Ar Error Code List

ERROR&WARNING CODE
(Software)system version
Applicable to ARV01-001 and after
Third edition
Revised
NACHI-FUJIKOSHI Corp.
ERROR CODE with an underline express SYSTEM-ERROR
CODE ERROR MESSAGE CONTENTS COUNTER PLAN
E0002 Program check-sum This error is detected when data RAM (1) Format and reload good files in Internal
fault. (internal memory) has an error (RAM) memory.
(faulty). (2) Replace RAM memory in AR controller,
Main CPU board (UM870) or RAM board
(UM802) PCB.
E0004 Status saving fault at the When power failure or voltage drop is (1) Check that output of power supply unit
latest shut-down. detected, data is transferred to CMOS (SR1) in board rack is P5, P12, P15 and N15
memory. If this transfer fails, this v dc to M0 return.
error occurs when power is restored. (2) Check if primary AC supply voltage is
not -10% of the specification or under.
(3) Check constant setting mode group 2,
Item number 6, Power detection <disable,
enable> on newer software version this item
is missing and the controller is enable.
(4) Replace power supply unit (SR1).
(5) Replace Main CPU board (UM850 or
UM870 PCB).
(6) Replace RAM memory board (UM870 or
UM802 PCB).
E0010 Servo units are not ready. This error occurs when the Servo (1) Turn power ON again.
Turn off and turn on amplifier CPU board (UM834, (2) Check power supply (SR1) and (SR2).
again. UM860 or UM883/884 PCB ) is not (3) Replace the Servo amplifier board
prepared properly with power turned (UM834-1 or UM834-2, UM860 or
ON. UM883/UM884 PCB).
(4) Down load good robot constant files in
AR controller.
E0012 Accuracy not matched. This error occurs if the current (1) Designate a bigger accuracy number A0
encoder value does not match the thru A3 or newer software A0 thru A7 (A0 is
commanded encoder value 10 seconds smallest).
after the commanded value was given. (2) Check the encoder supply voltage (SR2).
Refer to the robot manipulator maintenance
manual for check location.
(3) Check encoder wiring and connections.
(4) Check if the Position Loop Gain is to low
(Call Nachi).
E0013 Servo error: No speed This error occurs if speed data is not (1) Check the encoder supply voltage (SR2).
command. received every 200 ) s. Refer to the robot manipulator maintenance
manual for check location.
(2) Check encoder wiring and connectors.
(3) Check Servo amplifier CPU board
(UM834-1 or UM834-2, UM860 or
UM883/UM884).
E0018 Setting of Amp. card(s) This error occurs when jumper setting (1) Check jumper setting of Servo amplifier
is not correct. of Servo amplifier CPU board CPU board and network resistance. Refer to
controlling the motor is wrong the "Robot AR controller maintenance
(UM834 - 1 & 2). manual."
(2) Replace Servo amplifier CPU board
(UM834-1 or UM834-2).
2
E0020 Servo error: Abnormal This error occurs when Motors are (1) Check robot manipulator current position
change in command data. turned ON and there is abnormal and step go to a safe position.
change in command value, when (2) Check Main CPU board (UM850, or
compared to previous value. UM870) or Servo amplifier CPU board
(UM834, UM860 or UM883/UM884).
(3) Contact our service department.
E0021 Servo following error. This error occurs when the deviation (1) Check if the robot manipulator has not
in the command encode data velocity collided with something..
exceeds the set permissible deviation. (2) Check that load does not exceed rating.
Example, The manipulator collides (3) When (1) or (2) is applicable, the robot is
with something. considered to have an error.
(4) Check for mechanical defect in the
manipulator arm.
(5) Check Drive Amp Unit (Servo Amp.
Unit) and axis motor.
UM834-1 and UM834-2, UM860 and
UM883/884.
(7) Check Sequence board UM837, UM880
and UM191.
E0022 Servo error: Deviation This error occurs if the set deviation (1) Check if the robot interferes with
error. error level is exceeded. anything.
(2) Check that load does not exceed rating.
(3) When (1) or (2) is applicable, the robot is
considered to have an error.
(4) Contact Nachi service department.
E0023 Servo error: Encoder This error occurs when the encoder (1) Check if connector CNEC of servo
cable broken. cables is not connected or the encoder amplifier board is connected properly.
is not communicating to the Servo (2) Check if CNR4, CNR5 (CNR5 not used
amplifier CPU board (UM834-1, on some robot arm type) are connected
UM834-2, UM860 and UM883/884). properly.
(3) Check encoder power supply (SR2) P5E
and M5E for 5 v dc inside manipulator arm.
(4) Refer to "Robot manipulator maintenance
manual" and check wiring in the manipulator.
(UM834-1 or UM834-2, UM860 and
UM883/UM884).
E0024 Servo error: CPU error. This error occurs when the CPU in the (1) Check circuit board power supply (SR1).
servo amplifier CPU board is faulty (2) Turn power OFF and check if circuit
(UM834-1or 2, UM860, UM883 or board is firmly inserted in the CPU Unit
UM884 PCB). (board rack).
(3) Replace the Servo amplifier CPU board
(UM834-1or UM834-2, UM860 or
UM883/UM884 PCB).
3
E0025 Servo error: Bit jump. This error occurs when encoder data (1) Check if connector CNEC of servo
change is abnormal. amplifier CPU board is connected properly.
(2) Check if CNR4 and CNR5 (CNR5 not
used on some robot arm type) are connected
properly.
manual" and check wiring in the manipulator.
(4) Check motor and encoder or replace
motor and encoder.
(5) Check the Servo amplifier CPU board
(UM834-1or 2, UM860 or UM883/UM884
PCB).
E0026 Servo error: This is detected when the robot (1) Check if the robot manipulator has not
Interference. interferes with anything. interferes with anything.
(2) Check that load does not exceed rating.
(3) Check motor and encoder operation and
brake circuits (UM837 or UM886).
(4) When (1) or (2) is applicable, the robot is
considered to have an error.
(5) If the error persists the problem may be a
mechanical defect in the manipulator.
E0027 Servo error: Encoder This error occurs when the encoder (1) Check if connector CNEC of Servo
data changed too much. data continues to change after the amplifier CPU board is connected properly
command position is stop changing. (UM834-1, UM834-2, UM860, or
UM883/UM884 PCB).
(2) Check if CNR4, CNR5 (CNR5 not used
on some robot arm type) is connected
properly.
(3) Check motor and encoder operation and
brake circuits (UM837 or UM886).
manual" and check encoder wiring.
(5) Check if manipulator is free from
obstruction..
(6) Check if Pay load exceeds the rating.
E0028 Servo error: Drive unit This error occurs when the +15V dc (1) Check if primary supply voltage drops
voltage down. drops to +13V dc or less on the Servo below normal value (±10%).
detecting circuit on the UM843-1 or 2 (2) Check if output voltage of switching
PCB in the Servo Drive Amp (Servo regulator in the Servo Amp. unit is +15 v dc
Amp. Unit) or when the 100 V ac ±0.5 v dc (AR 10, 11 or 13 controllers).
drops to less than 80 v ac for 20MSEC (3) Check 18 v ac on Servo Amp. Unit from
or more. T13 in Power supply unit (AR 50, 51, 52 or
54 controller).
(3) Check connectors on the Drive Amp. Unit
(Servo Amp. Unit).
E0029 Servo error: Check sum This error occurs when a check-sum (1) Check supply voltage of encoder (SR2)
error in encoder. error is detected in encoder memory. P5E & M5E. Refer to "Robot manipulator
maintenance manual" for check location.
(2) Check wiring of the encoder.
(3) Reset (zero) the encoder and then encoder
correction (offset) is completed.
(4) Replace the encoder or motor.
4
E0030 Servo error: Sensor Error occurs when fault is detected in (1) Check supply voltage of encoder (SR2)
check error. the encoder. P5E & M5E. Refer to "Robot manipulator
(3) Change encoder or motor.
E0031 Servo error: Motors' Error occurs if at the time of turning (1) Check supply voltage of encoder (SR2)
rotation too fast when Motors ON, the motor rotation is more P5E & M5E. Refer to "Robot manipulator
power on. than 4000rpm. maintenance manual" for check location.
(3) Change the encoder or motor.
E0032 Servo error: Over- This error occurs when current in the (1) Check connectors CNEC and CNBS of
current. Servo Drive Unit (Servo Amp. Unit) servo amplifier board and connector CNBS
exceeds the rated value. of Servo Drive Unit (Servo Amp. Unit).
(2) Check cable between the controller and
robot manipulator arm.
(3) Check motor or replace motor.
E0033 The I/O slave returns no This error occurs when the Master I/O (1) Check Connector CNIO of Master I/O
answer. board (Built in PC) and Sequence board (UM836, UM872 or UM873) and
board are not communicating (Slave connector CNIO of Sequence board UM837
CPU, UM837). PCB.
(2) Replace Master I/O board (Built in PC) or
Sequence board (UM837).
(3) When installing a new Master I/O board
check switch settings (J3).
E0034 The amplifier unit This error is detected when Servo (1) Check that the Servo amplifier CPU
returns no answer. amplifier CPU board is not connected board is connected correctly.
properly or faulty communication with (2) Check board jumpers if just installed.
circuit board (UM834, UM860, (3) Replace Servo amplifier CPU board.
UM883 /884).
E0035 I/O CPU error. This error occurs when the main CPU (1) Check if Main CPU board and Master I/O
board (UM850 or UM870) has a board is connected correctly.
communication error with the Master (2) Replace the Master I/O (Built in PC)
I/O board (UM836, UM872 or board or Main CPU board.
UM873).
E0036 Servo error: Fuse blown. This error occurs when the fuse in the (1) Check connectors in Servo Drive Unit.
Servo Drive Unit (Servo Amp. Unit) is (2) Check motor.
blown (30 AMP. or 40 AMP.). (3) Check motor cable for short to ground or
phase to phase.
(4) Replace motor or Servo Drive Unit or
Servo amplifier CPU board (UM834-1 &
UM834-2, UM860 or UM883/UM884).
E0037 Servo error: High speed This error occurs when a robot hits an (1) Move the robot from the obstruction if
interference detection. obstruction. one exists.
(2) Check that the pay-load is within the
rated weight.
(3) Check Auto tool center in constant
setting mode.
(4) Enter an accurate tool Center of Gravity
and weight or run Auto tool load center
software in Service menu, item number 42 (
software R21.63 or higher and UM860
software M2.00, S1.03 or higher).
5
E0038 Servo error: Over-load This error is detected when the set (1) Check Servo Amp. Unit (Servo Drive
value of the electronic thermal relay is Amplifier) and Sever amplifier CPU board
exceeded. (UM834-1 & UM834-2, UM860 or
UM883/UM884).
(2) Check manipulator for tool loading.
(3) Check for abnormal sounds from bearings
and gears.
(4) Check brake power (REC1 = + 24 v dc)
and brakes circuits on all motors (UM837 or
UM886).
(5) Check sequence board (UM837, UM880
or UM191).
(6) Check motors.
(7) Refer to troubleshooting in manual.
E0039 Servo error: Over- This error occurs when the set (1) Check Servo Amp. Unit (Servo Drive
rotation. maximum revolutions are exceeded. Amplifier) and Sever amplifier CPU board
(UM834, UM860 or UM883UM884).
(2) Check manipulator for tool loading.
(3) Check for abnormal sounds from bearing
and gears.
(4) Lower playback speed.
(5) Refer to troubleshooting.
E0040 The teach pendant's CPU This error occurs when a fault in the (1) Turn power ON again.
error. CPU of the teach pendant is detected. (2) Check data transmission circuit.
(3) Replace Teach pendant (ROP 300 or ROP
500).
(4) Replace main CPU board (UM850 or
UM870 PCB).
(5) Contact Nachi service department if the
error still exists.
E0041 Operator panel's CPU This error occurs when CPU error of (1) Turn power ON again.
error. the separate operation panel is (2) Check data circuit and connectors to
detected. operator panel.
(3) Replace operation panel.
(4) Contact Nachi service department if the
error still exist.
6
E0042 Motor temperature fault. This error occurs when abnormal (1) Check wiring of thermostat of motor.
motor temperature is detected. Refer to "Robot manipulator maintenance
manual."
Note: If new Servo Amp. Unit is (2) Stop the robot, Check motor and restart
installed on a AR 50, 51, 52 or 54 after motor temperature cool down.
check jumper JP2 on UM886 board, (3) Lower the operating speed of the robot if
for motor thermal (shorted for 6axis the same error still occurs or change motor.
operation and open for 7 or 8 axis (4) Check input signal Motor thermostat in
operation) monitor mode or the input signal circuit.
E0044 Over voltage found in This error is detected when motor (1) Check Servo heat sync cooling fans and
drive unit, or heat sink supply voltage (P-N) exceeds the set check that the heat sync is clean.
exceeded temp. limit. value or the Servo heat sink (2) Check primary voltage not to exceed + 10
temperature rises excessively and TH % of specified value.
on the heat sync has opened. (3) Check manipulator for abnormal
operation.
(4) Check Sequence board (UM837 or
UM880).
(5 ) Replace Servo Amp. Unit (Servo Drive
Amp. 1 or 2)
(6) Check maintenance manual.
E0046 The discharge resisters This error is detected when the (1) Check TS1 and TS2 input for TH1 and
exceeded temperature Regenerative discharge resistor /or TH2 thermostat censor switch.
limit. temperature rises excessively or the (2) Check cooling fans and the back of
resistor circuit is open. controller cabinet has 20 cm open space.
(3) Check discharge resistor DSR10 and/or
TS1or TS2 input for TH1 and/or TH2 DSR11.
sensors on AR10, AR11 or AR13 (4) Check primary voltage not to exceed + 10
controller. % of specified value.
(5) Check maintenance manual trouble
TH1 in AR50, AR51, AR52 or AR54 shooting.
controller.
E0048 Please set up pay load This error occurs when unbalanced (1) Check Auto tool center in constant setting
value again. torque greatly differs from real torque. mode.
Software R21.63 or higher Check (2) Enter an accurate tool Center of Gravity
Auto tool load center setting in and weight.
Service menu (item number 42).
E0048 The direct-teach card's Unused
CPU error.
E0049 The direct-tech card Unused
returns no answer.
E0050 Servo error: CTR-OVF. This error occurs when encoder (1) Check the supply voltage (SR2) of the
counter overflows or underflows. encoder. Refer to "Robot Manipulator
(2) Turn power OFF and check jumper
setting of Servo amplifier CPU board. (See
"maintenance manual" for check location).
(3) If the error is not released by (1) and (2)
above, zero (reset) setting of the encoder.
(3) Replace motor and encoder.
7
E0051 Servo err: Data This error occurs when serial data (1) Check the power supply voltage of the
transmission error. from the encoder has an error. encoder (SR2). Refer to "Robot manipulator
setting of Servo amplifier CPU boards
(UM834-1 &-2, UM860 or UM883/884).
(3) Check wiring and connectors for encoder
serial data to Servo amplifier CPU board.
(4) Check if relay CRD5 of UM837 or
UM880 PCB is turned ON (LED on relay
lights UM837 only) in one second after
power is turned ON.
(5) Primary power may be turned OFF
instantaneously. Turn power ON again.
(6) Replace encoder or motor.
If the above is not applicable, contact Nachi
service department.
E0052 Servo error: Battery This error occurs when battery voltage (1) Check battery voltage if 3 v dc or less
discharged. drops to 3v dc or less. Battery are replace battery. Refer to "Robot manipulator
inside controller on circuit board/s (1 maintenance manual for check location.
to 3) and inside manipulator arm (3 to (2) Check wiring of the encoder.
6). (3) When battery voltage is to low the battery
must be replaced and the encoder zero
(reset).
E0054 Servo error: Position This error occurs when encoder data (1) Check supply voltage of encoder (SR2).
deviation. change is abnormal. Refer to "Robot manipulator maintenance
manual" for check location.
setting of servo amplifier board (UM834,
UM860 or UM884/884).
(3) If the above is not applicable check robot
constant file for robot manipulator set up.
(4) Zero (Reset) encoder.
(5) Replace encoder or motor.
E0055 Servo error: Encoder Error occurs when the data received (1) Check encoder power supply (SR2).
data abnormal. from the encoder is abnormal. The (2) Check encoder wiring.
controller monitors and compares the (3) Change encoder or motor/encoder.
serial and incremental data received.
E0055 Servo error: Motors' Error occurs if at motors off, motor (1) Check encoder power supply (SR2) and
rotation too fast when rotation is more that 4000 rpm. that all encoder have P5E & M5E (+5 v dc).
power down. (2) Check wiring of the encoder.
(4) Replace encoder or motor/encoder.
E0056 Servo error: Preload Error occurs if Pre-loading of the (1) Check encoder power supply (SR2) and
error. encoder is not preformed when start is that all encoder have P5E & M5E (+5 v dc).
commanded. (2) Check wiring of the encoder.
(4) Replace encoder or motor/encoder.
E0057 Servo error: Count This error occurs when encoder has no (1) Zero (Reset) encoder.
status error. status. (2) Replace encoder or motor/encoder.
E0059 Can't follow, because the This error occurs when the Robot (1) Reduce the conveyor speed.
conveyor is too fast. system can not perform its task at the (2) Check conveyor pulse line.
current conveyor speed.
8
E0060 Controller temperature This error is detected when the inside (1) The controller cabinet ambient air
fault. temperature of the controller cabinet temperature must be less than 45 C.
rises abnormally. (2) Check heat exchanger fans.
(3) Check controller cabinet thermal switch.
(4) Check for sufficient good air circulation
inside controller cabinet and back panel air
vents (Robot controller must have 200 cm
clearance for air circulation).
