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Thread is marked as Resolved.
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- #1
«RJ3IC:R-2000ib» is a robot that’s very far away from me two days ago, the robot’s batteries are exhausted. Before the robot batteries were exhausted, «srvo-065» showed the error occasionally, but of course the operator did not take into account. As a result, all engines have given «srvo-062 BZAL» error as in «Picture 1». Battery change has been made. Then, «RES_PCA» was resetted from the «master/Cal» menu. After turning the robot off/on, he no longer showed the error. But the robot showed the «picture 2» error when we wanted to move in the «word» position. When we checked the settings for «$DMR_GRP» we found that «$MASTER_DONE:false» as shown in Figure 3. I wrote the old «MASTER_COUNT and REF_COUNT» values on paper without changing any settings. These values can be seen in «picture 4/5». I read all the articles on the site on the subject. I tried the «quick master and zero positon Master» methods individually, paying attention to every detail described. I’ve even tried many ways to calibrate our old values by entering them on the keypad. We calibrate and get the «CALIBRATED» message. However, when we move the position «word» after all, the robot «X Y Z» is doing the movements in a very irrelevant way, as is the case with the video I upload. When we run our old programs after calibration in this way, it seems to be working normally, even though we don’t test them in detail. But it’s hard to create a new program with these moves. I’ve been trying for two days, and my head’s about to explode. I’ve already calibrated a lot of robots in this model. I’ve got the image files before my robot makes a battery error. It takes hours just to describe the calibration work to the operator. The robot’s battery was replaced while the robot was operational. What more can I do to get everyone to act in the «word» position as they know it? I’m waiting for your help.
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- #2
Do you have a pulse established on each axis? I ask because it still says the robot is not calibrated which would make me believe one or more of the axis doesn’t have an established pulse and therefor isn’t actually calibrated.
Do you have the factory Count sheet that came with the robot?
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- #3
Hi SHIFT_Lock,
I don’t have factory calibration values. The calibration values in me are just the values I send pictures on the top. I don’t know how to solve this problem without having to rebuild the programs. How about I calibrate according to zero points without taking into account my calibration values? -
- #4
I’m a little curious as to what you mean by «word» position. Are you refering to the «World» Coordinance? Forgive me if you feel like i’m underminding you but I do not know your experiance with robotics but if you hit the «COORD» button on the controller it will change the coordinance in which the robot moves. Such as «JOINT» «JGFRM» «WORLD» «TOOL» and «USER» have you changed the coordinance and Jogged the robot to see if this helps? From the video i’m not sure what exactly you are trying to point out but I could also be missing the entire question completely. Again sorry if i’m asking dumb questions as it is not my intention to offend you. But you mention your program runs ok but jogging moves are «moving in an irrelevant way» which is why i’m curious if you change COORD then you may find what jogging coordinance you desire.
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- #5
This is the fun one. First you kill the bonehead that did this.
Now you have a robot that needs mastering on all axis. The best thing to do is zero position master it but you don’t have the space to do that.
I have this condition on several robots and there are plenty of options to handle it.1). Quick master; set the quick master reference at the home position. Paint witness marks on the robot so that if the robot isn’t at home you can get it close and then perform quick master.
2). Single axis master. Line up 1, 4, 5, and 6 and single axis master them first if you can. Then rotate axis one so you can line up axis 2 and 3
to perform the single axis master on them. Axis 2 MUST BE AT ZERO TO SINGLE AXIS MASTER 3.
3). If the controller power has not been turned off you can go to the position screen and write down the joint angles which will still be correct, IF THE POWER HAS NOT BEEN CYCLED. In order to reset the BZAL you will need to reset the pulse coders and cycle power. When the robot reboots the joint angles will have changed. Write them down again. Jog each axis until the pulse not established errors are resolved and put the robot back to where the second set of joint angles that you wrote down are. Now go to the single axis master page, enter the joint positions from where the robot was BEFORE power was cycled into the master positions and master the robot. Calibrate the robot and check your points.
This method has worked 100% for me and no touch up was required, ever!For options 1 and 2 you will need to check and correct any tool frames user frames and check all points and back it up.
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If you find that my last post was not your issue this is a quote from RacerMike123 from another thread. I haven’t seen much activity from him lately but I’ve found him to very knowledgeable in the subject of robot mastering. Maybe you can send him a PM.
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- #6
Hi SHIFT_Lock,
Before your answer, I sent a message to our friend Racermike123. Because my robot’s batteries were completely dead, he described a method like «Pulscoder reset=RES_PCA / CYCLE start / CALIBRATE». So he tells me to make a new calamity. Although our robot probably gave one or two «srvo-062» errors, it continued to work and finally the batteries were completely discharged. My robot has backups of «all of above» files. I turned on my robot in «control Start» mode. Old backup «sysmask.sv» load file. I continued with «FCTN/Cold Start». I did «$Master done=true». When I did «Master/Cal=calibrate» I received the message «Calibrated». I get a «srvo-038» error when I want to move. Now I want to try something like this. After opening «Cold Start» Mode, Click «Master/Cal=RES_PCA then cycle start». When the robot is turned on again, I will do «$Master done=true». Then I’il do «Master/Cal=Calibrate». See how that goes. I continue to work on.
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- #7
I do not understand how a 1.5 V battery can be removed from the new box and installed. One of the new batteries installed on the robot is defective. Sometimes a total of 6V seems to be 5.2 V in the control with the measurement tool. So no matter what we do, we don’t have a healthy calibration. Now I have another problem. I calibrated zero position master on my robot. My robot works my way. I get a «MOTN-063 position config change» error when we want to run programs previously. Is there a way to fix this problem without reinstalling programs?
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- #8
You can get this alarm «MOTN-063» after a failed calibration attempt meaning one or more axis do not have an established pulse. To check this go under MENU>NEXT>SYSTEM>MASTER CAL and open up 4. Single Axis Mastering. Under the ST column you should have (2) meaning you have a pulse for that axis. If it has (0) then you need to establish a pulse. Though I don’t believe you mentioned having the «SRVO-075 Pulse Not Established» fault.
I searched for the alarm itself and found a number of posts covering other options such as a position needing taught in the correct tool frame ect so I would check into those threads as well.
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- #9
I have a similar problem. Got a servo bzal o62 alarm but can not get to the screen to clear alarm. I replaced all the batteries. What am I missing. ? Here is a snap shot of what is on the screen
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- #10
MENU -> NEXT -> SYSTEM -> MASTER/CAL -> F3 RES_PCA -> F4 YES, then cycle power.
If the bzal is still there, there is a problem with baterries or cabling.
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Replace the batteries in base of robot with the controller power on.
Press [MENU] button
Choose “SYSTEM”
Found on 2nd page of full menus
Press [F1] “TYPE”
Choose “MASTER/CAL”
If “MASTER/CAL” not listed perform the following
- Choose “VARIABLES”
- Scroll to the variable “MASTER_ENB”
- Change the variable to “1”
- Press [F1] “TYPE”
- Choose “MASTER/CAL”
Press [F3] “RESET PCA”
Press [F4] “YES”
Recycle power on robot
Master Robot
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28 FANUC robot programming error codes (and what they mean)
FANUC robots set the standard for quality, reliability, and efficiency. When you purchase a FANUC robot, you can expect everything to work seamlessly and to get quality results from your investment. However, you may occasionally come across programming error codes that you should be aware of to keep your machines operating at peak efficiency.
An error code may seem like a sign that something is wrong, but really they are alerts that can tell you that something needs to be changed before your robot is damaged. By correctly identifying and understanding your FANUC robot programming error codes, you can protect your investment and keep it performing at its best for years to come.
Error codes and descriptions
INTP-105 (%s,%d) Run request failed
The program cannot be started.
INTP-248 (%s, %d) MACRO failed
The macro command can not be executed.
INTP-250 (%s, %d) Invalid uframe number
The number of the work plan is not valid.
INTP-251 (%s, %d) Invalid utool number
The number of the work tool is invalid.
INTP-252 User frame number mismatch
The selected workbench is not valid.
INTP-253 Tool frame number mismatch
The selected work tool is not the same as the position tool.
INTP-447(%s,%d) Parentheses mismatch
Bad parenthesis combination.
JOG-007 Press shift key to jog
The robot’s manual movement key was pressed but the SHIFT key was not pressed.
JOG-010 Jog pressed before shift
This code means that one of the robot’s manual movement keys was pressed before the SHIFT key was pressed.
MACR-013 MACRO execution failed
The macro cannot be executed.
MACR-016 The macro is not completed
The execution of the macro has been interrupted.
MOTN-018 Position not reachable
The requested position is inaccessible.
MOTN-019 In Singularity
The requested position is close to the singularity (parallel J4 and J6).
MOTN-063 Position config change (G
This alarm indicates that the robot is unable to go to the requested position. It cannot execute the movement.
PROG-048 Shift released while running (prog)
The SHIFT key was released while the program was running in T1 or T2 mode.
SRVO-003 or SRVO-234 Deadman switch release
The yellow buttons on the back of the controller have been released while the programming the robot in T1 mode.
SRVO-062 BZAL alarm (G A :x) or SRVO-084 BZAL alarm
Encoder batteries have low voltage or the encoder cable is disconnected.
SRVO-080 OVC alarm
The RMS current calculated by the “servo-drive” exceeds the allowed value. This alarm protects the motor and amplifiers against thermal damage.
SRVO-160 Panel/external E-stop
The controller emergency stop button or the external emergency stop has been pressed.
SRVO-161 Fence open or Deadman switch released
This alarm appears when the “deadman” buttons are released, or the robot’s fence is open.
SRVO-162 Deadman/Fence or Panel/External E-stop
This code appears when the “deadman” buttons are released, when the protective envelope (fence) of the robot is open, or when one of the emergency stop buttons is pressed.
SRVO-230 or SRVO-231 Chain (1 or 2) abnormal
This alarm appears if there is a break in Channel 1 (24V) or Channel 2 (0V) of the emergency stop circuit.
SRVO-324 Disturbance excess
The torque limit of a specific joint is reached.
SYST-003 TP is enabled
The robot lever selector is ON.
SYST-009 Safety Fence is open
The requested operation could not be completed because the enclosure’s secure envelope is open.
SYST-017 Single-step operation effective
STEP mode is engaged.
SYST-043 TP disabled in T1/T2 mode
The Mode Selector is in T1 or T2 while the Robot Controller Selector is ON.
SYST-045 TP enabled in AUTO mode
The Robot Controller Selector is ON and set in AUTO.
As you can see, there are a lot of error codes that can occur when using a Fanuc robot. Fortunately, DIY-Robotics gives you the resources you need to keep moving forward when you face a problem like the ones listed above. Contact our professionals to hear how we can work together to make your DIY-Robotics cell project a reality.
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Номер
Сообщение
Описание
0001
ОШИБКА TH
Во время считывания с устройства ввода обнаружена ошибка TH. Код, вызвавший при считывании ошибку TH, и количество операторов до него от блока можно проверить в окне диагностики.
0002
ОШИБКА TV
Ошибка TV обнаружена в единичном блоке.
Проверка TV может быть отменена присвоением TVC в параметре ном. 0000#0 значения «0».
0003
СЛИШКОМ МНОГО ЗНАКОВ
Данные введены с большим количеством символов, чем разрешено для оператора ЧПУ. Количество допустимых символов варьируется в зависимости от функции и слова.
0004
АДРЕС НЕ НАЙДЕН
Адрес слов(а) ЧПУ + числовое значение не соответствуют формату слова. Данный сигнал тревоги выдается также, если пользовательская макрокоманда не содержит зарезервированного слова или не соответствует синтаксису.
0005
ОТСУТСТВУЮТ ДАННЫЕ ПОСЛЕ АДРЕСА
Адрес слов(а) ЧПУ + числовое значение не соответствуют формату слова. Данный сигнал тревоги выдается также, если пользовательская макрокоманда не содержит зарезервированного слова или не соответствует синтаксису.
0006
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ ЗНАКА МИНУС
Знак минус (-) был задан в команде ЧПУ или в системной переменной, где задание знак минус не разрешено.
0007
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ ДЕСЯТИЧНОЙ ТОЧКИ
Десятичная точка (.) была задана в адресе, где нельзя задать десятичную точку, либо были заданы две десятичные точки.
0009
НЕВЕРНЫЙ АДРЕС ЧУ
Был задан неверный адрес, либо не задан параметр 1020.
0010
НЕВЕРНЫЙ G-КОД
Задан неиспользуемый G-код.
0011
НУЛЕВАЯ ПОДАЧА (КОМАНДА)
Скорость подачи резания, предписанная F кодом, была задана равной 0. Данный сигнал тревоги порождается также, если задан чрезвычайно малый F-код, предписанный для S-кода в команде жесткого нарезания резьбы, так как инструмент не может нарезать при заданном шаге.
0015
СЛИШКОМ МНОГО ОСЕЙ ОДНОВРЕМЕННО
Команда перемещения была задана для большего числа осей, чем доступно для функции одновременного управления осями.
Либо разделите запрограммированные оси перемещения на два блока.
0020
ПРЕВЫШЕНИЕ ДОПУСКА ПО РАДИУСУ
Была задана дуга, для которой разность по радиусу в начальной и конечной точках превышает значение, заданное в параметре ном. 3410. Проверьте коды центра дуги I, J и K в программе. Траектория инструмента, если в параметре ном. 3410 задано большое значение, представляет собой спираль.
0021
НЕВЕРНЫЙ ВЫБОР ПЛОСКОСТИ
Команды выбора плоскости с G17 по G19 ошибочны. Перепрограммируйте так, чтобы те же 3 основные параллельные оси не были заданы одновременно.
Этот сигнал тревоги порождается также, если задана ось, которая не должна быть указана для обработки плоскости, например, для круговой интерполяции.
Для 0i -TD опция винтовой интерполяции необходима для активации спецификации 3 или более осей для блока G02/G03.
0022
НЕ ОБНАРУЖЕНА КОМАНДА R ИЛИ I, J, K
В команде круговой интерполяции отсутствует радиус дуги R или координата I, J или K расстояния между начальной точкой и центром дуги.
0023
НЕВЕРНАЯ КОМАНДА РАДИУСА
Для команды радиуса дуги R задано отрицательное значение. В серии T дуга с углом более 180° не может быть задана посредством команды R. Измените программу.
0025
КРУГОВОЕ РЕЗАНИЕ В УСКОРЕННОМ РЕЖИМЕ (F0)
F0 (ускоренный подвод при подаче с однозначным F-кодом или обратной подаче) был задан во время круговой интерполяции (G02, G03).
0027
НЕ ЗАДАНЫ ОСИ В G43/G44
Не заданы оси в блоках G43 и G44 для коррекции на длину инструмента типа С.
Коррекция не отменена, но другая ось смещена для коррекции на длину инструмента типа С.
Несколько осей задано для одного блока, когда тип коррекции на длину инструмента — C.
0028
НЕВЕРНЫЙ ВЫБОР ПЛОСКОСТИ
Команды выбора плоскости с G17 по G19 ошибочны. Перепрограммируйте так, чтобы те же 3 основные параллельные оси не были заданы одновременно. Этот сигнал тревоги порождается также, если задана ось, которая не должна быть указана для обработки плоскости, например, для круговой интерполяции.
Для 0i -TD опция винтовой интерполяции необходима для активации спецификации 3 или более осей для блока G02/G03.
0029
НЕВЕРНАЯ ВЕЛИЧИНА КОРРЕКЦИИ
Коррекция с неверным номером
0030
НЕВЕРНЫЙ НОМЕР КОРРЕКЦИИ
Был задан неверный номер коррекции.
0031
НЕВЕРНАЯ КОМАНДА Р В G10
Ввод данных для ном. L команды G10 или соответствующей функции не активирован. Не задан адрес настройки данных, например, P или R. Была задана команда адреса, не связанная с настройкой данных. Адрес меняется вместе с номером L.
Знак или десятичная запятая заданного адреса ошибочны, или заданный адрес находится за пределами диапазона.
0032
НЕВЕРНАЯ ВЕЛИЧИНА КОРРЕКЦИИ В G10
При установке величины коррекции с помощью G10 или при записи величины коррекции с помощью системных переменных величина коррекции оказалась избыточной.
0033
НЕТ ПЕРЕСЕЧЕНИЯ ПРИ КОРРЕКЦИИ НА РЕЖУЩИЙ ИНСТРУМЕНТ
Нет пересечения при расчете пересечения для коррекции на радиус инструмента/на радиус вершины инструмента. Измените программу.
0034
КРУГОВОЕ ДВИЖЕНИЕ В БЛОКЕ ЗАПУСКА/ВЫХОДА ЗАПРЕЩЕНО
При коррекции на радиус инструмента / на радиус вершины инструмента запуск или отмена выполняются в режиме G02 или G03. Измените программу.
0035
НЕЛЬЗЯ ЗАДАТЬ G31
1) Нельзя задать G31. Этот сигнал тревоги генерируется, если не отменен G-код (например, для коррекции на радиус инструмента / на радиус вершины инструмента) группы 07.
2) Пропуск по пределу крутящего момента не был задан в команде пропуска по пределу крутящего момента (G31P98 или P99). Задайте пропуск по пределу крутящего момента в окне РМС или другим способом.
0037
НЕВОЗМОЖНО ИЗМЕНИТЬ ПЛОСКОСТЬ В G41/G42
Плоскость коррекции G17/G18/G19 была изменена в ходе коррекции на режущий инструмент или на радиус вершины инструмента. Измените программу.
0038
СТОЛКНОВЕНИЕ В БЛОКЕ КРУГОВОГО ПЕРЕМЕЩЕНИЯ
Зарез происходит при коррекции на радиус инструмента / на радиус вершины инструмента, так как начальная или конечная точки дуги совпадают с центром дуги. Измените программу.
0039
CHF/CNR НЕ РАЗРЕШЕНЫ В G41, G42
Снятие фаски или скругление угла R заданы при запуске, отмене или переключении между G41 и G42 в командах G41 и G42 (коррекция на радиус вершины инструмента). Программа может привести к зарезу при снятии фаски или скруглении угла. Измените программу.
0041
СТОЛКНОВЕНИЕ ПРИ КОРРЕКЦИИ НА РЕЖУЩИЙ ИНСТРУМЕНТ
При коррекции на радиус инструмента / на радиус вершины инструмента возможно избыточное резание. Измените программу.
0042
G45/G48 НЕ РАЗРЕШЕНЫ ПРИ CRC
Смещение инструмента (от G45 до G48) задано в режиме коррекции на радиус инструмента. Измените программу.
0044
G27-G30 НЕ ДОПУСКАЮТСЯ ПРИ ФИКСИРОВАННОМ ЦИКЛЕ
Одна из команд от G27 до G30 (G29 только для серии M) задана в режиме постоянного цикла. Измените программу.
0045
НЕ НАЙДЕН АДРЕС Q (G73/G83)
В цикле скоростного сверления с периодическим выводом или в цикле сверления с периодическим выводом величина реза за раз не задается адресом Q, либо задано Q0. Измените программу.
0046
НЕВЕРНАЯ КОМАНДА ВОЗВРАТА НА РЕФЕРЕНТНУЮ ПОЗИЦИЮ
Ошибка команды возврата во вторую, третью или четвертую референтную позицию. (Ошибка команды P-адреса.)
0050
ЗАПРЕЩЕНО СНЯТИЕ ФАСКИ/ СКРУГЛЕНИЕ УГЛА В БЛОКЕ НАРЕЗАНИЯ РЕЗЬБЫ
Блок снятия фаски или скругления угла задан в блоке нарезания резьбы. Измените программу.
0051
НЕТ ПЕРЕМЕЩЕНИЯ ПОСЛЕ СКРУГЛЕНИЯ УГЛА / СНЯТИЯ ФАСКИ
Неверное перемещение или расстояние перемещения в блоке, идущем за снятием фаски или скруглением угла. Измените программу.
0052
КОД ПОСЛЕ СНЯТИЯ ФАСКИ/СКРУГЛЕНИЯ УГЛА НЕ G01
Блоком, следующим за блоком снятия фаски или блоком скругления угла, является не блок G01 (или вертикальная линия). Измените программу.
0053
СЛИШКОМ МНОГО АДРЕСНЫХ КОМАНД
В командах снятия фаски или скругления угла задано два или более I, J, K и R.
0054
ОБРАБОТКА КОНУСА ПОСЛЕ СНЯТИЯ ФАСКИ/ СКРУГЛЕНИЯ УГЛА НЕ РАЗРЕШЕНА
Блок, в котором задано снятие фаски под заданным углом или скругление угла, включает команду обработки конической поверхности. Измените программу.
0055
ОТСУТСТВУЕТ ВЕЛИЧИНА ПЕРЕМЕЩЕНИЯ ПРИ СНЯТИИ ФАСКИ/ СКРУГЛЕНИИ УГЛА
Расстояние перемещения по оси, заданное в блоке, содержащем снятие фаски или скругление угла, меньше, чем величина снятия фаски или скругления угла. Измените программу.
0056
ОТСУТСТВУЮТ КОНЕЧНАЯ ТОЧКА И УГОЛ ПРИ СНЯТИИ ФАСКИ/ СКРУГЛЕНИИ УГЛА
При прямом программировании размеров чертежа и конечная точка, и угол были заданы в блоке, следующим за блоком, в котором был задан только угол (Aa). Измените программу.
0057
НЕТ РЕШЕНИЯ КОНЦА БЛОКА
В программировании непосредственно по размерам чертежа неверно вычислена конечная точка блока. Измените программу.
0058
НЕ НАЙДЕНА КОНЕЧНАЯ ТОЧКА
В программировании непосредственно по размерам чертежа не найдена конечная точка блока. Измените программу.
0060
НЕ НАЙДЕН ПОРЯДКОВЫЙ НОМЕР
[Внешний ввод данных/вывод данных]
Заданный номер не найден при поиске по номеру программы и по порядковому номеру.
Был выдан запрос на ввод/выод для величины коррекции для данных инструмента, но номер инструмента после включения питания не вводился. Данные инструмента, соответствующие введенному номеру инструмента, не найдены.
[Поиск номера внешней заготовки]
Программа, соответствующую заданной заготовке, не найдена. [Перезапуск программы]
В спецификации порядкового номера перезапуска программы не найден заданный порядковый номер.
0061
КОМАНДА P ИЛИ Q ОТСУТСТВУЕТ В БЛОКЕ МНОГОКРАТНО ПОВТОРЯЕМЫХ ЦИКЛОВ
Не задан адрес Р или Q в команде многократно повторяемого цикла (G70, G71, G72 или G73).
0062
ВЕЛИЧИНА РЕЗАНИЯ НЕВЕРНА В ЦИКЛЕ ЧЕРНОВОГО РЕЗАНИЯ
Был задан ноль или отрицательное значение многократно повторяемого цикла черновой обработки резанием (G71 или G72) в качестве глубины реза.
0063
НЕ НАЙДЕН БЛОК ЗАДАННОГО НОМЕРА ПОСЛЕДОВАТЕЛЬНОСТИ
Не найден порядковый номер, заданный адресами P и Q в команде многократно повторяемого цикла (G70, G71, G72 или G73).
0064
ФОРМА ЧИСТОВОЙ ОБРАБОТКИ НЕ ИЗМЕНЯЕТСЯ МОНОТОННО (ПЕРВЫЕ ОСИ)
В программе чистовой обработки для многократно повторяемого цикла черновой обработки резанием (G71 или G72) команда для первой оси плоскости задавала монотонное увеличение или уменьшение.
0065
G00/G01 НЕ ЯВЛЯЕТСЯ ПЕРВЫМ БЛОКОМ ПРОГРАММЫ ОБРАБОТКИ ФОРМЫ
В первом блоке программы обработки формы, задаваемый P многократно повторяемый стандартный цикл (G70, G71, G72 или G73), G00 или G01 не был заданы.
0066
НЕДОСТУПНАЯ КОМАНДА В БЛОКЕ МНОГОКРАТНО ПОВТОРЯЕМЫХ ЦИКЛОВ
Недоступная команда была обнаружена в командном блоке многократно повторяемых циклов (G70, G71, G72 или G73).
0067
МНОГОКРАТНО ПОВТОРЯЕМЫЕ ЦИКЛЫ НЕ НАХОДЯТСЯ В ПАМЯТИ ПРОГРАММЫ ОБРАБОТКИ ДЕТАЛЕЙ
Команда многократно повторяемого постоянного цикла (G70, G71, G72, или G73) не зарегистрирована в области памяти на магнитных лентах.
0069
ПОСЛЕДНИЙ БЛОК ПРОГРАММЫ ОБРАБОТКИ ФОРМЫ ЯВЛЯЕТСЯ НЕВЕРНОЙ КОМАНДОЙ
В программе чистовой обработки в многократно повторяемом цикле черновой обработки резанием (G70, G71, G72 или G73) команда снятия фаски или скругления угла R в последнем блоке прерывается на середине.
0070
В ПАМЯТИ ОТСУТСТВУЕТ МЕСТО ДЛЯ ПРОГРАММЫ
Недостаточно памяти.
Удалите ненужные программы и повторите попытку.
0071
ДАННЫЕ НЕ НАЙДЕНЫ
1) Не найден адрес по запросу.
2) При поиске по номеру программы не найдена программа с заданным номером.
3) В спецификации номера блока перезапуска программы не найден заданный номер блока.
Проверьте данные.
0072
ДАННЫЕ НЕ НАЙДЕНЫ
Число программ для хранения превысило 400 (одноконтурная система) или 800 (двухконтурная система серии T). Удалите ненужные программы и выполните регистрацию программы снова.
0073
НОМЕР ПРОГРАММЫ УЖЕ ИСПОЛЬЗУЕТСЯ
Заданный номер программы уже используется. Измените номер программы или удалите ненужные программы и выполните регистрацию программы снова.
0074
НОМЕР ПРОГРАММЫ УЖЕ ИСПОЛЬЗУЕТСЯ
Номер программы не входит в диапазон от 1 до 9999. Измените номер программы.
0075
ЗАЩИТА
Сделана попытка зарегистрировать программу, номер которой защищен. При согласовании программы был неверно введен пароль для защищенной программы. Была предпринята попытка выбора программы, редактируемой в фоновом режиме, в качестве главной программы. Была предпринята попытка вызова программы, редактируемой в фоновом режиме, в качестве подпрограммы.
0076
ПРОГРАММА НЕ НАЙДЕНА
Заданная программа не найдена при вызове подпрограммы или вызове макрокоманды. Коды M, G, T или S вызываются командой P, отличной от команды в M98, M198, G65, G66 или пользовательской макропрограммы типа прерывания, а программа вызывается специальным адресом. Данный сигнал тревоги также порождается, если программа не найдена при данных вызовах.
0077
СЛИШКОМ МНОГО ВЛОЖЕННЫХ ПОДПРОГРАММ, МАКРОПРОГРАММ
Общее число вызовов подпрограмм и пользовательских макрокоманд превышает допустимый диапазон. Во время подпрограммы из внешней памяти был выполнен вызов подпрограммы.
0078
НЕ НАЙДЕН ПОРЯДКОВЫЙ НОМЕР
Заданный порядковый номер не был найден при поиске по порядковому номеру. Не найден порядковый номер, заданный в переходном пункте назначения в GOTO— и M99P—.
0079
НЕСООТВЕТСТВИЕ ПРОГРАММ
Программа в памяти не соответствует программе, хранящейся на ленте. Несколько программ не подлежат непрерывному согласованию, если параметр ном. 2200#3 имеет значение «1». Задайте в параметре ном. 2200#3 значение «0» перед выполнением сопоставления.
0080
НЕПРАВИЛЬНО ВВЕДЕН СИГНАЛ ДОСТИЖЕНИЯ ПОЛОЖЕНИЯ ИЗМЕРЕНИЯ G37
Если выполняется функция измерения длины инструмента (G37), сигнал достижения положения измерения доходит до 1 во фронтальной части, определенной значением £, заданным в параметре ном.6254. Как альтернатива, сигнал не доходит до 1.
Если используется функция автоматической коррекции на инструмент (G36, G37), сигналы достижения положения измерения (XAE1, XAE2) не доходят до 1 в диапазоне, определенном значением £, заданном в параметрах ном.6254 и ном.6255.
0081
НОМ. КОРРЕКЦИИ G37 НЕ ЗАДАН
Функция измерения длины инструмента (G37) задана без задания H кода. Исправьте программу.
Функция автоматической коррекции ни инструмент (G36, G37) задана без задания Т кода. Исправьте программу.
0082
G37 ЗАДАНО С Н-КОДОМ
Функция измерения длины инструмента (G37) задано вместе с Н кодом в том же блоке.
Исправьте программу.
Функция автоматической коррекции на инструмент (G37) задана в одном блоке с Т-кодом.
Исправьте программу.
0083
НЕВЕРНАЯ КОМАНДА ОСИ G37
Была обнаружена ошибка в спецификации оси функции измерения длины инструмента (G37). Как альтернатива, задана команда перемещения как команда приращения. Исправьте программу.
Была обнаружена ошибка в спецификации оси функции автоматической коррекции на инструмент (G36, G37). Как альтернатива, задана команда перемещения как команда приращения.
Исправьте программу.
0085
ОШИБКА ПЕРЕПОЛНЕНИЯ
Следующий символ был получен от устройства ввода/вывода, подключенного к интерфейсу считывающего перфоратора 1 до того, как он смог считать полученный предварительно символ. Переполнение, ошибка четности или ошибка кадрирования возникли во время считывания интерфейсом устройства считывания/вывода на перфоленту 1. Неверны число битов введенных данных, настройка скорости передачи данных в бодах или номер спецификации устройства ввода/вывода.
0086
DR ОТКЛ.
В ходе процесса ввода/вывода интерфейсом считывания/вывода не перфоленту 1 сигнал готовности ввода набора данных устройства ввода/вывода (DR) был отключен. Возможными причинами являются не включение устройства ввода/вывода, порванный кабель и дефектная печатная плата.
0087
ПЕРЕПОЛНЕНИЕ БУФЕРА
В ходе считывания интерфейс считывающего перфоратора 1, хотя и была дана команда остановки считывания, была введено более 10 символов. Устройство ввода/вывода или печатная плата были дефектными.
0090
НЕ ЗАВЕРШЕН ВОЗВРАТ НА РЕФЕРЕНТНУЮ ПОЗИЦИЮ
1) Нельзя выполнить возврат на референтную позицию обычным образом, поскольку начальная точка возврата на референтную позицию расположена слишком близко к референтному положению, или скорость слишком низкая. Переместите начальную точку от референтной позиции на достаточное расстояние или задайте достаточно высокую скорость для выполнения возврата на референтную позицию.
2) Была попытка задать нулевое положение для детектора абсолютного положения с помощью возврата на референтную позицию, если необходимо задать нулевую точку.
Проверните двигатель вручную минимум на один оборот и установите нулевое положение датчика абсолютного положения, отключив и снова включив ЧПУ и сервоусилитель.
0091
РУЧНОЙ ВОЗВРАТ НА РЕФЕРЕНТНУЮ ПОЗИЦИЮ НЕ ВЫПОЛНЕН ПРИ ОСТАНОВЕ ПОДАЧИ
Невозможно выполнить ручной возврат на референтную позицию, когда автоматическая операция приостановлена. Выполните ручной возврат на референтную позицию, когда автоматическая операция остановлена или сброшена.
0092
ОШИБКА ПРОВЕРКИ ВОЗВРАТА К НАЧАЛУ КООРДИНАТ (G27)
Ось, заданная в G27, не вернулась на референтную позицию. Перепрограммируйте, чтобы ось вернулась на референтную позицию.
0094
ЗАПРЕЩЕН ТИП Р (ИЗМЕНЕНИЕ КООРДИНАТ)
При повторном пуске программы тип Р задать нельзя. (После прерывания автоматической работы выполнена операция установки системы координат). Выполните надлежащую операцию в соответствии с руководством пользователя.
0095
ЗАПРЕЩЕН ТИП Р (ИЗМЕНЕНИЕ ВНЕШНЕГО СМЕЩЕНИЯ)
При повторном пуске программы тип Р задать нельзя. (После прерывания автоматической работы изменена величина внешней коррекции начала координат заготовки). Выполните надлежащую операцию в соответствии с руководством пользователя.
0096
ЗАПРЕЩЕН ТИП Р (ИЗМЕНЕНИЕ СМЕЩЕНИЯ ЗАГОТОВКИ)
При повторном пуске программы тип Р задать нельзя. (После прерывания автоматической работы изменена величина коррекции начала координат заготовки). Выполните надлежащую операцию в соответствии с руководством пользователя.
0097
ЗАПРЕЩЕН ТИП Р (АВТОМАТИЧЕСКОЕ ВЫПОЛНЕНИЕ)
Нельзя указать тип Р при повторном пуске программы. (После включения питания, после аварийного останова или сброса сигналов тревоги 0094 — 0097 автоматическая операция не выполняется). Выполните автоматическую операцию.
0099
ИСПОЛН. MDI НЕ ДОПУСКАЕТСЯ ПОСЛЕ ПОИСКА
После завершения поиска при перезапуске программы с помощью MDI дана команда перемещения.
0109
ОШИБКА ФОРМАТА В G08
В коде G08 после Р задано значение, отличное от 0 или 1, или не задано значение.
0110
ПЕРЕПОЛНЕНИЕ: ЦЕЛАЯ ЧАСТЬ
Целая часть числа вышла за пределы диапазона при арифметических вычислениях.
0111
ПЕРЕПОЛНЕНИЕ: ПЛАВАЮЩ.
Десятичная точка (числовые данные в формате с плавающей точкой) вышла за пределы диапазона при арифметических вычислениях.
0112
ДЕЛЕНИЕ НА НОЛЬ
Была сделана попытка деления на ноль в пользовательской макрокоманде.
0113
НЕВЕРНАЯ КОМАНДА
Запрограммирована функция, которую нельзя использовать в макрокоманде пользователя. Измените программу.
0114
НЕВЕРНЫЙ ФОРМАТ ВЫРАЖЕНИЯ
Формат, используемый в выражении в пользовательском макрооператоре, ошибочный. Ошибка формата записи параметра.
0115
НОМЕР ПЕРЕМЕННОЙ ВНЕ ДИАПАЗОНА
Номер, который нельзя использовать для локальной переменной, общей переменной или системной переменной, заданный в пользовательской макрокоманде.
0116
ПЕРЕМЕННАЯ С ЗАЩИТОЙ ОТ ЗАПИСИ
Была произведена попытка использовать в пользовательской макрокоманде на левой стороне выражение переменной, что можно использовать на правой стороне выражения.
0118
СЛИШКОМ МНОГО ВЛОЖЕНИЙ В СКОБКИ
Слишком много скобок»[ ]» вложено в пользовательской макрокоманде. Уровень вложения, включая функциональные скобки, равен 5.
0119
ЗНАЧЕНИЕ АРГУМЕНТА ВНЕ ДИАПАЗОНА
Значение аргумента функции пользовательской макрокоманды находится вне диапазона.
0122
СЛИШКОМ МНОГО ВЛОЖЕНИЙ МАКРОКОМАНД
В пользовательскую макрокоманду было вложено слишком много вызовов макрокоманд.
0123
НЕВЕРНЫЙ РЕЖИМ ДЛЯ GOTO/WHILE/DO
Оператор GOTO или оператор WHILE-DO обнаружен в главной программе в режиме MDI или прямого ЧПУ.
0124
ОТСУТСТВУЕТ КОНЕЧНЫЙ ОПЕРАТОР
Команда END, соответствующая команде DO, отсутствовала в пользовательской макрокоманде^
0125
ОШИБКА ФОРМАТА МАКРООПЕРАТОРА
Формат, используемый в макрооператоре в пользовательской макрокоманде, ошибочный.
0126
НЕВЕРНЫЙ НОМЕР ЦИКЛА
Номера DO и END в пользовательской макрокоманде ошибочны или превышают допустимый диапазон (диапазон действительных значений: от 1 до 3).
0127
ДУБЛИРОВАНИЕ ОПЕРАТОРА ЧУ, МАКРООПЕРАТОРА
Оператор ЧПУ и макрооператор были заданы в одном блоке.
0128
НЕВЕРНЫЙ ПОРЯДКОВЫЙ НОМЕР МАКРОПРОГРАММЫ
Заданный порядковый номер не найден при поиске порядкового номера. Не найден порядковый номер, заданный как пункт назначения перехода GOTO— и M99P—.
0129
ИСПОЛЬЗОВАНИЕ ‘G’ В КАЧЕСТВЕ АРГУМЕНТА
G используется в качестве аргумента при вызове пользовательской макрокоманды. G нельзя использовать в качестве аргумента.
0130
КОНФЛИКТ ЧПУ И ОСИ РМС
Команда ЧПУ и команда управления осью РМС не были согласованы. Измените программу или цепную схему.
0136
ОСЬ ПОЗИЦИОНИРОВАНИЯ ШПИНДЕЛЯ ОДНОВРЕМЕНО С ДРУГОЙ ОСЬЮ
Ось позиционирования шпинделя и другая ось заданы в одном блоке.
0137
M-КОД И КОМАНДА ПЕРЕМЕЩЕНИЯ В ОДНОМ БЛОКЕ
т
Ось позиционирования шпинделя и другая ось заданы в одном блоке.
0139
НЕЛЬЗЯ ИЗМЕНИТЬ ОСЬ, УПРАВЛЯЕМУЮ РМС
Ось PMC была выбрана для оси, для которой направляется ось PMC.
0140
НОМЕР ПРОГРАММЫ УЖЕ ИСПОЛЬЗУЕТСЯ
Сделана попытка выбрать или удалить в фоновом режиме программу, выбранную в основном режиме. Выполнить правильную операцию для фоновой версии.
0142
НЕВЕРНЫЙ МАСШТАБ
Коэффициент масштабирования составляет 0 раз или 10000 раз или более. Измените настройку коэффициента масштабирования.
(G51P… или G51I J K… или параметр (ном. 5411 или 5421))
0143
ПЕРЕПОЛНЕНИЕ УПРАВЛЯЮЩИХ ДАННЫХ
Переполнение при хранении внутренних данных ЧПУ. Данный сигнал тревоги также порождается, если результаты внутреннего вычисления масштабирования (серия M), поворота системы координат (серия M) и цилиндрической интерполяции переполняют память данных. Он также порождается в ходе ввода величины ручного вмешательства.
0144
НЕВЕРНО ВЫБРАНА ПЛОСКОСТЬ
Плоскость поворота системы координат и плоскость дуги или компенсации на режущий инструмент должны совпадать. Измените программу.
0145
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ G12.1/G13.1
Номер оси параметров выбора плоскости ном. 5460 (линейная ось) и ном. 5461(ось вращения) в режиме интерполяции в полярных координатах вне диапазонв (от 1 до числа управляемых осей).
0146
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ G-КОДА
При задании или отмене режима интерполяции в полярных координатах G-код должен быть модальной командой G40. В режиме интерполяции в полярных координатах был задан неверный G-код.
В этом режиме могут быть заданы следующие следующие G-коды: G01,G02,G03,G04,G40,G41,G42,G65,G66,G67,
(G90 и G91 для системы G-кодов B или C), G98,G99
0148
ОШИБКА НАСТРОЙКИ
Уровень замедления автоматического изменения скорости подачи при обработке углов находится вне устанавливаемого диапазона оцениваемого угла. Измените параметры (ном.1710-1714)
0149
ОШИБКА ФОРМАТА В G10L3
При регистрации (от G10L3 до G11) данных управления ресурсом инструмента был задан адрес, отличный от Q1, Q2, P1, и P2, или недопустимый адрес.
0150
НЕВЕРНЫЙ НОМЕР ГРУППЫ РЕСУРСА
Номер группы инструментов превысил максимальное допустимое значение. Номер группы инструментов (P после задания G10 L3;) или номер группы, указанный T-кодом управления ресурсом инструмента в программе обработки.
0151
ГРУППА НЕ НАЙДЕНА В ДАННЫХ РЕСУРСА
Группа инструментов, указанная в программе обработки, не задана в данных управления ресурсом инструмента.
0152
ПРЕВЫШЕНО МАКСИМАЛЬНОЕ ЧИСЛО ИНСТРУМЕНТОВ
Число инструментов, зарегистрированных в группе, превысило максимально допустимое число инструментов для регистрации.
01 53
T-КОД НЕ ОБНАРУЖЕН
При регистрации данных ресурса инструмента блок, в котором должен быть задан T-код, не содержит T-кода. Либо, при методе замены инструмента D, задано только M06. Измените программу.
0154
ИНСТРУМЕНТ НЕ ИСПОЛЬЗУЕТСЯ В ГРУППЕ РЕСУРСА
Команда H99, команда D99 или код H/D, заданный параметрами ном. 13265 и ном. 13266, была задана, когда не использовался ни один из входящих в группу инструментов.
0155
НЕВЕРНАЯ КОМАНДА T-КОДА
В программе обработки T-код в блоке, содержащем M06, не соответствует текущей используемой группе. Измените программу.
0156
НЕ НАЙДЕНА КОМАНДА P/L
Команды P и L не заданы в начале программы для настройки группы инструментов. Измените программу.
0157
СЛИШКОМ МНОГО ГРУПП ИНСТРУМЕНТОВ
При регистрации данных управления ресурсом инструмента значения счетчиков блока команды групповой настройки P (номер группы) и L (срок службы инструмента) превысили максимальное число для группы.
0158
ЗНАЧЕНИЕ СРОКА СЛУЖБЫ ИНСТРУМЕНТА ВНЕ ДИАПАЗОНА
Задаваемое значение срока службы слишком большое. Измените настройку.
0159
НЕВЕРНЫЕ ДАННЫЕ РЕСУРСА ИНСТРУМЕНТА
Данные управления ресурсом инструмента повреждены по какой-то причине. Зарегистрируйте данные инструмента в группе инструментов или данные инструмента в группе снова посредством G10L3 или ввода в режиме MDI.
0160
НЕСООТВЕТСТВИЕ М-КОДА ОЖИДАНИЯ
М-код ожидания ошибочный.
Для контуров 1 и 2 заданы различные М-коды ожидания.
0163
НЕВЕРНАЯ КОМАНДА В G68/G69
G68 и G69 не запрограммированы независимо при сбалансированном резании.
0169
НЕВЕРНЫЕ ГЕОМЕТРИЧЕСКИЕ ДАННЫЕ ИНСТРУМЕНТА
Неверные данные о форме инструмента при проверке столкновений. Установите правильные данные или выберите верные данные о форме инструмента.
0175
НЕВЕРНАЯ ОСЬ G07.1
Задана ось, по которой нельзя выполнять цилиндрическую интерполяцию. В блоке G07.1 задана более чем одна ось. Была сделана попытка отмены цилиндрической интерполяции по оси, которая не была в режиме цилиндрической интерполяции.
В режиме цилиндрической интерполяции для задания круговой интерполяции, включая ось вращения (если бит 0 (ROT) параметра ном. 1006 имеет значение 1, и задан параметр ном. 1260), значение параметра оси вращения ном. 1022 для назначения параллельной оси должно быть не 0, а 5, 6 или 7.
0176
ИСПОЛЬЗОВАНИЕ НЕВЕРНОГО G-КОДА (РЕЖИМ G07.1)
Был задан G-код, который не может быть задан в режиме цилиндрической интерполяции. Этот сигнал тревоги также срабатывает, если G-код группы 01 был в задан в модальной группе G00, или был задан код G00. Перед тем, как задать код G00, следует отменить режим цилиндрической интерполяции
0190
ВЫБРАНА НЕВЕРНАЯ ОСЬ (G96)
Неверное значение было задано в P в блоке G96 или в параметре ном. 3770.
0194
КОМАНДА ШПИНДЕЛЯ В СИНХРОННОМ РЕЖИМЕ
Режим управления контуром Cs, команда позиционирования шпинделей или режим жесткого нарезания резьбы метчиком были заданы в режиме синхронного управления шпинделями.
Режим управления контуром Cs или режим жесткого нарезания резьбы метчиком были заданы в режиме синхронного управления шпинделями или простого синхронного управления шпинделями.
0197
ОСЬ С ЗАДАНА В РЕЖИМЕ ШПИНДЕЛЯ
Программа задала перемещение вдоль оси Сб, когда сигнал переключения управления контуром Cs был отключен.
0199
МАКРОСЛОВО НЕ ОПРЕДЕЛЕНО
Использовано не определенное макрослово. Измените макрокоманду пользователя.
0200
НЕВЕРНАЯ КОМАНДА S-КОДА
В режиме жесткого нарезания резьбы метчиком задано значение S, не входящее в диапазон, или не задано совсем. Параметры (ном. 5241 -5243) заданы равными S значению, которое можно задать для жесткого нарезания резьбы. Исправьте параметры или измените программу.
0201
В РЕЖИМЕ ЖЕСТКОГО НАРЕЗАНИЯ РЕЗЬБЫ МЕТЧИКОМ НЕ НАЙДЕНА СКОРОСТЬ ПОДАЧИ
Команда F кода для скорости подачи резания равна нулю.
Если значение F команды гораздо меньше, чем значение команды S, если задана команда жесткого нарезания резьбы метчиком, порождается данный сигнал тревоги. Это происходит потому, что резание невозможно с шагом, заданным программой.
0202
ПЕРЕПОЛНЕНИЕ ПОЛОЖЕНИЯ LSI
В режиме жесткого нарезания резьбы метчиком слишком большая величина распределения импульсов для шпинделей. (Системная ошибка)
0203
ПРОГРАММНОЕ НЕСООТВЕТСТВИЕ ПРИ ЖЕСТКОМ НАРЕЗАНИИ РЕЗЬБЫ МЕТЧИКОМ
В режиме жесткого нарезания резьбы метчиком неверно положение М-кода жесткого режима (М29) или S-команды. Измените программу.
0204
НЕВЕРНАЯ ОПЕРАЦИЯ ОСИ
В режиме жесткого нарезания резьбы метчиком между блоком М-кода жесткого режима (М29) и блоком G84 (или G74) задано перемещение по оси. Измените программу.
0205
СИГНАЛ DI ЖЕСТКОГО РЕЖИМА ВЫКЛЮЧЕН
Несмотря на то, что при жестком нарезании резьбы метчиком задан М-код (М29), во время выполнения блока G84 (или G74) не включен сигнал жесткого режим DI (DGN G061.0). Проверьте цепную схему РМС для выяснения причины, по которой сигнал DI не был включен.
0206
НЕЛЬЗЯ ИЗМЕНИТЬ ПЛОСКОСТЬ (ЖЕСТКОЕ НАРЕЗАНИЕ РЕЗЬБЫ)
Переключение плоскости было задано в жестком режиме. Измените программу.
0207
НЕСООТВЕТСТВИЕ ДАННЫХ ЖЕСТКОГО РЕЖИМА
При жестком нарезании резьбы метчиком заданное расстояние -слишком короткое или слишком длинное.
0210
НЕЛЬЗЯ ЗАДАТЬ М198/М99
1) Во время операции по графику была предпринята попытка выполнения команды М198 или М99. Либо во время работы с прямым ЧПУ была предпринята попытка выполнения команды М198. Измените программу.
2) Во время фрезерования глубоких выемок в многократно повторяющемся постоянном цикле была предпринята попытка выполнения команды М99 с помощью макропрерывания.
0213
НЕВЕРНАЯ КОМАНДА В СИНХРОННОМ РЕЖИМЕ
При управлении осью подачи в ходе синхронной работы произошли следующие ошибки.
1) Программа выдала команду перемещения ведомой оси.
2) Программа выдала команду ручной работы ведомой оси.
3) Программа выдала команду автоматического возврата на референтную позицию без задания ручного возврата на референтную позицию после включения питания.
0214
НЕВЕРНАЯ КОМАНДА В СИНХРОННОМ РЕЖИМЕ
В режиме синхронного управления установлена система координат или выполнена коррекция на длину инструмента (серия M) типа смещения. Исправьте программу.
0217
ДУБЛИРОВАНИЕ G51.2 (КОМАНДЫ)
В режиме G51.2 дополнительно задан G51.2. Измените программу.
0218
НЕ НАЙДЕНА КОМАНДА P/Q
В блоке G51.2 не задано P или Q, либо значение команды вне диапазона. Измените программу. Более подробные сведения о причине появления этого сигнала тревоги при полигональной обточке между шпинделями приведены в DGN ном. 471.
0219
НЕЗАВИСИМОЕ ЗАДАНИЕ G51.2/G50.2
G51.2 и 50.2 были заданы в одном блоке для других команд. Изменить программу в другом блоке.
0220
НЕВЕРНАЯ КОМАНДА В СИНХРОННОМ РЕЖИМЕ
При синхронной операции для синхронной оси задано перемещение с помощью программы ЧПУ или интерфейса РМС осевого управления. Измените программу или проверьте цепную схему PMC.
0221
НЕВЕРНАЯ КОМАНДА В СИНХРОННОМ РЕЖИМЕ
Синхронная операция полигональной обработки и контурное осевое управление Cs или сбалансированное резание выполняются одновременно. Измените программу.
0222
РАБОТА С ПРЯМЫМ ЧПУ ПРИ ФОНОВОМ РЕДАКТИРОВАНИИ ЗАПРЕЩЕНА
Ввод и вывод выполняются одновременно с фоновым редактированием. Выполните правильное действие.
0224
ВОЗВРАТ НА НОЛЬ НЕ ЗАВЕРШЕН
Перед запуском автоматической работы не был выполнен возврат на референтрую позицию.
(Только если бит 0 (ZRNx) параметра ном. 1005 имеет значение 0) Выполните возврат на референтную позицию.
0230
R-КОД НЕ ОБНАРУЖЕН
Глубина реза R не задана в блоке, включающем G161. Либо для R задано отрицательное значение.
Измените программу.
0231
НЕВЕРНЫЙ ФОРМАТ В G10 L52
При вводе программируемого параметра возникли ошибки в заданном формате.
0232
СЛИШКОМ МНОГО КОМАНД ДЛЯ ВИНТОВОЙ ОСИ
В режиме винтовой интерполяции заданы две или три оси в качестве винтовых осей.
0233
УСТРОЙСТВО ЗАНЯТО
При попытке использовать устройство, например, устройство, подсоединенное через интерфейс RS-232-C, обнаружено, что оно используется другими пользователями.
0245
В ЭТОМ БЛОКЕ Т-КОД ЗАПРЕЩЕН
Один из G-кодов, G04, G10, G28, G29 (серия M), G30, G50 (серия T) и G53, который не может быть задан в одном блока с T-кодом, был задан с T-кодом.
0247
НАЙДЕНА ОШИБКА В КОДЕ ВЫВОДА ДАННЫХ
При выводе закодированной программы в качестве кода вывода задано EIA. Задайте ISO.
0314
НЕВЕРНАЯ НАСТРОЙКА ПОЛИГОНАЛЬНОЙ ОСИ
Неверно задана ось при полигональной обточке.
Для полигональной обточки:
1) Не задана ось вращения инструмента.
(Параметр ном. 7610)
Для полигональной обточки между шпинделями:
1) Не заданы действительные шпиндели.
(Параметры ном. 7640 — 7643).
2) Шпиндель, не являющийся последовательным шпинделем.
3) Шпиндель не подсоединен.
0315
НЕВЕРНАЯ КОМАНДА УГЛА КРОМКИ В ЦИКЛЕ РЕЗЬБОНАРЕЗАНИЯ
Неверный угол режущей кромки инструмента задан в многократно повторяемом постоянном цикле резьбонарезания (G76).
0316
НЕВЕРНАЯ ВЕЛИЧИНА РЕЗА В ЦИКЛЕ РЕЗЬБОНАРЕЗАНИЯ
Минимальная глубина реза больше, чем высота резьбы, задана в многократно повторяемом постоянном цикле резьбонарезания (G76).
0317
НЕВЕРНАЯ КОМАНДА НАРЕЗАНИЯ РЕЗЬБЫ В ЦИКЛЕ РЕЗЬБОНАРЕЗАНИЯ
Был задан ноль или отрицательное значение в многократно повторяемом постоянном цикле резьбонарезания (G76) в качестве высоты резьбы или глубины реза.
0318
НЕВЕРНАЯ ВЕЛИЧИНА ОТВОДА В ЦИКЛЕ СВЕРЛЕНИЯ
Хотя направления отвода заданы в многократно повторяемом постоянном цикле отрезания (G74 или G75), задано отрицательное значение для Ad.
0319
НЕВЕРНА КОМАНДА КОНЕЧНОЙ ТОЧКИ В ЦИКЛЕ СВЕРЛЕНИЯ
Хотя расстояние перемещения Ai или Ak задано равным 0 в многократно повторяемом постоянном цикле отрезания (G74 или G75), значение, отличное от 0, задано для U или W.
0320
НЕВЕРНАЯ ВЕЛИЧИНА ПЕРЕМЕЩЕНИЯ/ВЕЛИЧИНА РЕЗА В ЦИКЛЕ СВЕРЛЕНИЯ
Было задано отрицательное значение в многократно повторяемом постоянном цикле отрезания (G74 или G75) как Ai или Ak (расстояние перемещения / глубина реза).
0321
НЕВЕРНОЕ ВРЕМЯ ПОВТОРЕНИЯ В ЦИКЛЕ ПОВТОРЕНИЯ СХЕМЫ
Задан нуль или отрицательное значение в многократно повторяемом постоянном замкнутом цикле (G73) в качестве значения времени повторения.
0322
ЧИСТОВАЯ ОБРАБОТКА ПОСЛЕ ЗАПУСКА
Неверная форма, которая после запуска цикла задана в программе обработки для многократно повторяемого постоянного цикла черновой обработки резанием (G71 или G72).
0323
ПЕРВЫЙ БЛОК ПРОГРАММЫ ОБРАБОТКИ ЯВЛЯЕТСЯ КОМАНДОЙ ТИПА II
Тип II задан в первом блоке программы обработки, заданном командой P в многократно повторяемом постоянном цикле (G71 или G72). Для G71 задано Z(W). Для G72 задано X(U).
0324
МАКРОПРОГРАММА ТИПА ПРЕРЫВАНИЯ ЗАДАНА В МНОГОКРАТНО ПОВТОРЯЕМЫХ ЦИКЛАХ
Макропрограмма типа прерывания была дана в ходе многократно повторяемого постоянного цикла (G70, G71, G72 или G73).
0325
НЕДОСТУПНАЯ КОМАНДА В ПРОГРАММЕ ОБРАБОТКИ ФОРМЫ
Используемая команда была дана в программе обработки для многократно повторяемого постоянного цикла (G70, G71, G72 или G73).
0326
ПОСЛЕДНИЙ БЛОК ПРОГРАММЫ ОБРАБОТКИ ФОРМЫ СОДЕРЖИТ ПРЯМЫЕ РАЗМЕРЫ ЧЕРТЕЖА
В программе чистовой обработки в многократно повторяемом цикле черновой обработки резанием (G70, G71, G72 или G73) команда прямого ввода размеров чертежа в последнем блоке прерывается на середине.
0327
МОДАЛЬНОЕ СОСТОЯНИЕ, НЕ ДОПУСКАЮЩЕЕ МНОГОКРАТНО ПОВТОРЯЕМЫХ ЦИКЛОВ
Многократно повторяемый постоянный цикл (G70, G71, G72 или G73) был задан в модальном состоянии, в котором нельзя задавать многократно повторяемый постоянный цикл.
0328
НЕВЕРНОЕ РАБОЧЕЕ ПОЛОЖЕНИЕ ПРИ КОРРЕКЦИИ НА РАДИУС ВЕРШИНЫ ИНСТРУМЕНТА
Неверная спецификация для стороны заготовки для коррекции на радиус вершины инструмента (G41 или G42) в многократно повторяемом постоянном цикле (G71 или G72).
0329
ФОРМА ЧИСТОВОЙ ОБРАБОТКИ НЕ ИЗМЕНЯЕТСЯ МОНОТОННО (ВТОРЫЕ ОСИ)
В программе чистовой обработки для многократно повторяемого цикла черновой обработки резанием (G71 или G72) команда для второй оси плоскости задавала монотонное увеличение или уменьшение.
0330
НЕВЕРНАЯ КОМАНДА ОСИ В ПОСТОЯННОМ ЦИКЛЕ ОБТОЧКИ
Ось, отличная от плоскости, задана в постоянном цикле (G90, G92 и. G94).
0334
КОРРЕКЦИЯ ВНЕ РАБОЧЕГО ДИАПАЗОНА
Данные коррекции, которая была вне рабочего диапазона, были заданы. (функция предотвращения неисправности)
0336
КОРРЕКЦИЯ НА ИНСТРУМЕНТ ЗАДАНА БОЛЕЕ, ЧЕМ ДВУМ ОСЯМ
Для коррекции на длину инструмента C была сделана попытка задать коррекцию по другим осям без отмены коррекции. Либо для коррекции на длину инструмента C задано несколько осей в блоке G43 или G44.
0337
ПРЕВЫШЕНИЕ МАКСИМАЛЬНОГО ЗНАЧЕНИЯ ПРИРАЩЕНИЯ
Значение команды превысило максимальную величину приращения. (функция предотвращения неисправности)
0338
ОШИБКА КОНТРОЛЬНОЙ СУММЫ
Неверное значение обнаружено в контрольной сумме. (функция предотвращения неисправности)
0345
НЕВЕРНОЕ ПОЛОЖЕНИЕ ОСИ Z ПРИ СМЕНЕ ИНСТРУМЕНТА
Положение смены инструмента по оси Z неверное.
0346
НЕВЕРНЫЙ НОМЕР ИНСТРУМЕНТА ПРИ СМЕНЕ ИНСТРУМЕНТА
Неверный номер инструмента для смены инструмента.
0347
НЕВЕРНАЯ КОМАНДА СМЕНЫ ИНСТРУМЕНТА В ОДНОМ БЛОКЕ.
Смена инструмент задана дважды или более в одном и том же блоке.
0348
НЕ НАЗНАЧЕНО ПОЛОЖЕНИЕ ОСИ Z ПРИ СМЕНЕ ИНСТРУМЕНТА
Шпиндель смены инструмента по оси Z не задан.
0349
ШПИНДЕЛЬ СМЕНЫ ИНСТРУМЕНТА НЕ ОСТАНАВЛИВАЕТСЯ
Остановка шпинделя смены инструмента не задана.
0350
ОШИБКА ПАРАМЕТРА ИНДЕКСА ЗАДАННОЙ ОСИ СИНХРОННОГО УПРАВЛЕНИЯ
Задан неверный номер оси синхронного управления (параметр ном. 8180).
0351
ПОСКОЛЬКУ ОСЬ ПЕРЕМЕЩАЕТСЯ, СИНХРОННОЕ УПРАВЛЕНИЕ ИСПОЛЬЗОВАТЬ НЕЛЬЗЯ.
Пока ось при синхронном управлении перемещалась, была сделана попытка запуска или отмены синхронного управления посредством сигнала выбора синхронного управления осью.
0352
ОШИБКА СОСТАВЛЕНИЯ ОСИ СИНХРОННОГО УПРАВЛЕНИЯ
Данная ошибка произошла, когда:
1) Была произведена попытка выполнить синхронное управление для оси во время синхронного, комплексного или наложенного управления.
2) Была произведена попытка синхронизировать правнука для отношения предок-потомок-внук.
3) Была произведена попытка выполнить синхронное управление, хотя отношение «предок»-«потомок»-«внук» задано не было.
0353
КОМАНДА БЫЛА ДАНА ДЛЯ ОСИ, КОТОРАЯ НЕ МОГЛА ДВИГАТЬСЯ.
T
Данная ошибка произошла, когда:
1) Команда перемещения была выполнена для оси, для которой бит 7 (NUMx) параметра ном. 8163 имел значение 1.
2) Команда перемещения была выполнена для ведомой оси при синхронном управлении.
3) Команда перемещения была выполнена для оси, для которой бит 7 (MUMx) параметра ном. 8162 имел значение 1 при комплексном управлении.
0354
G28 БЫЛО ЗАДАНО С РЕФЕРЕНТНОЙ ПОЗИЦИЕЙ, НЕ ЗАФИКСИРОВАННОЙ В РЕЖИМЕ СИНХРОННОГО УПРАВЛЕНИЯ
Данная ошибка произошла, когда G28 было задано для ведущей оси при ожидании во время синхронного управления, но референтная позиция не была задана для ведомой оси.
0355
ОШИБКА ПАРАМЕТРА ИНДЕКСА ЗАДАННОЙ ОСИ КОМПЛЕКСНОГО УПРАВЛЕНИЯ.
Задан неверный номер оси комплексного управления (параметр ном. 8183).
0356
ПОСКОЛЬКУ ОСЬ ПЕРЕМЕЩАЕТСЯ, КОМПЛЕКСНОЕ УПРАВЛЕНИЕ ИСПОЛЬЗОВАТЬ НЕЛЬЗЯ
Пока ось при комплексном управлении перемещалась, была сделана попытка запуска или отмены с помощью сигнала выбора комплексного управления оси.
0357
ОШИБКА СОСТАВЛЕНИЯ ОСИ КОМПЛЕКСНОГО УПРАВЛЕНИЯ
Данная ошибка произошла, когда была сделана попытка выполнить комплексное управление для оси во время синхронного, комплексного или наложенного управления.
0359
G28 ЗАДАНО ПРИ НЕФИКСИРОВАННОМ РЕФЕРЕНТНОМ ПОЛОЖЕНИИ В КОМПЛ. РЕЖИМЕ
Данная ошибка произошла, когда команда G28 была задана сложной оси в ходе комплексного управления, но референтная позиция не была задана для другой части составления.
0360
ОШИБКА ЗАДАНИЯ ПАРАМЕТРА ИНДЕКСА ОСИ С НАЛОЖЕННЫМ УПРАВЛЕНИЕМ
Задан неверный номер оси наложенного управления (парам. ном. 8186).
0361
ПОСКОЛЬКУ ОСЬ ПЕРЕМЕЩАЕТСЯ, НАЛОЖЕННОЕ УПРАВЛЕНИЕ ИСПОЛЬЗОВАТЬ НЕЛЬЗЯ
Пока ось при наложенном управлении перемещалась, была сделана попытка запуска или отмены наложенного управления посредством сигнала выбора наложенного управления осью.
0362
ОШИБКА СОСТАВЛЕНИЯ ОСИ НАЛОЖЕННОГО УПРАВЛЕНИЯ
Данная ошибка произошла, когда:
1) Была произведена попытка выполнить наложенное управление для оси во время синхронного, комплексного или наложенного управления.
2) Была произведена попытка синхронизировать правнука для отношения предок-потомок-внук.
0363
КОМАНДА G28 ЗАДАНА ДЛЯ ВЕДОМОЙ ОСИ НАЛОЖЕННОГО УПРАВЛЕНИЯ.
Данная ошибка произошла, когда была дана команда G28 для ведомой оси наложенного управления при наложенном управлении.
0364
КОМАНДА G53 ЗАДАНА ДЛЯ ВЕДОМОЙ ОСИ НАЛОЖЕННОГО УПРАВЛЕНИЯ.
Данная ошибка произошла, когда была дана команда G53 для ведомой оси, перемещающейся при наложенном управлении.
0365
СЛИШКОМ МНОГО МАКСИМАЛЬНЫХ НОМЕРОВ ОСИ SV/SP НА КОНТУР
Неверно задано число управляемых осей или шпинделей для использования в одном контуре. Проверьте параметры ном. 981 и ном. 982. Если порождается этот сигнал тревоги, то состояние аварийного останова нельзя сбросить.
0369
ОШИБКА ФОРМАТА G31
1) Не задана ось либо заданы две или более осей в команде переключения по пределу крутящего момента (G31P98/P99).
2) Нельзя задать G31P90.
0370
ОШИБКА G31P/G04Q
1) Заданное значение адреса P для G31 вне диапазона. Адрес P имеет диапазон от 1 до 4 в функции многошагового пропуска.
2) Заданное значение адреса Q для G04 вне диапазона. Адрес Q имеет диапазон от 1 до 4 в функции многошагового пропуска.
3) P1 -4 для G31, или Q1 -4 для G04 было задана без опции функции многошагового пропуска.
4) Для G72 или G74 в постоянных циклах шлифования заданное значение адреса P вне диапазона. Адрес P имеет диапазон от 1 до 4 в функции многошагового пропуска. P1-4 было задано в G72 или G74 несмотря на отсутствие опции функции многошагового пропуска.
0372
НЕ ЗАВЕРШЕН ВОЗВРАТ НА РЕФЕРЕНТНУЮ ПОЗИЦИЮ
Была сделана попытка выполнить автоматический возврат на референтную позицию на ортогональной оси до завершения возврата на референтную позицию на наклонной оси. Однако, эта попытка не удалась, поскольку не был задан ручной возврат на референтную позицию при управлении наклонной осью или при автоматическом возврате на референтную позицию после включения питания. Сначала вернитесь на референтную позицию по наклонной оси, затем вернитесь на референтную позицию на ортогональной оси.
0373
НЕВЕРНЫЙ СИГНАЛ СКОРОСТНОГО ПРОПУСКА
В командах пропуска (G31, с G31P1 по G31P4) и командах выстоя (G04, с G04Q1 по G04Q4) один и тот же скоростной сигнал выбран в разных контурах^
0375
НЕВОЗМОЖНО УПРАВЛЕНИЕ НАКЛОННОЙ ОСЬЮ (СИНХ:СМЕШ:НАЛОЖ)
Управление осью наклона отключено для данной конфигурации оси.
1) Все задействованные оси при управлении наклонной осью не находятся в режиме синхронного управления. Либо необходимо выполнить настройки для обеспечения синхронного управления между наклонными осями, а также между ортогональными осями.
2) Все задействованные оси при управлении наклонной осью не находятся в режиме комплексного управления. Либо необходимо выполнить настройки для обеспечения комплексного управления между наклонными осями, а также между ортогональными осями.
3) Задействованные оси при управлении наклонной осью находятся в режиме наложенного управления.
0376
ПОСЛЕД. DCL: НЕВЕРНЫЙ ПАРАМЕТР
1) Если параметр ном. 1815#1 имеет значение «1», параметр ном. 2002#3 имеет значение «0»
2) Активирована функция регистрации абсолютной позиции. (Параметр ном.1815#5 имеет значение «1».)
0412
НЕВЕРНЫЙ G-КОД
Использован недопустимый G-код.
0445
НЕВЕРНАЯ ОПЕРАЦИЯ ОСИ
Команда позиционирования была выдана в режиме управления скоростью. Проверьте сигнал режима управления скоростью SV (Fn521).
0446
НЕВЕРНАЯ КОМАНДА В G96.1/G96.2/G96.3/G96.4
G96.1, G96.2, G96.3 и G96.4 заданы в блоке, включающем другие команды. Измените программу.
0447
НЕВЕРНЫЕ ДАННЫЕ НАСТРОЙКИ
Шпиндель, управляемый серводвигателем, задан неверно. Проверьте параметры для функции управления шпинделем при помощи серводвигателя.
0455
НЕВЕРНАЯ КОМАНДА ШЛИФОВАНИЯ
В постоянных циклах шлифования:
1) Не совпадают знаки команд I, J и K.
2) Не задана величина перемещения для оси шлифования.
0456
НЕВЕРНЫЙ ПАРАМЕТР ШЛИФОВАНИЯ
Неверно заданы параметры для постоянных циклов шлифования.
Вероятные причины приведены ниже.
1) Неверно задан номер оси шлифования (параметры от ном. 5176 до ном. 5179).
2) Неверно задан номер оси правки (параметры от ном. 5180 до ном. 5183).
3) Совпадают номера осей резания, шлифования и правки (только для серии M).
0601
НЕВЕРНАЯ ОПЕРАЦИЯ ОСИ ДЛЯ ШПИНДЕЛЯ С СЕРВОДВИГАТЕЛЕМ
Команда перемещения выполнена для шпинделя, управляемого серводвигателем. Измените программу.
0602
ОШИБКА КОМАНДЫ ВЫБОРА ШПИНДЕЛЯ (ШПИНДЕЛЬ СЕРВОДВИГАТЕЛЯ)
Не был правильно выбран исполнитель для шпинделя, управляемого серводвигателем.
1001
НЕВЕРНЫЙ РЕЖИМ УПРАВЛЕНИЯ ОСЬЮ
Неверный режим управления осью.
1013
НЕВЕРНАЯ ПОЗ. НОМ. ПРОГРАММЫ
Адрес O или N задан в неправильном месте (после макрооператора т. д.).
1014
НЕВЕРНЫЙ ФОРМАТ НОМЕРА ПРОГРАММЫ
Адрес O или N не сопровождается числом.
1016
НЕ НАЙДЕН КОНЕЦ БЛОКА
Код EOB (Конец блока) отсутствует в конце ввода программы в режиме MDI.
1077
ПРОГРАММА ИСПОЛЬЗУЕТСЯ
Сделана попытка исполнения на переднем плане программы, находящейся в режиме фонового редактирования. Редактируемую в настоящее время программу нельзя выполнить, поэтому прекратите редактирование и перезапустите выполнение программы.
1079
НЕ НАЙДЕН ПРОГРАММНЫЙ ФАЙЛ
Программа заданного номера файла не зарегистрирована во внешнем устройстве. (вызов подпрограммы внешнего устройства)
1080
ДУБЛИРОВАНИЕ ВЫЗОВА ПОДПРОГРАММЫ УСТРОЙСТВА
Еще один вызов подпрограммы внешнего устройства был выполнен из подпрограммы, после того как подпрограмма была вызвана подпрограммой внешнего устройства.
1081
ВЫЗОВ ПОДПРОГРАММЫ ВНЕШНЕГО УСТРОЙСТВА ОШИБКА РЕЖИМА
Вызов подпрограммы внешнего устройства невозможен в данном режиме.
1091
ДУБЛИРОВАНИЕ СЛОВА ВЫЗОВА ПОДПРОГРАММЫ
Больше одной команды вызова подпрограммы было задано в одном блоке.
1092
ДУБЛИРОВАНИЕ СЛОВА ВЫЗОВА МАКРОКОМАНДЫ
Больше одной команды вызова макрокоманды было задано в одном блоке.
1093
ДУБЛИРОВАНИЕ СЛОВА ЧУ И М99
Адрес, отличный от O, N, P или L, был задан в том же блоке, что и M99 в состоянии вызова модальной макрокоманды.
1095
СЛИШКОМ МНОГО АРГУМЕНТОВ ТИПА 2
Более десяти наборов аргументов I, J и K задано в аргументах типа-II (A, B, C, I, J, K, I, J, K,…) для пользовательских макрокоманд.
1096
НЕВЕРНОЕ ИМЯ ПЕРЕМЕННОЙ
Было задано неверное имя переменной. Код, который нельзя задать в качестве имени переменной, был задан. Команда [#_OFSxx] не соответствует типу (A или C) текущей используемой памяти коррекции на инструмент.
1097
СЛИШКОМ ДЛИННОЕ ИМЯ ПЕРЕМЕННОЙ
Заданное имя переменной слишком длинное.
1098
ОТСУТСТВУЕТ ИМЯ ПЕРЕМЕННОЙ
Заданное имя переменной нельзя использовать, поскольку оно не зарегистрировано.
1099
НЕВЕРНЫЙ ИНДЕКС[]
Индекс не задан для имени переменной, требующей индекса, заключенного в [ ].
Индекс задан для имени переменной, не требующей индекса, заключенного в [ ].
Значение, заключенное в заданные [ ], не попало в диапазон.
1100
ОТМЕНА БЕЗ МОДАЛЬНОГО ВЫЗОВА
Отмена режима вызова (G67) была задана, хотя режим постоянного вызова макрокоманд (G66) не был включен.
1101
НЕВЕРНОЕ ПРЕРЫВАНИЕ ОПЕРАТОРА ЧПУ
Было произведено прерывание в состоянии, в котором прерывание пользовательской макрокоманды, содержащей команду перемещения, нельзя было выполнить.
1115
ПЕРЕМЕННАЯ С ЗАЩИТОЙ ОТ ЧТЕНИЯ
Была произведена попытка использовать в пользовательской макрокоманде на правой стороне выражение переменной, которое можно использовать только на левой стороне выражения.
1120
НЕВЕРНЫЙ ФОРМАТ АРГУМЕНТА
Заданный аргумент в функции аргумента (ATAN, POW) ошибочен.
1124
ОТСУТСТВУЕТ ОПЕРАТОР DO
Команда DO, соответствующая команде END, отсутствовала в пользовательской макрокоманде.
1125
НЕВЕРНЫЙ ФОРМАТ ВЫРАЖЕНИЯ
Описание выражения в пользовательском макрооператоре содержит ошибку. Ошибка формата программного параметра. Окно, отображенное для ввода периодических данных по техобслуживанию или меню выбора наименований (станков), не соответствует типу данных.
1128
ПОРЯДКОВЫЙ НОМЕР ВНЕ ДИАПАЗОНА
Последовательность ном. пункта назначения при команде перехода в пользовательском макрооператоре GOTO находилась вне диапазона (диапазон действительных значений: от 1 до 99999).
1131
НЕ ХВАТАЕТ ОТКРЫВАЮЩЕЙ СКОБКИ
Число левых скобок ([) меньше числа правых скобок (]) в пользовательском макрооператоре.
1132
НЕ ХВАТАЕТ ЗАКРЫВАЮЩЕЙ СКОБКИ
Число правых скобок ([) меньше числа левых скобок (]) в пользовательском макрооператоре.
1133
ОТСУТСТВУЕТ ‘=’
Знак равенства (=) отсутствует в команде арифметических вычислений в пользовательском макрооператоре.
1134
ОТСУТСТВУЕТ
Отсутствует ограничитель (,) в пользовательском макрооператоре.
1137
ОШИБКА ФОРМАТА ОПЕРАТОРА IF
Формат, используемый в операторе IF в пользовательской макрокоманде, ошибочный.
1138
ОШИБКА ФОРМАТА ОПЕРАТОРА WHILE
Формат, используемый в операторе WHILE в пользовательской макрокоманде, ошибочный.
1139
ОШИБКА ФОРМАТА ОПЕРАТОРА SETVN
Формат, используемый в операторе SETVN в пользовательской макрокоманде, ошибочный.
1141
НЕВЕРНЫЙ СИМВОЛ В ИМЕНИ ПЕРМЕННОЙ
Оператор SETVN в пользовательской макрокоманде относится к символу, который нельзя использовать в имени переменной.
1142
СЛИШКОМ ДЛИННОЕ ИМЯ ПЕРЕМЕННОЙ (SETVN)
Имя переменной, используемой в SETVN операторе в пользовательской макрокоманде, превышает 8 символов.
1143
ОШИБКА ФОРМАТА ОПЕРАТОРА BPRNT/DPRNT
Формат, используемый в операторе BPRNT или в операторе DPRNT, ошибочный.
1144
ОШИБКА ФОРМАТА G10
Ввод данных для ном. L команды G10 или соответствующей функции не активирован.
Адреса задания данных P или R не заданы.
Был задан адрес, не связанный с установкой данных. Какой адрес задать различается в соответствии с L ном.
Знак, десятичная точка или диапазон заданного адреса ошибочны.
1160
ПЕРЕПОЛНЕНИЕ УПРАВЛЯЮЩИХ ДАННЫХ
Переполнение произошло в данных позиции в ЧПУ.
Данный сигнал тревоги также порождается, если целевое положение команды превышает максимальный ход в результате вычислений, таких как преобразование системы координат, коррекция или введение величины ручного вмешательства.
1180
ВСЕ ПАРАЛЛЕЛЬНЫЕ ОСИ В РЕЖИМЕ ОЖИДАНИЯ
Все оси, заданные для автоматической работы, находятся в режиме ожидания.
1196
НЕВЕРНЫЙ ВЫБОР ОСИ СВЕРЛЕНИЯ
Ось сверления, заданная для сверления в постоянном цикле сверления, неверна.
В блоке команды G-кода в постоянном цикле точка Z не задана для оси сверления.
1200
НЕВЕРНЫЙ ВОЗВРАТ НА НОЛЬ ИМПУЛЬСНОГО ШИФРАТОРА
Положение сетки нельзя было подсчитать при возврате на референтную позицию сетки при использовании системы сетки, поскольку сигнал одного оборота не был получен перед отходом от упора замедления.
Данный сигнал тревоги также возникает в том случае, если инструмент не достигает скорости подачи, которая превышает величину погрешности сервосистемы, предварительно заданную в параметре ном. 1841, прежде чем отработает ограничитель хода замедления (сигнал замедления *DEC опять становится «1»).
1202
ОТСУТСТВУЕТ КОМАНДА F В G93
F коды в режиме спецификации обратного времени (G93) не обрабатываются как модальные и должны быть заданы в отдельных блоках.
1223
НЕВЕРНЫЙ ВЫБОР ШПИНДЕЛЯ
Была сделана попытка выполнить команду, применимую к шпинделю, в то время как шпиндель, подлежащий управлению, задан неправильно.
1298
НЕВЕРНОЕ ПРЕОБРАЗОВАНИЕ ДЮЙМЫ/МЕТРИЧЕСКИЕ ЕДИНИЦЫ
Произошла ошибка при преобразовании дюймовых/метрических единиц.
1300
НЕВЕРНЫЙ АДРЕС
Номер оси был задан, хотя параметр не относится к оси при загрузке данных параметров или коррекции межмодульного смещения с ленты или при вводе параметра G10.
Ось ном. нельзя задать в данных коррекции межмодульного смещения.
1301
ОТСУТСТВУЕТ АДРЕС
Номер оси не был задан, хотя параметр относится к оси при загрузке данных параметров или коррекции межмодульного смещения с ленты или при вводе параметра G10.
Или данные ном. адреса ном или адрес задания адреса P или R не заданы.
1302
НЕВЕРНЫЙ НОМЕР ДАННЫХ
Был обнаружен несуществующий номер данных при загрузке данных параметров или коррекции межмодульного смещения с ленты или введением параметра G10.
Данный сигнал тревоги также порождается, если обнаружены недопустимые значения слов.
1303
НЕВЕРНЫЙ НОМЕР ОСИ
Был обнаружен адрес номера оси, превышающий максимальное число управляемых осекй при загрузке данных параметров или коррекции межмодульного смещения с ленты или введении параметра G10.
1304
СЛИШКОМ МНОГО ЗНАКОВ
Было обнаружено слишком много цифр при загрузке данных параметров или коррекции межмодульного смещения с ленты.
1305
ДАННЫЕ ВНЕ ДИАПАЗОНА
Были обнаружены данные вне диапазона при загрузке данных параметров или коррекции межмодульного смещения с ленты. Значения адресов задания данных, соответствующих L ном., пока ввод данных с помощью G10 был вне диапазона.
Данный сигнал тревоги также порождается, если программируемые слова ЧПУ содержат значения не из диапазона.
1306
ОТСУТСВУЕТ НОМЕР ОСИ
Параметр, требующий указания оси, обнаружен без номера оси (адрес A) при загрузке параметров с перфоленты.
1307
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ ЗНАКА МИНУС
Были обнаружены данные с неверным обозначением при загрузке данных параметров или коррекции межмодульного смещения с ленты или введением параметра G10. Знак был задан для адреса, не поддерживающего использование знаков.
1308
ОТСУТСТВУЮТ ДАННЫЕ
Адрес, в конце которого не ставится числовое значение, был обнаружен при загрузке данных параметров или коррекции межмодульного смещения с ленты.
1329
НЕВЕРНЫЙ НОМЕР ГРУППЫ СТАНКОВ
Был обнаружен адрес номера групп станков, превышающий максимальное число управляемых станков при загрузке данных параметров или коррекции межмодульного смещения с ленты или введении параметра G10.
1330
НЕВЕРНЫЙ НОМЕР ШПИНДЕЛЯ
Был обнаружен адрес номера шпинделя, превышающий максимальное число управляемых шпинделей при загрузке данных параметров или коррекции межмодульного смещения с ленты или введении параметра G10.
1331
НЕВЕРНЫЙ НОМЕР КОНТУРА
Был обнаружен адрес номера контуров, превышающий максимальное число управляемых контуров при загрузке данных параметров или коррекции межмодульного смещения с ленты или введении параметра G10.
1332
ОШИБКА БЛОКИРОВКИ ЗАПИСИ ДАННЫХ
Невозможно загрузить данные при загрузке данных параметров, коррекции межмодульного смещения или рабочих координат введении параметра с ленты.
1333
ОШИБКА ЗАПИСИ ДАННЫХ
Не может записать данные при загрузке данных с ленты.
1470
ОТСУТСТВУЮТ ПАРАМЕТРЫ G40.1 -G42.1
Задание параметра, связанное с управлением нормальным направлением, неверное.
Номер оси для оси управления нормальным направлением задан в параметре ном. 5480, но этот номер оси входит в область номеров управляемых осей.
Ось, заданная как ось управления нормальным направлением, не задана как ось вращения (ROTx, бит 0 параметра ном. 1006) = 1 и ном. 1022=0).
Задайте скорость подачи, при которой должно выполняться вращение вокруг оси управления нормальным направлением движения, в параметре ном. 5481, в диапазоне от 1 до 15000 мм/мин.
1508
ДУБЛИРОВАНИЕ М КОДА(ИЗМЕНЕНИЕ НАПРАВЛЕНИЯ ДЕЛИТЕЛЬНОПОВОРОТНОГО СТОЛА)
Имеется функция, которой задан такой же М-код. (индексирование делительно-поворотного стола)
1509
ДУБЛИРОВАНИЕ М-КОДА (ОРИЕНТИРОВАНИЕ ОСИ ПОЗИЦИОНИРОВАНИЯ ШПИНДЕЛЯ)
Имеется функция, которой задан такой же М-код. (позиционирование шпинделя, ориентация)
1510
ДУБЛИРОВАНИЕ М-КОДА (ПОЗИЦИОНИРОВАНИЕ ОСИ ПОЗИЦИОНИРОВАНИЯ ШПИНДЕЛЯ)
Имеется функция, которой задан такой же М-код. (позиционирование шпинделя, позиционирование)
1511
ДУБЛИРОВАНИЕ М-КОДА (РАЗБЛОКИРОВКА ОСИ ПОЗИЦИОНИРОВАНИЯ ШПИНДЕЛЯ)
Имеется функция, которой задан такой же М-код. (позиционирование шпинделя, отмена режима)
1533
ПОТЕРЯ ЗНАЧИМОСТИ АДРЕСА F (G95)
Скорость подачи оси сверления отверстий, рассчитанная по кодам F и S, слишком медленная в режиме подачи за один оборот.
1534
ПЕРЕПОЛНЕНИЕ АДРЕСА F (G95)
Скорость подачи оси сверления отверстий, рассчитанная по кодам F и S, слишком быстрая в режиме подачи за один оборот.
1537
ПОТЕРЯ ЗНАЧИМОСТИ АДРЕСА F (ПЕРЕРЕГУЛИРОВАНИЕ)
Скорость, полученная применением перерегулирования к функции F, слишком медленная.
1538
ПЕРЕПОЛНЕНИЕ АДРЕСА F (ПЕРЕРЕГУЛИРОВАНИЕ)
Скорость, полученная применением перерегулирования к функции F, слишком быстрая.
1541
НУЛЕВОЙ S-КОД
«0» был задан в качестве S-кода.
1543
НЕВЕРНАЯ НАСТРОЙКА ПЕРЕДАЧИ
Передаточное число между шпинделем и шифратором положения или заданный номер шифратора положения импульсов неверен в функции позиционирования шпинделей.
1544
S-КОД ПРЕВЫСИЛ МАКСИМУМ
S команда превышает максимальное число вращений шпинделя.
1548
НЕВЕРНЫЙ РЕЖИМ ОСИ
Ось позиционирования шпинделя (серия T)/ ось контурного управления Cs была задана во время переключения режима управления осью.
1561
НЕВЕРНЫЙ УГОЛ ИНДЕКСИРОВАНИЯ
Заданный угол вращения не является целым множителем минимального угла индексирования.
1564
ОСЬ ДЕЛИТЕЛЬНО-ПОВОРОТНОГО СТОЛА СОВМЕСТНО С ДРУГОЙ ОСЬЮ
Ось делительно-поворотного стола и другая ось были заданы в одном блоке.
1567
ДУБЛИРОВАНИЕ КОМАНДЫ ОСИ ДЕЛИТЕЛЬНО-ПОВОРОТНОГО СТОЛА
Индексирование делительно-поворотного стола было задано при перемещении оси, или ось, для которой последовательность индексирования делительно-поворотного стола не была завершена.
1590
ОШИБКА TH
Во время считывания с устройства ввода обнаружена ошибка TH. Код, вызвавший при считывании ошибку TH, и количество операторов до него от блока можно проверить в окне диагностики.
1591
ОШИБКА TV
Ошибка TV обнаружена в единичном блоке. Проверка TV может быть отменена присвоением TVC в параметре ном. 0000#0 значения «0».
1592
КОНЕЦ ЗАПИСИ
Код EOR (Конец записи) задан в середине блока. Данный сигнал тревоги также порождается, если процентное отношение в конце программы ЧПУ считывается. Для функции перезапуска программы данный сигнал тревоги порождается, если заданный блок не найден.
