Code Number 4000 ~
| No. | Message | Countermeasure | Note 1 | Note 2 | Error Solution |
|---|---|---|---|---|---|
| 4001 | Arm reached the limit of motion range. | Check the point to move, current point, and Range setting. | Stop task | ||
| 4002 | Specified parameter is out of allowable range. | Review the setting parameters. | Parameter value out of allowable range. | Stop task | |
| 4003 | Motion device driver failure. Communication error within the motion control module. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task Reset Reboot | ||
| 4004 | Motion device driver failure. Event waiting error within the motion control module. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Reboot | ||
| 4005 | Current point position is above the specified LimZ value. | Do one of the following: - Lower the Z axis. - Increase the specified LimZ value. | Stop task | ||
| 4006 | Target point position is above the specified LimZ value. | Do one of the following: - Lower the Z coordinate position of the target point. - Increase the specified LimZ value. | Stop task | ||
| 4007 | Coordinate 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. | Stop task | ||
| 4008 | Current point position or specified LimZ value is out of motion range. | Change the specified LimZ value. | Stop task | ||
| 4009 | Motion device driver failure.Timeout error within motion control module. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4010 | Specified Local coordinate was not defined. | Define the Local coordinate system. | Local number | Stop task | |
| 4011 | Arm reached the limit of XY motion range specified by XYLim statement. | Check the area limited by the XYLim statement. | Stop task | ||
| 4012 | Upper limit value of Box is smaller than lower limit value. | Set the upper limit value to be larger than the lower limit value. | Stop task | ||
| 4013 | Arch motion timing calculation failed. | Do one of the following: - Check and modify Arch parameter - Disable Arch | Stop task | ||
| 4014 | MCal incomplete. | Do one of the following: - Execute MCal. - Make sure the MCordr is set for the joint connected to the PG board. | Stop task | ||
| 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. | Stop task | ||
| 4018 | Communication error within the motion control module. Checksum error detected. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4021 | Point positions used to define the Local are too close. | Set the distance between points to more than 1µm. | Stop task | ||
| 4022 | Point coordinate data used to define the Local is invalid. | Match the coordinate data for the points to be specified. | Stop task | ||
| 4023 | A process that is unavailable while the motor is off was attempted. | Turn the motor power ON and then execute the motion command. | Stop task | ||
| 4024 | Cannot complete the arm positioning using the current Fine specification. | Do one of the following: - Check whether the robot does not generate vibration or all parts and screws are secured firmly. - Increase the Fine setting value. | Stop task | ||
| 4025 | Cannot execute a motion command during emergency stop. | Cancel the emergency stop. | Stop task | ||
| 4026 | Communication error within the motion control module. Servo I/F failure detected. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4027 | Communication error within the motion control module. Checksum error detected. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4028 | Communication error within the motion control module. Device driver status failure detected. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4029 | Communication error within the motion control module. Device driver status failure detected. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4030 | Buffer for average torque calculation has overflowed. | Shorten the time interval from ATCLR to ATRQ to less than about two minutes. | Stop task | ||
| 4031 | Cannot execute a motion command when the motor is off. | Turn the motor on. | Stop task | ||
| 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. | Stop task | ||
| 4033 | The specified command is not supported for PG board joints. | The specified command is not permitted for the joints with PG board. | Stop task | ||
| 4034 | Specified command is not supported for this robot model. | Remove the unsupported command from the program. | Stop task | ||
| 4035 | Only the tool orientation was attempted to be changed by the CP statement. | Do one of the following: - Set a move distance between points. - Use the ROT modifier, SpeedR statement, and AccelR statement. | Stop task | ||
| 4036 | Tool orientation rotation speed via the CP statement is too fast. | Do one of the following: - Decrease the setting values for the SpeedS and AccelS statements. - Use the ROT modifier, SpeedR statement, and AccelR statement. | Stop task | ||
