Code Number 4000 ~
| No. | Message | Remedy | Note 1 | Note 2 |
|---|---|---|---|---|
| 4001 | Arm reached the limit of motion range. | Check the point to move, current point, and Range setting. | ||
| 4002 | Specified value is out of allowable range. | Review the setting parameters. | The parameter causing the error | |
| 4003 | Motion device driver failure. Communication error within the motion control module. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4004 | Motion device driver failure. Event waiting error within the motion control module. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4005 | Current point position is above the specified LimZ value. | Lower the Z axis. Increase the specified LimZ value. | ||
| 4006 | Target point position is above the specified LimZ value. | Lower the Z coordinate position of the target point. Increase the specified LimZ value. | ||
| 4007 | Coordinates conversion error. The end/mid point is out of the motion area. Jogging to the outside of the motion area. | Check whether the coordinate out of the motion range is not specified. | ||
| 4008 | Current point position or specified LimZ value is out of motion range. | Change the specified LimZ value. | ||
| 4009 | Motion device driver failure. Timeout error within motion control module. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4010 | Specified Local coordinate was not defined. | Define the Local coordinate system. | Local number | |
| 4011 | Arm reached the limit of XY motion range specified by XYLim statement. | Check the area limited by the XYLim statement. | ||
| 4012 | Upper limit value of Box is smaller than the lower limit value. Change the upper and lower limit values. | Set the upper limit value to be larger than the lower limit value. | ||
| 4013 | Motion control module internal calculation error. | Calculation of the timing of Arch motion failed. Perform either of the following: - Check and modify Arch parameter - Disable Arch | ||
| 4014 | MCAL was not completed. | Execute MCal. Make sure the MCOdr is set for the joint connected to the PG board. | ||
| 4016 | SFree statement was attempted for prohibited joint(s). | Due to robot mechanistic limitation, setting some joint(s) to servo free status is prohibited. Check the robot specifications. | ||
| 4018 | Communication error within the motion control module. Check sum error. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4021 | Point positions used to define the Local are too close. | Set the distance between points more than 1μm. | ||
| 4022 | Point coordinate data used to define the Local is invalid. | Match the coordinate data for the points to be specified. | ||
| 4023 | Cannot execute when the motor is in the off state. | Change to the state to motor on and execute. | ||
| 4024 | Cannot complete the arm positioning using the current Fine specification. | Check whether the robot does not generate vibration or all parts and screws are secured firmly. Increase the Fine setting value. | ||
| 4025 | Cannot execute a motion command during emergency stop condition. | Clear the emergency stop condition and execute the motion command. | ||
| 4026 | Communication error within the motion control module. Servo I/F failure. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4028 | Communication error within the motion control module. Device driver status failure. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4030 | Buffer for the average torque calculation has overflowed. Shorten the time interval from Atclr to Atrq. | Shorten the time interval from Atclr to Atrq less than about two minutes. | ||
| 4031 | Cannot execute a motion command when the motor is in the off state. | Turn the motor power ON and then execute the motion command. | ||
| 4032 | Cannot execute a motion command when one or more joints are in SFree state. | Set all joints to the SLock state and execute the motion command. | ||
| 4033 | The specified command is not supported for Pulse Generator Board joints. | The specified command is not permitted for the joints with PG board. | ||
| 4034 | Specified command is not supported for this robot model. | Remove the unsupported command from the program. | ||
| 4035 | Only the tool orientation was attempted to be changed by the CP statement. | Set a move distance between points. Use the ROT modifier, SpeedR statement, and AccelR statement. | ||
| 4036 | Rotation speed of tool orientation by the CP statement is too fast. | Decrease the setting values for the SpeedS and AccelS statements. Use the ROT modifier, SpeedR statement, and AccelR statement. | ||
| 4037 | The point attribute of the current and target point positions differ for executing a CP control command. | Match the point attribute. | ||
| 4038 | Two point positions are too close to execute the Arc statement. | Set the distance between points more than 1μm. | ||
| 4039 | Three point positions specified by the Arc statement are on a straight line. | Use the Move statement. | ||
| 4041 | Motion command was attempted to the prohibited area at the backside of the robot. | Check the robot motion range. | ||