E0061 Thermal relay or circuit This error occurs when thermal relay (1) Check Thermal relay OL1.
protector tripped. (0L1) or circuit protector (CP) trips. (2) Check all circuit protectors, (CP).
(3) Check input signal in monitor mode or
the input signal circuit.
E0062 Motors-on sequence This error is detected when the input (1) Check sequence board (UM837 or
fault. signal of magnetic switch (MSHP) is UM880).
not returned within the specified time (2) Check Servo Amp. Unit (Servo Drive
after Motors ON push button is Amp. 1 & 2) in coming power.
pressed. (3) Check MSHP.
(4) Check MSHP input signal (MSHP-ON
END)in monitor mode or the input signal
circuit.
E0064 I/O card power unit This error occurs when P1-M1 or P2- (1) Check connector CNP and CNPB on the
error. M2 (P2-M2 usually an option and P1- sequence board (UM837 PCB) or Brake
M1 is supplied in place) and brake board UM886 on AR52 controller.
power PB-MB are not supplied to (2) Check output voltage +24Vdc (P1-M1)of
sequence board (UM837 PCB). With power supply unit (SR1) on the PCB rack
AR52 controller check for brake and power supply unit (SR3) output voltage
power on UM886 board and Power +24Vdc (P2-M2 an option usually).
Supply Unit for REC1. (3) Check Brake power supply (REC1).
E0065 Over travel limit switch This error occurs when an axis reaches (1) If this error occurs even when the limit
was activated. the end of its travel and actuates an switch is not actuated, then the wiring to the
over travel limit switch. Usually this limit switch is disconnected or broken.
error does not occur because software (2) Move manipulator axis off the limit
limit is set a little inside of this limit switch using the axis operation key and the
switch. dead-man switch on the Teach pendant in
Constant setting mode.
(3) Check UM837 or UM880 and
UM803/080 boards.
the input signal circuit..
E0066 Arm interference limit This error occurs when the robot is (1) Move manipulator axis off the limit
switch was activated. moving beyond the operating range or switch using the axis operation key and the
hits LS (limit switch). dead-man switch on the Teach pendant in
Constant setting mode.
(2) If no Limit Switch is physically being
actuated then wiring to a Limit Switch is
disconnected or cut.
(3) Check sequence board (UM837, UM880
or UM191 PCB).
the input signal circuit..
E0067 The I/O master returns This error occurs when CPU of Master (1) Check if Master I/O (Built in PC) board is
no answer. I/O (Built in-PC) board does not work connected correctly.
correctly (UM836, UM872 or UM873 (2) Replace Master I/O board.
PCB).
E0068 Software version of the Unused
I/O master board is too
old.
9
E0069 Operator panel This error occurs when a fault in the (1) Check that the cables are connected
connection fault. connection between the operation properly in the controller cabinet.
panel and controller cabinet. (2) Check that the cable is not broken.
(3) Replace the separate operation panel if
the error is not corrected by (1) and (2)
above.
(4) Check input signal in monitor mode to
check communication.
E0070 The sensor for direct- Unused
teach is in Null-
Abnormal condition.
E0071 The sensor for direct- Unused
teach has detected Over-
Force fault.
E0080 Can't copy from TAPE to This error occurs when copying from (1) Copy tape data in the other memory
TAPE tape to tape is attempted. media and copy it to the tape.
E0082 Media is not ready. This error occurs if there is no (1) Prepare memory media and retry.
memory media (i.e. floppy disk,
digital cassette) when copying or
directory operation is done. This error
also occurs when the digital cassette
cover is not closed.
E0083 Media is write-protected This error occurs if the media is write- (1) Use an unprotected media device and
protected when copying is attempted retry.
to floppy disk or tape (digital cassette).
E0084 Media is full. This error occurs if there is no (1) Create space in current media device or
capacity left when recording is use another.
attempted to the floppy disk, tap
(digital cassette), IC card or internal
memory.
E0088 The file already exists. This error occurs when conversion is (1) Convert to a file number that dose not
attempted to the existing file name by exist.
R 116 code (Program number
conversion).
E0089 The same device is This error occurs when copying is (1) Change the file name or device and do it
selected for source and attempted to same device in the same again.
target. name.
E0091 Setting or application of This error occurs when the serial port (1) Check Constant Setting Group 1, item
the serial port is wrong. has a setup problem. number 13 for setup.
(2) Check the condition menu, item 27 Serial
Port settings and set to match with Constant
Setting mode.
E0094 Tape ID1 error. This error occurs when tape or digital (1) Retry if the error is not released, replace
cassette is defective. the tape or digital cassette.
E0095 Tape ID2 Error. This error occurs when tape or digital (1) Retry if the error is not released, replace
cassette has an error. the tape or digital cassette.
E0096 State No. is wrong. This error occurs when the sum total (1) Edit program to make the number of steps
of steps and function numbers in the or function smaller.
program are too large.
10
E0099 B-axis limit exceeded Applies only to In-line wrists (1) B-axis may be moved toward the
limit. B-axis may exceed its operation range operating range by the teach pendant.
by axis interference (*Note) from (2) Press the axis operation button in the
other axis even if B-axis does not constant setting mode to move it outside of
exceed the software stroke. the operating range for some reason. Use
In robots built with in-line wrist, the care to ensure that B-axis is not brought in
B-axis angle exceeds its operation constant with No. 1 arm.
range. (*Note) Axis interference (3) B-axis operating range is determined by
When R2-axis is rotated, B-axis and B-axis software limit and constant position.
R1-axis rotate mechanically due to (4) When the step recorded with linear
construction of the drive system of the interpolation ON is played back, the
wrist axis. The encoder data of B-axis operation range may be exceeded in course
and R1 axis do not change. of operation even if the recorded point is
Degree of interference varies within the operation range.
depending on the type of the robot. In such case, it is necessary to change the
When R2-axis rotates 360( B-axis recorded position or to do teaching with
and R1-axis rotate 3( to 6(. linear interpolation OFF.
E0101 Stop or external stop This error occurs when the start (1) Check the external stop signal input and
signal is given. command is input even if the stop correct if missing (Hard wire input or RIO
signal is not given. input).
(2) Check robot constant for signal or reload
robot constant file.
E0104 Motors-off signal is This error occurs if external Motors- (1) Check the Motors-OFF input circuit.
given ON is input when "Motors-OFF" (2) Check monitor mode input signal for
button is input or external Motors-OFF motors ON and OFF input signal condition.
signal is given.
E0105 External Motors-off The error occurs if "Motors-ON" (1) Release the Motors-OFF signal.
signal is given. button is pressed when external (2) Check monitor mode input signal for
Motors-OFF signal is input motors ON and OFF input signal condition.
E0106 The motors are not This error occurs when axis operation (1) Press Motors-ON button and turn motors
turned ON. or start is attempted with Motors-OFF. ON.
E0107 Please set a step number This error occurs when Original (1) Set the step or input [RESET] - [SET].
before restarting. Position Return function is enabled The reset will take the step counter to 0 and
and start is attempted after robot arm move robot arm with CAUTION.
has dropped in excess of the set limit
in the function.
E0110 Axis number This error occurs if the program is (1) A wrong robot program may be selected.
mismatched between the selected when the number of axes in (2) Check robot constant file.
program and constants. the program is different from the
number of robot axes.
E0111 External mode is This error occurs if Motors ON button (1) Disable “External Start” mode in the
selected. Internal or start button is pressed when condition menu or use R 5 code.
operation is not “external start” mode is selected.
available.
E0112 Internal mode is selected. This error occurs if Motors ON (1) Enable External Start in Condition menu
External operation is not command or start command is input or use R 5 code.
available. from an external unit when external (2) Check monitor mode input signal for
start is in effective. External start input signal condition. If
signal is on check for External start input and
disable input.
E0115 Other external start This error occurs when the External (1) Select constant setting group 2, item
source is selected. Start signal is receiver using the number 22 External Start and set correctly
CNIN2 connector (digital) and the <digital, MAP, Network>.
controller is set for MAP or Network. (2) Change the External Start signal from the
CNIN2 connector to MAP or Network.
E0116 The teach pendant This error occurs when the teach (1) Check if the teach pendant is connected
returns no answer. pendant (ROP 300 or ROP 500) is not properly to the main CPU board.
communicating with the main CPU (2) Check data transmission circuit.
board (UM850 or UM870 PCB). (3) Replace the teach pendant or CPU board.
11
E0117 Interpolation shift In interpolation shift of on-line shift Record the interpolation shift calculation
calculation has not been function, interpolation function must preparation function in a desired step
done. be executed before interpolation shift between the shift data request step and
ON function is executed without interpolation shift ON.
execution of the interpolation shift
calculation preparation function.
E0118 No data are entered into This error occurs if XYZ shift or on- Modify the program to transmit data before
the shift register. line coordinate transformation is on-line XYZ shift or on-line coordinate
executed even when data is not transformation is executed.
received from RS232C port in the on-
line XYZ shift or on-line coordinate
transformation.
E0119 Registration of original There is a function to output he Register the original position again if the
position data is deleted. original position signal in terms of original position signal is necessary.
software by registering an optional
step of an optional program as the
center of the original position and by
designating the size of the area.
E0120 Shift error. The same gun shooting angle (against (1) Even when E0120 is displayed, program
work) as in the original program is transformation is continued except for the
automatically made in the transformed transformation impossible point.
program during coordinate
transformation. However, the The transformed program can then be played
transformation may be impossible back in 1 step mode to find the
physically depending on gun fitting transformation impossible step. Then modify
method and work setting method. the tool shooting angle of the original
This error occurs in the above case. program step.
(2) When the coordinate transformation
function is used, the machine constants must
be set accurately. Check setting data if the
error cannot be released.
E0121 Software stroke This error occurs if the software limit (1) Move the axis toward the inside of the
exceeded limit. (S-axis) is reached during Teach mode or stroke.
Playback operation. (2) Constant Setting may have to be used.
exceeded limit. (H- axis) is reached during Teach mode or stroke.
exceeded limit. (V- axis) is reached during Teach mode or stroke.
exceeded limit. (R2- is reached during Teach mode or stroke.
axis) Playback operation. (2) Constant Setting may have to be used.
exceeded limit. (B- axis) is reached during Teach mode or stroke.
exceeded limit. (R1- is reached during Teach mode or stroke.
exceeded limit. (T1- is reached during Teach mode or stroke.
exceeded limit. (T2- is reached during Teach mode or stroke.
E0129 The angle between the H' This error occurs when the angle (1) Move arms in the direction to prevent
axis and the 'V' axis is between the H axis and the V axis is interference.
too large. greater than the set limit. (2) Constant Setting may have to be used.
12
E0130 The angle between the “ This error occurs when the angle (1) Move arms in the direction to prevent
H” axis and the 'V' axis between the H axis and the V axis is interference.
is too small. smaller than the set limit . (2) Constant Setting may have to be used.
E0131 The collision sensor was The error occurs when the collision (1) Check if tool is deformed. If the cause of
actuated. sensor is actuated. contact can be removed, Motors-ON will
restart the robot.
(2) Set the collision sensor as normal open.
E0134 Given data is wrong. This error occurs when a signal is (1) Remove obstruction and check condition
received from the collision sensor. of the tool.
(2) Reset collision sensor and restart robot.
E0138 Invalid CALL command This error occurs when a CALL is (1) Modify call function the program.
found. made within a CALL function more
than 8 times.
E0139 Frequency condition This error occurs if the number outside (1) Input a correct value for the frequence
register is 1 to 8. Range the permissible range is used for the register (0-127).
from 0 to 255. frequence register.
E0142 Selected program This error occurs if the program (1) Check the desired program number and
number is not available. number dose not exist. retry.
E0143 No more program is This error occurs when the memory (1) Delete unnecessary program and continue
available. capacity is exceeded depending on the record operation.
number of function. (2) Select the use of IC card or Floppy 1 to
store program data.
E0144 End mark not found. Function not recorded in program. (1) Record M92 END function in the desired
F1 = M92 END step in the program.
E0146 This function does not This error is detected if a function is (1) Select the proper step before attempting
exist. not recorded in the selected step and to delete the function.
an attempt is made to delete a function (2) Display to the function in the step and
or the function is not displayed to. then delete.
E0147 The speed designation is This error occurs if a number outside (1) Input a correct value.
exceeded limit. the range is input.
P = 0.01 to 100 sec. (Interp. OFF)
L or C = 1 to 2300, MM/sec. (Interp.
ON)
E0148 The speed designation is This error occurs if a number outside (1) Input a correct value for the speed used.
exceeded limit. (0.01 the range is input.
sec- 100 sec)
E0149 Given time value is not This error occurs when the time (1) Enter time within 0.1 to 60 seconds.
correct. designated is not within acceptable
range.
E0150 Program is too large. This error occurs when the program is (1) Edit program in order to reduce its size.
too large.
E0151 Program (or file) not This error occurs when start command (1) Select the program.
found. or record button is pressed without (2) Check function of external sequence if
selecting the program number. external program selection is effective.
When binary input or FIFO function is used
in the external program selection mode, the
strobe signal is necessary to receive the
program selection signal. Refer to operation
instructions "connection of various signals".
E0152 Step not found. This error occurs, if the step (1) Modify the jump destination step number.
designated with jump function, etc.
does not exist.
E0153 Given tool number is not This error occurs when a tool number (1) Use the tool number 0 to 3, or 0 to 7, or 0
available. Must be 0 other than 0-3 is selected or on newer to 15, or 0 to 31.
through 3. software up to 32 tables ( 0-31).
13
E0155 This robot type is not The system software does not support (1) Install newer system software for robot
allowed. the robot type in the constant file. arm type.
(2) Create a new robot constant file with new
software.
E0156 Improper use of the This error occurs when in Teach mode (1) Select the last recorded step in the
record key. and the [REC] key is pressed and the program and then [REC] the step.
step counter is not on the last recorded (2) Modify the step data.
step in the program.
E0157 Interrupted by help. This error occurs if the HELP key is (1) Preform operation again.
pressed while processing data.
E0158 No data is given. This error occurs if [SET] key is (1) Press [M] and enter data then press [SET]
pressed after pressing the [M] key. key.
E0159 The four points are in the This error occurs when transformation Re-programming 4 points.
same plane. calculation cannot be done because
four points taught off-line are in the
same plane in the coordinate
transformation function.
E0160 Number of taught points This error occurs if three points or less (1) Re-programming four points or more.
must be greater than 3. are taught in the coordinate
transformation.
E0162 More than 3 points are This error occurs when circular (1) When recording points on the same
necessary for circular interpolation calculation cannot be straight line, use linear interpolation or
interpolation. completed because the start through interpolation off.
end points of circular interpolation are (2) Re-teach the points for Circular
recorded on the same straight line. interpolation.
E0163 Circular interpolation This error occurs because there are Taught three other points.
points locate on the same two same points between the start
line. point and end point of circular