| 4037 | The point attribute of the current and target point positions differ for executing a CP control command. | Match the point attribute. | Stop task | ||
| 4038 | Two point positions are too close to execute the Arc statement. | Set the distance between points to more than 1µm. | Stop task | ||
| 4039 | The arc generated by the Arc statement is a straight line. | Use the Move statement. | Stop task | ||
| 4041 | Motion command to the prohibited area at the backside of the robot was attempted. | Check the robot motion range. | Stop task | ||
| 4042 | Motion device driver failure. Cannot detect the circular format interruption. | Do one of the following: - Reboot the Controller. - Initialize the controller firmware. - Replace the controller. | Stop task | ||
| 4043 | Specified command is not supported for this robot model or joint type. | Remove the unsupported command from the program. | Stop task | ||
| 4044 | Curve failure. Specified curve form is not supported. | Create a Curve file again with the Curve statement. | Stop task | ||
| 4045 | Curve failure. Specified mode is not supported. | Specify the Curve mode properly. Create a Curve file again with the Curve statement. | Stop task | ||
| 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. | Stop task | ||
| 4047 | Curve failure. Point data was not specified. | Create a Curve file again with the Curve statement. | Stop task | ||
| 4048 | Curve failure. Parallel process was specified before the point designation. | Create a Curve file again with the Curve statement. | Stop task | ||
| 4049 | Curve failure. Number of parallel processes is out of the allowable range. | Create a Curve file again with the Curve statement. | Stop task | ||
| 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. | Stop task | ||
| 4051 | Curve failure. Local attribute and point attribute of all specified points do not match. | Match the local and point flag for all the specified points. | Stop task | ||
| 4052 | Curve failure. Not enough memory to format the curve file. | Reboot the Controller. | Stop task | ||
| 4053 | Curve failure. Failed to format the curve file. | Check the point data. Check if the adjacent two points do not overlap on the specified point line. | Stop task | ||
| 4054 | Curve failure. Curve file error. | The Curve file is corrupt. Create a Curve file again with the Curve statement. | Stop task | ||
| 4055 | Curve failure. No distance for Curve file movement. | Check the point data. | Stop task | ||
| 4056 | Curve failure. Point positions for the Curve statement are too close. | Set the distance between two points adjacent to the specified point to more than 0.001 mm. | Stop task | ||
| 4058 | Prohibited command executed during tracking. | Delete Prohibited commands from the program. | Stop task | ||
| 4059 | Executed encoder reset command while the motor was on. | Turn the motor power off. | Stop task | ||
| 4060 | Executed an invalid command while the motor was on. | Turn the motor power off. | Stop task | ||
| 4061 | Specified parameter is in use. | You attempted to clear the currently specified Arm and Tool. Select other Arm and Tool and execute. | Stop task | ||
| 4062 | Orientation variation is over 360 degrees. | Attempted to rotate J6 more than 360 degrees with a CP motion command. | Stop task | ||
| 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. | Stop task | ||
| 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. | Stop task | ||
| 4065 | Attempted to revolve J6 one rotation with the same orientation in CP statement. | Attempted to rotate J6 more than 360 degrees with a CP motion command. One J6 rotation was attempted with the same as motion as in start orientation. Change the target point so that the J6 revolves less than once. | Stop task | ||
| 4066 | Motion command was attempted in the prohibited area dependent on joint combination. | You attempted to move the joints to the robot's interference limited area. | Stop task | ||
| 4068 | ROT modifier parameter was specified for the CP motion command without orientation rotation. | Delete the ROT from the CP motion command. | Stop task | ||
| 4069 | ECP specified without selecting ECP in CP statement. | Specify a valid ECP. | Stop task | ||
| 4070 | Specified ECP number does not match the ECP number used in curve file creation. | Specify a valid ECP. | Stop task | ||
| 4071 | Motion command attempted while electromagnetic brake lock was active. | Release the electromagnetic brake. | Stop task | ||
| 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. | Stop task | ||
| 4074 | Motor type does not match the current robot setting. | Check whether the specified robot model is connected. | Reboot | ||
| 4075 | Option not enabled. | Enable the option. | Stop task | ||
