The maximum number of Robot constant
files is four (Robot.C01, C02, C03 & C04).
(1) Reset the axes using Constant setting
mode and select 12 axes or less.
This error occurs when the shift
request function is executed during
shift data request.
This error occurs when shift data
request is made by the serial port used
for hotsave-load.
Review the execution method of the shift
data request function and modify the program
(Shift data request/On-line shift).
When hotsave-load is not used, invalidate it
by the condition setting menu.
Unused
The function with no parameters
cannot be modified individually.
This error occurs if the program
modifications, etc. is done with it is
protected by the record disable switch.
Error occurs when 2 or more points
being used for shift calculation are too
close.
This error occurs when Search write
function is attempted when not in <1
cycle > mode.
This error occurs when the robot
moves beyond search range defined in
Condition menu <Search range>.
The search function detects shift
amount from the difference between
the taught work position and actual
work position. If the taught work
position is not recorded as the standard
position data, search operation cannot
be made.
This error occurs if the search
operation start and end are not
matched or online shift function is
used during search operation.
When function jump start is executed,
the function from the function jump
stat to function jump end is checked.
This error occurs if there is no
function end or there is a function
jump end before function jump start is
executed.
When the function of function jump
star is executed, the function from
function jump start to function jump
end is checked.
This error occurs if jump is attempted
in excess of this range by the function
jump condition.
This error is output when a PC error is
detected by the self diagnosis function
on the extra PC board (N80).
18
The function with parameter can be modified
individually.
(1) Release the record disable switch
(memory protect switch).
Make points used for a shift calculation as far
apart as physically possible.
(1) Select 1 cycle playback mode.
Modify the search range or modify the
program.
Do search standard write operation to write
search standard position data in the function.
Check and modify programming.
Check the relation between function jump
start and function jump end.
Jump condition value in function jump is too
big. Modify the condition value.
(1) If this error occurs when power is turned
ON, replace Extra PC board (N80-PC).
E0364
E0365
E0366
E0367
E0379
E0383
E0387
E0391
E0392
E0396
E0397
E0406
E0407
E0408
E0409
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the scan time
(1) Re-check the program and shorten the
exceeds 100 msec on the extra PC
extra PC program.
board (N80).
Extra PC FAL error
This error occurs when the FALS
(1) Check FALS number and take necessary
happened.
command of the sequence program is
steps (FAL = failure alarm, FALS = severe
executed.
failure alarm).
Extra PC board
This error is output when the Extra PC (1) Check that the board is installed correctly
malfunction. Please
(N80) board error is detected by the
(connectors, cables and board).
replace.
self diagnosis function.
(2) Check power supply (SR1).
(2) Replace board if the error still occurs.
Extra PC scan is stopped. This error is output if the start button
(1) Reset the error.
is pressed when the scan is stopped by (2) Replace N80 PC board.
the above error.
(3) Check constant setting mode setup.
Setting of safety plug
This error occurs if the safety plug and (1) Use a correct Safety plug and
and Manual/Auto switch manual/auto switch selection is wrong Manual/Auto switch combination before
is not correct.
when Motors is turned ON. Motors
turning Motors ON.
can be turned ON if the switch is set at
manual when the safety plug is open
and the switch is set at auto when he
safety plug is closed.
Function data fault.
This error occurs when a valid
(1) Delete function not valid for the software
function is used but can not be
version being used.
interpreted. The function may apply to (2) Select the correct items in constant setting
a newer software version or robot
mode.
constant file may not be set up to
(3) Contact Nachi service department.
execute function.
The 3 points for
This error occurs if transformation
(1) Check taught points.
coordinate
calculation cannot be made because 3
transformation are on the taught points are on the same line in
same line.
the coordinate transformation
function.
M-NET Board fault.
This error occurs when a fault in the
(1) Turn controller OFF and ON to reset
Turn the power on again. M-NET PCB is detected.
error.
(2) Replace M-NET PCB.
M-NET interface fault
Error occurs when an abnormality in
(1) Check communication cables and
has occurred.
the communication link between
connectors.
controllers is detected by M-NET
(2) Replace UM853 board or user interface
PCB.
board.
Sealed gas suspended.
This error occurs when Arc gas
(1) Re-supply the Arc shield gas for the
shortage signal is given to the
welding.
controller during Arc welding
operation.
Welding wire broken.
This error occurs when the Arc no
(1) Correct the wire feed problem in the
wire signal is given to the controller
welding system.
during Arc welding operation.
Over current error or
This error occurs when the current of
(1) Check motor.
fuse cut occurred
the rotating motor exceeds the over
(2) Replace motor.
(ROTATING ARC).
current detection level.
Rotating speed error
This error occurs when the rotating
(1) Check motor.
occurred (ROTATING
motor speed is too low or high.
(2) Replace motor.
ARC).
Over-run at ROTATING This error occurs when path correction (1) Check if part is out of position.
ARC.
is made from the taught path in excess (2) Check Weld controller.
of the preset overrun detection
(3) Check wire feed system.
amount.
Setting of ROTATING
Unused
ARC function is wrong.
Extra PC scan time over.
19
E0410
E0411
E0412
E0421
E0422
E0423
E0424
E0448
E0449
E0450
E0451
E0452
E0453
E0454
E0455
E0474
E0475
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when no response
(1) Check communication cables and
message is given from the rotating arc. connectors.
(2) Check Weld controller.
Wrong data from
This error occurs when response
ROTATING ARC.
message is give from the UM735
board but the time interval is
excessive.
ROTATING ARC
This error occurs when the
(1) Ensure the port is clear before using
communication port is
communication port to be used by the
Rotating Arc function.
wrong.
rotating arc is used by another
(2) Reprogram controller for use of ports.
function (on-line shift, hot save load,
etc.).
Loaded data are not shift This error occurs if the shift data read
(1) Check the program and modify.
value.
is incompatible due to designation of
an incorrect register in a Shift
function.
Loaded data are not
This error occurs if the shift data read
(1) Check the program and modify.
square shift data.
is incompatible due to designation of
an incorrect register in a Shift
function.
Loaded data are not
This error occurs if the shift data read
(1) Check the program and modify.
interp. shift data.
is incompatible due to designation of
an incorrect register in a Shift
function.
Loaded data are not
This error occurs if the shift data read
(1) Check the program and modify.
source position data.
is incompatible due to designation of
an incorrect register in a Shift
function.
Selected R-code is not
This error occurs when the R code
(1) Check the R code used.
available.
designated dose not exist.
Selected I-code is not
This error occurs when the I signal
(1) Check the I code in program.
available
designated dose not exist.
Selected M-code is not
This error occurs when the M signal
(1) Check M code in program.
available.
designated dose not exist.
(2) Check controller setup in constant setting
mode.
Software stroke
This error occurs when the software
(1) Return the axis to within the stroke in the
exceeded limit (T3- axis) stroke is being exceeded in Teach
constant setting mode.
mode or Playback operation.
Software stroke
This error occurs when the software
(1) Return the axis to within the stroke in the
exceeded limit (T4-axis) stroke is being exceeded in Teach
constant setting mode.
mode or Playback operation.
Software stroke
This error occurs when the software
(1) Return the axis to within the stroke in the
exceeded limit (T5-axis) stroke is being exceeded in Teach
constant setting mode.
mode or Playback operation.
Software stroke
This error occurs when the software
(1) Return the axis to within the stroke in the
exceeded limit (T6-axis) stroke is being exceeded.
constant setting mode.
Playback (SINGLE
This error occurs if Function are added (1) Do the function add or modify in the 1
STEP) or teach mode
or modified in modes other than
step playback mode or teach mode.
must be selected.
Teach or <1 Step>
playback mode.
Wire-inching exceeded
This error occurs when the wire has
(1) Check the welding wire or welding
limit.
not touched the work piece by the time equipment.
period set in the M122 function.
(2) Check function (M122) setup.
Playback inching
This error occurs if the Inching
(1) Set the desired Inching related
constants are not set.
function (M122) is attempted when the parameters.
Inching parameters are not set in
constant setting mode group 1, item
number 38, Arc welding parameters.
ROTATING ARC
returns no answer.
20
E0476
E0480
E0481
E0482
E0483
E0484
E0485
E0486
E0487
E0488
E0490
E0491
E0492
E0493
E0494
E0495
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the Inching
(1) Stop the use of the function (M122).
function (M122) is attempted when the
wire is already in contact with the
work piece.
Number of ARC weld
This error occurs when attempting to
(1) Use 99 weld condition files only. Delete
conditions is up to 99.
input too many weld condition files.
any unnecessary files to make space.
The maximum number of files is 99.
Weaving condition not
This error occurs if <continue> is set
(1) Set Weaving condition in the Arc-start
given.
for Weaving condition in the Arc-start condition (in Arc file) first used to <disable
condition (in Arc file) and a Weaving
or enable>.
condition has not been previously used
when attempting to use M121.
AWC file not found in
This error occurs if an Arc welding
(1) Create an AWC weld file. Select the
the CMOS memory
function is attempted when no
Service menu, item number 27, Arc welding
ROBOT.AWC file in the controller
file.
internal memory (CMOS memory).
(2) Copy ROBOT.AWC files to internal
memory (CMOS memory).
The weld-start condition This error occurs when the Arc - ON
(1) Use the correct Arc - ON or start
not found in AWC file.
condition number designated by the
condition number or create the desired Arc
Arc - ON function (M121) dose not
start condition. Check service menu, item
exists in the Arc welding file (AWF).
number 27, Arc welding file.
The weld-end condition
This error occurs when the Arc - OFF
(1) Use the correct Arc - OFF or end
not found in AWC file.
condition number designated by the
condition number or create the desired Arc
Arc - OFF function (M120) dose not
start condition. Check service menu, item
exists in the Arc welding file (AWF). number 27, Arc welding file.
Weld-on condition not
This error occurs when if <continue>
(1) Set Weld condition in the Arc-start
given.
is set for Weld condition in the Arccondition file (Robot.AWC) first used to
start condition file (Robot.AWC) and
<enable>.
a Weld condition has not been
previously used when attempting to
use M121.
Order of designated data This error occurs when the data entries (1) Put data entries in Weld condition data
must be increasing
in Weld condition data are not from
from smaller to larger.
smaller to larger.
