Troubleshooting

17.1 Control System Error Codes

17.1.1 1 XXXX

Code

Description

Possible Reasons

Solution

10000

Error in parsing HMI request packet

Incorrect protocol of HMI request packet

Please check if the HMI and the control system version matches

10001

JOG startup failed

1. Not in the Manual mode; 2. Robot not powered on; 3. Robot in motion; 4. Not in the Position mode

Please make sure that the robot is in the Manual mode and powered on

10002

Quick adjustment startup failed

1. Not in the Manual mode; 2. Robot not powered on; 3. Robot in motion; 4. Not in the Position mode

Please make sure that the robot is in the Manual mode and powered on

10003

Mechanical zero calibration failed

1. Not in the Manual mode; 2. Robot in motion; 3. Not in the Position mode

Please make sure that the robot is in the Manual mode and not in motion

10004

Mechanical zero calibration succeeded

None

10005

Sensor zero calibration failed

1. Not in the Manual mode; 2. Robot in motion; 3. The robot is not around the mechanical zero; 4. Not in the Position mode

Jog the robot to the mechanical zero and make sure that the robot is in the Manual mode and not in motion

10006

Sensor zero calibration succeeded

None

10007

Failed to reboot the controller

Please stop the robot motion and the RL program

10008

Failed to clear encoder alarm

Servo encoder fault

Restart robot. If it’s still present, contact ROKAE Technical Support

10009

Encoder alarm cleared successfully

None

10010

Failed to switch to the Manual mode

Mode switching is not allowed when the robot is in motion; or the robot is already in the Manual mode

Stop the motion and try again

10011

Failed to switch to the Automatic mode

Below are some possible causes: 1. The robot is in motion; 2. The robot is in emergency stop; 3. Drag is already enabled; 4. Automatic mode is already enabled

1. Not in motion; 2. Restore from emergency stop; 3. Drag is disabled

10012

Power-On Condition Check Failure

1. Not in correct operation mode; 2. Robot in emergency stop state; 3. Robot in torque control mode; 4. Shutdown signal received; 5. Servo in critical fault state; 6. Controller initialization incomplete

1. Switch to correct operation mode; 2. Reset emergency stop state; 3. Switch robot to position mode; 4. Check servo faults; 5. Wait for controller initialization to complete

10013

Power-off failed

The robot is in motion or it is not in the Automatic mode

Stop the robot motion

10014

Failed to enable drag!

Drag cannot be enabled in the following cases: 1. Automatic mode; 2. Powered on; 3. Not in the Position mode; 4. In motion; 5. Not executing a routine task; 6. Safety monitoring or safety monitor triggered!

Switch to the Manual mode, keep the power off, and switch to the Position Mode, and then try again; or try again after reboot.

10015

Drag enabled successfully

None

10016

Failed to disable drag!

Wrong operating mode

1. If the drag is enabled through RCI, it should be disabled through RCI; 2. Restart the robot and try to recover.

10017

Drag disabled successfully!

None

10018

Failed to update the virtual wall

1.The set area is too small; 2.The robot’s current position is outside the set area; 3. Drag mode is not enabled

1. Expand the virtual wall boundary; 2. Move the robot end-effector to the set area; 3. Enable the Drag mode

10019

Virtual wall updated successfully

None

10020

New teach pendant connection rejected

Teach pendant connection exists

Disconnect existing connection

10021

Socket-server connection timeout

Connection timeout

1. Please check the device connection; 2. Please check whether the server is working properly

10022

Wrong format of data received by the socketread instruction

Network error

10023

IP address and port number for creating the socket are occupied

RL program or external communication socket has already used the IP address and port number. Two sockets may not use the same IP address and port number

Set different IP address or port numbers

10024

The created socket name is duplicated

Change another socket name

10025

The socket fails to receive data

1. Network connection error; 2. Server did not send data in time; 3. Wrong terminator; 4. Wrong data type

1. Check the network connection; 2. Check whether the server sends data; 3. Check whether the terminator matches; 4. Check the type of data sent

10026

socket disconnected

None

10027

socket connected

None

10028

SocketRead data length does not match the set length

The number of data received does not match the set number

Send the correct number of data

10029

Failed to set input in the simulation mode

10030

Failed to input signal in the simulation mode

1. Simulation mode is not activated; 2. The signal does not exist

1. Activate the Simulation mode; 2. Check input signal setting

10031

Simulation GI signal failed

1. Simulation mode is not activated; 2. The signal does not exist

1. Turn on the simulation mode; 2. Check GI signal setting

10032

Failed to set the output signal

1.The signal does not exist; 2.DO signal has been set as system output

1.Check the output signal setting; 2. Simulation is not bound as the system output signal

10033

Failed to set GO signal

1. The signal does not exist; 2. The set value is beyond the allowable range

Check the GO signal setting

10034

Error in parsing RCI packet

Unable to parse for wrong message length

Please check the RCI instruction format

10035

RCI parameters saved successfully

None

10036

RCI opened successfully

None

10037

RCI closed successfully!

None

10038

Failed to open RCI

1. The IP address cannot be same as the robot address (192.168.0.160) and local host (127.0.0.1); 2. Wrong format of IP address; 3. Port number already occupied; 4. Robot in motion; 5. Not in the Position mode

1. Please set the allowed IP address and port number; 2. Stop the robot motion

10039

Failed to close RCI

1. Robot in motion; 2. Not in the Position mode

Stop the robot motion and try to close again

10040

Failed to drag

There is a large deviation between the feedback and the model torque, and the drag can not be activated

1. Check whether the current Tool setting is consistent with the actual situation and whether the set tool mass center is reasonable; 2. Check the monitoring window to see whether the robot coordinate system and pose consistent with the actual situation; 3. Confirm that the current robot model and RD parameters are consistent with the actual parameters; 4. Try to return to the mechanical zero and zero the sensors before dragging; 5. For more detail, refer to the Drag Fault Troubleshooting Manual

10041

Connect the client to RCI

None

10042

Client disconnected from RCI

Client disconnection detected

Please check the client

10043

RCI is not responding. Please check auto and power-on status

10044

Body parameter identification completed. Please reboot the robot

None

10045

Load parameters are identified successfully

None

10046

Failed to update collision detection parameters

10047

Enable collision detection

None

10048

Disable collision detection

None

10049

Load identification failed. The load exceeds Robot’s rated load

The load of installed tool or workpiece exceeds the robot’s rated load

Use a tool or workpiece within the robot’s rated load range

10050

Load identification failed. Wrong load identification result.

Exception in sensor torque feedback

Check the sensor torque

10051

Failed to set joint position limit

1. The set angle is beyond the robot’s mechanical limit; 2. Not in the Manual mode; 3. Robot in motion; 4. Not in the Position mode

1. Switch to the Manual mode and stop the robot motion; 2. Confirm the robot’s mechanical limit and set the angle within the range

10052

Joint position limit set successfully

None

10053

Correction of robot hard limit

None

10054

Correction of joint position limit

None

10055

Failed to set servo filter parameters

Failed to read servo filter data

Restart the robot. If the issue persists, please contact technical support.

10059

This model of controller does not support upgrading to version 3.1 or higher!

The command filter for the high-payload model has not been enabled.

Keep the controller at the pre-upgrade version. If there are any issues, please contact technical support.

10060

Setting of Maximum joint velocity over the limit

1. The joint velocity range in the Collaboration mode is 0-15 degrees/s; 2. The maximum axial velocity of each axis cannot be exceeded in the Non-Collaboration mode

Please check and set the value within the range

10061

Setting of Maximum TCP velocity over the limit

1. The TCP velocity range in the Collaboration mode is 0-250; 2. The maximum TCP velocity cannot be exceeded in the Non-Collaboration mode

Please check and set the value within the range

10062

Setting of Joint torque over the limit

The maximum joint torque of each axis is 3 times of the rated torque

Please check and set the value within the range

10063

Drag out of virtual range, virtual wall failure

Dragging exerts excessive external torque

1. Expand the virtual wall boundary; 2. Reduce the drag torque; 3. Increase virtual wall stiffness

10064

The virtual wall takes effect again

After leaving the virtual wall then enter the virtual wall again , the virtual wall takes effect again

no repair

10065

Sync NTP failed

NTP service not installed; Failed to sync time with server

Install NTP service; Make sure NTP server is running

30060

Joint velocity over the limit

30061

TCP velocity over the limit

30062

Joint torque over the limit

30063

Momentum over the limit

30064

Total joint power over the limit

Total joint power exceeds the value set in the safety monitor

1. Slow down the motion speed; 2. Reduce the load and inertia; 3. Turn off the safety monitor

30065

Dual encoder position deviation over the limit

30066

Dual channel data deviation of the torque sensor exceeds the limit

10067

Total power over the limit

The maximum power of each axis is the maximum joint torque (Nm) × maximum joint velocity (radians/sec), where: 1. The maximum joint velocity in the Collaboration mode is 15 degrees/s; 2. The maximum axial velocity of each axis cannot be exceeded in the Non-Collaboration mode

Please check the parameters and their unit

10068

Industrial robots do not support pausing when collision detected for the moment. Please Switch to stopping

10070

Enter the safety zone and stop the motion

None

10071

Enter the safety zone and start the Collaboration mode

None

10072

Trigger the Reduced mode and slow down the motion

None

10073

Trigger the secondary Collaboration mode and slow down the motion

None

10074

Exit the Reduced mode

None

10075

Trigger the Reduced mode

None

10078

Trigger limit during RCI operation

1. Joint or Cartesian space position over the limit; 2. Joint velocity over the limit; 3. Joint or motor torque over the limit; 4. Large deviation between torque instruction and actual torque; 5. Robot in a singular position

Please check the torque instruction and the initial status of the robot

10079

Force control module protection triggered, force control mode exited

See the "content"

1. Check if the robot status is normal in force control mode; 2. Set proper force control protection parameters

10080

Failed to enable drag: joint position over the limit

Current position of the robot over the joint position limit

Jog the robot to a position within the joint position limit

10081

socket failed to send data

Network failure cause

Check the network problem

10082

socket data reception timeout

Network failure or code logic error

1. Check the code logic; 2. Check whether data is properly received and sent at the other end of the network

10083

Connection failed with external communication as a client. Trying to reconnect

1. Wrong IP address and port number; 2. Server device not properly started; 3. Abnormal device connection

1. Check whether the set IP address and port number are correct; 2. Reopen the server

10084

Connection failed with external communication as a server

1. Wrong IP address and port number; 2. Server device not properly started; 3. Abnormal device connection

1. Set the IP address to blank or 0.0.0.0; 2. The port number cannot be set to 0

10085

Socket creation failed. The same name as the external communication name

The socket in the RL program cannot have the same as external communication sockets

Use a name different from those of external communication sockets when creating a socket

10086

Socket creation failed. The socket name exceeds 30 bytes

Socket name too long

Shorten the socket name

10087

Failed to open the external communication: $arg

$arg

Process based on the cause prompt

10088

socket connected

None

10090

Safety zone set successfully

None

10091

Failed to set the safety zone

1. Not in the Manual mode; 2. Robot in motion; 3. Safety Zone behavior is set to "Trigger collaboration mode" but the Collaboration mode is not turned on

1. Switch to the Manual mode; 2. Stop the robot motion; 3. To trigger the Collaboration mode, please turn it on first

10092

Collaboration mode set successfully

None

10093

Failed to set the Collaboration mode

1. Not in the Manual mode; 2. Robot already powered on; 3. Robot in motion; 4. Parameters set over the limit

1. Make sure that the robot is in the Manual mode, stopped, and powered off; 2. Check the parameter setting of the Collaboration mode

10094

Safety monitor set successfully

None

10095

Failed to set the safety monitor

1. Not in the Manual mode; 2. Robot already powered on; 3. Robot in motion

Make sure that the robot is in the Manual mode, stopped, and powered off

10096

Failed to set the collision detection trigger action

The trigger behavior is not supported

Please modify the trigger behavior

10097

DH parameters are saved successfully. Please restart the robot for these parameters to take effect.

None

10098

In this version, only part of the linkage parameters can be modified

10099

Failed to save RD parameters. RD parameter changes over the limit

RD parameter changes over the limit

The limit range of RD parameter changes is +/- 50

10100

IP address and port number for creating the socket are occupied

RL program or external communication socket has already used the IP address and port number. Two sockets may not use the same IP address and port number

Please use different IP address or port numbers

10101

socket ip:port error

Duplicate or wrong IP address already used by the RL program and external communication sockets

Change the Socket to a free IP:PORT of the host or check the network settings

10102

Socket port error

Wrong port number already used by the RL program and external communication sockets

Change the socket port to a free port number from 0 to 65535

10103

SocketSendString failed

Connection not established or network error

Please check the network connection or use a connected socket

10104

SocketSendByte failed

Connection not established or network error

Please check the network connection or use a connected socket

10105

Failed to parse socket data

Data sent against the rules

Send data that conform to the rules

10106

Rapid motion failed. Not in the Manual mode

Wrong robot status. Not in the Manual mode

Switching to the Manual mode

10107

Rapid motion failed. Program is running

Wrong robot status. Program is running

Pause the program

10108

Rapid motion failed. Robot not powered on

Wrong robot status. Robot not powered on

Robot enables Power On

10109

Starting point not set. Error in Home instruction

Set the starting point through the Setup > Basic Settings > Quick Adjustment interface

10110

Calibration angle set successfully

None

10111

Failed to set the calibration angle

Calibration angle over the limit

Set the angle within the limit

10112

End-effector quick adjustment failed. Please select the appropriate adjustment type

End adjustment is used for fine-tuning the end-effector pose. Calculation may fail for large-scale end-effector adjustment

1. Check the robot’s current pose and tool/work object parameters, and select the appropriate type of end-effector adjustment; 2. The robot is already in the corresponding pose; 3. The specified pose is out of the range of motion; 4. The specified pose may move the robot to a singularity

10114

Duplicate serial port names. Please enter again

When creating a new serial port or modifying the name of a serial port, the name should be different from the system IO, the socket name or existing serial port names

Check the system IO, socket name and existing serial port names, and re-enter the new serial port name

10115

Serial port created successfully

None

10116

Failed to create the serial port

1. Serial port hardware connection disconnected; 2. The serial port socket does not exist

1. Please check the serial port hardware connection; 2. Delete the serial port variable from the variable list and recreate one

10117

Failed to close serial port

1. Serial port hardware connection disconnected; 2. The serial port socket does not exist

1. Please check the serial port hardware connection; 2. Click pptomain and run again

10118

Serial port closed successfully

None

10119

Serial port does not exist

The serial port does not exist

Please create a serial port in the Communication - Serial Port Setting interface

10121

Serial port failed to send string

1. Serial port hardware connection disconnected; 2. The serial port socket does not exist

1. Please check the serial port hardware connection; 2. Delete the serial port variable from the variable list and recreate one, and ensure that the serial port communication is proper and available

10122

Serial port failed to read byte

Data read cannot be converted to byte type

Please check the content sent

10123

Serial port failed to send byte

1. Serial port hardware connection disconnected; 2. The serial port socket does not exist

1. Please check the serial port hardware connection; 2. Delete the serial port variable from the variable list and recreate one, and ensure that the serial port communication is proper and available

10124

Serial port failed to clear buffer

1. Serial port hardware connection disconnected; 2. The serial port socket does not exist

1. Please check the serial port hardware connection; 2. Click pptomain and run again

10125

Serial port failed to obtain the buffer length

1. Serial port hardware connection disconnected; 2. The serial port socket does not exist

1. Please check the serial port hardware connection; 2. Click pptomain and run again

10126

serial data reception timeout

Network failure or code logic error

1. Check the code logic; 2. Check whether data is properly received and sent at the other end of the network

10127

serial failed to receive data

1. Abnormal serial port connection; 2. Opposite end failed to send data in time; 3. Mismatch of parameters configured for both ends of the serial port

1. Check the serial hardware connection; 2. Check whether the opposite end has sent data; 3. Check the parameters configured for both ends of the serial port

10128

xDiagnose version too old. Unable to view the data

xDiagnose version too old

Can use xDiagnose version 0.3.8 or above

10129

The wait time of the conveyor belt for the work object over the limit

1. The conveyor belt stops but the tracking is still on; 2. The photoelectric switch functions abnormally and it cannot capture the work object trigger signal

1. Check whether the conveyor belt is moving properly; 2. Check whether the photoelectric switch captures the trigger signal properly

10130

Work object beyond the startup window

10131

Work object beyond the working area

Work object beyond the working area. Unable to keep tracking

Please adjust the work object position

10132

Conveyor belt speed below the threshold

The conveyor belt stops moving or the encoder is disconnected

Please check whether the conveyor belt stops moving or the encoder is disconnected

10133

Failed to switch to the hot-swapping mode

Hot-swapping is not supported by the model, control cabinet or safety board firmware

1. Check whether the current robot model is an industrial model with the XBC5 control cabinet or a collaborative CR model; 2. Check whether the robot safety board is a mini board and the firmware is upgraded to 2.0; 3. Check whether the ENI file is correctly configured

10134

Failed to switch to the hot-swapping mode

1. Safety board failed to switch the status correctly; 2. Communication error

Please contact the supplier for support

10135

Switched to hot-swapping mode successfully

None

10136

Rapid motion failed. Angle over the mechanical limit

Joint angle over the mechanical limit

Modify the angle value and make sure it is within the mechanical limit

10137

Work object on the conveyor belt have been associated twice

Execute WaitWobj again when DropWObj is not executed

Please check the instruction. The same work object should be associated only once

10138

Failed to execute Waitwobj instruction

Caused by continuous execution in the Manual mode

Single-step execution in the Manual mode or continuous execution in the Automatic mode

10139

There are no associated work objects

1. There is no work object being tracked; 2. There is no conveyor belt with the specified name

Please place the work object on the conveyor belt and trigger the photoelectric switch. The status monitoring shows whether the work object is in the correct position

10140

Abnormal friction force identification result. Use nominal friction coefficient

Contact the Control Team

10141

The mass input is out of range

The mass input should be between 0 and the maximum load

10142

Load-free identification not performed. Loaded identification stops

Please perform load-free identification first and then loaded identification

10143

Failed to set speed before moving to a point position or force control identification

10144

This model only modifies the friction force after kinetic identification. It is recommended to perform friction force identification directly.

10145

PCB 3/4 axis robots do not support the Reduced mode for the moment. There is no trigger action

PCB 3/4 axis robots do not support the Reduced mode for the moment

10146

The Robot does not support dynamic identification

1.Please click the friction identification button

10147

Function authorization failure

See the content

Please contact the administrator of licensing

10148

The axis max speed exceeds the limit, data won’t be saved

See the content

Please edit the axis max speed setting on HMI

10149

Socket disconnected, pause program according to the socket setting

Socket disconnected

Check socket connection status

10150

Socket disconnected, pause program and power down motors according to the socket setting

Socket disconnected

Check socket connection status

10151

Failed to move to point

Invalid to set "handheld" or "external" for both the tool and the wobj

Select the correct tool and wobj

10152

Failed to save DH parameters. DH parameter changes over the limit

DH parameter changes over the limit

The limit range of DH parameter changes is: length +/- 50mm , angle +/- 10°

10153

Calibration failed. user frame id error

Select the correct user frame system and recalibrate.

10154

The robot is in a safe retraction state and cannot perform the current operation.

The robot is in a safe withdrawal state and is not allowed to perform the current operation.

After the jog robot has safely retracted in manual mode, try again.

10200

Electronic nameplate does not exist

1. The body has no electronic nameplate; 2. Hardware damage of the electronic nameplate; 3. The serial port of electronic nameplate configured incorrectly

1. Check the hardware connection of the electronic nameplate serial port; 2. Check the electronic nameplate hardware; 3. Check the serial port configuration of the electronic nameplate

10201

Error in electronic nameplate data reading

1. Wrong protocol address of the electronic nameplate; 2. Hardware damage of the electronic nameplate

1. Check whether the protocol matches; 2. Check the electronic nameplate hardware

10202

Error in electronic nameplate data writing

1. Wrong protocol address of the electronic nameplate; 2. Hardware damage of the electronic nameplate

1. Check whether the protocol matches; 2. Check the electronic nameplate hardware

10203

Electronic nameplate data mismatch

1. The robot body has been changed; 2. The control cabinet has been changed

Data overwrite after confirmation

10204

Encoder battery voltage too low

1. Running for too long; 2. Encoder battery is damaged

Replace the encoder battery

10205

The duration of the robot motion exceeded the warranty period

Not maintained in time

Regular maintenance

10206

Data overwritten successfully

None

10207

Electronic nameplate data overwrite not allowed

1. Electronic nameplate does not exist; 2. Model, ID or hardware version do not match

Please check the electronic nameplate according to the log

10208

RC data overwrite not allowed

1. The controller model does not match with the body; 2. Data has not been burnt to the electronic nameplate or wrong data is burnt

1. Select the correct model and restart the controller; 2. Burn the correct data to the electronic nameplate

10209

Socket communication failed

1.IP and port are already used by external communication 2.The socket name has the same name as the external communication, the default SYS_SOCKET name is already used by the external communication.

1.Change the port or IP of the socket 2.Change the name of the socket

10210

Switching precision compensation state not allowed

Zero point data error

Check zero point data

13013

Emergency stop triggered

None

Manually resume emergency stop

13014

Safety gate opened

None

Manually close the safety gate

13015

Start to calculate body parameter identification

None

13016

Error in program lexical or grammar check

Grammatical error in RL program

Please check the RL program

13017

Program PP_to_main failed

1. Task destroyed; 2. Project file not loaded; 3. main function missing

1. Reinitialize the task; 2. Reload the project; 3. Check if there is a main function in the file

13018

Program PP_to_func failed

1. Task destroyed; 2. Symbol table not yet established for the task; 3. The function to be jumped to does not exist

1. Reinitialize the task; 2. Check if there is a grammatical error in the function and recreate the symbol table; 3. Check if the function exists

13019

Program PP_to_line failed

1. Task destroyed; 2. Symbol table not yet established for the task; 3.The program PP_to_line jump is only allowed inside the same PROC/FUNC

1. Reinitialize the task; 2. Check if there is a grammatical error in the function and recreate the symbol table; 3.Please check if the jump is inside the same PROC/FUNC

13020

All RL tasks have been stopped. Please check the error message or click PPToMain

1. The single loop mode task is finished; 2. When an error occurs, the task will stop

1. Check the program for logical errors; 2.Click pptomain to run again

13021

Wrong base coordinate system. Failed to set

The controller can not parse the instruction to set the base coordinate system, possibly because the controller version is not compatible with the HMI

Please check whether the control system version matches with HMI

13022

Next step select unloaded Tasks.

Check the corresponding task in the project’s task list and execute pptomain.

