Code Number 9000 ~
| No. | Message | Remedy | Note 1 | Note 2 | |
|---|---|---|---|---|---|
| 9001 | Emergency stop circuit failure was detected. Disconnection or other failure was found in one of the redundant inputs. | Check whether no disconnection, earth fault, or short-circuit of the emergency stop input signal exits. Then reboot the controller. | |||
| 9002 | Safeguard circuit failure was detected. Disconnection or other failure was found in one of the redundant inputs. | Check whether no disconnection, earth fault, or short-circuit of the safeguard input signal exits. Then reboot the controller. | |||
| 9003 | Initialization failure. Failed to initialize the firmware. | This is likely because of the controller hardware failure. Check the wiring is correct. If the error is not cleared after the controller is rebooted, contact us. | |||
| 9004 | Initialization failure. Failed to initialize DU. Check the DU power and the connection. | The number of set Drive Unit(s) disagrees with the number of recognized Drive Unit(s). Check the wirings of power supply and between Control Unit and Drive Unit are correct. If the error is not cleared after the controller is rebooted, contact us. | |||
| 9005 | Initialization failure. Failed to initialize the DU. Check the connection. | This is likely because of the Drive Unit hardware failure. Check the wiring is correct. If the error is not cleared after the controller is rebooted, contact us. | |||
| 9006 | Initialization failure. Failed to initialize the Remote I/O. Check the Remote I/O setting. | Check the Remote I/O setting value | |||
| 9007 | Error of Force Sensor has occurred. Note 1: Error codes See each error code to take a relevant countermeasure. | Error of Force Sensor has occurred. Please confirm Note 1 by the system history, and take a relevant countermeasure. | Each error code | ||
| 9009 | Detect the Safety Board not supported. | Remove the Safety Board and reboot the Controller. | |||
| 9010 | Detect the EUROMAP board not supported. | Remove the EUROMAP board and reboot the Controller. | |||
| 9008 | Communication between RC+ and controller was lost during calibration. Reboot the controller. | Reboot the controller. | Each error code | ||
| 9011 | Battery voltage of the CPU board backup is lower than the specified voltage. Replace the CPU board battery. | Replace the battery for the CPU board immediately . Keep the controller ON as long as possible until the battery is replaced. | 100 times of current value | 100 times of boundary value | |
| 9012 | 5V input voltage for CPU board is lower than the specified voltage. | If normal voltage is not generated by 5V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value | |
| 9013 | 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage. | If normal voltage is not generated by 24V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value | |
| 9014 | Internal temperature of the Controller is higher than the specified temperature. | Stop the controller as soon as possible and check whether the ambient temperature of the controller is not high. Check whether the filter is not clogged up. | 100 times of current value | 100 times of boundary value | |
| 9015 | Rotating speed of the controller fan is below the allowed speed. (FAN1) | Check whether the filter of the controller is not clogged up. Replace the fan. | Current value | Boundary value | |
| 9016 | Speed of the controller fan is below the specified speed. (FAN2) | Check whether the filter of the controller is not clogged up. Replace the fan. | Current value | Boundary value | |
| 9017 | Internal temperature of the Controller is higher than the specified temperature. | Stop the controller as soon as possible and check whether the ambient temperature of the controller is not high. Check whether the filter is not clogged up. | 100 times of current value | 100 times of boundary value | |
| 9018 | 54V input voltage for CPU board is lower than the specified voltage. | If normal voltage is not generated by 54V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value | |
| 9019 | 3.3V input voltage for CPU board is lower than the specified voltage. | If normal voltage is not generated by 3.3V power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value | |