ARC-off function
This error occurs when Arc - OFF
(1) Check the use of Arc - OFF function
executing is not proper.
function (M120) was not used
(M120). First Arc - ON function (M121) and
correctly in a program.
than Arc - OFF function (M120).
Arc interlock signal is
This error occurs if no arc interlock
(1) Check if arc is produced properly in weld
not given.
signal is input when arc is executed.
controller.
(2) Check input signal in AR controller.
Pose constants program
This error occurs when execution of a (1) Modify the program.
can not be executed.
Pose constant is attempted if module
robot type dose not permit it.
Please record
This error occurs when recording with (1) Modify the program.
interpolation OFF (sec).
interpolation other than OFF is
attempted if module robot type does
not permit it.
This function is denied to This error occurs when a certain
(1) Delete the illegal function in the program.
both record and execute. function is attempted if the robot type
dose not permit it.
Setting data exceed
Unused
designated area.
Operation exceeded
Unused
designated area.
NA-Chip spare error.
Unused
Wire already contacted.
21
E0496
E0497
E0498
E0499
E0500
E0504
E0506
E0507
E0508
ERROR CODE with an underline express SYSTEM-ERROR
When NA-Chip interface function is
Please exchange the N80PC software with
enable, AR main software will check
P03A01R and onwards.
the software version of N80PC. If it
was old version this error is detected.
RIO Link Communication Fault
(1) Check communication cable and
interrupt is input from NA-Chip
connection of RIO link.
because of communication cable
(2) Check the RIO-Scanner (PLC).
disconnection and or lose of RIO
(3) Replace the UM858 PCB or check the
signal.
board set up condition (DSW1 & DSW2).
When UM858 dip switch DSW2-bit6
(Processor_Restart_Lockout) is set in
OFF, this error is not detected and
N80PC software will restart NA-Chip
initialization procedure.
#N80PC soft version P03A02R or
later This error is detected not
concerning with this dip_switch
setting. And then all RIO input
signals are cleared.
When DSW2-bit6 is set OFF, N80PC
software will try to restart NA-Chip so
communication is automatically restarted when the cause is removed.
But set in ON, communication is never
re-started until next power on of robot
controller.
UM858 is not connected, In spite of NA-Chip interface enable,
(1) Check connection of UM858 board.
or NA-Chip interface
N80PC or UM873 software can not
(2) Replace NA Chip board UM858.
function fault.
recognize that UM858 is mounted. Or (3)Replace interface mounting board UM873
even if recognized, some error is
or N80 PC.
detected while NA-Chip RAM test
procedure in power up, or N80PC or
UM873 CPU access for NA-Chip is
denied for longer than 200msec.
Compass axis data is not
Unused
0 degree
Data is output. This
This error occurs when attempting to
(1) Modify the program so the buffer is not
function is not available. use RS232C buffer clear function
receiving or sending a signal when using
(M111) while receiving or sending
M111 function.
signal data.
Operation is not allowed. A program recorded in an IC card can To record of modify the program recorded in
The program exists in
be played back by the IC card
IC card, the program must be copied in the
IC_CARD or FDD>
playback function. However, for a
memory in advance.
program recorded in an IC card, the
write function (record, modification,
etc.) is not permitted.
Must be operated in
This error is detected when speed
(1) Do operation in 1 step or 1 cycle mode.
SINGLE STEP or
modification is done in the continuous
SINGLE CYCLE mode. playback mode.
Simulation mode must be This error occurs when attempting to
(1) Select Simulation mode.
selected for the
set the conveyer register in a mode
operation.
other than Simulation mode.
Build in PC checks or
This error occurs when attempting to
(1) Wait until the Built in PC check/verify is
verifies. Motor-on is not turn ON motors while the controller is complete before pressing Motors ON button.
available.
checking/verifying the Built in PC
(Master I/O).
N80PC's software
version must be
P03A01R or later for
NA-Chip.
NA-Chip has detected
Link-Communication
fault.
22
E0509
E0510
E0511
E0512
E0513
E0514
E0515
E0516
E0517
E0518
E0519
E0520
E0521
E0522
E0523
E0524
E0525
E0526
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs the manipulator
(1) Edit the Step and make the Interpolation
encounters a singularity position while OFF is necessary for singularity position.
Interpolation ON/Circular is selected.
Interpolation OFF is necessary for
singularity position.
Teach mode must be
This error occurs when step-go/back,
(1) Select Teach mode before using this
selected for the
Record, Add, etc. is done in the mode
operation.
operation.
other than teach mode.
Can't select robot while
Refer to "Multi-robot operating instructions."
mode-lock.
Can't start while other
Refer to "Multi-robot operating instructions.
robot(s) running.
Only one robot is
"Refer to "Multi-robot operating
allowed in SINGLEinstructions."
STEP mode.
No robot enabled.
"Refer to "Multi-robot operating
instructions."
Selected robot does not
"Refer to "Multi-robot operating
exist.
instructions."
The robot is not ready.
Refer to "Multi-robot Operating
instructions."
Auto mode must be
Execution of the function which can
(1) Select the auto mode and execute the
selected
be executed only in the auto mode is
function.
attempted.
Please set the step
Execution of the function which
(1) Set the step number and execute the
number.
cannot be executed without step
function.
setting is attempted.
Please set the step or
Execution of the function which
(1) Set the step or program number and
program number.
cannot be executed without step or
execute the function.
program setting is attempted.
Source device or
Combination of the designated copy
(1) Change the source device or destination
Destination device is
source device and destination device
device.
improper.
cannot be copied.
Selected device is
Copying of Failure-prediction data
When copying Failure-prediction data select
improper.
other than those in memory was
memory as the device.
attempted.
ME-NET initializing
Initialization of ME-NET is not
(1) Error is not clear until AR controller
error.
completed within 60 seconds when
power is turned ON again.
power is turned ON and when relay
(2) Check network cables and connectors.
link is enabled.
(3) Check master station parameter setting.
(4) Replace UM853 board.
ME-NET data link error. This error occurs if Master control
(1) Check the master computer station.
station status stops over 250msec.
(2) Check cables and connectors.
during data link.
(3) Replace UM853 board.
ME-NET communication This error occurs when the
(1) Error is not clear until AR controller
CPU error. Turn off and communication CPU on network
power is turned ON again.
turn on again.
board (UM853) is detected.
(2) Check cables and connectors.
(3) Replace UM853 board.
ME-NET data link is
This error is detected when start
(1) Check the link parameters of the host
stopped.
button is pressed during data stop (the station and network number station.
above three troubles or the host station (2) To temporarily move the robot during
does not start link). Start command
startup work select constant setting group2
and step go-back operation in teach
item 19 ME-NET and disable this selection.
mode are not allowed.
There is no data.
Trouble prediction data is copied in IC Take trouble prediction data first.
card of floppy disk but there is no
data.
Change to interpolation
off for singularity point.
23
E0527
E0528
E0530
E0531
E0532
E0533
E0534
E0535
E0536
E0537
E0538
E0539
E0540
E0541
E0542
E0543
E0544
E0545
E0546
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the media
(1) Check file, floppy disk type or recreate
format dose not match the format
original file.
selected in the controller or the file is
corrupted.
Can't recognize the
This error occurs if IC card is used
(1) Initialize the IC card.
media. Please initialize. without initialization.
Program data collapsed.
An error is found in the program when Make a new program.
the program is read.
Program data fault.
An error is found in the program when Make a new program.
Operation was cancelled. the program is written.
Motors-on is not
Some robot type (PV series) require
(1) Give a Motors-ON command after the
available while inner
internal pressurization to operate in
internal operating pressure is achieved.
pressure is ascending.
hazardous areas. Error occurs if
(2) Check pressure timers in Barrier Unit.
Motors ON is attempted while the
internal pressure is ascending to an
operation level.
Inner pressure error
This error occurs if the internal
(1) Locate the air leak and repair.
occurred. Turn off and
operating pressure is not within the set
turn on again.
range.
Robot failed during
This error occurs if the robot
(1) Check brakes for slippage.
power-save status.
manipulator drops more than 100
(2) Replace motor.
encoder bits during Power save mode. (3) Check pay load on Robot arm.
Position data is overflow. This error occurs when the buffer
Contact our service department.
which outputs a command value
overflows.
Welder fault.
This error occurs if the welder error
Check the welder.
signal is input when welding sequence
ends.
Welding time exceeded
This error occurs, if the welding end
(1) Check weld start output signal to welder.
limit
signal is not input even after elapse of (2) Check HPC for Weld start and finish
welding time.
command.
The gun maintains
This error occurs, if the full open
Check the gun or welder.
closed.
signal is inlet when the welding
sequence ends.
The gun is not halfly
This error occurs, if no half-open
Check the gun or welder.
open.
signal is input even when half-open is
designated.
The gun is not fully
This error occurs, f no full-open signal Check the gun or welder.
open.
is input even when full-open is
designated.
Weld-stick detected.
This error occurs, if the weld-stick
Release weld-stick.
signal is input when welding sequence
ends.
The coolant fault # 1.
This error occurs, if the coolant fault
Check the gun or welder.
#1 signal is input when welding
sequence ends.
The coolant fault # 2.
This error occurs, if the coolant fault
Check the gun or welder.
#2 signal is input when welding
sequence ends.
Air pressure fault.
The error occurs, if air pressure fault is Check the gun or welder.
input when welding sequence ends.
Transformer temperature This error occurs, if transformer
Check the gun or welder.
fault.
temperature fault is input when
welding sequence ends.
Peripheral system fault.
This error occurs, if peripheral system Check the gun or welder.
fault is input when welding sequence
ends.
File read fault.
24
E0547
E0548
E0549
E0550
E0551
E0552
E0553
E0554
E0555
E0556
E0557
E0558
E0559
E0560
E0561
E0562
E0563
E0564
E0565
E0566
E0567
E0568
E0569
E0570
E0571
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs, when reference
(1) Teach so that reference points are not on
points used for coordinate conversion
the same line.
are on the same line and conversion
cannot be done.
Block seek error.
This error occurs when a
(1) Create the file again.