interpolation.
E0164 Tool change is not This error occurs when an attempt (1) Make the tool number constant during the
available during circular made to change the tool number circular interpolation steps.
interpolation. during circular interpolation.
E0165 This file is protected. The memory protect function is (1) Release protect on robot file or program
available to prevent careless deletion file (Edit mode).
or change of programs. This error
occurs when deletion of the protected
program is attempted. Refer to the
operation instructions for details.
E0166 Playback is prohibited. This error occurs when a playback (1) Playback protect condition when step 0 or
protect is on a program. step 1 is executed. Even the playback
protected program can be played back if step
2 or more is designated.
E0167 This program does not This error is displayed when point data Record 10 or more same points.
consist of the same tool needed for calculation is not available
center point. for 10 or more points or the program
has no points the same (for example,
when the operation program is
designated). In the above case, the
interpolation constants are not
changed.
E0168 FIFO Registers exceeded This error occurs when 60 programs (1) Make adjustment to prevent overflow in
limit. Must be up to 60. are exceeded. the FIFO register.
E0173 Shift value exceeded Shift data is usually limited to 200 Do work after the shift data limit value is re-
limits. mm. This error occurs when the set.
above value is exceeded.
14
E0175 Weld stick detected. This error occurs when arc welding, (1) Restart can be made after the welding
and the welding wire sticks to the wire is cut off.
work piece longer than the set time (2) Review welding condition (welding
limit, after arc off. Weld stick current and voltage) weld stick detection
detection is done only when the weld delay time, weld stick detection time, etc.
ON/OFF signal is ON in 1 cycle or when weld stick occurs frequently.
continuous mode.
E0176 ARC-interlock signal is This error occurs when arc welding (1) Check the connection and cables to Weld
suspended. interlock signal is not received by the controller.
Robot controller. (2) Check the weld interlock signal in Weld
controllers and Robot controller.
E0177 Source power down This error occurs when power failure (1) Check primary power condition.
fault. process begins due to a Primary power
failure (-10% of main power),
instantaneous suspension or voltage
drop occurs.
E0178 Jump or call instruction, When the deleted step was the jump or (1) Refer to the teaching sheet and leave as if
or the step is the base of call destination step, deletion was there is no problem.
the shift value. already executed even if this error is (2) When interference with work, etc. is
displayed and the destination step expected, add or modify the point.
number is not change. (The jump
destination location is the next point
from the selected point).
E0179 Some axis key was held This error is detected if the axis (1) Turn Motor-ON with the axis operation
when 'Motors-on' was operation key on the teach pendant is key are not held down.
given. pressed when Motors-ON is given.
E0180 Space V-axis are This error occurs in the following Move the robot manually. When this error
interfered. equation is not satisfied when the occurs during playback, modify
robot is SV120. SIN45( >/- SIN programming.
VxSIN S where S = S-axis
angle, V = V-axis angle.
E0185 Selected step number is This error occurs if a step is selected (1) Select a step number in the program.
not available. that is not in the program.
E0190 Robot # 1 not selected. Refer to the multi-robot operating
instructions.
instructions.
instructions.
instructions.
E0194 Program is not found for This error occurs when attempting to (1) Record the program or start after other
Robot # 1. start a program that is not recorded. program is selected.
E0198 PWM is not ON. Unused
E0199 PWM is not OFF. Unused
E0201 Pelletize-end statement is Pelletize end statement is not (1) Correct the sequence of Pelletize and
missing. recorded, or there are to many Pelletize End function in the program.
pelletize end statements, or the next
pelletize starts before the previous
pelletize was completed.
15
E0202 Pelletizing loop must be This error is detected if there are five Refer to "Pelletizing function operating
less than 5. or more pelletize locations in the instructions" for details.
program to be executed.
E0205 Pelletizing error. The This error occurs if start is made from Start after STEP, 0 and SET are pressed.
shift value may be left. the step other than 0 when E0201 or Refer to "Pelletizing function operating
E0202 occurs. instructions" for details.
Because taught position is shifted by
the calculated data amount during
pelletizing, continuing may cause
steps to be sifted unintentionally.
Therefore, start from a step other than
0 is not allowed.
E0206 Presetting registers is This error occurs if stop is made (1) Do it after pelletizing is completed.
inhibited during during pelletizing and the register is
pelletizing. preset.
E0208 Pelletizing is suspended. When reset/set is done during pelletize Do pelletize reset.
to set the step 0, the counter, etc. Refer to "Pelletizing function operating
remain. This error is detected because instructions" for details.
calculation errors may occur in the
counter if restart is made and
dangerous.
E0209 During shift operation, Unused
recording can not be
made.
E0213 Encoder data is beyond Mirror image transformation reverses Refer to "Mirror image function operating
of operation range after the sign of the axis angle on the basis instructions" for details.
mirror image. of the encoder standard value (0
degree position).
Therefore, the encoder data may
exceed its operating range if the 0
degree position is far apart from the
standard.
E0218 The operation is not An illegal R command is input during (1) Do operation after stop.
available while running. running.
E0219 FLOPPY DISK access This error occurs if the floppy disk is (1) Change the floppy disk.
fault. physically damaged.
E0220 FLOPPY DISK This error occurs if the floppy disk is (1) Check the type of the floppy disk (2HD,
Read/Write error. physically damaged. 2DD) in constant setting mode group2 item
number 15 and select the correct disk type.
(2) Replace the floppy disk.
E0222 File verify error. This error occurs when verify of (1) Check the two files for discrepancy.
internal RAM, IC card, or floppy disk
fails.
E0223 MAGNETIC TAPE This error occurs when the tape or (1) Replace the tape or digital cassette.
Read/Write error. digital cassette cannot be Written to
and /or Read.
E0224 Can't verify TAPE and This error occurs when TAPE to Do it on others than the tape.
TAPE. TAPE verify is attempted in the verify
function.
E0228 Can't access this floppy This error occurs when the floppy disk Format the floppy disk or set the capacity
disk. format or capacity doesn't match the (2HD, 2DD) of the floppy disk in the
format or capacity selected in the constant setting mode, group2 item number
controller. 15.
E0229 The R-code is not This error occurs when the designated (1) Use HELP key to check the number.
available. R-code does not exist.
E0230 Conveyor sync. is not This error occurs, if the conveyor (1) Enable the conveyor synchronization or
available. related function is executed with make a new constant file with conveyor
conveyor synchronization disabled. synchronization enable.
16
E0239 No constant file found. This error occurs, if there is no (1) Copy the necessary program into the
Create constant. constant file in the RAM memory external memory media and format it in the
(UM802 or UM870 PC B). constant setting mode to make a constant file.
(2) Copy constant files from external media
to RAM memory.
E0243 Operation exceeded This error occurs, if H-axis and V-axis Change programming.
designated area. make a beeline at an optional point on
the path when the robot plays back
with interpolation ON.
E0244 Robot is in danger of Tool may interfere with under the part (1) Modify the step or steps position.
interference. or manipulator body.
E0246 Wrist figure calculation This error occurs when it becomes (1) Change position of step.
fault. impossible to calculate the wrist
position in space.
E0247 Calculation can not make Unused.
interpolation figure.
E0249 Rear limit over. This error occurs when the back end of (1) Check the rear limit value in the constant
the first arm is going to move beyond setting mode group 1 item 28 Rear limit.
the preset Rear limit.
E0250 Data type is wrong. This error occurs when the function (1) Check for any incorrect function
parameter is incorrect in the root parameters as it may corrupt data.
language file.
Note: function data may be corrupted.
E0251 Register number is This error occurs when the function (1) Check function for any incorrect register
wrong. parameter (function or variable) is number or variable number.
wrong in the robot language.
E0252 Data out of range. This error occurs when data exceeds (1) Check the robot language file data.
the set rang in robot language.
E0253 Mismatched FOR-NEXT This error occurs when FOR-NEXT Check FOR-NEXT combination.
identifier. combination is wrong in the robot
language.
E0254 The pose number is not This error occurs when the designated Check the pose number.
available. pose number is wrong in the robot
language.
E0255 Divided by 0. This error occurs when division is Check the program.
done by 0 in the robot language.
E0256 Step data reading fault. Program data is wrong and step data Contact us.
cannot be read.
E0257 Pose calculation failed. This error occurs when each axis angle Check pose data.
cannot be calculated from the pose
data made by the robot language.
E0270 Conveyor moved. This error occurs when the conveyor (1) Stop the conveyor and re-set the
moves in the conveyor simulation or simulation mode or test mode in the
test mode (conveyor pulse is condition menu..
monitored).
E0271 Too many conveyor This error occurs when pulse Check if the pulse generator is normal.
pulses counted. frequency exceeds 10KHz.
E0272 Conveyor driving signal This error occurs when the conveyor Input the conveyor driving signal.
is given. driving signal is not input during
operation of the conveyor.
E0273 Abnormal conveyor This error occurs when the conveyor (1) Check the conveyor constants.
constants. constant set value has an error.
E0274 Conveyor synchro. This error occurs when constants and (1) Check constants file and program/s.
record error. program data do not coincide
concerning conveyer synchronization.
E0280 Invalid Jig axis number. This error occurs when the jig axis Check the jig axis number.
number is wrong.
17
E0290 No more file is available. Unused
E0291 No more constant file is This error occurs when more then four (1) The maximum number of Robot constant
available. Robot constant files are created. files is four (Robot.C01, C02, C03 & C04).
E0292 Number of axes This error occurs when the axes total (1) Reset the axes using Constant setting
exceeded limit (up to exceeds 12. mode and select 12 axes or less.
12).
E0293 Shift request is already This error occurs when the shift Review the execution method of the shift
done. This function is request function is executed during data request function and modify the program
not available. shift data request. (Shift data request/On-line shift).
E0294 Hot save/load mode is This error occurs when shift data When hotsave-load is not used, invalidate it
selected. This function is request is made by the serial port used by the condition setting menu.
not available. for hotsave-load.
E0297 Now HOT-EDIT mode. Unused
Push ESC-KEY.
E0298 The function can not be The function with no parameters The function with parameter can be modified
modified individually. cannot be modified individually. individually.
E0353 Memory is protected by This error occurs if the program (1) Release the record disable switch
the record-disable- modifications, etc. is done with it is (memory protect switch).
switch. protected by the record disable switch.
E0355 The points for Error occurs when 2 or more points Make points used for a shift calculation as far
calculation are too being used for shift calculation are too apart as physically possible.
closed. close.
E0356 Operation of search write This error occurs when Search write (1) Select 1 cycle playback mode.
function is wrong (must function is attempted when not in <1
be in 1 cycle). cycle > mode.
E0357 Searching exceeded limit This error occurs when the robot Modify the search range or modify the
of range. moves beyond search range defined in program.
Condition menu <Search range>.
E0358 Standard position is not The search function detects shift Do search standard write operation to write
recorded. amount from the difference between search standard position data in the function.
the taught work position and actual
work position. If the taught work
position is not recorded as the standard
position data, search operation cannot
be made.
E0359 Search function is being This error occurs if the search Check and modify programming.
used incorrectly. operation start and end are not
matched or online shift function is
used during search operation.
E0360 Function-case-jump is When function jump start is executed, Check the relation between function jump
wrong the function from the function jump start and function jump end.
stat to function jump end is checked.
This error occurs if there is no
function end or there is a function
jump end before function jump start is
executed.
E0361 Function-case-jump area When the function of function jump Jump condition value in function jump is too
exceeded limit. star is executed, the function from big. Modify the condition value.
function jump start to function jump
end is checked.
This error occurs if jump is attempted
in excess of this range by the function
jump condition.
E0363 Extra. PC CPU error. This error is output when a PC error is (1) If this error occurs when power is turned
detected by the self diagnosis function ON, replace Extra PC board (N80-PC).
on the extra PC board (N80).
18
E0364 Extra PC scan time over. This error occurs when the scan time (1) Re-check the program and shorten the
exceeds 100 msec on the extra PC extra PC program.
board (N80).
E0365 Extra PC FAL error This error occurs when the FALS (1) Check FALS number and take necessary
happened. command of the sequence program is steps (FAL = failure alarm, FALS = severe
executed. failure alarm).
E0366 Extra PC board This error is output when the Extra PC (1) Check that the board is installed correctly
malfunction. Please (N80) board error is detected by the (connectors, cables and board).
replace. self diagnosis function. (2) Check power supply (SR1).
(2) Replace board if the error still occurs.
E0367 Extra PC scan is stopped. This error is output if the start button (1) Reset the error.
is pressed when the scan is stopped by (2) Replace N80 PC board.
the above error. (3) Check constant setting mode setup.
E0379 Setting of safety plug This error occurs if the safety plug and (1) Use a correct Safety plug and
and Manual/Auto switch manual/auto switch selection is wrong Manual/Auto switch combination before
is not correct. when Motors is turned ON. Motors turning Motors ON.
can be turned ON if the switch is set at
manual when the safety plug is open
and the switch is set at auto when he
safety plug is closed.
E0383 Function data fault. This error occurs when a valid (1) Delete function not valid for the software
function is used but can not be version being used.
interpreted. The function may apply to (2) Select the correct items in constant setting
a newer software version or robot mode.
constant file may not be set up to (3) Contact Nachi service department.
execute function.
E0387 The 3 points for This error occurs if transformation (1) Check taught points.
coordinate calculation cannot be made because 3
transformation are on the taught points are on the same line in
same line. the coordinate transformation
function.
E0391 M-NET Board fault. This error occurs when a fault in the (1) Turn controller OFF and ON to reset
Turn the power on again. M-NET PCB is detected. error.
(2) Replace M-NET PCB.
E0392 M-NET interface fault Error occurs when an abnormality in (1) Check communication cables and
has occurred. the communication link between connectors.
controllers is detected by M-NET (2) Replace UM853 board or user interface
PCB. board.
E0396 Sealed gas suspended. This error occurs when Arc gas (1) Re-supply the Arc shield gas for the
shortage signal is given to the welding.
controller during Arc welding
operation.
E0397 Welding wire broken. This error occurs when the Arc no (1) Correct the wire feed problem in the
wire signal is given to the controller welding system.
during Arc welding operation.
E0406 Over current error or This error occurs when the current of (1) Check motor.
fuse cut occurred the rotating motor exceeds the over (2) Replace motor.
(ROTATING ARC). current detection level.
E0407 Rotating speed error This error occurs when the rotating (1) Check motor.
occurred (ROTATING motor speed is too low or high. (2) Replace motor.
ARC).
E0408 Over-run at ROTATING This error occurs when path correction (1) Check if part is out of position.
ARC. is made from the taught path in excess (2) Check Weld controller.
of the preset overrun detection (3) Check wire feed system.
amount.
E0409 Setting of ROTATING Unused
ARC function is wrong.
19