13030

RSC Detects that the Robot Exceeds the Limit of Power

The robot power exceeds the limit, or the power of configuration in RSC is too low, or the RSC fails

Check whether the RSC robot power limit range is reasonable, or close the RSC robot power limit

13031

RSC Detects that the Robot Exceeds the Limit of Momentum

The robot momentum exceeds the limit, or the momentum of configuration in RSC is too low, or the RSC fails

Check whether the RSC robot momentum limit range is reasonable, or close the RSC robot momentum limit

13032

RSC Detects that the Robot Exceeds the Limit of Elbow or TCP Force

The robot Elbow or TCP force exceeds the limit, or the Elbow or TCP force of configuration in RSC is too low, or the RSC fails

Check whether the RSC robot Elbow or TCP force limit range is reasonable, or close the RSC robot Elbow or TCP force limit

13033

RSC Detects that the Robot Exceeds the Limit of TCP Velocity

The TCP velocity of robot exceeds the limit, or the TCP velocity of configuration in RSC is too low, or the RSC fails

Check whether the RSC robot TCP velocity limit range is reasonable, or close the RSC robot TCP velocity limit

13034

RSC Detects that the Robot Exceeds the Limit of Position

The position of robot exceeds the limit, or the RSC fails

Check whether the RSC robot position limit range is reasonable, or close the RSC robot position limit

13035

RSC Detects that the Robot Exceeds the Limit of Posture

The posture of robot exceeds the limit, or the RSC fails

Check whether the RSC robot posture limit range is reasonable, or close the RSC robot posture limit

13036

RSC Detects that the Robot Exceeds the Limit of Collision Force

The collision force of robot exceeds the limit, or the RSC fails

Check whether the RSC robot collision force limit range is reasonable, or close the RSC robot collision force limit

13037

RSC Detects that the Robot Exceeds the Limit of Joint Power

The joint power of robot exceeds the limit, or the RSC fails

Check whether the RSC robot joint power limit range is reasonable, or close the RSC robot joint power limit

13038

RSC Detects that the Robot Exceeds the Limit of Joint Position

The joint position of robot exceeds the limit, or the RSC fails

Check whether the RSC robot joint position limit range is reasonable, or close the RSC robot joint position limit

13039

RSC Detects that the Robot Exceeds the Limit of Joint Velocity

The joint velocity of robot exceeds the limit, or the RSC fails

Check whether the RSC robot joint velocity limit range is reasonable, or close the RSC robot joint velocity limit

13040

RSC Detects that the Robot Exceeds the Limit of Joint Torque

The joint torque of robot exceeds the limit, or the RSC fails

Check whether the RSC robot joint torque limit range is reasonable, or close the RSC robot joint torque limit

13041

RSC Detects that the Communication of joint is Abnormal

The joint communication of robot is abnormal, or the RSC fails

Try to reboot the robot, or contact the manufacturer to check the hardware failure

13042

RSC Detects that the Operation of joint is Abnormal

The joint operation of robot is abnormal, or the RSC fails

Try to reboot the robot, or contact the manufacturer to check the hardware failure

13043

The Communication between RSC and Controller is error

The communication between RSC and controller is error

Try to reboot the robot, or contact the manufacturer to check the hardware failure

13044

Failed to Synchronize Sdo Data Between Controller and RSC

Failed to synchronize sdo data between controller and RSC

Try again, or contact the manufacturer to check the hardware failure

13045

Succeeded in Synchronize Sdo Data Between Controller and RSC

13046

The security limit of RSC is exceeded when dragging

When dragged, TCP speed exceeds 250mm/s, triggering safe stop

13047

RSC Initialization Parameter Checks are Inconsistent.

The basic security parameters of RSC are inconsistent with those of the master controller

Hard restart the robot or control cabinet

13048

The communication between the RSC and the master controller enters a secure data state (0x08)

13049

The parameter of joint position limit for RSC is invalid

The set angle is beyond the robot’s mechanical limit

Confirm the robot’s mechanical limit and set the angle within the range

13050

The parameter of safety home position for RSC is invalid

The set angle is beyond the robot’s mechanical limit

Confirm the robot’s mechanical limit and set the angle within the range

13051

Safety gate closed

13052

Safety gate is opened, and the RL program cannot be continued

Safety gate is opened

Reset the safety gate, and try again

13053

RSC trigger Flying speed protect

Robot experience flying speed

13057

RSC detected a short circuit fault in channel

Please check if there is any wiring error. After the fault is restored, power off and restart

13058

RSC detects inconsistent dual-channel signals of safety DI signals

RSC safety DI signal dual channel signal is inconsistent

Please check and repair the wiring of the corresponding DI signal, then reset it to 0, and then set it to 1 at the same time to recover the fault

13059

RSC detected a dual machine communication failure

If it persists, it is recommended to replace the RSC

13060

RSC detected MCU address fault

If it persists, it is recommended to replace the RSC

13061

RSC detected inconsistent output data fault

The data information output by the host and slave computers is inconsistent

If it persists, it is recommended to replace the RSC

13062

RSC detected voltage exceeding the limit

The voltage of the power supply is not between 20~30V

Check RSC power supply voltage

13063

RSC detected algorithm library malfunction

13064

RSC detected that Bamboo is not running properly

Power off and restart. If the issue persists after restarting, it is recommended to replace the RSC

13065

RSC detects FSOE internal communication failure

Re power on for testing. If the issue persists, it is recommended to replace the RSC

13066

RSC detected communication failure in FSOE department

Re power on for testing. If the issue persists, it is recommended to replace the RSC

13067

RSC detected abnormal communication from station

13068

RSC detected that the slave station is not in the FSOE data state

14001

Network disconnected

None

14002

Network connection closed

None

14003

Network connection established

None

14004

Network connection monitoring enabled

None

14005

Reconnecting network

None

14006

Reconnecting network

None

14010

Write is not allowed for bound registers

The register is bound to the system functional register. Write operation in RL program is not allowed

Please use another register or unbind this register

14011

Failed to open fieldbus device. Corresponding Ethercat slave not found

No Ethercat slave is configured or there is an exception in the device linking

Import and configure Ethercat slave

14012

The register is readonly register, Write operation is not allowed

Please use writeonly register, or modify the register attribute

14020

Fieldbus device opened successfully

None

14021

Failed to open fieldbus device

See the "content"

Please check the fieldbus device configuration and make sure that the corresponding device is correctly connected

14022

Fieldbus device closed successfully

None

14023

The serial port is already occupied by the fieldbus device

The serial port is already used by modbus RTU fieldbus device

Close the fieldbus device or use another serial port

14030

Error in profinet fieldbus model configuration

The data model selected for the slot does not match the PLC

Reconfigure the data model of the slot

14031

Error in holding register file

Error in crc validation for holding register files. Files are corrupted

Delete holding register file

14032

Failed to open fieldbus device.SDO setup failed

SDO setup failed

Check if SDO initialization settings meet device requirements

14501

Unable to set system DO

DO signal is a system IO signal and cannot be set

Please use other output signals or unbind this signal in the system IO

14502

Failed to set GO signal

The value set is beyond the valid range of the signal

Please check the value

14503

Failed to set AO signal

The value set is beyond the valid range of the signal

Please check the value

14504

Failed to set PulseDO. Time out of range

Wrong pulse time, [0.001, 2000] S range

Re-enter the pulse time

14505

Failed to set PulseReg. Time out of range

Wrong pulse time, [0.001, 10] S range

Re-enter the pulse time

14510

Failed to load the output signal

The mapped physical port is in conflict with other signals or system output signals

1. Check if the output port is occupied; 2. Reconfigure the system IO

14511

Failed to set the system input signal. There is a conflict

Violation of system input configuration rules. Possible causes: 1. Duplicate system IO is configured; 2. The corresponding IO is already occupied by the RL project; 3. IO signal does not exist

1. Configure independent system IO; 2.Modify the system IO occupied by the RL project; 3.Open or create IO device

14512

Failed to set the system output signal due to a conflict

Violation of system output signal configuration rules. Possible causes: 1. Duplicate system IO is configured; 2. The corresponding IO is already occupied by the RL project; 3. IO signal does not exist

1. Configure independent system IO; 2.Modify the system IO occupied by the RL project; 3.Open or create IO device

14521

Failed to initialize Ethercat IO device. Corresponding Ethercat slave not found

No Ethercat slave is configured or there is an exception in the device linking

Import and configure Ethercat slave

14530

The status of the safety panel expansion IO device has changed

Hardware damage or abnormal linking for the expansion IO device

Please check the hardware status and link status of the expansion IO devices on the safety panel

14531

The status of the safety panel expansion IO device has changed

New expansion IO device connected

None

14532

IO device status has changed

IO device configuration connected

None

14533

IO device status has changed

IO device configuration connected

None

14534

IO device status has changed

IO device connection error

None

14535

The imported register variable uses a bus device that does not exist on the current machine

The bus device is not configured on the current machine

Manually edit the register variable and change the device name to a bus device that exists on the current machine

14536

Empty signal name

Used an empty signal

Use the signal with the normal name

14537

Signal type invalid

An invalid type of signal was used

Use the correct signal type

14538

Signal mapping device not existed

The signal is bound to a non-existent device

Bind the signal to the correct device

14539

Signal mapping device is disabled

The device for signal mapping is disabled

1.Bind other normal devices 2.Re-enable disabled devices

14540

New group signal mapping invalid, Port mapping error

The relationship between the starting port and ending port of the group signal is incorrect

The group signal end port number should be greater than the start port number; 2.The port number of the signal should not exceed the device port range

14541

New group signal mapping invalid, Port number should not be greater than 32

Too many signal ports in the group

The number of signal ports in the group should not exceed 32

14542

New signal mapping invalid, Port mapping error

Signal port setting error

1.Change the starting and ending ports of the signal to make them consistent; 2.The port number of the signal should not exceed the device port range

14543

New signal mapping invalid, Output physical port is already used

The port used by the signal is occupied

1. Configure independent system IO; 2.Modify the system IO occupied by the RL project; 3.Open or create IO device

15000

Failed to execute drag path playback

Execute drag path playback. No available drag data in the buffer

Record the drag path again

15001

Failed to save the drag data

No available drag data in the buffer

Please record the drag path again

15002

Failed to execute drag path playback

Drag path record deleted accidentally

Record the drag path or import the path again

15003

Failed to execute drag path playback. Error in drag file data

Playback path from another type of robots

Import the correct drag playback path or record the trajectory again

15004

Failed to save the drag data

Failed to drag the replay serialized data to the hard disk file

Please record the drag path again or restart the robot

15005

Drag data saved successfully

None

15006

Execute drag path playback

None

15007

Start recording the drag playback data

None

15008

Stop recording the drag playback data

None

15009

Stop executing drag path playback

None

15010

Failed to record path data: too few path waypoints

Too few drag path waypoints

Please record the drag path again

15011

Failed to record path data: joint angle over the limit

Joint in the drag path exceeds the joint position limit

Please record the drag path again

15012

Failed to record path data: joint velocity over the limit

Joint velocity in the drag path exceeds the limit

Please record the drag path again

15013

Failed to record the path data: the speed is not zero when recording ends

The speed is not zero when path recording ends

Click end recording after the robot stops

15014

Failed to record path data: The speed is not zero when recording starts

The speed is not zero when recording starts

Make sure the robot is stopped before recording starts

15015

Failed to record the path data: motor not powered on

Motor not powered on

Robot Power-On

15016

Path data recorded successfully

None

15017

Execute drag path playback. Failed to read path

Failed to parse the drag path data. The path data may be tampered

Import the path or record the trajectory again

15018

Path playback. The speed set exceeds the limit

The playback speed set is too fast

Decrease the path playback speed

15019

Waypoints in the path playback exceed the joint position limit

Playback path waypoint exceeds the joint position limit

Adjust the current joint position limit

15020

Path playback is not allowed when the track is turned on.

Path playback after closing the tarck.

17001

1. The register does not exist; 2. The register does not match the variable type; 3. The array subscript is out of range

Please check the register settings

17002

1. The register does not exist; 2. The register does not match the variable type; 3. The array subscript is out of range

Please check the register settings

17003

modbus failed to read the input register

17004

Failed to load register configuration

Failed to parse register configuration file (registers.json). See the "content" for reasons

Please try to reconfigure the register or erase the configuration

17005

modbus communication failed, modbus link not established

17006

modbus configuration saved successfully

None

17007

External communication configuration saved successfully

None

17008

Failed to parse modbus configuration

Error in modbus register configuration

Check the modbus register configuration

17009

Failed to load the bus device configuration file

Failed to parse the bus device configuration file (fieldbus_device.json). See the "content" for reasons

Please try to reconfigure the bus device or erase the configuration

17100

Failed to turn on cclink. cclink gateway module not retrieved

cclink gateway module not configured or an exception in the device linking

Import and configure cclink gateway module

17101

cclink already turned on

None

17102

Failed to turn on cclink

17103

cclink already turned off

None

17104

Successful communication with CC-LINK IEF Basic master

None

17105

Communication with CC-LINK IEF Basic master disconnected

None

17200

There is no any set of servo params files that meet the rules in the controller

Each function of servo parameter switching can only be used if there is at least one set of servo params in the controller

None

17201

Power on failure, power on is prohibited during servo parameter switching

None

17202

It is prohibited to switch servo parameters while robot is power on

None

17203

Successfully switched servo parameters

None

17204

Servo parameter switching mismatch

None

17205

Electroplating line visual socket, IP cannot be empty or '0.0.0.0', port cannot be empty

None

17206

Quick adjustment of custom pose beyond limit.

None

17207

There is an external input that is rejected.

None

17300

RL program customization stopped and cannot continue running

After pptomain、pptoline or pptofunc, start run program

None

17301

xService’s connection disconnected

1.Connection between HMI and xCore disconnected unexpectedly; 2.SDK as client disconnect this connection

1.On HMI disconnect with xcore and reconnect it.

17310

Servo parameter acquisition failed

17311

Successfully obtained servo parameters

17312

Servo parameter download failed

17313

Successfully downloaded servo parameters

17314

Some fields in cfg are missing

Cfg file is incomplete

please update the cfg file

17315

Fail to change IP

See content

Enter the appropriate IP

17316

Rail zero calibration failed

1. Not in the Manual mode; 2. Robot in motion; 3. Not in the Position mode

Please make sure that the robot is in the Manual mode and not in motion

17317

Rail zero calibration succeeded

None

17318

Soft estop state does not allow power on

There is currently a read-only register bound to ctrl_soft_estop function code and low level, no power on allowed

Reset the register bound with the ctrl_soft_estop function code

17319

Soft emergency stop triggered

none

Resume soft emergency stop by register

17320

Motion commands status is inconsistent with the operation

See the content

Do PPtoMain or reset cache

17500

The driver is in a critical error state. It’s not allowed to clear alarm and power on.

The driver is in a critical error state, hardware may in error state.

Try to power off and restart the control system; Contact the manufacturer’s technical support.

17400

OpcUA Variable read failed

1.The variable is not existed; 2.The variable type is different from the parameter

Please check the RL command and the OpcUA variable configuration

17401

OpcUA Variable write failed

1.The variable is not existed; 2.The variable type is different from the parameter

Please check the RL command and the OpcUA variable configuration

17402

Soft calibration failed

1. Not in the Manual mode; 2. Robot in motion; 3. Not in the Position mode

Please make sure that the robot is in the Manual mode and not in motion

17403

Axis zero calibration successfully

17404

Axis soft calibration successfully

17405

Soft calibration successfully

17406

Axis Soft calibration failed

1. Not in the Manual mode; 2. Robot in motion; 3. Not in the Position mode

Please make sure that the robot is in the Manual mode and not in motion

17407

Opening rail failed, please close the safety area first

17408

Safety area open failed

When the rail is opened, the safety area cannot be opened

17507

Conveyor start tracking failed..

None

17508

Conveyor stop tracking failed..

None

17509

Conveyor calibration failed, the number of points in the X direction is not 3.

Please check the calibration process

None

17510

Conveyor calibration failed, transmission ratio is 0.

1.The conveyor belt is not turned on, 2.Encoder value abnormality

None

17511

The safety stop parameters are set incorrectly

The safety stop parameters may be set to zero

Please set The safety stop parameters to proper values

17512

During the tracking process of the conveyor belt, it is prohibited to execute ordinary motion commands

None

17513

The conveyor belt stopped during tracking and cannot continue running

None

After pptomain, rerun the program

17520

OPC UA server start failed

1.Port is wrong or occupied; 2.Error Configuration

1.Use the right port; 2.Change the configuration

17521

HMI link

None

17522

HMI Motor

None

17523

HMI Motor

None

17524

PP_To_Main

None

17525

PP_To_Line

None

17526

PP_To_Func

None

17527

Reload Project

None

17528

Run Project

None

17529

Project Forward

None

17530

Project Back

None

17531

Manual mode switching successfully

None

17532

Automatic mode switching successfully

None

17600

Turn off maximum torque monitoring

17700

None

30067

joint power over the limit

None

30068

TCP angular speed over the limit

None

30069

elbow speed over the limit

None

30070

elbow angular speed over the limit

None

30071

moment over the limit

None

30072

tool attitude over the limit

None

18000

Robot exits the shared area, freeing the shared area from occupation

None

18001

Robots enter the shared area, and the shared area is occupied

None

18002

The robot has entered the occupied shared area and is slowing down and stopping at maximum capacity

None

18003

The robot is about to enter the occupied shared area, slowing down and pausing, waiting for the shared area to be released

None

18004

The robot has entered the prohibited zone and has slowed down to a maximum capacity to stop

None

18005

Robots are about to enter the prohibited zone, plan to stop

None

18006

Shared area failure, robot continues to operate

None

18007

When switching the reduction mode, the current joint axis angle has exceeded the reduced joint position

None

Please reset the reasonable reduction joint position

18008

Cannot change the dimension of the array

None

Do not modify array dimensions

18009

controller logs are corrupted, using backup logs

may be caused by a power failure or abnormal restart

no need to fix

17.1.2 2 XXXX

Code

Description

Possible Reasons

Solution

31001

Configuration Parameter Error of EtherCAT Master

Mismatched EtherCAT configuration files

Re-import the configuration files, and restart the control system

31002

Failed to Read EtherCAT Authorization Files

The authorization file does not exist or the read and write permissions are incorrect

Re-import the authorization file

31003

EtherCAT Authorization Failure

EtherCAT not Authorized

Please check the EtherCAT authorization code and try to reauthorize it on the EtherCAT authorization interface. After the authorization is successful, restart the robot to take effect

31004

EtherCAT Master Configuration Failure

The master configuration fails due to mismatched EtherCAT configuration files

Re-import the configuration files, and restart the control system

31005

DC Configuration Failure

The configuration fails due to mismatched EtherCAT configuration files

Re-import the configuration files, and restart the control system

31006

DCM Configuration Failure

The configuration fails due to mismatched EtherCAT configuration files

Re-import the configuration files, and restart the control system

31007

Bus Scan Failure

The configuration fails due to mismatched EtherCAT configuration files

Re-import the configuration files, and restart the control system

31008

The Number of Configured Slaves Does not Match that of Scanned Slaves

1. The configuration fails due to inconsistency between the EtherCAT configuration and the actual network topology; 2. Hardware failure in the EtherCAT network from the slave equipment

1. Re-import the configuration files, and restart the control system; 2. Contact the manufacturer’s technical support

31009

Failed to Enable the EtherCAT Bus

Due to errors in EtherCAT bus startup process, some slaves cannot switch to OP mode correctly, resulting in bus failure

Try to restart the control system; contact the manufacturer’s technical support

31010

Internal Axis Servo Initialization Failure

The drive malfunctions internally

Check whether the servo drives are disconnected from each other

31011

IO Slave Initialization Failure

1. The IPC and general IO modules are disconnected from each other; 2. General IO modules and safety IO modules are disconnected from each other

Restart the control system after reconfiguring the IO signal according to the failure reason

31012

Tailboard Slave Initialization Failure

The IPC and the general tailboard slave module is disconnected from each other, or the tailboard slave hardware fails

Check the hardware connection, or replace the tailboard slave hardware

31013

Safety Board Slave Failure

The IPC and the safety board slave modules are disconnected from each other

Check hardware connections

31014

Abnormal Communication with Slave Devices

1. The communication between IPC and slave module is interrupted; 2. The slave device malfunctions

1. Confirm whether the EtherCAT debug cable is unplugged from the robot side; 2. Check the hardware connections and restart the control system; 3. Please contact the technical support

31015

Servo Alarm

The servo drive sends an alarm, and the specific reason for the alarm needs to find the corresponding drive manual according to the error code reported by the servo

1. Find the corresponding drive manual according to the error code, and handle it according to the manual guidance; 2. Contact the technical support

31016

Servo alarm cleared

None

31017

Ethercat is not Authorized, and the Trial Period Ends

Ethercat is not authorized and can only be used for one hour

Please contact the technical support to ask for the Ethercat authorization code and authorize on the EtherCAT authorization interface. After the authorization is successful, restart the robot to take effect

31018

Abnormal Connection between Slave Device and Controller

1. The cable between the slave device and the controller malfunctions; 2. The slave malfunctions

1. Please check whether the cables between the slave devices fail; 2. Please contact the technical support

31019

Failed to Initialize the CClink Gateway Slave

The hardware connection is abnormal or the hardware malfunctions

Check hardware connections

31020

Ethercat IO Slave Module not Adapted

The Ethercat IO slave module that has not been adapted is used, therefore the controller has no information about the current IO slave. Users need to ensure that the IO module is configured and used correctly

Since the PDO setting of the IO module that has not been adapted is unknown, there is a certain risk in direct use. Please use it with caution. Generally, digital IO modules with less than 64 channels can be used directly; however, the analog IO module is not recommended to be used directly because the controller is unknown to its analog quantity type, range and accuracy parameters, and the PDO settings of various equipment manufacturers may also be different. Please contact the technical support for adaptation before using it

31021

Safety Board Slave Initialization Failure

The safety board firmware version configured by the eni file is inconsistent with the actual firmware version

Check whether the safety board firmware version of the eni file is consistent with the actual firmware version

31022

Tailboard slave Input Current Signal Overload

When the tailboard slave channel AI is set to current mode, make sure that the actual input is current and does not exceed the limit parameter, otherwise the hardware may be damaged

Please disconnect the input signal of the corresponding channel and enter the xpanel configuration interface to set as Voltage Mode

31023

Tailboard slave Input Current Signal Overload

The xpanel setting has been completed, and the overload is recovered

To continue using the current mode, ensure that the input current is not overloaded

31024

xPanel terminal slave station hardware test failed

xPanel terminal slave station hardware test process is incorrect, hardware connection is incorrect or hardware is faulty

Please confirm the xPanel test process is correct. If the fault persists, contact R&D for troubleshooting

31025

Safety Board Type Configuration Error

The safety board type of the configuration is inconsistent with the actual safety board type

Check whether the safety board type of the configuration is inconsistent with the actual safety board type

31026

Initialization of internal axis servo drive failed

The server drive version in the ENI file of the master configuration is inconsistent with the server drive configuration scanned

Replace the main site ENI file to confirm that the correct ENI file is used.

31027

Unable to read the primary ENI file correctly

The master ENI file was not found in the system

Re upgrade the ENI file corresponding to the current model

31028

EtherCAT failed to scan the bus, and the scan slave information does not match the slave information in the configuration ENI file

The configuration of slave information or topology in the ENI file of the master station is inconsistent with the scanned EtherCAT slave station

Replace and upgrade the correct ENI file

31029

EtherCAT scan bus failed with cross wiring from the slave station

EtherCAT slave station wiring error

Please check whether the wiring of EtherCAT slave station is correct

31030

External Axis Servo Initialization Failure

1. An unconnected external axis, such as a guide rail, was mistakenly opened 2.The drive malfunctions internally

According to the cause of the error, close the external axis that was opened incorrectly or check if the connection with the external axis is interrupted

31031

Initialization of external axis servo drive failed

The server drive version in the ENI file of the master configuration is inconsistent with the server drive configuration scanned

Replace the main site ENI file to confirm that the correct ENI file is used.

31032

The ESI file and controller version of the safety board RSC do not match

The controller version is 3.0, and the ESI file of the safety board RSC does not match the controller version. Some of RSC’s safety functions will not function properly.

