Code Number 5000 ~

No.	Message	Remedy	Note 1	Note 2
5000	Servo control gate array failure. Check the DMB.	Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency and I/O connectors) Replace the DMB. Replace the additional axis unit. For T/VT series, reboot the controller, take the measure against noise, and replace the CPU board and motor unit.
5001	Disconnection of the parallel encoder signal. Check the signal cable connection or the robot internal wiring.	Check the M/C cable signal. Check the robot signal wiring. (loose pin, disconnection, short). Replace the motor. Replace the DMB. Check the connector connection in the controller. (Loosening, connecting to the serial encoder terminal on the DMB) Check the model setting. Check the peripheral equipment wiring. (Emergency and I/O) For T/VT series, reboot the controller, take the measure against noise, and replace the motor unit.
5002	Motor driver is not installed. Install the motor driver. Check the DMB or the motor driver.	Check whether the motor driver is mounted. Check the model setting and hardware setting. Replace the motor driver. Replace the DMB. For T/VT series, check the wiring of the motor unit.
5003	Initialization communication failure of incremental encoder. Check the signal cable connection and the robot setting.	Check the model setting. Replace the motor. (Encoder failure) Replace the DMB. For T/VT series, reboot the controller, take the measure against noise, and replace the CPU board and motor unit.
5004	Initialization failure of absolute encoder. Check the signal cable connection or the robot setting.	Check the model setting. Replace the motor. (Encoder failure) Replace the DMB. For T/VT series, reboot the controller, take the measure against noise, and replace the motor unit.
5005	Encoder division setting failure. Check the robot setting.	Check the model setting.
5006	Data failure during absolute encoder initialization. Check the signal cable connection, the controller, or the motor.	Replace the motor. (Encoder failure) Replace the DMB. Check the noise countermeasures. For T/VT series, reboot the controller, take the measure against noise, and replace the motor unit.
5007	Absolute encoder multi-turn is beyond the maximum range. Reset the encoder.	Reset the encoder. Replace the motor.
5008	Position is out of the range. Reset the encoder.	Reset the encoder. Replace the DMB. Replace the motor.
5009	No response from the serial encoder. Check the signal cable connection, the motor, the DMB, or the encoder IF board.	Check the model setting. (Improper setting of the parallel encoder model) Check the signal cable connection. Replace the DMB and encoder I/F board.
5010	Serial encoder initialization failure. Reboot the controller. Check the motor, the DMB, or the encoder IF board.	Check the robot configuration. Check the signal cable connection. Replace the DMB and encoder I/F board. For T/VT series, reboot the controller, take the measure against noise, and replace the motor unit.
5011	Serial encoder communication failure. Reboot the controller. Check the motor, the DMB, or the encoder IF board.	Check the robot configuration. Check the signal cable connection. Replace the DMB and encoder I/F board. For T/VT series, reboot the controller, take the measure against noise, and replace the motor unit.
5012	Servo CPU watchdog timer failure. Reboot the controller. Check the motor or the DMB.	Replace the DMB. Check the noise countermeasures. For T/VT series, check the connection of the signal cable. Reboot the controller, take the measure against noise, and replace the motor unit.
5013	Current control circuit WDT failure. Reboot the controller. Check the controller.	Check the power cable connection. Check the 15V power supply and cable connection. Replace the DMB. Check the noise countermeasures. For T/VT series, reboot the controller, take the measure against noise, and replace the motor unit.
5014	The DMB is not for this robot.	Check robot setting. Replace with the supported DMB.
5015	Encoder is reset. Reboot the controller.	Reboot the controller.
5016	Power supply failure of the absolute encoder. Replace the battery. Check the robot internal wiring.	Reset the encoder. Check the signal cable connection.
5017	Backup data failure of the absolute encoder. Reset the encoder.	Reset the encoder. Check the signal cable connection.
5018	Absolute encoder battery alarm.	Replace the battery. Check the signal cable connection.
5019	Position failure of the absolute encoder. Reset the encoder. Replace the motor.	Reset the encoder. Replace the motor. (Encoder failure) For T/VT series, reboot the controller and replace the motor unit.
5020	Speed is too high at controller power ON. Stop the robot and reboot the controller.	Reboot the controller. Reset the encoder. For T/VT series, reboot the controller, take the measure against noise, and replace the motor unit. Check the interference with the other devices.