| 9020 | DC input voltage for CPU board is lower than or bigger than the specified voltage. | If normal voltage is not generated by DC power supply alone, replace the power supply. | 100 times of current value | 100 times of boundary value | |
| 9021 | DU1 3.3V input voltage for the board is lower than the minimum allowed voltage. | If normal voltage is not generated by 3.3V of Drive Unit 1 power supply alone, replace the power supply. | |||
| 9022 | DU1 5V input voltage for the board is lower than the allowed voltage. | If normal voltage is not generated by 5V of Drive Unit 1 power supply alone, replace the power supply. | |||
| 9023 | DU1 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage. | If normal voltage is not generated by 24V of Drive Unit 1 power supply alone, replace the power supply. | |||
| 9024 | DU1 Internal temperature of the Controller is higher than the allowed temperature. | Stop the Drive Unit 1 as soon as possible and check whether the ambient temperature of the controller is not high. Check whether the filter is not clogged up. | |||
| 9025 | DU1 Rotating speed of the controller fan is below the allowed speed. (FAN1) | Check whether the filter of the Drive Unit 1 is not clogged up. Replace the fan. | |||
| 9026 | DU1 Rotating speed of the controller fan is below the allowed speed. (FAN2) | Check whether the filter of the Drive Unit 1 is not clogged up. Replace the fan. | |||
| 9031 | DU2 3.3V input voltage for the board is lower than the minimum allowed voltage. | If normal voltage is not generated by 3.3V of Drive Unit 2 power supply alone, replace the power supply. | |||
| 9032 | DU2 5V input voltage for the board is lower than the minimum allowed voltage. | If normal voltage is not generated by 5V of Drive Unit 2 power supply alone, replace the power supply. | |||
| 9033 | DU2 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage. | If normal voltage is not generated by 24V of Drive Unit 2 power supply alone, replace the power supply. | |||
| 9034 | DU2 Internal temperature of the Controller is higher than the allowed temperature. | Stop the Drive Unit 2 as soon as possible and check whether the ambient temperature of the controller is not high. Check whether the filter is not clogged up. | |||
| 9035 | DU2 Rotating speed of the controller fan is below the allowed speed. (FAN1) | Check whether the filter of the Drive Unit 2 is not clogged up. Replace the fan. | |||
| 9036 | DU2 Rotating speed of the controller fan is below the allowed speed. (FAN2) | Check whether the filter of the Drive Unit 2 is not clogged up. Replace the fan. | |||
| 9041 | DU3 3.3V input voltage for the board is lower than the minimum allowed voltage. | If normal voltage is not generated by 3.3V of Drive Unit 3 power supply alone, replace the power supply. | |||
| 9042 | DU3 5V input voltage for the board is lower than the minimum allowed voltage. | If normal voltage is not generated by 5V of Drive Unit 3 power supply alone, replace the power supply. | |||
| 9043 | DU3 24 V input voltage for the motor brake, encoder and fan is lower than the specified voltage. | If normal voltage is not generated by 24V of Drive Unit 3 power supply alone, replace the power supply. | |||
| 9044 | DU3 Internal temperature of the Controller is higher than the allowed temperature. | Stop the Drive Unit 3 as soon as possible and check whether the ambient temperature of the controller is not high. Check whether the filter is not clogged up. | |||
| 9045 | DU3 Rotating speed of the controller fan is below the allowed speed. (FAN1) | Check whether the filter of the Drive Unit 3 is not clogged up. Replace the fan. | |||
| 9046 | DU3 Rotating speed of the controller fan is below the allowed speed. (FAN2) | Check whether the filter of the Drive Unit 3 is not clogged up. Replace the fan. | |||
| 9100 | Initialization failure. Failed to allocate memory. | Reboot the controller. | |||
| 9101 | Message queue has become full. | - | |||
| 9102 | Initialization failure. Failed to initialize Modbus. | (When RTU is selected) Check whether the selected port is installed. (When TCP is selected) Check whether the selected port number is used by other | |||
| 9103 | Initialization failure. Failed to initialize the user output. | If the manipulator is specified, check whether the specified manipulator is registered. | |||
| 9104 | Remote User Output failure. Specified command cannot be executed. | Check the condition expression. | |||