ROBOT.PMO file could not be
accessed.
Gun number not
This error occurs when the Gun
(1) Designate the Gun number.
selected.
number is not designated.
Built-in PC scan time
Error occurs when the scan time limit (1) Edit the ladder program.
over.
of the Built-in PC exceeds 100 msec.
Spot welding selection is This error occurs when an undefined
(1) Change controller set up.
Spot welding selection < Step, function >.
not available.
welding file is attempted.
Both of half-open and
This error occurs if both the Gun half- (1) Check the Gun or welding unit to
full-open signal are
open signal and Gun full-open signal
determine the cause of the simultaneous
given.
are received simultaneously after
signal.
Open Gun half signal is output by the
controller.
HPC link fault.
Error occurs when HPC printed
(1) Check the board for lose connection or
circuit board is not connected.
missing signal.
(2) Replace the HPC link board.
HPC link card error.
This error occurs when a fault in the
(1) Check the board for lose connection or
HPC link PCB is detected.
missing signal.
(2) Replace the HPC link board.
Invalid command.
Unused
The 3 points for
calculation are inlined.
The station number is not
available.
Number of connected
station exceeded limit.
Relay start address fault.
This error occurs if an incorrect station
number is designated.
This error occurs if too many station
number are designated.
(1) Designate the correct station number.
(1) Reduce the number of stations connected.
(1) Check HPC ladder.
Register start address
fault.
Relay bytes exceeded
limit.
Register bytes exceeded
limit.
Relay area exceeded
limit.
Register area exceeded
limit.
Host station already
exists.
HPC response error (No.
20).
HPC response error (No.
21).
HPC response error (No.
24).
HPC response error (No.
25).
HPC response error (No.
26).
HPC response error (No.
31).
HPC response error (No.
32).
(1) Check ladder.
(1)
(1)
(1)
(1)
(1)
(1) Check the HPC operator manual for error
code.
(1) Check the HPC operator manual for error
code.
(1) Check the HPC operator manual for error
code.
(1 Check the HPC operator manual for error
code.)
(1) Check the HPC operator manual for error
code.
(1) Check the HPC operator manual for error
code.
(1 Check the HPC operator manual for error
code.)
25
E0572
E0573
E0574
E0575
E0576
E0577
E0578
E0579
E0580
E0581
E0582
E0583
E0584
E0585
HPC response error (No.
39).
HPC response error (No.
40).
HPC response error (No.
41).
HPC response error (No.
42).
HPC response error (No.
43).
Application file error.
Application file header
error.
Application file FAT
error.
Bad application function
code.
Height sensor revise
range exceeded limit.
Vision sensor not
connected.
Vision sensor returns no
answer.
Vision sensor sense
error.
Axis-key or step-go/back
key is pressed.
E0586
No connection made
with welder (RS-422).
E0587
E0590
Clock start function is
not activated.
Clock synchronize
abnormal.
Bad constant file. Please
remake the file.
No data in file.
E0591
No data in file.
E0592
The welding condition
data not found.
E0593
The shift file not found.
E0594
Clock is saturated.
E0595
Only one master robot
allowed.
E0596
Laser interlock signal is
not given.
Laser-interlock signal is
gone.
Laser off functin
executing is not proper.
E0588
E0589
E0597
E0598
ERROR CODE with an underline express SYSTEM-ERROR
(1) Check the HPC operator manual for error
code.
(1) Check the HPC operator manual for error
code.
(1) Check the HPC operator manual for error
code.
(1 Check the HPC operator manual for error
code.)
(1 Check the HPC operator manual for error
code.)
(1) Recreate application file.
(1) Recreate application file.
(1) Recreate application file.
(1) Recreate application file.
Option
Option
Option
Option
This error occurs if a change of Mode
is attempted while an Axis - key or
step - go/back key is being pressed.
Error occurs when the connection
between the welder and controller is
faulty.
(1) Ensure operation keys are not being
pressed and retry.
(1) Check the signal designation and
communication cables.
(2) Check RWC welder or controller circuit
board (UM815 or UM873/20).
Unused
Unused
Error occurs when an abnormality in a
constant file is detected.
(1) Correct or make a new constant file.
M199 must have step weld ID number.
Error occurs when Spot Welding
condition number designated by
NADEX I/F is over 16.
This error occurs when Shift file for
use in a Shift function is not found.
(1) Use Spot Welding condition numbers 16
or less.
(1) Create the shift file in Service menu.
Unused
Error occurs when both robots are
designated as the Master by the Multirobot synchronize function.
(1) Select only one robot to be the Master by
correcting the M155 functions.
Option
Option
Option
26
E0599
E0600
E0601
E0602
E0603
E0604
E0605
Laser alarm # 1 signal is
given.
Laser alarm # 2 signal is
given
The shift file fault.
ERROR CODE with an underline express SYSTEM-ERROR
Option
ID number is different
between shift file and
variable (V00) file.
The application file not
found.
Laser interlock signal
maintains ON.
User coordinate does not
exist.
Option
This error occurs when the spot weld
data base file is missing when spot
weld program is playing back.
Option
E0630
Timeout error. Please
check connection for
ARCMASTER.
This error occurs when a User
coordinate is attempted without the
coordinate system being pre-defined.
Error occurs when a communication
link can not be made between the
controller and Welder unit.
E0631
ARCMASTER replied
wrong data.
Error occurs when the data sent by
ARCMASTER can not be interpreted.
E0632
Arc is not established.
E0633
Arc failure is detected.
E0634
ARCMASTER primary
power voltage is too low.
E0635
Over current error is
detected by
ARCMASTER.
Thermal error is detected
by ARCMASTER.
ARCMASTER primary
power voltage is too high
by
ARCMASTER is not
ready to weld.
Check the position status of the work
piece and the welding wire.
Error occurs when the electric Arc
stops during a weld.
Error occurs when the ARCMASTER
power supply voltage drops below the
nominal voltage.
Error occurs when the ARCMASTER
welding current rises above the normal
current range.
Error occurs when the ARCMASTER
welder has abnormal temperature.
Error occurs when the ARCMASTER
primary power voltage rises above the
normal voltage range.
Error occurs if an ARC welding
function is attempted when the
welding is not possible according to
ARCMASTER.
Supply the correct Shield gas pressure.
E0636
E0637
E0638
E0639
E0640
Sealed gas pressure is
too low. ARCMASTER
.
No communication data
sent to ARCMASTER.
E0641
Weld wire sticking is
detected.
E0642
Irregal data sent to
ARCMASTER.
(1) Make spot weld data base file.
This error occurs when the controller
cannot transmit data for 1 sec. Or
more to the Arcmaster during welding.
Error occurs if the Weld stuck signal is
received when the welding sequence
ends.
This error occurs if the data sent from
controller to the Arcmaster has and
error.
27
(1) Define User coordinate system in the
Service menu before attempting to use then.
(1) Check the cables and connections on
welder interface.
(2) Replace welder or controller interface
board.
(1) Check communication cable and
connection to welder.
(2) Replace welder or controller interface
board.
(1) Check part position or welding wire.
(1) Check welding system.
(1) Check the supply voltage for the
ARCMASTER welder unit.
(1) Check the welder current in Weld
condition in controller.
(1) Check for dust in ARCMASTER fan unit.
(2) Check temperature sensor.
(1) Check the supply voltage for the
ARCMASTER welder unit.
(1) Execute an Arc initiation function before
and Arc weld function.
(1) Check welder gas.
(1) Check communication cable and
connection to welder.
(2) Replace welder or controller interface
board.
(1) Free the gun from the weld.
(1) Check communication cable and
connection to welder.
(2) Replace welder or controller interface
board.
E0643
E0644
E0645
E0646
E0647
E0650
E0660
E0661
E0662
E0663
E0664
E0665
E0666
E0667
E0668
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the Arcmaster
(1) Check communication cable and
has a memory data error.
connection to welder.
(2) Replace welder or controller interface
board.
Communication error.
This error occurs when the Arcmaster
(1) Check communication cable and
[Receive buffer overflow receiving memory buffer has an
connection to welder.
for ARCMASTER].
overflow of data.
(2) Replace welder or controller interface
board.
Communication error.
This error occurs when the Arcmaster
(1) Check communication cable and
[Transmit buffer
transmit memory buffer has an
connection to welder.
overflow for
overflow of data.
(2) Replace welder or controller interface
ARCMASTER].
board.
Communication error.
This error occurs when received data
(1) Check communication cable and
[Receive data overflow
overruns in the Arcmaster welder.
connection to welder.
for ARCMASTER].
(2) Replace welder or controller interface
board.
Irregal command is
This error occurs when an illegal
(1) Check communication cable and
received during welding
command is transmitted to the
connection to welder.
(ARCMASTER).
Arcmaster welder during welding.
(2) Replace welder or controller interface
board.
ARCMASTER I/F fault. This error occurs when some error
(1) Check communication cable and
occurs in the transmit or receive
connection to welder.
processing of data for the Arcmaster
(2) Replace welder or controller interface
welder of the controller.
board.
Arc-spot function
Error occurs when a Arc spot function (1) Modify the program to contain NO Spot
executed while ARC-on. (M151) was attempted while
welding function if arc welding is currently
executing an Arc weld.
enable.
Emergency stop signal is This error occurs if an command other (1) Give Emergency stop release command
given to ARCMASTER. than emergency stop release is
and retry.
transmitted when emergency stop is
input in the Arcmaster welder.
Illegal command is
This error occurs if an illegal
(1) Retry inching without the illegal
received during inching
command is transmitted to the
command.
sequence
Arcmaster welder during inching
(ARCMASTER).
sequence.
The command is not
This error occurs when an illegal
(1) Retry inching without the illegal
allowed during wirecommand is transmitted to the
command.
inching
Arcmaster during wire inching.
(ARCMASTER).
The command is not
This error occurs when an illegal
(1) Retry Touch sensing without the illegal
allowed during touch
command is transmitted to the
command.
sensing
Arcmaster welder during touch
(ARCMASTER).
sensing.
Impossible to control arc This error occurs when fuzzy control
(1) Check the condition.
welding condition by the of the Arcmaster welder cannot be
unified fuzzy control.
made by the set condition.
