Ecfen-008-002 CFD Error Code List

1706, ECFEN-008-002, 002
CFD/CFDL CONTROLLER
INSTRUCTION MANUAL
ERROR CODE LIST
2nd edition
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text.
・The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・This operating manual must be given without fail to the individual who will be actually
operating the robot.
・Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
Chapter 1 Troubleshooting
This chapter describes the symptom and its measures on the failure code of
robot controller.
1.1 When failure has occurred.........................................................................1-1

1.2 Concerning the failure details ....................................................................1-2
1.2.1 Failure category ....................................................................................1-2
1.2.2 Concerning criticality codes and failure codes ......................................1-3
1.3 Concerning “System Failure”.....................................................................1-4
1.3.1 Outline of “System Failure” ...................................................................1-4
1.3.2 How to recover and response to the failures.........................................1-4
1.4 Recovery after failing.................................................................................1-5
1.5 Error code list ............................................................................................1-6
<FLYLEAF>
These white letters will not be printed. Do not delete these letters.
Chapter 1 Troubleshooting / 1.1 When failure has occurred
1.1 When failure has occurred

In case of Smart TP
When a failure has occurred in the robot, the failure monitor starts, and the details of the failure (name of its
category, date/time of its occurrence, description and remedial action) are displayed on the teach pendant.
(1)
(5)
(2)
(6)
(3)
(7)
(4)
(1) Failure category The name of the failure category appears here.
(2) Failure code and cause The failure code and cause appear here.
The failure code is alphanumerically expressed. In the example of
the screen shown above, “A2101” is the failure code.
(3) Details and remedial action The details of the failure and the remedial action to be taken appear
here.
Use the remedial action displayed here as a reference, and
eliminate the cause of the failure.
(4) Release method The method used to release the failure display appears here.
When all the contents of (3) and (4) do not appear in the display
area, scroll the screen using [up or down].
(5) Number of failure incidents The figure on the right indicates the number of failure incidents
which have occurred simultaneously. Only one failure incident is
displayed on the screen at one time.
To view other types of trouble, press [ENABLE] and [up or down].
(6) Date/time of occurrence The date and time of the failure occurrence appear here.
(7) F11<Trouble Shooting> When a failure that requires e.g. parts inspection or parts
replacement occurs, this <Trouble Shooting> will show up here.
(Not all of the errors support this) When this key is pressed, the
inspection/part replacement procedure will be displayed.(Visual
Maintenance Support Function)
(8) f12 <Failure Reset> Press this to release the failure display.
The failure display can also be released by pressing [RESET/R]
twice.
In case of Compact TP
The error code is displayed like this picture.
P 9 9 9 9 U 1 M 1 J S 1 J T
S 0 0 0 2 1 0 0 0 J T A 1 T 1
^ ^ ^ ^ ^ m m / s
> I 2 1 0 3
1-1
Chapter 1 Troubleshooting / 1.2 Concerning the failure details
1.2 Concerning the failure details
1.2.1 Failure category

The failure categories are established to enable where the failure has occurred to be pinpointed to
some extent.
Table 1.2.1 Failure category

Failure category Main failure
Emergency stop failure Emergency stop triggered by input from overrun, shock sensor, etc.
Control sequence Failure detected by monitoring of control systems such as magnet switches and circuit
failure protectors, etc.
CPU board failure Watchdog timer detection or other CPU board-related failure occurrence.
Servo failure Failure detected by IPM drive unit software.
Amplifier unit failure Failure detected by IPM drive unit hardware.
Encoder failure Failure detected by internal of encoder.
Teach pendant failure Failure detected by teach pendant.
PLC failure Failure detected by PLC.
User failure Failure defined by the operator
Operation failure Failure caused by an operation error made by operator.
Spot welding failure Failure inherent to “Spot welding function”
Arc welding failure Failure inherent to “Arc welding function”
Sensor failure Failure inherent to “Sensor function(for arc welding)”
FieldBus failure Failure inherent to "FieldBus function" (but not included above)
Shift failure Failure inherent to "Shift function" (but not included above)
Auto Calibration failure Failure inherent to "Automatic Calibration function" (but not included above)
Sealing failure Failure inherent to "Sealing function" (but not included above)
Vision sensor failure Failure inherent to "Vision sensor function" (but not included above)
FLEXhand failure Failure inherent to "FLEXhand function" (but not included above)
Preventive
Failure inherent to "Preventive maintenance function" (but not included above)
maintenance message
Request maintenance Message to require the inspection (but not included above)
1-2
Chapter 1 Troubleshooting / 1.2 Concerning the failure details
1.2.2 Concerning criticality codes and failure codes
The failure codes displayed at (2) on the previous page are expressed using the following format.
[Example] Control sequence failure code E1103

E 1 1 0 3
(A) (B)
(A) Criticality codes
The failure detected by the robot is classified into three types by their level of criticality.
Table 1.2.2 Criticality codes

Type of failure Details
E (errors) Failure caused by parts failure or internal data failure which prohibits continued operation
until the cause of the failure is eliminated, and failure which may potentially injure the
operator or damage the robot system if operation is continued are classified as E
(errors).
If E (error) occurs during the auto operation, the robot system servo is turned off.
A (alarms) Failure which may lead to an error at a future point in time, failure which must be
remedied now or failure requiring simple operations, checks and/or remedial action
before robot operation or movements are continued even though it may not potentially
injure the operator or damage the robot system are classified as A (alarms).
If A (alarm) occurs during the auto operation, the robot system servo remains on,
stopping temporarily.
I (Information) Failure requiring that the operator and ambient devices be informed of the occurrence of
irregularities even though they will not interfere with continued robot operations or
movements is classified as I (information). Information may sometimes be conveyed not
when a failure has occurred but when the robot is operating normally.
If I (information) occurs during the auto operation, robot system displays the message on
the teach pendant, operating continuously.
(B) Failure codes

These are 4-digit numbers used to identify a failure. (See the following pages.)
1-3
Chapter 1 Troubleshooting / 1.3 Concerning “System Failure”
1.3 Concerning “System Failure”
1.3.1 Outline of “System Failure”

The function “System Failure” is to stop the system safely when the software has detected
unrecoverable errors. The errors may stem from the hardware failures such as CPU or memory
defects and software failures.
Display example of teach pendant when “System Failure” occurred
(NOTE) This screen is displayed on the Smart TP or the FD on DESK Light.

In case of the Compact TP, this is not displayed and the key operation becomes disabled.
1.3.2 How to recover and response to the failures

When this error happens, the robot makes an emergency stop, which will disable all the
following operation.
Therefore, the recovering measures needs to be taken as follows.
【How to recover the failures】

Shut off the robot controller, and turn on the power again.
【How to response to the failures】

Please make a contact to our service engineers with the details of errors such as;
- Operation you have done

- Operating situation
- Error Code *
- Flag *
- Address *
- Stack *
(* is only in case of Smart TP or FD on DESK Light)
1-4
Chapter 1 Troubleshooting / 1.4 Recovery after failing
1.4 Recovery after failing

If error message is displayed, its troubleshooting is already included in error message. Please refer
to “1.5 Error code list” for detail.
But if error message was not displayed, please refer to the following table.
Table 1.4.1 Assumed cause of each phenomenon

No. Phenomenon / Error message Error code Parts of which cause is assumed
Controller power does not turn on,
1 None Controller(*) or Primary power supply
on power is turned off while on
Teach pendant display is black from the
2 None Controller or Teach pendant
beginning, or change to black
”TPE0002” communication error is displayed
3 TPE0002 Controller or Teach pendant
on teach pendant
Teach pendant key operation is impossible
4 None Controller or Teach pendant
(*) If fuse on the logic board was broken (for example due to the miss connection of power line), controller
power never turn on, thus no message is displayed on teach pendant. In order to replace fuse to the new
one, please contact to your closest NACHI service center.
1-5
Chapter 1 Troubleshooting / 1.5 Error code list
1.5 Error code list

The error code list is shown from the next page.
1-6
Error code list
Severity Severity Output Output Logger Logger

No Classification Condition Contents Measure Release
Teach) Auto) (Teach) (Auto) (Teach) (Auto)
CPU board Error occurs when abnormality is

2 Program check-sum fault. Please copy the file by the file restore. Error reset. Alarm Alarm Alarm Alarm on on
failure found in the work program.
When the primary power is turned

OFF or when the primary power
The automatic saving voltage dropped abnormally, the
function at the timing of the current status of the controller (e.g.
CPU board
4 power failure detection (or step number etc.) will be Turn on the power again. Error reset. Alarm Alarm Alarm Alarm on on
failure
controller power OFF automatically saved to the internal
operation) failed. memory. This error will be displayed
if the automatic saving process
failed.
This error occurs when the robot (1)Please confirm whether the robot manipulator
does not reach the position even if interferes in something. (2)Please confirm that the Please do error reset
The robot cannot reach the
12 Servo failure ten seconds have passed since the Pay-load is within the nominal rating. (3)Check if or turn on the drive Error Error Error Error on on
recorded point.
command position was output to the the concerned axis is hard to move by using brake preparation.
robot. release function. (4)Replace the CFD controller.
Abnormal velocity Modify abnormal axis motion to be minimized. After removal of

Abnormal velocity command data is
20 Servo failure command. Modify abnormal Contact our service department in case axis motion failure, please carry Error Error Error Error on on
calculated.
axis motion. is not so big. out "failure-reset".
(1)Check the primary power voltage. (2)Check

whether the actual load exceeds the maximum
This failure occurs when the robot After removal of
payload value or not. (3)Check whether the ambient
21 Servo failure Abnormal servo tracking does not follow to the command failure, please carry Error Error Error Error on on
temperature is not below 0 degree. (4)Check if the
position. out "failure-reset".
concerned axis is hard to move by using brake
release function. (5)Replace the CFD controller.
(1)Check the primary power voltage. (2)Check

This failure occurs when the whether the actual load exceeds the maximum
After removal of
deviation between the command and payload value or not. (3)Check whether the ambient
22 Servo failure Position Deviation error failure, please carry Error Error Error Error on on
encoder data position exceeds the temperature is not below 0 degree. (4)Check if the
out "failure-reset".
set permissible deviation. concerned axis is hard to move by using brake
After removal of
Amplifier unit This failure occurs when the servo failure, please turn on
24 Servo CPU stop (1)Power ON again. (2)Replace the CFD controller. Error Error Error Error on on
failure CPU on servo substrate stops. power supply of the
controller again.
This failure occurs when the amount

After removal of
of the encoder current position Please confirm connector between the controller
25 Servo failure Encoder Bit jump failure, please carry Error Error Error Error on on
exceeds the borderline for the and the robot.
encoder bit jump detection.
(1)Please confirm whether the robot manipulator

interferes with something. (2)Please confirm that
the weight, center of gravity, moment of inertia of
After removal of
This failure occurs when the robot the tool match with the actual load. (3)Please lower
26 Servo failure Interference detected failure, please carry Error Error Error Error on on
manipulator collides with something. the detection level or invalidate the problem part by
using FN230. (4)Check if the concerned axis is hard
to move by using brake release function.
(5)Replace the CFD controller.
This failure occurs when the encoder After removal of

Encoder data change after Please confirm connector between the controller
27 Servo failure data continues to change while the failure, please carry Error Error Error Error on on
stop and the robot.
command position value is stopping. out "failure-reset".
This failure occurs when the Motor After removal of

Amplifier unit Please confirm connector between the controller
28 Low voltage of motor power power supply voltage(P-N) are lower failure, please carry Error Error Error Error on on
failure and the robot.
than regular setting level. out "failure-reset".
(1)Check if the encoder power supply voltage is

After removal of
normal or not (Refer to "CONTROLLER
Encoder Encoder incremental data Error occurs when fault is detected in failure, please turn on
29 MAINTENANCE MANUAL"). (2)Please reset the Error Error Error Error on on
failure error the encoder. power supply of the
encoder. (3)Check encoder wiring. (4)Replace the
controller again.
motor or the encoder.
(1)Please turn OFF the controller power. (2)Please

After removal of
This failure occurs when an absolote replace the motor or the encoder. (3)Please check
Encoder Encoder absolute data failure, please turn on
30 data fault is detected inside the the power supply voltage of the encoder refering to Error Error Error Error on on
failure failure power supply of the
encoder. "CONTROLLER MAINTENANCE MANUAL".
controller again.
(4)Please check the wiring of the encoder.
1-7
Error code list

(1)Please check the power supply voltage of the After removal of

This failure occurs if at the time of
Encoder Motor rotation too fast when encoder refering to "CONTROLLER failure, please turn on
31 turning Motors ON, the encoder Error Error Error Error on on
failure turning the motors ON MAINTENANCE MANUAL". (2)Please check the power supply of the
speed is too fast.
wiring of the encoder. (3)Please reset the encoder. controller again.
(1)Please check whether the robot manipulator

This failure occurs when the current interferes with something. (2)Please check that the After removal of
32 Servo failure Over current in the drive unit exceeds the rated Pay-load is within the nominal rating. (3)Check if failure, please carry Error Error Error Error on on
value. the concerned axis is hard to move by using brake out "failure-reset".
Synchronous failure of Synchronous failure of servo

33 Servo failure If error persists, Contact our service department. Error reset. Error Error Error Error on on
servo command. command occurred in servo system.

After removal of
replace the motor or the encoder. (3)Please check
Encoder Error occurs when fault is detected in failure, please turn on
36 Encoder Initialize error the power supply voltage of the encoder refering to Error Error Error Error on on
failure the encoder. power supply of the
"CONTROLLER MAINTENANCE MANUAL".
controller again.
(1)Please confirm that the Pay-load is within the

nominal rating. (2)Please stop the robot in order to After removal of
Encoder Over temperature of This failure occurs when the encoder
37 lowering the motor temperature, and restart. (3)If failure, please carry Error Error Error Error on on
failure encoder temperature rises abnormally.
failure persists, please lower the operation speed of out "failure-reset".
the robot. (4) Please exchange motor and encoder.

This failure occurs when the current interferes with something. (2)Please check that the After removal of
38 Servo failure Over load in the motor or drive unit exceeds the Pay-load is within the nominal rating. (3)Check if failure, please carry Error Error Error Error on on
rated value. the concerned axis is hard to move by using brake out "failure-reset".

interferes with something. (2)Please check whether
This failure occurs when the number After removal of
the setting of the Pay-load and center of gravity are
39 Servo failure Over rotation of rotations of motors exceeds a failure, please carry Error Error Error Error on on
correct. (3)Check if the concerned axis is hard to
maximum rotation speed limit. out "failure-reset".
move by using brake release function. (4)Replace
the CFD controller.
Please check whether there are any abnormalities

The abnormalities in CPU in CPU built in the teach pendant in the T/P and the connection cable. Please turn Turn on the power
40 TP failure Error Error Error Error on on
a T/P stopped. OFF and ON the main power supply. Please again.
replace the T/P, when an error still comes out.

After removal of
replace the motor or the encoder. (3)Please check
Encoder Encoder Memory Access Error occurs when fault is detected in failure, please turn on
41 the power supply voltage of the encoder refering to Error Error Error Error on on
failure error the encoder. power supply of the
"CONTROLLER MAINTENANCE MANUAL".
controller again.
After removal of
Amplifier unit This failure occurs when the motor (1)Please check that the Pay-load is within the
42 Over temperature of motor failure, please carry Error Error Error Error on on
failure temperature rises abnormally. nominal rating. (2)Replace the CFD controller.
After removal of
Amplifier unit This failure occurs when the rotation Please confirm connector between the controller
43 Over speed failure, please carry Error Error Error Error on on
failure speed of motors is abnormal. and the robot.
This failure occurs when the Motor After removal of

Amplifier unit Over voltage of motor Please confirm connector between the controller
44 power supply voltage(P-N) are failure, please carry Error Error Error Error on on
failure power and the robot.
higher than regular setting level. out "failure-reset".
Over temperature of This failure occurs when the After removal of

Amplifier unit
46 regenerative discharge temperature of the regenerative Replace the CFD controller. failure, please carry Error Error Error Error on on
failure
resister discharge resister rises abnormally. out "failure-reset".
1-8
Error code list

After removal of
This failure occurs when the LED Please turn on power supply of the controller again.
Encoder Over-current of the encoder failure, please turn on Informa Informa Informa Informa
48 current in the encoder exceeds the If this failure occurs again, please replace the on on
failure LED power supply of the tion tion tion tion
threshold. encoder or the motor.
controller again.
After removal of
This failure occurs when the fault of
Encoder failure, please turn on
49 Encoder Multi turn error the multi turn detection system is (1)Please turn OFF the controller power. Error Error Error Error on on
failure power supply of the
detected in the encoder.
controller again.
(1)Please turn ON the power supply of the

controller again. (2)Please replace the motor or the After removal of
This failure occurs when the counter
Encoder Encoder counter encoder. (3)Please check the power supply voltage failure, please turn on
50 overflow/underflow occured inside Error Error Error Error on on
failure overflow/underflow of the encoder refering to "CONTROLLER power supply of the
the encoder unit.
MAINTENANCE MANUAL". (4)Please check the controller again.
wiring of the encoder.
This failure occurs when the After removal of

Encoder data transmission communication data with the Please confirm connector between the controller failure, please turn on
51 Servo failure Error Error Error Error on on
failure encoder is abnormal or the encoder and the robot. power supply of the
has been disconnected. controller again.
After removal of
failure, please turn ON
(1)Please reset the encoder and turn on power power supply of the
This failure occurs when the voltage
Encoder supply of the controller again.(2)Please confirm controller again. For
52 Encoder battery charge low of the battery in the encoder has Error Error Error Error on on
failure battery of abnormal axis. (3)Please confirm battery details, refer to
decreased.
voltage(up to 3.6V). "SETUP MANUAL"
and "MANIPULATOR
MANUAL".
After removal of
This failure occurs when the invalid Please check [Mechine Constants] [Motor and failure, please turn on
53 Servo failure Invalid encoder type Error Error Error Error on on
encoder type is selected. Encoder][Encoder type]. power supply of the
controller again.
(1)Please check the supply voltage of the encoder

After removal of
This failure occurs when the change refering to "CONTROLLER MAINTENANCE
54 Servo failure Encoder data abnormal failure, please carry Error Error Error Error on on
of the encoder data is abnormal. MANUAL". (2)Please check the wiring of the
encoder.
Because the motor had been rotated

at high speed when the power off, it
After removal of
became impossible to detect the the
Encoder Motor rotation too fast when (1)Please reset the encoder and turn on power failure, please turn on
55 absolute amount of the encoder Error Error Error Error on on
failure power off supply of the controller again. power supply of the
rotation correctly. (This detection is
controller again.
done inside the encoder unit and the
error status is sent to the controller.)
(1)Please confirm the supply voltage of the encoder

This failure occurs if the pre-load refering to "AX controller maintenance After removal of
56 Servo failure Encoder pre-load failure operation of the encoder was not manual".(2)Please confirm whether the robot failure, please carry Error Error Error Error on on
correctly done. manipulator interferes in something.(3)Please out "failure-reset".
confirm the wiring of the encoder.
After removal of
Encoder This failure occurs when the Encoder (1)Please reset the encoder and turn on power failure, please turn on
57 Encoder count status failure Error Error Error Error on on
failure data(absolute) is abnormal. supply of the controller again. power supply of the
controller again.
After removal of
failure, please reset
the encoder and turn
ON power supply of
Encoder This failure occurs when the Encoder (1)Please reset the encoder and turn ON power
58 Encoder count status failure the controller again. Error Error Error Error on on
failure data (absolute) is abnormal. supply of the controller again.
For details, refer to
"SETUP MANUAL"
and "MANIPULATOR
MANUAL".
Error occurs when the robot system

Control Can't follow conveyer Reduce the speed of the conveyer, or check the
59 can not perform its task at the current Error reset. Error Error Error Error on on
failure speed. connection of conveyer pulse line.
conveyer speed.
This error occurs when it has a
condition that communication cable,
Emergency stop was shortly After removal of
Control connection of Emergency stop, Please check the wiring of the emergency-stop and
62 input or Magnetic SW was failure, please carry Error Error Error Error on on
failure Mode select signals(Teach/Play) or the safety plug.
cut off. out "failure-reset".
Safety plug is open or poor
connection.
Error occurs when the temperature After removal of
CPU board Check the fans are operating, or clean up the heat
63 Controller temperature fault. of the core of the controller becomes failure, please carry Error Error Error Error on on
failure exchanger.
abnormality high. out "failure-reset".
1-9
Error code list

After removal of
Amplifier unit This failure occurs when drive unit
64 Drive unit power failure Replace the CFD controller. failure, please carry Error Error Error Error on on
failure power VP15(+15V) was not supplied.
(1) If there is no LS that is being pushed phisically,

This failure occurs when an axis the wirings for the LS may be broken. (2) If the LS is
After removal of
Amplifier unit Over travel limit switch reaches the end of its travel and physically being actuated, then move the
65 failure, please carry Error Error Error Error on on
failure activated actuates an Over travel limit switch manipulator towards the normal motion range by
(LS). the teach pendant operation in the setting screen of
"software-limit".
After removal of
Amplifier unit This failure occurs when brake
66 Low voltage of brake power Turn on the power again. failure, please carry Error Error Error Error on on
failure power supply PB decreases.
This failure occurs when current of After removal of

Amplifier unit Please confirm the cable between the controller
72 Drive unit IPM failure power module (IPM) in the drive unit failure, please carry Error Error Error Error on on
failure and the robot manipulator.
flows more than permitted range. out "failure-reset".
This failure occurs when the

After removal of
Amplifier unit Motor regeneration circuit regenerative discharge circuit is
74 Replace the CFD controller. failure, please carry Error Error Error Error on on
failure fault disconnected (broken) by large
current or heat.
The breakdown was detected in

brake control circuit (relay, diode),or
After removal of
break release switches was used just
Amplifier unit failure, please turn on
75 Error of brake control circuit after the motor-off sequence. Please Turn on the power again. Error Error Error Error on on
do not release the brake, so that
controller again.
there is danger to which the arm
falls.
This error occurs when the power After removal of

CPU board
78 CPU bord power fault. supply for the CPU is out of the Replace the CFD controller. failure, please carry Error Error Error Error on on
failure
range of 3.3V +/- 10%. out "failure-reset".
This error occurs when the After removal of

CPU board CPU bord temperature
79 temperature of the CPU becomes 65 Clean up the cooling fans. failure, please carry Error Error Error Error on on
failure fault.
degree or more. out "failure-reset".
This error occurs when the power

After removal of
CPU board supply voltage for the CPU becomes
80 CPU bord power fault. Replace the CFD controller. failure, please carry Error Error Error Error on on
failure +10% (higher) or -6%(lower) from
the rated voltage.
This error occurs when the voltage of After removal of

CPU board
81 CPU board battery failure battery on the CPU bord has Please set up the date correctly. failure, please carry Error Error Error Error on on
failure
decreased. out "failure-reset".
Error occurs when 5th-axis moves

Select [Constants][Machine constants] and use the
out of its Operating range. Operating
Operational 5th axis operating range correct axis operation keys to move back into the No reset operations
99 range can be exceeded when the Alarm Error Alarm Error on on
failure exceeded. 5th-axis Operating range. Warning! damage can neccesary.
5th-axis(and 6th-axis) is moved via
occur if 5th-axis hits arm 1.
the rotation of the 4th-axis.
Error occurs when Motors-ON button

Ext. Motors-off' signal is After removal of
Control is pressed while the Motors-OFF Ensure that Motors-OFF is not being given when
105 being given or Motors-OFF failure, please carry Error Error Error Error on on
failure button is held or external pressing Motors-ON button.
button being held. out "failure-reset".
motors-OFF signal is being given.
Operational No reset operations Informa Informa

106 The motors are not ON. The motors are not ON. Turn motors ON by pressing the Motor-ON button. Alarm Alarm on on
failure neccesary. tion tion
After removal of
It becomes this failure when TP isn't
116 TP failure TP connect failure Connect TP properly. Exchange TP when it is out. failure, please carry Error Error Error Error on on
connected and a cable is out.
This error occurs when TP is

Turn on the power
117 TP failure TP connect failure connected after the control power Connect TP properly. Exchange TP when it is out. Error Error Error Error on on
again.
supply is turned on.
Abnormality was detected by the key Please confirm whether there is something that it is
The teach pendant
118 TP failure notification reception from teach possible to become a noise source in the vicinity of Error reset. Alarm Alarm Alarm Alarm on on
reception is abnormal.
pendant. teach pendant and the cable.
Abnormality was detected by the Please confirm whether there is something that it is
The T/P connection is
119 TP failure sending and receiving processing possible to become a noise source in the vicinity of Error reset. Alarm Alarm Alarm Alarm on on
abnormal.
from the T/P. the T/P and the cable.
The version of wireless TP by which

The T/P connection is the connection demand was carried
120 TP failure Please change into the right version. Error reset. Alarm Alarm Alarm Alarm on on
abnormal. out differs from the version to which
this control device corresponds.
The robot's joint angle It will become this error if a robot joint
Operational Please move to software stroke within the limits by
121 exceeded the software angle reaches the software stroke Error reset. Alarm Error Alarm Error on on
failure manual operation (each axis).
stroke range. range.
1-10
Error code list

Please motor power on in machine

The robot's joint angle
It will become this error if a robot joint constant/software limit at the EXPERT level and
exceeded the software
122 Servo failure angle reaches the software stroke move to software stroke within the limit by manual Error reset. Error Error Error Error on on
stroke range.(Current
range.(Current position) operation. Please turn on the motor as it is, when
position)
error occurred only with the axis without brakes.
Operational The angle which an arm The 1st arm and the 2nd arm may Please move in the direction where interference
129 Error reset. Alarm Error Alarm Error on on
failure makes is too large. cause interference with a position. does not take place by manual operation.
Operational The angle which an arm The 1st arm and the 2nd arm may Please move in the direction where interference
failure makes is too small. cause interference with a position. does not take place by manual operation.
After removal of
Control Error occurs when a signal is Remove obstruction, check condition of the tool,
131 Collision sensor actuated. failure, please carry Error Error Error Error on on
failure received from the collision sensor. reset the collision sensor, and restart robot.
The robot's joint angle It will become this error if a robot joint
Operational Please move to link software stroke within the limits
132 exceeded the link software angle reaches the link software Error reset. Alarm Error Alarm Error on on
failure by manual operation (each axis).
stroke range. stroke range.
After removal of
It becomes this failure when TP isn't Informa Informa Informa
136 TP failure TP connect failure Connect TP properly. Exchange TP when it is out. failure, please carry Error on on
connected and a cable is out. tion tion tion
Abnormality was detected by the Please confirm whether there is something that it is
The T/P connection is Informa Informa
139 TP failure sending and receiving processing possible to become a noise source in the vicinity of Error reset. Alarm Alarm on on
abnormal. tion tion
from the T/P. the T/P and the cable.
Please check whether there are any abnormalities

After removal of
The abnormalities in CPU in CPU built in the teach pendant in the T/P and the connection cable. Please turn Informa Informa Informa Informa
140 TP failure failure, please carry on on
a T/P stopped. OFF and ON the main power supply. Please tion tion tion tion
replace the T/P, when an error still comes out.
Wireless communication was

suspended because the interfacial During several minutes, I don't come by wireless
The WiTP connection is
141 TP failure wave which is weather radar during communication. Please connect whether you Error reset. Error Error Error Error on on
abnormal.
wireless communication was access after I keep time in wired TP.
detected.

The WiTP connection is
142 TP failure wave which is weather radar during communication. Please connect whether you Error reset. Alarm Alarm Alarm Alarm on on
abnormal.
detected.

The WiTP connection is No reset operations Informa Informa Informa Informa
143 TP failure wave which is weather radar during communication. Please connect whether you on on
abnormal. neccesary. tion tion tion tion
detected.
Error occurs when the Power supply

Emergency Check the status of the Primary(mains) power
177 Primary power supply fault. unit detects that primary power is Error reset. Error Error Error Error on on
stop failure supply.
below nominal level.
Designated command Error occurs when a shift function,

Operational No reset operations
243 position exceeds Robot etc. tries to send the robot out of the Correct the program. Alarm Error Alarm Error on on
failure neccesary.
operating area. robot operating area.
Operational Danger of Robot Robot wrist may interfere with under No reset operations
244 Correct the program. Alarm Error Alarm Error on on
failure interference. the part of manipulator body. neccesary.
The bend direction of J3

The bend direction of J3 axis is After removal of
Operational axis is different, Please correct the angle of J3 axis to the same
245 different at the starting point and the failure, please carry Alarm Error Alarm Error on on
failure interpolation cannot be direction.
terminal point. out "failure-reset".
continued.
When the posture is calculated, this Please insert the step in the middle so that the
Wrist posture calculation
Operational error occurs when the wrist goes the change amount of the wrist axis in one step may No reset operations
246 fault. Please insert the Alarm Error Alarm Error on on
failure inverse direction from teaching become small. Please reduce the accuracy in the neccesary.
middle step.
position. step before and after the error's occurring.
(1)Please execute automatic tool center of gravity

Because tool center of gravity or tool
Operational There is a tool which setting.(2)Please verify whether the tool has not No reset operations Informa Informa Informa Informa
247 weight has exceeded rating, it on on
failure exceeds rating. exceeded rating.(3)When the tool has exceeded neccesary. tion tion tion tion
becomes medium speed playback.
rating, please make sure to be settled inside rating.
The flexion it tried to revise, but the Please take a second look tool setting. Center of
Control The gravity bend revision No reset operations
248 revision quantity exceeded error gravity of the tool or mass of the tool, occur when it Alarm Error Alarm Error on on
failure quantity is too big. neccesary.
inspection angle. is large. Please execute Automatic COG setting.
1-11
Error code list

When the robot moves by the At the teach mode, the robot's wrist center point
Controller cannot make
Operational linear/circle interpolation, the robot's moves from the J1 singular area by joint jog No reset operations
250 trajectory at the J1 singular Alarm Error Alarm Error on on
failure wrist center point cannot pass the J1 operation. At the playback mode, please modify the neccesary.
area.
singular area. teach point and/or change for the joint interpolation.

The direction of J5 arm is different After removal of
Operational axis is different, Please correct the angle of J4 axis so that the
251 more than 180 degrees at the failure, please carry Alarm Error Alarm Error on on
failure interpolation cannot be direction of J5 arm becomes less than 180 degrees.
starting point and the terminal point. out "failure-reset".
continued.

The bend direction of J2 axis is After removal of
Operational axis is different, Please correct the angle of J2 axis to the same
252 different at the starting point and the failure, please carry Alarm Error Alarm Error on on
failure interpolation cannot be direction.
terminal point. out "failure-reset".
continued.
This error occurs when all axis

257 Pose calculation failed. angles can not be calculated in robot Check pose data. Error Error Error Error on on
failure neccesary.
language file.
Error occurs when the conveyer

Control Conveyer motion during running signal is detected during
270 Stop the conveyer, reset, and restart test. Error reset. Error Error Error Error on on
failure test . executing a program in Conveyer
simulation or test mode.
Control Conveyer pulses exceeded Error occurs when the number of Check that the pulse generator is functioning
271 Error reset. Error Error Error Error on on
failure limit. conveyer pulses exceeds 10KHz. correctly.
Unusual reset is
The error was detected by It becomes this error when Built-in carried out after
367 PLC failure Check the environment of Built-in PLC of operation. Error Error Error Error on on
Built-in PLC. PLC detects an error. changing Built-in PLC
into a starting state.
This error occurs when a Motors ON

Safety plug is not inserted
command(button) is given in Auto After removal of
Control or the state of safety plug
379 mode when the Safety plug is not Insert the Safety plug in Auto mode. failure, please carry Error Error Error Error on on
failure signal has changed in teach
inserted or the state of safety plug out "failure-reset".
mode.
signal has changed in teach mode.
Please move to the limit by manual operation (each

Operational Compound motion limit | J5 axis | + | J6 axis | exceeded limit axis).When it cannot move, at the No reset operations
493 Alarm Error Alarm Error on on
failure over. value. [Constants][Machine constants][Software limit] neccesary.
please try again.
Please move to the limit by manual operation (each

Compound motion J5 and J6 of
Operational Over movable area of axis).When it cannot move, at the No reset operations
494 ATRAC4 flat type over movable Alarm Error Alarm Error on on
failure ATRAC4 flat type. [Constants][Machine constants][Software limit] neccesary.
area.
please try again.
Please change the

Change the "PLC scan time" or correct Ladder PLC state setting to
It is scan time over of It detects, when the scanning time of program. There is a possibility to be detected scan "start" after correct
550 PLC failure Error Error Error Error on on
Built-in PLC. Built-in PLC is too long. time over, when the "E177 Primary power supply Ladder program or
fault." occurs, change the "PLC scan
time".
After removal of
Vision
Vision sensor not It detects, when the vision sensor is failure, please turn on
582 sensor Correct vision sensor connection line. Error Error Error Error on on
connected. not connected. power supply of the
failure
controller again.
After removal of
Error occurs if at the time of turning
Teach pendant touch panel Touch panel is not touched for turn power ON failure, please turn on
659 TP failure power ON, the touch panel of teach Error Error Error Error on on
error. again. If error persists change the Teach pendant. power supply of the
pendant is pushed.
controller again.
Error occurs when the welder board (1)Check power supply of the welder and
Spot weld Welder communication
674 is not correctly connected, or backup communication cables, and power ON again. Error reset. Alarm Alarm Alarm Alarm on on
failure fault(No reply).
files are incorrect. (2)Initialize welder data.
Spot weld Welder communication Error occurs when received data Check power supply of the welder and
675 Error reset. Alarm Alarm Alarm Alarm on on
failure fault(Check sum). from the welder board is abnormal. communication cables, and power ON again.
Spot weld Welder communication Error occurs when received data Check power supply of the welder and
failure fault(Message wrong). from the welder board is abnormal. communication cables, and power ON again.
Spot weld Error occurs when the welder board

677 Major Welder fault. Remove the cause of weld fault. Error reset. Error Error Error Error on on
failure generate the weld fault.
Error occurs when a system software

Spot weld Executive EPROM Turn on the power
694 checksum error of welder timer Install the system software once more. Error Error Error Error on on
failure checksum error. again.
substrate is detected.
Error occurs when a system software

Spot weld LCA EPROM checksum Turn on the power
695 checksum error of welder timer Install the system software once more. Error Error Error Error on on
failure error. again.
substrate is detected.
1-12
Error code list

Error occurs when an application
Spot weld Application EPROM Turn on the power
696 EPROM checksum error of welder Install the system software once more. Error Error Error Error on on
failure checksum error. again.
timer substrate is detected.
Spot weld Error occurs when a DPR error of Turn on the power
697 DPR error. Install the system software once more. Error Error Error Error on on
failure welder timer substrate is detected. again.
Error occurs when a conveyer

Control Invalid Conveyer register
704 register value exceeded value of Check a conveyer pulse input circuit. Error reset. Error Error Error Error on on
failure value.
<Err.detect.just after playback>.
Operational The angle between 3rd axis The 3rd axis tended to operate Please move in the direction where 3rd angle
failure and ground is over. exceeding 3rd angle incline. incline does not take place by manual operation.
Please move the manipulator towards the normal

Operational The angle between flange The flange tended to operate
706 motion range by the teach pendant operation in the Error reset. Alarm Error Alarm Error on on
failure and ground is over. exceeding flange incline.
setting screen of "software-limit".
(1)Please check that the Pay-load is within the

nominal rating. (2)Please check the wiring of the
temperature of the motor, the
motor brake refering to "MANIPULATOR After removal of
encoder, the harness, and the
727 Servo failure Robot over temperature MANUAL". (3)Please lower the temperature of the failure, please carry Error Error Error Error on on
connector guessed from the motor
abnormal location, and lower the outside out "failure-reset".
current and the motor speed is
temperature. (4)If failure persists, please lower the
abnormal.
operation speed of the robot.
Failure occurs when the Thermo. After removal of

Spot weld Spot Welder SCR1 thermal Check the Thermo. Temp. fault signal and the spot
749 Temp. fault signal is received by the failure, please carry Error Error Error Error on on
failure switch actuated. welding unit.
controller. out "failure-reset".
Failure occurs when the Thermo. After removal of

Spot weld Spot Welder SCR2 thermal Check the Thermo. Temp. fault signal and the spot
750 Temp. fault signal is received by the failure, please carry Error Error Error Error on on
failure switch actuated. welding unit.
controller. out "failure-reset".
Failure occurs when the isolation After removal of

Spot weld Isolation contact failed to
759 contact of the welder fails to actuate Refer to the Welder timing Manual. failure, please carry Error Error Error Error on on
failure pull in.
correctly. out "failure-reset".
Failure occurs when the isolation After removal of

Spot weld Isolation contact stuck
760 contact of the welder fails to actuate Refer to the Welder timing Manual. failure, please carry Error Error Error Error on on
failure close.
correctly. out "failure-reset".
Error occurs if the welding timer PCB

Spot weld
762 Welder board not installed. does not exists in the controller when Install the welder board. Error reset. Error Error Error Error on on
failure
welding is attempted.
After removal of
Control Robot moved during This error occurs when the robot Please check whether the robot manipulator
failure Motors-ON sequence. moved during Motors-ON sequence. interferes with something.
This error occurs when the main

CPU board CPU detects a motion stop. (This Turn on the power
783 Motion stop. Replace the CFD controller. Error Error Error Error on on
failure error is detected in the CPU board again.
and the sequence board.)
CPU board It becomes this error when main Turn on the power again. If the error is not released, Turn on the power
785 I/O timeout. Error Error Error Error on on
failure CPU detects a I/O system stop. reinstall the system. again.
This error occurs when the

CPU board Turn ON the power again. Please confirm the error Turn on the power
787 Watchdog Timeout Error. Watchdog Circuit detects a motion Error Error Error Error on on
failure is released. again.
stop.
Error occurs when movement by an Check the constants of

CPU board Movement too large in Check the condition of the Compliance control
788 external force is too large while in the Compliance Error Error Error Error on on
failure Compliance control. performance.
Compliance control. control function.
CPU board It becomes this error when an CPU (1)Turn on the power again. Please confirm the Turn on the power
789 CPU error. Error Error Error Error on on
failure error occurs in CPU board. error is released. again.
Error occurs when conveyer pulse Check the conveyor is functioning. Or check the
Control
895 Conveyer not running. never changes more than 1 second, wiring between Pulse Generator and robot Error reset. Error Error Error Error on on
failure
after start LS is given. controller.
Error occurs when a After conveyer

start LS is input, though it was
Control Too little conveyer pulse Separate input timing of a starting command from
897 passed <Conv.pulse check start Error reset. Error Error Error Error on on
failure counted. conveyer start LS signal.
time>, when it is short of value of
<Conv.pulse error check> value.

