Error Code Comparison Table
Errcode |
Describe |
Processing method |
|---|---|---|
-7 |
Upload file does not exist |
Check that the file name is correct |
-6 |
The save file path does not exist |
Check whether the file path is correct |
-5 |
The LUA file does not exist |
Check that the lua file name is correct |
-4 |
xmlrpc interface execution failed |
Contact the after-sales engineer to view the controller log |
-3 |
xmlrpc communication failed |
Please check whether the network connection and server IP address are correct |
-2 |
Abnormal communication with the controller |
Check the software and hardware connection with the controller |
-1 |
Other errors |
Contact the after-sales engineer to view the controller log |
0 |
Successful call |
/ |
3 |
The number of interface parameters is inconsistent |
Check the number of interface parameters |
4 |
Interface parameter value exception |
Check parameter value type or range |
5 |
The tpd timer fails to start |
Check the TPD timer parameter Settings |
6 |
The tpd timer fails to close |
Check the TPD timer parameter Settings |
7 |
Failed to create the tpd file |
Check the TPD file name |
8 |
Failed to open track file |
Check if the TPD track file exists or the track name is correct |
9 |
TPD file name sending failed |
Check if the TPD track name is correct |
10 |
Failed to send TPD file content |
Check whether the contents of the TPD file are correct |
11 |
Program exception, parsing stopped |
Check the contents of the program, check the contents of the instructions executed when the program terminates |
12 |
The contents of the tpd file are in consistent |
Check TPD file contents |
13 |
The number of tpd files is abnormal |
Check TPD file contents |
14 |
Interface execution failed |
Check whether the web interface reports a fault or status feedback reports a fault |
15 |
TDP record points exceeded |
Reblog |
16 |
Protocol loaded |
Do not duplicate load protocols |
17 |
Protocol unload |
Please load the protocol first |
18 |
The robot program is running, please stop it first |
Stop the program before performing other operations |
19 |
The communication of the posesensor is abnormal |
Check the connection between robot and sensor network and the loading of sensor protocol |
20 |
No tool is set for swing welding |
Swing welding requires a tool coordinate system with tool number other than 0 |
21 |
External axis not removed active |
Please remove the activation expansion shaft first |
22 |
The three-point method does not set a tool |
Please set the tool coordinate system first |
23 |
Failed to obtain the posesensor data |
Check the connection between robot and sensor network and the loading of sensor protocol |
24 |
Eight point method-The first four points change too much |
Please reduce the attitude change values of the first four points |
25 |
Data exception, calculation failed |
Re-calibration or identification |
26 |
Eight-point method-did not switch to the base system, did not switch to exaxis 0 |
Please switch to the base system first (tool coordinate system with tool number 0) |
27 |
Eight-point method-Calculation results are abnormal |
Please re-calibrate |
28 |
Inverse kinematics calculation results are abnormal |
Check if the pose is reasonable |
29 |
ServoJ joint overrun |
Check whether the joint data is within a reasonable range |
30 |
Non-resettable fault, please power off and restart the control box |
Please power off and restart the control box |
31 |
The emergency stop button is released, please power off and restart the control box |
Please power off and restart the control box |
32 |
joint over limit |
Switch to drag mode and move the joint to the soft limit range |
33 |
External axis is not in zero position, lead and resolution Settings fail |
Please check the external axis settings |
34 |
Wrong workpiece number |
Please check that the workpiece number is reasonable |
35 |
Please switch to work piece number0 |
Switch to the job coordinate system with job number 0 |
36 |
Filename too long |
Please shorten the filename length |
37 |
Wrong tool number |
Please check whether the tool number is reasonable |
38 |
Singular pose, calculation failed |
Please change pose |
40 |
Speed percentage exceeds limit |
Check if the speed percentage is reasonable |
41 |
The external axis does not return to zero |
Please check the external axis settings |
42 |
Posture changes too much |
Insert intermediate pose to transition |
43 |
The conveyor belt detection switch DI is not configured |
Configure the DI detection port on the conveyor belt |
44 |
The robot attitude Angle exceeds the limit |
Please check the target attitude Settings |
45 |
The external axis is not active |
Please check the external axis settings |
46 |
The synchronization function requires calibration of the external axis |
Please check the external axis settings |
47 |
Failed to configure the external drive information |
Please check the external axis settings |
48 |
Obtaining external shaft drive information timed out |
Please check the external axis settings |
49 |
External axis error can not be enabled |
Please check the external shaft status |
50 |
Failed to obtain external shaft drive information |
Please check the external shaft status |
51 |
Obtaining external shaft driver information timed out |