E0410 ROTATING ARC This error occurs when no response (1) Check communication cables and
returns no answer. message is given from the rotating arc. connectors.
(2) Check Weld controller.
E0411 Wrong data from This error occurs when response
ROTATING ARC. message is give from the UM735
board but the time interval is
excessive.
E0412 ROTATING ARC This error occurs when the (1) Ensure the port is clear before using
communication port is communication port to be used by the Rotating Arc function.
wrong. rotating arc is used by another (2) Reprogram controller for use of ports.
function (on-line shift, hot save load,
etc.).
E0421 Loaded data are not shift This error occurs if the shift data read (1) Check the program and modify.
value. is incompatible due to designation of
an incorrect register in a Shift
function.
E0422 Loaded data are not This error occurs if the shift data read (1) Check the program and modify.
square shift data. is incompatible due to designation of
function.
interp. shift data. is incompatible due to designation of
function.
source position data. is incompatible due to designation of
function.
E0448 Selected R-code is not This error occurs when the R code (1) Check the R code used.
available. designated dose not exist.
E0449 Selected I-code is not This error occurs when the I signal (1) Check the I code in program.
available designated dose not exist.
E0450 Selected M-code is not This error occurs when the M signal (1) Check M code in program.
available. designated dose not exist. (2) Check controller setup in constant setting
mode.
E0451 Software stroke This error occurs when the software (1) Return the axis to within the stroke in the
exceeded limit (T3- axis) stroke is being exceeded in Teach constant setting mode.
mode or Playback operation.
exceeded limit (T4-axis) stroke is being exceeded in Teach constant setting mode.
exceeded limit (T5-axis) stroke is being exceeded in Teach constant setting mode.
exceeded limit (T6-axis) stroke is being exceeded. constant setting mode.
E0455 Playback (SINGLE This error occurs if Function are added (1) Do the function add or modify in the 1
STEP) or teach mode or modified in modes other than step playback mode or teach mode.
must be selected. Teach or <1 Step>
playback mode.
E0474 Wire-inching exceeded This error occurs when the wire has (1) Check the welding wire or welding
limit. not touched the work piece by the time equipment.
period set in the M122 function. (2) Check function (M122) setup.
E0475 Playback inching This error occurs if the Inching (1) Set the desired Inching related
constants are not set. function (M122) is attempted when the parameters.
Inching parameters are not set in
constant setting mode group 1, item
number 38, Arc welding parameters.
20
E0476 Wire already contacted. This error occurs when the Inching (1) Stop the use of the function (M122).
function (M122) is attempted when the
wire is already in contact with the
work piece.
E0480 Number of ARC weld This error occurs when attempting to (1) Use 99 weld condition files only. Delete
conditions is up to 99. input too many weld condition files. any unnecessary files to make space.
The maximum number of files is 99.
E0481 Weaving condition not This error occurs if <continue> is set (1) Set Weaving condition in the Arc-start
given. for Weaving condition in the Arc-start condition (in Arc file) first used to <disable
condition (in Arc file) and a Weaving or enable>.
condition has not been previously used
when attempting to use M121.
E0482 AWC file not found in This error occurs if an Arc welding (1) Create an AWC weld file. Select the
the CMOS memory function is attempted when no Service menu, item number 27, Arc welding
ROBOT.AWC file in the controller file.
internal memory (CMOS memory). (2) Copy ROBOT.AWC files to internal
memory (CMOS memory).
E0483 The weld-start condition This error occurs when the Arc - ON (1) Use the correct Arc - ON or start
not found in AWC file. condition number designated by the condition number or create the desired Arc
Arc - ON function (M121) dose not start condition. Check service menu, item
exists in the Arc welding file (AWF). number 27, Arc welding file.
E0484 The weld-end condition This error occurs when the Arc - OFF (1) Use the correct Arc - OFF or end
not found in AWC file. condition number designated by the condition number or create the desired Arc
Arc - OFF function (M120) dose not start condition. Check service menu, item
exists in the Arc welding file (AWF). number 27, Arc welding file.
E0485 Weld-on condition not This error occurs when if <continue> (1) Set Weld condition in the Arc-start
given. is set for Weld condition in the Arc- condition file (Robot.AWC) first used to
start condition file (Robot.AWC) and <enable>.
a Weld condition has not been
previously used when attempting to
use M121.
E0486 Order of designated data This error occurs when the data entries (1) Put data entries in Weld condition data
must be increasing in Weld condition data are not from from smaller to larger.
smaller to larger.
E0487 ARC-off function This error occurs when Arc - OFF (1) Check the use of Arc - OFF function
executing is not proper. function (M120) was not used (M120). First Arc - ON function (M121) and
correctly in a program. than Arc - OFF function (M120).
E0488 Arc interlock signal is This error occurs if no arc interlock (1) Check if arc is produced properly in weld
not given. signal is input when arc is executed. controller.
(2) Check input signal in AR controller.
E0490 Pose constants program This error occurs when execution of a (1) Modify the program.
can not be executed. Pose constant is attempted if module
robot type dose not permit it.
E0491 Please record This error occurs when recording with (1) Modify the program.
interpolation OFF (sec). interpolation other than OFF is
attempted if module robot type does
not permit it.
E0492 This function is denied to This error occurs when a certain (1) Delete the illegal function in the program.
both record and execute. function is attempted if the robot type
dose not permit it.
E0493 Setting data exceed Unused
designated area.
E0494 Operation exceeded Unused
designated area.
E0495 NA-Chip spare error. Unused
21
E0496 N80PC's software When NA-Chip interface function is Please exchange the N80PC software with
version must be enable, AR main software will check P03A01R and onwards.
P03A01R or later for the software version of N80PC. If it
NA-Chip. was old version this error is detected.
E0497 NA-Chip has detected RIO Link Communication Fault (1) Check communication cable and
Link-Communication interrupt is input from NA-Chip connection of RIO link.
fault. because of communication cable (2) Check the RIO-Scanner (PLC).
disconnection and or lose of RIO (3) Replace the UM858 PCB or check the
signal. board set up condition (DSW1 & DSW2).
When UM858 dip switch DSW2-bit6
(Processor_Restart_Lockout) is set in
OFF, this error is not detected and
N80PC software will restart NA-Chip
initialization procedure.
#N80PC soft version P03A02R or
later This error is detected not
concerning with this dip_switch
setting. And then all RIO input
signals are cleared.
When DSW2-bit6 is set OFF, N80PC
software will try to restart NA-Chip so
communication is automatically re-
started when the cause is removed.
But set in ON, communication is never
re-started until next power on of robot
controller.
E0498 UM858 is not connected, In spite of NA-Chip interface enable, (1) Check connection of UM858 board.
or NA-Chip interface N80PC or UM873 software can not (2) Replace NA Chip board UM858.
function fault. recognize that UM858 is mounted. Or (3)Replace interface mounting board UM873
even if recognized, some error is or N80 PC.
detected while NA-Chip RAM test
procedure in power up, or N80PC or
UM873 CPU access for NA-Chip is
denied for longer than 200msec.
E0499 Compass axis data is not Unused
0 degree
E0500 Data is output. This This error occurs when attempting to (1) Modify the program so the buffer is not
function is not available. use RS232C buffer clear function receiving or sending a signal when using
(M111) while receiving or sending M111 function.
signal data.
E0504 Operation is not allowed. A program recorded in an IC card can To record of modify the program recorded in
The program exists in be played back by the IC card IC card, the program must be copied in the
IC_CARD or FDD> playback function. However, for a memory in advance.
program recorded in an IC card, the
write function (record, modification,
etc.) is not permitted.
E0506 Must be operated in This error is detected when speed (1) Do operation in 1 step or 1 cycle mode.
SINGLE STEP or modification is done in the continuous
SINGLE CYCLE mode. playback mode.
E0507 Simulation mode must be This error occurs when attempting to (1) Select Simulation mode.
selected for the set the conveyer register in a mode
operation. other than Simulation mode.
E0508 Build in PC checks or This error occurs when attempting to (1) Wait until the Built in PC check/verify is
verifies. Motor-on is not turn ON motors while the controller is complete before pressing Motors ON button.
available. checking/verifying the Built in PC
(Master I/O).
22
E0509 Change to interpolation This error occurs the manipulator (1) Edit the Step and make the Interpolation
off for singularity point. encounters a singularity position while OFF is necessary for singularity position.
Interpolation ON/Circular is selected.
Interpolation OFF is necessary for
singularity position.
E0510 Teach mode must be This error occurs when step-go/back, (1) Select Teach mode before using this
selected for the Record, Add, etc. is done in the mode operation.
operation. other than teach mode.
E0511 Can't select robot while Refer to "Multi-robot operating instructions."
mode-lock.
E0512 Can't start while other Refer to "Multi-robot operating instructions.
robot(s) running.
E0513 Only one robot is "Refer to "Multi-robot operating
allowed in SINGLE- instructions."
STEP mode.
E0514 No robot enabled. "Refer to "Multi-robot operating
instructions."
E0515 Selected robot does not "Refer to "Multi-robot operating
exist. instructions."
E0516 The robot is not ready. Refer to "Multi-robot Operating
instructions."
E0517 Auto mode must be Execution of the function which can (1) Select the auto mode and execute the
selected be executed only in the auto mode is function.
attempted.
E0518 Please set the step Execution of the function which (1) Set the step number and execute the
number. cannot be executed without step function.
setting is attempted.
E0519 Please set the step or Execution of the function which (1) Set the step or program number and
program number. cannot be executed without step or execute the function.
program setting is attempted.
E0520 Source device or Combination of the designated copy (1) Change the source device or destination
Destination device is source device and destination device device.
improper. cannot be copied.
E0521 Selected device is Copying of Failure-prediction data When copying Failure-prediction data select
improper. other than those in memory was memory as the device.
attempted.
E0522 ME-NET initializing Initialization of ME-NET is not (1) Error is not clear until AR controller
error. completed within 60 seconds when power is turned ON again.
power is turned ON and when relay (2) Check network cables and connectors.
link is enabled. (3) Check master station parameter setting.
(4) Replace UM853 board.
E0523 ME-NET data link error. This error occurs if Master control (1) Check the master computer station.
station status stops over 250msec. (2) Check cables and connectors.
during data link. (3) Replace UM853 board.
E0524 ME-NET communication This error occurs when the (1) Error is not clear until AR controller
CPU error. Turn off and communication CPU on network power is turned ON again.
turn on again. board (UM853) is detected. (2) Check cables and connectors.
(3) Replace UM853 board.
E0525 ME-NET data link is This error is detected when start (1) Check the link parameters of the host
stopped. button is pressed during data stop (the station and network number station.
above three troubles or the host station (2) To temporarily move the robot during
does not start link). Start command startup work select constant setting group2
and step go-back operation in teach item 19 ME-NET and disable this selection.
mode are not allowed.
E0526 There is no data. Trouble prediction data is copied in IC Take trouble prediction data first.
card of floppy disk but there is no
data.
23
E0527 File read fault. This error occurs when the media (1) Check file, floppy disk type or recreate
format dose not match the format original file.
selected in the controller or the file is
corrupted.
E0528 Can't recognize the This error occurs if IC card is used (1) Initialize the IC card.
media. Please initialize. without initialization.
E0530 Program data collapsed. An error is found in the program when Make a new program.
the program is read.
E0531 Program data fault. An error is found in the program when Make a new program.
Operation was cancelled. the program is written.
E0532 Motors-on is not Some robot type (PV series) require (1) Give a Motors-ON command after the
available while inner internal pressurization to operate in internal operating pressure is achieved.
pressure is ascending. hazardous areas. Error occurs if (2) Check pressure timers in Barrier Unit.
Motors ON is attempted while the
internal pressure is ascending to an
operation level.
E0533 Inner pressure error This error occurs if the internal (1) Locate the air leak and repair.
occurred. Turn off and operating pressure is not within the set
turn on again. range.
E0534 Robot failed during This error occurs if the robot (1) Check brakes for slippage.
power-save status. manipulator drops more than 100 (2) Replace motor.
encoder bits during Power save mode. (3) Check pay load on Robot arm.
E0535 Position data is overflow. This error occurs when the buffer Contact our service department.
which outputs a command value
overflows.
E0536 Welder fault. This error occurs if the welder error Check the welder.
signal is input when welding sequence
ends.
E0537 Welding time exceeded This error occurs, if the welding end (1) Check weld start output signal to welder.
limit signal is not input even after elapse of (2) Check HPC for Weld start and finish
welding time. command.
E0538 The gun maintains This error occurs, if the full open Check the gun or welder.
closed. signal is inlet when the welding
sequence ends.
E0539 The gun is not halfly This error occurs, if no half-open Check the gun or welder.
open. signal is input even when half-open is
designated.
E0540 The gun is not fully This error occurs, f no full-open signal Check the gun or welder.
open. is input even when full-open is
designated.
E0541 Weld-stick detected. This error occurs, if the weld-stick Release weld-stick.
signal is input when welding sequence
ends.
E0542 The coolant fault # 1. This error occurs, if the coolant fault Check the gun or welder.
#1 signal is input when welding
sequence ends.
E0543 The coolant fault # 2. This error occurs, if the coolant fault Check the gun or welder.
#2 signal is input when welding
sequence ends.
E0544 Air pressure fault. The error occurs, if air pressure fault is Check the gun or welder.
input when welding sequence ends.
E0545 Transformer temperature This error occurs, if transformer Check the gun or welder.
fault. temperature fault is input when
welding sequence ends.
E0546 Peripheral system fault. This error occurs, if peripheral system Check the gun or welder.
fault is input when welding sequence
ends.
24
E0547 The 3 points for This error occurs, when reference (1) Teach so that reference points are not on
calculation are inlined. points used for coordinate conversion the same line.
are on the same line and conversion
cannot be done.
E0548 Block seek error. This error occurs when a (1) Create the file again.
ROBOT.PMO file could not be
accessed.
E0549 Gun number not This error occurs when the Gun (1) Designate the Gun number.
selected. number is not designated.
E0550 Built-in PC scan time Error occurs when the scan time limit (1) Edit the ladder program.
over. of the Built-in PC exceeds 100 msec.
E0551 Spot welding selection is This error occurs when an undefined (1) Change controller set up.
not available. welding file is attempted. Spot welding selection < Step, function >.
E0552 Both of half-open and This error occurs if both the Gun half- (1) Check the Gun or welding unit to
full-open signal are open signal and Gun full-open signal determine the cause of the simultaneous
given. are received simultaneously after signal.
Open Gun half signal is output by the
controller.
E0553 HPC link fault. Error occurs when HPC printed (1) Check the board for lose connection or
circuit board is not connected. missing signal.
(2) Replace the HPC link board.
E0554 HPC link card error. This error occurs when a fault in the (1) Check the board for lose connection or
HPC link PCB is detected. missing signal.
(2) Replace the HPC link board.
E0555 Invalid command. Unused
E0556 The station number is not This error occurs if an incorrect station (1) Designate the correct station number.
available. number is designated.
E0557 Number of connected This error occurs if too many station (1) Reduce the number of stations connected.
station exceeded limit. number are designated.
E0558 Relay start address fault. (1) Check HPC ladder.
E0559 Register start address (1) Check ladder.