After removal of
update of the command value Please refer to the troubleshooting of the controller
898 Servo failure Servo command stop failure, please carry Error Error Error Error on on
transmitted to the servo stops during maintenance manual.
a certain time.
After removal of
This failure occurs when the clock of
Amplifier unit failure, please turn on
902 serveo clock halted servo board UM351(L21700X00) Turn on the power again. Error Error Error Error on on
halted.
controller again.
After removal of
failure, please carry
Amplifier unit out "failure-reset".
903 Servo communication stop communication between CPU board Turn on the power again. Error Error Error Error on on
failure Wait more than 5
and the servo board stops.
seconds for next motor
power on.
1-13
Error code list

Sequence
CPU board Sequence board connect Please check whether the sequence board is Turn on the power
904 board(UM352(L21700F00)) is not Error Error Error Error on on
failure failure. correctly connected or not. again.
recognized.
CPU board Abnormal setting of the I/O I/O board is not recognized. DIP-SW Turn on the power
905 Check DIP-SW on the I/O board. Error Error Error Error on on
failure board. on the I/O board is incorrect. again.
Sequence board is not recognized.

CPU board Abnormal setting of the Turn on the power
906 DIP-SW on the sequence board is Check DIP-SW on the sequence board. Error Error Error Error on on
failure sequence board. again.
incorrect.

CPU board Abnormal setting of the Turn on the power
failure sequence board. again.
incorrect.

CPU board Abnormal setting of the unit Turn on the power
failure configuration. again.
incorrect.
Error occurs when 1) disconnect

Please check 1) connector on the analog sensor After removal of
between pressure sensor and robot
Amplifier unit Abnormal output of the board, 2) the conection between pressure sensor failure, please turn on
910 controller, 2) pressure sensor Error Error Error Error on on
failure servo gun pressure sensor. and robot controller, 3) exchange new pressure power supply of the
troubles, 3) troubles of the analog
sensor. controller again.
sensor board in robot controller.
After removal of
Beause analog input signal has the
Amplifier unit Autozero failure of analog Please check 1) connection of analog input line 2) failure, please turn on
911 offset value, autozero cannot be Error Error Error Error on on
failure input. analog input signal by its manual. power supply of the
executed.
controller again.
(1)Please move the robot to the position in a

permissible torque in the constant setting mode.
This failure is detected when moving
Operational The allowed unbalanced (2)Please correct the teaching so as not to exceed
919 to the position in which the allowed Error reset. Alarm Error Alarm Error on on
failure torque is exceeded. the position in a permissible torque. (3)Please
unbalanced torque is exceeded.
confirm installed posture. (4)Please confirm the tool
load.
Please move to the operating area within the Y axis

Robot tended to operate Robot tended to operate exceeding
Operational motion limit by manual operation. Please correct No reset operations
920 exceeding Y asix motion the operating area determined by the Alarm Error Alarm Error on on
failure the teaching so as not to exceed the position within neccesary.
limit. mechanism.
the Y axis motion limit in the constant setting mode.
Please move to the operating area within the rear

Robot tended to operate exceeding
Operational Robot tended to operate motion limit by manual operation. Please correct No reset operations
921 the operating area determined by the Alarm Error Alarm Error on on
failure exceeding rear motion limit. the teaching so as not to exceed the position within neccesary.
mechanism.
the rear motion limit in the constant setting mode.
After removal of
FieldBus The communication error The details of a communication error
956 An unusual cause is removed based on a sub code. failure, please carry Error Error Error Error on on
failure occurred. should check a sub code.
After removal of
FieldBus The system error was The details of a communication error On the fieldbus hardware setting screen, check
failure detected. should check a sub code. whether the settings are correct.
They are the abnormalities of a

The error was detected with
FieldBus communication board. Please check A communication
958 the self check of a The defect of a communication board is considered. Error Error Error Error on on
failure the details of abnormalities to system board is exchanged.
communication board.
service.
The communication board specified The setting value of a

FieldBus A communication board is Please check the slot ID of a field bus hardware
959 on the constant setting screen is not field bus hardware Error Error Error Error on on
failure not found. setup.
found. setup is changed.
If a problem is solved,
it will restore
Since the between title has occurred automatically. (In order
FieldBus A part or all I/O links are Please check the device which the problem has
960 in the I/O device, a robot cannot be to solve a problem, the Error Error Error Error on on
failure stopping. generated by the field bus monitor.
started. re-injection of a power
supply may be
required)
Playback operation is impossible After removal of
Control T/P selector switch is set to (1)Set the T/P selector switch to AUTO. (2)Please
967 while the T/P selector switch is set to failure, please carry Error Error Error Error on on
failure MANUAL. replace the T/P.
MANUAL. out "failure-reset".
This error occurs when a signal from

After removal of
Control Magnetic switch is not a magnetic switch is not received
975 Replace the CFD controller. failure, please carry Error Error Error Error on on
failure active. within the specified time after the
Motors ON signal is given.
This error occurs when the Confirm After removal of

Control Confirm magnet-ON (Fixed magnet-ON (Fixed input IN28) is failure, please turn on
976 Replace the CFD controller. Error Error Error Error on on
failure input IN28) is OFF. unexpectedly cut OFF during motor power supply of the
power ON condition. controller again.
After removal of
Control Both teach and playback Neither teach mode nor playback Please confirm the operation mode signals
failure mode signal is not fixed. mode signal is turned ON. connection.
1-14
Error code list

During conveyor shift, the This error was detected at entering After removal of
Operational Please modify the program and robot angle with
978 J5 axis has entered a dead the J5 dead zone during conveyor failure, please carry Error Error Error Error on on
failure conveyor shift.
zone. shift. out "failure-reset".
Error occurs when software can't be

Control
1001 PWM was cut off. selected the cause which a PWM Replace the CFD controller. Error reset. Error Error Error Error on on
failure
signal was cut off.
Analog input board is not Although analog input (output) board

Control Turn off the power and connect analog Input
1003 installed. Or analog output is not installed, analog input (output) Error reset. Error Error Error Error on on
failure (output) board correctly.
board is not installed. function is executed.
This error occurs when PWM is not

PWM of the disconnected After removal of
Control turned off even if a certain time
1012 mechanism has been Replace the CFD controller. failure, please carry Error Error Error Error on on
failure passes after the mechanism
turned on. out "failure-reset".
diconnection.
After the battery is

exchanged, please
press the "R" key twice
to carry out
"failure-reset", and
then turn on the power
supply of the controller
again.(The "failure
reset"(press "R" key
twice) is different from
the "encoder reset" to
be executed from
This warning occurs when the constant setting
Encoder Please exchange the battery referring to Instruction Informa Informa Informa Informa
1016 Manipulator battery warning voltage of the battery in the robot screen.The on on
failure Manual "Manipulator". tion tion tion tion
manipulator decreases. "failure-reset" is
referred to "FD
CONTROLLER
INSTRUCTION
MANUAL CONTROL
AND MAINTENANCE
FUNCTION", and
"encoder reset" is
referred to "FD
CONTROLLER
INSTRUCTION
MANUAL SETUP
MANUAL".)
(1)Please confirm that the Pay-load is within the

nominal rating. (2)Please confirm the wiring of the
temperature of the motor, the
motor brake refering to "Manipulator Maintenance After removal of
encoder, the harness, and the Informa Informa Informa Informa
1024 Servo failure Robot over temperature Manual". (3)Please lowering the temperature of an failure, please carry on on
connector guessed from the motor tion tion tion tion
abnormal location, and lowering the outside out "failure-reset".
current and the motor speed is
temperature. (4)If failure persists, please lower the
abnormal.
operation speed of the robot.
(1)This error occurs when the

magnet on confirming input signal After removal of
Control Master-ON circuit is
1046 (fixed input IN28) is not turned ON Replace the CFD controller. failure, please carry Error Error Error Error on on
failure inconsistent.
within the designated time after out "failure-reset".
consist of conditions.
The magnetic switch This error occurs when the contacts After removal of
Control
1048 contacts were welded and of the magnetic switch were welded Replace the CFD controller. failure, please carry Error Error Error Error on on
failure
stick each other. and stick each other. out "failure-reset".
After removal of
Spot weld This IWB does not support Error occurs when the IWB version is
1049 Replace new version. failure, please carry Error Error Error Error on on
failure MFDC old.

The inconsistency was After removal of
Control inconsistency or abnormal was
1051 detected with the sequence Replace the T/P failure, please carry Error Error Error Error on on
failure detected in duplicated signal at the
circuit.(TP enable switch) out "failure-reset".
TP enable switch.

An inconsistency was inconsistency or abnormality was (1)Please check whether only one of the signals is After removal of
Control
1052 detected in the sequence detected in the duplicated signal input or only one contact is weld at the external failure, please carry Error Error Error Error on on
failure
circuit.(Ext.emergency stop) circuit for the externel emergency emergency stop. out "failure-reset".
stop.
This failure occurs when an

An inconsistency was After removal of
Control inconsistency or abnormality was (1)Please check whether only one of the signals is
1053 detected with the sequence failure, please carry Error Error Error Error on on
failure detected in the duplicated signal input or only one contact is weld at the safety plug.
circuit.(safety plug) out "failure-reset".
circuit for the safety plug.

An inconsistency was (1)Please check whether only one of the signals is After removal of
Control inconsistency or abnormality was
1054 detected in the sequence input or only one contact is weld at the G-STOP failure, please carry Error Error Error Error on on
failure detected in the duplicated signal
circuit.(G-STOP) input. out "failure-reset".
circuit for the G-STOP input.
1-15
Error code list

Spot weld The welder board failed in Error occurs when the initialization of Power ON again. If error persists replace the I/F
failure initialization. the welder board is not complete. printed circuit board.
Error occurs when an internal

Spot weld Memory error is detected by Power ON again after executing R930, and confirm
1056 memory of the welder board is Error reset. Alarm Alarm Alarm Alarm on on
failure the welder board. each parameter of the timer.
destroyed.
Spot weld Timer controller CPU is not Nothing acknowledge from timer
1058 Replace the timer PCB (PMU). Error reset. Alarm Alarm Alarm Alarm on on
failure ready. controller CPU.

An inconsistency was
inconsistency or abnormality was (1)Please check whether only one of the signals is After removal of
Control detected in the sequence
1059 detected in the duplicated signal input or only one contact is welded at the failure, please carry Error Error Error Error on on
failure circuit.(Teach/Playback
circuit for the Teach/Playback select Teach/Playback select input. out "failure-reset".
select)
input.

1060 detected in the sequence input or only one contact is welded at the Mat failure, please carry Error Error Error Error on on
circuit.(Mat switch) switch input. out "failure-reset".
circuit for the Mat switch input.

An inconsistency was inconsistency or abnormality was (1)Please check whether only one of the signals is After removal of
Control
1061 detected in the sequence detected in the duplicated signal input or only one contact is welded at the failure, please carry Error Error Error Error on on
failure
circuit.(High-speed teach) circuit for the High-speed teach High-speed teach input. out "failure-reset".
input.

1062 detected in the sequence input or only one contact is welded at the failure, please carry Error Error Error Error on on
circuit.(emergency stop) emergency stop. out "failure-reset".
circuit for the emergency stop.

1063 detected in the sequence input or only one contact is welded at the T/P failure, please carry Error Error Error Error on on
circuit.(T/P emergency stop) emergency stop. out "failure-reset".
circuit for the T/P emergency stop.

1064 detected in the sequence input or only one contact is welded at the CRON failure, please carry Error Error Error Error on on
circuit.(CRON) input. out "failure-reset".
circuit for the CRON input.
(1) Check power supply of the welder and

Spot weld Error occurs when the initialization of communication cables, and power ON again.
1065 The welder is not initialized. Error reset. Alarm Alarm Alarm Alarm on on
failure the welder is not complete. (2)Initialize welder data. (3) If error persists replace
the welder.
Spot weld The contents of a VSF file It generates, when the contents of a
1068 Check the contents of a VSF file. Error reset. Alarm Alarm Alarm Alarm on on
failure are not correctly. VSF file have a error.
After the encoder of

motor is exchanged,
This warning occurs when the
please carry out
Encoder Manipulator battery LED current of the battery led in the robot Informa Informa Informa Informa
1070 (1)Please exchange the motor encoder. "failure-reset" and then on on
failure warning manipulator exceed the threshold tion tion tion tion
turn on the power
level.
again.
After the encoder of

motor is exchanged,
This warning occurs when the please carry out
Encoder Manipulator battery LED Informa Informa Informa Informa
1071 access error to multiple data of the (1)Please exchange the motor encoder. "failure-reset" and then on on
failure warning tion tion tion tion
encoder of motor encoder. turn on the power
again.
After removing the

(1)Please confirm the connection of wiring to robot cause of the error,
Robot monitoring unit This failure occurs when the Encoder
1100 RMU error monitoring unit. (2)Please re-correct connections of please turn on power Error Error Error Error on on
Encoder failure. data(absolute) is abnormal.
wire harness. supply of the controller
again.
Hold down LS release button and press master ON

The robot's joint angle It will become this error if a robot joint button in machine constant/software limit at the
1101 RMU error exceeded the software angle reaches the software stroke EXPERT level. And move robot within software Error reset. Error Error Error Error on on
stroke range. range. stroke on manual operation during pressing LS
release button.
Hold down LS release button and press master ON

button in machine constant/virtual safety
Position exceeded the limit The position of a limit object
1102 RMU error fence/range setting at the EXPERT level. And move Error reset. Error Error Error Error on on
area. exceeded the limit area.
robot within limit area on manual operation during
pressing LS release button.
1-16
Error code list

The TCP speed or the speed of the

each axis calculated from the
Robot monitoring unit
1103 RMU error encoder date of robot monitoring unit Replace the CFD controller. Error reset. Error Error Error Error on on
Speed failure.
has exceeded 250 mm/sec in
TEACH mode.
After removing the

cause of the error,
Robot monitoring unit over Please confirm the wiring to the robot monitoring
1104 RMU error Over current detected. please turn on power Error Error Error Error on on
current. unit.
again.
Removes the cause of the error. The detail of safety

Robot monitoring unit This failure occurs when the safety input signal is in "FD/CFD CONTROLLER
1105 RMU error Error reset. Error Error Error Error on on
disparity failure. input signal is abnormal. INSTRUCTION MANUAL Robot Monitoring Unit
RMU20-20/30/40".
(1)Please confirm the connection of the safety

Please turn on power
Robot monitoring unit This error occurs when the Robot output cable in robot monitoring unit. (2)Please turn
1106 RMU error supply of the controller Error Error Error Error on on
internal failure. monitoring unit is abnormal. on power supply of the controller again. (3)Please
again.
exchange Robot monitoring unit.

Robot monitoring unit does Please approve the parameter of the robot
1107 RMU error parameter of the robot monitoring Error reset. Error Error Error Error on on
not be approved. monitoring unit.
unit does not be approved.
(1)Please confirm whether connector (CNCOM) of After removing the

This failure occurs when the robot monitoring unit is correctly connected. cause of the error,
1108 RMU error communication between CPU board (2)Please confirm power supply to the robot please turn on power Error Error Error Error on on
communication stop.
and the robot monitoring unit stops. monitoring unit. (3)Please replace the robot supply of the controller
monitoring unit. again.
When the "Stop Monitor Input Signal" (1)Please confirm the on-off timing of "Stop Monitor
Robot monitoring unit Stop
1109 RMU error isn't input, the robot moves over the Input Signal". (2)Please replace the robot Error reset. Error Error Error Error on on
monitor failure.
stop monitoring range. monitoring unit.
This failure occurs when there is (1)Please check motors cable and encoder cable.
1110 RMU error disparity between "Encoder postion" (2)Check the pole position signal cable between the Error reset. Error Error Error Error on on
Position monitor failure.
and "Motor position". drive unit and the RMU.
This failure occurs when there is

Robot monitoring unit (1)Please check parameters "Pos. Con.". (2)Please
1111 RMU error position disparity between CPU1 and Error reset. Error Error Error Error on on
Position disparity failure. replace the robot monitoring unit.
CPU2 in robot monitoring unit.
This failure occurs when there is

Robot monitoring unit (1)Please check parameters "Vel. Con.". (2)Please
1112 RMU error velocity disparity between CPU1 and Error reset. Error Error Error Error on on
Velocity disparity failure. replace the robot monitoring unit.
CPU2 in robot monitoring unit.
(1)Please confirm the robot monitoring unit

After removing the
connection setting in the "Servo amplifier
cause of the error,
Robot monitoring unit The robot monitoring unit is not unit"menu. (2)Please confirm the communication
1113 RMU error please turn on power Error Error Error Error on on
connection failure. correctly connected. line to the robot monitoring unit. (3)Please confirm
the power-supply voltage of the robot monitoring
again.
unit.
This error occurs when the tool (1)Please confirm the input sigal "Tool number".
Robot monitoring unit Tool number is unmatch between (2)Please make the tool number signal from the
1114 RMU error Error reset. Error Error Error Error on on
monitor failure. "Program tool No." and "Tool Signal actual tool device. (3)Please correct tool number in
from the tool". robot program.
Hold down LS release button, and press master ON

Robot monitoring unit tool It will become this error if a robot tool
1115 RMU error button. And move robot within limit angle on manual Error reset. Error Error Error Error on on
postere failure. posture reaches the limit angle.
operation during hold down LS release button.
This failure occurs when the Robot Error reset after

Robot monitoring unit safety Check the master device and the connection of the
1116 RMU error monitoring unit detect the error in removing the causes Alarm Alarm Alarm Alarm on on
communication failure. communication cable.
safety network communication. of the failure.
Robot monitoring unit safety Set the master device of the safety network to run Error reset after
The master device of the safety
1117 RMU error communication is in mode. Confirm that the network device in the safety removing the causes Alarm Alarm Alarm Alarm on on
network is in idle/program mode.
idle/program mode. network is operating normally. of the failure.
1-17
Error code list

Hold down the LS release button, press master ON

Operational Outside tool posture limit The tool operated by posture Outside button. And move robot within tool posture limit
failure range tool posture limit range setting. range on manual operation during hold down LS
release button.
Hold down the LS release button and press master

Operational It will become this error if a robot joint ON button. And move robot within zone limit on
1121 exceeded the zone limit Error reset. Alarm Error Alarm Error on on
failure angle reaches the zone limit range. manual operation during hold down LS release
range.
button.
Robot monitoring unit safety Error reset after

The communication cable is not Check the connection of the communication cable
1130 RMU error communication cable removing the causes Alarm Alarm Alarm Alarm on on
connected to the RMU. to the RMU and the hub.
disconnection. of the failure.
1. Check the connection of the communication

Robot monitoring unit The RMU can not initiate cable. 2. Check the configuration of safety network Error reset after
1131 RMU error initialization failure of safety communication to the parameters. 3. Check the configuration of safety removing the causes Alarm Alarm Alarm Alarm on on
communication. communication master device. communication master device. 4. Check the safety of the failure.
network number (SNN) is set correctly.
Safety network communication stop

1. Check the PLC is not changing. 2. Split the
Robot monitoring unit safety and delay has occurred. Also, when Error reset after
network, if a lot of number of safety communication
1132 RMU error network connection input changing the setting of PLC, removing the causes Alarm Alarm Alarm Alarm on on
devices are connected in the same network. 3.
data timeout abnormality may be temporarily of the failure.
Extend the safety communication cycle.
detected.
1. Split the network, if a lot of number of safety

Robot monitoring unit safety communication devices are connected in the same Error reset after
Safety network communication stop
1133 RMU error network connection output network. 2. Extend the connection timeout for the removing the causes Alarm Alarm Alarm Alarm on on
and delay has occurred.
data timeout safety network communication. 3. Extend the safety of the failure.
communication cycle.
Error reset after

Robot monitoring unit safety 1. Check the PLC setting. 2. Check the Ethernet removing the causes
RMU received an abnormal data
1134 RMU error network connection input cable connection. 3. Please extend the safety of the failure. Or it will Alarm Alarm Alarm Alarm on on
from the safety network.
data failure communication cycle. be recovered by power
recycle.
After removing the

Robot monitoring unit safety causes of the failure,
The IP address for the RMU is
1135 RMU error communication : IP address Confirm whether the IP address is set correctly. please turn the Alarm Alarm Alarm Alarm on on
conflicting.
conflict. primary power of the
controller ON again.
(1)Please confirm the connection of the ethernet

Robot monitoring unit Please turn on power
This error occurs when the safety cable in robot monitoring unit. (2)Please turn on
1136 RMU error internal communication data supply of the controller Error Error Error Error on on
communication data is abnormal. power supply of the controller again. (3)Please
failure. again.
exchange Robot monitoring unit.
Error occurs when the initialization of

Spot weld The welder board failed in Power ON again. If error persists replace the welder
1155 the RE-01 welder board is not Error reset. Alarm Alarm Alarm Alarm on on
failure initialization. board (RE-01).
complete.
After removal of
Error occurs when an internal
Spot weld Memory error is detected by Power ON again. If error occurs again, replace the failure, please turn on
1156 memory of the welder board is Error Error Error Error on on
failure the welder board. welder board. power supply of the
destroyed.
controller again.
Spot weld Timer controller CPU is not Nothing acknowledge from timer
1158 Replace the timer PCB (RE-01). Error reset. Error Error Error Error on on
failure ready. controller CPU.
Please confirm setting by [constant:machine

Operational The command position tried The command position of a limit
1170 constant:virtual safety fence] and confirm teaching Failure reset. Alarm Error Alarm Error on on
failure to exceed the limit range. object tried to exceed the limit range.
program.
Select [constant:machine constant:virtual safety

Operational The current position The current position of a limit object
1171 fence:range setting] and move a limit object to the Failure reset. Error Error Error Error on on
failure exceeded the limit area. exceeded the limit area.
limit range by the manual.
Error occurs when a CALL is made

Operational Invalid relative program call
1174 within a relative program call function Alter relative program call functions in the program. Error reset. Alarm Alarm Alarm Alarm on on
failure command found.
more than 2 times.
The number of times the servo-off

Request Number of servo-off
1175 during playback exceeds the Please check the brake. Error reset. Error Error Error Error on on
maintenance exceeds the threshold.
threshold.
The number of times the servo error

Request Number of servo error
1176 has occurred during playback Please check the brake. Error reset. Error Error Error Error on on
maintenance exceeds the threshold.
exceeds the threshold.
Sealing The gun nozzle is choked The flow pressure exceeded a set
1820 Please clean the gun nozzle. Error reset. Error Error Error Error on on
failure up. value.
Sealing The pressure exceeded the The flow pressure exceeded a set
failure upper bound. value.
1-18
Error code list

Sealing The pressure exceeded the The flow pressure exceeded a set
failure lower bound. value.
This function cannot be

Operational The function which cannot be used Please record this function on the step which is not
1823 available during Adaptive Error reset. Alarm Alarm Alarm Alarm on on
failure during Adaptive Motion was used. Adaptive Motion.
Motion.
Error occurs when movement by an

Operational Movement too large in
1824 external force is too large while in Check Adaptive Motion conditions. Error reset. Error Error Error Error on on
failure Adaptive Motion.
Adaptive Motion.
Controller cannot make

Operational Robot cannot pass the singular area
1825 trajectory at the singular Please modify the teach point. Error reset. Error Error Error Error on on
failure during Adaptive Motion 'Follow' type.
area.
It is detected when the amount of

(1)Please don't give the force sensor much power. After removal of
Sensor Force sensor input changed change of the force sensor input in
1826 (2)Please confirm whether the the force sensor is failure, please carry Error Error Error Error on on
failure too much. each scanning exceeds error
correct. (3)Modify the error detection level. out "failure-reset".
detection level set in constants.
It is detected when the force sensor

After removal of
Sensor No reaction from force input stays in maximum or minimum (1)Please confirm whether the the force sensor is
failure sensor. value longer than error detection correct. (2)Modify the error detection time.
time set in constants. .
It is detected when the shift value or

The shift value or the the force(torque) value of force
(1)Modify motion to minimize force(torque). After removal of
Force control force(torque) value of force control exceeded error detection
1828 (2)Modify motion to minimize shift value. (3)Modify failure, please carry Error Error Error Error on on
error control exceeded the error value set in
the error detection value. out "failure-reset".
detection value. constants.[1]:force,[2]:torque,[3]:shift
(X/Y/Z),[4]:shift(RX/RY/RZ)
It is detected when velocity of axis After removal of

Force control Abnormal velocity of axis is (1)Check the force control condition. (2)Check the
1829 exceeded maximun value is failure, please carry Error Error Error Error on on
error calculated by force control. force sensor.
calculated by force control. out "failure-reset".
(1)Force control dose not support

mechanism except manipulator
mechanism. Or Specified
(1)Check mechanism number of function After removal of
Force control The mechanism for force mechanism is not in the unit.(2)There
1830 parameter. (2)Modify the program so that there is failure, please carry Alarm Alarm Alarm Alarm on on
error control cannot be selected. is another mechanism under force
only one mechanism under force control condition. out "failure-reset".
control condition. The force control
cannot be executed at the same time
for two or more mechanisms.
Another coordinate is used by force (1)Check the coordinate number of selected

After removal of
Force control The coordinate for force control condition. The coordinate for contition as function parameter. (2)Modify the
1831 failure, please carry Alarm Alarm Alarm Alarm on on
error control cannot be selected. force control can not be changed program so that same coordinate is used under
under force control condition. force control condition.
The mistake of the method of After recording the

Force control Froce Control function can Please record force controlfunction after step 1 or
1832 recording the force control function is move step, Please Alarm Alarm Alarm Alarm on on
error not be carried out. move step.
found. Check Go.
This error will be
Force control GETFORCE2 function can GETFORCE2 function is already GETFORCE2 function is started after GETFORCE2 canceled if a program
1833 Alarm Alarm Alarm Alarm on on
error not be carried out. carried out. function is ended. is corrected and
restarted.
The follows occured under force

control condition. (1)"Interpolation
Route Coordinata can not Off" Step was carried out. (2)Touch
Force control No reset operations
1834 be created under force founction was carried out. (3) Robot Modify the robot program. Error Error Alarm Alarm on on
error neccesary.
control condition. moved to the direction of Z axis of
tool coordinate. (4) The robot passed
discontinuous track.
Force control The Tool No. was changed The Tool No. can not be changed No reset operations
1835 Modify the robot program. Alarm Alarm Alarm Alarm on on
error during force control motion. during force control motion. neccesary.
Abnormal zero position It is detected when zero position After removal of

Sensor (1)Please confirm whether the the force sensor is
1836 value of force sensor is value of force sensor exceeds error failure, please carry Error Error Error Error on on
failure correct. (2)Modify the error detection level.
detected. detection level set in constants. out "failure-reset".
The specified mechanism The mechanism not existing cannot

Please correct a program to specify the existing After removal of
Operational number does not exist or be specified or any mechanisms
1837 mechanism number or to specify a manipulator type failure, please carry Error Error Alarm Alarm on on
failure mechanism type is not other than a manipulator cannot be
mechanism number. out "failure-reset".
proper. specified.
The specified tool number is used at

After removal of
Operational The specified tool number is the step under present operation. Please re-specify the tool number that is not being
failure used. Rewriting the tool number of the step used.
under operation is forbidden.
1-19
Error code list

Please check the value of the new tool length of the

Amount of change in the tool real variable register. Or, please check the tool After removal of
Operational Tool constant change
1839 constant for newly specified has constant value to be assigned. Or, please change failure, please carry Error Error Alarm Alarm on on
failure amount limit over.
exceeded the limit value. the limit amount in the tool change amount limit out "failure-reset".
setting.
Error occurs when the initialization of

External tracking driver After the turn OFF, then reinsert the extend
1995 Shift failure the extend ethernet board is not Error reset. Error Error Error Error on on
failure. ethernet board.
completed.
External tracking connect Error occurs when the external Check the connections and setting of the external
1996 Shift failure Error reset. Error Error Error Error on on
failure. traking unit is not connected. traking unit.
Error occurs when the external

External tracking
1997 Shift failure traking unit is communication Check the connection of the external traking unit. Error reset. Error Error Error Error on on
communication timeout.
timeout.
Error occurs when the external

External tracking command
1998 Shift failure traking operation command is Check the external traking unit. Error reset. Error Error Error Error on on
failure.
exceeded the setting.
Error occurs when the

External tracking
1999 Shift failure communication data of external heck the external traking unit. Error reset. Error Error Error Error on on
communication failure.
traking unit is failure.
Playback unavailable This error occurs when an (1)Please push the Motors-ON button after the
After removal of
Control because Motors-OFF Motors-ON command is input while Motors-OFF sequence has been finished.
failure sequence is being the Motors-OFF sequence is being (2)Please input the Motors-ON command after the
executed. executed. Motors-OFF sequence has been finished.
(1)Please confirm the welding number. (2)Please

The mistake of the method of After recording the
Spot weld Spot welding function can record spot welding function after step 1. (3)You
2003 recording the welding function is move step, Please Alarm Alarm Alarm Alarm on on
failure not be carried out. tried to drive the GUN mechanism which was not
found. Check Go.
able to be driven with this unit.
In Teach mode, Motors are not able After removal of

Control T/P selector switch is set to
2006 to be ON while T/P selector switch is Set the T/P selector switch to MANUAL side. failure, please carry Alarm Alarm Alarm Alarm on on
failure AUTO.
set to AUTO. out "failure-reset".
It connects by the normal mode by

wireless TP, and where the operation
Control Please set up the manual operation in "shortcut"
2007 Can not turn on the mortors. mode is made teach-mode, it will Error reset. Alarm Alarm Alarm Alarm on on
failure menu.
become this error if the motors turn
ON.
This error is released if

It was going to start while This error occurs if it starts while the
Operational it starts again after
2010 the work program was work program was edited on the Please start after ending the editor on the screen. Alarm Alarm Alarm Alarm on on
failure ending the editor on
edited on the screen. screen.
the screen.
This error occurs when WI cancel is

Operational WI cancel operation is No reset operations Informa Informa Informa Informa
2021 operated during a servo gun motor Please operate WI cancel after a motor power on. on on
failure disabled. (Servo gun) neccesary. tion tion tion tion
power off.
This error occurs when speed Please set value to the

Operational Variable which gives speed parameter of Moving command Please set value to the variable or change speed variable or change
failure parameter is invalid. made by Robot Language is given by parameter to numerical value. speed parameter to
variable and its value is invalid. numerical value.
The difference between the

The change in the tip consumption detected by search 3
Spot weld Check the lack of gun tip. If it is no trouble, execute
2027 consumption detected by and the consumption detected by Error reset. Alarm Alarm Alarm Alarm on on
failure gun search 1.
search 3 is abnormal. search 1 exceeded the search 3
abnormal tip change.
(1)Please move the robot to the position in a

permissible torque in the constant setting mode.
Designated command This failure occurs when the
Operational (2)Please correct the teaching so as not to exceed
2030 position exceeds Robot operation radius exceeds the Error reset. Alarm Error Alarm Error on on
failure the position in a permissible torque. (3)Please
operating area. limitation.
confirm installed posture. (4)Please confirm the tool
load.
The function can not be The function was attempted that is

Spot weld Please execute the function after releasing the
2038 used while servo gun is not allowable while servo gun is Error reset. Alarm Alarm Alarm Alarm on on
failure separation.
separating. separationg.
The servo gun axis did not stop while

Spot weld The encoder data of gun
2044 waiting to reach the specified Please reconsider the recorded position. Error reset. Alarm Alarm Alarm Alarm on on
failure axis is not steady.
pressure.
Error occurs when a pressure too

Spot weld The command pressure is Use pressures adequate for the Servo gun being
2048 great or too small for the Servo gun Error reset. Alarm Alarm Alarm Alarm on on
failure out of range. used.
is designated.
Ready to weld status from

welder board isn't Welder power turned off or welder
Spot weld
2049 completed, or a error occurred, a weld-enabled Check the peripheral system or welder. Error reset. Alarm Alarm Alarm Alarm on on
failure
weld-enabled signal isn't signal not given.
input.
1-20
Error code list

Return robot to the basic position by manual
Robot does not keep the This error occurs if robot does not
Operational operation without Multi Drive Conrtol. If this error
2050 basic position between multi keep the basic position between Error reset. Error Error Error Error on on
failure occurs again, check the basic position or the level
driven axises. multi driven axises.
of error detection.
Pressure already achieved Servo Gun Pressure already

Spot weld Pressure value is too low when servo gun axis does
2055 to the designated value for achieved to the designated value for Error reset. Alarm Alarm Alarm Alarm on on
failure not move. Review pressure data.
manual operation. manual operation.
There is a possibility that

the interpolation operation
Please set the tool constant (length and center of The error is not
and the de-and acceleration Setting rectangular coordinate
Operational gravity) again by present rectangular coordinate released until
2059 control are not correctly system is different registering the Alarm Alarm Alarm Alarm on on
failure system. Or, please change setting rectangular measures are
done due to a set tool and now.
coordinate system. executed.
disagreement of rectangular
coordinate system.
Error occurs when 4th-axis moves

out of its Operating range. Though
Select [Constants][Machine constants] and use the
4th axis is within the software motion
Operational 4th axis operating range correct axis operation keys to move back into the No reset operations
2060 range, the 4th axis occasionally Alarm Error Alarm Error on on
failure exceeded. 4th-axis Operating range. Warning! damage can neccesary.
exceeds the range of motion by
occur if 4th-axis hits arm 1.
receiving axis interference from other
axes.
Weld condition setting with group, The error is not

Spot weld Weld condition dose not the weld condition is 1-16(Group16 is released until
2062 Check the desired condition number and retry. Alarm Alarm Alarm Alarm on on
failure exist. 1-15).Weld condition number is out measures are
of range. executed.
The error is not

Spot weld function(Fn119 or Fn303) Please record weld condition with group
Spot weld Weld condition group released until
2063 was executed without recording weld function(Fn282) before executing spot welding Alarm Alarm Alarm Alarm on on
failure number is not set. measures are
condition with group function(Fn282). function(Fn119 or Fn303).
executed.
The detection reason is that the Whether the device such as memory cards It will be canceled if
Operational The memory medium is not Informa Informa Informa Informa
2082 specified device was not detected specified by the file operation menu is correctly some keys are on on
failure prepared. tion tion tion tion
when the file operation is done. installed is confirmed. pushed.
When it is going to copy a file to a Please prepare the memory medium to which It will be canceled if
Operational The memory medium is
2083 write-protected memory cards etc., writing is made and perform a copy from the some keys are Alarm Alarm Alarm Alarm on on
failure read-only.
this error sets. beginning once again. pushed.
It will be canceled if
Operational It cannot process in the It was going to copy to the same Please change a file name or a device and redo
2089 some keys are Alarm Alarm Alarm Alarm on on
failure same device. device by the same file name. copy operation again.
pushed.
Error occurs when the robot was

