Error code and meaning
Error code and meaning
0x000030 The speed of Joint 1 has exceeded its limit
Type:Info
Description
The speed of Joint 1 has exceeded its limit.
Reason
The speed of Joint 1 has exceeded its limit. This error occurs when the speed given by the controller has exceeded the joint's actual speed limit.
Action
- Please confirm if the current speed limit of the robot was adjusted. If so, please contact the technical service team.
- If the speed limit wasn't adjusted, please reduce the speed or acceleration to see whether this error can be corrected or not; If this error still occurs, please export the relevant diagnostic information and contact the technical service team.
0x000031 Joint 1 has reached the positive soft limit
Type:Warning
Description
Joint 1 has reached the positive soft limit.
Reason
Joint 1 has reached the positive soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x000032 Joint 1 has reached the negative soft limit
Type:Warning
Description
Joint 1 has reached the negative soft limit.
Reason
Joint 1 has reached the negative soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x000033 Joint 1 is about to reach its positive soft limit
Type:Warning
Description
Joint 1 is about to reach its positive soft limit.
Reason
Joint 1 is about to reach its positive soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x000034 Joint 1 is about to reach its negative soft limit
Type:Warning
Description
Joint 1 is about to reach its negative soft limit.
Reason
Joint 1 is about to reach its negative soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x000035 JOG target position has exceeded the positive soft limit of Joint 1
Type:Warning
Description
JOG target position has exceeded the positive soft limit of Joint 1
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x000036 JOG target position has exceeded the negative soft limit of Joint 1
Type:Warning
Description
JOG target position has exceeded the negative soft limit of Joint 1.
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x000037 Joint 1 acceleration is too high
Type:Warning
Description
Joint 1 acceleration is too high.
Reason
When JOG the robot for a Cartesian space movement, it causes excessive acceleration in Joint 1.
Action
- Please move the robot joint away from the position where this error occurred, then try to JOG the robot in Cartesian space.
0x000042 Joint 1 is about to reach its soft limit
Type:Warning
Description
Joint 1 is about to reach its soft limit.
Reason
Joint 1 is about to reach its soft limit.
Action
Please check if the robot joint has reached its limit. If so, the robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or exit free drive mode and go to Settings to reset the range of soft limit, which cannot exceed the range of hard limit.
0x000061 Joint 1 detects collision and stops
Type:Info
Description
Joint 1 detects collision and stops.
Reason
Joint 1 detects collision and stops.
Action
- Please check the working environment to see if something collided with the robot. If so, please remove whatever that is;
- If not, please check if the settings of payload and mounting angle are all correct;
- JOG Joint ‘{jointnum}’ to check if there are any internal jams.
0x000200 Mounting angle is out of range
Type:Error
Description
Mounting angle is out of range.
Reason
Mounting angle is out of range.
Action
Please check the mounting angle and set again.
0x000250 Cannot set motion planner now
Type:Error
Description
Cannot set motion planner now.
Reason
Cannot set motion planner now.
Action
Please try again later.
0x000350 Not in SERVO mode
Type:Error
Description
Not in SERVO mode.
Reason
Not in SERVO mode.
Action
Please turn on SERVO mode and try again later.
0x000351 Cannot set filter in SERVO mode
Type:Error
Description
Cannot set filter in SERVO mode.
Reason
Cannot set filter in SERVO mode.
Action
Please turn off SERVO mode first, and try again later.
0x000352 Invalid SERVO parameter
Type:Error
Description
Invalid SERVO parameter.
Reason
Invalid SERVO parameter.
Action
Please check if the parameter is within the allowable range and set again.
0x000353 Invalid SERVO filter parameter
Type:Error
Description
Invalid SERVO filter parameter.
Reason
Invalid SERVO filter parameter.
Action
Please check if the parameter is within the allowable range and set again.
0x000400 IO index is out of range
Type:Error
Description
IO index is out of range.
Reason
IO index is out of range.
Action
Please check if the parameter is within the allowable range and set again.
0x000401 IO type is out of range
Type:Error
Description
IO type is out of range.
Reason
IO type is out of range.
Action
Please check if the parameter is within the allowable range and set again.
0x000450 Alias already exists
Type:Error
Description
Alias already exists.
Reason
Alias already exists.
Action
Please use another alias.
0x000500 Parameter is out of range
Type:Error
Description
Parameter is out of range.
Reason
Parameter is out of range.
Action
Please set parameter that is within the allowable range.
0x000550 Kinematic inverse calculation failed
Type:Error
Description
Kinematic inverse calculation failed.
Reason
Kinematic inverse calculation failed.
Action
Please check the parameter and try again.
0x001002 Joint 1 CAN communication error
Type:Warning
Description
Joint 1 CAN communication error.
Reason
Joint 1 CAN bus error causes data acquisition failure or timeout.
Action
- Disable and power off the robot, remove the lid of error joint, and check the CAN cable.
- Contact the JAKA technicians.
0x001003 Joint 1 drive error
Type:Warning
Description
Joint 1 drive error
Reason
The controller does not receive signal from drive board in joint 1 after the robot powers on.
Action
Check if the APP monitoring page shows the voltage, current and temperature of the joint 1. If not, contact with the JAKA technicians.
0x001004 Joint 1 following error too high
Type:Warning
Description
Joint 1 following error too high
Reason
Abandoned
Action
Please check whether the controller is the debugging version, or contact the technical service personnel.
0x010030 The speed of Joint 2 has exceeded its limit
Type:Info
Description
The speed of Joint 2 has exceeded its limit.
Reason
The speed of Joint 2 has exceeded its limit. This error occurs when the speed given by the controller has exceeded the joint's actual speed limit.
Action
- Please confirm if the current speed limit of the robot was adjusted. If so, please contact the technical service team.
- If the speed limit wasn't adjusted, please reduce the speed or acceleration to see whether this error can be corrected or not; If this error still occurs, please export the relevant diagnostic information and contact the technical service team.
0x010031 Joint 2 has reached the positive soft limit
Type:Warning
Description
Joint 2 has reached the positive soft limit.
Reason
Joint 2 has reached the positive soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x010032 Joint 2 has reached the negative soft limit
Type:Warning
Description
Joint 2 has reached the negative soft limit.
Reason
Joint 2 has reached the negative soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x010033 Joint 2 is about to reach its positive soft limit
Type:Warning
Description
Joint 2 is about to reach its positive soft limit.
Reason
Joint 2 is about to reach its positive soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x010034 Joint 2 is about to reach its negative soft limit
Type:Warning
Description
Joint 2 is about to reach its negative soft limit.
Reason
Joint 2 is about to reach its negative soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x010035 JOG target position has exceeded the positive soft limit of Joint 2
Type:Warning
Description
JOG target position has exceeded the positive soft limit of Joint 2
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x010036 JOG target position has exceeded the negative soft limit of Joint 2
Type:Warning
Description
JOG target position has exceeded the negative soft limit of Joint 2.
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x010037 Joint 2 acceleration is too high
Type:Warning
Description
Joint 2 acceleration is too high.
Reason
When JOG the robot for a Cartesian space movement, it causes excessive acceleration in Joint 2.
Action
- Please move the robot joint away from the position where this error occurred, then try to JOG the robot in Cartesian space.
0x010042 Joint 2 is about to reach its soft limit
Type:Warning
Description
Joint 2 is about to reach its soft limit.
Reason
Joint 2 is about to reach its soft limit.
Action
Please check if the robot joint has reached its limit. If so, the robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or exit free drive mode and go to Settings to reset the range of soft limit, which cannot exceed the range of hard limit.
0x010061 Joint 2 detects collision and stops
Type:Info
Description
Joint 2 detects collision and stops.
Reason
Joint 2 detects collision and stops.
Action
- Please check the working environment to see if something collided with the robot. If so, please remove whatever that is;
- If not, please check if the settings of payload and mounting angle are all correct;
- JOG Joint ‘{jointnum}’ to check if there are any internal jams.
0x011002 Joint 2 CAN communication error
Type:Warning
Description
Joint 2 CAN communication error.
Reason
Joint 2 CAN bus error causes data acquisition failure or timeout.
Action
- Disable and power off the robot, remove the lid of error joint, and check the CAN cable.
- Contact the JAKA technicians.
0x011003 Joint 2 drive error
Type:Warning
Description
Joint 2 drive error
Reason
The controller does not receive signal from drive board in joint 1 after the robot powers on.
Action
Check if the APP monitoring page shows the voltage, current and temperature of the joint 1. If not, contact with the JAKA technicians.
0x011004 Joint 2 following error too high
Type:Warning
Description
Joint 2 following error too high
Reason
Abandoned
Action
Please check whether the controller is the debugging version, or contact the technical service personnel.
0x020030 The speed of Joint 3 has exceeded its limit
Type:Info
Description
The speed of Joint 3 has exceeded its limit.
Reason
The speed of Joint 3 has exceeded its limit. This error occurs when the speed given by the controller has exceeded the joint's actual speed limit.
Action
- Please confirm if the current speed limit of the robot was adjusted. If so, please contact the technical service team.
- If the speed limit wasn't adjusted, please reduce the speed or acceleration to see whether this error can be corrected or not; If this error still occurs, please export the relevant diagnostic information and contact the technical service team.
0x020031 Joint 3 has reached the positive soft limit
Type:Warning
Description
Joint 3 has reached the positive soft limit.
Reason
Joint 3 has reached the positive soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x020032 Joint 3 has reached the negative soft limit
Type:Warning
Description
Joint 3 has reached the negative soft limit.
Reason
Joint 3 has reached the negative soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x020033 Joint 3 is about to reach its positive soft limit
Type:Warning
Description
Joint 3 is about to reach its positive soft limit.
Reason
Joint 3 is about to reach its positive soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x020034 Joint 3 is about to reach its negative soft limit
Type:Warning
Description
Joint 3 is about to reach its negative soft limit.
Reason
Joint 3 is about to reach its negative soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x020035 JOG target position has exceeded the positive soft limit of Joint 3
Type:Warning
Description
JOG target position has exceeded the positive soft limit of Joint 3
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x020036 JOG target position has exceeded the negative soft limit of Joint 3
Type:Warning
Description
JOG target position has exceeded the negative soft limit of Joint 3.
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x020037 Joint 3 acceleration is too high
Type:Warning
Description
Joint 3 acceleration is too high.
Reason
When JOG the robot for a Cartesian space movement, it causes excessive acceleration in Joint 3.
Action
- Please move the robot joint away from the position where this error occurred, then try to JOG the robot in Cartesian space.
0x020042 Joint 3 is about to reach its soft limit
Type:Warning
Description
Joint 3 is about to reach its soft limit.
Reason
Joint 3 is about to reach its soft limit.
Action
Please check if the robot joint has reached its limit. If so, the robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or exit free drive mode and go to Settings to reset the range of soft limit, which cannot exceed the range of hard limit.
0x020061 Joint 3 detects collision and stops
Type:Info
Description
Joint 3 detects collision and stops.
Reason
Joint 3 detects collision and stops.
Action
- Please check the working environment to see if something collided with the robot. If so, please remove whatever that is;
- If not, please check if the settings of payload and mounting angle are all correct;
- JOG Joint ‘{jointnum}’ to check if there are any internal jams.
0x021002 Joint 3 CAN communication error
Type:Warning
Description
Joint 3 CAN communication error.
Reason
Joint 3 CAN bus error causes data acquisition failure or timeout.
Action
- Disable and power off the robot, remove the lid of error joint, and check the CAN cable.
- Contact the JAKA technicians.
0x021003 Joint 3 drive error
Type:Warning
Description
Joint 3 drive error
Reason
The controller does not receive signal from drive board in joint 1 after the robot powers on.
Action
Check if the APP monitoring page shows the voltage, current and temperature of the joint 1. If not, contact with the JAKA technicians.
0x021004 Joint 3 following error too high
Type:Warning
Description
Joint 3 following error too high
Reason
Abandoned
Action
Please check whether the controller is the debugging version, or contact the technical service personnel.
0x030030 The speed of Joint 4 has exceeded its limit
Type:Info
Description
The speed of Joint 4 has exceeded its limit.
Reason
The speed of Joint 4 has exceeded its limit. This error occurs when the speed given by the controller has exceeded the joint's actual speed limit.
Action
- Please confirm if the current speed limit of the robot was adjusted. If so, please contact the technical service team.
- If the speed limit wasn't adjusted, please reduce the speed or acceleration to see whether this error can be corrected or not; If this error still occurs, please export the relevant diagnostic information and contact the technical service team.
0x030031 Joint 4 has reached the positive soft limit
Type:Warning
Description
Joint 4 has reached the positive soft limit.
Reason
Joint 4 has reached the positive soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x030032 Joint 4 has reached the negative soft limit
Type:Warning
Description
Joint 4 has reached the negative soft limit.
Reason
Joint 4 has reached the negative soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x030033 Joint 4 is about to reach its positive soft limit
Type:Warning
Description
Joint 4 is about to reach its positive soft limit.
