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FD CONTROLLER
INSTRUCTION MANUAL
7th edition
Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
When using this robot, observe the low related with industrial robot and with
safety issues in each country.
This operating manual must be given without fail to the individual who will be actually
operating the robot.
Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
Table of Contents
Table of Contents
Chapter 1 User Management
1.1 User management ..................................................................................................................... 1-1
1.1.1 Enabling user management .............................................................................................. 1-2
1.1.2 Automatic log-out setting ................................................................................................... 1-3
1.1.3 Registering the users allowed to perform the editing operations ...................................... 1-3
1.1.4 Setting the user operation limitations ................................................................................ 1-5
1.1.5 Copying user registration information ............................................................................... 1-6
1.1.6 User information editing .................................................................................................... 1-8
1.2 Using the user management function........................................................................................ 1-9
1.2.1 Log-in operation................................................................................................................. 1-9
1.2.2 Log-out operation ............................................................................................................ 1-10
1.2.3 User information at log-in ................................................................................................ 1-11
Chapter 4 Troubleshooting
4.1 When failure has occurred......................................................................................................... 4-1
4.2 Concerning the failure details .................................................................................................... 4-2
4.2.1 Failure category................................................................................................................. 4-2
4.2.2 Concerning criticality codes and failure codes .................................................................. 4-3
4.3 Concerning System Failure..................................................................................................... 4-4
4.3.1 Outline of System Failure................................................................................................ 4-4
4.3.2 How to recover and response to the failures..................................................................... 4-4
4.4 Recovery after failing of power down detection......................................................................... 4-5
4.4.1 Recovery after failing of power down detection ................................................................ 4-5
4.4.2 Setting of start operation permission................................................................................. 4-5
4.5 Troubleshooting ......................................................................................................................... 4-7
4.5.1 Assumed cause of each error code................................................................................... 4-7
4.5.2 Assumed cause of each phenomenon ............................................................................ 4-11
4.6 Displaying the failure log ......................................................................................................... 4-14
1
Table of Contents
IMPORTANT
the constants of the robot system and to edit the task programs or condition files.
There are no restrictions on other operations without editing, such as check
operation, playback operation and monitor startup.
The qualification of operator can be switched to SPECIALIST, even when this
function is enabled. It is therefore recommended to change the default
SPECIALIST password.
For details on the steps taken to change the password, see
Section 4.7.3
How to change the passwords in the SETUP MANUAL.
When the user management function is set to enabled, the following operations are
restricted for BEGINNER operators.
Task program copying operations
Copying operations using Service- [7 File Manager]
Step speed change operations
Step accuracy change operations
Step pass-through/positioning change operations
1-1
1-2
Press <Constant Setting> - [1 Control Constants] - [17 User Management] [1 User Management function].
The screen on which to set user management is displayed.
Bring the cursor to User management function, and press [ENABLE] +[right] to
select the Enabled setting.
POINT
The automatic log-out function is executed only in the teach mode. Log-out is not
implemented automatically in the playback mode.
Press <Constant Setting> - [1 Control Constants] - [17 User Management] [1 User Management Function].
When the user management function is set to enabled, the setting items for the
automatic log-out function are displayed as shown below.
Bring the cursor to Automatic log out function, and press [ENABLE] +[right] to
select the Enabled setting.
Bring the cursor to Automatic log out time, and set the non-operation time.
Press <Constant Setting> - [1 Control Constants] - [17 User Management] [2 User Registration].
The screen on which to register the users is displayed.
1-3
Input range
Description
3-digit number
Password
A number
consisting of 0
to 8 digits
1 to 14
characters
BEGINNER
USER
EXPERT
SPECIALIST
Comment
Max. 20
characters
Change program
Change arc condition setting
ON/OFF
Change arc constant setting
Change sensor condition setting
Change sensor constant setting
Conversion program
File manager
Input is required for all the items indicated by an asterisk (*).
For details on the operation limitations, refer to
Operation Limitations in chapter 2.
Limited operation
Check box
This key is used to switch the user listing method between ascending
order and descending order.
This key is used to delete the information of the selected user.
1-4
Limitations are imposed on the selection operations for the <Constant Setting>
- [14 Arc Welding Application] menu.
Change sensor
condition setting
Limitations are imposed on the selection operations for the <Service> [29 Sensor Application] menu.
Change sensor
condition setting
Limitations are imposed on the selection operations for the <Constant Setting>
- [19 Sensor Application] menu.
Limitations are imposed on the selection operations for the <Service> [9 Program Conversion] menu.
Limitations are imposed on the selection operations for the <Service> [7 File Manager] menu.
Change program
Program conversion
File manager
Shown below is an example of a menu which appears when limitations have been imposed
on operation.
The menus which cannot be selected are shown in gray.
Fig. 1.1.1 Example of menu display when operations have been limited
Press <Constant Setting> - [1 Control Constants] - [17 User Management] [2 User Registration].
The screen on which to register the users is displayed.
For details of the limitations imposed on each item, refer to Table 1.1.1.
Using [up/down], bring the cursor to the Limited operation check boxes which
correspond to the items to be set.
For the settings on items other than the operation limitations, refer to Chapter 1 User
Management.
1-5
1-6
Press <Constant Setting> - [1 Control Constants] - [17 User Management] [2 User Registration].
User registration screen appears.
Press f10 <File Write> on the user registration screen in section 1.2.3.
The folder and file in which the information is to be written are displayed.
Specify the folder in which the information is to be written, and press f12
<Execute>.
This complete the writing process.
Press <Constant Setting> - [1 Control Constants] - [17 User Management] [2 User Registration].
User registration screen appears.
Press f11 <File Read> on the user registration screen in section 1.2.3.
The folder and file from which the information is to be read are displayed.
Specify the file from which the information is to be read, and press f12
<Execute>.
If there are no problems in the file which is read, the file is read, the user
information is then updated, and the previous screen is restored.
If you try to read in the same user ID as the registered one, a message confirming
whether or not to overwrite the existing data appears as shown below. Select Yes
only for the ID to be updated.
1-7
1-8
Press <Constant Setting> - [1 Control Constants] - [17 User Management] [3 Edit a registered user].
The registered user list screen is displayed.
f key
for log-in
INFO.
When there is already any logged-in user, the user will be automatically
logged out.
Logging in
1
USER NAME
Enter the user ID, and the registered user name will be displayed in the user name
field.
2
IMPORTANT
If a user has forgotten the password, the password must be changed. For details on how
to change the password, refer to
User information editing in section 1.1.6 on
page 1-8.
1-9
If the user ID is not recognized in step 1 above, move the cursor to the [USER
NAME] button, and press [Enter].
The screen which lists the registered users is displayed.
INFO.
Logging out
POINT
1-10
When log-out is initiated, the protection level returns to BEGINNER, thus limiting the
subsequent editing operations. To proceed with editing again, the user needs to log in
again.
This section describes the steps for checking the user information at log-in and the steps for
changing the user information of a logged-in user.
While the user is logged in, execute the System Environment short-cut (R286).
The information of the currently logged-in user is now displayed.
286
User ID
Log-in time
User name
Comment
Operator class
2
Press [Reset].
The previous screen is restored.
While the user is logged in, execute the short-cut (R505) Edit own user
information.
The user information now appears in gray.
505
1-11
Password
1-12
Move the cursor to the item to be edited, and after editing, press f12
<Complete>.
The edited data is stored, and the previous screen is restored.
IMPORTANT
If edit logging data is to be returned to previous values, this must be done manually.
The edit logging function logs changes made by the editing operation of user.
Automatically changed data, e.g. deviation when using a sensor, is not to be logged in
the history..
Set the maximum numbers which can be acquired for the task program edit log and the edit log for the arc
welding conditions. The edit logging function can be disabled by setting the edit logging numbers to zero.
To set the function, the operator must have the qualifications level of EXPERT or above.
The edit logging function is normally disabled. The function can be set to Enabled by operating as follows.
Numerical
value
IMPORTANT
If the entered maximum number of the edit operations to be logged is smaller than the
actual number of the edit operations already logged, older log data beyond the confines of
the maximum number will be deleted.
3
2-1
Operation date/time
Task program,
Step number
Editing type
Editing type: Displayed in this column are the general descriptions which enable the
editing operations to be identified.(See Table 2.2.1.)
2-2
Program screen
editor
File manager
Program converter
Welding condition
editor
Welding constants
Welding constants
(welding condition
databases)
Display message
Description of operation
Recorded step
Inserted step
Overwritten step
Modified position of
step
Deleted step
Modified step
Undo
Redo
Screen
Editor(Insert)
Screen Editor
(Modify)
Screen Editor
(Delete)
Copy file
Delete file
Rename file
Condition/Speed
Copy step
Angle
XYZ shift
Tool
Mirror image
3D shift
Language
Point Shift
Expansion/reduction
External axis shift
Format Conversion
Unit Conversion
Pitch Copy & Shift
Multi Welding
Create welding file
Delete welding file
Edit welding file
Online modification
of welding condition
Edit welding
constant data
Create file
Copy file
Delete file
Inserted record
Deleted record
Modified record
2-3
Using [up/down], bring the cursor to the log whose detailed information is to be
displayed, and press [Enter].
The detailed information is displayed in the bottom half of the screen.
Filename
Step no.
[User information]
The user information is displayed only when the user management function
has been enabled.
2-4
Press <Service Utilities> - [Monitor 1-4] - [62 Arc welding editor logging].
The arc welding editor logging monitor is displayed.
Editing type
Refer to Table 2.2.1
Operation date/time
Data type
Editing location
Condition filenames in the case of condition files
Task program names and step numbers in the
case of direct values
Menu names in the case of constant settings
Table 2.2.2 List of data types
Data type
Description
PRG
Program
AS/AE
WS
Weaving condition
RT
MOV
MOF
Multi-offset condition
RRS
Robot RS condition
ASM/AEM
ASMV/AEMV
RS
RS condition
CON
Welding constants
2-5
Using [up/down], bring the cursor to the log whose detailed information is to be
displayed, and press [Enter].
The detailed information is displayed in the bottom half of the screen.
Detailed listing
description
Title of edited data
Pre-change value
Post-change value
2-6
6
1
POINT
2
User ID sequence
2-7
2-8
Welding conditions
Welding constants
Press [RESET/R].
The title bar and soft keys are restored to the original statuses.
This section describes the user check function for notifying operators of the robot
inspection timing, parts replacement timing and other inspection-related
information.
3.1 User Check .................................................................................................3-1
3.2 Setting the user check ................................................................................3-2
3.2.1 Setting up the check item......................................................................3-2
3.2.2 Allocating input/output signals...............................................................3-6
3.2.3 When reaching the inspection timing ....................................................3-6
3.2.4 When check and part replacement are completed ................................3-7
INFO.
To output the user maintenance signal, the signal-allocation setting is required. As for
the set signal in this function, refer to 3.2.2 Allocating input/output signals.
Checking for the check item is performed in 5 min-periods. For this reason, the notice
of the inspection requirement cannot be given at the time of reaching the inspection
timing. (refer to e.g.1)
The check time is updated at the timing of checking the check item. For this reason,
when the robot controller is powered off, the time during off-state of the controller
cannot be counted as the check time.
Powered OFF
(refer to e.g.2)
Inspection period (5 min.)
IMPORTANT
Checking items
E.g.1)
Even if the arc time reaches the
inspection timing at this point, the
notice cannot be given.
The notice of the inspection can be
given at the timing of Checking items.
Checking items
E.g.2)
Even if the arc welding is performed
during this time, the arc time cannot be
counted.
The time to be checked such as the arc
time is updated at the timing of
Checking items.
3-1
Kind of check
Calendar
Energizing
Servo ON
Operation
Table 3.2.2
Kind of check available when the target of the check is Arc welding power supply
Kind of check
Calendar
Arc ON
Welding counts
Consumption of wire
INFO.
3-2
Contents
The target number of months from the current date can be set.
For example, in the case of giving notice of the inspection timing in a year
from today.
The accumulated time of the activated this controller can be set. The
value shall be set by the hour.
The accumulated time from the servo power-on to the servo power-off
can be set.
The value shall be set by the hour.
The accumulated value of time taken for the automatic operation can be
set.
The value shall be set by the hour.
Contents
The target number of months from the current date can be set.
For example, in the case of giving notice of the inspection timing in a year
from today.
The total hours of the accumulated welding time taken for the automatic
operation and the welding time during the check welding can be set. The
value shall be set by the minute.
The accumulated number of welding can be set in units of from the arc
start to the arc end.
The accumulated consumption of wire used in the welding can be set.
The value shall be set in units of Kg.
Note; this function can be set when the D-series welding power supply
without DA is selected.
If the setting value to be checked is set to 0, the notice of the inspection cannot be given.