1593
ОШИБКА ЗАДАНИЯ ПАРАМЕТРА EGB
Ошибка в задании параметра, связанного с EGB
1) Неверная настройка SYN, бит 0 параметра ном. 2011.
2) Ведомая ось, заданная G81, не задана как ось вращения. (ROT, бит 0 параметра ном. 1006)
3) Число импульсов за оборот (не задан параметр (ном. 7772 или ном. 7773)).
1594
ОШИБКА ФОРМАТА EGB
Ошибка в формате блока команды EGB
1) T (число зубьев) не задано в блоке G81.
2) В блоке G81 данные, заданные для T, L, P или Q, находятся вне соответствующего диапазона действительных значений.
3) В блоке G81 задана только одна из команд P и Q.
1595
НЕПРАВИЛЬНАЯ КОМАНДА В РЕЖИМЕ EGB
В ходе синхронизации с EGB была дана команда, которую нельзя было давать.
(1) Команда ведомой оси с использованием G27, G28, G29, G30, G33, G53 и т. д.
2) Команда преобразования дюймовых/метрических единиц с использованием G20, G21, и т.д.
1596
ПЕРЕПОЛНЕНИЕ EGB
Возникло переполнение в расчете коэффициента синхронизации.
1805
НЕВЕРНАЯ КОМАНДА
[Устройство ввода/вывода]
Была произведена попытка задать неверную команду в ходе обработки в устройстве ввода/вывода.
[Возврат на референтную позицию G30]
Номера адреса P для задания возврата на 2-ю, 3-ю и 4-ю референтную позицию — не 2, 3 и 4.
[Выстой единичного оборота]
Заданное вращение шпинделя равно «0», если задан выстой единичного оборота.
1806
НЕСООТВЕТСТВИЕ ТИПА УСТРОЙСТВА
Операция, невозможная на устройстве ввода/вывода, которая в настоящий момент выбрана в настройке, была задана. Данный сигнал тревоги также порождается, если перемотка файла задана несмотря на то, что устройство ввода/вывода не является кассетой FANUC.
1807
ОШИБКА НАСТРОЙКИ ПАРАМЕТРА
Задан неверный интерфейс ввода/вывода.
Настройки внешнего устройства ввода/вывода и скорость двоичной передачи, стоповый бит и настройки выбора протокола ошибочны.
1808
УСТРОЙСТВО ОТКРЫТО ДВАЖДЫ
Была сделана попытка открыть устройство, к которому была попытка доступа.
1820
НЕВЕРНОЕ СОСТОЯНИЕ СИГНАЛА DI
1) Предварительно заданный сигнал оси системы координат заготовки был изменен на «1» в состоянии, когда все оси на контуре, включая ось, по которой выполняется преднастройка для осей системы координат заготовки, не были остановлены, или в момент выполнения команды.
2) Когда был задан М-код для выполнения преднастройки с предварительно заданным сигналом для осей системы координат заготовки, не был введен сигнал для каждой оси системы координат заготовки.
3) Активна блокировка вспомогательной функции.
1823
ОШИБКА КАДРА (1)
Стоповый бит символа, полученный от устройства ввода/вывода, соединенный с интерфейсом считывающего перфоратора 1, не был обнаружен.
1830
DR ОТКЛ. (2)
Сигнал готовности ввода набора данных DR устройства ввода/вывода, подключенного к интерфейсу считывающего перфоратора 2, отключен.
1832
ОШИБКА ПЕРЕПОЛНЕНИЯ (2)
Следующий символ был получен от устройства ввода/вывода, подключенного к интерфейсу считывающего перфоратора 2 до того, как он смог считать полученный предварительно символ.
1833
ОШИБКА КАДРА (2)
Стоповый бит символа, полученный от устройства ввода/вывода, соединенный с интерфейсом считывающего перфоратора 2, не был обнаружен.
1834
ОШИБКА БУФЕРИЗАЦИИ (2)
ЧПУ получило более 10 символов данных от устройства ввода/ вывода, подключенного к интерфейсу считывающего перфоратора 2, хотя ЧПУ послало код останова (DC3) в ходе принятия данных.
1912
ОШИБКА ДРАЙВЕРА V-УСТРОЙСТВА (ОТКРЫТО)
При управлении драйвером устройства возникла ошибка.
1960
ОШИБКА ДОСТУПА (КАРТА ПАМЯТИ)
Неправильный доступ к карте памяти
Данный сигнал тревоги также порождается в ходе считывания, если считывание осуществляется до конца файла без регистрации кода EOR.
1961
НЕ ГОТОВО (КАРТА ПАМЯТИ)
Плата памяти не готова.
1962
КАРТА ЗАПОЛНЕНА (КАРТА ПАМЯТИ)
Карта памяти заполнена полностью.
1963
КАРТА ЗАЩИЩЕНА (КАРТА ПАМЯТИ)
Карта памяти защищена от записи.
1964
НЕ УСТАНОВЛЕНА (КАРТА ПАМЯТИ)
Невозможна установка карты памяти.
1965
КАТАЛОГ ЗАПОЛНЕН (КАРТА ПАМЯТИ)
Файл нельзя создать в корневом каталоге карты памяти.
1966
ФАЙЛ НЕ НАЙДЕН (КАРТА ПАМЯТИ)
Заданный файл не найден в карте памяти.
1967
ФАЙЛ ЗАЩИЩЕН (КАРТА ПАМЯТИ)
Карта памяти защищена от записи.
1968
НЕВЕРНОЕ ИМЯ ФАЙЛА (КАРТА ПАМЯТИ)
Неверное имя файла карты памяти
1969
НЕВЕРНЫЙ ФОРМАТ (КАРТА ПАМЯТИ)
Проверить имя файла.
1970
НЕВЕРНАЯ КАРТА (КАРТА ПАМЯТИ)
Нельзя использовать эту карту памяти.
1971
ОШИБКА УДАЛЕНИЯ (КАРТА ПАМЯТИ)
Во время удаления информации с карты памяти возникла ошибка.
1972
НИЗКИЙ ЗАРЯД БАТАРЕИ (КАРТА ПАМЯТИ)
Садится батарея карты памяти.
1973
ФАЙЛ УЖЕ СУЩЕСТВУЕТ
Файл, имеющий то же имя, уже существует на карте памяти.
2032
ОШИБКА ВСТРОЕННОЙ СЕТИ ETHERNET/СЕРВЕРА данных
От функции встроенной сети Ethernet/сервера данных вернулось сообщение об ошибке.
Подробные сведения см. в окне сообщений об ошибках встроенной сети Ethernet или сервера данных.
2051
#200-#499 НЕВЕРНЫЙ Р-КОД ОБЩЕГО ВВОДА МАКРОКОМАНД (НЕТ ОПЦИИ)
Была произведена попытка ввести общую переменную пользовательской макрокоманды, не существующей в системе.
2052
#500-#549P ОБЩИЙ ВЫБОР КОДА МАКРОКОМАНДЫ (НЕЛЬЗЯ ИСПОЛЬЗОВАТЬ SETVN)
Нельзя ввести имя переменной.
Нельзя использовать команду SETVN с общими переменными макрокоманды кода P #500 — #549.
2053
НОМЕР #30000 НЕ ИМЕЕТ СООТВЕТСТВИЯ
Была произведена попытка ввести переменную только Р-кода, не существующую в системе.
2054
НОМЕР #40000 НЕ ИМЕЕТ СООТВЕТСТВИЯ
Была произведена попытка ввести расширенную переменную только Р-кода, не существующую в системе.
4010
НЕВЕРНОЕ ДЕЙСТВИТЕЛЬНОЕ ЗНАЧЕНИЕ OBUF:
Действительное значение буфера вывода ошибочно.
5006
СЛИШКОМ МНОГО СЛОВ В ОДНОМ БЛОКЕ
Число слов в блоке превышает максимально допустимое. Максимум 26 слов. Однако эта цифра варьируется в зависимости от опций ЧПУ. Разделите команду на два блока.
5007
СЛИШКОМ БОЛЬШОЕ РАССТОЯНИЕ
Из-за коррекции, вычисления точки пересечения, интерполяции или подобных причин было задано расстояние перемещения, превышающее максимально допустимое расстояние.
Проверьте заданные координаты или величины коррекции.
5009
НУЛЕВОЙ ПАРАМЕТР (ХОЛОСТОЙ ХОД)
Параметр скорости подачи холостого хода ном. 1410 или параметр максимальной скорости рабочей подачи ном. 1430 для каждой оси был установлен на 0.
5010
КОНЕЦ ЗАПИСИ
Код EOR (Конец записи) задан в середине блока. Данный сигнал тревоги также порождается, если процентное отношение в конце программы ЧПУ считывается.
5011
НУЛЕВОЙ ПАРАМЕТР (МАКС. РЕЗАНИЕ)
Параметр максимальной скорости рабочей подачи ном. 1430 был установлен на 0.
5014
НЕ НАЙДЕНЫ ДАННЫЕ ТРАССИРОВКИ
Нельзя произвести трассировку из-за отсутствия данных трассировки.
5016
НЕВЕРНАЯ КОМБИНАЦИЯ М-КОДОВ
В блоке заданы М-коды, принадлежащие одной группе. Или же М-код, который необходимо задать в блоке без других М-кодов, задан в блоке вместе с другими М-кодами.
5018
ОШИБКА СКОРОСТИ ШПИНДЕЛЯ ПРИ ПОЛИГОНАЛЬНОЙ ОБРАБОТКЕ
В режиме G51.2 скорость шпинделя или полигональной синхронной оси либо превышает значение фиксации, либо слишком низкая. Таким образом, невозможно поддерживать заданное соотношение скорости вращения.
Для полигональной обточки между шпинделями: Более подробные сведения о причине этого сигнала тревоги см. в DGN ном. 471.
5020
ОШИБКА ПАРАМЕТРА ПЕРЕЗАПУСКА
Недействительное значение задано в параметре ном. 7310, указывающем порядок осей для перемещения по ним инструмента в позицию возобновления обработки на холостом ходу. В этом параметре можно задавать значение в диапазоне от 1 до числа управляемых осей.
5046
НЕВЕРНЫЙ ПАРАМЕТР (КОРРЕКЦИЯ ПРЯМОЛИНЕЙНОСТИ)
Заданное значение параметра, связанное с простой коррекцией
прямолинейности, содержит ошибку.
Возможные причины:
1) Несуществующий номер оси задан в параметре оси перемещения или коррекции.
2) Неправильное соотношение величины номеров точек коррекции прямолинейности.
3) Не обнаружена точка простой коррекции прямолинейности между крайними удаленными точками коррекции в отрицательной и положительной областях.
4) Коррекция на точку коррекции слишком велика или слишком мала.
5064
РАЗЛИЧНЫЕ ЕДИНИЦЫ ОСЕЙ
Круговая интерполяция была задана в плоскости, состоящей из осей, имеющих различные системы приращений.
5065
РАЗЛИЧНЫЕ ЕДИНИЦЫ ОСЕЙ (ОСЬ PMC)
Оси, имеющие различные системы приращений, были заданы в одной и той же группе DI/DO для осевого управления с помощью РМС. Измените настройку параметра ном. 8010.
5073
НЕТ ДЕСЯТИЧНОЙ ТОЧКИ
В адресе, предусматривающем десятичную точку, не задана десятичная точка.
5074
ОШИБКА ДУБЛИРОВАНИЯ АДРЕСА
В одном блоке один и тот же адрес задан два или более раз. Или в одном блоке задано два или более G-кодов, принадлежащих к одной группе.
5110
НЕВЕРНЫЙ G-КОД (РЕЖИМ КОНТ. УПР. AI)
Недопустимый G-код был задан при управлении с расширенным предпросмотром, управлении AI с расширенным предпросмотром или контурном управлении AI.
5131
НЕСОВМЕСТИМАЯ КОМАНДА ЧПУ
Управление осью PMC и интерполяция в полярных координатах были заданы одновременно.
5195
НЕВОЗМОЖНО ОПРЕДЕЛИТЬ НАПРАВЛЕНИЕ
Измерение недействительно при функции прямого ввода измеренного значения коррекции на инструмент B.
[Для 1-контактного ввода]
1) Направление записанных импульсов непостоянно.
Например, состояние останова может быть задано во время режима записи коррекции, может быть введено состояние отключения сервосистемы, или возможно изменение направления.
2) Инструмент перемещается вдоль двух осей (ось X и ось Y). [Для определения направления перемещения при 4-контактном вводе]
1) Направление записанных импульсов непостоянно.
Например, состояние останова может быть задано во время режима записи коррекции, может быть введено состояние отключения сервосистемы, или возможно изменение направления.
2) Инструмент перемещается вдоль двух осей (ось X и ось Z).
3) Направление, указанное сигналом записи коррекции на инструмент, не соответствует направлению перемещения оси.
5220
РЕЖИМ РЕГУЛИРОВКИ РЕФЕРЕНТНОЙ ТОЧКИ
Для линейной шкалы кодировки расстояния I/F параметр автоматического задания референтной точки (ном.1819#2) имеет значение «1». Переместить станок на референтную позицию вручную и выполнить возврат на референтную позицию вручную.
5257
G41/G42 ЗАПРЕЩЕНЫ В РЕЖИМЕ MDI
Коррекция на радиус инструмента/на радиус вершины инструмента была задана в режиме MDI. (В зависимости от настройки параметра MCR (ном. 5008#4))
5303
ОШИБКА СЕНСОРНОЙ ПАНЕЛИ
Сенсорная панель не подключена правильно или не может быть инициализирована при включении питания. Устраните причину, затем снова включите питание.
5305
НЕВЕРНЫЙ НОМЕР ШПИНДЕЛЯ
В функции выбора шпинделя по адресу P для управления несколькими шпинделями,
1) Адрес P не задан.
2) P-код для выбора шпинделя не задан в параметре ном. 3781.
3) Задан неверный G-код, невозможный с командой S_P_;.
4) Многошпиндельное управление не активировано, так как бит 1 (EMS) параметра ном. 3702 имеет значение 1.
5) Номер усилителя шпинделя для каждого шпинделя не задан в параметре ном. 3717.
6) Команда шпинделя выполнена из контура, в котором она запрещена (параметр ном. 11090).
7) Неверная настройка параметра ном. 11090.
5306
ОШИБКА ПЕРЕКЛЮЧЕНИЯ РЕЖИМА
Не удалось выполнить переключение режима при активации. Попытка выполнить быстрый вызов макропрограммы была сделана не в состоянии сброса или во время сброса либо аварийного останова.
5329
М98 И КОМАНДА ЧПУ В ОДНОМ БЛОКЕ
Вызов подпрограммы, не являющейся единичным блоком, был задан в режиме постоянного цикла.
5339
КОМАНДА В НЕВЕРНОМ ФОРМАТЕ ВЫПОЛНЕНА ПРИ
СИНХ./СМЕШ./НАЛОЖ. УПРАВЛЕНИИ.
1. Недействительно значение P, Q или L, заданное посредством G51.4/G50.4/G51.5/G50.5/G51.6/G50.6.
2. Двойное значение задан параметром ном. 12600.
5346
ВОЗВРАТ НА РЕФЕРЕНТНУЮ ТОЧКУ
Не выполнено назначение координат для оси контурного управления
Cs. Выполните ручной возврат на референтную позицию.
1) Если назначение координат Cs выполнено для оси Cs, для которой сигнал состояния референтной позиции оси CsCSPENx имеет значение 0
2) Если данные позиции не отправлены усилителем шпинделя
3) Если состояние отключения сервосистемы введено во время запуска назначения координат оси Cs
4) Если состояние аварийного останова введено во время назначения координат оси Cs
5) Если ось Cs находится в режиме синхронного или наложенного управления
6) Если предпринята попытка отменить комплексное управление для оси Cs во время назначения координат оси Cs
7) Если предпринята попытка запустить синхронное, комплексное или наложенное управление для оси Cs во время назначения координат оси Cs
5362
ПРЕОБРАЗОВАНИЕ ДЮЙМ/ММ В РЕФ. ПОЗ.
Преобразование дюймы/метрические единицы было выполнено в позиции, отличной от референтной позиции. Выполните преобразование дюймы/метрические единицы после возврата на референтную позицию.
5391
НЕВОЗМОЖНО ИСПОЛЬЗОВАТЬ G92
Невозможно задать настройку системы координат заготовки G92.
1) После того, как коррекция на длину инструмента была изменена коррекция по типу смещения на длину инструмента, команда G92 была задана без абсолютной команды.
2) Команда G92 была задана в блоке, содержащем G49.
5395
ПРЕВЫШЕНИЕ КОЛИЧЕСТВА ОСЕЙ CS
Число осей, назначаемых для осевого контурного управления Cs, превышает максимально допустимое в системе число. Проверьте параметр ном. 1023. При возникновении этого сигнала тревоги состояние аварийного останова нельзя сбросить.
5445
НЕВОЗМОЖНО ЗАДАТЬ ПЕРЕМЕЩЕНИЕ В G39
Круговая интерполяция в углу (G39) для коррекции на радиус инструмента/на радиус вершины инструмента задана не отдельно, а с командой перемещения.
5446
ИЗБЕЖАНИЕ В G41/G42 НЕВОЗМОЖНО
Поскольку отсутствует вектор избежания столкновения, функция избежания столкновения для коррекции на радиус инструмента/на радиус вершины инструмента не работает.
5447
ОПАСНОЕ ИЗБЕЖАНИЕ В G41/G42
Операция функции избежания столкновения для коррекции на радиус инструмента/на радиус вершины инструмента ведет к опасности.
5448
ИЗБЕЖАНИЕ СТОЛКНОВЕНИЯ В G41/G42
В функции избежания столкновения для коррекции на радиус инструмента/на радиус вершины инструмента созданный вектор избежания столкновения приводит к последующему столкновению.
Номер
Сообщение
Описание
0001
ОШИБКА TH
Во время считывания с устройства ввода обнаружена ошибка TH. Код, вызвавший при считывании ошибку TH, и количество операторов до него от блока можно проверить в окне диагностики.
0002
ОШИБКА TV
Ошибка TV обнаружена в единичном блоке.
Проверка TV может быть отменена присвоением TVC в параметре ном. 0000#0 значения «0».
0003
СЛИШКОМ МНОГО ЗНАКОВ
Данные введены с большим количеством символов, чем разрешено для оператора ЧПУ. Количество допустимых символов варьируется в зависимости от функции и слова.
0004
АДРЕС НЕ НАЙДЕН
Адрес слов(а) ЧПУ + числовое значение не соответствуют формату слова. Данный сигнал тревоги выдается также, если пользовательская макрокоманда не содержит зарезервированного слова или не соответствует синтаксису.
0005
ОТСУТСТВУЮТ ДАННЫЕ ПОСЛЕ АДРЕСА
Адрес слов(а) ЧПУ + числовое значение не соответствуют формату слова. Данный сигнал тревоги выдается также, если пользовательская макрокоманда не содержит зарезервированного слова или не соответствует синтаксису.
0006
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ ЗНАКА МИНУС
Знак минус (-) был задан в команде ЧПУ или в системной переменной, где задание знак минус не разрешено.
0007
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ ДЕСЯТИЧНОЙ ТОЧКИ
Десятичная точка (.) была задана в адресе, где нельзя задать десятичную точку, либо были заданы две десятичные точки.
0009
НЕВЕРНЫЙ АДРЕС ЧУ
Был задан неверный адрес, либо не задан параметр 1020.
0010
НЕВЕРНЫЙ G-КОД
Задан неиспользуемый G-код.
0011
НУЛЕВАЯ ПОДАЧА (КОМАНДА)
Скорость подачи резания, предписанная F кодом, была задана равной 0. Данный сигнал тревоги порождается также, если задан чрезвычайно малый F-код, предписанный для S-кода в команде жесткого нарезания резьбы, так как инструмент не может нарезать при заданном шаге.
0015
СЛИШКОМ МНОГО ОСЕЙ ОДНОВРЕМЕННО
Команда перемещения была задана для большего числа осей, чем доступно для функции одновременного управления осями.
Либо разделите запрограммированные оси перемещения на два блока.
0020
ПРЕВЫШЕНИЕ ДОПУСКА ПО РАДИУСУ
Была задана дуга, для которой разность по радиусу в начальной и конечной точках превышает значение, заданное в параметре ном. 3410. Проверьте коды центра дуги I, J и K в программе. Траектория инструмента, если в параметре ном. 3410 задано большое значение, представляет собой спираль.
0021
НЕВЕРНЫЙ ВЫБОР ПЛОСКОСТИ
Команды выбора плоскости с G17 по G19 ошибочны. Перепрограммируйте так, чтобы те же 3 основные параллельные оси не были заданы одновременно.
Этот сигнал тревоги порождается также, если задана ось, которая не должна быть указана для обработки плоскости, например, для круговой интерполяции.
Для 0i -TD опция винтовой интерполяции необходима для активации спецификации 3 или более осей для блока G02/G03.
0022
НЕ ОБНАРУЖЕНА КОМАНДА R ИЛИ I, J, K
В команде круговой интерполяции отсутствует радиус дуги R или координата I, J или K расстояния между начальной точкой и центром дуги.
0023
НЕВЕРНАЯ КОМАНДА РАДИУСА
Для команды радиуса дуги R задано отрицательное значение. В серии T дуга с углом более 180° не может быть задана посредством команды R. Измените программу.
0025
КРУГОВОЕ РЕЗАНИЕ В УСКОРЕННОМ РЕЖИМЕ (F0)
F0 (ускоренный подвод при подаче с однозначным F-кодом или обратной подаче) был задан во время круговой интерполяции (G02, G03).
0027
НЕ ЗАДАНЫ ОСИ В G43/G44
Не заданы оси в блоках G43 и G44 для коррекции на длину инструмента типа С.
Коррекция не отменена, но другая ось смещена для коррекции на длину инструмента типа С.
Несколько осей задано для одного блока, когда тип коррекции на длину инструмента — C.
0028
НЕВЕРНЫЙ ВЫБОР ПЛОСКОСТИ
Команды выбора плоскости с G17 по G19 ошибочны. Перепрограммируйте так, чтобы те же 3 основные параллельные оси не были заданы одновременно. Этот сигнал тревоги порождается также, если задана ось, которая не должна быть указана для обработки плоскости, например, для круговой интерполяции.
Для 0i -TD опция винтовой интерполяции необходима для активации спецификации 3 или более осей для блока G02/G03.
0029
НЕВЕРНАЯ ВЕЛИЧИНА КОРРЕКЦИИ
Коррекция с неверным номером
0030
НЕВЕРНЫЙ НОМЕР КОРРЕКЦИИ
Был задан неверный номер коррекции.
0031
НЕВЕРНАЯ КОМАНДА Р В G10
Ввод данных для ном. L команды G10 или соответствующей функции не активирован. Не задан адрес настройки данных, например, P или R. Была задана команда адреса, не связанная с настройкой данных. Адрес меняется вместе с номером L.
Знак или десятичная запятая заданного адреса ошибочны, или заданный адрес находится за пределами диапазона.
0032
НЕВЕРНАЯ ВЕЛИЧИНА КОРРЕКЦИИ В G10
При установке величины коррекции с помощью G10 или при записи величины коррекции с помощью системных переменных величина коррекции оказалась избыточной.
0033
НЕТ ПЕРЕСЕЧЕНИЯ ПРИ КОРРЕКЦИИ НА РЕЖУЩИЙ ИНСТРУМЕНТ
Нет пересечения при расчете пересечения для коррекции на радиус инструмента/на радиус вершины инструмента. Измените программу.
0034
КРУГОВОЕ ДВИЖЕНИЕ В БЛОКЕ ЗАПУСКА/ВЫХОДА ЗАПРЕЩЕНО
При коррекции на радиус инструмента / на радиус вершины инструмента запуск или отмена выполняются в режиме G02 или G03. Измените программу.
0035
НЕЛЬЗЯ ЗАДАТЬ G31
1) Нельзя задать G31. Этот сигнал тревоги генерируется, если не отменен G-код (например, для коррекции на радиус инструмента / на радиус вершины инструмента) группы 07.
2) Пропуск по пределу крутящего момента не был задан в команде пропуска по пределу крутящего момента (G31P98 или P99). Задайте пропуск по пределу крутящего момента в окне РМС или другим способом.
0037
НЕВОЗМОЖНО ИЗМЕНИТЬ ПЛОСКОСТЬ В G41/G42
Плоскость коррекции G17/G18/G19 была изменена в ходе коррекции на режущий инструмент или на радиус вершины инструмента. Измените программу.
0038
СТОЛКНОВЕНИЕ В БЛОКЕ КРУГОВОГО ПЕРЕМЕЩЕНИЯ
Зарез происходит при коррекции на радиус инструмента / на радиус вершины инструмента, так как начальная или конечная точки дуги совпадают с центром дуги. Измените программу.
0039
CHF/CNR НЕ РАЗРЕШЕНЫ В G41, G42
Снятие фаски или скругление угла R заданы при запуске, отмене или переключении между G41 и G42 в командах G41 и G42 (коррекция на радиус вершины инструмента). Программа может привести к зарезу при снятии фаски или скруглении угла. Измените программу.
0041
СТОЛКНОВЕНИЕ ПРИ КОРРЕКЦИИ НА РЕЖУЩИЙ ИНСТРУМЕНТ
При коррекции на радиус инструмента / на радиус вершины инструмента возможно избыточное резание. Измените программу.
0042
G45/G48 НЕ РАЗРЕШЕНЫ ПРИ CRC
Смещение инструмента (от G45 до G48) задано в режиме коррекции на радиус инструмента. Измените программу.
0044
G27-G30 НЕ ДОПУСКАЮТСЯ ПРИ ФИКСИРОВАННОМ ЦИКЛЕ
Одна из команд от G27 до G30 (G29 только для серии M) задана в режиме постоянного цикла. Измените программу.
0045
НЕ НАЙДЕН АДРЕС Q (G73/G83)
В цикле скоростного сверления с периодическим выводом или в цикле сверления с периодическим выводом величина реза за раз не задается адресом Q, либо задано Q0. Измените программу.
0046
НЕВЕРНАЯ КОМАНДА ВОЗВРАТА НА РЕФЕРЕНТНУЮ ПОЗИЦИЮ
Ошибка команды возврата во вторую, третью или четвертую референтную позицию. (Ошибка команды P-адреса.)
0050
ЗАПРЕЩЕНО СНЯТИЕ ФАСКИ/ СКРУГЛЕНИЕ УГЛА В БЛОКЕ НАРЕЗАНИЯ РЕЗЬБЫ
Блок снятия фаски или скругления угла задан в блоке нарезания резьбы. Измените программу.
0051
НЕТ ПЕРЕМЕЩЕНИЯ ПОСЛЕ СКРУГЛЕНИЯ УГЛА / СНЯТИЯ ФАСКИ
Неверное перемещение или расстояние перемещения в блоке, идущем за снятием фаски или скруглением угла. Измените программу.
0052
КОД ПОСЛЕ СНЯТИЯ ФАСКИ/СКРУГЛЕНИЯ УГЛА НЕ G01
Блоком, следующим за блоком снятия фаски или блоком скругления угла, является не блок G01 (или вертикальная линия). Измените программу.
0053
СЛИШКОМ МНОГО АДРЕСНЫХ КОМАНД
В командах снятия фаски или скругления угла задано два или более I, J, K и R.
0054
ОБРАБОТКА КОНУСА ПОСЛЕ СНЯТИЯ ФАСКИ/ СКРУГЛЕНИЯ УГЛА НЕ РАЗРЕШЕНА
Блок, в котором задано снятие фаски под заданным углом или скругление угла, включает команду обработки конической поверхности. Измените программу.
0055
ОТСУТСТВУЕТ ВЕЛИЧИНА ПЕРЕМЕЩЕНИЯ ПРИ СНЯТИИ ФАСКИ/ СКРУГЛЕНИИ УГЛА
Расстояние перемещения по оси, заданное в блоке, содержащем снятие фаски или скругление угла, меньше, чем величина снятия фаски или скругления угла. Измените программу.
0056
ОТСУТСТВУЮТ КОНЕЧНАЯ ТОЧКА И УГОЛ ПРИ СНЯТИИ ФАСКИ/ СКРУГЛЕНИИ УГЛА
При прямом программировании размеров чертежа и конечная точка, и угол были заданы в блоке, следующим за блоком, в котором был задан только угол (Aa). Измените программу.
0057
НЕТ РЕШЕНИЯ КОНЦА БЛОКА
В программировании непосредственно по размерам чертежа неверно вычислена конечная точка блока. Измените программу.
0058
НЕ НАЙДЕНА КОНЕЧНАЯ ТОЧКА
В программировании непосредственно по размерам чертежа не найдена конечная точка блока. Измените программу.
0060
НЕ НАЙДЕН ПОРЯДКОВЫЙ НОМЕР
[Внешний ввод данных/вывод данных]
Заданный номер не найден при поиске по номеру программы и по порядковому номеру.
Был выдан запрос на ввод/выод для величины коррекции для данных инструмента, но номер инструмента после включения питания не вводился. Данные инструмента, соответствующие введенному номеру инструмента, не найдены.
[Поиск номера внешней заготовки]
Программа, соответствующую заданной заготовке, не найдена. [Перезапуск программы]
В спецификации порядкового номера перезапуска программы не найден заданный порядковый номер.
0061
КОМАНДА P ИЛИ Q ОТСУТСТВУЕТ В БЛОКЕ МНОГОКРАТНО ПОВТОРЯЕМЫХ ЦИКЛОВ
Не задан адрес Р или Q в команде многократно повторяемого цикла (G70, G71, G72 или G73).
0062
ВЕЛИЧИНА РЕЗАНИЯ НЕВЕРНА В ЦИКЛЕ ЧЕРНОВОГО РЕЗАНИЯ
Был задан ноль или отрицательное значение многократно повторяемого цикла черновой обработки резанием (G71 или G72) в качестве глубины реза.
0063
НЕ НАЙДЕН БЛОК ЗАДАННОГО НОМЕРА ПОСЛЕДОВАТЕЛЬНОСТИ
Не найден порядковый номер, заданный адресами P и Q в команде многократно повторяемого цикла (G70, G71, G72 или G73).
0064
ФОРМА ЧИСТОВОЙ ОБРАБОТКИ НЕ ИЗМЕНЯЕТСЯ МОНОТОННО (ПЕРВЫЕ ОСИ)
В программе чистовой обработки для многократно повторяемого цикла черновой обработки резанием (G71 или G72) команда для первой оси плоскости задавала монотонное увеличение или уменьшение.
0065
G00/G01 НЕ ЯВЛЯЕТСЯ ПЕРВЫМ БЛОКОМ ПРОГРАММЫ ОБРАБОТКИ ФОРМЫ
В первом блоке программы обработки формы, задаваемый P многократно повторяемый стандартный цикл (G70, G71, G72 или G73), G00 или G01 не был заданы.
0066
НЕДОСТУПНАЯ КОМАНДА В БЛОКЕ МНОГОКРАТНО ПОВТОРЯЕМЫХ ЦИКЛОВ
Недоступная команда была обнаружена в командном блоке многократно повторяемых циклов (G70, G71, G72 или G73).
0067
МНОГОКРАТНО ПОВТОРЯЕМЫЕ ЦИКЛЫ НЕ НАХОДЯТСЯ В ПАМЯТИ ПРОГРАММЫ ОБРАБОТКИ ДЕТАЛЕЙ
Команда многократно повторяемого постоянного цикла (G70, G71, G72, или G73) не зарегистрирована в области памяти на магнитных лентах.
0069
ПОСЛЕДНИЙ БЛОК ПРОГРАММЫ ОБРАБОТКИ ФОРМЫ ЯВЛЯЕТСЯ НЕВЕРНОЙ КОМАНДОЙ
В программе чистовой обработки в многократно повторяемом цикле черновой обработки резанием (G70, G71, G72 или G73) команда снятия фаски или скругления угла R в последнем блоке прерывается на середине.
0070
В ПАМЯТИ ОТСУТСТВУЕТ МЕСТО ДЛЯ ПРОГРАММЫ
Недостаточно памяти.
Удалите ненужные программы и повторите попытку.
0071
ДАННЫЕ НЕ НАЙДЕНЫ
1) Не найден адрес по запросу.
2) При поиске по номеру программы не найдена программа с заданным номером.
3) В спецификации номера блока перезапуска программы не найден заданный номер блока.
Проверьте данные.
0072
ДАННЫЕ НЕ НАЙДЕНЫ
Число программ для хранения превысило 400 (одноконтурная система) или 800 (двухконтурная система серии T). Удалите ненужные программы и выполните регистрацию программы снова.
0073
НОМЕР ПРОГРАММЫ УЖЕ ИСПОЛЬЗУЕТСЯ
Заданный номер программы уже используется. Измените номер программы или удалите ненужные программы и выполните регистрацию программы снова.
0074
НОМЕР ПРОГРАММЫ УЖЕ ИСПОЛЬЗУЕТСЯ
Номер программы не входит в диапазон от 1 до 9999. Измените номер программы.
0075
ЗАЩИТА
Сделана попытка зарегистрировать программу, номер которой защищен. При согласовании программы был неверно введен пароль для защищенной программы. Была предпринята попытка выбора программы, редактируемой в фоновом режиме, в качестве главной программы. Была предпринята попытка вызова программы, редактируемой в фоновом режиме, в качестве подпрограммы.
0076
ПРОГРАММА НЕ НАЙДЕНА
Заданная программа не найдена при вызове подпрограммы или вызове макрокоманды. Коды M, G, T или S вызываются командой P, отличной от команды в M98, M198, G65, G66 или пользовательской макропрограммы типа прерывания, а программа вызывается специальным адресом. Данный сигнал тревоги также порождается, если программа не найдена при данных вызовах.
0077
СЛИШКОМ МНОГО ВЛОЖЕННЫХ ПОДПРОГРАММ, МАКРОПРОГРАММ
Общее число вызовов подпрограмм и пользовательских макрокоманд превышает допустимый диапазон. Во время подпрограммы из внешней памяти был выполнен вызов подпрограммы.
0078
НЕ НАЙДЕН ПОРЯДКОВЫЙ НОМЕР
Заданный порядковый номер не был найден при поиске по порядковому номеру. Не найден порядковый номер, заданный в переходном пункте назначения в GOTO— и M99P—.
0079
НЕСООТВЕТСТВИЕ ПРОГРАММ
Программа в памяти не соответствует программе, хранящейся на ленте. Несколько программ не подлежат непрерывному согласованию, если параметр ном. 2200#3 имеет значение «1». Задайте в параметре ном. 2200#3 значение «0» перед выполнением сопоставления.
0080
НЕПРАВИЛЬНО ВВЕДЕН СИГНАЛ ДОСТИЖЕНИЯ ПОЛОЖЕНИЯ ИЗМЕРЕНИЯ G37
Если выполняется функция измерения длины инструмента (G37), сигнал достижения положения измерения доходит до 1 во фронтальной части, определенной значением £, заданным в параметре ном.6254. Как альтернатива, сигнал не доходит до 1.
Если используется функция автоматической коррекции на инструмент (G36, G37), сигналы достижения положения измерения (XAE1, XAE2) не доходят до 1 в диапазоне, определенном значением £, заданном в параметрах ном.6254 и ном.6255.
0081
НОМ. КОРРЕКЦИИ G37 НЕ ЗАДАН
Функция измерения длины инструмента (G37) задана без задания H кода. Исправьте программу.
Функция автоматической коррекции ни инструмент (G36, G37) задана без задания Т кода. Исправьте программу.
0082
G37 ЗАДАНО С Н-КОДОМ
Функция измерения длины инструмента (G37) задано вместе с Н кодом в том же блоке.
Исправьте программу.
Функция автоматической коррекции на инструмент (G37) задана в одном блоке с Т-кодом.
Исправьте программу.
0083
НЕВЕРНАЯ КОМАНДА ОСИ G37
Была обнаружена ошибка в спецификации оси функции измерения длины инструмента (G37). Как альтернатива, задана команда перемещения как команда приращения. Исправьте программу.
Была обнаружена ошибка в спецификации оси функции автоматической коррекции на инструмент (G36, G37). Как альтернатива, задана команда перемещения как команда приращения.
Исправьте программу.
0085
ОШИБКА ПЕРЕПОЛНЕНИЯ
Следующий символ был получен от устройства ввода/вывода, подключенного к интерфейсу считывающего перфоратора 1 до того, как он смог считать полученный предварительно символ. Переполнение, ошибка четности или ошибка кадрирования возникли во время считывания интерфейсом устройства считывания/вывода на перфоленту 1. Неверны число битов введенных данных, настройка скорости передачи данных в бодах или номер спецификации устройства ввода/вывода.
0086
DR ОТКЛ.
В ходе процесса ввода/вывода интерфейсом считывания/вывода не перфоленту 1 сигнал готовности ввода набора данных устройства ввода/вывода (DR) был отключен. Возможными причинами являются не включение устройства ввода/вывода, порванный кабель и дефектная печатная плата.
0087
ПЕРЕПОЛНЕНИЕ БУФЕРА
В ходе считывания интерфейс считывающего перфоратора 1, хотя и была дана команда остановки считывания, была введено более 10 символов. Устройство ввода/вывода или печатная плата были дефектными.
0090
НЕ ЗАВЕРШЕН ВОЗВРАТ НА РЕФЕРЕНТНУЮ ПОЗИЦИЮ
1) Нельзя выполнить возврат на референтную позицию обычным образом, поскольку начальная точка возврата на референтную позицию расположена слишком близко к референтному положению, или скорость слишком низкая. Переместите начальную точку от референтной позиции на достаточное расстояние или задайте достаточно высокую скорость для выполнения возврата на референтную позицию.
2) Была попытка задать нулевое положение для детектора абсолютного положения с помощью возврата на референтную позицию, если необходимо задать нулевую точку.
Проверните двигатель вручную минимум на один оборот и установите нулевое положение датчика абсолютного положения, отключив и снова включив ЧПУ и сервоусилитель.
0091
РУЧНОЙ ВОЗВРАТ НА РЕФЕРЕНТНУЮ ПОЗИЦИЮ НЕ ВЫПОЛНЕН ПРИ ОСТАНОВЕ ПОДАЧИ
Невозможно выполнить ручной возврат на референтную позицию, когда автоматическая операция приостановлена. Выполните ручной возврат на референтную позицию, когда автоматическая операция остановлена или сброшена.
0092
ОШИБКА ПРОВЕРКИ ВОЗВРАТА К НАЧАЛУ КООРДИНАТ (G27)
Ось, заданная в G27, не вернулась на референтную позицию. Перепрограммируйте, чтобы ось вернулась на референтную позицию.
0094
ЗАПРЕЩЕН ТИП Р (ИЗМЕНЕНИЕ КООРДИНАТ)
При повторном пуске программы тип Р задать нельзя. (После прерывания автоматической работы выполнена операция установки системы координат). Выполните надлежащую операцию в соответствии с руководством пользователя.
0095
ЗАПРЕЩЕН ТИП Р (ИЗМЕНЕНИЕ ВНЕШНЕГО СМЕЩЕНИЯ)
При повторном пуске программы тип Р задать нельзя. (После прерывания автоматической работы изменена величина внешней коррекции начала координат заготовки). Выполните надлежащую операцию в соответствии с руководством пользователя.
0096
ЗАПРЕЩЕН ТИП Р (ИЗМЕНЕНИЕ СМЕЩЕНИЯ ЗАГОТОВКИ)
При повторном пуске программы тип Р задать нельзя. (После прерывания автоматической работы изменена величина коррекции начала координат заготовки). Выполните надлежащую операцию в соответствии с руководством пользователя.
0097
ЗАПРЕЩЕН ТИП Р (АВТОМАТИЧЕСКОЕ ВЫПОЛНЕНИЕ)
Нельзя указать тип Р при повторном пуске программы. (После включения питания, после аварийного останова или сброса сигналов тревоги 0094 — 0097 автоматическая операция не выполняется). Выполните автоматическую операцию.
0099
ИСПОЛН. MDI НЕ ДОПУСКАЕТСЯ ПОСЛЕ ПОИСКА
После завершения поиска при перезапуске программы с помощью MDI дана команда перемещения.
0109
ОШИБКА ФОРМАТА В G08
В коде G08 после Р задано значение, отличное от 0 или 1, или не задано значение.
0110
ПЕРЕПОЛНЕНИЕ: ЦЕЛАЯ ЧАСТЬ
Целая часть числа вышла за пределы диапазона при арифметических вычислениях.
0111
ПЕРЕПОЛНЕНИЕ: ПЛАВАЮЩ.
Десятичная точка (числовые данные в формате с плавающей точкой) вышла за пределы диапазона при арифметических вычислениях.
0112
ДЕЛЕНИЕ НА НОЛЬ
Была сделана попытка деления на ноль в пользовательской макрокоманде.
0113
НЕВЕРНАЯ КОМАНДА
Запрограммирована функция, которую нельзя использовать в макрокоманде пользователя. Измените программу.
0114
НЕВЕРНЫЙ ФОРМАТ ВЫРАЖЕНИЯ
Формат, используемый в выражении в пользовательском макрооператоре, ошибочный. Ошибка формата записи параметра.
0115
НОМЕР ПЕРЕМЕННОЙ ВНЕ ДИАПАЗОНА
Номер, который нельзя использовать для локальной переменной, общей переменной или системной переменной, заданный в пользовательской макрокоманде.
0116
ПЕРЕМЕННАЯ С ЗАЩИТОЙ ОТ ЗАПИСИ
Была произведена попытка использовать в пользовательской макрокоманде на левой стороне выражение переменной, что можно использовать на правой стороне выражения.
0118
СЛИШКОМ МНОГО ВЛОЖЕНИЙ В СКОБКИ
Слишком много скобок»[ ]» вложено в пользовательской макрокоманде. Уровень вложения, включая функциональные скобки, равен 5.
0119
ЗНАЧЕНИЕ АРГУМЕНТА ВНЕ ДИАПАЗОНА
Значение аргумента функции пользовательской макрокоманды находится вне диапазона.
0122
СЛИШКОМ МНОГО ВЛОЖЕНИЙ МАКРОКОМАНД
В пользовательскую макрокоманду было вложено слишком много вызовов макрокоманд.
0123
НЕВЕРНЫЙ РЕЖИМ ДЛЯ GOTO/WHILE/DO
Оператор GOTO или оператор WHILE-DO обнаружен в главной программе в режиме MDI или прямого ЧПУ.
0124
ОТСУТСТВУЕТ КОНЕЧНЫЙ ОПЕРАТОР
Команда END, соответствующая команде DO, отсутствовала в пользовательской макрокоманде^
0125
ОШИБКА ФОРМАТА МАКРООПЕРАТОРА
Формат, используемый в макрооператоре в пользовательской макрокоманде, ошибочный.
0126
НЕВЕРНЫЙ НОМЕР ЦИКЛА
Номера DO и END в пользовательской макрокоманде ошибочны или превышают допустимый диапазон (диапазон действительных значений: от 1 до 3).
0127
ДУБЛИРОВАНИЕ ОПЕРАТОРА ЧУ, МАКРООПЕРАТОРА
Оператор ЧПУ и макрооператор были заданы в одном блоке.
0128
НЕВЕРНЫЙ ПОРЯДКОВЫЙ НОМЕР МАКРОПРОГРАММЫ
Заданный порядковый номер не найден при поиске порядкового номера. Не найден порядковый номер, заданный как пункт назначения перехода GOTO— и M99P—.
0129
ИСПОЛЬЗОВАНИЕ ‘G’ В КАЧЕСТВЕ АРГУМЕНТА
G используется в качестве аргумента при вызове пользовательской макрокоманды. G нельзя использовать в качестве аргумента.
0130
КОНФЛИКТ ЧПУ И ОСИ РМС
Команда ЧПУ и команда управления осью РМС не были согласованы. Измените программу или цепную схему.
0136
ОСЬ ПОЗИЦИОНИРОВАНИЯ ШПИНДЕЛЯ ОДНОВРЕМЕНО С ДРУГОЙ ОСЬЮ
Ось позиционирования шпинделя и другая ось заданы в одном блоке.
0137
M-КОД И КОМАНДА ПЕРЕМЕЩЕНИЯ В ОДНОМ БЛОКЕ
т
Ось позиционирования шпинделя и другая ось заданы в одном блоке.
0139
НЕЛЬЗЯ ИЗМЕНИТЬ ОСЬ, УПРАВЛЯЕМУЮ РМС
Ось PMC была выбрана для оси, для которой направляется ось PMC.
0140
НОМЕР ПРОГРАММЫ УЖЕ ИСПОЛЬЗУЕТСЯ
Сделана попытка выбрать или удалить в фоновом режиме программу, выбранную в основном режиме. Выполнить правильную операцию для фоновой версии.
0142
НЕВЕРНЫЙ МАСШТАБ
Коэффициент масштабирования составляет 0 раз или 10000 раз или более. Измените настройку коэффициента масштабирования.
(G51P… или G51I J K… или параметр (ном. 5411 или 5421))
0143
ПЕРЕПОЛНЕНИЕ УПРАВЛЯЮЩИХ ДАННЫХ
Переполнение при хранении внутренних данных ЧПУ. Данный сигнал тревоги также порождается, если результаты внутреннего вычисления масштабирования (серия M), поворота системы координат (серия M) и цилиндрической интерполяции переполняют память данных. Он также порождается в ходе ввода величины ручного вмешательства.
0144
НЕВЕРНО ВЫБРАНА ПЛОСКОСТЬ
Плоскость поворота системы координат и плоскость дуги или компенсации на режущий инструмент должны совпадать. Измените программу.
0145
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ G12.1/G13.1
Номер оси параметров выбора плоскости ном. 5460 (линейная ось) и ном. 5461(ось вращения) в режиме интерполяции в полярных координатах вне диапазонв (от 1 до числа управляемых осей).
0146
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ G-КОДА
При задании или отмене режима интерполяции в полярных координатах G-код должен быть модальной командой G40. В режиме интерполяции в полярных координатах был задан неверный G-код.
В этом режиме могут быть заданы следующие следующие G-коды: G01,G02,G03,G04,G40,G41,G42,G65,G66,G67,
(G90 и G91 для системы G-кодов B или C), G98,G99
0148
ОШИБКА НАСТРОЙКИ
Уровень замедления автоматического изменения скорости подачи при обработке углов находится вне устанавливаемого диапазона оцениваемого угла. Измените параметры (ном.1710-1714)
0149
ОШИБКА ФОРМАТА В G10L3
При регистрации (от G10L3 до G11) данных управления ресурсом инструмента был задан адрес, отличный от Q1, Q2, P1, и P2, или недопустимый адрес.
0150
НЕВЕРНЫЙ НОМЕР ГРУППЫ РЕСУРСА
Номер группы инструментов превысил максимальное допустимое значение. Номер группы инструментов (P после задания G10 L3;) или номер группы, указанный T-кодом управления ресурсом инструмента в программе обработки.
0151
ГРУППА НЕ НАЙДЕНА В ДАННЫХ РЕСУРСА
Группа инструментов, указанная в программе обработки, не задана в данных управления ресурсом инструмента.
0152
ПРЕВЫШЕНО МАКСИМАЛЬНОЕ ЧИСЛО ИНСТРУМЕНТОВ
Число инструментов, зарегистрированных в группе, превысило максимально допустимое число инструментов для регистрации.
01 53
T-КОД НЕ ОБНАРУЖЕН
При регистрации данных ресурса инструмента блок, в котором должен быть задан T-код, не содержит T-кода. Либо, при методе замены инструмента D, задано только M06. Измените программу.
0154
ИНСТРУМЕНТ НЕ ИСПОЛЬЗУЕТСЯ В ГРУППЕ РЕСУРСА
Команда H99, команда D99 или код H/D, заданный параметрами ном. 13265 и ном. 13266, была задана, когда не использовался ни один из входящих в группу инструментов.
0155
НЕВЕРНАЯ КОМАНДА T-КОДА
В программе обработки T-код в блоке, содержащем M06, не соответствует текущей используемой группе. Измените программу.
0156
НЕ НАЙДЕНА КОМАНДА P/L
Команды P и L не заданы в начале программы для настройки группы инструментов. Измените программу.
0157
СЛИШКОМ МНОГО ГРУПП ИНСТРУМЕНТОВ
При регистрации данных управления ресурсом инструмента значения счетчиков блока команды групповой настройки P (номер группы) и L (срок службы инструмента) превысили максимальное число для группы.
0158
ЗНАЧЕНИЕ СРОКА СЛУЖБЫ ИНСТРУМЕНТА ВНЕ ДИАПАЗОНА
Задаваемое значение срока службы слишком большое. Измените настройку.
0159
НЕВЕРНЫЕ ДАННЫЕ РЕСУРСА ИНСТРУМЕНТА
Данные управления ресурсом инструмента повреждены по какой-то причине. Зарегистрируйте данные инструмента в группе инструментов или данные инструмента в группе снова посредством G10L3 или ввода в режиме MDI.
0160
НЕСООТВЕТСТВИЕ М-КОДА ОЖИДАНИЯ
М-код ожидания ошибочный.
Для контуров 1 и 2 заданы различные М-коды ожидания.
0163
НЕВЕРНАЯ КОМАНДА В G68/G69
G68 и G69 не запрограммированы независимо при сбалансированном резании.
0169
НЕВЕРНЫЕ ГЕОМЕТРИЧЕСКИЕ ДАННЫЕ ИНСТРУМЕНТА
Неверные данные о форме инструмента при проверке столкновений. Установите правильные данные или выберите верные данные о форме инструмента.
0175
НЕВЕРНАЯ ОСЬ G07.1
Задана ось, по которой нельзя выполнять цилиндрическую интерполяцию. В блоке G07.1 задана более чем одна ось. Была сделана попытка отмены цилиндрической интерполяции по оси, которая не была в режиме цилиндрической интерполяции.
В режиме цилиндрической интерполяции для задания круговой интерполяции, включая ось вращения (если бит 0 (ROT) параметра ном. 1006 имеет значение 1, и задан параметр ном. 1260), значение параметра оси вращения ном. 1022 для назначения параллельной оси должно быть не 0, а 5, 6 или 7.
0176
ИСПОЛЬЗОВАНИЕ НЕВЕРНОГО G-КОДА (РЕЖИМ G07.1)
Был задан G-код, который не может быть задан в режиме цилиндрической интерполяции. Этот сигнал тревоги также срабатывает, если G-код группы 01 был в задан в модальной группе G00, или был задан код G00. Перед тем, как задать код G00, следует отменить режим цилиндрической интерполяции
0190
ВЫБРАНА НЕВЕРНАЯ ОСЬ (G96)
Неверное значение было задано в P в блоке G96 или в параметре ном. 3770.
0194
КОМАНДА ШПИНДЕЛЯ В СИНХРОННОМ РЕЖИМЕ
Режим управления контуром Cs, команда позиционирования шпинделей или режим жесткого нарезания резьбы метчиком были заданы в режиме синхронного управления шпинделями.
Режим управления контуром Cs или режим жесткого нарезания резьбы метчиком были заданы в режиме синхронного управления шпинделями или простого синхронного управления шпинделями.
0197
ОСЬ С ЗАДАНА В РЕЖИМЕ ШПИНДЕЛЯ
Программа задала перемещение вдоль оси Сб, когда сигнал переключения управления контуром Cs был отключен.
0199
МАКРОСЛОВО НЕ ОПРЕДЕЛЕНО
Использовано не определенное макрослово. Измените макрокоманду пользователя.
0200
НЕВЕРНАЯ КОМАНДА S-КОДА
В режиме жесткого нарезания резьбы метчиком задано значение S, не входящее в диапазон, или не задано совсем. Параметры (ном. 5241 -5243) заданы равными S значению, которое можно задать для жесткого нарезания резьбы. Исправьте параметры или измените программу.
0201
В РЕЖИМЕ ЖЕСТКОГО НАРЕЗАНИЯ РЕЗЬБЫ МЕТЧИКОМ НЕ НАЙДЕНА СКОРОСТЬ ПОДАЧИ
Команда F кода для скорости подачи резания равна нулю.
Если значение F команды гораздо меньше, чем значение команды S, если задана команда жесткого нарезания резьбы метчиком, порождается данный сигнал тревоги. Это происходит потому, что резание невозможно с шагом, заданным программой.
0202
ПЕРЕПОЛНЕНИЕ ПОЛОЖЕНИЯ LSI
В режиме жесткого нарезания резьбы метчиком слишком большая величина распределения импульсов для шпинделей. (Системная ошибка)
0203
ПРОГРАММНОЕ НЕСООТВЕТСТВИЕ ПРИ ЖЕСТКОМ НАРЕЗАНИИ РЕЗЬБЫ МЕТЧИКОМ
В режиме жесткого нарезания резьбы метчиком неверно положение М-кода жесткого режима (М29) или S-команды. Измените программу.
0204
НЕВЕРНАЯ ОПЕРАЦИЯ ОСИ
В режиме жесткого нарезания резьбы метчиком между блоком М-кода жесткого режима (М29) и блоком G84 (или G74) задано перемещение по оси. Измените программу.
0205
СИГНАЛ DI ЖЕСТКОГО РЕЖИМА ВЫКЛЮЧЕН
Несмотря на то, что при жестком нарезании резьбы метчиком задан М-код (М29), во время выполнения блока G84 (или G74) не включен сигнал жесткого режим DI (DGN G061.0). Проверьте цепную схему РМС для выяснения причины, по которой сигнал DI не был включен.
0206
НЕЛЬЗЯ ИЗМЕНИТЬ ПЛОСКОСТЬ (ЖЕСТКОЕ НАРЕЗАНИЕ РЕЗЬБЫ)
Переключение плоскости было задано в жестком режиме. Измените программу.
0207
НЕСООТВЕТСТВИЕ ДАННЫХ ЖЕСТКОГО РЕЖИМА
При жестком нарезании резьбы метчиком заданное расстояние -слишком короткое или слишком длинное.
0210
НЕЛЬЗЯ ЗАДАТЬ М198/М99
1) Во время операции по графику была предпринята попытка выполнения команды М198 или М99. Либо во время работы с прямым ЧПУ была предпринята попытка выполнения команды М198. Измените программу.
2) Во время фрезерования глубоких выемок в многократно повторяющемся постоянном цикле была предпринята попытка выполнения команды М99 с помощью макропрерывания.
0213
НЕВЕРНАЯ КОМАНДА В СИНХРОННОМ РЕЖИМЕ
При управлении осью подачи в ходе синхронной работы произошли следующие ошибки.
1) Программа выдала команду перемещения ведомой оси.
2) Программа выдала команду ручной работы ведомой оси.
3) Программа выдала команду автоматического возврата на референтную позицию без задания ручного возврата на референтную позицию после включения питания.
0214
НЕВЕРНАЯ КОМАНДА В СИНХРОННОМ РЕЖИМЕ
В режиме синхронного управления установлена система координат или выполнена коррекция на длину инструмента (серия M) типа смещения. Исправьте программу.
0217
ДУБЛИРОВАНИЕ G51.2 (КОМАНДЫ)
В режиме G51.2 дополнительно задан G51.2. Измените программу.
0218
НЕ НАЙДЕНА КОМАНДА P/Q
В блоке G51.2 не задано P или Q, либо значение команды вне диапазона. Измените программу. Более подробные сведения о причине появления этого сигнала тревоги при полигональной обточке между шпинделями приведены в DGN ном. 471.
0219
НЕЗАВИСИМОЕ ЗАДАНИЕ G51.2/G50.2
G51.2 и 50.2 были заданы в одном блоке для других команд. Изменить программу в другом блоке.
0220
НЕВЕРНАЯ КОМАНДА В СИНХРОННОМ РЕЖИМЕ
При синхронной операции для синхронной оси задано перемещение с помощью программы ЧПУ или интерфейса РМС осевого управления. Измените программу или проверьте цепную схему PMC.
0221
НЕВЕРНАЯ КОМАНДА В СИНХРОННОМ РЕЖИМЕ
Синхронная операция полигональной обработки и контурное осевое управление Cs или сбалансированное резание выполняются одновременно. Измените программу.
0222
РАБОТА С ПРЯМЫМ ЧПУ ПРИ ФОНОВОМ РЕДАКТИРОВАНИИ ЗАПРЕЩЕНА
Ввод и вывод выполняются одновременно с фоновым редактированием. Выполните правильное действие.
0224
ВОЗВРАТ НА НОЛЬ НЕ ЗАВЕРШЕН
Перед запуском автоматической работы не был выполнен возврат на референтрую позицию.
(Только если бит 0 (ZRNx) параметра ном. 1005 имеет значение 0) Выполните возврат на референтную позицию.
0230
R-КОД НЕ ОБНАРУЖЕН
Глубина реза R не задана в блоке, включающем G161. Либо для R задано отрицательное значение.
Измените программу.
0231
НЕВЕРНЫЙ ФОРМАТ В G10 L52
При вводе программируемого параметра возникли ошибки в заданном формате.
0232
СЛИШКОМ МНОГО КОМАНД ДЛЯ ВИНТОВОЙ ОСИ
В режиме винтовой интерполяции заданы две или три оси в качестве винтовых осей.
0233
УСТРОЙСТВО ЗАНЯТО
При попытке использовать устройство, например, устройство, подсоединенное через интерфейс RS-232-C, обнаружено, что оно используется другими пользователями.
0245
В ЭТОМ БЛОКЕ Т-КОД ЗАПРЕЩЕН
Один из G-кодов, G04, G10, G28, G29 (серия M), G30, G50 (серия T) и G53, который не может быть задан в одном блока с T-кодом, был задан с T-кодом.
0247
НАЙДЕНА ОШИБКА В КОДЕ ВЫВОДА ДАННЫХ
При выводе закодированной программы в качестве кода вывода задано EIA. Задайте ISO.
0314
НЕВЕРНАЯ НАСТРОЙКА ПОЛИГОНАЛЬНОЙ ОСИ
Неверно задана ось при полигональной обточке.
Для полигональной обточки:
1) Не задана ось вращения инструмента.
(Параметр ном. 7610)
Для полигональной обточки между шпинделями:
1) Не заданы действительные шпиндели.
(Параметры ном. 7640 — 7643).
2) Шпиндель, не являющийся последовательным шпинделем.
3) Шпиндель не подсоединен.
0315
НЕВЕРНАЯ КОМАНДА УГЛА КРОМКИ В ЦИКЛЕ РЕЗЬБОНАРЕЗАНИЯ
Неверный угол режущей кромки инструмента задан в многократно повторяемом постоянном цикле резьбонарезания (G76).
0316
НЕВЕРНАЯ ВЕЛИЧИНА РЕЗА В ЦИКЛЕ РЕЗЬБОНАРЕЗАНИЯ
Минимальная глубина реза больше, чем высота резьбы, задана в многократно повторяемом постоянном цикле резьбонарезания (G76).
0317
НЕВЕРНАЯ КОМАНДА НАРЕЗАНИЯ РЕЗЬБЫ В ЦИКЛЕ РЕЗЬБОНАРЕЗАНИЯ
Был задан ноль или отрицательное значение в многократно повторяемом постоянном цикле резьбонарезания (G76) в качестве высоты резьбы или глубины реза.
0318
НЕВЕРНАЯ ВЕЛИЧИНА ОТВОДА В ЦИКЛЕ СВЕРЛЕНИЯ
Хотя направления отвода заданы в многократно повторяемом постоянном цикле отрезания (G74 или G75), задано отрицательное значение для Ad.
0319
НЕВЕРНА КОМАНДА КОНЕЧНОЙ ТОЧКИ В ЦИКЛЕ СВЕРЛЕНИЯ
Хотя расстояние перемещения Ai или Ak задано равным 0 в многократно повторяемом постоянном цикле отрезания (G74 или G75), значение, отличное от 0, задано для U или W.
0320
НЕВЕРНАЯ ВЕЛИЧИНА ПЕРЕМЕЩЕНИЯ/ВЕЛИЧИНА РЕЗА В ЦИКЛЕ СВЕРЛЕНИЯ
Было задано отрицательное значение в многократно повторяемом постоянном цикле отрезания (G74 или G75) как Ai или Ak (расстояние перемещения / глубина реза).
0321
НЕВЕРНОЕ ВРЕМЯ ПОВТОРЕНИЯ В ЦИКЛЕ ПОВТОРЕНИЯ СХЕМЫ
Задан нуль или отрицательное значение в многократно повторяемом постоянном замкнутом цикле (G73) в качестве значения времени повторения.
0322
ЧИСТОВАЯ ОБРАБОТКА ПОСЛЕ ЗАПУСКА
Неверная форма, которая после запуска цикла задана в программе обработки для многократно повторяемого постоянного цикла черновой обработки резанием (G71 или G72).
0323
ПЕРВЫЙ БЛОК ПРОГРАММЫ ОБРАБОТКИ ЯВЛЯЕТСЯ КОМАНДОЙ ТИПА II
Тип II задан в первом блоке программы обработки, заданном командой P в многократно повторяемом постоянном цикле (G71 или G72). Для G71 задано Z(W). Для G72 задано X(U).
0324
МАКРОПРОГРАММА ТИПА ПРЕРЫВАНИЯ ЗАДАНА В МНОГОКРАТНО ПОВТОРЯЕМЫХ ЦИКЛАХ
Макропрограмма типа прерывания была дана в ходе многократно повторяемого постоянного цикла (G70, G71, G72 или G73).
0325
НЕДОСТУПНАЯ КОМАНДА В ПРОГРАММЕ ОБРАБОТКИ ФОРМЫ
Используемая команда была дана в программе обработки для многократно повторяемого постоянного цикла (G70, G71, G72 или G73).
0326
ПОСЛЕДНИЙ БЛОК ПРОГРАММЫ ОБРАБОТКИ ФОРМЫ СОДЕРЖИТ ПРЯМЫЕ РАЗМЕРЫ ЧЕРТЕЖА
В программе чистовой обработки в многократно повторяемом цикле черновой обработки резанием (G70, G71, G72 или G73) команда прямого ввода размеров чертежа в последнем блоке прерывается на середине.
0327
МОДАЛЬНОЕ СОСТОЯНИЕ, НЕ ДОПУСКАЮЩЕЕ МНОГОКРАТНО ПОВТОРЯЕМЫХ ЦИКЛОВ
Многократно повторяемый постоянный цикл (G70, G71, G72 или G73) был задан в модальном состоянии, в котором нельзя задавать многократно повторяемый постоянный цикл.
0328
НЕВЕРНОЕ РАБОЧЕЕ ПОЛОЖЕНИЕ ПРИ КОРРЕКЦИИ НА РАДИУС ВЕРШИНЫ ИНСТРУМЕНТА
Неверная спецификация для стороны заготовки для коррекции на радиус вершины инструмента (G41 или G42) в многократно повторяемом постоянном цикле (G71 или G72).
0329
ФОРМА ЧИСТОВОЙ ОБРАБОТКИ НЕ ИЗМЕНЯЕТСЯ МОНОТОННО (ВТОРЫЕ ОСИ)
В программе чистовой обработки для многократно повторяемого цикла черновой обработки резанием (G71 или G72) команда для второй оси плоскости задавала монотонное увеличение или уменьшение.
0330
НЕВЕРНАЯ КОМАНДА ОСИ В ПОСТОЯННОМ ЦИКЛЕ ОБТОЧКИ
Ось, отличная от плоскости, задана в постоянном цикле (G90, G92 и. G94).
0334
КОРРЕКЦИЯ ВНЕ РАБОЧЕГО ДИАПАЗОНА
Данные коррекции, которая была вне рабочего диапазона, были заданы. (функция предотвращения неисправности)
0336
КОРРЕКЦИЯ НА ИНСТРУМЕНТ ЗАДАНА БОЛЕЕ, ЧЕМ ДВУМ ОСЯМ
Для коррекции на длину инструмента C была сделана попытка задать коррекцию по другим осям без отмены коррекции. Либо для коррекции на длину инструмента C задано несколько осей в блоке G43 или G44.
0337
ПРЕВЫШЕНИЕ МАКСИМАЛЬНОГО ЗНАЧЕНИЯ ПРИРАЩЕНИЯ
Значение команды превысило максимальную величину приращения. (функция предотвращения неисправности)
0338
ОШИБКА КОНТРОЛЬНОЙ СУММЫ
Неверное значение обнаружено в контрольной сумме. (функция предотвращения неисправности)
0345
НЕВЕРНОЕ ПОЛОЖЕНИЕ ОСИ Z ПРИ СМЕНЕ ИНСТРУМЕНТА
Положение смены инструмента по оси Z неверное.
0346
НЕВЕРНЫЙ НОМЕР ИНСТРУМЕНТА ПРИ СМЕНЕ ИНСТРУМЕНТА
Неверный номер инструмента для смены инструмента.
0347
НЕВЕРНАЯ КОМАНДА СМЕНЫ ИНСТРУМЕНТА В ОДНОМ БЛОКЕ.
Смена инструмент задана дважды или более в одном и том же блоке.
0348
НЕ НАЗНАЧЕНО ПОЛОЖЕНИЕ ОСИ Z ПРИ СМЕНЕ ИНСТРУМЕНТА
Шпиндель смены инструмента по оси Z не задан.
0349
ШПИНДЕЛЬ СМЕНЫ ИНСТРУМЕНТА НЕ ОСТАНАВЛИВАЕТСЯ
Остановка шпинделя смены инструмента не задана.
0350
ОШИБКА ПАРАМЕТРА ИНДЕКСА ЗАДАННОЙ ОСИ СИНХРОННОГО УПРАВЛЕНИЯ
Задан неверный номер оси синхронного управления (параметр ном. 8180).
0351
ПОСКОЛЬКУ ОСЬ ПЕРЕМЕЩАЕТСЯ, СИНХРОННОЕ УПРАВЛЕНИЕ ИСПОЛЬЗОВАТЬ НЕЛЬЗЯ.
Пока ось при синхронном управлении перемещалась, была сделана попытка запуска или отмены синхронного управления посредством сигнала выбора синхронного управления осью.
0352
ОШИБКА СОСТАВЛЕНИЯ ОСИ СИНХРОННОГО УПРАВЛЕНИЯ
Данная ошибка произошла, когда:
1) Была произведена попытка выполнить синхронное управление для оси во время синхронного, комплексного или наложенного управления.
2) Была произведена попытка синхронизировать правнука для отношения предок-потомок-внук.
3) Была произведена попытка выполнить синхронное управление, хотя отношение «предок»-«потомок»-«внук» задано не было.
0353
КОМАНДА БЫЛА ДАНА ДЛЯ ОСИ, КОТОРАЯ НЕ МОГЛА ДВИГАТЬСЯ.
T
Данная ошибка произошла, когда:
1) Команда перемещения была выполнена для оси, для которой бит 7 (NUMx) параметра ном. 8163 имел значение 1.
2) Команда перемещения была выполнена для ведомой оси при синхронном управлении.
3) Команда перемещения была выполнена для оси, для которой бит 7 (MUMx) параметра ном. 8162 имел значение 1 при комплексном управлении.
0354
G28 БЫЛО ЗАДАНО С РЕФЕРЕНТНОЙ ПОЗИЦИЕЙ, НЕ ЗАФИКСИРОВАННОЙ В РЕЖИМЕ СИНХРОННОГО УПРАВЛЕНИЯ
Данная ошибка произошла, когда G28 было задано для ведущей оси при ожидании во время синхронного управления, но референтная позиция не была задана для ведомой оси.
0355
ОШИБКА ПАРАМЕТРА ИНДЕКСА ЗАДАННОЙ ОСИ КОМПЛЕКСНОГО УПРАВЛЕНИЯ.
Задан неверный номер оси комплексного управления (параметр ном. 8183).
0356
ПОСКОЛЬКУ ОСЬ ПЕРЕМЕЩАЕТСЯ, КОМПЛЕКСНОЕ УПРАВЛЕНИЕ ИСПОЛЬЗОВАТЬ НЕЛЬЗЯ
Пока ось при комплексном управлении перемещалась, была сделана попытка запуска или отмены с помощью сигнала выбора комплексного управления оси.
0357
ОШИБКА СОСТАВЛЕНИЯ ОСИ КОМПЛЕКСНОГО УПРАВЛЕНИЯ
Данная ошибка произошла, когда была сделана попытка выполнить комплексное управление для оси во время синхронного, комплексного или наложенного управления.
0359
G28 ЗАДАНО ПРИ НЕФИКСИРОВАННОМ РЕФЕРЕНТНОМ ПОЛОЖЕНИИ В КОМПЛ. РЕЖИМЕ
Данная ошибка произошла, когда команда G28 была задана сложной оси в ходе комплексного управления, но референтная позиция не была задана для другой части составления.
0360
ОШИБКА ЗАДАНИЯ ПАРАМЕТРА ИНДЕКСА ОСИ С НАЛОЖЕННЫМ УПРАВЛЕНИЕМ
Задан неверный номер оси наложенного управления (парам. ном. 8186).
0361
ПОСКОЛЬКУ ОСЬ ПЕРЕМЕЩАЕТСЯ, НАЛОЖЕННОЕ УПРАВЛЕНИЕ ИСПОЛЬЗОВАТЬ НЕЛЬЗЯ
Пока ось при наложенном управлении перемещалась, была сделана попытка запуска или отмены наложенного управления посредством сигнала выбора наложенного управления осью.
0362
ОШИБКА СОСТАВЛЕНИЯ ОСИ НАЛОЖЕННОГО УПРАВЛЕНИЯ
Данная ошибка произошла, когда:
1) Была произведена попытка выполнить наложенное управление для оси во время синхронного, комплексного или наложенного управления.
2) Была произведена попытка синхронизировать правнука для отношения предок-потомок-внук.
0363
КОМАНДА G28 ЗАДАНА ДЛЯ ВЕДОМОЙ ОСИ НАЛОЖЕННОГО УПРАВЛЕНИЯ.
Данная ошибка произошла, когда была дана команда G28 для ведомой оси наложенного управления при наложенном управлении.
0364
КОМАНДА G53 ЗАДАНА ДЛЯ ВЕДОМОЙ ОСИ НАЛОЖЕННОГО УПРАВЛЕНИЯ.
Данная ошибка произошла, когда была дана команда G53 для ведомой оси, перемещающейся при наложенном управлении.
0365
СЛИШКОМ МНОГО МАКСИМАЛЬНЫХ НОМЕРОВ ОСИ SV/SP НА КОНТУР
Неверно задано число управляемых осей или шпинделей для использования в одном контуре. Проверьте параметры ном. 981 и ном. 982. Если порождается этот сигнал тревоги, то состояние аварийного останова нельзя сбросить.
0369
ОШИБКА ФОРМАТА G31
1) Не задана ось либо заданы две или более осей в команде переключения по пределу крутящего момента (G31P98/P99).
2) Нельзя задать G31P90.
0370
ОШИБКА G31P/G04Q
1) Заданное значение адреса P для G31 вне диапазона. Адрес P имеет диапазон от 1 до 4 в функции многошагового пропуска.
2) Заданное значение адреса Q для G04 вне диапазона. Адрес Q имеет диапазон от 1 до 4 в функции многошагового пропуска.
3) P1 -4 для G31, или Q1 -4 для G04 было задана без опции функции многошагового пропуска.
4) Для G72 или G74 в постоянных циклах шлифования заданное значение адреса P вне диапазона. Адрес P имеет диапазон от 1 до 4 в функции многошагового пропуска. P1-4 было задано в G72 или G74 несмотря на отсутствие опции функции многошагового пропуска.
0372
НЕ ЗАВЕРШЕН ВОЗВРАТ НА РЕФЕРЕНТНУЮ ПОЗИЦИЮ
Была сделана попытка выполнить автоматический возврат на референтную позицию на ортогональной оси до завершения возврата на референтную позицию на наклонной оси. Однако, эта попытка не удалась, поскольку не был задан ручной возврат на референтную позицию при управлении наклонной осью или при автоматическом возврате на референтную позицию после включения питания. Сначала вернитесь на референтную позицию по наклонной оси, затем вернитесь на референтную позицию на ортогональной оси.
0373
НЕВЕРНЫЙ СИГНАЛ СКОРОСТНОГО ПРОПУСКА
В командах пропуска (G31, с G31P1 по G31P4) и командах выстоя (G04, с G04Q1 по G04Q4) один и тот же скоростной сигнал выбран в разных контурах^
0375
НЕВОЗМОЖНО УПРАВЛЕНИЕ НАКЛОННОЙ ОСЬЮ (СИНХ:СМЕШ:НАЛОЖ)
Управление осью наклона отключено для данной конфигурации оси.
1) Все задействованные оси при управлении наклонной осью не находятся в режиме синхронного управления. Либо необходимо выполнить настройки для обеспечения синхронного управления между наклонными осями, а также между ортогональными осями.
2) Все задействованные оси при управлении наклонной осью не находятся в режиме комплексного управления. Либо необходимо выполнить настройки для обеспечения комплексного управления между наклонными осями, а также между ортогональными осями.
3) Задействованные оси при управлении наклонной осью находятся в режиме наложенного управления.
0376
ПОСЛЕД. DCL: НЕВЕРНЫЙ ПАРАМЕТР
1) Если параметр ном. 1815#1 имеет значение «1», параметр ном. 2002#3 имеет значение «0»
2) Активирована функция регистрации абсолютной позиции. (Параметр ном.1815#5 имеет значение «1».)
0412
НЕВЕРНЫЙ G-КОД
Использован недопустимый G-код.
0445
НЕВЕРНАЯ ОПЕРАЦИЯ ОСИ
Команда позиционирования была выдана в режиме управления скоростью. Проверьте сигнал режима управления скоростью SV (Fn521).
0446
НЕВЕРНАЯ КОМАНДА В G96.1/G96.2/G96.3/G96.4
G96.1, G96.2, G96.3 и G96.4 заданы в блоке, включающем другие команды. Измените программу.
0447
НЕВЕРНЫЕ ДАННЫЕ НАСТРОЙКИ
Шпиндель, управляемый серводвигателем, задан неверно. Проверьте параметры для функции управления шпинделем при помощи серводвигателя.
0455
НЕВЕРНАЯ КОМАНДА ШЛИФОВАНИЯ
В постоянных циклах шлифования:
1) Не совпадают знаки команд I, J и K.
2) Не задана величина перемещения для оси шлифования.
0456
НЕВЕРНЫЙ ПАРАМЕТР ШЛИФОВАНИЯ
Неверно заданы параметры для постоянных циклов шлифования.
Вероятные причины приведены ниже.
1) Неверно задан номер оси шлифования (параметры от ном. 5176 до ном. 5179).
2) Неверно задан номер оси правки (параметры от ном. 5180 до ном. 5183).
3) Совпадают номера осей резания, шлифования и правки (только для серии M).
0601
НЕВЕРНАЯ ОПЕРАЦИЯ ОСИ ДЛЯ ШПИНДЕЛЯ С СЕРВОДВИГАТЕЛЕМ
Команда перемещения выполнена для шпинделя, управляемого серводвигателем. Измените программу.
0602
ОШИБКА КОМАНДЫ ВЫБОРА ШПИНДЕЛЯ (ШПИНДЕЛЬ СЕРВОДВИГАТЕЛЯ)
Не был правильно выбран исполнитель для шпинделя, управляемого серводвигателем.
1001
НЕВЕРНЫЙ РЕЖИМ УПРАВЛЕНИЯ ОСЬЮ
Неверный режим управления осью.
1013
НЕВЕРНАЯ ПОЗ. НОМ. ПРОГРАММЫ
Адрес O или N задан в неправильном месте (после макрооператора т. д.).
1014
НЕВЕРНЫЙ ФОРМАТ НОМЕРА ПРОГРАММЫ
Адрес O или N не сопровождается числом.
1016
НЕ НАЙДЕН КОНЕЦ БЛОКА
Код EOB (Конец блока) отсутствует в конце ввода программы в режиме MDI.
1077
ПРОГРАММА ИСПОЛЬЗУЕТСЯ
Сделана попытка исполнения на переднем плане программы, находящейся в режиме фонового редактирования. Редактируемую в настоящее время программу нельзя выполнить, поэтому прекратите редактирование и перезапустите выполнение программы.
1079
НЕ НАЙДЕН ПРОГРАММНЫЙ ФАЙЛ
Программа заданного номера файла не зарегистрирована во внешнем устройстве. (вызов подпрограммы внешнего устройства)
1080
ДУБЛИРОВАНИЕ ВЫЗОВА ПОДПРОГРАММЫ УСТРОЙСТВА
Еще один вызов подпрограммы внешнего устройства был выполнен из подпрограммы, после того как подпрограмма была вызвана подпрограммой внешнего устройства.
1081
ВЫЗОВ ПОДПРОГРАММЫ ВНЕШНЕГО УСТРОЙСТВА ОШИБКА РЕЖИМА
Вызов подпрограммы внешнего устройства невозможен в данном режиме.
1091
ДУБЛИРОВАНИЕ СЛОВА ВЫЗОВА ПОДПРОГРАММЫ
Больше одной команды вызова подпрограммы было задано в одном блоке.
1092
ДУБЛИРОВАНИЕ СЛОВА ВЫЗОВА МАКРОКОМАНДЫ
Больше одной команды вызова макрокоманды было задано в одном блоке.
1093
ДУБЛИРОВАНИЕ СЛОВА ЧУ И М99
Адрес, отличный от O, N, P или L, был задан в том же блоке, что и M99 в состоянии вызова модальной макрокоманды.
1095
СЛИШКОМ МНОГО АРГУМЕНТОВ ТИПА 2
Более десяти наборов аргументов I, J и K задано в аргументах типа-II (A, B, C, I, J, K, I, J, K,…) для пользовательских макрокоманд.
1096
НЕВЕРНОЕ ИМЯ ПЕРЕМЕННОЙ
Было задано неверное имя переменной. Код, который нельзя задать в качестве имени переменной, был задан. Команда [#_OFSxx] не соответствует типу (A или C) текущей используемой памяти коррекции на инструмент.
1097
СЛИШКОМ ДЛИННОЕ ИМЯ ПЕРЕМЕННОЙ
Заданное имя переменной слишком длинное.
1098
ОТСУТСТВУЕТ ИМЯ ПЕРЕМЕННОЙ
Заданное имя переменной нельзя использовать, поскольку оно не зарегистрировано.
1099
НЕВЕРНЫЙ ИНДЕКС[]
Индекс не задан для имени переменной, требующей индекса, заключенного в [ ].
Индекс задан для имени переменной, не требующей индекса, заключенного в [ ].
Значение, заключенное в заданные [ ], не попало в диапазон.
1100
ОТМЕНА БЕЗ МОДАЛЬНОГО ВЫЗОВА
Отмена режима вызова (G67) была задана, хотя режим постоянного вызова макрокоманд (G66) не был включен.
1101
НЕВЕРНОЕ ПРЕРЫВАНИЕ ОПЕРАТОРА ЧПУ
Было произведено прерывание в состоянии, в котором прерывание пользовательской макрокоманды, содержащей команду перемещения, нельзя было выполнить.
1115
ПЕРЕМЕННАЯ С ЗАЩИТОЙ ОТ ЧТЕНИЯ
Была произведена попытка использовать в пользовательской макрокоманде на правой стороне выражение переменной, которое можно использовать только на левой стороне выражения.
1120
НЕВЕРНЫЙ ФОРМАТ АРГУМЕНТА
Заданный аргумент в функции аргумента (ATAN, POW) ошибочен.
1124
ОТСУТСТВУЕТ ОПЕРАТОР DO
Команда DO, соответствующая команде END, отсутствовала в пользовательской макрокоманде.
1125
НЕВЕРНЫЙ ФОРМАТ ВЫРАЖЕНИЯ
Описание выражения в пользовательском макрооператоре содержит ошибку. Ошибка формата программного параметра. Окно, отображенное для ввода периодических данных по техобслуживанию или меню выбора наименований (станков), не соответствует типу данных.
1128
ПОРЯДКОВЫЙ НОМЕР ВНЕ ДИАПАЗОНА
Последовательность ном. пункта назначения при команде перехода в пользовательском макрооператоре GOTO находилась вне диапазона (диапазон действительных значений: от 1 до 99999).
1131
НЕ ХВАТАЕТ ОТКРЫВАЮЩЕЙ СКОБКИ
Число левых скобок ([) меньше числа правых скобок (]) в пользовательском макрооператоре.
1132
НЕ ХВАТАЕТ ЗАКРЫВАЮЩЕЙ СКОБКИ
Число правых скобок ([) меньше числа левых скобок (]) в пользовательском макрооператоре.
1133
ОТСУТСТВУЕТ ‘=’
Знак равенства (=) отсутствует в команде арифметических вычислений в пользовательском макрооператоре.
1134
ОТСУТСТВУЕТ
Отсутствует ограничитель (,) в пользовательском макрооператоре.
1137
ОШИБКА ФОРМАТА ОПЕРАТОРА IF
Формат, используемый в операторе IF в пользовательской макрокоманде, ошибочный.
1138
ОШИБКА ФОРМАТА ОПЕРАТОРА WHILE
Формат, используемый в операторе WHILE в пользовательской макрокоманде, ошибочный.
1139
ОШИБКА ФОРМАТА ОПЕРАТОРА SETVN
Формат, используемый в операторе SETVN в пользовательской макрокоманде, ошибочный.
1141
НЕВЕРНЫЙ СИМВОЛ В ИМЕНИ ПЕРМЕННОЙ
Оператор SETVN в пользовательской макрокоманде относится к символу, который нельзя использовать в имени переменной.
1142
СЛИШКОМ ДЛИННОЕ ИМЯ ПЕРЕМЕННОЙ (SETVN)
Имя переменной, используемой в SETVN операторе в пользовательской макрокоманде, превышает 8 символов.
1143
ОШИБКА ФОРМАТА ОПЕРАТОРА BPRNT/DPRNT
Формат, используемый в операторе BPRNT или в операторе DPRNT, ошибочный.
1144
ОШИБКА ФОРМАТА G10
Ввод данных для ном. L команды G10 или соответствующей функции не активирован.
Адреса задания данных P или R не заданы.
Был задан адрес, не связанный с установкой данных. Какой адрес задать различается в соответствии с L ном.
Знак, десятичная точка или диапазон заданного адреса ошибочны.
1160
ПЕРЕПОЛНЕНИЕ УПРАВЛЯЮЩИХ ДАННЫХ
Переполнение произошло в данных позиции в ЧПУ.
Данный сигнал тревоги также порождается, если целевое положение команды превышает максимальный ход в результате вычислений, таких как преобразование системы координат, коррекция или введение величины ручного вмешательства.
1180
ВСЕ ПАРАЛЛЕЛЬНЫЕ ОСИ В РЕЖИМЕ ОЖИДАНИЯ
Все оси, заданные для автоматической работы, находятся в режиме ожидания.
1196
НЕВЕРНЫЙ ВЫБОР ОСИ СВЕРЛЕНИЯ
Ось сверления, заданная для сверления в постоянном цикле сверления, неверна.
В блоке команды G-кода в постоянном цикле точка Z не задана для оси сверления.
1200
НЕВЕРНЫЙ ВОЗВРАТ НА НОЛЬ ИМПУЛЬСНОГО ШИФРАТОРА
Положение сетки нельзя было подсчитать при возврате на референтную позицию сетки при использовании системы сетки, поскольку сигнал одного оборота не был получен перед отходом от упора замедления.
Данный сигнал тревоги также возникает в том случае, если инструмент не достигает скорости подачи, которая превышает величину погрешности сервосистемы, предварительно заданную в параметре ном. 1841, прежде чем отработает ограничитель хода замедления (сигнал замедления *DEC опять становится «1»).
1202
ОТСУТСТВУЕТ КОМАНДА F В G93
F коды в режиме спецификации обратного времени (G93) не обрабатываются как модальные и должны быть заданы в отдельных блоках.
1223
НЕВЕРНЫЙ ВЫБОР ШПИНДЕЛЯ
Была сделана попытка выполнить команду, применимую к шпинделю, в то время как шпиндель, подлежащий управлению, задан неправильно.
1298
НЕВЕРНОЕ ПРЕОБРАЗОВАНИЕ ДЮЙМЫ/МЕТРИЧЕСКИЕ ЕДИНИЦЫ
Произошла ошибка при преобразовании дюймовых/метрических единиц.
1300
НЕВЕРНЫЙ АДРЕС
Номер оси был задан, хотя параметр не относится к оси при загрузке данных параметров или коррекции межмодульного смещения с ленты или при вводе параметра G10.
Ось ном. нельзя задать в данных коррекции межмодульного смещения.
1301
ОТСУТСТВУЕТ АДРЕС
Номер оси не был задан, хотя параметр относится к оси при загрузке данных параметров или коррекции межмодульного смещения с ленты или при вводе параметра G10.
Или данные ном. адреса ном или адрес задания адреса P или R не заданы.
1302
НЕВЕРНЫЙ НОМЕР ДАННЫХ
Был обнаружен несуществующий номер данных при загрузке данных параметров или коррекции межмодульного смещения с ленты или введением параметра G10.
Данный сигнал тревоги также порождается, если обнаружены недопустимые значения слов.
1303
НЕВЕРНЫЙ НОМЕР ОСИ
Был обнаружен адрес номера оси, превышающий максимальное число управляемых осекй при загрузке данных параметров или коррекции межмодульного смещения с ленты или введении параметра G10.