We need to upgrade the ESI file of the RSC security board and the ENI file of the main control

32001

Power-On Failure

Servo faults, STO circuit open, power-on aborted, etc.

1. Confirm operation procedure; 2. Check servo status; 3. Clear servo alarms before power-on retry

32002

Power-on Failed, STO not Connected

None

32003

Blocking of Communication Thread between Controller Master and Slave Device

The communication between the controller and the slave device is abnormal due to software reasons

1. Soft restart of controller; 2. Contact the technical support

32004

EtherCAT Thread Blocked, Scheduling Timeout

Internal system error

Restart control system

32005

The EtherCAT Thread was Blocked and Timed Out over 5000 Times in a Row

Internal system error

Restart control system

32006

Position Command Rejected

The position command to be sent to the servo has a big jump, and the generated speed exceeds the maximum speed of the motor, which may cause danger. To be safe, perform the power-off operation

Re-power on to operate

32007

Ethercat Thread Event Execution Timeout

Internal alarm

Internal state record, which can be ignored

32008

Error while writing Servo Zero

Only support CR joints, confirm whether it is a CR robot and whether the firmware is correct

None

32009

write servo zero successfully

32010

Encoder Battery Voltage Low Warning

Encoder Battery Voltage Insufficient

Please replace encoder battery in time

32011

Encoder Battery Voltage Low Warning Cleanup

35001

Short Circuit of the Drive

Output to output, output to ground, internal PWM bridge error

Troubleshoot circuit problems and eliminate short circuit

35002

Over-Temperature of Drive

The internal temperature of the drive reaches the set value

Reduce the drive temperature below the set value

35003

Over-Voltage of Drive

The bus voltage exceeds specified voltage limit

The bus voltage is restored within the specified voltage range

35004

Under-Voltage of Drive

The bus voltage is below the specified voltage

The bus voltage is restored within the specified voltage range

35005

Over-Temperature of Encoder Motor

The motor over-temperature switch shows the over-temperature error

Restore the temperature switch to normal state

35006

Encoder Feedback Error

1. 5V output inside the drive is over-current; 2. The resolver or analog encoder is not wired; 3. The level exceeds the error range; 4. The incremental encoder differential signal is not wired

1. The encoder power supply is restored to the specified voltage range; 2. The feedback signal is restored to the specified level range; 3. The differential signal is connected well

35007

Drive Phase Error

The phase angle based on the encoder fails to match with the switch state of the HALL. This error occurs only when the brushless motor is configured to be sinusoidal. This error does not occur during the resolver feedback or when the HALL correction function is stopped.

The phase angle based on the encoder is consistent with the switching state of the HALL

35008

Drive Reached the Current Limit

Motor overload or abnormal circuit

1. Check whether the motor is overloaded; 2. Check the circuit; 3. Contact the technical support

35009

Drive Reaching Voltage Limit

1. The set speed is too high; 2. The motor is abnormal

1. Check whether the set speed is abnormal; 2. Check whether the motor is abnormal; 3. Contact the technical support

35010

Power-on of Drive at Positive Limit

The drive is over positive limit

Restore the drive limit

35011

Power-on of Drive at Negative Limit

The drive is over negative limit

Restore the drive limit

35012

Drive Following Difference out of Tolerance

Beyond the following error set by the user

Check whether the upper instruction fails and check the robot state

35013

Position Counter in Place

Internal error of drive

Try to restart. If the problem is not solved, please contact the technical support

35014

Suitable for Fault without Other Emergencies

Internal error of drive

Try to restart. If the problem is not solved, please contact the technical support

35015

Node Error

Internal error of drive

Try to restart. If the problem is not solved, please contact the technical support

35016

Command Error of Drive

1. This error is not accurate and can be ignored; 2. There is no PWM or other command signals

Recover to input signal

35100

Under-Voltage of the Drive DC Bus

The servo detects that the bus voltage is less than the set under-voltage protection threshold in real time possibly due to insufficient bus supply voltage

1. Check whether the power supply voltage of the robot is normal; 2. Check whether the drive capacitance is normal; 3. Replace the servo drive

35101

Over-Voltage of Drive DC Bus

The servo detects that the bus voltage is higher than the set over-voltage protection threshold in real time, possibly because: 1. The bus power supply voltage is too high; 2. The robot decelerates too quickly; 3. The handling of base power supply is abnormal

1. Check the power supply voltage of the robot; 2. Check the deceleration of the robot; 3. Check the robot power management loop

35102

Over-Current of Drive Motor

The amplitude of servo real-time detection current vector is larger than the set safety protection threshold, possibly because the current is raised up due to the sudden stop of the motor during operation

1. Check whether the three-phase line and 48V power line of the motor are connected correctly; 2. Check whether the motor deflection angle is correct

35103

Over-Load of Drive Motor

The joint motor continuously exceeds the rated torque protection threshold range, possibly because of the servo closed-loop control. If the actual position of the motor cannot track the given position, the torque current will be too large, and the error will be reported when the duration reaches a certain degree

1. Check whether the three-phase line and band-type brake cable of the motor are connected correctly; 2. Check whether the motor deflection angle is correct

35104

Drive Motor Magnetic over Limit

Determine whether the excitation current amplitude is less than the set value, otherwise, an error will be reported. For field weakening control, it is necessary to change the excitation current to reach a higher speed. At present, the bus voltage of the motor adapted by low-voltage servo is enough, without requiring field weakening, so this error report has been blocked

Update the servo drive to the latest firmware version and update the servo drive to the latest parameter version

35105

Stall Alarm of Drive

If the joint speed tracking error is greater than the set threshold and lasts for more than 1s, an error will be reported. Stall is reported in the start-up stage, and the motor needs to find the deflection angle again for normal operation. When stall is reported during motor operation, it is necessary to check hardware configuration, software version and parameters

1. Check whether the three-phase line and band-type brake cable of the motor are connected correctly; 2. Check whether the motor deflection angle is correct; 3. Check the hardware configuration; 4. Check the servo software version

35106

Out of Tolerance of Drive Position

The joint position tracking error exceeds the set threshold, so it is necessary to check whether the hardware and software are configured correctly with suitable version

1. Check whether the wiring harness is connected correctly; 2. Check whether the joint encoder is normal; 3. Replace joint hardware, motor, reducer and drive; 4. Confirm whether the instructions issued by the master station are reasonable

35107

Zero Current Alarm of the Drive

The zero current value needs to exceed the set threshold, and the current is abnormal when it is not enabled

Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive

35108

Phase A Over-Current of the Drive

1. The phase A current of the motor exceeds the sampling range of the drive current; 2. The locked rotor for motor; 3. The load is too large or the speed is too fast; 4. The resistance of joint mechanism is large

1. First check whether the harness is connected correctly; 2. Check whether the motor deflection angle is correct; 3. Check whether the band-type brake is opened correctly when enabling; 4. When the load is too much, reduce the speed and check whether the fault disappears; 5. Observe whether the fault joint during operation makes abnormal noise due to excessive resistance

35109

Phase B Over-Current of the Drive

1. The phase B current of the motor exceeds the sampling range of the drive current; 2. The locked rotor for motor; 3. The load is too much or the speed is too fast; 4. The resistance of joint mechanism is high

35110

Phase C Over-Current of the Drive

1. The phase C current of the motor exceeds the sampling range of the drive current; 2. The locked rotor for motor; 3. The load is too much or the speed is too fast; 4. The resistance of joint mechanism is high

35111

IGBT Over-Current of the Drive

1. The motor current exceeds the set threshold; 2. The locked rotor for motor; 3. The load is too much or the speed is too fast; 4. The resistance of joint mechanism is high

35112

Object Overflow of the Drive

35113

Image Overflow of the Drive

35114

Thread H Timeout of the Drive

35115

Thread M Timeout of the Drive

The servo software scheduling is abnormal, and the program has not been completed within the specified time, possibly because the firmware version or parameter version is not the latest one

Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive

35116

Thread L Timeout of the Drive

35117

Thread C Timeout of the Drive

35118

Interrupt and Crash of the Drive

The servo software scheduling is abnormal, and the program has not been completed within the specified time, possibly because the firmware version or parameter version is not the latest one

Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive

35119

Main Task Crash of the Drive

35120

Illegal Hardware of the Drive

35121

Timeout in Debug Version of the Drive

35122

Object ID Timeout of the Drive

35123

Thread ID Error of the Drive

35124

PV Variable ID Error of the Drive

35125

VV Variable ID Error of the Drive

35126

VU Variable ID Error of the Drive

35127

Data Type Error of the Drive

35128

Existence of Data Object of the Drive

35129

Non Existence of Data Queue of the Drive

35130

Full Data Queue of the Drive

35131

Empty Data Queue of the Drive

35132

Application Version Error of the Drive

35133

Parameter Verification Error of the Drive

35134

Parameter Number Error of the Drive

35135

PN Parameter ID Error of the Drive

35136

UN Parameter ID Error of the Drive

35137

FN Parameter ID Error of the Drive

35138

SPI Communication Error of the Drive

The communication between DSP and parameter memory is abnormal, possibly due to the firmware version or the parameter version is not the latest one; or the servo drive hardware is abnormal

Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive

35139

E2P Overflow of the Drive

Too many parameters are read by the parameter memory, possibly due to the firmware version or the parameter version is not the latest one; or the servo drive hardware is abnormal

Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive

35140

Empty Dynamic Memory of the Drive

Logic error occurs in the servo software operation, possibly due to the firmware version or the parameter version is not the latest one

Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive

35141

Instruction Code Error of the Drive

Logic error occurs in the servo software operation, possibly due to the firmware version or the parameter version is not the latest one

Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive

35142

Instruction Length Error of the Drive

Logic error occurs in the servo software operation, possibly due to the firmware version or the parameter version is not the latest one

Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive

35143

Meter Channel Number Error Of the Drive

35144

OSCI Channel Number Error Of the Drive

35145

Static Mode Error of the Drive

Error occurs in the servo operation mode, possibly due to the servo firmware and parameters are not the latest version; or the servo parameters are not successfully written

Update the servo drive to the latest firmware version and replace the servo drive

35146

Dynamic Mode Error of the Drive

Error occurs in the servo operation mode, possibly due to the servo firmware and parameters are not the latest version; or the servo parameters are not successfully written

Update the servo drive to the latest firmware version and replace the servo drive

35147

Mode Change Error of the Drive

Error occurs in the servo operation mode, possibly due to the servo firmware and parameters are not the latest version; or the servo parameters are not successfully written

Update the servo drive to the latest firmware version and replace the servo drive

35148

IPM Alarm of the Drive

It is possibly because the servo firmware and parameters are not the latest version

Update the servo drive to the latest firmware version and replace the servo drive

35149

Module Overheating Alarm of the Drive

The joint temperature exceeds the temperature range for safe and reliable operation

Carry out corresponding cooling treatment

35150

Disconnection of the STO Switch of the Drive

The servo has been detecting the STO signal level, which is inconsistent with the setting logic, so an error is reported, possibly due to the robot enabling handle is not effective

1. Press the manual enabling handle; 2. Re-plug the STO cable; 3. Replace the STO cable and the servo drive

35151

Encoder Error (0x7371)

The QEP encoder reports an error and the ABZ cable is disconnected, possibly due to the servo has not been upgraded to the latest firmware and parameter version

Update the servo drive to the latest firmware version and update the servo drive to the latest parameter version

35152

Encoder Error (0x7372)

35153

Encoder Error (0x7373)

35154

Encoder Error (0x7374)

35155

Encoder Error (0x7375)

35156

Encoder Error (0x7376)

35157

Encoder Error (0x7377)

35158

Encoder Error (0x7378)

Encoder chip reports an error: Biss2 communication abnormal

1. Check the joint encoder cable; 2. Replace the encoder; 3. Replace the encoder cable; 4. Replace the servo drive

35159

Encoder Error (0x7379)

Encoder chip reports an error: Biss1 communication is abnormal, and the encoder decoding chip cannot be found

1. Check the encoder cable at the joint motor side; 2. Replace the encoder; 3. Replace the encoder cable; 4. Replace the servo drive

35160

Encoder Error (0x737A)

1. CRC error of encoder communication; 2. Encoder communication is abnormal

1. Re-plug the encoder cable; 2. Replace the encoder; 3. Replace the encoder cable; 4. Replace the servo drive

35161

Encoder Error (0x737B)

The encoder communication is abnormal: CRC verification of encoder passed, but encoder chip reported an error

1. Re-plug the encoder cable; 2. Replace the encoder; 3. Replace the encoder cable; 4. Replace the servo drive

35162

Encoder Error (0x737C)

1. Single encoder hardware fault; 2. The encoder battery is exhausted.

1. If a single encoder reports an error and cannot be recovered after restart, it is necessary to contact after-sale maintenance. 2. All axes report errors at the same time. Contact the after-sale maintenance to replace the encoder battery.

35163

TZ Trigger

35164

Internal Error (0xFF91)

35165

Upper Enabling Current Loop is Set as 0 (0xFFA2)

35166

Unable to Track the Master Station Position Command (0x8612)

35201

5v of Over-Current of Secondary Encoder

CDHD can provide a maximum current of 250 mA to the secondary encoder. Check whether the encoder is short-circuited, and whether the encoder drawing exceeds the current limit

35202

Over-Current

1. Drive or motor fault; 2. The robot load exceeds the limit; 3. Send collision, etc.

Check whether the motor connection is short-circuited and whether there is overshoot in the current circuit

35203

Foldback of the Motor

1. Drive or motor fault; 2. The robot load exceeds the limit; 3. Send collision, etc.

Check the specifications of the drive-motor. This fault may occur if the capacity (power) of the motor is too small.

35204

Foldback of the Drive

Check the specification of the drive-motor. This alarm may occur if the capacity (power) of the drive is too small. Check whether the commutation angle is correct (i.e., whether the rectification is balanced)

35205

Invalid Current Sensor Compensation

The drive malfunctions

Restart. If the fault still exists, the driver may need to be repaired. Please contact the technical support

35206

Disconnection of Motor Phase

The drive malfunctions

Check the wiring of the motor phase

35207

Output Over-Current Detection

The drive malfunctions

Verify the correct wiring of the digital output and ensure that the output circuit is not shorted.

35208

Over-Voltage

Check whether regenerative resistance is required

35209

Under-Voltage Fault

Check whether the main AC voltage power supply is connected to the drive and turned on. The under-voltage limit can be read by the UVTHRESH command

35210

Regenerative Over-Current

Increase the regenerative resistance

35211

STO Fault

Check whether the STO connector (P1) is correctly connected

35212

Vbus Measurement Circuit Failure

Restart. If the fault still exists, the driver may need to be repaired. Please contact the technical support

35213

Bus AC Power Off

Please check the wiring or contact the technical support

35214

Regenerative Resistance Overload

Check whether regenerative resistance characteristics are suitable for this application

35215

Overheating of Integrated Power Module

Check whether the ambient temperature exceeds the drive specification. Otherwise contact the technical support.

35216

Control Panel Overheating

Check whether the ambient temperature exceeds the drive specification. Otherwise contact the technical support.

35217

Temperature Sensor Failure

Restart the power supply. If the problem persists, please contact the technical support

35218

Power Level Overheating

Check whether the ambient temperature exceeds the drive specification. Otherwise contact the technical support.

35219

Motor Overheating Fault

Check whether the drive is properly configured (using THERMODE, THERMTYPE, THERMTHRESH and THERMTIME), and if necessary, check whether the motor temperature sensor is properly connected to the drive. If the drive is correctly configured and wired, check whether the motor specification is too small.

35220

Internal Power Supply Out of Range

The drive may need to be repaired. Please contact the technical support

35221

Out of Range for 5v

It may happen during power failure. In other cases, please contact the technical support.

35222

Power EEPROM Fault

Contact technical support.

35223

Control EEPROM Fault

Contact technical support.

35224

CAN Supply Fault

The driver may need to be repaired, please contact the technical support.

35225

Self-Test Failure

Contact technical support.

35226

Parameter Memory Verification Failure

Reconfigure the drive, or download the parameter set and save the parameters. If the problem persists, please contact the technical support.

35227

Writing to Flash Memory Failure

Contact technical support.

35228

Fieldbus Speed Exceeds the Limit

Enable the drive and send a valid position command

35229

Not Configured

Execute CONFIG after setting drive parameters

35230

FPGA Config Failed

Contact technical support.

35231

Motor Setup Failed

Check phase and motor wiring. Make sure the correct feedback type is selected. Check MOTORSETUPST for hints.

35232

Phase Find Failed

Check whether the motor feedback type and the phase-finding parameters are set correctly for the application.

35233

FPGA Version Mismatch

Update either FPGA version or driver version.

35234

Emergency Stop Issued

Turn off the input.

35235

Fieldbus Version Mismatch

Make sure the correct version has been downloaded to the drive.

35236

ESI Version Mismatch

Make sure the correct version has been downloaded to the drive.

35237

BiSS-C Encoder Internal Error

Refer to BiSS-C Encoder User Manual.

35238

HIPERFACE Encoder Data Error

Enter the command HSAVE 1 using the drive software.

35239

ESI Manufacturer Mismatch

Make sure the correct manufacturer data has been downloaded to the drive.

35240

Index Line Break

Check whether the drive is configured for working with the index signal (using MENCTYPE), and check if the index signal is connected.

35241

Power Brake Load is Open

35242

Short Circuit of the Power Brake

35243

Stall Fault

Remove the stall condition, and take care to prevent stall conditions.

35244

Secondary Feedback Index Break

Check whether the drive is configured for working with the index signal on the secondary encoder, and check if the index signal is connected.

35245

Secondary Feedback A/B Line Break

Check whether all signals from the secondary encoder are properly connected to the drive.

35246

Pulse and Direction Input Line Break

Check whether all signals to the P&D inputs are properly connected to the drive.

35247

Power Brake Fault

Replace the motor brake.

35248

Motor Runaway Condition Detected

Correct MPHASE setting. Activate and improve the phase find process.

35249

Feedback Communication Error, Encoder Communication Disconnected

1. The circuit connection between the robot body and the control cabinet is poor. 2. The encoder or drive may be faulty

Check whether the feedback device is wired correctly. Check whether the correct encoder type (MENCTYPE) is selected.

35250

Nikon Encoder Operational Fault

Check whether the feedback device is wired correctly. Check whether the correct encoder type (MENCTYPE) is selected.

35251

Tamagawa Init Failed

Check whether the wiring to the encoder is correct.

35252

A/B Line Break

Refer to the section Sine Encoder and Resolver Diagnostics. Check whether all signals from the primary feedback device are properly connected to the drive.

35253

Invalid Halls

Check whether the Hall signals are all properly connected. While turning the motor, read the Halls state (using HALLS) to see which signal is not connected. If the feedback type is Tamagawa, check whether the feedback wiring is correct.

35254

Absolute Encoder Battery Low-Voltage

The battery is a consumable that must be replaced regularly. To purchase, please contact the manufacturer.

Replace the battery and then reset the drive. If the battery is replaced while the drive is on, the position information is retained.

35255

Phase-Locked Loop Synchronization Failed

Check for controller synchronization signal. Check the cable connection and wiring.

35256

Encoder Simulation Frequency Too High

Check the parameters used for setting up the equivalent encoder output. If using a sine encoder, check the ENCOUTRES parameter settings.

35257

Tamagawa Abs Operational Fault

Check the battery voltage and feedback wiring. Make sure the motor did not move at a high velocity during encoder initialization.

35258

Custom Absolute Encoder Operational Fault

Check the battery voltage and feedback wiring. Make sure the motor did not move at a high velocity during encoder initialization.

35259

Differential Halls Line Break

Make sure HALLSTYPE matches the Hall sensors in use (single-ended or differential). Check whether all signals from the differential Hall sensors are properly connected to the sensor.

35260

Encoder Phase Error

Set MENCAQBFILT to 0 to remove the filter on A and B signals. If problem persists, it may be due to a faulty encoder.

35261

AqB Commutation Fault

If a fault occurs shortly after motion begins, check MENCRES settings. If a fault occurs after some time it is likely due to EMI noise. Improve the installation. Make sure ground is connected. Make sure shield is connected on feedback and motor cables.

35262

SensAR Encoder Fault

Use command SRVSNSINFO to identify the fault.

35263

Sine Feedback Communication Fail

Check whether the data and clock signals to the EnDat encoder are connected properly. The cable must be shielded.

35264

A/B Out of Range

Refer to the section Sine Encoder and Resolver Diagnostics. Check the amplitudes of the sine and cosine signals.

35265

Sankyo Absolute Encoder Fault

Check the battery voltage and feedback wiring. Make sure the motor did not move at a high velocity during encoder initialization.

35266

Sine Encoder Quadrature Fault

Check the feedback device wiring. Make sure the correct encoder type (MENCTYPE) is selected.

35267

Sin/Cos Calibration Invalid

Re-execute the sine/cosine calibration process.

35268

Feedback 5V Over-Current

The CDHD can source a maximum current of 250 mA to the primary encoder. Check for short-circuit at the encoder. Check if the encoder is drawing more than the current limit.

35269

Resolver Initialization Failed

Check resolver wiring and gain value.

35270

Endat2X Feedback Fault

Reset the encoder including encoder power off.

35271

Fieldbus Cable Disconnected

Reestablish the connection between controller and drive.

35272

Fieldbus Control Command Lost

Clear the fault and allow the controller to send new commands.

35273

CAN Heartbeat Lost

Reconnect master and slave, and power cycle the drive.

35274

Drive Locked

Contact technical support.

35275

EtherCAT Packet Loss

Make sure the EtherCAT master (controller) sends the packets within the time defined (by the master).

35276

Torque Feedback Out of Limit

35277

Unstable Current Loop

Check and modify current controller settings.

35278

Velocity Over-Speed Exceeded

Check whether VLIM is set to match the application requirements. Using velocity loop tuning, check for excessive overshoot.

35279

Exceeded Maximum Velocity Error

Change drive tuning to improve velocity tracking, or increase VEMAX to allow a greater velocity error.

35280

Exceeded Maximum Position Error

Change drive tuning to improve position tracking, or increase PEMAX to allow a greater position error.

35281

Secondary Feedback Position Mismatch

Increase SFBPETHRESH, STBPETIME.SFBPEMAX, or improve position tuning.

35282

Excessive PE Value

Check tuning.

35283

CAN/EtherCAT State Not Operational

Make sure the controller does not switch to a lower state of communication while the drive is disabled.

35284

Internal Error

Contact technical support.

35285

Motor Plate Read Failed

Reconnect the feedback device. Make sure the motor type nameplate data is present.

35286

SAVE and Power Cycle Required

SAVE and then cycle power to the drive.

35287

Realtime Overload Fault

Contact technical support.

35288

PFB Off Checksum Invalid

If required by the application, home the machine.

35289

PFB Off Data Mismatch

If required by the application, home the machine.

35290

No PFB Off Data

If required by the application, home the machine.

35291

Pulse Train Frequency Too High

Reduce the frequency of the gearing pulses commanded from the controller.

35301

Short Circuit of the Drive

i. The U, V, and W outputs of the drive are short-circuited; ii. The drive is disturbed, which causes the DI signal to be abnormal. This is a false alarm; 1. The ground wire is not connected well; 2. The parameter setting of the current loop regulator is not suitable, causing current oscillation and interference; iii. The drive is damaged (such as IGBT short circuit, abnormity in detecting circuit by the current).

i. Check the U, V, and W wiring of the drive (for example, after disconnecting the motor power cable, observe whether the drive still reports a short-circuit fault. It must be done under the premise that the motor’s band-type brake is disconnected to ensure mechanical safety); ii. Check the drive IGBT with a multimeter to confirm whether it is short-circuited; iii. Standardize the wiring, especially ground wire; iv. Adjust the parameters of the current loop; v. Replace the drive.