Control
2090 Max. follow angle over. about to follow more than the max. Check the press syncronize parameters. Error reset. Error Error Error Error on on
failure
follow angle.
Record point of press Error occurs when the position of

Control
2091 synchronous step is not press interlock waiting step and a Confirm record point of press synchronous step. Error reset. Error Error Error Error on on
failure
available. synchronous step is different.
CPU board It is not possible to start Error occurs when playback start is Please do playback start from steps other than
failure from a current step. done from press synchronous step. press synchronous step.
Error occurs if execution of a function

Control Press brake sync. is not related to the press brake is
2093 Set Conveyer shape in Press. Error reset. Error Error Error Error on on
failure available. attempted when Press is not
selected with Conveyer type.
Specified channel number Channel number or the slave node

FieldBus Please confirm channel number or the slave node
2100 or slave node number is not number specified with FN312 or Error reset. Error Error Error Error on on
failure number.
used. R502 is not used.
Error occurs when a Start command

Release Stop button or External stop signal(if
Operational Stop or External stop signal is given while the Stop button is Informa Informa Informa Informa
2101 External stop signal cable is cut the external stop Error reset. on on
failure being given. being held or External stop signal is tion tion tion tion
signal is considered as being given.
being given.
Where an emergency stop button or

The emergency stop button an external emergency stop signal is
Operational Please cancel an emergency stop button and an Informa Informa Informa Informa
2103 or the external emergency inputted, it detects, when the Error reset. on on
failure external emergency stop signal. tion tion tion tion
stop is inputted. Motors-ON signal or the External
Motors-ON signal is inputted.
In the state where the external

Motors-OFF signal is inputted, when
Operational External Motors-OFF is Informa Informa Informa Informa
2104 the Motors-ON signal or the external Please cancel the external Motors-OFF signal. Error reset. on on
failure inputted. tion tion tion tion
Motors-ON signal is inputted, it
detects.
In the state where the external

emergency hold signal is inputted,
Operational The emergency hold is Informa Informa Informa Informa
2105 when the Motors-ON signal or the Please cancel the external emergency hold signal. Error reset. on on
failure inputted. tion tion tion tion
external Motors-ON signal is
inputted, it detects.
Playback unavailable The start is impossible, because the

Operational Informa Informa Informa Informa
2106 because servo system has start operation is done before MSHP Please start after turning on MSHP. Error reset. on on
failure tion tion tion tion
not been turned on yet. is turned on.
1-21
Error code list

This It is prohibited to start specifying

the function because there is the
Operational It is not possible to start by Informa Informa Informa Informa
2108 position where the function is Please start after specifying the move step. Error reset. on on
failure specifying the function step tion tion tion tion
executed is not an original position
but a possibility.
Operational It is not possible to start by It is not possible to start by selecting Please select the move step or the function step Informa Informa
2109 Error reset. Alarm Alarm on on
failure selecting this function step. this function step. that can be executed from, and start. tion tion
Automatically restores,
Toyopuc I/F:The sequence Toyopuc I/F:The sequence program
2110 PLC failure Please confirm Toyopuc I/F. when the problem is Error Error Error Error on on
program has stopped. has stopped.
solved.
It detects, when starting selection

tends to push the Motors-ON button
The internal operation
Operational or a starting button in the state of the Please operate it after setting starting selection or Informa Informa Informa Informa
2111 signal was inputted in the Error reset. on on
failure exterior or it is going to choose a program selection as an inside. tion tion tion tion
state of external selection.
program from TP in the state of the
program selection exterior.
It detects, when the Motors-ON or

the start signals are inputted from the
The external operation exterior in the state of an inside of
Operational Please perform external operation after setting up Informa Informa Informa Informa
2112 signal was inputted in the start selection or a program selection Error reset. on on
failure starting selection or program selection outside. tion tion tion tion
state of internal selection. signal is inputted from the exterior in
the state of the inside of program
selection.
This error is detected when
Settings were changed. To
Operational Motors-ON command is inputted in a Please cycle the primary power to initialize the
2113 initialize the ststus, please Error reset. Error Error Error Error off off
failure state where some settings were state.
cycle the primary power.
changeed.
Shift register contains no Error occurs when data aren't

2118 Shift failure Setting data in shift register. Error reset. Alarm Alarm Alarm Alarm on on
data. established in specified shift register.
The command buffer of

Too many command of serial
serial communication is full.
2119 Shift failure communication requested at the Please modify robot program. Error reset. Alarm Alarm Alarm Alarm on on
The communication
same time.
command failed.
This error occurs when the number This error is released if

Please correct the program so that the number of
Operational Setting the call instruction is of step call and return instruction is the step set do over
2138 call return instructions is corresponding, and a Alarm Alarm Alarm Alarm on on
failure improper. match or the multiple call exceeds again and restart
multiple call should not exceed eight times.
eight times. playback.
This error occurs when the program This failure is released

Operational The unit composition is a jump or call instruction directly jumps if a correct program is
2141 Please correct the called program number value. Alarm Alarm Alarm Alarm on on
failure different program. or calls the program that the unit is setted and restart
different. playback.
This error occurs when the program

Operational Program number selected is No reset operations Informa Informa Informa Informa
2142 number designated is more than Check the desired program number and retry. on on
failure not available. neccesary. tion tion tion tion
9999.
If there is no end mark when

Operational playback executing, this error is This error is released if Informa Informa Informa Informa
2144 There is no end. Please record the end instruction. on on
failure detected after the last step is restart playback. tion tion tion tion
executed.
1. Check tool set and in-kind tool number that is

There is a possibility of error in the specified by the program. 2. Check the gas
Request There are signs of No reset operations Informa Informa Informa Informa
2145 drive system such as a motor / pressure of the gas balancer. 3. Check with the on on
maintenance abnormality in the J2 axis neccesary. tion tion tion tion
reducer / gas balancer. brake release function J2 axis moves smoothly.
4.Replace the drive unit 5.Replace the motor.
Operational Error occurs when number of bytes No reset operations Informa Informa Informa Informa
2150 Program is too large. Edit program in order to reduce its size. on on
failure of a program is too large. neccesary. tion tion tion tion

Operational The program or the file does number is specified which does not Please correct the program number to a correct if a correct program is Informa Informa Informa Informa
2151 on on
failure not exist. exist in the program jump call value the jump call ahead. setted and restart tion tion tion tion
instruction. playback.

This error is detected when the step
Operational Please correct the step number to a correct value at the correct step set do Informa Informa Informa Informa
2152 The step does not exist. number which does not exist in the on on
failure the jump destination. over again and restart tion tion tion tion
step jump call instruction is specified.
playback.
his error is released if
it reactivates after the
The usage of the flow This error is detected when the program is corrected
Operational Please correct the program so that the usage of the
2155 control instruction is usage of the flow control instruction so that the usage of Alarm Alarm Alarm Alarm on on
failure flow control instruction may become proper.
improper.. is wrong. the flow control
instruction may
become proper.
1-22
Error code list

This error will be
Change of a coordinate
Operational This error occurs if a coordinate Please teach by the same coordinate system during canceled if a program Informa Informa Informa Informa
2161 system cannot be on on
failure system is changed during circular. circular. is corrected and tion tion tion tion
performed during circular.
restarted.
This error will be

Operational Change of a tool cannot be This error occurs if a tool is changed canceled if a program Informa Informa Informa Informa
2164 Please teach by the same tool during circular. on on
failure performed during circular. during circular. is corrected and tion tion tion tion
restarted.
All protected files or files partially Because the specified file (program or constant) Please release
2165 The file is protected. protected (program or constant) tried contains important data, protecting is put so that the protecting the file on on
to be corrected and deleted. content is not carelessly changed. (program or constant).
It detects, when it is going to carry

The reproduction protection out reproduction or check GO of the When you start,
Operational The specified work program is not a program which
2166 of the program is carried work program which required please choose Step 1 Alarm Alarm Alarm Alarm on on
failure should be used for operation operation.
out. reproduction protection from a head from T/P.
step (Step 0).
The amount of the

When there is no point or less 10
movement of each axis is
point data effective to the calculation, Recreate the 10 point program (4 point under tool
Operational too small in the automatic Informa Informa Informa Informa
2167 and the program is not clearly constant setting only) ensuring the recorded points Error reset. on on
failure tool constant setting. Or, the tion tion tion tion
recorded the same point excluding are exactly the same point in space.
number of record steps
the error by the teaching.
does not suffice.
It is displayed, when the specified

Operational A step number is step does not exist, or when the step
2169 Please specify a move function. Error reset. Alarm Alarm Alarm Alarm off off
failure unsuitable.. of a reference program is the
function step.
It is displayed when the tool posture
Operational
2170 Tool postures differ. in two specified points is not the Please make a tool posture the same. Error reset. Alarm Alarm Alarm Alarm off off
failure
same.
The tool number recorded on the

Operational
2171 Tool number do not match. specified step differs from the Please make a tool number the same. Error reset. Alarm Alarm Alarm Alarm off off
failure
selected tool number.
This error occurs if the allowable shift Reset the limit value[Constants][Shift limit & No reset operations
2173 Shift failure Shift value limit exceeded. Alarm Alarm Alarm Alarm on on
distance is too large. evaluation value] and retry program. neccesary.
This function cannot be The function which cannot be used

Control Please record this function on the step which is not
2174 available during conveyor during conveyor synchronization was Error reset. Alarm Alarm Alarm Alarm on on
failure conveyor synchronization.
synchronization. used.
Operational The system cannot find the path No reset operations Informa Informa Informa Informa
2175 The file path is not found. Please check whether a file path is right. on on
failure specified. neccesary. tion tion tion tion
The process cannot access the file

Operational Please try once again. If it still recurs, please No reset operations Informa Informa Informa Informa
2176 The file access is denied. because it is being used by another on on
failure re-switch on the controller. neccesary. tion tion tion tion
process.
1. Please reteach as don't pass wrist dead zone. 2.

Move limit during shift This error occurs if the allowable
Please consider to use form specified commands. No reset operations
2177 Shift failure execution exceeded distance between steps during shift Alarm Alarm Alarm Alarm on on
3. Reset the limit value[Constants][Shift Amount neccesary.
between steps. execution is too large.
limit][Move limit between steps] and retry program.
In conveyer normal mode, turn on conveyer running

signal. If the signal is not used, set [When turning
Control Conveyer running signal Conveyer running signal was not No reset operations
2181 off conveyor running signal. = Ignore] in [Constant: Alarm Alarm Alarm Alarm on on
failure was not received. received in conveyer normal mode. neccesary.
20 Conveyor constant: 4 Conveyor added function]
menu.
Operational Step number selected is not This error occurs when designated No reset operations Informa Informa Informa Informa
2185 Check the desired step number and retry. on on
failure available. step number does not exist. neccesary. tion tion tion tion

Operational The program is not Please start after recording the program or it sets a correct Informa Informa Informa Informa
2194 which is not recorded is selclted and on on
failure recorded nor selected. selecting other programs. program and restart tion tion tion tion
start playback.
playback.
It was going to start the unit This error occurs if the robot is
Operational Please start after waiting for the completion of
2195 in the act of changing robot starting in the act of changeing robot Error reset. Alarm Alarm Alarm Alarm on on
failure changing.
program. program.
1-23
Error code list

This error occurs when a
Palletize-end does not Correct the sequence of Palletize and Palletize end No reset operations
2201 Shift failure palletize-end function(M47) does not Alarm Alarm Alarm Alarm on on
follow Palletize function. functions in the program. neccesary.
follow Palletize function(M48).
When palletizing of 32 or more is

More than 32 Palletizing Terminate the unnecessary palletize.(by using R55 No reset operations
2202 Shift failure executed at the same time, this error Alarm Alarm Alarm Alarm on on
routines not allowed. or R377) neccesary.
is detected.
This error occurred calculate shift No reset operations

2203 Shift failure Palletize data is abnormal. Please refer to palletize data. Alarm Alarm Alarm Alarm on on
value is failed from palletize data. neccesary.
This error occurs when multiplex No reset operations

2204 Shift failure Multiplex palletize over. Please confirm a robot program. Alarm Alarm Alarm Alarm on on
palletize beyond 8 is carried out. neccesary.
(1) Please confirm the recorded position of roller

Operational A work was not able to be A work was not able to be detected No reset operations
2210 hem start function. (2) Please confirm stroke2 of the Alarm Alarm Alarm Alarm on on
failure detected. by roller hem pressurizing. neccesary.
roller hem application.
Error occurs when the set roller hem

Error occurs when the set roller hem pressure is not
Operational Roller hem pressure is not pressure is not achieved within the No reset operations
2211 achieved within the time period set in Alarm Alarm Alarm Alarm on on
failure achieved. time period set in [Constant][General neccesary.
[Constant][General characteristic of Roller hem].
characteristic of Roller hem].
Operational The roller hem operation Other roller hem operation is No reset operations
2212 Please modify the timing of operation. Alarm Alarm Alarm Alarm on on
failure cannnot be executed. executing. neccesary.
(1)Please designated a roller hem number under

Operational Designate a roller hem This operation is possible only the No reset operations
2213 execution. (2)Please execute roller hem of the Alarm Alarm Alarm Alarm on on
failure number under execution. roller hem number under execution. neccesary.
designated number before doing this operation.
Failure occurs if execution of a

function related to the Conveyer is
Control Conveyer sync. is not
2230 attempted when Conveyer Enable Conveyer synchronization Error reset. Alarm Alarm Alarm Alarm on on
failure available.
synchronization has not been
enabled.
This failure occurs when the mistake
Operational
2240 PUBLIC.INC file is wrong. is found in the method of defining the Please confirm the definition of variables. Error reset. Alarm Alarm Alarm Alarm on on
failure
variable.

Operational
2241 COSNT.INC file is wrong. is found in the method of defining the Please confirm the definition of names. Error reset. Alarm Alarm Alarm Alarm on on
failure
name.

Operational
2242 Module file is wrong. is found in the method of recording Please confirm the method of the function. Error reset. Alarm Alarm Alarm Alarm on on
failure
the function.
This failure occurs when it failed in

Operational The variable Data file is Please set the initial data of variables, after to
2243 the preservation of the variable data Error reset. Alarm Alarm Alarm Alarm on on
failure wrong. select program.
file.
Operational The variable data is an The variable of irregular data cannot

2244 Please set the initial data of variable. Error reset. Alarm Alarm Alarm Alarm on on
failure irregular value. be used.
Operational The variable cannot be The variable data of an other unit

2245 Please review the variable. Error reset. Alarm Alarm Alarm Alarm on on
failure rewritten. cannot be rewritten.
Operational The variable that doesn't exist

2246 The variable doesn't exist. Please review the variable. Error reset. Alarm Alarm Alarm Alarm on on
failure cannot be used.
Operational The variable has already The existing variable cannot be

2247 Please review the variable. Error reset. Alarm Alarm Alarm Alarm on on
failure existed. redefined.
The function command that cannot

The mistake is found in the
Operational be used is recorded. whether to find
2248 method of recording the Please confirm the method of the function. Error reset. Alarm Alarm Alarm Alarm on on
failure the mistake in the method of
function.
recording the function.
This error occurs when the value
which is not permitted as a
Operational a correct program or
2250 The step data is abnormal. parameter of the function instruction Please set a correct parameter again. Alarm Alarm Alarm Alarm on on
failure step is setted and
is setted while playback executing,
restart playback.
and the robot stops.
Error occurs when incorrect Register

Operational Incorrect Register or
2251 or variable number is used in a Enter the correct register or variable number. Error reset. Alarm Alarm Alarm Alarm on on
failure variable number.
program.
Operational Failed in reading or writing This error occurs when the variable Please confirm the number of variables which are
failure variable. is continuously read or written. read or written.
1-24
Error code list

This error occurs when an illegal Althogh re-start
The parameter for the
Operational parameter is found in the function operation is possible,
2253 function command exceeds Please correct the parameter. Alarm Alarm Alarm Alarm on on
failure command while playback operation, please correct the
the normal range.
and the robot stops. teaching program.
This error occurs when an illegal This error is released if

The Dynalog function
Operational function command is found while a correct program or
2254 command exceeds the Please set a correct function command again. Alarm Alarm Alarm Alarm on on
failure playback operation, and the robot step is setted and
normal range.
stops. restart playback.
Operational This error occurs when a value is

2255 Division by 0. Check the program. Check the program. Alarm Alarm Alarm Alarm on on
failure divided by 0 in robot language file.
Playback unavailable Error occurs when input playback

2256 because compilation command while it is executing the Please start after the compilation processing ends. Alarm Alarm Alarm Alarm on on
failure neccesary.
process is executing. compilation process.
The wrist operated by posture

Operational Outside wrist posture limit Please operate the robot so that the wrist posture
2258 beyond the limits of the posture limit Error reset. Alarm Alarm Alarm Alarm on on
failure range may operate within the range of the limit.
setting.
Step of the tool where 0 is set to limit

When step of the tool which does not use wrist
Operational It is the tool which does not angle the when regulation effective
2259 posture limit is played back, please set wrist Error reset. Alarm Alarm Alarm Alarm on on
failure appoint limit angle of wrist posture limit was played
posture limit to invalidity.
back.
This error occurs when the number The number of program reservation should cope
Operational The program can not
2268 of program reservations exceeds with it by the sequence etc. not to accumulate too Error reset. Alarm Alarm Alarm Alarm on on
failure reserve any more.
ten. much.
Error occurs when a Conveyer

Control Conveyer running signal is
2272 running signal is inputed when Turn off the conveyer running input signal OFF. Error reset. Error Error Error Error on on
failure ON.
conveyer simulation or test mode.
Error occurs when analog input

Analog input override and
Spot weld override (FN169) and digital input
2277 digital input override can not Check the program, and delete function. Error reset. Alarm Alarm Alarm Alarm on on
failure override (FN277) are played at the
be used at same time.
same time.
Please confirm the state of the sensor, the

Spot weld No signal input while The specified interruption signal was
2300 connection with the controller and the number of the Error reset. Alarm Alarm Alarm Alarm on on
failure executing FN227 not input whiel executing FN227.
signal.
This error occurs when the program This error will be

There is no referring to point
Operational on which the move command is not Please start after recording a move command canceled if a program
2301 for the circle middle point Alarm Alarm Alarm Alarm on on
failure recorded before or after the circle before or after the circle middle point (C1). is corrected and
(C1).
middle point (C1) is started. restarted.
This error occurs when the program This error will be

Operational There is no referring to point on which the move command is not Please start after recording a move command canceled if a program
failure for the circle end point (C2). recorded before the circle middle end before the circle end point (C2). is corrected and
(C2) is started. restarted.
Operational Error occurs when number of bytes

2303 Step is too big. Modify or delete the step. Error reset. Alarm Alarm Alarm Alarm on on
failure of a step is too big.
Playback mode of Search This error occurs when Search write

No reset operations
2356 Shift failure write function is not function is attempted when not in <1 Select <1 cycle> mode. Alarm Alarm Alarm Alarm on on
neccesary.
corrected. cycle> mode.
This error occurs when the robot Modify(enlarge) the search range or program to No reset operations
2357 Shift failure Search range exceeded. Alarm Alarm Alarm Alarm on on
moves beyond search range rectify error. neccesary.
This error occurs if a Search is

Search base step position is The Search base step position(s) will be No reset operations
2358 Shift failure attempted without the existence of Alarm Alarm Alarm Alarm on on
not defined. automatically written into the functions. neccesary.
the Search base step position.
This error occurs when a Search

Search Start not followed by Alter program to give correct Search start/end No reset operations
2359 Shift failure start does not follow a Search End Alarm Alarm Alarm Alarm on on
Search End. sequence. neccesary.
function.
This failure occurs when a case jump This failure is released

Operational The setting of a case jump and a case jump end do not Please check a case jump and correspondence of a if a correct program is Informa Informa Informa Informa
2360 on on
failure function is unsuitable. correspond while playback case jump end. setted and restart tion tion tion tion
executing, and the robot will stop. playback.

condition value of a case jump is too This failure is released
Operational It was going to jump beyond large and there is no jump step in the if a correct program is Informa Informa Informa Informa
2361 Please set a correct parameter again. on on
failure the case jump range. program while playback executing, setted and restart tion tion tion tion
this abnormality is detected, and the playback.
robot will stop.
Detected the collision Since the collision detected the Please confirm whether the robot manipulator
2362 Shift failure Error reset. Alarm Alarm Alarm Alarm on on
interrupt. interrupt, the robot was stopped. interferes in something.
1-25
Error code list

When collision interrupt of 5 or more
More than 5 Collision No reset operations
2363 Shift failure is executed at the same time, this Terminate the unnecessary Collision interrupt. Alarm Alarm Alarm Alarm on on
interrupt not allowed. neccesary.
error is detected.
Although Built-in PLC status is
Unusual reset is
except <Disabled>, when scan of
Scan of Built-in PLC has Built-in PLC status is set as <RUN> by constant carried out after
2367 PLC failure Built-in PLC has stopped, it becomes Alarm Alarm Alarm Alarm on on
stopped. mode, and scan is started. changing Built-in PLC
this error at the time of robot
operation.
Unusual reset is
It becomes this error when
Connection with Built-in Please check the environment of Built-in PLC of carried out after
2368 PLC failure connection with Built-in PLC cannot Alarm Alarm Alarm Alarm on on
PLC cannot be performed. operation. changing Built-in PLC
be performed.
Unusual reset is
Built-in PLC cannot be It becomes this error when Built-in Please check the environment of Built-in PLC of carried out after
2369 PLC failure Alarm Alarm Alarm Alarm on on
started. PLC cannot be started. operation. changing Built-in PLC
Unusual reset is
Built-in PLC cannot be It becomes this error when Built-in Please check the environment of Built-in PLC of carried out after
2370 PLC failure Alarm Alarm Alarm Alarm on on
stopped. PLC cannot be stopped. operation. changing Built-in PLC
It will become this error if a starting After download, it

There is no resource demand is performed in the state changes into a starting
2371 PLC failure Download a PLC ladder program. Alarm Alarm Alarm Alarm on on
performed by Built-in PLC. where there is no resource state and unusual
performed by Built-in PLC. reset is carried out.
Again, a starting setup

It becomes this error when it is not is carried out, it
PLC-Engine has not been Please check the environment of Built-in PLC of
2372 PLC failure able to start by the starting demand changes into a starting Alarm Alarm Alarm Alarm on on
started. operation.
of PLC-Engine. state, and unusual
reset is carried out.
The error was detected by It becomes this error when an error is

Please carry out program check by [3 PLC program
2373 PLC failure Program check at the time detected by Program check at the Error reset. Alarm Alarm Alarm Alarm on on
check] of [14 PLC program Edit] of Service.
of PLC-Engine starting. time of PLC-Engine starting.
This error occurs when the function This error is released if

Operational The function data is instruction which is not permitted is a correct program or
2383 Please set the function again. Alarm Alarm Alarm Alarm on on
failure abnormal. setted while playback executing, and step is setted and
the robot stops. restart playback.
Designate step
Error occurs when 3 step points are positions not in the
3 of the step points for Designate step positions not in the same line for the
2387 Shift failure situated along the same line for the same line for the Alarm Alarm Alarm Alarm on on
On-transfer are in line. On-line transfer function.
On-line Transfer(M53,M54). On-line transfer
function.
A power supply is
Error occurs when there is no data
Operational There is no user function re-switched on after
2390 which defined the specified user Create a user function definition file. Alarm Alarm Alarm Alarm on on
failure definition data. creating a user
function.
function definition file.
A power supply is
Error occurs when there is no data
Operational There is no user function re-switched on after
2391 which defined the specified user Create a user function definition file. Alarm Alarm Alarm Alarm on on
failure definition data. creating a user
function.
function definition file.
First, release all

This Error occurs when emergency stop
disagreement has happened First, release all emergency stop switches, and switches, and perform
Emergency Emergency stop signal between dual emergency stop signal perform operation again. If the error recurs, check operation again. If
2400 Error Error Error Error on on
stop failure input line failure. input lines. (1) Cable failure(contact whether the emergency stop SW line is correctly impossible, remove
failure, broken wire) (2)Emergency wired. the cause of the error,
stop switch troubles. and turn on the power
again.
First, release safety
This Error occurs when
plugs, and perform
disagreement has happened
First, release sefety plugs, and perform operation operation again. If
Emergency Safety signal input line between dual safety signal input
2401 again. If the error recurs, check whether the safety impossible, remove Error Error Error Error on on
stop failure failure(Safety plug) lines. (1) Cable failure(contact
plug line is correctly wired. the cause of the error,
failure, broken wire) (2)Safety plug
and turn on the power
troubles.
again.
First, release enable

This error occurs when
switches, and perform
disagreement has happened
First, release enable switches, and perform the the operation again.
Emergency Safety signal input line between dual safety signal input
2402 operation again. If the error recurs, check whether If it is impossible, Error Error Error Error on on
stop failure failure(Enable/Mat SW) lines. (1) Cable failure(contact
the enable switch line is correctly wired. remove the cause of
failure, broken wire) (2)Enable/Mat
the error, and turn ON
SW troubles.
the power again.
Operational Please define Failure by [Service]→[25 Robot

2410 User failure is not defined. The error file was not found. Error reset. Error Error Error Error on on
failure Diagnosis]→[6 User Error].
1-26
Error code list

Request It became a check time Please do the check completion processing after it The check completion Informa Informa
2411 check Error Error on on
maintenance limit. checks. processing is done. tion tion
The failure log file is backing up preserved if

necessary. Afterwards, "Failure log clear" is
Request Information by number of The number of remainder failure log Informa Informa
2412 executed by the failure logging monitor. Or, Error reset. Error Error on on
maintenance failure log reached a set value. tion tion
information on the number of failure log is set to
"Not Occur" by the error logger item.
The failure log file is backing up preserved if

necessary. Afterwards, "Failure log clear" is
Information by number of The number of remainder another
Request executed by the failure logging monitor. Or, Informa Informa
2413 another preservation failure preservation failure log reached a set Error reset. Error Error on on
maintenance information on the number of another preservation tion tion
log value.
failure log is set to "Not Occur" by the error logger
item.
The servo gun connected with the

Spot weld The specified welder cannot
2435 specified welder is not defined as a Modify the program. Error reset. Alarm Alarm Alarm Alarm on on
failure be used with this unit.
mechanism of this unit.
The servo gun is not The welder with which the servo gun
Spot weld
2436 connected with the was not connected when the servo Modify the program. Error reset. Alarm Alarm Alarm Alarm on on
failure
specified welder. gun function was used was specified.
Dramatic difference of panel
Spot weld Abnormal panel thickness thickness exists between recorded Check the weld condition data and real work piece This error is released if
failure detected. value in weld condition and detected thickness. restart playback.
value.
FieldBus RIO detected the An abnormal communication was Please check the connection and the RIO scanner
failure communications error. generated by the RIO link. of the communication cable.
FieldBus The RIO interface is There is no answer from the RIO

2498 Please exchange the RIO interface. Error reset. Alarm Alarm Alarm Alarm on on
failure abnormal. interface.
This error occurs when a command This error is released if

Operational Step number not only valid after designating a step a correct program or
2518 Please designate a step number and retry. Alarm Alarm Alarm Alarm on on
failure designated. number is attempted without step step is setted and
designation. restart playback.
It failed to save data when the

primary power is turned OFF or
when the primary power voltage (1)Please execute "State return" in the Interface
Please recover the After removal of
Operational dropped abnormally.Because Panel Design. (2)If recovery is not required, please
2519 statement of the Interface failure, please carry Alarm Alarm Alarm Alarm on on
failure "Recovery at power failure" of the set "Recovery at power failure" to "Unnecessary" in
panel. out "failure-reset".
interface panel is set the the "Touch Panel Conditions".
"necessary" , it needs to return the
interface panel statement.
This failure occurs when the media

Operational format does not match the format No reset operations Informa Informa Informa Informa
2527 File read or write fault. Please try once again, after delete the file. on on
failure selected in the controller or the file neccesary. tion tion tion tion
has been corrupted.",
When memory media, such as a By Service / File Manager / Format memory It will be canceled if
2528 FIROPPI disk and an memory card, card/Floppy disk, please use it after initializing a some keys are on on
failure discriminable. tion tion tion tion
are not initialized, this error occurs. memory medium. pushed.
Operational Error occurs when data header of

2530 Bad program file. Delete the program file. Error reset. Alarm Alarm Alarm Alarm on on
failure program file is crashed.
The file under writing might been damaged. Please

Spot weld File operation of FTP client FTP client menu is closed, when confirm the file that is uploaded or downloaded. No reset operations
failure is canceled. upload or download executed. Please delete and execute download or upload neccesary.
again when the file has been damaged.
Error occurs when the welding timer

detected some errors. Standard
welding timer generates this error
when the controller received the
Spot weld This error is released if
2536 Welder fault. welder fault signal from welding timer Check the welder unit. Alarm Alarm Alarm Alarm on on
failure restart playback.
after the end of welding sequence.
Regarding except standard welding
timer, refer the each operation
manual.
1-27
Error code list

Error occurs if a Weld competed

Spot weld Welding time exceeded This error is released if
2537 signal is not input before the Check the welder is operating normally. Alarm Alarm Alarm Alarm on on
failure limit. restart playback.
designated time period.
Error occurs if the Gun closed signal

2538 The gun not open. is received after the welding Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
sequence ends.
Error occurs if the Gun half-open

2539 The gun is not half open. signal is not received after Open gun Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
half signal is output by the controller.
Error occurs if the Gun full-open

2540 The gun is not fully open. signal is not received after Open gun Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
fully signal is output by the controller.
Error occurs if the System fault

Spot weld Error occurs if the Weld stuck signal is received This error is released if
2541 Stuck Weld GUN detected. signal is detected after completion of Alarm Alarm Alarm Alarm on on
failure when the welding sequence ends. restart playback.
a welding sequence.
Error occurs if the Water flow switch

2542 Coolant fault #1. #1 signal is detected after completion Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
of a welding sequence.

2543 Coolant fault #2. #2 signal is detected after completion Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
Error occurs if the Air pressure

2544 Air pressure fault. switch signal is detected after Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
completion of a welding sequence.
Error occurs if the Thermo. temp.

Spot weld Transformer temperature This error is released if
2545 fault signal is detected after Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
failure fault. restart playback.

2546 Peripheral system fault. signal is detected after completion of Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
a welding sequence.

After removal of
Spot weld failure, please turn on
2547 Welder fault. welder fault signal from welding timer Check the welder unit. Alarm Alarm Alarm Alarm on on
controller again.
manual.
Error occurs if both the Gun

half-open signal and Gun full-open
Spot weld Both of half-open and Check the GUN or welding unit to determine the This error is released if
2552 signal are received simultaneously Alarm Alarm Alarm Alarm on on
failure full-open signals are given. cause of the two simultaneous signals. restart playback.
after Open gun half signal is output
by the controller.
Servo-gun is not executed

Spot weld Error occurs when the servo gun is This error is released if
2555 to obey the welder Please confirm to the sequence of weld-timer. Alarm Alarm Alarm Alarm on on
failure not achieved to command pressure. restart playback.
sequence.