The arc current
This error occurs when the welder
(1) Use acceptable levels of current.
command is not available current which cannot be controlled by ARCMASTER - 350 = 0 to 350
for ARCMASTER.
the Arcmaster welder is transmitted.
ARCMASTER - 500 = 0 to 500
No initialized in
This error occurs when the Arcmaster
(1) Initialize ARCMASTER welder.
ARCMASTER. Please
welder is not initialized.
initialize.
ARCMASTER version is This error occurs if the set value of
(1) Check setting in constant setting mode
difference.
ARC I/F set by the controller is
group 2 item 34 for ARC I/F setting
different from the vision of the
<standard, ARC MASTER 350, ARC
Arcmaster welder connected.
MASTER 500>
Internal memory data
error is detected
(ARCMASTER).
28
E0669
E0670
E0671
E0672
E0673
E0674
E0675
E0676
E0677
E0678
E0679
E0680
E0681
E0682
E0683
E0684
E0685
E0686
E0687
E0688
E0689
E0690
E0691
ERROR CODE with an underline express SYSTEM-ERROR
The arch voltage
This error occurs when the welder
(1) Use acceptable levels of voltage.
command is not available voltage which cannot be controlled by ARCMASTER - 350 = 0 to 35 volts.
for ARCMASTER.
the Arcmaster welder is transmitted.
ARCMASTER - 500 = 0 to 50 volts.
Can't change weld on/off This error occurs when the weld
(1) Do not change Weld ON/OFF during a
during start or end
ON/OFF is attempted during a ARC
ARC weld start or end sequence.
sequence.
weld start or end condition sequence.
Please execute the
Error occurs if a command or function (1) Turn Conveyer synchronization ON with
function during conveyor is attempted requiring Conveyer
M55 machine code.
synchronization.
synchronization ON.
No module constant file
(1) Create or select the correct Constant file
found. Please remake
or load backup floppy disk.
the file.
Bad module constant
(1) Correct Constant file or load backup
file. Please remake the
floppy disk.
file.
Welder communication
Welder communication problem , the
(1) Check weld board.
fault (Check sum).
welder CPU is not updating.
(2) Check AR controller CPU.
Welder communication
This error is issued if the checksum is
(1) Replace welder board.
fault (NO ANSWER).
abnormal after a weld board response.
Welder communication
This error occurs when data from the
(1) Replace welder communication and
fault (Message wrong).
Welder is abnormal.
cables.
Welder major fault.
This error occurs when Welder
(1) Check weld fault and correct.
generate the Weld fault.
Timeout error (Hot
Check the communication of the host
(1) Check communication cable and
save/load).
computer (Master control station).
connection to host computer.
The robot must be
Start the Synchronized robot system.
(1) Select the condition menu and make
synchronized is not play.
selection.
No module register value This error occurs when the servo
(1) Set the value of the desired module
is given.
parameter module resistance is not set. register.
Number of conditions is
Error occurs when attempt is made to (1) Use up to 64 condition
up to 64.
create more than 64 condition
Software version of
Error occurs when the current software Update the Servo Amp PCB software.
amplifier is too old.
version is unable to execute a function
command that is attempted.
Oil pressure of H-axis
Error not used.
actuator is low.
Tip consumption
This error occurs when robot stops if
(1) Exchange the worn gun tip.
exceeded maximum
any one of the tip consumption
limit.
exceeded the max. tip consumption set
in Servo gun parameter.
Sealing unit is not ready
Error occurs if the sealing unit is not
(1) Prepare the sealing unit.
(Seal Gun 1).
ready.
Sealing unit is not ready
Error occurs if the sealing unit is not
(1) Prepare the sealing unit.
(Seal Gun 2).
ready.
Sealing unit error
Error occurs when a Sealing unit error (1) Check sealing unit.
occurred (Seal Gun 1).
signal is given to the controller from
(2) Check communication cable and
the sealing unit.
connection to sealer.
Sealing unit error
Error occurs when a Sealing unit error (1) Check sealing unit.
occurred (Seal Gun 2).
signal is given to the controller from
(2) Check communication cable and
the sealing unit.
connection to sealer.
Sealing material is empty Error occurs when a Sealing material
(1) Supply Sealant to the sealing unit.
(Seal Gun 1).
empty signal is given to the controller.
Sealing material is empty Error occurs when a Sealing material
(1) Supply Sealant to the sealing unit.
(Seal Gun 2).
empty signal is given to the controller.
Sealing interlock error
Error occurs if the Sealing unit ready
(1) Check the Sealing unit.
occurred (Seal Gun 1).
signal is not being received when
executing a Sealing function.
29
E0692
E0693
E0694
E0695
E0696
E0697
E0698
E0699
E0700
E0701
E0702
E0703
E0704
E0705
E0706
E0707
E0708
ERROR CODE with an underline express SYSTEM-ERROR
Error occurs if the Sealing unit ready
(1) Check the Sealing unit.
signal is not being received when
executing a Sealing function.
No turn value is given.
This error occurs when the number of
(1) Check constant file or reload from floppy
turns of the current sensor has not
disk.
been entered into the constant file.
Executive EPROM
Error occurs when a system software
(1) Install the system software once more.
check sum error.
EPROM checksum error of welder
(2) Replace weld board.
timer substrate is detected.
LCA EPROM check sum Error occurs when a LCA EPROM
(1) Install the LCA software once more.
error.
system software checksum error of
(2) Replace weld board.
welder timer substrate is detected.
Application EPROM
This error occurs when the weld board (1) Replace weld board.
check sum error.
has an application EPROM checksum (2) Replace main CPU board (UM850 or
error.
UM870).
DPR error.
This error occurs when the weld board (1) Replace weld board (I.W.B.).
has an Dual Port Ram error.
(2) Replace main CPU board (UM850 or
UM870).
The data is not the
Calculation cannot be executed with
(1) Modify teaching so that a sufficient
automatic center of
the collected current values.
imbalance torque can be applied to axes.
gravity setting.
(2) Change the wrist postures as much as
possible between step land step 2 in teaching
for auto C. of G. setting.
This program is not for
(1) 2 taught points are not available for (1) 2 taught points are required.
the automatic center of
creating program.
(2) Normally it is not necessary to change the
gravity setting.
(2) Designated program differs from
program designated at the time of creating it.
automatically created one.
Servo gun motion fault.
Error occurs if the gun fails to open
(1) Check operation of the gun during a weld
within the permissible time period
(tip stick).
(4sec.) after weld complete signal is
given.
Servo gun pressure fault. Error occurs when the set gun pressure (1) Check operation of the gun during a weld.
is not achieved within the time period
(2) Check Servo gun parameter in Constant
set in Servo gun parameter.
Setting mode or use R code (R236).
The pressure command is Error occurred when a pressure too
(1) Use adequate pressure.
not available for Servo
grate for the Servo gun is designated.
gun.
GUN SEARCH has not
Error occurred when a search function (1) Ensure the spot welding function is
been completed.
is abnormally interrupted by a Spot
executed after the search function is
welding function.
complete.
Conveyer register value
This error occurs when the conveyor
(1) Use a correct register value (0 to
is invalid.
register number designated in Step
100000mm).
conveyor register designation function
(M178) exceeds the limit.
V-axis exceeded ground- This error occurs when axis 2 (V-axis) (1) Move the robot manipulator within the
restrict limit.
exceeds its minimum angle limit.
operating range using the axis keys and
dead-mans switch in constant setting mode.
V-axis exceeded retract
This error occurs when axis 2 (V-axis) (1) Move the robot manipulator within the
limit.
exceeds its maximum angle limit.
operating range using the axis keys and deadmans switch in constant setting mode.
V-axis mecha-stopper
This error occurs when axis 2 (V-axis) (1) Check the operation and position of both
position abnormal.
is mechanically stopped (limit switch) the mechanical stop and software limit.
in its operating range.
Inserting or deleting of
This error occurs when insertion or
(1) Preform program modification after
program is executed
deletion of steps is attempted during a pelletizing is complete.
during pelletizing.
pelletizing routine.
Sealing interlock error
occurred (Seal Gun 2).
30
E0709
E0710
E0711
E0712
E0713
E0714
E0715
E0716
ERROR CODE with an underline express SYSTEM-ERROR
Manual mode selection is This error occurs when selection of a
(1) Select mode from remote source or
denied because remote
mode using the mode selection buttons disable Remote mode using Constant setting
mode.
on the operation panel is attempted
mode group 2 item number 56 < enable,
while the controller is in Remote
disable>.
mode.
WI signal does not
This error occurs when a WI signal
(1) Check the Weld controller WI output
become off.
from the last weld sequence remains
signal.
on more than 5 seconds after a Gun
(2) Check the WI input signal in the
signal is outputted by the controller.
controller.
Over travel limit switch
This error occurs when an axis reaches (1) Move manipulator axis off the limit
was activated in robot #
the end of its travel and actuates an
switch in constant setting mode.
1.
over travel limit switch (LS1, LS2 or
(2) If no limit switch is being actuated then
LS3).
check wiring to the limit switch.
(3) Replace sequence board (UM837 or
UM880).
(4) Check input signal in monitor mode and
check signal path for Overtravel cell input.
Over travel limit switch
This error occurs when an axis reaches (1) Move manipulator axis off the limit
was activated in robot #
the end of its travel and actuates an
switch in constant setting mode.
2.
over travel limit switch (LS1, LS2 or
(2) If no limit switch is being actuated then
LS3).
check wiring to the limit switch.
(3) Replace sequence board (UM837 or
UM880).
(4) Check input signal in monitor mode and
check signal path for Overtravel cell input.
Over travel limit switch
This error occurs when an axis reaches (1) Move manipulator axis off the limit
was activated in robot #
the end of its travel and actuates an
switch in constant setting mode.
3.
over travel limit switch (LS1, LS2 or
(2) If no limit switch is being actuated then
LS3).
check wiring to the limit switch.
(3) Replace sequence board (UM837 or
UM880).
(4) Check input signal in monitor mode and
check signal path for Overtravel cell input.
Over travel limit switch
This error occurs when an axis reaches (1) Move manipulator axis off the limit
was activated in robot #
the end of its travel and actuates an
switch in constant setting mode.