5021	Absolute encoder overheat.	Lower the motion duty. Wait until the temperature of the encoder decreases.
5022	R/D transducer failure. Reset the encoder. Check resolver board or the robot internal wiring.	Resets the encoder. Check the signal wiring of the manipulator (loose pin, disconnection, short). Replace the resolver board.
5023	G sensor communication failure. Check for the signal cable connection or manipulator internal wiring.	Check the signal wiring connection. Check the signal wiring of the manipulator (loose pin, disconnection, short). Check the noise countermeasure. Replace the control board. Replace the DMB.
5024	G sensor data error. Check for the control board.	Replace the control board.
5025	The multi rotational data and the R/D conversion data is different. Reset the encoder.	Reset the resolver. Check the noise countermeasure. Replace the resolver board.
5026	Disconnection of the resolver excitation signal. Reset the encoder. Check the resolver board or the robot internal wiring.	Check the signal wiring of the manipulator (loose pin, disconnection, short). Replace the resolver board.
5027	S-DSP detected the communication error in DSP. Check the DMB.	Reboot the controller. Check the noise countermeasure. Replace the DMB.
5028	Current feedback data error is detected. Check the DMB.	Reboot the controller. Check the noise countermeasure. Replace the DMB. For T/VT series, check the short-circuit and earth fault of the power cable. Reboot the controller or replace the motor unit.
5029	D-DSP communication failure. Check the DMB.	Reboot the controller. Check the noise countermeasure. Replace the DMB.
5030	Speed is too high at controller power OFF. Reset the encoder.	Reset the encoder. Replace the motor.
5031	Speed is too high. Reset the encoder. Excess the calculation amount.	Reset the encoder. Replace the motor. For T/VT series, reboot the controller and replace the motor unit.
5032	Servo alarm A.	Reboot the controller.
5033	G sensor initialize failure.	Controller reboot. Check the signal wiring connection. Check the noise countermeasure.
5034	Encoder reset failed.	Controller reboot. Reset the encoder again. Check the signal wiring connection. Replace the motor. (Encoder failure) Check the noise countermeasure.
5040	Motor torque output failure in high power state. Check the power cable connection, the robot, the driver or the motor.	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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. For T/VT series, replace the CPU board in addition to the above. Replace the motor unit.
5041	Motor torque output failure in low power state. Check the power cable connection, robot, brake, driver, or motor.	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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. For T/VT series, replace the CPU board in addition to the above. Replace the motor unit.
5042	Position error overflow in high power state. Check the power cable connection, the robot, the driver and the motor.	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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. For T/VT series, replace the CPU board in addition to the above. Replace the motor unit.
5043	Position error overflow in low power state. Check the power cable connection, robot, brake, driver, or motor.	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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. For T/VT series, replace the CPU board in addition to the above. Replace the motor unit.
5044	Speed error overflow in high power state. Check the power cable connection, robot, brake, driver, or motor.	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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. For T/VT series, replace the CPU board in addition to the above. Replace the motor unit.
5045	Speed error overflow in low power state. Check the power cable connection, robot, brake, driver, or motor.	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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. For T/VT series, replace the CPU board in addition to the above. Replace the motor unit.
5046	Over speed in high power state. Check the signal cable connection, robot, brake, driver or motor.	Reduce SpeedS of the CP motion. Change the orientation of the CP motion. 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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. For T/VT series, replace the CPU board in addition to the above. Replace the motor unit.
5047	Over speed in low power state. Check the signal cable connection, robot, brake, driver or motor.	Check the motion in high power state. 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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor. For T/VT series, replace the CPU board in addition to the above. Replace the motor unit.
5048	Over voltage of the main power circuit. Check the main power voltage or the regeneration module.	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. Check the robot power wiring. (loose pin, disconnection, short). Check the power supply voltage. (Low power supply voltage) Replace the motor driver. Replace the DMB. Replace the motor.
5049	Over current of the motor driver. Check the power cable connection or the robot internal wiring.	Check the short-circuit and earth fault of the power line. Replace the motor driver. Replace the DMB. For T/VT series, check the short-circuit and earth fault of the power cable. Reboot the controller or replace the motor unit.
5050	Over speed during torque control. Check the work motion speed range.	Check the motion speed during torque control.
5051	15V PWM drive power supply failure. Reboot the controller. Replace the 15V power supply.	Check the 15V power supply and cable connection. Replace the motor driver. Replace the DMB.