fault.
E0560 Relay bytes exceeded (1)
limit.
E0561 Register bytes exceeded (1)
limit.
E0562 Relay area exceeded (1)
limit.
E0563 Register area exceeded (1)
limit.
E0564 Host station already (1)
exists.
E0565 HPC response error (No. (1) Check the HPC operator manual for error
20). code.
21). code.
24). code.
E0568 HPC response error (No. (1 Check the HPC operator manual for error
25). code.)
26). code.
31). code.
32). code.)
25
39). code.
40). code.
41). code.
42). code.)
43). code.)
E0577 Application file error. (1) Recreate application file.
E0578 Application file header (1) Recreate application file.

error.
E0579 Application file FAT (1) Recreate application file.
error.
E0580 Bad application function (1) Recreate application file.
code.
E0581 Height sensor revise Option
range exceeded limit.
E0582 Vision sensor not Option
connected.
E0583 Vision sensor returns no Option
answer.
E0584 Vision sensor sense Option
error.
E0585 Axis-key or step-go/back This error occurs if a change of Mode (1) Ensure operation keys are not being
key is pressed. is attempted while an Axis - key or pressed and retry.
step - go/back key is being pressed.
E0586 No connection made Error occurs when the connection (1) Check the signal designation and
with welder (RS-422). between the welder and controller is communication cables.
faulty. (2) Check RWC welder or controller circuit
board (UM815 or UM873/20).
E0587 Clock start function is Unused
not activated.
E0588 Clock synchronize Unused
abnormal.
E0589 Bad constant file. Please Error occurs when an abnormality in a (1) Correct or make a new constant file.
remake the file. constant file is detected.
E0590 No data in file.
E0591 No data in file. M199 must have step weld ID number.
E0592 The welding condition Error occurs when Spot Welding (1) Use Spot Welding condition numbers 16
data not found. condition number designated by or less.
NADEX I/F is over 16.
E0593 The shift file not found. This error occurs when Shift file for (1) Create the shift file in Service menu.
use in a Shift function is not found.
E0594 Clock is saturated. Unused
E0595 Only one master robot Error occurs when both robots are (1) Select only one robot to be the Master by
allowed. designated as the Master by the Multi- correcting the M155 functions.
robot synchronize function.
E0596 Laser interlock signal is Option
not given.
E0597 Laser-interlock signal is Option
gone.
E0598 Laser off functin Option
executing is not proper.
26
E0599 Laser alarm # 1 signal is Option
given.
E0600 Laser alarm # 2 signal is Option
given
E0601 The shift file fault.
E0602 ID number is different