Reason
Joint 4 is about to reach its positive soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x030034 Joint 4 is about to reach its negative soft limit
Type:Warning
Description
Joint 4 is about to reach its negative soft limit.
Reason
Joint 4 is about to reach its negative soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x030035 JOG target position has exceeded the positive soft limit of Joint 4
Type:Warning
Description
JOG target position has exceeded the positive soft limit of Joint 4
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x030036 JOG target position has exceeded the negative soft limit of Joint 4
Type:Warning
Description
JOG target position has exceeded the negative soft limit of Joint 4.
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x030037 Joint 4 acceleration is too high
Type:Warning
Description
Joint 4 acceleration is too high.
Reason
When JOG the robot for a Cartesian space movement, it causes excessive acceleration in Joint 4.
Action
- Please move the robot joint away from the position where this error occurred, then try to JOG the robot in Cartesian space.
0x030042 Joint 4 is about to reach its soft limit
Type:Warning
Description
Joint 4 is about to reach its soft limit.
Reason
Joint 4 is about to reach its soft limit.
Action
Please check if the robot joint has reached its limit. If so, the robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or exit free drive mode and go to Settings to reset the range of soft limit, which cannot exceed the range of hard limit.
0x030061 Joint 4 detects collision and stops
Type:Info
Description
Joint 4 detects collision and stops.
Reason
Joint 4 detects collision and stops.
Action
- Please check the working environment to see if something collided with the robot. If so, please remove whatever that is;
- If not, please check if the settings of payload and mounting angle are all correct;
- JOG Joint ‘{jointnum}’ to check if there are any internal jams.
0x031002 Joint 4 CAN communication error
Type:Warning
Description
Joint 4 CAN communication error.
Reason
Joint 4 CAN bus error causes data acquisition failure or timeout.
Action
- Disable and power off the robot, remove the lid of error joint, and check the CAN cable.
- Contact the JAKA technicians.
0x031003 Joint 4 drive error
Type:Warning
Description
Joint 4 drive error
Reason
The controller does not receive signal from drive board in joint 1 after the robot powers on.
Action
Check if the APP monitoring page shows the voltage, current and temperature of the joint 1. If not, contact with the JAKA technicians.
0x031004 Joint 4 following error too high
Type:Warning
Description
Joint 4 following error too high
Reason
Abandoned
Action
Please check whether the controller is the debugging version, or contact the technical service personnel.
0x040030 The speed of Joint 5 has exceeded its limit
Type:Info
Description
The speed of Joint 5 has exceeded its limit.
Reason
The speed of Joint 5 has exceeded its limit. This error occurs when the speed given by the controller has exceeded the joint's actual speed limit.
Action
- Please confirm if the current speed limit of the robot was adjusted. If so, please contact the technical service team.
- If the speed limit wasn't adjusted, please reduce the speed or acceleration to see whether this error can be corrected or not; If this error still occurs, please export the relevant diagnostic information and contact the technical service team.
0x040031 Joint 5 has reached the positive soft limit
Type:Warning
Description
Joint 5 has reached the positive soft limit.
Reason
Joint 5 has reached the positive soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x040032 Joint 5 has reached the negative soft limit
Type:Warning
Description
Joint 5 has reached the negative soft limit.
Reason
Joint 5 has reached the negative soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x040033 Joint 5 is about to reach its positive soft limit
Type:Warning
Description
Joint 5 is about to reach its positive soft limit.
Reason
Joint 5 is about to reach its positive soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x040034 Joint 5 is about to reach its negative soft limit
Type:Warning
Description
Joint 5 is about to reach its negative soft limit.
Reason
Joint 5 is about to reach its negative soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x040035 JOG target position has exceeded the positive soft limit of Joint 5
Type:Warning
Description
JOG target position has exceeded the positive soft limit of Joint 5
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x040036 JOG target position has exceeded the negative soft limit of Joint 5
Type:Warning
Description
JOG target position has exceeded the negative soft limit of Joint 5.
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x040037 Joint 5 acceleration is too high
Type:Warning
Description
Joint 5 acceleration is too high.
Reason
When JOG the robot for a Cartesian space movement, it causes excessive acceleration in Joint 5.
Action
- Please move the robot joint away from the position where this error occurred, then try to JOG the robot in Cartesian space.
0x040042 Joint 5 is about to reach its soft limit
Type:Warning
Description
Joint 5 is about to reach its soft limit.
Reason
Joint 5 is about to reach its soft limit.
Action
Please check if the robot joint has reached its limit. If so, the robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or exit free drive mode and go to Settings to reset the range of soft limit, which cannot exceed the range of hard limit.
0x040061 Joint 5 detects collision and stops
Type:Info
Description
Joint 5 detects collision and stops.
Reason
Joint 5 detects collision and stops.
Action
- Please check the working environment to see if something collided with the robot. If so, please remove whatever that is;
- If not, please check if the settings of payload and mounting angle are all correct;
- JOG Joint ‘{jointnum}’ to check if there are any internal jams.
0x041002 Joint 5 CAN communication error
Type:Warning
Description
Joint 5 CAN communication error.
Reason
Joint 5 CAN bus error causes data acquisition failure or timeout.
Action
- Disable and power off the robot, remove the lid of error joint, and check the CAN cable.
- Contact the JAKA technicians.
0x041003 Joint 5 drive error
Type:Warning
Description
Joint 5 drive error
Reason
The controller does not receive signal from drive board in joint 1 after the robot powers on.
Action
Check if the APP monitoring page shows the voltage, current and temperature of the joint 1. If not, contact with the JAKA technicians.
0x041004 Joint 5 following error too high
Type:Warning
Description
Joint 5 following error too high
Reason
Abandoned
Action
Please check whether the controller is the debugging version, or contact the technical service personnel.
0x050030 The speed of Joint 6 has exceeded its limit
Type:Info
Description
The speed of Joint 6 has exceeded its limit.
Reason
The speed of Joint 6 has exceeded its limit. This error occurs when the speed given by the controller has exceeded the joint's actual speed limit.
Action
- Please confirm if the current speed limit of the robot was adjusted. If so, please contact the technical service team.
- If the speed limit wasn't adjusted, please reduce the speed or acceleration to see whether this error can be corrected or not; If this error still occurs, please export the relevant diagnostic information and contact the technical service team.
0x050031 Joint 6 has reached the positive soft limit
Type:Warning
Description
Joint 6 has reached the positive soft limit.
Reason
Joint 6 has reached the positive soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x050032 Joint 6 has reached the negative soft limit
Type:Warning
Description
Joint 6 has reached the negative soft limit.
Reason
Joint 6 has reached the negative soft limit during the movement.
Action
Please check the value of each joint's angel to see if any of them has reached the limit. If so, please change the trajectory.
0x050033 Joint 6 is about to reach its positive soft limit
Type:Warning
Description
Joint 6 is about to reach its positive soft limit.
Reason
Joint 6 is about to reach its positive soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x050034 Joint 6 is about to reach its negative soft limit
Type:Warning
Description
Joint 6 is about to reach its negative soft limit.
Reason
Joint 6 is about to reach its negative soft limit if this movement continues.
Action
Please check the robot joints' angel value of the target position to see if any of them has reached the limit. If so, please change the trajectory.
0x050035 JOG target position has exceeded the positive soft limit of Joint 6
Type:Warning
Description
JOG target position has exceeded the positive soft limit of Joint 6
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x050036 JOG target position has exceeded the negative soft limit of Joint 6
Type:Warning
Description
JOG target position has exceeded the negative soft limit of Joint 6.
Reason
This error occurs when the robot is manually operated, and the target position of such operation has exceeded the limit value of the joint.
Action
- Please check the Joint Limit in the Safety Settings to see if the value was modified.
- Please check if the target position is reachable. If not, please change it.
0x050037 Joint 6 acceleration is too high
Type:Warning
Description
Joint 6 acceleration is too high.
Reason
When JOG the robot for a Cartesian space movement, it causes excessive acceleration in Joint 6.
Action
- Please move the robot joint away from the position where this error occurred, then try to JOG the robot in Cartesian space.
0x050042 Joint 6 is about to reach its soft limit
Type:Warning
Description
Joint 6 is about to reach its soft limit.
Reason
Joint 6 is about to reach its soft limit.
Action
Please check if the robot joint has reached its limit. If so, the robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or exit free drive mode and go to Settings to reset the range of soft limit, which cannot exceed the range of hard limit.
0x050061 Joint 6 detects collision and stops
Type:Info
Description
Joint 6 detects collision and stops.
Reason
Joint 6 detects collision and stops.
Action
- Please check the working environment to see if something collided with the robot. If so, please remove whatever that is;
- If not, please check if the settings of payload and mounting angle are all correct;
- JOG Joint ‘{jointnum}’ to check if there are any internal jams.
0x051002 Joint 6 CAN communication error
Type:Warning
Description
Joint 6 CAN communication error.
Reason
Joint 6 CAN bus error causes data acquisition failure or timeout.
Action
- Disable and power off the robot, remove the lid of error joint, and check the CAN cable.
- Contact the JAKA technicians.
0x051003 Joint 6 drive error
Type:Warning
Description
Joint 6 drive error
Reason
The controller does not receive signal from drive board in joint 1 after the robot powers on.
Action
Check if the APP monitoring page shows the voltage, current and temperature of the joint 1. If not, contact with the JAKA technicians.
0x051004 Joint 6 following error too high
Type:Warning
Description
Joint 6 following error too high
Reason
Abandoned
Action
Please check whether the controller is the debugging version, or contact the technical service personnel.
0xE0000 No error
Type:Warning
Description
No error
Reason
No error
Action
No error
0xE0001 Exception occurs in the call of gRPC interface
Type:Warning
Description
Exception occurs in the call of gRPC interface
Reason
Exception occurs in the call of gRPC interface
Action
Please contact the technical service team.
0xE0002 Wrong password
Type:Warning
Description
Wrong password
Reason
Failed to log in/out, for the password is incorrect.
Action
Please check the password. If it's incorrect, please enter the right one.
0xE0003 Wrong username
Type:Warning
Description
Wrong username
Reason
Failed to log in/out, for the username is incorrect.
Action
Please check the username. If it's incorrect, please enter the right one.
0xE0004 This IP address has already logged in
Type:Warning
Description
This IP address has already logged in
Reason
This IP address has already logged in
Action
Please log out this IP on other devices first, then log in here.
0xE0005 Not log in yet
Type:Warning
Description
Not log in yet.
Reason
Not log in yet.
Action
Please log in first.
0xE0006 The joint limit is not normal
Type:Warning
Description
The joint's minimum limit is too small, or the maximum limit is too large, or the minimum limit exceeds the maximum limit.
Reason
The joint's minimum limit is too small, or the maximum limit is too large, or the minimum limit exceeds the maximum limit.
Action
Please adjust the joint limit to a proper position to proceed.
0xE0007 Inverse kinematics calculation failed
Type:Warning
Description
Inverse kinematics calculation failed.
Reason
Inverse kinematics calculation failed.
Action
The robot has failed to calculate the inverse kinematics, please re-teach it.
0xE0008 Forward kinematics calculation failed
Type:Warning
Description
Forward kinematics calculation failed.
Reason
Forward kinematics calculation failed.
Action
Please contact the JAKA technical service team.
0xE0009 Cannot find the file or the folder
Type:Warning
Description
Cannot find the file or the folder.
Reason
Cannot fine the file or the folder.
Action
Please make sure there is a file or a folder to proceed.
0xE000A MD5 check failed to match
Type:Warning
Description
MD5 check failed to match.
Reason
MD5 check failed to match.
Action
Please confirm if the MD5 checksum is correct.
0xE000B Failed to calculate the tool center point
Type:Warning
Description
Failed to calculate the tool center point.
Reason
Failed to calculate the tool center point.
Action
Failed to calculate the tool center point coordinate system, please check if it was set correctly.
0xE000C Invalid parameters
Type:Warning
Description
Invalid parameters.
Reason
Invalid parameters.
Action
The parameters are incorrect, please correct them to proceed.
0xE000D Too many outputs are set to the same state
Type:Warning
Description
Too many outputs are set to the same state.
Reason
Too many outputs are set to the same state.
Action
Please modify the state of the DI and DO, so that they can function normally.
0xE000E This name of the variable already exists
Type:Warning
Description
This name of the variable already exists.
Reason
This name of the variable already exists.
Action
Please change the name of this variable to proceed.
0xE000F The parameters have exceeded the range
Type:Warning
Description
The parameters have exceeded the range.
Reason
The parameters have exceeded the range.
Action
Please correct the parameters within its range to proceed.
0xE0010 The information ID has exceeded the range
Type:Warning
Description
The information ID has exceeded the range.
Reason
The information ID has exceeded the range.
Action
Please correct the information ID to the right range.
0xE0011 The string should not be more than 16 characters
Type:Warning
Description
The string should not be more than 16 characters.
Reason
The string should not be more than 16 characters.
Action
Please check if the string has exceeded 16 characters, if so, please shorten it to proceed.