Spot weld
2556 used while servo gun is not allowable while servo gun is Please execute the function after releasing the grip. Error reset. Alarm Alarm Alarm Alarm on on
failure
gripping. gripping.
1-28
Error code list

This error occurs if the amount of
The amount of circle locus compensation of each axis becomes No reset operations
2569 Shift failure Please modify teaching position. Alarm Alarm Alarm Alarm on on
compensation is unusual. excessive as a result of neccesary.
compensation calculation.
After removal of
Vision
Vision sensor Internal error in the vision sensor failure, please turn on
2570 sensor Please check hardware of vision sensor. Alarm Alarm Alarm Alarm on on
communication data error. system was detected. power supply of the
failure
controller again.
Vision Vision sensor Too many commands to vision After removal of

2571 sensor command/reply buffer sensor or replies from vision sensor Please modify timing of function execution. failure, please carry Alarm Alarm Alarm Alarm on on
failure overflow. at the same time. out "failure-reset".
Please check the measure object is within measure After removal of

Vision
Vision sensor recognition Vision sensor could not recognize area. If the object is within measure area, please failure, please turn on
2572 sensor Alarm Alarm Alarm Alarm on on
error. the measure object. modify measure condition parameters or adjust power supply of the
failure
lighting environment. controller again.
Please check the measure object is within shift After removal of

Vision The measure object isn't within shift
area. If the object is within shift area, please modify failure, please turn on
2573 sensor Vision sensor shift error. area or vision sensor could not Alarm Alarm Alarm Alarm on on
measure condition parameters or adjust lighting power supply of the
failure recognize the measure object.
environment. controller again.
After removal of
Vision
failure, please turn on
2574 sensor Error about frame grabber. Frame grabber is out of order. Please replace the frame grabber board. Alarm Alarm Alarm Alarm on on
power supply of the
failure
controller again.
After removal of
Vision Acquiring image timeout detected.
Please check camera setting. If this is right, replace failure, please turn on
2575 sensor Image acquire error. Or Camera cable is cut / camera is Alarm Alarm Alarm Alarm on on
the camera cable / camera. power supply of the
failure out of order.
controller again.
After removal of
Vision
Fail to create the socket which Please check setting of connection to vision sensor failure, please turn on
2576 sensor Vision sensor socket error. Alarm Alarm Alarm Alarm on on
connect to vision sensor unit. unit. power supply of the
failure
controller again.
After removal of
Vision
Vision sensor function recorded by Please remove the vision sensor function and failure, please turn on
2577 sensor Vision sensor type error. Alarm Alarm Alarm Alarm on on
another vision sensor type is done. record again. power supply of the
failure
controller again.
Vision measure wait function was After removal of

Vision
Measure of Vision sensor is done without measuring, or Vision Please measure again, or record Vision measure failure, please turn on
2578 sensor Alarm Alarm Alarm Alarm on on
not complete. shift function was done before wait function before Vision shift function. power supply of the
failure
measure completed. controller again.
After removal of
Vision The measurement processing time
The measurement time is Please modify the method of measuring the vision failure, please turn on
2579 sensor too much or the trigger signal line Alarm Alarm Alarm Alarm on on
over. sensor, and check the trigger signal line. power supply of the
failure has been disconnected.
controller again.
After removal of
Vision Error was detected in the data format
Vision sensor Please confirm whether there is loosening of failure, please turn on
2582 sensor which had been sent from the vision Alarm Alarm Alarm Alarm on on
communication data error. connector. power supply of the
failure sensor.
controller again.
After removal of
Vision
Vision sensor returns no It takes time to process the vision failure, please turn on
2583 sensor Please modify setting of the vision sensor. Alarm Alarm Alarm Alarm on on
answer. sensor too much. power supply of the
failure
controller again.
After removal of
Vision
Error was detected in the vision failure, please turn on
2584 sensor Vision sensor error. Please refer to the manual of the vision sensor. Alarm Alarm Alarm Alarm on on
sensor. power supply of the
failure
controller again.
Vision The function execution by the check

Vision sensor function can Please cancel the vision mode, and do the check
2585 sensor go/back is not permitted in the vision Error reset. Alarm Alarm Alarm Alarm on on
not be carried out. go/back.
failure mode.
A synchronous gap was

Vision The vision sensor was not able to
occered by a vision
2586 sensor complete processing while the Please slow down the conveyer speed. Error reset. Alarm Alarm Alarm Alarm on on
correction conveyer
failure conveyer moved at trigger intervals.
synchronous function.
Playback unavailable
Spot weld The visual teaching correction Please set the visual teaching correction function to
2587 because visual teaching Error reset. Alarm Alarm Alarm Alarm on on
failure function is set as enable. disable.
correction is valid.
The distance between the
Vision
The measurement point measurement points is abnormal or Informa Informa Informa Informa
2588 sensor Please measure these points again. Error reset. on on
exceeded the distance limit. the shape of the measurement point tion tion tion tion
failure
is abnormal.
Vision The measurement had been
A multiple measurement
2589 sensor executed again before the Please modify the measurement execution timing. Error reset. Alarm Alarm Alarm Alarm on on
happened.
failure measurement was completed.
Vision
The measurement result is out of Informa Informa Informa Informa
2590 sensor Shift range over. Please check the position of the work. Error reset. on on
shift range. tion tion tion tion
failure
1-29
Error code list

Vision After removal of
Error was detected in the vision Informa Informa Informa Informa
2591 sensor Vision sensor error. Please refer to the manual of the vision sensor. failure, please carry on on
sensor. tion tion tion tion
failure out "failure-reset".
A shift, an online transformation, and
Operational the base coordinate shift with the
2592 Multiple shift failure. Modify program to rectify error. Error reset. Alarm Alarm Alarm Alarm on on
failure vision sensor were executed in the
multiple.
Vision The measurement processing time

The measurement time is Please modify the method of measuring the vision Informa Informa Informa Informa
2593 sensor too much or the trigger signal line Error reset. off off
over. sensor, and check the trigger signal line. tion tion tion tion
failure has been disconnected.
Carrying out this function is not

Spot weld Seam welding function can
2594 permitted during seam welding. Or Please modify program or constant data. Error reset. Alarm Alarm Alarm Alarm on on
failure not be carried out.
errors are in constant data.
It was going to execute the

The function about another units,
Spot weld function which is not
2595 such as CALLFAR, is not permitted Please modify program. Error reset. Alarm Alarm Alarm Alarm on on
failure permitted during seam
during seam welding.
welding.
Vision
There is no base position before Informa Informa Informa Informa
2596 sensor No base position data set. Please register base position. Error reset. on on
doing the shift function. tion tion tion tion
failure
measurement point data is
Vision
Measure point datas is insufficient or the measurement (1)Please measure these points again. (2)Please Informa Informa Informa Informa
2597 sensor Error reset. on on
abnormal. position contradicts the data of a confirm base positional data. tion tion tion tion
failure
base position when the shift amount
is calculated.
Vision When the measurement type was a

The measurement type is (1)Please confirm the measurement type. (2)Please
2598 sensor setting of 2D, it tried to execute Error reset. Alarm Alarm Alarm Alarm on on
abnormal. use the 'SHIFTR' function at 2D measurement.
failure 'VLOCCVT' function.
Shift register contains no Error occurs when data aren't Informa Informa Informa Informa
2599 Shift failure Setting data in shift register. Error reset. on on
data. established in specified shift register. tion tion tion tion
It is not possible to compute the (1)Please make the servo gun position more wildly
Operational Servo gun auto-setting gets No reset operations
2601 servo gun inertia using current between pose 1 and pose 2. (2)Please confirm the Alarm Alarm Alarm Alarm on on
failure abnormal data. neccesary.
gathered by parametor auto-setting servo parameters of target servo gun mechanism.
It is not possible to compute the (1)Please make the Roller hem position more wildly
Operational Roller hem auto-setting gets No reset operations
2602 servo gun inertia using current between pose 1 and pose 2. (2)Please confirm the Alarm Alarm Alarm Alarm on on
failure abnormal data. neccesary.
gathered by parametor auto-setting servo parameters of target servo gun mechanism.
Failure occurs when use of User

Operational User coordinate does not Define User coordinate system(s) in [Service][10 No reset operations
2605 coordinate is attempted without the Alarm Alarm Alarm Alarm on on
failure exist. User Coord. Definition]before attempting to use it. neccesary.
coordinate system being pre-defined.
This error is detected when the base

of specified user coordinates is not in
Operational User coordinate is Define User coordinate system(s) in [Service][10 No reset operations
2606 agreement with the operation Alarm Alarm Alarm Alarm on on
failure indefinite. User Coord. Definition]before attempting to use it. neccesary.
standard mechanism of the current
unit.
Failure occurs although step is

The user coordinate
Stationary tool interpolation, the
Operational number which cannot be Please select stationary tool defined by the world No reset operations
2607 operation standard mechanism is Alarm Alarm Alarm Alarm on on
failure used as the Stationary tool coordinate using FN67. neccesary.
chosen as the base of Stationary tool
coordinate was chosen.
coordinate.
The user coordinate This function is not permitted for

Operational Please define user coordinate defined by the world No reset operations
2608 number which cannot be using user coordinate on TCF Alarm Alarm Alarm Alarm on on
failure coordinate. neccesary.
used was chosen. coordinate system.
Work coordinate or user coordinate

The coordinate which
Operational on TCF coordinate was used for the No reset operations
2609 cannot be used was Please change coordinate. Alarm Alarm Alarm Alarm on on
failure manipulator set as the operation neccesary.
chosen.
standard mechanism.
Without executing move command,

Operational Please teach move command after LETCOORDP No reset operations
2610 Pause substitution overlaps. pause substitution to the same Alarm Alarm Alarm Alarm on on
failure function and execute. neccesary.
mechanism was performed.
1-30
Error code list

Modifying user coordinate failed for

one reason of the followings.
(1)[OZX order] is chosen though it is
instruction of two or less points.
Operational Modifying user coordinate No reset operations
2611 (2)The points are less than three Please correct instruction points. Alarm Alarm Alarm Alarm on on
failure failed. neccesary.
points. (3)Three points are on the
same line. (4)Position data is not
encoder. (5)User coordinates
register file does not exist.
Multiple execution of the While performing the SEAMANG Please modify the program as SEAMANG function
2612 SEAMANG function was function, the SEAMANG function will not be performed again when you use the Error Error Error Error off on
failure neccesary.
carried out. was performed again. function.
The function which uses the analog

The SEAMANG function Please modify the program if you use the
Operational input function except SEAMANG No reset operations
2613 was performed under SEAMANG and the function which uses analog Error Error Error Error off on
failure can't be used when SEAMANG neccesary.
permitted condition. input at the same time.
function is used.
Tool number has been

Operational The Tool No. can not be changed Modify the robot program as same tool number is No reset operations
2614 changed during SEAMANG Error Error Error Error off on
failure during SEAMANG function. used during SEAMANG function. neccesary.
function.
FN289 Wrist singularity control

This error will be
Wrist posture under using function is execured, wrist posture Before move step execution, (1)Please level the
Operational canceled if a program
2615 FN289 Wrist singularity must be a level in the robot wrist posture in the robot cooddinate. (2)Please Alarm Alarm Alarm Alarm on on
failure is corrected and
control function is invalid. coordinate and J4 axis must be less make J4 axis into less than +-2 degrees.
restarted.
than +-2 degrees.
SHARP I/F: JW32CV When the data exchange with the

2620 PLC failure module cannot be module cannot be processed, this Please confirm setting of JW32CV module. Error reset. Alarm Alarm Alarm Alarm on on
recognized. error is detected.
Error occurs when Memory failure in

SHARP I/F: Memory error Refer to the Self-check section of the JW32CV
2621 PLC failure the JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
detected. Manual.
detected.
Error occurs when CPU failure in the

SHARP I/F: CPU error Refer to the Self-check section of the JW32CV
2622 PLC failure JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
detected. Manual.
detected.
Error occurs when I/O failure in the

SHARP I/F: I/O error Refer to the Self-check section of the JW32CV
2623 PLC failure JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
detected. Manual.
detected.
Error occurs when Special I/O failure

SHARP I/F: Special I/O Refer to the Self-check section of the JW32CV
2624 PLC failure in the JW32CV module self-check is Error reset. Alarm Alarm Alarm Alarm on on
error detected. Manual.
detected.
Error occurs when Option failure in

SHARP I/F: Option error Refer to the Self-check section of the JW32CV
detected. Manual.
detected.
Error occurs when Power failure in

SHARP I/F: Power error Refer to the Self-check section of the JW32CV
detected. Manual.
detected.
Error occurs when Extend Power

SHARP I/F: Extend Power Refer to the Self-check section of the JW32CV
2627 PLC failure failure in the JW32CV module Error reset. Alarm Alarm Alarm Alarm on on
error detected. Manual.
self-check is detected.
SHARP I/F: Sequence A sequence program of JW32CV Please start a sequence program of JW32CV
2628 PLC failure Error reset. Alarm Alarm Alarm Alarm on on
program is stopping. module is stopping. module.
Please turn on the

Toyopuc I/F is a power supply again
2651 PLC failure Toyopuc I/F is not found. Please confirm whether Toyopuc I/F is installed. Error Error Error Error on on
uninstallation. after Toyopuc I/F
installs.
Toyopuc I/F:I/O refreshing There is no response from Toyopuc
2652 PLC failure Please confirm Toyopuc I/F. when the problem is Error Error Error Error on on
has stopped. I/F.
solved.
Toyopuc I/F:Abnormality is Automatically restores,

Toyopuc I/F detected the dual port
2653 PLC failure found in the dual port Please refer to the manual of Toyopuc I/F. when the problem is Error Error Error Error on on
memory malfunction.
memory. solved.
Error occurred by toyopuc
2654 PLC failure Toyopuc I/F detected the error. Please refer to the manual of toyopuc I/F. when the problem is Error Error Error Error on on
I/F.
solved.
Please reenter the

The communication with
The communication with Toyopuc I/F The bad electrical contact of Toyopuc I/F or bad power supply after
2655 PLC failure Toyopuc I/F got the Error Error Error Error on on
did the time-out. functionality of UM237 is thought. removing a wrong
suspension.
cause.
After removal of
This error occurs when the servo (1)Please confirm the tip dress condition.(2)Please
Spot weld Current of tip dresser failure, please turn on
2656 dresser is exceeded beyond current confirm the cable between the controller and the Alarm Alarm Alarm Alarm on on
failure abnormaled. power supply of the
range. servo tip dresser.
controller again.
1-31
Error code list

This error occurs when normal input
Spot weld Please check the normal input signal from the tip This error is released if
2657 Tip dresser abnormal. signal from tip dresser is lost during Alarm Alarm Alarm Alarm on on
failure dresser. restart playback.
tip dress function.
This error will be
Operational The user window has not The user window has not been canceled if a program Informa Informa Informa Informa
2658 The user window has not been opened. on on
failure been opened. opened. is corrected and tion tion tion tion
restarted.
This error will be
Operational Other user tasks use the Other user tasks use the user canceled if a program Informa Informa Informa Informa
2659 Other user tasks use the user window. on on
failure user window. window. is corrected and tion tion tion tion
restarted.
After removal of
This error occurs when the dress
Spot weld length of tip dressed (1)Please confirm the tip dress condition.(2)Please failure, please turn on
2660 length of tip is exceeded beyond Alarm Alarm Alarm Alarm on on
failure abnormaled. confirm the tip consumption. power supply of the
dress length range.
controller again.
After removal of
Tip dress cannot be (1)If tip dress control "servo" then set the tip dress
Spot weld Servo gun tip cannot be dressing failure, please turn on
2661 executed that is servo gun search write "Enabled", else set the servo gun Alarm Alarm Alarm Alarm on on
failure during of search write. power supply of the
search write is enabled. search write "Disabled".
controller again.
Please reenter the

Please confirm the contact failure of Toyopuc I/F, power supply after
2662 PLC failure 2port ram is abnormal. Abnormality of 2port ram occurred. Error Error Error Error on on
confirm the stop of PC, and confirm reset of PC. removing a wrong
cause.
Please reenter the
The interface is abnormal Please confirm the contact failure of Toyopuc I/F, power supply after
2663 PLC failure Failed in the data reading from PC. Error Error Error Error on on
with PC. confirm the stop of PC, and confirm reset of PC. removing a wrong
cause.
X Bending shift volume is For glass handling, X bending shift is

2669 Shift failure Modify XY bending table to correct value. Error reset. Error Error Error Error on on
bigger than the error limit. calculated too big.
Y Bending shift volume is For glass handling, Y bending shift is

2670 Shift failure Modify XY bending table to correct value. Error reset. Error Error Error Error on on
Error occurs if a command or

Control Conveyer synchronization
2671 function is attempted requiring Turn Conveyer synchronization ON Error reset. Alarm Alarm Alarm Alarm on on
failure not ON
Conveyer synchronization ON.
Usage of MAPPING MAPPING function is re-executed

2672 Shift failure Modify program to rectify error. Error reset. Alarm Alarm Alarm Alarm on on
function is wrong. while MAPPING execution.
Usage of ALIGNMENT ALIGNMENT function is re-executed

2673 Shift failure Modify program to rectify error. Error reset. Alarm Alarm Alarm Alarm on on
function is wrong. while ALIGNMENT execution.
There was no input of alignment Confirm that the work passes on the alignmnet
Sensors don't turn
2674 Shift failure sensors while ALIGNMENT sensors. Adjust sensor sensitivity. Confirm Error reset. Alarm Alarm Alarm Alarm on on
on.(ALIGMNENT)
searching. connection from sensors.
Bending shift volume is For glass handling, bending shift is

2675 Shift failure Modify bending table to correct value. Error reset. Error Error Error Error on on
No support function for SJ This error occurs if no support No reset operations

2676 Shift failure No support function is not used. Alarm Alarm Alarm Alarm on on
type manipulator. function for SJ is executed. neccesary.

2677 Major Welder error(Fault). Remove the cause of the error. Error reset. Alarm Alarm Alarm Alarm on on
failure generate the error(Fault).
Spot weld Welding command is not Error occurs when the welder board
2678 Remove the cause of weld error. Error reset. Alarm Alarm Alarm Alarm on on
failure execute. abort welding command sequence.
Torsion shift volume is For glass handling, torsion shift is

2679 Shift failure Modify twist table to correct value. Error reset. Error Error Error Error on on
The position of X1 The position of X1 of the robot

Operational Please correct the position of X1 by use of Adjust
2680 exceeded the amount of the exceeds the amount of the Error reset. Alarm Alarm Alarm Alarm on on
failure Position key.
compulsion return. compulsion return.
The position of X1 The value of X1 in the set step

Operational Please set X1 below the record position tolerable
2681 exceeded the record exceeds the record position tolerable Error reset. Alarm Alarm Alarm Alarm on on
failure quantity.
position tolerable quantity. quantity.
Sensors don't turn There was no input of alignment

2682 Shift failure Confirm connection from sensors. Error reset. Alarm Alarm Alarm Alarm on on
on.(MAPPING) sensors while MAPPING.
1-32
Error code list

1) On [Constant Setting]-[Machine
Glass Handling : The SJ For glass handling, the J1 angle of Parameters]-[Encoder Correct], the J1 angle of the
2683 Shift failure type manipulator's 1st and the earth does not equal to the J2 earth equals to the J2 angle of the earth. 2) After Error reset. Error Error on on
2nd arms are unbalanced. angle of the earth. the memory format of the controller, this error
occurs. The encoder correct is exactly executed.
Glass Handling : Dynamic For glass handling, dynamic twisted

Please take a second look accelerating twisted
2684 Shift failure twisted correction value correction value exceeded error Error reset. Alarm Error on on
revision parameter.
over.(Accelerating revision) inspection level.

Please take a second look teach point twisted
revision parameter.
over.(Teach point revision) inspection level.

Please take a second look position twisted revision
parameter.
over.(Position) inspection level.

2687 Major Welder error. Remove the cause of weld error. Error reset. Alarm Alarm Alarm Alarm on on
failure generate the weld error.
Spot weld Welding command is not Error occurs when the welder board
2688 Remove the cause of weld error. Error reset. Alarm Alarm Alarm Alarm on on
failure execute. abort welding command sequence.
In the automatic tool center of gravity (1)Teach points that enough unbalanced torque is
Operational Data level too low for Auto set function, it is not possible to exerted on J3,J5 and J6 axis. (2)Make the wrist No reset operations
failure tool load center setting. calculate by the gathered current posture vary greatly between step 1 and step 2 neccesary.
value. positions.
The measurement result of (1)Please correct the teaching so that move range
Operational the automatic setting of tool This failure occurs when gathered is wide as much as possible. (2)Please correct the No reset operations
failure moment of inertia is speed or current data are abnormal. teaching so that the move axis is not influenced by neccesary.
abnormal. gravity.
Error occurs when the set gun

Error occurs when the set gun pressure is not
Spot weld Servo gun pressure is not pressure is not achieved within the This error is released if
2701 achieved within the time period set in Alarm Alarm Alarm Alarm on on
failure achieved. time period set in [Constant][General restart playback.
[Constant][General characteristic of Servo Gun].
characteristic of Servo Gun].
Error occurs when a GUN search

function is abnormally interrupted by
Spot weld GUN SEARCH not Please modify the execution timing of the tip
2703 a Spot welding function. Or, the Error reset. Alarm Alarm Alarm Alarm on on
failure complete. consumption detection.
order of executing the tip
consumption detection is wrong.
Error occurs when a WI signal, from

Spot weld WI signal does not become the last weld sequence, remains on This error is released if
2710 Check the welder is operating normally. Alarm Alarm Alarm Alarm on on
failure off. more than 5s after a GUN or WELD restart playback.
signal is output by the controller.
Weld control is not

Spot weld Error occurs when the weld control
2757 supported by MEDLAN Install the latest software version. Error reset. Alarm Alarm Alarm Alarm on on
failure software is too old.
command.
Error occurs when a gun different

Spot weld Different spot welding gun Correct the program, otherwise attach the correct
2763 from the gun specified in a Spot Error reset. Alarm Alarm Alarm Alarm on on
failure mounted. gun before using Spot welding function.
welding function is detected.
Servo Gun Move-tip

Spot weld Servo Gun Move-tip consumption Replace the worn Move-tip and detect tip
2781 consumption exceeded Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded the maximum limit. consumption again.
maximum limit.
Servo Gun Settle-tip

Spot weld Servo Gun Settle-tip consumption Replace the worn Settle-tip and detect tip
2782 consumption exceeded Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded the maximum limit. consumption again.
maximum limit.
When the synchronous welding was

The difference of tip
executed, the difference of tip Please execute synchronous welding again after
Spot weld consumption is too large.
2783 consumption of master gun and exchanging the tip, and detecting the tip Error reset. Alarm Alarm Alarm Alarm on on
failure The synchronous welding
slave gun exceeded the alarm consumption.
was not executed.
detection level.
(1)Specified cancer is not connected.

(2)The same welder is specified.
(3)Specified gun is not in the unit. (4)
Guns with different installation has
Spot weld The synchronous welding been selected. (5)The servo gun
2784 Please reconsider gun/welder number. Error reset. Alarm Alarm Alarm Alarm on on
failure cannot be executed. exists together to the air gun.
(6)MEDbus welding I/F is specified in
SYNCSPOT(FN303). (7)MEDbus
welding I/F is not specified in
SYNCSPOTIWB(FN316).
1-33
Error code list

Please check not to collide from other equipment.

Spot weld Welding point is far from a This error occurs when the welding Please check settings as below, servo gun contact
failure recorded point. point is far from a recorded point. detect, tool constant parameters, servo gun tip
consumption, servo gun bend characters.
It was going to start while It will generate, if it starts while

Spot weld
2786 waiting for WI of manual or waiting for WI of manual or external Please start after releasing WI. Error reset. Alarm Alarm Alarm Alarm on on
failure
external welding. welding.
This error occurs when any axis

2790 Pose calculation failed. angles can not be calculated with the Check form parameters. Alarm Alarm Alarm Alarm on on
failure neccesary.
form parameters.
This error occurs when the error

Operational Error signal detected during Check the cutting controller. Check the connection No reset operations
2791 signal of form cutting is ON during Alarm Alarm Alarm Alarm on on
failure form cutting. with the cutting contorller. neccesary.
form cutting..
This error occurs when the current

Operational No current detection signal Check the cutting controller. Check the connection No reset operations
2792 detection signal isn't turn on at Alarm Alarm Alarm Alarm on on
failure turn on. with the cutting contorller. neccesary.
cutting start.
Check form cutting parameters. And Check the

Operational This error occurs when any trouble No reset operations
2793 Form cutting error. cutting controller and the connection with the Alarm Alarm Alarm Alarm on on
failure are happen during the form cutting. neccesary.
cutting contorller.
Error occurs when a mount

mechanism function is attempted
Operational without a mechanism being Attach a mechanism before using a mount
2800 Mechanism is not mounted. Error reset. Alarm Alarm Alarm Alarm on on
failure attached. Or, the sub-mechanism mechanism function.
input signal line has been
disconnected.
Because two or more submechanism
Operational Sub-mechanism cannot be input signal has been turned on, the Please input the submechanism input signal
failure selected. connected mechanism cannot be correctly, and using a mount mechanism function.
selected.
The mechanism number that was not

able to change the mechanism or
Operational Mechanism number is
2802 was being registered with the Please set the mechanism number correctly. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.
Connection simultaneously mech.
table by the slave was selected. .
Error occurs when a mechanism

Operational Different mechanism
2803 different from the mechanism Please correct the program. Error reset. Alarm Alarm Alarm Alarm on on
failure mounted.
specified in a step is detected.
Error occurs when the change

Operational Conflict of mechanism
2804 function was executed for the Please correct the program. Error reset. Alarm Alarm Alarm Alarm on on
failure change.
mechanism using other units.
The mechanism number which was

Operational Mechanism number is
2805 not able to change the mechanism Please set the mechanism number correctly. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.
was selected.
The connection of the mechanism
The state of the master
registered in “Connection
Operational mechanism and the slave Please connect the mechanism again after
2806 simultaneously mech. table” of the Error reset. Alarm Alarm Alarm Alarm on on
failure mechanism is the separating the mechanism once.
mechanism change is a
disagreements.
disagreement.
The temperature of the
Sealing The temperature of the seal material
2823 material exceeded the Please check the temperature adjuster. Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded the set upper bound value.
upper bound.
The temperature of the

Sealing The temperature of the seal material
2824 material exceeded the lower Please check the temperature adjuster. Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded the set lower bound value.
bound.
Error occurs when the set pressure

Sealing Please check whether the specified pressure is
2825 Flow ready fault. is not achieved within the time period Error reset. Alarm Alarm Alarm Alarm on on
failure appropriate.
set in constant.
Sealing The seal material in the pump does

2826 The material is lack. Please modify the timing of reload. Error reset. Alarm Alarm Alarm Alarm on on
failure not suffice for the specified amount.
Sealing The robot stopped while flowing or Please cancel the cause of stopping or modify the
2827 The sealing incomplete. Error reset. Alarm Alarm Alarm Alarm on on
failure the pump position reached flow limit. timing to flow after the reload operation is done.
Sealing The sealing operation

2828 Other sealing operation is executing. Please modify the timing of operation. Error reset. Alarm Alarm Alarm Alarm on on
failure cannnot be executed.
Because Motor's on is turn off while

Sealing The reload operation is
2829 reloading, reload operation is not Please modify the timing of operation. Error reset. Alarm Alarm Alarm Alarm on on
failure incomplete.
able to be completed.
Sealing Please modify the timing to flow after the reload

2830 Dispense incomplete. Reached flow limit. Error reset. Alarm Alarm Alarm Alarm on on
failure operation is done.
1-34
Error code list

It is setting which uses the thermo
Sealing The analog input board is a sensor and the pressure sensor Please modify setting whether to install the analog
failure uninstallation. though the analog input board is not input board.
installed.
Sealing The dispense function can Specified gun is not defined in the
2832 Please modify program. Error reset. Alarm Alarm Alarm Alarm on on
failure not be carried out. unit.
In a controller with the force/torque

The command which is not
sensor, the commands Please correct not to use the analog input use
Operational permitted was executed in No reset operations
2850 (SPDDOWNA etc.) which use the function of a force/torque sensor and others with Alarm Alarm Alarm Alarm on on
failure the controller with the neccesary.
analog input's of those other than a the same controller.
force/Torque sensor.
force/torque sensor cannot be used.
The force/torque sensor

Operational Force/torque sensor function is
2851 function can not be carried Please modify parameter. Error reset. Alarm Alarm Alarm Alarm on on
failure disabled.
out.
It detects when clamping motion

FLEXhand (1)Confirm a place of the work piece. (2)Confirm the
2852 Clamp position limit over. quantity exceeds 'Clamp position Error reset. Alarm Alarm Alarm Alarm on on
failure recorded position of the clamping start step.
limit' setting.
It detects when the air assist

(1)Confirm whether FLEXhand grips the work
FLEXhand The air assist mechanism is mechanism is located on the
2853 correctly.(2)Confirm whether FLEXhand is dropping Error reset. Alarm Alarm Alarm Alarm on on
failure abnormal. clamping end during the clamp
the work.
function is executed.
(1)Confirm FLEXhand clamps the work piece well. if

It detects when clamping motion time
FLEXhand FLEXhand clamping motion it doesn't, correct its position or recorded step
2854 exceeds the setting 'Wait time for Error reset. Alarm Alarm Alarm Alarm on on
failure time over. position. (2)Correct setting 'Clamping pressure'
clamp action'.
higher.
It detects when input signal from the Confirm whether the air assist mechanism works
FLEXhand Air assist mechanism does
2855 air assist mechanism is not change correctly. (2)Confirm whether the signal from the air Error reset. Alarm Alarm Alarm Alarm on on
failure not work.
even if its activation signal is output. assist mechanism is input correctly.
It detests when FN362 clamp

FLEXhand Clamp function usage is
2856 function is executed again while Confirm and correct the program. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.
FLEXhand is clamping.
It detests when FN363 unclamp

FLEXhand Unclamp function usage is
2857 function is executed while FLEXhand Confirm and correct the program. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.
is not clamping.
(1)Confirm setting of 'Opened finger position'. (2)If

It detests when FLEXhand tries to
FLEXhand Unclamp direction is not the parameter is 0, the setting 'Standard unclamp
2858 move to clamping direction when Error reset. Alarm Alarm Alarm Alarm on on
failure correct. distance' in service menu is used. Confirm the
unclamp function is executed.
setting.
I-signal status fetched by 'FN528

(1)Control the I-signal status so as not to change
Operational A fetched signal status has FETCH' function must not change This failure is released
2859 until a function referring the signal is executed. Error Error Alarm Alarm on on
failure changed. before a function referring the if restart playback.
(2)Modify 'FN528 FETCH' recorded step.
I-signal is executed.
Executed position step number
exceed the setting number of
Effective steps which (1)Modify 'FN528 FETCH' recorded step.
Operational Effective span of a fetched signal This failure is released
2860 FETCH result is available (2)Effective span of fetched signal can be modified Error Error Alarm Alarm on on
failure before reaching the step which is if restart playback.
was exceeded. at "Constant Setting:6 Signals:1 Signal Condition".
checked by the signal set by fetch
function.
(1)Please designated a defined palletize number. After removal of
The designated palletize The palletize pattern of designated
2861 Shift failure (2)Please define palletize pattern of the designated failure, please carry Alarm Alarm Alarm Alarm on on
No. is not registered. number is not defined.
number. out "failure-reset".
Palletize status is registered in

palletize register when executing it (1)Please designated an executed palletize
The designated palletize After removal of
once, and maintained until resetting number. (2)Please execute palletize of the
2862 Shift failure number has never been failure, please carry Alarm Alarm Alarm Alarm on on
it. This operation cannot be done to designated number even once before doing this
executed yet. out "failure-reset".
palletize number unregistered in the operation.
palletize register.
(1)Please designated a palletize number under After removal of

Designate a palletize This operation is possible only the
2863 Shift failure execution. (2)Please execute palletize of the failure, please carry Alarm Alarm Alarm Alarm on on
number under execution. palletize number under execution.
designated number before doing this operation. out "failure-reset".
This function is not This error occurs if this function is

Do not use this function in the unit without No reset operations
2864 Shift failure supported to the unit without executed in the unit without Alarm Alarm Alarm Alarm on on
manipulator. neccesary.
manipulator. manipulator.
1-35
Error code list

A move step is needed just after Please record move step just after
palletize function can not be FN388(PALLET3_SELZ) / FN388(PALLET3_SELZ) /
2865 Shift failure Error reset. Alarm Alarm Alarm Alarm on on
carried out. FN394(PALLET3_SELZJMP) / FN394(PALLET3_SELZJMP) /
/FN395(PALLET3_SELZSFT) step. FN395(PALLET3_SELZSFT).
After removal of
Error occurs when the Welder fault
2866 Welder fault. signal is detected in a welding Check the welder unit. Alarm Alarm Alarm Alarm on on
sequence.
controller again.
After removal of
Error occurs when the Water flow
2867 Coolant fault #1. switch #1 signal is detected in a Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
welding sequence.
controller again.
After removal of
Error occurs when the Water flow
2868 Coolant fault #2. switch #2 signal is detected in a Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
welding sequence.
controller again.
After removal of
Error occurs when the Air pressure
2869 Air pressure fault. switch signal is detected in a welding Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
sequence.
controller again.
After removal of
Error occurs when the Thermo.
Spot weld Transformer temperature failure, please turn on
2870 temp. fault signal is detected in a Check the GUN or welding unit. Alarm Alarm Alarm Alarm on on
failure fault. power supply of the
welding sequence.
controller again.
After removal of
Error occurs when the System fault
2871 Peripheral system fault. signal is detected in a welding Check the System. Alarm Alarm Alarm Alarm on on
sequence.
controller again.
The move-electrode The move-electrode diameter is less

Spot weld Replace the worn move-electrode and detect
2872 diameter is less than the than the minimum diameter set by Error reset. Alarm Alarm Alarm Alarm on on
failure electrode consumption again.
minimum diameter. the seam welding parameters.
The settle-electrode The settle-electrode diameter is less

Spot weld Replace the worn settle-electrode and detect
2873 diameter is less than the than the minimum diameter set by Error reset. Alarm Alarm Alarm Alarm on on
failure electrode consumption again.
minimum diameter. the seam welding parameters.
Corrected value is over to setting

Spot weld Corrected value of spot Please confirm the position of spot welding
2880 permit value by spot position Error reset. Alarm Alarm Alarm Alarm on on
failure position is abnormal. function.
correction.
(1)Please confirm the not squeeze off. (2)Please

confirm the machine lock and mechanism
Spot weld Spot position correction can It is in condition which spot position disconnect are off. (3)Please confirm the "servo gun
failure not be carried out. correction can not be carried out. teach check" and "press adjust" are disabled.
(4)Spot position correction with other welder
machine be carried out at ones.
(1)Please confirm parameters of the spot position

Spot weld The search of spot position A work was not able to be detected
2882 correction. (2)Please confirm the recorded position Error reset. Alarm Alarm Alarm Alarm on on
failure correction went wrong. by spot position correction.
of spot welding function.
Spot weld Spot position correct Internal failure of spot position

2883 There is no countermeasure in particular. Error reset. Alarm Alarm Alarm Alarm on on
failure function fails. correction is detected.
The specified welder is not

Spot weld The specified welder is not
2908 effectively set by the spot welding Modify the welder number. Error reset. Alarm Alarm Alarm Alarm on on
failure effective.
constant.
It was judged that spot welding gun
Connect gun mechanically. When gun is
Spot weld Spot welding gun is not was not mechanically connected
2923 connected, check the disconnection of the signal Error reset. Alarm Alarm Alarm Alarm on on
failure mechanically connected because the connection signal was
line.
not input.
The error is not
Operational Speed type endless cannot Error occurs when speed type released until
2937 Please set the mechanism number again. Alarm Alarm Alarm Alarm on on
failure be executed. endless was not able to be executed. measures are
executed.
Because the endless control method
Operational The change in an endless 1. Please confirm the endless control method. 2.
2938 is not set to "Change", the specified Error reset Alarm Alarm Alarm Alarm off off
failure control cannot be executed. Please confirm the mechanism number.
mechanism cannot be executed.
The function was attempted that is
Operational The function can not be not allowable while change type Please execute the function after change control
2939 Error reset Alarm Alarm Alarm Alarm off off
failure used in velocity control. endless axis is controlled by velocity type of change type endless axis to position control.
control.
Error occurs when a multi input
Operational Signals of multi input are Create the multi input conditions, or replace the Informa Informa Informa Informa
2945 function was attempted playback Error reset. on on
failure not designated. function to normal input. tion tion tion tion
with no condition number.
1-36
Error code list

It is necessary to select user

User coordinate number is Execute [FN113 Change coordinate for shift] before No reset operations
2946 Shift failure coordinate number before shift Alarm Alarm Alarm Alarm on on
not selected. shift functions. neccesary.
function at user coordinate.
1.Area of common memory setted by

robot controller is already used by 1.After change setting into correct one, perform
FieldBus Setted area of common other node. 2.Since communication re-initialization of Fieldbus. 2.Check the connection No reset operations
failure memory is overlapped. was not able to be established at the of a LAN cable. Turn off the power and replace a neccesary.
time of power activation, it was not LAN cable.
able to participate in a network.
Failure occurs when Stationary tool

Operational Stationary tool is not No reset operations
2971 is not selected although step is Please select stationary tool using FN67. Alarm Alarm Alarm Alarm on on
failure selected. neccesary.
Stationary tool interpolation.
Playback unavailable
This error occurs when a playback (1)Please input the playback command after After removal of
Control because the enable switch
2973 command was input while the enable releasing the enable switch. (2)Replace the teach failure, please carry Alarm Alarm Alarm Alarm on on
failure is not in the release
switch is being grasped. pendant. out "failure-reset".
position.
Error occurs when a Start command Release Pause(Hold) or External pause(hold)

Pause(Hold) or External
Operational is given while the pause (hold) signal signal(if External pause(hold) signal cable is cut the
2974 pause(hold) signal being Error reset. Alarm Alarm Alarm Alarm on on
failure is being held or External pause external pause(hold) signal is considered as being
given.
(hold) signal is being given. given.
Control It cannot be started under Error occurs when a start command Please release G-STOP by turning on G-STOP
failure G-STOP. is given under G-STOP. signal (TBEX1).
Please change
Preventive System Memory Protection is
System Memory Protection System Memory
2976 maintenance disabled. You must not turn off the Please change System Memory Protection enable. Alarm Alarm Alarm Alarm on on
disabled Protection enable and
message controller.
restart the controller.
Please change
System Memory Protection System Memory Informa Informa Informa Informa
2977 maintenance disabled. You must not turn off the Please change System Memory Protection enable. off off
disabled Protection enable and tion tion tion tion
message controller.
Please change
System Memory Protection System Memory
2978 maintenance disabled. You may lost the data of Please change System Memory Protection enable. Error Error Error Error on on
disabled Protection enable and
message system memory at power off.
Operational The user application is not The user application is not ready or it
2990 Check the user application. Error reset. Alarm Alarm Alarm Alarm on on
failure ready. stopped.
Operational No response form the user No response to the specified user

2991 Check the user application. Error reset. Alarm Alarm Alarm Alarm on on
failure application. application to the command.
FN35 was going to carried out or set

Operational Duplicate output signal Please clear attribute assignment in order not to
2999 on output signal which assigned Error reset. Alarm Alarm Alarm Alarm on on
failure attribute. attribute is duplicate.
attribute already.
Since stopping during high-speed

Far distance between a If a limit for error detection is too small, change the
playback and so on, robot couldn't Robot can restart from
Control current position and a value in constant setting. Position Recovery is Informa Informa Informa Informa
3010 normally stop on the trajectry. Since there without reset on on
failure position at putting invalidated setting both recovery limit values to tion tion tion tion
the distance is over the limit for error operation.
servo-power off. zero.
detection value, robot can't recovery.
Spot weld This warning occurs when the Weld No reset operations Informa Informa Informa Informa
3018 Weld tip may be worn. Check the Gun tip and reset the counter. on on
failure counter exceeds the limit value. neccesary. tion tion tion tion
Since stopping during high-speed

Too far distance between a
playback and so on, robot couldn't Error reset. Robot
Control current position and a If a limit for error detection is too small, change the
3021 normally stop on the trajectry. Since can't playback, untill Alarm Alarm Alarm Alarm on on
failure position at putting value in constant setting.
the distance is over the limit for error step is set.
servo-power off.
detection value, robot can't recovery.
Since the position for recovery

couldn't recorded, never recover the
Take care of not recovering
Operational position at the next servo on without No reset operations Informa Informa Informa Informa
3022 position at the next servo There is no way. on on
failure related to distance. This might be neccesary. tion tion tion tion
on.
occured at servo off during recovery
position.
The external operation of The external operation of servo gun

Spot weld Please execute of external operation while program No reset operations Informa Informa Informa Informa
3037 servo gun is not permitted was executed while running on on
failure is stopping or servo gun is separating. neccesary. tion tion tion tion
while running program. program.
1-37
Error code list

This failure occurs when grasping
Control Please release both of the the enable swich after detecting No reset operations Informa Informa Informa Informa
3051 Please release both of the enable swiches. off off
failure enable swiches. inconsistency without releasing both neccesary. tion tion tion tion
of them.
When the startup is input during the