between shift file and
variable (V00) file.
E0603 The application file not This error occurs when the spot weld (1) Make spot weld data base file.
found. data base file is missing when spot
weld program is playing back.
E0604 Laser interlock signal Option
maintains ON.
E0605 User coordinate does not This error occurs when a User (1) Define User coordinate system in the
exist. coordinate is attempted without the Service menu before attempting to use then.
coordinate system being pre-defined.
E0630 Timeout error. Please Error occurs when a communication (1) Check the cables and connections on
check connection for link can not be made between the welder interface.
ARCMASTER. controller and Welder unit. (2) Replace welder or controller interface
board.
E0631 ARCMASTER replied Error occurs when the data sent by (1) Check communication cable and
wrong data. ARCMASTER can not be interpreted. connection to welder.
(2) Replace welder or controller interface
board.
E0632 Arc is not established. Check the position status of the work (1) Check part position or welding wire.
piece and the welding wire.
E0633 Arc failure is detected. Error occurs when the electric Arc (1) Check welding system.
stops during a weld.
E0634 ARCMASTER primary Error occurs when the ARCMASTER (1) Check the supply voltage for the
power voltage is too low. power supply voltage drops below the ARCMASTER welder unit.
nominal voltage.
E0635 Over current error is Error occurs when the ARCMASTER (1) Check the welder current in Weld
detected by welding current rises above the normal condition in controller.
ARCMASTER. current range.
E0636 Thermal error is detected Error occurs when the ARCMASTER (1) Check for dust in ARCMASTER fan unit.
by ARCMASTER. welder has abnormal temperature. (2) Check temperature sensor.
E0637 ARCMASTER primary Error occurs when the ARCMASTER (1) Check the supply voltage for the
power voltage is too high primary power voltage rises above the ARCMASTER welder unit.
by normal voltage range.
E0638 ARCMASTER is not Error occurs if an ARC welding (1) Execute an Arc initiation function before
ready to weld. function is attempted when the and Arc weld function.
welding is not possible according to
ARCMASTER.
E0639 Sealed gas pressure is Supply the correct Shield gas pressure. (1) Check welder gas.
too low. ARCMASTER
.
E0640 No communication data This error occurs when the controller (1) Check communication cable and
sent to ARCMASTER. cannot transmit data for 1 sec. Or connection to welder.
more to the Arcmaster during welding. (2) Replace welder or controller interface
board.
E0641 Weld wire sticking is Error occurs if the Weld stuck signal is (1) Free the gun from the weld.
detected. received when the welding sequence
ends.
E0642 Irregal data sent to This error occurs if the data sent from (1) Check communication cable and
ARCMASTER. controller to the Arcmaster has and connection to welder.
error. (2) Replace welder or controller interface
board.
27
E0643 Internal memory data This error occurs when the Arcmaster (1) Check communication cable and
error is detected has a memory data error. connection to welder.
(ARCMASTER). (2) Replace welder or controller interface
board.
E0644 Communication error. This error occurs when the Arcmaster (1) Check communication cable and
[Receive buffer overflow receiving memory buffer has an connection to welder.
for ARCMASTER]. overflow of data. (2) Replace welder or controller interface
board.
E0645 Communication error. This error occurs when the Arcmaster (1) Check communication cable and
[Transmit buffer transmit memory buffer has an connection to welder.
overflow for overflow of data. (2) Replace welder or controller interface
ARCMASTER]. board.
E0646 Communication error. This error occurs when received data (1) Check communication cable and
[Receive data overflow overruns in the Arcmaster welder. connection to welder.
for ARCMASTER]. (2) Replace welder or controller interface
board.
E0647 Irregal command is This error occurs when an illegal (1) Check communication cable and
received during welding command is transmitted to the connection to welder.
(ARCMASTER). Arcmaster welder during welding. (2) Replace welder or controller interface
board.
E0650 ARCMASTER I/F fault. This error occurs when some error (1) Check communication cable and
occurs in the transmit or receive connection to welder.
processing of data for the Arcmaster (2) Replace welder or controller interface
welder of the controller. board.
E0660 Arc-spot function Error occurs when a Arc spot function (1) Modify the program to contain NO Spot
executed while ARC-on. (M151) was attempted while welding function if arc welding is currently
executing an Arc weld. enable.
E0661 Emergency stop signal is This error occurs if an command other (1) Give Emergency stop release command
given to ARCMASTER. than emergency stop release is and retry.
transmitted when emergency stop is
input in the Arcmaster welder.
E0662 Illegal command is This error occurs if an illegal (1) Retry inching without the illegal
received during inching command is transmitted to the command.
sequence Arcmaster welder during inching
(ARCMASTER). sequence.
E0663 The command is not This error occurs when an illegal (1) Retry inching without the illegal
allowed during wire- command is transmitted to the command.
inching Arcmaster during wire inching.
(ARCMASTER).
E0664 The command is not This error occurs when an illegal (1) Retry Touch sensing without the illegal
allowed during touch command is transmitted to the command.
sensing Arcmaster welder during touch
(ARCMASTER). sensing.
E0665 Impossible to control arc This error occurs when fuzzy control (1) Check the condition.
welding condition by the of the Arcmaster welder cannot be
unified fuzzy control. made by the set condition.
E0666 The arc current This error occurs when the welder (1) Use acceptable levels of current.
command is not available current which cannot be controlled by ARCMASTER - 350 = 0 to 350
for ARCMASTER. the Arcmaster welder is transmitted. ARCMASTER - 500 = 0 to 500
E0667 No initialized in This error occurs when the Arcmaster (1) Initialize ARCMASTER welder.
ARCMASTER. Please welder is not initialized.
initialize.
E0668 ARCMASTER version is This error occurs if the set value of (1) Check setting in constant setting mode
difference. ARC I/F set by the controller is group 2 item 34 for ARC I/F setting
different from the vision of the <standard, ARC MASTER 350, ARC
Arcmaster welder connected. MASTER 500>
28
E0669 The arch voltage This error occurs when the welder (1) Use acceptable levels of voltage.
command is not available voltage which cannot be controlled by ARCMASTER - 350 = 0 to 35 volts.
for ARCMASTER. the Arcmaster welder is transmitted. ARCMASTER - 500 = 0 to 50 volts.
E0670 Can't change weld on/off This error occurs when the weld (1) Do not change Weld ON/OFF during a
during start or end ON/OFF is attempted during a ARC ARC weld start or end sequence.
sequence. weld start or end condition sequence.
E0671 Please execute the Error occurs if a command or function (1) Turn Conveyer synchronization ON with
function during conveyor is attempted requiring Conveyer M55 machine code.
synchronization. synchronization ON.
E0672 No module constant file (1) Create or select the correct Constant file
found. Please remake or load backup floppy disk.
the file.
E0673 Bad module constant (1) Correct Constant file or load backup
file. Please remake the floppy disk.
file.
E0674 Welder communication Welder communication problem , the (1) Check weld board.
fault (Check sum). welder CPU is not updating. (2) Check AR controller CPU.
E0675 Welder communication This error is issued if the checksum is (1) Replace welder board.
fault (NO ANSWER). abnormal after a weld board response.
E0676 Welder communication This error occurs when data from the (1) Replace welder communication and
fault (Message wrong). Welder is abnormal. cables.
E0677 Welder major fault. This error occurs when Welder (1) Check weld fault and correct.
generate the Weld fault.
E0678 Timeout error (Hot Check the communication of the host (1) Check communication cable and
save/load). computer (Master control station). connection to host computer.
E0679 The robot must be Start the Synchronized robot system. (1) Select the condition menu and make
synchronized is not play. selection.
E0680 No module register value This error occurs when the servo (1) Set the value of the desired module
is given. parameter module resistance is not set. register.
E0681 Number of conditions is Error occurs when attempt is made to (1) Use up to 64 condition
up to 64. create more than 64 condition
E0682 Software version of Error occurs when the current software Update the Servo Amp PCB software.
amplifier is too old. version is unable to execute a function
command that is attempted.
E0683 Oil pressure of H-axis Error not used.
actuator is low.
E0684 Tip consumption This error occurs when robot stops if (1) Exchange the worn gun tip.
exceeded maximum any one of the tip consumption
limit. exceeded the max. tip consumption set
in Servo gun parameter.
E0685 Sealing unit is not ready Error occurs if the sealing unit is not (1) Prepare the sealing unit.
(Seal Gun 1). ready.
E0686 Sealing unit is not ready Error occurs if the sealing unit is not (1) Prepare the sealing unit.
(Seal Gun 2). ready.
E0687 Sealing unit error Error occurs when a Sealing unit error (1) Check sealing unit.
occurred (Seal Gun 1). signal is given to the controller from (2) Check communication cable and
the sealing unit. connection to sealer.
E0688 Sealing unit error Error occurs when a Sealing unit error (1) Check sealing unit.
occurred (Seal Gun 2). signal is given to the controller from (2) Check communication cable and
the sealing unit. connection to sealer.
E0689 Sealing material is empty Error occurs when a Sealing material (1) Supply Sealant to the sealing unit.
(Seal Gun 1). empty signal is given to the controller.
E0690 Sealing material is empty Error occurs when a Sealing material (1) Supply Sealant to the sealing unit.
(Seal Gun 2). empty signal is given to the controller.
E0691 Sealing interlock error Error occurs if the Sealing unit ready (1) Check the Sealing unit.
occurred (Seal Gun 1). signal is not being received when
executing a Sealing function.
29
E0692 Sealing interlock error Error occurs if the Sealing unit ready (1) Check the Sealing unit.
occurred (Seal Gun 2). signal is not being received when
executing a Sealing function.
E0693 No turn value is given. This error occurs when the number of (1) Check constant file or reload from floppy
turns of the current sensor has not disk.
been entered into the constant file.
E0694 Executive EPROM Error occurs when a system software (1) Install the system software once more.
check sum error. EPROM checksum error of welder (2) Replace weld board.
timer substrate is detected.
E0695 LCA EPROM check sum Error occurs when a LCA EPROM (1) Install the LCA software once more.
error. system software checksum error of (2) Replace weld board.
welder timer substrate is detected.
E0696 Application EPROM This error occurs when the weld board (1) Replace weld board.
check sum error. has an application EPROM checksum (2) Replace main CPU board (UM850 or
error. UM870).
E0697 DPR error. This error occurs when the weld board (1) Replace weld board (I.W.B.).
has an Dual Port Ram error. (2) Replace main CPU board (UM850 or
UM870).
E0698 The data is not the Calculation cannot be executed with (1) Modify teaching so that a sufficient
automatic center of the collected current values. imbalance torque can be applied to axes.
gravity setting. (2) Change the wrist postures as much as
possible between step land step 2 in teaching
for auto C. of G. setting.
E0699 This program is not for (1) 2 taught points are not available for (1) 2 taught points are required.
the automatic center of creating program. (2) Normally it is not necessary to change the
gravity setting. (2) Designated program differs from program designated at the time of creating it.
automatically created one.
E0700 Servo gun motion fault. Error occurs if the gun fails to open (1) Check operation of the gun during a weld
within the permissible time period (tip stick).
(4sec.) after weld complete signal is
given.
E0701 Servo gun pressure fault. Error occurs when the set gun pressure (1) Check operation of the gun during a weld.
is not achieved within the time period (2) Check Servo gun parameter in Constant
set in Servo gun parameter. Setting mode or use R code (R236).
E0702 The pressure command is Error occurred when a pressure too (1) Use adequate pressure.
not available for Servo grate for the Servo gun is designated.
gun.
E0703 GUN SEARCH has not Error occurred when a search function (1) Ensure the spot welding function is
been completed. is abnormally interrupted by a Spot executed after the search function is
welding function. complete.
E0704 Conveyer register value This error occurs when the conveyor (1) Use a correct register value (0 to
is invalid. register number designated in Step 100000mm).
conveyor register designation function
(M178) exceeds the limit.
E0705 V-axis exceeded ground- This error occurs when axis 2 (V-axis) (1) Move the robot manipulator within the
restrict limit. exceeds its minimum angle limit. operating range using the axis keys and
dead-mans switch in constant setting mode.
E0706 V-axis exceeded retract This error occurs when axis 2 (V-axis) (1) Move the robot manipulator within the
limit. exceeds its maximum angle limit. operating range using the axis keys and dead-
mans switch in constant setting mode.
E0707 V-axis mecha-stopper This error occurs when axis 2 (V-axis) (1) Check the operation and position of both
position abnormal. is mechanically stopped (limit switch) the mechanical stop and software limit.
in its operating range.
E0708 Inserting or deleting of This error occurs when insertion or (1) Preform program modification after
program is executed deletion of steps is attempted during a pelletizing is complete.
during pelletizing. pelletizing routine.
30
E0709 Manual mode selection is This error occurs when selection of a (1) Select mode from remote source or
denied because remote mode using the mode selection buttons disable Remote mode using Constant setting
mode. on the operation panel is attempted mode group 2 item number 56 < enable,
while the controller is in Remote disable>.
mode.
E0710 WI signal does not This error occurs when a WI signal (1) Check the Weld controller WI output
become off. from the last weld sequence remains signal.
on more than 5 seconds after a Gun (2) Check the WI input signal in the
signal is outputted by the controller. controller.
E0711 Over travel limit switch This error occurs when an axis reaches (1) Move manipulator axis off the limit
was activated in robot # the end of its travel and actuates an switch in constant setting mode.
1. over travel limit switch (LS1, LS2 or (2) If no limit switch is being actuated then
LS3). check wiring to the limit switch.
(3) Replace sequence board (UM837 or
UM880).
(4) Check input signal in monitor mode and
check signal path for Overtravel cell input.
UM880).
UM880).
UM880).
E0715 Arm interference limit This error occurs when two axis reach (1) Move manipulator axis off the limit
switch was activated in a point of interference and an Arm switch in constant setting mode.
robot # 1. interference limit switch is actuated. (2) If no limit switch is being actuated then
Not all manipulator have this switch. check wiring to the limit switch.
The signal is jumper in the (3) Replace sequence board (UM837 or
manipulator and returned to the UM880).
controller for system software. (4) Check input signal in monitor mode and
check signal path for Arm interference cell
input.
input.
31
input.
input.
E0719 The discharge resisters Error occurs when the Regenerative (1) Check TS1 and/or TS2 thermostat switch.
broken or exceeded discharge resistor(s) exceeds the set (2) Check cooling fans and the back of
temperature limit in temperature limit or the resistor circuit controller cabinet has 20 cm open space.
robot # 1. is open. (3) Check discharge resistor DSR10 and/or
DSR11.
(4) Check primary voltage not to exceed + 10
% of specified value.
DSR11.
DSR11.
DSR11.
E0723 Over voltage found in This error is detected when motor (1) Check primary voltage not to exceed + 10
drive unit in robot # 1. supply voltage (P-N) exceeds the set % of specified value.
value or heat sink temperature rises (2) Check manipulator for abnormal
excessively. operation.
UM880).
Amp. 1 or 2)
32
UM880).
Amp. 1 or 2)
UM880).
Amp. 1 or 2)
UM880).
Amp. 1 or 2)
E0727 Motor temperature fault Error occurs when an abnormal motor (1) Check wiring of thermostat of motor.
in robot # 1. temperature is detected. Refer to "Robot manipulator maintenance
manual."
(2) Stop the robot, Check motor and restart
after motor temperature cool down.
(3) Lower the operating speed of the robot if
the same error still occurs or change motor.
(4) Check input signal Motor thermostat in
monitor mode or the input signal circuit.
in robot # 2 temperature is detected. Refer to "Robot manipulator maintenance
manual."
manual."
33
manual."
E0731 Inner pressure error Some manipulators type (PV series) (1) Locate the air leak (check covers, air
occurred in robot # 1. require internal pressurization to supply, etc.) and repair.
operate in hazardous areas. Error (2) Restart controller.
occurs when internal operating (3) Refer to controller maintenance manual.
pressure is not with in the set range.
E0735 Robot # 1 is released. Error occurs if Motors-ON is (1) Check Robot 1 release condition (system
Motors on can't be done. attempted while the robot is released. error).
E0739 Motors-on sequence fault Error occurs when a signal from (1) Check sequence board (UM837 or
in robot # 1. magnetic switch (MSHP) is not UM880).
received within the specified time after (2) Check Servo Amp. Unit (Servo Drive
Motors ON signal is given. Amp. 1 & 2) in coming power.
(3) Check MSHP.
circuit.
(3) Check MSHP.
circuit.
34
(3) Check MSHP.
circuit.
(3) Check MSHP.
circuit.
E0743 Tool interference An interference area contacts each (1) Check the designated interference area
occurred between multi other between 2 robots which are and move manipulator.
robots. under multi robot control. (2) Alter the program so interference does
not occurs.
E0744 The battery for the media This error occurs when the battery for (1) Replace the battery for the memory media
discharged. the memory media is discharge lower (UM802 or UM870).
than 3.0 v dc. Note : Power ON when replacing battery.
E0745 No expand RAM found. Attach expanded RAM. (1) Robot option.
E0746 Force sensor signal is Error occurs if the Force sensor (1) Check sensor.
abnormal. strikes something. Other wise the (2) Replace board.
Force sensor or Force sensor PCB is
faulty.
E0747 Null error of Force Error occurs when a faulty Force (1) Replace force sensor or Force sensor
sensor is happened. sensor or Force sensor board is board.
detected.
E0748 Can't move. Please Error occurs when the tool can not be (1) Check the Tool Center of Gravity and
assume tool weight & moved due to abnormal Tool Center of weight in Constant setting mode [ Tool
position setting. Gravity or weight. constant] and modify if necessary.
E0749 Welder's SCR1 thermal Error occurs when the Thermal switch (1) Check the SCR1 input signal in controller
switch works. fault signal is not received by the (Interface panel, I/O board, Master I/O board
controller. Welding is not allowed. and Main CPU board).
(2) Check the SCR1 Thermal switch fault
signal in the welding unit.
(3) Check communication cable and
connection to welder.
(4) Replace IWB board in controller or
welder firing board.
E0750 Welder's SCR2 thermal Error occurs when the Thermal switch (1) Check the SCR1 input signal in controller
switch works. fault signal is not received by the (Interface panel, I/O board, Master I/O board
controller. Welding is not allowed. and Main CPU board).
(2) Check the SCR1 Thermal switch fault
signal in the welding unit.
(3) Check communication cable and
(4) Replace IWB board in controller or
welder firing board.
E0751 File size exceeded limit. Error occurs when a file size exceeds (1) Reduce file size.
its limit.
35
E0752 One or more steps has Lifespan estimation monitors the (1) Reduce speed in the step indicated or
over-torque motion. torque while playing back a program. allocate a smaller Accuracy number (replace
If an excessively high torque for a Accuracy A3 with A2).
reduction gear is detected this error
occurs and the program and step
numbers are indicated.
E0753 Life span is less than This error occurs when an excessively (1) Reduce speed of the step indicated or
20000 hours in case of high torque on a reduction gear is reduce motion range.
this program. predicted to reduce its lifespan to
below 20,000 hours. The program,
step number and axis in witch high
torque is encountered is display.
E0754 Can't copy from serial This error occurs when the controller (1) Change the destination device.
port to serial port. can’t copy from serial port to serial
port.
E0755 Many files are not This error occurs when more than one (1) Copy only one file at a time.
allowed. file is attempted to copy at one time.
E0756 The interference Error not used
occurred between slide
axis.
E0757 Weld control dose not Error occurs when the welding timing (1) Install the latest software version.
support Medlan software is too old.
command.
E0758 Directory file exists. Error occurs when the controller (1) Store files in a root directory and erase
detects a subdirectory in a external the subdirectory.
memory media.
E0759 Isolation contractor Error occurs when the isolation (1) Check output signal to isolation contacter
failed to pull in. contact of the welder fails to actuate from controller.
correctly. (2) Check communication cable and
(3) Refer to the Welder timing Manual.
E0760 Isolation contractor stuckError occurs when the isolation (1) Refer to the Welder timing Manual.
close. contact of the welder fails to actuate
correctly.
E0761 Isolation contractor is Error occurs when the isolation (1) Check communication cable and
turned ON. contact of the welder fails to actuate connection to welder.
correctly. (2) Refer to the Welder timing Manual.
E0762 Servo gun is no mounted. This error occurs when servo gun is (1) Attach a Spot welding Gun before using
not connected when executing the spot Spot welding function.
welding or gun search function.
E0762 Welder board is not Error occurs if the Welding timer (1) Install the Weld board.
installed. PCB dose not exists in the controller
when welding is attempted.
E0763 Different gun with This error occurs if the Servo gun (1) Attach the correct gun before using Spot
specified one is mounted. number taught in the program is welding function.
different from an actually connected
one when executing Spot welding
function or Gun search function.
E0764 Communication error This error occurs when the SIZE of Check the connection.
(SIZE). communication protocol is faulty. Check communication .
Check that no noise is present.
E0765 Communication error This error occurs when the CR of Check the connection.
(CR). communication protocol is faulty. Check communication .
Check that no noise is present.
E0766 Communication error This error occurs when the Check the connection.
(CHECK SUM). CHECKSUM of communication Check communication .
protocol is faulty. Check that no noise is present.
36
(ATTRIBUTE). ATTRIBUTE of communication Check communication .
(COMMAND). COMMAND of communication Check communication .
E0769 Communication error This error occurs when the (1) Check the connection and communication
(PARAMETER). PARAMETER of communication cable.
protocol is faulty. (2) Check that no noise is present with data.
E0770 Communication error This error occurs when the FILE- (1) Check the connection and communication
(FILE NAME). NAME of communication protocol is cable.
faulty. (2) Check that no noise is present with data.
E0771 Communication error This error occurs when the SH of (1) Check the connection and communication
(SH). communication protocol is faulty. cable.
(2) Check that on noise is present with data.
E0771 Shift value is over the This error is displayed when the shift Check the work position.
shift limit. value exceeds the shift limit.
E0772 Selected gun number is
not available. Please use
1 or 2, 12.
E0772 Tool numbers are This error is displayed when the tool
unmatched. number of the original tool step is
different from that of the modified tool
step.
E0773 Weld stick detection is
executing.
E0774 Learning memory is not
ready.
E0775 The shock sensor was
actuated.
E0776 Variable not supported. Not supported. Not used.
E0776 Life span is less than This error occurs when an excessively (1) Slow down the speed of a step in which
5000 hours in case of this high torque is detected on an axis the displayed axis moves big or modify
program. reduction gear and axis life span is teaching of the axis so that its motion can be
predicted to be below 5,000 hours. smaller.
The program, step and axis on which (2) Check payload on arm.
high torque is detected is display with (3) Check axis lubricants for loss,
error message. breakdown, contamination and hardening.
(4) Check axes for normal mechanical
operation.
(5) Check for Tool Auto Load Center.
E0777 The robot moved at Error occurs if the robot manipulator
motors_on sequence. moves when executing the Motors-on
sequence.
E0778 Forward Kinematics not
available.
E0779 Please clear NC alarm Reset/clear the NC alarm and restart (1) Press [R] and [SET] keys.
before restarting. from the start of the program.
E0780 Playback stop for & Monitor the content of #3000.
3000(# 3006).
E0781 Move-tip consumption This error occurs when the robot stops (1) Replace the worn Move-tip (Moved by
exceeded maximum when the move-tip consumption the servo).
limit. exceeded max. move-tip consumption
set in Servo gun parameter.
37
E0782 Settle-tip consumption This error occurs when the robot stops (1) Replace the worn Settle tips.
exceeded maximum when the settle-tip consumption
limit. exceeded max. settle-tip consumption
set in Servo gun parameter.
E0783 Motion controller CPU Error occurred in CPU of motion (1) Replace the Servo board of motion
error. controller. controller (U834, U860 or UM883/884).
E0784 Motion controller returns This error occurs when (1) Replace the Servo board of motion
no answer. communication error occurred controller (UM834, UM860 or UM883/884).
between the system and motion
controller.
E0785 Motion controller is There exists setting by which the Use the servo boards UM860.
denied to function. motion controller cannot make
operation.
E0786 Motion controller is not MOTORS ON was tried before the Check that the internal pressure is
ready. motion controller starts. sufficiently risen right and then press
MOTORS ON after power ON.
E0787 Motion controller Motion controller can not use the (1) Exchange with UM860 board for motion
declared communication UM883 and UM884 boards. controller.
fault.
E0788 Movement by external This error is detected if the distance Review the condition of Compliance control
force is too large in between the instructed position and the function.
Compliance control. present position exceeds the error Review the constant of Compliance control
detection length set by the constant. function.
E0789 Robot did not reach at This error is detected when the error Check an interference.
object position in jump step No. is 0, if a robot did not Review the condition of Compliance control
Compliance control. reach within the positioning accuracy function.
with M212 Compliance accuracy
function ON.
E0790 Compliance control This error is detected if this function is (1) Use UM860 or UM883 servo board.
function is not available performed by a control unit with
with UM834 servo UM834-1or 2 board.
board.
E0791 Abnormal shift value is
calculated on UM851
DSP board.
E0792 Tool interference This error occurs when more than one (1) Check the designated interference area in
occurred between multi robot is in the level 2 interference area the program.
robots (level 2). when using multi-robots. (2) Alter the program so interference does
not occur otherwise change interference area.
E0793 Welder I/F Error occurs when a Welder interface (1) Check welder power and power supply.
communication error communication fault is detected. (2) Check communication connector and
(NO ANSWER): Gun 1 cable to the welder.
(3) Replace welder or controller circuit
board.
board.
board.
board.
38
E0797 Welder I/F Error occurs when a Welder interface (1) Check communication connection and
communication error communication is cut off. cable to the welder.
(Message break off): (2) Replace welder or controller circuit
Gun 1 board.
Gun 2 board.
Gun 3 board.
E0800 NC illegal code exists. This error occurs when a NC illegal (1) Refer to the NC language instruction
code exists. manual to correct the program.
E0801 Macro stack overflows. (1) Split or simplify expression of macro.
E0802 Undefined macro Error occurs when a Macro variable (1) Modify the invalid macro variable
variable. number is negative. number.
E0803 Illegal macro calculation. (1) Refer to the NC language instruction
manual to correct the program.
E0804 Zero divides. This error occurs when a value is (1) Use the macro variable monitor to
divided by 0 (macro variable). monitor variable and find the problem.
E0805 Illegal comparison. (1) Refer to the NC language instruction
E0806 Too many address data. This error occurs when the number of (1) Use fewer 1 block type address.
address blocks exceed the maximum.
E0807 Illegal Macro address (1) Refer to the NC language instruction
data. manual to correct the program.
E0808 Cannot convert float into This error occurs when conversion is (1) Debug using the macro variable monitor.
integer. attempted but the value of the real
number exceeds the range of the 32 bit
integral number.
E0809 Conversion overflows. This error occurs when conversion is (1) Debug using the macro variable monitor.
attempted but the specified value
exceeds the range of the BCD ect.
E0810 0 number not exists. (1) modify 0 code number.
E0811 Cannot do macro Unused