5054	Overload of the motor. Decrease the motion duty and the Accel.	Lower the motion duty. Check the Weight/Inertia setting. Check the robot. (Backlash, large load, loose belt tension, brake)
5055	Overload of the motor. Decrease the operation duty and the Accel.	Lower the motion duty. Check the Weight/Inertia setting. Check the robot. (Backlash, large load, loose belt tension, brake)
5056	G sensor data has changed rapidly. Check the control board.	Check the noise countermeasure. Replace the control board.
5057	Collision was detected in High power mode (Detection of robot motion error)	Collision detection (detection of robot motion error) was functioned. The following errors have detected: - Collision or contact of the robot arm occurs. - Torque saturation due to little setting of Weight or Inertia. - Torque saturation due to combined motion of multiple joints and throwing around the long object. - Torque saturation due to supply voltage reduction. - Error motion due to hardware error or software malfunction. Countermeasures: Check the there is no collision or contact of the robot arm and change the arrangement to avoid interfere. Confirm that torque saturation is occurred. During torque saturation: Check if the Weight and Inertia are set properly and correct them if necessary. During combined motion: adjust the acceleration and deceleration to avoid torque saturation. Check the power supply voltage and correct them if necessary. If other error occurs at the same time, take a countermeasure for that first. Reference: Epson RC+ 8.0 User's Guide "Collision Detection Function (Error detection function of robot motion)"
5058	Collision was detected in Low power mode (Detection of robot motion error)	Collision detection (detection of robot motion error) was functioned. The following errors have detected: - Collision or contact of the robot arm occurs. - Torque saturation due to holding a hand or long object that exceeds the weight described in the specifications. - Error motion due to hardware error or software malfunction. Countermeasures: Check the there is no collision or contact of the robot arm and change the arrangement to avoid interfere. Check the hand weight and correct it if necessary. Joint #4 and 5 of 6-axis robot: confirmed that torque saturation is occurred. If torque saturation is occurred: change to hold in high power mode. If other error occurs at the same time, take a countermeasure for that first. Reference: Epson RC+ 8.0 User's Guide "Collision Detection Function (Error detection function of robot motion)"
5059	G sensor comunication error occur a lot.	Check the signal wiring connection. Check the noise countermeasure.
5060	Low Voltage at MDB is detected.	Please contact the supplier of your region.
5072	Servo alarm B.	Release the error by Reset or reboot the controller.
5080	Motor is overloaded. Decrease the duty and the Accel.	Lower the motion duty. Check the Weight/Inertia setting. Check the robot. (Backlash, large load, loose belt tension, brake)
5098	High temperature of the encoder. Decrease the duty. Check the reduction gear unit of the robot.	Wait until the temperature of the encoder decreases. Lower the motion duty. Check the Weight/Inertia setting. Check the robot. (Backlash, large load, loose belt tension, brake)
5099	The motor driver temperature is high. Clean the controller fan filter. Check the ambient temperature. Decrease the duty.	Clean the cooling fan filter. Lower the motion duty. Check the Weight/Inertia setting. Lower the ambient temperature.
5112	Servo alarm C.	Reboot the controller.
5501	Failed to initialize the force control. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5510	Force control calculation error. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5511	Coordinate transformation error in force control. Check whether the robot moves outside of the motion range.	Check whether the coordinate out of the motion range is specified. Check whether the robot moves outside of the motion range during the execution of force control.
5520	Impedance parameter error. Check the combination of Mass, Damper, and Spring	Check the combination of Spring, Damper, and Mass. Check whether the Mass property is too small for the Damper property.
5521	The coordinate system mode other than the custom mode is specified for the Force Sensor which is not associated with the robot. Check configuration of the Force Sensor or the coordinate system mode.	Check association with the robot. Check if the direction other than the Custom coordinate is specified for the Orientation property of the force coordinate system object for the sensor which is not associated with the robot.
5522	Undefined data is selected. Check if the selected data is defined.	The specified Tool, Local, or MP number may be undefined. Check if the specified parameter is defined.
5523	The parameter which cannot be continued when the CF continues force control is specified. Check the Force Control Object and the Force Coordinate System Object.	Check the force control object and the force coordinate object which are used by the motion commands before and after continuing the force control by the CF parameter.
5530	The specified time has passed after resetting the Force Sensor. Execute the Reset property of the Force Sensor Object.	Execute the Reset property for the Force Sensor object.