| 9105 | Detected the TP not supported. | Remove the TP and reboot the Controller. | 1:TP1 2:TP2 3: TP3 | ||
| 9233 | The Fieldbus I/O driver is in an abnormal state. | The module is broken or the controller software is damaged. Restore the controller firmware. | |||
| 9234 | Fieldbus I/O driver initialization failure. | The module is broken or the controller software is damaged. Restore the controller firmware. | |||
| 9610 | RAS circuit detected a servo system malfunction. Reboot the controller. Check for noise. Replace the controller. | Check the noise countermeasures. Replace the DMB. | |||
| 9611 | Servo CPU internal RAM failure. Reboot the controller. Check for noise. Replace the DMB. | Check the noise countermeasures. Replace the DMB. | |||
| 9612 | RAM for the main and servo CPU communication failure. Reboot the controller. Check for noise. Replace the DMB. | Check the noise countermeasures. Replace the DMB. | |||
| 9613 | Servo CPU internal RAM failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller. Check the noise countermeasures. Replace the DMB. For T/VT series, it is not DMB but CPU board. | |||
| 9614 | Initialization communication of main CPU and servo CPU failure. Reboot the Controller. Check for noise. Replace DMB. | Reboot the controller. Check the noise countermeasures. Replace the DMB. For T/VT series, it is not DMB but CPU board. | |||
| 9615 | Initialization communication of the main and servo CPU failure. Reboot the controller. Check for noise. Replace the DMB. | Check the noise countermeasures. Replace the DMB. | |||
| 9616 | Communication of the main and servo CPU failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller. Check the noise countermeasures. Replace the DMB. For T/VT series, it is not DMB but CPU board. | |||
| 9617 | Communication of the main and servo CPU failure. Reboot the controller. Check for noise. Replace the DMB. | Reboot the controller. Check the noise countermeasures. Replace the DMB. For T/VT series, it is not DMB but CPU board. | |||
| 9618 | Servo long time command overrun. | Check the noise countermeasures. Replace the DMB. | |||
| 9619 | Servo long time command check sum error. | Check the noise countermeasures. Replace the DMB. | |||
| 9620 | 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. | |||
| 9621 | Drive unit check failure. | Check the noise countermeasures. Replace the DMB. | |||
| 9622 | RAM failure of the servo CPU. Reboot the controller. Check for noise. Replace the DMB. | Check the noise countermeasures. Replace the DMB. | |||
| 9623 | Failure of the redundant circuitry for the emergency stop or the safeguard. Check the wiring. | Check the noise countermeasures. Replace the DMB. | |||
| 9624 | Low voltage of the main circuit power supply was detected. Check the power supply voltage. Reboot the controller. | Check the noise countermeasures. Replace the DMB. | |||
| 9625 | Control relay contact of the main circuit power supply is welded. Replace the DPB. | Replace the DPB. | |||
| 9626 | Detect the recognition mismatch of the sub CPU and main CPU. | Reboot the controller, take the measure against noise, or replace the CPU board. | |||
| 9627 | 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. | |||
| 9628 | Over voltage of the sub CPU. | Replace the DPB board. | |||
| 9630 | Servo real time status failure. Check sum error. | Reboot the controller. Replace the DMB. Check the noise countermeasures. | |||
| 9632 | Servo real time status failure. Servo free running counter error | Reboot the controller. Replace the DMB. Check the noise countermeasures. | |||
| 9633 | Servo real time status failure. Servo CPU communication error. | Reboot the controller. Replace the DMB. Check the noise countermeasures. | |||
| 9640 | Irregular motion control interruption was detected. Interruption duplicate. | Reboot the controller. Replace the DMB. Check the noise countermeasures. | |||
| 9691 | Data sending failure in motion network. | Check the connection of the cable for Drive Unit. | |||
| 9692 | Data receiving failure in motion network. | Check the connection of the cable for Drive Unit. | |||
| 9697 | 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 the above countermeasures are taken. | |||
| 9698 | 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 the above countermeasures are taken. | |||