Please check the external shaft status |
52 |
The synchronization function cannot be performed in a single step |
Please check the external axis settings |
59 |
Force/torque sensor not activated |
Activate force sensor |
60 |
Force/torque sensor reference frame not switched to tool |
Switch force sensor coordinate system to tool |
61 |
The force/torque sensor is not homing |
Please set the force/torque sensor to zero first |
62 |
Force torque sensor load is not set to zero |
Please reset the load of the force/torque sensor first |
63 |
Failed to obtain the system time |
Contact after-sales engineers to view controller logs |
64 |
Not added to the instruction queue |
Contact the after-sales engineer to view the controller log |
66 |
The middle point 1 of the full circle/helix command is wrong |
Check whether the middle point 1 data is correct |
67 |
The middle point 2 of the full circle/helix command is wrong |
Check whether the middle point 2 data is correct |
68 |
The middle point 3 of the full circle/helix command is wrong |
Check whether the middle point 3 data is correct |
69 |
The middle point of the arc command is wrong |
Check if the intermediate point data is correct |
70 |
Arc instruction target point error |
Check if the target point data is correct |
73 |
Gripper movement error |
Check whether the communication status of the gripper is normal |
74 |
Line instruction point error |
Check whether the point data is correct |
75 |
Channel error |
Check if IO number is in range |
76 |
Wait timeout |
Check whether the IO signal is input or the wiring is correct |
82 |
TPD instruction point error |
Re-record the teaching track |
83 |
TPD instruction tool does not match current tool |
Change the tool coordinate system used when teaching to TPD |
84 |
Weld locating failed |
Check the laser sensor parameter configuration to ensure that the sensor can recognize the weld |
85 |
Line command error |
Please check whether the command point position parameters, tool number and job number are configured |
90 |
Failed to check the external axis configuration file |
Contact after-sales engineers to view controller logs |
91 |
The version of the peripheral configuration file does not match |
Contact after-sales engineers to view controller logs |
92 |
Failed to read the peripheral configuration file |
Contact after-sales engineers to view controller logs |
93 |
The number of spline instructions exceeds the limit |
Reduce the number of spline instruction points |
94 |
Spline cue point error |
Check whether the point data is correct |
95 |
Spline parameter error |
Check whether the spline parameters are reasonable |
96 |
Welding wire locating failed |
Check the locating parameters of the welding wire |
97 |
The recorded data is empty |
Please wire for data recording |
98 |
The main program is not configured |
Configure the main program first |
99 |
A safe stop has been triggered |
Please check the safety stop signal status |
100 |
The job origin is not configured |
Configure the job origin first |
101 |
The robot is not enabled |
Please enable the robot first |
106 |
The external axis is not enabled |
Enable the external axis first |
108 |
Wrong starting point for helix command |
Check whether the starting point data is correct |
110 |
Please turn off Drag Configuration-Impedance call back into the interference zone |
Disable the drag configuration into the intervention zone |
111 |
Turn off the drag teaching lock freedom function |
Turn off the drag teaching lock freedom function |
112 |
The given pose cannot be reached |
Check if the target pose is reasonable |
130 |
The point table does not exist |
Check that the point table name is correct |
131 |
Modbus master not connected |
Check if the Modbus master is connected |
132 |
Modbus wait timeout |
Check if the Modbus connection is correct |
133 |
Please first enter Drag mode/Force Sensor Assisted drag mode |
Please first enter Drag mode/Force Sensor Assisted drag mode |
134 |
Force/torque sensor no load |
Please check the load of the force/torque sensor |
135 |
Inversea nomaly of matrix under force/torque sensor |
Contact after-sales engineers to view controller logs |
138 |
The detection switch DI is not configured |
You need to configure the detection switch DI port first |
139 |
Please apply the extended axis coordinate system first |
Please first apply an extended axis coordinate system with a number other than 0 |
140 |
Please activate the current extension axis first |
Please activate the current extension axis first |
141 |
The welding program contains instructions such as while, if, etc., and cannot resume welding |
Please check the welding program |
142 |
Modbus slave IP is unavailable |
Please check the Modbus slave IP |
143 |
Teaching point information does not exist |
Please check if the teaching point information exists |
144 |
LUA file does not exist |
Please check if the LUA file exists |
145 |
Modbus master creation failed |
Please check the Modbus master |
146 |
Only 4 custom Modbus masters are supported |
Please check the number of custom Modbus masters |
147 |
Controller open LUA protocol file does not exist |
Please check the controller open LUA protocol file |
148 |
Controller peripheral open protocol is already loaded |