0xE0012 You don't have the authority to operate
Type:Warning
Description
You don't have the authority to operate.
Reason
You don't have the authority to operate.
Action
You don't have the authority to operate, please change the authority level and log in again to proceed.
0xE0013 Wrong user level
Type:Warning
Description
Wrong user level.
Reason
Wrong user level.
Action
This user level doesn't have the authority to operate, please change the authority level and log in again to proceed.
0xE0014 This username already exists
Type:Warning
Description
This username already exists.
Reason
This username already exists.
Action
Please change the username first, then log in.
0xE0015 This upgrading package is invalid
Type:Warning
Description
This upgrading package is invalid.
Reason
This upgrading package is invalid.
Action
Please check the name and format of this package.
0xE0016 JOG coordinate system is not supported
Type:Warning
Description
JOG coordinate system is not supported.
Reason
JOG coordinate system is not supported.
Action
Please confirm if the JOG coordinate system is supported. If not, please correct it to proceed.
0xE0017 This mode is not supported
Type:Warning
Description
This mode is not supported.
Reason
This mode is not supported.
Action
Please check if the current mode is supported by the robot. If not, please switch to the right mode to proceed.
0xE0018 The robot is moving
Type:Warning
Description
The robot is moving.
Reason
The robot is moving.
Action
Please make sure if the robot is moving. If so, stop it to proceed.
0xE0019 The program cannot be loaded when another program is running
Type:Warning
Description
The program cannot be loaded when another program is running.
Reason
The program cannot be loaded when another program is running.
Action
A program is already running, please stop it to start another one.
0xE001A The current pin is being used by other functions
Type:Warning
Description
The current pin is being used by other functions.
Reason
The current pin is being used by other functions.
Action
Please check if this pin is being used by other functions.
0xE001B Failed to set the reduced percentage when in reduced mode
Type:Warning
Description
Failed to set the reduced percentage when in reduced mode.
Reason
Failed to set the reduced percentage when in reduced mode.
Action
Please confirm if the robot is now in reduced mode. If so, please set the reduced percentage when the reduced mode is off.
0xE001C Failed to generate JKS script during trajectory reproduction
Type:Warning
Description
Failed to generate JKS script during trajectory reproduction.
Reason
Failed to generate JKS script during trajectory reproduction.
Action
Please check the correctness of the script file.
0xE001D Only one TIO RS485 channel can be used for the torque sensor
Type:Warning
Description
Only one TIO RS485 channel can be used for the torque sensor.
Reason
Only one TIO RS485 channel can be used for the torque sensor.
Action
Please check if the TIO RS485 channel is allocated to multiple channels. If so, modify it to use a single channel before proceeding.
0xE001E Failed to switch the channel of torque sensor
Type:Warning
Description
Failed to switch the channel of torque sensor.
Reason
Failed to switch the channel of torque sensor.
Action
Please confirm if the torque sensor is running currently. If so, stop it to proceed.
0xE001F The robot's serial number is incorrect
Type:Warning
Description
The robot's serial number is incorrect.
Reason
The robot's serial number is incorrect.
Action
Please confirm if the robot's serial number is correct. If not, correct it to proceed.
0xE0020 Redis is not activated
Type:Warning
Description
Redis is not activated.
Reason
Redis is not activated.
Action
Please activate Redis first to proceed.
0xE0021 Unknown robot model
Type:Warning
Description
Unknown robot model.
Reason
Unknown robot model.
Action
Please check if the robot model is right.
0xE0022 The number or index of extended IO has exceeded the limit
Type:Warning
Description
The number or index of extended IO has exceeded the limit.
Reason
The number or index of extended IO has exceeded the limit. The maximum number of extended IO: 8 The index range of extended IO DI/DO: 0~64 The index range of extended IO AI/AO: 0~31
Action
Please make sure the number and index of extended IO are correct, then proceed.
0xE0023 The 'Trajectory Record' instruction is not supported in single-step debugging mode.
Type:Warning
Description
The 'Trajectory Record' instruction is not supported in single-step debugging mode.
Reason
The 'Trajectory Record' instruction is not supported in single-step debugging mode.
Action
Please try again after removing the 'Trajectory Record' instruction
0xE0026 This operation is not allowed in simulation mode
Type:Warning
Description
This operation is not allowed in simulation mode.
Reason
This operation is not allowed in simulation mode.
Action
Exit the simulation mode to proceed.
0xE0027 Failed to read the network configuration file
Type:Warning
Description
Failed to read the network configuration file.
Reason
Failed to read the network configuration file.
Action
Try to configure it again. Afterwards, if this issue recurs, please contact the technical service team.
0xE0028 Too many inputs are set to the same function
Type:Warning
Description
Too many inputs are set to the same function.
Reason
Too many inputs are set to the same function.
Action
Please check and modify the settings of function DI.
0xE002A The program is running and file deletion is not allowed.
Type:Warning
Description
The program is running and file deletion is not allowed.
Reason
The program is running and file deletion is not allowed.
Action
The program is running and file deletion is not allowed.
0xE002B Failed to import configuration files
Type:Warning
Description
Failed to import configuration files.
Reason
Failed to import configuration files.
Action
Failed to import configuration files.
0xE0030 The robot model does not support simulation mode
Type:Warning
Description
The robot model does not support simulation mode.
Reason
The robot model does not support simulation mode.
Action
Please check if the robot model is right or try to upgrade the controller.
0xE0031 Failed to calibrate the user coordinate system
Type:Warning
Description
Failed to calibrate the user coordinate system.
Reason
The chosen calibration point is collinear, so it failed to calibrate the user coordinate system.
Action
Please reset the teaching point.
0xE03E8 The number of activated AddOn has exceeded the limit
Type:Warning
Description
The number of activated AddOn has exceeded the limit.
Reason
The number of activated AddOn has exceeded the limit.
Action
The number of activated AddOn has exceeded the limit, please delete some to proceed.
0xE03E9 Failed to activate the AddOn
Type:Warning
Description
Failed to activate the AddOn.
Reason
Failed to activate the AddOn.
Action
Failed to activate the AddOn, please make sure the AddOn configurations are right before proceed.
0xE03EA Failed to end the AddOn
Type:Warning
Description
Failed to end the AddOn.
Reason
Failed to end the AddOn.
Action
Failed to end the AddOn, please make sure the AddOn configurations are right before proceed.
0xE03EB Invalid configuration file
Type:Warning
Description
Invalid configuration file.
Reason
Invalid configuration file.
Action
Please make sure the configuration files of the AddOn are correct, then proceed.
0xE03EC The AddOn does not exist
Type:Warning
Description
The AddOn does not exist.
Reason
The AddOn does not exist.
Action
Cannot find this AddOn. It might have been removed or deleted. Please refresh this page and try again.
0xE03ED The AddOn configuration does not exist
Type:Warning
Description
The AddOn configuration does not exist.
Reason
The AddOn configuration does not exist.
Action
The AddOn configuration does not exist, please check the current version of the software and contact the technical service team.
0xE03EE The "convention" in AddOn configuration is unknown
Type:Warning
Description
The "convention" in AddOn configuration is unknown.
Reason
The "convention" in AddOn configuration is unknown.
Action
Unable to identify the "convention" in AddOn configuration, please check if it is configured correctly.
0xE03EF The "type" in AddOn configuration file is wrong
Type:Warning
Description
The "type" in AddOn configuration file is wrong.
Reason
The "type" in AddOn configuration file is wrong.
Action
Unable to identify the "type" in AddOn configuration, please make sure it's a number within 1-3.
0xE03F0 The "language" in AddOn configuration file is incorrect
Type:Warning
Description
The "language" in AddOn configuration file is incorrect.
Reason
The "language" in AddOn configuration file is incorrect.
Action
Unable to identify the "language" in AddOn configuration, please check if it is configured correctly.
0xE03F1 The entry point of AddOn configuration file is incorrect
Type:Warning
Description
The entry point of AddOn configuration file is incorrect.
Reason
The entry point of AddOn configuration file is incorrect.
Action
Unable to identify the "language" in AddOn configuration, please make sure the "service" is not empty and contains no more than 50 bytes.
0xE03F2 The "auto-start" in AddOn configuration file is incorrect
Type:Warning
Description
The "auto-start" in AddOn configuration file is incorrect.
Reason
The "auto-start" in AddOn configuration file is incorrect.
Action
Unable to identify the "serviceenable" in AddOn configuration, please make sure the "serviceenable" is True or False.
0xE03F3 A necessary setting in the AddOn configuration file is missing
Type:Warning
Description
A necessary setting in the AddOn configuration file is missing.
Reason
A necessary setting in the AddOn configuration file is missing.
Action
A necessary setting in the AddOn configuration file is missing, please check if the configuration files are correct.
0xE03F4 The "Name" in AddOn configuration file is incorrect
Type:Warning
Description
The "Name" in AddOn configuration file is incorrect.
Reason
The "Name" in AddOn configuration file is incorrect.
Action
The "Name" in AddOn configuration file has exceeded 40 bytes, please correct it and try again.
0xE03F5 The "description" in AddOn configuration file is incorrect
Type:Warning
Description
The "description" in AddOn configuration file is incorrect.
Reason
The "description" in AddOn configuration file is incorrect.
Action
The "description" in AddOn configuration file has exceeded 40 bytes, please correct it and try again.
0xE03F6 Cannot identify the AddOn version
Type:Warning
Description
Cannot identify the AddOn version.
Reason
Cannot identify the AddOn version.
Action
Cannot identify the version of AddOn in its configuration, please make sure the configuration is right to proceed.
0xE03F7 Error occurs in the URL of AddOn configuration files
Type:Warning
Description
Error occurs in the URL of AddOn configuration files.
Reason
Error occurs in the URL of AddOn configuration files.
Action
The URL in the AddOn configuration couldn't be parsed. Please verify the configuration is correct and try again.
0xE03F8 Error occurs when assigning the port number
Type:Warning
Description
Error occurs when assigning the port number.
Reason
Error occurs when assigning the port number.
Action
Failed to assign the AddOn port number. Please verify the configuration is correct and contact the technical service team.
0xE03F9 AddOn is running
Type:Warning
Description
AddOn is running.
Reason
AddOn is running.
Action
AddOn is running, Please stop it first to proceed.
0xE03FA The directory already exists
Type:Warning
Description
The directory already exists.
Reason
The directory already exists.
Action
Please check if the directory already exists. Select the correct directory to proceed.
0xE03FB The IP address already exists
Type:Warning
Description
The IP address already exists.
Reason
The IP address already exists.
Action
Please check if the IP address already exists. If so, please correct the current one to proceed.
0xE03FC Failed to calculate the safety orientation related parameters
Type:Warning
Description
Failed to calculate the safety orientation related parameters.
Reason
Failed to calculate the safety orientation related parameters.
Action
Please reset the safety orientation of the tool.
0xE044C Checksum files don't match
Type:Warning
Description
Checksum files don't match.
Reason
Checksum files don't match.
Action
Please check if the files can match, or re-download and upgrade the program.
0xE044D Wrong password
Type:Warning
Description
Wrong password
Reason
Wrong password
Action
Please enter the right one.
0xE044E The two passwords you entered are inconsistent
Type:Warning
Description
The two passwords you entered are inconsistent.
Reason
The two passwords you entered are inconsistent.
Action
Please enter the same password twice.
0xE044F Please reset the password the first time you log in
Type:Warning
Description
Please reset the password the first time you log in.
Reason
Please reset the password the first time you log in.
Action
Please reset the password and log in again.
0xE0450 The password you changed cannot be the same with the old one
Type:Warning
Description
The password you changed cannot be the same with the old one.
Reason
The password you changed cannot be the same with the old one.
Action
Please use a different password.
0xE0451 The account is not activated
Type:Warning
Description
The account is not activated.
Reason
The account is not activated.
Action
The account is not activated, please contact whoever is in charge of this robot.
0xE0452 Cannot activate the account
Type:Warning
Description
Cannot activate the account.
Reason
Cannot activate the account.
Action
Cannot activate the account, for the account is incorrect. Please contact whoever is in charge of this robot.
0xE0453 AddOn is installing
Type:Warning
Description
AddOn is installing.
Reason
AddOn is installing.
Action
AddOn is installing, please try again later.
0xE0454 Failed to install AddOn
Type:Warning
Description
Failed to install AddOn.
Reason
Failed to install AddOn.
Action
Failed to install AddOn, please make sure it's a valid package before proceed.
0xE0455 The AddOn package is too large
Type:Warning
Description
The AddOn package is too large.
Reason
The AddOn package is too large.
Action
The AddOn package is too large or contains too many files, please reduce the package size and the number of files, then try again.
0xE0456 Switching between manual and automatic modes in a wrong state
Type:Warning
Description
Switching between manual and automatic modes in a wrong state.
Reason
Switching between manual and automatic modes in a wrong state.
Action
Switch operation mode in a wrong state (the robot is moving, running a program, or being dragged).
0xE0457 There are unsupported characters in the input string.
Type:Warning
Description
There are unsupported characters in the input string.