5531	Approached the singularity point while executing force control. Avoid the singularity point when using force control.	Check whether the coordinates near the singularity is specified. Check whether the robot moves to the vicinity of the singularity during the execution of force control. Or, review the installation position of the robot.
5532	Buffer for Force Sensor averaging is saturated. Shorten the time interval from AvgForceClear to AvgForce.	Shorten the time interval between AvgForceClear and AvgForce to be shorter than a minute.
5533	The continuing time for CF to execute force control has passed. To continue force control, use FCKeep.	Check whether the interval of the motion commands is one minute or less.
5535	SCARA robot cannot execute force control if the Orientation property of Base, Tool, Local, and FCS objects, or V and W of the current command position are other than 0. Check the parameters.	Set “0” to the Orientation property or V and W of the current command position for Base, Tool, Local, and FCS objects.
5536	Force control is not supported for this robot model. Check the robot model and the controller firmware version.	Check if the specified robot is correct. Check if the Controller firmware supports the robot model.
5540	Force Sensor transmission error. Check connection of the Force Sensor I/F unit (board) and Force Sensor.	Execute the Reboot property for the Force Sensor object. Check connection of the Force Sensor and Force Sensor I/F unit (board). Reboot the Force Sensor and Force Sensor I/F unit (board). Please inquire with us if a similar error occurs even after the above countermeasures are taken.
5541	Force Sensor reception error. Check connection of the Force Sensor I/F unit (board) and Force Sensor	Execute the Reboot property for the Force Sensor object. Check connection of the Force Sensor and Force Sensor I/F unit (board). Reboot the Force Sensor and Force Sensor I/F unit (board). Please inquire with us if a similar error occurs even after the above countermeasures are taken.
5542	Force Sensor in use. Check whether other commands are sing the Force Sensor.	Check whether the Reset property or Reboot property of the Force Sensor object are executed in another task.
5543	Force Sensor communication error. Execute the Reboot property of the Force Sensor Object.	Execute the Reboot property for the Force Sensor object. Check connection of the Force Sensor and Force Sensor I/F unit (board). Reboot the Force Sensor and Force Sensor I/F unit (board). Please inquire with us if a similar error occurs even after the above countermeasures are taken.
5544	Element error of Force Sensor. Check whether force exceeding the rated value is applied to the Force Sensor. Execute the Reset property of the Force Sensor Object.	This error may occur if a long time passed while the Force Sensor is not reset. Execute the Reset property for the Force Sensor object. Check whether force exceeding the rated value is applied to the Force Sensor. Reboot the Force Sensor and Force Sensor I/F unit (board). Please inquire with us if a similar error occurs even after the above countermeasures are taken.
5545	Circuit error 1 of Force Sensor. Execute the Reset property of the Force Sensor Object.	Execute the Reset property for the Force Sensor object. Reboot the Force Sensor and Force Sensor I/F unit (board). Please inquire with us if a similar error occurs even after the above countermeasures are taken.
5546	Circuit error 2 of Force Sensor. Execute the Reset property of the Force Sensor Object.	Execute the Reset property for the Force Sensor object. Reboot the Force Sensor and Force Sensor I/F unit (board). If a similar error occurs even after the above countermeasures are taken, check if the tip of the robot arm has a vibration.
5547	High temperature error of the Force Sensor. Check if the ambient temperature is within the rated value and there is no rapid temperature change. Execute the Reset property of the Force Sensor Object.	Execute the Reset property for the Force Sensor object. Check the ambient temperature. Reboot the Force Sensor and Force Sensor I/F unit (board). Please inquire with us if a similar error occurs even after the above countermeasures are taken.
5548	Force Sensor detected force exceeding the rated value. Check if force exceeding the rated value is applied. Execute the Reset property of the Force Sensor Object.	Execute the Reset property for the Force Sensor object. Check whether force exceeding the rated value is applied to the Force Sensor. Reboot the Force Sensor and Force Sensor I/F unit (board). Please inquire with us if a similar error occurs even after the above countermeasures are taken.
5549	Force Sensor I/F unit (board) is not connected. Check connection of the Force Sensor I/F unit (board) and Force Sensor.	Check connection of the Force Sensor and Force Sensor I/F unit (board). Reboot the Force Sensor and Force Sensor I/F unit (board). Please inquire with us if a similar error occurs even after the above countermeasures are taken.
5550	Force sensing of the Force Sensor is off. Check configuration of the Force Sensor.	Check the configuration of Force Sensor. Reboot the Force Sensor and Force Sensor I/F unit (board).