Select Mechanism in the Check object field. Then, select the mechanism to be
checked in [Unit / Mechanism].
The selected mechanism No. is displayed on the f7 key.
3-3
Details
The selected mechanism No. is displayed.
The check item No. is displayed.
The check content is set as comment.
The set-up contents at this point are used for the message to
prompt the operator to check.
For example, in the case where the check content is set to
annual inspection, as shown below, the message is set in the
beginning of the check message and displayed on the teach
pendant, when reaching the inspection timing.
(Check message)
annual inspectionExchange the axis. After that 0 clearing
of Consumtion time until present
Check day
Last Modified
Kind at time
Set time (Remainder)
Calendar
3-4
Press f9 <Prev No> or f10 <Next No>, when changing to the different check item
No., and change the check item No.
Details
A selected arc welding power supply is displayed.
Select the kind of time to be checked.
For details, refer to Table 3.2.2.
Press f9 <Prev No> or f10 <Next No>, when changing to the different check item
No.
3-5
Input signal
Application
Function.
Mechanism
Table 3.2.6
Input signal name
Output signal
Application
Function.
User maintenance 1 to 8
M1 to M9
Mechanism
User maintenance 1 to 8
W1 to W4
3-6
Select the check item to perform the complete procedure from the check items of 1
to 8, and press [Enter].
The setting screen of the user check items is displayed.
3-7
NOTE
3-8
Chapter 4 Troubleshooting
This chapter describes the symptom and its measures on the failure code of
robot controller.
4.1 When failure has occurred.........................................................................4-1
4.2 Concerning the failure details ....................................................................4-2
4.2.1 Failure category ....................................................................................4-2
4.2.2 Concerning criticality codes and failure codes ......................................4-3
4.3 Concerning System Failure.....................................................................4-4
4.3.1 Outline of System Failure ...................................................................4-4
4.3.2 How to recover and response to the failures.........................................4-4
4.4 Recovery after failing of power down detection .........................................4-5
4.4.1 Recovery after failing of power down detection.....................................4-5
4.4.2 Setting of start operation permission.....................................................4-5
4.5 Troubleshooting.........................................................................................4-7
4.5.1 Assumed cause of each error code.......................................................4-7
4.5.2 Assumed cause of each phenomenon ................................................ 4-11
4.6 Displaying the failure log .........................................................................4-14
4.6.1 Function of the failure log monitor.......................................................4-15
4.6.2 Settings regarding the failure log ........................................................4-16
4.6.3 Failure filtering function .......................................................................4-20
4.6.4 Displaying the system failure log.........................................................4-23
4.6.5 Frequency of the failure occurrence....................................................4-24
4.7 Failure list ................................................................................................4-27
<FLYLEAF>
These white letters will not be printed. Do not delete these letters.
(1)
(5)
(2)
(6)
(3)
(7)
(4)
(1)
Failure category
(2)
(3)
The details of the failure and the remedial action to be taken appear
here.
Use the remedial action displayed here as a reference, and
eliminate the cause of the failure.
(4)
Release method
(5)
(6)
Date/time of occurrence
(7)
F11<Trouble Shooting>
(8)
4-1
Failure category
Failure category
4-2
Main failure
Control sequence
failure
Failure detected by monitoring of control systems such as magnet switches and circuit
protectors, etc.
Servo failure
Encoder failure
PLC failure
User failure
Operation failure
FieldBus failure
Shift failure
Sealing failure
FLEXhand failure
Preventive
maintenance message
Request maintenance
(A)
(B)
(A) Criticality codes
The failure detected by the robot is classified into three types by their level of criticality.
Table 4.2.2
Type of failure
Criticality codes
Details
E (errors)
Failure caused by parts failure or internal data failure which prohibits continued operation
until the cause of the failure is eliminated, and failure which may potentially injure the
operator or damage the robot system if operation is continued are classified as E
(errors).
If E (error) occurs during the auto operation, the robot system servo is turned off.
A (alarms)
Failure which may lead to an error at a future point in time, failure which must be
remedied now or failure requiring simple operations, checks and/or remedial action
before robot operation or movements are continued even though it may not potentially
injure the operator or damage the robot system are classified as A (alarms).
If A (alarm) occurs during the auto operation, the robot system servo remains on,
stopping temporarily.
I (Information)
Failure requiring that the operator and ambient devices be informed of the occurrence of
irregularities even though they will not interfere with continued robot operations or
movements is classified as I (information). Information may sometimes be conveyed not
when a failure has occurred but when the robot is operating normally.
If I (information) occurs during the auto operation, robot system displays the message on
the teach pendant, operating continuously.
4-3
Shut off the robot controller, and turn on the power again.
How to response to the failures
Please make a contact to our service engineers with the details of errors such as;
Operation you have done, Operating situation, and Error Code, Flag,
Address, Stack indicated on Teach pendant.
4-4
4-5
Align cursor on [37 Start permission after A004] and select one by [Enable] +
[Left/Right] key.
Candidates
No need
4-6
Explanation
When power down detection is failed,
Step number must be selected (step set operation)
before initiating playback operation for safety.
If playback operation is tried without selecting step,
error E2518Step number not designated is detected
and playback operation is denied.
When power down detection is failed,
playback operation is permitted without selecting step.
4.5 Troubleshooting
4.5 Troubleshooting
Perform inspection and part replacement safely, observing the following instructions.
22
24
25
26
Interference detected
27
28
29
30
31
32
Over current
38
Over load
39
Over rotation
40
42
43
Over speed
44
46
50
Jig controller
Teach pendant
21
Reduction gear
12
No TP indication
None
Riser board
Regenerative resistor
Sequence board
CPU board
I/O board
Power unit
Error code
Big possibility, Big possibility or external noise, Moderate possibility, Small possibility
4-7
4.5 Troubleshooting
57
62
55
Jig controller
Positional deviation
54
Teach pendant
Reduction gear
52
Encoder data
transmission failure
51
Regenerative resistor
I/O board
Riser board
Sequence board
CPU board
Power unit
Error code
64
65
66
72
74
78
79
80
81
106
116
TP connect failure
119
177
379
659
777
783
Motion stop.
787
902
903
Servo communication
stop
Sequence board connect
failure.
904
Big possibility, Big possibility or external noise, Moderate possibility, Small possibility
4-8
4.5 Troubleshooting
Jig controller
967
975
976
Confirm magnet-ON
(Fixed input IN28) is OFF.
1001
1016
1051
Manipulator battery
warning
The magnetic switch
contacts were welded
and stick each other.
T/P SELECTOR
SWITCH
1052
SFP
G-STOP
(G_EMG)
TEACH /
PLAYBACK SEL
MAT SW
HI-SPEED
TEACH
EMERGENCY
STOP
1063
T/P EMERGENCY
STOP
1064
CRON
973
1048
1053
1054
1059
1060
1061
1062
905
2006
2101
2103
2104
External Motors-OFF is
inputted.
2111
2106
2002
Teach pendant
Reduction gear
Regenerative resistor
I/O board
Riser board
Sequence board
CPU board
Power unit
Error code
Big possibility, Big possibility or external noise, Moderate possibility, Small possibility
4-9
4.5 Troubleshooting
2402
2973
2974
Pause or External
pause signal being
given.
4002
4003
4016
4920
9208
Servo communication
initialization failure
9209
9213
9216
9220
4099
2401
Jig controller
2400
2112
Teach pendant
Reduction gear
Regenerative resistor
I/O board
Riser board
Sequence board
CPU board
Power unit
Error code
9229
9240
9241
9242
Big possibility, Big possibility or external noise, Moderate possibility, Small possibility
4-10
4.5 Troubleshooting
None
None
None
None
None
None
None
None
error
is
TPE0002 communication
displayed on teach pendant
None
None
CNFAN
None
CNFAN
E0065
E0065
E0065
CNEC1
CN78E
E0046
CNR
E9208
E9208
E9208
E9208
10
E9242
11
E0177
CNCOM
CNVP
CNP24V
CNLAN3
Primary power
V
CNPW
TPE0002
Cooling fan
Over travel LS
Cooling fan
Multi power supply unit
IPM drive unit
IPM drive unit
Manipulator
IPM drive unit
IPM drive unit
IPM drive unit
Multi power supply unit
CPU board
Circuit breaker
Customers plant
Multi power supply unit
4-11
4.5 Troubleshooting
None
1
None
None
None
None
None
None
None
3
TPE0002 communication
displayed on teach pendant
None
CNFAN
None
CNFAN
E0065
E0065
E0065
CNEC1
CN78E
Over travel LS
E0046
CNR
CNLAN3
CNCOM
CNRST
CNVP
CNP24V
CNPW
CNMS
error
is
TPE0002
Cooling fan
IPM drive unit
Multi power supply unit
Cooling fan
10
E0903
E0903
E0903
E0903
E0903
E0903
E1048
11
E9220
CNSV
12
13
14
15
16
17
A4920
A4920
E0177
A0004
E0066
E0783
E0028
CNMCH
CNEC1
CNPW
CNPW
CNRST
CNPW
CNRST
CPU board
IPM drive unit
IPM drive unit
IPM drive unit
Multi power supply unit
Multi power supply unit
IPM drive unit
IPM drive unit
Sequence board
IPM drive unit
IPM drive unit
Multi power supply unit
Multi power supply unit
IPM drive unit
Multi power supply unit
IPM drive unit
E0046
CNR
18
4-12
None
4.5 Troubleshooting
None
1
None
None
None
None
None
None
None
TPE0002 communication
displayed on teach pendant
None
CNFAN
None
CNFAN
None
E0065
E0065
E0065
E0903
E0903
E0903
E0903
E0903
E0903
CNMS
CNEC1
CN78E
E9220
CNSV
CNMCH
CNEC1
CNPW
CNPW
CNRST
CNVP
CNBK2
CNSW
E0074
CNR
E0028
CNRST
E0046
CNSR
error
is
TPE0002
Cooling fan
10
11
12
13
14
15
A4920
A4920
E0177
A0004
E0066
E0783
16
E0042
17
18
19
Over travel LS
CNLAN3
CNCOM
CNRST
CNVP
CNP24V
CNPW
Cooling fan
4-13
Date of failure
occurrence
2
Failure code
Details
Move a cursor to a specific failure to display its details using [Up/Down] key, and
press [Enter].
The lower half of the screen shows detailed information.
Date of failure
occurrence
Category of
failure cause
Failure code
Details
Location of error
Details and
measures
How to release
the failure
3
4-14
Filter
Enables to pick up a particular failure to display. (The operator
qualification of EXPERT or higher is required.)
Page 4-20, 4.6.3 Failure filtering function.
Sort <Date/Code/Prog./Step>
Changes a sorting factor of the failure log.
Since the default is set at Date, the items change in sequence as shown
below by pressing this key every time.
Date
Code
Prog.
Step
Sort
Switches ascending/descending sort.
The sorting factor is as specified in [2].
Move
Moves up and down when the screen separation is set ON in [5].
Screen Separation
The screen is split into two sections.
Filter <All/Error/Alarm/Information>
Changes a level of importance to display the failure log. Since the default
is set to display the logs of all levels of importance, the items change in
sequence as shown below by pressing this key every time.
All
Error
Alarm
Information
4-15
Fail Freq.
The frequency of failure occurrence is graphically indicated and analyzed.
(The operator qualification of EXPERT or higher is required.)
Page 4-24, 4.6.5 Frequency of the failure occurrence.
System Failure
The frequency of failure occurrence is graphically indicated and analyzed.
(The operator qualification of EXPERT or higher is required.)
Page 4-23, 4.6.4 Displaying the system failure log.
4-16
Setting item/
range
Default
Error
Save/
Not save
Save
Alarm
Save/
Not save
Save
Information
Save/
Not save
Not save
Separate save
Disable/Enable
Disable
Not occur/
Occur
Not occur
Remainder of logs
099
Not occur/
Occur
Not occur
0999
POINT
Entering
a value
IMPORTANT
4-17
Entering
a value
4-18
Align a cursor on a specific failure code to select using [Up/Down] key, and
press [Enter].
The Select Failure Log screen is restored with the desired code selected.
4
4-19
POINT
Type of failure
Details
Failure code
09999
Classification
code
Mode
Teach mode/
Playback mode
Unit
19
Mechanism
19
Axis
19
Welder
14
Sensor
112
Program
09999
Step
09999
4-20
Setting range in
filtering
Entering a
value
Align a cursor on the value input field or the desired field using
[Up/Down/Right/Left] key, and set the conditions.
4-21
Align a cursor on a specific failure code to select using [Up/Down] key, and
press [Enter].
The Failure Filtering Setting screen is restored with the failure code entered.