35302

Drive Output Short Circuited to Ground

i. The U, V, and W outputs of the drive are short circuited to ground; ii. The drive is damaged (such as abnormity in detecting circuit by the current).

i. Check the U, V, and W wiring of the drive; ii. Replace the drive.

35303

Abnormal Encoder Data

i. Hiperface encoder fault; ii. Encoder wiring error; iii. The internal AD calibration parameters of the drive are abnormal.

i. Replace the encoder; ii. Check the encoder wiring and ensure that it is correct; iii. Replace the drive.

35304

Rotor Positioning Error

i. The setting of position loop, velocity loop, and current loop regulator parameters is unreasonable; ii. The motor parameters are set incorrectly; iii. The parameter 0x20D2 is set too small; iv. The parameter 0x2003 is set incorrectly; v. The peripheral wiring of the drive is incorrect (such as the motor power cable and the motor encoder cable); vi. The internal circuit of the drive is abnormal; vii. The parameter 0x2207 static balance torque compensation value is not set properly.

i. Check the peripheral wiring of the drive and ensure that it is correct. ii. Adjust the parameters of the position loop, velocity loop, and current loop regulator parameters of the drive, and ensure that the motor parameters are set correctly; iii. Re-detect the rotor position compensation angle; iv. Increase the setting value of parameter 0x20D2; v. Replace the drive; vi. Reduce the setting value of parameter 0x2207 static balance torque compensation value.

35305

Abnormal Motor’s Band-Type Brake

i. The motor’s band-type brake itself is abnormal; ii. When the motor is operating at high velocity, the servo suddenly turns OFF; iii. The servo parameters 0x2233 and 0x20D2 are set too small; iv. A short circuit occurs in the motor’s band-type brake circuit.

i. Replace the motor’s band-type brake; ii. Increase parameters 0x2233 and 0x20D2; iii. Check the motor’s band-type brake circuit.

35306

EtherCAT PDO Configuration Error

i. PDO is configured incorrectly.

i. Correct the EtherCAT PDO configuration.

35307

Abnormal Encoder Internal Communication

a. A fault occurs in the encoder; b. The motor encoder wiring is abnormal (such as line break, the shielded twisted pair cable is not used, and it is coupled with the motor power cable); c. The ground wire of the drive is not reliably connected; d. Strong interference sources exist around the drive.

a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Replace the motor encoder; e. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; f. Add a line filter to the input power supply of the drive.

35308

Encoder Type Change

i. The encoder type has been changed.

i. Re-power on or soft reset the drive.

35309

Drive Phase U Over-Current

i. The parameter setting of the current loop regulator is unreasonable, leading to the current control oscillation; ii. The motor parameters are set incorrectly; iii. The internal current sampling circuit of the drive is abnormal.

i. Adjust the parameters of the current loop regulator; ii. Set motor parameters correctly; iii. Replace the drive.

35310

Drive Phase V Over-Current

i. Adjust the parameters of the current loop regulator; ii. Set motor parameters correctly; iii. Replace the drive.

35311

Drive Phase W Over-Current

i. Adjust the parameters of the current loop regulator; ii. Set motor parameters correctly; iii. Replace the drive.

35312

DC Bus Over-Voltage

i. The input power supply voltage of the drive is too high; ii. The dynamic braking energy is excessive when the motor stops quickly; 1. The deceleration is excessive when the motor stops; 2. The wiring of the dynamic braking resistor is incorrect; 3. The value of the dynamic braking resistance is too high; iii. The internal voltage sampling circuit of the drive is abnormal; iv. The internal dynamic braking circuit of the drive is abnormal.

i. Adjust the input power supply of the drive to the permissible range; ii. Reduce the motor deceleration when stopping; iii. Check the wiring of the dynamic braking resistor and ensure that it is correct; iv. Properly reduce the resistance of the dynamic braking resistor (the resistance shall not be lower than the minimum allowable value), and increase the power of the dynamic braking resistor.

35313

Control Power Supply Under-Voltage

i. The 24V control power supply is abnormal; ii. The wiring of the 24V control power supply is incorrect, such as poor wiring; iii. The load of the 24V control power supply is excessive; iv. The internal circuit of the drive is abnormal.

i. Check the wiring of the 24V control power supply and ensure that it is reliable; ii. Check the load of the 24V control power supply and ensure that the capacity of the 24V control power supply can meet the load consumption under all working conditions. iii. Replace the 24V control power supply; iv. Replace the drive.

35314

Drive Continuous Overload

i. Reduce the actual mechanical load of the motor; ii. Increase the motor acceleration and deceleration time; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other abnormal phenomena; iv. Check the wiring of the motor’s band-type brake to ensure reliable wiring; v. Replace the motor; vi. Replace the drive.

35315

Encoder Wiring Error

i. For CDA8 V1 products, pin 8 and pin 15 of the encoder terminal connector are not short-circuited; ii. For CDA8 V2 products and CDR series products, pin 6 and pin 8 of the encoder terminal connector are not short-circuited; iii. The encoder cable is poorly wired.

i. For CDA8 V1 products, pin 8 and pin 15 of the encoder terminal connector are short-circuited; for CDA8 V2 products and CDR series products, pin 6 and pin 8 of the encoder terminal connector are short-circuited, and reliable encoder cable wiring shall be ensured.

35316

CPU Overload

i. The drive operation is disturbed; ii. The internal circuit of the drive is abnormal; iii. The data collection of DriveStarter is excessive.

i. Standardize the peripheral wiring of the drive and add anti-interference measures; ii. Replace the drive; iii. Close some DriveStarter data collection channels.

35317

Drive Output Phase Loss

i. Line break and poor wiring occur in the U, V, and W outputs of the drive; ii. The motor impedance is excessive; iii. The internal current sampling circuit of the drive is abnormal.

i. Check the U, V, and W wiring of the motor and ensure that it is reliable; ii. Replace the motor (or disable drive output phase loss detection); iii. Replace the drive.

35318

Instantaneous Overload of the Drive

i. The motor load is excessive; ii. The internal temperature sampling circuit of the drive is abnormal; iii. The operating environment temperature of the drive exceeds the permissible operating range; iv. The drive operation is disturbed (such as out of sync); v. The motor acceleration and deceleration are set too large, and the acceleration and deceleration time are set too short.

i. Reduce the actual mechanical load of the motor; ii. Standardize the peripheral wiring of the drive and add anti-interference measures; iii. Reduce the ambient temperature, such as improving the cooling conditions of the cabinet; iv. Replace the drive.

35319

Abnormal External Communication Transmission of the Encoder

a. The motor encoder wiring is abnormal (such as line break, the shielded twisted pair cable is not used, and it is coupled with the motor power cable); b. The ground wire of the drive is not reliably connected; d. Strong interference sources exist around the drive.

a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; e. Add a line filter to the input power supply of the drive.

35320

Abnormal External Communication Reception of the Encoder

a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; e. Add a line filter to the input power supply of the drive.

35321

Drive Hardware Over-Current

i. There is jamming or locking in the mechanical load; ii. The rotor compensation angle is set incorrectly; iii. Encoder wiring error; iv. The current loop regulator parameters are set unreasonably, resulting in current control oscillation; v. Motor parameter setting error (wire resistance, wire inductance, counter electromotive force, etc.); vi. The internal current detection circuit of the drive is abnormal; vii. The drive’s band-type brake circuit is damaged, without 24V output; viii. The motor’s band-type brake is damaged; ix. The motor load is too large, or the motor acceleration and deceleration are set too large, and the acceleration and deceleration time are set too short; x. The setting of 0x60B2 torque compensation value or 0x2207 static balance torque compensation value is unreasonable.

i. Check the transmission mode of mechanical load to ensure that there is no jamming or other abnormal phenomena; ii. Re-detect the rotor compensation angle; iii. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; iv. Adjust the parameters of the current loop regulator; v. Set motor parameters correctly; vi. Replace the drive; vii. Replace the motor; vii. Check the transmission mode of mechanical load to ensure that there is no jamming or other abnormal phenomena; viii. Confirm whether the mechanical design is reasonable; optimize motor acceleration and deceleration, and extend the acceleration and deceleration time; ix. Optimize the dynamics model of the upper controller and the torque compensation value of the given 0x60B2; or reasonably reset the 0x2207 static balance torque compensation value.

35322

Abnormal Band-Type Brake Circuit of the Drive

i. The drive’s band-type brake output is short circuited; ii. Excessive band-type brake output current of the drive causes over-temperature; iii. The drive’s band-type brake output is open circuit; iv. The internal detection circuit of the drive is abnormal.

i. Check the wiring of the drive’s band-type brake output and ensure it is correct and reliable; ii. Replace the drive.

35323

Abnormal Resolver Circuit of the Drive

i. The internal resolver circuit of the drive is abnormal; ii. The resolver parameter setting of the drive does not match the actual resolver.

i. Correctly set the resolver parameters of the drive; ii. Replace the drive.

35324

Control Mode Setting Error

i. When the servo is enabled, the controller sets the control mode that the drive does not support (see the object dictionary 0x6502 for the control mode supported by each product).

i. Before enabling the servo, set the controller to the correct control mode.

35325

Input Phase Loss Fault

i. The input power supply of the drive is poorly wired; ii. The drive servo parameter "power circuit setting" is set to three-phase input, but the actual power supply input is single-phase; iii. The front end uses an electronic transformer, which has abnormal harmonics and cannot be identified by the servo.

i. Check the input power wiring of the drive and ensure that it is reliable; ii. Set the servo parameter "power circuit setting" correctly; iii. Add a filter to the front end of the servo drive.

35326

DC Bus Under-Voltage

i. The input power supply voltage of the drive is too low; ii. The internal voltage sampling circuit of the drive is abnormal; iii. Servo parameter 0x202C is set incorrectly, 220V power supply is set as 380V power supply; iv. The input power cord of the drive is disconnected.

i. Adjust the input power supply of the drive to the permissible range; ii. Replace the drive; iii. Set 0x202C drive parameters correctly; iv. Check the input power cord wiring of the drive.

35327

Inverter Power Module Over-Temperature

i. Reduce the actual mechanical load of the motor; ii. Reduce the ambient temperature, such as improving the cooling conditions of the cabinet; iii. Replace the drive.

35328

Dynamic Braking Overload

i. The motor performs frequent quick stop operations, resulting in excessive dynamic braking energy; ii. The servo parameters "resistance of the dynamic braking resistor" and "power of the dynamic braking resistor" are set incorrectly.

i. Correctly set the servo parameters "resistance of the dynamic braking resistor" and "power of the dynamic braking resistor"; ii. Change the operating conditions of the motor to avoid frequent quick stop operations of the motor, such as extending the stop time of the motor.

35329

Continuous Overload of Motor

i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. There is jamming in the mechanical load; 3. The motor’s band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. Motor parameters are set incorrectly; iv. The internal current sampling circuit of the drive is abnormal; v. The band-type brake circuit of the drive is abnormal; vi. The selected motor type is not suitable and the power is too small (for example, high-power drives with small-power motors, which operate at high velocity with full load for a long time).

i. Reduce the actual mechanical load of the motor; ii. Increase the acceleration and deceleration time when the motor is running; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other abnormal phenomena; iv. Check the wiring of the motor’s band-type brake to ensure reliable wiring; v. Check the motor parameters to ensure that they are set correctly (such as the rated current and thermal time constant of the motor); vi. Replace with a high-capacity motor; vii. Replace the drive.

35330

Rectifier Power Module Over-Temperature

i. The motor load is excessive; ii. The internal temperature sampling circuit of the drive is abnormal; iii. The operating environment temperature of the drive exceeds the permissible operating range

i. Reduce the actual mechanical load of the motor; ii. Reduce the ambient temperature, e.g. improve the heat dissipation conditions of the cabinet; iii. Replace the drive.

35331

Motor U–Phase Instantaneous Overload

i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. The mechanical load leads to jamming or locking; 3. The motor’s band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. The rotor offset angle is set incorrectly; iv. The motor parameter is set incorrectly. v. The internal current sampling circuit of the drive is abnormal; vi. The drive’s band-type brake circuit is abnormal; vii. Inadequate capacity of the motor model selected; viii. Poor or detached contact of one phase of the motor power line.

i. Reduce the actual mechanical load of the motor; ii. Increase the acceleration and deceleration time durations during motor operation; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; iv. Re-check the rotor offset angle; v. Check the wiring of the motor’s band-type brake to ensure reliable wiring; vi. Check the motor parameters to ensure that they are set correctly (such as the rated current, fast overload protection threshold, and fast overload protection time duration of the motor); vii. Change to a high–capacity motor; viii. Replace the drive; ix. Check whether the wiring of motor power line is reliable.

35332

Motor V–Phase Instantaneous Overload

35333

Motor W–Phase Instantaneous Overload

35334

Abnormal Communication of the Power Supply Unit Module

i. Poor connection of the control cable between the power supply unit module and the motor module; ii. The control port between the power supply module and the motor module is burnt due to short circuit of the motor’s band-type brake cable or external 24V (STO) to ground.

i. Check the control cable connection between the power supply unit module and the motor module and ensure the wiring is reliable; ii Check for short circuit to ground on the motor’s band-type brake cable or external 24V (STO); iii. Replace the drive.

35335

Hardware STO1 Triggered

i. STO1 is triggered or is poorly wired.

i. Check STO1 wiring and make sure the wiring is reliable; ii. Verify that the STO1 circuit (e.g. emergency stop switch) is not triggered.

35336

Hardware STO2 Triggered

i. STO2 is triggered or is poorly wired.

i. Check the STO2 wiring and make sure the wiring is reliable; ii. Verify that the STO2 circuit (e.g. emergency stop switch) is not triggered.

35337

Abnormal STO Wiring

i. STO1/STO2 is poorly wired.

i. Check STO1/STO2 wiring and make sure the wiring is reliable.

35338

Drive External Fault

i. Fault of other axes. ii. Abnormal internal circuit of the drive.

i. Check other axes and make sure they are free of fault; ii. Such fault can be disabled by modifying the servo parameter "Fault operation switch"; iii. Replace the drive.

35339

Excessive Position Tracking Error

i. The mechanical load of the motor leads to jamming or locking, so that the motor cannot operate; ii. The planned acceleration for the target position value of the host computer is too high; iii. The servo parameters 0x6065 and 0x6066 are too small; iv. Unreasonable setting of the drive regulator parameters leads to unsatisfactory position tracking performance; v. The internal circuit of the drive is abnormal.

i. Check the transmission mode of mechanical load to ensure that there is no jamming or other issue; ii. Appropriately reduce the planned acceleration for the target position value of the host computer; iii. Appropriately increase the setting value of the servo parameters 0x6065 and 0x6066; iv. Optimize regulator parameters to improve position tracking performance; v. Replace the drive.

35340

Position Control Overflow

i. The actual or target value of the position exceeds the maximum permissible range.

i. Execute the "encoder multi-turn zeroing" command and ensure that the motor operating range does not exceed the maximum permissible range; ii. If it is necessary to operate the motor in a large range, the unlimited position control mode can be enabled through the servo parameter "position control switch".

35341

Excessive Velocity Tracking Error

i. The mechanical load of the motor leads to jamming or locking, so that the motor cannot operate; ii. The setting values of the servo parameters 0x20A3 and 0x20A4 are too small; iii. Unreasonable setting of the drive regulator parameters leads to unsatisfactory velocity tracking performance; iv. The internal circuit of the drive is abnormal.

i. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; ii. Appropriately increase the setting values of the servo parameters 0x20A3 and 0x20A4; iii. Optimize the regulator parameters to improve velocity tracking performance; iv. Replace the drive.

35342

Control Cycle Parameter Setting Error

i. Unreasonable setting of the EtherCAT communication cycle, position control cycle and velocity control cycle.

i. Set the EtherCAT communication cycle, position control cycle and velocity control cycle correctly.

35343

EEPROM Writing Failed

i. The internal circuit of the drive is abnormal; ii. The drive is interfered

i. Replace the drive; ii. Re-power on the drive and improve the anti-interference measures of the drive.

35344

Origin Searching Failed

i. Unreasonable parameter setting of origin searching (objects 0x6098, 0x6099, 0x609A); ii. The motor is already in the limit switch trigger state when the origin searching is activated; iii. Switch to non-HM mode during origin searching.

i. Set the origin searching parameters correctly (objects 0x6098, 0x6099, 0x609A); ii. Ensure that the motor is not in the limit switch trigger state when the origin searching is activated.

35345

Illegal EtherCAT Bus Instruction

i. The EtherCAT communication state machine is incorrectly matched with the control word time sequence.

i. The host computer correctly handles the EtherCAT communication state computer and control word time sequence.

35346

Abnormal DriveStarter Communication

i. The drive commissioning cable is disconnected or is poorly contacted. ii. The communication of the drive commissioning serial port is interfered.

i. Check the wiring of the drive commissioning cable and ensure reliable connection; ii. Replace isolated serial port commissioning cable; iii. Strengthen anti-interference measures for the commissioning cable, such as adding magnetic rings, reliable grounding of commissioning computer, and provide power supply for the debugging computer and the drive separately.

35347

Abnormal Communication of the EtherCAT Bus

i. The EtherCAT communication is interfered; ii. Disconnection or poor contact of EtherCAT network cables; iii. Insufficient real-time performance of the host computer; iv. Mismatch between the underlying DC synchronization mechanism of the EtherCAT master of the host computer and the drive requirements; v. The internal circuit of the drive is abnormal.

i. Optimize EtherCAT communication wiring and strengthen anti-interference measures, such as using Category 5E shielded twisted pair network cables and ensuring reliable grounding of the controller; ii. Check the connection of EtherCAT network cables to ensure reliable connection; iii. Change to the host computer with stronger real-time performance, or extend the EtherCAT communication cycle; iv. Appropriately increase the servo parameter 0x20D3 setting value; v. Modify the underlying DC synchronization mechanism of the EtherCAT master of the host computer to ensure that the RxPDO data sent by the host computer is at least 130 μs ahead of the DC synchronization signal; vi. Replace the drive.

35348

The Position Exceeds the Hardware Limitation

i. Limit switch input triggered.

i. Check the state of the limit switch and ensure that it is not triggered.

35349

Positive Software Limitation

i. The actual position value exceeds the threshold set by the servo parameters 0x2004 and 0x2005.

i. Appropriately increase the setting value of the servo parameters 0x2004 and 0x2005; ii. Operate the motor within the range specified by the servo parameters 0x2004 and 0x2005; iii. If users do not want to use this function, they can disable the software limitation detection function through the servo parameter "Position control switch".

35350

Negative Software Limitation

i. The actual position value exceeds the threshold set by the servo parameters 0x2004 and 0x2005.

35351

Excessive Power-On Position Deviation

i. After the drive is powered off, the motor position is shifted; ii. For motor encoders with batteries, the external battery is unavailable or the battery is under-voltage.

i. For motor encoders with batteries, ensure the battery is connected and the battery voltage is normal; ii. If users don’t want to use this function, they can set the servo parameter 0x200E to 0, and disable the detection function of excessive power-on position deviation.

35352

Power-On Position Control Overflow

i. For motor encoders with batteries, the external battery is unavailable or the battery is under-voltage; ii. The drive is powered off in any of the following control mode: the unlimited position control mode, velocity mode, or torque mode, and the position has exceeded the permissible range.

i. Re-power on the drive after the encoder multi-turn zeroing command is executed; ii. In the unlimited position control mode, if users do not want to use this function, they can modify the servo parameter "Position control switch" to disable the power-on position control overflow detection function.

35353

Encoder Battery Under-Voltage Fault

i. The encoder is not connected with an external battery or the battery is poorly wired; ii. The encoder battery is under-voltage.

i. Check the battery wiring of the encoder to ensure reliable wiring; ii. Replace the battery; iii. If a Panasonic or Tamagawa encoder is connected, the encoder multi-turn zeroing command needs to be executed for individual versions; iv. If users do not want to use this function, they can modify the servo parameter 0x2009 to disable the encoder battery under-voltage detection function.

35354

The Motor Exceeds the Velocity Limit

i. Unreasonable setting of drive regulator parameters leads to large speed tracking overshoot; ii. Poor wiring of the encoder; iii. The encoder data transmission is interfered; iv. The encoder is damaged; v. The internal circuit of the drive is abnormal.

i. Optimize regulator parameters to improve speed tracking performance; ii. Check the encoder cable connection to ensure reliable wiring; iii. Strengthen the anti-interference measures of encoder cables, such as adding magnetic rings, using shielded twisted pair cables, and realizing reliable grounding; iv. Replace the encoder; v. Replace the drive.

35355

Excessive Voltage Limit Position Tracking Error

i. The mechanical load of the motor is jammed so that the motor cannot operate; ii. The planned acceleration of the host computer’s target position value is too high; iii. The servo parameters 0x6065 and 0x6066 are too small. iv. Unreasonable setting of drive regulator parameters leads to unsatisfactory position tracking performance; v. The input power supply voltage of the drive is too low; vi. The internal circuit of the drive is abnormal.

i. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; ii. Appropriately reduce the planned acceleration of the host computer’s target position value; iii. Appropriately increase the setting value of the servo parameters 0x6065 and 0x6066; iv. Optimize regulator parameters to improve position tracking performance; v. Ensure that the input power supply voltage of the drive is within the specified range; vi. Replace the drive.

35356

Encoder Over-Speed Fault

35357

Operation Error of Position Planning

i. Unreasonable setting of position planning parameters, such as the target position value and the planned target deceleration (0x6084).

i. Set position planning parameters correctly.

35358

Multi-Axis Synchronization Exception

i. The internal circuit of the drive is abnormal.

ii. Replace the drive.

35359

EtherCAT Bus Synchronization Exception

i. Unreasonable setting of the servo parameter 0x20D3; ii. The EtherCAT master synchronization mode is incorrectly configured.

i. Set the servo parameter 0x20D3 correctly; ii. Correctly configure the synchronization mode of the EtherCAT master.

35360

EEPROM Version Change

i. The drive firmware is upgraded.

i. Re-power on the drive.

35361

Motor Overload Alarm

i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. The mechanical load leads to jamming; 3. The motor’s band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. The motor parameter is set incorrectly; iv. The internal current sampling circuit of the drive is abnormal; v. The drive’s band-type brake circuit is abnormal.

i. Reduce the actual mechanical load of the motor; ii. Prolong the acceleration and deceleration time durations during motor operation; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; iv. Check the wiring of the motor’s band-type brake to ensure reliable wiring; v. Check the motor parameters to ensure that they are set correctly (such as the rated current and thermal time constant of the motor); vi. Change to a high-capacity motor. Vii. Replace the drive.

35362

Speed Limit Alarm

i. In the speed mode, the target speed exceeds the maximum speed of the motor; ii. In the position mode, the planned speed exceeds the maximum speed of the motor; iii. Servo parameter setting is unreasonable.

i. Reduce the target or planned speed; ii. Change to a motor with higher maximum speed; iii. Reset the maximum planned speed of the parameter 0x607F according to the actual situation.

35363

DC Bus Under-Voltage Alarm

i. The input power supply voltage of the drive is too low; ii. The internal voltage sampling circuit of the drive is abnormal.

i. Adjust the input power supply of the drive to the permissible range; ii. Replace the drive.