1304
СЛИШКОМ МНОГО ЗНАКОВ
Было обнаружено слишком много цифр при загрузке данных параметров или коррекции межмодульного смещения с ленты.
1305
ДАННЫЕ ВНЕ ДИАПАЗОНА
Были обнаружены данные вне диапазона при загрузке данных параметров или коррекции межмодульного смещения с ленты. Значения адресов задания данных, соответствующих L ном., пока ввод данных с помощью G10 был вне диапазона.
Данный сигнал тревоги также порождается, если программируемые слова ЧПУ содержат значения не из диапазона.
1306
ОТСУТСВУЕТ НОМЕР ОСИ
Параметр, требующий указания оси, обнаружен без номера оси (адрес A) при загрузке параметров с перфоленты.
1307
НЕВЕРНОЕ ИСПОЛЬЗОВАНИЕ ЗНАКА МИНУС
Были обнаружены данные с неверным обозначением при загрузке данных параметров или коррекции межмодульного смещения с ленты или введением параметра G10. Знак был задан для адреса, не поддерживающего использование знаков.
1308
ОТСУТСТВУЮТ ДАННЫЕ
Адрес, в конце которого не ставится числовое значение, был обнаружен при загрузке данных параметров или коррекции межмодульного смещения с ленты.
1329
НЕВЕРНЫЙ НОМЕР ГРУППЫ СТАНКОВ
Был обнаружен адрес номера групп станков, превышающий максимальное число управляемых станков при загрузке данных параметров или коррекции межмодульного смещения с ленты или введении параметра G10.
1330
НЕВЕРНЫЙ НОМЕР ШПИНДЕЛЯ
Был обнаружен адрес номера шпинделя, превышающий максимальное число управляемых шпинделей при загрузке данных параметров или коррекции межмодульного смещения с ленты или введении параметра G10.
1331
НЕВЕРНЫЙ НОМЕР КОНТУРА
Был обнаружен адрес номера контуров, превышающий максимальное число управляемых контуров при загрузке данных параметров или коррекции межмодульного смещения с ленты или введении параметра G10.
1332
ОШИБКА БЛОКИРОВКИ ЗАПИСИ ДАННЫХ
Невозможно загрузить данные при загрузке данных параметров, коррекции межмодульного смещения или рабочих координат введении параметра с ленты.
1333
ОШИБКА ЗАПИСИ ДАННЫХ
Не может записать данные при загрузке данных с ленты.
1470
ОТСУТСТВУЮТ ПАРАМЕТРЫ G40.1 -G42.1
Задание параметра, связанное с управлением нормальным направлением, неверное.
Номер оси для оси управления нормальным направлением задан в параметре ном. 5480, но этот номер оси входит в область номеров управляемых осей.
Ось, заданная как ось управления нормальным направлением, не задана как ось вращения (ROTx, бит 0 параметра ном. 1006) = 1 и ном. 1022=0).
Задайте скорость подачи, при которой должно выполняться вращение вокруг оси управления нормальным направлением движения, в параметре ном. 5481, в диапазоне от 1 до 15000 мм/мин.
1508
ДУБЛИРОВАНИЕ М КОДА(ИЗМЕНЕНИЕ НАПРАВЛЕНИЯ ДЕЛИТЕЛЬНОПОВОРОТНОГО СТОЛА)
Имеется функция, которой задан такой же М-код. (индексирование делительно-поворотного стола)
1509
ДУБЛИРОВАНИЕ М-КОДА (ОРИЕНТИРОВАНИЕ ОСИ ПОЗИЦИОНИРОВАНИЯ ШПИНДЕЛЯ)
Имеется функция, которой задан такой же М-код. (позиционирование шпинделя, ориентация)
1510
ДУБЛИРОВАНИЕ М-КОДА (ПОЗИЦИОНИРОВАНИЕ ОСИ ПОЗИЦИОНИРОВАНИЯ ШПИНДЕЛЯ)
Имеется функция, которой задан такой же М-код. (позиционирование шпинделя, позиционирование)
1511
ДУБЛИРОВАНИЕ М-КОДА (РАЗБЛОКИРОВКА ОСИ ПОЗИЦИОНИРОВАНИЯ ШПИНДЕЛЯ)
Имеется функция, которой задан такой же М-код. (позиционирование шпинделя, отмена режима)
1533
ПОТЕРЯ ЗНАЧИМОСТИ АДРЕСА F (G95)
Скорость подачи оси сверления отверстий, рассчитанная по кодам F и S, слишком медленная в режиме подачи за один оборот.
1534
ПЕРЕПОЛНЕНИЕ АДРЕСА F (G95)
Скорость подачи оси сверления отверстий, рассчитанная по кодам F и S, слишком быстрая в режиме подачи за один оборот.
1537
ПОТЕРЯ ЗНАЧИМОСТИ АДРЕСА F (ПЕРЕРЕГУЛИРОВАНИЕ)
Скорость, полученная применением перерегулирования к функции F, слишком медленная.
1538
ПЕРЕПОЛНЕНИЕ АДРЕСА F (ПЕРЕРЕГУЛИРОВАНИЕ)
Скорость, полученная применением перерегулирования к функции F, слишком быстрая.
1541
НУЛЕВОЙ S-КОД
«0» был задан в качестве S-кода.
1543
НЕВЕРНАЯ НАСТРОЙКА ПЕРЕДАЧИ
Передаточное число между шпинделем и шифратором положения или заданный номер шифратора положения импульсов неверен в функции позиционирования шпинделей.
1544
S-КОД ПРЕВЫСИЛ МАКСИМУМ
S команда превышает максимальное число вращений шпинделя.
1548
НЕВЕРНЫЙ РЕЖИМ ОСИ
Ось позиционирования шпинделя (серия T)/ ось контурного управления Cs была задана во время переключения режима управления осью.
1561
НЕВЕРНЫЙ УГОЛ ИНДЕКСИРОВАНИЯ
Заданный угол вращения не является целым множителем минимального угла индексирования.
1564
ОСЬ ДЕЛИТЕЛЬНО-ПОВОРОТНОГО СТОЛА СОВМЕСТНО С ДРУГОЙ ОСЬЮ
Ось делительно-поворотного стола и другая ось были заданы в одном блоке.
1567
ДУБЛИРОВАНИЕ КОМАНДЫ ОСИ ДЕЛИТЕЛЬНО-ПОВОРОТНОГО СТОЛА
Индексирование делительно-поворотного стола было задано при перемещении оси, или ось, для которой последовательность индексирования делительно-поворотного стола не была завершена.
1590
ОШИБКА TH
Во время считывания с устройства ввода обнаружена ошибка TH. Код, вызвавший при считывании ошибку TH, и количество операторов до него от блока можно проверить в окне диагностики.
1591
ОШИБКА TV
Ошибка TV обнаружена в единичном блоке. Проверка TV может быть отменена присвоением TVC в параметре ном. 0000#0 значения «0».
1592
КОНЕЦ ЗАПИСИ
Код EOR (Конец записи) задан в середине блока. Данный сигнал тревоги также порождается, если процентное отношение в конце программы ЧПУ считывается. Для функции перезапуска программы данный сигнал тревоги порождается, если заданный блок не найден.
1593
ОШИБКА ЗАДАНИЯ ПАРАМЕТРА EGB
Ошибка в задании параметра, связанного с EGB
1) Неверная настройка SYN, бит 0 параметра ном. 2011.
2) Ведомая ось, заданная G81, не задана как ось вращения. (ROT, бит 0 параметра ном. 1006)
3) Число импульсов за оборот (не задан параметр (ном. 7772 или ном. 7773)).
1594
ОШИБКА ФОРМАТА EGB
Ошибка в формате блока команды EGB
1) T (число зубьев) не задано в блоке G81.
2) В блоке G81 данные, заданные для T, L, P или Q, находятся вне соответствующего диапазона действительных значений.
3) В блоке G81 задана только одна из команд P и Q.
1595
НЕПРАВИЛЬНАЯ КОМАНДА В РЕЖИМЕ EGB
В ходе синхронизации с EGB была дана команда, которую нельзя было давать.
(1) Команда ведомой оси с использованием G27, G28, G29, G30, G33, G53 и т. д.
2) Команда преобразования дюймовых/метрических единиц с использованием G20, G21, и т.д.
1596
ПЕРЕПОЛНЕНИЕ EGB
Возникло переполнение в расчете коэффициента синхронизации.
1805
НЕВЕРНАЯ КОМАНДА
[Устройство ввода/вывода]
Была произведена попытка задать неверную команду в ходе обработки в устройстве ввода/вывода.
[Возврат на референтную позицию G30]
Номера адреса P для задания возврата на 2-ю, 3-ю и 4-ю референтную позицию — не 2, 3 и 4.
[Выстой единичного оборота]
Заданное вращение шпинделя равно «0», если задан выстой единичного оборота.
1806
НЕСООТВЕТСТВИЕ ТИПА УСТРОЙСТВА
Операция, невозможная на устройстве ввода/вывода, которая в настоящий момент выбрана в настройке, была задана. Данный сигнал тревоги также порождается, если перемотка файла задана несмотря на то, что устройство ввода/вывода не является кассетой FANUC.
1807
ОШИБКА НАСТРОЙКИ ПАРАМЕТРА
Задан неверный интерфейс ввода/вывода.
Настройки внешнего устройства ввода/вывода и скорость двоичной передачи, стоповый бит и настройки выбора протокола ошибочны.
1808
УСТРОЙСТВО ОТКРЫТО ДВАЖДЫ
Была сделана попытка открыть устройство, к которому была попытка доступа.
1820
НЕВЕРНОЕ СОСТОЯНИЕ СИГНАЛА DI
1) Предварительно заданный сигнал оси системы координат заготовки был изменен на «1» в состоянии, когда все оси на контуре, включая ось, по которой выполняется преднастройка для осей системы координат заготовки, не были остановлены, или в момент выполнения команды.
2) Когда был задан М-код для выполнения преднастройки с предварительно заданным сигналом для осей системы координат заготовки, не был введен сигнал для каждой оси системы координат заготовки.
3) Активна блокировка вспомогательной функции.
1823
ОШИБКА КАДРА (1)
Стоповый бит символа, полученный от устройства ввода/вывода, соединенный с интерфейсом считывающего перфоратора 1, не был обнаружен.
1830
DR ОТКЛ. (2)
Сигнал готовности ввода набора данных DR устройства ввода/вывода, подключенного к интерфейсу считывающего перфоратора 2, отключен.
1832
ОШИБКА ПЕРЕПОЛНЕНИЯ (2)
Следующий символ был получен от устройства ввода/вывода, подключенного к интерфейсу считывающего перфоратора 2 до того, как он смог считать полученный предварительно символ.
1833
ОШИБКА КАДРА (2)
Стоповый бит символа, полученный от устройства ввода/вывода, соединенный с интерфейсом считывающего перфоратора 2, не был обнаружен.
1834
ОШИБКА БУФЕРИЗАЦИИ (2)
ЧПУ получило более 10 символов данных от устройства ввода/ вывода, подключенного к интерфейсу считывающего перфоратора 2, хотя ЧПУ послало код останова (DC3) в ходе принятия данных.
1912
ОШИБКА ДРАЙВЕРА V-УСТРОЙСТВА (ОТКРЫТО)
При управлении драйвером устройства возникла ошибка.
1960
ОШИБКА ДОСТУПА (КАРТА ПАМЯТИ)
Неправильный доступ к карте памяти
Данный сигнал тревоги также порождается в ходе считывания, если считывание осуществляется до конца файла без регистрации кода EOR.
1961
НЕ ГОТОВО (КАРТА ПАМЯТИ)
Плата памяти не готова.
1962
КАРТА ЗАПОЛНЕНА (КАРТА ПАМЯТИ)
Карта памяти заполнена полностью.
1963
КАРТА ЗАЩИЩЕНА (КАРТА ПАМЯТИ)
Карта памяти защищена от записи.
1964
НЕ УСТАНОВЛЕНА (КАРТА ПАМЯТИ)
Невозможна установка карты памяти.
1965
КАТАЛОГ ЗАПОЛНЕН (КАРТА ПАМЯТИ)
Файл нельзя создать в корневом каталоге карты памяти.
1966
ФАЙЛ НЕ НАЙДЕН (КАРТА ПАМЯТИ)
Заданный файл не найден в карте памяти.
1967
ФАЙЛ ЗАЩИЩЕН (КАРТА ПАМЯТИ)
Карта памяти защищена от записи.
1968
НЕВЕРНОЕ ИМЯ ФАЙЛА (КАРТА ПАМЯТИ)
Неверное имя файла карты памяти
1969
НЕВЕРНЫЙ ФОРМАТ (КАРТА ПАМЯТИ)
Проверить имя файла.
1970
НЕВЕРНАЯ КАРТА (КАРТА ПАМЯТИ)
Нельзя использовать эту карту памяти.
1971
ОШИБКА УДАЛЕНИЯ (КАРТА ПАМЯТИ)
Во время удаления информации с карты памяти возникла ошибка.
1972
НИЗКИЙ ЗАРЯД БАТАРЕИ (КАРТА ПАМЯТИ)
Садится батарея карты памяти.
1973
ФАЙЛ УЖЕ СУЩЕСТВУЕТ
Файл, имеющий то же имя, уже существует на карте памяти.
2032
ОШИБКА ВСТРОЕННОЙ СЕТИ ETHERNET/СЕРВЕРА данных
От функции встроенной сети Ethernet/сервера данных вернулось сообщение об ошибке.
Подробные сведения см. в окне сообщений об ошибках встроенной сети Ethernet или сервера данных.
2051
#200-#499 НЕВЕРНЫЙ Р-КОД ОБЩЕГО ВВОДА МАКРОКОМАНД (НЕТ ОПЦИИ)
Была произведена попытка ввести общую переменную пользовательской макрокоманды, не существующей в системе.
2052
#500-#549P ОБЩИЙ ВЫБОР КОДА МАКРОКОМАНДЫ (НЕЛЬЗЯ ИСПОЛЬЗОВАТЬ SETVN)
Нельзя ввести имя переменной.
Нельзя использовать команду SETVN с общими переменными макрокоманды кода P #500 — #549.
2053
НОМЕР #30000 НЕ ИМЕЕТ СООТВЕТСТВИЯ
Была произведена попытка ввести переменную только Р-кода, не существующую в системе.
2054
НОМЕР #40000 НЕ ИМЕЕТ СООТВЕТСТВИЯ
Была произведена попытка ввести расширенную переменную только Р-кода, не существующую в системе.
4010
НЕВЕРНОЕ ДЕЙСТВИТЕЛЬНОЕ ЗНАЧЕНИЕ OBUF:
Действительное значение буфера вывода ошибочно.
5006
СЛИШКОМ МНОГО СЛОВ В ОДНОМ БЛОКЕ
Число слов в блоке превышает максимально допустимое. Максимум 26 слов. Однако эта цифра варьируется в зависимости от опций ЧПУ. Разделите команду на два блока.
5007
СЛИШКОМ БОЛЬШОЕ РАССТОЯНИЕ
Из-за коррекции, вычисления точки пересечения, интерполяции или подобных причин было задано расстояние перемещения, превышающее максимально допустимое расстояние.
Проверьте заданные координаты или величины коррекции.
5009
НУЛЕВОЙ ПАРАМЕТР (ХОЛОСТОЙ ХОД)
Параметр скорости подачи холостого хода ном. 1410 или параметр максимальной скорости рабочей подачи ном. 1430 для каждой оси был установлен на 0.
5010
КОНЕЦ ЗАПИСИ
Код EOR (Конец записи) задан в середине блока. Данный сигнал тревоги также порождается, если процентное отношение в конце программы ЧПУ считывается.
5011
НУЛЕВОЙ ПАРАМЕТР (МАКС. РЕЗАНИЕ)
Параметр максимальной скорости рабочей подачи ном. 1430 был установлен на 0.
5014
НЕ НАЙДЕНЫ ДАННЫЕ ТРАССИРОВКИ
Нельзя произвести трассировку из-за отсутствия данных трассировки.
5016
НЕВЕРНАЯ КОМБИНАЦИЯ М-КОДОВ
В блоке заданы М-коды, принадлежащие одной группе. Или же М-код, который необходимо задать в блоке без других М-кодов, задан в блоке вместе с другими М-кодами.
5018
ОШИБКА СКОРОСТИ ШПИНДЕЛЯ ПРИ ПОЛИГОНАЛЬНОЙ ОБРАБОТКЕ
В режиме G51.2 скорость шпинделя или полигональной синхронной оси либо превышает значение фиксации, либо слишком низкая. Таким образом, невозможно поддерживать заданное соотношение скорости вращения.
Для полигональной обточки между шпинделями: Более подробные сведения о причине этого сигнала тревоги см. в DGN ном. 471.
5020
ОШИБКА ПАРАМЕТРА ПЕРЕЗАПУСКА
Недействительное значение задано в параметре ном. 7310, указывающем порядок осей для перемещения по ним инструмента в позицию возобновления обработки на холостом ходу. В этом параметре можно задавать значение в диапазоне от 1 до числа управляемых осей.
5046
НЕВЕРНЫЙ ПАРАМЕТР (КОРРЕКЦИЯ ПРЯМОЛИНЕЙНОСТИ)
Заданное значение параметра, связанное с простой коррекцией
прямолинейности, содержит ошибку.
Возможные причины:
1) Несуществующий номер оси задан в параметре оси перемещения или коррекции.
2) Неправильное соотношение величины номеров точек коррекции прямолинейности.
3) Не обнаружена точка простой коррекции прямолинейности между крайними удаленными точками коррекции в отрицательной и положительной областях.
4) Коррекция на точку коррекции слишком велика или слишком мала.
5064
РАЗЛИЧНЫЕ ЕДИНИЦЫ ОСЕЙ
Круговая интерполяция была задана в плоскости, состоящей из осей, имеющих различные системы приращений.
5065
РАЗЛИЧНЫЕ ЕДИНИЦЫ ОСЕЙ (ОСЬ PMC)
Оси, имеющие различные системы приращений, были заданы в одной и той же группе DI/DO для осевого управления с помощью РМС. Измените настройку параметра ном. 8010.
5073
НЕТ ДЕСЯТИЧНОЙ ТОЧКИ
В адресе, предусматривающем десятичную точку, не задана десятичная точка.
5074
ОШИБКА ДУБЛИРОВАНИЯ АДРЕСА
В одном блоке один и тот же адрес задан два или более раз. Или в одном блоке задано два или более G-кодов, принадлежащих к одной группе.
5110
НЕВЕРНЫЙ G-КОД (РЕЖИМ КОНТ. УПР. AI)
Недопустимый G-код был задан при управлении с расширенным предпросмотром, управлении AI с расширенным предпросмотром или контурном управлении AI.
5131
НЕСОВМЕСТИМАЯ КОМАНДА ЧПУ
Управление осью PMC и интерполяция в полярных координатах были заданы одновременно.
5195
НЕВОЗМОЖНО ОПРЕДЕЛИТЬ НАПРАВЛЕНИЕ
Измерение недействительно при функции прямого ввода измеренного значения коррекции на инструмент B.
[Для 1-контактного ввода]
1) Направление записанных импульсов непостоянно.
Например, состояние останова может быть задано во время режима записи коррекции, может быть введено состояние отключения сервосистемы, или возможно изменение направления.
2) Инструмент перемещается вдоль двух осей (ось X и ось Y). [Для определения направления перемещения при 4-контактном вводе]
1) Направление записанных импульсов непостоянно.
Например, состояние останова может быть задано во время режима записи коррекции, может быть введено состояние отключения сервосистемы, или возможно изменение направления.
2) Инструмент перемещается вдоль двух осей (ось X и ось Z).
3) Направление, указанное сигналом записи коррекции на инструмент, не соответствует направлению перемещения оси.
5220
РЕЖИМ РЕГУЛИРОВКИ РЕФЕРЕНТНОЙ ТОЧКИ
Для линейной шкалы кодировки расстояния I/F параметр автоматического задания референтной точки (ном.1819#2) имеет значение «1». Переместить станок на референтную позицию вручную и выполнить возврат на референтную позицию вручную.
5257
G41/G42 ЗАПРЕЩЕНЫ В РЕЖИМЕ MDI
Коррекция на радиус инструмента/на радиус вершины инструмента была задана в режиме MDI. (В зависимости от настройки параметра MCR (ном. 5008#4))
5303
ОШИБКА СЕНСОРНОЙ ПАНЕЛИ
Сенсорная панель не подключена правильно или не может быть инициализирована при включении питания. Устраните причину, затем снова включите питание.
5305
НЕВЕРНЫЙ НОМЕР ШПИНДЕЛЯ
В функции выбора шпинделя по адресу P для управления несколькими шпинделями,
1) Адрес P не задан.
2) P-код для выбора шпинделя не задан в параметре ном. 3781.
3) Задан неверный G-код, невозможный с командой S_P_;.
4) Многошпиндельное управление не активировано, так как бит 1 (EMS) параметра ном. 3702 имеет значение 1.
5) Номер усилителя шпинделя для каждого шпинделя не задан в параметре ном. 3717.
6) Команда шпинделя выполнена из контура, в котором она запрещена (параметр ном. 11090).
7) Неверная настройка параметра ном. 11090.
5306
ОШИБКА ПЕРЕКЛЮЧЕНИЯ РЕЖИМА
Не удалось выполнить переключение режима при активации. Попытка выполнить быстрый вызов макропрограммы была сделана не в состоянии сброса или во время сброса либо аварийного останова.
5329
М98 И КОМАНДА ЧПУ В ОДНОМ БЛОКЕ
Вызов подпрограммы, не являющейся единичным блоком, был задан в режиме постоянного цикла.
5339
КОМАНДА В НЕВЕРНОМ ФОРМАТЕ ВЫПОЛНЕНА ПРИ
СИНХ./СМЕШ./НАЛОЖ. УПРАВЛЕНИИ.
1. Недействительно значение P, Q или L, заданное посредством G51.4/G50.4/G51.5/G50.5/G51.6/G50.6.
2. Двойное значение задан параметром ном. 12600.
5346
ВОЗВРАТ НА РЕФЕРЕНТНУЮ ТОЧКУ
Не выполнено назначение координат для оси контурного управления
Cs. Выполните ручной возврат на референтную позицию.
1) Если назначение координат Cs выполнено для оси Cs, для которой сигнал состояния референтной позиции оси CsCSPENx имеет значение 0
2) Если данные позиции не отправлены усилителем шпинделя
3) Если состояние отключения сервосистемы введено во время запуска назначения координат оси Cs
4) Если состояние аварийного останова введено во время назначения координат оси Cs
5) Если ось Cs находится в режиме синхронного или наложенного управления
6) Если предпринята попытка отменить комплексное управление для оси Cs во время назначения координат оси Cs
7) Если предпринята попытка запустить синхронное, комплексное или наложенное управление для оси Cs во время назначения координат оси Cs
5362
ПРЕОБРАЗОВАНИЕ ДЮЙМ/ММ В РЕФ. ПОЗ.
Преобразование дюймы/метрические единицы было выполнено в позиции, отличной от референтной позиции. Выполните преобразование дюймы/метрические единицы после возврата на референтную позицию.
5391
НЕВОЗМОЖНО ИСПОЛЬЗОВАТЬ G92
Невозможно задать настройку системы координат заготовки G92.
1) После того, как коррекция на длину инструмента была изменена коррекция по типу смещения на длину инструмента, команда G92 была задана без абсолютной команды.
2) Команда G92 была задана в блоке, содержащем G49.
5395
ПРЕВЫШЕНИЕ КОЛИЧЕСТВА ОСЕЙ CS
Число осей, назначаемых для осевого контурного управления Cs, превышает максимально допустимое в системе число. Проверьте параметр ном. 1023. При возникновении этого сигнала тревоги состояние аварийного останова нельзя сбросить.
5445
НЕВОЗМОЖНО ЗАДАТЬ ПЕРЕМЕЩЕНИЕ В G39
Круговая интерполяция в углу (G39) для коррекции на радиус инструмента/на радиус вершины инструмента задана не отдельно, а с командой перемещения.
5446
ИЗБЕЖАНИЕ В G41/G42 НЕВОЗМОЖНО
Поскольку отсутствует вектор избежания столкновения, функция избежания столкновения для коррекции на радиус инструмента/на радиус вершины инструмента не работает.
5447
ОПАСНОЕ ИЗБЕЖАНИЕ В G41/G42
Операция функции избежания столкновения для коррекции на радиус инструмента/на радиус вершины инструмента ведет к опасности.
5448
ИЗБЕЖАНИЕ СТОЛКНОВЕНИЯ В G41/G42
В функции избежания столкновения для коррекции на радиус инструмента/на радиус вершины инструмента созданный вектор избежания столкновения приводит к последующему столкновению.
A FANUC alarm code, also called a FANUC fault or error code, is how a CNC control indicates there is a problem. This error message could indicate issues with either the machine itself, be that electric or mechanical. The FANUC error code might also indicate an issue with the g-code program.
Use the list below to interpret what exactly the fault code is trying to communicate. If you require a replacement part, know that MRO Electric stocks thousands of FANUC CNC replacements. Get your new FANUC servo amplifier or check out our FANUC servo motors. To order a replacement part or a repair job, please call 800-691-8511 or email sales@mroelectric.com. Curious about other common FANUC CNC problems? Check out our FAQ here.
• 0i Model A
• 0i/0iMate Model B
• 16/18 Model PB
• 16/18 Model C
• 16i/18i Model A
• 16i/18i Model B
• 16iL Model A
• 20i
• 21 Model B
• 21i Model A
• 21i Model B
• 21i Model A
Alarm Description 0 PLEASE TURN OFF POWER A parameter which requires the power off was input, turn off power. 1 TH PARITY ALARM TH alarm (A character with incorrect parity was input). Correct the tape. 2 TV PARITY ALARM TV alarm (The number of characters in a block is odd). This alarm will be generated only when the TV check is effective. 3 TOO MANY DIGITS Data exceeding the maximum allowable number of digits was input. (Refer to the item of max. programmable dimensions.) 4 ADDRESS NOT FOUND A numeral or the sign “ – ” was input without an address at the beginning of a block. Modify the program. 5 NO DATA AFTER ADDRESS The address was not followed by the appropriate data but was followed by another address or EOB code. Modify the program. 6 ILLEGAL USE OF NEGATIVE SIGN Sign “ – ” input error (Sign “ – ” was input after an address with which it cannot be used. Or two or more “ – ” signs were input.) Modify the program. 7 ILLEGAL USE OF DECIMAL POINT Decimal point “.” input error (A decimal point was input after an address with which it can not be used. Or two decimal points were input.) Modify the program. 9 ILLEGAL ADDRESS INPUT Unusable character was input in significant area. Modify the program. 10 IMPROPER G–CODE An unusable G code or G code corresponding to the function not provided is specified. Modify the program. 11 NO FEEDRATE COMMANDED Feedrate was not commanded to a cutting feed or the feedrate was inadequate. Modify the program. 14 CAN NOT COMMAND G95 (M Series) A synchronous feed is specified without the option for threading / synchronous feed. 14 ILLEGAL LEAD COMMAND (T Series) In variable lead threading, the lead incremental and decremental outputted by address K exceed the maximum command value or a command such that the lead becomes a negative value is given. Modify the program. 15 TOO MANY AXES COMMANDED M Series;An attempt was made to move the machine along the axes, but the number of the axes exceeded the specified number of axes controlled simultaneously. Modify the program. 20 OVER TOLERANCE OF RADIUS In circular interpolation (G02 or G03), difference of the distance between the start point and the center of an arc and that between the end point and the center of the arc exceeded the value specified in parameter No. 3410. 21 ILLEGAL PLANE AXIS COMMANDED An axis not included in the selected plane (by using G17, G18, G19) was commanded in circular interpolation. Modify the program. 22 NO CIRCULAR RADIUS When circular interpolation is specified, neither R (specifying an arc radius), nor I, J, and K (specifying the distance from a start point to the center) is specified. 23 ILLEGAL RADIUS COMMAND (T series) In circular interpolation by radius designation, negative value was commanded for address R. Modify the program. 25 CANNOT COMMAND F0 IN G02/G03 F0 (fast feed) was instructed by F1 –digit column feed in circular interpolation. Modify the program. 27 NO AXES COMMANDED IN G43/G44 No axis is specified in G43 and G44 blocks for the tool length offset type C. Offset is not canceled but another axis is offset for the tool length offset type C. Modify the program. 28 ILLEGAL PLANE SELECT In the plane selection command, two or more axes in the same direction are commanded. Modify the program. 29 ILLEGAL OFFSET VALUE M Series;The offset values specified by H code is too large. Modify the program. 30 ILLEGAL OFFSET NUMBER M Series;The offset values specified by D/H code for tool length offset, cutter compensation or 3–dimensional cutter compensation is too large. Otherwise, the number specified by P code for the additional workpiece coordinate system is too large. Modify the program. 31 ILLEGAL P COMMAND IN G10 In setting an offset amount by G10, the offset number following address P was excessive or it was not specified. Modify the program. 32 ILLEGAL OFFSET VALUE IN G10 In setting an offset amount by G10 or in writing an offset amount by system variables, the offset amount was excessive. 33 NO SOLUTION AT CRC M Series: A point of intersection cannot be determined for cutter compensation C. Modify the program. T Series: A point of intersection cannot be determined for tool nose radius compensation. Modify the program. 34 NO CIRC ALLOWED IN ST–UP /EXT BLK M Series;The start up or cancel was going to be performed in the G02 or G03 mode in cutter compensation C. Modify the program. 35 CAN NOT COMMANDED G39 (M Series) G39 is commanded in cutter compensation B cancel mode or on the plane other than offset plane. Modify the program. 35 CAN NOT COMMANDED G31 T series;Skip cutting (G31) was specified in tool nose radius compensation mode. Modify the program. 36 CAN NOT COMMANDED G31 Skip cutting (G31) was specified in cutter compensation mode.Modify the program. 37 CAN NOT CHANGE PLANE IN CRC M seires;G40 is commanded on the plane other than offset plane in cutter compensation B. The plane selected by using G17, G18 or G19 is changed in cutter compensation C mode. Modify the program. 38 INTERFERENCE IN CIRCULAR BLOCK Overcutting will occur in tool radius/tool nose radius/cutter compensation because the arc start point or end point coincides with the arc center. Modify the program. 39 CHF/CNR NOT ALLOWED IN NRC Chamfering or corner R was specified with a start–up, a cancel, or switching between G41 and G42 in tool nose radius compensation. The program may cause overcutting to occur in chamfering or corner R. Modify the program. 40 INTERFERENCE IN G90/G94 BLOCK Overcutting will occur in tool nose radius compensation in canned cycle G90 or G94. Modify the program. 41 INTERFERENCE IN CRC M seires;Overcutting will occur in cutter compensation C. Two or more blocks are consecutively specified in which functions such as the auxiliary function and dwell functions are performed without movement in the cutter compensation mode. Modify the program. 42 G45/G48 NOT ALLOWED IN CRC Tool offset (G45 to G48) is commanded in cutter compensation. Modify the program. 44 G27–G30 NOT ALLOWED IN FIXED CYC One of G27 to G30 is commanded in canned cycle mode.Modify the program. 45 ADDRESS Q NOT FOUND(G73/G83) In canned cycle G73/G83, the depth of each cut (Q) is not specified. Alternatively,Q0 is specified. Correct the program. 46 ILLEGAL REFERENCE RETURN COMMAND Other than P2, P3 and P4 are commanded for 2nd, 3rd and 4th reference position return command. 47 ILLEGAL AXIS SELECT Two or more parallel axes (in parallel with a basic axis) have been specified upon start–up of three–dimensional tool compensation or three–dimensional coordinate conversion. 48 BASIC 3 AXIS NOT FOUND For startup of three–dimensional tool compensation or three–dimensional coordinate conversion, the three basic axes used when Xp,Yp and Zp are omitted were not specified in parameter No. 1022. 49 ILLEGAL OPERATION (G68/G69) The commands for three–dimensional coordinate conversion (G68,G69) and tool length compensation (G43, G44, G45) are not nested.Modify the program. 50 CHF/CNR NOT ALLOWED IN THRD BLK Chamfering or corner R is commanded in the thread cutting block. Modify the program. 51 MISSING MOVE AFTER CHF/CNR T series;Improper movement or the move distance was specified in the block next to the chamfering or corner R block.Modify the program. 52 CODE IS NOT G01 AFTER CHF/CNR The block next to the chamfering or corner R block is not G01, G02,or G03.Modify the program. 53 TOO MANY ADDRESS COMMANDS M series;For systems without the arbitary angle chamfering or corner R cutting, a comma was specified. For systems with this feature, a comma was followed by something other than R or C Correct the program. 54 NO TAPER ALLOWED AFTER CHF/CNR T series;A block in which chamfering in the specified angle or the corner R was specified includes a taper command. Modify the program. 55 MISSING MOVE VALUE IN CHF/CNR In chamfering or corner R block, the move distance is less than chamfer or corner R amount. Modify the program. 56 NO END POINT & ANGLE IN CHF/CNR T series;Neither the end point nor angle is specified in the command for the block next to that for which only the angle is specified (A). In the chamfering comman, I(K) is commanded for the X(Z) axis. 57 NO SOLUTION OF BLOCK END Block end point is not calculated correctly in direct dimension drawing programming. Modify the program. 58 END POINT NOT FOUND In a arbitrary angle chamfering or corner R cutting block, a specified axis is not in the selected plane. Correct the program. 59 PROGRAM NUMBER NOT FOUND In an external program number search, a specified program number was not found. Otherwise, a program specified for searching is being edited in background processing. Alternatively, the program with the program number specified in a one–touch macro call is not found in memory. Check the program number and external signal. Or discontinue the background editing. 60 SEQUENCE NUMBER NOT FOUND Commanded sequence number was not found in the sequence number search.Check the sequence number. 61 ADDRESS P/Q NOT FOUND IN G70–G73 T series;Address P or Q is not specified in G70, G71, G72, or G73 command. Modify the program. 62 ILLEGAL COMMAND IN G71–G76 T series;1. The depth of cut in G71 or G72 is zero or negative value.;2. The repetitive count in G73 is zero or negative value.;3. the negative value is specified to Δi or Δk is zero in G74 or G75.;4. A value other than zero is specified to address U or W though Δi or Δk is zero in G74 or G75.;5. A negative value is specified to Δd, though the relief direction in G74 or G75 is determined.;6. Zero or a negative value is specified to the height of thread or depth of cut of first time in G76.;7. The specified minimum depth of cut in G76 is greater than the height of thread.;8. An unusable angle of tool tip is specified in G76.;Modify the program. 63 SEQUENCE NUMBER NOT FOUND T series;The sequence number specified by address P in G70, G71, G72, or G73 command cannot be searched. Modify the program. 64 SHAPE PROGRAM NOT MONOTONOUSLY T series;A target shape which cannot be made by monotonic machining was specified in a repetitive canned cycle (G71 or G72). 65 ILLEGAL COMMAND IN G71–G73 T series;1. G00 or G01 is not commanded at the block with the sequence number which is specified by address P in G71, G72, or G73 command.;2. Address Z(W) or X(U) was commanded in the block with a sequence number which is specified by address P in G71 or G72, respectively. Modify the program. 66 IMPROPER G–CODE IN G71–G73 T series;An unallowable G code was commanded beween two blocks specified by address P in G71, G72, or G73. Modify the program. 67 CAN NOT ERROR IN MDI MODE T series;G70, G71, G72, or G73 command with address P and Q. Modify the program. 69 FORMAT ERROR IN G70–G73 T series;The final move command in the blocks specified by P and Q of G70, G71, G72, and G73 ended with chamfering or corner R. Modify the program. 70 NO PROGRAM SPACE IN MEMORY The memory area is insufficient.Delete any unnecessary programs, then retry. 71 DATA NOT FOUND The address to be searched was not found.Or the program with specified program number was not found in program number search.Check the data. 72 TOO MANY PROGRAMS The number of programs to be stored exceeded 63 (basic), 125 (option),200 (option), or 400 (option) or 1000 (option). Delete unnecessary programs and execute program registeration again. 73 PROGRAM NUMBER ALREADY IN USE The commanded program number has already been used. Change the program number or delete unnecessary programs and execute program registeration again. 74 ILLEGAL PROGRAM NUMBER The program number is other than 1 to 9999.Modify the program number. 75 PROTECT An attempt was made to register a program whose number was protected. 76 ADDRESS P NOT DEFINED Address P (program number) was not commanded in the block which includes an M98, G65, or G66 command. Modify the program. 77 SUB PROGRAM NESTING ERROR The subprogram was called in five folds. Modify the program. 78 NUMBER NOT FOUND A program number or a sequence number which was specified by address P in the block which includes an M98, M99, M65 or G66 was not found.The sequence number specified by a GOTO statement was not found. Otherwise, a called program is being edited in background processing.Correct the program, or discontinue the background editing. 79 PROGRAM VERIFY ERROR In memory or program collation,a program in memory does not agree with that read from an external I/O device. Check both the programs in memory and those from the external device. 80 G37 ARRIVAL SIGNAL NOT ASSERTED M series;In the automatic tool length measurement function (G37), the measurement position reach signal (XAE, YAE,or ZAE) is not turned on within an area specified in parameter 6254 (value ε).This is due to a setting or operator error. 81 OFFSET NUMBER NOT FOUND IN G37 M series;Tool length automatic measurement (G37) was specified without a H code.(Automatic tool length measurement function) Modify the program. 82 H–CODE NOT ALLOWED IN G37 M series;H code and automatic tool compensation (G37) were specified in the same block. (Automatic tool length measurement function) Modify the program. 82 T–CODE NOT ALLOWED IN G37 T series;T code and automatic tool compensation (G36, G37) were specified in the same block. (Automatic tool compensation function) Modify the program. 83 ILLEGAL AXIS COMMAND IN G37 M series;In automatic tool length measurement, an invalid axis was specified or the command is incremental.Modify the program. 85 COMMUNICATION ERROR When entering data in the memory by using Reader / Puncher interface,an overrun, parity or framing error was generated. The number of bits of input data or setting of baud rate or specification No. of I/O unit is incorrect. 86 DR SIGNAL OFF When entering data in the memory by using Reader / Puncher interface,the ready signal (DR) of reader / puncher was off.Power supply of I/O unit is off or cable is not connected or a P.C.B. is defective. 87 BUFFER OVERFLOW When entering data in the memory by using Reader / Puncher interface,though the read terminate command is specified, input is not interrupted after 10 characters read. I/O unit or P.C.B. is defective. 88 LAN FILE TRANS ERROR (CHANNEL–1) File data transfer over the OSI–Ethernet was terminated as a result of a transfer error. 89 LAN FILE TRANS ERROR (CHANNEL–2) File data transfer over the OSI–Ethernet was terminated as a result of a transfer error. 90 REFERENCE RETURN INCOMPLETE 21 Model B;The reference position return cannot be performed normally because the reference position return start point is too close to the reference position or the speed is too slow. Separate the start point far enough from the reference position, or specify a sufficiently fast speed for reference position return. Check the program contents. 91 REFERENCE RETURN INCOMPLETE In the automatic operation halt state, manual reference position return cannot be performed. 92 AXES NOT ON THE REFERENCE POINT The commanded axis by G27 (Reference position return check) did not return to the reference position. 94 P TYPE NOT ALLOWED (COORD CHG) P type cannot be specified when the program is restarted. (After the automatic operation was interrupted, the coordinate system setting operation was performed.) Perform the correct operation according to the operator’s manual. 95 P TYPE NOT ALLOWED (EXT OFS CHG) P type cannot be specified when the program is restarted.(After the automatic operation was interrupted, the external workpiece offset amount changed.) Perform the correct operation according to the User’s manual. 96 P TYPE NOT ALLOWED (WRK OFS CHG) P type cannot be specified when the program is restarted.(After the automatic operation was interrupted, the workpiece offset amount changed.) Perform the correct operation according to the User’s manual. 97 P TYPE NOT ALLOWED (AUTO EXEC) P type cannot be directed when the program is restarted.(After power ON, after emergency stop or P/S alarm 94 to 97 were reset, no automatic operation is performed).Perform automatic operation. 98 G28 FOUND IN SEQUENCE RETURN A command of the program restart was specified without the reference position return operation after power ON or emergency stop, and G28 was found during search. Perform the reference position return. 99 MDI EXEC NOT ALLOWED AFT.SEARCH After completion of search in program restart, a move command is given with MDI. Move axis before a move command or don’t interrupt MDI operation. 100 PARAMETER WRITE ENABLE On the PARAMETER(SETTING) screen, PWE(parameter writing enabled) is set to 1. Set it to 0, then reset the system. 101 PLEASE CLEAR MEMORY The power turned off while rewriting the memory by program edit operation.If this alarm has occurred, press (RESET) while pressing (PROG),and only the program being edited will be deleted.Register the deleted program. 109 FORMAT ERROR IN G08 A value other than 0 or 1 was specified after P in the G08 code, or no value was specified. 110 DATA OVERFLOW The absolute value of fixed decimal point display data exceeds the allowable range. Modify the program. 111 CALCULATED DATA OVERFLOW The result of calculation turns out to be invalid, an alarm No.111 is issued. –10 47 to –10 –29, 0, 10 –29 to 10 47 Modify the program. 112 DIVIDED BY ZERO Division by zero was specified.(including tan 90°) Modify the program. 113 IMPROPER COMMAND A function which cannot be used in custom macro is commanded. Modify the program. 114 FORMAT ERROR IN MACRO There is an error in other formats than (Formula). Modify the program. 115 ILLEGAL VARIABLE NUMBER A value not defined as a variable number is designated in the custom macro. Modify the program. 116 WRITE PROTECTED VARIABLE The left side of substitution statement is a variable whose substitution is inhibited. Modify the program. 118 PARENTHESIS NESTING ERROR The nesting of bracket exceeds the upper limit (quintuple). Modify the program. 119 ILLEGAL ARGUMENT The SQRT argument is negative, BCD argument is negative, or other values than 0 to 9 are present on each line of BIN argument. Modify the program. 122 FOUR FOLD MACRO MODAL–CALL The macro modal call is specified four fold. Modify the program. 123 CAN NOT USE MACRO COMMAND IN DNC Macro control command is used during DNC operation. Modify the program. 124 MISSING END STATEMENT DO – END does not correspond to 1: 1. Modify the program. 125 FORMAT ERROR IN MACRO (Formula) format is erroneous. Modify the program. 126 ILLEGAL LOOP NUMBER In DOn, 1 = n = 3 is not established. Modify the program. 127 NC, MACRO STATEMENT IN SAME BLOCK NC and custom macro commands coexist. Modify the program. 128 ILLEGAL MACRO SEQUENCE NUMBER The sequence number specified in the branch command was not 0 to 9999. Or, it cannot be searched.Modify the program. 129 ILLEGAL ARGUMENT ADDRESS An address which is not allowed in (Argument Designation) is used.Modify the program. 130 ILLEGAL AXIS OPERATION An axis control command was given by PMC to an axis controlled by CNC.Or an axis control command was given by CNC to an axis controlled by PMC. Modify the program. 131 TOO MANY EXTERNAL ALARM MESSAGES Five or more alarms have generated in external alarm message.Consult the PMC ladder diagram to find the cause. 132 ALARM NUMBER NOT FOUND No alarm No.concerned exists in external alarm message clear.Check the PMC ladder diagram. 133 ILLEGAL DATA IN EXT. ALARM MSG Small section data is erroneous in external alarm message or external operator message. Check the PMC ladder diagram. 135 ILLEGAL ANGLE COMMAND M series;The index table indexing positioning angle was instructed in other than an integral multiple of the value of the minimum angle. Modify the program. 135 SPINDLE ORIENTATION PLEASE T series;Without any spindle orientation, an attept was made for spindle indexing. Perform spindle orientation. 136 ILLEGAL AXIS COMMAND M series;In index table indexing.Another control axis was instructed together with the B axis. Modify the program. 136 C/H–CODE & MOVE CMD IN SAME BLK. T series;A move command of other axes was specified to the same block as spindle indexing addresses C, H. Modify the program. 137 M–CODE & MOVE CMD IN SAME BLK. A move command of other axes was specified to the same block as M–code related to spindle indexing. Modify the program. 138 SUPERIMPOSED DATA OVERFLOW The total distribution amount of the CNC and PMC is too large during superimposed control of the extended functions for PMC axis control. 139 CAN NOT CHANGE PMC CONTROL AXIS An axis is selected in commanding by PMC axis control. Modify the program. 141 CAN NOT COMMAND G51 IN CRC M series;G51 (Scaling ON) is commanded in the tool offset mode. Modify the program. 142 ILLEGAL SCALE RATE M series;Scaling magnification is commanded in other than 1 to 999999. Correct the scaling magnification setting (G51 Pp………………… or parameter 5411 or 5421). 143 SCALED MOTION DATA OVERFLOW M series;The scaling results, move distance, coordinate value and circular radius exceed the maximum command value. Correct the program or scaling mangification. 144 ILLEGAL PLANE SELECTED M series;The coordinate rotation plane and arc or cutter compensation C plane must be the same. Modify the program. 145 ILLEGAL CONDITIONS IN POLAR COORDINATE INTERPOLATION The conditions are incorrect when the polar coordinate interpolation starts or it is canceled.;1) In modes other than G40, G12.1/G13.1 was specified.;2) An error is found in the plane selection. Parameters No. 5460 and No. 5461 are incorrectly specified.;Modify the value of program or parameter. 146 IMPROPER G CODE G codes which cannot be specified in the polar coordinate interpolation mode was specified. See section II to 4.4 and modify the program. 148 ILLEGAL SETTING DATA M series;Automatic corner override deceleration rate is out of the settable range of judgement angle. Modify the parameters (No.1710 to No.1714) 149 FORMAT ERROR IN G10L3 M series;A code other than Q1,Q2,P1 or P2 was specified as the life count type in the extended tool life management. 150 ILLEGAL TOOL GROUP NUMBER Tool Group No. exceeds the maximum allowable value. Modify the program. 151 TOOL GROUP NUMBER NOT FOUND The tool group commanded in the machining program is not set. Modify the value of program or parameter. 152 NO SPACE FOR TOOL ENTRY The number of tools within one group exceeds the maximum value registerable. Modify the number of tools. 153 T–CODE NOT FOUND In tool life data registration, a T code was not specified where one should be. Correct the program. 154 NOT USING TOOL IN LIFE GROUP M series;When the group is not commanded, H99 or D99 was commanded. Correct the program. 155 ILLEGAL T–CODE IN M06 M series;In the machining program, M06 and T code in the same block do not correspond to the group in use. Correct the program. 156 P/L COMMAND NOT FOUND P and L commands are missing at the head of program in which the tool group is set. Correct the program. 157 TOO MANY TOOL GROUPS The number of tool groups to be set exceeds the maximum allowable value. (See parameter No. 6800 bit 0 and 1) Modify the program. 158 ILLEGAL TOOL LIFE DATA The tool life to be set is too excessive. Modify the setting value. 159 TOOL DATA SETTING INCOMPLETE During executing a life data setting program, power was turned off. Set again. 163 COMMAND G68/G69 INDEPENDENTLY G68 and G69 are not independently commanded in balance cut. Modify the program. 175 ILLEGAL G107 COMMAND Conditions when performing circular interpolation start or cancel not correct. To change the mode to the cylindrical interpolation mode, specify the command in a format of “G07.1 rotation to axis name radius of cylinder.” 176 IMPROPER G–CODE IN G107 M series;Any of the following G codes which cannot be specified in the cylindrical interpolation mode was specified.;1) G codes for positioning: G28,, G73, G74, G76, G81 – G89, including the codes specifying the rapid traverse cycle;2) G codes for setting a coordinate system: G52,G92;3) G code for selecting coordinate system: G53 G54–G59 Modify the program. 177 CHECK SUM ERROR (G05 MODE) Check sum error Modify the program. 178 G05 COMMANDED IN G41/G42 MODE G05 was commanded in the G41/G42 mode. Correct the program. 179 PARAM. (NO. 7510) SETTING ERROR The number of controlled axes set by the parameter 7510 exceeds the maximum number. Modify the parameter setting value. 180 COMMUNICATION ERROR (REMOTE BUF) Remote buffer connection alarm has generated. Confirm the number of cables, parameters and I/O device. 181 FORMAT ERROR IN G81 BLOCK G81 block format error (hobbing machine);1) T (number of teeth) has not been instructed.;2) Data outside the command range was instructed by either T, L, Q or P.;3) An overflow occurred in synchronization coefficient calculation. Modify the program. 182 G81 NOT COMMANDED G83 (C axis servo lag quantity offset) was instructed though synchronization by G81 has not been instructed. Correct the program. (hobbing machine) 183 DUPLICATE G83 (COMMANDS) G83 was instructed before canceled by G82 after compensating for the C axis servo lag quantity by G83. (hobbing machine) 184 ILLEGAL COMMAND IN G81 A command not to be instructed during synchronization by G81 was instructed. (hobbing machine);1) A C axis command by G00, G27, G28, G29, G30, etc. was instructed.;2) Inch/Metric switching by G20, G21 was instructed. 185 RETURN TO REFERENCE POINT G81 was instructed without performing reference position return after power on or emergency stop. (hobbing machine) Perform reference position return. 186 PARAMETER SETTING ERROR Parameter error regarding G81 (hobbing machine);1) The C axis has not been set to be a rotary axis.;2) A hob axis and position coder gear ratio setting error Modify the parameter. 187 HOB COMMAND IS NOT ALLOWED Error in the modal state when G81.4 or G81 is specified;1. The canned cycle mode (G81 to G89) is set.;2. The thread cutting mode is set.;3. The C–axis is under synchronous, composite, or superimposed control. 190 ILLEGAL AXIS SELECT M series;In the constant surface speed control, the axis specification is wrong. (See parameter No. 3770.) The specified axis command (P) contains an illegal value. Correct the program. 194 SPINDLE COMMAND IN SYNCHRO–MODE A contour control mode, spindle positioning (Cs–axis control) mode, or rigid tapping mode was specified during the serial spindle synchronous control mode. Correct the program so that the serial spindle synchronous control mode is released in advance. 195 MODE CHANGE ERROR Switching command to contouring mode, Cs axis control or rigid tap mode or switching to spindle command mode is not correctly completed. (This occurs when the response to switch to the spindle control unit side with regard to the switching command from the NC is incorrect. This alarm is not for the purposes of warning against mistakes in operation, but because continuing operation in this condition can be dangerous it is a P/S alarm.) 197 C–AXIS COMMANDED IN SPINDLE MODE The program specified a movement along the Cs–axis when the signal CON(DGN=G027#7) was off. Correct the program, or consult the PMC ladder diagram to find the reason the signal is not turned on. 199 MACRO WORD UNDEFINED Undefined macro word was used. Modify the custom macro. 200 ILLEGAL S CODE COMMAND In the rigid tap, an S value is out of the range or is not specified. Modify the program. 201 FEEDRATE NOT FOUND IN RIGID TAP In the rigid tap, no F value is specified. Correct the program. 202 POSITION LSI OVERFLOW In the rigid tap, spindle distribution value is too large. (System error) 203 PROGRAM MISS AT RIGID TAPPING In the rigid tap, position for a rigid M code (M29) or an S command is incorrect. Modify the program. 204 ILLEGAL AXIS OPERATION In the rigid tap, an axis movement is specified between the rigid M code (M29) block and G84 or G74 for M series (G84 or G88 for T series) block. Modify the program. 205 RIGID MODE DI SIGNAL OFF Rigid mode DI signal is not ON when G84 or G74 for M series (G84 or G88 for T series) is executed though the rigid M code (M29) is specified. Consult the PMC ladder diagram to find the reason the DI signal (DGNG061.1) is not turned on. 206 CAN NOT CHANGE PLANE (RIGID TAP) M series;Plane changeover was instructed in the rigid mode. Correct the program. 207 RIGID DATA MISMATCH The specified distance was too short or too long in rigid tapping. 210 CAN NOT COMAND M198/M199 M198 and M199 are executed in the schedule operation. M198 is executed in the DNC operation. Modify the program.;1) The execution of an M198 or M99 command was attempted during scheduled operation. Alternatively, the execution of an M198 command was attempted during DNC operation. Correct the program.;2) The execution of an M99 command was attempted by an interrupt macro during pocket machining in a multiple repetitive canned cycle. 211 G31 (HIGH) NOT ALLOWED IN G99 G31 is commanded in the per revolution command when the high– speed skip option is provided. Modify the program. 212 ILLEGAL PLANE SELECT M series;The arbitrary angle chamfering or a corner R is commanded or the plane including an additional axis. Correct the program. 213 ILLEGAL COMMAND IN SYNCHRO–MODE Movement is commanded for the axis to be synchronously controlled. Any of the following alarms occurred in the operation with the simple synchronization control.;1) The program issued the move command to the slave axis.;2) The program issued the manual continuous feed/manual handle feed/incremental feed command to the slave axis.;3) The program issued the automatic reference position return command without specifying the manual reference position return after the power was turned on.;4) The difference between the position error amount of the master and slave axes exceeded the value specified in parameter NO.8313. 214 ILLEGAL COMMAND IN SYNCHRO–MODE Coordinate system is set or tool compensation of the shift type is executed in the synchronous control. Correct the program. 217 DUPLICATE G51.2 (COMMANDS) T series;G51.2/G251 is further commanded in the G51.2/G251 mode. Modify the program. 218 NOT FOUND P/Q COMMAND IN G251 (T series) T series;P or Q is not commanded in the G251 block, or the command value is out of the range. Modify the program. 219 COMMAND G250/G251 INDEPENDENTLY T series;G251 and G250 are not independent blocks. 220 ILLEGAL COMMAND IN SYNCHR–MODE T series;In the synchronous operation, movement is commanded by the NC program or PMC axis control interface for the synchronous axis. 221 ILLEGAL COMMAND IN SYNCHR–MODE T series;Polygon machining synchronous operation and axis control or balance cutting are executed at a time. Modify the program. 222 DNC OP. NOT ALLOWED IN BG.–EDIT M series;Input and output are executed at a time in the background edition. Execute a correct operation. 224 RETURN TO REFERENCE POINT M series;Reference position return has not been performed before the automatic operation starts. Perform reference position return only when bit 0 of parameter 1005 is 0. 225 SYNCHRONOUS/MIXED CONTROL ERROR T series (At two–path);This alarm is generated in the following circumstances. (Searched for during synchronous and mixed control command.;1 When there is a mistake in axis number parameter (No. 1023) setting.;2 When there is a mistake in control commanded. During hobbing synchronization, a command to bring the C–axis under synchronous, composite, or superimposed control is made. Modify the program or the parameter. 226 ILLEGAL COMMAND IN SYNCHRO– MODE T series (At two–path);A travel command has been sent to the axis being synchronized in synchronous mode. Modify the program or the parameter. 229 CAN NOT KEEP SYNCHRO–STATE T series;This alarm is generated in the following circumstances.;1 When the synchro/mixed state could not be kept due to system overload.;2 The above condition occurred in CMC devices (hardware) and synchro– state could not be kept.;(This alarm is not generated in normal use conditions.) 230 R CODE NOT FOUND The infeed quantity R has not been instructed for the G161 block. Or the R command value is negative. Correct the program. 231 ILLEGAL FORMAT IN G10 OR L50 Any of the following errors occurred in the specified format at the programmable– parameter input.;1 Address N or R was not entered.;2 A number not specified for a parameter was entered.;3 The axis number was too large.;4 An axis number was not specified in the axis–type parameter.;5 An axis number was specified in the parameter which is not an axis type. Correct the program.;6 An attempt was made to reset bit 4 of parameter 3202 (NE9) or change parameter 3210 (PSSWD) when they are protected by a password.;Correct the program. 233 DEVICE BUSY When an attempt was made to use a unit such as that connected via the RS–232–C interface, other users were using it. 239 BP/S ALARM While punching was being performed with the function for controlling external I/O units,background editing was performed. 240 BP/S ALARM Background editing was performed during MDI operation 244 P/S ALARM T series;In the skip function activated by the torque limit signal, the number of accumulated erroneous pulses exceed 32767 before the signal was input. Therefore, the pulses cannot be corrected with one distribution. Change the conditions, such as feed rates along axes and torque limit, and try again. 245 T–CODE NOT ALOWEE IN THIS BLOCK T series;One of the G codes, G50, G10, and G04, which cannot be specified in the same block as a T code, was specified with a T code. 251 ATC ERROR This alarm is issued in the following cases;– An M06T_ command contains an unusable T code.;– An M06 command has been specified when the Z machine coordi nate is positive.;– The parameter for the current tool number (No. 7810) is set to 0.;– An M06 command has been specified in canned cycle mode.;– A reference position return command (G27 to G44) and M06 command have been specified in the same block.;– An M06 command has been specified in tool compensation mode (G41 to G44).;– An M06 command has been specified without performing reference position return after power–on or the release of emergency stop.;– The machine lock signal or Z–axis ignore signal has been turned on during tool exchange.;– A pry alarm has been detected during tool exchange. Refer to diagnosis No. 530 to determine the cause. (Only for ROBODRILL) 252 ATC SPINDLE ALARM An excessive error arose during spindle positioning for ATC. For details, refer to diagnosis No. 531. (Only for ROBODRILL) 253 G05 IS NOT AVAILABLE M series;Alarm details Binary input operation using high–speed remote buffer (G05) or high– speed cycle machining (G05) has been specified in advance control mode (G08P1). Execute G08P0, to cancel advance control mode, before executing these G05 commands. 4500 REPOSITIONING INHIBITED A repositioning command was specified in the circular interpolation (G02, G03) mode. 4502 ILLEGAL COMMAND IN BOLT HOLE In a bolt hole circle (G26) command, the radius (I) was set to zero or a negative value, or the number of holes (K) was set to zero. Alternatively, I, J, or K was not specified. 4503 ILLEGAL COMMAND IN LINE AT ANGLE In a line-at-angle (G76) command, the number of holes (K) was set to zero or a negative value. Alternatively, I, J, or K was not specified. 4504 ILLEGAL COMMAND IN ARC In an arc (G77) command, the radius (I) or the number of holes (K) was set to zero or a negative value. Alternatively, I, J, K, or P was not specified. 4505 ILLEGAL COMMAND IN GRID In a grid (G78, G79) command, the number of holes (P, K) was set to zero or a negative value. Alternatively, I, J, K, or P was not specified. 4506 ILLEGAL COMMAND IN SHARE PROOFS In a shear proof (G86) command, the tool size (P) was set to zero, or the blanking length (I) was 1.5 times larger than the tool size (P) or less. Alternatively, I, J, or P was not specified. 4507 ILLEGAL COMMAND IN SQUARE In a square (G87) command, the tool size (P,Q) was set to zero or a negative value, or the blanking length (I, J) was three times larger than the tool size (P, Q) or less. Alternatively, I, J, P, or Q was not specified. 4508 ILLEGAL COMMAND IN RADIUS In a radius (G88) command, the traveling pitch (Q) or radius (I) was set to zero or a negative value, or the traveling pitch (Q) was greater than or equal to the arc length. Alternatively, I, J, K, P, or Q was not specified. 4509 ILLEGAL COMMAND IN CUT AT ANGLE In a cut-at-angle (G89) command, the traveling pitch (Q) was set to zero, negative value, or another value larger than or equal to the length (I). Alternatively, I, J, P, or Q was not specified. 4510 ILLEGAL COMMAND IN LINE-PUNCH In a linear punching (G45) command, the traveling distance was set to zero or a value 1.5 times larger than the tool size (P) or less. Alternatively, P was not specified. 4511 ILLEGAL COMMAND IN CIRCLE-PUNCH In a circular punching (G46, G47) command, the same position was specified for both start and end points of the arc, radius (R) of the arc was set to zero, or the pitch (Q) was set to a value exceeding the arc length. Alternatively, R or Q was not specified. 4520 T, M INHIBITED IN NIBBLING-MODE T code, M code, G04, G70 or G75 was specified in the nibbling mode. 4521 EXCESS NIBBLING MOVEMENT (X, Y) In the nibbling mode, the X-axis or Y-axis traveling distance was larger than or equal to the limit (No. 16188 to 16193). 4522 EXCESS NIBBLING MOVEMENT (C) In the circular nibbling (G68) or usual nibbling mode, the C-axis traveling distance was larger than or equal to the limit (No. 16194). 4523 ILLEGAL COMMAND IN CIRCLE-NIBBL In a circular nibbling (G68) command, the traveling pitch (Q) was set to zero, a negative value, or a value larger than or equal to the limit (No. 16186, 16187), or the radius (I) was set to zero or a negative value. Alternatively, I, J, K, P, or Q was not specified. 4524 ILLEGAL COMMAND IN LINE-NIBBL In a linear nibbling (G69) command, the traveling pitch (Q) was set to zero, negative value, or a value larger than or equal to the limit (No. 16186, 16187). Alternatively, I, J, P, or Q was not specified. 4530 A/B MACRO NUMBER ERROR The number for storing and calling by an A or B macro was set to a value beyond the range from 1 to 5. 4531 U/V MACRO FORMAT ERROR An attempt was made to store a macro while storing another macro using a U or V macro. A V macro was specified although the processing to store a macro was not in progress. A U macro number and V macro number do not correspond with each other. 4532 IMPROPER U/V MACRO NUMBER The number of an inhibited macro (number beyond the range from 01 to 99) was specified in a U or V macro command. 4533 U/V MACRO MEMORY OVERFLOW An attempt was made to store too many macros with a U or V macro command. 4534 W MACRO NUMBER NOT FOUND Macro number W specified in a U or V macro command is not stored. 4535 U/V MACRO NESTING ERROR An attempt was made to call a macro which is defined three times or more using a U or V macro command. An attempt was made to store 15 or more macros in the storage area for macros of number 90 to 99. 4536 NO W, Q COMMAND IN MULTI-PIECE W or Q was not specified in the command for taking multiple workpieces (G73, G74). 4537 ILLEGAL Q VALUE IN MULTI-PIECE In the command for taking multiple workpieces (G73, G74), Q is set to a value beyond the range from 1 to 4. 4538 W NO. NOT FOUND IN MULTI-PIECE Macro number W specified in the command for taking multiple workpieces (G73, G74) is not stored. 4539 MULTI-PIECE SETTING IS ZERO The command for taking multiple workpieces (G73, G74) was specified although zero is specified for the function to take multiple workpieces (No. 16206 or signals MLP1 and MLP2 (PMC address G231, #0 and #1)). 4540 MULTI-PIECE COMMAND WITHIN MACRO The command for taking multiple workpieces (G73, G74) was specified when a U or V macro was being stored. 4542 MULTI-PIECE COMMAND ERROR Although G98P0 was specified, the G73 command was issued. Although G98K0 was specified, the G74 command was issued. 4543 MULTI-PIECE Q COMMAND ERROR Although G98P0 was specified, the Q value for the G74 command was not 1 or 3. Although G98K0 was specified, the Q value for the G73 command was not 1 or 2. 4544 MULTI-PIECE RESTART ERROR In the command for resuming taking multiple workpieces, the resume position (P) is set to a value beyond the range from 1 to total number of workpieces to be machined. 4549 ILLEGAL TOOL DATA FORMAT The quantity of tool data patterns to be saved is too large to fit the usable area (16 KB). 4600 T, C COMMAND IN INTERPOLATION In the linear interpolation (G01) mode or circular interpolation (G02, G03) mode, a T command or C-axis command was specified. 4601 INHIBITED T, M COMMAND In the block of G52, G72, G73, or G74, a T or M command was specified. 4602 ILLEGAL T-CODE The specified T command is not cataloged on the tool register screen. 4603 C AXIS SYNCHRONOUS ERROR The difference between the position deviation value of C1 axis and C2 axis exceeds the parameter value (No. 16364, 16365) with the C–axis synchronous control function. 4604 ILLEGAL AXIS OPERATION A C-axis command was specified in the block containing a T command for multiple tools. 4605 NEED ZRN C–axis synchronization failed. 4630 ILLEGAL COMMAND IN LASER MODE In the laser mode, a nibbling command or pattern command was specified. In the tracing mode, an attempt was made to make a switch to the punching mode. 4650 IMPROPER G-CODE IN OFFSET MODE In the cutter compensation mode, an inhibited G code (pattern command, G73, G74, G75, etc.) was specified. 4700 PROGRAM ERROR (OT +) The value specified in the X-axis move command exceeded the positive value of stored stroke limit 1. (Advance check) 4701 PROGRAM ERROR (OT –) The value specified in the X-axis move command exceeded the negative value of stored stroke limit 1. (Advance check) 4702 PROGRAM ERROR (OT +) The value specified in the Y-axis move command exceeded the positive value of stored stroke limit 1. (Advance check) 4703 PROGRAM ERROR (OT –) The value specified in the Y-axis move command exceeded the negative value of stored stroke limit 1. (Advance check) 4704 PROGRAM ERROR (OT +) The value specified in the Z-axis move command exceeded the positive value of stored stroke limit 1. (Advance check) 4705 PROGRAM ERROR (OT –) The value specified in the Z-axis move command exceeded the negative value of stored stroke limit 1. (Advance check) 5000 ILLEGAL COMMAND CODE The specified code was incorrect in the high–precision contour control (HPCC) mode. 5003 ILLEGAL PARAMETER There is an invalid parameter. 5004 HPCC NOT READY (M series) High–precision contour control is not ready. 5006 TOO MANY WORD IN ONE BLOCK The number of words specified in a block exceeded 26 in the HPCC mode. 5007 TOO LARGE DISTANCE In the HPCC mode, the machine moved beyond the limit. 5009 PARAMETER ZERO The maximum feedrate (parameter No. 1422) or the feedrate in dry run (parameter No. 1410) is 0 in the HPCC model. 5010 END OF RECORD The end of record (%) was specified. I/O is incorrect. modify the program. 5012 G05 P10000 ILLEGAL START UP Function category: High–precision contour control;Alarm details: G05 P10000 has been specified in a mode from which the system cannot enter HPCC mode. 5013 HPCC: CRC OFS REMAIN AT CANCEL G05P0 has been specified in G41/G42 mode or with offset remaining 5014 TRACE DATA NOT FOUND M series;Transfer cannot be performed because no trace data exists. 5018 POLYGON SPINDLE SPEED ERROR Function category: Polygon turning;Alarm details: In G51.2 mode, the speed of the spindle or polygon synchronous axis either exceeds the clamp value or is too small. The specified rotation speed ratio thus cannot be maintained. 5020 PARAMETER OF RESTART ERROR An erroneous parameter was specified for restarting a program. A parameter for program restart is invalid. 5030 ILLEGAL COMMAND (G100) T series;The end command (G110) was specified before the registratioin start command (G101, G102, or G103) was specified for the B–axis. 5031 ILLEGAL COMMAND (G100, G102, G103) T series;While a registration start command (G101, G102, or G103) was being executed, another registration start command was specified for the B–axis. 5032 NEW PRG REGISTERED IN B–AXS MOVE T series;While the machine was moving about the B–axis, at attempt was made to register another move command. 5033 NO PROG SPACE IN MEMORY B–AXS T series;Commands for movement about the B–axis were not registered because of insufficient program memory 5034 PLURAL COMMAND IN G110 T series;Multiple movements were specified with the G110 code for the B–axis. 5035 NO FEEDRATE COMMANDED B–AXS T series;A feedrate was not specified for cutting feed about the B–axis. 5036 ADDRESS R NOT DEFINED IN G81–G86 T series;Point R was not specified for the canned cycle for the B–axis. 5037 ADDRESS Q NOT DEFINED IN G83 T series;Depth of cut Q was not specified for the G83 code (peck drilling cycle). Alternatively, 0 was specified in Q for the B–axis. 5038 TOO MANY START M–CODE COMMAND T series;More than six M codes for starting movement about the B–axis were specified. 5039 START UNREGISTERED B–AXS PROG T series;An attempt was made to execute a program for the B–axis which had not been registered. 5040 CAN NOT COMMANDED B–AXS MOVE T series;The machine could not move about the B–axis because parameter No.8250 was incorrectly specified, or because the PMC axis system could not be used. 5041 CAN NOT COMMANDED G110 BLOCK T series;Blocks containing the G110 codes were successively specified in tool– tip radius compensation for the B–axis. 5044 G68 FORMAT ERROR M series;A G68 command block contains a format error. This alarm is issued in the following cases;1. I, J, or K is missing from a G68 command block (missing coordinate rotation option).;2. I, J, and K are 0 in a G68 command block.;3. R is missing from a G68 command block. 5046 ILLEGAL PARAMETER (ST.COMP) The parameter settings for straightness compensation contain an error. Possible causes are as follows;1. A parameter for a movement axis or compensation axis contains an axis number which is not used.;2. More than 128 pitch error compensation points exist between the negative and positive end points.;3. Compensation point numbers for straightness compensation are not assigned in the correct order.;4. No straightness compensation point exists between the pitch error compensation points at the negative and positive ends.;5. The compensation value for each compensation point is too large or too small. 5050 ILL–COMMAND IN CHOPPING MODE A command for switching the major axis has been specified for circular threading. Alternatively, a command for setting the length of the major axis to 0 has been specified for circular threading. 5051 M–NET CODE ERROR Abnormal character received (other than code used for transmission) 5052 M–NET ETX ERROR Abnormal ETX code 5053 M–NET CONNECT ERROR Connection time monitoring error (parameter No. 175) 5054 M–NET RECEIVE ERROR Polling time monitoring error (parameter No. 176) 5055 M–NET PRT/FRT ERROR Vertical parity or framing error 5057 M–NET BOARD SYSTEM DOWN Transmission timeout error (parameter No. 177) ROM parity error CPU interrupt other than the above 5058 G35/G36 FORMAT ERROR A command for switching the major axis has been specified for circular threading. Alternatively, a command for setting the length of the major axis to 0 has been specified for circular threading. 5059 RADIUS IS OUT OF RANGE A radius exceeding nine digits has been specified for circular interpolation with the center of the arc specified with I, J, and K. 5060 ILLEGAL PARAMETER IN G02.3/G03.3 There is a parameter setting error. Parameter No. 5641 (setting of the linear axis) is not set. The axis set in parameter No. 5641 is not a linear axis. Parameter No. 5642 (setting of a rotation axis) is not set. The axis set in parameter No. 5642 is not a rotation axis. The linear and rotation axes cannot be controlled by the CNC. (The value set in parameter No. 1010 is exceeded.) 5061 ILLEGAL FORMAT IN G02.3/G03.3 The exponential interpolation command (G02.3/G03.3) has a format error. Address I, J, or K is not specified. The value of address I, J, or K is 0. 5062 ILLEGAL COMMAND IN G02.3/G03.3 The value specified in an exponential interpolation command (G02.3/03.3) is illegal. A value that does not allow exponential interpolation is specified. (For example, a negative value is specified in In.) 5063 IS NOT PRESET AFTER REF. Function category: Workpiece thickness measurement Alarm details The position counter was not preset before the start of workpiece thickness measurement. This alarm is issued in the following cases;(1) An attempt has been made to start measurement without first establishing the origin.;(2) An attempt has been made to start measurement without first presetting the position counter after manual return to the origin. 5064 DIFFERRENT AXIS UNIT (IS–B, IS–C) Circular interpolation has been specified on a plane consisting of axes having different increment systems. 5065 DIFFERENT AXIS UNIT (PMC AXIS) Axes having different increment systems have been specified in the same DI/DO group for PMC axis control. Modify the setting of parameter No. 8010. 5067 (HPCC) HPCC mode cannot be canceled during G51 (scaling) or G68 (coordinate system rotation). Correct the program. 5068 G31 FORMAT ERROR The continuous high–speed skip command (G31 P90) has one of the following errors;1. The axis along which the tool is moved is not specified.;2. More than one axis is specified as the axis along which the tool is moved. 5069 WHL–C:ILLEGA P–DATA The P data in selection of the grinding–wheel wear compensation center is illegal. 5073 NO DECIMAL POINT A decimal point is not specified for a command for which a decimal point must be specified. 5074 ADDRESS DUPLICATION ERROR The same address has been specified two or more times in a single block. Alternatively, two or more G codes in the same group have been specified in a single block. 5082 DATA SERVER ERROR This alarm is detailed on the data server message screen. 5085 SMOOTH IPL ERROR 1 A block for specifying smooth interpolation contains a syntax error. 5096 MISMATCH WAITING M–CODE Different wait codes (M codes) were specified in HEAD1 and HEAD2. Correct the program. 5110 IMPROPER G–CODE An illegal G code was specified in look–ahead control mode (multi blocks are read in advance). A command was specified for the index table indexing axis in look– ahead control mode (multi blocks are read in advance). 5111 IMPROPER MODAL G–CODE M series;An illegal G code is left modal when look–ahead control mode was specified. 5112 G08 CAN NOT BE COMMANDED M series;Look–ahead control (G08) was specified in look–ahead control mode (multi blocks are read in advance). 5113 CAN NOT ERROR IN MDI MODE Look–ahead control (multi blocks are read in advance) (G05.1) was specified in MDI mode. 5114 NOT STOP POSITION (G05.1 Q1) At the time of restart after manual intervention, the coordinates at which the manual intervention occurred have not been restored. 5115 SPL: ERROR There is an error in the specification of the rank. No knot is specified. The knot specification has an error. The number of axes exceeds the limits. Other program errors 5116 SPL: ERROR There is a program error in a block under look–ahead control. Monotone increasing of knots is not observed. In NURBS interpolation mode, a mode that cannot be used together is specified. 5117 SPL: ERROR The first control point of NURBS is incorrect. 5118 SPL: ERROR After manual intervention with manual absolute mode set to on, NURBS interpolation was restarted. 5122 ILLEGAL COMMAND IN SPIRAL A spiral interpolation or conical interpolation command has an error. Specifically, this error is caused by one of the following;1) L = 0 is specified.;2) Q = 0 is specified.;3) R/, R/, C is specified.;4) Zero is specified as height increment.;5) Three or more axes are specified as the height axes.;6) A height increment is specified when there are two height axes.;7) Conical interpolation is specified when the helical interpolation function is not selected.;8) Q 0 is specified when radius difference 0.;9) Q 0 is specified when radius difference 0.;10) A height increment is specified when no height axis is specified. 5123 OVER TOLERANCE OF END POINT The difference between a specified end point and the calculated end point exceeds the allowable range (parameter 3471). 5124 CAN NOT COMMAND SPIRAL A spiral interpolation or conical interpolation was specified in any of the following modes;1) Scaling;2) Programmable mirror image;3) Polar coordinate interpolation In cutter compensation C mode, the center is set as the start point or end point. 5134 FSSB: OPEN READY TIME OUT Initialization did not place FSSB in the open ready state. 5135 FSSB: ERROR MODE FSSB has entered error mode. 5136 FSSB: NUMBER OF AMPS IS SMALL In comparison with the number of controlled axes, the number of amplifiers recognized by FSSB is not enough. 5137 FSSB: CONFIGURATION ERROR FSSB detected a configuration error. 5138 FSSB: AXIS SETTING NOT COMPLETE In automatic setting mode, axis setting has not been made yet. Perform axis setting on the FSSB setting screen. 5139 FSSB: ERROR Servo initialization did not terminate normally. The optical cable may be defective, or there may be an error in connection to the amplifier or another module. Check the optical cable and the connection status. 5155 NOT RESTART PROGRAM BY G05 During servo leaning control by G05, an attempt was made to perform restart operation after feed hold or interlock. This restart operation cannot be performed. (G05 leaning control terminates at the same time.) 5156 ILLEGAL AXIS OPERATION In look–ahead control mode (multi blocks are read in advance), the controlled axis selection signal (PMC axis control) changes. In look–achead control mode (multi blocks are read in advance), the simple synchronous axis selection signal changes. 5157 PARAMETER ZERO Zero is set in the parameter for the maximum cutting feedrate (parameter No. 1422 or 1432). Zero is set in the parameter for the acceleration/deceleration before interpolation (parameter No. 1770 or 1771). Set the parameter correctly. 5195 DIRECTION CAN NOT BE JUDGED When the touch sensor with a single contact signal input is used in the direct input B function for tool offset measurement values, the stored pulse direction is not constant. One of the following conditions exists;· The stop state exists in offset write mode.;· Servo off state;· The direction varies.;· Movement takes place simultaneously along two axes. 5196 ILLEGAL OPERATION (HPCC) Detach operation was performed in HPCC mode. (If detach operation is performed in HPCC mode, this alarm is issued after the currently executed block terminates.) 5197 FSSB: OPEN TIME OUT The CNC permitted FSSB to open, but FSSB was not opened. 5198 FSSB: ID DATA NOT READ Temporary assignment failed, so amplifier initial ID information could not be read. 5199 FINE TORQUE SENSING PARAMETER A parameter related to the fine torque sensing function is illegal.;· The storage interval is invalid.;· An invalid axis number is set as the target axis. Correct the parameter. 5212 SCREEN COPY: PARAMETER ERROR There is a parameter setting error. Check that 4 is set as the I/O channel. 5213 SCREEN COPY: COMMUNICATION ERROR The memory card cannot be used. Check the memory card. (Check whether the memory card is write–protected or defective.) 5214 SCREEN COPY: DATA TRANSFER ERROR Data transfer to the memory card failed. Check whether the memory card space is insufficient and whether the memory card was removed during data transfer. 5218 ILLEGAL PARAMETER (INCL. COMP) There is an inclination compensation parameter setting error. Cause;1. The number of pitch error compensation points between the negative (–) end and positive (+) end exceeds 128.;2. The relationship in magnitude among the inclination compensation point numbers is incorrect.;3. An inclination compensation point is not located between the negative (–) end and positive (+) end of the pitch error compensation points.;4. The amount of compensation per compensation point is too large or too small. Correct the parameter. 5219 CAN NOT RETURN Manual intervention or return is not allowed during three–dimensional coordinate conversion. 5220 REFERENCE POINT ADJUSTMENT MODE A parameter for automatically set a reference position is set. (Bit 2 of parameter No. 1819 = 1) Perform automatic setting. (Position the machine at the reference position manually, then perform manual reference position return.) Supplementary: Automatic setting sets bit 2 of parameter No. 1819 to 0. 5222 SRAM CORRECTABLE ERROR The SRAM correctable error cannot be corrected. Cause: A memory problem occurred during memory initialization. Action: Replace the master printed circuit board (SRAM module). 5227 FILE NOT FOUND A specified file is not found during communication with the built–in Handy File. 5228 SAME NAME USED There are duplicate file names in the built–in Handy File. 5229 WRITE PROTECTED A floppy disk in the built–in Handy File is write protected. 5231 TOO MANY FILES The number of files exceeds the limit during communication with the built–in Handy File. 5232 DATA OVER–FLOW There is not enough floppy disk space in the built–in Handy File. 5235 COMMUNICATION ERROR A communication error occurred during communication with the built–in Handy File. 5237 READ ERROR A floppy disk in the built–in Handy File cannot be read from. The floppy disk may be defective, or the head may be dirty. Alternatively, the Handy File is defective. 5238 WRITE ERROR A floppy disk in the built–in Handy File cannot be written to. The floppy disk may be defective, or the head may be dirty. Alternatively, the Handy File is defective. 5242 ILLEGAL AXIS NUMBER The axis number of the synchronous master axis or slave axis is incorrect. (This alarm is issued when flexible synchronization is turned on.) Alternatively, the axis number of the slave axis is smaller than that of the master axis. 5243 DATA OUT OF RANGE The gear ratio is not set correctly. (This alarm is issued when flexible synchronization is turned on.) 5244 TOO MANY DI ON Even when an M code was encountered in automatic operation mode, the flexible synchronization mode signal was not driven on or off. Check the ladder and M codes. 5245 OTHER AXIS ARE COMMANDED One of the following command conditions was present during flexible synchronization or when flexible synchronization was turned on;1. The synchronous master axis or slave axis is the EGB axis.;2. The synchronous master axis or slave axis is the chopping axis.;3. In reference position return mode 5251 ILLEGAL PARAMETER IN G54.2 A fixture offset parameter (No. 7580 to 7588) is illegal. Correct the parameter. 5252 ILLEGAL P COMMAND IN G54.2 The P value specifying the offset number of a fixture offset is too large. Correct the program. 5257 G41/G42 NOT ALLOWED IN MDI MODE M series;G41/G42 (cutter compensation C: M series) was specified in MDI mode. (Depending on the setting of bit 4 of parameter No. 5008) 5300 SET ALL OFFSET DATAS AGAIN After the inch/metric automatic conversion function (OIM: Bit 0 of parameter No. 5006) for tool offset data is enabled or disabled, all the tool offset data must be reset. This message reminds the operator to reset the data. If this alarm is issued, reset all the tool offset data. Operating the machine without resetting the data will result in a malfunction. 5302 ILLEGAL COMMAND IN G68 MODE A command to set the coordinate system is specified in the coordinate system rotation mode. 5303 TOUCH PANEL ERROR A touch panel error occurred. Cause;1. The touch panel is kept pressed.;2. The touch panel was pressed when power was turned on. Remove the above causes, and turn on the power again. 5306 MODE CHANGE ERROR In a one–touch macro call, mode switching at the time of activation is not performed correctly. 5307 INTERNAL DATA OVER FLOW In the following function, internal data exceeds the allowable range.;1) Improvement of the rotation axis feedrate 5311 FSSB:ILLEGAL CONNECTION A connection related to FSSB is illegal. This alarm is issued when either of the following is found;1. Two axes having adjacent servo axis numbers (parameter No. 1023), odd number and even number, are assigned to amplifiers to which different FSSB systems are connected.;2. The system does not satisfy the requirements for performing HRV control, and use of two pulse modules connected to different FSSB systems having different FSSB current control cycles is specified. 5321 S–COMP. VALUE OVERFLOW The straightness compensation value has exceeded the maximum value of 32767.After this alarm is issued, make a manual reference position return. 5400 SPL:ILLEGAL AXIS COMMAND An axis specified for spline interpolation or smooth interpolation is incorrect. If an axis that is not the spline axis is specified in spline interpolation mode, this alarm is issued. The spline axis is the axis specified in a block containing G06.1 or the next block. For smooth interpolation, the axis specified in G5.1Q2 is incorrect. 5401 SPL:ILLEGAL COMMAND In a G code mode in which specification of G06.1 is not permitted, G06.1 is specified. 5402 SPL:ILLEGAL AXIS MOVING A movement is made along an axis that is not the spline interpolation axis. For example, in three–dimensional tool compensation mode using an offset vector of which components are the X–, Y–, and Z–axes, when two–axis spline interpolation is performed with the two spline axes set to the X– and Y–axes, a movement along the Z–axis occurs, resulting in this alarm. 5403 SPL:CAN NOT MAKE VECTOR Three–dimensional tool compensation vectors cannot be generated.;· When a three–dimensional tool compensation vector is created for the second or subsequent point, that point, previous point, and next point are on the same straight line, and that straight line and the three– dimensional tool compensation vector for the previous point are in parallel.;· When a three–dimensional tool compensation vector is created at the end point of smooth interpolation or spline interpolation, the end point and the point two points before are the same. 5405 ILLEGAL PARAMETER IN G41.2/ G42.2 The parameter setting that determines the relationship between the rotation axis and rotation plane is incorrect. 5406 G41.3/G40 FORMAT ERROR 1) A G41.3 or G40 block contains a move command.;2) A G1.3 block contains a G code or M code for which buffering is suppressed. 5407 ILLEGAL COMMAND IN G41.3 1) A G code that belongs to group 01 except G00 and G01 is specified in G41.3 mode.;2) An offset command (a G code belonging to group 07) is specified in G41.3 mode.;3) The block next to G41.3 (startup) contains no movement. 5408 G41.3 ILLEGAL START_UP 1) In a mode of group 01 except G00 and G01, G41.3 (startup) is specified.;2) At startup, the included angle of the tool direction vector and move direction vector is 0 or 180 degrees. 5409 ILLEGAL PARAMETER IN G41.3 The parameter setting (No. xxxx to xxxx) that determines the relationship between the rotation axis and rotation plane is incorrect. 5411 NURBS:ILLEGAL ORDER The number of steps is specified incorrectly. 5412 NURBS:NO KNOT COMMAND No knot is specified. Alternatively, in NURBS interpolation mode, a block not relating to NURBS interpolation is specified. 5413 NURBS:ILLEGAL AXIS COMMAND An axis not specified with controlled points is specified in the first block. 5414 NURBS:ILLEGAL KNOT The number of blocks containing knots only is insufficient. 5415 NURBS:ILLEGAL CANCEL Although NURBS interpolation is not completed yet, the NURBS interpolation mode is turned off. 5416 NURBS:ILLEGAL MODE A mode that cannot be used with NURBS interpolation mode is specified in NURBS interpolation mode. 5417 NURBS:ILLEGAL MULTI–KNOT As many knots as the number of steps are not specified at the start and end points. 5418 NURBS:ILLEGAL KNOT VALUE Knots do not increase in monotone. 5420 ILLEGAL PARAMETER IN G43.4/ G43.5 A parameter related to pivot tool length compensation is incorrect. 5421 ILLEGAL COMMAND IN G43.4/ G43.5 In pivot tool length compensation (type 2) mode, a rotation axis is specified. 5422 EXCESS VELOCITY IN G43.4/ G43.5 As a result of pivot tool length compensation, an attempt was made to move the tool along an axis at a feedrate exceeding the maximum cutting feedrate. 5425 ILLEGAL OFFSET VALUE The offset number is incorrect. 5430 ILLEGAL COMMAND IN 3–D CIR In a modal state in which three–dimensional circular interpolation cannot be specified, a three–dimensional circular interpolation (G02.4/G03.4) is specified. Alternatively, in three–dimensional circular interpolation mode, a code that cannot be specified is specified. 5432 G02.4/G03.4 FORMAT ERROR A three–dimensional circular interpolation command (G02.4/G03.4) is incorrect. 5433 MANUAL INTERVENTION IN 3–D CIR In three–dimensional circular interpolation mode (G02.4/G03.4), manual intervention was made when the manual absolute switch was on. 5435 PARAMETER OUT OF RANGE Incorrect parameter setting (set value range) 5436 PARAMETER SETTING ERROR 1 Incorrect parameter setting (setting of the rotation axis) 5437 PARAMETER SETTING ERROR 2 Incorrect parameter setting (setting of the tool axis) 5440 ILLEGAL DRILLING AXIS SELECTED The drilling axis specified for the drilling canned cycle is incorrect. The G code command block of the canned cycle does not specify the Z point of the drilling axis. When there is a parallel axis with the drilling axis, the parallel axis is also specified at the same time. 5445 CRC:MOTION IN G39 Corner circular interpolation (G39) of cutter compensation is not specified alone but is specified with a move command. 5446 CRC:NO AVOIDANCE Because there is no interference evade vector, the interference check evade function of cutter compensation cannot evade interference. 5447 CRC:DANGEROUS AVOIDANCE The interference check evade function of cutter compensation determines that an evade operation will lead to danger. 5448 CRC:INTERFERENCE TO AVD. In the interference check evade function of cutter compensation, a further interference occurs for an already created interference evade vector. 5452 IMPROPER G–CODE (5AXIS MODE) A G code that cannot be specified is found. (5–axis mode) This alarm is issued when;1) Three–dimensional cutter compensation (side–face offset and leading– edge offset) is applied during cutter compensation, or cutter compensation is applied during three–dimensional cutter compensation (side–face offset and leading–edge offset).;2) A leading–edge offset of three–dimensional cutter compensation is applied during side–face offsetting of three–dimensional cutter compensation, or a side–face offset of three–dimensional cutter compensation is applied during leading–edge offsetting of three–dimensional cutter compensation.;3) Tool axis direction tool length compensation is applied during tool length compensation, or tool length compensation is applied during tool axis direction tool length compensation.;4) Tool center point control is provided during tool length compensation, or tool length compensation is applied during tool center point control.;5) Tool center point control is provided during tool axis direction tool length compensation, or tool axis direction tool length compensation is applied during tool center point control.;If this alarm is issued, cancel the relevant mode, then specify a different mode. 5453 NOTE: G68 IS CANCELED When bit 2 of parameter No. 5400 is set to 1, and a reset does not cancel G68, this alarm is issued at the time of program restart. To release this alarm, press RESET and CAN. Once this operation is performed, the alarm will not be issued at the next restart. 5455 ILLEGAL ACC. PARAMETER A permissible acceleration parameter for optimum torque acceleration/ deceleration is incorrect. The cause is one of the following;1) The ratio of the deceleration rate to the acceleration rate is below the limit.;2) The time required for deceleration to a speed of 0 exceeds the maximum value. 400 SERVO ALARM: n–TH AXIS OVERLOAD The n–th axis (axis 1–4) overload signal is on. Refer to diagnosis display No. 200, 201 for details. 401 SERVO ALARM: n–TH AXIS VRDY OFF The n–th axis (axis 1–8) servo amplifier READY signal (DRDY) went off. Refer to procedure of trouble shooting. 402 SERVO ALARM: SV CARD NOT EXIST The axis control card is not provided. 403 SERVO ALARM: CARD/SOFT MISMATCH The combination of the axis control card and servo software is illegal. 404 SERVO ALARM: n–TH AXIS VRDY ON Even though the n–th axis (axis 1–8) READY signal (MCON) went off, the servo amplifier READY signal (DRDY) is still on. Or, when the power was turned on, DRDY went on even though MCON was off. Check that the servo interface module and servo amp are connected. 405 SERVO ALARM: (ZERO POINT RETURN FAULT) Position control system fault. Due to an NC or servo system fault in the reference position return, there is the possibility that reference position return could not be executed correctly. Try again from the manual reference position return. 407 SERVO ALARM: EXCESS ERROR The difference in synchronous axis position deviation exceeded the set value. 409 SERVO ALARM: n AXIS TORQUE ALM Abnormal load has been detected on the servo motor(s). Alternatively, abnormal spindle motor load has been detected in Cs mode. 410 SERVO ALARM: n–TH AXIS – EXCESS ERROR The position deviation value when the n–th axis (axis 1–8) stops is larger than the set value. Refer to procedure of trouble shooting. 411 SERVO ALARM: n–TH AXIS – EXCESS ERROR The position deviation value when the n–th axis (axis 1–8) moves is larger than the set value. Refer to procedure of trouble shooting. 413 SERVO ALARM: n–th AXIS – LSI OVERFLOW The contents of the error register for the n–th axis (axis 1–8) exceeded ±231 power. This error usually occurs as the result of an improperly set parameters. 414 SERVO ALARM: n–TH AXIS – DETECTION RELATED ERROR N–th axis (axis 1–4) digital servo system fault. Refer to diagnosis display No. 200, 201, and No.204 for details. 415 SERVO ALARM: n–TH AXIS – EXCESS SHIFT A speed higher than 524288000 units/s was attempted to be set in the n–th axis (axis 1–8). This error occurs as the result of improperly set CMR. 416 SERVO ALARM: n–TH AXIS – DISCONNECTION Position detection system fault in the n–th axis (axis 1–4) pulse coder (disconnection alarm). Refer to diagnosis display No. 200, 201 for details. 417 SERVO ALARM: n–TH AXIS – PARAMETER INCORRECT 420 SERVO ALARM: n AXIS SYNC TORQUE 421 SERVO ALARM: n AXIS EXCESS ER (D) 422 SERVO ALARM: n AXIS 423 SERVO ALARM: n AXIS 430 n AXIS: SV. MOTOR OVERHEAT 431 n AXIS: CNV. OVERLOAD 432 n AXIS: CNV. LOW VOLT CONTROL 433 n AXIS: CNV. LOW VOLT DC LINK 434 n AXIS: INV. LOW VOLT CONTROL 435 n AXIS: INV. LOW VOLT DC LINK 436 n AXIS: SOFTTHERMAL (OVC) 437 n AXIS: CNV. OVERCURRENT POWER 438 n AXIS: INV. ABNORMAL CURRENT 439 n AXIS: CNV. OVER VOLT DC LINK 440 n AXIS: CNV. EX DECELERATION POW. 441 n AXIS: ABNORMAL CURRENT OFFSET 442 n AXIS: CNV. CHARGE FAILURE 443 n AXIS: CNV. COOLING FAN FAILURE 444 n AXIS: INV. COOLING FAN FAILURE 445 n AXIS: SOFT DISCONNECT ALARM 446 n AXIS: HARD DISCONNECT ALARM 447 n AXIS: HARD DISCONNECT (EXT) 448 n AXIS: UNMATCHED FEEDBACK ALARM 449 n AXIS: INV. IPM ALARM 453 n AXIS: SPC SOFT DISCONNECT ALARM 456 n AXIS: ILLEGAL CURRENT LOOP 457 n AXIS: ILLEGAL HI HRV (250US) 458 n AXIS: CURRENT LOOP ERROR 459 n AXIS: HI HRV SETTING ERROR 460 n AXIS: FSSB DISCONNECT 461 n AXIS: ILLEGAL AMP INTERFACE 462 n AXIS: SEND CNC DATA FAILED 463 n AXIS: SEND SLAVE DATA FAILED 464 n AXIS: WRITE ID DATA FAILED 465 n AXIS: READ ID DATA FAILED 466 n AXIS: MOTOR/AMP COMBINATION 467 n AXIS: ILLEGAL SETTING OF AXIS 468 n AXIS: HI HRV SETTING ERROR (AMP) 360 n AXIS: ABNORMAL CHECKSUM (INT) 361 n AXIS: ABNORMAL PHASE DATA (INT) 362 n AXIS: ABNORMAL REV.DATA (INT) 363 n AXIS: ABNORMAL CLOCK (INT) 364 n AXIS: SOFT PHASE ALARM (INT) 365 n AXIS: BROKEN LED (INT) 366 n AXIS: PULSE MISS (INT) 367 n AXIS: COUNT MISS (INT) 368 n AXIS: SERIAL DATA ERROR (INT) 369 n AXIS: DATA TRANS. ERROR (INT) 380 n AXIS: BROKEN LED (EXT) 381 n AXIS: ABNORMAL PHASE (EXT LIN) 382 n AXIS: COUNT MISS (EXT) 383 n AXIS: PULSE MISS (EXT) 384 n AXIS: SOFT PHASE ALARM (EXT) 385 n AXIS: SERIAL DATA ERROR (EXT) 386 n AXIS: DATA TRANS. ERROR (EXT) 387 n AXIS: ABNORMAL ENCODER (EXT) 500 OVER TRAVEL: +n 501 OVER TRAVEL: –n 502 OVER TRAVEL: +n 503 OVER TRAVEL: –n 504 OVER TRAVEL: +n 505 OVER TRAVEL: –n 506 OVER TRAVEL: +n 507 OVER TRAVEL: –n 700 OVERHEAT: CONTROL UNIT 701 OVERHEAT: FAN MOTOR 704 OVERHEAT: SPINDLE 740 RIGID TAP ALARM: EXCESS ERROR 741 RIGID TAP ALARM: EXCESS ERROR 742 RIGID TAP ALARM: LSI OVER FLOW 749 S–SPINDLE LSI ERROR 750 SPINDLE SERIAL LINK START FAULT 751 FIRST SPINDLE ALARM DETECTION (AL–XX) 752 FIRST SPINDLE MODE CHANGE FAULT 754 SPINDLE–1 ABNORMAL TORQUE ALM 761 SECOND SPINDLE ALARM DETECTION (AL–XX) 762 SECOND SPINDLE MODE CHANGE FAULT 764 SPINDLE–2 ABNORMAL TORQUE ALM 771 SPINDLE–3 ALARM DETECT (AL–XX) 772 SPINDLE–3 MODE CHANGE ERROR 774 SPINDLE–3 ABNORMAL TORQUE ALM 782 SPINDLE–4 MODE CHANGE ERROR 784 SPINDLE–4 ABNORMAL TORQUE ALM 4800 ZONE: PUNCHING INHIBITED 1 4801 ZONE: PUNCHING INHIBITED 2 4802 ZONE: PUNCHING INHIBITED 3 4803 ZONE: PUNCHING INHIBITED 4 4810 ZONE: ENTERING INHIBITED 1 +X 4811 ZONE: ENTERING INHIBITED 1 –X 4812 ZONE: ENTERING INHIBITED 2 +X 4813 ZONE: ENTERING INHIBITED 2 –X 4814 ZONE: ENTERING INHIBITED 3 +X 4815 ZONE: ENTERING INHIBITED 3 –X 4816 ZONE: ENTERING INHIBITED 4 +X 4817 ZONE: ENTERING INHIBITED 4 –X 4830 ZONE: ENTERING INHIBITED 1 +Y 4831 ZONE: ENTERING INHIBITED 1 –Y 4832 ZONE: ENTERING INHIBITED 2 +Y 4833 ZONE: ENTERING INHIBITED 2 –Y 4834 ZONE: ENTERING INHIBITED 3 +Y 4835 ZONE: ENTERING INHIBITED 3 –Y 4836 ZONE: ENTERING INHIBITED 4 +Y 4837 ZONE: ENTERING INHIBITED 4 –Y 4870 AUTO SETTING FEED ERROR 4871 AUTO SETTING PIECES ERROR 4872 AUTO SETTING COMMAND ERROR 900 ROM PARITY 910 SRAM PARITY: (BYTE 0) 911 SRAM PARITY: (BYTE 1) 912 DRAM PARITY: (BYTE 0) 913 DRAM PARITY: (BYTE 1) 914 DRAM PARITY: (BYTE 2) 915 DRAM PARITY: (BYTE 3) 916 DRAM PARITY: (BYTE 4) 917 DRAM PARITY: (BYTE 5) 918 DRAM PARITY: (BYTE 6) 919 DRAM PARITY: (BYTE 7) 920 SERVO ALARM (1–4 AXIS) 921 SERVO ALARM (5–8 AXIS) 926 FSSB ALARM 930 CPU INTERRUPT 935 SRAM ECC ERROR 950 PMC SYSTEM ALARM 951 PMC WATCH DOG ALARM 970 NMI OCCURRED IN PMCLSI 971 NMI OCCURRED IN SLC 972 NMI OCCURRED IN OTHER MODULE 973 NON MASK INTERRUPT 974 F–BUS ERROR 975 BUS ERROR 976 L–BUS ERROR
A FANUC alarm code, also called a FANUC fault or error code, is how a CNC control indicates there is a problem. This error message could indicate issues with either the machine itself, be that electric or mechanical. The FANUC error code might also indicate an issue with the g-code program.
