Error Code Comparison Table =================================== .. csv-table:: :header-rows: 1 :name: Interface return value error code comparison table :widths: 10 20 30 "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"