statement now.
E0812 Illegal address command This error occurs when an illegal (1) Modify the illegal address command.
exists. address command exists.
E0813 Illegal G code number This error occurs when an illegal G (1) Modify the illegal G code in the program.
exists. code number is contained in a
program.
E0814 Illegal M code number This error occurs when an illegal M (1) Modify the illegal G code in the program.
exists. code number is contained in a
program.
E0815 G53 is not available in This error occurs when G53 is (1) Use G90 in Incremental mode.
incremental command. attempted in Incremental mode. G53 is
only usable in Absolute mode.
E0816 Invalid center point This error occurs if K command is (1) Modify address command.
command exists. attempted for the XY plane when I and
J are correct.
E0817 Radius value equals zero. (1) Modify the value expressed by R (radius).
E0818 No feed rate specified. This error occurs if F command value (1) Designate the correct F value.
(feed rate) has not been specified and
the value is 0.
39
E0819 Illegal model type exists. (1) Refer to the NC language Instruction
E0820 Dwell is not available. Unused error code.
E0821 M98 nesting level over. Error occur when a subprogram is (1) Reduce the number of subprogram to 8 or
called from within a subprogram more less.
than 8 times.
E0822 G65 nesting level over. This error occurs when a macro (1) Reduce the number of macro subprogram
subprogram is called from within a within macro subprogram to 4 or less.
macro subprogram more than 4 times.
E0823 M98 loop count invalid. This error occurs when a value other (1) Designate the correct loop count for M98.
than 19999 is specified as the loop
count in M98 function.
E0824 G65 loop count invalid. This error occurs when a value other (1) Designate the correct loop count for G65.
than 19999 is specified as the loop
count in G65 function.
E0825 Sub-program return This error occurs when an M99 NC (1) Delete the M99 NC code.
pointer (M99)not exists. code appears in the main program.
E0826 I specified G65- This error occurs when argument 2 in (1) Reduce the number of I, J or K addresses.
argument 2 is over. G65 exceeds the maximum number of
permissible I, J or K addresses (10).
E0827 J specified G65- This error occurs when argument 2 in (1) Reduce the number of I, J or K addresses.
argument 2 is over. G65 function exceeds the maximum
number of permissible I, J or K
addresses (10).
E0828 K specified G65- This error occurs when argument 2 in (1) Reduce the number of I, J or K addresses.
argument 2 is over. G65 function exceeds the maximum
number of permissible I, J or K
addresses (10).
E0829 No movement block This error occurs when M30 is (1) Modify the program so that radius
exists in tool radius attempted before radius compensation compensation has been done before using
compensation. has been done/complete. M30.
E0830 Impossible tool radius This error occurs when the Circular (1) Modify the program and make the radius
compensation because interpolation radius in the program is larger.
circle interpolation to small.
radius.
E0831 Impossible tool radius This error occurs when the Circular (1) Modify the program and make the radius
compensation because interpolation radius in the program is smaller.
tool radius is large. to larger.
E0832 Cannot move to start This error occurs when the start point (1) Insert G00 and G01.
point of tool radius of Tool radius compensation can not
compensation by circle be moved to using Circular
interpolation. interpolation.
E0833 Cannot move to end This error occurs when the end point (1) Insert G00 and G01.
point of tool radius of Tool radius compensation can not
compensation by circle be moved to using Circular
interpolation. interpolation.
E0834 Impossible tool radius This error occurs when the reverse (1) Verify the program is correct otherwise
compensation because of orientation is not possible for Tool use a thin tool.
reversing movement. radius compensation.
E0835 Not supported yet. This error occurs when the controller (1) Controller must be up dated call Nachi.
is not supported by the NC.
E0836 Jump pointer of go to- This error occurs when the Jump mark (1) Add a Jump mark to a desired point in the
statement not exists. is missing in the program. program.
E0837 Syntax error. This error occurs when the program (1) Check for and correct illegal syntax in the
has illegal program command. program.
40
E0838 Radius value is too This error occurs when the radius of (1) Increase the radius of the arc.
small. the arc is smaller than the distant from
start to end point.
E0839 Radius difference is too This error occurs when the radius of (1) Decrease the radius of the arc.
big. the arc is larger than the distance from
start to end points.
E0840 NC program is not This error occurs when attempting to (1) Select the desired NC program and
selected. run an NC program without first restart.
selecting one.
E0841 Required address This error occurs when a required (1) Designate the correct address in the G-
command not exist. address command is missing in a G - code command etc.
code etc.
E0842 Tool Comp. is on. This This error occurs when attempting to (1) Modify the program to avoid the illegal
command cannot be execute a command not permissible command.
done. during Tool compensation ON.
E0843 Cannot set data. This error occurs when the maximum (1) Modify the G10 function (etc.) In the
limit of G10 (etc.) Entry is exceeded. program.
E0844 Cannot write this macro This error occurs when attempting to (1) Modify the program.
system variable. write a macro system variable which
can not be written.
E0845 Positive limit is less than This error occurs when the positive (1) Modify the address entries of G22.
negative limit. limit is less than the negative limit in a
G22 function.
E0846 Positive limit is less the This error occurs when the positive (1) Modify the address entries of G22.
current position. limit in a G22 function is less than the
current position.
E0847 Negative limit is greater This error occurs when the negative (1) Modify the address entries of G22.
than current position. limit in a G22 function is greater than
the current position.
E0848 Axis value is over range This error occurs when the stroke limit
than positive limit. stored
E0849 Axis value is under range This error occurs when
than negative limit.
E0850 Illegal address data This error occurs when an address (1) Modify incorrect address entry.
exists. enter in a program is illegal.
E0851 Positive limit is more This error occurs when the positive (1) Designate the correct positive limit or
than positive parameter. limit in a G22 function is greater than positive parameter.
the positive parameter.
E0852 Negative limit is less This error occurs when the negative (1) Designate the correct negative limit or
than negative parameter. limit in a G22 function is less than the negative parameter.
negative parameter.
E0853 Parameter of 1B signal is Error occurs when the range (1) Use signals up to 99H.
out of the range. determined by the BCD (99H) is
exceeded.
E0854 Pay load on arm is out of Pay load on No. 1 arm exceeds the (1) Put the load within the rating.
the range. weight rating.
E0855 Step sync. Of spot This error occurs when weld function (1) Teach method = Type 1, set to - 0 or 1.
welding function invalid. is not programed correctly. (2) Teach method = Type 2, set to - 2 or 3.
E0856 Servo gun is already (1)
mounted.
E0857 Arc retry can not be (1)
executed in this step.
E0858 Call or Jump function This error occurs when a Jump or Call (1) Modify program.
was executed during function is attempted during an Arc
ARC retry. reweld.
E0859 Arc retry can not be This error occurs when an Arc reweld (1) Modify program.
executed during is attempted during a Jump / Call
jump/call function. function.
41
E0860 Feed forward needs the This error occurs when the Gear ratio (1) Input the correct value for Gear ratio.
gear retro. enter is not filled.
E0861 Feed forward needs This error occurs when the Torque (1) Input the correct value for Torque
torque constant. constant entry is not filled. constant.
E0862 Particle is not suitable. Unused
E0863 Now T/P mode selection This error occurs when attempting to (1) Use the teach pendant to change modes.
enabled. change modes while controller is set (2) Change the mode select back to the
up for T/P (Teach Pendent)mode operation panel. Constant setting mode group
select. 2 item 100, <operation panel, T/P>.
E0864 Too many programs (up (1)
to 256).
E0865 Same program exists.
E0866 Welding current exceeds (1)