Use the list below to interpret what exactly the fault code is trying to communicate. If you require a replacement part, know that MRO Electric stocks thousands of FANUC CNC replacements. Get your new FANUC servo amplifier or check out our FANUC servo motors. To order a replacement part or a repair job, please call 800-691-8511 or email sales@mroelectric.com. Curious about other common FANUC CNC problems? Check out our FAQ here.
• 0i Model A
• 0i/0iMate Model B
• 16/18 Model PB
• 16/18 Model C
• 16i/18i Model A
• 16i/18i Model B
• 16iL Model A
• 20i
• 21 Model B
• 21i Model A
• 21i Model B
• 21i Model A
Alarm
Description
0 PLEASE TURN OFF POWER
A parameter which requires the power off was input, turn off power.
1 TH PARITY ALARM
TH alarm (A character with incorrect parity was input). Correct the tape.
2 TV PARITY ALARM
TV alarm (The number of characters in a block is odd). This alarm will be generated only when the TV check is effective.
3 TOO MANY DIGITS
Data exceeding the maximum allowable number of digits was input. (Refer to the item of max. programmable dimensions.)
4 ADDRESS NOT FOUND
A numeral or the sign “ – ” was input without an address at the beginning of a block. Modify the program.
5 NO DATA AFTER ADDRESS
The address was not followed by the appropriate data but was followed by another address or EOB code. Modify the program.
6 ILLEGAL USE OF NEGATIVE SIGN
Sign “ – ” input error (Sign “ – ” was input after an address with which it cannot be used. Or two or more “ – ” signs were input.) Modify the program.
7 ILLEGAL USE OF DECIMAL POINT
Decimal point “.” input error (A decimal point was input after an address with which it can not be used. Or two decimal points were input.) Modify the program.
9 ILLEGAL ADDRESS INPUT
Unusable character was input in significant area. Modify the program.
10 IMPROPER G–CODE
An unusable G code or G code corresponding to the function not provided is specified. Modify the program.
11 NO FEEDRATE COMMANDED
Feedrate was not commanded to a cutting feed or the feedrate was inadequate. Modify the program.
14 CAN NOT COMMAND G95 (M Series)
A synchronous feed is specified without the option for threading / synchronous feed.
14 ILLEGAL LEAD COMMAND (T Series)
In variable lead threading, the lead incremental and decremental outputted by address K exceed the maximum command value or a command such that the lead becomes a negative value is given. Modify the program.
15 TOO MANY AXES COMMANDED
M Series;An attempt was made to move the machine along the axes, but the number of the axes exceeded the specified number of axes controlled simultaneously. Modify the program.
20 OVER TOLERANCE OF RADIUS
In circular interpolation (G02 or G03), difference of the distance between the start point and the center of an arc and that between the end point and the center of the arc exceeded the value specified in parameter No. 3410.
21 ILLEGAL PLANE AXIS COMMANDED
An axis not included in the selected plane (by using G17, G18, G19) was commanded in circular interpolation. Modify the program.
22 NO CIRCULAR RADIUS
When circular interpolation is specified, neither R (specifying an arc radius), nor I, J, and K (specifying the distance from a start point to the center) is specified.
23 ILLEGAL RADIUS COMMAND (T series)
In circular interpolation by radius designation, negative value was commanded for address R. Modify the program.
25 CANNOT COMMAND F0 IN G02/G03
F0 (fast feed) was instructed by F1 –digit column feed in circular interpolation. Modify the program.
27 NO AXES COMMANDED IN G43/G44
No axis is specified in G43 and G44 blocks for the tool length offset type C. Offset is not canceled but another axis is offset for the tool length offset type C. Modify the program.
28 ILLEGAL PLANE SELECT
In the plane selection command, two or more axes in the same direction are commanded. Modify the program.
29 ILLEGAL OFFSET VALUE
M Series;The offset values specified by H code is too large. Modify the program.
30 ILLEGAL OFFSET NUMBER
M Series;The offset values specified by D/H code for tool length offset, cutter compensation or 3–dimensional cutter compensation is too large. Otherwise, the number specified by P code for the additional workpiece coordinate system is too large. Modify the program.
31 ILLEGAL P COMMAND IN G10
In setting an offset amount by G10, the offset number following address P was excessive or it was not specified. Modify the program.
32 ILLEGAL OFFSET VALUE IN G10
In setting an offset amount by G10 or in writing an offset amount by system variables, the offset amount was excessive.
33 NO SOLUTION AT CRC
M Series: A point of intersection cannot be determined for cutter compensation C. Modify the program. T Series: A point of intersection cannot be determined for tool nose radius compensation. Modify the program.
34 NO CIRC ALLOWED IN ST–UP /EXT BLK
M Series;The start up or cancel was going to be performed in the G02 or G03 mode in cutter compensation C. Modify the program.
35 CAN NOT COMMANDED G39 (M Series)
G39 is commanded in cutter compensation B cancel mode or on the plane other than offset plane. Modify the program.
35 CAN NOT COMMANDED G31
T series;Skip cutting (G31) was specified in tool nose radius compensation mode. Modify the program.
36 CAN NOT COMMANDED G31
Skip cutting (G31) was specified in cutter compensation mode.Modify the program.
37 CAN NOT CHANGE PLANE IN CRC
M seires;G40 is commanded on the plane other than offset plane in cutter compensation B. The plane selected by using G17, G18 or G19 is changed in cutter compensation C mode. Modify the program.
38 INTERFERENCE IN CIRCULAR BLOCK
Overcutting will occur in tool radius/tool nose radius/cutter compensation because the arc start point or end point coincides with the arc center. Modify the program.
39 CHF/CNR NOT ALLOWED IN NRC
Chamfering or corner R was specified with a start–up, a cancel, or switching between G41 and G42 in tool nose radius compensation. The program may cause overcutting to occur in chamfering or corner R. Modify the program.
40 INTERFERENCE IN G90/G94 BLOCK
Overcutting will occur in tool nose radius compensation in canned cycle G90 or G94. Modify the program.
41 INTERFERENCE IN CRC
M seires;Overcutting will occur in cutter compensation C. Two or more blocks are consecutively specified in which functions such as the auxiliary function and dwell functions are performed without movement in the cutter compensation mode. Modify the program.
42 G45/G48 NOT ALLOWED IN CRC
Tool offset (G45 to G48) is commanded in cutter compensation. Modify the program.
44 G27–G30 NOT ALLOWED IN FIXED CYC
One of G27 to G30 is commanded in canned cycle mode.Modify the program.
45 ADDRESS Q NOT FOUND(G73/G83)
In canned cycle G73/G83, the depth of each cut (Q) is not specified. Alternatively,Q0 is specified. Correct the program.
46 ILLEGAL REFERENCE RETURN COMMAND
Other than P2, P3 and P4 are commanded for 2nd, 3rd and 4th reference position return command.
47 ILLEGAL AXIS SELECT
Two or more parallel axes (in parallel with a basic axis) have been specified upon start–up of three–dimensional tool compensation or three–dimensional coordinate conversion.
48 BASIC 3 AXIS NOT FOUND
For startup of three–dimensional tool compensation or three–dimensional coordinate conversion, the three basic axes used when Xp,Yp and Zp are omitted were not specified in parameter No. 1022.
49 ILLEGAL OPERATION (G68/G69)
The commands for three–dimensional coordinate conversion (G68,G69) and tool length compensation (G43, G44, G45) are not nested.Modify the program.
50 CHF/CNR NOT ALLOWED IN THRD BLK
Chamfering or corner R is commanded in the thread cutting block. Modify the program.
51 MISSING MOVE AFTER CHF/CNR
T series;Improper movement or the move distance was specified in the block next to the chamfering or corner R block.Modify the program.
52 CODE IS NOT G01 AFTER CHF/CNR
The block next to the chamfering or corner R block is not G01, G02,or G03.Modify the program.
53 TOO MANY ADDRESS COMMANDS
M series;For systems without the arbitary angle chamfering or corner R cutting, a comma was specified. For systems with this feature, a comma was followed by something other than R or C Correct the program.
54 NO TAPER ALLOWED AFTER CHF/CNR
T series;A block in which chamfering in the specified angle or the corner R was specified includes a taper command. Modify the program.
55 MISSING MOVE VALUE IN CHF/CNR
In chamfering or corner R block, the move distance is less than chamfer or corner R amount. Modify the program.
56 NO END POINT & ANGLE IN CHF/CNR
T series;Neither the end point nor angle is specified in the command for the block next to that for which only the angle is specified (A). In the chamfering comman, I(K) is commanded for the X(Z) axis.
57 NO SOLUTION OF BLOCK END
Block end point is not calculated correctly in direct dimension drawing programming. Modify the program.
58 END POINT NOT FOUND
In a arbitrary angle chamfering or corner R cutting block, a specified axis is not in the selected plane. Correct the program.
59 PROGRAM NUMBER NOT FOUND
In an external program number search, a specified program number was not found. Otherwise, a program specified for searching is being edited in background processing. Alternatively, the program with the program number specified in a one–touch macro call is not found in memory. Check the program number and external signal. Or discontinue the background editing.
60 SEQUENCE NUMBER NOT FOUND
Commanded sequence number was not found in the sequence number search.Check the sequence number.
61 ADDRESS P/Q NOT FOUND IN G70–G73
T series;Address P or Q is not specified in G70, G71, G72, or G73 command. Modify the program.
62 ILLEGAL COMMAND IN G71–G76
T series;1. The depth of cut in G71 or G72 is zero or negative value.;2. The repetitive count in G73 is zero or negative value.;3. the negative value is specified to Δi or Δk is zero in G74 or G75.;4. A value other than zero is specified to address U or W though Δi or Δk is zero in G74 or G75.;5. A negative value is specified to Δd, though the relief direction in G74 or G75 is determined.;6. Zero or a negative value is specified to the height of thread or depth of cut of first time in G76.;7. The specified minimum depth of cut in G76 is greater than the height of thread.;8. An unusable angle of tool tip is specified in G76.;Modify the program.
63 SEQUENCE NUMBER NOT FOUND
T series;The sequence number specified by address P in G70, G71, G72, or G73 command cannot be searched. Modify the program.
64 SHAPE PROGRAM NOT MONOTONOUSLY
T series;A target shape which cannot be made by monotonic machining was specified in a repetitive canned cycle (G71 or G72).
65 ILLEGAL COMMAND IN G71–G73
T series;1. G00 or G01 is not commanded at the block with the sequence number which is specified by address P in G71, G72, or G73 command.;2. Address Z(W) or X(U) was commanded in the block with a sequence number which is specified by address P in G71 or G72, respectively. Modify the program.
66 IMPROPER G–CODE IN G71–G73
T series;An unallowable G code was commanded beween two blocks specified by address P in G71, G72, or G73. Modify the program.
67 CAN NOT ERROR IN MDI MODE
T series;G70, G71, G72, or G73 command with address P and Q. Modify the program.
69 FORMAT ERROR IN G70–G73
T series;The final move command in the blocks specified by P and Q of G70, G71, G72, and G73 ended with chamfering or corner R. Modify the program.
70 NO PROGRAM SPACE IN MEMORY
The memory area is insufficient.Delete any unnecessary programs, then retry.
71 DATA NOT FOUND
The address to be searched was not found.Or the program with specified program number was not found in program number search.Check the data.
72 TOO MANY PROGRAMS
The number of programs to be stored exceeded 63 (basic), 125 (option),200 (option), or 400 (option) or 1000 (option). Delete unnecessary programs and execute program registeration again.
73 PROGRAM NUMBER ALREADY IN USE
The commanded program number has already been used. Change the program number or delete unnecessary programs and execute program registeration again.
74 ILLEGAL PROGRAM NUMBER
The program number is other than 1 to 9999.Modify the program number.
75 PROTECT
An attempt was made to register a program whose number was protected.
76 ADDRESS P NOT DEFINED
Address P (program number) was not commanded in the block which includes an M98, G65, or G66 command. Modify the program.
77 SUB PROGRAM NESTING ERROR
The subprogram was called in five folds. Modify the program.
78 NUMBER NOT FOUND
A program number or a sequence number which was specified by address P in the block which includes an M98, M99, M65 or G66 was not found.The sequence number specified by a GOTO statement was not found. Otherwise, a called program is being edited in background processing.Correct the program, or discontinue the background editing.
79 PROGRAM VERIFY ERROR
In memory or program collation,a program in memory does not agree with that read from an external I/O device. Check both the programs in memory and those from the external device.
80 G37 ARRIVAL SIGNAL NOT ASSERTED
M series;In the automatic tool length measurement function (G37), the measurement position reach signal (XAE, YAE,or ZAE) is not turned on within an area specified in parameter 6254 (value ε).This is due to a setting or operator error.
81 OFFSET NUMBER NOT FOUND IN G37
M series;Tool length automatic measurement (G37) was specified without a H code.(Automatic tool length measurement function) Modify the program.
82 H–CODE NOT ALLOWED IN G37
M series;H code and automatic tool compensation (G37) were specified in the same block. (Automatic tool length measurement function) Modify the program.
82 T–CODE NOT ALLOWED IN G37
T series;T code and automatic tool compensation (G36, G37) were specified in the same block. (Automatic tool compensation function) Modify the program.
83 ILLEGAL AXIS COMMAND IN G37
M series;In automatic tool length measurement, an invalid axis was specified or the command is incremental.Modify the program.
85 COMMUNICATION ERROR
When entering data in the memory by using Reader / Puncher interface,an overrun, parity or framing error was generated. The number of bits of input data or setting of baud rate or specification No. of I/O unit is incorrect.
86 DR SIGNAL OFF
When entering data in the memory by using Reader / Puncher interface,the ready signal (DR) of reader / puncher was off.Power supply of I/O unit is off or cable is not connected or a P.C.B. is defective.
87 BUFFER OVERFLOW
When entering data in the memory by using Reader / Puncher interface,though the read terminate command is specified, input is not interrupted after 10 characters read. I/O unit or P.C.B. is defective.
88 LAN FILE TRANS ERROR (CHANNEL–1)
File data transfer over the OSI–Ethernet was terminated as a result of a transfer error.
89 LAN FILE TRANS ERROR (CHANNEL–2)
File data transfer over the OSI–Ethernet was terminated as a result of a transfer error.
90 REFERENCE RETURN INCOMPLETE
21 Model B;The reference position return cannot be performed normally because the reference position return start point is too close to the reference position or the speed is too slow. Separate the start point far enough from the reference position, or specify a sufficiently fast speed for reference position return. Check the program contents.
91 REFERENCE RETURN INCOMPLETE
In the automatic operation halt state, manual reference position return cannot be performed.
92 AXES NOT ON THE REFERENCE POINT
The commanded axis by G27 (Reference position return check) did not return to the reference position.
94 P TYPE NOT ALLOWED (COORD CHG)
P type cannot be specified when the program is restarted. (After the automatic operation was interrupted, the coordinate system setting operation was performed.) Perform the correct operation according to the operator’s manual.
95 P TYPE NOT ALLOWED (EXT OFS CHG)
P type cannot be specified when the program is restarted.(After the automatic operation was interrupted, the external workpiece offset amount changed.) Perform the correct operation according to the User’s manual.
96 P TYPE NOT ALLOWED (WRK OFS CHG)
P type cannot be specified when the program is restarted.(After the automatic operation was interrupted, the workpiece offset amount changed.) Perform the correct operation according to the User’s manual.
97 P TYPE NOT ALLOWED (AUTO EXEC)
P type cannot be directed when the program is restarted.(After power ON, after emergency stop or P/S alarm 94 to 97 were reset, no automatic operation is performed).Perform automatic operation.
98 G28 FOUND IN SEQUENCE RETURN
A command of the program restart was specified without the reference position return operation after power ON or emergency stop, and G28 was found during search. Perform the reference position return.
99 MDI EXEC NOT ALLOWED AFT.SEARCH
After completion of search in program restart, a move command is given with MDI. Move axis before a move command or don’t interrupt MDI operation.
100 PARAMETER WRITE ENABLE
On the PARAMETER(SETTING) screen, PWE(parameter writing enabled) is set to 1. Set it to 0, then reset the system.
101 PLEASE CLEAR MEMORY
The power turned off while rewriting the memory by program edit operation.If this alarm has occurred, press (RESET) while pressing (PROG),and only the program being edited will be deleted.Register the deleted program.
109 FORMAT ERROR IN G08
A value other than 0 or 1 was specified after P in the G08 code, or no value was specified.
110 DATA OVERFLOW
The absolute value of fixed decimal point display data exceeds the allowable range. Modify the program.
111 CALCULATED DATA OVERFLOW
The result of calculation turns out to be invalid, an alarm No.111 is issued. –10 47 to –10 –29, 0, 10 –29 to 10 47 Modify the program.
112 DIVIDED BY ZERO
Division by zero was specified.(including tan 90°) Modify the program.
113 IMPROPER COMMAND
A function which cannot be used in custom macro is commanded. Modify the program.
114 FORMAT ERROR IN MACRO
There is an error in other formats than (Formula). Modify the program.
115 ILLEGAL VARIABLE NUMBER
A value not defined as a variable number is designated in the custom macro. Modify the program.
116 WRITE PROTECTED VARIABLE
The left side of substitution statement is a variable whose substitution is inhibited. Modify the program.
118 PARENTHESIS NESTING ERROR
The nesting of bracket exceeds the upper limit (quintuple). Modify the program.
119 ILLEGAL ARGUMENT
The SQRT argument is negative, BCD argument is negative, or other values than 0 to 9 are present on each line of BIN argument. Modify the program.
122 FOUR FOLD MACRO MODAL–CALL
The macro modal call is specified four fold. Modify the program.
123 CAN NOT USE MACRO COMMAND IN DNC
Macro control command is used during DNC operation. Modify the program.
124 MISSING END STATEMENT
DO – END does not correspond to 1: 1. Modify the program.
125 FORMAT ERROR IN MACRO
(Formula) format is erroneous. Modify the program.
126 ILLEGAL LOOP NUMBER
In DOn, 1 = n = 3 is not established. Modify the program.
127 NC, MACRO STATEMENT IN SAME BLOCK
NC and custom macro commands coexist. Modify the program.
128 ILLEGAL MACRO SEQUENCE NUMBER
The sequence number specified in the branch command was not 0 to 9999. Or, it cannot be searched.Modify the program.
129 ILLEGAL ARGUMENT ADDRESS
An address which is not allowed in (Argument Designation) is used.Modify the program.
130 ILLEGAL AXIS OPERATION
An axis control command was given by PMC to an axis controlled by CNC.Or an axis control command was given by CNC to an axis controlled by PMC. Modify the program.
131 TOO MANY EXTERNAL ALARM MESSAGES
Five or more alarms have generated in external alarm message.Consult the PMC ladder diagram to find the cause.
132 ALARM NUMBER NOT FOUND
No alarm No.concerned exists in external alarm message clear.Check the PMC ladder diagram.
133 ILLEGAL DATA IN EXT. ALARM MSG
Small section data is erroneous in external alarm message or external operator message. Check the PMC ladder diagram.
135 ILLEGAL ANGLE COMMAND
M series;The index table indexing positioning angle was instructed in other than an integral multiple of the value of the minimum angle. Modify the program.
135 SPINDLE ORIENTATION PLEASE
T series;Without any spindle orientation, an attept was made for spindle indexing. Perform spindle orientation.
136 ILLEGAL AXIS COMMAND
M series;In index table indexing.Another control axis was instructed together with the B axis. Modify the program.
136 C/H–CODE & MOVE CMD IN SAME BLK.
T series;A move command of other axes was specified to the same block as spindle indexing addresses C, H. Modify the program.
137 M–CODE & MOVE CMD IN SAME BLK.
A move command of other axes was specified to the same block as M–code related to spindle indexing. Modify the program.
138 SUPERIMPOSED DATA OVERFLOW
The total distribution amount of the CNC and PMC is too large during superimposed control of the extended functions for PMC axis control.
139 CAN NOT CHANGE PMC CONTROL AXIS
An axis is selected in commanding by PMC axis control. Modify the program.
141 CAN NOT COMMAND G51 IN CRC
M series;G51 (Scaling ON) is commanded in the tool offset mode. Modify the program.
142 ILLEGAL SCALE RATE
M series;Scaling magnification is commanded in other than 1 to 999999. Correct the scaling magnification setting (G51 Pp………………… or parameter 5411 or 5421).
143 SCALED MOTION DATA OVERFLOW
M series;The scaling results, move distance, coordinate value and circular radius exceed the maximum command value. Correct the program or scaling mangification.
144 ILLEGAL PLANE SELECTED
M series;The coordinate rotation plane and arc or cutter compensation C plane must be the same. Modify the program.
145 ILLEGAL CONDITIONS IN POLAR COORDINATE INTERPOLATION
The conditions are incorrect when the polar coordinate interpolation starts or it is canceled.;1) In modes other than G40, G12.1/G13.1 was specified.;2) An error is found in the plane selection. Parameters No. 5460 and No. 5461 are incorrectly specified.;Modify the value of program or parameter.
146 IMPROPER G CODE
G codes which cannot be specified in the polar coordinate interpolation mode was specified. See section II to 4.4 and modify the program.
148 ILLEGAL SETTING DATA
M series;Automatic corner override deceleration rate is out of the settable range of judgement angle. Modify the parameters (No.1710 to No.1714)
149 FORMAT ERROR IN G10L3
M series;A code other than Q1,Q2,P1 or P2 was specified as the life count type in the extended tool life management.
150 ILLEGAL TOOL GROUP NUMBER
Tool Group No. exceeds the maximum allowable value. Modify the program.
151 TOOL GROUP NUMBER NOT FOUND
The tool group commanded in the machining program is not set. Modify the value of program or parameter.
152 NO SPACE FOR TOOL ENTRY
The number of tools within one group exceeds the maximum value registerable. Modify the number of tools.
153 T–CODE NOT FOUND
In tool life data registration, a T code was not specified where one should be. Correct the program.
154 NOT USING TOOL IN LIFE GROUP
M series;When the group is not commanded, H99 or D99 was commanded. Correct the program.
155 ILLEGAL T–CODE IN M06
M series;In the machining program, M06 and T code in the same block do not correspond to the group in use. Correct the program.
156 P/L COMMAND NOT FOUND
P and L commands are missing at the head of program in which the tool group is set. Correct the program.
157 TOO MANY TOOL GROUPS
The number of tool groups to be set exceeds the maximum allowable value. (See parameter No. 6800 bit 0 and 1) Modify the program.
158 ILLEGAL TOOL LIFE DATA
The tool life to be set is too excessive. Modify the setting value.
159 TOOL DATA SETTING INCOMPLETE
During executing a life data setting program, power was turned off. Set again.
163 COMMAND G68/G69 INDEPENDENTLY
G68 and G69 are not independently commanded in balance cut. Modify the program.
175 ILLEGAL G107 COMMAND
Conditions when performing circular interpolation start or cancel not correct. To change the mode to the cylindrical interpolation mode, specify the command in a format of “G07.1 rotation to axis name radius of cylinder.”
176 IMPROPER G–CODE IN G107
M series;Any of the following G codes which cannot be specified in the cylindrical interpolation mode was specified.;1) G codes for positioning: G28,, G73, G74, G76, G81 – G89, including the codes specifying the rapid traverse cycle;2) G codes for setting a coordinate system: G52,G92;3) G code for selecting coordinate system: G53 G54–G59 Modify the program.
177 CHECK SUM ERROR (G05 MODE)
Check sum error Modify the program.
178 G05 COMMANDED IN G41/G42 MODE
G05 was commanded in the G41/G42 mode. Correct the program.
179 PARAM. (NO. 7510) SETTING ERROR
The number of controlled axes set by the parameter 7510 exceeds the maximum number. Modify the parameter setting value.
180 COMMUNICATION ERROR (REMOTE BUF)
Remote buffer connection alarm has generated. Confirm the number of cables, parameters and I/O device.
181 FORMAT ERROR IN G81 BLOCK
G81 block format error (hobbing machine);1) T (number of teeth) has not been instructed.;2) Data outside the command range was instructed by either T, L, Q or P.;3) An overflow occurred in synchronization coefficient calculation. Modify the program.
182 G81 NOT COMMANDED
G83 (C axis servo lag quantity offset) was instructed though synchronization by G81 has not been instructed. Correct the program. (hobbing machine)
183 DUPLICATE G83 (COMMANDS)
G83 was instructed before canceled by G82 after compensating for the C axis servo lag quantity by G83. (hobbing machine)
184 ILLEGAL COMMAND IN G81
A command not to be instructed during synchronization by G81 was instructed. (hobbing machine);1) A C axis command by G00, G27, G28, G29, G30, etc. was instructed.;2) Inch/Metric switching by G20, G21 was instructed.
185 RETURN TO REFERENCE POINT
G81 was instructed without performing reference position return after power on or emergency stop. (hobbing machine) Perform reference position return.
186 PARAMETER SETTING ERROR
Parameter error regarding G81 (hobbing machine);1) The C axis has not been set to be a rotary axis.;2) A hob axis and position coder gear ratio setting error Modify the parameter.
187 HOB COMMAND IS NOT ALLOWED
Error in the modal state when G81.4 or G81 is specified;1. The canned cycle mode (G81 to G89) is set.;2. The thread cutting mode is set.;3. The C–axis is under synchronous, composite, or superimposed control.
190 ILLEGAL AXIS SELECT
M series;In the constant surface speed control, the axis specification is wrong. (See parameter No. 3770.) The specified axis command (P) contains an illegal value. Correct the program.
194 SPINDLE COMMAND IN SYNCHRO–MODE
A contour control mode, spindle positioning (Cs–axis control) mode, or rigid tapping mode was specified during the serial spindle synchronous control mode. Correct the program so that the serial spindle synchronous control mode is released in advance.
195 MODE CHANGE ERROR
Switching command to contouring mode, Cs axis control or rigid tap mode or switching to spindle command mode is not correctly completed. (This occurs when the response to switch to the spindle control unit side with regard to the switching command from the NC is incorrect. This alarm is not for the purposes of warning against mistakes in operation, but because continuing operation in this condition can be dangerous it is a P/S alarm.)
197 C–AXIS COMMANDED IN SPINDLE MODE
The program specified a movement along the Cs–axis when the signal CON(DGN=G027#7) was off. Correct the program, or consult the PMC ladder diagram to find the reason the signal is not turned on.
199 MACRO WORD UNDEFINED
Undefined macro word was used. Modify the custom macro.
200 ILLEGAL S CODE COMMAND
In the rigid tap, an S value is out of the range or is not specified. Modify the program.
201 FEEDRATE NOT FOUND IN RIGID TAP
In the rigid tap, no F value is specified. Correct the program.
202 POSITION LSI OVERFLOW
In the rigid tap, spindle distribution value is too large. (System error)
203 PROGRAM MISS AT RIGID TAPPING
In the rigid tap, position for a rigid M code (M29) or an S command is incorrect. Modify the program.
204 ILLEGAL AXIS OPERATION
In the rigid tap, an axis movement is specified between the rigid M code (M29) block and G84 or G74 for M series (G84 or G88 for T series) block. Modify the program.
205 RIGID MODE DI SIGNAL OFF
Rigid mode DI signal is not ON when G84 or G74 for M series (G84 or G88 for T series) is executed though the rigid M code (M29) is specified. Consult the PMC ladder diagram to find the reason the DI signal (DGNG061.1) is not turned on.
206 CAN NOT CHANGE PLANE (RIGID TAP)
M series;Plane changeover was instructed in the rigid mode. Correct the program.
207 RIGID DATA MISMATCH
The specified distance was too short or too long in rigid tapping.
210 CAN NOT COMAND M198/M199
M198 and M199 are executed in the schedule operation. M198 is executed in the DNC operation. Modify the program.;1) The execution of an M198 or M99 command was attempted during scheduled operation. Alternatively, the execution of an M198 command was attempted during DNC operation. Correct the program.;2) The execution of an M99 command was attempted by an interrupt macro during pocket machining in a multiple repetitive canned cycle.
211 G31 (HIGH) NOT ALLOWED IN G99
G31 is commanded in the per revolution command when the high– speed skip option is provided. Modify the program.
212 ILLEGAL PLANE SELECT
M series;The arbitrary angle chamfering or a corner R is commanded or the plane including an additional axis. Correct the program.
213 ILLEGAL COMMAND IN SYNCHRO–MODE
Movement is commanded for the axis to be synchronously controlled. Any of the following alarms occurred in the operation with the simple synchronization control.;1) The program issued the move command to the slave axis.;2) The program issued the manual continuous feed/manual handle feed/incremental feed command to the slave axis.;3) The program issued the automatic reference position return command without specifying the manual reference position return after the power was turned on.;4) The difference between the position error amount of the master and slave axes exceeded the value specified in parameter NO.8313.
214 ILLEGAL COMMAND IN SYNCHRO–MODE
Coordinate system is set or tool compensation of the shift type is executed in the synchronous control. Correct the program.
217 DUPLICATE G51.2 (COMMANDS)
T series;G51.2/G251 is further commanded in the G51.2/G251 mode. Modify the program.
218 NOT FOUND P/Q COMMAND IN G251 (T series)
T series;P or Q is not commanded in the G251 block, or the command value is out of the range. Modify the program.
219 COMMAND G250/G251 INDEPENDENTLY
T series;G251 and G250 are not independent blocks.
220 ILLEGAL COMMAND IN SYNCHR–MODE
T series;In the synchronous operation, movement is commanded by the NC program or PMC axis control interface for the synchronous axis.
221 ILLEGAL COMMAND IN SYNCHR–MODE
T series;Polygon machining synchronous operation and axis control or balance cutting are executed at a time. Modify the program.
222 DNC OP. NOT ALLOWED IN BG.–EDIT
M series;Input and output are executed at a time in the background edition. Execute a correct operation.
224 RETURN TO REFERENCE POINT
M series;Reference position return has not been performed before the automatic operation starts. Perform reference position return only when bit 0 of parameter 1005 is 0.
225 SYNCHRONOUS/MIXED CONTROL ERROR
T series (At two–path);This alarm is generated in the following circumstances. (Searched for during synchronous and mixed control command.;1 When there is a mistake in axis number parameter (No. 1023) setting.;2 When there is a mistake in control commanded. During hobbing synchronization, a command to bring the C–axis under synchronous, composite, or superimposed control is made. Modify the program or the parameter.
226 ILLEGAL COMMAND IN SYNCHRO– MODE
T series (At two–path);A travel command has been sent to the axis being synchronized in synchronous mode. Modify the program or the parameter.
229 CAN NOT KEEP SYNCHRO–STATE
T series;This alarm is generated in the following circumstances.;1 When the synchro/mixed state could not be kept due to system overload.;2 The above condition occurred in CMC devices (hardware) and synchro– state could not be kept.;(This alarm is not generated in normal use conditions.)
230 R CODE NOT FOUND
The infeed quantity R has not been instructed for the G161 block. Or the R command value is negative. Correct the program.
231 ILLEGAL FORMAT IN G10 OR L50
Any of the following errors occurred in the specified format at the programmable– parameter input.;1 Address N or R was not entered.;2 A number not specified for a parameter was entered.;3 The axis number was too large.;4 An axis number was not specified in the axis–type parameter.;5 An axis number was specified in the parameter which is not an axis type. Correct the program.;6 An attempt was made to reset bit 4 of parameter 3202 (NE9) or change parameter 3210 (PSSWD) when they are protected by a password.;Correct the program.
233 DEVICE BUSY
When an attempt was made to use a unit such as that connected via the RS–232–C interface, other users were using it.
239 BP/S ALARM
While punching was being performed with the function for controlling external I/O units,background editing was performed.
240 BP/S ALARM
Background editing was performed during MDI operation
244 P/S ALARM
T series;In the skip function activated by the torque limit signal, the number of accumulated erroneous pulses exceed 32767 before the signal was input. Therefore, the pulses cannot be corrected with one distribution. Change the conditions, such as feed rates along axes and torque limit, and try again.
245 T–CODE NOT ALOWEE IN THIS BLOCK
T series;One of the G codes, G50, G10, and G04, which cannot be specified in the same block as a T code, was specified with a T code.
251 ATC ERROR
This alarm is issued in the following cases;– An M06T_ command contains an unusable T code.;– An M06 command has been specified when the Z machine coordi nate is positive.;– The parameter for the current tool number (No. 7810) is set to 0.;– An M06 command has been specified in canned cycle mode.;– A reference position return command (G27 to G44) and M06 command have been specified in the same block.;– An M06 command has been specified in tool compensation mode (G41 to G44).;– An M06 command has been specified without performing reference position return after power–on or the release of emergency stop.;– The machine lock signal or Z–axis ignore signal has been turned on during tool exchange.;– A pry alarm has been detected during tool exchange. Refer to diagnosis No. 530 to determine the cause. (Only for ROBODRILL)
252 ATC SPINDLE ALARM
An excessive error arose during spindle positioning for ATC. For details, refer to diagnosis No. 531. (Only for ROBODRILL)
253 G05 IS NOT AVAILABLE
M series;Alarm details Binary input operation using high–speed remote buffer (G05) or high– speed cycle machining (G05) has been specified in advance control mode (G08P1). Execute G08P0, to cancel advance control mode, before executing these G05 commands.
4500 REPOSITIONING INHIBITED
A repositioning command was specified in the circular interpolation (G02, G03) mode.
4502 ILLEGAL COMMAND IN BOLT HOLE
In a bolt hole circle (G26) command, the radius (I) was set to zero or a negative value, or the number of holes (K) was set to zero. Alternatively, I, J, or K was not specified.
4503 ILLEGAL COMMAND IN LINE AT ANGLE
In a line-at-angle (G76) command, the number of holes (K) was set to zero or a negative value. Alternatively, I, J, or K was not specified.
4504 ILLEGAL COMMAND IN ARC
In an arc (G77) command, the radius (I) or the number of holes (K) was set to zero or a negative value. Alternatively, I, J, K, or P was not specified.
4505 ILLEGAL COMMAND IN GRID
In a grid (G78, G79) command, the number of holes (P, K) was set to zero or a negative value. Alternatively, I, J, K, or P was not specified.
4506 ILLEGAL COMMAND IN SHARE PROOFS
In a shear proof (G86) command, the tool size (P) was set to zero, or the blanking length (I) was 1.5 times larger than the tool size (P) or less. Alternatively, I, J, or P was not specified.
4507 ILLEGAL COMMAND IN SQUARE
In a square (G87) command, the tool size (P,Q) was set to zero or a negative value, or the blanking length (I, J) was three times larger than the tool size (P, Q) or less. Alternatively, I, J, P, or Q was not specified.
4508 ILLEGAL COMMAND IN RADIUS
In a radius (G88) command, the traveling pitch (Q) or radius (I) was set to zero or a negative value, or the traveling pitch (Q) was greater than or equal to the arc length. Alternatively, I, J, K, P, or Q was not specified.
4509 ILLEGAL COMMAND IN CUT AT ANGLE
In a cut-at-angle (G89) command, the traveling pitch (Q) was set to zero, negative value, or another value larger than or equal to the length (I). Alternatively, I, J, P, or Q was not specified.
4510 ILLEGAL COMMAND IN LINE-PUNCH
In a linear punching (G45) command, the traveling distance was set to zero or a value 1.5 times larger than the tool size (P) or less. Alternatively, P was not specified.
4511 ILLEGAL COMMAND IN CIRCLE-PUNCH
In a circular punching (G46, G47) command, the same position was specified for both start and end points of the arc, radius (R) of the arc was set to zero, or the pitch (Q) was set to a value exceeding the arc length. Alternatively, R or Q was not specified.
4520 T, M INHIBITED IN NIBBLING-MODE
T code, M code, G04, G70 or G75 was specified in the nibbling mode.
4521 EXCESS NIBBLING MOVEMENT (X, Y)
In the nibbling mode, the X-axis or Y-axis traveling distance was larger than or equal to the limit (No. 16188 to 16193).
4522 EXCESS NIBBLING MOVEMENT (C)
In the circular nibbling (G68) or usual nibbling mode, the C-axis traveling distance was larger than or equal to the limit (No. 16194).
4523 ILLEGAL COMMAND IN CIRCLE-NIBBL
In a circular nibbling (G68) command, the traveling pitch (Q) was set to zero, a negative value, or a value larger than or equal to the limit (No. 16186, 16187), or the radius (I) was set to zero or a negative value. Alternatively, I, J, K, P, or Q was not specified.
4524 ILLEGAL COMMAND IN LINE-NIBBL
In a linear nibbling (G69) command, the traveling pitch (Q) was set to zero, negative value, or a value larger than or equal to the limit (No. 16186, 16187). Alternatively, I, J, P, or Q was not specified.
4530 A/B MACRO NUMBER ERROR
The number for storing and calling by an A or B macro was set to a value beyond the range from 1 to 5.
4531 U/V MACRO FORMAT ERROR
An attempt was made to store a macro while storing another macro using a U or V macro. A V macro was specified although the processing to store a macro was not in progress. A U macro number and V macro number do not correspond with each other.
4532 IMPROPER U/V MACRO NUMBER
The number of an inhibited macro (number beyond the range from 01 to 99) was specified in a U or V macro command.
4533 U/V MACRO MEMORY OVERFLOW
An attempt was made to store too many macros with a U or V macro command.
4534 W MACRO NUMBER NOT FOUND
Macro number W specified in a U or V macro command is not stored.
4535 U/V MACRO NESTING ERROR
An attempt was made to call a macro which is defined three times or more using a U or V macro command. An attempt was made to store 15 or more macros in the storage area for macros of number 90 to 99.
4536 NO W, Q COMMAND IN MULTI-PIECE
W or Q was not specified in the command for taking multiple workpieces (G73, G74).
4537 ILLEGAL Q VALUE IN MULTI-PIECE
In the command for taking multiple workpieces (G73, G74), Q is set to a value beyond the range from 1 to 4.
4538 W NO. NOT FOUND IN MULTI-PIECE
Macro number W specified in the command for taking multiple workpieces (G73, G74) is not stored.
4539 MULTI-PIECE SETTING IS ZERO
The command for taking multiple workpieces (G73, G74) was specified although zero is specified for the function to take multiple workpieces (No. 16206 or signals MLP1 and MLP2 (PMC address G231, #0 and #1)).
4540 MULTI-PIECE COMMAND WITHIN MACRO
The command for taking multiple workpieces (G73, G74) was specified when a U or V macro was being stored.
4542 MULTI-PIECE COMMAND ERROR
Although G98P0 was specified, the G73 command was issued. Although G98K0 was specified, the G74 command was issued.
4543 MULTI-PIECE Q COMMAND ERROR
Although G98P0 was specified, the Q value for the G74 command was not 1 or 3. Although G98K0 was specified, the Q value for the G73 command was not 1 or 2.
4544 MULTI-PIECE RESTART ERROR
In the command for resuming taking multiple workpieces, the resume position (P) is set to a value beyond the range from 1 to total number of workpieces to be machined.
4549 ILLEGAL TOOL DATA FORMAT
The quantity of tool data patterns to be saved is too large to fit the usable area (16 KB).
4600 T, C COMMAND IN INTERPOLATION
In the linear interpolation (G01) mode or circular interpolation (G02, G03) mode, a T command or C-axis command was specified.
4601 INHIBITED T, M COMMAND
In the block of G52, G72, G73, or G74, a T or M command was specified.
4602 ILLEGAL T-CODE
The specified T command is not cataloged on the tool register screen.
4603 C AXIS SYNCHRONOUS ERROR
The difference between the position deviation value of C1 axis and C2 axis exceeds the parameter value (No. 16364, 16365) with the C–axis synchronous control function.
4604 ILLEGAL AXIS OPERATION
A C-axis command was specified in the block containing a T command for multiple tools.
4605 NEED ZRN
C–axis synchronization failed.
4630 ILLEGAL COMMAND IN LASER MODE
In the laser mode, a nibbling command or pattern command was specified. In the tracing mode, an attempt was made to make a switch to the punching mode.
4650 IMPROPER G-CODE IN OFFSET MODE
In the cutter compensation mode, an inhibited G code (pattern command, G73, G74, G75, etc.) was specified.
4700 PROGRAM ERROR (OT +)
The value specified in the X-axis move command exceeded the positive value of stored stroke limit 1. (Advance check)
4701 PROGRAM ERROR (OT –)
The value specified in the X-axis move command exceeded the negative value of stored stroke limit 1. (Advance check)
4702 PROGRAM ERROR (OT +)
The value specified in the Y-axis move command exceeded the positive value of stored stroke limit 1. (Advance check)
4703 PROGRAM ERROR (OT –)
The value specified in the Y-axis move command exceeded the negative value of stored stroke limit 1. (Advance check)
4704 PROGRAM ERROR (OT +)
The value specified in the Z-axis move command exceeded the positive value of stored stroke limit 1. (Advance check)
4705 PROGRAM ERROR (OT –)
The value specified in the Z-axis move command exceeded the negative value of stored stroke limit 1. (Advance check)
5000 ILLEGAL COMMAND CODE
The specified code was incorrect in the high–precision contour control (HPCC) mode.
5003 ILLEGAL PARAMETER
There is an invalid parameter.
5004 HPCC NOT READY
(M series) High–precision contour control is not ready.
5006 TOO MANY WORD IN ONE BLOCK
The number of words specified in a block exceeded 26 in the HPCC mode.
5007 TOO LARGE DISTANCE
In the HPCC mode, the machine moved beyond the limit.
5009 PARAMETER ZERO
The maximum feedrate (parameter No. 1422) or the feedrate in dry run (parameter No. 1410) is 0 in the HPCC model.
5010 END OF RECORD
The end of record (%) was specified. I/O is incorrect. modify the program.
5012 G05 P10000 ILLEGAL START UP
Function category: High–precision contour control;Alarm details: G05 P10000 has been specified in a mode from which the system cannot enter HPCC mode.
5013 HPCC: CRC OFS REMAIN AT CANCEL
G05P0 has been specified in G41/G42 mode or with offset remaining
5014 TRACE DATA NOT FOUND
M series;Transfer cannot be performed because no trace data exists.
5018 POLYGON SPINDLE SPEED ERROR
Function category: Polygon turning;Alarm details: In G51.2 mode, the speed of the spindle or polygon synchronous axis either exceeds the clamp value or is too small. The specified rotation speed ratio thus cannot be maintained.
5020 PARAMETER OF RESTART ERROR
An erroneous parameter was specified for restarting a program. A parameter for program restart is invalid.
5030 ILLEGAL COMMAND (G100)
T series;The end command (G110) was specified before the registratioin start command (G101, G102, or G103) was specified for the B–axis.
5031 ILLEGAL COMMAND (G100, G102, G103)
T series;While a registration start command (G101, G102, or G103) was being executed, another registration start command was specified for the B–axis.
5032 NEW PRG REGISTERED IN B–AXS MOVE
T series;While the machine was moving about the B–axis, at attempt was made to register another move command.
5033 NO PROG SPACE IN MEMORY B–AXS
T series;Commands for movement about the B–axis were not registered because of insufficient program memory
5034 PLURAL COMMAND IN G110
T series;Multiple movements were specified with the G110 code for the B–axis.
5035 NO FEEDRATE COMMANDED B–AXS
T series;A feedrate was not specified for cutting feed about the B–axis.
5036 ADDRESS R NOT DEFINED IN G81–G86
T series;Point R was not specified for the canned cycle for the B–axis.
5037 ADDRESS Q NOT DEFINED IN G83
T series;Depth of cut Q was not specified for the G83 code (peck drilling cycle). Alternatively, 0 was specified in Q for the B–axis.
5038 TOO MANY START M–CODE COMMAND
T series;More than six M codes for starting movement about the B–axis were specified.
5039 START UNREGISTERED B–AXS PROG
T series;An attempt was made to execute a program for the B–axis which had not been registered.
5040 CAN NOT COMMANDED B–AXS MOVE
T series;The machine could not move about the B–axis because parameter No.8250 was incorrectly specified, or because the PMC axis system could not be used.
5041 CAN NOT COMMANDED G110 BLOCK
T series;Blocks containing the G110 codes were successively specified in tool– tip radius compensation for the B–axis.
5044 G68 FORMAT ERROR
M series;A G68 command block contains a format error. This alarm is issued in the following cases;1. I, J, or K is missing from a G68 command block (missing coordinate rotation option).;2. I, J, and K are 0 in a G68 command block.;3. R is missing from a G68 command block.
5046 ILLEGAL PARAMETER (ST.COMP)
The parameter settings for straightness compensation contain an error. Possible causes are as follows;1. A parameter for a movement axis or compensation axis contains an axis number which is not used.;2. More than 128 pitch error compensation points exist between the negative and positive end points.;3. Compensation point numbers for straightness compensation are not assigned in the correct order.;4. No straightness compensation point exists between the pitch error compensation points at the negative and positive ends.;5. The compensation value for each compensation point is too large or too small.
5050 ILL–COMMAND IN CHOPPING MODE
A command for switching the major axis has been specified for circular threading. Alternatively, a command for setting the length of the major axis to 0 has been specified for circular threading.
5051 M–NET CODE ERROR
Abnormal character received (other than code used for transmission)
5052 M–NET ETX ERROR
Abnormal ETX code
5053 M–NET CONNECT ERROR
Connection time monitoring error (parameter No. 175)
5054 M–NET RECEIVE ERROR
Polling time monitoring error (parameter No. 176)
5055 M–NET PRT/FRT ERROR
Vertical parity or framing error
5057 M–NET BOARD SYSTEM DOWN
Transmission timeout error (parameter No. 177) ROM parity error CPU interrupt other than the above
5058 G35/G36 FORMAT ERROR
A command for switching the major axis has been specified for circular threading. Alternatively, a command for setting the length of the major axis to 0 has been specified for circular threading.
5059 RADIUS IS OUT OF RANGE
A radius exceeding nine digits has been specified for circular interpolation with the center of the arc specified with I, J, and K.
5060 ILLEGAL PARAMETER IN G02.3/G03.3
There is a parameter setting error. Parameter No. 5641 (setting of the linear axis) is not set. The axis set in parameter No. 5641 is not a linear axis. Parameter No. 5642 (setting of a rotation axis) is not set. The axis set in parameter No. 5642 is not a rotation axis. The linear and rotation axes cannot be controlled by the CNC. (The value set in parameter No. 1010 is exceeded.)
5061 ILLEGAL FORMAT IN G02.3/G03.3
The exponential interpolation command (G02.3/G03.3) has a format error. Address I, J, or K is not specified. The value of address I, J, or K is 0.
5062 ILLEGAL COMMAND IN G02.3/G03.3
The value specified in an exponential interpolation command (G02.3/03.3) is illegal. A value that does not allow exponential interpolation is specified. (For example, a negative value is specified in In.)
5063 IS NOT PRESET AFTER REF.
Function category: Workpiece thickness measurement Alarm details The position counter was not preset before the start of workpiece thickness measurement. This alarm is issued in the following cases;(1) An attempt has been made to start measurement without first establishing the origin.;(2) An attempt has been made to start measurement without first presetting the position counter after manual return to the origin.
5064 DIFFERRENT AXIS UNIT (IS–B, IS–C)
Circular interpolation has been specified on a plane consisting of axes having different increment systems.
5065 DIFFERENT AXIS UNIT (PMC AXIS)
Axes having different increment systems have been specified in the same DI/DO group for PMC axis control. Modify the setting of parameter No. 8010.
5067 (HPCC)
HPCC mode cannot be canceled during G51 (scaling) or G68 (coordinate system rotation). Correct the program.
5068 G31 FORMAT ERROR
The continuous high–speed skip command (G31 P90) has one of the following errors;1. The axis along which the tool is moved is not specified.;2. More than one axis is specified as the axis along which the tool is moved.
5069 WHL–C:ILLEGA P–DATA
The P data in selection of the grinding–wheel wear compensation center is illegal.
5073 NO DECIMAL POINT
A decimal point is not specified for a command for which a decimal point must be specified.
5074 ADDRESS DUPLICATION ERROR
The same address has been specified two or more times in a single block. Alternatively, two or more G codes in the same group have been specified in a single block.
5082 DATA SERVER ERROR
This alarm is detailed on the data server message screen.
5085 SMOOTH IPL ERROR 1
A block for specifying smooth interpolation contains a syntax error.
5096 MISMATCH WAITING M–CODE
Different wait codes (M codes) were specified in HEAD1 and HEAD2. Correct the program.
5110 IMPROPER G–CODE
An illegal G code was specified in look–ahead control mode (multi blocks are read in advance). A command was specified for the index table indexing axis in look– ahead control mode (multi blocks are read in advance).
5111 IMPROPER MODAL G–CODE
M series;An illegal G code is left modal when look–ahead control mode was specified.
5112 G08 CAN NOT BE COMMANDED
M series;Look–ahead control (G08) was specified in look–ahead control mode (multi blocks are read in advance).
5113 CAN NOT ERROR IN MDI MODE
Look–ahead control (multi blocks are read in advance) (G05.1) was specified in MDI mode.
5114 NOT STOP POSITION (G05.1 Q1)
At the time of restart after manual intervention, the coordinates at which the manual intervention occurred have not been restored.
5115 SPL: ERROR
There is an error in the specification of the rank. No knot is specified. The knot specification has an error. The number of axes exceeds the limits. Other program errors
5116 SPL: ERROR
There is a program error in a block under look–ahead control. Monotone increasing of knots is not observed. In NURBS interpolation mode, a mode that cannot be used together is specified.
5117 SPL: ERROR
The first control point of NURBS is incorrect.
5118 SPL: ERROR
After manual intervention with manual absolute mode set to on, NURBS interpolation was restarted.
5122 ILLEGAL COMMAND IN SPIRAL
A spiral interpolation or conical interpolation command has an error. Specifically, this error is caused by one of the following;1) L = 0 is specified.;2) Q = 0 is specified.;3) R/, R/, C is specified.;4) Zero is specified as height increment.;5) Three or more axes are specified as the height axes.;6) A height increment is specified when there are two height axes.;7) Conical interpolation is specified when the helical interpolation function is not selected.;8) Q 0 is specified when radius difference 0.;9) Q 0 is specified when radius difference 0.;10) A height increment is specified when no height axis is specified.
5123 OVER TOLERANCE OF END POINT
The difference between a specified end point and the calculated end point exceeds the allowable range (parameter 3471).
5124 CAN NOT COMMAND SPIRAL
A spiral interpolation or conical interpolation was specified in any of the following modes;1) Scaling;2) Programmable mirror image;3) Polar coordinate interpolation In cutter compensation C mode, the center is set as the start point or end point.
5134 FSSB: OPEN READY TIME OUT
Initialization did not place FSSB in the open ready state.
5135 FSSB: ERROR MODE
FSSB has entered error mode.
5136 FSSB: NUMBER OF AMPS IS SMALL
In comparison with the number of controlled axes, the number of amplifiers recognized by FSSB is not enough.
5137 FSSB: CONFIGURATION ERROR
FSSB detected a configuration error.
5138 FSSB: AXIS SETTING NOT COMPLETE
In automatic setting mode, axis setting has not been made yet. Perform axis setting on the FSSB setting screen.
5139 FSSB: ERROR
Servo initialization did not terminate normally. The optical cable may be defective, or there may be an error in connection to the amplifier or another module. Check the optical cable and the connection status.
5155 NOT RESTART PROGRAM BY G05
During servo leaning control by G05, an attempt was made to perform restart operation after feed hold or interlock. This restart operation cannot be performed. (G05 leaning control terminates at the same time.)
5156 ILLEGAL AXIS OPERATION
In look–ahead control mode (multi blocks are read in advance), the controlled axis selection signal (PMC axis control) changes. In look–achead control mode (multi blocks are read in advance), the simple synchronous axis selection signal changes.
5157 PARAMETER ZERO
Zero is set in the parameter for the maximum cutting feedrate (parameter No. 1422 or 1432). Zero is set in the parameter for the acceleration/deceleration before interpolation (parameter No. 1770 or 1771). Set the parameter correctly.
5195 DIRECTION CAN NOT BE JUDGED
When the touch sensor with a single contact signal input is used in the direct input B function for tool offset measurement values, the stored pulse direction is not constant. One of the following conditions exists;· The stop state exists in offset write mode.;· Servo off state;· The direction varies.;· Movement takes place simultaneously along two axes.
5196 ILLEGAL OPERATION (HPCC)
Detach operation was performed in HPCC mode. (If detach operation is performed in HPCC mode, this alarm is issued after the currently executed block terminates.)
5197 FSSB: OPEN TIME OUT
The CNC permitted FSSB to open, but FSSB was not opened.
5198 FSSB: ID DATA NOT READ
Temporary assignment failed, so amplifier initial ID information could not be read.
5199 FINE TORQUE SENSING PARAMETER
A parameter related to the fine torque sensing function is illegal.;· The storage interval is invalid.;· An invalid axis number is set as the target axis. Correct the parameter.
5212 SCREEN COPY: PARAMETER ERROR
There is a parameter setting error. Check that 4 is set as the I/O channel.
5213 SCREEN COPY: COMMUNICATION ERROR
The memory card cannot be used. Check the memory card. (Check whether the memory card is write–protected or defective.)
5214 SCREEN COPY: DATA TRANSFER ERROR
Data transfer to the memory card failed. Check whether the memory card space is insufficient and whether the memory card was removed during data transfer.
5218 ILLEGAL PARAMETER (INCL. COMP)
There is an inclination compensation parameter setting error. Cause;1. The number of pitch error compensation points between the negative (–) end and positive (+) end exceeds 128.;2. The relationship in magnitude among the inclination compensation point numbers is incorrect.;3. An inclination compensation point is not located between the negative (–) end and positive (+) end of the pitch error compensation points.;4. The amount of compensation per compensation point is too large or too small. Correct the parameter.
5219 CAN NOT RETURN
Manual intervention or return is not allowed during three–dimensional coordinate conversion.
5220 REFERENCE POINT ADJUSTMENT MODE
A parameter for automatically set a reference position is set. (Bit 2 of parameter No. 1819 = 1) Perform automatic setting. (Position the machine at the reference position manually, then perform manual reference position return.) Supplementary: Automatic setting sets bit 2 of parameter No. 1819 to 0.
5222 SRAM CORRECTABLE ERROR
The SRAM correctable error cannot be corrected. Cause: A memory problem occurred during memory initialization. Action: Replace the master printed circuit board (SRAM module).
5227 FILE NOT FOUND
A specified file is not found during communication with the built–in Handy File.
5228 SAME NAME USED
There are duplicate file names in the built–in Handy File.
5229 WRITE PROTECTED
A floppy disk in the built–in Handy File is write protected.
5231 TOO MANY FILES
The number of files exceeds the limit during communication with the built–in Handy File.
5232 DATA OVER–FLOW
There is not enough floppy disk space in the built–in Handy File.
5235 COMMUNICATION ERROR
A communication error occurred during communication with the built–in Handy File.
5237 READ ERROR
A floppy disk in the built–in Handy File cannot be read from. The floppy disk may be defective, or the head may be dirty. Alternatively, the Handy File is defective.
5238 WRITE ERROR
A floppy disk in the built–in Handy File cannot be written to. The floppy disk may be defective, or the head may be dirty. Alternatively, the Handy File is defective.
5242 ILLEGAL AXIS NUMBER
The axis number of the synchronous master axis or slave axis is incorrect. (This alarm is issued when flexible synchronization is turned on.) Alternatively, the axis number of the slave axis is smaller than that of the master axis.
5243 DATA OUT OF RANGE
The gear ratio is not set correctly. (This alarm is issued when flexible synchronization is turned on.)
5244 TOO MANY DI ON
Even when an M code was encountered in automatic operation mode, the flexible synchronization mode signal was not driven on or off. Check the ladder and M codes.
5245 OTHER AXIS ARE COMMANDED
One of the following command conditions was present during flexible synchronization or when flexible synchronization was turned on;1. The synchronous master axis or slave axis is the EGB axis.;2. The synchronous master axis or slave axis is the chopping axis.;3. In reference position return mode
5251 ILLEGAL PARAMETER IN G54.2
A fixture offset parameter (No. 7580 to 7588) is illegal. Correct the parameter.
5252 ILLEGAL P COMMAND IN G54.2
The P value specifying the offset number of a fixture offset is too large. Correct the program.
5257 G41/G42 NOT ALLOWED IN MDI MODE
M series;G41/G42 (cutter compensation C: M series) was specified in MDI mode. (Depending on the setting of bit 4 of parameter No. 5008)
5300 SET ALL OFFSET DATAS AGAIN
After the inch/metric automatic conversion function (OIM: Bit 0 of parameter No. 5006) for tool offset data is enabled or disabled, all the tool offset data must be reset. This message reminds the operator to reset the data. If this alarm is issued, reset all the tool offset data. Operating the machine without resetting the data will result in a malfunction.
5302 ILLEGAL COMMAND IN G68 MODE
A command to set the coordinate system is specified in the coordinate system rotation mode.
5303 TOUCH PANEL ERROR
A touch panel error occurred. Cause;1. The touch panel is kept pressed.;2. The touch panel was pressed when power was turned on. Remove the above causes, and turn on the power again.
5306 MODE CHANGE ERROR
In a one–touch macro call, mode switching at the time of activation is not performed correctly.
5307 INTERNAL DATA OVER FLOW
In the following function, internal data exceeds the allowable range.;1) Improvement of the rotation axis feedrate
5311 FSSB:ILLEGAL CONNECTION
A connection related to FSSB is illegal. This alarm is issued when either of the following is found;1. Two axes having adjacent servo axis numbers (parameter No. 1023), odd number and even number, are assigned to amplifiers to which different FSSB systems are connected.;2. The system does not satisfy the requirements for performing HRV control, and use of two pulse modules connected to different FSSB systems having different FSSB current control cycles is specified.
5321 S–COMP. VALUE OVERFLOW
The straightness compensation value has exceeded the maximum value of 32767.After this alarm is issued, make a manual reference position return.
5400 SPL:ILLEGAL AXIS COMMAND
An axis specified for spline interpolation or smooth interpolation is incorrect. If an axis that is not the spline axis is specified in spline interpolation mode, this alarm is issued. The spline axis is the axis specified in a block containing G06.1 or the next block. For smooth interpolation, the axis specified in G5.1Q2 is incorrect.
5401 SPL:ILLEGAL COMMAND
In a G code mode in which specification of G06.1 is not permitted, G06.1 is specified.
5402 SPL:ILLEGAL AXIS MOVING
A movement is made along an axis that is not the spline interpolation axis. For example, in three–dimensional tool compensation mode using an offset vector of which components are the X–, Y–, and Z–axes, when two–axis spline interpolation is performed with the two spline axes set to the X– and Y–axes, a movement along the Z–axis occurs, resulting in this alarm.
5403 SPL:CAN NOT MAKE VECTOR
Three–dimensional tool compensation vectors cannot be generated.;· When a three–dimensional tool compensation vector is created for the second or subsequent point, that point, previous point, and next point are on the same straight line, and that straight line and the three– dimensional tool compensation vector for the previous point are in parallel.;· When a three–dimensional tool compensation vector is created at the end point of smooth interpolation or spline interpolation, the end point and the point two points before are the same.
5405 ILLEGAL PARAMETER IN G41.2/ G42.2
The parameter setting that determines the relationship between the rotation axis and rotation plane is incorrect.
5406 G41.3/G40 FORMAT ERROR
1) A G41.3 or G40 block contains a move command.;2) A G1.3 block contains a G code or M code for which buffering is suppressed.
5407 ILLEGAL COMMAND IN G41.3
1) A G code that belongs to group 01 except G00 and G01 is specified in G41.3 mode.;2) An offset command (a G code belonging to group 07) is specified in G41.3 mode.;3) The block next to G41.3 (startup) contains no movement.
5408 G41.3 ILLEGAL START_UP
1) In a mode of group 01 except G00 and G01, G41.3 (startup) is specified.;2) At startup, the included angle of the tool direction vector and move direction vector is 0 or 180 degrees.
5409 ILLEGAL PARAMETER IN G41.3
The parameter setting (No. xxxx to xxxx) that determines the relationship between the rotation axis and rotation plane is incorrect.
5411 NURBS:ILLEGAL ORDER
The number of steps is specified incorrectly.
5412 NURBS:NO KNOT COMMAND
No knot is specified. Alternatively, in NURBS interpolation mode, a block not relating to NURBS interpolation is specified.
5413 NURBS:ILLEGAL AXIS COMMAND
An axis not specified with controlled points is specified in the first block.
5414 NURBS:ILLEGAL KNOT
The number of blocks containing knots only is insufficient.
5415 NURBS:ILLEGAL CANCEL
Although NURBS interpolation is not completed yet, the NURBS interpolation mode is turned off.
5416 NURBS:ILLEGAL MODE
A mode that cannot be used with NURBS interpolation mode is specified in NURBS interpolation mode.
5417 NURBS:ILLEGAL MULTI–KNOT
As many knots as the number of steps are not specified at the start and end points.
5418 NURBS:ILLEGAL KNOT VALUE
Knots do not increase in monotone.
5420 ILLEGAL PARAMETER IN G43.4/ G43.5
A parameter related to pivot tool length compensation is incorrect.
5421 ILLEGAL COMMAND IN G43.4/ G43.5
In pivot tool length compensation (type 2) mode, a rotation axis is specified.
5422 EXCESS VELOCITY IN G43.4/ G43.5
As a result of pivot tool length compensation, an attempt was made to move the tool along an axis at a feedrate exceeding the maximum cutting feedrate.
5425 ILLEGAL OFFSET VALUE
The offset number is incorrect.
5430 ILLEGAL COMMAND IN 3–D CIR
In a modal state in which three–dimensional circular interpolation cannot be specified, a three–dimensional circular interpolation (G02.4/G03.4) is specified. Alternatively, in three–dimensional circular interpolation mode, a code that cannot be specified is specified.
5432 G02.4/G03.4 FORMAT ERROR
A three–dimensional circular interpolation command (G02.4/G03.4) is incorrect.
5433 MANUAL INTERVENTION IN 3–D CIR
In three–dimensional circular interpolation mode (G02.4/G03.4), manual intervention was made when the manual absolute switch was on.
5435 PARAMETER OUT OF RANGE
Incorrect parameter setting (set value range)
5436 PARAMETER SETTING ERROR 1
Incorrect parameter setting (setting of the rotation axis)
5437 PARAMETER SETTING ERROR 2
Incorrect parameter setting (setting of the tool axis)
5440 ILLEGAL DRILLING AXIS SELECTED
The drilling axis specified for the drilling canned cycle is incorrect. The G code command block of the canned cycle does not specify the Z point of the drilling axis. When there is a parallel axis with the drilling axis, the parallel axis is also specified at the same time.
5445 CRC:MOTION IN G39
Corner circular interpolation (G39) of cutter compensation is not specified alone but is specified with a move command.
5446 CRC:NO AVOIDANCE
Because there is no interference evade vector, the interference check evade function of cutter compensation cannot evade interference.
5447 CRC:DANGEROUS AVOIDANCE
The interference check evade function of cutter compensation determines that an evade operation will lead to danger.
5448 CRC:INTERFERENCE TO AVD.
In the interference check evade function of cutter compensation, a further interference occurs for an already created interference evade vector.
5452 IMPROPER G–CODE (5AXIS MODE)
A G code that cannot be specified is found. (5–axis mode) This alarm is issued when;1) Three–dimensional cutter compensation (side–face offset and leading– edge offset) is applied during cutter compensation, or cutter compensation is applied during three–dimensional cutter compensation (side–face offset and leading–edge offset).;2) A leading–edge offset of three–dimensional cutter compensation is applied during side–face offsetting of three–dimensional cutter compensation, or a side–face offset of three–dimensional cutter compensation is applied during leading–edge offsetting of three–dimensional cutter compensation.;3) Tool axis direction tool length compensation is applied during tool length compensation, or tool length compensation is applied during tool axis direction tool length compensation.;4) Tool center point control is provided during tool length compensation, or tool length compensation is applied during tool center point control.;5) Tool center point control is provided during tool axis direction tool length compensation, or tool axis direction tool length compensation is applied during tool center point control.;If this alarm is issued, cancel the relevant mode, then specify a different mode.
5453 NOTE: G68 IS CANCELED
When bit 2 of parameter No. 5400 is set to 1, and a reset does not cancel G68, this alarm is issued at the time of program restart. To release this alarm, press RESET and CAN. Once this operation is performed, the alarm will not be issued at the next restart.
5455 ILLEGAL ACC. PARAMETER
A permissible acceleration parameter for optimum torque acceleration/ deceleration is incorrect. The cause is one of the following;1) The ratio of the deceleration rate to the acceleration rate is below the limit.;2) The time required for deceleration to a speed of 0 exceeds the maximum value.
400 SERVO ALARM: n–TH AXIS OVERLOAD
The n–th axis (axis 1–4) overload signal is on. Refer to diagnosis display No. 200, 201 for details.
401 SERVO ALARM: n–TH AXIS VRDY OFF
The n–th axis (axis 1–8) servo amplifier READY signal (DRDY) went off. Refer to procedure of trouble shooting.
402 SERVO ALARM: SV CARD NOT EXIST
The axis control card is not provided.
403 SERVO ALARM: CARD/SOFT MISMATCH
The combination of the axis control card and servo software is illegal.
404 SERVO ALARM: n–TH AXIS VRDY ON
Even though the n–th axis (axis 1–8) READY signal (MCON) went off, the servo amplifier READY signal (DRDY) is still on. Or, when the power was turned on, DRDY went on even though MCON was off. Check that the servo interface module and servo amp are connected.
405 SERVO ALARM: (ZERO POINT RETURN FAULT)
Position control system fault. Due to an NC or servo system fault in the reference position return, there is the possibility that reference position return could not be executed correctly. Try again from the manual reference position return.
407 SERVO ALARM: EXCESS ERROR
The difference in synchronous axis position deviation exceeded the set value.
409 SERVO ALARM: n AXIS TORQUE ALM
Abnormal load has been detected on the servo motor(s). Alternatively, abnormal spindle motor load has been detected in Cs mode.
410 SERVO ALARM: n–TH AXIS – EXCESS ERROR
The position deviation value when the n–th axis (axis 1–8) stops is larger than the set value. Refer to procedure of trouble shooting.
411 SERVO ALARM: n–TH AXIS – EXCESS ERROR
The position deviation value when the n–th axis (axis 1–8) moves is larger than the set value. Refer to procedure of trouble shooting.
413 SERVO ALARM: n–th AXIS – LSI OVERFLOW
The contents of the error register for the n–th axis (axis 1–8) exceeded ±231 power. This error usually occurs as the result of an improperly set parameters.
414 SERVO ALARM: n–TH AXIS – DETECTION RELATED ERROR
N–th axis (axis 1–4) digital servo system fault. Refer to diagnosis display No. 200, 201, and No.204 for details.
415 SERVO ALARM: n–TH AXIS – EXCESS SHIFT
A speed higher than 524288000 units/s was attempted to be set in the n–th axis (axis 1–8). This error occurs as the result of improperly set CMR.
416 SERVO ALARM: n–TH AXIS – DISCONNECTION
Position detection system fault in the n–th axis (axis 1–4) pulse coder (disconnection alarm). Refer to diagnosis display No. 200, 201 for details.
417 SERVO ALARM: n–TH AXIS – PARAMETER INCORRECT
420 SERVO ALARM: n AXIS SYNC TORQUE
421 SERVO ALARM: n AXIS EXCESS ER (D)
422 SERVO ALARM: n AXIS
423 SERVO ALARM: n AXIS
430 n AXIS: SV. MOTOR OVERHEAT
431 n AXIS: CNV. OVERLOAD
432 n AXIS: CNV. LOW VOLT CONTROL
433 n AXIS: CNV. LOW VOLT DC LINK
434 n AXIS: INV. LOW VOLT CONTROL
435 n AXIS: INV. LOW VOLT DC LINK
436 n AXIS: SOFTTHERMAL (OVC)
437 n AXIS: CNV. OVERCURRENT POWER
438 n AXIS: INV. ABNORMAL CURRENT
439 n AXIS: CNV. OVER VOLT DC LINK
440 n AXIS: CNV. EX DECELERATION POW.
441 n AXIS: ABNORMAL CURRENT OFFSET
442 n AXIS: CNV. CHARGE FAILURE
443 n AXIS: CNV. COOLING FAN FAILURE
444 n AXIS: INV. COOLING FAN FAILURE
445 n AXIS: SOFT DISCONNECT ALARM
446 n AXIS: HARD DISCONNECT ALARM
447 n AXIS: HARD DISCONNECT (EXT)
448 n AXIS: UNMATCHED FEEDBACK ALARM
449 n AXIS: INV. IPM ALARM
453 n AXIS: SPC SOFT DISCONNECT ALARM
456 n AXIS: ILLEGAL CURRENT LOOP
457 n AXIS: ILLEGAL HI HRV (250US)
458 n AXIS: CURRENT LOOP ERROR
459 n AXIS: HI HRV SETTING ERROR
460 n AXIS: FSSB DISCONNECT
461 n AXIS: ILLEGAL AMP INTERFACE
462 n AXIS: SEND CNC DATA FAILED
463 n AXIS: SEND SLAVE DATA FAILED
464 n AXIS: WRITE ID DATA FAILED
465 n AXIS: READ ID DATA FAILED
466 n AXIS: MOTOR/AMP COMBINATION
467 n AXIS: ILLEGAL SETTING OF AXIS
468 n AXIS: HI HRV SETTING ERROR (AMP)
360 n AXIS: ABNORMAL CHECKSUM (INT)
361 n AXIS: ABNORMAL PHASE DATA (INT)
362 n AXIS: ABNORMAL REV.DATA (INT)
363 n AXIS: ABNORMAL CLOCK (INT)
364 n AXIS: SOFT PHASE ALARM (INT)
365 n AXIS: BROKEN LED (INT)
366 n AXIS: PULSE MISS (INT)
367 n AXIS: COUNT MISS (INT)
368 n AXIS: SERIAL DATA ERROR (INT)
369 n AXIS: DATA TRANS. ERROR (INT)
380 n AXIS: BROKEN LED (EXT)
381 n AXIS: ABNORMAL PHASE (EXT LIN)
382 n AXIS: COUNT MISS (EXT)
383 n AXIS: PULSE MISS (EXT)
384 n AXIS: SOFT PHASE ALARM (EXT)
385 n AXIS: SERIAL DATA ERROR (EXT)
386 n AXIS: DATA TRANS. ERROR (EXT)
387 n AXIS: ABNORMAL ENCODER (EXT)
500 OVER TRAVEL: +n
501 OVER TRAVEL: –n
502 OVER TRAVEL: +n
503 OVER TRAVEL: –n
504 OVER TRAVEL: +n
505 OVER TRAVEL: –n
506 OVER TRAVEL: +n
507 OVER TRAVEL: –n
700 OVERHEAT: CONTROL UNIT
701 OVERHEAT: FAN MOTOR
704 OVERHEAT: SPINDLE
740 RIGID TAP ALARM: EXCESS ERROR
741 RIGID TAP ALARM: EXCESS ERROR
742 RIGID TAP ALARM: LSI OVER FLOW
749 S–SPINDLE LSI ERROR
750 SPINDLE SERIAL LINK START FAULT
751 FIRST SPINDLE ALARM DETECTION (AL–XX)
752 FIRST SPINDLE MODE CHANGE FAULT
754 SPINDLE–1 ABNORMAL TORQUE ALM
761 SECOND SPINDLE ALARM DETECTION (AL–XX)
762 SECOND SPINDLE MODE CHANGE FAULT
764 SPINDLE–2 ABNORMAL TORQUE ALM
771 SPINDLE–3 ALARM DETECT (AL–XX)
772 SPINDLE–3 MODE CHANGE ERROR
774 SPINDLE–3 ABNORMAL TORQUE ALM
782 SPINDLE–4 MODE CHANGE ERROR
784 SPINDLE–4 ABNORMAL TORQUE ALM
4800 ZONE: PUNCHING INHIBITED 1
4801 ZONE: PUNCHING INHIBITED 2
4802 ZONE: PUNCHING INHIBITED 3
4803 ZONE: PUNCHING INHIBITED 4
4810 ZONE: ENTERING INHIBITED 1 +X
4811 ZONE: ENTERING INHIBITED 1 –X
4812 ZONE: ENTERING INHIBITED 2 +X
4813 ZONE: ENTERING INHIBITED 2 –X
4814 ZONE: ENTERING INHIBITED 3 +X
4815 ZONE: ENTERING INHIBITED 3 –X
4816 ZONE: ENTERING INHIBITED 4 +X
4817 ZONE: ENTERING INHIBITED 4 –X
4830 ZONE: ENTERING INHIBITED 1 +Y
4831 ZONE: ENTERING INHIBITED 1 –Y
4832 ZONE: ENTERING INHIBITED 2 +Y
4833 ZONE: ENTERING INHIBITED 2 –Y
4834 ZONE: ENTERING INHIBITED 3 +Y
4835 ZONE: ENTERING INHIBITED 3 –Y
4836 ZONE: ENTERING INHIBITED 4 +Y
4837 ZONE: ENTERING INHIBITED 4 –Y
4870 AUTO SETTING FEED ERROR
4871 AUTO SETTING PIECES ERROR
4872 AUTO SETTING COMMAND ERROR
900 ROM PARITY
910 SRAM PARITY: (BYTE 0)
911 SRAM PARITY: (BYTE 1)
912 DRAM PARITY: (BYTE 0)
913 DRAM PARITY: (BYTE 1)
914 DRAM PARITY: (BYTE 2)
915 DRAM PARITY: (BYTE 3)
916 DRAM PARITY: (BYTE 4)
917 DRAM PARITY: (BYTE 5)
918 DRAM PARITY: (BYTE 6)
919 DRAM PARITY: (BYTE 7)
920 SERVO ALARM (1–4 AXIS)
921 SERVO ALARM (5–8 AXIS)
926 FSSB ALARM
930 CPU INTERRUPT
935 SRAM ECC ERROR
950 PMC SYSTEM ALARM
951 PMC WATCH DOG ALARM
970 NMI OCCURRED IN PMCLSI
971 NMI OCCURRED IN SLC
972 NMI OCCURRED IN OTHER MODULE
973 NON MASK INTERRUPT
974 F–BUS ERROR
975 BUS ERROR
976 L–BUS ERROR
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28 FANUC robot programming error codes (and what they mean)
FANUC robots set the standard for quality, reliability, and efficiency. When you purchase a FANUC robot, you can expect everything to work seamlessly and to get quality results from your investment. However, you may occasionally come across programming error codes that you should be aware of to keep your machines operating at peak efficiency.