5551	Unsupported Force Sensor is connected. Check the controller firmware version and connection of the Force Sensor.	Check whether the controller firmware supports the Force Sensor. Check connection of the Force Sensor and Force Sensor I/F unit (board). Reboot the Force Sensor and Force Sensor I/F unit (board).
5552	Configuration of the force sensor failure. Check the configuration of the force sensor.	Check the configuration of the force sensor.
5553	Unsupported function is executed on the connected force sensor. Review the program.	Check the force sensor settings. Review the program.
5560	Drift correction error of Force Sensor.	Check connection of the Force Sensor and Force Sensor I/F unit (board). Reboot the Force Sensor and Force Sensor I/F unit (board).
5570	Force monitor buffer overflow. Reboot the force monitor.	Close and re-open the force monitor.
5571	Force log buffer overflow. Set the data measurement interval longer.	Set the data measuring interval longer. The computer receiving the data may be under heavy load state.
5572	Force control monitor buffer overflow. Reboot the force control monitor.	Close and re-open the Force Control Monitor.
5573	The log data of the force guide sequence overflowed.	Reboot the controller. The computer receiving the data may be under heavy load state.
5574	RecordStart buffer overflowed. Set the data measurement interval longer.	Set the data measuring interval longer. The computer receiving the data may be under heavy load state.
5800	Failed to initialize the force control. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5801	Force control failed to allocate memory. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5802	Force control calculation error. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5803	Force Sensor failed to connect with the robot. Check connection setting of the Force Sensor.	Check connection setting of the Force Sensor.
5810	Force control parameter error. Check the parameter range.	Check the range of the specified parameter.
5811	Force Control Object parameter is out of the range. Note 1: Property Note 2: Axis Check the parameter.	Check the property of force control object.	1: Number 2: Coordinate System 3: Enabled 4: Mass 5: Damper 6: Spring 7: TargetForce PriorityMode 8: TargetForce 9: LimitSpeed 10: LimitAccel	1:Fx 2:Fy 3:Fz 4:Tx 5:Ty 6:Tz or 1:J 2:S 3:R
5812	LimitSpeed or LimitAccel of the Force Control Object is lower than speed or accel setting of the robot. Check the parameter.	Check the values of Speed, SpeedS, SpeedR, Accel, AccelS, AccelR, LimitSpeed and LimitAccel.
5813	Enabled properties of the Force Control Object are all false. Set true to 1 or more axis.	Enable the “Enabled” property for at least one axis.
5814	SCARA robot cannot execute force control if the Orientation property of Base, Tool, Local, and FCS objects, or V and W of the current command position are other than 0, or if Tx_Enabled and Ty_Enalbed are not False. Check the parameters.	Disable the enabled state of Tx and Ty. Set “0” to the Orientation property or V and W of the current command position for Base, Tool, Local, and FCS objects.
5815	Force Trigger Object parameter is out of the range. Note 1: Property Note 2: Axis Check the parameter.	Check the property of force trigger object.	1: Number 2: Force Sensor 3: Coordinate System 4: TriggerMode 5: Operator 6: Enabled 7: FMag_Axes 8: TMag_Axes 9: Polarity 10: UpperLevel 11: LowerLevel 12: UpperLevel is smaller than LowerLevel 13: LPF_Enabled 14: LPF_TimeConstant	1:Fx 2:Fy 3:Fz 4:Tx 5:Ty 6:Tz 7:Fmag 8:Tmag
5816	Force Coordinate System Object parameter is out of the range. Note 1: Property Note 2: Axis Check the parameter.	Check the property of force coordinate system object.	1: Number 2: Position 3:Orientation_Mode 4:Orientation_UVW 5:Orientation_RobotLocal	1:X 2:Y 3:Z or 1:U 2:V 3:W
5817	Force Monitor Object parameter is out of the range. Note 1: Property Note 2: Axis Check the parameter.	Check the property of force monitor object.	1:Number 2:Force Sensor 3:CoordinateSystem 4:FMag_Axes 5:TMag_Axes 6:LPF_Enabled 7:LPF_TimeConstant
5818	Force Motion Restriction Object parameter is out of the range.	Check the property of force motion restriction object.	1:Number 3: Coordinate System 6:Dist_Axes 7:Rot_Axes 8:UpperLevel 9:LowerLevel 10: UpperLevel is smaller than LowerLevel 11:Operator 12:ForceSensor 13:HoldTimeThresh 14:DatumPoint 15:RobotLocal 16:RobotTool 17:TriggerMode 18:Enabled
5819	Specified duration of FCKeep is out of the allowable range. Check the duration.	Check whether the specified duration is 600 seconds or less.