35364

Control Mode Setting Unsupported

i. (Delete when the servo motor is enabled) The controller sets the control mode that the drive does not support (see the object dictionary 0x6060 and 0x6502 for the control mode supported by each product); ii. The control mode is not specified after the communication between the controller and the servo motor is established.

i. Before enabling the servo, set the controller to the correct control mode.

35365

Effective Parameters for Re-Power-On Changed

i. Servo parameters for re-power-on modified

i. Re-power on the drive

35366

Encoder Battery Under-Voltage Alarm

i. The encoder is not connected with an external battery or the battery is poorly wired; ii. The encoder battery is under-voltage; iii. The encoder battery cables are wired reversely or short circuited to ground due to the damaged sheath.

i. Check the battery wiring of the encoder to ensure reliable wiring; ii. Replace the battery; iii. If a Panasonic or Tamagawa encoder is connected, the encoder multiturn zeroing command needs to be executed for individual versions; iv. If users do not want to use this function, they can modify the servo parameter 0x2009 to disable the encoder battery under-voltage detection function.

35367

Drive Internal Alarm

i. The internal circuit of the drive is abnormal.

i. Replace the drive; ii. Contact the after-sales for technical support.

35368

Mechanical Zero Uncalibrated

i. The encoder battery failed due to under-voltage, and the servo parameter 0x2009.Byte3 is set to "Encoder battery under-voltage fault is detected and zero uncalibrated is informed"; ii. There is a fault of excessive deviation of the power-on position and the user determined that the mechanical zero is lost; iii. The motor features a single-turn absolute encoder and the driver failed to execute the origin searching instruction.

i. Zero the drive.

35369

Encoder receiving external communication alarm

35370

Encoder Sending External Communication Alarm

a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; e. Add a line filter to the input power supply of the drive.

35371

Encoder internal communication alarm

35372

Software Limitation Alarm

i. The actual or target position value exceeds the threshold set by the servo parameters 0x2004 and 0x2005.

i. Appropriately increase the setting value of the servo parameters 0x2004 and 0x2005; ii. Operate the motor within the range specified by the servo parameters 0x2004 and 0x2005; iii. Reduce the target position value so that it falls within the range specified by the servo parameters 0x2004 and 0x2005; iv. If users do not want to use this function, they can disable the software limitation detection function through the servo parameter "Position control switch".

35373

AD Correction Coefficient Invalid Alarm

i. The drive is not subjected to AD correction.

i. Reset the drive AD correction coefficient

35374

Abnormal position planning parameter alarm

i. Unreasonable setting of position planning parameters.

i. Set position planning parameters correctly.

35375

Excessive power-on position deviation alarm

i. The motor position deviates after the drive is powered off.

i. The drive executes the fault reset command; ii. Re-power on or perform the soft reset of the drive.

35401

Short Circuit of the Drive

1. The U/V/W output cable of the drive is short-circuited, or short-circuited to ground; 2. The U/V/W output cable of the motor is short-circuited, or short-circuited to ground; 3. An internal cable of the drive is short-circuited, or short-circuited to ground; 4. False alarm is caused because the drive is interfered

1. If a short circuit occurs between the cable’s UVW phases, or between the cable’s U/V/W and grounding, dispose or replace the cable; 2. If a short circuit occurs between the motor’s UVW phases, or between the motor’s U/V/W cable and grounding, replace the motor; 3. If faults still occur after disconnecting the drive U/V/W output wiring, replace the drive; 4. Improve the electromagnetic environment of the equipment by standardizing wiring and cabling, increasing the cross-sectional area of the grounding wire and adding magnetic rings.

35402

Excessive U-Phase Output Current

1. The parameter setting of the current loop regulator is unreasonable, leading to the current control oscillation; 2. The motor parameters are set incorrectly; 3. The internal current sampling circuit of the drive is abnormal.

1. Adjust the parameters of the current loop regulator; 2. Set motor parameters correctly; 3. Replace the drive

35403

Excessive V-Phase Output Current

1. Adjust the parameters of the current loop regulator; 2. Set motor parameters correctly; 3. Replace the drive

35404

Excessive W-Phase Output Current

1. Adjust the parameters of the current loop regulator; 2. Set motor parameters correctly; 3. Replace the drive

35405

Drive Hardware Over-Current

1. Excessive motor load or motor acceleration and deceleration setting values, and too short acceleration and deceleration time durations set; 2. The rotor offset angle is set incorrectly, and fails to meet the rotor positioning error detection condition; 3. Abnormal jumps occur in the encoder feedback; 4. The current loop regulator parameters are set unreasonably, resulting in current control oscillation; 5. Motor parameters are incorrectly set (wire resistance, wire inductance, counter electromotive force, rotor inertia, etc.); 6. Current detection circuit inside the drive is abnormal or the drive’s band-type brake circuit is damaged, without 24V output; 7. The motor’s band-type brake is damaged; 8. The torque offset value or static balance offset value is not set properly.

1. Check and handle the mechanical load driving to ensure that there is no jamming or other phenomena; 2. Re-detect the rotor offset angle; 3. Check the motor encoder wiring and ensure that it is standard and correct; 4. Adjust current loop regulator parameters; 5. Set motor parameters correctly; 6. Replace the drive; 7. Replace the motor; 8. Optimize the host controller dynamics model, and optimize the given value or set the value according to the actual load.

35406

Drive Output Short Circuited to Ground

1. The drive U/V/W output cable is short-circuited to ground; 2. The motor U/V/W cable is short circuited to ground; 3. There is a short circuit inside the drive or a short circuit to ground.

1. If a short circuit occurs between the cable’s U/V/W and grounding, repair or replace the cable; 2. If a short circuit occurs between the motor’s U/V/W cable and grounding, replace the motor; 3. If faults still occur after disconnecting the drive U/V/W output wiring, replace the drive.

35407

DC Bus Over-Voltage

1. Excessive input power supply voltage of the drive; 2. Excessive dynamic braking energy when the motor stops quickly; 3. The dynamic braking resistor is not connected or wired incorrectly; 4. The over-high resistance value of the dynamic braking resistor; 5. Internal malfunction of the drive.

1. Adjust the input power supply of the drive to the permissible range; 2. Reduce the motor deceleration when stopping; 3. Correct the wiring of dynamic braking resistor to ensure correct wiring; 4. Reduce the resistance value of the dynamic braking resistor appropriately (the resistance value cannot be lower than the minimum permissible value) and increase the power of the dynamic braking resistor; 5. Replace the drive.

35408

DC Bus Under-Voltage

1. Excessively low input power supply voltage of the drive; 2. Abnormal voltage sampling circuit inside the drive; 3. The drive power loop is set incorrectly, and the 220 V power supply is set to 380 V power supply; 4. The input power supply cord of the drive is disconnected.

1. Adjust the input power supply of the drive to the permissible range for normal working; 2. Replace the drive; 3. Set the drive power loop in consistent with the actual power supply; 4. Check and handle the wiring of the input power supply cord of the drive to ensure that the wiring is correct and secure.

35409

Power Module Over-Temperature

1. The motor load is excessive; 2. The internal temperature sampling circuit of the drive is abnormal; 3. The operating environment temperature of the drive exceeds the permissible range.

1. Reduce the actual mechanical load of the motor; 2. Replace the drive; 3. Reduce the ambient temperature, such as improving the heat dissipation conditions of the cabinet.

35410

CPU1 Watchdog Overflow

Internal malfunction of the drive.

Replace the drive.

35411

CPU2 Watchdog Overflow

Internal malfunction of the drive.

Replace the drive.

35412

Dynamic Braking Resistor Overload

1. The frequent quick shutdown of the motor leads to excessive dynamic braking energy; 2. The power setting of the dynamic braking resistor is inconsistent with that of the actual resistor.

1. Change the operating conditions of the motor to avoid frequent quick shutdown of the motor, such as extending the stop time of the motor. Or replace the dynamic braking resistor with one of a higher power; 2. Set the power of dynamic braking resistor correctly, with the value set in consistent with the actual power of the dynamic braking resistor.

35413

Continuous Overload of Motor

1. Excessive motor load; 2. Over-short acceleration and deceleration time durations of the motor; 3. Incorrect setting of motor parameters; 4. Abnormal release action of the band-type brake; 5. Wrong motor model with a smaller power (such as the high-power drive loaded with the small-power motor runs at full load and high speed for a long time); 6. Abnormal internal current sampling circuit of the drive.

1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Prolong the acceleration and deceleration time durations during motor operation; 3. Check the motor parameters to ensure that the motor parameters are set correctly (such as the rated current and thermal time constant of the motor); 4. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 5. Change to a high–capacity motor; 6. Replace the drive

35414

Excessive Position Tracking Error

1. Excessive motor load; 2. Inappropriate control parameters; 3. Abnormal release action of the band-type brake; 4. Too small threshold or time duration for judging excessive position tracking error.

1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Optimize the control parameters and enhance the corresponding performance of the servo; 3. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 4. Appropriately increase the threshold or time duration for judging excessive position tracking error.

35415

Positive Software Limitation

Position feedback value exceeds (positive software limitation value + positioning completion threshold).

The range of motion should not exceed the setting value for positive software limitation. If the positive software limitation function is not needed, it can be prohibited by the parameter position control switch.

35416

Negative Software Limitation

Position feedback value exceeds (negative software limitation value - positioning completion threshold).

The range of motion should not exceed the setting value for negative software limitation. If the negative software limitation function is not needed, it can be prohibited by the parameter position control switch.

35417

Encoder Data Overflow

In position mode, the encoder multiturn value exceeds the actual encoder multiturn bits when unlimited position control is not enabled.

Perform the encoder multiturn zeroing operation, or enable the unlimited position control mode, or work in a non-position mode (torque mode or speed mode).

35418

CPU1 Operation Fault

1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive.

1. Upgrade the drive firmware; 2. Replace the drive.

35419

CPU2 Operation Fault

1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive.

1. Upgrade the drive firmware; 2. Replace the drive.

35420

CPU1 Memory Fault

1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive.

1. Upgrade the drive firmware; 2. Replace the drive.

35421

CPU2 Memory Fault

1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive.

1. Upgrade the drive firmware; 2. Replace the drive.

35422

CPU Memory Conflict

1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive.

1. Upgrade the drive firmware; 2. Replace the drive.

35423

Magnetic Pole Positioning Error

1. The setting value of the rotor position compensation angle of the motor is inconsistent with the detected value; 2. The detection sensitivity for rotor positioning fault is too low; 3. The setting of static balance torque compensation value is inconsistent with the actual load; 4. The wrong wiring of the motor leads to the change of rotor phase angle; 5. The motor malfunction leads to the change of rotor phase angle; 6. The gravity load causes rotation of the motor at the instant when the servo is enabled, and the speed exceeds the threshold of rotor positioning fault detection sensitivity.

1. Re-detect the motor rotor position compensation angle and set it correctly; 2. Appropriately increase the sensitivity setting value of rotor positioning fault detection; 3. Set the static balance torque compensation value correctly according to the actual load; 4. Correct wiring, and re-detect the motor rotor position compensation angle; 5. Replace the motor; 6. Set the static balance torque compensation value correctly according to the actual load.

35424

Abnormal Encoder Data

1. Abnormal encoder data; 2. Encoder cable sequence error or poor contact; 3. Abnormal encoder data due to noise interference.

1. Replace the motor or encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic rings.

35425

Abnormal encoder communication

1. Abnormal encoder data; 2. Encoder cable sequence error or poor contact; 3. Abnormal encoder data due to noise interference.

35426

Encoder Communication Timeout

1. Abnormal encoder data; 2. Encoder cable sequence error or poor contact; 3. Abnormal encoder data due to noise interference.

35427

Encoder Internal Malfunction 1

Abnormal encoder internal state

Soft reset of the encoder after zeroing or restart the drive

35428

Malfunction of Other Drive Axes

1. Malfunction of other axes; 2. Abnormal internal circuit of the drive

1. Check other axes and reset those reported fault to ensure that other axes are free of fault, and such fault can be prohibited from detection by the parameter 0x2094; 2. Replace the drive

35429

Control Encoder Over-Speed

1. The encoder position feedback value variates excessively in a position sampling period, and exceeds 1.3 times of the highest speed of the motor; 2. Encoder malfunction; 3. Abnormal encoder data due to noise interference.

1. Optimize motor parameters and control parameters. The maximum motor set speed is usually not less than the actual maximum motor speed; 2. Check the encoder settings and wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring.

35430

Drive Continuous Overload

1. Excessive motor load or acceleration/deceleration time set is too short; 2. Actual mechanical load is excessive or it’s jammed; 3. The motor’s band-type brake is not released; 4. An exception in the motor or motor’s band-type brake; 5. Internal malfunction of the drive.

1. Reduce the actual mechanical load or increase the motor acceleration and deceleration time; 2. Check the transmission mode of mechanical load to ensure that there is no jamming; 3. Check the band-type brake wiring and ensure that it is reliable; 4. Replace the motor; 5. Replace the drive.

35431

Drive Output Phase Loss

1. The line break and poor wiring occur in the U, V and W outputs of the drive; 2. The motor impedance is excessive; 3. The internal current sampling circuit of the drive is abnormal.

1. Check the wiring of motor U, V and W and ensure that it is reliable; 2. Replace the motor or turn off the drive output phase loss detection function; 3. Replace the drive.

35432

Motor Stall

1. Unreasonable setting of drive regulator parameters leads to large speed tracking overshoot; 2. Abnormal encoder data due to electromagnetic and noise interference; 3. Abnormal encoder data due to damaged encoder; 4. Abnormal internal circuit of the drive.

1. Optimize regulator parameters; 2. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring; 3. Replace the motor or encoder; 4. Replace the drive.

35433

Excessive Current Tracking Error

35434

Abnormal Target Position Value

1. In CSP mode, the difference between the target position value and the actual position value exceeds the threshold set for the position tracking error when the servo is enabled; 2. In CSP mode, the target trajectory acceleration exceeds the threshold set for the maximum acceleration when the motor is running, and the difference between the target position value and the actual position value exceeds the threshold set for the position tracking error.

1. Check and confirm that the target position value and the actual position value are normal, so that the difference does not exceed the set threshold for the position tracking error; 2. Check and confirm that the target position value is normal, or appropriately increase the set threshold for maximum acceleration or the position tracking error.

35435

Encoder Power-On Data Overflow

The feedback value of the position during drive power-up is beyond the range allowed by the encoder.

Soft reset the encoder after zeroing or restart the drive.

35436

Target Position Value Overflow

Target position value exceeds the maximum permissible range when unlimited position control is disabled in the position mode.

Perform the encoder multiturn zeroing operation, or enable the unlimited position control mode, or work in a non-position mode (torque mode or speed mode).

35437

Abnormal Motor’s Band-Type Brake

1. There is an exception in the motor band-type brake, and braking fails; 2. The servo is suddenly turned off when the motor is running at high velocity and the braking time is too long; 3. The set braking time for the motor band-type brake is shorter than the actual braking time; 4. The detection sensitivity for rotor positioning fault is too low.

1. Replace the motor; 2. Optimize the process logic control to avoid sudden servo OFF when running at high speed; 3. The braking time set for the motor band-type brake should be not less than the actual braking time; 4. Properly increase the detection sensitivity for rotor positioning fault.

35438

Control Power Supply Under-Voltage

1. The 24V control power supply is abnormal; 2. The wiring of the 24V control power supply is incorrect or poorly connected; 3. The load of the 24V control power supply is excessive; 4. The internal circuit of the drive is abnormal.

1. Replace the 24V control power supply; 2. Check the wiring of the 24V control power supply and ensure that it is reliable; 3. Check the load of the 24V control power supply and ensure that the capacity of the 24V control power supply can meet the load consumption under all working conditions; 4. Replace the drive.

35439

STO1 Triggered

STO1 is triggered or is poorly wired.

Check the STO wiring to ensure that it is reliable and not triggered.

35440

STO2 Triggered

STO2 is triggered or is poorly wired.

Check the STO wiring to ensure that it is reliable and not triggered.

35441

Positive Hardware Limit Switch Triggered

One-way motion to the mechanical limit causes hardware limit triggering.

The fault can be cleared directly through motion in the opposite direction until the mechanical limit is restored. Be careful to plan the position so that the hardware limit is not exceeded.

35442

Negative Hardware Limit Switch Triggered

One-way motion to the mechanical limit causes hardware limit triggering.

The fault can be cleared directly through motion in the opposite direction until the mechanical limit is restored. Be careful to plan the position so that the hardware limit is not exceeded.

35443

The Motor Exceeds the Velocity Limit

1. The actual motor speed feedback value exceeds 1.1 times the maximum motor speed; 2. The encoder is abnormal.

1. Optimize motor parameters and control parameters. The maximum motor speed set is usually not less than the actual maximum motor speed; 2. Check the encoder settings and wiring.

35444

Emergency Stop Input Switch Triggered

Emergency stop input switch is triggered or is poorly wired.

Check the emergency stop input switch wiring to ensure that it is reliable and not triggered.

35445

Torque Monitoring Windup Fault

1. The motor load is excessive and it exceeds the torque monitoring alarm threshold; 2. The torque saturation monitoring threshold set is too low.

1. Reduce the actual mechanical load of the motor or increase the motor acceleration and deceleration time; 2. Increase the torque saturation monitoring threshold set. When the threshold is set to 0, the fault will not be detected.

35446

Excessive Velocity Tracking Error

1. Excessive motor load; 2. Inappropriate control parameters; 3. Abnormal release action of the band-type brake; 4. Too small threshold or time duration for judging excessive velocity tracking error.

35447

Short Circuit of the Drive 2

35448

Origin Searching Failed

1. Unreasonable parameter setting of origin searching; 2. The motor is already in the limit switch trigger state when the origin searching is activated; 3. Switch to non-HM mode during origin searching.

1. Set correct parameters of origin searching; 2. The sure that the motor is not in the limit switch trigger state when the origin searching is activated; 3. Do not switch to non-HM mode during origin searching.

35449

EtherCAT Process Data Error

The PDO set value is beyond the target’s allowable range.

The PDO set value is within the target’s allowable range.

35450

Illegal EtherCAT Bus Instruction

EtherCAT communication state machine is incorrectly matched with the control word time sequence.

The host computer correctly handles the EtherCAT communication state computer and control word time sequence.

35451

EtherCAT Communication Cycle Error

1. EtherCAT communication cycle is shorter than the servo control cycle; 2. EtherCAT communication period is not set to an integer power of 2 for 250 μs.

1. Adjust the EtherCAT communication cycle or the servo control cycle so that the communication cycle is longer than the servo control cycle; 2. Set the EtherCAT communication cycle to an integer power of 2 for 250 μs.

35452

Operation Error of Position Planning

1. Target position value cache overrun when running PP mode under EtherCAT control; 2. Internal malfunction of the drive.

1. Optimize the EtherCAT master control process to reduce the number of target position value caches, typically no more than 4; 2. Replace the drive.

35453

Illegal EtherCAT Synchronization Mode

1. EtherCAT communication DC mode is incorrectly configured; 2. DC mode is not activated for EtherCAT communication.

1. Configure EtherCAT communication DC mode correctly; 2. Activate the DC mode for EtherCAT communication.

35454

Target Position Value Beyond the Set Range

The target position value exceeds the set range when the unlimited position control mode is enabled or disabled.

Set the target position value to a value between the lower limit and the upper limit of the position range or use the normal unlimited position mode.

35455

Motor U–phase Instantaneous Overload

35456

Motor V–phase Instantaneous Overload

35457

Motor W–phase Instantaneous Overload

35458

Dynamic Braking Overload

The interval between two adjacent dynamic braking stops is too short when the motor is running.

If there is a dynamic braking stop when the motor is running, the interval must be at least 360*actual speed²/rated speed² (s).

35459

Internal Malfunction of the Drive

Internal malfunction of the drive.

Replace the drive.

35460

Abnormal Limit Switch

The limit switch is triggered or is poorly wired.

Check limit switch wiring to ensure that it is reliable and not triggered.

35461

Abnormal Communication of the EtherCAT Bus

1. The EtherCAT communication is interfered; 2. Disconnection or poor contact of EtherCAT network cables; 3. Insufficient real-time performance of the host computer; 4. Mismatch between the underlying DC synchronization mechanism of the EtherCAT master of the host computer and the drive requirements; 5. Internal malfunction of the drive.

1. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring; 2. Check the connection of EtherCAT network cables to ensure reliable connection; 3. Change to the host computer with stronger real-time performance, or extend the EtherCAT communication cycle, or increase the timeout detection sensitivity; 4. Modify the underlying DC synchronization mechanism of the EtherCAT master of the host computer to ensure that the SM2 event of the host computer is at least 125 μs ahead of the DC synchronization signal; 5. Replace the drive.

35462

Interface Encoder Resolution Change

Interface encoder resolution is changed.

Re-power on or perform the soft reset of the drive.

35463

Encoder Overheating

1. The actual encoder temperature is too high; 2. The encoder is abnormal.

1. Bring down the encoder operating temperature to within the allowable range; 2. Replace the motor or encoder.

35464

Encoder Battery Under-Voltage Fault

1. Encoder battery voltage too low; 2. The encoder battery is poorly wired.

1. Replace the encoder battery; 2. Check and handle the battery wiring to ensure that the battery wiring is correct and secure.

35465

Control Mode Setting Error

When the servo is ON, the control mode set is not supported by the drive, such as NM, VL or IP, or the control mode is set to PV or PT under EtherCAT control.

When the servo is ON, set the control mode supported by the drive.

35466

Excessive Power-On Position Deviation

When the drive is powered on, the position is different from the last position saved during power-off and it exceeds the set threshold.

Check whether the mechanical position has been changed. Clear the alert after confirming that the mechanical zero point is normal.

35467

Abnormal Encoder Acceleration

1. Abnormal encoder data; 2. Encoder cable sequence error or poor contact; 3. Abnormal encoder data due to noise interference.

35468

Motor Rotor Locked

1. The mechanical load leads to jamming or locking; 2. The motor’s band-type brake is not released.

1. Check and handle the mechanical load transmission to ensure that there is no jamming or locking; 2. Check and handle the band-type brake circuit to ensure the band-type brake can be released properly.

35469

EEPROM Data Write Error

Internal malfunction of the drive.

Replace the drive.

35470

Axis EEPROM Data Read Error

Internal malfunction of the drive.

Replace the drive.

35471

Band-type Brake Control Circuit Error

1. The motor band-type brake is short circuited or poorly wired; 2. There is a short circuit or poor wiring inside the band-type brake; 3. Internal malfunction of the drive.

1. Check the wiring of the drive’s band-type brake output and ensure it is correct and reliable; 2. Replace the motor; 3. Replace the drive.

35472

CPU1 Overload

1. The drive operation is subject to noise interference; 2. Excessive data collected by the commissioning software; 3. The internal circuit of the drive is abnormal.

35473

CPU2 Overload

1. The drive operation is subject to noise interference; 2. Excessive data collected by the commissioning software; 3. The internal circuit of the drive is abnormal.

35474

CPU1 Handshake Failed

1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive.

1. Upgrade the drive firmware; 2. Replace the drive.

35475

DriveMaster Communication Timeout

1. The drive’s commissioning cable is disconnected or poorly wired; 2. The drive’s commissioning serial communication is interfered.

1. Check the wiring of the drive commissioning cable and ensure a reliable connection 2. Improve the electromagnetic environment of the equipment by using isolated serial port commissioning cable, standardizing wiring and cabling, increasing the cross-sectional area of the grounding wire, and adding magnetic rings.