5
4-22
4-23
Monitoring item
Item
Details
Failure code
Program
Program - Step
Time
User Check
Monitoring item
4-24
Frequency of failure in
each item
Graphical indication of
the frequency of failure
in each item
Filter
Filters and displays a specific failure.
Page 4-20, 4.6.3 Failure filtering function.
Sort <Val./Item>
Changes the sorting factor either to "Val." or Item.
The default is set at Val.
Move
Moves up and down when the screen separation is set by [5].
Screen Separation
The screen is split into two sections.
Cause Classification
Graphically displays the frequency of classification of failure cause.
Pressing this key again, the screen is restored.
For details of the cause classification, see
category.
Fail Log
The screen returns to 1.
4-25
Press [Enable] + [Right/Left] key to select the item for graphic display.
The following settings are required if you have selected User Check.
The setting items User Check Object, User Check Content, and Division unit of
user check become available.
Details
Category of time
Calendar
Current-conducting time
Arc welding
Servo ON time
H
H
Calendar
Month
Arcing time
Minute
4-26
Operating hours
Amount of wire
consumption
Unit
Month
Time
Kg
4-27
Condition
Contents
CPU board
failure
CPU board
failure
Program check-sum
fault.
The automatic saving
function at the timing of
the power failure
detection (or controller
power OFF operation)
failed.
12
Servo failure
20
Servo failure
Abnormal velocity
command. Modify
abnormal axis motion.
21
Servo failure
Abnormal servo
tracking
22
Servo failure
24
Amplifier
unit failure
25
Servo failure
26
Servo failure
Interference detected
27
Servo failure
28
Amplifier
unit failure
29
Encoder
failure
Encoder incremental
data error
2
4
4-28
Class
Error reset.
Severity
Teach
Auto
Alarm
Alarm
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Please do
error reset or
turn on the
drive
preparation.
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error
Error
Error
Error
on
on
Measure
Release
Output
Teach
Auto
Alarm
Alarm
Logger
Teach Auto
on
on
Encoder
failure
31
Encoder
failure
32
Servo failure
Over current
33
Servo failure
Synchronous failure of
servo command.
36
Encoder
failure
37
Encoder
failure
Over temperature of
encoder
38
Servo failure
Over load
39
Servo failure
Over rotation
40
TP failure
The abnormalities in
CPU in a T/P
41
Encoder
failure
Encoder Memory
Access error
42
Amplifier
unit failure
Over temperature of
motor
43
Amplifier
unit failure
Over speed
44
Amplifier
unit failure
46
Amplifier
unit failure
Over temperature of
regenerative discharge
resister
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
4-29
Encoder
failure
Encoder counter
overflow/underflow
51
Servo failure
Encoder data
transmission failure
52
Encoder
failure
53
Servo failure
54
Servo failure
55
Encoder
failure
56
Servo failure
Encoder pre-load
failure
57
Encoder
failure
59
Control
failure
62
Control
failure
63
CPU board
failure
Controller temperature
fault.
64
Amplifier
unit failure
65
Amplifier
unit failure
66
Amplifier
unit failure
72
Amplifier
unit failure
74
Amplifier
unit failure
Motor regeneration
circuit fault
4-30
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please turn ON
power supply
of the
controller
again. For
details, refer to
"SETUP
MANUAL" and
"MANIPULAT
OR MANUAL".
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Amplifier
unit failure
78
CPU board
failure
79
CPU board
failure
80
CPU board
failure
81
CPU board
failure
99
Operational
failure
105
Control
failure
106
Operational
failure
116
TP failure
TP connect failure
117
TP failure
TP connect failure
118
TP failure
119
TP failure
120
TP failure
121
Operational
failure
122
Servo failure
129
Operational
failure
Operational
failure
Control
failure
132
Operational
failure
TP failure
136
139
TP failure
140
TP failure
The abnormalities in
CPU in a T/P
177
Emergency
stop failure
243
Operational
failure
244
Operational
failure
Designated command
position exceeds Robot
operating area.
Danger of Robot
interference.
130
131
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
No reset
operations
neccesary.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Alarm
Error
Alarm
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
No reset
operations
neccesary.
After removal
of failure,
please carry
out
"failure-reset".
Turn on the
power again.
Error
Error
Error
Error
on
on
Inform
ation
Alarm
Inform
ation
Alarm
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Error
Error
Error
Error
on
on
Alarm
Error
Alarm
Error
on
on
Error
Inform
ation
Inform
ation
Inform
ation
on
on
Alarm
Inform
ation
Alarm
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error
Error
Error
Error
on
on
Alarm
Error
Alarm
Error
on
on
Alarm
Error
Alarm
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
No reset
operations
neccesary.
No reset
operations
neccesary.
4-31
Operational
failure
246
Operational
failure
247
Operational
failure
Wrist posture
calculation fault.
Please insert the
middle step.
There is a tool which
exceeds rating.
248
Control
failure
250
Operational
failure
251
Operational
failure
257
Operational
failure
270
Control
failure
Conveyer motion
during test .
271
Control
failure
PLC failure
Conveyer pulses
exceeded limit.
The error was detected
by Built-in PLC.
379
Control
failure
493
Operational
failure
494
Operational
failure
550
PLC failure
582
Vision
sensor
failure
659
TP failure
674
Spot weld
failure
Welder communication
fault(No reply).
675
Spot weld
failure
Spot weld
failure
Spot weld
failure
Spot weld
failure
Welder communication
fault(Check sum).
Welder communication
fault(Message wrong).
Major Welder fault.
695
Spot weld
failure
LCA EPROM
checksum error.
696
Spot weld
failure
Application EPROM
checksum error.
697
Spot weld
failure
Control
failure
DPR error.
Operational
failure
367
676
677
694
704
705
4-32
Executive EPROM
checksum error.
Invalid Conveyer
register value.
After removal
of failure,
please carry
out
"failure-reset".
No reset
operations
neccesary.
Alarm
Error
Alarm
Error
on
on
Alarm
Error
Alarm
Error
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Error
Alarm
Error
on
on
Alarm
Error
Alarm
Error
on
on
Alarm
Error
Alarm
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
No reset
operations
neccesary.
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Unusual reset
is carried out
after changing
Built-in PLC
into a starting
state.
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Please change
the PLC state
setting to
"start" after
correct Ladder
program or
change the
"PLC scan
time".
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error reset.
Alarm
Error
Alarm
Error
on
on
Alarm
Error
Alarm
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
Operational
failure
727
Servo failure
749
Spot weld
failure
750
Spot weld
failure
759
Spot weld
failure
760
Spot weld
failure
762
Spot weld
failure
777
Control
failure
783
CPU board
failure
Motion stop.
785
CPU board
failure
CPU board
failure
I/O timeout.
788
CPU board
failure
789
CPU board
failure
CPU error.
895
Control
failure
897
Control
failure
898
Servo failure
902
Amplifier
unit failure
903
Amplifier
unit failure
Servo communication
stop
904
CPU board
failure
Sequence board
connect failure.
905
CPU board
failure
910
Amplifier
unit failure
Sequence
board(UM352(L21700F00)) is not
recognized.
I/O board is not recognized.
DIP-SW on the I/O board is
incorrect.
Error occurs when 1) disconnect
between pressure sensor and
robot controller, 2) pressure sensor
troubles, 3) troubles of the analog
sensor board in robot controller.
787
Watchdog Timeout
Error.
Error reset.
Alarm
Error
Alarm
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Turn on the
power again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Turn on the
power again.
Turn on the
power again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Check the
constants of
the
Compliance
control
function.
Turn on the
power again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
Wait more than
5 seconds for
next motor
power on.
Turn on the
power again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error
Error
Error
Error
on
on
4-33
Amplifier
unit failure
Autozero failure of
analog input.
919
Operational
failure
The allowed
unbalanced torque is
exceeded.
920
Operational
failure
Robot tended to
operate exceeding Y
asix motion limit.
921
Operational
failure
Robot tended to
operate exceeding rear
motion limit.
956
FieldBus
failure
The communication
error occurred.
957
FieldBus
failure
958
FieldBus
failure
959
FieldBus
failure
A communication
board is not found.
960
FieldBus
failure
967
Control
failure
975
Control
failure
976
Control
failure
Confirm magnet-ON
(Fixed input IN28) is
OFF.
977
Control
failure
1001
Control
failure
1003
Control
failure
1012
Control
failure
1016
Encoder
failure
1024
Servo failure
4-34
Error
Error
Error
Error
on
on
Alarm
Error
Alarm
Error
on
on
No reset
operations
neccesary.
Alarm
Error
Alarm
Error
on
on
No reset
operations
neccesary.
Alarm
Error
Alarm
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
A
communication
board is
exchanged.
The setting
value of a field
bus hardware
setup is
changed.
If a problem is
solved, it will
restore
automatically.
(In order to
solve a
problem, the
re-injection of
a power supply
may be
required)
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Manipulator battery
warning
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Robot over
temperature
After removal
of failure,
please carry
out
"failure-reset".
After the
battery is
exchanged,
please carry
out
"failure-reset"
and then turn
on the power
supply of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error reset.
Control
failure
Master-ON circuit is
inconsistent.
1048
Control
failure
1049
Spot weld
failure
1051
Control
failure
1052
Control
failure
Control
failure
1053
An inconsistency was
detected in the
sequence
circuit.(Ext.emergency
stop)
An inconsistency was
detected with the
sequence
circuit.(safety plug)
1054
Control
failure
An inconsistency was
detected in the
sequence
circuit.(G-STOP)
1055
Spot weld
failure
1056
Spot weld
failure
1058
Spot weld
failure
Control
failure
Memory error is
detected by the welder
board.
Timer controller CPU is
not ready.
An inconsistency was
detected in the
sequence
circuit.(Teach/Playback
select)
An inconsistency was
detected in the
sequence circuit.(Mat
switch)
An inconsistency was
detected in the
sequence
circuit.(High-speed
teach)
An inconsistency was
detected in the
sequence
circuit.(emergency
stop)
An inconsistency was
detected in the
sequence circuit.(T/P
emergency stop)
1059
1060
Control
failure
1061
Control
failure
1062
Control
failure
1063
Control
failure
1064
Control
failure
An inconsistency was
detected in the
sequence
circuit.(CRON)
1065
Spot weld
failure
1068
Spot weld
failure
Arc try
condition file
1101
Arc try
condition file
1102
Arc try
condition file
1103
Arc try
condition file
1100
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
Failure reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Failure reset.
Error
Error
Error
Error
on
on
Failure reset.
Error
Error
Error
Error
on
on
4-35
Arc try
condition file
Removal failure.
1105
Arc try
condition file
Arc try
condition file
Removal failure.
1107
Arc try
condition file
1108
Arc try
condition file
1109
Arc try
condition file
1110
Arc try
condition file
1111
Arc try
condition file
1112
Arc try
condition file
1113
Arc try
condition file
When the
"StopMonitorInputSignal" isn't
input, the robot move.
This failure occurs when there is
disparity between "Encoder
postion" and "Motor position".
This failure occurs when there is
position disparity between CPU1
and CPU2.
This failure occurs when there is
velocity disparity between CPU1
and CPU2.
The robot monitoring unit is not
correctly connected.
1114
Arc try
condition file
1115
Arc try
condition file
1116
Arc try
condition file
1120
Operational
failure
1121
Operational
failure
1155
Spot weld
failure
1156
Spot weld
failure
Memory error is
detected by the welder
board.
1158
Spot weld
failure
Operational
failure
1106
1171
Operational
failure
1174
Operational
failure
1175
Request
maintenance
Number of servo-off
exceeds the threshold.
1176
Request
maintenance
1820
Sealing
failure
Sealing
failure
1170
1821
1822
Sealing
failure
1823
Operational
failure
1824
Operational
failure
1825
Operational
failure
4-36
After removal
of failure,
please turn on
power supply
of the
controller
again.
Failure reset.
Pplease turn
on power
supply of the
controller
again.
Failure reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
Failure reset.
Error
Error
Error
Error
on
on
Failure reset.
Error
Error
Error
Error
on
on
Failure reset.
Error
Error
Error
Error
on
on
Failure reset.
Error
Error
Error
Error
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
Failure reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Failure reset.
Error
Error
Error
Error
on
on
Failure reset
after removing
the causes of
the failure.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Error
Alarm
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Failure reset.
Alarm
Error
Alarm
Error
on
on
Failure reset.
Error
Error
Error
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Sensor
failure
1827
Sensor
failure
1828
Welder error
code W2
1829
Welder error
code W2
Abnormal velocity of
axis is calculated by
force control.
1830
Welder error
code W2
1831
Welder error
code W2
1832
Welder error
code W2
1833
Welder error
code W2
GETFORCE2 function
can not be carried out.