| 4076 | Point positions used to define the Plane are too close. | Set the distance between points to more than 1µm. | Stop task | ||
| 4077 | Point coordinate data used to define the Plane is invalid. | Check the coordinate data for the points to be specified. | Stop task | ||
| 4078 | Only the additional ST axis was attempted to be changed by the CP statement. | Use PTP motion commands in to move the additional axis only. | Stop task | ||
| 4079 | Speed of additional ST axis by the CP statement is too fast. | Reduce the SpeedS and AccelS setting values. | Stop task | ||
| 4080 | Cannot execute when enable switch is off. | Turn the Enable Switch ON and then execute. | Stop task | ||
| 4081 | Error occurred during MCal operation. | Do one of the following: - Check the PG board. - Check the connection with the motor driver. - Replace the PG board. - Replace the controller. | Stop task | ||
| 4082 | PG board error was detected during MCal operation. | Do one of the following: - Check the PG board. - Check the connection with the motor driver. - Replace the PG board. | Stop task | ||
| 4083 | MCal did not complete in time. | Set PG parameter so that MCal can complete within 120 seconds. | Stop task | ||
| 4084 | Limit Sensor error was detected during MCal operation. | Check the limit sensor. | Stop task | ||
| 4085 | Failed to change to specified coordinates. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4086 | Cannot execute because it is not dry run mode. | Change to the dry run mode and execute. | Stop task | ||
| 4087 | Failed to format the playback file. | Do one of the following: - Check if there is sufficient PC drive space. - Reboot the PC. - Reinstall Epson RC+. - Replace the PC. | Stop task | ||
| 4088 | Buffer for the average speed calculation is saturated. | Shorten the time interval from AvgSpeedClear to AvgSpeed. | Stop task | ||
| 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. | Stop task | ||
| 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. | Stop task | ||
| 4091 | Specified analog I/O channel does not exist. | Do one of the following: - Check the channel number. - Mount the analog I/O option board. | Stop task | ||
| 4092 | Specified analog output channel is used for speed data output. | Execute after stopping the speed output of the specified channel. | Stop task | ||
| 4093 | If motion is paused while avoiding the singularity, it cannot be resumed. | Abort the motion. If SF_LimitSpeedSEnable is On, this error may occur. SF_LimitSpeedSEnable is On by default. Turn it Off. For details, refer to "SPEL+ Language Reference - SF_LimitSpeedSEnable". | Stop task | ||
| 4094 | The current position is out of the motion range. | Either J1 or J2 axis is out of motion range. Follow either of 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 on RS and N series.) | Stop task | ||
| 4096 | Robot in use. Cannot execute motion command when another 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. | Stop task | ||
| 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 | Stop task |
| 4099 | Servo error was detected during operation. | Check if a 5000-number error is occurring in the system history. If the error is occurring, implement measures for a 5000-number error. | Reboot | ||
| 4100 | Communication error in motion control module. Cannot calculate the current point or pulse. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Reboot | ||
| 4101 | Communication error in the motion control module. Cannot acquire the current point or pulse. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Reboot | ||
| 4104 | Positioning timeout of the joint connected to the PG board. | Cannot receive the positioning completion signal (DEND) from the servo motor connected to PG board. | Reboot | ||
| 4152 | Main circuit relay welding error detected. | A relay welding error was detected due to power system overcurrent. Do one of the following: - Replace the controller. - Replace the robot. | Reboot | ||
| 4154 | Temperature of regeneration resistor was higher than the specified temperature. | Robot’s Duty is too high. Do one of the following: - Lengthen the waiting time or reduce the Accel value. - If the error occurs although Duty was lowered, replace the DPU. | Reboot | ||