Reason
There are unsupported characters in the input string.
Action
Modify the input parameters and try again.
0xE04B0 Upgrade is prohibited in the emergency stop state
Type:Warning
Description
Upgrade is prohibited in the emergency stop state
Reason
Upgrade is prohibited in the emergency stop state
Action
Upgrade is prohibited in the emergency stop state
0xEFFFF Unknown error
Type:Warning
Description
Unknown error
Reason
Unknown error
Action
Please contact the technical service team.
0x0F0001 The robot is powered off
Type:Warning
Description
The robot is powered off now.
Reason
The robot is powered off when the controller executes the command.
Action
Please check if the robot is powered on. If not, power on the robot first.
0x0F0002 The robot is disabled
Type:Warning
Description
The robot is disabled now.
Reason
The robot is disabled when the controller executes the command.
Action
Please check if the robot is enabled. If not, enable the robot first.
0x0F0003 This operation cannot be performed in the current mode
Type:Info
Description
This operation cannot be performed in the current mode. It's in the ‘{0}’ mode now. The ‘{1}’ command is not allowed.
Reason
The robot can only perform certain operations when it is in a specific operating mode. The operation is not allowed in the current mode.
Action
Exit the current mode first, then perform this operation again.
0x0F0004 Inverse kinematics calculation failed
Type:Warning
Description
Inverse kinematics calculation failed.
Reason
Inverse kinematics calculation failed, because:
- The robot cannot reach the given pose in Cartesian space;
- The given pose in Cartesian space is unsolvable in the solution space determined by the given reference angle.
Action
- Click the Manual Operation, and then click the coordinate editing interface. Enter the position information for verification;
- JOG to check if the target position or the pose of the target moving path is reachable. If so, please change a pose for inverse kinematics calculation.
0x0F0005 The setting value is too large
Type:Warning
Description
The setting value is too large.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F0006 The robot joint has reached the positive hard limit
Type:Warning
Description
The robot joint has reached the positive hard limit, so the robot is unable to move.
Reason
When in JOG mode, the robot joint has reached the limit, but is still commanded to move towards the limit direction.
Action
Please check if the robot joint has reached its limit. The robot cannot move if so.
0x0F0007 The robot joint has reached the negative hard limit
Type:Warning
Description
The robot joint has reached the negative hard limit, so the robot is unable to move.
Reason
When in JOG mode, the robot joint has reached the limit, but is still commanded to move towards the limit direction.
Action
Please check if the robot joint has reached its limit. The robot cannot move if so.
0x0F0008 The robot joint has reached the positive soft limit
Type:Warning
Description
The robot joint has reached the positive soft limit, so the robot is unable to move.
Reason
When in JOG mode, the robot joint has reached the limit, but is still commanded to move towards the limit direction.
Action
Please check if the robot joint has reached its limit. The robot cannot move if so.
0x0F0009 The robot joint has reached the negative soft limit
Type:Warning
Description
The robot joint has reached the negative soft limit, so the robot is unable to move.
Reason
When in JOG mode, the robot joint has reached the limit, but is still commanded to move towards the limit direction.
Action
Please check if the robot joint has reached its limit. The robot cannot move if so.
0x0F000A The target Cartesian position has exceeded the maximum position limit
Type:Warning
Description
The target position has exceeded the maximum position limit.
Reason
The given target Cartesian position exceeds the maximum limit of the joint.
Action
Please check if the target position given in Cartesian space is unreachable for the joint.
0x0F000B The target Cartesian position has exceeded the minimum position limit
Type:Warning
Description
The target position has exceeded the minimum position limit.
Reason
The given target Cartesian position exceeds the minimum limit of the joint.
Action
Please check if the target position given in Cartesian space is unreachable for the joint.
0x0F000E Manual operation is not allowed when the joint is returning to the open pose
Type:Warning
Description
Manual operation is not allowed when the joint is returning to the open pose.
Reason
Manual operation is performed when the joint is returning to the open pose.
Action
Please check if the robot is returning to its open pose. If so, please wait until this process is completed.
0x0F000F Cannot find the target joint
Type:Warning
Description
Cannot find the target joint.
Reason
When controlling a single-axis movement in Cartesian space or a single-joint movement in joint space, an invalid axis/joint index is provided, resulting in an error.
Action
Please check if the target joint given in the command is correct. If so, please export the log and contact JAKA technical service team for help.
0x0F0010 Invalid speed of the move command
Type:Warning
Description
Invalid speed of the move command.
Reason
Reserved for later modification.
Action
Please confirm if it's in debugging mode. Export the diagnostic information and contact the technical service team.
0x0F0011 The target position in the move command is out of the limit
Type:Warning
Description
The target position in the move command is out of the limit.
Reason
The target position of the joint movement or linear movement is beyond the robot joint's limit.
Action
JOG the robot to check if the target position can be attained or is within the joint's limit.
0x0F0012 HOME operation cannot be performed in movements other than MoveJ
Type:Warning
Description
HOME operation cannot be performed in movements other than MoveJ.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F0013 HOME mode is ongoing
Type:Warning
Description
HOME mode is ongoing.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F0014 Failed to exit the protection mode
Type:Warning
Description
Failed to exit the protection mode.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F0015 The robot is disabled
Type:Warning
Description
The robot is disabled.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F0016 The robot joint is in its soft limit
Type:Warning
Description
The robot joint is in its soft limit.
Reason
The robot joint is in its soft limit, so the command cannot be run.
Action
Please check if the robot joint has reached its limit. If so, the robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or modify the limit value in Setting.
0x0F0017 The target position of the move command is unreachable
Type:Warning
Description
The target position of the move command is unreachable
Reason
The target position of the move command is unreachable.
Action
The target position is out of the robot's working range or at the singularity. Please JOG to check if this target point can be attained by MoveJ. If so, try to change the orientation of the robot, and reach the target position through other move trajectory or orientation.
0x0F0018 Safeguard stop is activated for the robot has reached the singularity
Type:Warning
Description
Safeguard stop is activated for the robot has reached the singularity.
Reason
The robot is about to reach the singularity, therefore it cannot continue the movement in Cartesian space. This error occurs when the inverse kinematics calculation failed or was in a different solution space from the previous movement cycle.
Action
Please check if the current trajectory and orientation is reachable. If not, change the trajectory or orientation to reach the target position. If the commanded trajectory is correct, please collect relevant data and contact the technical service team.
0x0F0019 CAN device initialization failed
Type:Warning
Description
CAN device initialization failed
Reason
CAN device initialization failed.
Action
With the virtual machine/robot, there is no CAN device, so this error would occur. Modification may be made in the future. With the actual robot, please restart the robot. If this error still continues to occur, contact the technical service team.
0x0F001A One-click upgrade timeout
Type:Warning
Description
One-click upgrade timeout
Reason
The one-click upgrade takes too long
Action
Please check the network and controller before operate again.
0x0F001B One-click upgrade failed, an exception/error has occurred during upgrade
Type:Warning
Description
One-click upgrade failed, an exception/error has occurred during upgrade
Reason
One-click upgrade failed
Action
Please check the resource and validity of the upgrade package.
0x0F001C Joint limit data are not normal during controller booting
Type:Warning
Description
Joint limit data are not normal during controller booting
Reason
Action
Please modify the joint limit value
0x0F001D Robot power on timeout
Type:Warning
Description
Robot power on timeout
Reason
There are abnormalities in the power on process
Action
Please check if the CAN communication is normal before attempting to power on again
0x0F001E Error occurs in the inverse kinematics of the robot during its movement
Type:Warning
Description
The joint angle obtained from the inverse kinematics of the robot is not in line with the expected value.
Reason
This error is reported if the joint position of the robot changes abnormally during movement. Usually, that's when an error occurs during the calculation of the inverse solution or when the difference between the inverse solution and the previous cycle is out of expectation.
Action
Check whether the current robot path and orientation are reachable or near a singularity. If so, replace the initial orientation or path. If not so, please collect relevant data and contact JAKA technical service team.
0x0F001F Firmware Upgrade Timeout
Type:Warning
Description
Firmware upgrade progress has not been updated for a long time.
Reason
The firmware upgrade program encountered an unknown exception and cannot continue the upgrade.
Action
The control cabinet will automatically restart in 10 seconds. Please attempt to upload the firmware installation package again after the controller restarts.
0x0F0020 Failed to reach the target position through MoveL
Type:Warning
Description
Failed to reach the target position through MoveL
Reason
Failed to reach the target position through MoveL. During general Cartesian movement (MoveL or MoveC), errors are triggered when passing through singularity, especially when the initial or final position is singularity.
Action
For MoveL, if the trajectory position or target position is unreachable or pass through singularity, JOG to check if the target position can be reached by MoveJ. If so, consider change the current orientation of the robot, and make it reach the target position through other trajectory or orientation. Note: The indicating arrow might move ahead of its actual corresponding step of the command, so this error might be triggered before the movement that caused the error actually happened. Please check if the position in this command is reachable based on the current position.
0x0F0021 Unsupported robot model
Type:Warning
Description
Unsupported robot model. In most cases, the newest version of controller software supports all robot models, but when an old version of controller software connects to a new model of robot, this error might occur. When this error occurs, the DH parameter, dynamics parameter and other limits might be wrong. Be careful when enable the robot.
Reason
The controller's version is outdated, therefore this robot model is not supported. Or it might be that the model of robot wasn't included in the robot's servo.
Action
Please check the serial number of the robot on the information page, and contact JAKA for the newest version of softwares.
0x0F0022 Invalid robot serial number
Type:Warning
Description
Invalid robot serial number.
Reason
Invalid robot serial number. The controller software supports specific robot models, each with its unique encoding rules. The robot's serial number is read from the servo. If the serial number does not comply with the supported model and rules, this error might be triggered.
Action
Please check the serial number on the App's information page and on the robot, to see if these two are the same. If the serial number is correct, please contact JAKA to get the newest version of software.
0x0F0023 Payload identification trajectory index is invalid
Type:Warning
Description
Payload identification trajectory index is invalid
Reason
An internal system error
Action
Please identify the payload again, or upgrade the controller, or contact JAKA for technical support.
0x0F0024 Unable to change the decelerated percentage in decelerated mode
Type:Info
Description
Unable to change the decelerated percentage in decelerated mode
Reason
Unable to change the decelerated percentage in decelerated mode. This error occurs when one tries to change the decelerated percentage while the robot is in decelerated mode or safeguard stop.
Action
Please check if the robot is in decelerated mode. If so, please exit this mode first, then change the decelerated percentage. If not, please contact JAKA technical service for help.
0x0F0025 Payload identification trajectory does not meet the specifications
Type:Warning
Description
Payload identification trajectory does not meet the specifications
Reason
Payload identification trajectory does not meet the specifications. The robot's payload identification process requires adherence to certain specifications to ensure accurate results. This error occurs when the user's input does not meet the specifications.
Action
Please follow the trajectory specifications in the App's payload identification interface to re-identify the payload.
0x0F0026 Disable the robot before power it off
Type:Info
Description
Disable the robot before power it off.
Reason
Disable the robot before power it off.
Action
Please disable the robot first, then power it off.
0x0F0027 Cannot disable the robot while running a program
Type:Info
Description
Cannot disable the robot while running a program.
Reason
Cannot disable the robot while running a program.
Action
Please stop the program first, then disable the robot.
0x0F0028 Deviation in payload setting is detected
Type:Warning
Description
Deviation in payload setting is detected, please check.
Reason
Deviation in payload setting is detected, please check. Controller will check the payload when the robot is enabled. If the actual output torque deviates from the feedforward torque by a certain range, this error occurs and the robot will disable itself.
Action
- Please check if the setting of payload and center of mass are correct;
- Please check if the robot's model and serial number are correct; 3. Please check if the robot's mounting angel is correct.
0x0F0029 Failed to execute MoveC command
Type:Warning
Description
Failed to execute MoveC command.
Reason
The three teaching points of MoveC are collinear, or there is a singularity.
Action
- Please check if the initial position, the middle position and the end position of MoveC are collinear;
- Please check if one of the initial position, the middle position and the end position of MoveC is singularity.
0x0F0030 Joint speed limit is set to 0
Type:Warning
Description
Joint speed limit is set to 0
Reason
The joint speed limt is set to 0
Action
Please check the Joint Speed Limit in the App's Safety Setting to see if it's set to 0°/s.
0x0F0031 Three-position enabling function is limiting the movement
Type:Info
Description
Three-position enabling function is limiting the movement
Reason
The three-position enabling function is turned on in the Safety Settings.
Action
The three-position enabling function can limit the control of robot. Please check if the three-position enabling function is turned on, or try to turn it off if the situation allows and no damage would be caused.
0x0F0032 The conveyor tracking cannot track movements other than MoveL or MoveC
Type:Warning
Description
Unable to track movements other than MoveL or MoveC
Reason
The conveyor tracking can only track movements in Cartesian space, but the conveyor tracking block has nested movements other than MoveL and MoveC.
Action
Please check if movements other than MoveL and MoveC are nested in the conveyor tracking block.