1834
Welder error
code W2
1835
Welder error
code W2
1836
Sensor
failure
1837
Operational
failure
1838
Operational
failure
The specified
mechanism number
does not exist or
mechanism type is not
proper.
The specified tool
number is used.
1839
Operational
failure
2002
Control
failure
Playback unavailable
because Motors-OFF
sequence is being
executed.
2003
Spot weld
failure
2006
Control
failure
2007
Control
failure
2010
Operational
failure
2021
Operational
failure
WI cancel operation is
disabled. (Servo gun)
Please check the value of the new tool length of the real
variable register. Or, please check the tool constant
value to be assigned.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please carry
out
"failure-reset".
After recording
the move step,
Please Check
Go.
This error will
be canceled if
a program is
corrected and
restarted.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error
Error
Alarm
Alarm
on
on
No reset
operations
neccesary.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After recording
the move step,
Please Check
Go.
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error
Error
Error
Error
on
on
Error
Error
Alarm
Alarm
on
on
Error
Error
Error
Error
on
on
Error
Error
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
This error is
released if it
starts again
after ending
the editor on
the screen.
No reset
operations
neccesary.
4-37
Operational
failure
Please set
value to the
variable or
change speed
parameter to
numerical
value.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
2027
Spot weld
failure
2030
Operational
failure
Designated command
position exceeds Robot
operating area.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
2038
Spot weld
failure
2044
Spot weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
2048
Spot weld
failure
2049
Spot weld
failure
2050
Operational
failure
2055
Spot weld
failure
2059
Operational
failure
2060
Operational
failure
The command
pressure is out of
range.
Ready to weld status
from welder board isn't
completed, or a
weld-enabled signal
isn't input.
Robot does not keep
the basic position
between multi driven
axises.
Pressure already
achieved to the
designated value for
manual operation.
There is a possibility
that the interpolation
operation and the
de-and acceleration
control are not correctly
done due to a set
disagreement of
rectangular coordinate
system.
4th axis operating
range exceeded.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Pressure value is too low when servo gun axis does not
move. Review pressure data.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Error
Alarm
Error
on
on
2062
Spot weld
failure
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Operational
failure
Alarm
Alarm
Alarm
Alarm
on
on
2090
Control
failure
Error
Error
Error
Error
on
on
2091
Control
failure
Error reset.
Error
Error
Error
Error
on
on
2092
CPU board
failure
Control
failure
2063
Spot weld
failure
2082
Operational
failure
2083
Operational
failure
2089
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
2093
2100
FieldBus
failure
2101
Operational
failure
2103
Operational
failure
4-38
Specified channel
number or slave node
number is not used.
Stop or External stop
signal being given.
Operational
failure
External Motors-OFF is
inputted.
2105
Operational
failure
2106
Operational
failure
2108
Operational
failure
Playback unavailable
because servo system
has not been turned on
yet.
It is not possible to start
by specifying the
function step
2109
Operational
failure
2110
PLC failure
2111
Operational
failure
2112
Operational
failure
2113
Operational
failure
2118
Shift failure
Settings were
changed. To initialize
the ststus, please cycle
the primary power.
Shift register contains
no data.
2119
Shift failure
2138
Operational
failure
2141
Operational
failure
2142
Operational
failure
2144
Operational
failure
2145
Request
maintenance
2150
Operational
failure
2151
Operational
failure
2152
Operational
failure
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Alarm
Alarm
Inform
ation
Inform
ation
on
on
Error
Error
Error
Error
on
on
Automatically
restores, when
the problem is
solved.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Error
Error
Error
Error
off
off
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Program number
selected is not
available.
There is no end.
This error is
released if the
step set do
over again and
restart
playback.
This failure is
released if a
correct
program is
setted and
restart
playback.
No reset
operations
neccesary.
This error is
released if
restart
playback.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
This failure is
released if a
correct
program is
setted and
restart
playback.
This error is
released if the
correct step
set do over
again and
restart
playback.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
4-39
Operational
failure
his error is
released if it
reactivates
after the
program is
corrected so
that the usage
of the flow
control
instruction may
become
proper.
This error will
be canceled if
a program is
corrected and
restarted.
This error will
be canceled if
a program is
corrected and
restarted.
Please release
protecting the
file (program or
constant).
When you
start, please
choose Step 1
from T/P.
Alarm
Alarm
Alarm
Alarm
on
on
2161
Operational
failure
Change of a coordinate
system cannot be
performed during
circular.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
2164
Operational
failure
Change of a tool
cannot be performed
during circular.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
2165
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
2166
Operational
failure
The reproduction
protection of the
program is carried out.
2167
Operational
failure
2169
Operational
failure
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
off
off
2170
Operational
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
off
off
2171
Operational
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
off
off
2173
Shift failure
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Operational
failure
No reset
operations
neccesary.
Error reset.
2174
Control
failure
2175
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
2176
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
2177
Shift failure
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
2181
Control
failure
Conveyer running
signal was not
received.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
2185
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
2194
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
2201
Shift failure
Alarm
Alarm
Alarm
Alarm
on
on
Shift failure
Alarm
Alarm
Alarm
Alarm
on
on
2203
Shift failure
2202
Alarm
Alarm
Alarm
Alarm
on
on
2204
Shift failure
Alarm
Alarm
Alarm
Alarm
on
on
2230
Control
failure
Alarm
Alarm
Alarm
Alarm
on
on
2240
Operational
failure
PUBLIC.INC file is
wrong.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
2241
Operational
failure
COSNT.INC file is
wrong.
No reset
operations
neccesary.
This error is
released if it
sets a correct
program and
restart
playback.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
4-40
Operational
failure
2243
Operational
failure
2244
Operational
failure
Operational
failure
Operational
failure
Operational
failure
Operational
failure
2250
Operational
failure
2251
Operational
failure
Incorrect Register or
variable number.
2252
Operational
failure
Operational
failure
Failed in reading or
writing variable.
The parameter for the
function command
exceeds the normal
range.
2254
Operational
failure
2255
Operational
failure
Operational
failure
2245
2246
2247
2248
2253
2256
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Division by 0.
2258
Operational
failure
Playback unavailable
because compilation
process is executing.
Outside wrist posture
limit range
2259
Operational
failure
2268
Operational
failure
2272
Control
failure
Conveyer running
signal is ON.
2277
Spot weld
failure
2300
Spot weld
failure
2301
Operational
failure
There is no referring to
point for the circle
middle point (C1).
2302
Operational
failure
There is no referring to
point for the circle end
point (C2).
2303
2356
Operational
failure
Shift failure
2357
Shift failure
2358
Shift failure
2359
Shift failure
2360
Operational
failure
Playback mode of
Search write function is
not corrected.
Search range
exceeded.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
This error is
released if a
correct
program or
step is setted
and restart
playback.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Althogh
re-start
operation is
possible,
please correct
the teaching
program.
This error is
released if a
correct
program or
step is setted
and restart
playback.
Check the
program.
No reset
operations
neccesary.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
When step of the tool which does not use wrist posture
limit is played back, please set wrist posture limit to
invalidity.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
This failure is
released if a
correct
program is
setted and
restart
playback.
4-41
Operational
failure
2367
PLC failure
2368
PLC failure
Connection with
Built-in PLC cannot be
performed.
2369
PLC failure
2370
PLC failure
2371
PLC failure
There is no resource
performed by Built-in
PLC.
2372
PLC failure
2373
PLC failure
2383
Operational
failure
2387
Shift failure
2390
Operational
failure
There is no user
function definition data.
2391
Operational
failure
There is no user
function definition data.
2400
Emergency
stop failure
2401
Emergency
stop failure
4-42
This failure is
released if a
correct
program is
setted and
restart
playback.
Unusual reset
is carried out
after changing
Built-in PLC
into a starting
state.
Unusual reset
is carried out
after changing
Built-in PLC
into a starting
state.
Unusual reset
is carried out
after changing
Built-in PLC
into a starting
state.
Unusual reset
is carried out
after changing
Built-in PLC
into a starting
state.
After
download, it
changes into a
starting state
and unusual
reset is carried
out.
Again, a
starting setup
is carried out, it
changes into a
starting state,
and unusual
reset is carried
out.
Error reset.
This error is
released if a
correct
program or
step is setted
and restart
playback.
Designate step
positions not in
the same line
for the On-line
transfer
function.
A power
supply is
re-switched on
after creating a
user function
definition file.
A power
supply is
re-switched on
after creating a
user function
definition file.
First, release
all emergency
stop switches,
and perform
operation
again. If
impossible,
remove the
cause of the
error, and turn
on the power
again.
First, release
safety plugs,
and perform
operation
again. If
impossible,
remove the
cause of the
error, and turn
on the power
again.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Emergency
stop failure
2410
Operational
failure
Request
maintenance
2412
Request
maintenance
Information by number
of failure log
2413
Request
maintenance
Information by number
of another preservation
failure log
2435
Spot weld
failure
2436
Spot weld
failure
2437
Spot weld
failure
Abnormal panel
thickness detected.
2497
FieldBus
failure
FieldBus
failure
Operational
failure
2519
Operational
failure
2527
Operational
failure
2528
Operational
failure
2530
Operational
failure
Spot weld
failure
2536
Spot weld
failure
Welder fault.
2537
Spot weld
failure
2538
Spot weld
failure
2539
Spot weld
failure
2540
Spot weld
failure
2541
Spot weld
failure
2411
2498
2518
2535
check
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Inform
ation
Inform
ation
Error
Error
on
on
Inform
ation
Inform
ation
Error
Error
on
on
Error reset.
Inform
ation
Inform
ation
Error
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
This error is
released if
restart
playback.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
This error is
released if a
correct
program or
step is setted
and restart
playback.
After removal
of failure,
please carry
out
"failure-reset".
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
It will be
canceled if
some keys are
pushed.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
This error is
released if
restart
playback.
Alarm
Alarm
Alarm
Alarm
on
on
This error is
released if
restart
playback.
This error is
released if
restart
playback.
This error is
released if
restart
playback.
This error is
released if
restart
playback.
This error is
released if
restart
playback.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
First, release
enable
switches, and
perform the
operation
again. If it is
impossible,
remove the
cause of the
error, and turn
ON the power
again.
Error reset.
The check
completion
processing is
done.
Error reset.
4-43
Spot weld
failure
2543
Spot weld
failure
2544
Spot weld
failure
2545
Spot weld
failure
Transformer
temperature fault.
2546
Spot weld
failure
2552
Spot weld
failure
2555
Spot weld
failure
Servo-gun is not
executed to obey the
welder sequence.
2556
Spot weld
failure
Shift failure
2570
Vision
sensor
failure
Vision sensor
communication data
error.
2569
2571
Vision
sensor
failure
Vision sensor
command/reply buffer
overflow.
2572
Vision
sensor
failure
Vision sensor
recognition error.
2573
Vision
sensor
failure
2574
Vision
sensor
failure
2575
Vision
sensor
failure
2576
Vision
sensor
failure
2577
Vision
sensor
failure
2578
Vision
sensor
failure
Measure of Vision
sensor is not complete.
2579
Vision
sensor
failure
4-44
This error is
released if
restart
playback.
This error is
released if
restart
playback.
This error is
released if
restart
playback.
This error is
released if
restart
playback.
This error is
released if
restart
playback.
This error is
released if
restart
playback.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
This error is
released if
restart
playback.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Vision
sensor
failure
Vision sensor
communication data
error.
2583
Vision
sensor
failure
2584
Vision
sensor
failure
2585
Vision
sensor
failure
Vision
sensor
failure
2586
A synchronous gap
was occered by a
vision correction
conveyer synchronous
function.
Playback unavailable
because visual
teaching correction is
valid.
The measurement
point exceeded the
distance limit.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Alarm
Alarm
Alarm
Alarm
on
on
2587
Spot weld
failure
2588
Vision
sensor
failure
2589
Vision
sensor
failure
Vision
sensor
failure
Vision
sensor
failure
A multiple
measurement
happened.
Shift range over.
2592
Operational
failure
2593
Vision
sensor
failure
Spot weld
failure
2595
Spot weld
failure
2596
Vision
sensor
failure
Vision
sensor
failure
2590
2591
2594
2597
2598
2599
Vision
sensor
failure
Shift failure
2601
Operational
failure
2605
Operational
failure
2606
Operational
failure
User coordinate is
indefinite.
2607
Operational
failure
2608
Operational
failure
2609
Operational
failure
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
4-45
Operational
failure
Pause substitution
overlaps.
2611
Operational
failure
Modifying user
coordinate failed.
2612
Operational
failure
2613
Operational
failure
2614
Operational
failure
2615
Operational
failure
Multiple execution of
the SEAMANG function
was carried out.
The SEAMANG
function was performed
under permitted
condition.