4.
over travel limit switch (LS1, LS2 or
(2) If no limit switch is being actuated then
LS3).
check wiring to the limit switch.
(3) Replace sequence board (UM837 or
UM880).
(4) Check input signal in monitor mode and
check signal path for Overtravel cell input.
Arm interference limit
This error occurs when two axis reach (1) Move manipulator axis off the limit
switch was activated in
a point of interference and an Arm
switch in constant setting mode.
robot # 1.
interference limit switch is actuated.
(2) If no limit switch is being actuated then
Not all manipulator have this switch.
check wiring to the limit switch.
The signal is jumper in the
(3) Replace sequence board (UM837 or
manipulator and returned to the
UM880).
controller for system software.
(4) Check input signal in monitor mode and
check signal path for Arm interference cell
input.
Arm interference limit
This error occurs when two axis reach (1) Move manipulator axis off the limit
switch was activated in
a point of interference and an Arm
switch in constant setting mode.
robot # 2.
interference limit switch is actuated.
(2) If no limit switch is being actuated then
Not all manipulator have this switch.
check wiring to the limit switch.
The signal is jumper in the
(3) Replace sequence board (UM837 or
manipulator and returned to the
UM880).
controller for system software.
(4) Check input signal in monitor mode and
check signal path for Arm interference cell
input.
31
E0717
Arm interference limit
switch was activated in
robot # 3.
E0718
Arm interference limit
switch was activated in
robot # 4.
E0719
The discharge resisters
broken or exceeded
temperature limit in
robot # 1.
E0720
The discharge resisters
broken or exceeded
temperature limit in
robot # 2.
E0721
The discharge resisters
broken or exceeded
temperature limit in
robot # 3.
E0722
The discharge resisters
broken or exceeded
temperature limit in
robot # 4.
E0723
Over voltage found in
drive unit in robot # 1.
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when two axis reach (1) Move manipulator axis off the limit
a point of interference and an Arm
switch in constant setting mode.
interference limit switch is actuated.
(2) If no limit switch is being actuated then
Not all manipulator have this switch.
check wiring to the limit switch.
The signal is jumper in the
(3) Replace sequence board (UM837 or
manipulator and returned to the
UM880).
controller for system software.
(4) Check input signal in monitor mode and
check signal path for Arm interference cell
input.
This error occurs when two axis reach (1) Move manipulator axis off the limit
a point of interference and an Arm
switch in constant setting mode.
interference limit switch is actuated.
(2) If no limit switch is being actuated then
Not all manipulator have this switch.
check wiring to the limit switch.
The signal is jumper in the
(3) Replace sequence board (UM837 or
manipulator and returned to the
UM880).
controller for system software.
(4) Check input signal in monitor mode and
check signal path for Arm interference cell
input.
Error occurs when the Regenerative
(1) Check TS1 and/or TS2 thermostat switch.
discharge resistor(s) exceeds the set
(2) Check cooling fans and the back of
temperature limit or the resistor circuit controller cabinet has 20 cm open space.
is open.
(3) Check discharge resistor DSR10 and/or
DSR11.
(4) Check primary voltage not to exceed + 10
% of specified value.
(5) Check maintenance manual.
Error occurs when the Regenerative
(1) Check TS1 and/or TS2 thermostat switch.
discharge resistor(s) exceeds the set
(2) Check cooling fans and the back of
temperature limit or the resistor circuit controller cabinet has 20 cm open space.
is open.
(3) Check discharge resistor DSR10 and/or
DSR11.
(4) Check primary voltage not to exceed + 10
% of specified value.
(5) Check maintenance manual.
Error occurs when the Regenerative
(1) Check TS1 and/or TS2 thermostat switch.
discharge resistor(s) exceeds the set
(2) Check cooling fans and the back of
temperature limit or the resistor circuit controller cabinet has 20 cm open space.
is open.
(3) Check discharge resistor DSR10 and/or
DSR11.
(4) Check primary voltage not to exceed + 10
% of specified value.
(5) Check maintenance manual.
Error occurs when the Regenerative
(1) Check TS1 and/or TS2 thermostat switch.
discharge resistor(s) exceeds the set
(2) Check cooling fans and the back of
temperature limit or the resistor circuit controller cabinet has 20 cm open space.
is open.
(3) Check discharge resistor DSR10 and/or
DSR11.
(4) Check primary voltage not to exceed + 10
% of specified value.
(5) Check maintenance manual.
This error is detected when motor
(1) Check primary voltage not to exceed + 10
supply voltage (P-N) exceeds the set
% of specified value.
value or heat sink temperature rises
(2) Check manipulator for abnormal
excessively.
operation.
(3) Check Sequence board (UM837 or
UM880).
(4 ) Replace Servo Amp. Unit (Servo Drive
Amp. 1 or 2)
(5) Check maintenance manual.
32
E0724
E0725
E0726
E0727
E0728
E0729
ERROR CODE with an underline express SYSTEM-ERROR
This error is detected when motor
(1) Check primary voltage not to exceed + 10
supply voltage (P-N) exceeds the set
% of specified value.
value or heat sink temperature rises
(2) Check manipulator for abnormal
excessively.
operation.
(3) Check Sequence board (UM837 or
UM880).
(4 ) Replace Servo Amp. Unit (Servo Drive
Amp. 1 or 2)
(5) Check maintenance manual.
Over voltage found in
This error is detected when motor
(1) Check primary voltage not to exceed + 10
drive unit in robot # 3.
supply voltage (P-N) exceeds the set
% of specified value.
value or heat sink temperature rises
(2) Check manipulator for abnormal
excessively.
operation.
(3) Check Sequence board (UM837 or
UM880).
(4 ) Replace Servo Amp. Unit (Servo Drive
Amp. 1 or 2)
(5) Check maintenance manual.
Over voltage found in
This error is detected when motor
(1) Check primary voltage not to exceed + 10
drive unit in robot # 4.
supply voltage (P-N) exceeds the set
% of specified value.
value or heat sink temperature rises
(2) Check manipulator for abnormal
excessively.
operation.
(3) Check Sequence board (UM837 or
UM880).
(4 ) Replace Servo Amp. Unit (Servo Drive
Amp. 1 or 2)
(5) Check maintenance manual.
Motor temperature fault
Error occurs when an abnormal motor (1) Check wiring of thermostat of motor.
in robot # 1.
temperature is detected.
Refer to "Robot manipulator maintenance
manual."
(2) Stop the robot, Check motor and restart
after motor temperature cool down.
(3) Lower the operating speed of the robot if
the same error still occurs or change motor.
(4) Check input signal Motor thermostat in
monitor mode or the input signal circuit.
Motor temperature fault
Error occurs when an abnormal motor (1) Check wiring of thermostat of motor.
in robot # 2
temperature is detected.
Refer to "Robot manipulator maintenance
manual."
(2) Stop the robot, Check motor and restart
after motor temperature cool down.
(3) Lower the operating speed of the robot if
the same error still occurs or change motor.
(4) Check input signal Motor thermostat in
monitor mode or the input signal circuit.
Motor temperature fault
Error occurs when an abnormal motor (1) Check wiring of thermostat of motor.
in robot # 3.
temperature is detected.
Refer to "Robot manipulator maintenance
manual."
(2) Stop the robot, Check motor and restart
after motor temperature cool down.
(3) Lower the operating speed of the robot if
the same error still occurs or change motor.
(4) Check input signal Motor thermostat in
monitor mode or the input signal circuit.
Over voltage found in
drive unit in robot # 2.
33
E0730
E0731
E0732
E0733
E0734
E0735
E0736
E0737
E0738
E0739
E0740
ERROR CODE with an underline express SYSTEM-ERROR
Error occurs when an abnormal motor (1) Check wiring of thermostat of motor.
temperature is detected.
Refer to "Robot manipulator maintenance
manual."
(2) Stop the robot, Check motor and restart
after motor temperature cool down.
(3) Lower the operating speed of the robot if
the same error still occurs or change motor.
(4) Check input signal Motor thermostat in
monitor mode or the input signal circuit.
Inner pressure error
Some manipulators type (PV series)
(1) Locate the air leak (check covers, air
occurred in robot # 1.
require internal pressurization to
supply, etc.) and repair.
operate in hazardous areas. Error
(2) Restart controller.
occurs when internal operating
(3) Refer to controller maintenance manual.
pressure is not with in the set range.
Inner pressure error
Some manipulators type (PV series)
(1) Locate the air leak (check covers, air
occurred in robot # 2.
require internal pressurization to
supply, etc.) and repair.
operate in hazardous areas. Error
(2) Restart controller.
occurs when internal operating
(3) Refer to controller maintenance manual.
pressure is not with in the set range.
Inner pressure error
Some manipulators type (PV series)
(1) Locate the air leak (check covers, air
occurred in robot # 3.
require internal pressurization to
supply, etc.) and repair.
operate in hazardous areas. Error
(2) Restart controller.
occurs when internal operating
(3) Refer to controller maintenance manual.
pressure is not with in the set range.
Inner pressure error
Some manipulators type (PV series)
(1) Locate the air leak (check covers, air
occurred in robot # 4.
require internal pressurization to
supply, etc.) and repair.
operate in hazardous areas. Error
(2) Restart controller.
occurs when internal operating
(3) Refer to controller maintenance manual.
pressure is not with in the set range.
Robot # 1 is released.
Error occurs if Motors-ON is
(1) Check Robot 1 release condition (system
Motors on can't be done. attempted while the robot is released.
error).
Robot # 2 is released.
Error occurs if Motors-ON is
(1) Check Robot 2 release condition (system
Motors on can't be done. attempted while the robot is released.
error).
Robot # 3 is released.
Error occurs if Motors-ON is
(1) Check Robot 3 release condition (system
Motors on can't be done. attempted while the robot is released.
error).
Robot # 4 is released.
Error occurs if Motors-ON is
(1) Check Robot 4 release condition (system
Motors on can't be done. attempted while the robot is released.
error).
Motors-on sequence fault Error occurs when a signal from
(1) Check sequence board (UM837 or
in robot # 1.
magnetic switch (MSHP) is not
UM880).
received within the specified time after (2) Check Servo Amp. Unit (Servo Drive
Motors ON signal is given.