0x0F0033 Singularity is detected
Type:Warning
Description
Singularity is detected
Reason
The robot is about to reach the singularity in this trajectory, therefore it cannot perform a Cartesian space movement. An inverse kinematics exception occurred during the movement. When an external tracking or compensation is involved, such as in compliant control or conveyor tracking, this error may occur due to exceptional external inputs.
Action
- Please check if the current trajectory and orientation of the robot is reachable. If not, change the initial orientation or trajectory, or change the target point's orientation;
- If currently the robot is in constant compliant force control, please check if there is any unusual force affecting the movement;
- If currently the robot is in conveyor tracking mode, please check the speed of the conveyor, and make sure the feedback of the encoder is correct. Large changes of parameters might lead to such issue.
0x0F0034 Collision detected
Type:Warning
Description
Collision detected
Reason
Collision detected The system has detected collision‘{0}’.
Action
- Check if there is any obstruction around the robot, and if any collision has occurred;
- Check if the serial number and model of the robot are identified correctly;
- Check if the payload and mounting angel of the robot are set correctly.
0x0F0035 Exceeded the orientation limit
Type:Warning
Description
Exceeded the orientation limit.
Reason
The tool orientation limit is configured, and the current orientation has exceeded its limit.
Action
Please check if the current trajectory of the robot is within the working limit of the tool. Or try to change the working limit of the tool.
0x0F0036 The tool end has exceeded the maximum position deviation
Type:Warning
Description
The tool end has exceeded the maximum position deviation.
Reason
The deviation between the position of the robot's tool end and the target position has exceeded the deviation limit.
Action
Please check whether the robot movement deviates from the command position, or increase the deviation limit value setting in the user profile.
0x0F0037 The linear velocity of the tool end has exceeded its maximum limit
Type:Warning
Description
The linear velocity of the tool end has exceeded its maximum limit
Reason
The linear velocity of the robot's tool end during MoveJ has exceeded the maximum velocity limit set for the end.
Action
Please check the Collision Settings in Safety Settings to see if the TCP velocity limit is set correctly; If so, please reduce the speed and acceleration of the MoveJ command.
0x0F0038 Failed to execute MoveJ command
Type:Warning
Description
Failed to execute MoveJ command.
Reason
The MoveJ segment is invalid
Action
Please check to confirm if the robot's current joint position and target joint position are correct.
0x0F0039 Repeated TCP calibration teaching position
Type:Warning
Description
Repeated TCP calibration teaching position
Reason
There are two or two more same teaching positions
Action
Please re-calibrate the TCP, and make sure there are no same teaching positions.
0x0F003A Disabling is not allowed when the robot is running
Type:Info
Description
Disabling is not allowed when the robot is running
Reason
Disabling is not allowed when the robot is running
Action
Please stop the program first before disable the robot
0x0F003B The robot is powered on already, there's no need to power on it again
Type:Warning
Description
The robot is powered on already, there's no need to power on it again.
Reason
The robot is powered on already, there's no need to power on it again.
Action
The robot is powered on already, there's no need to power on it again.
0x0F003C The robot is enabled already, there's no need to enable it again
Type:Warning
Description
The robot is enabled already, there's no need to enable it again.
Reason
The robot is enabled already, there's no need to enable it again.
Action
The robot is enabled already, there's no need to enable it again.
0x0F003D The TCP calibration has teaching points on the same line
Type:Warning
Description
The TCP calibration has teaching points on the same line
Reason
If there are teaching points of the TCP calibration are on the same line, the TCP orientation will be failed.
Action
Please reset the teaching points that are proper.
0x0F003E The deviation of TCP coordinate system calibration has exceeded the preset threshold
Type:Warning
Description
The deviation of TCP coordinate system calibration has exceeded the preset threshold.
Reason
The deviation of TCP coordinate system calibration has exceeded the preset threshold.
Action
Please reset the teaching points that are proper.
0x0F003F The calibration coordinates of TCP coordinate system are beyond the working space
Type:Warning
Description
The calibration coordinates of TCP coordinate system are beyond the working space
Reason
The calibration coordinates of TCP coordinate system are beyond the working space.
Action
Please reset a more appropriate teaching point.
0x0F0040 Unable to enter free drive mode when on the soft limit
Type:Warning
Description
Unable to enter free drive mode when on the soft limit.
Reason
Unable to enter free drive mode when on the soft limit.
Action
Please check if the robot joint has reached its limit. If so, the robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or modify the limit value in Setting.
0x0F0041 The robot is dragged beyond its soft limit and might stop
Type:Warning
Description
The robot is dragged beyond its soft limit and might stop.
Reason
The robot is dragged beyond its soft limit and might stop. This error occurs when the robot is dragged beyond its soft limit.
Action
Please check the current status of the robot. The robot cannot move towards the limit's direction but the opposite. Please JOG the joint that exceeds its limit back to its range, or exit free drive mode and go to Settings to reset the range of soft limit, which cannot exceed the range of hard limit.
0x0F0042 Force control parameter setting failed
Type:Warning
Description
Compliant parameter setting failed.
Reason
Unable to set compliance parameters while force control drag enabling
Action
Please check if the robot is in force control drag mode now. if so, please exit then try again.
0x0F0043 The robot is disabled so it cannot enter free drive mode
Type:Warning
Description
The robot is disabled so it cannot enter free drive mode.
Reason
The robot is disabled so it cannot enter free drive mode. The free drive mode was turned on when the robot is disabled.
Action
Please check if the robot is powered on and enabled; please check if this button was accidentally pressed.
0x0F0044 The robot is in a movement, so it cannot enter free drive mode
Type:Info
Description
The robot is in a movement, so it cannot enter free drive mode.
Reason
The robot is in a movement, so it cannot enter free drive mode. The robot can only enter free drive mode when its in manual operation mode or in stationary state.
Action
If the robot is running a command, please stop it first, them enter free drive mode. If the robot is being operated manually, please stop and try again.
0x0F0045 The joint torque has exceeded its limit and cannot enter free drive mode
Type:Warning
Description
The joint torque has exceeded its limit and cannot enter free drive mode.
Reason
The joint torque has exceeded its limit and cannot enter free drive mode. This error occurs usually when the robot is dragged too fast or the collision detection is too sensitive.
Action
Try to lower the dragging speed or set the Collision Settings to a higher level.
0x0F0046 The Free button has been disabled and cannot enter free drive mode
Type:Info
Description
The Free button has been disabled and cannot enter free drive mode.
Reason
The Free button on the robot end has been disabled, so the free drive mode cannot be entered by pressing the Free button.
Action
Please check Auxiliary Hardware Settings in Hardware&Communication to see if the Free button is disabled. If so, please enable it.
0x0F0047 Program Pause or Start button is disabled
Type:Info
Description
Program Pause or Start button is disabled.
Reason
The Program Pause or Start button on the robot end has been disabled, so the program cannot be paused or started by pushing this button.
Action
Please check Auxiliary Hardware Settings in Hardware&Communication to see if the Free button is disabled. If so, please enable it.
0x0F0048 The Point button has been disabled, so the current position cannot be recorded
Type:Info
Description
The Point button has been disabled, so the current position cannot be recorded.
Reason
The Point button on the robot end has been disabled, so the current position cannot be recorded by pushing the Point button.
Action
Please check Auxiliary Hardware Settings in Hardware&Communication to see if the Free button is disabled. If so, please enable it.
0x0F0049 Unable to enter free drive mode when in simulation mode
Type:Warning
Description
Unable to enter free drive mode when in simulation mode.
Reason
Unable to enter free drive mode when in simulation mode.
Action
Please check the current mode of the robot. Exit the simulation mode first, then enter the free drive mode.
0x0F004A Force control parameter setting failed
Type:Warning
Description
Compliant parameter setting failed.
Reason
Unable to directly turn off force control in a certain direction in the program without enabling force control
Action
Please check if force control is enabled in the program and uncheck a certain force control direction when it is enabled. If so, please turn off the force control and try again
0x0F0050 The force sensor is not ready yet
Type:Warning
Description
The force sensor is not ready yet, so the force control functions cannot be enabled.
Reason
The force sensor is not ready yet, so the force control functions cannot be enabled. This error occurs when trying to use force control functions but the force sensor is still turned off.
Action
Please check if the force sensor is turned on.
0x0F0051 The torque sensor mode cannot be switched in the admittance force control mode
Type:Info
Description
The torque sensor mode cannot be switched in the admittance force control mode.
Reason
The torque sensor cannot be directly turned off while the admittance force control is turned on.
Action
Please exit the admittance force control mode before you turn off the force sensor.
0x0F0052 Error of the torque sensor occurs while in the admittance force control mode
Type:Warning
Description
Error of the torque sensor occurs while in the admittance force control mode.
Reason
Error of the torque sensor occurs while in the admittance force control mode. It might be the disconnection of communication link between the controller and torque sensor.
Action
Please check if the communication of the torque sensor is running well, including the hardware connection cable and software settings.
0x0F0054 Single-step debugging cannot be performed when the program is running
Type:Info
Description
Single-step debugging cannot be performed when the program is running.
Reason
Single-step debugging cannot be performed when the program is running.
Action
Stop the current program first, then use single-step debugging mode.
0x0F0055 Collision sensitivity cannot be set when robot is moving
Type:Info
Description
Collision sensitivity cannot be set when robot is moving.
Reason
Collision sensitivity cannot be set when robot is moving.
Action
Stop the robot first, and then set collision sensitivity.
0x0F0056 Expansion IO is not running
Type:Warning
Description
Expansion IO is not running, hence inaccessible.
Reason
Expansion IO is not running, hence inaccessible.
Action
Please check the IO Panel to see if the Expansion IO is running.
0x0F0057 Dynamic feedforward control cannot be set
Type:Info
Description
Dynamic feedforward control cannot be enabled or disabled during a robot movement.
Reason
Dynamic feedforward control cannot be enabled or disabled during a robot movement. This error occurs when using a SDK interface.
Action
Stop the current movement first, then set the dynamic feedforward control.
0x0F0058 Permission for using such function is not detected
Type:Warning
Description
Permission for using such function is not detected.
Reason
Permission for using such function is not detected. The usage of some functions needs to be authorized. If this error occurs, it means the function being used is unauthorized yet.
Action
Please contact the technical service team to purchase such function.
0x0F0059 Safeguard stop is still on
Type:Info
Description
Safeguard stop is still on.
Reason
Safeguard stop is still on. This error occurs when one tries to turn off the safeguard Stop yet it is still on.
Action
Please check the IO Panel to see if the safeguard Stop is still on, if so, please turn it off first before reset it.
0x0F005A Operation to set safety parameters is denied
Type:Info
Description
Operation to set safety parameters is denied
Reason
Setting safety parameters is prohibited when the robot is not in manual mode, or when it is moving in manual mode.
Action
Stop the motion and switch the robot to manual mode before configuring safety parameters.
0x0F005B Operation to set safety parameters is denied
Type:Info
Description
Operation to set safety parameters is denied.
Reason
Do not set safety parameters while the robot is enabled.
Action
Please disable the robot before setting safety parameters.
0x0F005C Unreasonable safety parameters
Type:Info
Description
The set safety parameters are not within a reasonable range, safety parameters setting failed.
Reason
The set safety parameters exceed the functional support range.
Action
Please modify the safety parameters to a reasonable range before setting again.
0x0F005D Setting of safety parameters is denied
Type:Info
Description
Setting of safety parameters is denied
Reason
Cannot set safety parameters when the robot program is being executed.
Action
Please stop the program before setting safety parameters.
0x0F005E Conflicting safety parameters
Type:Info
Description
<0> exceeds the robot's parameter range.
Reason
<0> exceeds the robot's parameter range.
Action
Robot serial number: ‘{0}’ Set value of <0>: ‘{1}’ Minimum value of <0>: ‘{2}’ Maximum value of <0>: ‘{3}’ When setting safety parameters, please ensure that the <0> parameter is within the configurable range.
0x0F0060 Decelerated percentage cannot be adjusted in safeguard stop mode
Type:Info
Description
Decelerated percentage cannot be adjusted in safeguard stop mode.
Reason
Decelerated percentage cannot be adjusted in safeguard stop mode.
Action
Exit the safeguard stop mode first, then set the decelerated percentage of the robot.
0x0F0061 Failed to calibrate the user coordinate system
Type:Warning
Description
Failed to calibrate the user coordinate system.
Reason
The chosen calibration point is collinear, so it failed to calibrate the user coordinate system.
Action
Please reset the teaching point.
0x0F0062 The TIO RS485 channel torque sensor mode has not been enabled
Type:Info
Description
The TIO RS485 channel torque sensor mode has not been enabled.
Reason
The TIO RS485 channel torque sensor mode has not been enabled. An unusual pin multiplexing configuration was detected when enabling the TIO's torque sensor.
Action
When selecting the sensor type VI in the torque sensor settings, enabling the torque sensor will verify if the TIO channels have been correctly configured for the torque sensor mode. Please check if the related settings are correct.