Spot weld Cannot startup while Please input the startup instruction after text No reset operations Informa Informa Informa Informa
3057 processing execution by text on on
failure read/write text executing. read/write operation ends. neccesary. tion tion tion tion
read/write screen, this error is output.
At the teach-mode, Enable switch

Spot weld Enable switch is not was not released position and robot Release Enalbe switch and please perform robot No reset operations Informa Informa Informa Informa
3062 off off
failure released position. master ON operation was carried master ON operation. neccesary. tion tion tion tion
into effect.
This error occurs when detecting the (1)Check the fans on the rack unit are operating, or
CPU board CPU bord temperature Informa Informa Informa Informa
3079 temperature alarm on the CPU clean up them. (2)Replace the rack-unit fan. Error reset. on on
failure warning. tion tion tion tion
board. (3)Replace the CPU board.
It was not a connection to the FTP

server that was backing up of an
Auto backup can't connect
Operational automatic backup ahead. Or, neither Please confirm host name, user ID, password, and No reset operations Informa Informa Informa Informa
3081 to FTP server for auto on on
failure an initial folder nor the folder of this initial folder of ftp client. neccesary. tion tion tion tion
backup.
name existed on the home directory
of the FTP server.
The thing backed up automatically

cannot be done. The storage
Operational Abnormality occurred while No reset operations Informa Informa Informa Informa
3082 medium is not prepared, and Please confirm the state of the storage medium. on on
failure backing up automatically. neccesary. tion tion tion tion
read-only and memory capacity
shortage, etc. are thought.
When it is going to copy a file to a Please prepare the memory medium to which It will be canceled if
Operational The memory medium is Informa Informa Informa Informa
3083 write-protected memory cards etc., writing is made and perform a copy from the some keys are on on
failure read-only. tion tion tion tion
this error sets. beginning once again. pushed.
Failure occurs if there is no memory

Operational Create space in current media device or use No reset operations Informa Informa Informa Informa
3084 Media device is full. space left when attempting to copy to on on
failure another. neccesary. tion tion tion tion
external device or internal memory.",
The detection reason is that the Whether the device such as memory cards It will be canceled if
Operational The memory media is not Informa Informa Informa Informa
3085 specified device was not detected specified by the file operation menu is correctly some keys are on on
failure prepared. tion tion tion tion
when the file operation is done. installed is confirmed. pushed.
Auto backup can't connect Because T/P was not connected, it

Operational No reset operations Informa Informa Informa Informa
3086 to the T/P external memory was not able to access the T/P Please connect T/P. on on
failure neccesary. tion tion tion tion
for auto backup. external memory.
Operational It failed in the attestation The attestation to TP external No reset operations Informa Informa Informa Informa
3087 Please check connection of TP external memory. on on
failure with TP. memory went wrong. neccesary. tion tion tion tion
It will be canceled if
Operational It cannot process in the It was going to copy to the same Please change a file name or a device and redo Informa Informa Informa Informa
3089 some keys are on on
failure same device. device by the same file name. copy operation again. tion tion tion tion
pushed.
When the startup is input during the

Spot weld Cannot startup while Please input the startup instruction after text No reset operations Informa Informa Informa Informa
3097 processing execution by text off off
failure read/write text executing. read/write operation ends. neccesary. tion tion tion tion
read/write screen, this error is output.
Control In OFF-mode, motors are Both of play and teach signal are Please confirm play and teach signals are No reset operations Informa Informa Informa Informa
3103 off off
failure not able to be ON. OFF. connected exactly. neccesary. tion tion tion tion
Failure occurs when the number of

Operational Number of axes axes used in a program is not Check the program file type is comptible with the No reset operations Informa Informa
3110 Alarm Alarm on on
failure miss-matched. compatible with the unit constant constants currently in use. neccesary. tion tion
files.
The alarm was generated
3111 PLC failure Toyopuc I/F detected the alarm. Please refer to the manual of Toyopuc I/F. when the problem is Alarm Alarm Alarm Alarm on on
by Toyopuc I/F.
solved.
1-38
Error code list

Warning occurs when the battery for
SHARP I/F: Battery error Informa Informa Informa Informa
3112 PLC failure the memory backup is nothing or Replace the battery for the memory backup. No reset operations. on on
occurred. tion tion tion tion
discharged.
SHARP I/F: It exists

It exists together to fieldbus Disable fieldbus functions, and reenter the power Informa Informa Informa Informa
3113 PLC failure together to fieldbus Error reset. on on
functions. supply. tion tion tion tion
functions.
Operational Data keyed-in is out of range or not No reset operations Informa Informa Informa Informa
3134 Data given is incorrect. Input suitable data. on on
failure defined. neccesary. tion tion tion tion
Warning is given when the set

Servo Gun Dramatic tip
Spot weld warning limit for gun tip consumption No reset operations Informa Informa Informa Informa
3137 consumption change Check the lack of gun tip. on on
failure is exceeded. Tip consumption neccesary. tion tion tion tion
detected.
warning signal is outputted.
Spot weld Welder version is No reset operations Informa Informa Informa Informa
3138 Welder version is unmatched. Initialize welder data. on on
failure unmatched. neccesary. tion tion tion tion
Spot weld Welder backup file is not No reset operations Informa Informa Informa Informa
3141 Welder backup file is not found. Initialize welder data. on on
failure found. neccesary. tion tion tion tion
Spot weld Informa Informa Informa Informa

3142 Welder error occurred. Welder detects ALERT or FAULT. Refer to the Welder Manual. Error reset. on on
After exchanging
grease, Please reset
Preventive The decelerator of the displayed axis (1)Please execute the grease exchange. (2)Please
It seems to reach at the at the [Service][Robot Informa Informa Informa Informa
3146 maintenance reached at the grease exchange refer to the robot maintenance manual for the on on
grease exchange time. Diagnosis][Grease tion tion tion tion
message time. exchange method and the exchange part.
Exchange Cycle]
menu.
After replenishing
The decelerator, the bearing or (1)Please execute the grease replenishment. grease, Please reset
Preventive
It seems to reach at the balancer of the displayed axis (2)Please refer to the robot maintenance manual for at the [Service][Robot Informa Informa Informa Informa
3147 maintenance on on
grease replenishment time. reached at the grease replenishment the replenishment method and the replenishment Diagnosis][Grease tion tion tion tion
message
time. part. Exchange Cycle]
menu.
(1)Change to ratings or less when the robot load

condition is investigated, and weight and the wrist
torque exceed it to ratings.(Gravity setting is used)
Preventive There is an axis which The presumption generation torque
(2)There is a possibility to exceed the acceleration Informa Informa Informa Informa
3148 maintenance exceeds the allowance and exceeded a permissible value by Error reset. on on
which can be used. (Check the step before and tion tion tion tion
message maximum torque. displayed program step and axis.
after) (3)There is a possibility with a large
interference torque, too. (Drop the acceleration of
the displayed step.)
(1)Change to ratings or less when the robot load

condition is investigated, and weight and the wrist
torque exceed it to ratings. (Gravity setting is used)
(2)The amount of operation is, and the average
In the displayed program, longevity is
speed and the average torque greatly exceed
Preventive It is a program which within at 5000 hours.There is a
ratings because of largeness or high speed, and Informa Informa Informa Informa
3149 maintenance remarkably shortens possibility which is the program of Error reset. on on
there is a possibility that longevity has shortened. tion tion tion tion
message longevity. call/jump origin when the call/jump
Reduce the amount of operation of the object axis
are used.
or slow down the speed if there is no obstacle in
work. (program diagnosis) (3)There is a possibility
to be generated because the cycle time is
remarkably short. Slow down the speed overall.
(1)Please confirm whether the setting of the load

IIt is detected when there is a big weight and center of gravity is correct. (2)Please
There is a possibility that
Preventive difference between the longevities change to ratings or less when the robot load
the setting of the load Informa Informa Informa Informa
3150 maintenance calculated from longevity and the condition is investigated, and weight and the wrist Error reset. on on
weight and center of gravity tion tion tion tion
message motor speed calculated from the torque exceed it to ratings. (3)There is a possibility
is inapposite.
current. that the trouble occurs in the robot when not
corresponding to the above-mentioned.

Operational The program or the file does number is specified which does not Please correct the program number to a correct if a correct program is Informa Informa Informa Informa
3151 on on
failure not exist. exist in the program jump call value the jump call ahead. setted and restart tion tion tion tion
instruction. playback.
Error occurs when a program

Operational
3155 This robot type is different. created for different robot type is Please select a suitable program. Error reset. Alarm Alarm Alarm Alarm on on
failure
read.

Servo Gun Move-tip Check the Gun tip. If tips are good check the setting
Spot weld warning for Move-tip consumption Informa Informa Informa Informa
3156 consumption approaching otherwise change the tip to the new one, and detect Error reset. on on
failure limit is exceeded. Tip consumption tion tion tion tion
limit. tip consumption again.

Servo Gun Settle-tip Check the Gun tip. If tips are good check the setting
Spot weld warning for Settle-tip consumption Informa Informa Informa Informa
3157 consumption approaching otherwise change the tip to the new one, and detect Error reset. on on
failure limit is exceeded. Tip consumption tion tion tion tion
limit. tip consumption again.
1-39
Error code list

Servo Gun Move-tip
Spot weld Servo Gun Move-tip consumption Replace the worn Move-tip and detect tip Informa Informa Informa Informa
3158 consumption exceeded Error reset. on on
failure exceeded the maximum limit. consumption again. tion tion tion tion
maximum limit.
Servo Gun Settle-tip

Spot weld Servo Gun Settle-tip consumption Replace the worn Settle-tip and detect tip Informa Informa Informa Informa
3159 consumption exceeded Error reset. on on
failure exceeded the maximum limit. consumption again. tion tion tion tion
maximum limit.
The difference between the

The change in the tip consumption detected by search 3
Spot weld Check the lack of gun tip. If it is no trouble, execute Informa Informa Informa Informa
3160 consumption detected by and the consumption detected by Error reset. on on
failure gun search 1. tion tion tion tion
search 3 is abnormal. search 1 exceeded the search 3
abnormal tip change.
Spot weld Servo gun pressure is not Error occurs when the set gun Informa Informa Informa Informa
3161 Check the external pressure value. Error reset. on on
failure achieved. pressure is not achieved. tion tion tion tion
Spot weld GUN SEARCH not The order of executing the tip Please modify the execution timing of the tip Informa Informa Informa Informa
3162 Error reset. on on
failure complete. consumption detection is wrong. consumption detection. tion tion tion tion
All protected files or files partially Because the specified file (program or constant) Please release
3165 The file is protected. protected (program or constant) tried contains important data, protecting is put so that the protecting the file on on
to be corrected and deleted. content is not carelessly changed. (program or constant).
The life time of the axis displayed

Preventive
There is the axis in 1000 with present operated (time to Exchange the axis early. After that 0 clearing of Informa Informa Informa Informa
3168 maintenance Error reset. on on
hours for overhaul. reaching to longevity) became 1,000 "Consumption time until present". tion tion tion tion
message
hours or less.
The life time of the axis displayed

Preventive
There is the axis in 0 hours with present operated (time to Exchange the axis. After that 0 clearing of Informa Informa Informa Informa
3169 maintenance Error reset. on on
for overhaul. reaching to longevity) became 0 hour "Consumption time until present". tion tion tion tion
message
or less.
Operational It was going to start, when This error occurs if it starts when unit Please check unit ready signal output conditions, it starts again after Informa Informa Informa Informa
3170 on on
failure unit was not ready. is not ready. and start after making it the unit ready. making it the unit tion tion tion tion
ready.
Dramatic difference of panel
Spot weld Abnormal panel thickness thickness exists between recorded Check the weld condition data and real work piece No reset operations Informa Informa Informa Informa
3175 on on
failure detected. value in weld condition and detected thickness. neccesary. tion tion tion tion
value.
Information occurs when the
temperature of the core of the
CPU board controller exceeds 60℃. If this state Check the fans are operating, or clean up the heat No reset operations Informa Informa Informa Informa
3177 Controller temperature fault. on on
failure lasts 10 min, motor power will be exchanger. neccesary. tion tion tion tion
automatically shutdown and E0063
displayed.,
Spot weld You did re-weld except for the time of Please restart after set a step in auto mode, or do No reset operations Informa Informa Informa Informa
3178 Re-weld is not allowed. on on
failure abnormal welding. manual weld. neccesary. tion tion tion tion
Control Conveyer running signal Conveyer running signal was not In conveyer normal mode, turn on conveyer running No reset operations Informa Informa Informa Informa
3181 on on
failure was not received. received in conveyer normal mode. signal. neccesary. tion tion tion tion

Operational The program is not Please reserve after recording the program or it sets a correct Informa Informa Informa Informa
3194 which is not recorded is selclted and on on
failure recorded nor selected. selecting other programs. program and reserve tion tion tion tion
reserve playback.
playback.
Operational Command not possible This command is not able to be used No reset operations Informa Informa Informa Informa
3218 Stop the program and retry the command. on on
failure while running program. during the execution of a program. neccesary. tion tion tion tion
It detects, when it is going to correct Set the

It is protected with the
Operational or delete the file (a program, Since the specified file (program or constant) record-disable-switch Informa Informa Informa Informa
3353 record-disable-switch or the on on
failure constant) protected with the contains important data, protection is applied to OFF or release tion tion tion tion
password.
password. password protecting.
The motor torque in a cycle went up

Rising of motor torque is Check whether there is any cause of raising motor No reset operations Informa Informa Informa Informa
3354 Servo failure as compared with the average value on on
observed. torque, about motors, reduction gears or cables etc. neccesary. tion tion tion tion
the 10 cycles past.
In the servo gun with pressure

Spot weld Current feedback of servo Please check the pressure sensor, the axis motor No reset operations Informa Informa Informa Informa
3355 sensor, the axis current to on on
failure gun is abnormal. of servo gun, or those cables connected. neccesary. tion tion tion tion
pressurizing power is abnormal.
When memory media, such as a By Service / File Manager / Format memory It will be canceled if
3528 FIROPPI disk and an memory card, card/Floppy disk, please use it after initializing a some keys are on on
failure discriminable. tion tion tion tion
are not initialized, this error occurs. memory medium. pushed.

Spot weld No reset operations Informa Informa Informa Informa
3536 Welder fault. welder fault signal from welding timer Check the welder unit. on on
manual.
Error occurs if a Weld competed

Spot weld Welding time exceeded No reset operations Informa Informa Informa Informa
3537 signal is not input before the Check the welder is operating normally. on on
failure limit. neccesary. tion tion tion tion
designated time period.
1-40
Error code list

Error occurs if the Gun closed signal
3538 The gun not open. is received after the welding Check the GUN or welding unit. on on
sequence ends.
Error occurs if the Gun half-open

3539 The gun is not half open. signal is not received after Open gun Check the GUN or welding unit. on on
half signal is output by the controller.
Error occurs if the Gun full-open

3540 The gun is not fully open. signal is not received after Open gun Check the GUN or welding unit. on on
fully signal is output by the controller.

Spot weld Error occurs if the Weld stuck signal is received No reset operations Informa Informa Informa Informa
3541 Stuck Weld GUN detected. signal is detected after completion of on on
failure when the welding sequence ends. neccesary. tion tion tion tion
a welding sequence.

3542 Coolant fault #1. #1 signal is detected after completion Check the GUN or welding unit. on on

3543 Coolant fault #2. #2 signal is detected after completion Check the GUN or welding unit. on on
Error occurs if the Air pressure

3544 Air pressure fault. switch signal is detected after Check the GUN or welding unit. on on
Error occurs if the Thermo. temp.

Spot weld Transformer temperature No reset operations Informa Informa Informa Informa
3545 fault signal is detected after Check the GUN or welding unit. on on
failure fault. neccesary. tion tion tion tion

3546 Peripheral system fault. signal is detected after completion of Check the GUN or welding unit. on on
a welding sequence.
Error occurs if both the Gun
half-open signal and Gun full-open
Spot weld Both of half-open and Check the GUN or welding unit to determine the No reset operations Informa Informa Informa Informa
3552 signal are received simultaneously on on
failure full-open signals are given. cause of the two simultaneous signals. neccesary. tion tion tion tion
after Open gun half signal is output
by the controller.
Manual axis moving cannot
Spot weld Error occurs if manual axis moving Informa Informa Informa Informa
3553 be operated during waiting Please releasing WI. Please release the WI. on on
failure during waiting for WI. tion tion tion tion
for WI.
Servo-gun is not executed

Spot weld Error occurs when the servo-gun is No reset operations Informa Informa Informa Informa
3555 to obey the welder Please confirm to the sequence of weld-timer. on on
failure not achieved to command pressure. neccesary. tion tion tion tion
sequence.
This error occurs when the servo (1)Please confirm the tip dress condition.(2)Please
Spot weld Current of tip dresser Informa Informa Informa Informa
3656 dresser is exceeded beyond current confirm the cable between the controller and the Error reset. on on
failure abnormaled. tion tion tion tion
range. servo tip dresser.
This error occurs when the dress

Spot weld Current of tip dresser (1)Please confirm the tip dress condition.(2)Please Informa Informa Informa Informa
3660 length of tip is exceeded beyond Error reset. on on
failure abnormaled. confirm the tip consumption. tion tion tion tion
dress length range.
After removal of
Request Error occurs when cooler fans Please confirm the cable between the controller Informa Informa Informa Informa
3666 Cooler fans stopped. failure, please carry on on
maintenance stopped. and the robot manipulator. tion tion tion tion
(1)Please check the cable connector CNMCH.

After removal of
Brake power supply cooling Error occurs when Brake power (2)Please confirm internal wirings and the cable
Request failure, please turn on
3667 fan of the drive unit in has supply cooling fan of the drive unit between the controller and the robot manipulator. Error Error Error Error on on
maintenance power supply of the
stopped. stopped. (3)Please replace cooler fans. (4)Please replace
controller again.
the drive unit.
(1)Please check the cable connector CNMCH.

After removal of
Brake power supply cooling Error occurs when Brake power (2)Please confirm internal wirings and the cable
Request failure, please turn on Informa Informa Informa Informa
3668 fan of the drive unit in has supply cooling fan of the drive unit between the controller and the robot manipulator. on on
maintenance power supply of the tion tion tion tion
stopped. stopped. (3)Please replace cooler fans. (4)Please replace
controller again.
the drive unit.
Spot weld Minor Welder Error occurs when the welder board Informa Informa
3677 Remove the cause of the warning. Error reset. Alarm Alarm on on
failure warning(Alarm). generate the warning(Alarm). tion tion
Spot weld Weld error reset is not Error occurs when welder command Informa Informa
3678 Error reset. Error reset. Alarm Alarm on on
failure execute. execute without reset the error. tion tion
Spot weld Error occurs when the welder board Informa Informa
3687 Minor Welder error. Remove the cause of weld error. Error reset. Alarm Alarm on on
failure generate the weld error. tion tion
1-41
Error code list

Spot weld Weld error reset is not Error occurs when welder command Informa Informa
3688 Error reset. Error reset. Alarm Alarm on on
failure execute. execute without reset the error. tion tion
After removal of
Spot weld Lithem battery cannot be used if it Please exchange the lithem batteries referring to failure, please turn on
3689 RE-01 battery error Alarm Alarm Alarm Alarm on on
failure does. the "RE-01 maintenance manual". power supply of the
controller again.
After removal of
Error occurs when the voltage of
Spot weld Please exchange the lithem batteries referring to failure, please turn on
3690 RE-01 battery charge low lithium battery on RE-01 bord has Alarm Alarm Alarm Alarm on on
failure the "RE-01 maintenance manual". power supply of the
decreased.
controller again.
It will generate, if it comes to the

Operational It stopped in the home stop No reset operations Informa Informa Informa Informa
3700 position registered by setup of a Please carry out manual operation again. on on
failure position. neccesary. tion tion tion tion
home stop position function.
It generates, when it is going to use

3701 Option un-setting up. the option function which is not set Please set up an option. on on
up.
Conveyor sync. request method is

Vision
Illigal request of conveyor different from vision sensor constant Please modify constant setting. Or, cancel edit No reset operations Informa Informa Informa Informa
3702 sensor on on
sync. setting. Or, it was requested when mode. neccesary. tion tion tion tion
failure
edit mode of vision sensor.
Vision When conveyor sync. is requested,

The measurement number No reset operations Informa Informa Informa Informa
3703 sensor the measurement number is a Please modify parameters. Or, check input signals. on on
is a unsetting. neccesary. tion tion tion tion
failure unsetting.
Vision The buffer is full. The

No reset operations Informa Informa Informa Informa
3704 sensor measurement result was The conveyer speed is too fast. Please slow down the conveyer speed. on on
neccesary. tion tion tion tion
failure not able to be stored.
The shift data corresponding to the

Vision
The pose search shift data master data number that has been No reset operations Informa Informa Informa Informa
3782 sensor Please check master data for pose search. on on
cannot be acquired. sent from the vision sensor is not neccesary. tion tion tion tion
failure
registered.
The error counter of the

Encoder The error counter of the encoder Informa Informa Informa Informa
3790 encoder exceeded the Please check the encoder. Error reset. on on
failure exceeded the setting value. tion tion tion tion
setting value.
An encoder reset was performed

Encoder The encoder reset
3791 besides the encoder correction Please check the encoder and robot movement. Error reset. Error Error Error Error on on
failure exceeded.
screen.
The difference between in the power

Encoder The encoder value changed off and the encoder value by the
3792 Please check the encoder and robot movement. Error reset. Error Error Error Error on on
failure in the power off. power on exceeded a threshold
value.
Abnormal shift data The received shift data contains the Please confirm the state of PC that transmits the No reset operations Informa Informa Informa Informa
3800 User failure on on
received. status that notifies abnormality. shift data. neccesary. tion tion tion tion
Spot weld Welder communication Error occurs when the welder is not (1)Check power supply of the welder and Informa Informa Informa Informa
3810 Error reset. off off
failure fault(No reply). correctly connected. communication cables. (2)Initialize welder data. tion tion tion tion

3811 Welder option isn't set up. the welder option function which is Please set up an welder option. on on
not set up.
Spot weld Welder version is Cannot restore a welding parameter using the No reset operations Informa Informa Informa Informa
3812 Welder version is unmatched. on on
failure unmatched. backup data of a welder different in a version. neccesary. tion tion tion tion

3813 Welder error occurred. Welder detects FAULT. Refer to the Welder Manual. Error reset. on on

3814 Welder error occurred. Welder detects ALERT. Refer to the Welder Manual. Error reset. on on
Please check the electrode. The electrode is not

The move-electrode The move-electrode diameter is less worn out, and correct the seam welding
3872 diameter is less than the than the warning diameter set by the parameters. The electrode is worn out, and replace Error reset. on on
warning diameter. seam welding parameters. the worn move-electrode and detect electrode
consumption again..
1-42
Error code list

Please check the electrode. The electrode is not
The settle-electrode The settle-electrode diameter is less worn out, and correct the seam welding
3873 diameter is less than the than the warning diameter set by the parameters. The electrode is worn out, and replace Error reset. on on
warning diameter. seam welding parameters. the worn settle-electrode and detect electrode
consumption again..
1.[Constant Setting]-[13 Spot Welding

Setting of the function is invalid. Application]-[2 Spot welding gun setting] F key of a
A change control gun Function it's impossible to use was screen, please set the enable of [spot multi gun
Spot weld
3880 function can't be carried out performed. Prohibited record order. control] setting. 2.Refer to an instruction manual Error reset. Alarm Alarm Alarm Alarm on on
failure
in the present state. Setting it isn't possible to use and please confirm whether the setting, function,
together is used. and record order it's impossible to use isn't being
used.
The gun of control not applying is

Spot weld The gun which isn't being Please correct the gun position location of the
3881 closed than the value setting in Error reset. Alarm Alarm Alarm Alarm on on
failure controlled is closed. movement just before [Fn119 spot weld].
[Fn290 Change gun control].
Without setting the gun number of

Please setting the gun number registered with a
the control target by Fn290 or an
weld machine in Fn290 by usual playback. When
Spot weld The gun number of the exclusive F key, a spot weld was
3882 it's a manual weld, please setting the gun number Error reset. Alarm Alarm Alarm Alarm on on
failure control target isn't setting. performed or the gun number which
registered with a weld machine by an exclusive F
isn't registered with a weld machine
key.
was setting.
If a problem is solved,
it will restore
Since the between title has occurred automatically. (In order
FieldBus A part or all I/O links are Please check the device which the problem has Informa Informa Informa Informa
3960 in the I/O device, a robot cannot be to solve a problem, the on on
failure stopping. generated by the field bus monitor. tion tion tion tion
started. re-injection of a power
supply may be
required)
Operational Please execute the function after releasing the Informa Informa Informa Informa
3992 used in external application not allowable while mode is external Error reset off off
failure external application mode. tion tion tion tion
mode. application.
When this information started to occur frequently,

Request There is a sign of brake There is a possibility that a brake of a No reset operations Informa Informa Informa Informa
3993 there is a possibility that a brake of a motor on on
maintenance slipping of a motor. motor degrades. neccesary. tion tion tion tion
degrades. Please replace a motor.
Request There is a sign of brake There is a possibility that a brake of a When this error occurred, there is a possibility that a
maintenance slipping of a motor. motor degrades. brake of a motor degrades. Please replace a motor.
Communication timeout
Turn on the controller
Arc weld occurred between the The welding power supply didn't Check the connection of the welding power supply
4000 and the welding power Error Error Error Error on on
failure controller and the welding respond. to the controller.
supply again.
power supply.

Arc weld The data which are received from the Check the connection of the welding power supply
4001 Received data failure. and the welding power Error Error Error Error on on
failure welding power supply are incorrect. to the controller.
supply again.
The communication between the Turn on the controller

Arc weld Can't communicate with the Check the connection of the welding power supply
4002 controller and the welding power and the welding power Error Error Error Error on on
failure welding power supply. to (L21700S00/UM355).
supply is shutdown. supply again.
Check the connection of the welding power supply Turn on the controller
Arc weld Can't communicate with the The communication driver detected
4003 to the controller. And check the connection of and the welding power Error Error Error Error on on
failure welding power supply. the failure.
UM355(L21700S00) board. supply again.
The kind of registered WPS and After

The registration of the actual WPS are not same, or the Dip registeration/setting,
Arc weld Register WPS correctly, or set Dip switch of Robot
4004 welding power supply is switch setting of Robot I/F board turn on the controller Error Error Error Error on on
failure I/F board correctly.
incorrect. inside the welding power supply is and the welding power
wrong. supply again.
After updating, turn on

Arc weld The welding power supply The controll software of the welding the controller and the
4005 Please update the welding power supply. Error Error Error Error on on
failure of old version is connected. power supply is old. welding power supply
again.
The servo of the wire feed control

The welding power supply After updating, turn on
Arc weld unit does not turn on/off because the
4006 version is wrong for the Please update the welding power supply. the welding power Error Error Error Error on on
failure software of the welding power supply
servo wire feed control. supply again.
is old.
The control software of

the welding power
supply improves in the
The control software is The welding power supply doesn't
Arc weld The control software of the welding power supply version, and the power
4007 abnormal in the welding correspond to the stitch pulse Error Error Error Error on on
failure must improve in the version. supply in the robot
power supply. welding function.
controller and the
welding power supply
is turned on again.
1-43
Error code list

The Synchro-welding is not executed
The welding power supply
because the software of the welding After updating, turn on
Arc weld version does not support
4008 power supply does not support the Please update the welding power supply. the welding power Error Error Error Error on on
failure the Synchro-welding by
Synchro-welding by CAN supply again.
CAN communication.
communication.
The Synchro-welding is not executed

because the welding power supply
Arc weld does not support the Please setup the Synchro-welding by RS-422
4009 does not support the Error reset. Error Error Error Error on on
failure Synchro-welding by CAN communication.
Synchro-welding by CAN
communication.
communication.
The arc welding power supply

Arc weld The arc welding cannot be The upgrade should do the software of the arc
4010 doesn't correspond to the welding Error reset. Error Error Error Error on on
failure done. welding power supply.
condition slope function.

Arc weld The arc welding cannot be doesn't correspond to the welding The upgrade should do the software of the arc
failure done. characteristic data self adjustment welding power supply.
function.

Arc weld The gas mass flow control The upgrade should do the software of the arc
4012 doesn't correspond to the gas mass Error reset. Error Error Error Error on on
failure function cannot be used. welding power supply.
flow control function.
The control software is The welding power supply doesn't After updating, turn on
Arc weld
4013 abnormal in the welding correspond to the cycle pulsed Please update the welding power supply. the welding power Error Error Error Error on on
failure
power supply. welding function. supply again.
It was not possible to

Abnormality occurred by the Confirm the connection with the welding power
communicate with the robot Turn the welding
Arc weld communication with the robot supply or the peripherals. Or, in the function of the
4014 controller or the peripherals power supply on Error Error Error Error on on
failure controller or peripherals on the welding power supply, confirm the the setting of the
on the arc welding power again.
welding power supply. transmission rate of the CAN communication .
supply.
Turn the welding power supply on again. Confirm

Microcomputer control Failure reset, and turn
Arc weld The failure occurs in the controller of an abnormal display of the arc welding power
4015 failure occurred in the on the welding power Error Error Error Error on on
failure the welding power supply. supply, and contact our service when abnormality
welding power supply. supply again.
relapses. Back up files to external CF memory.
The Arc-I/F board(L21700S) doesn't

Arc weld Check the connection of the Arc-I/F(L21700S) to Turn on the power
4016 The Arc-I/F is not found. connect with the sequence Error Error Error Error off off
failure the sequence board(L21700F). again.
board(L21700F).
Arc weld CAN baudrate setting is CAN baudrate of the Arc-I/F Set CAN baudrate 500Kbps. And turn on the power Turn on the power
failure failure. board(L21700S) couldn't set. again. again.
The communication error has Please check the connection between the Arc-I/F
Arc weld The communication error occurred between the Arc-I/F board(L21700S) and the sequence
failure has occurred. board(L21700S) and the sequence board(L21700F). You might exchange their boards.
board(L21700F). Please contact our service department.
The communication error has Please check the connection between the Arc-I/F
Arc weld The communication test has occurred between the Arc-I/F board(L21700S) and the sequence
failure failed. board(L21700S) and the sequence board(L21700F). You might exchange their boards.
board(L21700F). Please contact our service department.
The welding power supply doesn't After updating, turn on

Arc weld The cold tandem welding
4020 correspond to the cold tandem Please update the welding power supply. the welding power Error Error Error Error on on
failure function cannot be used.
welding function. supply again.
The welding power supply doesn't After updating, turn on

Arc weld The wire touch detection
4021 correspond to the wire touch Please update the welding power supply. the welding power Error Error Error Error on on
failure cannot be used.
detection. supply again.
The supported function The robot controller does not receive

Failure reset, and turn
Arc weld information of welding a information of the supported Confirm the connection with the welding power
4022 on the welding power Error Error Error Error on on
failure power supply cannot be function from the welding power supply.
supply again.
read. supply when turning on the power.
Communication timeout Turn the welding

Arc weld The contollor of the welding power Turn off the power supply in the welding power
4085 occurred inside the welding power supply on Error Error Error Error on on
failure supply didn't respond. supply, and contact our service.
power supply. again.
It was not possible to Turn the welding

Arc weld There is no response from the arc Check the connection of the welding power supply
4099 communicate with the arc power supply on Error Error Error Error on on
failure welding power supply. to (L21700S00/UM355).
welding power supply. again.
Operational It is weaving condition In simultaneous weaing, weaving

4102 Please make weaving conditions in agreement. Error reset. Alarm Error Alarm Error on on
failure disagreement. conditions are not in agreement.
1-44
Error code list

Mechanism Error in The mechanism number specified in

Operational Specify correct mechanism number which belongs
4900 External axis relative move the 1st parameter is not belong to Error reset. Error Error Error Error on on
failure to current unit.
function (FN407). current unit.
Axis Error in External axis The axis number specified in the 2nd
Operational Check the axis number of 2nd parameter taught in
4901 relative move function parameter is not defined in a Error reset. Error Error Error Error on on
failure the function command, and teach again.
(FN407:RELMOV) mechanism of 1st parameter.
The mechanism specified in 1st Select a unit which has positioner or slider, and
Operational
4902 Mechanism type error. paramter is neither positioner nor then specify a positioner or a slider in 1st Error reset. Error Error Error Error on on
failure
slider. parameter.
After removal of
This error is detected when the
Operational G-STOP input value is not failure, please turn on
4903 G-STOP input value in two systems Please confirm the G-STOP input value. Error Error Error Error on on
failure corresponding. power supply of the
is not corresponding.
controller again.
Since the data when power failure

Playback was started in the did not be saved correctly, the Please perform the Encoder Correction (with
Operational
4905 state that the basic posture position data of endless rotation axis position record method) to the axis in which Error reset. Alarm Alarm Error Error on on
failure
of any axes is not setup. has not been resumed to the data abnormalities have generated.
before power failure.
The basic position of endless rotation Please perform the Encoder reset and Correction
Operational The position of the endless
4906 axis was not able to be restored (with position record method) to the axis in which Error reset. Error Error Error Error on on
failure rotation axis is abnormal.
correctly by the mechanism change. abnormalities have generated.
The manual operation, check

operation or playback operation has
Operational Check the mechanism whose servo power is OFF,
4910 Mechanism* is servo off. been performed for a mechanism Error reset. Alarm Error Alarm Error on on
failure and turn it ON.
whose servo power has been
individually set to OFF.
Mechanisms other than the ones

Operational targeted for operation have been Review the mechanisms which have been specified
4911 SPN parameter error. Error reset. Alarm Error Alarm Error on on
failure specified in the servo ON command by the servo ON command (SPN).
(SPN).
Mechanisms other than the ones

Operational targeted for operation have been Review the mechanisms which have been specified
4912 SPF parameter error. Error reset. Alarm Error Alarm Error on on
failure specified in the servo OFF command by the servo OFF command (SPF).
(SPF).

Because robot doesn't reach the interferes in something.(2)Please confirm that the After removal of
Mechanism servo OFF
4914 Servo failure command position, servo OFF Pay-load is within the nominal rating.(3)If failure failure, please carry Error Error Error Error on on
cannot be executed.
cannot be executed. persists, the problem may be a mechanical defect out "failure-reset".
in the manipulator, contact our service department.
This error detected when the

difference between the instruction Please confirm followings to the mechansim to
The instruction value of the After removal of
Operational position and the current position which servo off is set. (1)Instruction angle is not
4915 mechanism to which servo failure, please carry Alarm Error Alarm Error on on
failure exceeds a regulated value in the changed. (2)Current angle is not changed, by the
OFF is set has changed. out "failure-reset".
mechanism to which servo OFF is external force.
set.
Since the shock sensor detected the

Emergency Shock sensor detected the
4920 collision, the robot was stopped for Cancel shock sensor by manual operation. Error reset. Alarm Error Alarm Error on on
stop failure collision.
safety.
This failure occurs when a module Please change a interporation type to [joint] or
Operational Module mechanism
4921 mechanism cannot reach the make the same the wrist axis angle of a starting Error reset. Alarm Error Alarm Error on on
failure interpolation failure.
position and the posture. point and an ending point.
This error is detected, when the

The connection mechanism
Operational Spray machine set as the first Please improve registration of the Spray machine,
4930 of the Spray machine does Error reset. Error Error Error Error off off
failure parameter is not registered or the and a setup of a connection mechanism.
not exist.
connection mechanism is not set up.
This error is detected when the

Operational The Spray machine does mechanism connected to the Spray Please record by the Spray machine number
4931 Error reset. Error Error Error Error off off
failure not belong to a current unit. machine set as the first parameter belonging to the present unit.
does not belong to the present unit.
By the case of extension

synchronization control, the rotation
shaft information over the shaft
Please reset up correctly the rotation shaft
Operational Rotation shaft information is number set as Thermal spraying
4932 information corresponding to the shaft number set Error reset. Error Error Error Error off off
failure unusual. start conditions is not set up, or this
as the Thermal spraying start conditions.
error is detected when the interval of
a start position-end position is less
than 300mm.
Emergency The abnormalities in file The abnormalities occurred in file Contact our service department. Back up files to
stop failure access. access processing. external CF memory.
1-45
Error code list

Alarm carried out

Alarm carried out number-of-times
Emergency number-of-times generating
4999 generating of regulation, and was Please fix failure from the cause of alarm. Error reset. Error Error Error Error on on
stop failure of regulation, and was
breaking down.
breaking down.
The speed of weaving trajectory has

been exceeded the regulation speed, After removal of
Arc weld The weaving trajectory Correct the distance between weaving points,
5005 since the move distance between failure, please carry Alarm Alarm Alarm Alarm on on
failure exceeded regulation speed. frequency, or speed.
weaving points is too long, or the out "failure-reset".
frequency (speed) is too high.
The amount of posture

After removal of
Arc weld change of taught weaving The amount of posture change Please correct posture change of taught weaving
failure exceeded the restriction between weaving points is too large. pattern data.
value.
Each axis angle can't be calculated. After removal of

Arc weld
5007 Pose calculation failed. The posture data specified in the Check the posture data in weaving condition. failure, please carry Alarm Alarm Alarm Alarm on on
failure
weaving condition is incorrect. out "failure-reset".
The stop time of weaving conditions

was too large at maintenance of Stop time is made small or frequency is dropped. Or
Operational Permission speed over
5008 welding time, or frequency was too please change into not carrying out welding time Error reset. Alarm Alarm Alarm Alarm on on
failure occurred.
high, and permission speed over maintenance.
occurred.
Check the welding conditions(wire extension etc).