Amp. 1 & 2) in coming power.
(3) Check MSHP.
(4) Check MSHP input signal (MSHP-ON
END)in monitor mode or the input signal
circuit.
Motors-on sequence fault Error occurs when a signal from
(1) Check sequence board (UM837 or
in robot # 2.
magnetic switch (MSHP) is not
UM880).
received within the specified time after (2) Check Servo Amp. Unit (Servo Drive
Motors ON signal is given.
Amp. 1 & 2) in coming power.
(3) Check MSHP.
(4) Check MSHP input signal (MSHP-ON
END)in monitor mode or the input signal
circuit.
Motor temperature fault
in robot # 4.
34
E0741
E0742
E0743
E0744
E0745
ERROR CODE with an underline express SYSTEM-ERROR
Motors-on sequence fault Error occurs when a signal from
(1) Check sequence board (UM837 or
in robot # 3.
magnetic switch (MSHP) is not
UM880).
received within the specified time after (2) Check Servo Amp. Unit (Servo Drive
Motors ON signal is given.
Amp. 1 & 2) in coming power.
(3) Check MSHP.
(4) Check MSHP input signal (MSHP-ON
END)in monitor mode or the input signal
circuit.
Motors-on sequence fault Error occurs when a signal from
(1) Check sequence board (UM837 or
in robot # 4.
magnetic switch (MSHP) is not
UM880).
received within the specified time after (2) Check Servo Amp. Unit (Servo Drive
Motors ON signal is given.
Amp. 1 & 2) in coming power.
(3) Check MSHP.
(4) Check MSHP input signal (MSHP-ON
END)in monitor mode or the input signal
circuit.
Tool interference
An interference area contacts each
(1) Check the designated interference area
occurred between multi
other between 2 robots which are
and move manipulator.
robots.
under multi robot control.
(2) Alter the program so interference does
not occurs.
The battery for the media This error occurs when the battery for (1) Replace the battery for the memory media
discharged.
the memory media is discharge lower
(UM802 or UM870).
than 3.0 v dc.
Note : Power ON when replacing battery.
No expand RAM found.
Attach expanded RAM.
(1) Robot option.
E0746
Force sensor signal is
abnormal.
E0747
Null error of Force
sensor is happened.
E0748
Can't move. Please
assume tool weight &
position setting.
Welder's SCR1 thermal
switch works.
E0749
Error occurs if the Force sensor
strikes something. Other wise the
Force sensor or Force sensor PCB is
faulty.
Error occurs when a faulty Force
sensor or Force sensor board is
detected.
Error occurs when the tool can not be
moved due to abnormal Tool Center of
Gravity or weight.
Error occurs when the Thermal switch
fault signal is not received by the
controller. Welding is not allowed.
E0750
Welder's SCR2 thermal
switch works.
Error occurs when the Thermal switch
fault signal is not received by the
controller. Welding is not allowed.
E0751
File size exceeded limit.
Error occurs when a file size exceeds
its limit.
35
(1) Check sensor.
(2) Replace board.
(1) Replace force sensor or Force sensor
board.
(1) Check the Tool Center of Gravity and
weight in Constant setting mode [ Tool
constant] and modify if necessary.
(1) Check the SCR1 input signal in controller
(Interface panel, I/O board, Master I/O board
and Main CPU board).
(2) Check the SCR1 Thermal switch fault
signal in the welding unit.
(3) Check communication cable and
connection to welder.
(4) Replace IWB board in controller or
welder firing board.
(1) Check the SCR1 input signal in controller
(Interface panel, I/O board, Master I/O board
and Main CPU board).
(2) Check the SCR1 Thermal switch fault
signal in the welding unit.
(3) Check communication cable and
connection to welder.
(4) Replace IWB board in controller or
welder firing board.
(1) Reduce file size.
E0752
One or more steps has
over-torque motion.
E0753
Life span is less than
20000 hours in case of
this program.
E0754
Can't copy from serial
port to serial port.
E0755
Many files are not
allowed.
The interference
occurred between slide
axis.
Weld control dose not
support Medlan
command.
Directory file exists.
E0756
E0757
E0758
ERROR CODE with an underline express SYSTEM-ERROR
Lifespan estimation monitors the
(1) Reduce speed in the step indicated or
torque while playing back a program.
allocate a smaller Accuracy number (replace
If an excessively high torque for a
Accuracy A3 with A2).
reduction gear is detected this error
occurs and the program and step
numbers are indicated.
This error occurs when an excessively (1) Reduce speed of the step indicated or
high torque on a reduction gear is
reduce motion range.
predicted to reduce its lifespan to
below 20,000 hours. The program,
step number and axis in witch high
torque is encountered is display.
This error occurs when the controller
(1) Change the destination device.
can’t copy from serial port to serial
port.
This error occurs when more than one (1) Copy only one file at a time.
file is attempted to copy at one time.
Error not used
E0759
Isolation contractor
failed to pull in.
E0760
Isolation contractor stuck
close.
E0761
E0762
E0762
E0763
E0764
Error occurs when the welding timing
software is too old.
(1) Install the latest software version.
Error occurs when the controller
detects a subdirectory in a external
memory media.
Error occurs when the isolation
contact of the welder fails to actuate
correctly.
(1) Store files in a root directory and erase
the subdirectory.
Error occurs when the isolation
contact of the welder fails to actuate
correctly.
Isolation contractor is
Error occurs when the isolation
turned ON.
contact of the welder fails to actuate
correctly.
Servo gun is no mounted. This error occurs when servo gun is
not connected when executing the spot
welding or gun search function.
Welder board is not
Error occurs if the Welding timer
installed.
PCB dose not exists in the controller
when welding is attempted.
Different gun with
This error occurs if the Servo gun
specified one is mounted. number taught in the program is
different from an actually connected
one when executing Spot welding
function or Gun search function.
Communication error
This error occurs when the SIZE of
(SIZE).
communication protocol is faulty.
E0765
Communication error
(CR).
This error occurs when the CR of
communication protocol is faulty.
E0766
Communication error
(CHECK SUM).
This error occurs when the
CHECKSUM of communication
protocol is faulty.
36
(1) Check output signal to isolation contacter
from controller.
(2) Check communication cable and
connection to welder.
(3) Refer to the Welder timing Manual.
(1) Refer to the Welder timing Manual.
(1) Check communication cable and
connection to welder.
(2) Refer to the Welder timing Manual.
(1) Attach a Spot welding Gun before using
Spot welding function.
(1) Install the Weld board.
(1) Attach the correct gun before using Spot
welding function.
Check the connection.
Check communication .
Check that no noise is present.
Check the connection.
Check communication .
Check that no noise is present.
Check the connection.
Check communication .
Check that no noise is present.
E0767
Communication error
(ATTRIBUTE).
E0768
Communication error
(COMMAND).
E0769
Communication error
(PARAMETER).
E0770
Communication error
(FILE NAME).
E0771
Communication error
(SH).
E0771
Shift value is over the
shift limit.
Selected gun number is
not available. Please use
1 or 2, 12.
Tool numbers are
unmatched.
E0772
E0772
E0773
E0774
E0775
E0776
Weld stick detection is
executing.
Learning memory is not
ready.
The shock sensor was
actuated.
Variable not supported.
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the
Check the connection.
ATTRIBUTE of communication
Check communication .
protocol is faulty.
Check that no noise is present.
This error occurs when the
Check the connection.
COMMAND of communication
Check communication .
protocol is faulty.
Check that no noise is present.
This error occurs when the
(1) Check the connection and communication
PARAMETER of communication
cable.
protocol is faulty.
(2) Check that no noise is present with data.
This error occurs when the FILE(1) Check the connection and communication
NAME of communication protocol is cable.
faulty.
(2) Check that no noise is present with data.
This error occurs when the SH of
(1) Check the connection and communication
communication protocol is faulty.
cable.
(2) Check that on noise is present with data.
This error is displayed when the shift
Check the work position.
value exceeds the shift limit.
This error is displayed when the tool
number of the original tool step is
different from that of the modified tool
step.
Not supported.
Not used.
E0776
Life span is less than
This error occurs when an excessively
5000 hours in case of this high torque is detected on an axis
program.
reduction gear and axis life span is
predicted to be below 5,000 hours.
The program, step and axis on which
high torque is detected is display with
error message.
E0777
The robot moved at
motors_on sequence.
E0778
Forward Kinematics not
available.
Please clear NC alarm
before restarting.
Playback stop for &
3000(# 3006).
Move-tip consumption
exceeded maximum
limit.
E0779
E0780
E0781
(1) Slow down the speed of a step in which
the displayed axis moves big or modify
teaching of the axis so that its motion can be
smaller.
(2) Check payload on arm.
(3) Check axis lubricants for loss,
breakdown, contamination and hardening.
(4) Check axes for normal mechanical
operation.
(5) Check for Tool Auto Load Center.
Error occurs if the robot manipulator
moves when executing the Motors-on
sequence.
Reset/clear the NC alarm and restart
from the start of the program.
(1) Press [R] and [SET] keys.
Monitor the content of #3000.
This error occurs when the robot stops
when the move-tip consumption
exceeded max. move-tip consumption
set in Servo gun parameter.
37
(1) Replace the worn Move-tip (Moved by
the servo).
E0782
E0783
E0784
E0785
E0786
E0787
E0788
E0789
E0790
E0791
E0792
E0793
E0794
E0795
E0796
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the robot stops (1) Replace the worn Settle tips.
when the settle-tip consumption
exceeded max. settle-tip consumption
set in Servo gun parameter.
Motion controller CPU
Error occurred in CPU of motion
(1) Replace the Servo board of motion
error.
controller.
controller (U834, U860 or UM883/884).
Motion controller returns This error occurs when
(1) Replace the Servo board of motion
no answer.
communication error occurred
controller (UM834, UM860 or UM883/884).
between the system and motion
controller.
Motion controller is
There exists setting by which the
Use the servo boards UM860.
denied to function.
motion controller cannot make
operation.
Motion controller is not
MOTORS ON was tried before the
Check that the internal pressure is
ready.
motion controller starts.
sufficiently risen right and then press
MOTORS ON after power ON.