| 9700 | Servo control gate array failure. Check the DMB. | Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency and I 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. | |||
| 9701 | 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. (Encoder failure) Replace the DMB. (Detection circuit failure) Check the connector connection in the controller. (Loosening, connecting to the serial encoder terminal on the DMB) Check the model setting. (Improperly setting of the parallel encoder) 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. | |||
| 9702 | 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. | |||
| 9703 | 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. | |||
| 9704 | 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. | |||
| 9705 | Encoder division setting failure. Check the robot setting. | Check the model setting. | |||
| 9706 | Data failure at the 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. | |||
| 9707 | Absolute encoder multi-turn is beyond the maximum range. Reset the encoder. | Reset the encoder. Replace the motor. (Encoder failure) | |||
| 9708 | Position is out of the range. Reset the encoder. | Reset the encoder. Replace the DMB. Replace the motor. (Encoder failure) | |||
| 9709 | No response from the serial encoder. Check the signal cable connection, the motor, the DMB, or the encoder IF board. | Check the model setting. (Improperly setting of the parallel encoder model) Check the signal cable connection. Replace the DMB and encoder I/F board. | |||
| 9710 | 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. 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. | |||
| 9711 | 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. 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. | |||
| 9712 | 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. | |||
| 9713 | 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. | |||
| 9714 | The DMB is not for this robot. | Check the robot configuration. Replace with the supported DMB. | |||
| 9715 | Encoder is reset. Reboot the controller. | Reboot the controller. | |||
| 9716 | Power supply failure of the absolute encoder. Replace the battery to a new one. Check the robot internal wiring. | Reset the encoder. Check the signal cable connection. | |||
| 9717 | Backup data failure of the absolute encoder. Reset the encoder. | Reset the encoder. Check the signal cable connection. | |||
| 9718 | Absolute encoder battery alarm. | Replace the battery. Check the signal cable connection. | |||
| 9719 | 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. | |||
| 9720 | 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. | |||
| 9721 | Absolute encoder overheat. | Lower the motion duty. Wait until the temperature of the encoder decreases. | |||
| 9722 | 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. | |||
| 9723 | G sensor communication failure. Check the signal cable connection or the robot 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. | |||
| 9724 | G sensor data error. Check for the control board. | Replace the control board. | |||
| 9725 | 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. | |||
| 9726 | 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. | |||
| 9727 | S-DSP communication failure. Check the DMB. | Reboot the controller. Check the noise countermeasure. Replace the DMB. | |||
| 9728 | Current feedback data failure. 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. | |||
| 9729 | D-DSP communication failure. Check the DMB. | Reboot the controller. Check the noise countermeasure. Replace the DMB. | |||
| 9730 | Speed is too high at controller power OFF. Reset the encoder. | Reset the encoder. Replace the motor. | |||
| 9731 | Speed is too high. Reset the encoder. | Reset the encoder. Replace the motor. For T/VT series, reboot the controller and replace the motor unit. | |||
| 9732 | Servo alarm A. | - | |||
| 9733 | G sensor initialize failure. | Controller reboot. Check the signal wiring connection. Check the noise countermeasure. | |||
| 9734 | Encoder reset failed. | Controller reboot. Reset the encoder again. Check the signal wiring connection. Replace the motor. (Encoder failure) Check the noise countermeasure. | |||
| 9800 | Detected an encoder error by the Safety Board. | Do the following in order: 1. Remedy the encoder error occurred together in the system history. 2. If concerned error is not occurred, do one of the following and reboot the Controller. - Check the connection of the Safety Board. - Replace the Safety Board. | Type of error 1: Communication. 2: Internal. | Joint No. 1: J1 2: J2 4: J3 8: J4 16: J5 32: J6 | |