Tool number has been
changed during
SEAMANG function.
Wrist posture under
using FN289 Wrist
singularity control
function is invalid.
2620
PLC failure
2621
PLC failure
2622
PLC failure
2623
PLC failure
2624
PLC failure
2625
PLC failure
2626
PLC failure
2627
PLC failure
2628
PLC failure
2651
PLC failure
2652
PLC failure
Toyopuc I/F:I/O
refreshing has
stopped.
2653
PLC failure
2654
PLC failure
Toyopuc
I/F:Abnormality is
found in the dual port
memory.
Error occurred by
toyopuc I/F.
2655
PLC failure
The communication
with Toyopuc I/F got
the suspension.
2656
Spot weld
failure
2657
Spot weld
failure
2658
Operational
failure
2659
Operational
failure
4-46
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Error
Error
Error
Error
off
on
Error
Error
Error
Error
off
on
Error
Error
Error
Error
off
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
This error will
be canceled if
a program is
corrected and
restarted.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Please turn on
the power
supply again
after Toyopuc
I/F installs.
Automatically
restores,
when the
problem is
solved.
Automatically
restores, when
the problem is
solved.
Automatically
restores,
when the
problem is
solved.
Please reenter
the power
supply after
removing a
wrong cause.
After removal
of failure,
please turn on
power supply
of the
controller
again.
This error is
released if
restart
playback.
This error will
be canceled if
a program is
corrected and
restarted.
This error will
be canceled if
a program is
corrected and
restarted.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Spot weld
failure
2661
Spot weld
failure
(1)If tip dress control "servo" then set the tip dress
search write "Enabled", else set the servo gun search
write "Disabled".
2662
PLC failure
2663
PLC failure
The interface is
abnormal with PC.
2669
Shift failure
2670
Shift failure
2671
Control
failure
2672
Shift failure
2673
Shift failure
2674
Shift failure
2675
Shift failure
2676
Shift failure
2677
Spot weld
failure
Spot weld
failure
Major Welder
error(Fault).
Welding command is
not execute.
2679
Shift failure
2680
Operational
failure
2681
Operational
failure
2682
Shift failure
2683
Shift failure
2684
Shift failure
2685
Shift failure
2686
Shift failure
2687
Spot weld
failure
Spot weld
failure
2678
2688
Usage of MAPPING
function is wrong.
Usage of ALIGNMENT
function is wrong.
Glass Handling :
Dynamic twisted
correction value
over.(Accelerating
revision)
Glass Handling :
Dynamic twisted
correction value
over.(Teach point
revision)
Glass Handling :
Dynamic twisted
correction value
over.(Position)
Major Welder error.
Welding command is
not execute.
2698
Operational
failure
2699
Operational
failure
2701
Spot weld
failure
The measurement
result of the automatic
setting of tool moment
of inertia is abnormal.
Servo gun pressure is
not achieved.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
Please reenter
the power
supply after
removing a
wrong cause.
Please reenter
the power
supply after
removing a
wrong cause.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
1) On [Constant Setting]-[Machine
Parameters]-[Encoder Correct], the J1 angle of the
earth equals to the J2 angle of the earth. 2) After the
memory format of the controller, this error occurs. The
encoder correct is exactly executed.
Please take a second look accelerating twisted revision
parameter.
Error reset.
Error
Error
on
on
Error reset.
Alarm
Error
on
on
Error reset.
Alarm
Error
on
on
Error reset.
Alarm
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
This error is
released if
restart
playback.
Alarm
Alarm
Alarm
Alarm
on
on
4-47
Spot weld
failure
2710
Spot weld
failure
2757
Spot weld
failure
2763
Spot weld
failure
2781
Spot weld
failure
2782
Spot weld
failure
2783
Spot weld
failure
2784
Spot weld
failure
2785
Spot weld
failure
2786
Spot weld
failure
2790
Operational
failure
2791
Operational
failure
2792
Operational
failure
No current detection
signal turn on.
2793
Operational
failure
2800
Operational
failure
Mechanism is not
mounted.
2801
Operational
failure
Sub-mechanism
cannot be selected.
2802
Operational
failure
Mechanism number is
wrong.
2803
Operational
failure
Different mechanism
mounted.
2804
Operational
failure
Conflict of mechanism
change.
2805
Operational
failure
Mechanism number is
wrong.
2806
Operational
failure
2823
Sealing
failure
2824
Sealing
failure
2825
Sealing
failure
2826
Sealing
failure
2827
Sealing
failure
The sealing
incomplete.
4-48
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
This error is
released if
restart
playback.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Sealing
failure
Sealing
failure
Sealing
failure
Sealing
failure
Dispense incomplete.
Sealing
failure
Operational
failure
2851
Operational
failure
2852
FLEXhand
failure
The force/torque
sensor function can not
be carried out.
Clamp position limit
over.
2853
FLEXhand
failure
2854
FLEXhand
failure
FLEXhand clamping
motion time over.
2855
FLEXhand
failure
2856
FLEXhand
failure
2857
FLEXhand
failure
Unclamp function
usage is wrong.
2858
FLEXhand
failure
Unclamp direction is
not correct.
2859
Operational
failure
2860
Operational
failure
2861
Shift failure
The designated
palletize No. is not
registered.
2862
Shift failure
The designated
palletize number has
never been executed
yet.
2863
Shift failure
Designate a palletize
number under
execution.
2864
Shift failure
2865
Shift failure
2866
Spot weld
failure
Welder fault.
2867
Spot weld
failure
2868
Spot weld
failure
2829
2830
2831
2832
2850
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
This failure is
released if
restart
playback.
This failure is
released if
restart
playback.
Error
Error
Alarm
Alarm
on
on
Error
Error
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please carry
out
"failure-reset".
No reset
operations
neccesary.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
4-49
Spot weld
failure
2870
Spot weld
failure
Transformer
temperature fault.
2871
Spot weld
failure
2872
Spot weld
failure
The move-electrode
diameter is less than
the minimum diameter.
2873
Spot weld
failure
The settle-electrode
diameter is less than
the minimum diameter.
2880
Spot weld
failure
2881
Spot weld
failure
Spot position
correction can not be
carried out.
2882
Spot weld
failure
2883
Spot weld
failure
Spot weld
failure
2908
2923
Spot weld
failure
2937
Operational
failure
2938
Operational
failure
The change in an
endless control cannot
be executed.
2939
Operational
failure
2945
Operational
failure
2946
Shift failure
User coordinate
number is not selected.
2961
FieldBus
failure
2971
Operational
failure
2973
Control
failure
Playback unavailable
because the enable
switch is not in the
release position.
2974
Operational
failure
Pause or External
pause signal being
given.
2975
Control
failure
Preventive
maintenance
message
It cannot be started
under G-STOP.
System Memory
Protection disabled
Preventive
maintenance
message
System Memory
Protection disabled
2976
2977
4-50
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
off
off
Error reset
Alarm
Alarm
Alarm
Alarm
off
off
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Please change
System
Memory
Protection
enable and
restart the
controller.
Please change
System
Memory
Protection
enable and
restart the
controller.
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
Preventive
maintenance
message
System Memory
Protection disabled
Error
Error
Error
Error
on
on
Please change
System
Memory
Protection
enable and
restart the
controller.
Error reset.
2990
Spot weld
failure
Spot weld
failure
Operational
failure
3010
Control
failure
3018
Spot weld
failure
3021
Control
failure
3022
Operational
failure
3037
Spot weld
failure
3051
Control
failure
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Robot can
restart from
there without
reset
operation.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Error reset.
Robot can't
playback, untill
step is set.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Alarm
Alarm
Alarm
Alarm
on
on
There is no way.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
3057
Spot weld
failure
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3062
Spot weld
failure
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
3079
CPU board
failure
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3081
Operational
failure
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3082
Operational
failure
Abnormality occurred
while backing up
automatically.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3083
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
It will be
canceled if
some keys are
pushed.
No reset
operations
neccesary.
3084
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3085
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Operational
failure
It will be
canceled if
some keys are
pushed.
No reset
operations
neccesary.
3086
Operational
failure
3087
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3089
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3097
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
3103
Control
failure
In OFF-mode, motors
are not able to be ON.
No reset
operations
neccesary.
It will be
canceled if
some keys are
pushed.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
3110
Operational
failure
Number of axes
miss-matched.
Inform
ation
Alarm
Inform
ation
Alarm
on
on
3111
PLC failure
No reset
operations
neccesary.
No reset
operations
neccesary.
Automatically
restores, when
the problem is
solved.
Alarm
Alarm
Alarm
Alarm
on
on
2991
2999
4-51
PLC failure
No reset
operations.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3113
PLC failure
3134
Operational
failure
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
3137
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3138
Spot weld
failure
Welder version is
unmatched.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Spot weld
failure
Preventive
maintenance
message
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
3141
Spot weld
failure
3142
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
Inform
ation
Inform
ation
on
Inform
ation
Inform
ation
on
on
3147
Preventive
maintenance
message
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3148
Preventive
maintenance
message
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3149
Preventive
maintenance
message
It is a program which
remarkably shortens
longevity.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3150
Preventive
maintenance
message
There is a possibility
that the setting of the
load weight and center
of gravity is inapposite.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3151
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3155
Operational
failure
Alarm
Alarm
Alarm
Alarm
on
on
3156
Spot weld
failure
3157
Spot weld
failure
3158
Spot weld
failure
3159
Spot weld
failure
3160
Spot weld
failure
This failure is
released if a
correct
program is
setted and
restart
playback.
Error reset.
3161
Spot weld
failure
Spot weld
failure
Operational
failure
3146
3162
3165
4-52
After
exchanging
grease, Please
reset at the
[Service][Robo
t
Diagnosis][Gre
ase Exchange
Cycle] menu.
After
replenishing
grease, Please
reset at the
[Service][Robo
t
Diagnosis][Gre
ase Exchange
Cycle] menu.
Error reset.
Check the Gun tip. If tips are good check the setting
otherwise change the tip to the new one, and detect tip
consumption again.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Check the Gun tip. If tips are good check the setting
otherwise change the tip to the new one, and detect tip
consumption again.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
on
Inform
ation
Inform
ation
Inform
ation
on
on
on
on
Please release
protecting the
file (program or
constant).
Preventive
maintenance
message
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3169
Preventive
maintenance
message
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3170
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
This error is
released if it
starts again
after making it
the unit ready.
No reset
operations
neccesary.
3175
Spot weld
failure
Abnormal panel
thickness detected.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3177
CPU board
failure
Controller temperature
fault.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3178
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Operational
failure
Conveyer running
signal was not
received.
The program is not
recorded nor selected.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3218
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3353
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3354
Servo failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3355
Spot weld
failure
Current feedback of
servo gun is abnormal.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3528
Operational
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3536
Spot weld
failure
Welder fault.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3537
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
on
on
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3539
Spot weld
failure
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
3538
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3540
Spot weld
failure
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3541
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
on
on
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3543
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3544
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3545
Spot weld
failure
Transformer
temperature fault.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3546
Spot weld
failure
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3552
Spot weld
failure
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
3542
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
3553
Spot weld
failure
No reset
operations
neccesary.
No reset
operations
neccesary.
This error is
released if it
sets a correct
program and
reserve
playback.
No reset
operations
neccesary.
Set the
record-disableswitch to OFF
or release
password
protecting.
No reset
operations
neccesary.
No reset
operations
neccesary.
It will be
canceled if
some keys are
pushed.
No reset
operations
neccesary.
3181
Control
failure
3194
Please release
the WI.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
4-53
Spot weld
failure
Spot weld
failure
Servo-gun is not
executed to obey the
welder sequence.
Current of tip dresser
abnormaled.
3656
3660
Spot weld
failure
3666
Request
maintenance
3667
Request
maintenance
3668
Request
maintenance
3677
Spot weld
failure
Minor Welder
warning(Alarm).
3678
Spot weld
failure
3687
Spot weld
failure
Spot weld
failure
3689
Spot weld
failure
3690
Spot weld
failure
3700
Operational
failure
3701
Operational
failure
3702
Vision
sensor
failure
Illigal request of
conveyor sync.
3703
Vision
sensor
failure
Vision
sensor
failure
The measurement
number is a unsetting.
3688
3704
3782
Vision
sensor
failure
3790
Encoder
failure
3800
User failure
3810
Spot weld
failure
Operational
failure
Welder communication
fault(No reply).
Welder option isn't set
up.
3812
Spot weld
failure
Welder version is
unmatched.
3813
Spot weld
failure
Spot weld
failure
Spot weld
failure
3811
3814
3872
4-54
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error
Error
Error
Error
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error reset.
Inform
ation
Inform
ation
Alarm
Alarm
on
on
Error reset.
Error reset.