Motion controller
Motion controller can not use the
(1) Exchange with UM860 board for motion
declared communication UM883 and UM884 boards.
controller.
fault.
Movement by external
This error is detected if the distance
Review the condition of Compliance control
force is too large in
between the instructed position and the function.
Compliance control.
present position exceeds the error
Review the constant of Compliance control
detection length set by the constant.
function.
Robot did not reach at
This error is detected when the error
Check an interference.
object position in
jump step No. is 0, if a robot did not
Review the condition of Compliance control
Compliance control.
reach within the positioning accuracy
function.
with M212 Compliance accuracy
function ON.
Compliance control
This error is detected if this function is (1) Use UM860 or UM883 servo board.
function is not available
performed by a control unit with
with UM834 servo
UM834-1or 2 board.
board.
Abnormal shift value is
calculated on UM851
DSP board.
Tool interference
This error occurs when more than one (1) Check the designated interference area in
occurred between multi
robot is in the level 2 interference area the program.
robots (level 2).
when using multi-robots.
(2) Alter the program so interference does
not occur otherwise change interference area.
Welder I/F
Error occurs when a Welder interface
(1) Check welder power and power supply.
communication error
(2) Check communication connector and
communication fault is detected.
(NO ANSWER): Gun 1
cable to the welder.
(3) Replace welder or controller circuit
board.
Welder I/F
Error occurs when a Welder interface
(1) Check welder power and power supply.
communication error
communication fault is detected.
(2) Check communication connector and
(NO ANSWER): Gun 2
cable to the welder.
(3) Replace welder or controller circuit
board.
Welder I/F
Error occurs when a Welder interface
(1) Check welder power and power supply.
communication error
communication fault is detected.
(2) Check communication connector and
(NO ANSWER): Gun 3
cable to the welder.
(3) Replace welder or controller circuit
board.
Welder I/F
Error occurs when a Welder interface
(1) Check welder power and power supply.
communication error
(2) Check communication connector and
communication fault is detected.
(NO ANSWER): Gun 4
cable to the welder.
(3) Replace welder or controller circuit
board.
Settle-tip consumption
exceeded maximum
limit.
38
E0797
E0798
E0799
E0800
E0801
E0802
ERROR CODE with an underline express SYSTEM-ERROR
Error occurs when a Welder interface
(1) Check communication connection and
communication is cut off.
cable to the welder.
(2) Replace welder or controller circuit
board.
Error occurs when a Welder interface
(1) Check communication connection and
communication is cut off.
cable to the welder.
(2) Replace welder or controller circuit
board.
Error occurs when a Welder interface
(1) Check communication connection and
communication is cut off.
cable to the welder.
(2) Replace welder or controller circuit
board.
This error occurs when a NC illegal
(1) Refer to the NC language instruction
code exists.
manual to correct the program.
Macro stack overflows.
(1) Split or simplify expression of macro.
Welder I/F
communication error
(Message break off):
Gun 1
Welder I/F
communication error
(Message break off):
Gun 2
Welder I/F
communication error
(Message break off):
Gun 3
NC illegal code exists.
Error occurs when a Macro variable
number is negative.
E0803
Undefined macro
variable.
Illegal macro calculation.
E0804
Zero divides.
This error occurs when a value is
divided by 0 (macro variable).
E0805
Illegal comparison.
E0806
Too many address data.
E0807
Illegal Macro address
data.
Cannot convert float into
integer.
E0808
This error occurs when the number of
address blocks exceed the maximum.
This error occurs when conversion is
attempted but the value of the real
number exceeds the range of the 32 bit
integral number.
This error occurs when conversion is
attempted but the specified value
exceeds the range of the BCD ect.
(1) Modify the invalid macro variable
number.
(1) Refer to the NC language instruction
manual to correct the program.
(1) Use the macro variable monitor to
monitor variable and find the problem.
(1) Refer to the NC language instruction
manual to correct the program.
(1) Use fewer 1 block type address.
(1) Refer to the NC language instruction
manual to correct the program.
(1) Debug using the macro variable monitor.
E0809
Conversion overflows.
E0810
0 number not exists.
(1) modify 0 code number.
E0811
Cannot do macro
statement now.
Illegal address command
exists.
Illegal G code number
exists.
Unused
E0812
E0813
E0814
Illegal M code number
exists.
E0815
G53 is not available in
incremental command.
E0816
Invalid center point
command exists.
E0817
Radius value equals zero.
E0818
No feed rate specified.
This error occurs when an illegal
address command exists.
This error occurs when an illegal G
code number is contained in a
program.
This error occurs when an illegal M
code number is contained in a
program.
This error occurs when G53 is
attempted in Incremental mode. G53 is
only usable in Absolute mode.
This error occurs if K command is
attempted for the XY plane when I and
J are correct.
(1) Debug using the macro variable monitor.
(1) Modify the illegal address command.
(1) Modify the illegal G code in the program.
(1) Modify the illegal G code in the program.
(1) Use G90 in Incremental mode.
(1) Modify address command.
(1) Modify the value expressed by R (radius).
This error occurs if F command value
(feed rate) has not been specified and
the value is 0.
39
(1) Designate the correct F value.
E0819
Illegal model type exists.
E0820
Dwell is not available.
E0821
M98 nesting level over.
E0822
G65 nesting level over.
E0823
M98 loop count invalid.
E0824
G65 loop count invalid.
E0825
Sub-program return
pointer (M99)not exists.
I specified G65argument 2 is over.
E0826
E0827
J specified G65argument 2 is over.
E0828
K specified G65argument 2 is over.
E0829
No movement block
exists in tool radius
compensation.
Impossible tool radius
compensation because
circle interpolation
radius.
Impossible tool radius
compensation because
tool radius is large.
Cannot move to start
point of tool radius
compensation by circle
interpolation.
Cannot move to end
point of tool radius
compensation by circle
interpolation.
Impossible tool radius
compensation because of
reversing movement.
Not supported yet.
E0830
E0831
E0832
E0833
E0834
E0835
E0836
E0837
Jump pointer of go tostatement not exists.
Syntax error.
ERROR CODE with an underline express SYSTEM-ERROR
(1) Refer to the NC language Instruction
manual to correct the program.
Unused error code.
Error occur when a subprogram is
called from within a subprogram more
than 8 times.
This error occurs when a macro
subprogram is called from within a
macro subprogram more than 4 times.
This error occurs when a value other
than 19999 is specified as the loop
count in M98 function.
This error occurs when a value other
than 19999 is specified as the loop
count in G65 function.
This error occurs when an M99 NC
code appears in the main program.
This error occurs when argument 2 in
G65 exceeds the maximum number of
permissible I, J or K addresses (10).
This error occurs when argument 2 in
G65 function exceeds the maximum
number of permissible I, J or K
addresses (10).
This error occurs when argument 2 in
G65 function exceeds the maximum
number of permissible I, J or K
addresses (10).
This error occurs when M30 is
attempted before radius compensation
has been done/complete.
This error occurs when the Circular
interpolation radius in the program is
to small.
This error occurs when the Circular
interpolation radius in the program is
to larger.
This error occurs when the start point
of Tool radius compensation can not
be moved to using Circular
interpolation.
This error occurs when the end point
of Tool radius compensation can not
be moved to using Circular
interpolation.
This error occurs when the reverse
orientation is not possible for Tool
radius compensation.
This error occurs when the controller
is not supported by the NC.
This error occurs when the Jump mark
is missing in the program.
This error occurs when the program
has illegal program command.
40
(1) Reduce the number of subprogram to 8 or
less.
(1) Reduce the number of macro subprogram
within macro subprogram to 4 or less.
(1) Designate the correct loop count for M98.
(1) Designate the correct loop count for G65.
(1) Delete the M99 NC code.
(1) Reduce the number of I, J or K addresses.
(1) Reduce the number of I, J or K addresses.
(1) Reduce the number of I, J or K addresses.
(1) Modify the program so that radius
compensation has been done before using
M30.
(1) Modify the program and make the radius
larger.
(1) Modify the program and make the radius
smaller.
(1) Insert G00 and G01.
(1) Insert G00 and G01.
(1) Verify the program is correct otherwise
use a thin tool.
(1) Controller must be up dated call Nachi.
(1) Add a Jump mark to a desired point in the
program.
(1) Check for and correct illegal syntax in the
program.
E0838
E0839
E0840
E0841
E0842
E0843
E0844
E0845
E0846
E0847
E0848
E0849
E0850
E0851
E0852
E0853
E0854
E0855
E0856
E0857
E0858
E0859
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the radius of
(1) Increase the radius of the arc.
the arc is smaller than the distant from
start to end point.
Radius difference is too
This error occurs when the radius of
(1) Decrease the radius of the arc.
big.
the arc is larger than the distance from
start to end points.
NC program is not
This error occurs when attempting to
(1) Select the desired NC program and
selected.
run an NC program without first
restart.
selecting one.
Required address
This error occurs when a required
(1) Designate the correct address in the Gcommand not exist.
address command is missing in a G code command etc.
code etc.
Tool Comp. is on. This
This error occurs when attempting to
(1) Modify the program to avoid the illegal
command cannot be
execute a command not permissible
command.
done.
during Tool compensation ON.
Cannot set data.
This error occurs when the maximum
(1) Modify the G10 function (etc.) In the
limit of G10 (etc.) Entry is exceeded.
program.
Cannot write this macro
This error occurs when attempting to
(1) Modify the program.
system variable.
write a macro system variable which
can not be written.
Positive limit is less than This error occurs when the positive
(1) Modify the address entries of G22.
negative limit.
limit is less than the negative limit in a
G22 function.
Positive limit is less the
This error occurs when the positive
(1) Modify the address entries of G22.
current position.
limit in a G22 function is less than the
current position.
Negative limit is greater
This error occurs when the negative
(1) Modify the address entries of G22.
than current position.
limit in a G22 function is greater than
the current position.
Axis value is over range
This error occurs when the stroke limit
than positive limit.
stored
Axis value is under range This error occurs when
than negative limit.
Illegal address data
This error occurs when an address
(1) Modify incorrect address entry.
exists.
enter in a program is illegal.