| 4210 | RAS circuit detected a servo system failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4211 | Servo CPU RAM failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4212 | Communication RAM failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4213 | Servo CPU RAM failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4214 | Initialization communication failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4215 | Initialization communication failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4216 | Communication failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4217 | Communication failure between main CPU and servo CPU. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4218 | Servo long time command overrun. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4219 | Servo long time command checksum error detected. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4220 | System watchdog timer detected a failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4221 | Drive unit check failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4222 | Servo CPU RAM failure. | Do one of the following: - Reboot the Controller. - Implement noise countermeasures. - Replace the MAIN board. | Reboot | ||
| 4223 | Emergency stop/safeguard (safety fence) redundancy circuit failure. | Check the wiring of the emergency stop or the safeguard (safety fence). | Reboot | ||
| 4224 | Low voltage detected at main circuit power source. | Do one of the following: - Check the power supply voltage. - Reboot the Controller. | Reboot | ||
| 4225 | Main circuit power supply control relay contact is welded. | Replace the DPU. | Reboot | ||
| 4230 | Servo real time status failure. Checksum error detected. | A data checksum error was detected in the controller. Do one of the following: - Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) - Replace the controller. | Reboot | ||
| 4232 | Servo real time status failure. Servo free running counter error. | A free running counter error was detected in the controller. Do one of the following: - Check the short-circuit and improper connection of the peripheral equipment wiring. (Emergency, D-I/O, and Expansion I/O connectors) - Replace the controller. | Reboot | ||
| 4241 | Over speed in low power mode detected. | Robot over speed detected in low power mode. Do one of the following: - For CP motion, decrease the SpeedS value. - Check the robot mechanism. (Smoothness, backlash, non-smooth motion, loose belt tension, brake) - Check the interference between the robot and peripheral equipment. (Collision, contact) - Check peripheral equipment wiring for short circuits and improper connections. (Emergency, D-I/O, and Expansion I/O connectors) - Replace the motor driver. - Replace the motor. (Motor, encoder failure) | Reset | ||
| 4242 | Improper acceleration reference generated. | Robot operation was attempted with the acceleration reference exceeding the specified value. Do one of the following: - For CP motion, decrease the AccelS value. - When using a conveyor, also reduce the Cnv_Accel value. - Use the command AvoidSingularity SING_VSD. - With [Connect to CP motion and PTP motion when CP is ON] in the controller configuration settings enabled, turn CP off when attempting to connect to CP and PTP motion. | Reset | ||
| 4243 | Improper speed reference was generated in high power mode. | Robot over speed detected during high power mode. Do one of the following: - Decrease the Speed and SpeedS values. - Use the command AvoidSingularity SING_VSD. - With [Connect to CP motion and PTP motion when CP is ON] in the controller configuration settings enabled, turn CP off when attempting to connect to CP and PTP motion. | Reset | ||
| 4244 | Improper acceleration reference was generated when VRT function was used. | Robot operation was attempted with the acceleration reference exceeding the specified value. Decrease the Accel and AccelS values. | Reset | ||
| 4245 | Improper speed reference was generated when VRT function was used. | Robot operation was attempted with the speed reference exceeding the specified value. Decrease the Accel and AccelS or Speed and SpeedS values. | Reset | ||
| 4246 | A route error occurred when the VRT function was used. | Modify the VRTPram1 and VRTPram2 values, or disable the VRT function. | Reset | ||
| 4247 | An internal operation error occurred when the VRT function was used. | Modify the VRTPram1 and VRTPram2 values, or disable the VRT function. | Reset | ||
| 4248 | The robot collides with itself. | Set a relay point. Or change the target point. | Reset | ||
| 4249 | Improper reference detected. | Reduce the Accel value. | Reset | ||
| 4250 | Arm reached the limit of motion range during the operation. | Check if the CP motion trajectory is within the motion range. | Reset | ||
| 4251 | Arm reached the limit of XY motion range specified by XYLim during the operation. | Check the XYLim setting. | Reset | ||
| 4252 | A coordinate conversion error occurred. | Check if it is within the motion range. | Reset | ||
| 4255 | SpeedS is too high. Robot cannot pass particular elbow orientation. | Reduce the SpeedS value. | Reset | ||
| 4256 | Stop or pause executed when a robot passed particular elbow orientation. | Do not execute Stop or Pause. | Reset | ||