The difference between the welding
There is possibility of missmatch the welding
The welding current value current value measured by the
Arc weld characteristic data to your environment if this failure
5010 has exceeded the allowable welding power supply and the taught Error reset. Alarm Alarm Alarm Alarm on on
failure occurs over and over again. In such case, adjust
limit. one has exceeded the allowable limit
the welding characteristic data by the adjudstment
set by the arc constants.
of welding condition function etc.

The welding voltage value voltage value measured by the
Arc weld characteristic data to your environment if this failure
5011 has exceeded the allowable welding power supply and the taught Error reset. Alarm Alarm Alarm Alarm on on
failure occurs over and over again. In such case, adjust
Turn on the welding power supply. In case the

Arc weld The welding power supply The controller couldn't communicate welding power supply has been already turned on,
failure has been turned off. with the welding power supply. check the connection of the welding power supply
to the controller.
Arc weld No arc has been generated in spite Check the workpiece's condition, wire's condition, This failure is released
5014 Arc start failure. Alarm Alarm Alarm Alarm on on
failure of retrying the arc start. and connection of the cable. if restart playback.
Eliminate all causes of arc outage, for instance by

Arc weld This failure is released
5015 Arc outage was detected. Arc outage occurred during welding. adjusting the wedling conditions, fixing wire feed Alarm Alarm Alarm Alarm on on
failure if restart playback.
failure, and so on.
Arc weld Wire stick has been This failure is released

5016 Wire has stuck. Cut stuck wire. Alarm Alarm Alarm Alarm on on
failure detected. if restart playback.
Arc weld
5017 Low gas pressure. Low gas pressure signal is inputted. Supply gas. Error reset. Alarm Alarm Alarm Alarm on on
failure
Arc weld
5018 Lack of wire was detected. Wire not fed signal is inputted. Supply wire. Error reset. Alarm Alarm Alarm Alarm on on
failure
Arc weld
5020 Lack of water was detected. Cooling water signal is inputted. Supply water. Error reset. Alarm Alarm Alarm Alarm on on
failure
The registered welding characteristic

Arc weld Arc welding characteristic Register the welding characteristic data for the
5021 data isn't for the connected welding Error reset. Alarm Alarm Alarm Alarm on on
failure data failure. using one.
power supply.
Welding voltage adjustment method

Welding voltage adjustment
Arc weld has been changed from the
5022 method can't be changed Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure synergetic control to the individual
while welding.
control, and vise versa while welding.
W.P.S failure signal is inputted, or

Arc weld Failure of the welding power Read through the welding power supply instruction
5023 failure of the welding power supply Error reset. Alarm Alarm Alarm Alarm on on
failure supply occurred. manual and eliminate all causes.
occurs.
Input voltage shortage The primary input voltage of the Refer to the instruction manual of the welding
Arc weld
5024 failure ocurred in the welding power supply has power supply(Failure Name: Input voltage Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. decreased. shortage) and eliminate all causes.
The average current used for the Refer to the instruction manual of the welding
Arc weld Output overcurrent occurred
5025 inner control of the welding power power supply (Failure Name: Output overcurrent) Error reset. Alarm Alarm Alarm Alarm on on
failure in the welding power supply.
supply exceeds the limit. and eliminate all causes.
Refer to the instruction manual of the welding

Arc weld Thermal overload occurred An internal temperature of the
5026 power supply (Failure Name: Thermal overload) Error reset. Alarm Alarm Alarm Alarm on on
failure in the welding power supply. welding power supply rises.
and eliminate all causes.
1-46
Error code list

The primary input voltage of the Refer to the instruction manual of the welding
Arc weld Input overvoltage occurred
5027 welding power supply exceeds the power supply (Failure Name: Input overvoltage) Error reset. Alarm Alarm Alarm Alarm on on
failure in the welding power supply.
threshold. and eliminate all causes.

Arc weld Loss of phase occurred in Loss of phase in the primary input of
5028 power supply (Failure Name: Loss of phase) and Error reset. Alarm Alarm Alarm Alarm on on
failure the welding power supply. the welding power supply.
eliminate all causes.
Inverter drive circuit failure The failure occurs around the Refer to the instruction manual of the welding
Arc weld
5029 occurred in the welding inverter drive circuit of the welding power supply (Failure Name: Inverter drive circuit Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. power supply. error) and eliminate all causes.
Arc voltage detection failure Arc voltage detection failure or arc Refer to the instruction manual of the welding
Arc weld
5030 occurred in the welding voltage detecting line failure power supply (Failure Name: Arc voltage detecting Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. occurred. line error/detection error) and eliminate all causes.
Microcomputer failure Refer to the instruction manual of the welding

Arc weld The failure occurs in the welding
5031 occurred in the welding power supply (Failure Name: Microcomputer Error reset. Alarm Alarm Alarm Alarm on on
failure power supply.
power supply. failure) and eliminate all causes.
Encoder failure was Failure exists in the encoder of a wire Refer to the instruction manual of the welding
Arc weld
5032 detected by the welding feed unit or encoder cables are not power supply (Failure Name: Encoder error) and Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. connected. eliminate all causes.
The failure(the connector is

Current detection line failure Refer to the instruction manual of the welding
Arc weld disconnected etc) exists in the
5033 occurred in the welding power supply (Failure Name: 9. Current detection Error reset. Alarm Alarm Alarm Alarm on on
failure current detecting cable of the
power supply. error).
welding power supply.
The gas check switch of the welding

Arc weld Gas check failure occurred Turn OFF the gas check switch of the welding
5034 power supply is ON for more than Error reset. Alarm Alarm Alarm Alarm on on
failure in the welding power supply. power supply.
two minutes without a break.
Secondaly transistor failure The surge power of the second Refer to the instruction manual of the welding
Arc weld
5035 occurred in the welding transistor for the welding power power supply (Failure Name: Secondaly transistor Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. supply is abnormally high. failure) and eliminate all causes.
Water pressure failure Refer to the instruction manual of the welding

Arc weld Cooling water flow is not sufficient
5036 occurred in the welding power supply (Failure Name: Water pressure error) Error reset. Alarm Alarm Alarm Alarm on on
failure when using a water cooled torch.
power supply. and eliminate all causes.
Secondaly transistor failure The surge power of the second Refer to the instruction manual of the welding
Arc weld
5037 occurred in the welding transistor for the robot welding power power supply (Failure Name: Secondaly transistor Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. supply is abnormally high. failure) and eliminate all causes.
The specified welding Register the welding power supply which is

Arc weld The specified welding power supply
5038 power supply can't use in specified by the task program, or modify the task Error reset. Alarm Alarm Alarm Alarm on on
failure isn't defined in this unit.
this unit. program.

A control power supply
Arc weld A control power supply failure power supply (Failure Name: (The wire feed control
5039 failure occurred in the Error reset. Alarm Alarm Alarm Alarm on on
failure occurred in welding power supply. board)Control power supply) and eliminate all
causes.
An electric detection vessel A connector inside the welding Refer to the instruction manual of the welding
Arc weld
5040 failure occurred in welding power supply may be power supply (Failure Name: The first･second Error reset. Alarm Alarm Alarm Alarm on on
failure
power supply. miss-connected. electric current error) and eliminate all causes.
The excess failure of the Refer to the instruction manual of the welding
Arc weld Inside temperature of the welding
5041 use rate occurred in welding power supply (Failure Name: The excess of the use Error reset. Alarm Alarm Alarm Alarm on on
failure power supply rises.
power supply. rate) and eliminate all causes.
A temperature failure Refer to the instruction manual of the welding

An unusual fever appears on the
Arc weld occurred in the wire feed power supply (Failure Name: The temperature
5042 wire feed control circuit of the Error reset. Alarm Alarm Alarm Alarm on on
failure control circuit ing the wrong point of the wire feed control circuit) and
welding power supply. eliminate all causes.
The wire feed load has exceeded the

Arc weld The load of wire feed A load is on the wire feeder by wear of the liner, the
5043 allowable value set in the arc Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded allowable value. chip defect, and so on. Remove the factors.
constant.
The control power supply of Failure reset, and turn

Arc weld The control power supply of the The voltage of primary power may decrease in an
5045 the welding power supply on the welding power Alarm Alarm Alarm Alarm on on
failure welding power supply was reset. instance. Check the voltage of primary power.
was reset. supply again.
If the welding characteristic data are

Arc weld The welding characteristic
5046 not installed, Arc function commands Turn on the welding power supply again. Error reset. Alarm Alarm Alarm Alarm on on
failure data are not installed.
can't be execute.
The arc characteristic can't The arc function attempted changing

Arc weld
5047 be changed while arc the arc characteristic into the Please modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure
welding. incorrect one.
The welding method of the arc
Arc weld The incorrect welding function and the welding method of
5048 Please modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure method is specified. the arc characteristic aren't the
same.
Arc weld The arc characteristic file Read file failure occurs while reading
5049 Please initialize the arc characteristic file. Error reset. Alarm Alarm Alarm Alarm on on
failure can't be read. the arc characteristic file.
Arc weld The wire feed characteristic Read file failure occurs while reading
5050 Please initialize the wire feed characteristic file. Error reset. Alarm Alarm Alarm Alarm on on
failure file can't be read. the wire feed characteristic file.
1-47
Error code list

Arc weld The arc welding wave Read file failure occurs while reading
5051 Please initialize the arc welding wave data file. Error reset. Alarm Alarm Alarm Alarm on on
failure control file can't be read. the arc welding wave control file.
Arc weld The arc constant file can't Read file failure occurs while reading
5052 Please initialize the arc constant file. Error reset. Alarm Alarm Alarm Alarm on on
failure be read. the arc constant file.
The voltage adjusting method

Arc weld Welding voltage adjustment currently taught differs from the
5053 Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure method differs. voltage adjusting method of
characteristic data.
Arc weld WCR of W-I/F had short-circuited at Please check the state of W-I/F or a welding power This failure is released
5054 WCR Short-circuit Error Alarm Alarm Alarm Alarm on on
failure the time of arc start. supply. if restart playback.
Arc weld The electrode The electrode and the work are
failure short-circuited failure. short-circuited while arc welding.
During Filler Wire heating, inside the Please check the wire inside an electric supply tip,
Arc weld The Filler Wire heating This failure is released
5057 electric supply tip, a wire melts and and the heating cable failure (contact failure, Alarm Alarm Alarm Alarm on on
failure failure. if restart playback.
was cut. broken wire).
It can consider that there was no wire

Please check the wire inside an electric supply tip,
Arc weld The Filler Wire heating in an electric supply tip, or a wire This failure is released
5058 and the heating cable failure (contact failure, Alarm Alarm Alarm Alarm on on
failure Defect. melts and was cut inside the electric if restart playback.
broken wire).
supply tip at the time of heating.
Arc weld The wire short-circuited The wire and the work are Please check the state of W-I/F, and a welding This failure is released
failure failure. short-circuited while arc welding. power supply. if restart playback.
Arc weld The heating characteristic Read file failure occurs while reading
5060 Please initialize the heating characteristic file. Error reset. Alarm Alarm Alarm Alarm on on
failure file can't be read. the heating characteristic file.
The arc condition file which is

Arc weld The arc condition file Please create the arc condition file or edit the task
5061 specified by the arc welding function Error reset. Alarm Alarm Alarm Alarm on on
failure doesn't exist. program.
doesn't exist.
The offset condition file or The offset condition file or the multi
Arc weld Please create the offset condition file or the multi
5062 the multi offset file doesn't offset file which is specified by the Error reset. Alarm Alarm Alarm Alarm on on
failure offset file, or edit the task program.
exist. multi offset function doesn't exist.
A communication failure has been

The weaving Turn on the controller
Arc weld detected between the welding power Please check connection between an extension
5063 synchronization went and the welding power Alarm Alarm Alarm Alarm on on
failure supply and the extension serial serial board and a welding power supply.
wrong. supply again.
board.
The weaving condition file which is

Arc weld The weaving condition file Please create the weaving condition file or edit the
5064 specified by the weaving function Error reset. Alarm Alarm Alarm Alarm on on
failure doesn't exist. task program.
doesn't exist.
When you turn on a feed control device or the

Arc weld The power supply of a feed Communication with a feed control
5065 power supply is already on, please check Error reset. Alarm Alarm Alarm Alarm on on
failure control device is not on. device was not completed.
connection with a feed control device.

Arc weld Pump failure occurred in the Cooling water flow is not sufficient
5066 power supply (Failure Name: Pump error) and Error reset. Alarm Alarm Alarm Alarm on on
failure welding power supply. when using a water cooled torch.
eliminate all causes.
The arc retry condition file which is

Arc weld The arc retry condition file Please create the arc retry condition file or edit the
doesn't exist.
The arc robotrs condition file which is

Arc weld The arc robotrs condition Please create the robotrs condition file or edit the
failure file doesn't exist. task program.
doesn't exist.
The robot move condition file which

Arc weld The robot move condition Please create the robot move condition file or edit
5069 is specified by the arc welding Error reset. Alarm Alarm Alarm Alarm on on
failure file doesn't exist. the task program.
function doesn't exist.
The arc rs condition file which is

Arc weld The arc rs condition file Please create the rs condition file or edit the task
failure doesn't exist. program.
doesn't exist.
power supply and eliminate all causes.(An
Arc weld Abnormality occurs by the module in
5071 The module error in WPS. abnormal number of the welding power supply has Error reset. Alarm Alarm Alarm Alarm on on
failure the welding power supply.
been described in the above-mentioned
parentheses.)
The speed failure of the
The speed failure of the wire feed
Arc weld wire feed control circuit Refer to the instruction manual of the welding
5072 control circuit occurred in the welding Error reset. Alarm Alarm Alarm Alarm on on
failure occurred in the welding power supply and eliminate all causes.
power supply.
power supply.
Input voltage shortage The primary input driver of the Refer to the instruction manual of the welding
Arc weld
5073 failure ocurred in the welding power supply has power supply(Failure Name: The primary input Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. decreased. driver) and eliminate all causes.
The cooler fan failure Refer to the instruction manual of the welding
Arc weld The cooler fan's rotation has fallen or
5074 ocurred in the welding power supply(Failure Name: The cooler fan failure) Error reset. Alarm Alarm Alarm Alarm on on
failure it stops.
A control power supply

Arc weld abnormal temperature The temperature rises in the control
5075 power supply(Failure Name: A control power supply Error reset. Alarm Alarm Alarm Alarm on on
failure occurred in the welding power supply.
abnormal temperature) and eliminate all causes.
power supply.
1-48
Error code list

Refer to the instruction manual of the servo feeder
The arc welding power
Arc weld The failure occurs in servo feeder unit and eliminate all causes.(An abnormal number
5076 supply detected abnormality Error reset. Alarm Alarm Alarm Alarm on on
failure unit. of the servo feeder unit has been described in the
of the servo feeder unit.
above-mentioned parentheses.)
Abnormality occurred by the

The controller couldn't
Arc weld communication between the arc Please confirm the connection of the arc welding
5077 communicate with the servo Error reset. Alarm Alarm Alarm Alarm on on
failure welding power supply and the servo power supply and the servo feeder unit.
feeder unit.
feeder unit.
The power supply of a gas When you turn on a gas mass flow control unit or
Arc weld Communication with a gas mass flow
5078 mass flow control unit is not the power supply is already on, please check Error reset. Alarm Alarm Alarm Alarm on on
failure control unit was not completed.
on. connection with a gas mass flow control unit.
The gas equipment file which is

Arc weld The gas equipment file Please create the gas equipment file or edit the gas
5079 specified by the gas mass flow Error reset. Alarm Alarm Alarm Alarm on on
failure doesn't exist. mass flow control data.
control file doesn't exist.
Resources were not

Operational The wait time of resource reservation Modify the wait time specified in FORK or
5080 securable at the time of Error reset. Alarm Alarm Alarm Alarm on on
failure was over. CALLFAR command.
starting.
Operational The appointed program Delete the program not to overlap with file
5081 The same number program exists. Error reset. Alarm Alarm Alarm Alarm on on
failure cannot be edited / playback. operation.
Operation or command for

Operational
5082 Multi-unit cannot be The option of Multi-unit is not set up. Please set up the option of Multi-unit. Error reset. Alarm Alarm Alarm Alarm on on
failure
executed.
Operational The unit-branch commands Some unit-branch commands were Please correct the program so that the unit-branch
failure cannot be executed. tried to execute at the same time. commands does not be executed at the same time.
A unit-branch commands FORK Please correct the program so that the unit-branch
Operational The unit-branch commands
5084 were tried to execute in the already commands does not be executed in the already Error reset. Alarm Alarm Alarm Alarm on on
failure cannot be executed.
forked program. forked program.
Communication timeout Turn the welding

Arc weld The contollor of the welding power
5085 occurred inside the welding Check the route of cable and ground connection. power supply on Alarm Alarm Alarm Alarm on on
failure supply didn't respond.
power supply. again.
Condition changing from Melt Down

There is a illegal section of
Arc weld Control to Normal Control or from No reset operations
5086 melt down control within a Please correct the taught program. Alarm Alarm Alarm Alarm on on
failure Normal Control to Melt Down neccesary.
arc welding section.
Control, is not acceptable.
Condition changing from Melt Down

There is a illegal section of
Arc weld Control to Normal Control or from No reset operations
5087 melt down control within a Please correct the taught program. Alarm Alarm Alarm Alarm on on
failure Normal Control to Melt Down neccesary.
arc welding section.
Control, is not acceptable.
Arc weld Arc welder has changed the welding Please re-designe the welding condition or the No reset operations Informa Informa Informa Informa
5088 Back bead has detected. on on
failure condtion. taught path. neccesary. tion tion tion tion
Arc weld Deviation of welding path Deviation of welding path toward No reset operations Informa Informa Informa Informa
5089 Please re-designe the taught path. on on
failure has detected. upper plate has occured. neccesary. tion tion tion tion
A move command must be inserted

Arc weld Tandem-Arc-Start-comman
5090 between preceding and trailing Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure d is incorrect.(Fe-wire)
arc-start-command.
Trailing-arc-start-command must
Arc weld Tandem-Arc-Start-comman
5091 follow preceding-arc-start-command Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure d is incorrect.(Al-wire)
continually.
Trailing-arc-start-command is taught
Arc weld The Electrode type is
5092 before Modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure incorrect.
preceding-arc-start-command.
The current execution pass Please set the step which the multipass section
Arc weld It is prohibited to start since the
5093 is in another multipass suitable for the current execution pass or change Error reset. Alarm Alarm Alarm Alarm on on
failure different offset might be applied.
section the current execution pass.
During installation of an arc welding

power supply, neither operation of
Arc weld The arc welding power Please perform again after the completion of
5094 the arc welding power supply nor Error reset. Alarm Alarm Alarm Alarm on on
failure supply is installed. installation of an arc welding power supply.
execution of playback command
can be performed.

Arc weld Motor overcurrent occurred Short circuit in the power line to the
5095 power supply (Failure Name: Motor overcurrent) Error reset. Alarm Alarm Alarm Alarm on on
failure in the welding power supply. motor or motor overload happens.
and eliminate all causes.
(1)Please cancel an emergency stop button and an

The emergency stop is input or the external emergency stop signal, and check the
The emergency is stopping
Arc weld wiring of the STOP terminals in the connection of the welding power supply to the
5096 or the welding power supply Error reset. Alarm Alarm Alarm Alarm on on
failure welding power supply is controller. (2)When the check welding is ON, you
is stopping.
disconnected. have to grasp the enable switch to cancel the
emergency stop.
1-49
Error code list

Check the workpiece's condition, wire's condition,

Arc start faiulre using RS control or connection of the cable, and RS control condition.
Arc weld Arc voltage cannot be
5097 arc voltage detection failure occurred Or refer to the instruction manual of the welding Error reset. Alarm Alarm Alarm Alarm on on
failure detected while RS control.
in the welding power supply. power supply (Failure Name: Arc voltage detection
error) and eliminate all causes.
The arc welding characteristic data

of EP mode isn't registered. Or the
Arc weld Register the correct welding characteristic data. Or
5098 EP start failure. welding voltage adjustment method Error reset. Alarm Alarm Alarm Alarm on on
failure Correct EP start condition.
of EP mode is different from EN
mode.
The arc welding power Failure reset, and turn
Arc weld The arc welding power supply cannot Please do not operate the welding power supply
5099 supply was operated during on the welding power Alarm Alarm Alarm Alarm on on
failure be operated during playback. during playback.
playback. supply again.
Arc weld EP start condition of AS function is

5100 EP start failure. Correct EP start condition. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong.
Arc weld An adjustment movement Indicate Arc-Monitor, and confirm an adjustment This failure is released
5101 Arc-Monitor isn't indicated. Alarm Alarm Alarm Alarm on on
failure start is unusual. condition. if restart playback.
Arc weld An adjustment program An start program is different from the This failure is released
5102 Start by the specified adjustment program. Alarm Alarm Alarm Alarm on on
failure choice is unusual. adjustment program. if restart playback.
The welding mode of the AS function

Arc weld Adjustment welding mode
5103 is different from the welding mode of Check the welding mode to adjust. Error reset. Alarm Alarm Alarm Alarm on on
failure wrong point.
the adjustment object.
Arc weld This failure is released

5104 Pilot arc start failure. The pilot arc was not turned on. Check the connection condition of the cable. Alarm Alarm Alarm Alarm on on
failure if restart playback.
Abnormality occurs by a plasma fine

Arc weld A plasma unit/WPS is Please see the manual of a plasma fine unit or
5105 unit or Plasma Welding Power Error reset. Alarm Alarm Alarm Alarm on on
failure abnormal. Plasma Welding Power Supply.
Supply.
Arc weld The pilot arc outage is This failure is released

5106 The pilot arc outage occurred. Check the connection condition of the cable. Alarm Alarm Alarm Alarm on on
failure abnormal. if restart playback.
Arc weld The pilot arc was not able to be

5107 Pilot arc OFF error. Check the connection condition of the cable. Error reset. Alarm Alarm Alarm Alarm on on
failure turned off.
Since the purge was turned on, the

Arc weld
5108 Pilot arc ON error. pilot arc was not able to be turned Turn off the purge. Error reset. Alarm Alarm Alarm Alarm on on
failure
on.
Arc weld The error occurs in servo The error occurs in servo wire feed Refer to the instruction manual of the servo wire
failure wire feed control unit. control unit. feed control unit and eliminate all causes.
Arc weld Retract operation was Stop retract for the protection of If you operate retract more, execute 90 seconds
failure executed over 10 seconds. Assist Feeder. later.
The synchronized control, the FC

Arc weld Stitch pulse welding control control, the slope control or the
5111 Please change the welding condition. Error reset. Alarm Alarm Alarm Alarm on on
failure error. adjustment of the WCD cannot be
executed by the stitch pulse welding.
The stitch pulse cannot weld with the

Arc weld Stitch pulse welding unit Please change the registration of the weld power
5112 unit to which two or more welding Error reset. Alarm Alarm Alarm Alarm on on
failure setting error. supply in the unit.
machines are registered.
Arc weld The WCR input signal is not

5113 WCR input signal unsetting. Please allocate the WCR input signal. Error reset. Alarm Alarm Alarm Alarm on on
failure allocated.
For the unit to which two or more

Arc weld Arc welding unit setting Please change the registration of the welding
5114 welding machines are registered, it is Error reset. Alarm Alarm Alarm Alarm on on
failure abnormality. machine in the unit.
not possible to weld.
Please check the WCR signal from "WCR OFF

Arc weld The WCR OFF time-out is WCR was not turned off in the time
5115 waiting time" of the welding constant and the Error reset. Alarm Alarm Alarm Alarm on on
failure abnormal. limit.
There is a wrong arc start

The AS command more than two
Arc weld command in the tool change
5118 passing is recorded by one Please modify the task program. Error reset. Alarm Alarm Alarm Alarm on on
failure setting welding power
mechanism.
supply.
Arc weld There is a wrong AS The Synchro or FC welding is taught Please teach again after deleteing the AS
failure command. to the AS command. command.
The arc welding power Refer to the instruction manual of the gas mass flow
Arc weld supply detected abnormality The failure occurs in gas mass flow control unit and eliminate all causes.(An abnormal
failure of the gas mass flow control control unit. number of the gas mass flow control unit has been
unit. described in the above-mentioned parentheses.)
1-50
Error code list

The difference between the gas
The gas mass flow value mass flow value measured by the Please confirm [The remainder pressure of gas
Arc weld
5121 has exceeded the allowable welding power supply and the taught cylinder, the piping of the gas, and the setting of the Error reset. Alarm Alarm Alarm Alarm on on
failure
limit. one has exceeded the allowable limit gas mass flow control unit.
set by the contloler.
The gas pressure measured in the
The gas pressure value has Please confirm the remainder pressure of gas
Arc weld arc welding power supply exceeded
5122 exceeded the allowable cylinder, the piping of the gas, and the setting of the Error reset. Alarm Alarm Alarm Alarm on on
failure the limiting value set with the
limit. gas mass flow control unit.
controller.
Please confirm the residual quantity of the gas
Arc weld The set gas mass flow is not The set gas mass flow was not
5123 cylinder, the piping of the gas, and the setting of the Error reset. Alarm Alarm Alarm Alarm on on
failure output. output in specified time.
gas mass flow control unit.
Arc weld The gas flow control unit The control data in the gas flow Please confirm the power cable of the gas flow
failure was reset. control unit was reset. control unit.
Arc weld The data to the gas flow The data set to the gas flow control
5125 Please confirm the data of the gas flow control unit. Error reset. Alarm Alarm Alarm Alarm on on
failure control unit cannot be set. unit is abnormal.
Even if passing the specified time 1.Check the error judgment delay time. 2.Check the
Zero deviation error on the
Arc weld after Gas OFF, the actual gas flow gas type and the gas pressure at main cock. 3.The
5126 gas flow control unit was Error reset. Alarm Alarm Alarm Alarm on on
failure could not restore 0 on the gas flow gas flow control unit may be damaged or broken
detected.
control unit. down. Please contact our customer service center.
It is setting which uses the Plasma

Arc weld The analog output board is Please modify setting whether to install the analog
5127 welder though the analog output Error reset. Alarm Alarm Alarm Alarm on on
failure a uninstallation. output board.
board is not installed.
After removal of
Arc weld Filler wire stick has been
5128 Filler wire has stuck. Cut stuck wire. failure, please carry Alarm Alarm Alarm Alarm on on
failure detected.
After removal of
Arc weld It was not able to detect that a filler Please check the state of a filler wire, a welding
5129 Filler touch detection failure failure, please carry Alarm Alarm Alarm Alarm on on
failure wire touched welding base metal. constant, and wiring.
Operational Welding mode option Welding mode option which is not set No reset operations
5130 Please set up a welding mode option. Alarm Alarm Alarm Alarm on on
failure un-setting up. up was used. neccesary.
Since system memory protection was effective, an

Operational Welding mode option can't Since the welding mode option is not option was not able to be written in a system No reset operations
failure use. set up correctly, it can't use. memory.Please once repeal a system memory neccesary.
protection function and start a system again.
Since the welding unit is not

Arc weld No reset operations
5132 Specified mode can't use. supporting specified mode, it can't Please use a welding unit with specified mode. Alarm Alarm Alarm Alarm on on
failure neccesary.
use.
Operational Welding mode option can't Since the welding mode option is not Please restore the welding mode option on the No reset operations
failure use. set up correctly, it can't use. welding mode option screen. neccesary.
In the arc condition file of the cycle

pulsed welding, the welding control
Arc weld Cycle pulsed welding
5134 must be "Cycle pulse" and the slope Please change the welding condition. Error reset. Alarm Alarm Alarm Alarm on on
failure control error.
condition must be specified by
"Distance".
The condition of Cycle pulsed

Arc weld Cycle pulsed welding welding is specified by 'AS' function.
failure control error. It must be specified by 'ASS'
function.
The 'ASM' function, the 'AEM'

Arc weld The multipass section is function, the 'OFFSET' function, and Please teach the 'MPS' function and the 'MPE'
failure abnormal. the 'EP' function cannot be executed function.
outside the multipass section.

Read file failure occurs while reading
Arc weld secondaly electric Please initialize the welding power supply
5137 the welding power supply secondaly Error reset. Alarm Alarm Alarm Alarm on on
failure characteristic file can't be secondaly electric characteristic file.
electric characteristic file.
read.
The first･second main The failure exists in the first･second Refer to the instruction manual of the welding
Arc weld
5138 circuit failure occurred in the main circuit of the welding power power supply (Failure Name: The first･second main Error reset. Alarm Alarm Alarm Alarm on on
failure
welding power supply. supply. circuit failure).
It is necessary to turn the The arc welding power supply cannot Turn the welding
Arc weld
5139 welding power supply on be operated if it doesn't turn on Turn the welding power supply on again. power supply on Alarm Alarm Alarm Alarm on on
failure
again. again. again.
The speed of the wire measured in

Please confirm whether an excessive load
The speed of the wire the arc welding power supply has
Arc weld contracts the wire feeder. Please contact our
5140 speed has exceeded the exceeded the allowable limit at the Error reset. Alarm Alarm Alarm Alarm on on
failure customer service center when the permissible value
allowable limit. speed of the wire that the arc welding
is large.
power supply output.
The threshold specified under the
Arc weld welding record condition was Please confirm the arc welding construction
5143 Threshold trigger Error reset. Alarm Alarm Alarm Alarm on on
failure detected in the arc welding power condition.
supply.
1-51
Error code list

The arc try condition file which is
Arc weld The arc try condition file Please create the arc try condition file or edit the
doesn't exist.
The filler feed load has exceeded the

Arc weld The load of filler feed A load is on the filler feeder by wear of the liner, the
5147 allowable value set in the arc Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded allowable value. chip defect, and so on. Remove the factors.
constant.
The arc voltage detection procedure Please set up ON "Direct arc voltage detection" of a
After removal of
Arc weld The abnormalities of arc by the side of a base material is welding constant, and please check connection of
failure voltage direct detection wrong. The arc voltage detection is the arc voltage detection line by the side of a base
needed for this welding mode. material.
After removal of
Arc weld The abnormalities in the The filler wire is not sent or it is Please check the feeding state and welding
failure filler wire feeding incomplete penetration. conditions of the filler wire.
After recording the

Sensor Sensor Function cannot be Wrong usage of sensor function is Please record sensor search function after move
5200 move step, Please Alarm Alarm Alarm Alarm on on
failure executed. detected in teaching program step.
Check Go.
Sensor This error occurs when the robot Modify(enlarge) the search range or program to No reset operations
5201 Search range exceeded. Alarm Alarm Alarm Alarm on on
failure moves beyond search range rectify error. neccesary.
This error occurs when the robot

Sensor Modify(shorten) the search range or program to No reset operations
5202 Search range is short detect the touch status within Alarm Alarm Alarm Alarm on on
failure rectify error. neccesary.
minimum search range.
Sensor This error occurs when the robot Modify(enlarge) the deviation range or program to No reset operations
5203 Deviation range exceeded. Alarm Alarm Alarm Alarm on on
failure moves beyond deviation range rectify error. neccesary.
This error occures when the sensor

Sensor Sensor number is Check that sensor settings and /or teaching
5204 number in the sensor step does not Error reset. Alarm Alarm Alarm Alarm on on
failure mismatched. programs.
meet that of the connected sensor.

Sensor The input-and-output signal
5205 input-and-output signal required for Set up an input-and-output signal. Error reset. Alarm Alarm Alarm Alarm on on
failure is not assigned.
search operation is not assigned.
Sensor This error occurs when read-out of a

5206 A deviation file is wrong. Check a deviation file. Error reset. Alarm Alarm Alarm Alarm on on
failure deviation file goes wrong.
Sensor This error occurs when the specified

5207 A deviation file is not found. Correct the file number. Error reset. Alarm Alarm Alarm Alarm on on
failure deviation file cannot be found.

Sensor Mechanism type is
5208 mechanism type in specified Correct the file number. Error reset. Alarm Alarm Alarm Alarm on on
failure mismatched.
deviation file is mismatched.
This error occurs when read-out of a

Sensor A detecting wire extension
5209 detecting wire extension file goes Check a detecting wire extension file. Error reset. Alarm Alarm Alarm Alarm on on
failure file is wrong.
wrong.
This error occurs when the specified

Sensor A detecting wire extension
5210 detecting wire extension file cannot Correct the file number. Error reset. Alarm Alarm Alarm Alarm on on
failure file is not found.
be found.

Sensor Coordinate systems are
5211 coordenate systems are not matched Correct the file number. Error reset. Alarm Alarm Alarm Alarm on on
failure mismatched.
between selected deviation files.
Search direction cannot be specified

(1)Specify the search vector. (2)When the search
Sensor because the search vector is not
5212 Cannot search. vector was already specified, modify the search Error reset. Alarm Alarm Alarm Alarm on on
failure taught, or calculating search vector
vector.
was failed.
Sensor Detected gap is exceeded beyond Check that gap amount and modify allowable value
5213 Gap Over Error reset. Alarm Alarm Alarm Alarm on on
failure maximum allowable value. if needed.
Sensor Detected gap becomes lower than Check that gap amount and modify allowable value
5214 Gap short Error reset. Alarm Alarm Alarm Alarm on on
failure minimum allowable value. if needed.
Sensor Detected groove depth is exceeded Check that groove depth amount and modify
5215 Groove depth over Error reset. Alarm Alarm Alarm Alarm on on
failure beyond maximum allowable value. allowable value if needed.
Sensor Detected groove depth becomes Check that groove depth amount and modify
5216 Groove depth short Error reset. Alarm Alarm Alarm Alarm on on
failure lower than minimum allowable value. allowable value if needed.
Sensor Detected angle1 is exceeded beyond Check that angle1 amount and modify allowable
5217 Angle1 over Error reset. Alarm Alarm Alarm Alarm on on
failure maximum allowable value. value if needed.
1-52
Error code list

Sensor Detected angle1 becomes lower Check that angle1 amount and modify allowable
5218 Angle1 short Error reset. Alarm Alarm Alarm Alarm on on
failure than minimum allowable value. value if needed.
Sensor Detected angle2 is exceeded beyond Check that angle2 amount and modify allowable
5219 Angle2 over Error reset. Alarm Alarm Alarm Alarm on on
failure maximum allowable value. value if needed.
Sensor Detected angle2 becomes lower Check that angle2 amount and modify allowable
5220 Angle2 short Error reset. Alarm Alarm Alarm Alarm on on
failure than minimum allowable value. value if needed.
(1)Check setting parameters in GFF file. (2)If you

are provided with the optional data terminal, use
Sensor
5221 Groove un-detected Groove position cannot be detected Groove Data function in RD/AD tab menu, and Error reset. Alarm Alarm Alarm Alarm on on
failure
modify the teaching program so that laser data are
properly obtained.
Sensor This error occurs when searching To short the searching time less than 2s or modify
5222 Seaching time over Error reset. Alarm Alarm Alarm Alarm on on
failure time is too long. sample rate in GFF file.
(1)Specify sensor mounting direction. (2)Execute After removal of

Sensor This error occurs when sensor
5223 Sensor mounting error the sensor calibration before executing the ZJLETP failure, please carry Alarm Alarm Alarm Alarm on on
failure mounting is not set.
command. out "failure-reset".
Sensor This error occurs when measured Check that target surface condition and/or
5224 Unstable detection Error reset. Alarm Alarm Alarm Alarm on on
failure data is unstable. measurement angle.
Sensor Out of measurement This error occurs when measured Check that target piece is located at desired
failure distance distance is out of range. position.
Sensor This error occurs when reference

5226 Reference point error Execute trial motion to get reference point. Error reset. Alarm Alarm Alarm Alarm on on
failure point is not stored.
(1)At the ZG1 start point, the workpiece must be

taught within the measurement range. (2)When the
workpiece is placed within the measurement range,
This error occurs when the laser adjust the angle of laser against the workpiece, and
Sensor
5227 ZG1 workpiece undetected reflection beam is not sufficiently constantly light the distance LED on laser head. Error reset. Alarm Alarm Alarm Alarm on on
failure
received in ZG1 starting. (3)If you are provided with the optional data
terminal, use RD/AD tab menu, and check that
always 206 or higher laser beam in the LEVEL
display is received.
Sensor This error occurs when wrong data is

5228 Gap file error Check the contents in gap file. Error reset. Alarm Alarm Alarm Alarm on on
failure detected in gap file.