Positive limit is more
This error occurs when the positive
(1) Designate the correct positive limit or
than positive parameter.
limit in a G22 function is greater than
positive parameter.
the positive parameter.
Negative limit is less
This error occurs when the negative
(1) Designate the correct negative limit or
than negative parameter. limit in a G22 function is less than the negative parameter.
negative parameter.
Parameter of 1B signal is Error occurs when the range
(1) Use signals up to 99H.
out of the range.
determined by the BCD (99H) is
exceeded.
Pay load on arm is out of Pay load on No. 1 arm exceeds the
(1) Put the load within the rating.
the range.
weight rating.
Step sync. Of spot
This error occurs when weld function
(1) Teach method = Type 1, set to - 0 or 1.
welding function invalid. is not programed correctly.
(2) Teach method = Type 2, set to - 2 or 3.
Servo gun is already
(1)
mounted.
Arc retry can not be
(1)
executed in this step.
Call or Jump function
This error occurs when a Jump or Call (1) Modify program.
was executed during
function is attempted during an Arc
ARC retry.
reweld.
Arc retry can not be
This error occurs when an Arc reweld (1) Modify program.
executed during
is attempted during a Jump / Call
jump/call function.
function.
Radius value is too
small.
41
E0860
E0861
E0862
Feed forward needs the
gear retro.
Feed forward needs
torque constant.
Particle is not suitable.
E0863
Now T/P mode selection
enabled.
E0864
Too many programs (up
to 256).
Same program exists.
E0865
E0866
E0867
E0868
E0869
E0870
E0871
E0872
E0873
E0874
E0875
Welding current exceeds
fault range
(ARCMASTER).
Welding current is
instability
(ARCMASTER).
Welding voltage exceeds
fault range
(ARCMASTER).
Welding voltage is
instability
(ARCMASTER).
Welding short exceeds
fault range
(ARCMASTER).
Welding short is
instability.
No ARC restart
(ARCMASTER).
ARC is unsettled
(ARCMASTER).
Encoder preload setting
error.
Spot schedule file is not
found.
E0876
The welding schedule
data is not found.
E0877
The manufacturing No.
is not set.
The data is not write.
E0878
E0879
E0880
E0881
E0882
M30 or M99 is not
found.
The operation is not
available (gun axis
enable).
Composite power unit
(SR1) error
Motor current of all axes
are near zero
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the Gear ratio
(1) Input the correct value for Gear ratio.
enter is not filled.
This error occurs when the Torque
(1) Input the correct value for Torque
constant entry is not filled.
constant.
Unused
This error occurs when attempting to
change modes while controller is set
up for T/P (Teach Pendent)mode
select.
(1) Use the teach pendant to change modes.
(2) Change the mode select back to the
operation panel. Constant setting mode group
2 item 100, <operation panel, T/P>.
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
This error occurs when the encoder
preload is not executed.
This error occurs if a welding
schedule file can not be found when a
Spot welding function is attempted.
This error occurs a data entry in the
Weld schedule file has not been
inputted
This error occurs if there is no spot
weld file.
(1) Turn power ON again.
This error occurs when NC
programming is incorrect.
This error occurs when an illegal
operation is attempted when the Gun
axis is enabled.
This error occurs when output voltage
of current detector is abnormal
This error occurs when motor current
of all axes are near zero
(1) Correct NC programming.
42
(1) Create or use the correct weld schedule
file.
(1) Create or use the correct weld schedule
file.
(1) Load spot weld file or program the spot
weld file.
(1) Disable the Gun axis before executing
command.
Check Composite power unit (SR1) and it’s
wiring.
Replace Servo board when the encoder data
does not change if you release the motor
brake
E0883
Robot moved during
power-save release.
E0885
Selected axis is not
available for endless
function.
Now endless function
executing.
Over rotation for endless
function.
PWM function
executing.
Welder I/F
communication error
(Message break off):
Gun 4.
Welder I/F
communication error
(message data wrong):
Gun 1.
Welder I/F
communication error
(message data wrong):
Gun 2
Welder I/F
communication error
(message data wrong):
Gun 3.
Welder I/F
communication error
(message data wrong):
Gun 4.
Motion controller not
supporting function.
E0886
E0887
E0888
E0889
E0890
E0891
E0892
E0893
E0894
ERROR CODE with an underline express SYSTEM-ERROR
This error occurs when the encoder
Check brakes for slippage
value changes over bit width of error
check in the energy saving mode.
(1)
E0895
Conveyor is not working.
E0896
Hardware version of
Amp. card is not correct.
Playback is inhibited.
Check playback-key.
Too little conveyor pulse
counted.
Calibration error.
E0897
E0897
E0898
E0899
E0900
Robot is not within home
position.
Weld-line is not (No
step).
E0901
Weld-line is not (Single
step).
E0902
Weld-line is not (End
step).
(1)
(1)
(1)
Error occurs when a welder interface
communication is cut OFF.
Error occurs when a welder interface
communication reply is abnormal.
Error occurs when a welder interface
communication reply is abnormal.
Error occurs when a welder interface
communication reply is abnormal.
Error occurs when a welder interface
communication reply is abnormal.
This error occurs when a function not
used by the Motion controller is
attempted.
The conveyor running signal is not
given to controller.
(1) Check communication cable and
connectors to the welder.
(2) Replace welder or controller circuit
board.
(1) Check communication cable and
connectors to the welder.
(2) Replace welder or controller circuit
board.
(1) Check communication cable and
connectors to the welder.
(2) Replace welder or controller circuit
board.
(1) Check communication cable and
connectors to the welder.
(2) Replace welder or controller circuit
board.
(1) Check communication cable and
connectors to the welder.
(2) Replace welder or controller circuit
board.
(1) Check program and program a function
recognized by the Motion controller..
(1) Check the connection and wires to
conveyer.
(1)
(1)
(1)
Error occurs during calibration if it is
not completed.
(1) Motors must be turned OFF.
(2) ?
(1)
This error occurs when the Weld locus
operation is impossible, when on
program, or less than two steps, or
same point, or END step.
This error occurs when the Weld locus
operation is impossible. The Weld-line
(locus) is parallel with the tool
attitude.
(1) Designate a useable step number.
(1) Change the tool attitude.
(1)
43
E0903
E0904
E0905
E0906
E0907
E0907
E0908
E0909
E0910
Weld-line is not (Same
points).
Can't select while modelock.
The combination of tool
and gun number is
wrong.
ERROR CODE with an underline express SYSTEM-ERROR
(1)
Order of designated data
must be increasing.
The specified pressure
causes over-load error.
Bad spot schedule file.
Invalid gun number in
function.
Invalid pose is recorded
for the auto tool load
center setting.
Invalid tool number.
E0912
Can’t operate while
Teach-lock OFF
E1000
Modifying the step is not
allowed.
E1014
Brake was slipped during
stud welding.
E8001
Motors-off sequence
fault.
E8002
Input sequence fault.
E8003
Interval check sequence
fault.
E8004
Brake sequence fault.
E8005
Memory pool
insufficiency.
Check gun and tool number.
(1) Press the TEACH mode key on the
pendant to change Teach mode lock state.
Gun 1 = Tool 0
Gun 2 = Tool 1
Gun 3 = Tool 2
Gun 4 = Tool 3
(1) The designated data must be in as sending
order.
(1) Reduce the value of pressure.
This error occurs when the welding
function is missing or not program
correct.
(1) Check the program for the welding
function. Correct the welding function or
reprogram the weld function in the step.
Not used error.
V or B or R1 axis is in the posture of
gravity direction.
(1) Teach points that enough unbalanced
torque is exerted on V, B and R1 axis.
Not used error.
This error occurs when robot motion is
attempted in Teach and the [Teach
mode] key LED is OFF or robot
motion is attempted in Playback mode
with Teach mode LED is ON.
This error occurs when modification
of the step written by the robot
language is attempted.
To withstand stud welding pressure,
all axes are locked by the brakes
before pressurization and the brakes
are released after pressurization. This
error is given when tool and difference
before and after pressurization exceeds
the slip error detecting range.
This error occurs when operation of
Motors OFF could not finish even if it
was passing designated time.
This error occurs when operation of
input signals could not finish even if it
was passing designated time.
This error occurs when operation of
interval check could not finish even if
was passing designated time.
This error occurs when the controller
has a poor signal condition or
communication with cable, CNEC 1
and CNEC 2 or input signal table of
Emergency stop, Over travel limit
switch, Arm interference limit switch
or Motor thermostats and / or poor
signal communication with cable
CNSG1 and CNSG2.
Error occurs when there is a shortage
of common memory space in the
internal memory board.
44
(1) Change the state of the [Teach mode]
LED (ON/OFF).
(1) Step data of execution type can be
modified.
(1) Check brakes for slippage.
(2) Replace motor.
(1) Turn power ON again and try again
(1) Turn power ON again and try again
(1) Turn power ON again and try again
(1) Check Servo Amp. Unit for power B4
and C4 (100 v ac) to Unit.
(2) Check or replace Servo Amp. Unit.
(3) Check Sequence board ( UM880 or
UM191 PCB ).
(4) Check I/O board (UM803/080 or UM8871 & 2).
(5) Check connection and wires on connector
CNEC 1 & 2 and CNSG 1 & 2.
(1) Please abort the operation of some
function.
E8006
CMOS ID error.
E8007
System error (memory
full).
ERROR CODE with an underline express SYSTEM-ERROR
Unused error code.
Error occurs when there is a shortage
in common memory space.
45
(1) Delete data in memory that is not used.
(2) Add memory or use IC card or floppy
dick drive for data.
ERROR CODE with an underline express SYSTEM-ERROR
JAPAN MAIN OFFICE Phone:+81-3-5403-0491
NACHI ROBOTIC SYSTEMS INC.
Support Group
Fax:+81-3-5403-0488
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Fax:(314)391-0904
234 Old Merramec Station Road, Suite B, Manchester, Missouri 63021 U.S.A.
th
Copy by NACHI-FUJIKOSHI CORP.
Robot division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone
+81-764-23-5137
Fax
+81-764-93-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document.
No part of this manual may be photocopied or reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP.
Contents of this document may be modified without notice.
Any missing page or erratic pagination in this document will be replaced.
46