35476

ESC Configuration EEPROM Error

Internal malfunction of the drive.

Replace the drive.

35477

ESC Internal Access Error

Internal malfunction of the drive.

Replace the drive.

35478

Servo Enabling not Ready

1. When the servo is ON, the drive is in actual motor and virtual encoder mode; 2. When the servo is ON, the encoder communication is disconnected; 3. When the servo is ON, the motor speed is higher than 30rpm; 4. When the servo is ON, the STO status is not lifted; 5. When the servo is ON, the DC bus voltage is too low and the charging relay is not closed; 6. When the servo is ON, the dynamic braking status is not lifted; 7. Internal error of drive.

1. Check the drive motor mode to ensure that the drive is in actual motor and actual encoder mode when the servo is ON; 2. Check the encoder communication status to ensure that the encoder communication is normal when the servo is ON; 3. Check the motor operation status to ensure that the motor is still when the servo is ON; 4. Check the STO status to ensure that the STO status ends when the servo is ON; 5. Check the DC bus voltage status to ensure that the DC bus voltage meets the enable threshold when the servo is ON and the charging relay is closed; 6. Check the dynamic braking status to ensure that the dynamic braking status ends when the servo is ON; 7. Replace the drive.

35479

CPU2 Handshake Failed

1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive.

1. Upgrade the drive firmware; 2. Replace the drive.

35480

CPU1 Main Task Timeout

1. The drive operation is subject to noise interference; 2. Excessive data collected by the commissioning software; 3. The internal circuit of the drive is abnormal.

1. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire, and adding magnetic ring; 2. Close some of the data collection channels of the commissioning software.

35481

DC Bus Charging Relay Error

Charging relay inside drive malfunctions.

Replace the drive.

35482

CPU Internal Error

1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive.

1. Upgrade the drive firmware; 2. Replace the drive.

35483

Actual Position Value Overflow

Actual position value exceeds the maximum permissible range when unlimited position control is disabled in the position mode.

Perform the encoder multiturn zeroing operation, or enable the unlimited position control mode, or work in a non-position mode (torque mode or speed mode).

35484

Encoder Internal Error 2

Encoder internal status error.

Soft reset the encoder after zeroing or restart the drive.

35485

Encoder Internal Error 3

Encoder internal status error.

Soft reset the encoder after zeroing or restart the drive.

35486

Excessive Position 2 Following Error

1. Excessive motor load; 2. Inappropriate control parameters; 3. Abnormal release action of the band-type brake; 4. Too small threshold or time duration for judging excessive position 2 following error.

35487

STO Wiring Error

STO1/STO2 triggered or poorly wired.

Check the STO wiring to ensure that it is reliable and not triggered.

35488

Excessive Velocity 2 Following Error

1. Excessive motor load; 2. Inappropriate control parameters; 3. Abnormal release action of the band-type brake; 4. Too small threshold or time duration for judging excessive velocity 2 following error.

35489

Abnormal Main Power Input

1. The power input power supply of the driver is poorly wired; 2. The driver power circuit is set as three-phase input, but the actual power supply input is single-phase; 3. Electronic transformer is used in the front end, and the harmonic of electronic transformer is abnormal.

1. Check the power input power wiring of the driver and ensure that the wiring is reliable; 2. Correctly set the driver power circuit, and the set value is consistent with the actual power supply input; 3. Wire according to the transformer manual, and install a filter at the front end of the servo driver if necessary.

35490

Motor Band Brake Disconnection

1. The motor holding brake is not connected or has poor contact; 2. Motor holding brake is abnormal; 3. Drive internal exception.

1. Check and handle the motor band brake wiring to ensure that the wiring is correct and firm; 2. Replace the motor; 3. Replace the drive.

35491

Coprocessor Communication Exception

1. Encoder cable sequence error or poor contact; 2. Encoder data is abnormal due to noise interference.

1. Correct the wiring sequence or reinforce the wiring; 2. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring.

35492

Abnormal Change of Encoder AB Signal

1. Encoder cable sequence error or poor contact; 2. Encoder data is abnormal due to noise interference.

35493

Rectifier Module Overheating

1. Abnormal temperature sampling circuit inside the driver; 2. Driver operating environment temperature is outside the allowable operating range.

1. Replace the drive; 2. Decrease the ambient temperature, for example, improve the radiation conditions of cabinets.

35494

Radiator overheating

1. Abnormal temperature sampling circuit inside the driver; 2. Driver operating environment temperature is outside the allowable operating range.

1. Replace the drive; 2. Decrease the ambient temperature, for example, improve the radiation conditions of cabinets.

35495

Motor Overheating

1. The motor load is too large; 2. The operating environment temperature of the motor is too high to be allowed. 3. Error in setting thermocouple resistance value for motor overheat protection; 4. abnormal temperature sensor of the motor; 5. Drive internal exception.

1. Reduce the actual mechanical load of the motor to ensure that the machine is free from jamming; 2. Enhance the heat dissipation of the motor to ensure that the operating environment temperature is within the allowable range; 3. Correctly set the setting value of thermocouple resistance for motor overheat protection; 4. Replace the motor; 5. Replace the drive.

35496

Incremental Encoder Z Signal Exception

1. The encoder’s own data is abnormal; 2. Wrong encoder cable sequence or poor contact; 3. Abnormal encoder data due to noise interference.

1. Replace the motor or encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of the equipment by standardizing wiring and wiring, increasing cross-section area of grounding wire, and adding magnetic rings..

35497

Abnormal Energy Consumption Brake Circuit

Energy consumption brake selection for setting the server parameters is inconsistent with the actual connection of the energy consumption brake resistance.

Correctly set the selected servo parameters for energy consumption braking to match the actual wiring of the energy consumption braking resistance.

35498

CPU Overheat

1. Abnormal temperature sampling circuit inside the driver; 2. Driver operating environment temperature is outside the allowable operating range.

1. Replace the drive; 2. Decrease the ambient temperature, for example, improve the radiation conditions of cabinets.

35499

Power Failure of Main Power Supply

1. When the driver servo is ON, the power supply fails; 2. Abnormal power failure detection of main power supply due to noise interference; 3. The servo parameter main power failure detection time is set too small.

1. Check the power supply and wiring of the driver to ensure that the power supply is normal and the connection is reliable; 2. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring; 3. Properly increase the setting value of servo parameter main power failure detection time.

35500

Abnormal Diagnosis of STO1 Circuit

1. STO1 triggering or poor wiring; 2. Driver internal exception.

1. Check the STO wiring to ensure that it is reliable and not in the triggered state; 2. Replace the drive.

35501

Abnormal Diagnosis of STO2 Circuit

1. STO2 triggering or poor wiring; 2. Driver internal exception.

1. Check the STO wiring to ensure that it is reliable and not in the triggered state; 2. Replace the drive.

35502

Hall Signal is Abnormal

1. Hall sensor signal is abnormal; 2. Hall sensor wiring sequence error or poor contact; 3. Hall signal is abnormal due to noise interference.

1. Replace the motor or Hall sensor, or prohibit Hall signal detection; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring..

35503

Abnormity of Encoder AB Signal Under Phase

1. Hall sensor or AB encoder signal is abnormal; 2. Hall sensor or AB encoder wiring sequence error or poor contact; 3. Hall or AB encoder signal is abnormal due to noise interference.

1. Replace the motor or hall sensor and encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring.

35504

Drive Internal Exception 2

Drive internal exception.

Replace driver.

35505

The robot cfg is incorrect and the robot is not allowed to use it.

The robot cfg is incorrect.

Use the correct robot cfg.

35506

The soft limit exceeds the hard limit.

35507

The configuration file has STOP_STO_TIME field and stop1 time greater than 760ms, but the firmware version of the security board is too lower

Upgrade the firmware of the security board

35508

Failed to set the value of STOP_TIME to Saftey board

Hardware failure

Check hardware

35509

Failed to set the value of STOP_TIME！

The value of STOP_TIME is too large

The value of STOP0_TIME should be < manu STO_TIME-30, The value of STOP1_TIME should be < auto STO_TIME-60.

35600

STO Switch Activation Failure

Robot enabling handle not effective

Press manual enable handle; Reconnect STO cables; Replace STO lines; Replace servo drive

35601

Brake Voltage Anomaly

Hardware brake voltage output exceeds standard

Verify firmware & parameter versions; Replace drive board

35602

Drive Unit Overheat

Joint temperature exceeds operational limits

Perform cooldown process; Update firmware; Replace servo drive

35603

Primary Encoder Error

Motor-side encoder malfunction

Firmware validation; Recalibration; Replace joint assembly

35604

Secondary Encoder Error

Joint-side encoder anomaly

Firmware verification; Recalibration; Replace joint

35605

Encoder Disturbance

Line noise/drive board failure or EMI interference

Inspect connections; Replace drive board; Verify firmware

35606

Current Overload - Phase A

Phase A current exceeding threshold

Check: Cable connections/Motor alignment/Brake status/Load parameters

35607

Current Overload - Phase B

Phase B current exceeding threshold

Check: Cable terminations/Position calibration/Brake function/Load profile

35608

Current Overload - Phase C

Phase C current surpassing limit

Verify: Wiring integrity/Motor offset/Brake operation/Load conditions

35609

IGBT Protection Triggered

Current exceeding preset threshold

Inspect: Load conditions/Deceleration parameters/Mechanical resistance

35610

Motor Overload Protection

Excessive torque or motor stall

Check: Wiring/Acceleration settings/Winding resistance/Brake condition

35611

Current Sensing Anomaly

Current detection anomaly in disabled state

Update firmware/parameters; Replace drive unit

35612

Low DC Voltage Condition

Insufficient bus voltage supply

Verify power input; Replace drive/power boards

35613

High DC Voltage Condition

Voltage surge/Regenerative deceleration anomaly

Inspect power supply; Adjust deceleration profile

35614

Position Tracking Fault

Tracking error exceeding threshold

Verify connections/Hardware integrity/Command rationality

35615

Communication Link Failure

EtherCAT communication failure

Check cabling; Validate firmware compatibility

35616

Angle Alignment Fault

Wiring/parameter configuration error

Inspect: Cable routing/Firmware version/Calibration parameters

35617

Encoder Count Overflow

Firmware mismatch/EEPROM corruption

Upgrade firmware; Replace drive controller

35618

Encoder Count Overflow

Firmware mismatch/EEPROM corruption

Upgrade firmware; Replace drive controller

35619

‌RSC firmware version is incompatible with the controller version

Check the RSC firmware version and upgrade it to the latest compatible version

35620

Motor short-circuit (overcurrent) protection

1.Excessive current triggers the current protection mechanism

1.Check for any severe impacts; 2.Inspect for potential phase-to-phase short circuits in the motor

35621

Power Board Bus Under-voltage

1. Power cable disconnected or insufficient supply voltage; 2. Power board hardware failure;

1. Check power connection; 2. Inspect servo driver hardware;

35622

Power Board Bus Over-voltage

1. Incorrect power cable polarity causing overvoltage; 2. Power board hardware failure;

1. Verify power input configuration; 2. Inspect power board components;

35623

Main Relay Feedback Abnormal

1. Power board hardware malfunction;

1. Check power board circuitry;

35624

Excessive Leakage Current

1. Short circuit in body wiring harness or power cables; 2. Power board hardware failure;

1. Inspect cable insulation integrity; 2. Test power board functionality;

35625

Brake System Overload

1. Brake circuit open; 2. Brake mechanical failure; 3. Power board or servo driver module defect;

1. Check wiring continuity; 2. Test brake mechanism; 3. Diagnose driver module;

35626

User Power Overcurrent

1. External device wiring error or short circuit; 2. Exceeding rated power capacity;

1. Verify peripheral connections; 2. Confirm device specifications;

35627

EEPROM Write Failure

1. EEPROM component failure;

1. Replace power board;

35628

EEPROM Read Failure

1. EEPROM component failure;

1. Replace power board;

35629

Power Relay Malfunction

1. Power board hardware malfunction;

1. Inspect relay contacts;

35630

CR35 Heat Exchanger Error

1. Heat exchanger wiring short; 2. Power board failure;

1. Check thermal management system wiring; 2. Test power board;

35631

48V Power Undervoltage

1. Joint resistance abnormally high; 2. Power supply misconfiguration;

1. Check joint mechanical operation; 2. Verify power input;

35632

48V Power Overcurrent

1. Excessive mechanical load or acceleration;

1. Optimize motion parameters;

35633

CR35 Bleeder Circuit Error

1. Power board component failure;

1. Replace power board;

35634

CR35 Bleeder Overcurrent

1. Bleeder resistor failure;

1. Replace bleeder module;

35635

CR35 Bleeder MOS Short

1. Power board hardware failure;

1. Replace power board;

35636

Bleeder I²T Protection Triggered

1. Power board thermal overload;

1. Check cooling system;

35637

Board Communication Error

1. Power board hardware defect;

1. Replace communication module;

35638

FPGA Watchdog Reset

1. Servo driver control board failure;

1. Replace control board;

35639

FPGA Leakage Alert

1. Ground fault in cabinet wiring;

1. Perform insulation resistance test;

35640

Encoder Interpolation Fault

1. Verify encoder hardware integrity;

35641

Encoder Multi-turn Count Error

1. Encoder battery disconnection; 2. Low battery voltage;

1. Check battery connectors; 2. Measure battery voltage;

35642

Abnormal Encoder Data

1. Verify encoder cable routing; 2. Check encoder magnetic gap;

35643

Encoder Comms Lost

1. Encoder cable disconnection;

1. Re-seat encoder connectors;

35644

Encoder Overspeed Error

1. Loose encoder connections; 2. Magnetic gap deviation;

1. Secure cable terminations; 2. Adjust encoder alignment;

35645

Sensor CRC Failure

1. Sensor data frame CRC mismatch;

1. Inspect sensor wiring;

35646

Null Sensor Data

1. All-zero data packets received;

1. Check sensor power supply;

35647

Velocity Tracking Error

1. Significant deviation between calculated and actual joint speed;

1. Verify sensor installation; 2. Calibrate speed parameters;

35648

Zero-point Calibration Fault

1. Zero calibration data mismatch;

1. Recalibrate sensor;

17.1.3 3 XXXX

Code

Description

Possible Reasons

Solution

41410

ForceObs limit exceeded

The observed force (Fx、Fy、Fz) in the Cartesian space exceeds the limit

Check the configuration and torque sensor status, modify the program to decrease the total external force acting on the robot

41411

TorqueObs limit exceeded

The observed torque (Mx、My、Mz) in the Cartesian space exceeds the limit

Check the configuration and torque sensor status, modify the program to decrease the total external force acting on the robot

41412

Position limit exceeded

The position in the JOINT space exceeds the limit

Change current position a few increments to allowed area

41413

Position limit exceeded

The position in the Cartesian space exceeds the limit

Change current position a few increments to allowed area

41414

Velocity limit exceeded

You cannot proceed without removing the causes of this error

Reduce speed, use fine point, increase AccSet, avoid singularity, inc. dynamic resolution

41415

Velocity limit exceeded

You cannot proceed without removing the causes of this error

Reduce speed, use fine point, increase AccSet, avoid singularity, inc. dynamic resolution

41416

Singularity Problem

The destination or current position is too close to singularity

Change destination position a few increments. During jogging, use axis by axis. During program execution, use MoveAbsJ

41417

Execution Error

No operation will be possible until after correcting the fault.

Verify that the joint position is within allowed region

41418

FC supervision error

The default force supervision has triggered because the programmed or measured external forces are larger than the safety limit for the robot type

Check the configuration and modify the program to decrease the total external force acting on the robot

41419

FcInit Error

The TCP length exceeds limitation, or the current reference coordinate system is NOT valid

Review the limits for the tool and detailed definitions in the Product manual

41420

Force control activation failed

See the "content"

1. Verify current tool (Tool) settings match actual configuration and ensure proper tool mass/center of gravity settings; 2. Check monitoring window to confirm robot coordinate system and pose match actual status; 3. Confirm current robot model and RD parameters match actual configuration; 4. Try returning to mechanical zero position and perform sensor reset before dragging; 5. Ensure no external force is applied when enabling drag; 6. For more detail, refer to the Drag Fault Troubleshooting Manual.

41421

Failed to pause the force control

The robot force control is NOT executed

Command execute only after starting FC

41422

Failed to restart FC

The robot force control is not paused

Pause or Stop the FC before restarting the force control tasks

41423

Failed to set SensorUseMod

The force control is uninitialized

Check the configuration and initialize the FC

41424

Calibration Failed

The dynamic compensation is executed, and a manual calibration is NOT allowed

To use the manual calibration, please change the sensor usage mode to calibration

41425

Failed to set the sine overlay

The overlay is paused in the non-impedance control mode, or the command is NOT allowed when the program is executing

Ensure that it is in the impedance control mode and that the overlay is stopped

41426

Failed to set the Lissajous overlay

The overlay is paused in the non-impedance control mode, or the command is NOT allowed when the program is executing

Ensure that it is in the impedance control mode and that the overlay is stopped

41427

Failed to start the overlay

The overlay is not set, or it is not in the Cartesian impedance control mode

Check control mode command and set the overlay parameters before restarting.

41428

Failed to pause the overlay

The overlay is not started, or it is not in the Cartesian impedance control mode

Please ensure that the overlay is started and it is in the Cartesian impedance control mode

41429

Failed to restart the overlay

The overlay is not paused, or it is not in the Cartesian impedance control mode

Pause the current FC mission and check control mode command. Switch to cartesian impedance control before restarting.

41430

Failed to set ControlType

The impedance control mode is uninitialized

Stop the current FC mission and initialize control parameter again

41431

Initialization error of JntImpedanceFC

Not in the joint impedance control mode; the initialization command is not executed

Execute the Joint impedance control mode before restarting FC

41432

Initialization error of CartImpedanceFC

Not in the Cartesian impedance control mode; the initialization command is not executed

Execute the Cartesian impedance control mode before restarting FC

41433

Failed to set NullSpaceFC

It is not in the Cartesian impedance control mode, or the impedance is uninitialized

Check the control mode and try again. Do not restart system until a valid force calibration or cartesian impedance mode is made.

41434

Failed to set JntForceDes

It is not in the joint impedance control mode, or the impedance is uninitialized

Check the control mode and try again. Do not restart system until a valid force calibration or joint impedance mode is made.

41435

Failed to set CartForceDes

It is not in the Cartesian impedance control mode, or the impedance is uninitialized

Check the control mode and try again. Do not restart system until a valid force calibration or cartesian impedance mode is made.

41436

Switch Command not allowed

Cannot switch impedance mode when in FC Execution state

Stop the current FC mission and initialize control parameter

41437

Failed to activate the virtual wall function

The robot flange is beyond the virtual wall, which does not meet the virtual wall constraints

Please move the robot flange into the virtual wall range and then activate the virtual wall

41438

Failed to activate the virtual wall function

The virtual wall can be activated only in the drag mode

Reactivate the virtual wall after the drag mode is enabled

41439

Failed to activate the virtual wall function

The current state of the robot does not support the virtual wall function

41440

Deactivate the collision detection

The collision detection is not required in the impedance mode

None

41441

Reactivate the collision detection

The collision detection is deactivated automatically when impedance mode is enabled. Now, the collision detection is automatically activated when the impedance mode is disabled

None

41442

Failed to activate impedance control

When the impedance mode is enabled, the robot does not meet the joint position limitation requirement; the impedance mode cannot be enabled

Please ensure that the robot is within the joint position limitation when the impedance mode is enabled for the robot

41443

Parameter Error in FCStiffSetting

The impedance stiffness set exceeds the theoretical maximum value and has been replaced by the default maximum value

Please reset the impedance stiffness value within a reasonable range

41444

Parameter Error in FCStiffSetting

The impedance stiffness value set is abnormal and does not possess physical significance

Please reset the impedance stiffness value within a reasonable range

41445

Identification Calculation Finished

Identification Calculation Finished, results satisfy the standards.

Please reboot after the second identification process

41446

Identification Exception

Exception occurs during Identification, some results will be replaced by default standards

Results will be replaced by default standards, please follow up hardware qualification

41447

Failed to drag

There is a large deviation between the feedback and the model torque, and the drag can not be activated

41448

Failed to initialize the force control

Fcinit is not allowed to be powered off during force control

Click pptomain and run again

41449

Failed to initialize the force control

Fc Commands from last time are not finished, new command will be refused.

Calling Fc Commands too quickly, please increase the time interval between FcStop and FcInit for next time.

41450

Failed to drag

The voltage of the sensor is abnormal, and the drag can not be activated.

Please check the status of sensors.

41451

Force control protection triggered, controller power off

See the "content"

None

41452

Collision detection turned off

41453

Collision detection reopened

41454

ForceControl Stopped When PowerOff

41455

Dont Check Path Deviation

41456

Resume in Postion Control Mode

41457

Please Restart Force Control

41458

The time setting cannot be negative or greater than 600

Please check the time format

41459

In force control mode, unsupported instruction

41460

The virtual wall area setting is too small

41462

Calibrate Sensor failed, please check the load setting

The bias between dynamics model trq and sensor measured is too large

Please check the load setting

41461

TCP length is too large(norm<=0.15m), the ref point of force control will be setted at flange

41463

Drag enable prohibited in workpiece handling mode

41464

Failed to drag

The range of the joint position limitation is to small to open drag mode

Check the joint position limitation, make sure the the range of the soft limit is beyond 25°

41465

Calibration failed due to excessive deviation between sensor torque and theoretical torque

Check load configuration

41470

Force control protection parameters are set to default values

41471

Force control protection parameters set to user-defined values

41472

SetFcJointVelMax execution failed

Invalid command parameters

Check and correct SetFcJointVelMax parameters

41473

SetFcCartVelMax execution failed

Invalid command parameters

Check and correct SetFcCartVelMax parameters

41474

SetFcJointMomentumMax execution failed

Invalid command parameters

Check and correct SetFcJointMomentumMax parameters

41475

SetFcJointEnergyMax execution failed

Invalid command parameters

Check and correct SetFcJointEnergyMax parameters

41476

Program execution rejected due to force control protection trigger

Force control protection activated

Restart program execution from pptomain

41477

In the command parameters, the lower limit exceeds the upper limit.

The command parameters are invalid.

Please check the command parameter settings and correct the parameters.

41478

Sensor identification failed!

