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