Please check the controller peripheral open protocol |
149 |
Current Modbus index is already occupied |
Please check the current Modbus index |
150 |
Grinding device is in emergency stop state |
Please check the grinding device status |
151 |
Changes in joint configuration |
Check whether the joint configuration has changed between the target location and the current location |
152 |
The spacing between welding command points is too small |
Check whether the distance between the welding command point and the current point is too small |
153 |
The distance between arc command points is too small |
Please check the arc command point spacing |
154 |
Joint Command Point Error |
Please check the joint command |
155 |
Background Program Startup Failed |
Please check the background program |
156 |
Background Program Pause Failed |
Please check the background program |
157 |
Background Program Resume Failed |
Please check the background program |
158 |
Background Program Delete Failed |
Please check the background program |
159 |
Number of Running Background Programs Exceeds 8 |
Please check the number of running background programs |
160 |
Speed Configuration File Check Failed |
Please check the Speed configuration file |
161 |
Load Configuration File Check Failed |
Please check the Load configuration file |
162 |
Asynchronous Motion Not Allowed During Laser Tracking |
Please check the laser tracking |
163 |
Multiple WHILE Loops in WHILE(1) Welding Process |
Please check the WHILE command |
164 |
Segment Welding Information Not Received |
Please check the segment welding information |
165 |
CNC Communication Exception |
Please check the CNC communication |
166 |
CNC Wait Timeout |
Please check the CNC communication |
167 |
CNC Communication Connection Exception |
Please check the CNC communication connection |
168 |
Number of Numeric Variable Monitors Exceeds Limit |
Please check the numeric variables |
169 |
Number of Character Variable Monitors Exceeds Limit |
Please check the character variables |
170 |
Workpiece Coordinate System Not Applied |
Please check the workpiece coordinate system |
171 |
Exceeded Joint Soft Limit, Soft Limit Protection Failed to Start, Move all joints within the preset soft limit range |
Please check the joint soft limits |
172 |
Motion Speed Cannot Be 0 |
Please check the motion speed |
173 |
Extended Axis Blending Motion Requires Acceleration Smoothing to Be Enabled |
Please check if acceleration smoothing is enabled |
174 |
Current Robot Model Does Not Support This Function |
Please check the robot model |
175 |
Socket Not Configured |
Please check the Socket communication |
176 |
Communication Connected |
Please check the communication connection status |
177 |
Communication Not Connected |
Please check the communication connection status |
178 |
Firmware Version Too High, Not Supported by Current Software Version |
Please check the firmware version |
179 |
Firmware Version Too Low, Not Supported by Current Software Version |
Please check the firmware version |
180 |
G-code File Cannot Be Opened |
Please check the G-code |
181 |
G-code Parsing Failed |
Please check the G-code |
182 |
Given Physical Speed Exceeds Limit |
Please check the given physical speed |
183 |
Given Physical Acceleration Exceeds Limit |
Please check the given physical acceleration |
184 |
External Axis Enable Failed |
Please check the external axis |
185 |
Fault Signal Triggered, Motion Stopped |
Please check the fault signal |
186 |
Emergency Stop Signal Triggered, Motion Stopped |
Please check the emergency stop signal |
187 |
Current Collision Level Too Low |
Please check the collision level |
188 |
Force Control and Impedance Control Started Simultaneously, Please Check Force Control or Impedance Control |
Please check the force control or impedance control |
189 |
Kernel Upgrade Version Verification Failed |
Please check the kernel version |
190 |
Kernel Version Upgrade Failed |
Please check the kernel version |
191 |
Linear Rack Guide Not Activated |
Please check if the linear rack guide is activated |
192 |
Current Linear Rack Collision Detection is Only for Upright Installation |
Please check the robot installation pose |
193 |
Torque Control Speed Exceeds Limit |
Please check the torque control speed |
194 |
Torque Control Power Exceeds Limit |
Please check the torque control power |
195 |
FR30L Base Tilt Angle Must Be 0 |
Please check the base tilt angle |
196 |
Spot sensor signal not triggered |
Please check the spot sensor |
197 |
Sensor zero point and/or sensitivity calibration not completed |
Please check the sensor |
198 |
Abnormality detected in joint torque sensor |
Please check the joint torque sensor |
199 |
When multiple cube interference zones are enabled, only interference within the configured range is allowed |
Please check the interference zone(s) |
200 |
Robot is currently jogging |
Please check the robot |
201 |
Weave configuration file check failed |
Please check the Weave configuration file |
202 |
Interfere configuration file check failed |
Please check the Interfere configuration file |
203 |
End 485 communication abnormality |
Please check the end 485 communication |
204 |
Command queue is full |
Please check the command sending frequency |