An error code may seem like a sign that something is wrong, but really they are alerts that can tell you that something needs to be changed before your robot is damaged. By correctly identifying and understanding your FANUC robot programming error codes, you can protect your investment and keep it performing at its best for years to come.
Error codes and descriptions
INTP-105 (%s,%d) Run request failed
The program cannot be started.
INTP-248 (%s, %d) MACRO failed
The macro command can not be executed.
INTP-250 (%s, %d) Invalid uframe number
The number of the work plan is not valid.
INTP-251 (%s, %d) Invalid utool number
The number of the work tool is invalid.
INTP-252 User frame number mismatch
The selected workbench is not valid.
INTP-253 Tool frame number mismatch
The selected work tool is not the same as the position tool.
INTP-447(%s,%d) Parentheses mismatch
Bad parenthesis combination.
JOG-007 Press shift key to jog
The robot’s manual movement key was pressed but the SHIFT key was not pressed.
JOG-010 Jog pressed before shift
This code means that one of the robot’s manual movement keys was pressed before the SHIFT key was pressed.
MACR-013 MACRO execution failed
The macro cannot be executed.
MACR-016 The macro is not completed
The execution of the macro has been interrupted.
MOTN-018 Position not reachable
The requested position is inaccessible.
MOTN-019 In Singularity
The requested position is close to the singularity (parallel J4 and J6).
MOTN-063 Position config change (G
This alarm indicates that the robot is unable to go to the requested position. It cannot execute the movement.
PROG-048 Shift released while running (prog)
The SHIFT key was released while the program was running in T1 or T2 mode.
SRVO-003 or SRVO-234 Deadman switch release
The yellow buttons on the back of the controller have been released while the programming the robot in T1 mode.
SRVO-062 BZAL alarm (G A :x) or SRVO-084 BZAL alarm
Encoder batteries have low voltage or the encoder cable is disconnected.
SRVO-080 OVC alarm
The RMS current calculated by the “servo-drive” exceeds the allowed value. This alarm protects the motor and amplifiers against thermal damage.
SRVO-160 Panel/external E-stop
The controller emergency stop button or the external emergency stop has been pressed.
SRVO-161 Fence open or Deadman switch released
This alarm appears when the “deadman” buttons are released, or the robot’s fence is open.
SRVO-162 Deadman/Fence or Panel/External E-stop
This code appears when the “deadman” buttons are released, when the protective envelope (fence) of the robot is open, or when one of the emergency stop buttons is pressed.
SRVO-230 or SRVO-231 Chain (1 or 2) abnormal
This alarm appears if there is a break in Channel 1 (24V) or Channel 2 (0V) of the emergency stop circuit.
SRVO-324 Disturbance excess
The torque limit of a specific joint is reached.
SYST-003 TP is enabled
The robot lever selector is ON.
SYST-009 Safety Fence is open
The requested operation could not be completed because the enclosure’s secure envelope is open.
SYST-017 Single-step operation effective
STEP mode is engaged.
SYST-043 TP disabled in T1/T2 mode
The Mode Selector is in T1 or T2 while the Robot Controller Selector is ON.
SYST-045 TP enabled in AUTO mode
The Robot Controller Selector is ON and set in AUTO.
As you can see, there are a lot of error codes that can occur when using a Fanuc robot. Fortunately, DIY-Robotics gives you the resources you need to keep moving forward when you face a problem like the ones listed above. Contact our professionals to hear how we can work together to make your DIY-Robotics cell project a reality.
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200
ILLEGAL S CODE COMMAND
201
FEEDRATE NOT FOUND IN RIGID TAP
202
POSITION LSI OVERFLOW
203
PROGRAM MISS AT RIGID TAPPING
204
ILLEGAL AXIS OPERATION
205
RIGID MODE DI SIGNAL OFF
206
CAN NOT CHANGE PLANE (RIGID TAP) (M series)
207
RIGID DATA MISMATCH
210
CAN NOT COMAND M198/M199
211
G31 (HIGH) NOT ALLOWED IN G99
212
ILLEGAL PLANE SELECT (M series)
212
ILLEGAL PLANE SELECT (T series)
213
ILLEGAL COMMAND IN SYNCHRO–MODE
213
ILLEGAL COMMAND IN SYNCHRO–MODE (T series)
214
ILLEGAL COMMAND IN SYNCHRO–MODE
217
DUPLICATE G51.2 (COMMANDS) (T series)
218
NOT FOUND P/Q COMMAND IN G251 (T series)
219
COMMAND G250/G251 INDEPENDENTLY (T series)
220
ILLEGAL COMMAND IN SYNCHR–MODE (T series)
221
ILLEGAL COMMAND IN SYNCHR–MODE (T series)
222
DNC OP. NOT ALLOWED IN BG.–EDIT (M series)
224
RETURN TO REFERENCE POINT (M series)
224
RETURN TO REFERENCE POINT (T series)
225
SYNCHRONOUS/MIXED CONTROL ERROR (T series (At two–path))
226
ILLEGAL COMMAND IN SYNCHRO– MODE (T series (At two–path))
229
CAN NOT KEEP SYNCHRO–STATE (T series)
230
R CODE NOT FOUND (Grinding machine) (M series)
231
ILLEGAL FORMAT IN G10 OR L50
233
DEVICE BUSY
239
BP/S ALARM
240
BP/S ALARM
244
P/S ALARM (T series)
245
T–CODE NOT ALOWEE IN THIS BLOCK (T series)
251
ATC ERROR (M series)
252
ATC SPINDLE ALARM (M series)
253
G05 IS NOT AVAILABLE (M series)
300
n AXIS NEED ZRN
301
APC ALARM:n AXIS COMMUNICATION
302
APC ALARM:n AXIS OVER TIME
303
APC ALARM:n AXIS FRAMING
304
APC ALARM:n AXIS PARITY
305
APC ALARM:n AXIS PULSE MISS
306
APC ALARM:n AXIS BATTERY ZERO
307
APC ALARM:n AXIS BATTERY DOWN 1
308
APC ALARM:n AXIS BATTERY DOWN 2
309
APC ALARM:n AXIS ZRN IMPOSSIBLE
360
n AXIS : ABNORMAL CHECKSUM (INT)
361
n AXIS : ABNORMAL PHASE DATA (INT)
362
n AXIS : ABNORMAL REV.DATA (INT)
363
n AXIS : ABNORMAL CLOCK (INT)
364
n AXIS : SOFT PHASE ALARM (INT)
365
n AXIS : BROKEN LED (INT)
366
n AXIS : PULSE MISS (INT)
367
n AXIS : COUNT MISS (INT)
368
n AXIS : SERIAL DATA ERROR (INT)
369
n AXIS : DATA TRANS. ERROR (INT)
380
n AXIS : BROKEN LED (EXT)
381
n AXIS : ABNORMAL PHASE (EXT LIN)
382
n AXIS : COUNT MISS (EXT)
383
n AXIS : PULSE MISS (EXT)
384
n AXIS : SOFT PHASE ALARM (EXT)
385
n AXIS : SERIAL DATA ERROR (EXT)
386
n AXIS : DATA TRANS. ERROR (EXT)
387
n AXIS : ABNORMAL ENCODER (EXT)
400
SERVO ALARM: n–TH AXIS OVERLOAD
401
SERVO ALARM: n–TH AXIS VRDY OFF
402
SERVO ALARM: SV CARD NOT EXIST
403
SERVO ALARM: CARD/SOFT MISMATCH
404
SERVO ALARM: n–TH AXIS VRDY ON
405
SERVO ALARM: (ZERO POINT RETURN FAULT)
407
SERVO ALARM: EXCESS ERROR
409
SERVO ALARM: n AXIS TORQUE ALM
410
SERVO ALARM: n–TH AXIS – EXCESS ERROR
411
SERVO ALARM: n–TH AXIS – EXCESS ERROR
413
SERVO ALARM: n–th AXIS – LSI OVERFLOW
414
SERVO ALARM: n–TH AXIS – DETECTION RELATED ERROR
415
SERVO ALARM: n–TH AXIS – EXCESS SHIFT
416
SERVO ALARM: n–TH AXIS – DISCONNECTION
417
SERVO ALARM: n–TH AXIS – PARAMETER INCORRECT
420
SERVO ALARM: n AXIS SYNC TORQUE (M series)
421
SERVO ALARM: n AXIS EXCESS ER (D)
422
SERVO ALARM: n AXIS
423
SERVO ALARM: n AXIS
430
n AXIS : SV. MOTOR OVERHEAT
431
n AXIS : CNV. OVERLOAD
432
n AXIS : CNV. LOW VOLT CONTROL
433
n AXIS : CNV. LOW VOLT DC LINK
434
n AXIS : INV. LOW VOLT CONTROL
435
n AXIS : INV. LOW VOLT DC LINK
436
n AXIS : SOFTTHERMAL (OVC)
437
n AXIS : CNV. OVERCURRENT POWER
438
n AXIS : INV. ABNORMAL CURRENT
439
n AXIS : CNV. OVER VOLT DC LINK
440
n AXIS : CNV. EX DECELERATION POW.
441
n AXIS : ABNORMAL CURRENT OFFSET
442
n AXIS : CNV. CHARGE FAILURE
443
n AXIS : CNV. COOLING FAN FAILURE
444
n AXIS : INV. COOLING FAN FAILURE
445
n AXIS : SOFT DISCONNECT ALARM
446
n AXIS : HARD DISCONNECT ALARM
447
n AXIS : HARD DISCONNECT (EXT)
448
n AXIS : UNMATCHED FEEDBACK ALARM
449
n AXIS : INV. IPM ALARM
453
n AXIS : SPC SOFT DISCONNECT ALARM
456
n AXIS : ILLEGAL CURRENT LOOP
457
n AXIS : ILLEGAL HI HRV (250US)
458
n AXIS : CURRENT LOOP ERROR
459
n AXIS : HI HRV SETTING ERROR
460
n AXIS : FSSB DISCONNECT
461
n AXIS : ILLEGAL AMP INTERFACE
462
n AXIS : SEND CNC DATA FAILED
463
n AXIS : SEND SLAVE DATA FAILED
464
n AXIS : WRITE ID DATA FAILED
465
n AXIS : READ ID DATA FAILED
466
n AXIS : MOTOR/AMP COMBINATION
467
n AXIS : ILLEGAL SETTING OF AXIS
468
n AXIS : HI HRV SETTING ERROR (AMP)
500
OVER TRAVEL : +n
501
OVER TRAVEL : –n
502
OVER TRAVEL : +n
503
OVER TRAVEL : –n
504
OVER TRAVEL : +n
505
OVER TRAVEL : –n
506
OVER TRAVEL : +n
507
OVER TRAVEL : –n
700
OVERHEAT: CONTROL UNIT
701
OVERHEAT: FAN MOTOR
704
OVERHEAT: SPINDLE
740
RIGID TAP ALARM : EXCESS ERROR
741
RIGID TAP ALARM : EXCESS ERROR
742
RIGID TAP ALARM : LSI OVER FLOW
749
S–SPINDLE LSI ERROR
750
SPINDLE SERIAL LINK START FAULT
751
FIRST SPINDLE ALARM DETECTION (AL–XX)
752
FIRST SPINDLE MODE CHANGE FAULT
754
SPINDLE–1 ABNORMAL TORQUE ALM
761
SECOND SPINDLE ALARM DETECTION (AL–XX)
762
SECOND SPINDLE MODE CHANGE FAULT
764
SPINDLE–2 ABNORMAL TORQUE ALM
771
SPINDLE–3 ALARM DETECT (AL–XX)
772
SPINDLE–3 MODE CHANGE ERROR
774
SPINDLE–3 ABNORMAL TORQUE ALM
782
SPINDLE–4 MODE CHANGE ERROR
784
SPINDLE–4 ABNORMAL TORQUE ALM
900
ROM PARITY
910
SRAM PARITY : (BYTE 0)
911
SRAM PARITY : (BYTE 1)
912
DRAM PARITY : (BYTE 0)
913
DRAM PARITY : (BYTE 1)
914
DRAM PARITY : (BYTE 2)
915
DRAM PARITY : (BYTE 3)
916
DRAM PARITY : (BYTE 4)
917
DRAM PARITY : (BYTE 5)
918
DRAM PARITY : (BYTE 6)
919
DRAM PARITY : (BYTE 7)
920
SERVO ALARM (1–4 AXIS)
921
SERVO ALARM (5–8 AXIS)
926
FSSB ALARM
930
CPU INTERRUPUT
935
SRAM ECC ERROR
950
PMC SYSTEM ALARM
951
PMC WATCH DOG ALARM
970
NMI OCCURRED IN PMCLSI
971
NMI OCCURRED IN SLC
972
NMI OCCURRED IN OTHER MODULE
973
NON MASK INTERRUPT
974
F–BUS ERROR
975
BUS ERROR
976
L–BUS ERROR
4500
REPOSITIONING INHIBITED
4502
ILLEGAL COMMAND IN BOLT HOLE
4503
ILLEGAL COMMAND IN LINE AT ANGLE
4504
ILLEGAL COMMAND IN ARC
4505
ILLEGAL COMMAND IN GRID
4506
ILLEGAL COMMAND IN SHARE PROOFS
4507
ILLEGAL COMMAND IN SQUARE
4508
ILLEGAL COMMAND IN RADIUS
4509
ILLEGAL COMMAND IN CUT AT ANGLE
4510
ILLEGAL COMMAND IN LINE-PUNCH
4511
ILLEGAL COMMAND IN CIRCLE-PUNCH
4520
T, M INHIBITED IN NIBBLING-MODE
4521
EXCESS NIBBLING MOVEMENT (X, Y)
4522
EXCESS NIBBLING MOVEMENT (C)
4523
ILLEGAL COMMAND IN CIRCLE-NIBBL
4524
ILLEGAL COMMAND IN LINE-NIBBL
4530
A/B MACRO NUMBER ERROR
4531
U/V MACRO FORMAT ERROR
4532
IMPROPER U/V MACRO NUMBER
4533
U/V MACRO MEMORY OVERFLOW
4534
W MACRO NUMBER NOT FOUND
4535
U/V MACRO NESTING ERROR
4536
NO W, Q COMMAND IN MULTI-PIECE
4537
ILLEGAL Q VALUE IN MULTI-PIECE
4538
W NO. NOT FOUND IN MULTI-PIECE
4539
MULTI-PIECE SETTING IS ZERO
4540
MULTI-PIECE COMMAND WITHIN MACRO
4542
MULTI-PIECE COMMAND ERROR
4543
MULTI-PIECE Q COMMAND ERROR
4544
MULTI-PIECE RESTART ERROR
4549
ILLEGAL TOOL DATA FORMAT
4600
T, C COMMAND IN INTERPOLATION
4601
INHIBITED T, M COMMAND
4602
ILLEGAL T-CODE
4603
C AXIS SYNCHRONOUS ERROR
4604
ILLEGAL AXIS OPERATION
4605
NEED ZRN
4630
ILLEGAL COMMAND IN LASER MODE
4650
IMPROPER G-CODE IN OFFSET MODE
4700
PROGRAM ERROR (OT +)
4701
PROGRAM ERROR (OT –)
4702
PROGRAM ERROR (OT +)
4703
PROGRAM ERROR (OT –)
4704
PROGRAM ERROR (OT +)
4705
PROGRAM ERROR (OT –)
4815
ZONE : ENTERING INHIBITED 3 –X
5000
ILLEGAL COMMAND CODE (M series)
5003
ILLEGAL PARAMETER (HPCC) (M series)
5004
HPCC NOT READY
5006
TOO MANY WORD IN ONE BLOCK (M series)
5007
TOO LARGE DISTANCE (M series)
5009
PARAMETER ZERO (DRY RUN) (M series)
5010
END OF RECORD
5012
G05 P10000 ILLEGAL START UP (HPCC) (M series)
5013
HPCC: CRC OFS REMAIN AT CANCEL (M series)
5014
TRACE DATA NOT FOUND (M series)
5018
POLYGON SPINDLE SPEED ERROR (T series)
5020
PARAMETER OF RESTART ERROR
5030
ILLEGAL COMMAND (G100) (T series)
5031
ILLEGAL COMMAND (G100, G102, G103) (T series)
5032
NEW PRG REGISTERED IN B–AXS MOVE (T series)
5033
NO PROG SPACE IN MEMORY B–AXS (T series)
5034
PLURAL COMMAND IN G110 (T series)
5035
NO FEEDRATE COMMANDED B–AXS (T series)
5036
ADDRESS R NOT DEFINED IN G81–G86 (T series)
5037
ADDRESS Q NOT DEFINED IN G83 (T series)
5038
TOO MANY START M–CODE COMMAND (T series)
5039
START UNREGISTERED B–AXS PROG (T series)
5040
CAN NOT COMMANDED B–AXS MOVE (T series)
5041
CAN NOT COMMANDED G110 BLOCK (T series)
5044
G68 FORMAT ERROR (M series)
5046
ILLEGAL PARAMETER (ST.COMP)
5050
ILL–COMMAND IN CHOPPING MODE (M series)
5051
M–NET CODE ERROR
5052
M–NET ETX ERROR
5053
M–NET CONNECT ERROR
5054
M–NET RECEIVE ERROR
5055
M–NET PRT/FRT ERROR
5057
M–NET BOARD SYSTEM DOWN
5058
G35/G36 FORMAT ERROR (T series)
5059
RADIUS IS OUT OF RANGE
5059
RADIUS IS OUT OF RANGE (T series)
5060
ILLEGAL PARAMETER IN G02.3/G03.3 (M series)
5061
ILLEGAL FORMAT IN G02.3/G03.3 (M series)
5062
ILLEGAL COMMAND IN G02.3/G03.3
5063
IS NOT PRESET AFTER REF. (M series)
5064
DIFFERRENT AXIS UNIT (IS–B, IS–C)
5065
DIFFERENT AXIS UNIT (PMC AXIS) (M series)
5067
(HPCC) (M series)
5068
G31 FORMAT ERROR (M series)
5069
WHL–C:ILLEGA P–DATA (M series)
5073
NO DECIMAL POINT
5074
ADDRESS DUPLICATION ERROR
5082
DATA SERVER ERROR
5085
SMOOTH IPL ERROR 1
5096
MISMATCH WAITING M–CODE
5110
IMPROPER G–CODE (G05.1 G1 MODE) (M series)
5111
IMPROPER MODAL G–CODE (G05.1 G1) (M series)
5112
G08 CAN NOT BE COMMANDED (G05.1 G1) (M series)
5113
CAN NOT ERROR IN MDI MODE (G05.1) (M series)
5114
NOT STOP POSITION (G05.1 Q1) (M series)
5115
SPL : ERROR (M series)
5116
SPL : ERROR (M series)
5117
SPL : ERROR (M series)
5118
SPL : ERROR (M series)
5122
ILLEGAL COMMAND IN SPIRAL (M series)
5123
OVER TOLERANCE OF END POINT (M series)
5124
CAN NOT COMMAND SPIRAL (M series)
5134
FSSB : OPEN READY TIME OUT
5135
FSSB : ERROR MODE
5136
FSSB : NUMBER OF AMPS IS SMALL
5137
FSSB : CONFIGURATION ERROR
5138
FSSB : AXIS SETTING NOT COMPLETE
5139
FSSB : ERROR
5155
NOT RESTART PROGRAM BY G05
5156
ILLEGAL AXIS OPERATION (M series)
5157
PARAMETER ZERO (M series)
5195
DIRECTION CAN NOT BE JUDGED (T series)
5196
ILLEGAL OPERATION (HPCC) (M series)
5197
FSSB : OPEN TIME OUT
5198
FSSB : ID DATA NOT READ
5199
FINE TORQUE SENSING PARAMETER
5212
SCREEN COPY : PARAMETER ERROR
5213
SCREEN COPY : COMMUNICATION ERROR
5214
SCREEN COPY : DATA TRANSFER ERROR
5218
ILLEGAL PARAMETER (INCL. COMP)
5219
CAN NOT RETURN
5220
REFERENCE POINT ADJUSTMENT MODE
5222
SRAM CORRECTABLE ERROR
5227
FILE NOT FOUND
5228
SAME NAME USED
5229
WRITE PROTECTED
5231
TOO MANY FILES
5232
DATA OVER–FLOW
5235
COMMUNICATION ERROR
5237
READ ERROR
5238
WRITE ERROR
5242
ILLEGAL AXIS NUMBER (M series)
5243
DATA OUT OF RANGE (M series)
5244
TOO MANY DI ON (M series)
5245
OTHER AXIS ARE COMMANDED (M series)
5251
ILLEGAL PARAMETER IN G54.2 (M series)
5252
ILLEGAL P COMMAND IN G54.2 (M series)
5257
G41/G42 NOT ALLOWED IN MDI MODE (M series)
5257
G41/G42 NOT ALLOWED IN MDI MODE (T series)
5300
SET ALL OFFSET DATAS AGAIN
5302
ILLEGAL COMMAND IN G68 MODE
5303
TOUCH PANEL ERROR
5306
MODE CHANGE ERROR
5307
INTERNAL DATA OVER FLOW (M series)
5311
FSSB:ILLEGAL CONNECTION
5321
S–COMP. VALUE OVERFLOW
5400
SPL:ILLEGAL AXIS COMMAND (M series)
5401
SPL:ILLEGAL COMMAND (M series)
5402
SPL:ILLEGAL AXIS MOVING (M series)
5403
SPL:CAN NOT MAKE VECTOR (M series)
5405
ILLEGAL PARAMETER IN G41.2/ G42.2 (M series)
5406
G41.3/G40 FORMAT ERROR (M series)
5407
ILLEGAL COMMAND IN G41.3 (M series)
5408
G41.3 ILLEGAL START_UP (M series)
5409
ILLEGAL PARAMETER IN G41.3 (M series)
5411
NURBS:ILLEGAL ORDER (M series)
5412
NURBS:NO KNOT COMMAND (M series)
5413
NURBS:ILLEGAL AXIS COMMAND (M series)
5414
NURBS:ILLEGAL KNOT (M series)
5415
NURBS:ILLEGAL CANCEL (M series)
5416
NURBS:ILLEGAL MODE (M series)
5417
NURBS:ILLEGAL MULTI–KNOT (M series)
5418
NURBS:ILLEGAL KNOT VALUE (M series)
5420
ILLEGAL PARAMETER IN G43.4/ G43.5 (M series)
5421
ILLEGAL COMMAND IN G43.4/ G43.5 (M series)
5422
EXCESS VELOCITY IN G43.4/ G43.5 (M series)
5425
ILLEGAL OFFSET VALUE (M series)
5430
ILLEGAL COMMAND IN 3–D CIR (M series)
5432
G02.4/G03.4 FORMAT ERROR (M series)
5433
MANUAL INTERVENTION IN 3–D CIR (M series)
5435
PARAMETER OUT OF RANGE (TLAC) (M series)
5436
PARAMETER SETTING ERROR 1 (TLAC) (M series)
5437
PARAMETER SETTING ERROR 2 (TLAC) (M series)
5440
ILLEGAL DRILLING AXIS SELECTED (M series)
5445
CRC:MOTION IN G39 (M series)
5446
CRC:NO AVOIDANCE (M series)
5447
CRC:DANGEROUS AVOIDANCE (M series)
5448
CRC:INTERFERENCE TO AVD. (M series)
5452
IMPROPER G–CODE (5AXIS MODE) (M series)
5453
NOTE: G68 IS CANCELED (HPCC) (M series)
5455
ILLEGAL ACC. PARAMETER (M series)
4800
ZONE: PUNCHING INHIBITED 1
4801
ZONE: PUNCHING INHIBITED 2
4802
ZONE: PUNCHING INHIBITED 3
4803
ZONE: PUNCHING INHIBITED 4
4804
ZONE: ENTERING INHIBITED 1 +X
4805
ZONE: ENTERING INHIBITED 1 –X
4806
ZONE: ENTERING INHIBITED 2 +X
4807
ZONE: ENTERING INHIBITED 2 –X
4808
ZONE: ENTERING INHIBITED 3 +X
4809
ZONE: ENTERING INHIBITED 4 +X
4810
ZONE: ENTERING INHIBITED 4 –X
4811
ZONE: ENTERING INHIBITED 1 +Y
4812
ZONE: ENTERING INHIBITED 1 –Y
4813
ZONE: ENTERING INHIBITED 2 +Y
4814
ZONE: ENTERING INHIBITED 2 –Y
4815
ZONE: ENTERING INHIBITED 3 +Y
4816
ZONE: ENTERING INHIBITED 3 –Y
4817
ZONE: ENTERING INHIBITED 4 +Y
4818
ZONE: ENTERING INHIBITED 4 –Y
4870
AUTO SETTING FEED ERROR
4871
AUTO SETTING PIECES ERROR
4872
AUTO SETTING COMMAND ERROR
FANUC Robotics SYSTEM R-J3 Controller PalletTool Setup and Operations Manual
MARO3PL5109801E REV. B
A.3 ERROR CODES
Error codes in this section are listed alphabetically. If you receive an error that does not appear in this section, write down all of the events that lead to the error. Perform a cold start to reset the error. If the error still occurs, call your FANUC Robotics technical representative.
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CALB Error Codes
CALB-000 WARN Unknown error
Cause: An internal error has occured. Remedy: Cold start the controller
CALB-001 WARN TCP differs by %s
Cause: The difference between the current TCP and the previous TCP is greater than the pre-defined threshold. Remedy: Run the AutoTCP utility again to confirm the TCP value.
CALB-002 WARN XYZ: %s
Cause: AutoTCP logs the previous TCP XYZ value to error log for record keeping. Remedy: None.
CALB-003 WARN WPR: %s
Cause: AutoTCP logs the previous TCP WPR value to error log for record keeping. Remedy: None.
CALB-010 WARN Cannot access system variables
Cause: Cannot access to the robot signature’s system variables Remedy: Re-load the option
CALB-011 WARN Position is not recorded.
Cause: The position is not recorded Remedy: Please record the position before move to it.
CALB-012 WARN Press shift key.
Cause: Move/Record with press the shift key. Remedy: Please press SHIFT key at the same time when record a position or
move to a position.
CALB-013 WARN Robot is already in motion.
Cause: Robot is current uner motion control. Cannot issue a new motion at this moment. Remedy: Please wait for the current motion to complete before isussing the next
motion.
CALB-014 WARN Calib motn requires more data.
Cause: Calibration motion requires more data points. Remedy: Please make sure the sensor data, TCP motion data and End Position
data are recorded correctly before issuing calibration motion.
CALB-015 WARN Wrong mode to read data file.
Cause: Have to be in the 3rd party data mode to read in a data file. Remedy: Please make sure to select 3rd party in the calibration mode in order to
read in a data file.
CALB-016 WARN Fail to run calibration motion
Cause: Fail to run calibration motion. in a data file. Remedy: Please make sure there is no system error before running robot
calibration program.
CALB-017 WARN Jog Group mismatch.
Cause: Current group does not match the jogging group. Cannot issue motion. Remedy: Please make sure the jogging group matches the current group.
CALB-018 WARN Robot is not being mastered .
Cause: Cannot record position. The robot is not being mastered. Remedy: Please do robot mastering first.
CALB-019 WARN Cannot auto generate positions
Cause: The robot is not being mastered. Remedy: Make sure the start position and pull position are seperated by at least
10mm. Make sure the angles are select and Total points are set correctly.
CALB-020 WARN Cannot open data file.
Cause: Cannot find the input data file. Remedy: Make sure the configuration data file and the calibration data file are
available.
CALB-021 WARN Wrong data format.
Cause: Input data file has the wrong format. Remedy: Run calibration motion again to get the correct data.
CALB-022 WARN Memory is not available.
Cause: Controller doesn’t have enough memory available for this program. Remedy: Cold start the controller and run this program again. If the prolem
presists, please add more DRAM module to the controller.
CALB-023 WARN Cannot converge to a solution.
Cause: Cannot compute the calibration data from the given data. Remedy: Please increase the number of calibration motions by recording more
positions in the End Position menu. If problem persists, please monitor the calibration process to make sure the string does not caught by other objects during calibration motion.
CALB-024 WARN Robot model is not supported.
Cause: The Auto Calibration software does not support this robot model. Remedy: There are certain robot models that the Auto Calib software does not
support due to these model’s kinematic equation cannot be easily solved through calibration equations.
CALB-025 WARN Sensor position is not set.
Cause: Stand Alone calibration requies sensor and tool locations this robot model. Remedy: Please set the sensor location and tool position under the calibration
type setup menu.
CALB-026 WARN No Link length data available.
Cause: This robot model does not have correct link length information set. Remedy: Make sure the param_group[].sv_dh_a and param_group[].sv_dh_d
are set by robot library.
CALB-027 PAUSE String exceeds its limit.
Cause: The string is pulled over it’s limit. Remedy: Move the string back toward the sensor’s location.
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CMND Error Codes
CMND-001 WARN Directory not found
Cause: The specified directory can not be found. Remedy: Check the device and path that you entered. If none entered, check
the system default device from the FILE Menu or from the KCL command, CHDIR.
CMND-002 WARN File not found
Cause: The specified file could not be found. Remedy: Check to make sure the file has been spelled correctly and that it
exists. Also verify the device and path name are correct.
CMND-003 WARN File already exists
Cause: The file already exists and could not be overwritten. Remedy: Make sure the overwrite option has been specified.
CMND-006 WARN Self copy not allowed
Cause: A file cannot be copied to itself. Remedy: Change the name of the destination file so it is different from the
source file.
CMND-010 WARN Source type code is invalid
Cause: The source variable was not a position type when converting between a Cartesian and joint position. Remedy: The valid position types are POSITION, JOINTPOS, XYZWPR, and
XYZWPREXT.
CMND-011 WARN Destination type code is invalid
Cause: The destination variable was not a position type when converting between a Cartesian and joint position. Remedy: The valid position types are POSITION, JOINTPOS, XYZWPR, and
XYZWPREXT.
CMND-012 WARN Type codes do not match
Cause: The requested type code doesn’t match the passed variable type. Remedy: Internal error. Make sure the type code matches the variable type.
CMND-013 WARN Representation mismatch
Cause: An attempt was made to compare two positions that are not the same type. Remedy: Both positions must be the same type. Convert one before comparing.
CMND-014 WARN Positions are not the same
Cause: Two positions were compared and found not to be equal. Remedy: The two positions were not equal within the specified tolerance. This
could be a normal occurrence. This warning is the logical opposite of SUCCESS.
CMND-015 WARN Both arguments are zero
Cause: Both arguments to ATAN2 were zero or an internal error occurred when attempting to convert a POSITION to XYZWPR. Remedy: If calling ATAN2, make sure that both arguments are not zero. If
converting a POSITION, then it cannot be converted to an XYZWPR.
CMND-016 WARN Division by zero
Cause: An attempt was made to divide by zero. Remedy: This is an internal error. Make sure that the divisor is not equal or close
to zero.
CMND-017 WARN Angle is out of range
Cause: The rotational angle is to great. Remedy: Make sure that the rotational angle is no greater than 100 times PI, or
about 314.15926…
CMND-018 WARN Invalid device or path
Cause: An invalid device or path has been specified. Remedy: Check the device and path that you entered. If none entered, check
the system default device from the FILE Menu or from the KCL command, CHDIR.
CMND-019 WARN Operation cancelled
Cause: The operation was cancelled because CTRL-C or CTRL-Y was pressed. Remedy: Repeat the operation.
CMND-020 WARN End of directory
Cause: The directory listing is finished. Remedy: This is a notification. You do not have to do anything for this warning
message.
CMND-021 WARN Cannot rename file
Cause: The destination file name contained both alphanumeric characters and the global character `*’. Remedy: Use only alphanumeric characters or a single global character when
renaming a file.
CMND-022 STOP Time motion with dist before
Cause: A time-based motion was specified along with distance before. Remedy: Do not use these options in combination.
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COND Error Codes
COND-001 WARN Condition does not exist
Cause: Specified condition does not exist Remedy: Check for condition statements to verify if the specified condition has
really been created or not.
COND-002 WARN Condition handler superseded
Cause: The specified condition number already exists in the system, and has been superseded by the new condition. Remedy: This is just a notification. You do not have to do anything for this
warning message.
COND-003 WARN Already enabled, no change
Cause: The specified condition is already enabled. No change has been made. Remedy: This is just a notification. You do not have to do anything for this
warning message.
COND-004 WARN Already disabled, no change
Cause: The specified condition is already disabled. No change has been made. Remedy: This is just a notification. You do not have to do anything for this
warning message.
COND-005 WARN No more conditions defined
Cause: No more conditions are defined for the specified task. Remedy: This is just a notification. You do not have to do anything for this
warning message.
COND-009 WARN Break point encountered
Cause: Break point has been encountered. Remedy: This is just a notification. You do not have to do anything for this
warning message.
COND-010 WARN Cond exists, not superseded
Cause: Specified condition already exists. Condition was not superseded. May indicate two condition handlers for the same task with the same condition handler. Remedy: Either renumber the condition handler or avoid re-defining the same
condition handler.
COND-011 WARN Scan time took too long
Cause: There are too many conditions defined. It took too long to scan them all. Remedy: Reduce the number of conditions defined.
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DICT Error Codes
DICT-001 WARN Dictionary already loaded
Cause: A dictionary cannot be reloaded if it was loaded into FROM. Remedy: Load into a different language and use KCL SET LANG to set the
language.
DICT-002 WARN Not enough memory to load dict
Cause: There is no more permanent memory available in the system to load another dictionary. Remedy: Clear all unnecessary programs, dictionaries or variables.
DICT-003 WARN No dict found for language
Cause: There are no dictionaries loaded for the specified language. Remedy: Use the DEFAULT language or a language in which a dictionary has
been loaded.
DICT-004 WARN Dictionary not found
Cause: The specified dictionary was not found. Remedy: Use KCL LOAD DICT to load the dictionary into the DEFAULT
language or the current language.
DICT-005 WARN Dictionary element not found
Cause: The dictionary element was not found. Remedy: Check the dictionary or element number to be sure it is specified
correctly.
DICT-006 WARN Nested level too deep
Cause: Only five levels of dictionary elements can be nested. Remedy: Fix the dictionary text file to include fewer nested levels.
DICT-007 WARN Dictionary not opened by task
Cause: The dictionary was never opened. Remedy: Remove the close operation.
DICT-008 WARN Dictionary element truncated
Cause: The dictionary element was truncated because the KAREL string array is not large enough to hold all the data. Remedy: Increase either the size of the string or the number of strings in the
array.
DICT-009 WARN End of language list
Cause: The language list has completed. Remedy: This is a notification. You do not have to do anything for this warning
message.
DICT-010 WARN End of dictionary list
Cause: The dictionary list has completed. Remedy: This is a notification. You do not have to do anything for this warning
message.
DICT-011 WARN Dict opened by too many tasks
Cause: Only five dictionaries can be open by one task at one time. Remedy: Load the dictionary to memory or close an unused dictionary.
DICT-012 WARN Not enough memory to load dict
Cause: Not enough memory exists in the TEMP pool on the controller. The dictionary was not loaded. Remedy: This is a notification of insufficient memory resources on the controller.
The hardware and software configurations need to be verified.
DICT-013 WARN Cannot open dictionary file
Cause: The dictionary file does not exist on the specified device or in the specified directory. Remedy: Select the proper device/directory and try again.
DICT-014 WARN Expecting $ in dictionary file
Cause: The dictionary text incorrectly specifies an element without a $. Remedy: Make sure all dictionary elements begin with $.
DICT-015 WARN Reserved word not recognized
Cause: A reserved word was not recognized in the dictionary text. Remedy: Check for misspelling or look up the correct word in the KAREL
Reference Manual.
DICT-016 WARN Ending quote expected
Cause: The dictionary text incorrectly specifies an element without using quotes.
Remedy: Make sure all dictionary text is surrounded by double quotes. Use a backslash if you want an actual quote to appear in the text. For example, \»This is an example\» will produce «This is an example»
DICT-017 WARN Expecting element name or num
Cause: A reference to another element is expected. Remedy: Use the element number to reference the element.
DICT-018 WARN Invalid cursor position
Cause: The cursor position is specified incorrectly or the values are outside the limits. Remedy: Make sure the cursor position is valid. For example, use @1,1 for the
first row and col respectively.
DICT-019 WARN ASCII character code expected
Cause: A series of digits are expected after the # to specify an ASCII character code. Remedy: Remove the # or look up the ASCII character code in the KAREL
Reference Manual.
DICT-020 WARN Reserved word expected
Cause: An identifier is expected after the & to specify a reserved word. Remedy: Remove the & or look up the reserved word in the KARE L Reference
Manual.
DICT-021 WARN Invalid character
Cause: An unexpected character was found in the dictionary text file. Remedy: Make sure all dictionary text is correct.
DICT-022 WARN Dict already opened by task
Cause: The dictionary is already open by the task. Remedy: This is a notification. You do not have to do anything for this warning
message.
DICT-023 WARN Dict does not need to be opened
Cause: Dictionaries loaded to memory do not need to be opened. Remedy: Do not try to open the dictionary file.
DICT-024 WARN Cannot remove dictionary file
Cause: Dictionaries loaded to FROM cannot be removed or a dictionary cannot be removed if another task has it opened. Remedy: Do not try to remove a dictionary loaded to FROM. Remove the
dictionary from the same task which loaded it.
DICT-028 WARN Not enough memory to load dict
Cause: Not enough memory exists in the TEMP pool on the controller. The dictionary was not loaded. Remedy: This is a notification of insufficient memory resources on the controller.
The hardware and software configurations need to be verified.
DICT-029 WARN Help element not found
Cause: The help dictionary element was not found. Remedy: Check the dictionary to be sure the help dictionary element was
specified correctly. The help dictionary element must be specified with a question mark (?) followed by the element number.
DICT-030 WARN Function key element not found
Cause: The function key dictionary element was not found. Remedy: Check the dictionary to be sure the function key element was specified
correctly. The function key element must be specified with a caret (^) followed by the element number.
DICT-031 WARN %4s-%03d $%8lX, no message found
Cause: The dictionary containing the error message could not be found. Remedy: Refer to the FANUC Robotics System R-J3 Software Reference
Manual for the error message.
DICT-032 WARN %4s-%03d, see posted error
Cause: The error message was posted to the error log. Remedy: See error window or the Alarms menu for the error message.
DICT-040 WARN Expecting element num after $
Cause: The dictionary text incorrectly specifies an element number. Remedy: Make sure all dictionary elements begin with $ followed by the element
number.
DICT-041 WARN Expecting element name after ,
Cause: The dictionary text incorrectly specifies an element name. Remedy: Make sure all dictionary elements are specified as «,element_n ame»
after the add constant name.
DICT-042 WARN Expecting add constant name
Cause: The dictionary text was specified incorrectly. Remedy: Make sure all dictionary elements are specified as «+add_const
_name» after the element number.
DICT-043 WARN Element number out of sequence
Cause: The dictionary text was not specified in sequence. Remedy: Make sure all dictionary elements are specified in sequential order.
DICT-044 WARN Warning — large hole in ele seq
Cause: The dictionary text has a large gap between element numbers. Remedy: Reduce the gap in the element sequence. Each missing element uses
up five bytes of memory.
DICT-045 WARN .LIT or .END mismatch
Cause: The dictionary text was specified incorrectly. Remedy: Verify that each .LIT is matched with a .END.
DICT-046 WARN Command already encountered
Cause: The dictionary text was specified incorrectly. Remedy: Remove the extra command.
DICT-047 WARN File extension required
Cause: The dictionary compressor expects a file extension. Remedy: Use the .etx file extension for error text, the .utx file extension for
uncompressed text, or the .ftx file extension for form text.
DICT-048 WARN Invalid file extension
Cause: The dictionary compressor did not recognize the file extension. Remedy: Use the .etx file extension for error text, the .utx file extension for
uncompressed text, or the .ftx file extension for form text.
DICT-049 WARN Expecting file name
Cause: The dictionary compressor expects a file name. Remedy: Specify a file name after the command.
DICT-050 WARN Expecting facility number
Cause: The dictionary compressor expects a facility number in the .KL command. Remedy: Specify the facility number after the file name.
DICT-051 WARN Symbol invalid for dictionary type
Cause: An invalid command was specified for this type of dictionary file. Remedy: Check the command and if a form is used, verify the file extension
is .ftx.
DICT-052 WARN Expecting .ENDFORM symbol
Cause: The dictionary text was specified incorrectly.
Remedy: Verify that each .FORM is matched with a .ENDFORM.
DICT-053 WARN Cannot open include file
Cause: The include file could not be created. Remedy: Make sure a valid file name has been specified.
DICT-054 WARN Form is being displayed
Cause: The form you are trying to compress is currently being displayed. Remedy: Abort the KAREL program that is displaying the form.
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DNET (DeviceNet) Error Codes
DNET-001 STOP No system device file
Cause: The system device definition file is missing from the system. Remedy: INIT start and reload the DeviceNet Interface option. If the error still
exists, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-002 STOP No application device file
Cause: The application device definition file is missing from the system. Remedy: INIT start and reload the DeviceNet Interface option. If the error still
exists, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-004 STOP Board init failed: Bd %d
Cause: The specified board has failed to initialize. Remedy: Make sure the board parameters are correct. Make sure the board is
properly connected to the network and power is supplied.
DNET-006 ERR_SYS_C System error: %d
Cause: A system error has occurred. Remedy: Document the events that led to the error and call your FANUC
Robotics technical representative.
DNET-008 STOP Invalid board index
Cause: An invalid board index has been specified. Remedy: Specify a board index between 0 and 3.
DNET-009 STOP Invalid MAC Id: Bd %d MAC %d
Cause: An invalid MAC Id has been specified. Remedy: Specify a MAC Id between 0 and 63 inclusive.
DNET-010 STOP Board already online
Cause: The specified board is already on-line. Remedy: Take the board off-line before attempting the operation.
DNET-011 STOP Board not online
Cause: The specified board is not on-line. Remedy: Put the board on-line before attempting the operation.
DNET-012 STOP Device already online
Cause: The specified device is already on-line. Remedy: Take the device off-line before attempting the operation.
DNET-013 STOP Device not online
Cause: The specified device is not on-line. Remedy: Put the device on-line before attempting the operation.
DNET-014 STOP Request timed out
Cause: The attempted DeviceNet command request has timed out. Remedy: Check all network connections. If all connections appear to be in order,
re-attempt the command.
DNET-015 STOP Board not initialized
Cause: The specified board has not been initialized. Remedy: Initialize the board by attempting to put it on-line, and then cycle
power. Then, re-attempt the operation.
DNET-016 STOP System failed
Cause: The DeviceNet Interface system has failed. Remedy: Cold start the system. If the problem persists, INIT start or reload the
system. If the problem continues to persist, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-017 STOP Board not found
Cause: The specified board was not found in the system. Remedy: Make sure the daughter boards are properly configured and properly
seated on the motherboard.
DNET-018 STOP Memory test failed
Cause: The specified board has failed the initial memory test. Remedy: Cold start the system. If the problem persists, INIT start and reload the
DeviceNet Interface option.
DNET-019 STOP Code file open failed
Cause: The code file required to initialize the board cannot be accessed. Remedy: Cold start the system. If the problem persists, INIT start and reload the
DeviceNet Interface option.
DNET-020 STOP Code file read failed
Cause: The code file required to initialize the board cannot be read. Remedy: Cold start the system. If the problem persists, INIT start and reload the
DeviceNet Interface option.
DNET-021 STOP Code file checksum error
Cause: There is a problem with the DeviceNet scanner code file. Remedy: Cold start the system. If the problem persists, INIT start and reload the
DeviceNet Interface option. If the problem continues to persist, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-022 STOP Board initialization timeout
Cause: The board initialization routine has timed out. Remedy: Turn the controller off. Make sure the motherboard is correctly seated
on the back plane. Cold start the controller. If the problem persists, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-023 STOP Board initialization error
Cause: An error has occurred in the board initialization process. Remedy: Cycle power to the controller. If the problem persists, turn the controller
off and check the motherboard connection to the back plane. Cold start the controller. If the problem persists, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-025 STOP No device assigned for Bd/MAC
Cause: A data mismatch has occurred such that the system cannot find a device assigned for the specified board number and MAC Id. Remedy: Turn the controller off and cold start the controller. If the problem
persists, delete the board from the Board List screen, reconfigure the board, and re-add devices to the Device List. Cycle power. Also, check the device MAC Id configurations.
DNET-026 STOP No match on dev type look-up
Cause: The system cannot find the specified device type in its list of defined device types. Remedy: Check the selected device type on the Device List. Next, check the
Defined Device List and the Standard Device Definition List for the required device type. If it does not appear, go to the Defined Device List and add the required device definition, then select it on the Device List screen. When you have finished, turn off then turn on the controller.
DNET-027 STOP Dev online err: Bd %d MAC %d
Cause: The device at the specified board number and MAC Id cannot be brought on-line. Remedy: Make sure the device is properly connected to the network. Check the
device’s MAC Id and baud rate configuration. Check the board’s baud rate configuration on the Board Detail screen. Check the board’s network connection. Cold Start the controller.
DNET-028 STOP Board online err: Bd %d
Cause: The specified board cannot be brought on-line. Remedy: Make sure the board is properly connected to the network. Check that
network power is being supplied. Check that baud rates for the board and devices are in agreement. Cold Start the controller.
DNET-029 STOP Too many deferred errors
Cause: The system has received the maximum number of DeviceNet errors it can handle at one time. Remedy: Attempt to remedy any errors that are displayed, then cold start the
controller.
DNET-030 STOP Std dev file fmt err: Line %d
Cause: There is an error in the format of the specified device definition file, on the specified line. Remedy: Contact your FANUC Robotics technical representative to obtain a
correct device definition file.
DNET-031 STOP App dev file fmt err: Line %d
Cause: There is an error in the format of the specified device definition file, on the specified line. Remedy: Contact your FANUC Robotics technical representative to obtain a
correct device definition file.
DNET-032 ERR_STOP_C Device not ready: Bd %d MAC %d
Cause: When a device has been added to a scan list, it cannot be brought on-line without cycling power to the controller. Remedy: Cycle power to the controller. You will then be able to bring the device
on-line.
DNET-033 STOP Unknown keyword
Cause: An unknown keyword has been found in the device definition files. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-034 ERR_STOP_C Cycle power to bring online
Cause: You must turn power off and on to the controller to bring online a newly-added device to a board’s device list. Remedy: Cycle power to the controller. You will then be able to bring the device
online.
DNET-035 STOP Bad format or out of range
Cause: An integer value in the device definition files is incorrect. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-036 STOP No NINPUTS or NOUTPUTS line
Cause: The specified line was not found in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-037 STOP No PDTCODE line
Cause: The specified line was not found in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-038 STOP No MODULE lines with MULTIMOD
Cause: The specified lines were not found in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-039 STOP Too many MODULE lines
Cause: The specified lines were incorrect in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-040 STOP MODULE specified w/o MULTIMOD
Cause: A definition was incorrect in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-041 STOP Required field missing
Cause: A definition was incorrect in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-042 STOP No DEVTYPE line supplied
Cause: The specified line was not found in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-043 STOP No VENDORID line supplied
Cause: The specified line was not found in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-044 STOP No PRODCODE line supplied
Cause: The specified line was not found in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-045 STOP No I/O type line supplied
Cause: The specified line was not found in a device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-046 STOP No PDTCODE line supplied
Cause: The specified line was not found in a device definition file. Remedy: Contact your FANUC Robotics technical representative to obtain the
correct device definition files.
DNET-047 STOP DeviceNet motherboard not found
Cause: The DeviceNet motherboard is not plugged into the back plane. Remedy: Turn off the controller and make sure the motherboard is properly
seated into the back plane of the controller. Cold start the controller.
DNET-052 STOP Data line too long
Cause: The specified line was incorrect in the device definition file. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-053 STOP Line above DEVICE line ignored
Cause: An extraneous line was found in a device definition file. Remedy: Check the Standard Device Definition List to see if device types have
been properly loaded. If not, contact FANUC Robotics to obtain the correct device definition files.
DNET-054 STOP All space in shared RAM used
Cause: There is no space left in the DeviceNet I/O buffer. Remedy: Contact FANUC Robotics to report the problem. Provide all details of
the DeviceNet network, including number and type of devices, baud rates, MAC Ids, and network wiring configuration.
DNET-055 STOP Board or network error: Bd %d
Cause: An error has occurred with the specified daughter board or the DeviceNet network connected to it. Remedy: Refer to the next DNET alarm posted in the alarm log for specific alarm
recovery information.
DNET-056 STOP Network power lost
Cause: Power has been removed from the DeviceNet network. Remedy: Check the cable connecting the daughter board to the DeviceNet
network. Also, check the connection to the power source. Cycle power to the controller.
DNET-057 STOP Network communications error
Cause: A network communications error has occurred on the network connected to the specified board. Remedy: Check that the board’s baud rate corresponds to that of the devices.
Check cable connections to both the board and devices. Check that the proper device definitions are selected for the devices on the network and that parameters are correct for user-defined devices. Turn off both the controller and the DeviceNet network power, then cold start the controller.
DNET-058 STOP Message queue overrun
Cause: The board has received more messages than it can handle at one time. Remedy: The problem may be momentary; attempt to bring the board on-line
again. If the problem persists, check that the board baud rate corresponds to the baud rate of the devices. Turn off then turn on the controller.
DNET-059 STOP Message lost
Cause: The board has missed a message over the DeviceNet network. Remedy: The problem might be momentary; attempt to bring the board on-line
again. If the problem persists, check that the board baud rate corresponds to the baud rate of the devices. Turn off then turn on power to the controller.
DNET-060 STOP Xmit timeout: Network flooded
Cause: The traffic on the DeviceNet network is too heavy for the board to communicate with the devices. Remedy: Check that the board baud rate agrees with the baud rate of the
devices. If no baud rate problem exists, turn off both the controller and the DeviceNet network power, then turn on both.
DNET-061 STOP No other nodes on network
Cause: All of the devices expected by the board to be on the network appear to be disconnected to the network. Remedy: Check cable connections to the board and to the devices. If a device
has been disconnected, reconnect and press RESET on the teach pendant. Check that the board baud rate is the same as baud rate of the devices.
DNET-062 STOP Bus off due to comm errors
Cause: The board is not communicating to the network because there are too many errors. Remedy: Check that the baud rate of the board and of the devices is the same.
Make sure that power is connected to the DeviceNet network. Press RESET on the teach pendant. If the problem persists, begin removing devices from the network; after each device is removed, press RESET. When the board is brought on-line, check the device configuration and the parameters of the device definition.
DNET-063 STOP Device error: Bd %d MAC %d
Cause: An error has occurred with the device at the specified board number and MAC Id. Remedy: Refer to the next DNET alarm posted in the alarm log for specific alarm
recovery information.
DNET-064 STOP Connection error
Cause: An error has occurred when attempting connection to the specified device. Remedy: Check that the baud rate of the device agrees with the board baud
rate. Check that the device is properly connected to the network; make sure the device is receiving power from the network. Inspect the device definition to see that the I/O type, access mode, and size of I/O are correct. Press RESET on the teach pendant to re-attempt connection.
DNET-065 STOP Incorrect vendor Id
Cause: The vendor Id for the device, as specified in the device definition, is incorrect. Remedy: Delete the device from the Device List. Check the device
documentation for the correct vendor Id. Make corrections in the device definition and add the device to the Device List.
DNET-066 STOP Incorrect product code
Cause: The product code for the device, as specified in the device definition, is incorrect. Remedy: Delete the device from the Device List. Check the device
documentation for the correct product code. Make corrections in the device definition and add the device to the Device List.
DNET-067 STOP Incorrect device type
Cause: The device type for the device, as specified in the device definition, is incorrect. Remedy: Delete the device from the Device List. Check the device
documentation for the correct device type. Make corrections in the device definition and add the device to the Device List.
DNET-068 STOP Device timeout
Cause: The connection to the specified device has timed out. Remedy: Check the device’s connection to the network. Make sure the device
baud rate agrees with the board baud rate. Attempt to bring the device on-line by pressing RESET on the teach pendant.
DNET-069 STOP Unknown error code %d
Cause: An unknown error has occurred with the specified device. Remedy: Document the events that led to the error and call your FANUC
Robotics technical representative. Make sure the error code number is noted and reported.
DNET-070 ERR_STOP_C Connection allocation error
Cause: N/A Remedy: N/A
DNET-073 STOP No match on mod type look-up
Cause: The system could not find the module type corresponding to a module on the specified device. Remedy: View the module list for the device and delete or change the module in
question. If this module was previously functional, cold start the controller and attempt to use this module type again. If the problem persists, perform an INIT start and re-load the DeviceNet Interface option.
DNET-074 STOP Load only at ctrl start
Cause: An I/O configuration file (.IO file) containing DeviceNet configuration data was loaded at COLD START. The DeviceNet configuration data in this file is ignored. Remedy: Reload the .IO file at controlled start.
DNET-076 STOP $DN_DEV_DEFS array is full
Cause: There is no more room in the Defined Device List system variable. Remedy: Delete any unneeded device definitions from the Defined Device List
before adding a new one.
DNET-078 STOP No room for more devices
Cause: The system variable for storage of devices is full. Remedy: If there are devices which are off-line, delete these devices unless they
are required to be kept on the Device List. After entries in the device list are freed, new devices can be added.
DNET-079 STOP Unknown dev type: Bd %d MAC %d
Cause: The device type used by this device is currently unknown to the system. Remedy: This error occurs during the I/O restore. Cold start the controller, add a
new device definition corresponding to the specified device, then add the device to the device list.
DNET-080 STOP Loaded config too large
Cause: The previous I/O configuration contains too many modules, devices, or device definitions to be loaded. Remedy: Make sure you have the same memory configuration as the system on
which the I/O configuration was saved.
DNET-084 STOP Board reset failed: Bd %d
Cause: The command to reset the specified board has failed. Remedy: Refer to the next DNET alarm posted in the alarm log for specific alarm
recovery information.
DNET-085 STOP Dev reset failed Bd %d MAC %d
Cause: The command to reset the specified device has failed. Remedy: Refer to the next DNET alarm posted in the alarm log for specific alarm
recovery information.
DNET-086 STOP Stop scan cmd failed: Bd %d
Cause: The specified board is unable to acknowledge the stop-scanning command. Remedy: Check DeviceNet connection to the board, as well as DeviceNet power
to the network. If board is already in ERROR state, this error can be disregarded.
DNET-087 STOP Bd offline cmd failed: Bd %d
Cause: The board is not acknowledging the command to take it off-line. Remedy: Check DeviceNet connection to the board, as well as DeviceNet power
to the network. If the board is already in the ERROR state, this error can be disregarded.
DNET-088 STOP Ignored: Bd %d MAC %d Slot %d
Cause: The system does not recognize the module type of the module being loaded. Remedy: Make sure the device definition data files are the same between the
current system being loaded and the system on which the I/O configuration was saved. Contact FANUC Robotics for the correct definition files.
DNET-089 STOP Can’t specify POLL and STROBE
Cause: The data file contains lines which specify both POLL access and STROBE access for the same device. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-090 STOP Can’t STROBE w/ num outs > 0
Cause: The device definition file specifies a strobed-access device but the number of outputs is not equal to zero. Remedy: The DeviceNet option software is corrupted. Re-install the DeviceNet
Interface option. If the problem persists, contact FANUC Robotics to obtain a new Communication Options software disk.
DNET-091 STOP Input size error
Cause: The number of inputs specified in the device definition for this device does not match the number expected by the scanner when it communicates with the device. Remedy: Delete the device, correct the device definition, then re-add the device
to the device list.
DNET-092 STOP Output size error
Cause: The number of outputs specified in the device definition for this device does not match the number expected by the scanner when it communicates with the device. Remedy: Delete the device, correct the device definition, then re-add the device
to the device list.
DNET-093 STOP Error reading vendor ID
Cause: The scanner board encountered an error while trying to read the device’s vendor ID. Remedy: Check that the device baud rate matches the board baud rate. Check
also the device’s connection to the network.
DNET-094 STOP Error reading device type
Cause: The scanner board encountered an error while trying to read the device’s device type. Remedy: Check that the device baud rate matches the board baud rate. Check
also the device’s connection to the network.
DNET-095 STOP Error reading product code
Cause: The scanner board encountered an error while trying to read the device’s product code. Remedy: Check that the device baud rate matches the board baud rate. Check
also the device’s connection to the network.
DNET-096 STOP Error setting packet rate
Cause: The scanner board encountered an error while trying to set the communication packet rate for this device. Remedy: Check that the device baud rate matches the board baud rate. Check
also the device’s connection to the network. Reset the device if possible.
DNET-097 STOP Connection sync fault
Cause: The board was unable to achieve synchronization in the connection with the specified device. Remedy: Check that the device baud rate matches the board baud rate. Check
also the device’s connection to the network. Reset the device if possible.
DNET-102 STOP Invalid board MAC Id
Cause: The board’s MAC Id is not between 0 and 63. Remedy: Check the Board Detail screen to see if the board’s MAC Id is between
0 — 63, inclusive. If it is not, change the MAC Id to a valid value and press RESET on the teach pendant. If the MAC Id appears valid, cold start the controller. If the problem persists, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-103 STOP Invalid board baud rate
Cause: The board’s baud rate is not one of: 125 KB, 250 KB, or 500 KB. Remedy: Check the Board Detail screen to see if the board’s baud rate is one of
the above values. If it is not, change the baud rate to a valid value and press RESET on the teach pendant. If the baud rate appears valid, cold start the controller. If the problem persists, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-104 STOP Duplicate MAC Id error
Cause: The specified device has the same MAC Id as another device on the network. Remedy: Check that no other devices have the same MAC Id, particularly those
connected to a different master on the same network. Change the MAC Id of the offending device at both the device and on the Device List, and attempt to bring it on-line. If the problem persists, cold start the controller and try again. If the
problem continues, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-105 STOP Duplicate device error
Cause: There was an attempt to add a device to the board’s device list that was a duplicate of a device already on the list. Remedy: If the desired device is already on the network and a second one is not
being added, you may ignore the error. Otherwise, change the MAC Id of one of the duplicate devices.
DNET-106 STOP Device not found error
Cause: A device expected to be on the network was not found. Remedy: Check that the device is connected to the network. Check that the
device baud rate matches the board baud rate. Reset the device if possible. Cycle power to the controller. If the problem persists, document the events that led to the error and call your FANUC Robotics technical representative.
DNET-107 STOP Bus offline error
Cause: The board could not perform an operation because the bus was off-line. Remedy: Press RESET on the teach pendant to attempt to bring the board on-
line. If the problem persists, cycle power to the controller. If the problem continues to persist, cycle power to the DeviceNet network.
DNET-108 STOP Scanner active error
Cause: The board could not perform an operation because the it is actively scanning the network. Remedy: Take the board off-line and re-attempt the operation.
DNET-109 STOP Bus not offline error
Cause: The board could not perform an operation because the bus is not off-line. Remedy: Take the board off-line and re-attempt the operation.
DNET-110 STOP Error: board scanning
Cause: The board could not perform an operation because the it is actively scanning the network. Remedy: Take the board off-line and re-attempt the operation.
DNET-111 STOP Error: board not scanning
Cause: The board could not perform an operation because the it is not actively scanning the network. Remedy: Bring the board on-line and re-attempt the operation.
DNET-112 STOP Board not ready; pls. wait
Cause: An attempt to bring the board on-line was unsuccessful because the board was busy. Remedy: Wait ten seconds and re-attempt to bring the board on-line. If the
problem persists, check board connection to the network, baud rate, and network power.
DNET-114 STOP Bus fault error detected
Cause: The board has detected a fault on the DeviceNet network, and cannot communicate with devices. Remedy: Check that the baud rate of the board matches the baud rate of all
devices on the network. Also, check that power is being supplied to the network. If the problem persists, cycle power to the controller, and then to the network if the problem continues.
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ELOG Error Codes
ELOG-009 WARN call a service man
Cause: A system error has occurred. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that let to the error and call your FANUC Robotics technical representative.
ELOG-011 WARN Power off, if you want to recover.
Cause: A system error has occurred. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that let to the error and call your FANUCRobotics technical representative.
ELOG-012 WARN A system error has been occurred.
Cause: A system error has occurred Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that let to the error and call your FANUCRobotics technical representative.
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FILE Error Codes
FILE-001 WARN Device not ready
Cause: Specified file device is not ready. Remedy: Check if the device is mounted and ready to use. Check if the device
name is correct.
FILE-002 WARN Device is Full
Cause: Device is full. There is no more space to store data on the device. Remedy: Delete any unnecessary files or change to a new device.
FILE-003 WARN Device is protected
Cause: Device is protected. So, you cannot write to the device. Remedy: Release the device protection.
FILE-005 WARN Device not mounted
Cause: Device is not mounted. You should mount the device before using it. Remedy: Mount the correct file device.
FILE-006 WARN Device is already mounted
Cause: You tried to mount the device which had been already mounted. Remedy: Mount device only once.
FILE-008 WARN Illegal device name
Cause: Device name contains an illegal character. Remedy: Check spelling and validity of device name.
FILE-009 WARN Illegal logical unit number
Cause: Illegal LUN is used. Remedy: This is an internal error. Check the validity of the logical unit number.
FILE-010 WARN Directory not found
Cause: Specified directory does not exist Remedy: Check validity of directory name.
FILE-011 WARN Directory full
Cause: Directory is full. You tried to create a file in the root directory which exceeded the maximum number of files allowed on the device. Remedy: Delete unnecessary files in the root directory.
FILE-012 WARN Directory is protected
Cause: You tried to write to a write protected directory. Remedy: Release the protection to the directory.
FILE-013 WARN Illegal directory name
Cause: Directory name contains an illegal character. Remedy: Check spelling of directory name.
FILE-014 WARN File not found
Cause: The specified file was not found. Remedy: Check that the file exists and that the file name was spelled correctly.
FILE-015 WARN File is protected
Cause: You tried to access a protected file. Remedy: Release the protection from file.
FILE-017 WARN File not open
Cause: You tried to access a file which is not open. Remedy: Open the file before accessing.
FILE-018 WARN File is already opened
Cause: You tried to create/delete/rename a file which is already opened. Remedy: Close file before such operations.
FILE-019 WARN File is locked
Cause: You tried to access a file which is locked. Remedy: Release the lock.
FILE-020 WARN Illegal file size
Cause: File size is invalid. Remedy: Change file size to be correct.
FILE-021 WARN End of file
Cause: End of file was detected. Remedy: This is a notification. You do not have to do anything for this warning
message.
FILE-022 WARN Illegal file name
Cause: File name contains an illegal character. Remedy: Check spelling of file name.
FILE-023 WARN Illegal file number
Cause: File number is illegal. Remedy: Use a valid file number which is the ID returned from an open request.
FILE-024 WARN Illegal file type
Cause: File type contains an illegal character. Remedy: Check the spelling and validity of the file type.
FILE-025 WARN Illegal protection code
Cause: File protection code is illegal. Remedy: Check if the protection code is correct.
FILE-026 WARN Illegal access mode
Cause: File access mode is illegal. Remedy: Check if the access mode is correct.
FILE-027 WARN Illegal attribute
Cause: File attribute in the SET_ATTRIBUTE request is illegal. Remedy: Check that attribute specified is valid.
FILE-028 WARN Illegal data block
Cause: Data block is broken which is used in FIND_NEXT request. Remedy: You should keep the data block which is returned from the previous
FIND_FIRST or FIND_NEXT request.
FILE-029 WARN Command is not supported
Cause: Illegal request command is specified. Remedy: Check if the request code is correct.
FILE-030 WARN Device lun table is full
Cause: Device management table is full. Remedy: Dismount any unnecessary devices.
FILE-031 WARN Illegal path name
Cause: Path name contains an illegal character. Remedy: Check if the path name is correct.
FILE-032 WARN Illegal parameter
Cause: Illegal parameter is detected. Remedy: Check that all parameters for the request are valid.
FILE-033 WARN System file buffer full
Cause: File management buffer is full. Remedy: Close unnecessary files.
FILE-034 WARN Illegal file position
Cause: Illegal file position is specified. Remedy: Check that the file position parameter from SEEK request is positive
and not beyond the end of file.
FILE-035 WARN Device not formatted
Cause: You tried to access a unformatted device. Remedy: Format the device before using it.
FILE-036 WARN File already exist
Cause: You tried to rename a file to an already existing file name. Remedy: Change the new file name to be unique or delete the existing file.
FILE-037 WARN Directory not empty
Cause: You tried to remove a subdirectory which contains some files or directories. Remedy: Remove all files and directories in the subdirectory before removing
subdirectory.
FILE-038 WARN File locked by too many tasks
Cause: There are too many lock requests to same file. Remedy: Unlock any unnecessary file lock requests.
FILE-039 WARN Directory already exists
Cause: You tried to create a sub-directory that already exists. Remedy: Use a unique name for new sub-directory
FILE-040 WARN Illegal file access mode
Cause: You tried to read from a write only opened file or tried to write to a read only opened file. Remedy: Open a file with correct access mode.
FILE-041 WARN File not locked
Cause: You tried to unlock file which you had not locked. Remedy: Do not unlock a file that is not locked. You can only unlock files which
YOU have locked.
FILE-045 WARN need to set $FILE_MAXSEC
Cause: $FILE_MAXSEC has not been set and must be be set before device can be formatted. Remedy: Set the variable $FILE_MAXSEC to valid value. A typical value is 800.
FILE-049 WARN File is not standard file
Cause: A file operation has been attempted on a file which is not a standard file. Remedy: Use a standard file device (e.g. FR: or RD:).
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FLPY Error Codes
FLPY-001 WARN End of directory reached
Cause: Your listing has reached the end of the directory. You do not have to do anything for this warning message. Remedy: This is a notification. You do not have to do anything for this warning
message.
FLPY-002 WARN File already exists
Cause: The file name you are trying to create already exists on this device. Remedy: Delete the file of this name or choose a different file name.
FLPY-003 WARN File does not exist
Cause: The file you are trying to open does not exist on this device. Remedy: Open a file that does exist on the device.
FLPY-004 WARN Unsupported command
Cause: Operation is not supported on floppy disk. Remedy: Use only operations supported on floppy disk.
FLPY-005 WARN Disk is full
Cause: The disk file capacity has been reached. Remedy: Delete some unneeded files or use a disk with sufficient free space.
FLPY-006 WARN End of file reached
Cause: The end of the file was reached while reading. Remedy: Do not attempt to read beyond the end of a file.
FLPY-008 WARN Only one file may be opened
Cause: An attempt was made to open more than one file. Remedy: Do not attempt to open more than one file at a time.
FLPY-009 WARN Communications error
Cause: The protocol format was invalid. Remedy: Retry the operation.
FLPY-015 WARN Write protection violation
Cause: The disk has write protection enabled. Remedy: Remove write protection from the disk or use a disk that is not write
protected.
FLPY-100 WARN Directory read error
Cause: The directory information is corrupted and unreadable. Remedy: Try another disk or reformat the disk.
FLPY-101 WARN Block check error
Cause: The checksum data is bad. Data is corrupted on disk and can not be read. Remedy: Try another disk, or reformat the disk
FLPY-103 WARN Seek error
Cause: There is a bad sector or track on the disk. Remedy: Clean the disk drive, try another disk, or reformat the disk.
FLPY-104 WARN Disk timeout
Cause: The drive did not respond to a command. Remedy: Check the cable to the drive and make sure drive power is on.
FLPY-105 WARN Write protection violation
Cause: The disk has write protection enabled. Remedy: Remove write protection from the disk or use a disk that is not write
protected.
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FRSY Error Codes
FRSY-001 WARN FROM disk is full
Cause: The FROM disk does not have enough available memory to perform the specified command. This might have been caused by repeated loading of KAREL programs. Remedy: Delete all unnecessary files and then purge the device. If the device is
still full, then backup the files to an off-line device and reformat the device.
FRSY-002 WARN Device not formatted
Cause: The device is not formatted. Remedy: Format the device before using it.
FRSY-003 WARN Invalid parameter
Cause: An invalid parameter is detected. Remedy: Verify all the parameters for the requested command are correct.
FRSY-004 WARN RAM disk must be mounted
Cause: Copying a file to the FROM disk requires that the RAM disk be mounted with enough memory available to temporarily contain the file. Remedy: Mount the RAM disk before specifying the command.
FRSY-005 WARN Device not mounted
Cause: The device is not mounted. Remedy: Mount the device before using it.
FRSY-006 WARN Device is already mounted
Cause: The device is already mounted. Remedy: This is a notification. You do not have to do anything for this warning
message.
FRSY-007 WARN Invalid device name
Cause: The specified device is not valid. Remedy: Verify the device name.
FRSY-008 WARN File already exists
Cause: The specified file already exists. Remedy: Delete the file first or specify overwrite if available with the command.
FRSY-009 WARN Too many files opened
Cause: The maximum number of files is already open. Therefore the requested command cannot be performed
Remedy: Either close one or more of the files or set $OPEN_FILES to a larger number and perform a cold start.
FRSY-010 WARN Invalid file position
Cause: An invalid file position is specified. The position is beyond the end of the file or a negative position. Remedy: Check the file position.
FRSY-011 WARN Directory full
Cause: No more files are allowed on the device. Remedy: Delete any unnecessary files or dismount and remount MF: device
which will increase the maximum number of files allowed.
FRSY-012 WARN Invalid file access mode
Cause: The requested command cannot be performed because the file is not opened with the proper access mode. This error is also caused by trying to update or append to an existing file on the FROM disk or to an existing compressed file on the RAM disk. Update and append are only allowed with uncompressed files on the RAM disk. Remedy: Open the file with the proper access mode.
FRSY-013 WARN Device is too fragmented
Cause: The file cannot be created on the device because not enough consecutive blocks are available. Remedy: Delete all unnecessary files and then purge the device. For more
information on purging, refer to the PURGE_DEV Built-in in the FANUC Robotics SYSTEM R-J3 KAREL Reference Manual . If the device is still full, then backup the files to an off-line device and reformat the device.
FRSY-014 WARN File not found
Cause: The specified file is not found. Remedy: Verify the file name and the specified or default device is correct.
FRSY-015 WARN Invalid file name
Cause: The file name contains an invalid character or is blank. Remedy: Verify the file name is correct.
FRSY-016 WARN Invalid file type
Cause: The file type contains an invalid character. Remedy: Verify the file type is correct.
FRSY-017 WARN File not open File not open
Cause: The file is not open. Remedy: Open the file before accessing.
FRSY-018 WARN File is already opened
Cause: The requested command cannot be performed because the file is already opened. Remedy: Close the file before specifying the command.
FRSY-019 WARN Command is not supported
Cause: The specified command is not supported for the device. Remedy: This is a notification. You do not have to do anything for this warning
message.
FRSY-020 WARN RAM disk is full
Cause: The RAM disk does not have enough available memory to perform the specified command. Note that copying a file to the FROM disk requires that the RAM disk be mounted with enough memory available to temporarily contain the file. Remedy: Delete all unnecessary files and then purge the device. For more
information on purging, refer to the PURGE_DEV Built-in in the FANUC Robotics SYSTEM R-J3 KAREL Reference Manual. If the device is still full, then backup the files to an off-line device and reformat the device after setting $FILE_MAXSEC to a larger number.
FRSY-021 WARN End of file
Cause: The end of the file is detected. Remedy: This is a notification. Your do not have to do anything for this warning
message.
FRSY-022 WARN File ID exceeded maximum
Cause: The file identification number has reached the maximum number for the device. Remedy: You must backup all your files, reformat the device, and restore the
files. Refer to chapter 9, «File System», in the FANUC Robotics SYSTEM R-J3 KAREL Reference Manual for more information.
FRSY-023 WARN No blocks were purged
Cause: No blocks were purged for one of the following reasons: 1) No garbage blocks exist. 2) No spare blocks exist because the FROM disk is full. Remedy: If you require more blocks, you must backup all your files, reformat the
device, and restore the files. Refer to chapter 9, «File System», in the FANUC Robotics SYSTEM R-J3 KAREL Reference Manual for more information.
FRSY-024 WARN Purge is disabled
Cause: You are not allowed to purge the FROM disk because purge is disabled. Remedy: Set $PURGE_ENBL to TRUE and retry the purge operation. You may
wish to set $PURGE_ENBL to FALSE before running a program or application which requires fast cycle time.
FRSY-026 WARN CRC check failed
Cause: One or more files on the FROM disk are corrupted. This may occur if the FROM is wearing out. Remedy: You should backup all your files, reformat the device, and restore the
files. Refer to chapter 9, «File System», in the FANUC Robotics SYSTEM R-J3 KAREL Reference Manual for more information. If the problem persists, the FROM may need to be replaced.
FRSY-028 WARN %d out of %d bad FROM blocks
Cause: The FROM disk is wearing out. Remedy: The system will continue to operate as long as enough blocks are
available. When too many blocks become bad, the FROM will need to be replaced.
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GEMM Error Codes
GEMM-001 WARN Send_PC error
Cause: The system was not able to setup the message packet to send to the PC. Remedy: System probably out of memory. Cold start.
GEMM-002 WARN Add PC Uninit prog or var name
Cause: An ADD PC buffer built-in was called with a parameter that is uninitialized. Remedy: All parameters must have a value when calling the create a data buffer
to PC built-ins.
GEMM-003 WARN Add PC Variable not found
Cause: The variable requested in the ADD Byname or Send SysVar routines does not exist. Remedy: Check program and variable name spellings. Check variable data type.
Only integer, real and string data is supported.
GEMM-004 WARN Add PC Var type not supported
Cause: The variable requested in the ADD Byname or Send SysVar routines is of a data type that is not supported. Remedy: Check variable data type. Only integer, real and string data is
supported. Check program and variable name spellings.
GEMM-005 WARN Add PC illegal index into buffer
Cause: An ADD PC buffer built-in was called with the index parameter set too big or too small. Remedy: Set the index parameter correctly. Make sure the data buffer is big
enough for your data.
GEMM-006 WARN Add PC buffer overflow — parm %s
Cause: The data could not be copied to the data buffer because the buffer is too small. Remedy: Make sure the data buffer is big enough for your data. If there is too
much data to send, you might have to use more than one event to send the data.
GEMM-007 WARN Add PC Un-initialized parameter %s
Cause: An ADD PC buffer built-in was called with a parameter that is uninitialized. Remedy: All parameters must have a value when calling the create a data buffer
to PC built-ins.
GEMM-008 WARN Send_PC Un-initialized parameter
Cause: A Send PC built-in was called with a parameter that is uninitialized. Remedy: All parameters must have a value when calling the send PC built-ins.
GEMM-009 WARN Send_PC Illegal event number
Cause: An event number less that 0 or greater than 255 was used. Remedy: Use an event number from 0 to 255.
GEMM-010 WARN Send_PC Illegal wait flag
Cause: Only wait flags of 0 or 1 are allowed. Remedy: Use a legal wait flag.
GEMM-011 WARN Send_PC Buffer too big for packet
Cause: The maximum data buffer size supported is 244 bytes. Remedy: Use a legal data buffer size.
GEMM-020 WARN Send_PC builtin failed
Cause: A system error occurred when trying to send the data buffer to the PC. Remedy: Check other alarms in alarm log for details.
GEMM-021 WARN Send_PC event parm %s error
Cause: A Send to PC MACRO was called with a parameter that is illegal. The parameter is uninitialized or the wrong data type. Remedy: Check the MACRO call in the TP program.
GEMM-022 WARN Still waiting for %s
Cause: Status message only. A controller task is waiting for an event flag back from the PC. Remedy: Check PC communications.
GEMM-023 WARN Abort wait for %s
Cause: A controller task waited too long for an event flag from the PC. The controller task was aborted. Remedy: Check PC communications.
GEMM-024 WARN Continuing without %s
Cause: Status message only. A controller task was waiting for an event flag back from the PC. The PC is taking too long. The controller task has continued without receiving the event flag. Remedy: Check PC communications.
GEMM-025 WARN Received answer for %s
Cause: Status message only. The PC set the event flag and the controller task is continuing. Remedy: N/A
GEMM-026 WARN Wait timer cannot be set
Cause: A system timer cannot be created or set for this controller task. Remedy: Cold start.
GEMM-027 WARN Reg %s could not be set
Cause: Register operation failed Remedy: Check if the register is defined and if it has the right value. Must
ABORT ALL and retry
GEMM-028 WARN Register %s not defined
Cause: This is just a debug message. Remedy: N/A
GEMM-029 WARN Macro Table too small for send option
Cause: The MACRO table must have at least 60 elements for the SEND PC MACRO option to be installed properly. Remedy: Increase the MACRO table size.
GEMM-030 WARN Parameter %s error
Cause: Send PC Macro data error. Remedy: Check other alarm log errors for more details.
GEMM-031 WARN Send Macro — no data to send
Cause: The Send Data PC MACRO was not given any data to send. Remedy: Check MACRO parameters.
GEMM-032 WARN Send_n_wait — Illegal action
Cause: The wait action parameter must be 0 through 3. Remedy: Check MACRO parameters.
GEMM-033 WARN Send_n_wait — Uninit parm %s
Cause: A send PC MACRO was called with a parameter that is uninitialized. Remedy: All parameters must have a value.
GEMM-034 WARN %s missing
Cause: A MACRO was called without a parameter that must be entered. Remedy: Check the MACRO call in the TP program.
GEMM-035 ABORT Aborting TP program
Cause: An error occurred in the TP program. Remedy: Check the TP program.
GEMM-036 WARN %s Illegal type
Cause: A MACRO was called with a parameter that is illegal. The parameter has the wrong data type. Remedy: Check the MACRO call in the TP program.
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HOST Error Codes
HOST-001 WARN End of directory reached
Cause: Your listing has reached the end of the directory. You do not have to do anything for this warning message. Remedy: This is a notification.
HOST-002 WARN File already exists
Cause: The file name you are trying to create already exists on this device. Remedy: Delete the file on this device or choose a different file name.
HOST-003 WARN File does not exist
Cause: The file you are trying to open does not exist on this device. Remedy: Open a file that exists on the device.
HOST-004 WARN Illegal command received
Cause: The requested operation is not supported. Remedy: Use only supported operations, or check command syntax.
HOST-005 WARN Disk is full
Cause: The disk file capacity has been reached. Remedy: Delete some unneeded files or use a disk with sufficient free space.
HOST-006 WARN End of file reached
Cause: The end of the file was reached while reading. Remedy: Do not attempt to read beyond the end of a file.
HOST-008 WARN Only one file may be opened
Cause: An attempt was made to open more than one file. Remedy: Do not attempt to open more than one file at a time.
HOST-100 WARN Communications error
Cause: The protocol format was invalid. Remedy: Retry the operation.
HOST-101 WARN Directory read error
Cause: The directory information is corrupted and unreadable. Remedy: Try another disk or reformat the disk.
HOST-102 WARN Block check error
Cause: The checksum data is bad. Data is corrupted on the disk and can not be read. Remedy: Try another disk, or reformat the disk
HOST-103 WARN Seek error
Cause: There is a bad sector or track on the disk. Remedy: Clean the disk drive, try another disk, or reformat the disk.
HOST-104 WARN Disk timeout
Cause: The drive did not respond to a command. Remedy: Check the cable to the drive and make sure drive power is on.
HOST-105 WARN Write protection violation
Cause: The disk has write protection enabled. Remedy: Remove write protection from the disk or use a disk that is not write
protected.
HOST-106 WARN $PROTOENT entry not found
Cause: Protocol Entry structure ($PROTOENT) is invalid. It should be reset to default values. Remedy: Return Protocol Entry structure to initial values from Setup and
Operations manual.
HOST-107 WARN $SERVENT entry not found
Cause: Server Entry structure ($SERVENT) is invalid. It should be reset to default values. Remedy: Return Server Entry structure to initial values from Setup and
Operations manual.
HOST-108 WARN Internet address not found
Cause: Internet Address needs to be set. Remedy: Set Internet Address in the Host Comm TCP/IP Protocol Setup Menu.
HOST-109 WARN Host name not found
Cause: Host Name needs to be set. Remedy: Set Host Name and Internet Address in The Host Comm TCP/IP
Protocol Setup Menu.
HOST-110 WARN Node not found
Cause: The Remote Node Name needs to be set. Remedy: Set Remote Node Name in the Host Comm TCP/IP Protocol Setup
Menu.
HOST-111 WARN Cycle power to use Ethernet
Cause: ER-1 or ER-2 hardware is already running and can not be restarted without cycling power. Remedy: Turn off and then turn on the controller.
HOST-126 WARN Invalid Ethernet address
Cause: The Ethernet address needs to be set. Remedy: Set the Ethernet address in BMON.
HOST-127 WARN Ethernet firmware not loaded
Cause: The Ethernet Board firmware is not loaded. Remedy: Load the Ethernet Board firmware in BMON.
HOST-128 WARN Ethernet hardware not installed
Cause: The Ethernet Board needs to be reinitialized. Remedy: Install the Ethernet Board.
HOST-129 WARN Receiver error
Cause: Data received from external device is invalid. Most likely caused by electrical noise on receivers. Remedy: The error can be cleared by Stopping and Starting the Tag.
HOST-130 WARN Buffer alignment wrong
Cause: A buffer was passed to the Serial Port Driver which can not be accessed. Remedy: Ensure program can run on this version of controller. You might need
to retranslate your program.
HOST-131 WARN Wrong state
Cause: The Host Comm system can not execute the requested command in the present operating mode. Remedy: Stop and Start the Host Comm Tag to reset the operating mode.
HOST-132 WARN Can’t allocate memory
Cause: The Host Comm system can not allocate memory buffers for receiving or transmitting messages Remedy: Either add more memory to the controller or reduce the number of
simultaneous connections.
HOST-133 WARN Wrong setup conditions
Cause: The Host Comm system is receiving messages but can not decode them. Remedy: Correct port settings: data rate, data size, stop bits, etc to match
external device.
HOST-134 WARN BCC or CRC error
Cause: The Host Comm system is receiving checksum errors on all messages. Remedy: Ensure that the external device is using the same protocol.
HOST-135 WARN Timeout
Cause: There has not been any network activity on the Comm Tag for a period specified by Inactivity Timeout. Remedy: Restart the Comm Tag.
HOST-136 WARN Device not ready
Cause: The remote device is connected but is not responding to requests.
Remedy: Check cabling between the devices and/or insure the device is powered.
HOST-137 WARN Request cancelled
Cause: The remote device indicates the operation was successfully terminated. Remedy: The cancel command was successful.
HOST-138 WARN Request aborted
Cause: The remote device did not indicate operation was terminated. Remedy: The command might have been completed before the cancel
command was received.
HOST-139 WARN Invalid function
Cause: The Host Comm Protocol does not support the requested function. Remedy: Check the Host Comm Protocol version to ensure the function is
supported.
HOST-140 WARN Device offline
Cause: The remote device is connected but it is not on-line. Remedy: Set the remote device on-line.