Before starting the identification, the robot is not at the mechanical zero point

Please manually jog to the mechanical zero point and then start the identification

42001

Admittance motion exceeds safe range

Exceeds safe range

1. Please check the safety range parameters. 2. Please check if the admittance control parameters are reasonable.

17.1.4 4 XX

Code

Description

Possible Reasons

Solution

50000

Blending canceling

The threshold for canceling the blending is exceeded

1. Increase the angle between the two trajectories; 2. Increase the length of the two trajectories; 3. Increase the zone

50001

The controller status is abnormal

Run PPtoMain to reset projects or reload programs

50002

Exceeds range of motion

1. The target point exceeds the range of motion of the robot. 2. The target point is the singular position in the Cartesian coordinate system

1. Check the target point position. 2. Move the robot by using its joints. 3. Check CONFDATA configuration

50003

Two adjacent target points are too close

Check whether two adjacent Move commands use the same target point

50004

The start point of arc is too close to the end point. Failed to generate arc. Trajectories will be ignored

1. Adjust the distance between the point positions of the start point and the end point of the arc

50005

The start point of arc is too close to the auxiliary point. Failed to generate arc

1. Adjust the distance between the point positions of the start point and the auxiliary point of the arc

50006

The end point of arc is too close to the auxiliary point. Failed to generate arc

1. Adjust the distance between the point positions of the end point and the auxiliary point of the arc

50007

The end point of arc is too close to the auxiliary point. Failed to generate arc

If the distance between any two of the start point, the auxiliary point, and the end point is too short, the angle between them will be very small

1. Adjust the distance between the point positions of the start point, the end point, and the auxiliary point of the arc

50008

The start point, the auxiliary point, and the end point are on the same straight line. Failed to generate arc

1. Adjust the distance between the point positions of the start point, the end point, and the auxiliary point of the arc

50009

The radius of the arc is too small. Failed to generate arc

The distance between the start point, the end point, and the auxiliary point of the arc are too short

1. Adjust the distance between the point positions of the start point, the end point, and the auxiliary point of the arc

50010

Conditions for generating an arc are not met. Failed to generate arc

The distance between the start point, the end point, and the auxiliary point of the arc are too short, or the start point, the auxiliary point, and the end point of the arc are on the same line

1. Adjust the distance between or the orientation of the point positions of the start point, the end point, and the auxiliary point of the arc

50011

The start point of the trochoid is too close to the end point. Failed to generate trochoid

1. Adjust the distance between the point positions of the start point and the end point of the trochoid. 2. Conditions for generating a trochoid are as follows: the specified radius is more than 1 mm; the specified feed is more than 1 mm; the trochoid length is more than the sum of two radii and one and a half feeds. Note that the trochoid length depends on the distance between the start point, the auxiliary point, and the end point

50012

The start point of the trochoid is too close to the auxiliary point. Failed to generate trochoid

1. Adjust the distance between the point positions of the start point and the auxiliary point of the trochoid. 2. Conditions for generating a trochoid are as follows: the specified radius is more than 1 mm; the specified feed is more than 1 mm; the trochoid length is more than the sum of two radii and one and a half feeds. Note that the trochoid length depends on the distance between the start point, the auxiliary point, and the end point

50013

The end point of the trochoid is too close to the auxiliary point. Failed to generate trochoid

1. Adjust the distance between the point positions of the end point and the auxiliary point of the trochoid. 2. Conditions for generating a trochoid are as follows: the specified radius is more than 1 mm; the specified feed is more than 1 mm; the trochoid length is more than the sum of two radii and one and a half feeds. Note that the trochoid length depends on the distance between the start point, the auxiliary point, and the end point

50014

The start point, the auxiliary point, and the end point of the trochoid are on the same straight line. Failed to generate trochoid

1. Adjust the distance between the point positions of the start point, the auxiliary point, and the end point of the trochoid. 2. Conditions for generating a trochoid are as follows: the specified radius is more than 1 mm; the specified feed is more than 1 mm; the trochoid length is more than the sum of two radii and one and a half feeds. Note that the trochoid length depends on the distance between the start point, the auxiliary point, and the end point

50015

The specified radius is too small. Failed to generate trochoid

1. Increase the specified radius. 2. Conditions for generating a trochoid are as follows: the specified radius is more than 1 mm; the specified feed is more than 1 mm; the trochoid length is more than the sum of two radii and one and a half feeds. Note that the trochoid length depends on the distance between the start point, the auxiliary point, and the end point

50016

The specified feed is too small. Failed to generate trochoid

1. Increase the specified feed. 2. Conditions for generating a trochoid are as follows: the specified radius is more than 1 mm; the specified feed is more than 1 mm; the trochoid length is more than the sum of two radii and one and a half feeds. Note that the trochoid length depends on the distance between the start point, the auxiliary point, and the end point

50017

The specified radius of the trochoid is less than the feed. Failed to generate trochoid

1. The specified radius should not be less than the specified feed. 2. Conditions for generating a trochoid are as follows: the specified radius is more than 1 mm; the specified feed is more than 1 mm; the trochoid length is more than the sum of two radii and one and a half feeds. Note that the trochoid length depends on the distance between the start point, the auxiliary point, and the end point

50018

The trochoid is too short. Failed to generate trochoid

The radius and feed are specified, if the distance between the start point and the end point is short, a trochoid will not be generated

1. Reduce the specified radius or feed. 2. Increase the distance between the start point and the end point. 3. Conditions for generating a trochoid are as follows: the specified radius is more than 1 mm; the specified feed is more than 1 mm; the trochoid length is more than the sum of two radii and one and a half feeds. Note that the trochoid length depends on the distance between the start point, the auxiliary point, and the end point

50019

Internal error generating path

1. Re-adjust the target point position, pose, and arm angle. Note that the arm angle only needs to be considered for 7-axis robots

50020

The set tool coordinate system cannot match the features of the current model. Failed to generate the path

The specified tool coordinate system does not support the model

1. The tool coordinate system of the current model must meet the following two requirements – the method for holding: hand-held, and position: x=0, y=0

50021

Exceeds range of motion

1. The target point with the specified confdata has no solution

1. Use the instruction ConfJ off to cancel confdata; 2. Re-teach the point position

50022

Illegal Instructions

1. Illegal Instructions

1. Re-teach the point position; 2. Restart the robot

50023

Singularity errors

1. The target point has no teaching, or its conf information is incorrect

Modify the target point conf

50024

The incorrect trajectory type can make it impossible for the robot to translate along the specified direction, please re-teach the point position

The current robot can only translate on the xz plane of the base coordinate, and cannot deviate from the xz plane of the base coordinate system

Re-teach the point position

50025

The incorrect trajectory type can make it impossible for the robot to rotate along the specified direction, please re-teach the point position

While the current robot rotating, its rotation axis must be in parallel with the y-axis of the base coordinate system

Re-teach the point position

50026

Waiting for the next motion instruction to be analyzed for too long, automatically cancel the turning area

Insert too many non-motion commands between two motion commands, automatically cancel the turning area

1. Run the RL command "AotoIgnoreZone Off", The system will not automatically cancel the turning zone. 2.Simplify the non-motion instruction between two motion instructions

50027

Track length less than minimum turning radius, automatic path splicing, integrated turning area.

1.The trajectory needs to be connected to the turning area both front and back, but the length of the trajectory is less than twice the radius of the minimum turning area; 2.The track is set to connect to a turning area, but the track length is less than the minimum turning area radius

This function can make the movement smoother. If you want to turn off this function, you can set the minimum turning area radius to 0

50028

The spiral’s initial radius is less than zero. Failed to generate spiral

1. Increase the spiral’s radius step. 2. Conditions for generating a spiral are as follows: the initial radius is not less than 0; the radius step is more than 0.0001 mm/deg; the cumulative rotation angle is between 0.1 and 3600 deg;

50029

The spiral’s radius step is too low. Failed to generate spiral

50030

The spiral’s cumulative rotation angle is illegal. Failed to generate spiral

1. Increase the spiral’s cumulative rotation angle. 2. Conditions for generating a spiral are as follows: the initial radius is not less than 0; the radius step is more than 0.0001 mm/deg; the cumulative rotation angle is between 0.1 and 3600 deg;

50031

Trajectory error. Spiral trajectory does not support handheld work objects

Spiral trajectory does not support handheld work objects

Replace with handheld tools

50033

Wrong trajectory, the endpoint deviates from lock axis angle

The endpoint deviates from lock axis angle(0, 180, -180)

Adjust the endpoint or close lock axis

50034

Unable to reach the target in the locked axis state or 5-axis robot.Please change the target

50035

Unable to generate trajectory of identification in the locked axis, Please close lock axis

trajectory couldn’t be generated correctly in the locked axis state

Please close lock axis

50036

5 axis robot unable to do load identification

none

50040

Unable to do identification because the soft limit is not enabled

The soft limit is not enabled

Please enable the soft limit

50041

Unable to do identification because the joint position limitation is incorrectly set

The joint position limitation is incorrectly set

Please set the joint position limitation correctly

50042

The stating point of this trajectory is incorrect, this robot needs to keep flange parrallel to the base

Re demonstrate teaching points

50043

The target point of this trajectory is incorrect, this robot needs to keep flange parrallel to the base

Re demonstrate teaching points

50044

The back direction is wrong. Please move towards the work area direction.

Please move towards the work area direction.

50045

Additional axis parameter error: Only one base-type additional axis mechanical unit is allowed to be set

Check the type of additional axis mechanical unit; only one base-type additional axis mechanical unit is allowed to be set

50046

Additional axis parameter error: Duplicate axis data mapping has been set

Modify the additional axis data mapping to avoid duplicates

50047

Additional axis parameter error: An unknown axis type has been set

Reset the axis type and restart the system

50048

Additional axis parameter error: Incorrect parameters have been set

Check the additional axis parameters, reset them properly, and restart the system

50101

The joint angle exceeds limit

The axis-angle motion exceeds the motion range

1. Cancel the joint position limitation 2. Manually move each axis of the robot to the normal working range

50102

During the lookahead of the trajectory, encounter singularities

There are trajectories across singularities

Please avoid singularities (refer to the manual for the relevant information): 1. Re-teach the point position, and change the target point; 2. Or change the Cartesian space motion instruction to the joint space motion instruction

50103

Position incompatibility

Inability to move to the target point of the given ConfData through the planning of the Cartesian space

1. Change the target point ConfData; 2. Change to MoveJ or MoveAbsJ

50104

During the lookahead, the joint torque exceeds the limit

1.The load value is set too high, exceeding the robot’s load-bearing capacity; 2. The friction coefficient of the robot is too high. 3. The electric overload coefficient or transmission overload coefficent of the robot is too small.

1.Check if the load values match the actual situation. 2. Check parameters such as friction coefficent, motor overload coefficient, transmission overload coefficient; 3. Try to change the type of the instruction, for instance, change the Cartesian space instruction to the joint space instruction;

50105

Lookahead points are not continuous

1. Program logical problems; 2.Dynamic parameters errors, there are parameters not covered in the reasonable range

1. Modify program logic; 2. Check dynamic parameters; 3. Change the point position or the blending

50106

The staring point of the trajectory is greater than the ending point one, and the trajectory is unreasonable

Program logical problems

For program logical problems, modify the point position of the program, or modify its blending

50107

Generate the incorrect trajectory of the blending

Internal Error

Cancel the blending, change the size of the blending or the target point

50108

The new trajectory was not obtained in time, and the motion stopped

System failure

50109

The empty queue of the trajectory makes it impossible to execute the planning

Set trajectory errors

Avoid generating the blending between the two reversed trajectories or reduce the length of the blending

50110

Unable to get the initial position of the program

1. Modify program logic; 2. Modify the size of the blending of the first trajectory

50111

The positions of the two trajectories cannot connect

1 Re-teach the point position; 2. Modify the size of the blending

50112

Incorrect entered poses

1. Re-teach the pose, 2. If the current model is 3-axis or 4-axis robot, please check whether the entered pose matches the features of the current model

50113

the change of robot posture is over the limitation

Please avoid singularities (refer to the manual for the relevant information):1. Re-teach the point position, and change the target point 2. Reset larger posture limitation 3. Try different type singular avoidence

50114

The joint angle exceeds limit

The axis-angle motion exceeds the motion range

1. Cancel the joint position limitation 2. Manually move each axis of the robot to the normal working range

50115

There are singularities during the lookahead of the trajectory. Please avoid the singularities

During the lookahead, the trajectory goes across the singularity

Please avoid singularities (refer to the manual for the relevant information): 1. Re-teach the point position, and change the target point; 2. Or change the Jog Mode and try to use Joint space Jog; 3. Or change the Cartesian space motion instruction to the joint space motion instruction

50116

During the lookahead of the trajectory, encounter singularities

The joint of trajectories is a singularity

Please avoid singularities (refer to the manual for the relevant information): 1. Re-teach the point position, and change the target point; 2. Add wait0 after the incorrect trajectory

50117

During the lookahead, the trajectory goes across the shoulder/elbos singularity

Please avoid singularities (refer to the manual for the relevant information):1. Re-teach the point position, and change the target point 2. Try different sing type

50118

During the lookahead of the trajectory, the end pos dose not match required value

During the lookahead of the trajectory, the end pos dose not match required value, unable get a certain path

Please avoid singularities (refer to the manual for the relevant information):1. Re-teach the point position, and change the target point 2. Try different sing type

50119

The singularity avoidance method is incompatible with coordinated motion external axes, such as rails or positioners, and the enabling of singularity avoidance has failed

Disable the relevant external axes

50120

Search end point joint failed

Search end point joint failed. Probabaly because the end point is singular point or approach position limitation.

Please avoid singularities (refer to the manual for the relevant information):1. Re-teach the point position, and change the target point 2. Try different sing type

50121

Search path point joint failed

Search path point joint failed. Probabaly because the end point is singular point or approach position limitation.

Please avoid singularities (refer to the manual for the relevant information):1. Re-teach the point position, and change the target point 2. Try different sing type

50122

Unable to open the singular avoidance when using fc model

close the fc model

50123

Singular avoidance doesn’t support recent path type, please change to cartesian linear path

Please change path type to cartesian linear

50124

The angle between the upper and lower arms exceeds the safe range

Please change target point

50125

The angle between the upper and lower arms exceeds the safe range

Please change motion type

50126

During the lookahead, joint max speed exceeds limit

1.The joint speed is set too small

1.Increase the maximum joint speed

50127

During the lookahead, joint max acceleration exceeds limit

1.The joint acceleration is set too small

1.Increase the maximum joint acceleration

50128

During the lookahead, joint max jerk exceeds limit

1.The joint jerk is set too small

1.Increase the maximum joint jerk

50129

The additional axis exceeds its motion range during lookahead, causing an early motion stop. The corresponding data mapping position is

The additional axis angle motion exceeds the motion range

Modify the relevant additional axis soft limit or change the point position

50201

The Cartesian path encounters the unreachable point

The Cartesian path encounters singularities

Change the trajectory, or move to the target position through the joint space

50202

The Cartesian path encounters illegal poses

The target point in the Cartesian path cannot match the configuration of the current robot

Re-teach the target point, and change it the teaching point if the target point is manually entered

50203

Path planning errors

Internal Error

50204

Insufficient sampling points during the process of planning

1. There are too many logic judgments or too much calculation of point positions inserted between the two motion instructions; 2. The state of the IPC is unstable, please check whether there is the non-xCore program operating in the robot

1. Modify the RL project, and restart its operation; 2. Close the Linux background program of the non-xCore control system

50205

Too much difference in adjacent instruction points during motion planning

Controller error, there is a great difference in adjacent instruction points during motion planning, exceeding the limit

1. Re-teach the target point position of the trajectory; 2.Try to change the type of the instruction, for instance, change MoveL to MoveJ; 3. Add wait0 after the incorrect trajectory to refresh the state

50206

Incorrect internal calculation of path planning

The calculation of controller planning is incorrect

1. Re-teach the target point position of the trajectory; 2.Try to change the type of the instruction, for instance, change MoveL to MoveJ; 3. Try to change the size of the blending of the trajectory and the expected speed; 4. Add wait0 after the incorrect trajectory to refresh the state

50207

Not stopped at end point of path

Incorrect planning, and stop somewhere in the middle of the robot path

Change the specified motion parameters (the size of the blending, and the position of the target point), or change the pose of the target point, or change the motion instruction (such as change MoveL to MoveJ)

50208

Trajectory internal error

1. Expand or reduce the blending. 2. Teach point positions again

50209

Failed to stop within the specified stopping distance

The specified stopping distance is too short

Increase the stopping distance

50210

Path turn angle deviation exceeds limit

Actual Cartesian path turn angle differs significantly from programmed value

1. Use 'ConfL off' command to bypass this warning; 2. Reteach target point with turn angle closer to starting point

50211

Constraint violation detected during planning while stationary

1. Load setting exceeds robot capacity; 2. Excessive friction coefficient; 3. Motor/servo overload coefficient too small; 4. Planning calculation error

1. Verify actual load matches settings; 2. Check friction/motor/transmission overload coefficients; 3. Try changing command type (e.g., switch from Cartesian to joint space); 4. Contact technical support

50301

The thread for motion planning is blocked. Execution timed out

Use PPtoMain again to run projects or restart the controller

50302

The thread for motion planning is blocked. Scheduling timed out

System failure

Use PPtoMain again to run projects or restart the controller

50303

The thread for motion planning is blocked. Consecutive timeout over 5000 times

System failure

Use PPtoMain again to run projects or restart the controller

50304

No sufficient commands are sent from the planner to the EtherCAT thread

System failure

30400

Robot stopped due to collision. Check the robot operating environment and confirm that the staff and devices are safe before restart

Robot collision

1.Check the robot operating environment, confirm that the staff and devices are safe, and power on the robot, before restart

30401

Robot stopped due to collision. Check the robot operating environment and confirm that the staff and devices are safe before restart

Robot collision

1. Check the robot operating environment, confirm that the staff and devices are safe, and power on the robot, before restart; 2. Check whether the current Tool setting is consistent with the actual situation and whether the set tool mass center is reasonable

30402

Robot stopped due to collision. Check the robot operating environment and confirm that the staff and devices are safe before restart

Robot collision

30403

Robot stopped due to collision. Check the robot operating environment and confirm that the staff and devices are safe before restart

Robot collision

50401

Set max torque limit failed

The max torque limit is out of range, set parameter failed

Set correct max torque limit

50501

Tool and work object coordinate system settings conflict

Set "handheld" for both work objects and tools

Select correct tool and wobj

50502

Tool and work object coordinate system settings conflict

Set "external" for both work objects and tools

Select correct tool and wobj

50503

Tool and work object coordinate system settings conflict

Set "handheld" for both work objects and tools

Select correct tool and wobj

50504

Tool and work object coordinate system settings conflict

Set "external" for both work objects and tools

Select correct tool and wobj

50506

Category 1 internal mode error of motion modules

Internal error

Restart robot. If the problem persists, contact technical support

50507

Category 2 internal mode error of motion modules

Internal error

Restart robot. If the problem persists, contact technical support

50508

Failed to reset module status

Internal error

Restart robot. If the problem persists, contact technical support

50509

Failed to set motion start point

Internal error

Restart robot. If the problem persists, contact technical support

50510

Failed to generate trajectories

Internal error

Restart robot. If the problem persists, contact technical support

50511

Failed to execute motion command.

Current robot state does not permit to execute any movement.

1.Interrupt current project and restart it from beginning 2.Reboot robot. If the problem persists, contact technical support

50512

Number of axes mismatches

Software error

Please contact the technical support

50513

Invalid speed settings

Software error

Please contact the technical support

50514

Invalid step length settings

Software error

Please contact the technical support

50515

Invalid settings of coordinate systems

Software error

Please contact the technical support

50516

Invalid settings of motion axes

Software error

Please contact the technical support

50517

End-effector rapid adjustment failed. Teach point positions again

1. End-effector rapid adjustment failed due to special or extreme positions

Teach point positions again within the normal working range of robots

50518

The current point position may be the target point position

None

50519

Failed to generate trajectories. Unqualified target points

Target point positions may be out of robot working range

Teach point positions again within the normal working range of robots

50520

JOG mode error. Robot cannot translate in the specified direction. Modify the JOG mode

The current robot can only translate on the xz plane of the base coordinate, and cannot deviate from the xz plane of the base coordinate system

It is recommended that to choose the base coordinate system or the joint coordinate system when modifying the JOG mode

50521

JOG mode error. Robot cannot rotate in the specified direction. Modify the JOG mode

The rotating axes of the robot must be parallel to the Y-axis of the base coordinate system, or the robots rotate along the Z-axis of the flange coordinate system

It is recommended that to choose the base coordinate system or the joint coordinate system when modifying the JOG mode

50522

Trajectory error. 4-axis PCB robots do not support handheld work objects and external tools

4-axis PCV robots do not support handheld work objects and external tools

Replace with handheld tools

50523

The robot already reached end point of trajectory

When you click Next, the robot have reached the end point of the trajectory. The robots will not move

Confirm whether you want to stop the robot at the end point of the trajectory. To move the robot to the end point of the next trajectory, click Next

50524

JOG failed to open, missing key motion parameters

The current robot configuration file lacks key motion parameters and does not allow JOG

Confirm that the configuration file is updated

50525

The axis4 angle is not 0 or 180 degrees, please jog j4 to 0 or 180 degrees firstly

The robot’s axis4 angle is not 0 or 180 degrees, please jog j4 to 0 or 180 degrees firstly

50526

The flange is not parallel to the base, Please jog J4 and Ry first to make the flange parallel to the base

The flange is not parallel to the base, it is not allowed to jog x y z

Please jog J4 and Ry first to make the flange parallel to the base

50527

In the locked state, it is not supported to hold the workpiece

it is supported to hold the tool

50528

The flange is not parallel to the base, Please jog Ry to make the flange parallel to the base

The flange is not parallel to the base, it is not allowed to jog x y z

Please jog Ry to make the flange parallel to the base

50529

Invalid load settings

Please check the load setting

50530

The button is being clicked too frequently.

The previous motion has not yet fully stopped, so the current motion cannot be initiated

Increase the time interval between consecutive motions to prevent overly rapid clicks.

50531

Rapid end-effector adjustment failed, please select the correct tool or the correct coordinate system

1. The tool is an external tool, and the adjustment is based on a coordinate system that is the robot’s base coordinate system

Select the correct tool or the correct coordinate system

50532

Turn off precision compensation state

When the precision compensation state is enabled, singular avoidance and parallel pedestal jog cannot be enabled

Turn off precision compensation state

50533

Failed to enter axis lock state. Please check the robot’s current status and configuration, and view the logs

Adjust the angle of axis 4 to 0° or ±180°, and check the external axis configuration.

50534

The calibration error is too large to provide a reasonable calibration result. Please recalibrate

Check the robot zero and whether the operations during calibration are performed properly, then recalibrate.

50535

Trajectory work object frame error: It is incorrectly bound to an additional axis that is not enabled or does not exist

Reset the work object frame or enable the corresponding additional axis

50536

In jog mode, jog is not allowed for the additional axis that is not activated. Please activate the jog mode for that additional axis first before jog

50537

When a work object is held by hand, it is not allowed to bind it to an additional axis; only an external work object may be bound to an additional axis

Setting a work object as "handheld" inherently means binding it to the robot

Set the work object as external first, then bind it to the additional axis

50601

Dynamics disabled. Resetting the torque feedforward may cause a sudden power-on jitter

Torque feedforward disabled. Torque feedforward reset

Enable torque feedforward

50602

Friction identification

50603

VirbrationSuppression Failed

50604

GravityCompensation Failed

50605

Open Collision Detection delay compensation parameters identification failed, torque feedforward is closed

torque feedforward is closed

Open torque feedforward

50701

Command data lost during transmission

Restart the program

50702

The configuration file dose not match the controller version;

The configuration file does not match the controller version;

Please download the latest version of the configuration file on the SW website and upgrade it to the controller;

50801

Trajectory type is not supported in weaving mode

Weaving mode does not support joint-space trajectory, pure rotation trajectory or trochoid trajectory

Do not use cartesian-space trajectory, pure rotation trajectory or trochoid trajectory

50802

When the network is disconnected or unstable, the robot will stop moving.

During JOG, motion to or quick adjustment, stop the robot movement to prevent machine collision due to network disconnection or network instability.

Please check that the network connection is normal, ensure that the network environment is stable, and retry the JOG, motion to, or quick adjustment operation.

17.1.5 5 XXXX

Code

Description

Possible Reasons

Solution

60000

RL instruction parameter error

Modify the instruction and enter the correct parameter.