| 4042 | Motion device driver failure. Cannot detect the circular format interruption. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4043 | Specified command is not supported for this robot model or this joint type. | Remove the unsupported command from the program. | ||
| 4044 | Curve failure. Specified curve form is not supported. | Create a Curve file again with the Curve statement. | ||
| 4045 | Curve failure. Specified mode is not supported. | Specify the Curve mode properly. Create a Curve file again with the Curve statement. | ||
| 4046 | Curve failure. Specified coordinate number is out of the allowable range. | The number of the available coordinate axes is 2, 3, 4, and 6. Create a Curve file again with the Curve statement. | ||
| 4047 | Curve failure. Point data was not specified. | Create a Curve file again with the Curve statement. | ||
| 4048 | Curve failure. Parallel process was specified before the point designation. | Create a Curve file again with the Curve statement. | ||
| 4049 | Curve failure. Number of parallel processes is out of the allowable range. | Create a Curve file again with the Curve statement. | ||
| 4050 | Curve failure. Number of points is out of the allowable range. | The number of available point numbers differs according to the curve form. Check the number of points again. | ||
| 4051 | Curve failure. Local attribute and the point attribute of all specified points do not match. | Match the local and point flag for all the specified points. | ||
| 4052 | Curve failure. Not enough memory to format the curve file. | Reboot the controller. | ||
| 4053 | Curve failure. Failed to format the curve file. | Review the point data. Check whether adjacent two points do not overlap on the specified point line. | ||
| 4054 | Curve failure. Curve file error | The Curve file is broken. Create a Curve file again with the Curve statement. | ||
| 4055 | Curve failure. No distance for curve file movement. | Review the point data. | ||
| 4056 | Curve failure. Point positions for the Curve statement are too close. | Set the distance between two points adjacent to the specified point more than 0.001 mm. | ||
| 4058 | Prohibited command while tracking was executed. | Remove the prohibited command from the program. | ||
| 4059 | Executed encoder reset command while the motor is in the on state. | Turn the motor power OFF. | ||
| 4060 | Executed an invalid command while the motor is in the on state. | Turn the motor power OFF. | ||
| 4061 | Specified parameter is in use. | You attempted to clear the currently specified Arm and Tool. Select other Arm and Tool and execute. | ||
| 4062 | Orientation variation is over 360 degrees. | You attempted to rotate the joint #J6 more than 360 degrees with a CP motion command. | ||
| 4063 | Orientation variation of adjacent point is over 90 degrees. | On the specified point line by the Curve statement, set the orientation variation of U, V, and W coordinate values between two adjacent points to under 90 degrees. | ||
| 4064 | Cannot execute the orientation correction automatically. | On the specified point line, a curve cannot be created by automatic orientation correction. Change the specified point line so that the joint #J6 orientation variation decreases. | ||
| 4065 | Attempt to revolve J6 one rotation with the same orientation in CP statement. | You attempted to rotate the joint #J6 more than 360 degrees with a CP motion command. You attempted to revolve the joint 6 one rotation with the same as motion start orientation. Change the target point so that the joint #J6 revolves less than one rotation. | ||
| 4066 | Motion command was attempted in the prohibited area depended on joint combination. | You attempted to move the joints to the robot's interference limited area. | ||
| 4068 | ROT modifier parameter was specified for the CP motion command without orientation rotation. | Delete the ROT from the CP motion command. | ||
| 4069 | Specified ECP without selecting ECP in CP statement. | Specify a valid ECP. | ||
| 4070 | Specified ECP number does not match the ECP number used in curve file creation. | Specify a valid ECP. | ||
| 4071 | Attempted motion command during electromagnetic brake lock condition. | Release the electromagnetic brake | ||
| 4072 | Initialization failure. Hardware monitor was not initialized. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4073 | Orientation variation of adjacent point is over 90 degrees. | Any of U, V, or W changes 90 degrees or more. Change the point or the orientation. | ||
| 4074 | Motor type does not match the current robot setting. | Check whether the specified robot model is connected. | ||
| 4075 | Option is not active. | Enable the option. | ||
| 4076 | Point positions used to define the Plane are too close. | Set the distance between points more than 1μm. | ||
| 4077 | Point coordinate data used to define the Plane is invalid. | Match the coordinate data for the points to be specified. | ||