0x0F0063 One TIO RS485 channel can be enabled for torque sensor mode at most
Type:Info
Description
One TIO RS485 channel can be enabled for torque sensor mode at most.
Reason
One TIO RS485 channel can be enabled for torque sensor mode at most. Due to bandwidth limitations on the CAN channel, only one of the two TIO's two RS485 can be used for torque sensor mode.
Action
Please modify the channel configuration for the torque sensor, change the mode of the current RS485 channel set as the torque sensor, and then proceed with the operation.
0x0F0064 Failed to modify the communication parameters
Type:Warning
Description
Failed to modify the communication parameters, for torque sensor that uses this channel is running.
Reason
Failed to modify the TIO RS485 communication parameters, for torque sensor that uses this channel is running.
Action
Don't modify the communication parameters while the torque sensor is running. Stop running first, then to modify the communication parameters.
0x0F0065 The signal definition is invalid
Type:Info
Description
The signal definition is invalid.
Reason
The signal definition is invalid. The status of the end Modbus claw is queried through a signal mechanism, and the definition of signals needs to meet specific standards, including name, function code, address, and more. This error occurs when the definition fails to meet the standards.
Action
Please verify if the current TIO RS485 channel ID is correct, the specified channel mode is set to Modbus RTU, and whether the supported function codes are available (currently only support function codes 01, 02, 03, 04).
0x0F0066 The number of signals exceeds the maximum supported quantity
Type:Warning
Description
The number of signals exceeds the maximum supported quantity (8)
Reason
Due to bandwidth limitations, there's a restriction on the number of supported signals, with a maximum of 8. Any number beyond this limit will result in an error.
Action
Only up to 8 signal definitions are supported currently. Please delete any unnecessary signal definitions.
0x0F0067 The specified signal does not exist
Type:Info
Description
The specified signal does not exist.
Reason
The specified signal does not exist. This error occurs when a command uses a signal that does not exist.
Action
Please review the program calls related to signals and signal definitions to check for any references to undefined signals.
0x0F0068 Failed to send TIO RS485 commands.
Type:Info
Description
Failed to send TIO RS485 commands. The command queue is full.
Reason
The command queue is full. Failed to send TIO RS485 commands. This error occurs during high-frequency signal refresh or command transmissions.
Action
Due to the limited CAN communication bandwidth, queries and configuration commands related to TIO+ will be buffered. This error occurs when the refreshing rate of the application exceeds the bandwidth. Please lower the frequency of calling commands in the program or application.
0x0F0069 The TIO RS485 command feedback reception time out
Type:Warning
Description
The TIO RS485 command feedback reception time out.
Reason
The TIO RS485 command feedback reception time out. This error occurs when the controller sends a TIO RS485 command and waits for too long to receive the feedback.
Action
Please check if the TIO+ communication setting is correct; Please check if the communication link between the controller and robot is normal.
0x0F006A Instruction Generation Failed
Type:Warning
Description
The MoveZS instruction generation failed during the program save process.
Reason
Incorrect parameter settings for the MoveZS instruction were detected during the program save process.
Action
Check the parameters of the MoveZS instruction in the program, and after confirming that the 'Start Position', 'End Position', and 'Any Position' are correct, resave the program.
0x0F006B The digital output port is unavailable
Type:Info
Description
The digital output port is unavailable
Reason
The digital output port [‘{0}’: Pin_‘{1}’] was set as function DO or safety DO, therefore it cannot be modified as a general DO.
Action
- Cancel the function configuration on [‘{2}’: Pin_‘{3}’];
- Do not configure the status of [‘{4}’: Pin_‘{5}’] through a command.
0x0F006C Decelerated percentage cannot be adjusted when in decelerated mode
Type:Info
Description
Decelerated percentage cannot be adjusted when in decelerated mode.
Reason
Decelerated percentage cannot be adjusted when in decelerated mode.
Action
Exit the decelerated mode first, then set the decelerated percentage of the robot.
0x0F0070 Error occurs in the validation of reading the robot's DH parameters
Type:Info
Description
Error occurs in the validation of reading the robot's DH parameters.
Reason
An error occurs when reading the CRC of the servo end DH parameters during powering on.
Action
Please power on the robot again. If this error still occurs, please upgrade the servo.
0x0F0071 Error occurs in the validation of reading the robot's dynamics parameters
Type:Info
Description
An error occurs in the validation of reading the dynamics parameters
Reason
An error occurs when reading the CRC of servo dynamics parameters.
Action
Please power on the robot again. If this error still occurs, please upgrade the servo.
0x0F0072 An error occurs when reading the servo parameters. Failed to enable the robot.
Type:Info
Description
Failed to enable the robot, for it is reading the DH or dynamics parameters from the servo.
Reason
Failed to enable the robot, for it is reading the DH or dynamics parameters from the servo. This error occurs when the robot is enabled instantly after it is powered on, which gave no time to read the DH parameters.
Action
When the robot is powered on, the controller would read DH parameters from the servo, during which the robot cannot be enabled. If this error still occurs after waiting for a while, please check the communication link between the controller and the robot. If it still occurs, please contact the technical service team.
0x0F0073 The robot has reached its momentum limit
Type:Info
Description
The robot has reached its momentum limit.
Reason
The robot has reached its momentum limit. The momentum limit can be set in Safety Settings. Warning occurs when this limit is reached.
Action
This error is a warning that doesn't need to deal with. When the absolute value of the robot's momentum exceeds the user-set threshold, the robot will automatically decelerate by rate.
0x0F0074 The robot has reached its TCP speed limit
Type:Warning
Description
The robot has reached its TCP speed limit.
Reason
The robot has reached its TCP speed limit. The TCP speed limit can be set in Safety Settings. Warning occurs when this limit is reached.
Action
This is a warning that doesn't need to deal with. It's OK to check if the TCP Speed Limit is set in Safety Settings.
0x0F0075 About to exceed the Safety Zone
Type:Info
Description
About to exceed the Safety Zone.
Reason
About to exceed the Safety Zone. The robot can only work within the safety zone that has already been set.
Action
Please confirm if the safety zone is set practically. When troubleshooting, you can disable the safety zone function or direct the robot to move within the safety zone.
0x0F0076 The version number of DH parameters in servo is invalid
Type:Warning
Description
The version number of DH parameters in servo is invalid.
Reason
The robot's kinematic parameter version is not compatible with the controller.
Action
Please upgrade the servo or downgrade the controller
0x0F0077 The version number of dynamics parameters in servo is invalid
Type:Warning
Description
The version number of dynamics parameters in servo is invalid.
Reason
The robot's dynamic parameter version is not compatible with the controller.
Action
Please upgrade the servo or downgrade the controller.
0x0F0078 You enable the servo too frequently
Type:Warning
Description
You enable the servo too frequently.
Reason
The Enable button on the App was clicked too frequently.
Action
After pressing the Enable button on the App, wait for 1 second to see if the annular light was turning from blue to green. In normal conditions, it would change from blue to green, accompanied by a "click" sound as the joints release the brakes.
0x0F0079 Unable to switch between the simulation mode and the real robot, please turn off the power.
Type:Info
Description
Unable to switch between the simulation mode and the real robot, please turn off the power.
Reason
This error occurs when the user try to switch the robot between its current status and its simulation mode while the robot is powered on and enabled.
Action
Please disable and power off the robot first, then switch the mode.
0x0F007A It does not support setting the IP addresses of two network ports in the same network segment.
Type:Info
Description
It does not support setting the IP addresses of two network ports in the same network segment.
Reason
The IP address set in the Network Settings is in the 10.5.5.X network segment, conflicting with the controller's built-in network IP address segment.
Action
The IP address in the Network Settings is not allowed to set in the 10.5.5.X network segment. Modify the IP addresses for the standard controller's bottom Ethernet port and MiniCab's LAN2 port to static IP addresses: Network configuration reference settings format: IP: 192.168.10.120 Subnet Mask: 255.255.255.0 Default Gateway: 192.168.10.1
0x0F007B About to exceed the tool orientation limit
Type:Info
Description
The robot is about to exceed its tool orientation limit.
Reason
The tool orientation limit function is enabled, and the robot is about to exceed such limit.
Action
When control the robot, please make sure it is within the tool orientation limit. Otherwise please change the limit in safety parameters.
0x0F007C Unable to switch between the simulation mode and the real robot
Type:Info
Description
Unable to switch between the simulation mode and the real robot.
Reason
The virtual machine doesn't have this function.
Action
The virtual machine doesn't have this function.
0x0F0080 Unable to switch the robot model when it's powered on
Type:Info
Description
Unable to switch the robot model when it's powered on
Reason
This error occurs when one tries to switch the robot between the simulation mode and real robot while the robot is powered on.
Action
Please disable and power off the robot first, then switch the mode.
0x0F0081 Unable to reset the password during the robot's movement
Type:Info
Description
Unable to reset the password during the robot's movement
Reason
This error occurs when the user tries to change the password while the robot is in a movement.
Action
Please stop the movement, then reset the password.
0x0F0082 Please check if the password reset button is normal for use
Type:Info
Description
Please check if the password reset button is normal for use.
Reason
The password reset button is not normal.
Action
Please check if the password reset button is normal, or contact the technical service team.
0x0F0083 Joints failed to decelerate
Type:Warning
Description
Joints failed to decelerate.
Reason
Unable to lower the joint speed in the current movement to the speed limit.
Action
Please increase the speed limit or lower the speed in the command.
0x0F0084 The P1, P2 and P3 in the circular conveyor are collinear
Type:Warning
Description
The P1, P2 and P3 in the circular conveyor are collinear.
Reason
When the three points overlap or are collinear, the coordinate system of the conveyor belt center cannot be determined.
Action
Please re-teach these three points and avoid overlapping or collinear.
0x0F0085 The tracking direction of the linear conveyor belt is zero
Type:Warning
Description
The tracking direction of the linear conveyor belt is zero.
Reason
Tracking direction cannot be determined when conveyor direction is zero.
Action
Please check the conveyor direction of the linear belt tracking command. Avoid the start point and end point of the command overlap, or the input XYZ value is all zero.
0x0F0086 Failed to get payload identification results
Type:Warning
Description
Failed to get payload identification results.
Reason
- Identification data files be missing during the identification process;
- Trajectories with and without load are inconsistent;
- The identification trajectory is too short;
Action
0x0F0087 Failed to find the optimal time planning
Type:Warning
Description
Failed to find the optimal time panning.
Reason
Unable to fine the optimal solution when using the time planning.
Action
Please try again after reducing the command speed or use a different motion planner for trajectory planning.
0x0F0088 Payload identification is only supported in floor-mounting
Type:Warning
Description
Payload identification is only supported in floor-mounting
Reason
Action
0x0F0089 Unable to resume program after emergency stop
Type:Info
Description
Trajectory recurrence does not support resuming program operation after emergency stop, and the program will be stopped after emergency stop.
Reason
Trajectory not support recovery program after emergency stop
Action
Trajectory not support recovery program after emergency stop
0x0F008A Failed to set digital output
Type:Info
Description
Conflicting input/output type of the IO pin set for digital output.
Reason
Digital output cannot be set when the IO pin is of input type.
Action
Please confirm that the operated IO pin is of output type before setting the digital output again.
0x0F008B Failed to execute: skip motion command by obtaining digital input signal
Type:Info
Description
Abnormal digital input signal received, unable to skip motion commands based on the signal status of this IO pin.
Reason
Digital input cannot be obtained when the IO pin is of output type.
Action
Please confirm that the operated IO pin is of input type before executing the operation to skip motion commands based on the input signal.
0x0F008C IO index out of range
Type:Info
Description
IO index out of range, related IO operation is invalid.
Reason
Action
0x0F008E Operation to set safety parameters is denied
Type:Info
Description
Operation to set safety parameters is denied.
Reason
Setting safety IO related functions is prohibited when the robot is powered on.
Action
Please power off the robot before setting safety IO functions.
0x0F0090 Unable to switch between manual/automatic mode while the program is running
Type:Warning
Description
Unable to switch between manual/automatic mode while the program is running.
Reason
Unable to switch between manual/automatic mode while the program is running.
Action
Please stop the program before switching operation mode.
0x0F0091 Unable to switch between manual/automatic mode during robot movement
Type:Warning
Description
Unable to switch between manual/automatic mode during robot movement.
Reason
Unable to switch between manual/automatic mode during robot movement.
Action
Please stop the movement before switching operation mode.
0x0F0092 Cannot trigger this DI function in manual mode
Type:Warning
Description
Cannot trigger this DI function in manual mode.
Reason
Cannot trigger this DI function in manual mode.
Action
Manual mode does not support this function. Please switch mode and try again.
0x0F0093 Cannot trigger this DI function in auto mode
Type:Warning
Description
Cannot trigger this DI function in auto mode.
Reason
Cannot trigger this DI function in auto mode.
Action
Auto mode does not support this feature. Please switch modes and try again.
0x0F0094 Unable to switch between manual/automatic mode when robot is in drag mode.