| 4257 | The robot attempted to pass the elbow singularity area. | The robot cannot pass the elbow singularity area. To pass the elbow singularity area, use AvoidSingularity SING_AVOID. | Reset | ||
| 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. | Reset | ||
| 4262 | The Arm reached the limit of XY 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. | Reset | ||
| 4263 | The Arm reached the limit of pulse 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. | Reset | ||
| 4267 | Attempted to exceed the J4Flag attribute without indication. | Attempted to exceed the J4Flag attribute during motion without the J4Flag indication. Change the J4Flag for the target point. | Reset | ||
| 4268 | Attempted to exceed the J6Flag attribute without indication. | Attempted to exceed the J6Flag attribute during motion without the J6Flag indication. Change the J6Flag for the target point. | Reset | ||
| 4269 | Attempted to exceed the particular wrist orientation attribute without indication. | Attempted to exceed the particular wrist orientation attribute during motion without the Wrist indication. Do one of the following: - Change the Wrist attribute for the target point. - Change the target point to avoid a particular orientation. | Reset | ||
| 4270 | Attempted to exceed the particular arm orientation attribute without indication. | Attempted to exceed the particular hand orientation attribute during motion without the Hand indication. Do one of the following: - Change the Hand attribute for the target point. - Change the target point to avoid a particular orientation. | Reset | ||
| 4271 | Attempted to exceed the particular elbow orientation attribute without indication. | Attempted to exceed the particular elbow orientation attribute during motion without the Elbow indication. Do one of the following: - Change the Elbow attribute for the target point. - Change the target point to avoid a particular orientation. | Reset | ||
| 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. | Reset | ||
| 4273 | J6Flag switched during the lift motion in conveyor tracking. | Adjust the tool orientation so that J6Flag will not switch. | Reset | ||
| 4274 | Specified J6Flag not reached. Change J6Flag for target point. | For a CP motion command, the manipulator reached the target point with J6Flag which differs from the one specified for the target point. Change the J6Flag for the target point. | Reset | ||
| 4275 | Specified J４Flag not reached. Change J6Flag 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 the J4Flag for the target point. | Reset | ||
| 4276 | Specified ArmFlag not reached. Change ArmFlag for target point. | For a CP motion command, the manipulator reached the target point with ArmFlag which differs from the one specified for the target point. Change ArmFlag for the target point. | Reset | ||
| 4277 | Specified ElbowFlag not reached. Change ElbowFlag for target point. | For a CP motion command, the manipulator reached the target point with ElbowFlag which differs from the one specified for the target point. Change ElbowFlag for the target point. | Reset | ||
| 4278 | Specified WristFlag not reached. Change WristFlag for target point | For a CP motion command, the manipulator reached the target point with WristFlag which differs from the one specified for the target point. Change WristFlag for the target point. | Reset | ||
| 4279 | Specified J1Flag not reached. Change J6Flag 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 the J1Flag for the target point. | Reset | ||
| 4299 | Enable switch turned off during torque control. | Perform a safety check of the robot and peripheral equipment before resuming. | Reset | ||
| 4301 | The PG board detected a limit signal. | Reset and then execute the next motion. | Reset | ||
| 4302 | The PG board detected an alarm signal. | Release the alarm of the pulse motor driver. | Reset | ||
| 4401 | The specified conveyor number is invalid. | Review the conveyor number. | Stop task | ||
| 4402 | Cannot register to queue. | The number of registration reached the upper limit (1000 pcs.) Delete the queue. | Stop task | ||
| 4403 | Continued operation not available during tracking. | Tracking motion cannot be continued after aborted/paused? If SF_LimitSpeedSEnable is On, this error may occur. SF_LimitSpeedSEnable is On by default. Turn it Off. For details, refer to "SPEL+ Language Reference - SF_LimitSpeedSEnable". | Stop task | ||
| 4404 | Queue data does not exist. | Review the queue number. Or, check whether the queue is registered. | Stop task | ||
| 4405 | The conveyor is not correctly initialized. | Rebuild the project. Delete the conveyor and then reestablish the setting. | Stop task | ||
| 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. | Stop task | ||