| 4078 | Only the additional ST axis was attempted to be changed by the CP statement. | Use PTP motion commands in order to move the additional axis only. | ||
| 4079 | Speed of additional ST axis by the CP statement is too fast. | Reduce the set values of SpeedS and AccelS. | ||
| 4080 | Cannot execute when the Enable Switch is OFF. | Turn the Enable Switch ON and then execute. | ||
| 4081 | Error was detected during operation. | Check the PG board. Check the connection with the motor driver. Replace the PG board. Replace the controller. | ||
| 4082 | Pulse Generator Board error was detected during operation. | Check the PG board. Check the connection with the motor driver. Replace the PG board. | ||
| 4083 | MCAL did not complete in time. | Set PG parameter so that MCAL can complete within 120 seconds. | ||
| 4084 | Limit Sensor error was detected during operation. | Check the limit sensor. | ||
| 4085 | Failed to change to specified location. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4086 | Cannot execute because it is not dry run mode. | Change to the dry run mode and execute. | ||
| 4087 | Failed to format the playback file. | Check the amount of free space of the computer. Reboot the computer. Reinstall the RC+. Replace the computer. | ||
| 4088 | Buffer for the average speed calculation has saturated. Shorten the time interval from AvgSpeedClear to AvgSpeed. | Shorten the time interval from AvgSpeedClear to AvgSpeed. | ||
| 4089 | The time interval from HealthRBStart to HealthRBStop is too long or too short. | Set the time interval from HealthRBStart to HealthRBStop to be within 1 to 3600 seconds. | - | - |
| 4090 | HealthRBStop is executed without HealthRBStart. | Execute HealthRBStop after executing HealthRBStart. This error also occurs when HealthRBStop is executed again without executing HealthRBStart after HealthRBStop. | - | - |
| 4091 | Specified analog I/O channel does not exist. | Check the channel number. Mount the analog I/O option board. | ||
| 4092 | Specified analog output channel is used for a speed data output. | Execute after stopping the speed output of the specified channel. | ||
| 4093 | If the motion is paused during the singularity-avoiding, the motion cannot resume. Abort the motion command. | Abort the motion command. | ||
| 4094 | The current position is out of the motion range. | Either J1 or J2 axis is out of the motion range. Follow the procedures below and move the robot within the motion range. • Use Pulse command and JTran to move the robot within the motion range. • Move the robot within the motion range manually. (This error only occurs in RS series and N series.) | ||
| 4096 | Robot in use. Cannot execute the motion command when other task is using the robot. | The motion command for the robot cannot be simultaneously executed from more than one task. Review the program. This error cannot be recovered automatically by OnErr. | ||
| 4097 | Arm length calibration parameter setting failure. | Make sure that the horizontal distance is within ± 0.75 mm of the default arm length and the offset angle of the joint is within ± 2°. | Parameter number | 1000 times larger of the set value |
| 4099 | Servo error was detected during operation. | Check if a 5000-number error is occurring in the system history. If the error is occurring, take measures for a 5000-number error. | ||
| 4100 | Communication error in the motion control module. Cannot calculate the current point or pulse. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4101 | Communication error in the motion control module. Cannot calculate the current point or pulse. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4102 | Initialization failure. Servo control module initialization error. | Reboot the controller. Initialize the controller firmware. Replace the DMB. Replace the controller. | ||
| 4103 | Initialization failure. Motion control module initialization error. | Other Manipulators: Reboot the controller. Initialize the controller firmware. Replace the controller. T/VT series Manipulators: For T/VT series Manipulator, reboot the controller and take the measure against noise. If the joint number is displayed in the system history, replace the motor unit. If not, replace the CPU board. | ||
| 4104 | Positioning timeout of the joint connected to the Pulse Generator Board. | Cannot receive the positioning completion signal (DEND) from the servo motor connected to PG board. | ||
| 4105 | EMERGENCY connector connection failure. | Check the connection of EMERGENCY connector. | ||
| 4106 | Drive unit failure. | Check if DU is properly connected. | ||
| 4108 | Initialization failure. Motor unit connection error. | Check the wiring of the motor unit. | ||
| 4150 | Redundant input signal failure of the emergency stop. | The input status of the redundant emergency stop input continuously differs for more than two seconds. Check whether no disconnection, earth fault, or short-circuit of the emergency stop input signal exits. Then reboot the controller. | ||