HOST-141 WARN Mount/Dismount error
Cause: The Host Comm Protocol could not be started on the selected Comm Tag. Remedy: Either use another Comm Tag or Stop and Undefine the selected
Comm Tag.
HOST-142 WARN Connection error
Cause: The Host Comm Protocol could not establish communication with the remote device. Possible software mismatch. Remedy: Ensure both local and remote are using compatible software versions.
HOST-143 WARN Packet returned by close
Cause: The selected hardware port defined for the Comm Tag could not be closed. Remedy: Power the controller off and then on and try again. If the error occurs
again a cabling or hardware problem might exist with the port.
HOST-144 WARN No such device or address
Cause: The Comm Tag either does not have a protocol defined or if required does not have a port assigned. Remedy: DEFINE a protocol to the Comm Tag or assign a port.
HOST-145 WARN Permission denied
Cause: An attempt has been made either to read a file opened for write access only or to write a file opened for read access only. Remedy: Close and reopen the file with the correct access parameters.
HOST-146 WARN Bad address
Cause: A bad address has been detected. Remedy: UNDEFINE and then DEFINE the Comm Tag after checking whether
the Tag has a supported protocol.
HOST-147 WARN Block device required
Cause: The selected protocol requires a device port. Remedy: First ensure the Port has No Use from Port Init Setup. Then assign it to
the selected Comm Tag.
HOST-148 WARN Mount device busy
Cause: Either the Comm Tag is STARTED or it is presently in use. Remedy: Either STOP the Comm Tag or select another Tag.
HOST-149 WARN No such device
Cause: The passed Device Type is not a Comm Tag type (Cx or Sx). Remedy: Only Comm Tags can be used with this command.
HOST-150 WARN Invalid argument
Cause: The system does not support selected protocol. Remedy: Either select another protocol or install the selected protocol.
HOST-151 WARN No more Ethernet buffers.
Cause: The System has run out of buffers to communicate with the Ethernet Remote PCB. Remedy: Reduce the number of simultaneous connections as there is not
enough memory.
HOST-152 WARN MAP: MIB not responding
Cause: If the MAP Interface Board is installed it is no longer responding to the MAIN CPU PCB. Remedy: Replace the MAP Interface Board.
HOST-153 WARN MAP: PDU size too big
Cause: Either the received or transmitted Protocol Data Unit (PDU) is too big to fit in the buffer sizes which MAP is using. Remedy: Increase size of PDU buffers by increasing the Host PDU Size
($HOST_PDUSIZ), see Setup and Operations manual for maximum.
HOST-154 WARN MAP: Directory file missing
Cause: Directory file (umap_2_d.tx) is missing on RAM Disk Remedy: Directory file contains node names and addresses. Load a saved
version or recreate from distribution disks.
HOST-155 WARN MAP: Network file missing
Cause: Network file (umap_2_p.tx) is missing on the RAM Disk. Remedy: Network file contains Station Address, slot time, and so forth. Load a
saved version or recreate from distribution disks.
HOST-156 WARN MAP: invalid Local Appl. Name
Cause: Local Name is name of robot node. Host Name ($HOST_NAME) must match the local Directory entry. It is missing in Directory File (umap_2_d.tx). Remedy: Add Host Name as Local Name to Directory File or add Directory File
local entry to Host Name ($HOST_NAME) via MAP Protocol Setup Menu.
HOST-157 WARN MAP: invalid Remote Appl. Name
Cause: Can not find Remote Name in Directory File. Remedy: Add Remote Name to Directory File via MAP Protocol Setup Menu.
HOST-158 WARN FTP: no connection available
Cause: An error occurred in the networking software. Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HOST-159 WARN FTP: login failed
Cause: The Comm Tag does not have a valid username and password. Remedy: Enter a valid username and password for the Comm Tag.
HOST-160 WARN FTP: dismount request ignored
Cause: An error occurred in the networking software. Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HOST-161 WARN FTP: need remote host name
Cause: The Comm Tag does not have a remote host defined. Remedy: Enter a remote host name to Current Remote and Startup Remote.
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HRTL Error Codes
HRTL-002 WARN File/Comm Tag does not exist
Cause: Either the file or the Comm Tag could not be found. Remedy: Either retype the file name or DEFINE the Comm Tag.
HRTL-003 WARN No such process
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-004 WARN Interrupted system call
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-006 WARN No protocol or device dest
Cause: The Comm Tag either does not have a protocol defined or if required does not have a port assigned. Remedy: DEFINE a protocol to the Comm Tag or assign a port.
HRTL-009 WARN Bad file number
Cause: The file number passed does not match with any open files. Remedy: Copy the conditions which caused this to occur.
HRTL-013 WARN Access permission denied
Cause: An attempt has been made to either read a file opened for write access only or write a file open for read access only. Remedy: Close and reopen the file with the correct access parameters.
HRTL-014 WARN Invalid Comm Tag
Cause: A bad address has been detected. Remedy: UNDEFINE and then DEFINE the Comm Tag after checking the Tag
has a supported protocol.
HRTL-015 WARN Port device required
Cause: The selected protocol requires a device port. Remedy: First ensure the Port has No Use from Port Init Setup. Then assign it to
the selected Comm Tag.
HRTL-016 WARN Comm Tag already defined
Cause: Either the Comm Tag is STARTED or it’s presently in use. Remedy: Either STOP the Comm Tag or select another Tag.
HRTL-017 WARN File exists
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-019 WARN Invalid device type
Cause: The passed Device Type is not a Comm Tag type (Cx or Sx). Remedy: Only Comm Tags can be used with this command.
HRTL-021 WARN Is a directory
Cause: System does not support selected protocol. Remedy: Either select another protocol or install the selected protocol.
HRTL-022 WARN Invalid argument
Cause: The passed Device Type is not a Comm Tag type (Cx or Sx). Remedy: Only Comm Tags can be used with this command.
HRTL-032 WARN Broken pipe
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-035 WARN Operation would block
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-036 WARN Operation now in progress
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-037 WARN Operation already in progress
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-039 WARN Destination address required
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-040 WARN Message too long
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-041 WARN Protocol wrong type
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-042 WARN Protocol not available
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-043 WARN Protocol not supported
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-045 WARN Operation not supported
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-047 WARN Address family not supported
Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-048 WARN Address already in use
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-049 WARN Can’t assign requested address
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-050 WARN Network is down
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-051 WARN Network is unreachable
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-053 WARN Software connection abort
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-054 WARN Connection reset by peer
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-055 WARN No buffer space available
Cause: An error occurred in the Ethernet networking software (TCP/IP).
Remedy: Consult your network administrator. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-056 WARN Socket is already connected
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-057 WARN Socket is not connected
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-060 WARN Connection timed out
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-061 WARN Connection refused
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-064 WARN Host is down
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-065 WARN No route to host
Cause: An error occurred in the Ethernet networking software (TCP/IP). Remedy: Consult your network administrator. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
HRTL-068 WARN Device is already attached
Cause: Device is already in use. Remedy: Check usage against device.
HRTL-070 WARN Cannot detach with open files
Cause: Device in use. Remedy: Wait for command complete then retry.
HRTL-071 WARN Device is already allocated
Cause: Device is already allocated. Remedy: Wait until device free then retry.
HRTL-073 WARN End of device list reached
Cause: Device limit reached. Remedy: Check that device is valid.
HRTL-074 WARN Device is not supported
Cause: Device not available. Remedy: Check device installation.
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INTP Error Codes
INTP-001 PAUSE Cannot lock the motion grp
Cause: Motion control for the specified group cannot be locked. Remedy: Check the teach pendant enable switch and other running programs to
determine who has motion control.
INTP-002 ABORT Program manager internal error
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUCRobotics technical representative.
INTP-003 ABORT Invalid request
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUCRobotics technical representative.
INTP-004 PAUSE Cannot ATTACH with TP enabled
Cause: The ATTACH statement requires the teach pendant to be disabled. Remedy: Disable the teach pendant.
INTP-005 PAUSE Cannot release motion control
Cause: Motion control cannot be released. Remedy: Abort the running or paused program.
INTP-100 ABORT (%s^4, %d^5) Internal error (PXnn)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUCRobotics technical representative.
INTP-101 ABORT (%s^4, %d^5) Internal error (system)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUCRobotics technical representative.
INTP-102 ABORT (%s^4, %d^5) Code format is invalid
Cause: Program data is corrupted. Remedy: For TPE programs, if possible, reload program from back-up device. If
a back-up is not available, it may be necessary to re-create the particular routine. For KAREL programs, re-translate and re-load the program.
INTP-103 ABORT (%s^4, %d^5) Program error
Cause: An error occurred while the program was running. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-104 ABORT (%s^4, %d^5) Single step failed
Cause: Single step cannot be executed. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-105 ABORT (%s^4, %d^5) Run request failed
Cause: Program cannot be started. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-106 PAUSE (%s^4, %d^5) Continue request failed
Cause: Program cannot be resumed. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-107 ABORT (%s^4, %d^5) Pause request failed
Cause: An error occurred when program execution was held. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-108 ABORT (%s^4, %d^5) Abort request failed
Cause: An error occurred when program execution was aborted. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-109 WARN (%s^4, %d^5) BWD motion request failed
Cause: Backward motion cannot be executed. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-110 WARN (%s^4, %d^5) Get task status request failed
Cause: The specified task attribute is not found or is not read accessible. Remedy: Check the attribute.
INTP-111 WARN (%s^4, %d^5) Skip statement request failed
Cause: The currently executing line cannot be changed. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-112 PAUSE Cannot call interrupt routine
Cause: The interrupt routine cannot be executed. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-113 PAUSE (%s^4, %d^5) Stop motion request failed
Cause: An error occurred when motion was stopped. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-114 PAUSE (%s^4, %d^5) Cancel motion request failed
Cause: An error occurred when motion was canceled. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-115 PAUSE (%s^4, %d^5) Resume motion request failed
Cause: An error occurred when motion was resumed. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-116 PAUSE (%s^4, %d^5) Hold motion request failed
Cause: An error occurred when motion was held. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-117 PAUSE (%s^4, %d^5) Unhold motion request failed
Cause: An error occurred when motion was unheld. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-118 PAUSE (%s^4, %d^5) Walk back data request failed
Cause: An error occurred trying to obtain the execution history. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-119 PAUSE (%s^4, %d^5) Get trace data request failed
Cause: An error occurred trying to obtain the trace data. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-120 PAUSE (%s^4, %d^5) Unwait action request failed
Cause: An error occurred trying to continue program execution. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
INTP-121 PAUSE (%s^4, %d^5) Release inquiry request failed
Cause: An error occurred trying to obtain motion information for the RELEASE statement. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-122 PAUSE (%s^4, %d^5) Process motion data failed
Cause: An error occurred during process motion. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-123 PAUSE (%s^4, %d^5) Process application data failed
Cause: An error occurred during process application. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-124 ABORT (%s^4, %d^5) Invalid ITR routine
Cause: The specified interrupt routine is not a valid type. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-125 ABORT Failed to convert position
Cause: The conversion of one position type to another failed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-126 ABORT Vision built-in return failed
Cause: The vision built-in failed to return. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-127 WARN Power fail detected
Cause: Power failure was detected. Remedy: Resume the program after hot start is complete.
INTP-128 PAUSE Pos reg is locked
Cause: Pos register is locked. Remedy: Wait a moment.
INTP-129 ABORT Cannot use motion group
Cause: Try to lock motion group even though this program cannot use motion group. Remedy: Clear motion group mask in program detail screen.
INTP-130 ABORT (%s^4, %d^5) Exec status recovery failed
Cause: Failed to recover execution status. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-131 ABORT Number of stop exceeds limit
Cause: Too many stop data is created at one time. Remedy: Decrease number of stop data.
INTP-132 PAUSE Unlocked groups specified
Cause: The specified motion groups are already unlocked. Remedy: Change the specify of motion group.
INTP-133 PAUSE Motion is already released
Cause: Some specified motion groups are already unlocked. Remedy: Change the specify of motion group. Lock the motion group.
INTP-134 PAUSE.L Over automatic start Max counter
Cause: The automatic start was done the defined times but the alarm was not fixed.And the automatic start count of auto error recovery function is over the defined maximum count. Remedy: Please remove the cause of the original alarm which is defined to the
alarm code monitor feature. And then please input the START signal.
INTP-135 PAUSE.L Recovery DO OFF in auto start mode
Cause: The error recovery status DO is OFF in the automatic start feature.So the resume program cannot be executed automatically. Remedy: Please check the condition of error recovery status DO.
INTP-200 PAUSE (%s^4, %d^5) Unimplemented TP instruction
Cause: The teach pendant program instruction is not available. Remedy: Check the appropriate option is loaded.
INTP-201 PAUSE (%s^4, %d^5) Untaught element encountered
Cause: The instruction is not taught. Remedy: Teach the instruction.
INTP-202 PAUSE (%s^4, %d^5) Syntax error
Cause: Instruction syntax error. Remedy: Reteach the instruction.
INTP-203 PAUSE (%s^4, %d^5) Variable type mismatch
Cause: The variable type is not correct. Remedy: Check the variable type.
INTP-204 PAUSE (%s^4, %d^5) Invalid value for index
Cause: The index value is invalid.
Remedy: Check the index value.
INTP-205 PAUSE (%s^4, %d^5) Analog port access error
Cause: Analog I/O is not functioning properly. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-206 PAUSE (%s^4, %d^5) Digital port access error
Cause: Digital I/O is not functioning properly. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-207 PAUSE (%s^4, %d^5) Group I/O port access error
Cause: Group I/O is not functioning properly. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-208 PAUSE (%s^4, %d^5) Divide by 0
Cause: Division by 0 was executed. Remedy: Check the value.
INTP-209 PAUSE (%s^4, %d^5) SELECT is needed
Cause: A CASE instruction was executed before a SELECT instruction. Remedy: Add a SELECT instruction before the CASE instruction.
INTP-210 PAUSE (%s^4, %d^5) Start TIMER failed
Cause: The program timer cannot be started. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-211 PAUSE (%s^4, %d^5) Delete TIMER failed
Cause: The program timer cannot be stopped. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-212 PAUSE (%s^4, %d^5) Invalid value for OVERRIDE
Cause: The indicated value cannot be used for the OVERRIDE instruction. Remedy: Check the value.
INTP-213 PAUSE %s^7 (%s^4, %d^5) UALM[%d^9]
Cause: A user alarm occurred.
Remedy: Refer to the user alarm code. Use MENUS to display the Alarm Log screen.
NOTE The next ten descriptions of the INTP-213 error code are PalletTool-defined user alarms.
INTP-213 Not PLC or MANUAL (INDEXPAL,37) UALM[1]
Cause: R[7] is not set to 1 or 2. Remedy: Make sure R[7] is only used by PalletTool logic.
INTP-213 Unknown box request (program,line) UALM[2]
Cause: The number of boxes requested is greater than the current gripper’s number of cases. Remedy: Make sure the unit load is setup and calculated properly.
INTP-213 Unknown Infeed (program,line) UALM[3]
Cause: R[2] Current infeed must be defined. Remedy: Make sure R[2] is only used by PalletTool logic.
INTP-213 Unknown Pallet (program,line) UALM[4]
Cause: The current pallet number is not defined. Remedy: Make sure the pallet register is only used by PalletTool logic.
INTP-213 Srch range exceeded (PUT_SSHT,6) UALM[5]
Cause: No slip sheet was found. Remedy: Check stack position registers and sensors.
INTP-213 No Slipsheet detect (program,line) UALM[6]
Cause: The slip sheet was dropped after it was found. Remedy: Check the slip sheet present sensor.
INTP-213 I/O setup error (PARTREQ,79) UALM[7] partreq,palletpr,indexpal
Cause: The infeed part reqest outputs have not been completely setup. Remedy: Use SETUP, Infeed Stn, SET_IO, Infeed unit request outputs menu to
set which digital output to use to request each box on each infeed.
INTP-213 I/O setup error (PALLETPR,42) UALM[7]
Cause: The pallet present inputs have not been completely setup. Remedy: Use SETUP, Pallet Stn, SET_IO, Pallet Clear/Present Inputs menu to
set which digital input to use check if the pallet is present.
INTP-213 I/O setup error (INDEXPAL,41) UALM[7]
Cause: The Index pallet outputs have not be completely setup. Remedy: Use SETUP, Pallet Stn, SET_IO, Index pallet outputs menu to set
which digital output to use to index each pallet.
INTP-213 Please ABORT! DON’T continue! (program,line) UALM[8]
Cause: A serious setup error has occurred. Remedy: Abort PalletTool (FCTN/ABORT ALL) and check the alarm logs for
errors.
INTP-214 PAUSE (%s^4, %d^5) Specified group not locked
Cause: The position register or frame setup instructions were executed in a program without a motion group. Remedy: Set up the motion group in the program DETAIL screen.
INTP-215 PAUSE (%s^4, %d^5) Group mismatch
Cause: The position data is invalid. Remedy: Check the position data.
INTP-216 PAUSE (%s^4, %d^5) Invalid value for group number
Cause: The indicated value is invalid for the motion group number. Remedy: Check the value.
INTP-217 PAUSE (%s^4, %d^5) SKIP CONDITION needed
Cause: The SKIP instruction was executed before a SKIP CONDITION instruction. Remedy: Add a SKIP CONDITION instruction.
INTP-218 PAUSE (%s^4, %d^5) Skip failed
Cause: The SKIP instruction or SKIP CONDITION instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-219 ABORT (%s^4, %d^5) Pause task failed
Cause: The PAUSE instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-220 ABORT (%s^4, %d^5) Abort task failed
Cause: The ABORT instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-221 PAUSE (%s^4, %d^5) Application failed
Cause: The application instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-222 PAUSE (%s^4, %d^5) Call program failed
Cause: The program CALL instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-223 PAUSE (%s^4, %d^5) Delay time failed
Cause: The WAIT instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-224 PAUSE (%s^4, %d^5) Jump label failed
Cause: The BRANCH instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-225 PAUSE (%s^4, %d^5) Motion statement failed
Cause: The MOTION instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-226 PAUSE (%s^4, %d^5) Read position register failed
Cause: The position register cannot be read. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-227 PAUSE (%s^4, %d^5) Write position register failed
Cause: The position register cannot be written. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-228 PAUSE (%s^4, %d^5) Read register failed
Cause: The register cannot be read. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-229 PAUSE (%s^4, %d^5) Write register failed
Cause: The register cannot be written. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-230 PAUSE (%s^4, %d^5) Wait condition failed
Cause: A condition WAIT instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-231 PAUSE (%s^4, %d^5) Read next line failed
Cause: The next line cannot be read. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-232 PAUSE (%s^4, %d^5) Invalid frame number
Cause: The frame number is invalid. Remedy: Check the frame number.
INTP-233 PAUSE (%s^4, %d^5) Read frame value failed
Cause: The specified frame cannot be read. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-234 PAUSE (%s^4, %d^5) Write frame value failed
Cause: The specified frame cannot be written. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-235 PAUSE (%s^4, %d^5) Read pos item failed
Cause: The position variable cannot be read. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-236 PAUSE (%s^4, %d^5) Write pos item failed
Cause: The position variable cannot be written. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-237 WARN (%s^4, %d^5) No more motion for BWD
Cause: Backward execution cannot be executed any more because the current program line is at the top. Remedy: Do not use backward execution at this point.
INTP-238 WARN (%s^4, %d^5) BWD execution completed
Cause: Backward execution was completed. Remedy: Do not use backward execution from this point.
INTP-239 WARN (%s^4, %d^5) Cannot execute backwards
Cause: This instruction cannot be executed backwards. Remedy: Set the cursor to the following line.
INTP-240 PAUSE (%s^4, %d^5) Incompatible data type
Cause: The specified data type in the PARAMETER instruction is invalid for the parameter type. Remedy: Check the data type.
INTP-241 PAUSE (%s^4, %d^5) Unsupported parameter
Cause: This type of parameter cannot be used. Remedy: Check the parameter type.
INTP-242 PAUSE (%s^4, %d^5) Offset value is needed
Cause: An OFFSET instruction was executed before an OFFSET CONDITION instruction. A position register was not taught in the OFFSET PR[] instruction. Remedy: Add an OFFSET CONDITION instruction before the OFFSET
instruction. Teach the position register.
INTP-243 ABORT (%s^4, %d^5) Def grp is not specified
Cause: This program has no motion group defined. The MOTION instruction cannot be executed. Remedy: Remove the MOTION instruction or set up the motion group in the
program DETAIL screen.
INTP-244 PAUSE (%s^4, %d^5) Invalid line number
Cause: The input line number is incorrect. Remedy: Check the line number.
INTP-245 PAUSE (%s^4, %d^5) RCV stmt failed
Cause: The RECEIVE R[] instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-246 PAUSE (%s^4, %d^5) SEMAPHORE stmt failed
Cause: The SEMAPHORE instruction cannot be executed.
Remedy: Refer to the error cause code. Use MENU to display the Alarm Log screen.
INTP-247 PAUSE (%s^4, %d^5) Pre exec failed
Cause: Pre-execution system of motion or application has some trouble and system pauses the program execution for safety. Remedy: Press RESET to clear the error and continue the program. If this error
continues to occur, perform a cold start by turning off the robot, then while pressing SHIFT and RESET on the teach pendant, turn the robot back on. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
INTP-248 PAUSE (%s^4, %d^5) MACRO failed
Cause: The MACRO instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-249 PAUSE Macro is not set correctly
Cause: The MACRO setup was invalid. Remedy: Check the MACRO setup. For more information on setting up macros,
Refer to the KAREL and TPP Setup and Operations Manual.
INTP-250 PAUSE (%s^4, %d^5) Invalid uframe number
Cause: The user frame number is invalid. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-251 PAUSE (%s^4, %d^5) Invalid utool number
Cause: The tool frame number is invalid. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-252 PAUSE User frame number mismatch
Cause: The user frame number in the positional data is not the same as the currently selected user frame number. Remedy: Check the user frame number.
INTP-253 PAUSE Tool frame number mismatch
Cause: The tool frame number in the positional data is not the same as the currently selected tool frame number. Remedy: Check the tool frame number.
INTP-254 PAUSE (%s^4, %d^5) Parameter not found
Cause: The specified parameter name cannot be found. Remedy: Check the parameter name.
INTP-255 PAUSE (%s^4, %d^5) CAL_MATRIX failed
Cause: The CAL_MATRIX instruction cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-256 PAUSE (%s^4, %d^5) No data for CAL_MATRIX
Cause: The origin 3 points or destination 3 points are not taught. Remedy: Teach the origin 3 points or destination 3 points.
INTP-257 PAUSE (%s^4, %d^5) Invalid delay time
Cause: The wait time value is negative or exceeds the maximum value of 2147483.647 sec. Remedy: Input a correct value.
INTP-258 PAUSE (%s^4, %d^5) Weld port access error
Cause: The weld is not functioning properly. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-259 PAUSE (%s^4, %d^5) Invalid position type
Cause: The data type of the position register was taught using joint type. Remedy: Change position register data to cartesian.
INTP-260 PAUSE (%s^4, %d^5) Invalid torque limit value
Cause: Invalid torque value. Remedy: Input a correct value.
INTP-261 PAUSE (%s^4, %d^5) Array subscript missing
Cause: A subscript is missing from a TPE PARAMETER statement that specifies an array. Remedy: Correct the PARAMETER statement to include the subscript of the
desired array element.
INTP-262 PAUSE (%s^4, %d^5) Field name missing
Cause: A field name is required in a PARAMETER statement that specifies a structure. Remedy: Correct the PARAMETER statement to include the name of the
desired field.
INTP-263 PAUSE (%s^4, %d^5) Invalid register type
Cause: The register type is not valid. Remedy: Check the register type.
INTP-265 PAUSE (%s^4, %d^5) Invalid value for speed value
Cause: The indicated value cannot be used for the AF instruction. Remedy: Check the value.
INTP-266 ABORT (%s^4, %d^5) Mnemonic in interrupt is failed
Cause: There isn’t CANCEL or STOP instruction. Remedy: insert CANCEL or STOP before call interrupt routine.
INTP-267 PAUSE (%s^4, %d^5) RUN stmt failed
Cause: Specified program is already running. Remedy: Abort specified program.
INTP-268 PAUSE (%s^4, %d^5) This statement only one in each line
Cause: This statement can exist in one in each line. Remedy: Delete the extra statement.
INTP-269 PAUSE (%s^4, %d^5) Skip statement only one in each line
Cause: Skip statement can exist in one in each line. Remedy: Delete the extra skip statement.
INTP-270 PAUSE (%s^4, %d^5) Different group cannot BWD
Cause: During backward execution, a move is encountered that has a different group number from the previous motion statement. Remedy: Use FWD execution carefully.
INTP-271 WARN (%s^4, %d^5) Excessive torque limit value
Cause: Torque limit value exceeds maximum value. Torque limit value was modified to the maximum value. Remedy: Set torque limit value less than or equal to the maximum value.
INTP-272 PAUSE (%s^4, %d^5) Unsupported operator
Cause: This operator is not supported. Remedy: Check the operator Refer to the appropriate application-spec ific Setup
and Operations Manual for more information.
INTP-273 PAUSE (%s^4, %d^5) Too many conditions
Cause: The number of the condition exceeds the maximum number. Remedy: Reduce the number of condition.
INTP-274 PAUSE (%s^4, %d^5) CH program error
Cause: This monitor statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-275 PAUSE Invalid sub type of CH program
Cause: The sub type of specified ch program cannot be used. Remedy: Check the sub type of this CH program.
INTP-276 PAUSE (%s^4, %d^5) Invalid combination of motion option
Cause: The motion option instructions (SKIP, TIME BEFORE/AFTER, and application instruction) cannot be taught together. Remedy: Delete the motion option instruction.
INTP-277 PAUSE (%s^4, %d^5) Internal MACRO EPT data mismatch
Cause: The EPT index in macro table doesn’t point the program name defined in macro table. That is, the EPT index in macro table is incorrect. Remedy: Please set the correct EPT index for the program name defined in
macro table.
INTP-278 PAUSE %s^7
Cause: The DI monitor alarm for auto error recovery function occurs. Remedy: This alarm is defined by the customer. Therefore the customer knows
the remedy for this alarm.
INTP-279 PAUSE (%s^4, %d^5) Application data mismatch
Cause: The application instruction was executed. But this application instruction doesn’t match to the application process data of this program. Remedy: Please change the application process data of this program to the
adequate application for this application instruction.
INTP-280 PAUSE (%s^4, %d^5)Application data mismatch
Cause: The application data of called program is different from that of the original program. Remedy: Please change the structure of program.
INTP-281 PAUSE (%s^4, %d^5) No application data
Cause: This program doesn’t have the application data. Remedy: Please define the application data in the program detail screen.
INTP-283 PAUSE (%s^4, %d^5) Stack over flow for fast fault recovery
Cause: Stack over flow to record the fast fault recovery nesting data. Remedy: Reduce the nesting of the program.
INTP-284 PAUSE No detection of fast fault recovery
Cause: The point for the fast fault recover cannot be detected. Remedy: This message is for information purposes only.
INTP-285 WARN Karel program cannot entry in fast fault recovery
Cause: The fast entry cannot be performed in the karel program. Remedy: Use TP program.
INTP-286 WARN MAINT program isn’t defined in fast fault recovery
Cause: MAINT program is not defined in fast fault recovery. Remedy: Define the MAINT program using the MAINT_PROG teach pendant
instruction.
INTP-287 PAUSE Fail to execute MAINT program
Cause: It failed to execute MAINT program. Remedy: Confirm the MAINT program name is correct or MAINT program exist
in actual.
INTP-288 PAUSE (%s^4, %d^5) Parameter does not exist
Cause: The parameter designated by AR register does not exist. Remedy: Confirm the index of AR register and the parameter in CALL/MACRO
command in main program.
INTP-289 PAUSE Can’t save ffast point at program change
Cause: When fast fault is enabled, the program was paused at the part of program change. Remedy: Check whether the CONT termination exists at end of sub-program. If
exist, please change it to FINE. This is the limitation of the fast fault recovery function.
INTP-290 PAUSE Fast fault recovery position is not saved
Cause: During fast fault recovery sequence, any alarm occurs. So the fast fault recovery position is not saved. Remedy: This message is for information purposes only.
INTP-291 WARN (%s^4, %d^5) Index for AR is not correct.
Cause: The parameter designated by AR register does not exist. But this error does not occur at present. Remedy: N/A
INTP-300 ABORT (%s^4, %d^5) Unimplemented P-code
Cause: KAREL program error. This KAREL statement cannot be executed. Remedy: Check the KAREL translater software version.
INTP-301 ABORT (%s^4, %d^5) Stack underflow
Cause: KAREL program error. Execution entered into a FOR loop by the GOTO statement. Remedy: A GOTO statement cannot be used to enter or exit a FOR loop. Check
the label of the GOTO statement.
INTP-302 ABORT (%s^4, %d^5) Stack overflow
Cause: The program stack overflowed. Too many local variables were declared or too many routines were called. Remedy: For KAREL programs, refer to the KAREL Reference Manual, Stack
Usage and the %STACKSIZE Translator Directive.
INTP-303 ABORT (%s^4, %d^5) Specified value exceeds limit
Cause: KAREL program error. The specified value exceeds the maximum limit. Remedy: Check the value.
INTP-304 ABORT (%s^4, %d^5) Array length mismatch
Cause: KAREL program error. The dimensions of the arrays are not the same. Remedy: Check the dimensions of the arrays.
INTP-305 ABORT (%s^4, %d^5) Error related condition handler
Cause: KAREL program error. A condition handler error occurred. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-306 ABORT (%s^4, %d^5) Attach request failed
Cause: KAREL program error. The ATTACH statement failed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-307 ABORT (%s^4, %d^5) Detach request failed
Cause: KAREL program error. The DETACH statement failed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-308 ABORT (%s^4, %d^5) No case match is encountered
Cause: KAREL program error. The CASE statement does not match any branches. Remedy: Check the CASE value and branches.
INTP-309 ABORT (%s^4, %d^5) Undefined WITHCH parameter
Cause: KAREL program error. The specified parameter cannot be used in the with clause of the condition handler. Remedy: Check the parameter.
INTP-310 ABORT (%s^4, %d^5) Invalid subscript for array
Cause: KAREL program error. The index of the array is invalid. Remedy: Check the length of the array and index value.
INTP-311 PAUSE (%s^4, %d^5) Uninitialized data is used
Cause: KAREL program error. Untaught or uninitialized data was used. Remedy: Teach or initialize the data before using it.
INTP-312 ABORT (%s^4, %d^5) Invalid joint number
Cause: KAREL program error. The wrong axis number was used. Remedy: Check the axis number and the data value.
INTP-313 ABORT (%s^4, %d^5) Motion statement failed
Cause: KAREL program error. The MOTION statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-314 ABORT (%s^4, %d^5) Return program failed
Cause: KAREL program error. Execution cannot be returned from the routine. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-315 ABORT (%s^4, %d^5) Built-in execution failed
Cause: KAREL program error. A built-in routine error occurred. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-316 ABORT (%s^4, %d^5) Call program failed
Cause: KAREL program error. The routine cannot be called. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen. Verify the routine is loaded.
INTP-317 ABORT (%s^4, %d^5) Invalid condition specified
Cause: KAREL program error. The specified condition was invalid. Remedy: Check the condition.
INTP-318 ABORT (%s^4, %d^5) Invalid action specified
Cause: KAREL program error. The specified action was invalid. Remedy: Check the action.
INTP-319 ABORT (%s^4, %d^5) Invalid type code
Cause: KAREL program error. The data type was invalid. Remedy: Check the data type.
INTP-320 ABORT (%s^4, %d^5) Undefined built-in
Cause: KAREL program error. The built-in routine is not defined. Remedy: Check the appropriate option is loaded.
INTP-321 ABORT (%s^4, %d^5) END stmt of a func rtn
Cause: KAREL program error. The END statement was executed in a function routine instead of a RETURN statement. Remedy: Add a RETURN statement to the function routine.
INTP-322 ABORT (%s^4, %d^5) Invalid arg val for builtin
Cause: KAREL program error. The argument value of a built-in routine was wrong. Remedy: Check the argument value.
INTP-323 ABORT (%s^4, %d^5) Value overflow
Cause: KAREL program error. The data value for the variable was too large. Remedy: Check the variable’s type and data value.
INTP-324 ABORT (%s^4, %d^5) Invalid open mode string
Cause: KAREL program error. The usage string in the OPEN FILE statement was invalid. Remedy: Check the usage string in the OPEN FILE statement.
INTP-325 ABORT (%s^4, %d^5) Invalid file string
Cause: KAREL program error. The file string in the OPEN FILE statement was invalid. Remedy: Check the file string. If no device is specified, the default device is
used.
INTP-326 ABORT (%s^4, %d^5) File var is already used
Cause: KAREL program error. The FILE variable is already being used. Remedy: Close the file before reusing the FILE variable or add a new FILE
variable.
INTP-327 ABORT (%s^4, %d^5) Open file failed
Cause: KAREL program error. The file could not be opened. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-328 ABORT (%s^4, %d^5) File is not opened
Cause: KAREL program error. The specified file was not opened before operation. Remedy: Open the file before operation.
INTP-329 ABORT (%s^4, %d^5) Write variable failed
Cause: KAREL program error. The value cannot be written to the variable. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-330 ABORT (%s^4, %d^5) Write file failed
Cause: KAREL program error. Writing to the file failed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-331 ABORT (%s^4, %d^5) Read variable failed
Cause: KAREL program error. Reading the variable failed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-332 ABORT (%s^4, %d^5) Read data is too short
Cause: KAREL program error. Data read from the file is too short. Remedy: Make sure the data in the file is valid.
INTP-333 ABORT (%s^4, %d^5) Invalid ASCII string for read
Cause: KAREL program error. The string read from the file is wrong. Remedy: Check the data of the file.
INTP-334 ABORT (%s^4, %d^5) Read file failed
Cause: KAREL program error. Reading from the file failed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-335 ABORT (%s^4, %d^5) Cannot open pre-defined file
Cause: KAREL program error. A file pre-defined by the system cannot be opened. Remedy: Use the file defined by the system without opening it.
INTP-336 ABORT (%s^4, %d^5) Cannot close pre-defined file
Cause: KAREL program error. A file pre-defined by the system cannot be closed. Remedy: Do not try to close it.
INTP-337 ABORT (%s^4, %d^5) Invalid routine type
Cause: KAREL program error. This routine cannot be used. Remedy: Make sure you have the correct routine type and name.
INTP-338 ABORT (%s^4, %d^5) Close file failed
Cause: KAREL program error. Closing the file failed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-339 ABORT (%s^4, %d^5) Invalid program name
Cause: KAREL program error. The program name is invalid. Remedy: Make sure you have the correct program name.
INTP-340 ABORT (%s^4, %d^5) Invalid variable name
Cause: KAREL program error. The variable name is invalid. Remedy: Make sure you have the correct variable name.
INTP-341 ABORT (%s^4, %d^5) Variable not found
Cause: KAREL program error. The variable cannot be found. Remedy: Verify the program name and variable name.
INTP-342 ABORT (%s^4, %d^5) Incompatible variable
Cause: KAREL program error. The data type defined by the BYNAME function and the variable type are mismatched. Remedy: Make sure you have the correct data type and variable type.
INTP-343 ABORT (%s^4, %d^5) Reference stack overflow
Cause: KAREL program error. Too many variables are passed using the BYNAME function. Remedy: Decrease the number of BYNAME functions.
INTP-344 ABORT (%s^4, %d^5) Readahead buffer overflow
Cause: KAREL program error. The buffer to read ahead from the device overflowed. Remedy: Increase the buffer size.
INTP-345 ABORT (%s^4, %d^5) Pause task failed
Cause: KAREL program error. The PAUSE statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-346 ABORT (%s^4, %d^5) Abort task failed
Cause: KAREL program error. The ABORT statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-347 ABORT (%s^4, %d^5) Read I/O value failed
Cause: KAREL program error. The digital input signal cannot be input. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-348 ABORT (%s^4, %d^5) Write I/O value failed
Cause: KAREL program error. The digital output signal cannot be output. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-349 ABORT (%s^4, %d^5) Hold motion failed
Cause: KAREL program error. The HOLD statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-350 ABORT (%s^4, %d^5) Unhold motion failed
Cause: KAREL program error. The UNHOLD statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-351 ABORT (%s^4, %d^5) Stop motion failed
Cause: KAREL program error. The STOP statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-352 ABORT (%s^4, %d^5) Cancel motion failed
Cause: KAREL program error. The CANCEL statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-353 ABORT (%s^4, %d^5) Resume motion failed
Cause: KAREL program error. The RESUME statement cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-354 ABORT (%s^4, %d^5) Break point failed
Cause: KAREL program error. The break point function cannot be executed. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-355 ABORT (%s^4, %d^5) AMR is not found
Cause: KAREL program error. The AMR operated by the RETURN_AMR built-in routine was not found. Remedy: Check program operation.
INTP-356 ABORT (%s^4, %d^5) AMR is not processed yet
Cause: KAREL program error. The RETURN_AMR built-in routine cannot be used for an unoperated AMR. Remedy: Operate the AMR using the WAIT_AMR built-in routine.
INTP-357 ABORT (%s^4, %d^5) WAIT_AMR is cancelled
Cause: KAREL program error. The execution of the WAIT_AMR built-in routine was cancelled. Remedy: The program executing the WAIT_AMR must be restarted.
INTP-358 ABORT (%s^4, %d^5) Timeout at read request
Cause: KAREL program error. The READ statement timed out. Remedy: Check the device being read.
INTP-359 ABORT (%s^4, %d^5) Read request is nested
Cause: KAREL program error. Another READ statement was executed while a READ statement was waiting for input. Remedy: Remove nested reads.
INTP-360 ABORT (%s^4, %d^5) Vector is 0
Cause: KAREL program error. The vector value was invalid. Remedy: Check the vector value.
INTP-361 PAUSE (%s^4, %d^5) FRAME:P2 is same as P1
Cause: KAREL program error. The X-axis direction cannot be calculated in the FRAME built-in routine because P1 and P2 are the same point. Remedy: Teach P1 and P2 as different points.
INTP-362 PAUSE (%s^4, %d^5) FRAME:P3 is same as P1
Cause: KAREL program error. The X-Y plane cannot be calculated in the FRAME built-in routine because P1 and P3 are the same point. Remedy: Teach P1 and P3 as different points.
INTP-363 PAUSE (%s^4, %d^5) FRAME:P3 exists on line P2-P1
Cause: KAREL program error. The X-Y plane cannot be calculated in the FRAME built-in routine because P3 is located in the X-axis direction. Remedy: Teach P3 out of the X-axis direction.
INTP-364 ABORT (%s^4, %d^5) String too short for data
Cause: KAREL program error. The target string was too short. Remedy: Increase the target string size.
INTP-365 ABORT (%s^4, %d^5) Predefined window not opened
Cause: KAREL program error. A FILE pre-defined by the system is not opened. Remedy: Check the use of this file.
INTP-366 ABORT (%s^4, %d^5) I/O status is not cleared
Cause: KAREL program error. The last file operation failed. Remedy: Reset the error using the CLR_IO_STAT built-in routine.
INTP-367 ABORT (%s^4, %d^5) Bad base in format
Cause: KAREL program error. I/O mode operates only from binary to hexadecimal. Remedy: Check the specified mode.
INTP-368 PAUSE (%s^4, %d^5) Cannot use specified program
Cause: KAREL program error. The specified program cannot be used. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-369 ABORT (%s^4, %d^5) Timeout at WAIT_AMR
Cause: KAREL program error. The WAIT_AMR built-in routine timed out. Remedy: If an AMR was expected within the time-out value check logic in the
task that should have posted the AMR.
INTP-370 ABORT (%s^4, %d^5) Vision CPU not plugged in
Cause: KAREL program error. The vision CPU board is not plugged in. Remedy: Plug in the vision CPU board.
INTP-371 ABORT (%s^4, %d^5) Vision built-in overflow
Cause: KAREL program error. The operation overflowed in the vision built-in routine. Remedy: Modify program so fewer vision builtins are executing at the same
time.
INTP-372 ABORT (%s^4, %d^5) Undefined vision built-in
Cause: KAREL program error. The vision built-in routine is not defined. Remedy: Check the appropriate option is loaded.
INTP-373 ABORT (%s^4, %d^5) Undefined vision parameter type
Cause: KAREL program error. The parameter to the vision built-in routine is invalid. Remedy: Check the parameter of the vision built-in routine.
INTP-374 ABORT (%s^4, %d^5) Undefined vision return type
Cause: KAREL program error. The return value from the vision built-in routine is invalid. Remedy: Check the return value from the vision built-in routine.
INTP-375 ABORT (%s^4, %d^5) System var passed using BYNAME
Cause: KAREL program error. System variables cannot be passed using the BYNAME function. Remedy: Pass without using BYNAME or use GET_VAR and SET_VAR instead.
INTP-376 ABORT (%s^4, %d^5) Motion in interrupt is failed
Cause: There isn’t CANCEL or STOP instruction. Remedy: insert CANCEL or STOP before call interrupt routine.
INTP-377 WARN (%s^4, %d^5) Local COND recovery failed
Cause: This local condition can’t be recovered. Remedy: Refer to the error cause code. Use MENUS to display the Alarm Log
screen.
INTP-378 WARN (%s^4, %d^5) Local variable is used
Cause: Local variable or parameter is used for the condition. Remedy: Use global variable to recover local condition.
INTP-379 ABORT Bad condition handler number
Cause: An invalid condition handler number was used in a condition handler definition, or an ENABLE, DISABLE, or PURGE statement or action. Remedy: Correct the condition handler number. Condition handler numbers
must be in the range 1-1000.
INTP-380 ABORT Bad program number
Cause: A invalid program number has been specified in an ABORT PROGRAM, PAUSE PROGRAM, or CONTINUE PROGRAM condition or action. Remedy: Use a valid program number. Program numbers must be in the range
1..$SCR,$MAXNUMTASK + 2.
INTP-381 ABORT (%s^4, %d^5) Invalid Delay Time
Cause: An invalid delay time has been specified in DELAY statement. Remedy: Use a valid delay time. Delay time must be in the range 0-86400000.
INTP-382 ABORT (%s^4, %d^5) Invalid bit field value
Cause: An invalid value has been specified in bit field. Remedy: Use a valid value for the bit field.
INTP-383 PAUSE (%s^4, %d^5) Path node out of range
Cause: The specified path node is out of range. Remedy: Check the path node.
INTP-400 ABORT (%s^4, %d^5) Number of motions exceeded
Cause: Too many motions are executed at the same time. Remedy: Decrease the number of motions executed at the same time. Execute
the next motion after the completion of the last motion.
INTP-401 ABORT (%s^4, %d^5) Not On Top Of Stack
Cause: Paused motion exists after the motion was resumed. Remedy: Resume the motion that was previously paused.
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JOG Error Codes
JOG-001 WARN Overtravel Violation
Cause: A robot overtravel has occurred. Remedy: Use the MANUAL FCTNS OT release menu in to find out which axis is
in an overtravel condition. Release overtravel by holding the SHIFT key and pressing the RESET key. At this time the servo power will be turned on. If the SHIFT key is released, the servo power will be turned off again. You can only use JOINT to jog the axis out of overtravel. If you want to jog the overtraveled axis further into the overtravel direction, you have to release the axis by moving the cursor to the axis direction you want, then press release function key in the OT release menu. At this point you can jog the axis to that direction.
JOG-002 WARN Robot not Calibrated
Cause: Robot has not been calibrated. Remedy: Set the system variable $MASTER_ENB to 1. Select SYSTEM then
Master/Cal, to display the Master/Cal menu. Select a method for calibrating the robot. If the robot can not be calibrated, mastering is required. If the robot has been master before, set the system variable $DMR_GRP[].$master_d one to TRUE then calibrate the robot again. For more information on mastering and calibrating the robot, refer to the «Mastering» appendix in this manual.
JOG-003 WARN No Motion Control
Cause: Other program has motion control. Remedy: Abort the program that has motion control by pressing the FCTN key
then selecting ABORT.
JOG-004 WARN Illegal linear jogging
Cause: You cannot do more than one rotational jog at a time. Remedy: Only press one rotational jog key at a time.
JOG-005 WARN Can not clear hold flag
Cause: The system call to clear hold flag failed error. Remedy: Perform a cycle start.
JOG-006 WARN Subgroup does not exist
Cause: No extended axis exist in this group with which to jog. Remedy: This is a notification. You do not have to do anything for this warning
message.
JOG-007 WARN Press shift key to jog
Cause: The SHIFT key is not pressed. Remedy: You must press the SHIFT key when jogging the robot. Release the
jog key then hold the SHIFT key and press the jog key to jog.
JOG-008 WARN Turn on TP to jog
Cause: Teach pendant is not enable. Remedy: Hold the DEADMAN and turn on the teach pendant before jogging the
robot.
JOG-009 WARN Hold deadman to jog
Cause: The DEADMAN switch is not pressed. Remedy: Press the DEADMAN switch, then press the RESET key to clear the
error.
JOG-010 WARN Jog pressed before shift
Cause: The jog key was pressed before the shift key was pressed.
Remedy: Release the jog key. Then hold the SHIFT key then press the jog key.
JOG-011 WARN Utool changed while jogging
Cause: The selected tool frame changed while jogging. Remedy: Release the SHIFT key and the JOG key. The new TOOL frame will
take effect automatically. To start jogging, hold down the SHIFT key and press the JOG key.
JOG-012 WARN manual brake enabled
Cause: The manual brake enabled. Remedy: Engage all the brakes by pressing EMERGENCY STOP button, then
press the RESET key. To start jogging, press the shift and the jog key.
JOG-013 WARN Stroke limit (G:%d A:%x Hex)
Cause: Robot axis reaches its specified stroke limit. Remedy: The robot already reach the stroke limit and cannot jog in the current
direction any more. Extend the axis limit if it does not exceed the robot and software specifications.
JOG-014 WARN Vertical fixture position
Cause: Robot reaches its vertical fixture position. Remedy: To continue jogging, release the JOG key then press it again.
JOG-015 WARN Horizontal fixture position
Cause: Robot reaches its horizontal fixture position. Remedy: To continue jogging, release the JOG key then press it again.
JOG-016 SERVO Softfloat time out(G:%d)
Cause: Follow-up time is over when softfloat is ON. Remedy: Make the system variable $SFLT_FUPTIM larger.
JOG-020 WARN Can not PATH JOG
Cause: PATH JOG has selected, but robot is not currently on a taught path, or tool Z direction is same teaching path, so Y direction can not be determined. Cannot PATH JOG. Remedy: Use shift-FWD to execute program path, or specify another jog frame.
JOG-021 WARN Multi key is pressed
Cause: Use of multiple jog keys is not supported in PATH JOG. Remedy: Use only one jog key at a time.
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LANG Error Codes
LANG-004 WARN File is not open
Cause: 1. The wrong port is set to the port you want to use. 2. The device may be out of order. Remedy: 1. Set the correct port.
2. Check the device if it works fine.
LANG-005 WARN Program type is different
Cause: Only able to process teach pendant programs. Remedy: Select a TPE program.
LANG-006 WARN Invalid or corrupted TP file
Cause: A when loading .TP file, invalid data was found. This may occur if a .TP file has become corrupted or if some other type of file (for example a .PE file), has been copied or renamed to a .TP file. Remedy: Generate (using SAVE, with $ASCII_SAVE = FALSE) and load a
valid .TP file. Note: An existing TP program in the controller might have been corrupted as a result of your attempt to load the invalid file. You might have to reteach the teach pendant program, before you save it as a .TP file.
LANG-007 WARN
Cause 1: The data of .TP file is corrupted. Remedy 1: Create new .TP file.
Cause 2: The format of .TP file is wrong. Remedy 2: Check the format of .TP file.
LANG-014 WARN Program already exists
Cause: The program that is being loaded already exists in the system. Remedy: Before you load the program, delete the program already in the
system.
LANG-015 WARN Can not write file
Cause: Failure when writing data to the floppy. Remedy: Check the connection of the device.
LANG-016 WARN Can not read file
Cause: Failure when reading data from the floppy. Remedy: Check the connection of the device.
LANG-017 WARN File format is incorrect
Cause: The data you are trying to save to a file is either abnormal or broken, therefore the file cannot be loaded. Remedy: The file cannot be loaded with the data as it is. The data must be
normal to load the file.
LANG-018 WARN Group mask value is incorrect
Cause: When printing the program, there was an illegal position that did not match the group mask of the program. Remedy: Reteach the position data so that the group number matches the group
mask of the program.
LANG-050 WARN %s contains %s, program/file names must match
Cause: The file name and the program name are not the same. Their names must match. Remedy: Rename the file to be same as the program name.
LANG-094 WARN File already exists
Cause: The specified file already exists in the floppy. Remedy: Before you write the new file to the floppy, delete the file that already
exists on the floppy.
LANG-095 WARN File does not exist
Cause: The specified file does not exist in the floppy. Remedy: Check the file name or content of the floppy.
LANG-096 WARN Disk is full
Cause: The floppy disk has reached its limit and is full. Remedy: Either use a new floppy disk or delete an unnecessary file in order to
make room for saving to the floppy.
LANG-097 WARN Only one file may be opened
Cause: An attempt was made to open more than one file. Remedy: Do not attempt to open more than one file at a time.
LANG-098 WARN Disk timeout
Cause: It could not access the disk. Remedy: Check if the correct device is set to the appropriate port and that the
device is turned on.
LANG-099 WARN Write protection violation
Cause: The disk has write protection. Remedy: Remove the write protection.
LANG-100 WARN Device error
Cause: Could not access the device. Remedy: Connect the correct device to the correct port.
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LNTK Error Codes
LNTK-000 STOP Unknown error (LN00)
Cause: System internal error. Remedy: Press RESET to clear the error and continue the program. If this error
continues to occur, perform a cold start by turning off the robot, then while pressing SHIFT and RESET on the teach pendant, turn the robot back on. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
LNTK-001 STOP No global variables
Cause: The Line Track global variables have NOT been properly loaded. Remedy: Check the application installation manual for the proper installation
procedure for the Line Track system.
LNTK-002 STOP Motion data missing
Cause: The Line Track internal motion data was NOT found. Remedy: Press RESET to clear the error and continue the program. If this error
continues to occur, perform a cold start by turning off the robot, then while pressing SHIFT and RESET on the teach pendant, turn the robot back on. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
LNTK-003 STOP Error allocating data memory
Cause: The Line track internal memory allocation failed. Remedy: Check Memory usage and Line Track installation.
LNTK-004 STOP No system variables
Cause: The Line Track system variables (eg. $LNSCH[], $LNSNRSCH[]) were not found. Remedy: Check the application installation manual for the proper installation
procedure for the Line Track system.
LNTK-005 STOP Illegal schedule number
Cause: An invalid Line Track schedule (track or frame) number was used within a program instruction (eg. TRK[59]) or program header data (eg. FRAME = 59). Remedy: Check all schedule numbers (TRK[] or FRAME usages) used within
the specified program to verify that they are within the allowable range specified for the $LNSCH[] system variable.
LNTK-006 STOP Illegal tracking type
Cause: An invalid tracking type was specified within the tracking schedule (i.e. $LNSCH[]) associated with the specified program. Remedy: Check the value of $LNSCH[i].$TRK_TYPE (where `i’ is the FRAME
number specified within the DETAIL screen for the specified program) to make sure that it is one of the valid values listed under the description for this system variable.
LNTK-007 STOP Illegal encoder number
Cause: An invalid sensor(encoder) number was used within the specified tracking program instruction or within the program’s associated schedule $LNSCH[i].$TRK_ENC_NUM value (where ‘i’ is the FRAME number used within the DETAIL screen for the specified program). Remedy: Check the value of the specified program instruction’s LINE[]
parameter and the program’s associated schedule $LNSCH[i].$TRK_ENC_NUM value to make sure that it is one of the valid values listed under the description for the $ENC_STAT[] system variable.
LNTK-008 STOP Invalid nominal position
Cause: An invalid or uninitialized nominal tracking frame position was used within the tracking schedule (i.e. $LNSCH[]) associated with the specified program. Remedy: Check the value of $LNSCH[i].$TRK_FRAME (where `i’ is the FRAME
number specified within the DETAIL screen for the specified program) to make sure that it is a properly initialized, valid position.
LNTK-009 STOP Illegal position type
Cause: The position type used within the specified program is not valid. Remedy: Check the KAREL or TPE user manual for valid position types.
LNTK-010 STOP Illegal encoder schedule num
Cause: An invalid sensor (encoder) schedule number was used within the specified tracking program instruction’s SCH[] parameter. Remedy: Check the $LNSNRSCH[] system variable description for the range of
valid sensor schedule numbers.
LNTK-011 STOP Illegal boundary set number
Cause: An illegal value was used within the specified tracking program instruction or within the program’s associated schedule $LNSCH[i].$SEL_BOUND value (where `i’ is the FRAME number used within the DETAIL screen for the specified program).
Remedy: Check the value of the specified program instruction’s BOUND[] parameter and the program’s associated schedule $LNSCH[i].$SEL_BOUND value to make sure that they are one of the valid values listed under the description for this system variable.
LNTK-012 STOP Invalid input position
Cause: An invalid or uninitialized position was used within the specified tracking program instruction. Remedy: Check the position (or position register) value for the specified tracking
program instruction to make sure that it is a properly initialized, valid position.
LNTK-013 STOP Invalid trigger input value
Cause: An invalid or uninitialized value was used for the specified tracking program instruction’s trigger value. Remedy: Check the value of the program register used by the specified tracking
program instruction.
LNTK-014 STOP Encoder/sensor not enabled
Cause: The tracking sensor (encoder) associated with the specified program (specified by $LNSCH[i].$TRK_ENC_NUM, where `i’ is the FRAME number used within the DETAIL screen for the specified program) must be enabled to perform this program instruction. Remedy: Use the LINE enable instruction to enable the proper tracking
sensor(encoder).
LNTK-015 STOP Invalid encoder trigger value
Cause: An invalid or uninitialized sensor (encoder) trigger value (specified by $LNSCH[i].$TRIG_VALUE, where `i’ is the FRAME number used within the DETAIL screen for the specified program) was found. Remedy: Make sure that this value is properly set prior to either teaching path
positions, or issuing programmed robot motion instructions.
LNTK-016 STOP Invalid input time
Cause: An invalid or uninitialized prediction time was used within the specified tracking program instruction. Remedy: Check the prediction time being used for proper initialization.
LNTK-017 STOP Invalid input pointer
Cause: An invalid internal position input pointer was specified. Remedy: Perform a COLD start of the system. (Cycle power) Notify FANUC
Robotics if problem persists.
LNTK-018 STOP Invalid teach distance
Cause: An invalid or uninitialized teach distance value (specified by $LNSCH[i].$TEACH_DIST, where `i’ is the FRAME number used within the DETAIL screen for the specified program) was found. Remedy: Make sure that this value is properly set prior to either teaching path
positions, or issuing programmed robot motion instructions.
LNTK-019 STOP Invalid scale factor
Cause: An invalid or uninitialized scale factor value (specified by $LNSCH[i].$SCALE, where ‘i’ is the FRAME number used within the DETAIL screen for the specified program) was found. Remedy: Make sure that this value is properly set prior to either teaching path
positions, or issuing programmed robot motion instructions. NOTE: This value may NOT be equal to 0.0.
LNTK-020 STOP Invalid extreme position
Cause: An invalid or uninitialized extreme position value (specified by $LNSCH[i].$TCP_EXTRM, where ‘i’ is the FRAME number used within the DETAIL screen for the specified program) was found. Remedy: Make sure that this value is properly set prior to either teaching path
positions, or issuing programmed robot motion instructions. NOTE: A value of 1,000,000 (1.0e6) may be set to disable TCP extreme position checking.
LNTK-021 STOP Invalid track axis number
Cause: An invalid or uninitialized track axis number (specified by $LNSCH[i].$TRK_AXIS_NUM, where `i’ is the FRAME number used within the DETAIL screen for the specified program) was found. Remedy: Make sure that this value is properly set to one of the valid values
listed under the description for this system variable.
LNTK-022 STOP No tracking hardware
Cause: No tracking sensor hardware interface or improperly initialized system variables. Remedy: Check tracking hardware setup and the values of $SCR.$ENC_TYPE
and $SCR.$ENC_AXIS.
LNTK-023 STOP Bad tracking hardware
Cause: Bad tracking sensor hardware interface. Remedy: Check all sensor hardware, cables, and connections.
LNTK-024 STOP Illegal encoder average
Cause: Illegal encoder average number. Remedy: Use a valid encoder average number.
LNTK-025 STOP Illegal encoder multiplier
Cause: Illegal encoder multiplier number. Remedy: Use a valid encoder multiplier number.
LNTK-026 STOP Encoder not enabled
Cause: Tracking encoder is not enabled. Remedy: Enable the tracking encoder before reading its COUNT or RATE within
the program.
LNTK-027 STOP Invalid data on LNTK stack
Cause: Invalid data was found on the tracking stack. Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC
Robotics if problem persists.
LNTK-028 STOP LNTK stack underflow
Cause: The tracking stack attempted to read more data than was present. Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC
Robotics if problem persists.
LNTK-029 STOP LNTK stack overflow
Cause: Too many tracking sub-processes are present. There is a limit to the number of tracking processes that can be called from other programs. Remedy: Check to ensure sub-processes are not being called erroneously.
Consider rewriting procedures so that fewer sub-processes are used.
LNTK-030 STOP Stack / header mismatch
Cause: The schedule number on the tracking stack did not match the schedule of the program it corresponds to. Remedy: Perform a COLD start of the system. (Cycle power.) Notify FANUC
Robotics if problem persists.
LNTK-031 STOP UFRAME must be zero
Cause: User frames cannot be used when tracking. Remedy: Set $MNUFRAMENUM[] to zero.
LNTK-032 STOP Conveyor resync failed
Cause: The conveyor was not resynchronized properly. Remedy: Make sure the Tracking Schedule is properly initialized, the encoder is
active, and all hardware is functioning properly.
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MACR Error Codes
MACR-001 WARN Can’t assign to MACRO command
Cause: The conditions for assigning macros are not correct. Remedy: Check if there is a double definition or if the index is over the range.
MACR-003 WARN Can’t assign motn_prog to UK
Cause: It is not possible to assign a program with MOTION lock group to the User Key (UK) button. Remedy: Remove the motion lock group from the program.
MACR-004 WARN Can’t execute motn_prog by UK
Cause: It is not possible to execute a program with MOTION lock group with the User Key (UK) button. Remedy: Remove the motion lock group from the program.
MACR-005 WARN Please enable teach pendant
Cause: It is not possible to execute a program when the teach pendant is disabled. Remedy: Enable the teach pendant.
MACR-006 WARN Please disable teach pendant
Cause: It is not possible to execute a program when the teach pendant is enabled. Remedy: Disable the teach pendant.
MACR-007 WARN The same macro type exists
Cause: The macro assign type already exists. Remedy: Change the assign type to another.
MACR-008 WARN Remote-cond isn’t satisfied
Cause: This assign type is only enabled at REMOTE condition. Remedy: Create REMOTE condition.
MACR-009 WARN The index is out of range
Cause: This assign index is out of range. Remedy: Change the assign index.
MACR-010 WARN This SOP button is disabled
Cause: This SOP button is not enabled for macro execution. Remedy: Change the value of the $MACRSOPENBL system variable. Refer to
the SYSTEM R-J3 Software Reference Manual , Chapter 2, «System Variable Alphabetical Description», for more information on setting system variables.
MACR-011 WARN This UOP button is disabled
Cause: This UOP signal is not enabled for macro execution. Remedy: Change the value of the $MACRSOPENBL system variable. Refer to
the SYSTEM R-J3 Software Reference Manual , Chapter 2, «System Variable Alphabetical Description», for more information on setting system variables.
MACR-012 WARN Number of DI+RI is over
Cause: The number of RI+DI is over the maximum number. You can assign RI and DI to macro assign type, but the total number of assignments possible is restricted by the system variable $MACROMAXDRI. $MACROMAXDRI must be set to 5 and never be changed. When the total number of assignments is over $MACROMAXDRI, this alarm occurs. Remedy: First de-assign the other RI or DI assignments. Then assign the new
macro as RI or DI.
MACR-013 WARN MACRO execution failed
Cause: Cannot execute this MACRO. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
MACR-016 WARN The macro is not completed
Cause: The macro aborted while executing. Remedy: The macro will begin executing from the first line at the next execution.
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MCTL Error Codes
MCTL-001 NONE TP is enabled
Cause: Teach pendant is enabled, therefore motion control was not granted. Remedy: Disable the teach pendant, and try the operation again.
MCTL-002 NONE TP is disabled
Cause: The teach pendant is disabled, therefore motion control was not granted. Remedy: Enable the teach pendant, and try the operation again.
MCTL-003 NONE system is in error status
Cause: The system is in error status, therefore motion control was not granted. Remedy: Clear the error by pressing RESET, and try the operation again.
MCTL-004 NONE motion is in progress
Cause: Motion control was not granted because motion is still in progress. Remedy: Wait until the robot comes to a complete stop.
MCTL-005 NONE not in control of motion
Cause: Motion control was not granted because brakes were engaged. Remedy: Make sure all brakes are released and try the operation again.
MCTL-006 NONE TP has motion control
Cause: The teach pendant currently has the motion control, therefore motion control was not granted. Remedy: Disable the teach pendant, and try the same operation again.
MCTL-007 NONE PROG has motion control
Cause: The program has the motion control, therefore motion control was not granted. Remedy: Pause or abort the program, and try the same operation again.
MCTL-008 NONE Operator panel has motion control
Cause: Because the operator panel has the motion control, the motion control was not granted. Remedy: Set the $rmt_master system variable correctly, and try the operation
again.
MCTL-009 NONE Other has motion control
Cause: Other device has the motion control, and the motion control was not granted. Remedy: Set the $rmt_master system variable correctly, and try the operation
again.
MCTL-010 NONE Other than msrc is rel’ing
Cause: System internal error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MCTL-011 NONE Due to error processing
Cause: System internal error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUCRobotics technical representative.
MCTL-012 NONE subsystem code unknown
Cause: System internal error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MCTL-013 NONE ENBL input is off
Cause: ENBL input on the UOP is off. Remedy: Set ENBL input ON.
MCTL-014 NONE Waiting for Servo ready
Cause: The motion control was not granted because servo was not up. Remedy: Wait for a few seconds until servo is up and ready.
MCTL-015 NONE Manual brake enabled
Cause: The motion control was not granted because manual brake control is enabled. Remedy: Disable the manual brake control.
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MEMO Error Codes
MEMO-002 WARN Specified program is in use
Cause: The specified program is being edited or executing. Remedy: Abort the specified program. Or select it again after selecting another
program.
MEMO-003 WARN Specified program is in use
Cause: The specified program is being edit or executing. Remedy: Abort the specified program. Or select it once more after selecting
another program.
MEMO-004 WARN Specified program is in use
Cause: The specified program is being edited or executing. Remedy: Abort the specified program. Or select it once more after selecting
another program.
MEMO-006 WARN Protection error occurred
Cause: The specified program is protected by user. Remedy: Cancel the protection of the specified program.
MEMO-007 WARN Invalid break number
Cause: The specified break number does not exist. Remedy: Specify the correct break number.
MEMO-008 WARN Specified line no. not exist
Cause: The specified line number does not exist in the specified or default program. Remedy: Specify a correct line number.
MEMO-010 WARN Program name error
Cause: The specified program name is different form that of the P-code file. Remedy: Specify the same program name.
MEMO-013 WARN Program type is different
Cause: The specified program type is different from that of the object being processed. Remedy: Specify the same program type.
MEMO-014 WARN Specified label already exists
Cause: The specified label id already exists in the program. Remedy: Specify another label number.
MEMO-015 WARN Program already exists
Cause: The specified program already exists in the system. Remedy: Specify another program name. Or delete the registered program.
MEMO-019 WARN Too many programs
Cause: The number of the programs and routines exceeded the maximum possible number ( 3200 ). Remedy: Delete unnecessary programs or routines.
MEMO-025 WARN Label does not exist
Cause: Specified label does not exist. Remedy: Set the index to an existing label.
MEMO-026 WARN Line data is full
Cause: The number of line data exceeded the maximum possible line number ( 65535 ). Remedy: Delete unnecessary line data.
MEMO-027 WARN Specified line does not exist
Cause: The specified line data does not exist. Remedy: Specify another line number.
MEMO-029 WARN The line data can’t be changed
Cause: The specified line data can’t be changed. The size of modified data is different from that of original data when replacing it. Remedy: Specify another line number or the data of same size.
MEMO-032 WARN Specified program is in use
Cause: The specified program is being edited or executing. Remedy: Abort the specified program. Or select it once more after selecting
another program.
MEMO-034 WARN The item can’t be changed
Cause: The specified item is locked to change by system. Remedy: Specify another item.
MEMO-038 WARN Too many programs
Cause: The number of the programs exceeded the maximum number. Remedy: Delete unnecessary programs.
MEMO-048 WARN Break point data doesn’t exist
Cause: The specified break point data does not exist. Remedy: Specify another break point.
MEMO-050 WARN Program does not exist
Cause: The specified program does not exist in the system. Remedy: Specify another program or create the same program first.
MEMO-056 WARN Program does not exist
Cause: The specified program does not exist in the system. Remedy: Specify another program or create the same program first.
MEMO-061 WARN No write access
Cause: The program must be opened with write access before attempting write operations. Remedy: Open the program with write access before writing.
MEMO-065 WARN Too many opened programs
Cause: Too many CALL instructions is used. The number of opened programs exceeded the maximum possible number( 100 ). Remedy: Abort the unnecessary programs. Or, remove unnecessary CALL
instructions.
MEMO-068 WARN Specified program is in use
Cause: 1. The specified program is editing or executing. 2. The specified program is entried to MACRO Remedy: 1. Abort the specified program. Or select it once more after select
another program. 2. Remove the program form the MACRO entry.
MEMO-071 WARN Position does not exist
Cause: The specified position data does not exist. Remedy: Specify another position.
MEMO-072 WARN Position data already exists
Cause: Position data already exists in the specified position you want to move. Remedy: Specify another position. Or, delete the data in the specified position.
MEMO-073 WARN Program does not exist
Cause: The specified program does not exist in the system. Remedy: Specify another program or create the same program first.
MEMO-074 WARN Program type is not TPE
Cause: The operation can be apply only to TPE programs. Remedy: Select a TPE program.
MEMO-075 WARN Program can’t be used
Cause: The program must be opened before attempting read or write operations. Remedy: Open the program before reading or writing.
MEMO-078 WARN Program can’t be used
Cause: The specified operation is not supported for this program type. Remedy: Specify a program whose program type matches the operation.
MEMO-080 WARN Protection error occurred
Cause: The specified program is protected by user. Remedy: Cancel the protection of the specified program.
MEMO-081 WARN Specified program is in use
Cause: The specified program is editing or executing. Remedy: Abort the specified program. Or select it once more after select
another program.
MEMO-088 WARN Program does not exist
Cause: The specified position data does not exist. Remedy: Specify another position.
MEMO-093 WARN Specified program is in use
Cause: The specified program is editing or executing. Remedy: Abort the specified program. Or select it once more after select
another program.
MEMO-098 WARN EOF occurs in file access
Cause: EOF occurs in file access. When P-code file was scanned, EOF occurs. Remedy: The P-code data may be broken. Translate the specified KAREL
program again. Then reload the P-code.
MEMO-099 WARN Program name is wrong
Cause: The program name length is different from that of the P-code data. Remedy: Check the program name of the specified program.
MEMO-103 WARN Check sum error occurred
Cause: The specified data was broken. This is the internal error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MEMO-104 WARN Program already exists
Cause: The specified program already exists in the system. Remedy: Specify another program name. Or delete the registered program.
MEMO-112 WARN Break data already exists
Cause: The specified break point data already exists in the program. Remedy: Specify another break point.
MEMO-113 WARN File access error
Cause: The port that has the program you want to load is not connected. Remedy: Check the port setting and the connected device.
MEMO-114 WARN Break point can’t be removed
Cause: The break point data can not be overwritten. The program is protected by user or executing. Remedy: Cancel the protection of the program or abort the program.
MEMO-115 WARN Break point can’t be removed
Cause: The break point data can not be removed. The program is protected by user or executing. Remedy: Cancel the protection of the program or abort the program.
MEMO-119 WARN Application data doesn’t exist
Cause: The specified application data does not exist because the program does not correspond to the specified application. Remedy: Specify another application data. Then create the program in the
current system.
MEMO-120 WARN Application data doesn’t exist
Cause: The specified application data does not exist because the program does not correspond to the specified application. Remedy: Specify another application data. Create the program in the current
system again.
MEMO-123 WARN Application data doesn’t exist
Cause: The specified application data does not exist because the program does not correspond to the specified application. Remedy: Specify another application data. Create the program in the current
system again.
MEMO-124 WARN Program version is too new
Cause: KAREL program version number is newer than that of the system. Remedy: Translate the program with an older version of the Translator.
MEMO-125 WARN Program version is too old
Cause: KAREL program version number is older than that of the system. Remedy: Translate the program with a newer version of the Translator.
MEMO-126 WARN No more available memory
Cause: Lack of the memory which can be used. Remedy: Delete unnecessary programs.
MEMO-127 WARN Pos reference over 255 times
Cause: Reference of the same position exceeded the maximum count (256). Remedy: Set new position ID for the referenced position.
MEMO-128 WARN %s parameters are different
Cause: A routine exists in memory with a different parameter definition than the routine in the PC file being loaded. Remedy: Update the calling convention in the KAREL program being loaded or
delete the obsolete routine from system memory.
MEMO-130 SYST Please power up again
Cause: The data of the system been broken. Remedy: Please power up again.
MEMO-131 SYST Please power up again
Cause: System data in CMOS has been broken. Remedy: Turn power off and then back on.
MEMO-132 WARN %s has been broken
Cause: Program data has been broken at the power fail recover. Remedy: Delete the program and create it again. Press the RESET key to clear
the error. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MEMO-133 SYST Please power up again
Cause: System data in CMOS has been broken. Remedy: Turn power off and then back on.
MEMO-134 WARN TPE program %s already exists
Cause: The TPE program which has the same name already exists. Remedy: Delete the teach pendant (TP) program. Then load the specified
KAREL program again.
MEMO-135 WARN Cannot create TPE program here
Cause: The TPE program cannot be created in this start mode. Remedy: Select the function menu to change the start mode.
MEMO-136 WARN Cannot load P-code here
Cause: The KAREL program cannot be loaded in this start mode. Remedy: Select the function menu to change the start mode.
MEMO-137 WARN Load at Control Start Only
Cause: Specified KAREL program cannot be loaded in this mode. Because the same name program has already been loaded at controlled start. Remedy: Load the program at controlled start.
MEMO-138 WARN Delete at Control Start Only
Cause: Specified program has already been loaded at controlled start. Because of this, you can only delete the program at controlled start. Remedy: Delete the program at controlled start.
MEMO-144 WARN Header size too big
Cause: The TPE header size specified is too big. Must be less than 256. Remedy: Change size to range of 1-256. If necessary, use multiple header
records.
MEMO-145 WARN TPE cannot have KAREL routine
Cause: The routine of the specified program has been already referred by the KAREL program. Because of this, the specified program must be the KAREL program. The user cannot use the specified program name as a TPE program. Remedy: Change the program name, or delete the KAREL program which refers
the routine of the specified program.
MEMO-146 WARN Invalid variable is used
Cause: Invalid variable is used in the specified KAREL program. Remedy: Check the variable used in the specified KAREL program.
MEMO-147 WARN Flash File access error (write)
Cause: The write access to the Flash File (F-ROM) failed. Some program may be lost. Remedy: The Flash File (F-ROM) may be broken. Create or load the lost
program again.
MEMO-148 WARN Flash File access error (read)
Cause: The read access to the Flash File (F-ROM) failed. Some program may be lost. Remedy: The Flash File (F-ROM) may be broken. Create or load the lost
program again.
MEMO-149 WARN Specified program is broken
Cause: Program data has been broken. Remedy: Power OFF and ON. Then check the program data of the specified
program.
MEMO-151 WARN No more available memory (TEMP)
Cause: Lack of the temporary memory which can be used for the program.
Remedy: Delete unnecessary programs, or change the D-RAM module to a larger one.
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MOTN Error Codes
MOTN-000 WARN Unknown error (MO00)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-001 STOP Internal error in osmkpkt
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-002 STOP Internal error in ossndpkt
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-003 STOP Internal error in oswrtmbx
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-004 STOP Internal error in ossigflg
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-005 STOP Internal error in osclrflg
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-006 STOP Internal error in osrcvpkt
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-007 STOP Internal error in osredmbx
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-008 STOP Internal error in oswaiflg
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is
not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-009 STOP Normal Single Step / BWD stop
Cause: System executes normal Single Step or Backward motion stop. Remedy: This is a normal condition. No action is required.
MOTN-010 STOP Internal error in osathpkt
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-011 STOP Internal error in osdltpkt
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-012 STOP Invalid softpart MIR
Cause: Invalid softpart MIR. Remedy: Make sure the correct basic motion softpart is installed
MOTN-013 STOP Invalid softpart SEG
Cause: Invalid softpart SEG. Remedy: Make sure the correct basic motion softpart is installed.
MOTN-014 WARN unknown error (MO14)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-015 WARN unknown error (MO15)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-016 WARN unknown error (MO16)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-017 STOP Limit error (G:%d^2, A:%x^3 Hex)
Cause: Limit error. Remedy: Reteach the position out of limits.
MOTN-018 STOP Position not reachable
Cause: Position not reachable Or near by singularity. Remedy: Reteach the position that is not reachable.
MOTN-019 WARN In singularity
Cause: Position near by singularity. Remedy: Reteach the position that is near a singularity point.
MOTN-020 WARN Wristjoint warning
Cause: Wrist joint warning. Remedy: Wrist joint warning.
MOTN-021 STOP No kinematics error
Cause: No kinematics. Remedy: Use joint motion.
MOTN-022 STOP Invalid limit number
Cause: Invalid limit number. Remedy: Set limit number correctly.
MOTN-023 STOP In singularity
Cause: The position is near a singularity point. Remedy: Reteach the position that is near a singularity point.
MOTN-024 STOP Kinematics not defined
Cause: Kinematics is not defined. Remedy: Define Kinematics.
MOTN-025 WARN unknown error (MO25)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-026 WARN unknown error (MO26)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-027 WARN unknown error (MO27)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-028 WARN unknown error (MO28)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-029 STOP unknown error (MO29)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-030 STOP Internal error in MMGR:PEND
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-031 STOP Internal error in MMGR:ESEG
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-032 STOP Internal error in MMGR:PRSD
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-033 STOP Internal error in MMGR:GNL
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is
not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-034 STOP Internal error in MMGR_MMR
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-035 STOP Internal error in MMGR_MIR
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-036 STOP Internal error in MMGR:MSTR
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-037 STOP Internal error in MMGR:MDON
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-038 STOP Internal error in MMGR:CAN
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-039 STOP Internal error in MMGR:FCAN
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-040 STOP Internal error in MMGR:CAND
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-041 STOP Internal error in MMGR:PSTR
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-042 STOP Internal in MSSR
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-043 STOP Internal error in MMGR:EPKT
Cause: Internal system error.
Remedy: Perform a cold start: 1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-044 STOP Internal error in MMGR:ERR
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-045 STOP Internal error in pro. start
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-046 STOP Internal error in MMGR:LSTP
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-047 STOP Internal error in MMGR:PRST
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-048 STOP unknown error (MO48)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-049 STOP Attempt to move w/o calibrated
Cause: Robot not calibrated. Remedy: Calibrate the robot.
MOTN-050 STOP Invalid spdlim (G:%d^2 A:%x^3 H)
Cause: Invalid joint speed limit. Remedy: Set $SPEEDLIMJNT correctly.
MOTN-051 STOP Speed out of range (G:%d^2)
Cause: Speed out of range. Remedy: Set speed correctly.
MOTN-052 STOP Jntvellim out of range (G:%d^2)
Cause: Joint vel limit out of range. Remedy: Set $JNTVELLIM correctly.
MOTN-053 STOP Internal planner error (G:%d^2)
Cause: Internal Planner error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-054 STOP Uninitialized dest pos (G:%d^2)
Cause: Uninitialized destination position. Remedy: Teach destination position.
MOTN-055 STOP Uninitialized via pos (G:%d^2)
Cause: Uninitialized via position. Remedy: Teach via position.
MOTN-056 WARN Speed limits used (G:%d^2)
Cause: Speed limits used. Remedy: This is just a notification that the command translational speed is not
attained (before acceleration) due to rotational speed limits being applied. This message is also displayed if time-based motion is issued and the command time value cannot be attained due to rotational or translational speed limits being applied. If the slowdown is unacceptable, modify the program so that the orientation change is smaller (for non-time-based motion), or increase the segment time, or decrease the taught distance between points (for time-based motion).
MOTN-057 STOP Invalid mir (G:%d^2)
Cause: Invalid packet received by planner. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-058 STOP Invalid cancel request (G:%d^2)
Cause: Invalid cancel request received by planner. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-059 STOP Null segment received (G:%d^2)
Cause: Planner received null seg when not expecting one. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-060 STOP Uninitialized base vec (G:%d^2)
Cause: Uninitialized base vector in relative moves. Remedy: Initialize base vector.
MOTN-061 STOP Uninitialized distance (G:%d^2)
Cause: Uninitialized distance in relative moves. Remedy: Initialize distance.
MOTN-062 STOP Invalid position type (G:%d^2)
Cause: Invalid position type received by planner. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-063 STOP Position config change (G:%d^2)
Cause: Configuration mismatch. Remedy: Reteach the destination position so that its configuration string
matches the start position’s configuration string.
MOTN-064 STOP Rs orientation error (G:%d^2)
Cause: RS orientation planning error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-065 STOP AES orientation error (G:%d^2)
Cause: AES orientation planning error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-066 STOP Degenerate circle (G:%d^2)
Cause: Degenerate circle. Remedy: Reteach via and/or destination positions.
MOTN-067 STOP Ata2 error in circle (G:%d^2)
Cause: Internal system error during circular planning. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is
not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-068 STOP Invalid Prgoverride (G:%d^2)
Cause: Prgoverride is not within 0 to 100. Remedy: Set $prgoverride within 0 to 100.
MOTN-069 STOP Error in mocmnd (G:%d^2)
Cause: Internal error: planner received invalid mocmnd. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-070 STOP Error in motype (G:%d^2)
Cause: Internal error: planner received invalid motype. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-071 STOP Error in termtype (G:%d^2)
Cause: Internal error: planner received invalid termtype. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-072 STOP Error in segtermtype (G:%d^2)
Cause: Internal error: planner received invalid segtermtype. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-073 STOP Error in orientype (G:%d^2)
Cause: Internal error: planner received invalid orientype. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-074 STOP Error in speed (G:%d^2)
Cause: Speed is not within 0 to $speedlim. Remedy: Set speed within 0 to $speedlim.
MOTN-075 STOP Error in rotspeed (G:%d^2)
Cause: Rotspeed is not within 0 to $rotspeedlim. Remedy: Set Rotspeed within 0 to $rotspeedlim.
MOTN-076 STOP Error in contaxisvel (G:%d^2)
Cause: Contaxisvel is not within 0 to 100. Remedy: Set contaxisvel to within 0 to 100.
MOTN-077 STOP Error in seg_time (G:%d^2)
Cause: Seg_time is negative. Remedy: Set seg_time positive.
MOTN-078 STOP Error in accel_ovrd (G:%d^2)
Cause: Accel_ovrd greater than 500. Remedy: Set accel_ovrd within 0 to 500.
MOTN-079 STOP Error in accu_num (G:%d^2)
Cause: Internal error: planner received invalid accu_num. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-080 STOP Via position required (G:%d^2)
Cause: Missing via position for circular motion. Remedy: Teach via position.
MOTN-081 STOP Extended position error (G:%d^2)
Cause: Internal error: planner received invalid extended position representation. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-082 STOP Null mir pointer (G:%d^2)
Cause: NULL MIR pointer. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-083 STOP Illegal SEG recvd (G:%d^2)
Cause: Internal error: planner received segment belonging to another group. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-084 STOP Illegal CONSEG recvd (G:%d^2)
Cause: Not used. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-085 STOP Error in gp_concurrent(G:%d^2)
Cause: Internal error: planner received invalid mmr.gp_concurrent. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is
not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-086 STOP Not all CON_SEGs recvd(G:%d^2)
Cause: Group motion: not all segments are received. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-087 STOP Utool change not allowed(G:%d^2)
Cause: $utool is changed before move. Remedy: Do not change $utool for this move.
MOTN-088 STOP Not cartesian move (G:%d^2)
Cause: Motype is not cartesian. Remedy: Must set motype to cartesian.
MOTN-089 STOP Segment not planned (G:%d^2)
Cause: Internal plan error:seg in list not all planned. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-090 STOP MIR mismatch (G:%d^2)
Cause: Internal plan error:mir mismatch. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-091 STOP Va orientation error (G:%d^2)
Cause: Internal plan error:atan2 error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-092 STOP Extended not supported (G:%d^2)
Cause: Extended axes not supported. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-093 STOP Internal PLAN blend err(G:%d^2)
Cause: Internal plan error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-094 STOP Blend corner too big (G:%d^2)
Cause: Not used. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-095 WARN Can’t blend corner line:%d^5
Cause: Warning, there is not enough distance to perform corner blending. Remedy: If corner blending is still required for the line shown reteach pos further
apart
MOTN-096 STOP Cart rate not equal(G:%d^2)
Cause: Intellitrak On: $linear_rate and $circ_rate must be equal. Remedy: Set $linear_rate equal to $circ_rate. cycle power
MOTN-097 WARN INTR overrun %d^3 (G:%d^2)
Cause: Interpolator overrun.
Remedy: Perform a cold start: 1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-098 STOP Circle angle too large
Cause: Taught points define an arc larger than half circle. Remedy: If arc bigger than half circle is intended, use two or more Circular
instructions to teach the circle. If the intended arc is smaller than half circle then circle’s via point is not between Circle’s start and destination points. Check the taught points and make the necessary changes.
MOTN-099 STOP INTR Fail to get MIRPKT (G:%d^2)
Cause: Internal interpolator error:failed to receive mir when expecting one. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-100 STOP INTR Fail to get FDO (G:%d^2)
Cause: Internal interpolator error:failed to receive fdo when expecting one. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-101 STOP MIR list is empty (G:%d^2)
Cause: Internal interpolator error: mir list is empty when it shouldn’t be. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-102 STOP SEG list is empty (G:%d^2)
Cause: Internal interpolator error: seg list is empty when it shouldn’t be.
Remedy: Perform a cold start: 1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-103 STOP Send ENB pkt fail (G:%d^2)
Cause: Internal interpolator error: error in sending ENB packet. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-104 STOP Send DSB pkt fail (G:%d^2)
Cause: Internal interpolator error: error in sending DSB packet. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-105 STOP Send TRG pkt fail (G:%d^2)
Cause: Internal interpolator error: error in sending TRG packet. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-106 STOP Process motion done (G:%d^2)
Cause: Internal interpolator error: process motion had completed without being restarted. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-107 STOP Bad filter type (G:%d^2)
Cause: Internal interpolator error: invalid filter type received. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-108 STOP INTR seglist error (G:%d^2)
Cause: Internal interpolator error: error in seg list management. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-109 STOP Internal INTR error (G:%d^2)
Cause: Internal interpolator error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-110 STOP Use FINE in last L (G:%d^2)
Cause: Cannot replan joint motion in interpolator for this move. Remedy: Use FINE in last L statement.
MOTN-111 WARN Can’t switch filter(G:%d^2)
Cause: Warning message to indicate that switch filter cannot take place. Remedy: This is just a notification. You do not have to do anything for this
warning message.
MOTN-112 SABRT Increment move turn Mismatch
Cause: Incremental motion causes turn number mismatch. Remedy: Change position to absolute position.
MOTN-113 WARN Robot not calibrated
Cause: Robot not calibrated.
Remedy: Calibrate the robot.
MOTN-114 WARN Servo is on (G:%d^2)
Cause: Servo in still on. Remedy: Turn off servo.
MOTN-115 WARN Invalid brake mask (G:%d^2)
Cause: Invalid brake mask. Remedy: Check brake mask.
MOTN-116 WARN Invalid solution (G:%d^2)
Cause: Invalid kinematics solution. Remedy: Reteach position.
MOTN-117 WARN Robot not mastered (G:%d^2)
Cause: Robot not mastered. Remedy: Master the robot. Refer to the Setup and Operations Manual specific to
your application.
MOTN-118 WARN Robot in over travel (G:%d^2)
Cause: Robot in overtravel. Remedy: Reset over travel jog the robot outside over travel position.
MOTN-119 WARN Servo is off (G:%d^2)
Cause: Robot servo is on. Remedy: Turn off servo.
MOTN-120 WARN Invalid reference position (G:%d^2)
Cause: Invalid reference position. Remedy: Check reference position.