Type:Warning
Description
Unable to switch between manual/automatic mode when robot is in drag mode.
Reason
Unable to switch between manual/automatic mode when robot is in drag mode.
Action
Please exit drag mode before switching operation mode.
0x0F0095 Failed to start the program
Type:Info
Description
Failed to start the program.
Reason
The signal to start the program cannot be automatically triggered in manual mode.
Action
0x0F0096 Auto Start Program function set incorrectly.
Type:Info
Description
Incorrect function setting
Reason
To automatically load and run the configured default program after triggering the automatic run program signal in auto mode, it is necessary to correctly configure the 'Default Program' and enable 'Default Program Auto-Load'.
Action
1.On the 'Settings'->'Program Settings' page, set the correct 'Default Program' and enable 'Default Program Auto-Load' 2.'Default program' cannot be 'none'.
0x0F0097 Incorrect function setting
Type:Info
Description
Incorrect function setting
Reason
Both 'Default Program' and 'Default Program Auto-Load' need to be either set or not set together. When both are set, triggering the automatic run program signal will automatically load and run the configured 'Default Program'; when both are not set, triggering the automatic run program signal will run the currently opened program.
Action
1.Correctly set 'Default Program' and 'Default Program Auto-Load' on the 'Settings'->'Program Settings' page. 2.'Default program' cannot be 'none'.
0x0F0098 Failed to auto-enable
Type:Info
Description
Failed to auto-enable
Reason
The auto-enable signal cannot be automatically triggered in manual mode
Action
0x0F0099 Command Execution Failed
Type:Info
Description
The command cannot be executed while the robot is powered on. Target command: ‘{0}’
Reason
The command cannot be executed while the robot is powered on.
Action
Please power off the robot and then re-execute the command '‘{1}’'.
0x0F0100 Exceeded power limit of the robot
Type:Warning
Description
Exceeded power limit of the robot.
Reason
The Power Limit in Collision Processing Settings is lower than the needed power limit of the robot.
Action
Increase the value of Power Limit according to this standard: for JAKA robot with 3kg payload, the power limit should be 1000; 5kg/7kg, 1500; 12kg, 2000; 18kg, 2000.
0x0F0101 Exceeded momentum limit of the robot
Type:Warning
Description
Exceeded momentum limit of the robot.
Reason
The Momentum Limit in Collision Processing Settings is lower than the needed momentum of the robot.
Action
Increase the value of Momentum Limit according to this standard: for JAKA robot with 3kg payload, the momentum limit should be 5; 5kg/7kg, 10; 12kg, 30; 18kg, 50.
0x0F0102 Collision detected by the base sensor
Type:Warning
Description
Collision detected by the base sensor.
Reason
For the SP robot, this error occurs when the signal of its base sensor suddenly increased to a level that exceeds its threshold while it is powered on.
Action
- Check if the robot has collided with any surrounding equipments.
- Check if the robot was restricted by any wires during its movement.
- Try to lower the robot's acceleration.
- Check if the payload on the robot end is correct.
- Try to decrease the restriction level of collision in Collision Settings.
0x0F0103 Force on the robot end exceeded limits. Collision detected on Joint 1
Type:Warning
Description
Force on the robot end exceeded limits. Collision detected on Joint 1.
Reason
When the robot is running a command, if its joint current suddenly increases beyond the set threshold, it triggers a warning.
Action
- Check if the robot has collided with any surrounding equipments.
- Check if the robot was restricted by any wires during its movement.
- Try to lower the robot's acceleration.
- Check if the payload on the robot end is correct.
- Try to decrease the restriction level of collision in Collision Settings.
0x0F0104 Force on the robot end exceeded limits. Collision detected on Joint 2
Type:Warning
Description
Force on the robot end exceeded limits. Collision detected on Joint 2.
Reason
When the robot is running a command, if its joint current suddenly increases beyond the set threshold, it triggers a warning.
Action
- Check if the robot has collided with any surrounding equipments.
- Check if the robot was restricted by any wires during its movement.
- Try to lower the robot's acceleration.
- Check if the payload on the robot end is correct.
- Try to decrease the restriction level of collision in Collision Settings.
0x0F0105 Force on the robot end exceeded limits. Collision detected on Joint 3
Type:Warning
Description
Force on the robot end exceeded limits. Collision detected on Joint 3.
Reason
When the robot is running a command, if its joint current suddenly increases beyond the set threshold, it triggers a warning.
Action
- Check if the robot has collided with any surrounding equipments.
- Check if the robot was restricted by any wires during its movement.
- Try to lower the robot's acceleration.
- Check if the payload on the robot end is correct.
- Try to decrease the restriction level of collision in Collision Settings.
0x0F0106 Force on the robot end exceeded limits. Collision detected on Joint 4
Type:Warning
Description
Force on the robot end exceeded limits. Collision detected on Joint 4.
Reason
When the robot is running a command, if its joint current suddenly increases beyond the set threshold, it triggers a warning.
Action
- Check if the robot has collided with any surrounding equipments.
- Check if the robot was restricted by any wires during its movement.
- Try to lower the robot's acceleration.
- Check if the payload on the robot end is correct.
- Try to decrease the restriction level of collision in Collision Settings.
0x0F0107 Force on the robot end exceeded limits. Collision detected on Joint 5
Type:Warning
Description
Force on the robot end exceeded limits. Collision detected on Joint 5.
Reason
When the robot is running a command, if its joint current suddenly increases beyond the set threshold, it triggers a warning.
Action
- Check if the robot has collided with any surrounding equipments.
- Check if the robot was restricted by any wires during its movement.
- Try to lower the robot's acceleration.
- Check if the payload on the robot end is correct.
- Try to decrease the restriction level of collision in Collision Settings.
0x0F0108 Force on the robot end exceeded limits. Collision detected on Joint 6
Type:Warning
Description
Force on the robot end exceeded limits. Collision detected on Joint 6.
Reason
When the robot is running a command, if its joint current suddenly increases beyond the set threshold, it triggers a warning.
Action
- Check if the robot has collided with any surrounding equipments.
- Check if the robot was restricted by any wires during its movement.
- Try to lower the robot's acceleration.
- Check if the payload on the robot end is correct.
- Try to decrease the restriction level of collision in Collision Settings.
0x0F0109 Inappropriate choice of points to set safety zone
Type:Warning
Description
The points chosen for setting safety zone cannot be collinear or repetitive
Reason
The setting of safety zone requires three points to locate its range, and one safety point to decide the working space of the robot. The three range-locating points are within the Cartesian coordinate system, while the safety point has to be outside the safety zone. This error occurs when the range-locating points are repetitive or collinear, or when the safety point is one the safety zone.
Action
Please check if these three chosen points are repetitive or collinear, and if the safety point is on the safety zone.
0x0F0110 Unable to set the dynamics parameters
Type:Warning
Description
The dynamics parameters can only be set when the robot is powered on but disabled.
Reason
The robot is still enabled, or not powered on yet.
Action
Please check the robot, try to power on but disable it.
0x0F0111 The setting of dynamics parameters was interrupted
Type:Warning
Description
The setting of dynamics parameters was interrupted
Reason
When setting the dynamics, error of the CAN communication between the robot and control cabinet occurs.
Action
- Please try to disable and power off the robot, and power on it again.
- Please check the connection cable between the robot and the controller to see if everything is OK.
0x0F0112 The dynamics parameters setting timeout
Type:Warning
Description
The dynamics parameters setting timeout
Reason
When setting the dynamics, error of the CAN communication between the robot and control cabinet occurs.
Action
- Please try to disable and power off the robot, and power on it again.
- Please check the connection cable between the robot and the control cabinet to see if everything is OK.
0x0F0113 The control cabinet is incompatible
Type:Info
Description
The control cabinet is incompatible.
Reason
Controller whose version is newer than 1.7.1 will no longer support ‘{0}’.
Action
Please downgrade the controller to the matched version, such as v1.5.
0x0F0114 Unable to identify when the robot is disabled
Type:Info
Description
Unable to identify when the robot is disabled.
Reason
Unable to identify when the robot is disabled.
Action
Please enable the robot first, then identify.
0x0F0115 Failed to get the IP address from the bottom or LAN2 port
Type:Warning
Description
Failed to get the IP address from the bottom or LAN2 port.
Reason
Failed to get the IP address from the bottom or LAN2 port.
Action
Please check the connection status of the bottom or LAN2 port. The virtual machine is failing to acquire an IP, temporarily unable to obtain/set an IP from the virtual machine.
0x0F0116 The amount of AddOn packages have exceeded the limit
Type:Warning
Description
You can only have no more than 10 AddOn packages
Reason
You can only have no more than 10 AddOn packages
Action
Please delete some AddOn packages to install new ones.
0x0F0117 The AddOn service does not exist
Type:Warning
Description
The service files in AddOn configuration does not exist.
Reason
The service files in AddOn configuration does not exist.
Action
Please check if the service files in AddOn packages exist.
0x0F0118 Failed to check the available port numbers for the AddOn
Type:Warning
Description
Failed to check the available port numbers for the AddOn.
Reason
Failed to check the available port numbers for the AddOn.
Action
Please save the diagnostic log, and contact the technical service team.
0x0F0119 Failed to distribute AddOn port numbers
Type:Warning
Description
Failed to distribute AddOn port numbers.
Reason
Failed to distribute AddOn port numbers.
Action
- Please restart the control cabinet and try again.
0x0F011A Failed to operate the AddOn package
Type:Warning
Description
Failed to operate the AddOn package while it is running.
Reason
Failed to operate the AddOn package while it is running.
Action
Failed to operate the AddOn package while it is running.
0x0F011B Unable to stop the AddOn
Type:Warning
Description
Unable to stop the AddOn since it's already stopped.
Reason
Unable to stop the AddOn since it's already stopped.
Action
Unable to stop the AddOn since it's already stopped.
0x0F011C Unknown AddOn operation
Type:Warning
Description
This operation is not supported
Reason
This operation is not supported
Action
Please upgrade the AddOn kit to the matched version of the controller.
0x0F011D The AddOn port is occupied
Type:Warning
Description
The AddOn port is occupied.
Reason
The AddOn port is occupied.
Action
- Please try to restart the controller to see if this could be solved.
- Please save the diagnostic log, and contact the technical service team.
0x0F011E Unknown AddOn error
Type:Warning
Description
Unknown AddOn error.
Reason
Unknown AddOn error.
Action
Please save the diagnostic log, and contact the techinical service team.
0x0F011F Unauthorized operation on the SystemAddOn
Type:Warning
Description
Unable to operate the SystemAddOn.
Reason
Unable to operate the SystemAddOn.
Action
Unable to operate the SystemAddOn.
0x0F0120 Unable to operate the AddOn for it's ineffective
Type:Warning
Description
This AddOn is ineffective, therefore cannot be operated.
Reason
- The AddOn version is outdated.
- The AddOn format is incorrect.
Action
Please check if the AddOn package is valid, and re-install it.
0x0F0121 Invalid configuration files in AddOn
Type:Warning
Description
The config.ini files of the AddOn are invalid.
Reason
The config.ini files of the AddOn are invalid.
Action
Please contact the AddOn developer for the valid AddOn package, and re-install.
0x0F0122 Invalid configuration files in AddOn
Type:Warning
Description
The necessary configurations of the AddOn are missed.
Reason
- The necessary configuration for the AddOn convention 2.0/3.0 is [convention,description,version,type,languagetype,service,serviceenabled]
- The necessary configuration for the AddOn convention 1.0 is [binname,description,version,enabled,type]
Action
Please contact the AddOn developer to check if any necessary configuration is missed.
0x0F0123 Invalid configuration files in AddOn
Type:Warning
Description
Wrong AddOn port
Reason
Unused error
Action
Unused error
0x0F0124 Invalid configuration files in AddOn
Type:Warning
Description
The Language of the AddOn configuration file is invalid.
Reason
- AddOn convention 3.0 supports language[javascript,python2,python,node-red].
- AddOn convention 2.0 supports language[javascript,python2,python].
- AddOn convention 1.0 supports language[python].
Action
Please check if the convention in the AddOn package supports corresponding language type.
0x0F0125 Invalid configuration files in AddOn
Type:Warning
Description
The Type of the AddOn configuration file is invalid.
Reason
AddOn convention 2.0/3.0 supports Type [1. Customer command; 2. Customer service; 3. Customer UI]
Action
Please contact the AddOn developer to check if the AddOn package supports corresponding Type.
0x0F0126 Invalid configuration files in AddOn
Type:Warning
Description
The serviceenabled of the AddOn configuration file is invalid.
Reason
The serviceenabled should be 0 or 1.
Action
Please contact the AddOn developer to check if the serviceenabled in the AddOn package configuration meets the standard.
0x0F0127 Invalid configuration files in AddOn
Type:Warning
Description
The Service of the AddOn configuration file is invalid.
Reason
- The Service in configuration is missing.
- The Service in configuration cannot be empty and its number of bytes cannot exceed 50.
Action
- Please check if the Service in configuration exist.
- Please check if the number of bytes of the Service in configuration.