| 4151 | Redundant input signal failure of the safeguard. | The input status of the redundant emergency stop input continuously differs for more than two seconds. Check whether no disconnection, earth fault, or short-circuit of the safeguard input signal exits. Then reboot the controller. | ||
| 4152 | Relay welding error of the main circuit. | A relay welding error was detected due to power system over current. Replace the controller. Replace the robot. | ||
| 4153 | Redundant input signal failure of the enable switch. | The input status of the redundant enable signal differs continuously for more than two seconds. Check the TP connector connection. Replace the TP. Replace the controller. | ||
| 4154 | Temperature of regeneration resistor was higher than the specified temperature. | Robot’s Duty is too high. Lengthen the waiting time or reduce the Accel value. If the error occurs although Duty was lowered, replace the DPB. | ||
| 4180 | Robot initialization failure. Robot number is out of the available range. | Configure the manipulator. | ||
| 4181 | Robot initialization failure. Specified robot was in use by another task. | Specified manipulator cannot be configured since it is already configured. | ||
| 4182 | Robot initialization failure. Robot name is too long. | Shorten the manipulator name. | ||
| 4183 | Robot initialization failure. Robot data version error. | Reconfigure the manipulator. | ||
| 4187 | Robot initialization failure. Communication error with the module: VSRCMNPK. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4188 | Robot initialization failure. Joint angle interference matrix is invalid. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4189 | Robot initialization failure. Communication error with the module: VSRCMC. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4191 | Robot initialization failure. Physical-logical pulse transformation matrix is invalid. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4192 | Robot initialization failure. Communication error with the servo module. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4210 | RAS circuit detected a servo system malfunction. Reboot the controller. Check for noise. Replace the controller. | Reboot the controller, take the measure against noise, or replace the DMB. | ||
| 4211 | Servo CPU internal RAM failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller, take the measure against noise, or replace the DMB. | ||
| 4212 | RAM for the main and servo CPU communication failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller, take the measure against noise, or replace the DMB. | ||
| 4213 | Servo CPU internal RAM failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller, take the measure against noise, or replace the DMB. For T/VT series, it is not DMB but CPU board. | ||
| 4214 | Initialization communication of main CPU and servo CPU failure. Reboot the Controller. Check for noise. Replace DMB. | Reboot the controller, take the measure against noise, or replace the DMB. For T/VT series, it is not DMB but CPU board. | ||
| 4215 | Initialization communication of the main and servo CPU failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller, take the measure against noise, or replace the DMB. | ||
| 4216 | Communication of the main and servo CPU failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller, take the measure against noise, or replace the DMB. For T/VT series, it is not DMB but CPU board. | ||
| 4217 | Communication of the main and servo CPU failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller, take the measure against noise, or replace the DMB. For T/VT series, it is not DMB but CPU board. | ||
| 4218 | Servo long time command overrun. | Reboot the controller, take the measure against noise, or replace the DMB. | ||
| 4219 | Servo long time command check sum error. | Reboot the controller, take the measure against noise, or replace the DMB. | ||
| 4220 | System watchdog timer detected a failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller, take the measure against noise, or replace the DMB. For T/VT series, it is not DMB but CPU board. | ||
| 4221 | Drive unit check failure. | Reboot the controller, take the measure against noise, or replace the DMB. | ||
| 4222 | RAM failure of the servo CPU. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller, take the measure against noise, or replace the DMB. | ||
| 4223 | Failure of duplicate circuit of the emergency stop or the safeguard. Check the wiring. | Check the wiring of the emergency stop or the safeguard. | ||
| 4224 | Low voltage of the main circuit power supply is detected. Check the power supply voltage. Reboot the controller. | Check the power supply voltage, or reboot the controller. | ||
| 4225 | Control relay contact of the main circuit power supply is welded. Replace the DPB. | Replace the DPB. | ||
| 4226 | Detect the recognition mismatch of the sub CPU and main CPU. | Reboot the controller, take the measure against noise, or replace the CPU board. | ||