5830	Force control cannot resume from the pause. Abort the motion command.	Abort the motion.
5831	Cannot execute this command during force control. Exit force control by FCEnd.	Abort force control. Execute FCEnd command.
5832	Cannot execute the motion command which has no Force Control Object during force control. Exit force control by FCEnd.	Check whether the motion command right after continuing the force control by CT does not contain force control.
5833	Cannot use gravity compensation. Can use only Mass Property object number '0'.	This is the combination of the force sensor and the robot that cannot use gravity compensation Set Mass Property object number '0'.
5834	Unsupported function is executed on the connected force sensor. Review the program.	Check the force sensor settings. Review the program.
5840	Force Sensor in use. Check whether other commands are sing the Force Sensor.	Check whether the Reset property or Reboot property of the Force Sensor object are executed in another task.
5841	Failed to reset the force sensor. Reset the force sensor again. Note 1: Detailed error information	When the parameter is omitted or FG_RESET_FINE is specified, specify FG_RESET_WAIT_VIBRATION for parameter. When FG_RESET_WAIT_VIBRATION is specified, adjust the reset timing by Wait statement or remove the source of external vibration.	1: Timeout since Fine condition is not satisfied. 2: Timeout since the vibration did not stop.
5901	Force control failed to allocate memory. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5902	Force control failed to release memory. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5903	The specified robot cannot be found. Specify the correct robot number.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5904	Force control failed to allocate memory. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5906	Specified force data number cannot be found. Specify a valid force data number.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5907	Specified force data number was not defined. Specify a teach force data number.	Specify a defined force data number.
5908	Specified force coordinate system data number was not defined. Specify a teach force coordinate system data number.	Specify a defined force coordinate system data number.
5909	Specified force data can't be updated. Review the program.	Specified force data cannot be updated nor deleted by FSet, FDel, MPSet, or MPDel statement.
5910	Specified force data value is out of allowable range. Specify the valid value.	Specify the value within the range.
5911	The Upper level value is smaller than the lower level value. Change the upper and lower level values.	Change the upper and lower level values.
5912	The number of specified command parameters is not correct. Specify a valid number of parameters.	Specify a valid number of parameters.	Number of parameters
5913	The number of specified function parameters is not correct. Specify a valid number of parameters.	Specify a valid number of parameters.	Number of parameters
5914	The type of a specified command parameter is not correct. Specify valid parameters.	Specify valid parameters.
5915	The type of a specified function parameter is not correct. Specify valid parameters.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5918	Specified force data label cannot be found. Specify a valid force data label.	Specify a defined valid force data label.
5921	Duplicate force data label. Specified label name is already used. Change the label name.	Specify a valid force data label.
5924	Force control of the specified robot failed to allocate memory. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5927	Cannot read the force data from the force file. Re-create the force file.	The force data is invalid and cannot be read. Re-create the force file.	0: FC 1: FCS 2: FT 3: FM 4: MASS	Force Data number
5928	Force control failed to allocate memory. Reboot the controller.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5929	Specified force file name is not correct. Specify a valid force file name.	Reboot the controller. Initialize the controller firmware. Replace the controller.
5930	Specified force data label is beyond the maximum length. Specify a valid force data label.	Specify a valid force data label. Refer to "Label Property" for details.
5931	Description for the specified force data is beyond the maximum length. Specify a valid description.	Specify a valid description. Refer to "Description Property" for details.
5932	The force file is corrupted. Re-create the force file.	Cannot load the force file because it is corrupted or was edited by tools other than Force Guide 8.0. Re-create the force file.
5933	Specified force file cannot be found. Specify a valid force file name.	Specify a valid force file name.
5934	Cannot save the force file. Check the capacity to save.	Make an enough space to write the force file.	Robot number
5940	The force data label is not correct. Specify a valid force data label.	Specify a valid force data label. Refer to "Label Property" for details.
5941	The force data label is not correct. Specify a valid force data label.	Specify a valid force data label. Refer to "Label Property" for details.
5943	Invalid force file version. Update the controller firmware.	Cannot load the force file because it is a newer version.
5944	Failed to read the force file. Re-create the force file.	Cannot load the force file because the format is not supported.