Inform
ation
Inform
ation
Alarm
Alarm
on
on
Error reset.
Inform
ation
Inform
ation
Alarm
on
on
Error reset.
Inform
ation
Inform
ation
Alarm
Error reset.
Alarm
Alarm
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Error reset.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
Inform
ation
Inform
ation
Error reset.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
The move-electrode
diameter is less than
the warning diameter.
Inform
ation
Inform
ation
Inform
ation
on
Inform
ation
Inform
ation
Inform
ation
on
on
on
on
Spot weld
failure
The settle-electrode
diameter is less than
the warning diameter.
3960
FieldBus
failure
3992
Operational
failure
Arc weld
failure
4000
4001
Arc weld
failure
4002
Arc weld
failure
Can't communicate
with the welding power
supply.
4003
Arc weld
failure
Can't communicate
with the welding power
supply.
4004
Arc weld
failure
4005
Arc weld
failure
4006
Arc weld
failure
Arc weld
failure
4007
4008
Arc weld
failure
Arc weld
failure
4010
Arc weld
failure
4011
Arc weld
failure
4012
Arc weld
failure
4013
Arc weld
failure
4009
4014
Arc weld
failure
4015
Arc weld
failure
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
If a problem is
solved, it will
restore
automatically.
(In order to
solve a
problem, the
re-injection of
a power supply
may be
required)
Error reset
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
Turn on the
controller and
the welding
power supply
again.
Turn on the
controller and
the welding
power supply
again.
Turn on the
controller and
the welding
power supply
again.
Turn on the
controller and
the welding
power supply
again.
After
registeration/s
etting, turn on
the controller
and the
welding power
supply again.
After updating,
turn on the
controller and
the welding
power supply
again.
After updating,
turn on the
welding power
supply again.
The control
software of the
welding power
supply
improves in the
version, and
the power
supply in the
robot controller
and the
welding power
supply is
turned on
again.
After updating,
turn on the
welding power
supply again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After updating,
turn on the
welding power
supply again.
Turn the
welding power
supply on
again.
Error
Error
Error
Error
on
on
Failure reset,
and turn on the
welding power
supply again.
Error
Error
Error
Error
on
on
4-55
Arc weld
failure
Turn on the
power again.
Error
Error
Error
Error
off
off
Turn on the
power again.
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
4017
Arc weld
failure
Arc weld
failure
4019
Arc weld
failure
The communication
test has failed.
4020
Arc weld
failure
Error
Error
Error
Error
on
on
Arc weld
failure
Error
Error
Error
Error
on
on
4022
Arc weld
failure
Error
Error
Error
Error
on
on
4085
Arc weld
failure
Error
Error
Error
on
on
Arc weld
failure
Error
Error
Error
Error
on
on
4102
Operational
failure
Operational
failure
Turn the
welding power
supply on
again.
Turn the
welding power
supply on
again.
Error reset.
Error
4099
Communication
timeout occurred inside
the welding power
supply.
It was not possible to
communicate with the
arc welding power
supply.
It is weaving condition
disagreement.
Mechanism Error in
External axis relative
move function
(FN407).
Axis Error in External
axis relative move
function
(FN407:RELMOV)
Mechanism type error.
After updating,
turn on the
welding power
supply again.
After updating,
turn on the
welding power
supply again.
Failure reset,
and turn on the
welding power
supply again.
4021
Alarm
Error
Alarm
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error reset.
Alarm
Alarm
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error
Error
Error
Error
on
on
Alarm
Error
Alarm
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
Error reset.
Error
Error
Error
Error
off
off
Error reset.
Error
Error
Error
Error
off
off
4018
4900
4901
Operational
failure
4902
Operational
failure
4903
Operational
failure
4905
Operational
failure
4906
Operational
failure
4910
Operational
failure
Mechanism* is servo
off.
4911
Operational
failure
4912
Operational
failure
4914
Servo failure
4915
Operational
failure
4920
Emergency
stop failure
4921
Operational
failure
Module mechanism
interpolation failure.
4930
Operational
failure
The connection
mechanism of the
Spray machine does
not exist.
4931
Operational
failure
4-56
Operational
failure
Rotation shaft
information is unusual.
4940
Emergency
stop failure
Emergency
stop failure
The abnormalities in
file access.
Alarm carried out
number-of-times
generating of
regulation, and was
breaking down.
The weaving trajectory
exceeded regulation
speed.
4999
Error reset.
Error
Error
Error
Error
off
off
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
5005
Arc weld
failure
5006
Arc weld
failure
5007
Arc weld
failure
5008
Operational
failure
5010
Arc weld
failure
5011
Arc weld
failure
5013
Arc weld
failure
5014
Arc weld
failure
5015
Arc weld
failure
5016
Arc weld
failure
5017
Arc weld
failure
Arc weld
failure
Arc weld
failure
Arc weld
failure
Supply gas.
This failure is
released if
restart
playback.
This failure is
released if
restart
playback.
This failure is
released if
restart
playback.
Error reset.
Supply wire.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Supply water.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5018
5020
5021
5022
Arc weld
failure
5023
Arc weld
failure
5024
Arc weld
failure
5025
Arc weld
failure
5026
Arc weld
failure
5027
Arc weld
failure
5028
Arc weld
failure
5029
Arc weld
failure
5030
Arc weld
failure
4-57
Arc weld
failure
5032
Arc weld
failure
5033
Arc weld
failure
5034
Arc weld
failure
5035
Arc weld
failure
5036
Arc weld
failure
5037
Arc weld
failure
5038
Arc weld
failure
5039
Arc weld
failure
5040
Arc weld
failure
5041
Arc weld
failure
5042
Arc weld
failure
5043
Arc weld
failure
5045
Arc weld
failure
5046
Arc weld
failure
5047
Arc weld
failure
5048
Arc weld
failure
Secondaly transistor
failure occurred in the
welding power supply.
Water pressure failure
occurred in the welding
power supply.
Secondaly transistor
failure occurred in the
welding power supply.
The specified welding
power supply can't use
in this unit.
A control power supply
failure occurred in the
welding power supply.
An electric detection
vessel failure occurred
in welding power
supply.
The excess failure of
the use rate occurred in
welding power supply.
A temperature failure
occurred in the wire
feed control circuit ing
the welding power
supply.
The load of wire feed
exceeded allowable
value.
The control power
supply of the welding
power supply was
reset.
The welding
characteristic data are
not installed.
The arc characteristic
can't be changed while
arc welding.
The incorrect welding
method is specified.
5049
Arc weld
failure
Arc weld
failure
5050
5051
Arc weld
failure
5052
Arc weld
failure
Arc weld
failure
5053
Microcomputer failure
occurred in the welding
power supply.
Encoder failure was
detected by the
welding power supply.
Current detection line
failure occurred in the
welding power supply.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Failure reset,
and turn on the
welding power
supply again.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
This failure is
released if
restart
playback.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
This failure is
released if
restart
playback.
This failure is
released if
restart
playback.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
This failure is
released if
restart
playback.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5054
Arc weld
failure
WCR Short-circuit
Error
5056
Arc weld
failure
Arc weld
failure
The electrode
short-circuited failure.
The Filler Wire heating
failure.
5058
Arc weld
failure
5059
Arc weld
failure
5060
Arc weld
failure
Arc weld
failure
5062
Arc weld
failure
5061
The heating
characteristic file can't
be read.
The arc condition file
doesn't exist.
5057
4-58
Arc weld
failure
The weaving
synchronization went
wrong.
Turn on the
controller and
the welding
power supply
again.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5064
Arc weld
failure
5065
Arc weld
failure
5066
Arc weld
failure
5067
Arc weld
failure
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5068
Arc weld
failure
5069
Arc weld
failure
5070
Arc weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5071
Arc weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5072
Arc weld
failure
5073
Arc weld
failure
5074
Arc weld
failure
5075
Arc weld
failure
5076
Arc weld
failure
5077
Arc weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5078
Arc weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5079
Arc weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5080
Operational
failure
5081
Operational
failure
5082
Operational
failure
5083
Operational
failure
5084
Operational
failure
5085
Arc weld
failure
5086
Arc weld
failure
5087
Arc weld
failure
5088
Arc weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Turn the
welding power
supply on
again.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Deviation of welding
path has detected.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Tandem-Arc-Start-com
mand is
incorrect.(Fe-wire)
Tandem-Arc-Start-com
mand is
incorrect.(Al-wire)
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
5089
Arc weld
failure
5090
Arc weld
failure
Alarm
Alarm
Alarm
Alarm
on
on
5091
Arc weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5092
Arc weld
failure
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
4-59
Arc weld
failure
5094
Arc weld
failure
5095
Arc weld
failure
5096
Arc weld
failure
5097
Arc weld
failure
5098
Arc weld
failure
EP start failure.
5099
Arc weld
failure
5100
Arc weld
failure
Arc weld
failure
EP start failure.
5102
Arc weld
failure
An adjustment program
choice is unusual.
5103
Arc weld
failure
Adjustment welding
mode wrong point.
5104
Arc weld
failure
5105
Arc weld
failure
A plasma unit/WPS is
abnormal.
5106
Arc weld
failure
5107
Arc weld
failure
Arc weld
failure
5109
Arc weld
failure
5110
Arc weld
failure
5111
Arc weld
failure
5112
Arc weld
failure
5113
Arc weld
failure
Arc weld
failure
5115
Arc weld
failure
5118
Arc weld
failure
5119
Arc weld
failure
Arc weld
failure
5101
5108
5114
5120
5121
Arc weld
failure
5122
Arc weld
failure
4-60
Motor overcurrent
occurred in the welding
power supply.
The emergency is
stopping or the welding
power supply is
stopping.
An adjustment
movement start is
unusual.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Failure reset,
and turn on the
welding power
supply again.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
This failure is
released if
restart
playback.
Error reset.
This failure is
released if
restart
playback.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
This failure is
released if
restart
playback.
This failure is
released if
restart
playback.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Arc weld
failure
5124
Arc weld
failure
Arc weld
failure
5125
5126
Arc weld
failure
5127
Arc weld
failure
5128
Arc weld
failure
5129
Arc weld
failure
5130
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Operational
failure
Alarm
Alarm
Alarm
Alarm
on
on
5131
Operational
failure
Alarm
Alarm
Alarm
Alarm
on
on
5132
Arc weld
failure
Alarm
Alarm
Alarm
Alarm
on
on
5133
Operational
failure
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
5134
Arc weld
failure
Alarm
Alarm
Alarm
Alarm
on
on
5135
Arc weld
failure
5136
Arc weld
failure
5137
Arc weld
failure
5138
Arc weld
failure
5139
Arc weld
failure
5140
Arc weld
failure
5143
Arc weld
failure
Threshold trigger
5146
Arc weld
failure
5147
Arc weld
failure
5148
Arc weld
failure
5190
Arc weld
failure
5200
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Please create the arc try condition file or edit the task
program.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Sensor
failure
Sensor Function
cannot be executed.
Alarm
Alarm
Alarm
Alarm
on
on
5201
Sensor
failure
Search range
exceeded.
Alarm
Alarm
Alarm
Alarm
on
on
5202
Sensor
failure
Alarm
Alarm
Alarm
Alarm
on
on
5203
Sensor
failure
Deviation range
exceeded.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After recording
the move step,
Please Check
Go.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
The abnormalities in
the filler wire feeding
Turn the
welding power
supply on
again.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
4-61
Sensor
failure
Sensor number is
mismatched.
5205
Sensor
failure
The input-and-output
signal is not assigned.
5206
Sensor
failure
Sensor
failure
A deviation file is
wrong.
A deviation file is not
found.
5208
Sensor
failure
Mechanism type is
mismatched.
5209
Sensor
failure
A detecting wire
extension file is wrong.
5210
Sensor
failure
5211
Sensor
failure
A detecting wire
extension file is not
found.
Coordinate systems
are mismatched.
5212
Sensor
failure
Cannot search.
5213
Sensor
failure
Sensor
failure
Sensor
failure
Gap Over
5216
Sensor
failure
5217
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Angle1 over
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Unstable detection
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
5233
Sensor
failure
5234
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Communication
timeout occurred
between the controller
and the sensor unit
Sensor condition file
error
Sensor condition file is
not exist.
Sensor Failure
5207
5214
5215
5218
5219
5220
5221
5222
5223
5224
5225
5226
5227
5228
5229
5230
5231
5232
5235
5236
5237
5238
4-62
Sensor
failure
Gap short
Groove depth over
Angle1 short
Angle2 over
Angle2 short
Groove un-detected
Out of measurement
distance
Reference point error
ZG1 workpiece
undetected
No gap file
Gff file error
No gff file
Sensor disconnected
(Laser search)
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Turn on the
controller and
the sensor unit
again.