| 9801 | Detected a position error by the Safety Board. | Do the following in order: 1. Reboot the Controller. 2. Remedy the position error occurred together in the system history. 3. If the Torque Control Mode (TCLim command) is used, correct the program with the SPEL command reference. 4. If concerned error is not occurred, do the HOFS settings from the Safety Function Manager. | Joint No. 1: J1 2: J2 4: J3 8: J4 16: J5 32: J6 | ||
| 9802 | Detected an input duplication error by the Safety Board. | Do one of the following - Reboot the Controller. - Check how to use TP. After rebooting the Controller, operate while gripping the middle of the enable switch and applying the evenly pressure to whole of switch. - Check the connection between the emergency stop button or input devices as TP and the Safety board, then reboot the Controller. | Type of error 1: SAFETY_IN1 2: SAFETY_IN2 4: SAFETY_IN3 8: SAFETY_IN4 16: SAFETY_IN 5 32: enable switch 64: Emergency stop switch (Teach Pendant) 128: Emergency stop switch (Controller connection) | ||
| 9803 | Detected an output duplication error by the Safety Board. | Do one of the following to reboot the Controller. - Check the connection between the external device and the Controller. - Check the power connection of safety I/O connector. | Type of error 1: SAFETY_OUT1 2: SAFETY_OUT2 4: SAFETY_OUT3 128: Safe Torque Off. | ||
| 9804 | Detected an error of the Safety Board. | Replace the Safety Board. | Type of error 2: Watchdog timer. 4: Power supply (5V). 8: Power supply (3.3V). 64: Communication bus. | ||
| 9805 | Detected an MCU error of the Safety Board. | Check the Notes in the system history and take an appropriate measure from followings: Invalid parameter error (Note1=1 and Note2=255) Write the robot parameters to the Safety Board with the Safety Function Manager. Occurrence of this error after replacing the Safety Board is no problem. In that case, perform the above operation. Other than invalid parameter error. Do one of the following. • Reboot the controller. • Replace the Safety Board, if this error occurs repeatedly. | Type of error 1: Data ROM. 2: Program ROM. 4:RAM 16: Sequence monitor. 128:CPU | If Note 1 is 1. 0 to 254: Data failure location. 255: Invalid parameter. | |
| 9806 | Detected an error of the controller by the Safety Board. | Do one of the following: - Reboot the Controller. - If this error occurs repeatedly, contact us. | Type of error 1: Operation mode receive error. | ||
| 9807 | Detected relay welding by the Safety Board | Do the following in order. 1. Remedy the relay welding error occurred together in the system history. 2. If no related errors occurres, do one of the following: - Reboot the Controller. - Replace the Safety Board. | Type of error 1: Relay welding. | ||
| 9809 | Signal mismatch occurred in Safety Board. | --- Do one of the following. Reboot the controller. Check how to use TP. After rebooting the Controller, operate while gripping the middle of the enable switch and applying the evenly pressure to whole of switch. Check the connection of the Safety Board in the controller, then reboot the Controller. Replace the Safety Board, then reboot the Controller. | Type of error 1: State. 2: Position of the tip of Robot Arm | ||
| 9810 | The Safety Board is not connected | Connect the Safety Board and reboot the Controller | Type of error 1: Safety Board. | ||
| 9811 | Detect the difference of Robot Model between the Controller and Safety Board. | Do the following in order. 1. Select the Robot Model in the Controller settings. 2. Correct the settings of the Safety Board from the Safety Function Manager. | |||
| 9812 | Detect the difference of Robot Parameters Checksum between the Controller and Safety Board. | Do the following in order. 1. Select the Robot Model in the Controller settings. 2. Correct the settings of the Safety Board from the Safety Function Manager. | Checksum value of Controller. | Checksum value of Safety Board. | |
| 9814 | Detect the difference between the Controller settings and Safety Board settings. | Correct the settings of the Safety Board from the Safety Function Manager. | Settings detected the defference 1: Dry Run setting |