MOTN-121 WARN Invalid config. string (G:%d^2)
Cause: Invalid config string. Remedy: Reteach your config string.
MOTN-122 STOP Dfilter not empty (G:%d^2)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error
is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-123 STOP Not enough node (G:%d^2)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-124 STOP INTR:Bad Mirpkt req_code(G:%d^2)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-125 STOP INTR got illegal pkt (G:%d^2)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-126 STOP Can’t init CH KPT (G:%d^2)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-127 STOP Can’t detach CH PKT (G:%d^2)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot.
2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-128 STOP Group mtn not supported(G:%d^2)
Cause: Group motion not supported. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-129 STOP Local cond ptr conflict(G:%d^2)
Cause: Conflict in local condition list pointers. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-130 STOP Non-empty local cond list(G:%d^2)
Cause: Local condition list attached to SEG is not NULL. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-131 STOP In singularity
Cause: Position near by singularity. Remedy: Reteach position that is near a singularity point.
MOTN-132 STOP Group circ not supported(G:%d^2)
Cause: Group motion: circular motype for all groups not supported. Remedy: Reteach motype.
MOTN-133 WARN Time after limit used(G:%d^2)
Cause: Local condition time after value is too big. System will use time after limit. This is just a warning. Remedy: No corrective action required.
MOTN-134 STOP Can not move path backward (G:%d^2)
Cause: Backward path/subpath motion is not supported. Remedy: Remove backward command.
MOTN-135 STOP Last motype can’t be circular (G:%d^2)
Cause: Backward last node motype can not be circular. Remedy: Change last node motype.
MOTN-136 STOP Circular Points too close (L:%d^5)
Cause: Two of the circular taught points are too close to each other. Remedy: Re-teach the points. Ideally, circular points should be evenly spaced.
Otherwise, a small change in one point can drastically change the programmed circle.
MOTN-137 STOP No circular softpart (G:%d^2)
Cause: The circular motion softpart is not loaded in the system. Remedy: Load the circular softpart.
MOTN-138 STOP No joint short motion SP (G:%d^2)
Cause: Joint short motion softpart is not loaded in the system. Remedy: Load joint short motion softpart.
MOTN-139 STOP No cart short motion SP (G:%d^2)
Cause: Cartesian short motion softpart is not loaded in the system. Remedy: Load cartesian short motion softpart.
MOTN-140 STOP No KAREL motion softpart (G:%d^2)
Cause: The KAREL motion softpart is not loaded in the system. Remedy: Load the KAREL motion softpart.
MOTN-141 STOP No KAREL motion func. ptr (G:%d^2)
Cause: The KAREL motion function pointer is not initialized or does not exist. Remedy: Check that the KAREL Motion softpart has been loaded, and restart
the controller.
MOTN-142 STOP No Group Motion SP (G:%d^2)
Cause: The Group Motion softpart is loaded and multi-group motion is specified.
Remedy: Check that the Group Motion softpart has been loaded, and restart the controller.
MOTN-143 STOP No Motion Resume SP (G:%d^2)
Cause: The Motion Resume softpart is loaded and path resume motion is specified. Remedy: Check that the Motion Resume softpart has been loaded, and restart
the controller.
MOTN-144 STOP No joint Turbo Move SP (G:%d^2)
Cause: Joint Turbo Move softpart is not loaded in the system. Remedy: Load joint Turbo Move softpart.
MOTN-145 STOP No cart Turbo Move SP (G:%d^2)
Cause: Cartesian Turbo Move softpart is not loaded in the system. Remedy: Load cartesian Turbo Move softpart.
MOTN-146 STOP INTR can’t replan major axis(G:%d^2)
Cause: Mismatch in major axis turn number. Remedy: Reteach position.
MOTN-147 WARN L->J replan joint slowdown (G:%d^2)
Cause: Linear motions ignore turn numbers. Therefore, when a joint motion follows several linear motions, the turn number might be mismatched, causing the robot to slow down. Remedy: Change the current motion’s motype to linear or change the previous
motion’s motype to joint. If the problem persists, re-teach the path.
MOTN-148 WARN Can’t move concurrently (G:%d^2)
Cause: Two motion groups cannot synchronize with each other due to replanning of one group. This will cause slow down on both groups. Remedy: If slow down is not acceptable, re-teach the path.
MOTN-149 STOP CF:rotspeedlim exceeded line:%d^5
Cause: CF:rotspeedlim exceeded. Remedy: Set $CF_PARAMGP[].$cf_framenum=1 or 2 and cycle power or
reduce speed or use FINE in prev line.
MOTN-300 STOP CD not support:Use CNT L:%d^5
Cause: Term type CD is not supported. Remedy: Change termtype FINE or CNT.
MOTN-301 STOP Can’t resume motion (G:%d^2)
Cause: Can’t resume motion. Remedy: Abort and run program.
MOTN-302 WARN Corner speed slowdown L:%d^5
Cause: Corner speed slows down automatically because of robot constraint. Remedy: If slow down is not acceptable, re-teach the path to provide a larger
corner radius or increase the corner distance in the CD field.
MOTN-303 WARN Can’t maintain CDist L:%d^5
Cause: Can’t maintain corner distance because the node spacing is short or speed is high. Remedy: Lengthen node spacing or reduce speed.
MOTN-304 WARN CS:Prog speed achieved L:%d^5
Cause: SPD value does not affect corner speed anymore. Remedy: This is just a notification. You do not have to do anything for this
warning message.
MOTN-305 WARN Can’t maintain speed L:%d^5
Cause: Can’t maintain program speed on the path because of robot constraint. Remedy: This is just a notification. You do not have to do anything for this
warning message.
MOTN-306 STOP Can’t replan (G:%d^2, A:%x^3 Hex)
Cause: Resume motion cannot reach stop position Can’t resume original path. Remedy: Abort program and rerun.
MOTN-307 STOP Mismatch MMR (G:%d^2)
Cause: Internal system error. Can’t resume original path. Remedy: Abort program and rerun.
MOTN-308 WARN FINE termtype used L:%d^5
Cause: Cannot generate a corner between two motions because of motion instruction. And CNT or CD is ignored. Remedy: Use LOCK PREG instruction when PR[] is used for position or
OFFSET instruction is used.
MOTN-309 WARN Circular speed reduced L:%d^5
Cause: Circular speed is reduced because of a robot constraint. Remedy: Reduce the program speed not to display.
MOTN-310 STOP Pos. Cfg. change 2 (G:%d^2)
Cause: Configuration mismatch Remedy: Reteach the destination position so that its configuration string
matches the start position’s configuration string.
MOTN-311 STOP Can’t resume motion CJ (G:%d^2)
Cause: Can’t resume motion on the original path. Remedy: Abort and run program. Then, the resumed motion may not be on the
original path.
MOTN-312 STOP Can’t resume in single step CJ
Cause: Can’t resume motion in single step mode. Remedy: Abort program and rerun.
MOTN-313 STOP Can’t resume motion CJ(2)
Cause: Can’t resume motion on the original path. Remedy: Abort and run program. Then, the resumed motion may not be on the
original path.
MOTN-314 STOP unknown error (MO314)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-315 STOP Command speed is changed CJ
Cause: Can’t resume motion on the original path due to command speed change. Remedy: Modify back the command speed, or abort program.
MOTN-316 STOP unknown error (MO316)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-317 STOP unknown error (MO317)
Cause: Internal system error.
Remedy: Perform a cold start: 1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-318 STOP unknown error (MO318)
Cause: Internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
MOTN-319 STOP CRC large orient change (G:%d^2)
Cause: Small circle but large orientation change. Remedy: Reteach circular points.
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OPTN Error Codes
OPTN-000 WARN Unknown error (OPTN)
Cause: System internal error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that led to the error and call your FANUCRobotics technical representative.
OPTN-001 WARN Too many options installed
Cause: The maximum number of software options/updates (50) is installed. Remedy: None required. Options/updates will load but not be logged.
OPTN-002 WARN Installed: `%s’
Cause: Installation of software option/update has finished successfully. Remedy: This is just a notification. You do not have to do anything for this
warning message.
OPTN-003 WARN Skipped: `%s’
Cause: S/W option was skipped by installer. Remedy: Some options cannot be overlayed, you may need to delete some
options first.
OPTN-004 WARN `%s’ is incompatible
Cause: Software option or update is incompatible with an already installed option or update. Remedy: Install only one of the two mutually exclusive software options.
OPTN-005 WARN `%s’ overlayed/reinstalled
Cause: Software option or update was previously installed and can be overlayed as an additional instance of that software option or update. The software was successfully overlayed. Remedy: This is just a notification. You do not have to do anything for this
warning message.
OPTN-006 WARN Not Installed: `%s’
Cause: The specified software option was not installed properly. Remedy: Reinstall the option.
OPTN-007 WARN Unauthorized: `%s’
Cause: Software option has not been authorized for this configuration. Remedy: Call your FANUC Robotics technical representative.
OPTN-008 WARN Requires: `%s’
Cause: The required floppy disk was not used. Remedy: Reinstall the option using the required floppy disk.
OPTN-009 WARN Authorized: `%s’
Cause: Software option is now authorized for this configuration. Remedy: This is a notification. No action is needed.
OPTN-010 WARN Start (COLD) Disallowed
Cause: Setup Application has not been done Remedy: Setup Application prior to START (COLD)
OPTN-011 WARN Start (CTRL2) Disallowed
Cause: Setup Application has not been done Remedy: Setup Application prior to START (CTRL2)
OPTN-012 WARN ID/File is Missing/Corrupt
Cause: Your software was installed improperly or the F-ROM in your controller is damaged. Remedy: Reinstall the software from the beginning.
OPTN-013 WARN Invalid PAC
Cause: You have typed an invalid PAC code. Remedy: Retry typing the PAC code again. If you are still unsuccessful, contact
the FANUC Robotics Spare Parts Department.
OPTN-015 WARN Excludes: ‘%s’
Cause: This option is not compatible with an option that is already installed. Remedy: You cannot have both options.
OPTN-016 WARN Key file is missing/corrupt
Cause: The KEY file, keyfile.dat, is missing or corrupted. Remedy: Do a full load from the original distribution media.
OPTN-017 WARN No updates on this media
Cause: The distribution media does not contain update.tx, so there are no customizations to install. Remedy: None required.
OPTN-018 WARN No CUSTOMIZATIONS on this media
Cause: The distribution media does not contain custom.tx, so there are no customizations to install. Remedy: None required.
OPTN-019 WARN Versions mismatched
Cause: The distribution media contains updates or customizations, but has a different release version than this core. Remedy: Get an update or customization that has the same release version as
your core.
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PALT Error Codes
PALT-000 WARN Layer 1 cannot be flipped
Cause: Layer 1 cannot be flipped
Remedy: Layer 1 will be automatically forced to NoFlip. No action is necessary
PALT-001 WARN Length must be longer than width
Cause: Length dimension must always be greater than width. Remedy: If the specified length was less than the width, then the length is forced
to the width dimension. If the specified width was greater than the length, then the width is forced to the length dimension. Enter the correct length or width.
PALT-002 WARN Maximum layers = 40
Cause: A layer number greater than the maximum allowed layers was specified. Remedy: Specify a layer number less than the allowed maximum.
PALT-003 WARN Cannot Flip Lt or Wd for Unique
Cause: Length or width flip was specified for a unique matrix which is not allowed. Remedy: Specify No flip or diagonal (length and width) flip for the unique matrix.
PALT-004 WARN P1 has not been taught
Cause: Point P1 on the teaching aid was not taught. Remedy: Teach P1 on the teaching aid.
PALT-005 WARN P2 has not been taught
Cause: Point P2 on the teaching aid was not taught. Remedy: Teach P2 on the teaching aid.
PALT-006 WARN P3 has not been taught
Cause: Point P3 on the teaching aid was not taught. Remedy: Teach P3 on the teaching aid.
PALT-007 WARN Unit load must be created first
Cause: The specified unit load does not exist. Remedy: Go to Unit load setup and create this file, or transfer this file from the
PC to Robot Menu.
PALT-008 WARN Number of RDIs is zero
Cause: There are no RDIs to set since the number of RDIs was specified as zero. Remedy: A valid number between 1 and 8 should be specified to enter the
DETAIL menu.
PALT-009 WARN Number of RDOs is zero
Cause: There are no RDOs to set since the number of RDOs was specified as zero.
Remedy: A valid number between 1 and 8 should be specified to enter the DETAIL menu.
PALT-010 PAUSE %s Position is not reachable
Cause: The position the robot is trying to go to is not reachable. If the preceding error is: «Error: Pallet=x Unit=y,» it means that the robot was working with pallet x and box y when the error occurred. Remedy: Verify that the value of $UTOOL and/or $MNUTOOL are correct. If the
robot stopped while heading towards the pallet, then check the value of Pallet approach length and width in Optimal path setup. You might have specified large pallet offsets or you might need to specify a correct pallet offset in the Optimal path setup.
PALT-011 WARN Position has not been taught
Cause: Position is yet to be taught. Remedy: Teach the position.
PALT-012 PAUSE MOVE-TO could not execute %s
Cause: Motion control was not obtained for robot motion. Remedy: Check if another task is running or if the teach pendant is enabled. The
teach pendant should be disabled.
PALT-013 PAUSE GET_VAR failed %s
Cause: Data in a setup menu could not be set. Remedy: Cold start the controller and retry.
PALT-014 PAUSE SET_VAR failed %s
Cause: Data in a setup menu could not be set. Remedy: Cold start the controller and retry.
PALT-015 WARN Could not create station file
Cause: An error occurred while creating an infeed or pallet station file. Remedy: Cold start the controller and retry.
PALT-016 WARN Processing UL data done
Cause: Finished calculating the optimal path data. Remedy: This is a status message only.
PALT-017 WARN File does not exist. Use CREATE
Cause: Cannot modify a file which is yet to be created Remedy: Use CREATE to create a file first
PALT-018 PAUSE Could not load .VR file
Cause: The .VR file does not exist or an error occurred in communication. Remedy: Check the communication line and make sure that the file exists on the
floppy disk.
PALT-019 PAUSE Could not create unit load file
Cause: An error occurred while creating unit load file. Remedy: Cold start the controller and retry.
PALT-020 ABORT Could not open .DT file for read
Cause: An error occurred while opening a .DT file. Remedy: Cold start the controller and retry.
PALT-021 WARN IO_STATUS error occurred
Cause: An I/O error occurred during data transfer. Remedy: Cold start the controller and retry.
PALT-022 WARN Could not save .VR file %s
Cause: An error occurred while saving a .VR file. Remedy: Cold start the controller and retry.
PALT-023 WARN Could not delete existing file
Cause: An error occurred while deleting a .VR file. Remedy: Cold start the controller and retry.
PALT-024 WARN Could not load file %s
Cause: 1. An error occurred while loading a .VR file. 2. A gripper setup file from previous versions of PalletTool cannot be read. The number of grippers was increased and the structure of the data has change. You will get the error VARS-014 Create type — xxxx failed. Remedy: Cold start the controller and retry if you know you should be able to
read the .vr file into PalletTool. Otherwise, create a new gripper setup file.
PALT-025 WARN Processing UL data..
Cause: The CALC key was pressed. Unitload calculations are in process. Remedy: This is only a status message.
PALT-026 WARN Station num %s outside range
Cause: The specified station number was out of range. Remedy: Specify a station number in the range 1-12.
PALT-027 WARN Could not access files %s
Cause: An error occurred while accessing the floppy disk. Remedy: Make sure the communication is correct & retry.
PALT-028 WARN Could not access files
Cause: An error occurred while accessing the floppy disk. Remedy: Make sure the communication is correct & retry.
PALT-029 WARN File transfer not done
Cause: File transfer was not successful. Some data might not have been transferred. Remedy: Cold start the controller and retry.
PALT-030 WARN .DT file list is empty
Cause: No .DT files exist on floppy to transfer. Remedy: .DT files must exist on floppy to transfer.
PALT-031 PAUSE Pallet Stn %s not found
Cause: The specified station number is not loaded. Remedy: Load the station file or create one.
PALT-032 PAUSE Pallet stn %s not taught
Cause: The pallet station specified in Pallet System setup is not taught. Remedy: Teach pallet station specified in Pallet System setup.
PALT-033 PAUSE Unit load file %s not found
Cause: The unit load file is not loaded. Remedy: Load the Unit load file or transfer the .DT file or create a new one and
retry.
PALT-034 PAUSE Insufficient data in %s
Cause: Not all the required items are set in the unit load setup. Remedy: Go to Unit load setup and optimal path setup and make sure that all
the data are set & retry.
PALT-035 PAUSE Invalid layer number %s
Cause: The layer count is invalid. Remedy: N/A
PALT-036 WARN UL will not fit on pallet %s
Cause: The unit load is larger than the pallet.
Remedy: ABORT the program. Specify the correct maximum overhang in Optimal path setup, or re-specify unit load such that Unit load will fit on the pallet.
PALT-037 PAUSE Invalid in-feed station %s
Cause: The specified station number is out of range. Remedy: Specify a station number in the range 1-12.
PALT-038 PAUSE Infeed stn %s not taught
Cause: The infeed station specified in Pallet System setup is not taught. Remedy: Teach infeed station specified in Pallet System setup.
PALT-039 PAUSE Gripper not single/double type
Cause: The specified gripper is unknown to PalletTool. Remedy: Check the value of gripper-id in Optimal path setup. It should be in the
range of 1-8.
PALT-040 PAUSE Unknown flip type %s
Cause: The specified flip type is unknown to PalletTool. Remedy: Check the value of flip type in Unit load setup It should be a known flip
type.
PALT-041 PAUSE Infeed stn %s not found
Cause: The specified infeed station is not taught or loaded Remedy: Teach or load the infeed station.
PALT-042 PAUSE Invalid in-feed orientation %s
Cause: An orientation besides LT_ON_LT or WD_ON_LT was encountered by PalletTool. Remedy: N/A
PALT-043 PAUSE Unit position out of range
Cause: The calculated infeed pickup position is not reachable. Remedy: The conveyor where the station was taught might need to be moved so
that the calculated position is within the work envelope.
PALT-044 WARN Unknown unit orientation
Cause: An orientation besides LT_ON_LT or WD_ON_LT was encountered by PalletTool. Remedy: N/A
PALT-045 WARN Cannot change PC file data
Cause: Unit load data file was created using PalletTool PC. Remedy: Data created using PalletTool PC cannot be changed in PalletTool.
You must go back to the PC to make the changes and then retransfer the file.
PALT-046 WARN Could not run task %s
Cause: While PalletTool was internally trying to run another program in multi-tasking mode, an error occurred. Remedy: ABORT ALL and retry.
PALT-047 PAUSE Invalid data for partial pal %s
Cause: Correct starting count was not provided while starting in partial pallet mode. Remedy: Abort program and restart. Provide correct count of units on the pallet
if starting in partial pallet mode.
PALT-048 PAUSE Error opening %s
Cause: An error occurred while PalletTool was trying to open a .TP program. Remedy: Make sure that the .TP program is loaded & retry.
PALT-049 PAUSE Set_pos_tpe %s
Cause: An error occurred while PalletTool was trying to set a position in a .TP program. Remedy: Cold start the controller and retry.
PALT-050 PAUSE Error closing %s
Cause: An error occurred while PalletTool was trying to open a .TP program. Remedy: Cold start the controller and retry.
PALT-051 PAUSE Slip sheet not supported
Cause: Slip sheet support is not provided. Remedy: Disable slip sheet in the Pallet System menu.
PALT-052 WARN Pattern not supported
Cause: Some patterns from older versions of PalletTool are no longer supported. Remedy: Create a new unit load; select a different pattern.
PALT-053 WARN Gripper is not DOUBLE type
Cause: Depalletizing was chosen with a gripper other than single. Remedy: Choose single gripper for depalletizing.
PALT-054 PAUSE Invalid parts requested %s
Cause: A request for picking up 0 part was received
Remedy: Abort all and retry.
PALT-055 PAUSE Error in CNV_STR_CONF
Cause: Internal error occurred. Remedy: Abort all and retry.
PALT-056 PAUSE Multi-tasking failed %s
Cause: An error occurred in multi-tasking calculations. Remedy: Abort all and retry.
PALT-057 PAUSE Gripper type not supported: %s
Cause: The specified gripper is unknown to PalletTool. Remedy: Check the value of gripper-id in Optimal path setup. The valid range is
1-9. Ten (10) is also allowed if the multi-case option is loaded. Eleven (11) and twelve (12) are also allowed if the fork option is loaded.
PALT-058 WARN Cannot select PC pattern
Cause: A PalletTool PC pattern cannot be selected while you create or modify a unit load. Remedy: Choose Single, Doubleside, DoubleTop or Unique Other patterns can
only be transferred from PalletTool PC.
PALT-059 WARN Error using CLEAR built-in
Cause: An error occurred while clearing a variable file. If a .vr file was loaded into memory at controlled start, it can only be cleared at controlled start. Remedy: See error PALT-133 for details.
PALT-060 WARN P1 and P2 are same
Cause: The same position was recorded for P1 and P2 on the teaching aid. Remedy: Teach different positions for P1 and P2.
PALT-061 WARN P1 and P3 are same
Cause: The same position was recorded for P1 and P3 on the teaching aid. Remedy: Teach different positions for P1 and P3.
PALT-062 WARN P3 and P2 are same
Cause: P2 and P3 are taught at the same location. Remedy: Teach different positions for P2 and P3.
PALT-063 WARN Id is uninit in UL %s
Cause: Product-id is not set in the UL file.
Remedy: Set product_id in the UL file from Unit load setup.
PALT-064 WARN MOVE TO done
Cause: The motion to P1, P2 or P3 on the teaching aid was successful. Remedy: This is only a warning/notification message.
PALT-065 PAUSE Invalid reg value %s
Cause: An invalid register value was encountered. Remedy: From the DATA menu, verify that the register contains the correct
value.
PALT-066 PAUSE Reg %s could not be set
Cause: Register operation failed. Remedy: Check if the register is defined, if it is between 1-64 and if it has the
right value. You must ABORT ALL and retry the operation.
PALT-067 PAUSE Reg value not set %s
Cause: Could not set an internally calculated value V to the register R. Remedy: From the DATA menu, verify that the register is defined, is in the range
1-64, and has the correct value. You must ABORT ALL and retry the operation.
PALT-068 PAUSE Infeed/Pallet for UL %s unknown
Cause: The infeed on which the unit load enters the workcell was not assigned in the Pallet System menu. Remedy: Make the infeed-unit load assignment in the Pallet System setup
menu. You must ABORT ALL and retry the operation.
PALT-069 PAUSE Invalid UL %s found
Cause: A valid unit load number was not found at the layer indicated for the mixed unit load Remedy: From the Mixed UnitLd menu, indicate valid unit load numbers for each
unit layer. You must ABORT ALL and retry the operation.
PALT-070 PAUSE Palt num not set in Reg %s
Cause: The value of the next pallet the robot was supposed to go to was not set in the indicated register by the NEXTPALT.TP program. Remedy: Check the logic in NEXTPALT.TP and make sure that the next pallet
register always gets set for all values of current pallet. You must ABORT ALL and retry the operation.
PALT-071 WARN Not all pallets assigned UL
Cause: Not all the pallets have been assigned a unit load in the Pallet System menu.
Remedy: This is only a warning message. Make sure in the Pallet System menu, that all the pallets have a corresponding unit load assigned.
PALT-072 WARN Not all infeeds assigned UL
Cause: Not all the infeeds have been assigned a unit load in Pallet System menu. Remedy: This is only a warning message. Make sure in the Pallet System menu,
that all the infeeds have a corresponding unit load assigned.
PALT-073 WARN Station teaching completed
Cause: All the teaching aid points have been taught and the teaching of the station is complete. Remedy: This is only a notification message.
PALT-074 PAUSE Perch position not taught
Cause: The perch position is uninitialized (Not taught) Remedy: Select PM_MAIN from the SELECT screen, go to DATA menu, and
record variable perch after jogging robot to the perch position. You must ABORT ALL and retry the operation.
PALT-075 PAUSE Number of Pallets not set
Cause: The number of pallets in the workcell has not been specified in Pallet System setup Remedy: Go to Pallet System setup and enter the number of pallets in the
workcell. ABORT and retry.
PALT-076 PAUSE Number of infeeds not set
Cause: The number of infeeds in the workcell has not been specified in Pallet System setup Remedy: Go to Pallet System setup and enter the number of infeeds in the
workcell. ABORT and retry.
PALT-078 PAUSE Slip sh ENBL/DISBL not set
Cause: Whether slip sheets should be enabled or disabled has not been specified in the Pallet System setup. ABORT and retry. Remedy: Go to Pallet System setup and enter whether slip sheets should be
enabled or disabled ABORT and retry.
PALT-079 PAUSE Pallet switch not set
Cause: The type of pallet switch — per layer or per pick has not been specified in Pallet System setup. Remedy: Go to Pallet System setup and enter the the type of pallet switch.
ABORT and retry.
PALT-080 PAUSE Part-id method not set
Cause: The part-id method — PLC or MANUAL has not been specified in Pallet System menu Remedy: Go to Pallet System setup and enter the the part-id method. ABORT
and retry.
PALT-081 WARN Moving to perch position..
Cause: This is a notification that the robot will move to perch position. Remedy: This is only a warning message.
PALT-082 WARN Indexing pallet %s
Cause: This is a notification that the pallet is being indexed. Remedy: This is only a warning message.
PALT-083 WARN Placing slip sheet %s
Cause: This is a notification to user that slip sheet is being placed. Remedy: This is only a warning message.
PALT-084 WARN Computing for UL: %s
Cause: This is a notification to user that data computation in multi-tasking is taking place for the Unit load (UL) and for layer (L). Remedy: This is only a warning message.
PALT-085 PAUSE Operator Panel E-stop ON
Cause: The rogram cannot run with the operator panel E-STOP on. Remedy: Release the Operator panel E-stop, press reset and press cycle start
to continue.
PALT-086 PAUSE Teach pendant E-stop ON
Cause: The rogram cannot run with teach pendant E-STOP on. Remedy: Release the teach pendant E-stop, press reset and press cycle start to
continue.
PALT-087 PAUSE Teach pendant is enabled
Cause: The program cannot run with teach pendant enabled. Remedy: Disable the teach pendant, press reset, and press cycle start to
continue.
PALT-088 WARN Pal Stop must be disabled
Cause: The pallet stop is already on. You can only have either cycle stop or pallet stop on; not both. Remedy: Disable pallet stop, then enable cycle stop.
PALT-089 WARN Cycle Stop must be disabled
Cause: The cycle stop is already on. You can only have either cycle stop or pallet stop on; not both. Remedy: Disable cycle stop, then enable pallet stop.
PALT-090 PAUSE Invalid palt # %s from NEXTPALT.TP
Cause: NEXTPALT.TP set a value for the destination pallet that was greater than the number of pallets in the workcell. Remedy: Modify NEXTPALT.TP to make sure that the correct value of pallet
number is set in register 1.
PALT-091 PAUSE Slip sheet stack door open
Cause: One of the slip sheet stack doors is open. Remedy: Find out which slip sheet stack door is open and close it. Press cycle
start to resume.
PALT-092 WARN PMINIT for UL %s from cycle stop
Cause: This is a debug message Remedy: None
PALT-093 WARN PMINIT for UL %s from next_layer
Cause: This is a debug message Remedy: None
PALT-094 WARN Switch — Pal stop ON & pal done %s
Cause: This is a debug message Remedy: None
PALT-095 WARN PalStopRec for Pallet %s
Cause: This is a debug message Remedy: None
PALT-096 WARN First calc done for pallet %s
Cause: This is a debug message Remedy: None
PALT-097 WARN Second layer calc for %s
Cause: This is a debug message Remedy: None
PALT-098 WARN PMINIT next_ly_pend %s
Cause: This is a debug message Remedy: None
PALT-099 WARN PMINIT ind_pal_pend %s
Cause: This is a debug message Remedy: None
PALT-100 WARN PMINIT for palt %s from reinit_pal
Cause: This is a debug message Remedy: None
PALT-101 WARN File is in use by robot. Cannot transfer
Cause: The unit load file that was being attempted to transfer is being used by the robot. It is being used in production or is being edited using SETUP UNITLOAD or SETUP OPTIMAL PATH. Remedy: First stop the robot then ABORT ALL. Next, attempt to transfer the unit
load file again.
PALT-102 PAUSE CNV_JPOS_REL error %s
Cause: An error occurred during execution of the built-in CNV_JPOS_REL. Remedy: ABORT ALL and retry the operation.
PALT-103 PAUSE CNV_REL_JPOS error %s
Cause: An error occurred during execution of the built-in CNV_REL_JPOS Remedy: ABORT ALL and retry the operation.
PALT-104 WARN Wrist angle corrected
Cause: The unit position on the pallet was compensated for excessive wrist rotation. Remedy: This is only a warning notification message.
PALT-105 WARN Station not taught
Cause: Either (P1,P2) or (P1, P3) or (P2, P3) or (P1,P2,P3) were all taught at the same point. Remedy: Use MODIFY under Infeed Stn setup and reteach the frame points P1,
P2 and P3 correctly
PALT-106 WARN Cannot switch in 1 Pallet Cell
Cause: There is only 1 pallet in the workcell. Remedy: This is only a warning message. NOSWITCH is the only option allowed
for 1 Pallet cell.
PALT-107 WARN Data entry not complete!
Cause: You cannot continue setting up for production until all the data is correctly entered on this screen. Remedy: Complete the data entry.
PALT-108 WARN Part not present in tool %s
Cause: Did not get part presence or faulty part presence sensor. Remedy: Check if the gripper is in contact with the part and why part presence is
not coming on.
PALT-109 WARN Part still present in tool %s
Cause: Part presence sensor is still detecting part or faulty sensor. Remedy: Check if part presence is OFF and if not if the sensor is ok.
PALT-110 WARN Tool %s is already open
Cause: Tool was open and the user pressed OPEN. Remedy: This is only a warning message.
PALT-111 WARN Tool %s is already closed
Cause: Tool was closed and the user pressed CLOSE. Remedy: This is only a warning message.
PALT-112 WARN NOSWITCH illegal when pallets > 1
Cause: Number of pallets is greater than 1 and the pallet switch was NOSWITCH. This is not allowed in PalletTool. Remedy: This is only a warning message. By default, PalletTool forces
PER_PICK. You can change this to other values except NOSWITCH.
PALT-113 WARN Please enable teach pendant
Cause: Program cannot run if teach pendant is not enabled. Remedy: This if for safety reasons. Enable TP and and press Tool 1 or Tool 2
hardkey you want.
PALT-114 WARN Must index pallet before changing product
Cause: A partial or completed pallet is present at the station where you want to change product If the existing pallet is not indexed, then the new product will crash with the existing pallet. Remedy: Choose Index pallet from the menu and index the existing pallet first.
PALT-115 WARN Coldstart setup complete.
Cause: Part of the application setup of an R-J3 robot is done at the first cold start. This may take up to 20 seconds. The teach pendant Hints menu will be displayed before PalletTool has loaded all its .tp programs and macros. Note : PalletTool needs
an additional cold start after its application setup cold start to completly setup its macros. Remedy: This is an informational message only.
PALT-116 WARN PalletSystem setup incomplete
Cause: Not all the workcell information has been specified in Pallet System setup. Remedy: Go to Pallet System setup and fill in the workcell information. ABORT
ALL and retry the operation.
PALT-117 WARN Error creating new variables
Cause: An error occurred while creating a new file. Remedy: Check the available memory. If RAM is full, clear unneeded data and
try again. Cold start the controller and retry the operation.
PALT-118 WARN Cannot use MODIFY
Cause: Could not find the requested data. Remedy: Teach or load the required data.
PALT-119 WARN Stn file not loaded or created
Cause: The specified station is not taught or loaded. Remedy: Teach or load the station.
PALT-120 WARN UL file not loaded or created
Cause: The specified unitload is not taught or loaded. Remedy: Teach or load the unitload.
PALT-121 WARN Could not read %s
Cause: Could not read the unitload .dt file — Data error. Remedy: Check the motet communication and PTPC status.
PALT-122 WARN Cannot go to DETAIL page
Cause: Not all the gripper information has been specified in Pallet System setup. Remedy: Go to Gripper setup and fill in the gripper information.
PALT-123 WARN Data modification disallowed
Cause: The robot is in production. Setup data cannot be changed during production. Remedy: Wait until production is aborted and then make the changes.
PALT-124 WARN Setting length = width
Cause: The data was not set up properly. The illegal data was corrected automatically.
Remedy: Make sure the value is as needed.
PALT-125 WARN Setting width = length
Cause: The data was not set up properly. The illegal data was corrected automatically. Remedy: Make sure the value is as needed.
PALT-126 WARN Setting layer = 1
Cause: The data was not set up properly. The illegal data was corrected automatically. Remedy: Make sure the value is as needed.
PALT-127 WARN Flip not allowed
Cause: The data was not set up properly. The illegal data was corrected automatically. Remedy: Make sure the value is as needed.
PALT-128 WARN Pallet Switch type changed
Cause: The data was not set up properly. The illegal data was corrected automatically. Remedy: Make sure the value is as needed.
PALT-129 WARN Inf Pos calculation failed
Cause: The infeed station is not fully set up. Remedy: Teach pallet station specified in Pallet System setup
PALT-130 WARN Unit Pos Calculation failed
Cause: The unitload is not fully setup. Remedy: Make sure the unitload is fully setup and Calc-ed.
PALT-131 WARN Layer num outside range (1-40)
Cause: Layer count cannot be more than 40 or less than 1. Remedy: Pick a legal layer.
PALT-132 WARN Cannot resume program
Cause: The program cannot run because an error condition will not clear. When on the ALARM page, select this error and press HELP to see error detail. Remedy: Fix the error condition, press reset.
PALT-133 WARN Could not clear file
Cause: 1. If the unitload is being used in production it cannot be cleared. 2. If a unitload was loaded into memory at controlled-start, it can only be cleared at controlled start. Remedy: 1. Wait until production is aborted and clear the unit load. 2. If the
unitload was loaded at controlled-start, you will have to go to controlled start to clear it. At controlled start press MENUS, select Clear UnitLd. You will only be able to clear unitloads that were loaded at controlled start from the controlled start menu.
PALT-134 WARN STAKOPEN macro failed
Cause: An error caused the STAKOPEN macro to fail. See the next error in the ALARM log for details. Remedy: Make changes depending on the particular error.
PALT-135 WARN PLC_INF macro failed
Cause: An error caused the PLC_INF macro to fail. See the next error in the ALARM log for details. Remedy: Make changes depending on the particular error.
PALT-136 WARN PLC_PAL macro failed
Cause: An error caused the PCL_PAL macro to fail. See the next error in the ALARM log for details. Remedy: Make changes depending on the particular error.
PALT-137 WARN Unit load num out of range
Cause: Specified Unit load number was out of range. Remedy: Specify a Unit load number in the range of 1-999.
PALT-138 WARN Only Pal OR Cycle stop allowed
Cause: Cause: Pallet stop or cycle stop is already on. You can only have either cycle stop or pallet stop on; not both. Remedy: Disable one before trying to enable the other.
PALT-139 WARN %s Wrist angle correction failed
Cause: The routine that calculates the final destination position while moving from the current source position has failed. The preceding error should be: «Error: Infeed=x Pallet=y Unit=x.» This means that the robot was working with infeed x, pallet y, and box z when the error occurred. Remedy: Check that all positions are in range.
PALT-140 WARN Cycle power to increase position regs
Cause: An old smaller POSREG.VR file was loaded onto the controller. The number of position registers was changed to fewer than what the current version of PalletTool needs.
Remedy: PalletTool logic has automatically set the number of position registers to the necessary size again. But a cold start is needed to increase the position register table size. Perform a cold start.
PALT-141 WARN Cycle power to increase macros
Cause: An old smaller SYSMACRO.SV file was loaded onto the controller. The number of macros was changed to fewer than what the current version of PalletTool needs. Remedy: PalletTool logic has automatically set the number of macros to the
necessary size again. But it needs a cold start in order for the macro table size to be increased. Perform a cold start.
PALT-142 WARN Program not selected
Cause: To run a .tp program in local you must first select the program. Remedy: Press SELECT key and choose a program to run. If trying to run
PalletTool, the key switch must be in the REMOTE position.
PALT-143 WARN Data in use by Robot
Cause: The robot is in production. Setup data cannot be changed during production. Remedy: Wait until production is aborted and then make the changes.
PALT-144 WARN Visit layer spacing/flip menus
Cause: Number of layers in the unit load was changed Remedy: This is only a warning message to remind the user to visit the layer
flips and layer spacing menus to make sure that flips and spacing are correct for all the layers.
PALT-145 WARN %s
Cause: General status messages. Remedy: None
PALT-146 WARN UOP Ignored. Wrong Start Mode
Cause: The operator selects which device can be used to start palletizing on the SETUP Pallet System menu. Start device can be set to SOP or UOP/PLC or PTPC. Remedy: The UOP/PLC must be set as the start device or the UOP signal will
be ignored.
PALT-147 WARN SOP Ignored. Wrong Start Mode
Cause: The operator selects which device can be used to start palletizing on the SETUP Pallet System menu. Start device can be set to SOP or UOP/PLC or PTPC. Remedy: The SOP must be set as the start device or the SOP signal will be
ignored.
PALT-148 PAUSE Approach Posn out of range
Cause: The approach position the robot is trying to go to is not reachable. Remedy: See error PALT-010 for details.
PALT-149 PAUSE Unit Posn out of range
Cause: The placement position the robot is trying to go to is not reachable. Remedy: See error PALT-010 for details.
PALT-150 WARN Loading error — %s
Cause: There was a problem loading the specified file. Remedy: Check the communication line and make sure that the file exists on the
floppy disk.
PALT-151 WARN %s exists. Not loaded
Cause: The specified file already exists on the controller. Remedy: Delete the file from the controller before reloading.
PALT-152 WARN Warning-ignoring entry where CASE# was 0
Cause: The gripper’s setup information has a case number of zero which is illegal. Remedy: Edit the gripper data.
PALT-153 WARN Initializing Data
Cause: Initializing data for production. Remedy: This is only a status message.
PALT-154 WARN Error setting gripper data %s
Cause: Could not read or write the gripper data. Remedy: Check the available memory. Try to reload a backup of the gripper
data.
PALT-155 PAUSE Register not defined %s
Cause: This is a debug message Remedy: None
PALT-156 PAUSE Current pallet unknown
Cause: R[80] is not setup properly when SET UTOOL macros are used. Remedy: Make sure R[80] contains the number of the desired pallet.
PALT-157 PAUSE UTOOL unknown for tool %s
Cause: The utool of the pallet requested in R[80] is not set up properly. Remedy: Make sure all the stations are completely set up.
PALT-158 PAUSE Last Utool not known
Cause: This is a debug message Remedy: None
PALT-159 WARN Can change UnitLd on palt %s only
Cause: The answer to the question ‘Change product at pallet:’ is the pallet needing a new unitload. Remedy: Change the unitload number of the selected pallet.
PALT-160 WARN PalletTool aborted
Cause: PalletTool production is aborted because of an error. Remedy: This is a status message. See other errors in the ALARM log for
details.
PALT-161 WARN Not all cases have I/O defined
Cause: Each of the gripper’s cases must have inputs and outputs defined for control. Remedy: Complete the gripper information tables.
PALT-162 WARN Recvd PLC signal for indexing pallet %s
Cause: This is a status message only. Remedy: None
PALT-163 WARN Infeed I/O undefined-OKTOPICK.TP
Cause: The infeed I/O must be setup using MENU SETUP INFEED STN, SET IO. Remedy: Make sure the infeed I/O is set up.
PALT-164 WARN Gripper number not set in register
Cause: R[15] is not setup properly when gripper macros are used. Remedy: Make sure R[15] contains the number of the desired gripper.
PALT-165 WARN Invalid Gripper number set in register
Cause: R[15] is not set up properly when gripper macros are used. The Gripper numbers supported in PalletTool are: single = 1 double icc = 3 Triple case = 5 custom 1 = 6 custom 2 = 7 custom 3 = 8 custom 4 = 9 multi case = 10 fork pick = 11 bag push = 12. Remedy: Make sure R[15] contains the number of the desired gripper.
PALT-166 WARN Upgrading %s variable file
Cause: Certain variable files can change with each release of PalletTool. Files saved with an older release are automatically updated as needed. Remedy: This is a status message only.
PALT-167 WARN Variable file is older version
Cause: Certain variable files can change with each release of PalletTool. Files saved with an older release are automatically updated as needed. Remedy: This is a status message only.
PALT-168 WARN Units/layer %s exceeds allowed maximum
Cause: 1. The number of units in the unitload is less than the start unit entered. 2. The number of units is greater than the maximum allowed (50). Remedy: Enter a smaller number of layers.
PALT-169 WARN Number of layers %s exceeds allowed maximum
Cause: 1. The number of layers in the unitload is less than the start layer entered. 2. The number of layers is greater than the maximum allowed (40). Remedy: Enter a smaller number of layers.
PALT-170 WARN Invalid pattern type in data file
Cause: An illegal matrix type was received from PalletTool PC. Remedy: Check the MOTET communication and PTPC status.
PALT-171 PAUSE System still in fault state
Cause: An error condition exists such that the robot cannot be reset. Remedy: Fix the error condition, press reset.
PALT-172 ABORT Invalid infeed number from PLC %s
Cause: PLC sent an invalid infeed number. The number must be greater than 0 and less than or equal to the ‘number of infeeds’ setup. Remedy: Make sure a valid infeed number was sent by PLC. Check the PLC
communication status.
PALT-173 ABORT Invalid Pallet number from PLC %s
Cause: PLC sent an invalid pallet number. The number must be greater than 0 and less than or equal to the ‘number of pallets’ setup. Remedy: Make sure a valid pallet number was sent by PLC. Check the PLC
communication status.
PALT-174 WARN Setup Application Completed
Cause: Indicates that PalletTool controlled start setup is complete. Remedy: This is only a status message.
PALT-175 ABORT Can’t use labels-out for triple gripper
Cause: Labels out is supported only for the single and double case gripper.
Remedy: This is an informational message only.
PALT-176 ABORT Cannot upgrade .vr file
Cause: An error occurred while attempting to upgrade an older variable file to the current release format. Remedy: Create a new file.
PALT-177 ABORT Single or Double pattern not supported
Cause: The selected unitload has the wrong matrix type. (it is less than type 4). This very old data is no longer supported by PalletTool. Remedy: Create a new unitload.
PALT-178 WARN Data not calculated for UL %s
Cause: To run in production, each unitload’s optimal path data must be calculated. Remedy: Go to the SETUP OPTIMAL PATH screen for this unitload and press
the CALC key.
PALT-179 WARN GETINF.TP not setup correctly
Cause: GETINF returned an infeed number which is assigned ul = 0. Remedy: Check GETINF.TP for infeed/unitload data. Check production setup
data.
PALT-180 WARN Label data may need updating
Cause: The optimal path data was automatically updated. Remedy: Check the labels out data for completeness. This is only a status
message.
PALT-181 WARN Labels-out disabled
Cause: Labels out was selected for a gripper that is not supported. Remedy: This is an informational message only.
PALT-182 WARN Not allowed for this gripper type
Cause: Labels out is supported only for the single and double case gripper. Remedy: This is an informational message only.
PALT-183 WARN Cycle stop disabled
Cause: The cycle stop option has been disabled. Remedy: This is a status message only.
PALT-184 WARN Cycle stop enabled
Cause: The cycle stop option has been enabled.
Remedy: This is a status message only.
PALT-185 WARN Pallet stop disabled
Cause: The pallet stop option has been disabled. Remedy: This is a status message only.
PALT-186 WARN Pallet stop enabled
Cause: The pallet stop option has been enabled. Remedy: This is a status message only.
PALT-187 WARN Active only during palletizing
Cause: Cycle stop and Pallet Stop functions are only available when the robot is palletizing. Remedy: This is an informational message only.
PALT-188 WARN Palletizing:STEP mode not allowed
Cause: The STEP key was pressed before entering or while in palletizing mode. Remedy: This is only a warning message. The STEP mode is automatically
cleared by the system.
PALT-189 ABORT Unit load data not set up
Cause: Unit load gripper data has not been completely setup. Remedy: Check the variable pick_ar_tc_n and pick_ar_tc_f in the unit load file.
Also check the variables new_order_n and new_order_f.
PALT-190 WARN .VR file has not been created
Cause: During the transfer of data from the PC, the VR data file could not be created. Remedy: Check the available memory. If RAM is full, clear unneeded data and
try again.
PALT-191 WARN TEMP DRAM memory is low
Cause: Temporary memory is getting too low to download more Unit Load files. Remedy: Warning only. Delete any unneeded data before down-loading Unit
Load files.
PALT-192 WARN Cannot CALC; TEMP memory low
Cause: Temporary memory is too low to calculate a unit load. Remedy: Delete any unneeded data and cold start before attempting to calculate
the unit load.
PALT-193 WARN File copy not done
Cause: The file was not copied. The file is either in use or there is not enough memory to copy the file. Remedy: Cold start the controller and retry the operation.
PALT-194 WARN All units not listed in new column
Cause: All units must be picked up. Not all the units have been listed in the NEW column. Remedy: Check that no units have been listed twice, change the NEW info and
VERIFY again.
PALT-195 WARN All units not picked up.
Cause: The total of the ‘PLACE’s must add up to the PICK number for each row of the config table. Remedy: Make sure the sum of the PLACEs add up to the PICK.
PALT-196 WARN Pick too big error: row %s
Cause: The PICK size cannot be bigger than the gripper’s number of grips. Remedy: Check the selected gripper’s grip size, and change the PICK info and
VERIFY again.
PALT-197 WARN Illegal place sequence: row %s
Cause: The PLACE values must be put into placed into PL1 column first, then PL2, then PL3. The total of the ‘PLACE’s must add up to the PICK number for each row of the config table. Remedy: Make sure the sum of the PLACEs add up to the PICK and in the
proper columns.
PALT-198 WARN Other error: row %s
Cause: General Configuration table error. Remedy: Check the configuration data.
PALT-199 WARN All units not listed in FlipConfig
Cause: All units must be picked up. Remedy: Check that no units have been listed twice, change the NEW info and
VERIFY again.
PALT-200 WARN All units not listed in NoFlip
Cause: All units must be picked up. Remedy: Check that no units have been listed twice, change the NEW info and
VERIFY again.
PALT-201 WARN Too many units picked up.
Cause: The total of the ‘PLACE’s must add up to the PICK number for each row of the config table. And total number must add up to the number of units in a layer. Remedy: Make sure the sum of the PLACEs add up to the PICK.
PALT-202 WARN Illegal. At perch or maintenance
Cause: Part drop recovery: selected option cannot be used when the robot is at perch or at the gripper maintenance position. Remedy: Choose another option.
PALT-203 WARN NO boxes are remaining
Cause: Part drop recovery: selected option must have boxes remaining in the gripper. Remedy: Choose another option or check gripper sensors.
PALT-204 WARN Illegal:boxes are remaining
Cause: Part drop recovery: selected option cannot have boxes remaining in the gripper. Remedy: Choose another option or check gripper sensors.
PALT-205 WARN Error — Processing UL data NOT done
Cause: There are errors in the unit load data so that the CALC calculations failed. Remedy: Correct the unit load errors and CALC again.
PALT-205 WARN Processing UL data done — errors
Cause: There are errors in the unit load data so that the CALC calculations failed. Remedy: Correct the unit load errors and CALC again.
PALT-206 WARN Invalid Unit load req: ul %s
Cause: The requested unit load’s gripper type cannot be run on this controller. That is, a multi-case gripper unit load can only be run if the multi-case option is loaded on the controller. Remedy: Choose another unit load.
PALT-207 WARN Item %s : illegal data ignored
Cause: There is something wrong with the data that was entered. Remedy: Fix the entered data and try again.
PALT-208 WARN Item %s : duplicate data ignored
Cause: The item in error is a duplicate of another entry on the menu. Remedy: Check the entered data. The duplicate is ignored.
PALT-209 WARN Cannot CALC; PTPC production running.
Cause: Cannot calculate this unit load during production when PalletTool PC is set as the data device. Remedy: Try again when not running production.
PALT-210 WARN Xfer in process, cannot edit file
Cause: Cannot edit the same unitload as being transferred from PalletTool PC. Remedy: Try again when not transferring or running the unitload.
PALT-211 WARN Unitload not replaced.
Cause: Could not read the .dt file — Data error. But a unitload with the same name still exists on the robot. Remedy: Check the motet communication and PTPC status.
PALT-212 WARN DT file not read: %s
Cause: The unitload data file transferred from PalletTool PC was not read because there is not enough memory to save the unitload on the robot. Remedy: Delete any unneeded data and perform a cold start.
PALT-213 ABORT Dropped part during recovery-abort
Cause: During part drop recovery a part was dropped. PalletTool does not support further recovery. Remedy: Check why parts are being dropped. Continue normal restart of
palletizing.
PALT-214 WARN The tool pointer length is changed.
Cause: Warning. You have changed the length of the station teaching tool. All station position must be taught using the SAME tool length. Remedy: Make sure all station positions are taught with the same tool length.
PALT-215 WARN Moving to maintenance position..
Cause: Notification to user that the robot will move to gripper maintenance position. Remedy: This is only a warning message.
PALT-216 ABORT SlipSheet pos. must be cartesian representation
Cause: A slip sheet position registers have positions that are taught in JOINT representation. For the slip sheet logic to work properly, the positions must be taught in Cartesian representation. Remedy: Change the position representation to CARTESIAN. Press DATA,
[TYPE], Position Regs, select the register, press position, [REPRE], cartesian.
PALT-217 PAUSE Position is not reachable
Cause: The position the robot is trying to go to is not reachable.
Remedy: Verify that the value of $UTOOL and/or $MNUTOOL are correct. If the robot stopped while heading towards the pallet, then check the value of Pallet approach length and width in Optimal path setup. You might have specified large pallet offsets or you might need to specify a correct pallet offset in the Optimal path setup.
PALT-220 WARN Message buffer to PC is full
Cause: More than 20 messages have not been read by PTPC. It seems like the communication is slow or stopped. Remedy: Check the MOTET communication and PTPC status.
PALT-221 WARN PTPC message type %s — illegal data received
Cause: Message received from PalletTool-PC/MOTET was not in the proper format. PT-PTPC message types: 1-start, 2-cycle stop, 3-pallet stop, 4-status, 5-go, 6-abort, 7-unit data, 8-pallet data, 9-part drop, 10-hold, 11-reset, 12-change done, 13-index, 14-op.grip, 15-cancel, 16-unitload, 17-setup, 18-monitor grip, 19-stop grip, 20-alarms. Remedy: Check the MOTET communication and PTPC status.
PALT-222 WARN PTPC command ignored, in wrong mode
Cause: PalletTool is not in the correct mode to act on this message. Remedy: Try the operation again.
PALT-223 WARN PTPC %s — ignored, robot busy
Cause: PalletTool is busy and cannot act on this message. Remedy: Try the operation again.
PALT-224 WARN Invalid infeed number from PTPC: %s
Cause: PTPC sent an invalid infeed number. The number must be greater than 0 and less than or equal to the ‘number of infeeds’ setup. Remedy: Make sure a valid infeed number was sent by PTPC. Make sure that
the robot has current setup data from PTPC. Check the MOTET communication and PTPC status.
PALT-225 WARN Invalid Pallet number from PTPC: %s
Cause: PTPC sent an invalid pallet number. The number must be greater than 0 and less than or equal to the ‘number of pallets’ setup. Remedy: Make sure a valid pallet number was sent by PTPC. Make sure that
the robot has current setup data from PTPC. Check the MOTET communication and PTPC status.
PALT-226 WARN Invalid Gripper number from PTPC: %s
Cause: PTPC sent an invalid gripper number. See PALT-165 for legal gripper numbers. Remedy: Check the MOTET communication and PTPC status.
PALT-227 WARN Wrong unitload recvd from PTPC: %s
Cause: PTPC sent the wrong unit load. The unitload that was expected is given in the error message. Remedy: Check the MOTET communication and PTPC status.
PALT-228 WARN Unitload not recvd from PTPC %s
Cause: PTPC did not send the requested unitload data. Remedy: Check the MOTET communication and PTPC status.
PALT-229 WARN Setup data not recvd from PTPC
Cause: PTPC did not sent the requested setup data. Remedy: Check the MOTET communication and PTPC status.
PALT-230 WARN using unitload NOT from PTPC
Cause: PalletTool requested a unitload from PTPC that PTPC did not have. However, PalletTool has a copy of the unitload which it will use. Remedy: This is a warning only. Make sure the right unitload is being used.
Consider changing the control so that Unitload — Use data from: is set to ROBOT/PTPC.
PALT-231 WARN PTPC: must be PAUSED or ABORTED
Cause: PalletTool is not in the correct mode to act on this message. Remedy: Pause or abort the robot and try operation again.
PALT-235 ABORT Fork infeed positions not taught
Cause: The conveyor infeed positions must be taught in order to use the fork or bag gripper. Remedy: Teach the conveyor infeed positions.
PALT-236 ABORT Errors in infeed positions
Cause: The conveyor infeed positions must be taught correctly in order to use the fork or bag gripper. Remedy: Teach the conveyor infeed positions.
PALT-237 ABORT Fork not big enough to pick box
Cause: The boxes are too big for this fork gripper. Remedy: Check conveyor infeed positions and gripper utool values.
PALT-240 WARN Infeed %s end-of-batch signal received
Cause: MULTI_IO.TP logic received a signal to perform end of batch processing. Remedy: This is a status message only.
PALT-241 WARN Infeed %s IGNORE end-of-batch signal
Cause: Previous end of batch signal processing still in progress, or cycle stop or pallet stop in progress. Remedy: This is a status message only.
PALT-242 WARN End-of-batch PLC — request infeed number
Cause: Requesting pallet, unitload, and infeed information from PLC. Remedy: This is a status message only.
PALT-243 WARN End-of-batch PLC — wrong part ID method
Cause: Part ID select method must be set to PLC. Remedy: Set Part ID method to PLC. (MENUS, SETUP, Pallet System)
PALT-244 WARN Wait for PLC index pallet %s
Cause: End of batch complete. Waiting for PLC to index the pallet. Remedy: This is a status message only.
PALT-245 WARN End-of-batch processing error
Cause: End of batch request is ignored. Remedy: This is a status message only.
PALT-246 WARN End-of-batch none at infeed
Cause: Nothing at infeed to pickup. Remedy: This is a status message only.
PALT-247 WARN End-of-batch enough at infeed
Cause: Expected fewer than needed boxes at infeed. Remedy: End of batch only when not enough at infeed.
PALT-248 ABORT End-of-batch part drop — abort
Cause: Dropped a box during end of batch logic. Remedy: Take case of dropped box and continue.
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PRIO Error Codes
PRIO-001 WARN Illegal port type code
Cause: The port type code specified is invalid. This error code can be returned by several of the Digital I/O-related builtins (e.g. SET_PORT_ASG) when an invalid port type code is supplied. Remedy: Use one of the port types defined in IOSETUP.KL.
PRIO-002 WARN Illegal port number
Cause: The port number is invalid or not presently assigned. Port numbers must be in the range of 1 — 32767. However, operator panel (SOP) port numbers can be zero. In most cases, the specified port already must be assigned. Remedy: Correct the port number.
PRIO-003 SYST No memory available
Cause: Memory required for this operation is not available. Remedy: Delete Karel programs and/or variables to free memory.
PRIO-004 WARN Too few ports on module
Cause: There are not enough ports on the specified board or module to make the specified assignments. This error code can be returned from the SET_PORT_ASG builtin. Remedy: Correct either the first port number or the number of ports.
PRIO-005 WARN bad port number
Cause: The specified port number in an assignment is invalid; must be in the range 1 — 32767. Remedy: Correct the port number so that it is within the valid range.
PRIO-006 WARN bad port number
Cause: The specified port number in an assignment is invalid; must be in the range 1 — 32767. Remedy: Correct the logical port number, so that it is within the valid range.
PRIO-007 WARN no match in SET_PORT_ASG de-assign
Cause: This error code is returned by the KAREL built-in SET_PORT_ASG when it is used as a de-assign request (with a physical port type of zero) and the logical ports specified are not presently assigned. Remedy: Correct the port number.
PRIO-008 WARN physical ports not found
Cause: The physical port to which ports are being assigned in a SET_PORT_ASSIGN built-in call does not exist. Remedy: Correct the rack number, slot number, or port type, or port number.
PRIO-009 WARN number of ports invalid
Cause: The number of ports in a SET_PORT_ASG call is invalid. This must be in the range of 1 — 128 for digital port types (e.g. DIN), 1 — 16 for groups, and 1 for analog port types. Remedy: Correct the number of ports, so that it is within the valid range.
PRIO-010 WARN bad physical port number
Cause: An invalid physical port number is specified in a call to the KAREL built-in SET_PORT_ASG. This must be greater than 0. Remedy: Correct the physical port number, so that it is greater than 0.
PRIO-011 WARN Assignment overlaps existing one
Cause: The port numbers in a SET_PORT_ASG call overlap existing assignments. Remedy: Correct the first port number or number of ports or delete existing
assignment using the Digital I/O CONFIG screen or a SET_PORT_ASG call with physical port type zero. .
PRIO-012 WARN bad board address
Cause: The rack and/or slot number specified in a call of the KAREL built-in SET_PORT_ASG is invalid or refers to an unused rack/slot number. Remedy: Correct the rack and/or slot number.
PRIO-013 WARN No analog input sequence for bd
Cause: An attempt was made to delete an analog input sequence which has not been defined. Remedy: Check the rack and/or slot number and that an analog input sequence
has previously been defined.
PRIO-014 WARN Analog input sequence too long
Cause: The specified analog input sequence is too long; sequences must have from 1 to 15 port numbers. Remedy: Supply a sequence of an appropriate length.
PRIO-017 WARN I/O point not simulated
Cause: Attempt to set the state of an input port that is not simulated. Remedy: Use the I/O menu or the SET_PORT_SIM KAREL built-in to set the
port simulated or do not set the port.
PRIO-020 STOP I/O Link comm error %x, %x, %x, %x (hex)
Cause: Indicates that an error has been detected in communication between the MAIN CPU PCB and the process I/O board, Model-A I/O racks, or Model-B I/O interface units. The most common causes of this are the following: — Power to a remote I/O rack or Model-B I/O interface unit is interrupted. — The cable between the MAIN CPU PCB and the process I/O board, racks, or Model-B interface units has
been disconnected or is faulty. — Electrical interference between the I/O cables and other cables. This can be eliminated by physically separating the I/O cables from other wiring. In very electrically noisy environments, it might be necessary to use optical isolators with these cables. Remedy: Check the cabling between the MAIN CPU PCB (JB-18 connector) and
the process I/O board and/or model A or B interface modules. Check power to the remote Model A I/O racks and model B I/O interface modules. If corrections to these do not correct the problem, check the four numbers displayed in this error message. The first value must be interpreted bit-wise. If a bit is 1, the corresponding condition has been detected:
Bit 0 : (CFER) A CRC or framing error has been detected by the SLC-2 chip on the MAIN CPU PBC. This is most frequently the result of the problems listed above. Otherwise, it might indicate faulty SLC-2 chip, wiring between this and the JB-1B connector on the main PCB, or faulty process I/O, model-A I/O rack, or model-B interface unit.
Bit 1 : (CALM) An error has been detected by a slave SLC-2 (process I/O board, Model-A rack, or Model-B interface unit). More information is provided by the second number displayed with the PRIO-020 error.
Bit 2 : (CMER) A communication error has been detected by a slave SLC-2. The potential causes are similar to those for a CFER.
Bit 3 : (IPRER): Internal parity error accessing SLC-2 internal RAM. This indicates a faulty SLC-2 chip. In this case, the third and fourth numbers displayed with the PRIO-020 error is the address and and data for which the error was detected. This indicates a faulty SLC-2 chip.
Bit 4 : (OPRER): Parity error accessing external RAM by the SLC-2 chip. This might indicate bad DRAM or CMOS memory on the MAIN CPU PCB.
Bit 5 : (ALMI): Indicates an alarm signalled from outside the SLC-2. Check the controller Alarm Log for other errors reported.
Bit 6 : (BSY): Auto scan is running. This might be either 0 or 1 and does not indicate an error.
Bit 7 : (CEND): Auto scan cycle has completed. This might be either 0 or 1 and does not indicate an error. The second number displayed is significant only if the CMER bit above is one.
Bits 0-4 : Indicate the position in the I/O Link chain of the slave unit in which error was detected. A value of 1 indicates the unit connected directly to the I/O LINK connector.
Bit 5 (CFER): Indicates a CRC or framing error detected by the slave SLC-2. The causes are similar to those for a CFER error detected by the MAIN CPU SLC-2.
Bit 6 (ALMI): Indicates an error asserted outside the slave SLC-2. This may indicate a problem with process I/O board, model-B I/O rack, or model-B interface unit hardware.
Bit 7 (SYALM): Indicates a watchdog alarm or parity error detected by the slave SLC-2. This may indicate a problem with the process I/O board, model-A rack, or model-B interface unit.
PRIO-021 SYST Unknown Unknown I/O hardware
Cause: An unknown device is connected to the I/O Link connector. This device is not recognized by the current controller software version. Remedy: Replace the device with a device that is compatible with the current
software or install a version of software that recognizes the device.
PRIO-022 SYST Too much I/O data on I/O link
Cause: The devices connected to the I/O Link exceed the I/O link capacity. A total of 64 bytes of data each are available for input and output devices connected to the I/O link. Process I/O boards typically use 16 bytes of input and 16 bytes of output each. Digital modules generally use one byte for each 8 ports. Analog modules generally use two bytes per port. Remedy: Disconnect some devices.
PRIO-023 WARN No ports of this type
Cause: There are no ports of the type (e.g., GIN) specified in an I/O statement or built-in call. Remedy: Remedy: Change the port type, add I/O hardware with the required
type of ports, or define ports (e.g., GIN or GOUT) of the specified type.
PRIO-033 WARN PLC interface init. fault %d
Cause: The PLC interface board is bad or not installed. Remedy: Check that the PLC interface board is properly installed. Check the
LED status on PLC interface board. Refer to the FANUC Robotics manual, A User’s Guide to the FANUC Robotics SYSTEM R-J3 Controller Remote I/O Interface for an Allen-Bradley PLC or A User’s Guide to the FANUC Robotics Genius Network Interface for GE FANUC.
PRIO-034 WARN PLC interface general fault %d
Cause: The PLC interface board is faulted. Remedy: Check the LED status on the PLC interface board. Refer to the FANUC
Robotics manual, A User’s Guide to the FANUC Robotics SYSTEM R-J3 Controller Remote I/O interface for an Allen-Bradley PLC or A User’s Guide to the FANUC Robotics Genius Network Interface for GE FANUC.
PRIO-035 WARN PLC interface serial fault %d
Cause: The serial link to the PLC has failed.
Remedy: Check LED status on PLC interface board. Refer to the FANUC Robotics manual, A User’s Guide to the FANUC Robotics SYSTEM R-J3 Controller Remote I/O interface for an Allen-Bradley PLC or A User’s Guide to the FANUC Robotics Genius Network Interface for GE FANUC.
PRIO-063 WARN Bad I/O asg: rack %d slot %d
Cause: One or more assignments to the process I/O board or module at specified rack and slot was invalid when the controller was turned on. Remedy: Check the connections and power to the rack and that the module(s)
are firmly installed. If the board or module has been permanently removed, moved to a different Model A slot, or had its switch settings changed (Model B), use the CONFIG option on the Digital I/O menu to delete or update the assignment(s).
PRIO-070 WARN PLC interface option not loaded
Cause: An ER-1 or ER-2 board is installed but the PLC software option is not installed. This is only a problem if the board is an ER-1 with a remote I/O daughter board or the board is an ER-2 with a remote I/O chip. Remedy: Install the PLC I/O (A-B/GENIUS) option. Refer to the FANUC
Robotics manual, a User’s Guide to the FANUC Robotics SYSTEM R-J3 Controller Remote I/O Interface for an Allen-Bradley PLC or a User’s Guide to the FANUC Robotics Genius Network Interface for GE FANUC.
PRIO-072 WARN Too many pulses active
Cause: The maximum of number of concurrent pulse output statements is 255. Remedy: Modify the program logic to ensure that not over 255 pulses are active
at one time.
PRIO-074 WARN Illegal pulse ID
Cause: Specified pulse ID does not exist. Remedy: Check the pulse ID.
PRIO-076 WARN PLC I/O hardware not installed
Cause: A PLC I/O board is not installed in the backplane. Remedy: Install a PLC I/O board into the backplane. Refer to the installation
procedure in A User’s Guide to the FANUC Robotics SYSTEM R-J3 Controller Remote I/O Interface for an Allen-Bradley PLC or A User’s Guide to the FANUC Robotics Genius Network Interface for GE FANUC.
PRIO-078 WARN PLC I/O firmware not loaded
Cause: The PLC I/O firmware was not loaded into the PLC I/O board . Remedy: Load the firmware into the PLC I/O board. Refer to one of the following
manuals for instructions: A User’s Guide to the FANUC Robotics SYSTEM R-J3 Controller Remote I/O Interface for an Allen-Bradley PLC or A User’s Guide to the FANUC Robotics Genius Network Interface for GE FANUC.
PRIO-081 STOP I/O is not initialized
Cause: This indicates that a severe error has occurred during I/O initialization at controller power-up. Other messages in the log will indicate the specific problems. Remedy: Check other error messages displayed on the TP alarm screen. The
conditions indicated by these messages need to be corrected and the controller powered down and up before the robot can be used.
PRIO-083 STOP Digital I/O is not recovered
Cause: Digital output port states are not recovered when semi-hot start is enabled because IO device configuration or assignments have changed. All outputs will be reset to OFF. Remedy: Cold start the application.
PRIO-085 SYST BUSY in SLC2 does not turn off
Cause: BUSY bit in SLC2 does not turned off. Remedy: Check SLC2 on Main CPU board or I/O device and I/O link cable.
PRIO-100 STOP Model B comm fault %s rack:%d slot:%d
Cause: Communication between Model-B interface unit and DI/DO units, or between DI/DO units, is lost. Remedy: Check the power and cabling from Model B interface unit and DI/DO
unit, or between DI/DO units.
PRIO-102 WARN Cycle power to restart PLC I/O
Cause: The PLC Interface hardware (ER-1 or ER-2 board) is already running and can not be restarted without cycling power. Remedy: Turn off and then turn on the controller.
PRIO-104 STOP Device is off-line
Cause: An attempt has been made to access to a port assigned to a device or board which is offline. This might be the result of an error or device having been set offline manually. Remedy: For DeviceNet ports, troubleshoot as follows: Check the status of the
DeviceNEt board using the Digital I/O DeviceNet screen. If the status field for the board is OFF, set it ONLINE. If the status is ERROR, check the following:
1. The daughter board is installed on the Interface board.
2. There is power on the network.
If these doe not indicate a problem, set the board ONLINE. If the board is ONLINE, check the DEV LST screen entry for the indicated device. If the status field for the device is OFF, set if ONLINE. If the status is ERROR, check the following:
1. The device is physically present on the network.
2. The baud rate is set correctly.
3. There are not devices with duplicate MAC-Id’s on the network.
4. The device with the required MAC-Id is the device type indicated in the DEV LST screen.
PRIO-106 STOP Device with port is off-line
Cause: An attempt was made to access a port assigned to a device which is offline. For DeviceNet ports, troubleshoot as follows: This might be caused by an error or the device being manually set offline. Remedy: First, determine the port type and number being accessed. Then use
the appropriate Digital I/O CONFIG screen to determine the DeviceNet board and device MAC-Id to which the port is assigned. Check the status of the DeviceNet board using the Digital I/O DeviceNet screen. If the status field for the board is OFF, set if ONLINE. If the status is ERROR, check the following:
1. The daughter board is installed on the Interface board.
2. There is power on the network.
After the problem is corrected, use the Digital I/O DeviceNet DEV LST screen to set the board ONLINE. If the board is ONLINE, check the DEV LST screen entry for the indicated device. If the status field for the device is OFF, set if ONLINE. If the status is ERROR, check the following:
1. The device is physically present on the network.
2. The baud rate is set correctly.
3. There are not devices with duplicate MAC-ID’s on the network.
4. The device with the required MAC-Id is the device type indicated in the DEV LST screen.
Once the problem is corrected, use the DEV LST screen to set the device ONLINE.
PRIO-119 WARN Too many DIGITAL I/O ports
Cause: There are too many DIGITAL I/O ports. Remedy: Disconnect some DIGITAL I/O devices.
PRIO-121 WARN Stop PMC to change sim
Cause: When a PMC program is running, you can not change simulation status of the port that is used by the PMC program. Remedy: Stop PMC execution.
PRIO-125 SYST SLC2 initialization error
Cause: The SLC2 is in an error state at the end of initialization. Remedy: Check SYSFAIL of the other PCB. Also check the main PCB.
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PROG Error Codes
PROG-001 ABORT Invalid pointer is specified
Cause: This indicates an internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that led to the error and call your FANUC Robotics technical representative.
PROG-002 ABORT Invalid task name is specified
Cause: The task name specified is invalid. Remedy: Check the task name.
PROG-003 ABORT Invalid prog name is specified
Cause: The program name specified is invalid. Remedy: Check the program name.
PROG-005 WARN Program is not found
Cause: The specified program cannot be found. Remedy: Check the program name.
PROG-006 WARN Line is not found
Cause: The specified line number cannot be found. Remedy: Check the line number.
PROG-007 WARN Program is already running
Cause: The specified program is already being executed. Remedy: Check the program name.
PROG-008 WARN In a rtn when creating a task
Cause: Execution cannot be started in sub-routine program.
Remedy: Check the line number.
PROG-009 WARN Line not same rtn as paused at
Cause: Resumption was attempted at a different line from the paused line. Remedy: Check the line number.
PROG-010 WARN Not same prg as paused
Cause: Resumption was attempted in a different program from the paused one. Remedy: Check the program name.
PROG-011 PAUSE Cannot get the motion control
Cause: Motion control cannot be obtained. Remedy: Check the teach pendant enable switch and other running programs to
determine who has motion control.
PROG-012 WARN All groups not on the top
Cause: There is paused motion later than motion that was attempted to resume. Remedy: Resume the motion paused the last time.
PROG-013 WARN Motion is stopped by program
Cause: This motion was paused by the MOTION PAUSE instruction. Only the RESUME MOTION program instruction can can resume the motion. Remedy: Use RESUME MOTION instruction in the program.
PROG-014 WARN Max task number exceed
Cause: The number of programs you attempted to start exceeded the maximum number. Remedy: Abort dispensable programs or perform a CTRL start and select
PROGRAM INIT option to increase the number of tasks allowed.
PROG-015 WARN Cannot execute backwards
Cause: Backward execution cannot be used. Remedy: Do not use backward execution at this point .
PROG-016 WARN Task is not found
Cause: The specified task is not running or paused. Remedy: Check the task name. The task name is always the name of the
program that was run. The task name will not change even if the running program calls a routine from a different program.
PROG-017 WARN Task is not running
Cause: The specified task is not running. Remedy: Check the task name.
PROG-018 ABORT Motion stack overflowed
Cause: Too many programs are paused. Remedy: Resume or abort some programs.
PROG-019 WARN Ignore pause request
Cause: The request to pause the program was ignored. Remedy: Change the NOPAUSE task attribute or use the KCL PAUSE
command with the FORCE option.
PROG-020 WARN Task is already aborted
Cause: The specified program was already aborted. Remedy: Check the program name.
PROG-021 WARN Ignore abort request
Cause: The request to abort the program was ignored. Remedy: Change the NOABORT task attribute or use the KCL ABORT
command with the FORCE option.
PROG-023 WARN Task is not paused
Cause: The specified program is not paused. Remedy: Pause the program.
PROG-024 WARN Not have motion history
Cause: The motion path record is lost. Remedy: Do not attempt backwards execution at this time.
PROG-025 WARN Cannot execute backwards
Cause: Backward execution cannot be used. Remedy: Do not use backwards execution here.
PROG-026 WARN No more motion history
Cause: Backward execution cannot be used any more. The current line is on top of the memorized path. Remedy: Do not use backwards execution here.
PROG-027 WARN Invalid task number
Cause: The task number specified is invalid. Remedy: Check the task number.
PROG-029 WARN Buffer size is not enough
Cause: This indicates an internal system error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
PROG-030 WARN Attribute is not found
Cause: The specified task attribute is not found. Remedy: Check the attribute.
PROG-031 WARN Attribute is write protected
Cause: The specified task attribute is write protected. Remedy: Do not try to change the attribute.
PROG-032 WARN Invalid value for attribute
Cause: The value for the specified attribute is invalid. Remedy: Check the attribute value.
PROG-034 WARN Routine not found
Cause: The specified routine cannot be found. Remedy: Check the routine name and verify it is loaded.
PROG-035 WARN Not locked the specified group
Cause: Motion control for the specified group cannot be locked. Remedy: Check the teach pendant enable switch and other running programs to
determine who has motion control.
PROG-036 WARN The length of trace array is 0
Cause: Not enough memory or the task attribute is not set correctly. Remedy: Set the trace buffer length using the KCL SET TASK TRACELEN
command.
PROG-037 WARN No data in the trace array
Cause: There is no execution record in memory. Remedy: Turn on tracing using the KCL SET TRACE ON command.
PROG-039 WARN locked, but not get mctl
Cause: Motion control for the specified group was reserved, but it cannot be obtained. Remedy: Check the teach pendant enable switch and other running programs to
determine who has motion control.
PROG-040 PAUSE Already locked by other task
Cause: Motion control for the specified group was already reserved by another program. Remedy: Check the other running programs to determine who has motion
control.
PROG-041 WARN mctl denied because released
Cause: Motion control is released. The teach pendant currently has motion control. The robot cannot be started until motion control is obtained. Remedy: Disable the teach pendant.
PROG-042 WARN Already released
Cause: Motion control was already released. Remedy: If you had expected that the task may have already released the
group, this may not be an error. Otherwise, check UNLOCK_GROUP usage.
PROG-043 WARN Already released by you
Cause: Motion control was already released by request of this program. Remedy: If you had expected that the task may have already released the
group, this may not be an error. Otherwise, check UNLOCK_GROUP usage.
PROG-044 WARN Arm has not been released yet
Cause: Motion control was not released yet. Remedy: If you had expected that the task may have already locked the group,
this may not be an error. Otherwise, check LOCK_GROUP usage.
PROG-045 WARN Other than requestor released
Cause: Motion control was already released by the request of another program. Remedy: If you had expected that another task may have already released the
group, this may not be an error. Otherwise, check UNLOCK_GROUP usage.
PROG-046 PAUSE TP is enabled while running (%s^7)
Cause: The teach pendant was enabled while the program is executing. Remedy: Disable the teach pendant and resume the program.
PROG-047 PAUSE TP is disabled while running (%s^7)
Cause: The teach pendant was disabled while the program is executing. Remedy: Enable the teach pendant and use shift-FWD to resume execution.
PROG-048 PAUSE Shift released while running (%s^7)
Cause: The shift key was released while the program is executing. Remedy: Hold the shift key and press the FWD key to resume execution.
PROG-049 WARN Cannot release, robot moving
Cause: Motion control cannot be released because the robot is moving. Remedy: Check the status of robot motion.
PROG-050 WARN Abort still in progress
Cause: The program is in the process of being aborted. Remedy: Wait a second. If this error continues to occur, perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that led to the error and call your FANUCRobotics technical representative.
PROG-051 WARN Cannot skip the return stmt
Cause: The specified lines to which a move was attempted exceed the number of lines in the program. Remedy: Check the line number.
PROG-052 ABORT Process is aborted while executing
Cause: The user application task was forced to abort while the application is executing. The AMR may not have been completely processed. Remedy: This requires no special action for the user.
PROG-053 ABORT User AX is not running
Cause: The user application task was not executed. Remedy: Start the user application task before executing the application.
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PWD Error Codes
PWD-001 NONE Login (%s) Install
Cause: A user with Install level access logged in. Remedy: Status message only.
PWD-002 NONE Logout (%s) Install
Cause: A user with Install level access logged out. Remedy: Status message only.
PWD-003 NONE Login (%s) Setup
Cause: A user with Setup level access logged in. Remedy: Status message only.
PWD-004 NONE Logout (%s) Setup
Cause: A user with Setup level access logged out. Remedy: Status message only.
PWD-005 NONE Login (%s) Program
Cause: A user with Program level access logged in. Remedy: Status message only.
PWD-006 NONE Logout (%s) Program
Cause: A user with Program level access logged out. Remedy: Status message only.
PWD-007 NONE Password Timeout (%s)
Cause: A user was logged out because of a password timeout. Remedy: Log in, if required. Adjust the timeout value if it is too short.
PWD-008 NONE Create program %s.TP
Cause: A teach pendant program was created. Remedy: Status message only.
PWD-009 NONE Delete program %s.TP
Cause: A teach pendant program was deleted. Remedy: Status message only.
PWD-010 NONE Rename %s.TP as %s.TP
Cause: A teach pendant program was renamed. Remedy: Status message only.
PWD-011 NONE Set %s.TP subtype from %s to %s
Cause: A teach pendant program subtype was changed. For example, a .TP program was changed to a Macro (.MR). Remedy: Status message only.
PWD-012 NONE Set %s.TP comment
Cause: A teach pendant program comment was edited. Remedy: Status message only.
PWD-013 NONE Set %s.TP group mask
Cause: The group mask of a teach pendant program was changed. Remedy: Status message only.
PWD-014 NONE Set %s.TP write protect on
Cause: Write protection was enabled for the program. This helps prevent mistaken edits of the program. Remedy: Status message only.
PWD-015 NONE Set %s.TP write protect off
Cause: Write protection was disabled for the program. The program can be edited. Remedy: Status message only.
PWD-016 NONE Set %s.TP ignore pause on
Cause: The ignore pause feature was enabled for the program. Remedy: Status message only.
PWD-017 NONE Set %s.TP ignore pause off
Cause: The ignore pause feature was disabled for the program. Remedy: Status message only.
PWD-018 NONE Write line %d, %s.TP
Cause: A teach pendant program line was edited. Remedy: Status message only.
PWD-019 NONE Delete line %d, %s.TP
Cause: A teach pendant program line was deleted. Remedy: Status message only.
PWD-020 NONE Write pos %d, %s.TP
Cause: A teach pendant program position was recorded. Remedy: Status message only.
PWD-021 NONE Delete pos %d, %s.TP
Cause: A teach pendant program position was deleted. Remedy: Status message only.
PWD-022 NONE Renumber pos %d as %d, %s.TP
Cause: A teach pendant program position number was changed. Remedy: Status message only.
PWD-023 NONE Set application data %s.TP
Cause: For some tool products, a teach pendant program may contain application related data. This message indicates the data has changed. Remedy: Status message only.
PWD-024 NONE Delete application data %s.TP
Cause: For some tool products, a teach pendant program may contain application related data. This message indicates some data was deleted. Remedy: Status message only.
PWD-025 NONE Load %s
Cause: The named file was loaded. Remedy: Status message only.
PWD-026 NONE Load %s as Program %s
Cause: The named file was loaded. The program name may differ from the file name. Remedy: Status message only.
PWD-027 NONE Edit %s Sch %d %s
Cause: A schedule was edited. Press HELP for more information. Remedy: Status message only.
PWD-028 NONE Copy %s Sch %d to %d
Cause: The data in a schedule was copied to another schedule. Remedy: Status message only.
PWD-029 NONE Clear %s Sch %d
Cause: The schedule was cleared, meaning the values were set to zero. Remedy: Status message only.
PWD-030 NONE (%s to %s)%s
Cause: This message is used to provide detailed information for PWD-027. For example: PWD -027 Edit Weld Sch 1 Voltage PWD -030 (24.0 to 25.0) Volts Remedy: Status message only.
PWD-031 WARN QUICK MENUS forced
Cause: The Operator password level does not have access to the FULL MENUS. Either a timeout occurred or a user logged out.
Remedy: Press the TP MENUS hardkey and select SETUP PASSWORDS. Log in with either the Install, Setup, or Program password level. Press the TP FCTN hardkey and select QUICK/FULL MENUS to return to FULL MENUS.
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QMGR Error Codes
QMGR-001 WARN Queue is full
Cause: An attempt was made to add entry to a queue when the queue was full. Remedy: Use GET_QUEUE to remove entries or use a larger value for queue
size in the INIT_QUEUE call.
QMGR-002 WARN Queue is empty
Cause: An Attempt to use GET_QUEUE when there are no entries in the queue This is the normal result when no entries have been added or all have been removed by previous calls. Remedy: No remedy is required.
QMGR-003 WARN Bad sequence no
Cause: A bad sequence_no value is used in an INSERT_QUEUE or DELETE_QUEUE call. The value may be less than 1 or greater than the sequence number of the last entry in the queue. Remedy: Correct the value
QMGR-004 WARN Bad n_skip value
Cause: n_skip parameter in COPY_QUEUE call is less than zero Remedy: Use zero or a positive value
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ROUT Error Codes
ROUT-022 PAUSE Bad index in ORD
Cause: Incorrect number is specified for ORD builtin routine. Remedy: Specify a number less than the string length.
ROUT-023 PAUSE Bad index in SUBSTR
Cause: Incorrect number is specified for SUBSTR builtin routine. Remedy: Specify a number less than the string length.
ROUT-024 PAUSE SUBSTR length less than 0
Cause: Negative number is specified for length argument for SUBSTR builtin routine. Remedy: Specify a positive number.
ROUT-025 ABORT Illegal semaphore number
Cause: Incorrect number is specified for semaphore id. Remedy: Specify a number between 1 and 32.
ROUT-026 WARN Illegal group number
Cause: Invalid group number is specified. Remedy: Specify existing group number.
ROUT-027 WARN String size not big enough
Cause: Specified string variable does not have enough room to hold the return data. Remedy: Specify larger size string variable.
ROUT-028 ABORT Illegal file attribute number
Cause: Incorrect file attribute id was specified. Remedy: Specify correct file attribute id.
ROUT-029 ABORT Illegal file attribute value
Cause: Incorrect file attribute value was specified. Remedy: Specify correct attribute value.
ROUT-030 WARN Non existent register number
Cause: A non-existent register number is specified. Remedy: Specify a correct register number.
ROUT-031 WARN Illegal register type
Cause: Incorrect register type is specified. Remedy: Specify the correct register type for the attempted operation.
ROUT-032 ABORT Position type mismatch
Cause: Position type is not correct for the operation. Remedy: Specify correct position type.
ROUT-033 ABORT Illegal attribute type
Cause: Illegal attribute id was specified. Remedy: Specify correct attribute id.
ROUT-034 WARN Not a TPE program
Cause: A non-tpe is specified. Remedy: Specify a program name other than a Karel program.
ROUT-035 WARN Value is out of range
Cause: The specified value is out of range. Remedy: Specify a value within the range.
ROUT-036 ABORT Illegal port id value
Cause: Incorrect port id was used Remedy: Specify correct port id.
ROUT-037 ABORT Bad TPE header size
Cause: Value used in SET_HEAD_TPE for bfr_size is invalid. Remedy: Use buffer size in the range 1-255.
ROUT-038 PAUSE Uninitialized TPE position
Cause: Attempt to access position data or type from TPE program when the position has not been recorded. Remedy: Record position data using the TPP TOUCHUP function
ROUT-039 WARN Executing motion exists
Cause: Cannot unlock group while motion is executing. Remedy: Wait until executing motion has completed.
ROUT-040 WARN Stopped motion exists
Cause: Cannot unlock group while stopped motion exists. Remedy: Resume stopped motion and wait until motion has completed or cancel
stopped motion.
ROUT-041 ABORT Dym. disp. var. not static
Cause: Variable displayed for dynamic display is not a static variable. Parameter may be a local or constant. Neither of these is permitted as the displayed variable in INI_DYN_DIS calls. Remedy: Copy constant or local variable to static variable and use this
ININI_DYN_DIS* call.
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SCIO Error Codes
SCIO-016 WARN Prog uses un-installed option.
Cause: The TPP program being loaded uses an option which is not installed on the controller where the program is being loaded (target controller). Remedy: Determine what options are installed on the controller on which the
program was saved (source controller) and are not installed on the target controller. Then, on the source controller, check which of these is used in the program. Assuming the option(s) are authorized for the target controller, install the necessary options. If some of these options are not authorized, it ay be necessary to remove uses of the unauthorized option uses and re-save the program on the source controller.
SCIO-020 WARN LBL[%d] exists in line %d:
Cause: This label number exists in another line. Remedy: Select another label number.
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SRVO Error Codes
SRVO-001 SERVO Operator panel E-stop
Cause: The operator panel emergency stop push button is pressed. Remedy: Twist the operator panel emergency stop push button clockwise to
release. Press reset.
SRVO-002 SERVO Teach pendant E-stop
Cause: The teach pendant emergency stop push button is pressed. Remedy: Twist the teach pendant emergency stop push button clockwise to
release. Press reset.