Error reset.
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Sensor
failure
ZF Deviation range
exceeded
5240
Sensor
failure
Sensor
failure
ZF search range
exceeded
ZT Position Deviation
range exceeded
Sensor
failure
Sensor
failure
ZN offset range
exceeded
ZN Search range
exeeced.
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Laser ON Failed
5249
Sensor
failure
ZT Posture Deviation
range exceeded
5250
Sensor
failure
Sensor disconnected
5251
Sensor
failure
Correction amount by
arc-sensor exceeds
specified value.
5252
Sensor
failure
5253
Sensor
failure
Calculation turns to
unstable during
arc-sensing process.
Welding position
cannot be detected
5254
Sensor
failure
Unstable wire-feeding.
5255
Sensor
failure
Sensor
failure
ST parameter error.
5241
5242
5243
5244
5245
5246
5247
5248
5256
5257
Sensor
failure
5258
Sensor
failure
Sensor
failure
5259
Deviation range
exceeded.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
5260
Sensor
failure
5261
Sensor
failure
Groove un-detected.
5262
Sensor
failure
5263
Sensor
failure
Sensor
failure
Sensor
failure
No SFM file
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5266
Sensor
failure
DE Corrected point
failure
Alarm
Alarm
Alarm
Alarm
on
on
Sensor
failure
Error reset.
5267
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Error reset.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
5264
5265
4-63
Sensor
failure
Sensor Function
cannot be executed.
5269
Sensor
failure
5270
Sensor
failure
ZN Search destination
point is exceeded
range.
The tracking speed is a
negative value.
5271
Sensor
failure
5272
Sensor
failure
5273
Sensor
failure
5274
Sensor
failure
5275
Sensor
failure
Error in instruction of
ZE command outside
tracking section
Continuous ZT
commands have same
sensor number.
Continuous ZN
commands have same
sensor number.
Continuous ZE
commands have same
sensor number.
ZN command
according to ZT does
not exist.
5276
Sensor
failure
5277
Sensor
failure
5278
Sensor
failure
5279
Sensor
failure
5280
Sensor
failure
5281
Sensor
failure
5282
Sensor
failure
5283
Sensor
failure
5284
Sensor
failure
Abnormal setting of
"Maximum distance" in
ZN commands.
5285
Sensor
failure
A reference position
has not been taught.
5286
Sensor
failure
An undefined dummy
point is being referred.
5287
Sensor
failure
5288
Sensor
failure
5289
Sensor
failure
An undefined
temporary buffer point
is being referred.
A vector cannot be
defined or identified
when executing
SF2/ZF2.
5290
Sensor
failure
5291
Sensor
failure
An operation error
occurred when
executing SF2/ZF2.
5292
Sensor
failure
DE Search range
exeeced.
5293
Sensor
failure
5294
Sensor
failure
The command of
teaching prohibition in
ZF and after
Adaptive welding
current over
5295
Sensor
failure
Adaptive welding
current short
4-64
ZE command
according to ZT does
not exist.
ZT command
according to ZN does
not exist.
ZT command
according to ZE does
not exist.
ZT command exists in
the section of
continuous ZN or ZE
commands.
ZN command exists in
the section of
continuous ZT or ZE
commands.
ZE command exists in
the section of
continuous ZT or ZN
commands.
Abnormal setting of
ON/OFF of External I/O
detection in ZN
commands.
Abnormal setting of
input port number of
External I/O detection
in ZN commands.
No reset
operations
neccesary.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Modify ZN commands.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Modify ZT or ZE command.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Modify ZT or ZN command.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Modify ZT or ZE command.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Sensor
failure
Adaptive welding
voltage over
5297
Sensor
failure
Adaptive welding
voltage short
5298
Sensor
failure
5299
Sensor
failure
5300
Auto
Calibration
failure
Auto Calibration
function can not be
carried out.
5301
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
5302
5303
5304
5305
5306
5307
5308
5309
5310
5311
5312
5313
5314
5315
5316
5317
5318
5319
5320
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
5321
Auto
Calibration
failure
5322
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
5323
5330
CALIBROB(FN702) cannot be
performed while running the
program of other units.
The amount of compensation of
joint offset or a tool parameter is
over the maximum set up by the
constant.
This error occurs when the robot
moves beyond search range
The abnormalities in an
automatic calibration
parameter.
Automatic calibration
measurement file error.
The abnormalities in
automatic calibration
correct.
The maximum
compensation value
error.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
After recording
the move step,
Please Check
Go.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Inform
ation
Inform
ation
Alarm
Alarm
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
It is not especially.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
It is not especially.
Error reset.
Inform
ation
Inform
ation
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Measuring point
Orientation error.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
The abnormalities in
work program
compensation.
The abnormalities in
work program
compensation.
A robot's position is
shifted greatly.
All measuring points
are not acquired.
CALIBROB (FN702)
cannot be performed.
Cannot search.
4-65
Auto
Calibration
failure
Measuring point
orientation error(At the
time of the direction
search of Z).
5332
Auto
Calibration
failure
The abnormalities in
automatic calibration
correct.
5333
Auto
Calibration
failure
Auto
Calibration
failure
Auto
Calibration
failure
Sensor
failure
The abnormalities in
work program
compensation.
Measuring point error.
5401
Sensor
failure
5402
Sensor
failure
5403
Sensor
failure
Adaptive condition
setting error
5404
Sensor
failure
Adaptive weaving
amplitude over
5406
Sensor
failure
ZF Posture Deviation
range exceeded.
5408
Sensor
failure
Maximum distance in
ZN command is too
long.
5410
Sensor
failure
5411
Sensor
failure
ZJ Deviation range
exceeded
5412
Sensor
failure
5413
Sensor
failure
5414
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Area Over
5419
Sensor
failure
5420
Sensor
failure
5421
Sensor
failure
SF8 Max.
Compensative-Surveila
nce val. Over
SF8 Min.
Compensative-Surveila
nce val. Short
The touch detection
point is abnormal.
5422
Sensor
failure
Adaptive EN Ratio
Over
5334
5335
5400
5415
5416
5417
5418
4-66
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Turn on the
power again.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Area Short
Mismatch Over
Mismatch Short
Search position was
changed.
Sensor
failure
Adaptive EN Ratio
Short
5424
Sensor
failure
5425
Sensor
failure
5426
Sensor
failure
5427
Sensor
failure
5428
Sensor
failure
Sensor kind is
mismatched.
5429
Sensor
failure
5430
Operational
failure
5439
Sensor
failure
Sensor
failure
Playback unavailable
user task program
because it is being
used all user task.
Tracking condition file
doesn't exist.
Tracking direction
cannot be defined.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Reset failure.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
off
on
No reset
operations
neccesary.
Turn on the
power again.
Alarm
Alarm
Alarm
Alarm
off
on
Alarm
Alarm
Alarm
Alarm
on
on
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Reboot robot
controller and
sensor unit.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Reset failure.
Alarm
Alarm
Alarm
Alarm
on
on
Reset failure.
Alarm
Alarm
Alarm
Alarm
on
on
Reset failure.
Alarm
Alarm
Alarm
Alarm
on
on
Reset failure.
Alarm
Alarm
Alarm
Alarm
on
on
Reset failure.
Alarm
Alarm
Alarm
Alarm
on
on
5441
Sensor
failure
5442
Sensor
failure
Test Tracking is
stopped.
5443
Sensor
failure
5444
Sensor
failure
5445
Sensor
failure
5446
Sensor
failure
No Sensor Response.
5447
Sensor
failure
Sensor ID error.
5448
Sensor
failure
5449
Sensor
failure
5450
Sensor
failure
5451
Sensor
failure
5452
Sensor
failure
5453
Sensor
failure
5454
Sensor
failure
Laser OFF
5440
4-67
Sensor
failure
5456
Sensor
failure
5500
User failure
Installation Angle is
updated.
5501
User failure
5510
Operational
failure
Operational
failure
5702
Operational
failure
It cannot re-start.
5701
Playback unavailable
user task program
because it is being
used all user task.
Option un-setting up.
5703
Shift failure
The input-and-output
signal is not set up.
5704
Shift failure
5705
Shift failure
Abnormality occurred
by the parity check of
the shift input signal.
Other units are running
program.
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
No reset
operations
neccesary.
Error reset.
5706
Operational
failure
6005
Arc weld
failure
6006
Arc weld
failure
6010
Arc weld
failure
6011
Arc weld
failure
6014
Arc weld
failure
6015
Arc weld
failure
6016
Arc weld
failure
Wire is stuck.
6019
Arc weld
failure
Supply wire.
6024
Arc weld
failure
6043
Arc weld
failure
Arc weld
failure
6044
6054
Arc weld
failure
6074
Arc weld
failure
6080
Operational
failure
6085
Arc weld
failure
6106
Arc weld
failure
6107
Arc weld
failure
4-68
Reset failure.
Alarm
Alarm
Alarm
Alarm
on
on
Reset failure.
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Alarm
Alarm
Alarm
Alarm
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Alarm
Alarm
Alarm
Alarm
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Move posture
change
restriction-withi
n the limits.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Arc weld
failure
6109
Arc weld
failure
Purge(Cleaning gas)
ON error.
6116
Arc weld
failure
6117
Arc weld
failure
6121
Arc weld
failure
The management of
the consumption of the
wire of the user
maintenance function
cannot be used.
The Gas OFF Delay
function cannot be
used.
The gas mass flow
value has exceeded
the allowable limit.
6122
Arc weld
failure
6123
Arc weld
failure
6140
Arc weld
failure
6141
Arc weld
failure
6142
Arc weld
failure
6143
Arc weld
failure
Threshold trigger
6144
Arc weld
failure
Welding recorder
cannot connect to FTP
server.
6145
Arc weld
failure
Abnormality occurred
while saving the
welding record file.
6147
Arc weld
failure
6237
Sensor
failure
6238
Sensor
failure
6239
Sensor
failure
ZF Deviation range
exceeded
6240
Sensor
failure
Sensor
failure
ZF search range
exceeded
ZT Position Deviation
range exceeded
6243
Sensor
failure
ZN Search range
exeeced.
6245
Sensor
failure
Deviation range
exceeded.
6249
Sensor
failure
ZT Posture Deviation
range exceeded
6261
Sensor
failure
Groove un-detected.
6294
Sensor
failure
Adaptive welding
current over
6295
Sensor
failure
Adaptive welding
current short
6296
Sensor
failure
Adaptive welding
voltage over
6297
Sensor
failure
Adaptive welding
voltage short
6241
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Take
countermeasur
es and reset
failure.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
4-69
Sensor
failure
6299
Sensor
failure
6300
Sensor
failure
Search range
exceeded.
6301
Sensor
failure
6302
Sensor
failure
Deviation range
exceeded.
6303
Sensor
failure
Sensor
failure
Sensor
failure
Gap Over
6306
Sensor
failure
6307
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Angle1 over
6330
Sensor
failure
Correction amount by
arc-sensor exceeds
specified value.
6331
Sensor
failure
6332
Sensor
failure
Calculation turns to
unstable during
arc-sensing process.
Welding position
cannot be detected
6333
Sensor
failure
Unstable wire-feeding.
6334
Sensor
failure
Sensor
failure
ST parameter error.
6336
Sensor
failure
6337
Sensor
failure
6338
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Sensor
failure
Area Over
6343
Sensor
failure
Adaptive EN Ratio
Short
6344
Sensor
failure
6345
Sensor
failure
6404
Sensor
failure
Adaptive weaving
amplitude over
6304
6305
6308
6309
6310
6311
6312
6329
6335
6339
6340
6341
6342
4-70
Gap short
Groove depth over
Angle1 short
Angle2 over
Angle2 short
Groove un-detected
Unstable detection
The target position and
posture cannot be
calculated.
ZJ Deviation range
exceeded
Area Short
Mismatch Over
Mismatch Short
Adaptive EN Ratio
Over
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
on
on
on
on
Error reset.
Error reset.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
on
on
on
on
on
on
on
on
on
on
on
on
Error reset.
Error reset.
Error reset.
Error reset.
Error reset.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
on
on
on
on
on
on
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
on
on
No reset
operations
neccesary.
Error reset.
Error reset.
Error reset.
Error reset.
Error reset.
TP failure
6449
TP failure
7000
9001
User failure
Emergency
stop failure
9002
Emergency
stop failure
9003
Operational
failure
Abnormal velocity
command. Modify
abnormal axis motion.
9005
Servo failure
9011
Emergency
stop failure
9012
Emergency
stop failure
9020
CPU board
failure
Error of Interpolation
Stop.
9021
CPU board
failure
9022
CPU board
failure
9023
CPU board
failure
Error of interruption of
Position Command.
9024
CPU board
failure
CPU board
failure
Error of mechanism
resource acquisition.