| 4227 | Temperature of regeneration resistor was higher than the specified temperature. | Specify the Weight/Inertia setting. Check the load. Check the robot. (Smoothness, backlash, non-smooth motion, loose belt tension, brake) Check the interference with the peripheral equipment. (Collision, contact) Check the model setting. Check the power cable connection. | ||
| 4228 | Over voltage of the sub CPU. | Replace the DPB board. | ||
| 4229 | The main circuit is being charged. Reset the error after charging. When using TP, do not turn off the Enable switch until charging is complete. | The capacitor for the main circuit needs to be charged, since the motor has not been turned on for a long time. Charging will complete in about 120 seconds. After checking the 2599 message, reset the error. When using TP When you turn the motor on from TP, it is not charged if you release the Enable switch. Check the 2599 message to reset the error, and then turn on the motor. Charging will start again. | ||
| 4230 | Servo real time status failure. Check sum error. | A data checksum error was detected in the controller. Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) Replace the controller. | ||
| 4232 | Servo real time status failure. Servo free running counter error | A free running counter error was detected in the controller. Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) Replace the controller. | ||
| 4233 | Servo real time status failure. Servo CPU communication error. | A communication error was detected in the controller. Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) Replace the controller. | ||
| 4240 | Irregular motion control interruption was detected. Interruption duplicate. | A interruption error was detected in the controller. Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) Replace the controller. | ||
| 4241 | Over speed during low power mode was detected. | The robot over speed was detected during low power mode. Check the robot mechanism. (Smoothness, backlash, non-smooth motion, loose belt tension, brake) Check the interference between the robot and peripheral equipment. (Collision, contact) Replace the motor driver. Replace the motor. (Motor, encoder failure) Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) | ||
| 4242 | Improper acceleration reference was generated. | You attempted to operate the robot with the acceleration reference exceeding the specified value. For a CP motion, decrease the AccelS value. When using a conveyor, also reduce the value of Cnv_Accel. | ||
| 4243 | Improper speed reference was generated in high power mode. | The robot over speed was detected during high power mode. Check the robot mechanism. (Smoothness, backlash, non-smooth motion, loose belt tension, brake) Check the interference between the robot and peripheral equipment. (Collision, contact) Replace the motor driver. Replace the motor. (Motor, encoder failure) Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) | ||
| 4244 | When VRT function was used, improper acceleration reference was generated. | You attempted to operate the robot with the acceleration reference exceeding the specified value. Decrease the Accel and AccelS values. | ||
| 4245 | When VRT function was used, improper speed reference was generated. | You attempted to operate the robot with the acceleration reference exceeding the specified value. | ||
| 4246 | When VRT function was used, the route error occurred. | Modify the VRTParam1 and VRTParam2 values, or disable the VRT function. | ||
| 4247 | When VRT function was used, the internal operation error occurred. | Modify the VRTParam1 and VRTParam2 values, or disable the VRT function. | ||
| 4248 | The robot collides with itself. Please change the target position. | Set a relay point. Or change the target point. | ||
| 4249 | Improper reference was detected. | Reduce the value of Accel. | ||
| 4250 | Arm reached the limit of motion range during the operation. | Check whether a CP motion trajectory is within the motion range. | ||
| 4251 | Arm reached the limit of XY motion range specified by XYLim during the operation. | Check the XYLim setting. | ||
| 4252 | Coordinate conversion error occurred during the operation. | Check whether a CP motion trajectory is within the motion range. | ||
| 4255 | Because SpeedS is too big, the robot cannot pass elbow specific posture | Reduce the SpeedS value. | ||
| 4256 | When a robot passed elbow specific posture, Stop or Pause were carried out | Do not execute Stop or Pause. | ||
| 4257 | The robot cannot pass Singularity Area of Elbow | The robot cannot pass the elbow singularity area. To pass the elbow singularity area, use SING_AVOID of “AvoidSingularity”. | ||
| 4261 | The Arm reached the limit of motion range in conveyor tracking. | Place the conveyor inside the motion range. Meanwhile, allow the tracking range for the deceleration when switching from tracking motion to non-tracking. If error occurs during the shift from tracking motion, it may be prevented by increasing the accel speed to complete the tracking motion. | ||
| 4262 | The Arm reached the limit of XY motion range in conveyor tracking. | |||