SRVO-003 SERVO Deadman switch released
Cause: The teach pendant deadman switch is released while the teach pendant is enabled. Remedy: Press teach pendant deadman switch. Press reset.
SRVO-004 SERVO Fence open
Cause: FENCE1 and FENCE2 circuit open on EMG Control PCB. Remedy: Determine the cause of FENCE1 and FENCE2 open circuit and
correct. Press reset.
SRVO-005 SERVO Robot overtravel
Cause: A Robot overtravel limit switch, is pressed.
Remedy: To determine which axis is overtraveled: 1. Press MENUS.2. Select MANUAL FCTNS.3. Press F1, [TYPE].4. Select OT_RELEASE Menu. The axis that is overtraveled will display TRUE in
either OT_MINUS or OT_PLUS.5. Move the cursor to the OT PLUS or OT MINUS value of the axis in overtravel. 6. Press F2, RELEASE. The value of the overtraveled axis should change back to FALSE.7. Press and hold down the SHIFT key until you have completed steps a through d. a. Press RESET and wait for servo power. b. Press COORD until you select the JOINT coordinate system.c. Continuously press and hold the DEADMAN switch and turn the teach pendant ON/OFF switch to ON. d. Jog the overtraveled axis off the overtravel switch. When you have finished jogging, you can release the SHIFT key.8. Turn the teach pendant ON/OFF switch to OFF and release the DEADMANswitch.9. Check CRM1 connection on axis control PCB if the robot is not in an actual overtravel condition. NOTE: If you accidently release the SHIFT key during this procedure, you will need to repeat Step 7.
SRVO-006 SERVO Hand broken
Cause: The hand broken (*HBK) robot input is asserted. Remedy: If using *HBK input, determine the cause of the error and correct. If
not, check the position of the *HBK jumper on the axis control PCB; if on side A, *HBK is checked, if on side B, *HBK is not checked. *HBK originates on the Axis Control PCB.
SRVO-007 SERVO External emergency stops
Cause: The external emergency stop push button is pressed. Remedy: If using external emergency stop, clear source of fault, and press
reset. If not, check wiring at EMGIN1, EMGIN2, and EMGINC on EMG Control PCB. Check for 100 VAC input to the EMG Control PCB.
SRVO-008 SERVO Brake fuse blown
Cause: The brake fuse is blown on the EMG Control PCB. The FALM light on the EMG Control PCB should also be lit. Remedy: Replace fuse on EMG Control PCB. Also see SRVO-018 Brake
abnormal.
SRVO-009 SERVO Pneumatic pressure alarm
Cause: The pneumatic pressure (PPABN) robot input is asserted. Remedy: If using pneumatic pressure input clear source of fault, press reset. If
pneumatic pressure is not used set $PARAM_GROUP[x].$PPABN_ENBL system variable to FALSE. PPABN originates on the Axis Control PCB.
SRVO-010 SERVO Belt broken
Cause: The belt broken robot digital input (RDI7) is asserted. Remedy: If using belt broken detection, clear source of fault, press reset. Robot
inputs/outputs originate on the Axis Control PCB. Check system variable $PARAM_GROUP.$BELT_ENABLE.
SRVO-011 SERVO TP released while enabled
Cause: Teach pendant was disconnected while it was enabled. Remedy: Re-connect the teach pendant, disable the teach pendant, and then
disconnect the teach pendant. Note that if the teach pendant emergency stop is pressed when disconnecting the teach pendant, it will be necessary to re-connect to clear the SRVO-002 alarm.
SRVO-012 SERVO Power failure recovery
Cause: Normal power on (hot start). Remedy: This is just a notification. You do not have to do anything for this
warning message.
SRVO-013 SYSTEM Srvo module config changed
Cause: The configuration of digital servo modules has changed. Remedy: Re-configure system with new digital servo module changes. Cycle
power.
SRVO-014 WARN Fan motor abnormal
Cause: Card rack fan motor overheat. Remedy: Check and/or replace defective fan.
SRVO-015 SERVO System over heat
Cause: Overheat sensor on backplane closed. Remedy: The cabinet overheat sensor is located on the backplane. If the internal
cabinet temperature is greater than 65 degrees Centigrade, check the cabinet fans for proper operation. Replace the backplane if cabinet temperature is within specification.
SRVO-016 SERVO Cooling water volume drop
Cause: Cooling water volume dropped (L1000 only). Remedy: Determine the cause of the problem and repair.
SRVO-017 SERVO No robot internal mirror
Cause: No robot internal mirror (L1000 only). Remedy: Determine the cause of the problem and repair.
SRVO-018 SERVO Brake abnormal
Cause: The FET current for brake exceeded the specification. Remedy: Check brake for zero or abnormally low impedance. Then check the
brake cable. Then check 200VAC. Then check servo amplifier or emergency stop control PCB if brake ports are used.
SRVO-019 SERVO SVON input
Cause: SVON (Servo ON/OFF switch) input asserted. Remedy: Determine the cause to input SVON and repair.
SRVO-020 SERVO SRDY off (TP)
Cause: The teach pendant cable is disconnected or a momentary break occurred in any one of the TP emergency stop circuits; TP emergency stop, deadman, or fence. Remedy: Check the teach pendant cable and connections.
SRVO-021 SERVO SRDY off/Door open (G:%d A:%d)
Cause1: The axis control asserts *MCON signal to servo amplifier, the servo amplifier asserts *DRDY. If *DRDY can not be asserted and the servo amplifier can not determine the problem, this alarm occurs. Remedy1: Check the voltage at 100A and 100B, if this voltage is below 85V,
determine the cause and repair. Check the cables and connections between servo amplifier and axis control PCB. Replace Servo Interface (SIF) module on axis control PCB. Replace the servo amplifier. Cause2: The controller door is open.
Remedy2: Close the controller door.
SRVO-022 SERVO SRDY on (Group:%d Axis:%d)
Cause: The axis control asserts *MCON signal to servo amplifier, the servo amplifier asserts *DRDY. If *DRDY is already asserted, this alarm occurs. Remedy: Check the cables and connections between servo amplifier and axis
control PCB. Replace Servo Interface (SIF) module on axis control PCB. Replace the servo amplifier.
SRVO-023 SERVO Stop error excess(G:%d A:%d)
Cause: When the robot is at rest servo error is too big, greater than acceptable stop error tolerance. Remedy: If the robot is loaded beyond specification, the torque necessary to
decelerate a overloaded motor may cause this alarm to occur. Check the three phase input to the servo amplifier for voltage within specification; 170 — 253 VAC. Also, check for balanced voltage between all three phases. Check the cables and connections between servo amplifier and axis control PCB. Replace the Servo Interface (SIF) module on axis control PCB. Replace the servo amplifier.
SRVO-024 SERVO Move error excess(G:%d A:%d)
Cause: The servo error is too big when the the robot is moving, or if the robot moves when it is supposed to be stopped. The servo error in this case is greater than acceptable move error tolerance
Remedy: Same as SRVO-023 Stop error excess.
SRVO-025 SERVO Motn dt overflow (G:%d A:%d)
Cause: The motion command exceeded specification. Internal motion error. Remedy: Perform a cold start:
1. Turn off the robot.2. On the teach pendant, press and hold the SHIFT and RESET keys.3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
SRVO-026 WARN Motor speed limit(G:%d A:%d)
Cause: Motor can not rotate as fast as the calculated speed required for the current motion. Remedy: This is just a notification. However, you should attempt to eliminate this
error and not repeat the circumstances that led up to it.
SRVO-027 WARN Robot not mastered(Group:%d)
Cause: System variable $master_done set FALSE. Remedy: Master robot.
SRVO-028 STOP Servo reset (Group:%d)
Cause: No longer occurs. Remedy: N/A
SRVO-029 STOP Robot calibrated (Group:%d)
Cause: No longer occurs. Remedy: N/A
SRVO-030 SERVO Brake on hold (Group:%d)
Cause: This alarm occurs when HOLD is pressed with brake on hold option turned on. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SRVO-031 SERVO User servo alarm (Group:%d)
Cause: User servo alarm posted by the user. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SRVO-032 STOP Force follow-up end (Grp:%d)
Cause: No longer occurs. Remedy: N/A
SRVO-033 WARN Robot not calibrated(Grp:%d)
Cause: System variable $calibrate set FALSE. Remedy: Calibrate the robot.
SRVO-034 WARN Ref pos not set (Group:%d)
Cause: Reference position has not been set when quick mastering. Remedy: Quick mastering may not be possible. Fixture or zero master.
SRVO-035 WARN Joint speed limit(G:%d A:%d)
Cause: Joint can not rotate as fast as the calculated speed required for the current motion. Remedy: This is just a notification. However, every attempt should be made to
eliminate this error.
SRVO-036 SERVO Inpos time over (G:%d A:%d)
Cause: Robot is not in position for the specified period of time. Remedy: Check if the robot is loaded beyond specification. The torque
necessary to decelerate a overloaded motor may cause this alarm to occur. Check the three phase input to the servo amplifier for voltage within specification; 170 — 253 VAC. Also, check for balanced voltage between all three phases. Check the cables and connections between servo amplifier and axis control PCB. Replace the Servo Interface (SIF) module on axis control PCB. Replace the servo amplifier.
SRVO-037 SERVO IMSTP input (Group:%d)
Cause: IMSTP (immediate stop) UOP input asserted. Remedy: If using UOP, determine the cause and repair. If not using UOP, select
the I/O menus and zero UOP mapping.
SRVO-038 SERVO Pulse mismatch (G:%d A:%d)
Cause: Pulse counts at power down and at power up are mismatch Remedy: This feature is only available after core software version V3.06P. If
your software version is V3.06P or V3.06PA set $MCR.$SPC_RESET true from the teach pendant and remaster the robot. If your software version is V3.06PB or greater, press RES_PCA (F3) softkey in the SYSTEM Master/Cal window, and remaster the robot. If this problem occurs repeatedly, replace the pulse coder.
SRVO-039 SERVO Motor speed excess(G:%d A:%d)
Cause: CMC cannot work because the calculated motor speed exceeded specification Remedy: Reduce the motion speed or disable CMC.
SRVO-040 WARN Mastered at mark pos(G:%d)
Cause: Zero position master is done with mark position (not with zero position).
Remedy: This message is only for S-420iR. S-420iR has the mark at non-zero position for J2 and J3. Zero position master is not done with zero pos for S-420iS. Confirm the position of each axis to be at mark position. If the robot is not S-420iR, $SCR_GRP.$robot_model may be wrong. Set correct $SCR_GRP.$robot_model.
SRVO-041 SERVO MOFAL alarm (Grp:%d Ax:%d)
Cause: The motion command after the ramping algorithm in servo software exceeded one word. Remedy: Internal motion error. Perform a cold start:
1. Turn off the robot.2. On the teach pendant, press and hold the SHIFT and RESET keys.3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
SRVO-042 SERVO MCAL alarm(Group:%d Axis:%d)
Cause: The servo amplifier magnetic contactor (MCC) is welded closed. Remedy: If this alarm occurs with a SRVO-049 OHAL1, turn off the controller
power for fifteen seconds and turn on again. Check the cable between the servo amplifier and axis control PCB. Replace the servo amplifier.
SRVO-043 SERVO DCAL alarm(Group:%d Axis:%d)
Cause: The regenerative energy produced by the motor, exceeded specification. Remedy: If a 4 is indicated on the servo amplifier LED, a DCSW condition exists.
DCSW alarm occurs when the regenerative transistor is on for one second or longer. To repair a DCSW, replace the servo amp. If problem persists, the load of the robot may exceed the specification. If a 5 is indicated on the servo amplifier LED, a DCOH condition exists. DCOH alarm occurs when the regenerative resistor overheats and is sensed by the thermostat. The average regenerative energy is excessive, relax the operating conditions. If using a separate regenerative discharge unit, check the wiring or replace.
SRVO-044 SERVO HVAL alarm(Group:%d Axis:%d)
Cause: The DC voltage on the main power circuit of the servo amplifier exceeded specification. Remedy: Check the three phase voltage to the servo amplifier input. It should
not exceed 253 VAC phase-to-phase. If the load on the robot exceeds the specification, this alarm could occur. If using a separate regenerative discharge unit, check the wiring or replace. Replace the servo amplifier. For auxiliary axes, the operating condition (duty cycle) may not be appropriate for the specification of the motor or amplifier. If the duty cycle can not be reduced, select a larger motor and amplifier.
SRVO-045 SERVO HCAL alarm(Group:%d Axis:%d)
Cause: The current in the main power circuit of the servo amplifier exceeded specification.
Remedy: Disconnect the motor power wires from the servo amplifier and turn on power. If an HCAL occurs, replace the transistor module or servo amplifier. Measure the resistance between GND and U, V, W individually on the cable terminals. If shorted, determine if the cable or motor is bad. Check the resistance between U-V, V-W, and W-U using a measuring instrument sensitive enough to detect small resistances at the cable terminations. If the resistances are the same replace the servo amplifier. If the resistances are different, determine if the cable or motor is bad. If the problem persists, replace the SIF module on the axis control for the defective axis.
SRVO-046 SERVO OVC alarm (Group:%d Axis:%d)
Cause: The average current calculated by the servo software exceeded specification. Remedy: Make sure the robot is not loaded beyond specification. Check input
power to the servo amplifier. It should be greater than 170 VAC phase-to-phase. Replace SIF module on the axis control PCB.
SRVO-047 SERVO LVAL alarm(Group:%d Axis:%d)
Cause: The DC voltage on the main power circuit of the servo amplifier is lower than the specification even though MCC is on. Remedy: If a 2 is indicated on the servo amplifier LED, the 5 VDC is 4.6 volts.
volts or less. Check input power to the servo amplifier. It should be greater than 170 VAC phase-to-phase. Replace the servo amplifier if the input power is correct. If a 3 is indicated on the servo amplifier LED, the main power is too low. Check input power to the servo amplifier. It should be greater than 170 VAC phase-to- phase. Replace the servo amplifier if the input power is correct. Check to make the circuit breaker is not off. If a 7 is indicated on the servo amplifier LED, MCC is welded closed.
SRVO-048 SERVO MOH alarm (Group:%d Axis:%d)
Cause: Never occurs on R-J3 Robot. Remedy: None applicable.
SRVO-049 SERVO OHAL1 alarm (Grp:%d Ax:%d)
Cause: The servo amplifier overheated. Remedy: If the robot is overloaded or the duty cycle exceeds specification, this
alarm occurs. Check regenerative discharge transistor Q1. Check the thermostat on the servo amplifier after the servo amplifier has cooled. It should not be open. If the problem persists, replace the servo amplifier. Check controller cabinet fans for blocked filters, clean if necessary.
SRVO-050 SERVO Collision Detect alarm (G:%d A:%d)
Cause: The servo software detected a disturbance torque that was too high, and tripped a collision detection alarm. Remedy: Reset the robot by using the teach pendant reset and JOG the robot
away from any obstruction. If no collision, the load on the robot may exceed the specification. Check input power to the servo amplifier. It should be greater than 170 VAC phase-to-phase. Also check the voltage between U-V, V-W, and U-W. Each should measure the same (~210VAC).
SRVO-051 SERVO CUER alarm(Group:%d Axis:%d)
Cause: The feedback current is abnormal. Remedy: Replace the SIF module on the axis control PCB. Replace the servo
amplifier.
SRVO-052 WARN Discharge excess (Amp:%d)
Cause: NOT used Remedy: N/A
SRVO-053 WARN Disturbance excess(G:%d A:%d)
Cause: Disturbance estimated in the software exceed the threshold value. There is the possibility that the load held in the wrist exceed the robot specification. Remedy: Reduce the load into the robot spec.
SRVO-054 SERVO DSM memory error (DS:%d)
Cause: The DSP module program memory is defective. Remedy: Replace the DSP module.
SRVO-055 SERVO FSSB com error 1 (G:%d A:%d)
Cause: FSSB communication error from SRVO to SLAVE occurred. Remedy: Check FSSB hardware connection.
SRVO-056 SERVO FSSB com error 2 (G:%d A:%d)
Cause: FSSB communication error from SLAVE to SRVO occurred. Remedy: Check FSSB hardware connection.
SRVO-057 SERVO FSSB disconnect (G:%d A:%d)
Cause: N/A Remedy: N/A
SRVO-058 SERVO FSSB init error (N:%d)
Cause: FSSB communication error occurred during initialization. Remedy: Check FSSB hardware connection.
SRVO-059 SERVO Servo amp init error
Cause: Servo amplifier initialization failed. Remedy: Check the servo amplifier or connection of the servo amplifier.
SRVO-061 SERVO CKAL alarm(Group:%d Axis:%d)
Cause: The clock for the rotation counter in the pulse coder is abnormal.
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder or motor and master the robot.
SRVO-062 SERVO BZAL alarm(Group:%d Axis:%d)
Cause: The battery voltage for the pulse coder is zero volts. Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069
CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. If SRVO-047 LVAL occurs before this alarm, batteries are drained to zero. Replace the pulse coder batteries and master the robot. If no SRVO-047 LVAL occurs before, check the battery cables to the motors. You may have to reset the pulse coder to clear this alarm. Refer to the SPC_RESET procedure in SRVO-038 and cycle the controller power. The controller may come back up with a SRVO-038 and require a second SPC_RESET.
SRVO-063 SERVO RCAL alarm(Group:%d Axis:%d)
Cause: The built-in rotation counter on the pulse coder is abnormal. Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069
CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder or motor and master the robot.
SRVO-064 SERVO PHAL alarm(Group:%d Axis:%d)
Cause: The relationship between the analog signals on the pulse coder are abnormal. Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069
CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder or motor and master the robot.
SRVO-065 WARN BLAL alarm(Group:%d Axis:%d)
Cause: The pulse coder batteries are low. Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069
CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder batteries while controller power is turned on.
SRVO-066 SERVO CSAL alarm(Group:%d Axis:%d)
Cause: The pulse coder ROM checksum data are abnormal. Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069
CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder or motor and master the robot.
SRVO-067 SERVO OHAL2 alarm (Grp:%d Ax:%d)
Cause: The pulse coder or motor overheated. Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069
CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. If the load on the robot or duty cycle exceeds the
specification, this alarm will occur. Allow the motor to cool. If the alarm stills occurs, replace the pulse coder or motor.
SRVO-068 SERVO DTERR alarm (Grp:%d Ax:%d)
Cause1: The axis control PCB sent the request signal, but did not receive serial data from the pulse coder. Remedy1: Check pulse coder cables. Replace the SIF module on the axis
control PCB. Replace the DSM module on the axis control PCB. Replace the pulse coder. If a serial pulse coder is plugged into a line tracking port, this alarm will occur. Check axis control PCB hardware configuration. Cause2: The memory card interface (with an installed memory card) is
plugged into the ER-2 printed circuit board while the controller is running and the ER-2 board is connected to the PLC. Remedy2: Plug the memory card interface into a different slot. Or,
connect the memory card interface directly to the backplane without using a printed circuit board.
SRVO-069 SERVO CRCERR alarm (Grp:%d Ax:%d)
Cause: The serial data from the pulse coder changed during communication to the axis control PCB. Remedy: Check pulse coder cables. Make sure the cable shields are grounded.
Replace the SIF module on the axis control PCB. Replace the DSM module on the axis control PCB. Replace the axis control PCB. Replace the pulse coder.
SRVO-070 SERVO STBERR alarm (Grp:%d Ax:%d)
Cause: The communication stop and start bits are abnormal. Remedy: Check pulse coder cables. Replace the SIF module on the axis control
PCB. Replace the DSM module on the axis control PCB. Replace the pulse coder.
SRVO-071 SERVO SPHAL alarm (Grp:%d Ax:%d)
Cause: The feedback velocity exceeds specification. Remedy: If this alarm occurs with another pulse coder alarm, refer to the remedy
of the other alarm first. If no other alarms, the robot load may exceed the specification. If the load is within specification, replace the serial pulse coder or motor.
SRVO-072 SERVO PMAL alarm(Group:%d Axis:%d)
Cause: The interpolation circuits of the pulse coder are abnormal. Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069
CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder and master the robot.
SRVO-073 SERVO CMAL alarm(Group:%d Axis:%d)
Cause: Incorrect position data detected in the pulse coder, or abnormal pulse coder data caused by noise.
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Master the robot. Check and strengthen the shield of the pulse coder cable.
SRVO-074 SERVO LDAL alarm(Group:%d Axis:%d)
Cause: LEDs in the pulse coder are disconnected. Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069
CRCERR, or SRVO-070 STBERR, disregard this alarm and refer to the other three alarm remedies. Replace the pulse coder and master the robot.
SRVO-075 WARN Pulse not established(G:%d A:%d)
Cause: The pulse coder does not know its own position yet. Remedy: Jog the axis manually by more than one motor rotation.
SRVO-081 WARN EROFL alarm (Track enc:%d)
Cause: Line tracking encoder overflow due to high speed. Remedy: None applicable.
SRVO-082 WARN DAL alarm(Track encoder:%d)
Cause: Line tracking pulse coder disconnected. Remedy: Check for correct axis control PCB for line tracking and proper
connections. Check line tracking pulse coder cables. Replace the SIF module on the axis control PCB. Replace the DSM module on the axis control PCB. Replace the pulse coder.
SRVO-083 WARN CKAL alarm (Track enc:%d)
Cause: The clock for the rotation counter in the line tracking pulse coder is abnormal. Remedy: Refer to SRVO-061 remedy.
SRVO-084 WARN BZAL alarm (Track enc:%d)
Cause: The battery voltage for the line tracking pulse coder is zero volts. Remedy: Refer to SRVO-062 remedy.
SRVO-085 WARN RCAL alarm (Track enc:%d)
Cause: The built-in rotation counter on the line tracking pulse coder is abnormal. Remedy: Refer to SRVO-063 remedy.
SRVO-086 WARN PHAL alarm (Track enc:%d)
Cause: The relationship between the analog signals on the line tracking pulse coder are abnormal. Remedy: Refer to SRVO-064 remedy.
SRVO-087 WARN BLAL alarm (Track enc:%d)
Cause: The line tracking pulse coder batteries are low. Remedy: Refer to SRVO-065 remedy.
SRVO-088 WARN CSAL alarm (Track enc:%d)
Cause: The line tracking pulse coder ROM checksum data are abnormal. Remedy: Refer to SRVO-066 remedy.
SRVO-089 WARN OHAL2 alarm (Track enc:%d)
Cause: The line tracking pulse coder overheated. Remedy: Refer to SRVO-067 remedy.
SRVO-090 WARN DTERR alarm (Track enc:%d)
Cause: The axis control PCB sent the request signal, but did not receive serial data from the line tracking pulse coder. Remedy: Refer to SRVO-068 remedy.
SRVO-091 WARN CRCERR alarm (Track enc:%d)
Cause: The serial data from the line tracking pulse coder changed during communication to the axis control PCB. Remedy: Refer to SRVO-069 remedy.
SRVO-092 WARN STBERR alarm (Track enc:%d)
Cause: The communication stop and start bits for line tracking axis are abnormal. Remedy: Refer to SRVO-070 remedy.
SRVO-093 WARN SPHAL alarm (Track enc:%d)
Cause: The feedback velocity exceeds specification for line tracking axis. Remedy: Refer to SRVO-071 remedy.
SRVO-094 WARN PMAL alarm (Track enc:%d)
Cause: The interpolation circuits of the pulse coder are abnormal. Remedy: Refer to SRVO-072 remedy.
SRVO-095 WARN CMAL alarm (Track enc:%d)
Cause: Line tracking encoder: Incorrect position data detected in the pulse coder, or abnormal pulse coder data caused by noise. Remedy: Refer to SRVO-073 remedy.
SRVO-096 WARN LDAL alarm (Track enc:%d)
Cause: LEDs in the pulse corder are disconnected. Remedy: Refer to SRVO-074 remedy.
SRVO-097 WARN Pulse not established(Enc:%d)
Cause: For line tracking encoder, the pulse coder does not its own position yet (due to improper installation). Remedy: Refer to SRVO-075 remedy.
SRVO-101 SERVO Robot overtravel(Robot:%d)
Cause: A Robot overtravel limit switch, is pressed. Remedy: Select the OT_RELEASE menus. Cursor to the axis that is
overtraveled, OT_MINUS or OT_PLUS is TRUE, and press RELEASE. Press reset, wait for servo power to engage, and jog the robot off the overtravel switch. Check CRM11 connection on emergency stop control PCB.
SRVO-102 SERVO Hand broken (Robot:%d)
Cause: The hand broken (*HBK) robot input is asserted. Remedy: If using *HBK input, determine the cause of the error and correct. If
not, check the position of the *HBK jumper on the emergency stop control PCB; if on side A, *HBK is checked if on side B, *HBK is not checked *HBK originates on Main CPU PCB.
SRVO-103 SERVO Air pressure alarm(Rbt:%d)
Cause: The pneumatic pressure (PPABN) robot input is asserted. Remedy: If using pneumatic pressure input clear source of fault, press reset. If
pneumatic pressure is not used set $PPABN_ENBL system variable to FALSE. PPABN originates on the Main CPU PCB.
SRVO-104 SERVO Welding electrode
Cause: No longer occurs Welding electrode of controller. This occurs only for the R-J2 Dual arm controller. Remedy: Contact the FANUC Robotics hotline.
SRVO-105 SERVO Door open or E.Stop
Cause: Controller door is opened or E.Stop signals are detected for a quite short time or mis-wiring of hardware connection. Remedy: Close the controller door and press RESET. If reset is not effective,
correct the hardware connection.
SRVO-111 SERVO Softfloat time out(G:%d)
Cause: Follow-up time is over when softfloat is ON. Remedy: Make $SFLT_FUPTIM larger.
SRVO-112 PAUSE Softfloat time out(G:%d)
Cause: Follow-up time is over when softfloat is ON. Remedy: Make $SFLT_FUPTIM larger.
SRVO-121 SERVO Excessive acc/dec time(G:%d)
Cause: Acceleration time is much longer for TurboMove case. Remedy: Contact the FANUC Robotics hotline.
SRVO-122 SERVO Bad last ang(internal)(G:%d)
Cause: Last angle update request does not match current angle. Remedy: Contact the FANUC Robotics hotline.
SRVO-125 WARN Quick stop speed over (G:%d)
Cause: Motion speed is too high to perform quick stop. Remedy: Reduce the motion speed.
SRVO-126 WARN Quick stop error (G:%d)
Cause: A program was aborted during the servo quick stop process. Remedy: Reset the system.
SRVO-130 SERVO OHAL1 (PSM) alarm (G:%d A:%d)
Cause: The servo amplifier (PMS) overheated. Remedy: If the robot is overloaded or the duty cycle exceeds specification, this
alarm occurs. Check regenerative discharge transistor Q1. Check the thermostat on the servo amplifier after the servo amplifier has cooled.
SRVO-131 SERVO LVAL (PSM) alarm (G:%d A:%d)
Cause: The DC voltage on the main power circuit of the servo amplifier is lower than the specification even though MCC is on. Remedy: If a 2 is indicated on the servo amplifier LED, the 5 VDC is 4.6 volts or
less. Check input power to the servo amplifier. It should be greater than 170 VAC phase-to-phase. Replace the servo amplifier if the input power is correct. If a 3 is indicated on the servo amplifier LED, the main power is too low. Check input power to the servo amplifier. It should be greater than 170 VAC phase-to-phase. Replace the servo amplifier if the input power is correct. Check to make the circuit breaker is not off. If a 7 is indicated on the servo amplifier LED, MCC is welded closed.
SRVO-132 SERVO HCAL (PSM) alarm (G:%d A:%d)
Cause: The current in the main power circuit of the servo amplifier exceeded specification. Remedy: Disconnect the motor power wires from the servo amplifier and turn on
power. If an HCAL occurs, replace the transistor module or servo amplifier. Measure the resistance between GND and U, V, W individually on the cable terminals. If shorted, determine if the cable or motor is bad. Check the resistance
between U-V, V-W, and W-U using a measuring instrument sensitive enough to detect small resistances at the cable terminations. If the resistances are the same replace the servo amplifier. If the resistances are different, determine if the cable or motor is bad. If the problem persists, replace the SIF module on the axis control for the defective axis.
SRVO-133 SERVO FSAL (PSM) alarm (G:%d A:%d)
Cause: Cooling fan for Control circuit stops. Remedy: Check or Replace the fan.
SRVO-134 SERVO DCLVAL (PSM) alarm (G:%d A:%d)
Cause: Back-up charge circuit for amplifier has trouble. Remedy: Check the cables and connections between amplifier (CN1) and MCC.
Check the fuse (F1,F3) in transformer. If using a B-cabinet, replace the EMG Control printed circuit board. Replace the amplifier.
SRVO-135 SERVO FSAL alarm (G:%d A:%d)
Cause: Cooling fan for Control circuit stops. Remedy: Check or replace the fan.
SRVO-136 SERVO DCLVAL alarm (G:%d A:%d)
Cause: Back-up charge circuit for amplifier has trouble. Remedy: Check the cables and connections between amplifier (CN1) and MCC.
Check the fuse (F1,F3) in transformer. If using a B-cabinet replace the EMG Control printed circuit board. Replace the amplifier.
SRVO-141 SERVO OHAL1(CNV) alarm (G:%d A:%d)
Cause: Refer to SRVO-049. Remedy: Refer to SRVO-049.
SRVO-142 SERVO OHAL1(INV) alarm (G:%d A:%d)
Cause: The servo amplifier overheated. Remedy: If the robot is overloaded or the duty cycle exceeds specification, this
alarm occurs. Check the regenerative discharge transistor. Check the thermostat on the servo amplifier after the servo amplifier has cooled. It should not be open. If the problem persists, replace the servo amplifier. Check controller cabinet fans for blocked filters; clean if necessary.
SRVO-143 SERVO PSFLAL(CNV) alarm (G:%d A:%d)
Cause: Input power applied to amplifier is lost. Remedy: Check the connections and cables of input power.
SRVO-144 SERVO LVAL(INV) alarm (G:%d A:%d)
Cause: Refer to SRVO-047. Remedy: Refer to SRVO-047.
SRVO-145 SERVO LVAL(CNV-DC) alarm(G:%d A:%d)
Cause: Refer to SRVO-147. Remedy: Refer to SRVO-147.
SRVO-146 SERVO LVAL(INV-DC) alarm(G:%d A:%d)
Cause: The DC voltage of the main circuit power supply is excessively low. Remedy: Check each interphase voltage of the three-phase voltage (200 VAC)
applied to the servo amplifier. If the applied voltage is found to be 170 VAC or less, check the input power supply voltage. Replace the servo amplifier.
SRVO-147 SERVO LVAL(DCLK) alarm (G:%d A:%d)
Cause: Back-up charge circuit for amplifier have trouble. Remedy: Check the cables and connections between amplifier(CN1) and MCC.
Check the fuse (F1,F3) in transformer. If using B-cabinet Replace the EMG Control printed circuit board. Replace the amplifier.
SRVO-148 SERVO HCAL(CNV) alarm (G:%d A:%d)
Cause: The current in the main power circuit of the servo amplifier exceeded specification. Remedy: Disconnect the motor power wires from the servo amplifier and turn on
power. If an HCAL occurs, replace the transistor module or servo amplifier. Measure the resistance between GND and U, V, W individually on the cable terminals. If shorted, determine if the cable or motor is bad. Check the resistance between U-V, V-W, and W-U using a measuring instrument sensitive enough to detect small resistances at the cable terminations. If the resistances are the same replace the servo amplifier. If the resistances are different, determine if the cable or motor is bad. If the problem persists, replace the SIF module on the axis control for the defective axis.
SRVO-149 SERVO HCAL(INV) alarm (G:%d A:%d)
Cause: Refer to SRVO-045. Remedy: Refer to SRVO-045.
SRVO-150 SERVO FSAL(CNV) alarm (G:%d A:%d)
Cause: Cooling fan for Control circuit stops. Remedy: Check or Replace the fan.
SRVO-151 SERVO FSAL(INV) alarm (G:%d A:%d)
Cause: Cooling fan for Control circuit stops. Remedy: Check or replace the fan.
SRVO-152 SERVO IPMAL(INV) alarm (G:%d A:%d)
Cause: IPM module has trouble. Remedy: IPM might be overheated. Reset the emergency stop after
approximately ten minutes. Disconnect the power lines from the terminals on the amplifier, and check the insulation of PE from U, V and W. If there are short-circuits, disconnect the motor connector power lines and check the insulation of PE from U, V and W. 1. Replace the motor if U, V and W short-circuit with PE. 2. Replace the power lines if U, V and W do not short-circuit with PE. Noise onthe actual current(IR,IS) running in amplifier module might cause this alarm.Remove this noise such as with taking ground of sealed earth. 3. Replace the amplifier.
SRVO-153 SERVO CHGAL(CNV) alarm (G:%d A:%d)
Cause: Charge of the main circuit could not finish within specified time. Remedy: DC link may short-circuit. Check the connections. Electric resistance to
restrict charge current may be defective. Replace the wiring board.
SRVO-154 SERVO HVAL(CNV-DC) alarm (G:%d A:%d)
Cause: Refer to SRVO-044. Remedy: Refer to SRVO-044.
SRVO-155 SERVO DCAL(CNV) alarm (G:%d A:%d)
Cause: Refer to SRVO-043. Remedy: Refer to SRVO-043.
SRVO-156 SERVO IPMAL alarm (G:%d A:%d)
Cause: IPM module has trouble. Remedy: IPM might be overheated. Reset the emergency stop after
approximately ten minutes. Disconnect the power lines from the terminals on the amplifier, and check the insulation of PE from U, V and W. If there are short-circuits, disconnect the motor connector power lines and check the insulation of PE from U, V and W. 1. Replace the motor if U, V and W short-circuit with PE. 2. Replace the power lines if U, V and W do not short-circuit with PE. Noise on the actual current (IR,IS) running in amplifier module might cause this alarm. Remove this noise such as with taking ground of sealed earth. Replace the amplifier.
SRVO-157 SERVO CHGAL alarm (G:%d A:%d)
Cause: Charge of the main circuit could not finish within specified time. Remedy: DC link might short-circuit. Check the connections. Electric resistance
to restrict charge current might be defective. Replace the wiring board.
SRVO-160 SERVO Panel/External E-stop
Cause: Either the operator panel emergency stop button was pressed, or the external emergency stop DI is input. This occurs only for R-J2 Mate. Remedy: Twist the operator panel emergency stop button clockwise to release
it. -If you are using external emergency stop, clear the source of the fault and press
RESET. -If not, check the wiring at EMGIN1, EMGIN2, and EMGINC on the EMG Control PCB. Check for 100 VAC input to the EMG Control PCB.
SRVO-161 SERVO Fence open or Deadman SW
Cause: The teach pendant deadman switch is released or fence circuit is open. Remedy: Press teach pendant deadman switch or determine the cause of the
fence open and press RESET.
SRVO-162 SERVO Deadman/Fence or Panel/External E-stop
Cause: The deadman switch is released or fence circuit is open or the operator panel ESTOP button is pressed or external ESTOP signal is received. Remedy: Remove the cause then press RESET.
SRVO-163 SYSTEM DSM hardware mismatch
Cause: Different DSM (Digital Servo Module) are mounted on controller. Remedy: Change DSM hardware to be same.
SRVO-164 SYSTEM DSM/Servo param mismatch
Cause: DSM (Digital Servo Module) type is mismatched to servo parameter version. Remedy: Change current DSP IV (4) to DSP V (5) or initialize robot library again
to load correct servo parameter file.
SRVO-165 SYSTEM Panel(SVON abnormal) E-stop
Cause: The operator panel emergency stop push button is pressed and mis-wiring on SVON2 or EMG2 is detected. Remedy: Power off. Correct the wiring on SVON2 or EMG2. Power on. Twist the
operator panel emergency stop push button clockwise to release. Press RESET.
SRVO-166 SYSTEM TP(SVON abnormal) E-stop
Cause: The teach pendant emergency stop push button is pressed and miswiring on SVON2 or EMG2 is detected. Remedy: Power off. Correct the wiring on SVON2 or EMG2. Power on. Twist the
teach pendant emergency stop push button clockwise to release. Press RESET.
SRVO-167 SYSTEM Deadman switch (SVON abnormal)
Cause: The teach pendant deadman switch is released while the teach pendant is enabled. Miswiring on SVON2 or EMG2 is detected. Remedy: Power off. Correct the wiring on SVON2 or EMG2. Power on. Press
teach pendant deadman switch. Press RESET.
SRVO-168 SYSTEM External/SVON (SVON abnormal) E-stop
Cause: Refer SRVO-007 or SRVO-019. Also miswiring on SVON2 or EMG2 is detected. Remedy: Power off. Correct the wiring on SVON2 or EMG2. Power on. Refer
SRVO-007 or SRVO-019.
SRVO-171 WARN MotorSpd lim/DVC(G:%d A:%d)
Cause: Motor can not rotate as fast as the calculated speed required for the current motion. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SRVO-172 WARN MotorSpd lim/DVC0(G:%d A:%d)
Cause: Motor can not rotate as fast as the calculated speed required for the current motion. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SRVO-173 WARN MotorSpd lim/DVC1(G:%d A:%d)
Cause: Motor can not rotate as fast as the calculated speed required for the current motion. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SRVO-174 WARN MotorAcc lim/DVC(G:%d A:%d)
Cause: Motor can not accelerate as much as the calculated acceleration required to for the current motion. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SRVO-181 SERVO Mcmd input while estimating(G:%d)
Cause: Robot was going to move while identifying the payload. Remedy: Do not move the robot while identifying the payload. Press RESET.
SRVO-192 SERVO Fence open/SVON input
Cause: The fence circuit is open or SVON input circuit is open. Remedy: Close the fence circuit or SVON input circuit, and then press RESET.
SRVO-193 SERVO SVON input
Cause: The SVON input circuit is open. Remedy: Close the SVON input circuit and then press RESET.
SRVO-194 SERVO Servo disconnect
Cause: Servo is disconnected. Remedy: Connect servo and then press RESET.
SRVO-195 SERVO NTED/Servo disconnect
Cause: Non Teacher Enabling Device is released or servo is disconnected. Remedy: Press Non Teacher Enabling Device or connect servo, and then press
RESET.
SRVO-196 SYSTEM Fence open/SVON input (SVON abnormal)
Cause: The fence circuit is open or the SVON input circuit is open and mis-wiring on SVON is detected. Remedy: Power off. Correct the wiring on SVON. Close the fence circuit or
SVON input circuit, and then press RESET.
SRVO-197 SYSTEM SVON input (SVON abnormal)
Cause: The SVON input circuit is open and mis-wiring on SVON is detected. Remedy: Power off. Correct the wiring on SVON. Close the SVON input circuit,
and then press RESET.
SRVO-198 SYSTEM External E-stop (SVON abnormal)
Cause: The external emergency stop push button is pressed and mis-wiring on SVON is detected. Remedy: Power off. Correct the wiring on SVON. If using external emergency
stop, clear the source of the fault and press RESET. If not, check the wiring at EMGIN1, EMGIN2, and EMGINC on the EMG control PCB. Check for 100 VAC input to the EMG control PCB.
SRVO-199 PAUSE Control Stop
Cause: Control Stop is detected. Remedy: After this alarm, Fence open or SVON input alarm is detected. See the
remedy of the next alarm.
SRVO-200 WARN Control box fan abnormal
Cause: The control box fan motor has failed. Remedy: Check and/or replace the fan.
SRVO-201 SERVO Panel E-stop or SVEMG abnormal
Cause: The operator panel emergency stop push button is pressed and miswiring on SVEMG is detected. Or the operator panel emergency stop push button is pressed slowly so that the SVEMG signal is delayed. Remedy: Check the wiring of SVEMG. If the wiring of SVEMG is not connected,
correct the wiring of SVEMG. If the wiring has no problem, twist the operator panel emergency stop push button clockwise to release. Press reset.
SRVO-202 SERVO TP E-stop or SVEMG abnormal
Cause: The teach pendant emergency stop push button is pressed and miswiring on SVEMG is detected. Or the teach pendant emergency stop push button is pressed slowly so that the SVEMG signal is delayed. Remedy: Check the wiring of SVEMG. If the wiring of SVEMG is not connected,
correct the wiring of SVEMG. If the wiring has no problem, twist the teach pendant emergency stop push button clockwise to release. Press reset.
SRVO-203 SYSTEM SVON input (SVEMG abnormal)
Cause: N/A Remedy: N/A
SRVO-204 SYSTEM External (SVEMG abnormal) E-stop
Cause: The external emergency stop push button is pressed and miswiring on SVEMG is detected. Remedy: Power off. Correct the wiring on SVEMG. If using external emergency
stop, clear the source of the fault, and press reset. If not, check the wiring at EMGIN1, EMGIN2, and EMGINC on the EMG Control PCB. Check for 100 VAC input to the EMG Control PCB.
SRVO-205 SYSTEM Fence open (SVEMG abnormal)
Cause: The fence circuit is open and miswiring on SVEMG is detected. Remedy: Power off. Correct the wiring on SVEMG. Close the fence circuit and
then press reset.
SRVO-206 SYSTEM Deadman switch (SVEMG abnormal)
Cause: The teach pendant deadman switch is released while the teach pendant is enabled, and miswiring on SVEMG is detected. Remedy: Power off. Correct the wiring on SVEMG. Power on. Press the teach
pendant deadman switch. Press reset.
SRVO-207 SERVO TP switch abnormal or Door open
Cause: The SVEMG signal is detected while the fence is opened and the teach pendant is enabled and Deadman switch is not released, or the controller door is opened while the fence is opened and the teach pendant is enabled and the Deadman switch is not released. Remedy: Close the controller door. If the door is not opened, correct the wiring
on SVEMG. Of correct the enable switch and deadman switch on the teach pendant and press RESET.
SRVO-208 SERVO Extended axis brake abnormal
Cause: The FET current for brake of extended axis (brake number 2 or greater) exceeded the specification. Remedy: Check brake for zero or abnormally low impedence. Then check the
brake cable. Then check 200VAC. Then check servo amplifier or emergency stop control PCB if brake ports are used.
SRVO-230 SERVO Chain 1 (+24v) abnormal
Cause: Single chain 1 (+24V) failure occurred on AUTO stop. Remedy: Repair the circuit of the chain 1 (+24V) on hardware. Set TRUE to
reset chain failure on maintenance/SETUP screen and push reset button on the teach pendant.
SRVO-231 SERVO Chain 2 (0v) abnormal
Cause: Single chain 2 (0V) failure occurred on AUTO stop. Remedy: Repair the circuit of the chain 1 (0V) on hardware. Set TRUE to reset
chain failure on maintenance/SETUP screen and push reset button on the teach pendant.
SRVO-232 SERVO NTED input
Cause: Non Teacher Enabling Device is released. Remedy: Press Non Teacher Enabling Device and then press reset.
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SYST Error Codes
SYST-001 PAUSE HOLD button is being pressed
Cause: You attempted an operation while the hold button (input) is pressed. Remedy: Clear the hold button (input), and try the same operation.
SYST-002 PAUSE HOLD is locked by program
Cause: The condition that the robot is being held is locked by the program, and it could not be cleared. If a HOLD statement is executed in a Karel program, the held condition can only be cleared by the same program using the UNHOLD statement/action, or by aborting the program. If a motion is attempted in such condition, this error message is displayed. Remedy: Wait until the UNHOLD statement is executed by the karel program, or
abort the KAREL program.
SYST-003 WARN TP is enabled
Cause: The attempted operation could not be done because the teach pendant is enabled. Remedy: Disable the teach pendant, and try the same operation again.
SYST-004 WARN SOP is enabled
Cause: The attempted operation could not be done because the System Operator Panel is enabled. Remedy: Turn the REMOTE switch on the SOP to REMOTE side, and try the
same operation again.
SYST-005 WARN UOP is the master device
Cause: The attempted operation could not be done because the User Operator Panel is enabled. Remedy: Turn the REMOTE switch to local (if the operation is attempted from
the SOP), or set the $RMT_MASTER system variable correctly. Refer to the SYSTEM R-J3 Software Reference Manual , Chapter 2 «System Variables», for more information on system variables.
SYST-006 WARN KCL is the master device
Cause: The attempted operation could not be done because KCL is the master device. Remedy: Turn the REMOTE switch to local (if the operation is attempted from
the SOP), or set the $RMT_MASTER system variable correctly. Refer to the SYSTEM R-J3 Software Reference Manual , Chapter 2 «System Variables», for more information on system variables.
SYST-007 WARN NETWORK is the master device
Cause: The attempted operation could not be done because the NETWORK command processor is the master device. Remedy: Turn the REMOTE switch to local (if the operation is attempted from
the SOP), or set the $RMT_MASTER system variable correctly. Refer to the SYSTEM R-J3 Software Reference Manual, Chapter 2 «System Variables», for more information on system variables.
SYST-008 WARN Nothing is the master device
Cause: The system variable $RMT_MASTER is set to disable all devices. Therefore, no remote device can issue motion. Remedy: Turn the REMOTE switch to local (if the operation is attempted from
the SOP), or set the $RMT_MASTER system variable correctly. Refer to the SYSTEM R-J3 Software Reference Manual , Chapter 2 «System Variables», for more information on system variables.
SYST-009 WARN Safety Fence open
Cause: The attempted operation could not be done because the safety fence is open. Remedy: Close the safety fence, and try the same operation again.
SYST-010 WARN Max num task reached
Cause: The number of task has reached the maximum. Remedy: Abort one of the running task.
SYST-011 WARN Failed to run task
Cause: The system has failed to run the program. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
SYST-012 WARN Not in remote
Cause: Remote condition is not satisfied. Remedy: Turn the remote switch on.
SYST-013 WARN Invalid program number
Cause: The specified PNS number is not in the range of 1 to 9999. Remedy: Specify correct program number.
SYST-014 WARN Program select failed
Cause: PNS operation has failed by some reason. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
SYST-015 WARN Robot Service Request failed
Cause: RSR operation has failed by some reason. Remedy: Refer to the error cause code. Use MENU to display the Alarm Log
screen.
SYST-016 WARN ENBL signal is off
Cause: ENBL signal in UOP is off. Remedy: Set ENBL signal ON.
SYST-017 WARN Single step operation effective
Cause: Single step operation is effective. Remedy: Disable single step switch.
SYST-018 WARN Continuing from different line
Cause: Attempt to continue program from different line from paused line. Remedy: Respond YES or NO in the prompt box on at the teach pendant.
SYST-019 WARN Program not selected
Cause: Program has not been selected. Remedy: Select a program from the program select menu on the teach pendant,
or using PNS.
SYST-020 WARN Program not verified by PNS
Cause: Program specified by PNS is different from current selected program. This error occurs in R-J2 Mate only. Remedy: Select a correct program from the program select menu on the teach
pendant.
SYST-021 WARN System not ready, press reset
Cause: An error has been detected by the system. Remedy: Press RESET to clear error condition.
SYST-022 WARN PNS not zero, cannot continue
Cause: Paused program cannot be continued if PNS input ports are not zero. This error occurs in R-J2 Mate only. Remedy: Set all PNS input ports to OFF.
SYST-023 SYSTEM Teach Pendant communication error
Cause: A communication cable is broken. Remedy: Check the teach pendant cable. Replace the cable if necessary.
SYST-024 WARN PNSTROBE is OFF. Cannot start exec
Cause: Because PNSTROBE is off, prod_start could not be processed. Remedy: Set PNSTROBE input to ON.
SYST-025 WARN Teach Pendant is different type
Cause: The type of teach pendant being connected, is different from the one that was disconnected. Remedy: Connect the same type of teach pendant as disconnected.
SYST-026 WARN System normal power up
Cause: System has executed normal power startup. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SYST-027 PAUSE HOT start failed (Error:%d)
Cause: HOT start has failed for one of the following reasons: 1. Power failed during system start up. 2. Flash ROM module was changed. 3. A run-time error occurred.
4. System internal error 1. 5. System internal error 2. Remedy: COLD start is selected automatically.
SYST-028 WARN (%s) Program timed out
Cause: $PWR_HOT,$PWR_SEMI program has been aborted by the system due to time out (40sec). Remedy: Decrease program size so that it can be executed within the time out
limit.
SYST-029 PAUSE Robot was connected (Group:%d)
Cause: The connect/isolate key was turn to the connect side. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SYST-030 PAUSE Robot was isolated (Group:%d)
Cause: The connect/isolate key was turn to the isolate side. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SYST-031 SYSTEM F-ROM parity
Cause: An error has occurred accessing FROM. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that led to the error and call your FANUC Robotics technical representative.
SYST-032 WARN ENBL signal from UOP is lost
Cause: ENBL input signal from UOP is lost. Remedy: Determine and correct the cause of loss of this signal.
SYST-033 WARN SFSPD signal from UOP is lost
Cause: SFSPD input signal from UOP is lost. Remedy: Determine and correct the cause of loss of this signal.
SYST-034 WARN HOLD signal from SOP/UOP is lost
Cause: HOLD input signal from SOP/UOP is lost. Remedy: Determine and correct the cause of loss of this signal.
SYST-035 WARN Low or No Battery Power in PSU.
Cause: Battery in PSU board is low in power. Remedy: Replace the Old Battery with a new battery of same kind.
SYST-036 WARN Semi power failure recovery
Cause: System did semi-hot start. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SYST-037 ABORT Key switch broken
Cause: Improper input from Key switch. Remedy: Fix the CE Sign key switch.
SYST-038 PAUSE Operation mode T1 Selected
Cause: Operation mode T1 Selected. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SYST-039 PAUSE Operation mode T2 Selected
Cause: Operation mode T2 Selected. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SYST-040 PAUSE Operation mode AUTO Selected
Cause: Operation mode AUTO Selected. Remedy: This is just a notification. You do not have to do anything for this
warning message.
SYST-042 PAUSE DEADMAN defeated
Cause: The mode switch was changed from T1 or T2 mode to AUTO mode and the DEADMAN was already pressed. The DEADMAN must be released when switching to AUTO mode. Remedy: Release the DEADMAN and press RESET.
SYST-043 PAUSE TP disabled in T1/T2 mode
Cause: The mode selector is in T1 or T2 and the TP ON/OFF switch is in the OFF position. Remedy: Turn the TP ON/OFF switch to ON. Press RESET.
SYST-044 SYSTEM (Abnormal) TP disabled in T1/T2 mode
Cause: The mode selector is in T1 or T2 and the TP ON/OFF switch is in the OFF position and SVON is ON. This is an abnormal condition. Remedy: Call your FANUC Robotics technical representative.
SYST-045 PAUSE TP enabled in AUTO mode
Cause: The mode selector is in AUTO and the TP ON/OFF switch is in the ON position. Remedy: Turn the TP ON/OFF switch to OFF. Press RESET.
SYST-046 SYSTEM Control Reliable config mismatch
Cause: Either 1. Control Reliable hardware exists but the option has not been loaded, or 2. The Control Reliable option has been loaded but hardware is not available. Remedy: If the option has not been loaded, load the Control Reliable option. If it
has been loaded then this is a system without the Control Reliable hardware and the system must be totally reloaded WITHOUT the Control Reliable option.
SYST-047 WARN Continuing from distant position
Cause: Attempt to continue the program from a distant position from the stopped position. Remedy: Select ABORT or CONTINUE in the prompt box displayed on the
teach pendant.
SYST-048 ABORT NECALC couldn’t get work memory
Cause: The OS couldn’t give NECALC soft part enough memory. Remedy: Please increase Controller’s memory.
SYST-049 ABORT SFCALC couldn’t get work memory
Cause: The OS couldn’t give SFCALC soft part enough memory. Remedy: Please increase Controller’s memory.
SYST-050 WARN Invalid time in trigger request
Cause: Invalid time used in TG request. Remedy: Time must be less than 6,000,000 us.
SYST-051 WARN SYTG overrun: %d %d %x %d %d
Cause: Excessive time in trigger routines. The first number indicates event routine (1) or scan routine (2). The second number indicates individual overrun (1) or excessive cumulative CPU use (2). The third number indicates the event number (hexadecimal) or scan routine address. The fourth number indicates the limit (microseconds or 100ths of one percent). The fifth number indicates the time used (microseconds or 100ths of one percent). Remedy: The event or scan routine needs to be made more efficient, scan rate
reduced, or system variable values increased to permit more CPU usage.
SYST-052 WARN Trigger slot already used: %d
Cause: The specified entry is already used. Remedy: Use the cancel request to delete the old entry.
SYST-053 WARN Invalid fast_DIN no: %d
Cause: The specified Fast-DIN number is invalid. Remedy: Use a valid Fast-DIN number.
SYST-054 WARN Event-ID already used: %d
Cause: The specified event ID is already in use. Remedy: Use a unique event ID or cancel the previous request.
SYST-055 WARN Event-ID not found: %d
Cause: The specified event ID is not presently in use. Remedy: Check the event ID.
SYST-056 WARN Scan routine list full
Cause: A call to syscnrtn was made when the scan list was full. A maximum of 10 scan routines, including the standard table scanning routine, may be active at one time. Remedy: Either cancel scan routines that are no longer needed or combine scan
routines.
SYST-057 WARN Illegal interval
Cause: The interval parameter in a call to syscnrtn was greater than 1000000 (1 second). Remedy: Use a value in the range 1-1000000.
SYST-058 WARN Duplicate scan routine
Cause: syscnrtn was called specifying a routine and data_p that is already being scanned. Remedy: Don’t request the same rtn/data_p twice.
SYST-059 WARN Scan routine not active
Cause: syclclsc was called with a routine and data_p that do not match any active scans. Remedy: Don’t cancel a non-existent scan.
SYST-060 WARN Duplicate cond/act table
Cause: syaddtbl called with pointer to table that is already in the scan list. Remedy: Add table only once.
SYST-061 WARN Scan table list full
Cause: syaddtbl called when all 10 condition/action table slots are already in use. Remedy: Cancel tables that are no longer needed or combine tables.
SYST-062 WARN Scan table not active
Cause: sycncltb called with cond/act table that is not active. Remedy: Check for duplicate sycncltb call or wrong table pointer.
SYST-063 WARN Scan time record seq error
Cause: System error: consecutive time interval start calls. Remedy: Contact FANUC Robotics with information on events leading up to the
error.
SYST-064 WARN Bad scan table data
Cause: System error: Invalid data in scan table. The following can result in this error: Too many cond/action sets (max = 10), Invalid condition code, Invalid action code, Too many actions (max = 3). Remedy: Contact Fanuc Robotcs wth information on events leading up to error.
SYST-065 ABORT SFCALC overrun
Cause: SFCALC task can’t get enough MPU power. Remedy: Please reduce some software options or disable some motion groups
that had been enabled.
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TPIF Error Codes
TPIF-001 WARN Mnemonic editor error (%s^1)
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUCRobotics technical representative.
TPIF-002 WARN Operating system error (%s^1)
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUCRobotics technical representative.
TPIF-003 WARN Window I/O error (%s^1)
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
TPIF-004 WARN Memory write error
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error isnot cleared, document the events that led to the error and call your FANUCRobotics technical representative.
TPIF-005 WARN Program is not selected
Cause: The program was not selected yet, when the program was displayed at the TEACH screen. Remedy: Select a program in the SELECT screen.
TPIF-006 WARN SELECT is not taught
Cause: This taught statement needed the SELECT statement before the current line. Remedy: Teach the SELECT statement before the current line.
TPIF-007 WARN Robot is not calibrated
Cause: The robot has not been calibrated properly. Remedy: Calibrate the robot properly.
TPIF-008 WARN Memory protect violation
Cause: The program is write protected. Remedy: Release protection of the program on the SELECT screen.
TPIF-009 WARN Cancel delete by application
Cause: Program is protected. Remedy: Release protection of the program on the SELECT screen then delete
the program.
TPIF-010 WARN Cancel enter by application
Cause: Program is protected. Remedy: Try edit after release protection by application.
TPIF-011 WARN Item is not found
Cause: Item is not found below this line. Remedy: Try another item or close search function.
TPIF-012 WARN Kinematics solution is invalid
Cause: Cannot translate position data. Remedy: Check the configuration of robot and $MNUTOOL/$MNUFRAM system
variables.
TPIF-013 WARN Other program is running
Cause: You cannot select a program when another program is running or paused. Remedy: Select a program after aborting the program which is currently running
or paused.
TPIF-014 WARN Teach pendant is disabled
Cause: You cannot edit a program when the teach pendant is disabled. Remedy: First enable the teach pendant, then edit the program.
TPIF-015 WARN Bad position register index
Cause: Specified a invalid index of position register. Remedy: Check the index of position register.
TPIF-016 WARN Memory access failed (%s^1)
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
TPIF-017 WARN Memory read failed
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
TPIF-018 WARN Unspecified index value
Cause: Specified index value is invalid. Remedy: Check specified index value.
TPIF-019 WARN This item cannot be replaced
Cause: This item cannot be replaced. Remedy: Try another item or close replace function.
TPIF-020 NONE Mnaction search error
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
TPIF-021 NONE Mnteach software error
Cause: Illegal case occurred in software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
TPIF-023 WARN WJNT and RTCP are not compatible
Cause: Wjnt and RTCP are not compatible. Remedy: Remove Wjnt or RTCP before adding the other.
TPIF-030 WARN Program name is NULL
Cause: Program name is not set properly. Remedy: Set a proper program name.
TPIF-031 WARN Remove num from start of Program name
Cause: Start of program name is numeric. Remedy: Remove numeric value from beginning of program name.
TPIF-032 WARN Remove space from Program name
Cause: Space is included in program name. Remedy: Remove space from program name.
TPIF-033 WARN Remove comma from Program name
Cause: Comma is included in program name. Remedy: Remove comma from program name.
TPIF-034 WARN Remove dot from Program name
Cause: Dot is included in program name. Remedy: Remove dot from program name.
TPIF-035 WARN Remove minus from Program name
Cause: Minus is included in program name. Remedy: Remove minus from program name.
TPIF-036 WARN Not enough memory
Cause: There is not enough memory available. Remedy: Delete unused program.
TPIF-037 WARN Program must be selected by TP
Cause: Only the Teach Pendant default program can be edited on the CRT. Remedy: Select the program on the Teach Pendant before editing on the CRT.
TPIF-038 WARN Invalid char in program name
Cause: Invalid character in program name. Remedy: Remove invalid character from program name.
TPIF-040 WARN Label already exists
Cause: Same label No. already exists. Remedy: Change to different label No.
TPIF-041 WARN MNUTOOLNUM number is invalid
Cause: Specified MNUTOOLNUM number is invalid. Remedy: Check system variable $MNUTOOLNUM.
TPIF-042 WARN MNUFRAMENUM number is invalid
Cause: Specified MNUFRAMNUM number is invalid. Remedy: Check system variable $MNUFRAMNUM.
TPIF-043 WARN External change is valid
Cause: You cannot change the robot (group), because the function that select robot by external DI is valid. Remedy: Set system variable $MULTI_ROBO.CHANGE_SDI to ZERO.
TPIF-044 WARN Program is unsuitable for robot
Cause: The group mask of program differs from selected robot (group). Remedy: Check selected robot (group) or check program attributes group mask.
TPIF-045 WARN Pallet number is over max
Cause: Cannot teach more than 16 Palletizing instructions in one program. Remedy: Teach another program.
TPIF-046 WARN Motion option is over max
Cause: Too many motion options for default motion. Remedy: Decrease motion options for default motion.
TPIF-047 WARN Invalid program is selected
Cause: Program type is wrong. Remedy: Select TPE program.
TPIF-048 WARN Running program is not found
Cause: There is currently no program running that can be monitored. Remedy: Run program before attempting to monitor.
TPIF-049 WARN Port number is invalid
Cause: Port is not set for outside device. Remedy: Set port for outside device.
TPIF-050 WARN Macro does not exist
Cause: A program is not assigned to this macro command. Remedy: Assign a program to this macro command.
TPIF-051 WARN Program has been selected by PNS
Cause: When a program has been selected by PNS, you cannot select program from SELECT screen. Remedy: Turn off the PNSTROBE signal.
TPIF-052 WARN FWD/BWD is disabled
Cause: When the Disabled FWD function has been selected, you cannot execute the program from the teach pendant. Remedy: Select the Disabled FWD in the function menu, then you can release
from the Disable FWD.
TPIF-053 WARN Not editing background program
Cause: The program has not been selected by BACKGROUND editing. Remedy: Select the BACKGROUND program in the SELECT screen.
TPIF-054 WARN Could not end editing
Cause: 1. There is not enough memory. 2. The background program is invalid. Remedy: 1. Delete unnecessary programs.
2. Confirm the background program.
TPIF-055 WARN Could not recovery original program
Cause: Failed recovering original program which has been selected by the BACKGROUND. Remedy: End editing by the END_EDIT of [EDCMD] again before executing the
original program which has been selected by the BACKGROUND.
TPIF-056 WARN This program is used by the CRT
Cause: The program of BACKGROUND cannot be selected by the CRT and TP at the same time. Remedy: End editing by the END_EDIT of [EDCMD] at the CRT.
TPIF-057 WARN This program is used by the TP
Cause: The program of BACKGROUND cannot be selected by the CRT and TP at the same time. Remedy: End editing by the END_EDIT of [EDCMD] at the TP.
TPIF-060 WARN Can’t record on cartesian (G:%d)
Cause: This current position is in singularity. Remedy: You can record this position on joint type only by selecting the function
key.
TPIF-061 WARN Group[%s] has not recorded
Cause: This position data has not been changed to displayed groups because you selected the function key which did not record the position, when checking in singularity. Remedy: Check this recorded position again before execution.
TPIF-062 WARN AND operator was replaced to OR
Cause: All AND operators on this line were replaced with OR operators. Remedy: You cannot mix AND and OR operator on a the same line. Verify that
all logical operators on this line are the same before execution.
TPIF-063 WARN OR operator was replaced to AND
Cause: All OR operator on this line were replaced by AND operators. You cannot mix AND OR operator on a the same line. Remedy: Verify all logical operators on this line before execution.
TPIF-064 WARN Too many AND/OR operator(Max.4)
Cause: Too many AND/OR operators (Max.4 on a single line). Remedy: Teach the logical operation on another line.
TPIF-065 WARN Arithmetic operator was unified to +- or */
Cause: Arithmetic operator on this line was changed to + — or * /. Cannot mix arithmetic + and — operators with * and / operators on the same line. Remedy: Verify all arithmetic operators on this line before execution.
TPIF-066 WARN Too many arithmetic operator(Max.5)
Cause: Too many arithmetic operators (Max.5 on a single line). Remedy: Teach the arithmetic operation on another line.
TPIF-067 WARN Too many arguments (Max.10)
Cause: Too many arguments (Max. 10 for a program or a macro). Remedy: Check arguments of the program/macro.
TPIF-070 WARN Cannot teach the instruction
Cause: Cannot teach the instruction. Remedy: Check the sub type of the program.
TPIF-071 WARN Cannot change sub type
Cause: Cannot change sub type. Remedy: Check sub type of the program.
TPIF-072 WARN Cannot change motion group
Cause: Cannot change motion group. Remedy: Check sub type of the program.
TPIF-090 WARN This program has motion group
Cause: The program specified in $PWR_HOT, $PWR_SEMI and $PWR_NORMAL must not have motion group. Remedy: Set * to all motion group in program detail screen on the teach
pendant.
TPIF-091 WARN PREG access error
Cause: An error occurred when accessing a position register.
Remedy: Refer to the error cause code on the ALARM log screen.
TPIF-092 WARN Value %d expected %s
Cause: The value_array that was passed to a built-in was incorrectly specified. The error line shows the index into value_array where the error occurred and the type expected by the built-in. Remedy: Make sure the value_array specifies the correct names for the
variables and that the types expected are correct.
TPIF-093 WARN USER menu must be selected
Cause: A KAREL program called a user interface built-in which required the USER menu to be displayed on the teach pendant or CRT. Remedy: Use FORCE_SPMENU(tp_panel, SPI_TPUSER, 1) before calling the
user interface built-in on the teach pendant.Use FORCE_SPMENU(crt_panel, SPI_TPUSER, 1) before calling the user interface built-in on the CRT.
TPIF-094 WARN USER2 menu must be selected
Cause: A KAREL program called a user interface built-in which required the USER2 menu to be displayed on the teach pendant or CRT. Remedy: Use FORCE_SPMENU(tp_panel, SPI_TPUSER2, 1) before calling the
user interface built-in on the teach pendant. Use FORCE_SPMENU(crt_panel, SPI_TPUSER2, 1) before calling the user interface built-in on the CRT.
TPIF-095 WARN Execution history table error
Cause: Software internal error. Remedy: Perform a controlled start (it isn’t necessary to re-set the new item).
TPIF-097 WARN Can’t display running task’s history
Cause: The execution history of the executing program cannot be displayed. Remedy: Use this screen when the program is paused or aborted.
TPIF-098 WARN %s was not run
Cause: The program of $PWR_HOT, $PWR_SEMI or $PWR_NORMAL is not executed. Remedy: Refer to the error cause code. Use the Alarm Log screen.
TPIF-099 WARN This program is being edited
Cause: The program specified in $PWR_HOT, $PWR_SEMI and $PWR_NORMAL is not executed, when the program is in editing. Remedy: Select the other program.
TPIF-100 WARN No vacant table space
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
TPIF-101 WARN No such menu
Cause: Illegal case occurred on software. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
TPIF-102 WARN E.STOP is asserted
Cause: FWD execution is selected while, E-STOP is asserted. Remedy: Turn the E-STOP off. Then select FWD execution.
TPIF-103 WARN Dead man is released
Cause: FWD execution is selected while, DEADMAN switch is released. Remedy: Press and hold down the DEADMAN, then select FWD execution
TPIF-104 WARN Teach Pendant is disabled
Cause: FWD execution is selected while, TP is disabled. Remedy: Enable the teach pendant. Then select FWD execution.
TPIF-105 WARN Program is not selected
Cause: FWD execution is requested without selection of program. Remedy: Select a program for execution. Then select FWD execution
TPIF-106 WARN Program is already running
Cause: FWD execution is requested when program is running. Remedy: Abort the running program before requesting FWD execution.
TPIF-107 WARN FWD/BWD is disabled
Cause: When the Disabled FWD function has been selected, you cannot execute the program from the teach pendant. Remedy: Select the Disabled FWD in the function menu, then you can release
from the Disable FWD
TPIF-108 WARN Form error, line %d, item %d
Cause: The Form Manager detected an error on the specified line with the specified item. Remedy: Refer to the cause code on the ALARM log screen for the actual error.
TPIF-109 WARN %v not specified correctly
Cause: The Form Manager detected an error when displaying a %v item. Remedy: To specify the %v enumeration type in a form dictionary, use lower
case v followed by the dictionary element which specifies the program name and variable name of the variable which contains the display values. For example: «Enum Type: » «-%6v(enum_fkey)» $-,enum_fkey «TPEX» &new_line «CHOICE_ARRAY» In the above example, CHOICE_ARRAY is a KAREL string array variable in program TPEX which contains the enumeration choices. The enumeration choices are displayed in a subwindow.
TPIF-110 WARN Screen used by other device
Cause: The screen you are attempting to use on the teach pendant is currently displayed on the CRT. Or the screen you are attempting to use on the CRT is currently displayed on TP Remedy: Exit from the screen on the other device.
TPIF-116 WARN System variable error: %s
Cause: System variable name is invalid. Remedy: Check the spelling and format of the name.
TPIF-117 WARN Cannot backup to device: %s
Cause: The default device is not valid for backup. Remedy: Select a valid device and try again.
TPIF-118 WARN File error for %s
Cause: File error. Remedy: Perform a cold start:
1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared, document the events that led to the error and call your FANUC Robotics technical representative.
TPIF-119 WARN File compression failed
Cause: Failed creating compressed file. Remedy: Check backup device.
TPIF-120 WARN Device failure
Cause: Device failure. Remedy: Check device and try again.
TPIF-121 WARN Invalid copy. Use MOVE key.
Cause: Cannot COPY a file on a Memory device to the same Memory device. Remedy: Use the MOVE key and try again.
TPIF-128 WARN Verify logic of pasted line(s).
Cause: The reverse motion copy function does not support the following motion option instructions:
Application command Skip, Quick Skip Incremental Continuous turn Time before/Time after
Remedy: Check the above motion instructions and modify the copied statement correctly.
TPIF-129 WARN Group motion inst. is pasted
Cause: The group motion instruction is copied. The reverse motion copy function does not support group motion instructions. Remedy: Check the motion instruction and modify the copied statement
correctly.
TPIF-132 WARN Can’t recover this operation
Cause: Because the data for UNDO cannot be saved, this operation cannot be recovered by the UNDO function. Remedy: Check the cause code. If the memory is full, please delete the
program, or disable the UNDO function.
TPIF-133 WARN Can’t recover this command
Cause: Palletizing command and compliance control cannot be recovered by the UNDO function. Remedy: This message is for information purposes only.
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VARS Error Codes
VARS-001 WARN Corrupt variable file
Cause: An error has occurred trying to read specified file. This file is corrupt or the media is bad. Remedy: Try a different file.
VARS-002 WARN Open Error on File
Cause: The variable file does not exist on the device, director or media. Remedy: Place correct media in drive or select the proper device/directory and
try again.
VARS-003 WARN %s array length updated
Cause: A variable being loaded from a variable file exists in memory. The array length reflects what was in the variable file. Remedy: This is just a notification. You do not have to do anything for this
warning message.
VARS-004 WARN %s memory not updated
Cause: A variable being loaded from a variable file exists in memory. The variable file data cannot be loaded. Remedy: Clear the program and load the variables first before loading program.
VARS-005 WARN %s PC array length ignored
Cause: A variable being loaded from a variable file exists in memory. The array length reflects what was in the variable file. Remedy: This is just a notification. You do not have to do anything for this
warning message.
VARS-006 WARN Unknown Variable Name
Cause: Referenced variable does not exist. Remedy: Load PC file or VR file to create the variable.
VARS-007 WARN Unknown Type Code
Cause: Referenced type code does not exist. Remedy: Load PC file or VR file to create the type.
VARS-008 WARN Type Name not found
Cause: Referenced type name does not exist. Remedy: Load PC file or VR file to create the named type.
VARS-009 WARN SV Load at CTRL Start Only
Cause: A variable load has been requested while controller is capable of motion. Remedy: Create an error condition such as E-stop and load of variables is
allowed.
VARS-010 WARN Variable/field write-protected
Cause: The variable or field you are trying to access is write protected.
Remedy: This variable is not to be changed by customer for safety or other reasons. If you are trying to change $SCR variables just change $PARAM_GROUP and cold start.
VARS-011 WARN No data defined for program
Cause: Referenced program name does not have variables. Remedy: Load PC file or VR file to create the named program.
VARS-012 WARN Create var — %s failed
Cause: Named variable could not be created. Remedy: Refer to the error cause code. Use the Alarm Log screen to display the
cause code.
VARS-013 WARN Variable Already Exists
Cause: Referenced variable already exist in memory. Remedy: This is just a notification. You do not have to do anything for this
warning message.
VARS-014 WARN Create type — %s failed
Cause: Named type could not be create. Remedy: Refer to the error cause code. Use the Alarm Log screen to display the
cause code.
VARS-015 WARN Too many vars/nodes/programs
Cause: The limit of variables types, programs or nodes has been reached. Remedy: You must delete some programs or reorganize programs to make
more room.
VARS-016 WARN Axis configuration mismatch
Cause: The variables you are trying to load are were created on a controller with a different axis configuration. Remedy: These variable cannot be used on this controller.
VARS-017 WARN Sysvar version mismatch
Cause: The system variable file you are attempting to load is not compatible with the loaded software version. Remedy: You must use the default system variable file supplied with your
version of software.
VARS-018 WARN Compatible Type Already Exists
Cause: Referenced type already exists in memory. Remedy: This is just a notification. You do not have to do anything for this
warning message.
VARS-019 WARN Rename target exists
Cause: You are attempting to rename a program to a program which already exists. Remedy: Use a different program name or delete the program and and variables
from existing program.
VARS-020 WARN [%s]%s not fnd
Cause: Referenced variable is not found in the system. Remedy: Load PC file or VR file to create the variable.
VARS-021 WARN Memory allocation failure
Cause: There is no more permanent memory available in the system. Remedy: You must delete unneeded programs, dictionaries or variables to make
room.
VARS-022 WARN Duplicate creation TYPE mismatch
Cause: Variable that is being created already exists but is of a different type than what you are attempting to load/create. Remedy: Delete existing variable before creating it as a different type.
VARS-023 WARN Array len creation mismatch
Cause: Variable that is being created already exists but has different dimensions than what you are attempting to load/create. Remedy: Delete existing variable before creating it with conflicting dimensions.
VARS-024 WARN Bad variable or register index
Cause: You are attempting to use an invalid index into an array or path. Remedy: Use a valid index.
VARS-025 WARN Vision reference error
Cause: Do not have vision hardware on this system so cannot load vision variables. Remedy: Load these variables on an appropriate system.
VARS-026 WARN File sequence error
Cause: The file which has been loaded is: — Not a variable file — A file on bad media — A file not compatible with your current software. Remedy: Try a different file or convert the current file to an updated version.
VARS-027 WARN Variable used by other program
Cause: Variable is used by another program .
Remedy: Delete other program which references these variables.
VARS-028 WARN Value out of range
Cause: Value that you entered is not a valid value. It is either too big or too small. Remedy: Consult your SYSTEM R-J3 Controller Software Reference Manual for
valid values for the variable you are changing.
VARS-029 WARN Requires PROGRAM password
Cause: The operation that you are attempting is password protected. Remedy: You must go to the password setup screen and enter the PROGRAM
password.
VARS-030 WARN Requires SETUP password
Cause: The operation that you are attempting is password protected. Remedy: You must go to the password setup screen and enter the SETUP
password.
VARS-031 WARN Requires INSTALL password
Cause: The operation that you are attempting is password protected. Remedy: You must go to the password setup screen and enter the INSTALL
password.
VARS-032 WARN Variable size too big
Cause: The variable you are loading is larger than 65,535 bytes or has an array element larger than 32,767 bytes. Remedy: Make the array size smaller or use a path data type for large arrayed
variables Maximum path length is 2,007 Maximum node size is 32,767.
VARS-033 WARN Maximum path length exceeded
Cause: A path can only contain 2,007 nodes. Remedy: You must break up the large path into smaller paths
VARS-034 WARN Variable cannot be accessed
Cause: The CMOS variable you tried to delete was created at controlled start, or a variable in the program you were trying to access had another read write operation in progress. This could be because a KAREL program, Network or KCL was adding deleting or doing a node operation when access was attempted. Remedy: Delete the variable in the start mode in which it was created. Attempt
the operation again when no other variable accesses are in progress.
VARS-036 WARN CMOS memory is corrupt
Cause: CMOS memory has been destroyed. Remedy: Controller initial start must be performed .
VARS-037 WARN Position register is locked
Cause: Position register is locked by program operation. Remedy: Wait until program is finished.
VARS-038 WARN Cannot change CMOS/DRAM type
Cause: An existing variable is being created in a different memory area (CMOS vs DRAM). Remedy: Delete the variable or change the memory type to be used.
VARS-039 WARN Data set created
Cause: Permanent memory was successfully allocated. Remedy: This is just a notification. You do not have to do anything for this
message.
VARS-040 WARN Cannot load at CONTROL START 2
Cause: Variables may not be properly created if loaded at this time. Remedy: Load variables at COLD start or at CONTROLLED START 1 before
save image operation.
VARS-041 WARN Invalid Node Number
Cause: Path insertion or delete of a node occurred with node number which exceeded the number of nodes in a path. Remedy: Perform operation with a valid node number.
VARS-042 WARN TEMP type invalid for CMOS create
Cause: The type definition for the variable being created is in temporary DRAM memory. This means variable cannot be remembered after power off. Remedy: The program with the type definition for the variable you are creating
must be loaded at controlled start. This implies the type definition is image.
VARS-043 WARN Variable memory pool is invalid
Cause: The memory pool for this variable does not exists on the controller. An auxiliary board has probably been removed or replaced. Remedy: Put the old board in back into the controller. If this board is not not
available then an INITIAL START is required .
VARS-044 WARN Group number mismatch on load
Cause: The variable file has different number of groups defined than the controller. Remedy: You must configure the groups from controlled start setup before
loading variable files.
VARS-045 WARN Mismatch SV — %s System %s
Cause: The robot type referenced in the loaded SV file is different than the type that the controller is setup for. Remedy: Setup the controller for the proper robot type and load system
variables which were saved on a compatible robot.
VARS-046 WARN Buffer size mismatch
Cause: N/A Remedy: N/A
VARS-047 WARN Incompatible var file version
Cause: N/A Remedy: N/A
VARS-048 WARN Name is too big
Cause: N/A Remedy: N/A
VARS-049 WARN Bad Element in a Structure
Cause: N/A Remedy: N/A
VARS-050 WARN PC Revision mismatch %s
Cause: The version of the saved PC image and saved VR imaged are different. This is probably because power was removed in the middle of the operation. Remedy: Load the PC file again.
VARS-051 WARN Illegal operation
Cause: N/A Remedy: N/A
VARS-052 WARN Variable %s converted
Cause: A system variable file created on an earlier version has been loaded. The specified variable changed since that early release so it has been converted. Some information in the system variable may have been lost. Remedy: This is informational.
VARS-054 WARN Sysvars — %s loaded
Cause: A system variable file created on an earlier version has been loaded. Remedy: This is informational.
VARS-055 WARN Program name is not unique
Cause: Another program exists with the same program name in the first eight characters. Program name must be unique in the first eight characters. Remedy: Change the name of the program.
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WNDW Error Codes
WNDW-001 WARN Invalid screen name format
Cause: Format of screen name in DEF_SCREEN, ACT_SCREEN, or ATT_WINDOW_S call is invalid. Remedy: Screen names must be 1-4 alpha characters Supply a valid screen
name.
WNDW-002 WARN Invalid window name format
Cause: Format of window name in ATT_WINDOW_D, ATT_WINDOW_S, or DET_WINDOW call or an OPEN statement is invalid. Remedy: Window names must be 1-4 alpha characters Supply a valid window
name.
WNDW-003 WARN Invalid keybd. name format
Cause: Invalid display device name in DEF_SCREEN or ATT_WINDOW_D call. Remedy: Use TP for teach pendant screen or CRT for KCL screen.
WNDW-004 WARN Invalid disp dev name format
Cause: Invalid format of display device name in DEF_SCREEN or ATT_WINDOW_D call. Remedy: Device names must be 1-4 alpha characters Supply a valid device
name.
WNDW-005 WARN Bad number of rows
Cause: Invalid n_rows in DEF_WINDOW call. Remedy: n_rows value must be 1 to 50 Correct the value.
WNDW-006 WARN Bad number of cols
Cause: Invalid n_cols in DEF_WINDOW call. Remedy: n_cols value must be 1 to 132 Correct the value.
WNDW-007 WARN Bad row number
Cause: Invalid value of row parameter in ATT_WINDOW_S, AT_WINDOW_D, or SET_CURSOR call.
Remedy: For ATWINDOW_S or AT_WINDOW_D calls, row must be in the range 1-(display_device_size-window_size+1) Correct the row parameter value For SET_CURSOR calls, the value must be in the range 1-50.
WNDW-008 WARN Bad col number
Cause: Invalid value of col parameter in ATT_WINDOW_S, AT_WINDOW_D, or SET_CURSOR call. Remedy: For ATWINDOW_S or AT_WINDOW_D calls, col must be in the range
1-(display_device_size-window_size+1) Correct the col parameter value For SET_CURSOR calls, the value must be in the range 1-132.
WNDW-011 WARN Unk. disp dev name
Cause: Unknown display device name in DEF_SCREEN or ATT_WINDOW_D call. Remedy: Use TP for teach pendant screen or CRT for KCL screen.
WNDW-012 WARN Unk k/b dev name
Cause: Keyboard device specified in a PUSH_KEY_RD or POP_KEY_RD call or OPEN statement is invalid. Remedy: Use `TP’ for teach pendant keys or `CRT’ for KCL keyboard.
WNDW-013 WARN Duplicate screen name
Cause: Screen name specified in DEF_SCREEN call is already defined. Remedy: If the screen is system defined, it cannot be redefined. If the existing
screen definition is not being changed, this may not be a problem. Otherwise, it may be necessary to cold-start the controller to delete the existing definition: 1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot.
WNDW-014 WARN Duplicate window name
Cause: Window name specified in DEF_WINDOW call is already defined. Remedy: If the window is a system defined window, it cannot be redefined. If the
existing window definition is not being changed, this may not be a problem. Otherwise, it may be necessary to cold-start the controller to delete the existing definition: 1. Turn off the robot. 2. On the teach pendant, press and hold the SHIFT and RESET keys. 3. While still pressing the SHIFT and RESET keys, turn on the robot.
WNDW-015 WARN Unknown screen name
Cause: The screen name specified in a ATT_WINDOW_S, DET_WINDOW, or ACT_WINDOW call is not defined. Remedy: Use the name of a defined screen.
WNDW-016 WARN Unknown window name
Cause: The window name specified in a ATT_WINDOW_S, ATT_WINDOW_D, or DET_WINDOW call or an OPEN statement is not defined. Remedy: Use the name of a defined window.
WNDW-017 WARN Window already attchd to scrn
Cause: The window name specified in a ATT_WINDOW_S, ATT_WINDOW_D is ready attached to the specified screen. Remedy: If the present attach is acceptable, this may not be a problem.
Otherwise, it will be necessary to call DET_WINDOW.
WNDW-018 WARN Invalid file name string
Cause: The file name in an OPEN statement begins WD: or KB: but is not a valid format. Remedy: The following forms are valid:
WD:wnam KB:knam WD:wnam/knam KB:knam/wnam where wnam and knam are 1-4 alpha numeric characters. Correct the format of the file name.
WNDW-019 WARN Write to file w/o window
Cause: A write was issued to a file opened to a keyboard (KB:knam), but not a window. Remedy: Either change the OPEN to specify a window or do not WRITE to the
file.
WNDW-020 WARN Bad buffer length on read
Cause: The buffer_size parameter in a INI_DYN_DISI INI_DYN_DISR, INI_DYN_DISS or READ_KB call is invalid. Remedy: Specify a value in the range 10-128 for INI_DYN_DISx calls; for
READ_KB calls, specify a range of 1-128, unless the accept mask is zero, when a buffer_size value of zero is permitted.
WNDW-021 WARN Invalid timeout value
Cause: The time_out value in a READ_KB call is Invalid. Remedy: The value must be less than 65535000. Use a valid value.
WNDW-022 WARN Zero term char mask in read
Cause: The terminate character mask in a keyboard read is zero. Remedy: Use a non-zero value for the terminate character mask.
WNDW-023 WARN Initial data too long
Cause: The init_data value is longer than the buffer size parameter.
Remedy: Either increase the value of buffer_size or specify a shorter string for init_value.
WNDW-024 WARN Attempt to read with no kb
Cause: A READ_KB call or READ statement was executed on a file that was OPENed to a window but not a keyboard. Remedy: Either modify the OPEN FILE statement to specify a keyboard or do
not use the file in a READ_KB call or READ statement.
WNDW-025 WARN Echo window for read not act
Cause: A READ_KB call was executed where the specified file is opened to a window that is not attached to the active screen and the terminate mask included the no_window bit. Remedy: This may be a normal result if the user intended READ_KB requests to
fail if the required window is not displayed. Otherwise, either modify the terminate mask or use ATT_WINDOW_D or ATT_WINDOW_S to attach the required window.
WNDW-026 WARN Read for same keys/kbd active
Cause: A READ_KB call was executed where the the keyboard for the specified file currently has another READ_KB call or READ statement that accepts some of the same classes of keys and the terminate mask included the kbd_busy bit. Remedy: This may be a normal result if the user intended READ_KB requests to
fail if the keyboard is in use. Otherwise, modify the terminate mask, modify the accept mask of this or the conflicting read, or use a PUSH_KEY_RD call to suspend conflicting reads.
WNDW-027 WARN Too many pushes active
Cause: The maximum depth of key read PUSH operations has been exceeded. Remedy: Check for situations in which a PUSH_KEY may be executed and no
POP_KEY is executed.
WNDW-028 WARN Mis-match on push/pop seq
Cause: This indicates that the pop_index specified in a POP_KEY_RD call is not the expected value, indicating that call are being made out of order. Remedy: Check the logic in use of PUSH_KEY_RD and POP_KEY_RD to
ensure that the pop_index values are being supplied in the correct order. If more than one task is issuing PUSH_KEY_RD and POP_KEY_RD calls, extra care is required.
WNDW-030 WARN Invalid time
Cause: The interval parameter in a INI_DYN_DISI, INI_DYN_DISR, or INI_DYN_DISS call is invalid. Remedy: This must be in the range 1-32767 (ms).
WNDW-032 WARN No match on var disp cncl
Cause: There is no currently active dynamic display for variable and window specified in a CNC_DYN_DISI, CNC_DYN_DISR, or CNC_DYN_DISS call. Remedy: Check the variable and window names. Also check logic to see that
dynamic display had been started and not already cancelled.
WNDW-033 WARN Field width invalid
Cause: The field_width parameter in a call to one of the INI_DYN_DIS builtin routines is invalid. Remedy: Value must be in the range of 0-255.