Safety slow speed
error
9026
CPU board
failure
9027
CPU board
failure
System freezing
9028
CPU board
failure
Motion Calculation
error
9030
Emergency
stop failure
9031
Control
failure
Check input-signal.
9032
Emergency
stop failure
Extremely frequent
input-signal was
detected.
Reducer modeling
reverse amends error.
9033
CPU board
failure
Motion synchronous
error
9034
CPU board
failure
9100
Emergency
stop failure
Stop interpolation
9025
Battery remainder
amount shortage of the
wireless T/P.
Wireless strength
shortage of th wireless
T/P
User failure.
The robot's joint angle
before and behind a
record point was not in
agreement.
The amount of step
movements is
abnormal.
User failure.
The robot's joint angle was not in
agreement at the starting point of
this step and the target point of this
step.
The result which added the amount
of step movements to the robot's
joint angle in a starting point is not
in agreement with the robot joint
angle in a target point.
Abnormal velocity command data
is calculated.
No reset
operations
neccesary.
No reset
operations
neccesary.
Error reset.
Error reset.
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
Inform
ation
Inform
ation
Inform
ation
Inform
ation
off
off
Error
Alarm
Error
Error
Error
Alarm
Error
Error
on
on
on
on
Error reset.
Alarm
Error
Alarm
Error
on
on
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
Turn on the
power again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Because the
robot stop step
is different to
the execute
step, step-set
must be
needed for
restart. Error
reset.
Please do
error reset or
turn on the
drive
preparation.
Turn on the
power again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
4-71
Emergency
stop failure
Emergency
stop failure
CPU board
failure
CPU board
failure
9113
CPU board
failure
System Error
(RT_FLT_DENORMAL
_OPERAND).
9114
CPU board
failure
9115
CPU board
failure
9116
CPU board
failure
9117
CPU board
failure
System Error
(RT_FLT_DIVIDE_BY_
ZERO).
System Error
(RT_FLT_INEXACT_R
ESULT).
System Error
(RT_FLT_INVALID_O
PERATION).
System Error
(RT_FLT_OVERFLOW
).
9119
CPU board
failure
System Error
(RT_FLT_UNDERFLO
W).
9120
CPU board
failure
9129
CPU board
failure
9140
CPU board
failure
System Error
(RT_INT_DIVIDE_BY_
ZERO).
System Error
(RT_ILLEGAL_INSTR
UCTION).
System Error (Mutex
Timeout).
9144
CPU board
failure
9151
Emergency
stop failure
CPU board
failure
Stop interpolation by
system busy
The Hibernation is not
enabled.
9153
CPU board
failure
An internal memory is
not nomally allocated.
9200
CPU board
failure
CPU board
failure
CPU board
failure
9209
Amplifier
unit failure
9210
Amplifier
unit failure
Brake fuse
off.(additional axis)
9213
Amplifier
unit failure
9216
Control
failure
Low voltage of
sequence control
power supply
9217
Amplifier
unit failure
9218
CPU board
failure
CPU board
failure
Servo CPU(#2) DP
memory error.
Servo CPU(#3) DP
memory error.
9102
9103
9105
9152
9204
9208
9219
4-72
Playback cannot be
continued.
System Error
(RT_BREAKPOINT).
System Error
(RT_ACCESS_VIOLA
TION).
Turn on the
power again.
Turn on the
power again.
Turn on the
power again.
Turn on the
power again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Error reset.
Error
Error
Error
Error
on
on
Turn on the
power again.
Error
Error
Error
Error
on
on
Turn on the
power again.
Turn on the
power again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please turn on
power supply
of the
controller
again.
After removal
of failure,
please turn on
power supply
of the
controller
again.
No reset
operations.
No reset
operations.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Servo failure
An inconsistency was
detected in the servo
failure.
9225
CPU board
failure
CPU board
failure
CPU board
failure
CPU board
failure
Amplifier
unit failure
CPU board
failure
Operational
failure
9240
Amplifier
unit failure
9241
Amplifier
unit failure
9242
Amplifier
unit failure
9243
Amplifier
unit failure
9244
Amplifier
unit failure
9226
9227
9228
9229
9233
9234
restart playback.
After removal
of failure,
please carry
out
"failure-reset".
No reset
operations.
No reset
operations.
No reset
operations.
No reset
operations.
After removal
of failure,
please carry
out
"failure-reset".
No reset
operations.
No reset
operations
neccesary.
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please carry
out
"failure-reset".
After removal
of failure,
please turn on
power supply
of the
controller
again.
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Alarm
Alarm
Alarm
Alarm
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
Error
Error
Error
Error
on
on
4-73
NOTE
4-74
This section describes the user check function for notifying operators of the robot
inspection timing, parts replacement timing and other inspection-related
information.
5.1 Robot Diagnosis .........................................................................................5-1
5.1.1 Program Diagnosis ...............................................................................5-1
5.1.2 OverHaul Time ......................................................................................5-3
POINT
The menu that is not described in this chapter can not be used. Those menus are not
supported or only for our service engineers. And, axes of which the diagnosis data is not
displayed are not supported.
Page number
can be changed.
Diagnosi
data
can be cleared.
5-1
1st page
Item
UNIT
Description
The present program No.and the present UNIT No.
Program
START TIME
This is the time when the cycle time measurement was started.
CYCLE TIME
TOTAL CYCLE
I WAITING
TIMER
ENDING TIME
Torque over
2nd page
Item
SPOT TIME
CYCLE TIME
(The number of spot
welding)
Description
This is the total time of spot welding execution.
This is displayed for every welding machine. (W1W6)
Number of spot welding.
This is displayed for every welding machine. (W1W6)
3rd page
Item
AV. SPEED [rpm]
(Average speed)
MAX. SPEED [rpm]
(Maximum speed)
Description
The average and the maximum value of the motor rotation velocity of each axis.
The average torque of each axis is displayed as the ratio [%] for the rated
torque.
The maximum torque of each axis is displayed as the ratio [%] for the allowable
peak torque.
If the operator class is EXPERT or higher, the torque value [Nm] is displayed
also.
If there is an axis whose maximum torque exceeds 100%, please check if the
tool mass and the center of gravity are set correctly. And, it is recommended to
slow down the recorded speed in the step in which the concerned axis moves
fast.
The remaining life [Hour] of reduction gear of each axis is displayed in a
premise that this program is continued to be played back. The life is also in the
number of playback cycles also.
Please be sure that this value is calculated in a premise that the robot is very
new. Therefore, this value has nothing to do with the present condition of the
robot mechanism. And, this is an estimated value that is calculated using a
life span equation under a condition that the torque larger than the allowable
limit will not occur. Please regard this value just a reference.
When the calcullated value is smaller than 5,000 [Hours], an information "I3149"
will be displayed.
5-2
Item
Remainder of life Ratio
Mechanism
Description
For a new reduction gear, "100.0%" should be displayed. And this value will
decrease while the robot is moving. And, when the value reaches "0%", it is
necessary to replace the reduction gear. If the value is getting small, please
contact our service department. (The tentative limit is 10% or 1000[Hr].)
The name of the mechanism and the axis is displayed for a mechanism of which
the "Remainder of life Ratio" is the smallest.
Axis
Overhaul
CycleConv.
Base Cycle Time
Start Time
This is the remaining time [Hours] until the overhaul (reduction gear
replacement). If the time for 1 cycle is set to the "Base Cycle Time" in [sec], the
"CycleConv." (Number of cycles) is also displayed.
This is the time when the measurement was started.
POINT
Because these values will be changed to wrong values when executing format operation or
backup restore operation, please memorize these values before doing those operations and
after finishing those operation, input the memorized values again.
5-3
Current
Torque
calculation
method can be
selected.
Analyze
(Torque analization
method)
Default setting:
"Current"
Position
Description
The torque is estimated by referring to the actual
motor current. The estimated torque includes the
influence of the waste of the mechanism. But it also
includes the calculation error due to the actuator
system.
By referring to the robot's mass model and the angles
(positions) of each axis, each axis's torque is
calculated based on motion equation. Because this
calculation is done based on the logical mass model
only, it does not include the influence of the waste of
the mechanism. But the calculation is more accurate
than the setting of <Current>.
(CAUTION)
CAUTION
How to use
3
4
If "I3148" occurs, please try to take counter measure e.g. slow down the motion
speed, change the tool to light one, etc.
If "I3148" is not detected, change the setting of "Analyze" to "Current".
If "I3148" occurs again, please try to take counter measure e.g. slow down the
motion speed, change the tool to light one, etc.
If "I3148" is not detected, start the production.
5-4
Related errors for the "Program Diagnosis" and the "OverHaul Time"
No.
Message
Cause
Counter
measure
No.
Message
Cause
Counter
measure
No.
Message
Cause
Counter
measure
No.
Message
Cause
Counter
measure
No.
Message
Cause
Counter
measure
I 3148
There is an axis which exceeds the allowance and maximum torque.
The presumption generation torque exceeded a permissible value by displayed program step and
axis.
(1)Change to ratings or less when the robot load condition is investigated, and weight and the
wrist torque exceed it to ratings.(Gravity setting is used) (2)There is a possibility to exceed the
acceleration which can be used. (Check the step before and after) (3)There is a possibility with a
large interference torque, too. (Drop the acceleration of the displayed step.)
I 3149
It is a program which remarkably shortens longevity.
In the displayed program, longevity is within at 5000 hours.There is a possibility which is the
program of call/jump origin when the call/jump are used.
(1)Change to ratings or less when the robot load condition is investigated, and weight and the
wrist torque exceed it to ratings. (Gravity setting is used) (2)The amount of operation is, and the
average speed and the average torque greatly exceed ratings because of largeness or high
speed, and there is a possibility that longevity has shortened. Reduce the amount of operation of
the object axis or slow down the speed if there is no obstacle in work. (program diagnosis)
(3)There is a possibility to be generated because the cycle time is remarkably short. Slow down
the speed overall.
I 3150
There is a possibility that the setting of the load weight and center of gravity is inapposite.
It is detected when there is a big difference between the longevities calculated from longevity and
the motor speed calculated from the current.
(1)Please confirm whether the setting of the load weight and center of gravity is correct.
(2)Please change to ratings or less when the robot load condition is investigated, and weight and
the wrist torque exceed it to ratings. (3)There is a possibility that the trouble occurs in the robot
when not corresponding to the above-mentioned.
I 3168
There is the axis in 1000 hours for overhaul.
The life time of the axis displayed with present operated (time to reaching to longevity) became
1,000 hours or less.
Exchange the reduction gear of the axis as early as possible. After that, set 0 for the
Consumption time until present in the Over Haul Time screen. (For this setting, EXPERT or
more is necessary)
I 3169
There is the axis in 0 hours for overhaul.
The life time of the axis displayed with present operated (time to reaching to longevity) became 0
hour or less.
Exchange the reduction gear of the axis immediately. After that, set 0 for the Consumption time
until present in the Over Haul Time screen. (For this setting, EXPERT or more is necessary)
5-5
NOTE
5-6
http://www.nachi-fujikoshi.co.jp/
Japan Main Office
Phone:
+81-3-5568-5245
Fax:
+81-3-5568-5236
http://www.nachirobotics.com/
Phone: 248-305-6545
Fax: 248-305-6542
Phone: 502-517-1553
Fax: 317-535-3659
Fax: 864-458-8256
Phone: 905-760-9542
Fax: 905-760-9477
Phone :+52-555312-6556
Fax:+52-55-5312-7248
http://www.nachi.de/
Phone:
+49-2151-65046-0
Fax:
+49-2151-65046-90
U.K. branch
Phone:
+44-0121-423-5000
Fax:
+44-0121-421-7520
Czech branch
Phone:
+ 420-255-734-000
Fax:
+420-255-734-001
http://www.nachi.com.au/
Phone:
+61-(0)3-9796-4144
Fax:
+61-(0)3-9796-3899
Sydney office
Phone:
+61-(0)2-9898-1511
Fax:
+61-(0)2-9898-1678
Brisbane office
Phone:
+61-(0)7-3272-4714
Fax:
+61-(0)7-3272-5324
Phone:
+86-(0)21-6915-2200
http://www.nachi.com.cn/
Fax:
+86-(0)21-6915-2200
NACHI KOREA
Seoul office
http://www.nachi-korea.co.kr/
Phone:
+82-(0)2-469-2254
Fax:
+82-(0)2-469-2264
2F Dongsan Bldg.
276-4, Sungsu 2GA-3DONG, Sungdong-ku,
Seoul 133-123, KOREA
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.
In case that an end user uses this product for military purpose or production of weapon, this product may be liable
for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go
through careful investigation and necessary formalities for export.
Original manual is written in Japanese.