| 4263 | The Arm reached the limit of pulse motion range in conveyor tracking. | |||
| 4267 | Attempt to exceed the J4Flag attribute without indication. | You attempted to exceed the J4Flag attribute during motion without the J4Flag indication. Change the J4Flag for the target point. | ||
| 4268 | Attempt to exceed the J6Flag attribute without indication. | You attempted to exceed the J6Flag attribute during motion without the J6Flag indication. Change the J6Flag for the target point. | ||
| 4269 | Attempt to exceed the particular wrist orientation attribute without indication. | You attempted to exceed the particular wrist orientation attribute during motion without the Wrist indication. Change the Wrist attribute for the target point. Change the target point to avoid a particular wrist orientation. | ||
| 4270 | Attempt to exceed the particular arm orientation attribute without indication. | You attempted to exceed the particular hand orientation attribute during motion without the Hand indication. Change the Hand attribute for the target point. Change the target point to avoid a particular hand orientation. | ||
| 4271 | Attempt to exceed the particular elbow orientation attribute without indication. | You attempted to exceed the particular elbow orientation attribute during motion without the Elbow indication. Change the Elbow attribute for the target point. Change the target point to avoid a particular elbow orientation. | ||
| 4272 | Specified point flag is invalid. | For a CP motion command, the arm form at the target point is different from the point flag specified with the target point. Change the point flag for the target point. | ||
| 4273 | J6Flag switched during the lift motion in conveyor tracking. | Adjust the Tool orientation so that J6Flag will not switch. | ||
| 4274 | Specified J6Flag is not reached. Change J6Flag for target point. | For a CP motion command, the manipulator reached to the target point with J6Flag which differs from the one specified for the target point. Change J6Flag for the target point. | ||
| 4275 | Specified J4Flag is not reached. Change J4Flag for target point. | For a CP motion command, the manipulator reached to the target point with J4Flag which differs from the one specified for the target point. Change J4Flag for the target point. | ||
| 4276 | Specified ArmFlag is not reached. Change ArmFlag for target point. | For a CP motion command, the manipulator reached to the target point with ArmFlag which differs from the one specified for the target point. Change ArmFlag for the target point. | ||
| 4277 | Specified Elbow Flag is not reached. Change Elbow Flag for target point. | For a CP motion command, the manipulator reached to the target point with ElbowFlag which differs from the one specified for the target point. Change ElbowFlag for the target point. | ||
| 4278 | Specified WristFlag is not reached. Change WristFlag for target point | For a CP motion command, the manipulator reached to the target point with WristFlag which differs from the one specified for the target point. Change WristFlag for the target point. | ||
| 4279 | Specified J1Flag is not reached. Change J1Flag for target point. | For a CP motion command, the manipulator reached to the target point with J1Flag which differs from the one specified for the target point. Change J1Flag for the target point. | ||
| 4291 | Data sending failure in motion network. | Check the connection of the cable for Drive Unit. | ||
| 4292 | Data receiving failure in motion network. | Check the connection of the cable for Drive Unit. | ||
| 4297 | Data sending failure of Force Sensor I/F board. Check connection of the Force Sensor I/F board and Force Sensor. | Check connection of the Force Sensor I/F board and Force Sensor. Reboot the controller. Please inquire with us if a similar error occurs even after rebooting the controller. | ||
| 4298 | Data receiving failure of Force Sensor I/F board. Check connection of the Force Sensor I/F board and Force Sensor. | Check connection of the Force Sensor I/F board and Force Sensor. Reboot the controller. Please inquire with us if a similar error occurs even after rebooting the controller. | ||
| 4301 | The Pulse Generating Board detected a limit signal. | Reset and then execute the next motion. | ||
| 4302 | The Pulse Generating Board detected an alarm signal. | Release the alarm of the pulse motor driver. | ||
| 4401 | The specified conveyor number is invalid. | Review the conveyor number. | ||
| 4402 | The specified conveyor queue is full. | The number of registration reached the upper limit (1000 pcs.) Delete the queue. | ||
| 4403 | Continue operation cannot be done in tracking motion. | Tracking motion cannot be continued after aborted/paused? | ||
| 4404 | The specified conveyor queue data does not exist. | Review the queue number. Or, check whether the queue is registered. | ||
| 4405 | The conveyor is not correctly initialized. | Rebuild the project. Delete the conveyor and then reestablish the setting. | ||