60001

SocketReadBit parameter error

RL encounters an error while running.

Parameters of SocketReadBit must be multiples of 8.

60002

SocketReadBit failed to read data.

RL encounters an error while running.

SocketReadBit failed to read data (data length mismatch).

60003

SocketReadDouble illegally reads data.

RL encounters an error while running.

SocketReadDouble illegally reads data.

60004

SocketReadDouble failed to read data.

RL encounters an error while running.

SocketReadDouble failed to read data (data length mismatch).

60005

Failed to load RL project.

1. rsync configuration file is incorrect or missing. 2. The hmi version does not match. 3. The RL project file is accidentally modified. 4. Network failure.

1. Configure the correct operating environment. 2. Check the corresponding HMI version. 3. Contact technical support.

60006

The robot is running. pptomain failed.

Robot is running, pptomain is not allowed.

Press Pause or Emergency Stop to shut down the robot.

60007

The joint position limitation is not enabled. Single-step debugging is not allowed.

Open joint position limitation settings in the setting interface.

60008

Running speed synchronization failed. Cancel the next step.

Pause and restart the controller.

60009

RL is running or the actuator encounters an error. The next step is rejected.

If RL is running, wait for RL to stop or click Pause; If the actuator encounters an error, click pp_to_main to re-execute.

60010

Failed to start interpreter, unable to perform the next step.

Restart the controller or contact technical support.

60011

An error occurred during RL task execution. The task stopped.

Switch to the corresponding task to check the logic error near the program pointer, and after eliminating the error, pptomain will run again.

60012

GetSocketConn failed.

The connection does not exist or has been disconnected.

Execute this command after SocketConnect is connected.

60013

GetSocketServer failed.

The connection does not exist or has been disconnected.

Execute this instruction after SocketServer is in listening state.

60014

Unable to start running the RL program.

The program failed to start running because: 1) the robot is not powered on; 2) the robot is running.

Make sure the robot is powered on and is not running.

60015

Reload project failed, variables are too much.

1.Project variable overlimit 14000.

Project variable overlimit

60100

Parameter error of HexToDec

RL encounters an error while running.

The string entered by HexToDec must be a hexadecimal integer.

60101

StrToByte parameter error

RL encounters an error while running.

The string entered by StrToByte(string, /Hex) must be a hexadecimal integer.

60102

StrToByte parameter error

RL encounters an error while running.

The string entered by StrToByte(string) must be a decimal integer.

60103

StrToByte parameter error

RL encounters an error while running.

The string entered by StrToByte(string, /Okt) must be an octal integer.

60104

StrToByte parameter error

RL encounters an error while running.

The string entered by StrToByte(string, /Bin) must be a binary integer.

60105

StrToByte parameter error

RL encounters an error while running.

The string entered by StrToByte(string, /Char) must be ASCII characters.

60106

The result of StrToByte overflows.

RL encounters an error while running.

The string data entered by StrToByte(string HEX) overflows.

60107

The result of StrToByte overflows.

RL encounters an error while running.

The string data entered by StrToByte(string DEC) overflows.

60108

The result of StrToByte overflows.

RL encounters an error while running.

The string data entered by StrToByte(string OKT) overflows.

60109

The result of StrToByte overflows.

RL encounters an error while running.

The string data entered by StrToByte(string BIN) overflows.

60110

The result of StrToByte overflows.

RL encounters an error while running.

The string data entered by StrToByte(string CHAR) overflows.

60111

The range of the StrPart string exceeds the limit.

RL encounters an error while running.

The range of the StrPart string exceeds the limit.

60112

The StrMatch parameter is too large to find.

RL encounters an error while running.

The StrMatch parameter is too large to find.

60113

The value range of BitPos parameter of BitCheck instruction exceeds the limit.

RL encounters an error while running.

The value range of BitPos parameter of BitCheck instruction exceeds the limit.

60114

The value range of BitPos parameter of BitClear instruction exceeds the limit.

RL encounters an error while running.

The value range of BitPos parameter of BitClear instruction exceeds the limit.

60115

The value range of ShiftSteps parameter of BitLsh instruction exceeds the limit.

RL encounters an error while running.

The value range of ShiftSteps parameter of BitLsh instruction exceeds the limit.

60116

The value range of ShiftSteps parameter of BitRsh instruction exceeds the limit.

RL encounters an error while running.

The value range of ShiftSteps parameter of BitRsh instruction exceeds the limit.

60117

The value range of BitPos parameter of BitSet instruction exceeds the limit.

RL encounters an error while running.

The value range of BitPos parameter of BitSet instruction exceeds the limit.

60198

Command failed

60199

Command executed successfully

60200

An error occurs during FcInit execution.

Modify the FcInit instruction to the correct instruction parameter.

60201

An error occurs during FcStart execution.

Modify the FcStart instruction to the correct instruction parameter.

60202

An error occurs during FcPause execution.

Modify the FcPause instruction to the correct instruction parameter.

60203

An error occurs during FcRestart execution.

Modify the FcRestart instruction to the correct instruction parameter.

60204

An error occurs during FcStop execution.

Modify the FcStop instruction to the correct instruction parameter.

60205

An error occurs during ClearFcError execution.

Modify the ClearFcError instruction to the correct instruction parameter.

60206

An error occurs during SetControlType execution.

Modify the SetControlType instruction to the correct instruction parameter.

60207

An error occurs during SetJntCtrlStiffVec execution.

Modify the SetJntCtrlStiffVec instruction to the correct instruction parameter.

60208

An error occurs during SetCartCtrlStiffVec execution.

Modify the SetCartCtrlStiffVec instruction to the correct instruction parameter.

60209

An error occurs during SetCartNSStiff execution.

Modify the SetCartNSStiff instruction to the correct instruction parameter.

60210

An error occurs during SetLoad execution.

Modify the SetLoad instruction to the correct instruction parameter.

60211

An error occurs during StartOverlay execution.

Modify the StartOverlay instruction to the correct instruction parameter.

60212

An error occurs during StopOverlay execution.

Modify the StopOverlay instruction to the correct instruction parameter.

60213

An error occurs during PauseOverlay execution.

Modify the PauseOverlay instruction to the correct instruction parameter.

60214

An error occurs during SetSineOverlay execution.

Modify the SetSineOverlay instruction to the correct instruction parameter.

60215

An error occurs during SetLissajousOverlay execution.

Modify the SetLissajousOverlay instruction to the correct instruction parameter.

60216

An error occurs during SetJntTrqDes execution.

Modify the SetJntTrqDes instruction to the correct instruction parameter.

60217

An error occurs during SetCartForceDes execution.

Modify the SetCartForceDes instruction to the correct instruction parameter.

60218

An error occurs during RestartOverlay execution.

Modify the RestartOverlay instruction to the correct instruction parameter.

60219

An error occurs during SetSensorUseType execution.

Modify SetSensorUseType to the correct parameter.

60220

An error occurs during CalibSensorError execution.

Modify CalibSensorError to the correct parameter.

60221

An error occurs during FcCondForce execution.

Modify the FcCondForce instruction to the correct instruction parameter.

60222

An error occurs during FcCondPosBox execution.

Modify the FcCondPosBox instruction to the correct instruction parameter.

60223

An error occurs during FcCondTorque execution.

Modify the FcCondTorque instruction to the correct instruction parameter.

60224

An error occurs during FCCondWaitWhile execution.

Modify the FCCondWaitWhile instruction to the correct instruction parameter.

60225

An error occurs during FcCondOrient execution.

Modify the FcCondOrient instruction to the correct instruction parameter.

60226

An error occurs during FcCondPosSphere execution.

Modify the FcCondPosSphere instruction to the correct instruction parameter.

60227

An error occurs during FcCondPosCylinder execution.

Modify the FcCondPosCylinder instruction to the correct instruction parameter.

60228

An error occurs during FcCondTcpSpeed execution.

Modify the FcCondTcpSpeed instruction to the correct instruction parameter.

60229

Inverse kinematics of CalcJointT failed.

The conf error of Cartesian coordinates

Modify the entered Cartesian coordinates.

60300

ReplayPath playback rate exceeded limit.

RL encounters an error while running.

ReplayPath playback rate exceeded limit.

60400

RL call hierarchy exceeds limit.

RL encounters an error while running.

RL call hierarchy exceeds limit.

60500

Cannot load multiple motion tasks.

Assign only one task as the motion task.

60501

Predecessor task error

The predecessor task cannot be itself.

Modify predecessor tasks to other tasks.

60502

Motion task is not allowed to set predecessor task.

60503

The motion instruction cannot hold the workpiece and the tool at the same time.

Modify the instruction for the tool and wobj parameter.

60504

Invalid Search instruction input signal

The signal type is neither a DI signal nor register

Use the correct DI signal or register.

60505

The Search instruction failed to record the point position.

The tool and the workpiece are simultaneously hand-held or external.

Modify parameters and use tools and workpieces at different positions.

60506

An error occurs in the Search instruction DI signal.

The DI signal does not exist or has been set as the system input.

Modify the parameter and use the DI signal that is not set as the system input.

60507

SearchL \Stop instruction, the speed is greater than v100.

The robot can be stopped quickly only when the speed is less than or equal to v100.

Use a smaller speed parameter.

60508

SearchC \STOP instruction, the speed is greater than v100.

The robot can be stopped quickly only when the speed is less than or equal to v100.

Use a smaller speed parameter.

60509

Wrong program state, cannot perform the next step.

1. Cannot reach the motion instruction point; 2. Move through a singular point;

1. Check the list of point positions; 2. Optimize the motion trajectory; 3. Click PPtoMain.

60510

The RL instruction runs too slowly.

Tcp < 1μm/s or ori < 1e-6°/s or jnt < 1%;

The motion instruction adopts a proper speed parameter.

60511

The drag playback path is missing/does not exist.

Record/use a valid playback path.

60512

Drag playback function error

Check whether the drag playback function is effective.

60513

HomeSet instruction range error.

Setting the home point angle exceeds the limit.

Modify the angle of the Home point to be within the hard limit range of the robot.

60514

Saving Home parameter failed.

Robot configuration module error

Try restarting the robot or contact the manufacturer.

60515

HomeSetAt acquisition failed.

The axis specified by HomeSetAt does not exist.

Modify the parameters of HomeSetAt.

60516

The HomeClr instruction failed.

Robot configuration module error

Try restarting the robot or contact the manufacturer.

60517

Wrong number of HomeSet parameters

Modify the number of parameters to that of the robot axes.

60518

Wrong number of Hordr parameters

Modify the RL file and transfer the correct Hordr parameters.

60519

Hordr parameter value error

Modify the RL file and transfer the correct Hordr parameters.

60520

HordrAt parameter value error

Modify the RL file and transfer the correct Hordr parameters.

60521

GetEndtoolTorque tool is not compatible with the workpiece.

The tool and the workpiece are simultaneously hand-held or external.

Modify the GetEndtoolTorque instruction and transfer the correct tool, wobj parameter.

60522

GetEndtoolTorque end coordinate system type error

Undefined end coordinate system type

Modify the GetEndtoolTorque instruction and transfer the correct type parameter of coordinate systems: 0-2.

60523

AccSet parameter exceeds the limit range of 30% ~ 100%.

AccSet acceleration and jerk are limited to 30% ~ 100%.

Modify the AccSet instruction parameter.

60524

Quaternion parameter error

The sum of squares of quaternions of variables should be equal to 1.

Modify the corresponding quaternions to correct value.

60525

OpenDev port error

Available ports[0,65535]

Modify the OpenDev port to the correct value.

60526

Starting program failed due to robot is in error state. Please check recently error record.

1.Fix RL-Language error or logic error; 2.PPtoMain and restart program

60527

Trigger instruction parameter error

The trigdata set by TrigVar instruction does not exist

Create the target var to modify and set the trigdata with TrigVar instruction.

60528

Trigger instruction parameter error

The DO/GO/register variable set by trigdata does not exist; or the output signal is not set; or the register is not writable

Create the output signal (or a writable register) and set it with TrigIO/TrigReg instruction.

60529

Failed to start RL program. The robot is busy.

1. The robot is running and cannot be started repeatedly; 2. The RL file is being parsed and cannot be started.

Wait for the register function code "sta_robot_is_busy" to turn to 0 before sending the start instruction

60530

Userframe’s name is duplicated

The input userframe is duplicated by exist userframe, this userframe may work incorrectly

Please check the userframe list and make sure which frame is needed and delete the wrong frame

60531

Tray data update failed

1. Tray name or workpiece No. Error. 2. Failed to obtain data from tray module. 3. Tray variable value update

1. Check whether the parameter input in the "TrayUpdate" function is incorrect. 2. Contact after-sale.

60532

Failed to obtain workpiece quantity of tray

1.Tray name error. 2. Failed to obtain data from tray module.

1. Check if tray name error occurs. 2. Contact after-sale.

60533

Failed to update palletizing data

1. The stacking name or workpiece number is wrong or the layer number is wrong. 2. Failed to obtain data from the palletizing module. 3. Stack variable value update failed.

Check whether the parameter input in the "PalletUpdate" function is incorrect

60534

Failed to get the number of palletizing layers, the name $arg does not exist

Wrong palletizing name

Check the "PalletLayerCount" function input parameter

60535

Failed to get artifact quantity

Wrong palletizing name or layer number

Please check the "PalletWobjCount" function input arguments

60536

There is no pers value in database, using default value

60537

Invalid tool or wobj or userframe

Tool or wobj load error, possible reasons: 1. Tool or tool_load has wrong quaternion parameter; 2. Wobj or its related userframe has wrong quaternion parameter; 3. Wobj failed to relate userframe, need to re-edit wobj.

Edit and update related tools or wobjs or userframes

60538

Movement trajectory param is error

Please reset the correct motion parameters.

60600

Failed to obtain parameters during laser welding

Failed to obtain laser welding configuration parameters. Procedure

1. Check whether the laser welding process parameter table is created. 2. Check whether the corresponding parameters in the laser welding process parameter table are correct. 3. An internal laser welding error occurs. Contact the manufacturer

60601

Laser welding setup parameters failed

Error in laser welding setup parameters

1. Check the laser welding port configuration to confirm whether the register or IO configuration of the error signal is wrong

60602

After the laser welding single step, please perform the PPToMain operation first before continuing the operation

After a single step of laser welding, the switch is not allowed to continue running

After a single step of laser welding, it is not allowed to switch to continue running, please perform PPToMain operation first

60603

Laser welding does not support running from the cursor

60604

The laser welding process file does not exist

Please check that the process file in the laser welding instruction has been created

60605

The current moving target point coincides with the laser welding start or end point

The current moving target point coincides with the laser welding start or end point, and the laser welding timing cannot be triggered normally

1. Check the target point of the error motion command so that the target point does not coincide with the current robot position

60606

The laser welding function is turned off, do not use the laser welding command

The laser welding function switch is off

1.Turn on the laser welding function switch 2.Delete the laser welding instruction

60607

Unable to respond to external program start signal, there is currently an error alarm in the controller, which needs to be manually cleared before starting

There is an error alarm in the current controller

Manually clear the alarm before starting

60608

Failed to switch project through socket instruction

1.Switch to non-existent projects, 2.There are non semi static tasks running

1.Switch existing projects, 2.Stop the running task before proceeding with project switching

60609

Successfully switched project through socket instruction

Successfully switched project

60610

Currently, there are registers or system IO with program pause function do not reset and do not allow program startup

Currently, there are registers or system IO with program pause function do not reset

Reset the registers and system IO bound with program pause function

60611

Robot is saving diagnose data, can’t start run program

Wait 10s and restart again

60612

Configure tool and wobj are conflict, using the last correct configuration

The tool-wobj configured in the upper right corner of the teach pendant (HMI) cannot be calculated by the robot. They are both rob-hold or not rob-hold

Correctly configure the rob-hold tool or rob-hold wobj to avoid conflicts

60613

Configure tool and wobj are conflict and robot cannot move

The tool-wobj configured in the upper right corner of the teach pendant (HMI) cannot be calculated by the robot. They are both rob-hold or not rob-hold

Correctly configure the rob-hold tool or rob-hold wobj to avoid conflicts

60614

Joint position limitation is disabled, can’t start run program

Joint position limitation is disabled

Enable joint position limitation

60615

Soft shutdown is triggered, can’t start run program

Soft shutdown is triggered

It is not suggested to start program at this state

60700

Command execution of Jodell device failed

The command execution fails due to the abnormal communication between the terminal and the Jodell device

Check the hardware connection and retry the execution

60701

Command execution of RM device failed

The command execution fails due to the abnormal communication between the terminal and the RM device

Check the hardware connection and retry the execution

60702

Command execution failure for opening fourth axis lock

Failure to meet the fourth axis locking opening conditions resulting in opening failure

Please check if the current angle of the fourth axis is 0 ° or 180 °

60703

Command execution failure for closing fourth axis lock

Failure to meet the fourth axis locking closing conditions resulting in closing failure

60704

Command execution failure for opening SingAreaWrist

Failed to open SingAreaWrist due to not meeting the opening conditions

Please check whether the openning conditions are met

60705

Command execution failure for closing SingAreaWrist

Failed to close SingAreaWrist due to not meeting the closing conditions

60706

Command execution failure for opening SingAreaJointWay

Failed to open SingAreaJointWay due to not meeting the opening conditions

Please check whether the openning conditions are met

60707

Command execution failure for closing SingAreaJointWay

Failed to close SingAreaJointWay due to not meeting the closing conditions

60708

Robots that are not in standard six axis configuration or CR six axis configuration are not allowed to use the SingAreaLockAxis4 command

Do not use the SingAreaLockAxis4 command or replace the robot

60709

Robots that are not in standard six axis configuration or CR, ER six axis configuration are not allowed to use the SingAreaWrist command

Do not use the SingAreaWrist command or replace the robot

60710

Robots with non-standard six axis configurations are not allowed to use the SingAreaJointWay command

Do not use the SingAreaJointWay command or replace the robot

60711

The SingAreaLockAxis4 command is not allowed in non motion tasks

Move the SingAreaLockAxis4 command to a motion task

60712

The SingAreaWrist command is not allowed in non motion tasks

Move the SingAreaWrist command to a motion task

60713

The SingAreaJointWay command is not allowed in non motion tasks

Move the SingAreaJointWay command to a motion task

60714

Unable to resume continuous operation, a special emergency stop or collision detection has occurred

1.Emergency stop planning timeout, controller anomaly; 2.Emergency stop or collision detection occurred during the process of returning to the path

PPToMain and restart

60715

Device initialization execution sucessful

Check init success

Init successful, motion control can be performed

60716

Device initialization execution failed

Hardware model mismatch or incorrect connection

Check the connection or if the tool model matches

60717

Command execution of Dh device failed

The command execution fails due to the abnormal communication between the terminal and the Dh device

Check the hardware connection and retry the execution

60800

Unsupported move types

The conveyor wobj only supports MoveL and MoveC motion types

Change to MoveL or MoveC

60801

Conveyor belt, rail, and positioner do not support backward step.

Use pptoline or jog instead of backward step.

60802

The current controller state does not allow mode switching.

Try pptoline to reset advance pointer

60803

Task is not a motion task, can not stepback

Choose a motion task for debug in RL editor

60804

Task was finished, can not stepback

Try pptomain or pptoline instead of stepback

60805

Task was finished or the task pointer was in the status that can’t change work mode

Try pptomain or pptoline to debug

60806

Trajectory first command failed in stepback mode

Try reset teaching point position

60807

Trajectory move failed in stepback mode

Movement command’s arguments was invalid

1.Try reset teaching point position 2.Check RL program’s input or logic

60900

Unsupported tool or wobj

The tool and wobj cannot be both handheld or external at the same time

60901

Robotiq 2F_85 Init failed

1.Abnormal communication between the end and Robotiq device resulted in instruction execution failure;2、Robotiq device ID Error

1.Check the hardware connection and execute it again;2.Enter the correct ID and execute again

60902

Robotiq 2F_85 Get status failed

61000

Torque threshold setting failed

Condition not met, torque threshold setting failed

61001

Collision detection not enabled, MotionSup On command cannot be used

Enable collision detection

61002

Error getting envelope information

Incorrect getting of envelope information

61003

Obtaining the nickname of the pallets failed

Function stack number error

Please enter the correct number number

61004

Failed to trigger interrupt. Task does not exist.

Task does not exist.

61005

Failed to trigger interrupt. Non sports tasks do not trigger interrupts.

Non sports tasks do not trigger interrupts.

Please set interrupts in the exercise task.

61006

Failed to trigger interrupt. There are interrupts that have been triggered but not executed.

There are interrupts that have been triggered but not executed.

Please trigger another interrupt after one interrupt is completed

61007

Failed to trigger interrupt. Single step mode, \DEBUG option not selected, this interrupt will not trigger.

Single step mode, \DEBUG option not selected, this interrupt will not trigger.

If you want to trigger an interrupt in single step mode, please select the \DEBUG option.

61008

Failed to trigger interrupt, in continuous mode pause state, the interrupt is not triggered.

Continuous mode - paused state, the interrupt is not triggered..

If you want to trigger an interrupt in pause mode, select the \\ DEBUG option and switch to single step mode

61009

Failed to trigger interrupt. Task is resetting, this interrupt will not trigger.

Task is resetting, this interrupt will not trigger.

61010

Failed to trigger interrupt. Task is executing interrupt, this interrupt will not trigger.

Task is executing interrupt, this interrupt will not trigger.

Please trigger another interrupt after one interrupt is completed

61011

Failed to trigger interrupt. The interrupt function does not exist.

The interrupt function does not exist.

Please check if the interrupt function exists.

61012

Failed to trigger interrupt. Interpreter coroutine is full.

Interpreter coroutine is full.

61013

Failed to trigger interrupt. Please trigger an interrupt during task execution.

Task runs to the endproc.

Please trigger an interrupt during task execution.

61014

Failed to trigger interrup. Interrupt is turned off, note: if triggered once, it should not respond.

Interrupt closed by IDisable

Please trigger the interrupt after IEable

61015

An instruction that is not allowed to be executed within the interrupt function has been executed

Do not execute instructions that are not allowed within interrupt functions

61016

Satisfy waituntil during interruption.

61017

Trigger interrupt failed

61018

The program failed to start due to not being synchronized with the controller.

The program changes in the HMI have not been synchronized to the controller, and starting the program via system IO, register function code, or external communication is prohibited.

Please click pptomain or perform a reload operation via the teach pendant before executing the program startup operation.

61019

Inconsistent tool usage caused the recipe to fail during execution

The tool configuration used in the project was changed, but the recipe file was not synchronized and updated

Update the recipe to match the tool used in the project, and then rerun the program

61020

Vibration suppression command execution failed

This model does not currently support the vibration suppression function

61030

Execution of motion command failed

PathRecStart has been executed and path recording has been enabled. This instruction cannot be recorded

Cannot execute unrecorded motion commands between PathRecStart and PathRecStop

61031

Record path related instruction execution failed

61032

Failed to update palletizing data

1. The stacking name or workpiece number is wrong or the layer number is wrong. 2. Failed to obtain data from the palletizing module. 3. Stack variable value update failed.

Check whether the parameter input in the "PalletUpdateByUniversal" function is incorrect

61033

Failed to get the number of palletizing layers, the name $arg does not exist

Wrong palletizing name

Check the "PalletLayerCountByUniversal" function input parameter

61034

Failed to get artifact quantity

Wrong palletizing name or layer number

Please check the "PalletWobjCountByUniversal" function input arguments