fault range
(ARCMASTER).
E0867 Welding current is (1)
instability
(ARCMASTER).
E0868 Welding voltage exceeds (1)
fault range
(ARCMASTER).
E0869 Welding voltage is (1)
instability
(ARCMASTER).
E0870 Welding short exceeds (1)
fault range
(ARCMASTER).
E0871 Welding short is (1)
instability.
E0872 No ARC restart (1)
(ARCMASTER).
E0873 ARC is unsettled (1)
(ARCMASTER).
E0874 Encoder preload setting This error occurs when the encoder (1) Turn power ON again.
error. preload is not executed.
E0875 Spot schedule file is not This error occurs if a welding (1) Create or use the correct weld schedule
found. schedule file can not be found when a file.
Spot welding function is attempted.
E0876 The welding schedule This error occurs a data entry in the (1) Create or use the correct weld schedule
data is not found. Weld schedule file has not been file.
inputted
E0877 The manufacturing No. This error occurs if there is no spot (1) Load spot weld file or program the spot
is not set. weld file. weld file.
E0878 The data is not write.
E0879 M30 or M99 is not This error occurs when NC (1) Correct NC programming.
found. programming is incorrect.
E0880 The operation is not This error occurs when an illegal (1) Disable the Gun axis before executing
available (gun axis operation is attempted when the Gun command.
enable). axis is enabled.
E0881 Composite power unit This error occurs when output voltage Check Composite power unit (SR1) and it’s
(SR1) error of current detector is abnormal wiring.
E0882 Motor current of all axes This error occurs when motor current Replace Servo board when the encoder data
are near zero of all axes are near zero does not change if you release the motor
brake
42
E0883 Robot moved during This error occurs when the encoder Check brakes for slippage
power-save release. value changes over bit width of error
check in the energy saving mode.
E0885 Selected axis is not (1)
available for endless
function.
E0886 Now endless function (1)
executing.
E0887 Over rotation for endless (1)
function.
E0888 PWM function (1)
executing.
E0889 Welder I/F Error occurs when a welder interface (1) Check communication cable and
communication error communication is cut OFF. connectors to the welder.
Gun 4. board.
communication error communication reply is abnormal. connectors to the welder.
(message data wrong): (2) Replace welder or controller circuit
Gun 1. board.
Gun 2 board.
Gun 3. board.
Gun 4. board.
E0894 Motion controller not This error occurs when a function not (1) Check program and program a function
supporting function. used by the Motion controller is recognized by the Motion controller..
attempted.
E0895 Conveyor is not working. The conveyor running signal is not (1) Check the connection and wires to
given to controller. conveyer.
E0896 Hardware version of (1)
Amp. card is not correct.
E0897 Playback is inhibited. (1)
Check playback-key.
E0897 Too little conveyor pulse (1)
counted.
E0898 Calibration error. Error occurs during calibration if it is (1) Motors must be turned OFF.
not completed. (2) ?
E0899 Robot is not within home (1)
position.
E0900 Weld-line is not (No This error occurs when the Weld locus (1) Designate a useable step number.
step). operation is impossible, when on
program, or less than two steps, or
same point, or END step.
E0901 Weld-line is not (Single This error occurs when the Weld locus (1) Change the tool attitude.
step). operation is impossible. The Weld-line
(locus) is parallel with the tool
attitude.
E0902 Weld-line is not (End (1)
step).
43
E0903 Weld-line is not (Same (1)
points).
E0904 Can't select while mode- (1) Press the TEACH mode key on the
lock. pendant to change Teach mode lock state.
E0905 The combination of tool Check gun and tool number. Gun 1 = Tool 0
and gun number is Gun 2 = Tool 1
wrong. Gun 3 = Tool 2
Gun 4 = Tool 3
E0906 Order of designated data (1) The designated data must be in as sending
must be increasing. order.
E0907 The specified pressure (1) Reduce the value of pressure.
causes over-load error.
E0907 Bad spot schedule file. This error occurs when the welding (1) Check the program for the welding
function is missing or not program function. Correct the welding function or
correct. reprogram the weld function in the step.
E0908 Invalid gun number in Not used error.
function.
E0909 Invalid pose is recorded V or B or R1 axis is in the posture of (1) Teach points that enough unbalanced
for the auto tool load gravity direction. torque is exerted on V, B and R1 axis.
center setting.
E0910 Invalid tool number. Not used error.
E0912 Can’t operate while This error occurs when robot motion is (1) Change the state of the [Teach mode]
Teach-lock OFF attempted in Teach and the [Teach LED (ON/OFF).
mode] key LED is OFF or robot
motion is attempted in Playback mode
with Teach mode LED is ON.
E1000 Modifying the step is not This error occurs when modification (1) Step data of execution type can be
allowed. of the step written by the robot modified.
language is attempted.
E1014 Brake was slipped during To withstand stud welding pressure, (1) Check brakes for slippage.
stud welding. all axes are locked by the brakes (2) Replace motor.
before pressurization and the brakes
are released after pressurization. This
error is given when tool and difference
before and after pressurization exceeds
the slip error detecting range.
E8001 Motors-off sequence This error occurs when operation of (1) Turn power ON again and try again
fault. Motors OFF could not finish even if it
was passing designated time.
E8002 Input sequence fault. This error occurs when operation of (1) Turn power ON again and try again
input signals could not finish even if it
E8003 Interval check sequence This error occurs when operation of (1) Turn power ON again and try again
fault. interval check could not finish even if
E8004 Brake sequence fault. This error occurs when the controller (1) Check Servo Amp. Unit for power B4
has a poor signal condition or and C4 (100 v ac) to Unit.
communication with cable, CNEC 1 (2) Check or replace Servo Amp. Unit.
and CNEC 2 or input signal table of (3) Check Sequence board ( UM880 or
Emergency stop, Over travel limit UM191 PCB ).
switch, Arm interference limit switch (4) Check I/O board (UM803/080 or UM887-
or Motor thermostats and / or poor 1 & 2).
signal communication with cable (5) Check connection and wires on connector
CNSG1 and CNSG2. CNEC 1 & 2 and CNSG 1 & 2.
E8005 Memory pool Error occurs when there is a shortage (1) Please abort the operation of some
insufficiency. of common memory space in the function.
internal memory board.
44
E8006 CMOS ID error. Unused error code.
E8007 System error (memory Error occurs when there is a shortage (1) Delete data in memory that is not used.
full). in common memory space. (2) Add memory or use IC card or floppy
dick drive for data.
45
JAPAN MAIN OFFICE Phone:+81-3-5403-0491 Fax:+81-3-5403-0488 World Trade Center 2-4-1 Hamamatsu-cho, Minato-ku, TOKYO, 105-6125 JAPAN
NACHI ROBOTIC SYSTEMS INC. Phone:(248)305-6545 Fax:(248)305-6542 22285 Roethel Drive, Novi, Michigan 48375 U.S.A.
Support Group Phone:(248)305-6551 Fax:(248)305-6554 47840 Anna Court, Wixom, Michigan 48393 U.S.A.
Toronto Branch Office Phone:(905)856-9542 Fax:(905)856-5228 215 Rowntree Dairy Road, Woodbridge, Ontario L4L 8B8 Canada
th
Indiana Branch Office Phone:(317)870-0390 Fax:(317)870-0395 5032 West 79 St. Indianapolis, Indiana 46268 U.S.A.
Mexico Branch Office Phone:(525)576-7582 Fax:(525)576-5228 Oficina de Representacion, Ingenieros Militares 85, ”C” 1-2 Col.Argentina
11230, Mexico, D.F.
St.Louis Service Center Phone:(314)391-0345 Fax:(314)391-0904 234 Old Merramec Station Road, Suite B, Manchester, Missouri 63021 U.S.A.
Copy by NACHI-FUJIKOSHI CORP.

Robot division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-764-23-5137
Fax +81-764-93-5252
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.
46

Ar Error Code List

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Ar Error Code List

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ERROR&WARNING CODE

CODE ERROR MESSAGE CONTENTS COUNTER PLAN

E0199 PWM is not OFF. Unused

E0559 Register start address (1) Check ladder.

E0578 Application file header (1) Recreate application file.

E0591 No data in file. M199 must have step weld ID number.

E0602 ID number is different

E0811 Cannot do macro Unused

E0866 Welding current exceeds (1)

Copy by NACHI-FUJIKOSHI CORP.

NACHI-FUJIKOSHI CORP. holds all rights of this document.

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