| 4406 | The specified queue data is outside the set area. | The queue outside of the range cannot be tracked. If the specified queue is above the upstream limit, change the program so that tracking does not start until the queue enters the area below the upper limit. If the specified queue is below the downstream limit, change the program to delete the queue data. | ||
| 4407 | The encoder is not correctly assigned. | Set the encoder. | ||
| 4409 | The parameter of the conveyor instruction is invalid. | Review the parameter. | ||
| 4410 | A conveyor coordinates conversion error occurred. | Rebuild the project. Delete the conveyor and then reestablish the setting. | ||
| 4411 | Communication error within the Conveyor Modules. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4413 | Conveyor tracking starting error. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4414 | Conveyor tracking cannot start after motion with CP ON. | Start the conveyor tracking using CP OFF. | ||
| 4415 | The setting of Diagonal Upstream Limit or Diagonal Downstream Limit is not appropriate. | The diagonal downstream limit is above the upstream limit, or the diagonal upstream/downstream limit is horizontal to the conveyor direction. Review the setting of diagonal upstream/downstream limit. | ||
| 4500 | Cannot execute the specified functions at the same time. Note 1, 2: Type of the functions. Review the program. | Review the program. | Type of the functions 1: External control point motion (ECP) 2: Torque control 3: Conveyor tracking 4: Force control function 5: FCSMove 6: Distance tracking function 7: Auxiliary arm enable 8: Path motion 9: Jump3 10: CP-related motion command 11: ROT 100: VRT option 101: Low-oscillation 102: Excessive inertia setting | Type of the functions *Same as Note 1 |
| 4501 | Device is in use. Note 1: Type of the device. Check whether other commands are using the device. | Check whether the device is used in other task or command. | Type of the device 1: Analog I/O input channel | |
| 4502 | Cannot execute this command during the control function. Note 1: Type of the control function. Exit the control function. | Check whether the control function is executed in other task or command Exit the control function to execute the command. | Type of the control function 1: Distance tracking function | |
| 4503 | An undefined parameter was specified. Note 1: Type of the parameter. Check the parameter. | Check whether the parameter is set. Set the parameter. | Type of the parameter 1: Parameter of the distance tracking function | |
| 4504 | Option is not enabled. Check the option setting. | Enable the option. | ||
| 4505 | cannot be turned on the motor because the Safety Board is issuing a stop signal. | - Check Code 27, 28 and “Details of Note Information”, then reset the stop signal of the Safety Board. - Close the Safety Function Manager and reset the Controller. - Reboot the controller. | ||
| 4511 | Area number is undefined. Use the defined area number. | Define the area. | ||
| 4512 | The reference points are invalid. Check Note 1: Type of error. | Check the reference points and teaching points referring to Notes. | Type of error 1: The number of reference points is not equal 2: There is a point which has different point flag 3: Some reference points are duplicated 4: The number of reference points is too small 5: Do not line the reference point straight when flat correction is used 6: Do not place the reference points on the same plane when 3D correction is used 7: Specify points on the same plane when 3D correction is used 8: Some points cannot be corrected 9: The orientations of corresponding reference points are very different 10: The positions of corresponding reference points are very different | |
| 4513 | The input point is invalid. Check Note 1: Type of error. | Check the input point. | Type of error 1: The point flag is different 2: The orientations of reference point and input point are different | |
| 4514 | Orientation variation is too small. Please select points with a large change in orientation. | Review the orientation to specify in Tool Wizard. When orientation variation is too small, tool cannot be set. | ||
| 4601 | Failed to initialize the motion. Reboot the controller. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4602 | Motion calculation error. Reboot the controller. | Reboot the controller. Initialize the controller firmware. Replace the controller. | ||
| 4603 | Sensor value is out of range. Check the sensor. | Check the measured value by the sensor. Check the status of the sensor. Check the range setting of the sensor. When Note 1 is 1 (sensor used by the distance tracking function), check and adjust the parameter specified by AIO_TrackingStart or AIO_TrackingSet. | Type of the sensor 1: Sensor used by the distance tracking function | |
| 4604 | Approached the singularity point. Avoid the singularity point. | Check whether the coordinates near the singularity is specified. Check whether the robot moves closer to the singularity during the operation. Review the installation position of the robot. |