| 4407 | The encoder is not set. | Set the encoder. | Stop task | ||
| 4409 | The conveyor instruction parameter is invalid. | Review the parameter. | Stop task | ||
| 4410 | A conveyor coordinate conversion error occurred. | Do one of the following: - Rebuild the project. - Delete the conveyor and then reestablish the setting. | Stop task | ||
| 4411 | Communication error within conveyor motion modules. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4413 | Conveyor tracking starting error. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Stop task | ||
| 4414 | Conveyor tracking cannot with CP ON. | Start the conveyor tracking with CP OFF. | Stop task | ||
| 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. | Stop task | ||
| 4416 | Robot cannot track the specified conveyor queue. | Increase the operating speed and the acceleration of the robot. | Stop task | ||
| 4500 | The specified functions cannot be executed simultaneously. Note 1, 2: Function type | Review the program. | Increase the operating speed and the acceleration of the robot. | Function type*Same as Note 1 | Stop task |
| 4501 | Device in use. Note 1: Device type | Check whether the device is used in other task or command. | Device type 1: Analog I/O input channel | Stop task | |
| 4502 | Cannot execute this command during control. Note 1: Control function type | Check whether the control function is executed in other task or command Exit the control function to execute the command. | Control function type 1: Distance tracking function 2: Conveyor tracking 3: CVMove | Stop task | |
| 4503 | Undefined parameter. Note 1: Parameter type | Check whether the parameter is set. Set the parameter. | Parameter type 1: Distance tracking function parameter | Stop task | |
| 4505 | Motor cannot be turned on because the Safety board is issuing a stop signal. | Do one of the following: - Check Code 27, 28 and the following section, then reset the Safety board stop signal. - Terminate the Safety Function manager and reset the controller. - Reboot the Controller. | Reset Reboot | ||
| 4506 | Motion calculation error in controller. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Reboot Stop task | ||
| 4511 | Area number is undefined. | Define the area. | Stop task | ||
| 4512 | Invalid reference point. Check Note 1: Type of error. | Check the reference points and teaching points referring to Notes. | Error type 1: Number of reference points does not match 2: Contains points that differ from the point flag 3: Reference point contains duplicated points 4: Not enough reference points 5: Do not place the reference point on a straight line for plane correction 6: Do not place the reference point on the same plane for three-dimensional correction 7: Specify points on the same plane for plane correction 8: Contains orientations that cannot be corrected 9: Corresponding reference points have significantly different orientations 10: Corresponding reference point positions are significantly different | Stop task | |
| 4513 | Invalid input point. Check Note 1: Type of error. | Check the input point. | Error type 1: Point flags differ 2: The reference point and input point orientations are different | Stop task | |
| 4514 | Orientation changes of the points taught in the Tool Wizard is too small. | Review the orientation to specify in Tool Wizard. When orientation variation is too small, tool cannot be set. | Stop task | ||
| 4520 | The radius specified in the Arc statement is too short, and an arc cannot be created. | Specify a radius length that is at least half the distance from the current coordinate to the target coordinate. | Stop task | ||
| 4521 | The three points specified in the Arc statement are on a straight line and an arc cannot be identified. | When specifying three points on a straight line in the Arc statement, place a center coordinate between the current and target coordinates. If the current, target, and center coordinates are on a straight line in the Arc3 statement, a plane that runs on an arc cannot be identified. Use the route coordinate specification method Arc3 command. | Stop task | ||
| 4522 | The angle specified in the Arc statement is out of range. | Specify an angle larger than -360 degrees and less than 360 degrees. Also, 0 cannot be specified. | Stop task | ||
| 4602 | Motion calculation error. | Do one of the following: - Reboot the Controller. - Reinstall the controller firmware. - Replace the controller. | Reset | ||
| 4603 | Sensor value is out of range. | Do one of the following: - 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. | Sensor type 1: Sensor used by the distance tracking function | Reset | |
| 4604 | Approached the singularity point. | Do one of the following: - 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. | Reset |