5229 No gap file Check the gap file number. Error reset. Alarm Alarm Alarm Alarm on on
failure gap file is not exist.

5230 Gff file error Check that contents in GFF file. Error reset. Alarm Alarm Alarm Alarm on on
failure detected in GFF file.

5231 No gff file Check that GFF file number. Error reset. Alarm Alarm Alarm Alarm on on
failure GFF file is not exist.
This error occurs when there is no Turn on the sensor unit. In case the sensor unit has
Sensor Sensor disconnected (Laser
5232 communication between laser been already turned on, check the connection of the Error reset. Error Error Error Error on on
failure search)
sensor and RC. sensor unit to the controller.
Sensor occurred between the This error occurs when there is no Check the connection of the sensor unit to the
5233 and the sensor unit Error Error Error Error on on
failure controller and the sensor response from Laser Sensor Unit. controller.
again.
unit

5234 Sensor condition file error Check that contents in LSF or LSR file. Error reset. Alarm Alarm Alarm Alarm on on
failure detected in LSF or LSR file.
Sensor Sensor condition file is not This error occurs when specified LSF
5235 Check that LSF or LSR file number. Error reset. Alarm Alarm Alarm Alarm on on
failure exist. or LSR file is not exist.
Sensor This failure occurs when the error is

5236 Sensor Failure Check the sensor status by WinUser. Error reset. Error Error Error Error on on
failure issued from the sensor controller
This failure occurs when the start

Sensor (1)Check the groove recognization by WinUser.
5237 Start Point un-detected point is not detected during ZF Error reset. Alarm Alarm Alarm Alarm on on
failure (2)Enlarge the ZF maximum search range.
search.
Do not modify the position and posture of the robot

Sensor Cannot restart during seam
5238 Cannot restart during seam tracking. when the robot is stopped in ZT period if the Error reset. Alarm Alarm Alarm Alarm on on
failure tracking.
restarting is required.
1-53
Error code list

This error occurs when the distance
Check detected position. If no problems exist,
Sensor ZF Deviation range between the detected start point and
5239 moodify(enlarge) the ZF deviation range parameter Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded ZF taught point exceeded the
or program to rectify error.
deviation range.
Sensor This error occurs when the robot Modify(enlarge) the search range or program to
5240 ZF search range exceeded Error reset. Alarm Alarm Alarm Alarm on on
failure moves beyond search range rectify error.
This error occurs when the robot Check the target position If no problems exist,
Sensor ZT Position Deviation range
5241 moves beyond Position deviation moodify(enlarge) the ZT parameters or program to Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded
range rectify error.
Sensor This error occurs when the setting

5242 ZN offset range exceeded Modify(enlarge) the ZN offset to rectify error. Error reset. Alarm Alarm Alarm Alarm on on
failure offset is beyond the range

Sensor Modify(enlarge) the ZN search range or program to
5243 ZN Search range exeeced. moves beyond search range during Error reset. Alarm Alarm Alarm Alarm on on
failure rectify error.
ZN.
Sensor End point of workpiece is not Modify(enlarge) ZN search range or program to

5244 End point un-detected Error reset. Alarm Alarm Alarm Alarm on on
failure detected. rectify error.

Check the detected point. If no problems exist,
Sensor between the detected end point and
5245 Deviation range exceeded. Modify(enlarge) the deviation range or program to Error reset. Alarm Alarm Alarm Alarm on on
failure taught point before ZE exceeded the
rectify error.
deviation range.
Sensor
5246 Laser ON Failed Laser is not activated. Turn on the Laser by ZON or manual operation. Error reset. Alarm Alarm Alarm Alarm on on
failure
Sensor ZF/ZT/ZJ will be performed before 3 Wait 3 seconds or longer after ZON was performed
5247 Laser is not ready. Error reset. Alarm Alarm Alarm Alarm on on
failure seconds after ZON is carried out. before ZF/ZT/ZJ.
There is no move command

immediately after ZN command to
which a move command or ZT
Sensor Error in instruction of ZN
5248 command does not exist before ZN Please improve instruction. Error reset. Alarm Alarm Alarm Alarm on on
failure command.
command, or it is [ that two or more
move commands are taught between
ZN - ZE, etc. and ] a factor.
This error occurs when the robot Check the target posture If no problems exist,
Sensor ZT Posture Deviation range
5249 moves beyond Posture deviation moodify(enlarge) the ZT parameters or program to Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded
Turn on the sensor unit. In case the sensor unit has

Sensor The controller couldn't communicate
5250 Sensor disconnected been already turned on, check the connection of the Error reset. Alarm Alarm Alarm Alarm on on
failure with the sensor unit.
sensor unit to the controller.
Error is activated when the case that

Correction amount by Check that currect torch position. If it is OK, extend
Sensor correction amount by the sensor
5251 arc-sensor exceeds the value CHASING RANGE in teaching parameter. Error reset. Alarm Alarm Alarm Alarm on on
failure exceeds the specified value in
specified value. If it is NG, try to adjust sensor parameters.
teaching parameter.
Calculation turns to This error is activated when stability

Sensor
5252 unstable during arc-sensing of welding arc decreased Check that welding condition to be stable. Error reset. Alarm Alarm Alarm Alarm on on
failure
process. significantly.
This error is activated when the

deviation detection cannot be
Sensor Welding position cannot be
5253 calculated during arc-sensing Try to re-adjust sensing parameters. Error reset. Alarm Alarm Alarm Alarm on on
failure detected
process. Note that position
correction is not executed.
Wire-feeding status turn to unstable.

Sensor
5254 Unstable wire-feeding. Deviation is lager than specified Check that equipments for wire feeding. Error reset. Alarm Alarm Alarm Alarm on on
failure
value.
Sensor The instruction parameter of ST It improves whether each parameter is setting

5255 ST parameter error. Error reset. Alarm Alarm Alarm Alarm on on
failure command is over the setting range. within the limits.
Sensor The ET command less ET command is not taught after ST

5256 Please teaching ET command. Error reset. Alarm Alarm Alarm Alarm on on
failure program was performed. command.
Sensor Abnormalities were found in An appointed basic data file does not
5257 Please check a basic data file with a service menu. Error reset. Alarm Alarm Alarm Alarm on on
failure the parameter of basic data. exist or a file cannot be read.
1-54
Error code list

Sensor Error in instruction of ZG1 ZG1 command in the weaving

5258 Please improve instruction. Error reset. Alarm Alarm Alarm Alarm on on
failure command. section cannot be executed.
At the start-point detection In the start-point detection section or

or in the tracking section, the tracking section in Specify all the move commands, right before ZF
Sensor
5259 the move command with no Synchromotion system, the move command, in ST~ET section and in ZT~ZE section Error reset. Alarm Alarm Alarm Alarm on on
failure
Synchromotion teaching command is not taught as to Synchromotion teaching ("H").
(without "H") was found. Synchromotion teaching ("H").
(1)Release Emergency Stop Button on the Laser

After removal of
Sensor Stop signal is input into the laser Sensor Unit. (2)Close the Emergency Stop Alarm
5260 Sensor stop signal input. failure, please carry Alarm Alarm Alarm Alarm on on
failure sensor unit. Input loop connected to CN2 on the laser sensor
unit.
(1)Check that LASER power is ON. (2)Check the

cable between Laser Sensor Unit and Sensor Head After removal of
Sensor
5261 Groove un-detected. Groove cannot be detected. is connected properly. (3)Check the cable between failure, please carry Alarm Alarm Alarm Alarm on on
failure
Robot Controller and Laser Sensor Unit is out "failure-reset".
connected properly.
(1)Adjust the stability of groove detection by

The distance corrected by the sensor WinUser. (2)Check the cable between Robot After removal of
Sensor Torch moving distance
5262 within 1 interpolation time was Controller and Laser Sensor Unit is connected failure, please carry Alarm Alarm Alarm Alarm on on
failure over.
exceeded over the internal distance. properly. In addition, also check the sensor head out "failure-reset".
cable.
Sensor This error occurs when specified

5263 No SFM file Check SFM file number. Error reset. Alarm Alarm Alarm Alarm on on
failure SFM file is not exist.

5264 SFM file error Check that contents in SFM file. Error reset. Alarm Alarm Alarm Alarm on on
failure detected in SFM file.
There is no move command

immediately after DE command to
which a move command or ST
Sensor Error in instruction of DE
5265 command does not exist before DE Please improve instruction. Error reset. Alarm Alarm Alarm Alarm on on
failure command.
command, or it is [ that two or more
move commands are taught between
DE - ET, etc. and ] a factor.
This error occurs when the order of (1)Modify the AS speed so that it is close to the
Sensor
5266 DE Corrected point failure DE corrected point and ET taught proper one.(2)Modify DE taught point so that the Error reset. Alarm Alarm Alarm Alarm on on
failure
point are exchanged by tracking. distance between DE and ET taught point is longer.
JOINT command cannot be Modify JOINT command in the teaching section (ST
Sensor JOINT command exists in
5267 executed in the tracking sensor ～ET, ZF～ZT～ZN～ZE) of tracking sensor to LIN Error reset. Alarm Alarm Alarm Alarm on on
failure tracking section.
section. command or CIR1/CIR2 command.
Sensor Sensor Function cannot be An error is in a connection setup of a Please check a constant setup and instruction of a No reset operations
failure executed. sensor and a mechanism. sensor. neccesary.
Modify () the ZN mamimum distance so that the

Sensor ZN Search destination point point extended ZN maximum distance from the
5269 moves beyond Software Limit range Error reset. Alarm Alarm Alarm Alarm on on
failure is exceeded range. previous point of ZE is within the robot working
by ZN search.
range.
(1)Specify the AS speed properly so that it will not
This error occurs when the tracking
Sensor The tracking speed is a become negative by Adaptive Control. (2)Connect
5270 speed is set to a negative value by Error reset. Alarm Alarm Alarm Alarm on on
failure negative value. WinUser to the sensor, and review the setting "gap
speed change of Adaptive Control.
- speed" in the spread sheet.
Error in instruction of ZE
Sensor This error occurs when ZT command
5271 command outside tracking Modify ZT or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure according to ZE does not exist.
section
This error occurs when continuous

Sensor Continuous ZT commands
5272 ZT commands have same sensor Check each sensor number of ZT command. Error reset. Alarm Alarm Alarm Alarm on on
failure have same sensor number.
number.

Sensor Continuous ZN commands
5273 ZN commands have same sensor Check each sensor number of ZN command. Error reset. Alarm Alarm Alarm Alarm on on
number.

Sensor Continuous ZE commands
5274 ZE commands have same sensor Check each sensor number of ZE command. Error reset. Alarm Alarm Alarm Alarm on on
number.
This error occurs in case that ZN

Sensor ZN command according to commands for all laser sensors is not
5275 Modify ZN commands. Error reset. Alarm Alarm Alarm Alarm on on
failure ZT does not exist. instructed when the tracking by the
plural laser sensors are performed.
Sensor ZE command according to This error occurs when ZE command

5276 Modify ZT or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure ZT does not exist. according to ZT is not instructed.
Sensor ZT command according to This error occurs when ZT command

5277 Modify ZT or ZN command. Error reset. Alarm Alarm Alarm Alarm on on
failure ZN does not exist. according to ZN is not instructed.
1-55
Error code list

Sensor ZT command according to This error occurs when ZT command

5278 Modify ZT or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure ZE does not exist. according to ZE is not instructed.
ZT command exists in the This error occurs when ZT command

Sensor
5279 section of continuous ZN or is instructed just after ZN or ZE Modify ZT, ZN or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure
ZE commands. command.
ZN command exists in the This error occurs when ZN command

Sensor
5280 section of continuous ZT or is instructed just after ZT or ZE Modify ZT, ZN or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure
ZE commands. command.
ZE command exists in the This error occurs when ZE command

Sensor
5281 section of continuous ZT or is instructed just after ZT or ZN Modify ZT, ZN or ZE command. Error reset. Alarm Alarm Alarm Alarm on on
failure
ZN commands. command.
This error occurs when both settings

Abnormal setting of
Sensor of External I/O detection in the Modify the setting of External I/O detection in each
5282 ON/OFF of External I/O Error reset. Alarm Alarm Alarm Alarm on on
failure continuous ZN instructions are not ZN command.
detection in ZN commands.
same.
This error occurs when both settings

Abnormal setting of input
Sensor of input port number of External I/O Modify the setting of input port number of External
5283 port number of External I/O Error reset. Alarm Alarm Alarm Alarm on on
failure detection in the continuous ZN I/O detection in each ZN command.
detection in ZN commands.
instructions are not same.
This error occurs when both

Abnormal setting of
Sensor parameters of "Maximum distance"
5284 "Maximum distance" in ZN Modify "Maximum distance" in each ZN command. Error reset. Alarm Alarm Alarm Alarm on on
failure in the continuous ZN instructions are
commands.
not same.
This error occurs if a reference

Sensor A reference position has not Teach a reference position by executing manual
5285 position is not taught when executing Error reset. Alarm Alarm Alarm Alarm on on
failure been taught. operation, macro-execution or trial operation.
SF2/ZF2.
When executing SF2/ZF2, an To make a reference to the dummy point, modify

Sensor An undefined dummy point
5286 undefined dummy point was the patterned search macro so that the dummy Error reset. Alarm Alarm Alarm Alarm on on
failure is being referred.
attempted to be referred. point can be referred after defined.
Since a vector is not taught, the

Sensor
5287 A vector is not taught. motion direction of patterned search Teach a vector (both its start point and end point). Error reset. Alarm Alarm Alarm Alarm on on
failure
cannot be operated.
An undefined temporary When executing SF2/ZF2, an To make a reference to a temporary buffer point,
Sensor
5288 buffer point is being undefined temporary buffer point modify the patterned search macro so that the Error reset. Alarm Alarm Alarm Alarm on on
failure
referred. was attempted to be referred. temporary buffer point can be referred after defined.
(1)The motion start/end point of S

(search) command or M (move)
A vector cannot be defined command are the same. (2)When (3)Check the vector specified by the temporary
Sensor
5289 or identified when executing executing the vector intersection buffer point in each command, and remove the Error reset. Alarm Alarm Alarm Alarm on on
failure
SF2/ZF2. operation mode (a=1) by L (vector errors.
calcuation) command, two kinds of
vector are identical.
Parameter settings for the patterned Review the contents of the patterned search macro
Sensor Logic error of the patterned
5290 search macro are fault, which causes and parameter settings for the patterned search Error reset. Alarm Alarm Alarm Alarm on on
failure search macro.
a SF2/ZF2 execution failure. (including the set point).
Review the contents of the patterned search macro

A search target point of S (search)
and parameter settings for the patterned search
Sensor An operation error occurred command or a motion target point of
5291 (including the set point) so that the search target Error reset. Alarm Alarm Alarm Alarm on on
failure when executing SF2/ZF2. M (move) command were not able to
point and the motion target point can be got within
be obtained.
the robot motion range.

Sensor Modify(enlarge) the DE search range or program to
5292 DE Search range exeeced. moves beyond search range during Error reset. Alarm Alarm Alarm Alarm on on
failure rectify error.
DE.
This error occurs when the command

Sensor The command of teaching
5293 not permitted has been taught in Review the teaching in ZF-ZT and ZF-ZE section. Error reset. Alarm Alarm Alarm Alarm on on
failure prohibition in ZF and after
ZF-ZT and ZF-ZE section.
Welding current specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding current adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is
failure over current watch value of adaptive OK, increase maximum current watch value of
control. adaptive control.
Sensor Adaptive welding current adaptive control becomes lower than sensor controller by WinUser. If the spreadsheet is
failure short minimum current watch value of OK, decrease minimum current watch value of
adaptive control. adaptive control.
1-56
Error code list

Welding voltage specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive welding voltage adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is
failure over voltage watch value of adaptive OK, increase maximum voltage watch value of
Sensor Adaptive welding voltage adaptive control becomes lower than sensor controller by WinUser. If the spreadsheet is
failure short minimum voltage watch value of OK, decrease minimum voltage watch value of
Check the lists of the specified spreadsheet in the

Travel speed specified by adaptive
Sensor sensor controller by WinUser. If the spreadsheet is
5298 Adaptive travel speed over control exceeds maximum speed Error reset. Alarm Alarm Alarm Alarm on on
failure OK, increase maximum speed watch value of
watch value of adaptive control.
adaptive control.
Travel speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor control becomes lower than sensor controller by WinUser. If the spreadsheet is
5299 Adaptive travel speed short Error reset. Alarm Alarm Alarm Alarm on on
failure minimum speed watch value of OK, decrease minimum speed watch value of
Auto An error is in the record method of an Please record an automatic calibration function After recording the
Auto Calibration function
5300 Calibration automatic calibration related behind a move command.Or please choose a move step, Please Alarm Alarm Alarm Alarm on on
can not be carried out.
failure function. mechanism correctly. Check Go.
Auto CALIBROB(FN702) cannot be

Other units are running Please perform CALIBROB (FN702) again after
5301 Calibration performed while running the program Error reset. Alarm Alarm Alarm Alarm on on
program. stopping all units.
failure of other units.
Auto The amount of compensation of joint Please acquire a measuring point again after
The maximum Informa Informa
5302 Calibration offset or a tool parameter is over the correcting a gap of a robot using a torch gauge or a Error reset. Alarm Alarm on on
compensation value error. tion tion
failure maximum set up by the constant. point mark.
Auto
The maximum search This error occurs when the robot Modify(enlarge) the search range or program to No reset operations
5303 Calibration Alarm Alarm Alarm Alarm on on
distance error. moves beyond search range rectify error. neccesary.
failure
Auto The reference point for

This error occurs when reference No reset operations
5304 Calibration automatic calibrations is not Please acquired reference points. Alarm Alarm Alarm Alarm on on
points are not acquired. neccesary.
failure acquired.
Auto
Reference point Orientation This error occurs when the "A" and Please make "A" and "B" points into the same No reset operations
error. "B" points have different orientation. orientation. neccesary.
failure
It becomes this error when the

Auto Reference point orientation Please make the same the orientation of B points of
orientation of the reference point at No reset operations
5306 Calibration error(At the time of the A1, B1 point, A points of the direction search of Z or Alarm Alarm Alarm Alarm on on
the time of the direction search of Z neccesary.
failure direction search of Z). A2, B-2 point, and the direction search of Z.
differs from A1, B1 or A2, and B-2.
Auto This error occurs when the auto

The auto calibration sensor Please register an automatic calibration sensor by
5307 Calibration calibration sensor required for Error reset. Alarm Alarm Alarm Alarm on on
is not registered. constant setup.
failure search operation is not set up.
Auto This error occurs when the

The input-and-output signal
5308 Calibration input-and-output signal required for Set up an input-and-output signal. Error reset. Alarm Alarm Alarm Alarm on on
is not set up.
failure search operation is not set up.
Auto
Please set up constant data again or perform
5309 Calibration File reading error. A condition file cannot be read. Error reset. Alarm Alarm Alarm Alarm on on
initialization.
failure
Auto The abnormalities in an

The parameter in an automatic
5310 Calibration automatic calibration Please set up a constant file correctly. Error reset. Alarm Alarm Alarm Alarm on on
calibration constant file is unusual.
failure parameter.
Auto
Automatic calibration It has not accessed whether a
5311 Calibration Please enable it to create a measurement file. Error reset. Alarm Alarm Alarm Alarm on on
measurement file error. measurement file could be created.
failure
Reliability is not in the measured

Auto The abnormalities in
data. There is a possibility that the
5312 Calibration automatic calibration Please perform reference point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
sensor might incorrect-detect or a
failure correct.
totter may be in attachment of a tool.
Auto
The abnormalities in work Abnormalities occurred at the time of
5313 Calibration Please perform reference point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
program compensation. work program compensation.
failure
Auto
The abnormalities in work Abnormalities occurred at the time of No reset operations Informa Informa Informa Informa
5314 Calibration It is not especially. on on
program compensation. work program compensation. neccesary. tion tion tion tion
failure
Auto Since a robot's position is shifted Please acquire a measuring point again after
A robot's position is shifted
5315 Calibration greatly, measurement is correcting a gap of a robot to the range which can Error reset. Alarm Alarm Alarm Alarm on on
greatly.
failure uncontinuable. be measured using a torch gauge or a point mark.
Auto The gap of a robot was detected in

All measuring points are not
5316 Calibration the state where all measuring points Please measure all measuring points. Error reset. Alarm Alarm Alarm Alarm on on
acquired.
failure have not measured.
1-57
Error code list

Auto
CALIBROB (FN702) cannot Datum point acquisition mode Informa Informa
5317 Calibration It is not especially. Error reset. Alarm Alarm on on
be performed. CALIBROB (FN702) was performed. tion tion
failure
Auto It becomes this error when the

Modify(enlarge) the search range or program to
5318 Calibration Cannot search. inputted search operation distance is Error reset. Alarm Alarm Alarm Alarm on on
rectify error.
failure too large.
Auto
The minimum search This error occurs when the robot Modify(enlarge) the search range or program to No reset operations
distance error. moves beyond search range rectify error. neccesary.
failure

5320 Calibration calibration compensation at Please perform measuring point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
failure the time of remeasurement.
Although the all-points measurement

Auto
The quick checki point is not of the quick checki point is not
5321 Calibration Please measure the quick checki point again. Error reset. Alarm Alarm Alarm Alarm on on
measured. carried out, MESPOS (FN700) was
failure
performed.
Auto
Reference point was not taken from Please perform taking reference point from point
5322 Calibration Reference point error. Error reset. Alarm Alarm Alarm Alarm on on
point 1Q. 1Q.
failure
Auto
Reference point was not taken from Please perform taking reference point from point
5323 Calibration Reference point error. Error reset. Alarm Alarm Alarm Alarm on on
point 1A. 1A.
failure
This error occurs when the "A" and

Auto "B" points have different orientation.
Measuring point Orientation No reset operations
5330 Calibration There is a possibility that the sensor Please perform measuring point acquisition again. Alarm Alarm Alarm Alarm on on
error. neccesary.
failure might incorrect-detect or a totter may
be in attachment of a tool.
It becomes this error when the

orientation of the measuring point at
Auto Measuring point orientation the time of the direction search of Z
No reset operations
5331 Calibration error(At the time of the differs from A1, B1 or A2, and Please perform measuring point acquisition again. Alarm Alarm Alarm Alarm on on
neccesary.
failure direction search of Z). B-2.There is a possibility that the

5332 Calibration automatic calibration Please perform measuring point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
failure correct.
Auto
The abnormalities in work Abnormalities occurred at the time of
5333 Calibration Please perform measuring point acquisition again. Error reset. Alarm Alarm Alarm Alarm on on
program compensation. work program compensation.
failure
Auto
Measuring point was not taken from Please perform taking measuring point from point
5334 Calibration Measuring point error. Error reset. Alarm Alarm Alarm Alarm on on
point 1Q. 1Q.
failure
Auto
Measuring point was not taken from Please perform taking measuring point from point
5335 Calibration Measuring point error. Error reset. Alarm Alarm Alarm Alarm on on
point 1A. 1A.
failure
This error occurs when the minimum

value of speed monitoring value
Sensor Abnormal setting of the Review the minimum and maximum value of the
5400 exceeds the maximum value in the Error reset. Alarm Alarm Alarm Alarm on on
failure speed monitoring range speed monitoring value.
condition settings for the adaptive
control.

value of current monitoring value
failure current monitoring range current monitoring value.
control.

value of voltage monitoring value
failure voltage monitoring range voltage monitoring value.
control.
An illegal setting change of an

adaptive condition was done in the
tracking section. Effective and the Please confirm the specified LSR file number.
Sensor Adaptive condition setting
5403 invalidity of an adaptive control Please confirm the content of the LSR file set when Error reset. Alarm Alarm Alarm Alarm on on
failure error
cannot be switched in the tracking the specified number is correct.
section, and the number of samples
of moving averages be changed.
1-58
Error code list

Weaving amplitude specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive weaving amplitude adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is
failure over amplitude watch value of adaptive OK, increase maximum amplitude watch value of
This error occurs when the difference

between the target posture Check the target posture If no problems exist,
Sensor ZF Posture Deviation range
5406 calculated by ZF instruction and the moodify(enlarge) the ZF parameters or program to Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded.
taught posture exceeds Posture rectify error.
deviation range.
Target position calculated by ZN

Sensor Maximum distance in ZN command is out of the movable area
5408 Decrease the maximum distance in ZN command. Error reset. Alarm Alarm Alarm Alarm on on
failure command is too long. because Maximum distance in ZN
command is too long.
(1)Modify(enlarge) stable waiting time to rectify

error. (2)Modify the teaching point so that the
Sensor The stability waiting time was groove is within the field of view of laser. (3)When
5410 Stability waiting time over Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded. the groove is within the field of view, modify the
parameters by the software attached to the sensor
so that the groove is detected normally.

Sensor ZJ Deviation range between the detected point and ZJ
5411 modify(enlarge) the ZJ deviation range parameter Error reset. Alarm Alarm Alarm Alarm on on
failure exceeded reference point exceeded the
deviation range.
Wire Speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor control exceeds maximum wire sensor controller by WinUser. If the spreadsheet is
5412 Adaptive Wire Speed Over Error reset. Alarm Alarm Alarm Alarm on on
failure speed watch value of adaptive OK, increase maximum wire speed watch value of
Wire speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor control becomes lower than sensor controller by WinUser. If the spreadsheet is
5413 Adaptive Wire Speed Short Error reset. Alarm Alarm Alarm Alarm on on
failure minimum wire speed watch value of OK, decrease minimum wire speed watch value of
Sensor Detected area is exceeded beyond Check the area watch value(maximum) and enlarge
5414 Area Over Error reset. Alarm Alarm Alarm Alarm on on
failure maximum allowable value. if needed.
Sensor Detected area becomes lower than Check the area watch value(minimum) and
5415 Area Short Error reset. Alarm Alarm Alarm Alarm on on
failure minimum allowable value. decrease if needed.
Sensor Detected mismatch is exceeded Check the mismatch watch value(maximum) and
5416 Mismatch Over Error reset. Alarm Alarm Alarm Alarm on on
failure beyond maximum allowable value. enlarge if needed.
Sensor Detected mismatch becomes lower Check the mismatch watch value(minimum) and
5417 Mismatch Short Error reset. Alarm Alarm Alarm Alarm on on
failure than minimum allowable value. decrease if needed.
It differs from the position in which

Sensor Search position was Please execute the trial movement or the edit, and
5418 search position obtained reference Error reset. Alarm Alarm Alarm Alarm on on
failure changed. get reference position again.
position.
SF8 Max. Contents of the register specified in Check contents of the register specified in SF8. If
Sensor
5419 Compensative-Surveilance SF8 exceeded beyond Max. there is no problem, increase Max. Error reset. Alarm Alarm Alarm Alarm on on
failure
val. Over Compensative-Surveilance val. Compensative-Surveilance val. in SF8.
SF8 Min. Contents of the register specified in Check contents of the register specified in SF8. If
Sensor
5420 Compensative-Surveilance SF8 becomes lower than Min. there is no problem, decrease Min. Error reset. Alarm Alarm Alarm Alarm on on
failure
val. Short Compensative-Surveilance val. Compensative-Surveilance val. in SF8.
Contact our service department. Back up files to

It leaves the final instruction position
Sensor The touch detection point is external CF memory. Because the robot stop step Turn on the power
5421 too much the position in which the Alarm Alarm Alarm Alarm on on
failure abnormal. is different to the execute step, step-set must be again.
touch signal was detected.
needed for restart.
1-59
Error code list


EN ratio specified by adaptive control
5422 Adaptive EN Ratio Over exceeds maximum EN ratio watch Error reset. Alarm Alarm Alarm Alarm on on
failure OK, increase maximum EN ratio watch value of
value of adaptive control.
adaptive control.

5423 Adaptive EN Ratio Short becomes lower than minimum EN Error reset. Alarm Alarm Alarm Alarm on on
failure OK, decrease minimum EN ratio watch value of
ratio watch value of adaptive control.
adaptive control.

value of EN ratio monitoring value
Sensor Abnormal setting of the EN Review the minimum and maximum value of the EN
failure Ratio monitoring range ratio monitoring value.
control.

Abnormal setting of the value of Wire speed monitoring value
Sensor Review the minimum and maximum value of the
5425 Wire speed monitoring exceeds the maximum value in the Error reset. Alarm Alarm Alarm Alarm on on
failure Wire speed monitoring value.
range condition settings for the adaptive
control.
Sensor Detected Normal angle is exceeded Check that Normal angle amount and modify
5426 Normal Angle Over Error reset. Alarm Alarm Alarm Alarm on on
failure beyond maximum allowable value. allowable value if needed.
Sensor Detected Normal angle becomes Check that Normal angle amount and modify
5427 Normal Angle Short Error reset. Alarm Alarm Alarm Alarm on on
failure lower than minimum allowable value. allowable value if needed.
This error occurs when the sensor

Sensor Check that sensor settings and /or teaching
5428 Sensor kind is mismatched. kind in the sensor step does not Reset failure. Alarm Alarm Alarm Alarm on on
failure programs.
meet that of the connected sensor.
(1) Please correct specified Aim Angle and Lad

Angle. (2) Please confirm whether detected Joint
The target position and posture were Normal Angle is an expected angle with the GAP
The target position and
Sensor not able to be calculated according file. It is likely to become Joint Normal not
5429 posture cannot be Error reset. Alarm Alarm Alarm Alarm on on
failure to the detection value of the sensor, anticipated according to the state of Groove. (3) It is
calculated.
taught aim angle and the lag angle. likely to become this abnormality when the absolute
amount of the offset is too large at two point search.
Please reduce it in that case.
Error occurs when it is not able to

Playback unavailable user
Operational start user task program ,because
5430 task program because it is Please confirm the starting condition of user task. Error reset. Alarm Alarm Alarm Alarm on on
failure used all user task or not exist user
being used all user task.
task program.
Sensor Tracking condition file The condition file specified by the Please create the tracking condition file or edit the
failure doesn't exist. tracking function doesn't exist. program.
For the traveling direction of the

Sensor Tracking direction cannot torch is parallel to the direction of
5440 Please change tracking coordinates. Error reset. Alarm Alarm Alarm Alarm on on
failure be defined. gravity, tracking direction cannot be
defined.
Please correspond whether to lengthen the welding
Test Trackinig was not able to be length or to slow down the speed or to raise the
Sensor The welding length of Test No reset operations
5441 completed normally, because the weaving frequency or to reduce one section Alarm Alarm Alarm Alarm off on
failure Tracking is insufficient. neccesary.
welding length was insufficient measurement frequency of the Test Tracking
setting.
Sensor Test Tracking is discontinued for No reset operations

5442 Test Tracking is stopped. Please OFF both sensor and weaving. Alarm Alarm Alarm Alarm off on
failure sensor OFF or weaving OFF. neccesary.
Reboot robot controller. Still, there is a possibility

Sensor Data was not able to be sent to the Turn on the power
5443 Data Sending Error. that the increase serial board has been damaged Alarm Alarm Alarm Alarm on on
failure sensor. again.
when not released.
(1)Please confirm the connection of the cable

Sensor NAK frame was received from the between the robot controller system and the arc
5444 Sensor Receive Data Error. Error reset. Alarm Alarm Alarm Alarm on on
failure sensor. sensor unit. (2)Still, when it is not released, Control
power supply is re-switched on.

After removal of
Sensor An abnormal frame was received between the robot controller system and the arc
5445 Sensor Send Data Error. failure, please carry Alarm Alarm Alarm Alarm on on
failure from the sensor. sensor unit. (2)Still, when it is not released, Control

After removal of
Sensor Response command from the sensor between the robot controller system and the arc
5446 No Sensor Response. failure, please carry Alarm Alarm Alarm Alarm on on
failure was not able to be received. sensor unit. (2)Still, when it is not released, Control
1-60
Error code list

After removal of
Sensor
5447 Sensor ID error. Illegal Sensor ID. Please confirm the sensor setting. failure, please carry Alarm Alarm Alarm Alarm on on
failure
The controller could not Reboot robot controller and sensor unit. In case that
Sensor The controller could not Reboot robot controller
5448 communicate with the the error still occurs after rebooting, check the Error Error Error Error on on
failure communicate with the sensor unit. and sensor unit.
Sensor unit. connection of the sensor unit to the controller.
The result of an online modification Please set 0 to current response after executing the
Sensor ST instruction or the sample
5449 cannot be applied to the sample test tracking. If TIG-AVC, set 0 to arc standard Error reset. Alarm Alarm Alarm Alarm on on
failure data file is wrong.
data. voltage.
Please confirm whether the extended Ethernet

card is correctly installed. Or, please confirm
whether the MAC address is correctly set. Still,
Sensor It failed in the start of extended there is a possibility that the version of OS is old
5450 Extended Ethernet Error Reset failure. Alarm Alarm Alarm Alarm on on
failure Ethernet. when this abnormality occurs. Please contact our
service department after confirming the version
number of OS etc. Back up files to external CF
memory.
Please confirm whether the protective lens is

Sensor Abnormality concerning the lens was
5451 Sensor Lens Error correctly installed. Please wipe dirt off when the Reset failure. Alarm Alarm Alarm Alarm on on
failure detected with the sensor camera.
protective lens is dirty or exchange it for a new lens.
Please treat it according to the instruction of the

manual when abnormality is displayed on the
display of the sensor.Please put the power supply
The sensor detected the error
Sensor of the sensor and the controller again when
5452 Sensor Interface Error concerning the telecommunication Reset failure. Alarm Alarm Alarm Alarm on on
failure abnormality is not displayed. Please contact our
control.
service after confirming the version of the sensor
and the controller when same abnormality is
displayed afterward.
Please drop the power supply of the sensor, and

An internal abnormal temperature
Sensor put time for a while at once. Please turn on the
5453 Sensor Hot Alarm was detected with the sensor Reset failure. Alarm Alarm Alarm Alarm on on
failure power supply again after falling the temperature of
camera.
the camera.
Please execute it after turning on the laser light.

Please check whether cables are correctly
Sensor
5454 Laser OFF The Laser is disabled. connected when it doesn't turn on the laser light. Reset failure. Alarm Alarm Alarm Alarm on on
failure
Or, please put the power supply of the sensor and
the controller again.
(1)Please specify the task number made with

WeldCom. (2)Please make the task library of the
Sensor The specified task number doesn't
5455 The task number is wrong. specified task number with WeldCom. (3)Please Reset failure. Alarm Alarm Alarm Alarm on on
failure exist in the sensor.
load the task library file where the specified task
number exists into the sensor by using WeldCom.
(1) Please correct specified Aim Angle and Lead

The calculated target posture has Angle. (2) Please confirm whether detected Joint
greatly changed into the posture Normal Angle is an expected angle with the GAP
Sensor The posture change amount when groove is detected. And, when file. It is likely to become Joint Normal not
5456 Reset failure. Alarm Alarm Alarm Alarm on on
failure is excessive. the amount of the change exceeds anticipated according to the state of Groove. (3)
the posture change over watch Check that actual posture change amount and
value, this alarm is detected. modify the posture change over watch value if
needed.
Installation Angle is Installation Angle is updated by Check [Constant Setting]->[12 Format and No reset operations
5500 User failure Alarm Alarm Alarm Alarm on on
updated. request from OLP. Configuration]->[5 Installation Angle]. neccesary.
Tool Constants are Tool Constants are updated by Check [Constant Setting]->[3 Machine No reset operations
5501 User failure Alarm Alarm Alarm Alarm on on
updated. request from OLP. Constants]->[1 Tool Constants]. neccesary.
Error occurs when it is not able to

Playback unavailable user
Operational start user task program ,because Informa Informa Informa Informa
5510 task program because it is Please confirm the starting condition of user task. Error reset. on on
failure used all user task or not exist user tion tion tion tion
being used all user task.
task program.

5701 Option un-setting up. the option function which is not set Please set up an option. Alarm Alarm Alarm Alarm on on
failure neccesary.
up.
Operational Movement in a return position or a No reset operations

5702 It cannot re-start. Please re-start after a step-set out of the section. Alarm Alarm Alarm Alarm on on
failure section state cannot be resumed. neccesary.
1-61
Error code list

The input-and-output signal This error occurs when the

5703 Shift failure Set up an input-and-output signal. Error reset. Alarm Alarm Alarm Alarm on on
is not set up. input-and-output signal is not set up.
Abnormality occurred by the Please the parity bit of the shift input signal must
The value of the shift input signal is No reset operations
5704 Shift failure parity check of the shift normally input or confirm whether the noise has Alarm Alarm Alarm Alarm on on
not steady. neccesary.
input signal. gotten on the signal.
This function command cannot be

Other units are running
5705 Shift failure performed while running the program Please perform again after stopping all units. Error reset. Alarm Alarm Alarm Alarm on on
program.
of other units.
It generates when it is going to use

5706 Application isn't set up. the application function which is not Please set up the correct Application. Alarm Alarm Alarm Alarm on on
failure neccesary.
set up.
The amount of movements of

weaving pattern data large, or
Arc weld The weaving trajectory Please correct the amount of movements of No reset operations Informa Informa Informa Informa
6005 frequency (speed) was large, the on on
failure exceeded regulation speed. weaving, or frequency (speed). neccesary. tion tion tion tion
speed of a weaving trajectory
exceeded regulation speed.
The amount of posture

Move posture change
Arc weld change of taught weaving The amount of change of the posture Please correct posture change of taught weaving Informa Informa Informa Informa
6006 restriction-within the on on
failure exceeded the restriction of weaving pattern data is too large. pattern data. tion tion tion tion
limits.
value.

The welding current value current value measured by the
Arc weld characteristic data to your environment if this failure No reset operations Informa Informa Informa Informa
6010 has exceeded the allowable welding power supply and the taught on on
failure occurs over and over again. In such case, adjust neccesary. tion tion tion tion

The welding voltage value voltage value measured by the
Arc weld characteristic data to your environment if this failure No reset operations Informa Informa Informa Informa
6011 has exceeded the allowable welding power supply and the taught on on
failure occurs over and over again. In such case, adjust neccesary. tion tion tion tion
Arc weld Check the workpiece's condition, wire's condition, No reset operations Informa Informa Informa Informa
6014 Arc start failure. No arc is generated after retrying. on on
failure and connection of the cable. neccesary. tion tion tion tion
Eliminate all causes of arc outage, for instance by

Arc weld No reset operations Informa Informa Informa Informa
6015 Arc outage was detected. Arc outage occurred during welding. adjusting the wedling conditions, fixing wire feed on on
failure, and so on.

6016 Wire stick was detected. Wire is stuck. Cut stuck wire. on on
Arc weld Wire shortage was No reset operations Informa Informa Informa Informa
6019 Not enough wire signal is inputted. Supply wire. on on
failure detected. neccesary. tion tion tion tion
Input voltage shortage The primary input voltage of the Refer to the instruction manual of the welding
6024 failure ocurred in the welding power supply has power supply(Failure Name: Input voltage on on
welding power supply. decreased. shortage) and eliminate all causes.
It exceeded the allowable value A load is on the wire feed department by wear of the
Arc weld The load of wire feed No reset operations Informa Informa Informa Informa
6043 which the load of wire feed was set liner, the chip defect, and so on. Get rid of load on on
failure exceeded allowable value. neccesary. tion tion tion tion
up to by the welding fixed number. factors.
Arc weld The battery of welding The battery of welding power supply Exchange a battery because it can't be connected No reset operations Informa Informa Informa Informa
6044 on on
failure power supply is exhausted. is exhausted. any more with the welding power supply. neccesary. tion tion tion tion
Arc weld WCR of W-I/F had connected too Please check the state of W-I/F, and a welding No reset operations Informa Informa Informa Informa
6054 WCR Short-circuit Error on on
failure hastily at the time of an arc start. power supply. neccesary. tion tion tion tion
The cooler fan failure Refer to the instruction manual of the welding
Arc weld The cooler fan's rotation has fallen or No reset operations Informa Informa Informa Informa
6074 ocurred in the welding power supply(Failure Name: The cooler fan failure) on on
failure it stops. neccesary. tion tion tion tion
It was going to start the unit It will generate, if the unit containing
Operational Please start after waiting for the completion of No reset operations Informa Informa Informa Informa
6080 containing the resources the resources under starting is on on
failure starting. neccesary. tion tion tion tion
under starting. started.
Arc weld The contollor of the welding power No reset operations Informa Informa Informa Informa
6085 occurred inside the welding Check the route of cable and ground connection. on on
failure supply didn't respond. neccesary. tion tion tion tion
power supply.
Arc weld The pilot arc outage is No reset operations Informa Informa Informa Informa
6106 The pilot arc outage occurred. Check the connection condition of the cable. on on
failure abnormal. neccesary. tion tion tion tion
1-62
Error code list

Arc weld Setting error of the failure The failure limit by the rate cannot be No reset operations Informa Informa Informa Informa
6107 In the welding constant, please set a relative value. on on
failure limit type. set by the version of this welder. neccesary. tion tion tion tion
Please check follows. (1)Turn off the

purge(cleaning gas). (2)Release the emergency
Arc weld The pilot arc was not able to be No reset operations Informa Informa Informa Informa
6108 Pilot arc ON error. stop. (3)Reset plasma unit/WPS error. (4)Set weld on on
failure turned on. neccesary. tion tion tion tion
ON. (5)Set the registration of welder "PlasmaDA" or
"PlasmaWPS".
Please check follows. (1)Turn off the pilot arc.

Arc weld Purge(Cleaning gas) ON The purge(cleaning gas) was not No reset operations Informa Informa Informa Informa
6109 (2)Release the emergency stop. (3)Reset plasma on on
failure error. able to be turned on. neccesary. tion tion tion tion
unit error.
The management of the The arc welding power supply

Arc weld consumption of the wire of doesn't correspond to the The upgrade should do the software of the arc No reset operations Informa Informa Informa Informa
6116 on on
failure the user maintenance management of the consumption of welding power supply. neccesary. tion tion tion tion
function cannot be used. the wire.
The arc welding power supply The upgrade should do the software of the arc
Arc weld The Gas OFF Delay No reset operations Informa Informa Informa Informa
6117 doesn't correspond to the Gas Off welding power supply. Or, please set the Gas OFF on on
failure function cannot be used. neccesary. tion tion tion tion
Delay function. Delay time to 0.
The difference between the gas

The gas mass flow value mass flow value measured by the Please confirm the remainder pressure of gas
6121 has exceeded the allowable welding power supply and the taught cylinder, the piping of the gas, and the setting of the on on
limit. one has exceeded the allowable limit gas mass flow control unit.
set with the controller.
The gas pressure measured in the

The gas pressure value has Please confirm the remainder pressure of gas
Arc weld arc welding power supply exceeded No reset operations Informa Informa Informa Informa
6122 exceeded the allowable cylinder, the piping of the gas, and the setting of the on on
failure the limiting value set with the neccesary. tion tion tion tion
limit. gas mass flow control unit.
controller.
Please confirm the residual quantity of the gas

Arc weld The set gas mass flow is not The set gas mass flow was not No reset operations Informa Informa Informa Informa
6123 cylinder, the piping of the gas, and the setting of the on on
failure output. output in specified time. neccesary. tion tion tion tion
gas mass flow control unit.
The speed of the wire measured in

Please confirm whether an excessive load
The speed of the wire the arc welding power supply has
Arc weld contracts the wire feeder. Please contact our No reset operations Informa Informa Informa Informa
6140 speed has exceeded the exceeded the allowable limit at the on on
failure customer service center when the permissible value neccesary. tion tion tion tion
allowable limit. speed of the wire that the arc welding
is large.
power supply output.
There is not becoming empty in the

Arc weld The welding redorder No reset operations Informa Informa Informa Informa
6141 memory that memorizes the welding Please reduce the number of record data. on on
failure function cannot be used. neccesary. tion tion tion tion
record data.
Arc weld The welding record file The file cannot be made because No reset operations Informa Informa Informa Informa
6142 Please secure the free space of the device. on on
failure cannot be made. there is no free space of the device. neccesary. tion tion tion tion
The threshold specified under the

Arc weld welding record condition was Please confirm the arc welding construction No reset operations Informa Informa Informa Informa
6143 Threshold trigger on on
failure detected in the arc welding power condition. neccesary. tion tion tion tion
supply.
It was not a connection to the FTP
server that was saving device for a
Arc weld Welding recorder cannot welding recorder. Or, neither an Please confirm host name, user ID, password, and No reset operations Informa Informa Informa Informa
6144 on on
failure connect to FTP server. initial folder nor the folder of this initial folder of ftp client. neccesary. tion tion tion tion
name existed on the home directory
of the FTP server.
The welding recorder cannot save

Abnormality occurred while record file. The storage medium is
6145 saving the welding record not prepared, and read-only and Please confirm the state of the storage medium. on on
file. memory capacity shortage, etc. are
thought.
The filler feed load has exceeded the

Arc weld The load of filler feed A load is on the filler feeder by wear of the liner, the No reset operations Informa Informa Informa Informa
6147 allowable value set in the arc on on
failure exceeded allowable value. chip defect, and so on. Remove the factors. neccesary. tion tion tion tion
constant.
This failure occurs when the start

Sensor (1)Check the groove recognization by WinUser. Informa Informa Informa Informa
6237 Start Point un-detected point is not detected during ZF Error reset. on on
failure (2)Enlarge the ZF maximum search range. tion tion tion tion
search.
Do not modify the position and posture of the robot

Sensor Cannot restart during seam Informa Informa Informa Informa
6238 Cannot restart during seam tracking. when the robot is stopped in ZT period if the Error reset. on on
failure tracking. tion tion tion tion
restarting is required.

Sensor ZF Deviation range between the detected start point and Informa Informa Informa Informa
6239 moodify(enlarge) the ZF deviation range parameter Error reset. on on
failure exceeded ZF taught point exceeded the tion tion tion tion
deviation range.
Sensor This error occurs when the robot Modify(enlarge) the search range or program to Informa Informa Informa Informa
6240 ZF search range exceeded Error reset. on on
failure moves beyond search range rectify error. tion tion tion tion
1-63
Error code list

This error occurs when the robot Check the target position If no problems exist,
Sensor ZT Position Deviation range Informa Informa Informa Informa
6241 moves beyond Position deviation moodify(enlarge) the ZT parameters or program to Error reset. on on
failure exceeded tion tion tion tion

Sensor Modify(enlarge) the ZN search range or program to Informa Informa Informa Informa
6243 ZN Search range exeeced. moves beyond search range during Error reset. on on
failure rectify error. tion tion tion tion
ZN.

Check the detected point. If no problems exist,
Sensor between the detected end point and Informa Informa Informa Informa
6245 Deviation range exceeded. Modify(enlarge) the deviation range or program to Error reset. on on
failure taught point before ZE exceeded the tion tion tion tion
rectify error.
deviation range.
This error occurs when the robot Check the target posture If no problems exist,
Sensor ZT Posture Deviation range Informa Informa Informa Informa
6249 moves beyond Posture deviation moodify(enlarge) the ZT parameters or program to Error reset. on on
failure exceeded tion tion tion tion
(1)Check that LASER power is ON.(2)Check the

cable between Laser Sensor Unit and Sensor Head Take
Sensor Informa Informa Informa Informa
6261 Groove un-detected. Groove cannot be detected. is connected properly.(3)Check the cable between countermeasures and on on
Robot Controller and Laser Sensor Unit is reset failure.
connected properly.
Sensor Adaptive welding current adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
failure over current watch value of adaptive OK, increase maximum current watch value of tion tion tion tion
Sensor Adaptive welding current adaptive control becomes lower than sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
failure short minimum current watch value of OK, decrease minimum current watch value of tion tion tion tion
Sensor Adaptive welding voltage adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
failure over voltage watch value of adaptive OK, increase maximum voltage watch value of tion tion tion tion
Sensor Adaptive welding voltage adaptive control becomes lower than sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
failure short minimum voltage watch value of OK, decrease minimum voltage watch value of tion tion tion tion

Travel speed specified by adaptive
Sensor sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
6298 Adaptive travel speed over control exceeds maximum speed Error reset. on on
failure OK, increase maximum speed watch value of tion tion tion tion
watch value of adaptive control.
adaptive control.
Travel speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor control becomes lower than sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
6299 Adaptive travel speed short Error reset. on on
failure minimum speed watch value of OK, decrease minimum speed watch value of tion tion tion tion
Sensor This error occurs when the robot Modify(enlarge) the search range or program to No reset operations Informa Informa Informa Informa
6300 Search range exceeded. on on
failure moves beyond search range rectify error. neccesary. tion tion tion tion

Sensor Modify(shorten) the search range or program to No reset operations Informa Informa Informa Informa
6301 Search range is short detect the touch status within on on
failure rectify error. neccesary. tion tion tion tion
minimum search range.
Sensor This error occurs when the robot Modify(enlarge) the deviation range or program to No reset operations Informa Informa Informa Informa
6302 Deviation range exceeded. on on
failure moves beyond deviation range rectify error. neccesary. tion tion tion tion
Sensor Detected gap is exceeded beyond Check that gap amount and modify allowable value Informa Informa Informa Informa
6303 Gap Over Error reset. on on
failure maximum allowable value. if needed. tion tion tion tion
Sensor Detected gap becomes lower than Check that gap amount and modify allowable value Informa Informa Informa Informa
6304 Gap short Error reset. on on
failure minimum allowable value. if needed. tion tion tion tion
Sensor Detected groove depth is exceeded Check that groove depth amount and modify Informa Informa Informa Informa
6305 Groove depth over Error reset. on on
failure beyond maximum allowable value. allowable value if needed. tion tion tion tion
1-64
Error code list

Sensor Detected groove depth becomes Check that groove depth amount and modify Informa Informa Informa Informa
6306 Groove depth short Error reset. on on
failure lower than minimum allowable value. allowable value if needed. tion tion tion tion
Sensor Detected angle1 is exceeded beyond Check that angle1 amount and modify allowable Informa Informa Informa Informa
6307 Angle1 over Error reset. on on
failure maximum allowable value. value if needed. tion tion tion tion
Sensor Detected angle1 becomes lower Check that angle1 amount and modify allowable Informa Informa Informa Informa
6308 Angle1 short Error reset. on on
failure than minimum allowable value. value if needed. tion tion tion tion
Sensor Detected angle2 is exceeded beyond Check that angle2 amount and modify allowable Informa Informa Informa Informa
6309 Angle2 over Error reset. on on
failure maximum allowable value. value if needed. tion tion tion tion
Sensor Detected angle2 becomes lower Check that angle2 amount and modify allowable Informa Informa Informa Informa
6310 Angle2 short Error reset. on on
failure than minimum allowable value. value if needed. tion tion tion tion

6311 Groove un-detected Groove position cannot be detected Check setting parameters in GFF file. Error reset. on on
Sensor This error occurs when measured Check that target surface condition and/or Informa Informa Informa Informa
6312 Unstable detection Error reset. on on
failure data is unstable. measurement angle. tion tion tion tion
(1) Please correct specified Aim Angle and Lad

Angle. (2) Please confirm whether detected Joint
The target position and posture were Normal Angle is an expected angle with the GAP
The target position and
Sensor not able to be calculated according file. It is likely to become Joint Normal not No reset operations Informa Informa Informa Informa
6329 posture cannot be on on
failure to the detection value of the sensor, anticipated according to the state of Groove. (3) It is neccesary. tion tion tion tion
calculated.
taught aim angle and the lag angle. likely to become this abnormality when the absolute
amount of the offset is too large at two point search.
Please reduce it in that case.
Error is activated when the case that

Correction amount by Check that currect torch position. If it is OK, extend
Sensor correction amount by the sensor Informa Informa Informa Informa
6330 arc-sensor exceeds the value CHASING RANGE in teaching parameter. Error reset. on on
failure exceeds the specified value in tion tion tion tion
specified value. If it is NG, try to adjust sensor parameters.
teaching parameter.
Calculation turns to This error is activated when stability

6331 unstable during arc-sensing of welding arc decreased Check that welding condition to be stable. Error reset. on on
process. significantly.
This error is activated when the

deviation detection cannot be
Sensor Welding position cannot be Informa Informa Informa Informa
6332 calculated during arc-sensing Try to re-adjust sensing parameters. Error reset. on on
failure detected tion tion tion tion
process. Note that position
correction is not executed.
Wire-feeding status turn to unstable.

6333 Unstable wire-feeding. Deviation is lager than specified Check that equipments for wire feeding. Error reset. on on
value.
Sensor The instruction parameter of ST It improves whether each parameter is setting Informa Informa Informa Informa
6334 ST parameter error. Error reset. on on
failure command is over the setting range. within the limits. tion tion tion tion

Sensor ZJ Deviation range between the detected point and ZJ Informa Informa Informa Informa
6335 modify(enlarge) the ZJ deviation range parameter Error reset. on on
failure exceeded reference point exceeded the tion tion tion tion
deviation range.
Wire Speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor control exceeds maximum wire sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
6336 Adaptive Wire Speed Over Error reset. on on
failure speed watch value of adaptive OK, increase maximum wire speed watch value of tion tion tion tion
1-65
Error code list

Wire speed specified by adaptive Check the lists of the specified spreadsheet in the
Sensor control becomes lower than sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
6337 Adaptive Wire Speed Short Error reset. on on
failure minimum wire speed watch value of OK, decrease minimum wire speed watch value of tion tion tion tion
Sensor Detected area is exceeded beyond Check the area watch value(maximum) and enlarge Informa Informa Informa Informa
6338 Area Over Error reset. on on
failure maximum allowable value. if needed. tion tion tion tion
Sensor Detected area becomes lower than Check the area watch value(minimum) and Informa Informa Informa Informa
6339 Area Short Error reset. on on
failure minimum allowable value. decrease if needed. tion tion tion tion
Sensor Detected mismatch is exceeded Check the mismatch watch value(maximum) and Informa Informa Informa Informa
6340 Mismatch Over Error reset. on on
failure beyond maximum allowable value. enlarge if needed. tion tion tion tion
Sensor Detected mismatch becomes lower Check the mismatch watch value(minimum) and Informa Informa Informa Informa
6341 Mismatch Short Error reset. on on
failure than minimum allowable value. decrease if needed. tion tion tion tion

6342 Adaptive EN Ratio Over exceeds maximum EN ratio watch Error reset. on on
failure OK, increase maximum EN ratio watch value of tion tion tion tion
value of adaptive control.
adaptive control.

6343 Adaptive EN Ratio Short becomes lower than minimum EN Error reset. on on
failure OK, decrease minimum EN ratio watch value of tion tion tion tion
ratio watch value of adaptive control.
adaptive control.
Sensor Detected Normal angle is exceeded Check that Normal angle amount and modify Informa Informa Informa Informa
6344 Normal Angle Over Error reset. on on
failure beyond maximum allowable value. allowable value if needed. tion tion tion tion
Sensor Detected Normal angle becomes Check that Normal angle amount and modify Informa Informa Informa Informa
6345 Normal Angle Short Error reset. on on
failure lower than minimum allowable value. allowable value if needed. tion tion tion tion
Weaving amplitude specified by Check the lists of the specified spreadsheet in the
Sensor Adaptive weaving amplitude adaptive control exceeds maximum sensor controller by WinUser. If the spreadsheet is Informa Informa Informa Informa
failure over amplitude watch value of adaptive OK, increase maximum amplitude watch value of tion tion tion tion
Battery remainder amount

The capacity of the battery of the Please connect with the cradle, and charge with the No reset operations Informa Informa Informa Informa
6448 TP failure shortage of the wireless off off
wireless T/P has decreased. battery. neccesary. tion tion tion tion
T/P.
Wireless strength shortage Wireless strength of the wireless T/P No reset operations Informa Informa Informa Informa
6449 TP failure Please bring the wireless T/P close to the controller. off off
of th wireless T/P has weakened. neccesary. tion tion tion tion
7000 User failure User failure. User failure. Please carry out "failure-reset". Error reset. Error Error Error Error on on
1-66
Error code list


The robot's joint angle The robot's joint angle was not in
Emergency external CF memory. Because the robot stop step
9001 before and behind a record agreement at the starting point of this Error reset. Alarm Error Alarm Error on on
stop failure is different to the execute step, step-set must be
point was not in agreement. step and the target point of this step.
needed for restart.
The result which added the amount

of step movements to the robot's
Emergency The amount of step external CF memory. Because the robot stop step
9002 joint angle in a starting point is not in Error reset. Alarm Error Alarm Error on on
stop failure movements is abnormal. is different to the execute step, step-set must be
agreement with the robot joint angle
needed for restart.
in a target point.
Modify abnormal axis motion to be minimized.

Abnormal velocity Contact our service department in case axis motion After removal of
Operational Abnormal velocity command data is
9003 command. Modify abnormal is not so big. Back up files to external CF memory. failure, please carry Error Error Error Error on on
failure calculated.
axis motion. Because the robot stop step is different to the out "failure-reset".
execute step, step-set must be needed for restart.

interferes in something.(2)Please confirm that the After removal of
deviation between the command and
9005 Servo failure Position Deviation error Pay-load is within the nominal rating.(3)If failure failure, please carry Error Error Error Error on on
encoder data position exceeds the
persists, the problem may be a mechanical defect out "failure-reset".
set permissible deviation.
in the manipulator, contact our service department.
After setting correct

Emergency This failure occurs when the step Contact our service department. Back up files to
9006 Step order error step, please carry out Error Error Error Error on on
stop failure order is abnormal. external CF memory.
"failure-reset".
The robot joint angle of this step Contact our service department. Back up files to
Emergency starting point and the robot joint external CF memory. Because the robot stop step Turn on the power
9011 before and behind a record Error Error Error Error on on
stop failure angle of the last step target point is is different to the execute step, step-set must be again.
point was not in agreement.
different. needed for restart.
The result which added the amount

of step movements to the robot's
Emergency The amount of step external CF memory. Because the robot stop step Turn on the power
9012 joint angle in a starting point is not in Error Error Error Error on on
stop failure movements is abnormal. is different to the execute step, step-set must be again.
agreement with the robot joint angle
needed for restart.
in a target point.

CPU board Motion control section detected the external CF memory. Because the robot stop step
9020 Error of Interpolation Stop. Error reset. Error Error Error Error on on
failure Time-out Error of Interpolation Stop. is different to the execute step, step-set must be
needed for restart.

CPU board Error of Waiting for arriving Robot has not arrived at target external CF memory. Because the robot stop step
failure of target position. position. is different to the execute step, step-set must be
needed for restart.

CPU board Error of Waiting for arriving Robot has not arrived at target external CF memory. Because the robot stop step
failure of accuracy position. position accurately. is different to the execute step, step-set must be
needed for restart.

CPU board Error of interruption of external CF memory. Because the robot stop step
9023 Position Command interrupted. Error reset. Error Error Error Error on on
failure Position Command. is different to the execute step, step-set must be
needed for restart.
CPU board Error of mechanism Motion control section didn't acquire Contact our service department. Back up files to
failure resource acquisition. mechanism resource. external CF memory.

CPU board Robot speed does not become external CF memory. Because the robot stop step
9025 Safety slow speed error Error reset. Error Error Error Error on on
failure safety level. is different to the execute step, step-set must be
needed for restart.
1-67
Error code list


CPU board Stop command of Motion control external CF memory. Because the robot stop step
9026 Stop Release error Error reset. Error Error Error Error on on
failure section was not released. is different to the execute step, step-set must be
needed for restart.
This error may be avoidable by changing program.

Ex. (1)A Delay command (Fn50) is inserted before
the step which the error generated, (2)Movement
command of the same point is inserted,
CPU board It became impossible to continue the (3)Movement command is changed into the
9027 System freezing Error reset. Error Error Error Error on on
failure playback of a program. in-position check(with P). When this error occurs, a
stop step differs from an execution step. Please
play back carefully enough after checking operation
in teach mode. When this error recurs, please back
up a file and contact to our service.
Because the robot

Contact our service department. Back up files to stop step is different to
CPU board Motion control section detected external CF memory. Because the robot stop step the execute step,
9028 Motion Calculation error Error Error Error Error on on
failure Calculation error. is different to the execute step, step-set must be step-set must be
needed for restart. needed for restart.
Error reset.
The axis that the brake doesn't lock

Please do error reset
Emergency Error of brake delay in even if prescribed time has passed
9030 Turn motors ON by pressing the Motor-ON button.. or turn on the drive Error Error Error Error on on
stop failure interference detection. since interference was detected
preparation.
exists..
Control Extremely frequent Frequent input-signal caused system Turn on the power
9031 Check input-signal. Error Error Error Error on on
failure input-signal was detected. busy. again.

When reversely making amends by
Emergency Reducer modeling reverse external CF memory. Because the robot stop step
9032 the reducer modeling, the amount of Error reset. Error Error Error Error on on
stop failure amends error. is different to the execute step, step-set must be
amends exceeded a specified value.
needed for restart.

CPU board Synchronous processing inside a external CF memory. Because the robot stop step
9033 Motion synchronous error Error reset. Error Error Error Error on on
failure motion was not performed normally. is different to the execute step, step-set must be
needed for restart.
In spite of having canceled the Contact our service department. Back up files to
CPU board Waiting timeout for robot synchronous waiting within a motion, external CF memory. Because the robot stop step
failure starting a robot did not start for a definite is different to the execute step, step-set must be
period of time. needed for restart.

Emergency Motion control section stopped the external CF memory. Because the robot stop step Turn on the power
9100 Stop interpolation Error Error Error Error on on
stop failure calculation of interpolation. is different to the execute step, step-set must be again.
needed for restart.
Emergency The robot dose not work Contact our service department. Back up files to Turn on the power
9101 Exceed operation time Error Error Error Error on on
stop failure continuously. external CF memory. again.
Emergency Playback cannot be I/O signal was not able to be Contact our service department. Back up files to Turn on the power
stop failure continued. processed. external CF memory. again.
CPU board System Error Turn on the power

9103 A breakpoint was encountered. Turn on the power again. Error Error Error Error on on
failure (RT_BREAKPOINT). again.
The thread attempted to read from or
System Error
CPU board write to a virtual address for which it Turn on the power
9105 (RT_ACCESS_VIOLATION Turn on the power again. Error Error Error Error on on
failure does not have the appropriate again.
).
access.
1-68
Error code list

One of the operands in a
System Error floating-point operation is denormal.
CPU board Turn on the power
9113 (RT_FLT_DENORMAL_OP A denormal value is one that is too Turn on the power again. Error Error Error Error on on
failure again.
ERAND). small to represent as a standard
floating-point value.
System Error The thread attempted to divide a

9114 (RT_FLT_DIVIDE_BY_ZER floating-point value by a Turn on the power again. Error Error Error Error on on
failure again.
O). floating-point divisor of zero.
System Error The result of a floating-point

9115 (RT_FLT_INEXACT_RESU operation cannot be represented Turn on the power again. Error Error Error Error on on
failure again.
LT). exactly as a decimal fraction.
System Error This exception represents any

9116 (RT_FLT_INVALID_OPER floating-point exception not included Turn on the power again. Error Error Error Error on on
failure again.
ATION). in this list.
The exponent of a floating-point
CPU board System Error operation is greater than the Turn on the power
9117 Turn on the power again. Error Error Error Error on on
failure (RT_FLT_OVERFLOW). magnitude allowed by the again.
corresponding type.
The exponent of a floating-point
CPU board System Error Turn on the power
9119 operation is less than the magnitude Turn on the power again. Error Error Error Error on on
failure (RT_FLT_UNDERFLOW). again.
allowed by the corresponding type.
System Error The thread attempted to divide an

9120 (RT_INT_DIVIDE_BY_ZER integer value by an integer divisor of Turn on the power again. Error Error Error Error on on
failure again.
O). zero.
System Error The method has terminated due to

9129 (RT_ILLEGAL_INSTRUCTI invalid parameters or property Turn on the power again. Error Error Error Error on on
failure again.
ON). values.
CPU board System Error (Mutex Turn on the power

9140 System Error. Mutex Timeout. Turn on the power again. Error Error Error Error on on
failure Timeout). again.
CPU board System Error (MailBox Turn on the power
9144 System Error. MailBox Timeout. Turn on the power again. Error Error Error Error on on
failure Timeout Error). again.
Emergency Stop interpolation by Motion control section stopped the Contact our service department. Back up files to
stop failure system busy calculation of interpolation. external CF memory.
Because abnormality occurred when

Hibernation file is made, the
Hibernation is not enabled. (Details)
Turn on the power again. If the error is not released,
CPU board The Hibernation is not (1)Device opening abnormality of D
9152 contact our service department. Back up files to Error reset. Error Error Error Error on on
failure enabled. drive. (2)Hibernationfile cannot be
external CF memory.
made. (3)Can not lock D drive.
(4)Can not dismount D drive.(5)Can
not unlock D drive.
When initialize robot controller,an (1)Turn on the power again. If the error is not
CPU board An internal memory is not Turn on the power
9153 internal memory is not nomally released, contact our service department.(2)Please Error Error Error Error on on
failure nomally allocated. again.
allocated. replace system CF.
CPU board Motion process is not Turn on the power again. If the error is not released, Turn on the power
9200 Can't recongnize Motion process. Error Error Error Error on on
failure recognized. reinstall the system. again.
CPU board I/O system is not Turn on the power again. If the error is not released, Turn on the power
9204 Can't recognize I/O system. Error Error Error Error on on
failure recognized. reinstall the system. again.
This failure occurs when the After removal of

CPU board Servo communication communication between the CPU failure, please turn on
9208 Turn on the power again. Error Error Error Error on on
failure initialization failure board and the drive unit (the servo power supply of the
board) cannot begin. controller again.
This failure occurs when the fuse F1 After removal of

Amplifier unit
9209 Brake fuse off on the brake control board Replace the CFD controller. failure, please carry Error Error Error Error on on
failure
UM351/L21700X00 was cut. out "failure-reset".
This failure occurs when the fuse After removal of

Amplifier unit Brake fuse off.(additional
9210 F1-1 or F1-2 on brake control Replace the CFD controller. failure, please carry Error Error Error Error on on
failure axis)
substrate UM226(L9172Y) was cut. out "failure-reset".
This failure occurs when the drive After removal of

Amplifier unit
9213 Drive unit power failure unit power PG15(+15V) was not Replace the CFD controller. failure, please carry Error Error Error Error on on
failure
supplied. out "failure-reset".
After removal of
This failure occurs when the voltage
Control Low voltage of sequence failure, please turn on
9216 of sequence control power supply Replace the CFD controller. Error Error Error Error on on
failure control power supply power supply of the
P1(24V) is decreases.
controller again.
This failure occurs when reading or

After removal of
wrinting data to the shared memory
Amplifier unit Servo shared memory failure, please turn on
9217 between servo communication CPU Replace the CFD controller. Error Error Error Error on on
failure abnormal power supply of the
and servo CPU was not successfully
controller again.
finished.
CPU board Servo CPU(#2) DP memory

9218 Servo CPU(#2) D.P.memory error Replace the CFD controller. No reset operations. Error Error Error Error on on
failure error.
CPU board Servo CPU(#3) DP memory
9219 Servo CPU(#3) D.P.memory error Replace the CFD controller. No reset operations. Error Error Error Error on on
failure error.
This failure occurs when an After removal of

An inconsistency was
9220 Servo failure inconsistency was detected in servo Turn on the power again. failure, please carry Error Error Error Error on on
detected in the servo failure.
failure. out "failure-reset".
1-69
Error code list

CPU board Servo CPU(#1 axis) is not Nothing acknowledge form servo
9225 Replace the CFD controller. No reset operations. Error Error Error Error on on
failure ready. CPU(#1 axis)
This failure occurs when the fuse F1 After removal of

Amplifier unit Erro Erro Erro Erro
9229 Brake fuse off.(F1) on servo board UM351/L21700X00 Replace the CFD controller. failure, please carry on on
failure r r r r
was cut. out "failure-reset".
CPU board Servo CPU(#9 axis) is not Nothing acknowledge form servo Erro Erro Erro Erro
9233 Replace the CFD controller. No reset operations. on on
failure ready. CPU(#9 axis) r r r r
Operational insertion external memory during No reset operations Alar Alar Alar Alar
9234 Operational failure. restart playback. on on
failure playback. neccesary. m m m m
After removal of
Amplifier unit This failure occurs when drive unit Erro Erro Erro Erro
9240 Drive unit power failure Replace the CFD controller. failure, please carry on on
failure power (+24V) was not supplied. r r r r
After removal of
9241 Drive unit precharge failure Replace the CFD controller. failure, please carry on on
failure precharge was not executed. r r r r
After removal of
9242 Drive unit phase lack. Replace the CFD controller. failure, please carry on on
failure lacked a phase of power supply. r r r r
After removal of
9243 Drive unit power failure Replace the CFD controller. failure, please carry on on
failure power P10V(+10V) was not supplied. r r r r
After removal of
Amplifier unit Error occurs if the current sensor is failure, please turn on Erro Erro Erro Erro
9244 Current sensor failure Replace the CFD controller. on on
failure abnormal. power supply of the r r r r
controller again.
1-70
http://www.nachi-fujikoshi.co.jp/
Shiodome Sumitomo Bldg. 17F,

Phone: Fax:
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+81-3-5568-5245 +81-3-5568-5236
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Phone: Fax: 11F Royal Wealth Centre, No.7
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Phone: Fax:
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Copyright NACHI-FUJIKOSHI CORP.

Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or
reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document
may be modified without notice. Any missing page or erratic pagination in this document will be replaced.
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Original manual is written in Japanese.

Ecfen-008-002 CFD Error Code List

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Available Formats

1706, ECFEN-008-002, 002

1.1 When failure has occurred.........................................................................1-1

1.1 When failure has occurred

1.2 Concerning the failure details

1.2.1 Failure category

Table 1.2.1 Failure category

1.2.2 Concerning criticality codes and failure codes

[Example] Control sequence failure code E1103

Table 1.2.2 Criticality codes

(B) Failure codes

1.3 Concerning “System Failure”

1.3.1 Outline of “System Failure”

Display example of teach pendant when “System Failure” occurred

(NOTE) This screen is displayed on the Smart TP or the FD on DESK Light.

1.3.2 How to recover and response to the failures

【How to recover the failures】

【How to response to the failures】

- Operation you have done

1.4 Recovery after failing

Table 1.4.1 Assumed cause of each phenomenon

1.5 Error code list

Severity Severity Output Output Logger Logger

CPU board Error occurs when abnormality is

When the primary power is turned

Abnormal velocity Modify abnormal axis motion to be minimized. After removal of

(1)Check the primary power voltage. (2)Check

(1)Check the primary power voltage. (2)Check

This failure occurs when the amount

(1)Please confirm whether the robot manipulator

This failure occurs when the encoder After removal of

This failure occurs when the Motor After removal of

(1)Check if the encoder power supply voltage is

(1)Please turn OFF the controller power. (2)Please

Severity Severity Output Output Logger Logger

(1)Please check the power supply voltage of the After removal of

(1)Please check whether the robot manipulator

Synchronous failure of Synchronous failure of servo

(1)Please turn OFF the controller power. (2)Please

(1)Please confirm that the Pay-load is within the

(1)Please check whether the robot manipulator

(1)Please check whether the robot manipulator

Please check whether there are any abnormalities

(1)Please turn OFF the controller power. (2)Please

This failure occurs when the Motor After removal of

Over temperature of This failure occurs when the After removal of

Severity Severity Output Output Logger Logger

(1)Please turn ON the power supply of the

This failure occurs when the After removal of

(1)Please check the supply voltage of the encoder

Because the motor had been rotated

(1)Please confirm the supply voltage of the encoder

Error occurs when the robot system

Severity Severity Output Output Logger Logger

(1) If there is no LS that is being pushed phisically,

This failure occurs when current of After removal of

This failure occurs when the

The breakdown was detected in

This error occurs when the power After removal of

This error occurs when the After removal of

This error occurs when the power

This error occurs when the voltage of After removal of

Error occurs when 5th-axis moves

Error occurs when Motors-ON button