0x0F0128 The configuration file in AddOn is invalid or the AddOn directory name is invalid
Type:Warning
Description
The configuration file in AddOn is invalid or the AddOn directory name is invalid.
Reason
- The Name in the AddOn configuration file cannot be empty or longer than 40 bytes.
- The name of the AddOn directory cannot be longer than 40 bytes.
Action
Please contact the AddOn developer to modify the name in AddOn configuration or the AddOn directory name.
0x0F0129 Invalid configuration files in AddOn
Type:Warning
Description
The Description of the AddOn configuration file is invalid.
Reason
The Description in configuration cannot be longer than 40 bytes.
Action
Please contact the AddOn developer to modify the Description in AddOn configuration.
0x0F012A Invalid configuration files in AddOn
Type:Warning
Description
The URL format in the AddOn configuration file is invalid.
Reason
The URL format in the AddOn configuration file is invalid.
Action
Please contact the AddOn developer to modify the URL format in AddOn configuration.
0x0F012B Invalid configuration files in AddOn
Type:Warning
Description
The Convention of the AddOn configuration file is invalid.
Reason
The current version of AddOn convention is not matched with the controller.
Action
- Please contact the AddOn developer to see if the Convention of configuration is correct.
- Please change to another version of controller that supports this AddOn.
0x0F012C Error occurs in the AddOn package
Type:Warning
Description
The AddOn package is damaged or cannot be recognized.
Reason
The AddOn package is damaged or cannot be recognized.
Action
Please check to see if the AddOn package is still valid, then install again.
0x0F012D Error occurs in the AddOn package
Type:Warning
Description
Failed to install the AddOn package.
Reason
The configuration of the system or the code is incorrect.
Action
- Please contact the technical service team to change the version of controller.
- Please contact the technical service team to change the system mirror.
0x0F012E Error occurs in the AddOn package
Type:Warning
Description
Failed to unzip the AddOn package
Reason
Currently it only supports the AddOn package in the format of AddOn.tar.gz
Action
- Please check if the format is correct.
- Please check if the package is damaged.
0x0F012F Error occurs in the AddOn package
Type:Warning
Description
Another AddOn package is installing.
Reason
Another AddOn package is installing.
Action
- Please wait for the installation to complete.
- Please restart the controller then try again.
0x0F0130 No AddOn is installing now
Type:Warning
Description
No AddOn is installing now.
Reason
No AddOn is installing now.
Action
The installation process cannot be checked since no AddOn is being installed now.
0x0F0131 Error occurs in the AddOn package
Type:Warning
Description
The AddOn package is zipped wrongly.
Reason
The system is busy, unable to read the corresponding files.
Action
- Please wait for a while.
- Please contact the technical service team.
0x0F0132 Timeout occurs when zipping or unzipping the AddOn package
Type:Warning
Description
Timeout occurs when zipping or unzipping the AddOn package.
Reason
Too many files in the AddOn package or the AddOn file is too large.
Action
- Please wait for a while and try again.
- Use other version of controller to export.
0x0F0133 Error occurs in the AddOn package
Type:Warning
Description
Some files are missing in the AddOn package.
Reason
- Please confirm if the config.ini file is missing.
- Please confirm if any other necessary file is missing.
- Please confirm if the file directory is recognizable.
Action
Please contact the AddOn developer to get a correct AddOn package, then try again.
0x0F0134 Program sharing successful
Type:Warning
Description
Program sharing successful.
Reason
Action
From: ‘{0}’ To : ‘{1}’
0x0F0135 Program sharing failed
Type:Warning
Description
Program sharing failed. From: ‘{0}’ To : ‘{1}’
Reason
The reason might be:
- The shared program file path is incorrect, or the program file is incomplete.
- The shared program file already exists in the target controller.
- The controller cannot access the IP address of the target controller.
Action
- Confirm that there is no program file of the same name on the target controller.
- Confirm that the current controller (not the host computer that installed the App) can successfully access the target controller.
- Confirm if the shared program file is complete (none of the files and subdirectories are missing).
0x0F0140 Exceeded the soft limit of the set force
Type:Warning
Description
Exceeded the soft limit of the set force.
Reason
Exceeded the soft limit of the set force.
Action
Please confirm if the robot end has collided with other object.
0x0F0141 Exceeded the maximum range of the sensor
Type:Warning
Description
Exceeded the maximum range of the sensor.
Reason
Exceeded the maximum range of the sensor.
Action
- Please confirm if the robot end has collided with other object; the sensor might be severely damaged after violent collision, which can be irreversible.
0x0F0142 Profinet communication in unenabled state
Type:Info
Description
Profinet communication in unenabled state
Reason
If Profinet communication is not enabled, the relevant IO cannot be operated.
Action
Please enable Profinet communication first, and then operate the IO.
0x0F0143 EtherNet/IP communication in unenabled state
Type:Info
Description
EtherNet/IP communication in unenabled state
Reason
If EtherNet/IP communication is not enabled, the relevant IO cannot be operated.
Action
Please enable EtherNet/IP communication first, and then operate the IO.
0x0F0150 Failed to inquire the SCB's hardware version
Type:Info
Description
Failed to identify the SCB's hardware version when starting the controller.
Reason
Communication timeout.The SCB's CAN communication was unusual and timed out.
Action
- Please check the CAN communication of the SCB.
- Please check if the SCB version is matched with the controller. 3.If the problem persists after checking, please contact JAKA technical service team.
0x0F0151 Failed to configure the SCB safety function DI
Type:Info
Description
Failed to configure the SCB safety function DI.
Reason
- The function cannot be configured on the current SCB version.
- Error occurs in the SCB's CAN communication.
Action
- Please check if the SCB version is matched with the controller.
- Please check the SCB's CAN communication.
- If the problem persists after checking, please contact JAKA technical service team.
0x0F0152 Failed to configure the SCB safety function DO
Type:Info
Description
Failed to configure the SCB safety function DO.
Reason
- This function cannot be configured on the current SCB version.
- Error occurs in the SCB's CAN communication.
Action
- Please check if the SCB version is matched with the controller.
- Please check the SCB's CAN communication.
- If the problem persists after checking, please contact JAKA technical service team.
0x0F0153 Failed to configure the SCB power limit
Type:Info
Description
Failed to configure the SCB power limit.
Reason
- The current SCB version does not support to configure this function.
- Error occurs in the SCB's CAN communication.
Action
- Please check the SCB's CAN communication.
- Please check if the SCB version is matched with the controller.
- If the problem persists after checking, please contact JAKA technical service team.
0x0F0154 Failed to synchronize the tool coordinate system to the SCB
Type:Info
Description
Failed to synchronize the tool coordinate system to the SCB.
Reason
Communication timeout. The SCB's CAN communication was unusual and timed out.
Action
- Please check the CAN communication of the safety controller.
- Please check if the SCB version is matched with the controller.
- If the problem persists after checking, please contact JAKA technical service team.
0x0F0155 Failed to configure the control cabinet's serial number
Type:Info
Description
Failed to configure the control cabinet's serial number.
Reason
- This function cannot be configured on the current SCB version.
- Error occurs in the SCB's CAN communication.
Action
- Please check the SCB's CAN communication.
- Please check if the SCB version is matched with the controller.
- If the problem persists after checking, please contact JAKA technical service team.
0x0F0156 Failed to configure the output voltage of the control cabinet
Type:Info
Description
Failed to configure the output voltage of the control cabinet.
Reason
- This function cannot be configured on the current SCB version.
- Error occurs in the SCB's CAN communication.
Action
- Please check the SCB's CAN communication.
- Please check if the SCB version upgrade is matched with the controller. 3.If the problem persists after checking, please contact JAKA technical service team.
0x0F0157 Failed to configure the SCB stopping time
Type:Info
Description
Failed to configure the SCB stopping time.
Reason
- This function cannot be configured on the current SCB version.
- Error occurs in the SCB's CAN communication.
Action
- Please check the SCB's CAN communication.
- Please check if the SCB version is matched with the controller.
- If the problem persists after checking, please contact JAKA technical service team.
0x0F0158 Failed to configure the SCB stopping distance
Type:Info
Description
Failed to configure the SCB stopping distance.
Reason
- This function cannot be configured on the current SCB version.
- Error occurs in the SCB's CAN communication.
Action
- Please check the SCB's CAN communication.
- Please check if the SCB version is matched with the controller.
- If the problem persists after checking, please contact JAKA technical service team.
0x0F0159 Failed to configure the SCB TCP drag speed limit
Type:Info
Description
Failed to configure the SCB TCP drag speed limit.
Reason
- The current SCB version does not support to configure this function.
- Error occurs in the CAN communication of the SCB.
Action
- Please check the CAN communication of the SCB. 2.Please check if the SCB version upgrade is the specified matching version. 3.If the problem persists after checking, please contact JAKA technical service team.
0x0F0160 Failed to send controller version number to safety controller board
Type:Info
Description
Failed to send controller version number to safety controller board.
Reason
Version number sent to the safety controller board without receiving feedback. Safety controller board's CAN communication timed out.
Action
- Please check if the safety controller board version is matched with the controller.
- If matched, please check the safety controller board's CAN communication circuit.
- If the problem still exists after checking, please contact JAKA technical service team.
0x0F0161 The safety controller board version is too low
Type:Info
Description
The safety controller board version is too low, and not all safety functions can be supported.
Reason
The safety controller board version is too low, and not all safety functions can be supported.
Action
Using a mismatched safety controller board version may lead to unknown safety risks. Please upgrade the safety controller board to ensure it is matched with the controller.
0x0F0170 Conflicting safety parameters
Type:Info
Description
<0> conflicts with <1>
Reason
<0><2><1>
Action
<0>：‘{0}’ <1>：‘{1}’ When setting safety parameters, please ensure that <0> <3> <1>.
0x0F0171 Payload configuration error. Cannot enable the robot.
Type:Info
Description
Payload configuration parameters are abnormal, the robot cannot be enabled.
Reason
Robot serial number: ‘{0}’ Maximum payload parameter: ‘{1}’ Minimum payload parameter: ‘{2}’ Current payload parameter: ‘{3}’
Action
Please set the payload parameters within the suitable range for this model and then enable the robot.
0x0F0172 Incorrect payload configuration parameter value
Type:Info
Description
The value of the payload configuration parameter exceeds the range of this model.
Reason
Robot serial number: ‘{0}’ Maximum payload parameter: ‘{1}’ Minimum payload parameter: ‘{2}’ Set payload parameters: ‘{3}’
Action
Please reset the payload parameters to fit within the range of this model.
0x0F1001 Enable timeout, please power on again
Type:Warning
Description
Enable timeout, please power on again.
Reason
When the robot is powering up, if the electromagnet failed to engage, this error will occur.
Action
- Please try to power off the robot first, then power on and enable it again.
- Please confirm if there is anything wrong with the electromagnet, or contact the technical service team.
0x0F1002 Servo version number query timeout
Type:Warning
Description
Servo version number query timeout.
Reason
This error occurs when the CAN communication between the robot and control cabinet is not normal.
Action
- Please try to disable and power off the robot, then power on and enable it again.
- Please check the connection cable between the robot and control cabinet to see if everything is okay.
0x0F2000 Syntax error in programming file
Type:Warning
Description
Syntax error in programming file.
Reason
Some parameters in the program are not normal or undefined, making the controller unable to process.
Action
- Please check the initial value of the variable used in the program.
- Please check the interaction data of the communication connection variable.
0x0F2001 No programming files opened
Type:Warning
Description
No programming files opened.
Reason
No program is loading or running.
Action
- Set default program for startup.
- Open the corresponding program in the programming interface, then click Run.
0x0F2002 Failed to open the programming file
Type:Warning
Description
Failed to open the programming file. Target file:‘{0}’
Reason
Possible reasons:
- The default program for startup is missing.
- The saved program file is incomplete.
- The input program file path is incorrect.
Action
- Re-select the program to be loaded by default at startup in Settings.
- Re-save the program in Programming before reopening it.
- Check if the file paths in the program script instructions are correct.
0x0F2003 Failed to close the programming file
Type:Warning
Description
Failed to close the programming file.
Reason
Abandon
Action
Please check if the controller is a debugging version, or contact the technical service team for detailed information on this error code.
0x0F2004 Program backup is successful
Type:Warning
Description
Program backup is successful.
Reason
Action
From: ‘{0}’ To: ‘{1}’
0x0F2005 Automatic program backup failed
Type:Warning
Description
Automatic program backup failed. From: ‘{0}’ To: ‘{1}’
Reason
Possible reasons:
- Permission denied, failed to write to file.
- Program file damaged.
- Insufficient disk space or disk read/write errors.
Action
- Manually back up the program on the App programming page.
- Check if there is any missing content in the program, and see if it can be saved normally after opening the program.
- Contact technical service team to check directory permissions and disk status.
0x0F2010 Syntax error
Type:Warning
Description
Syntax error
Reason
Unmatched keywords, like: if, end, break, continue. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Check the script files, especially manually written script subroutines, to see if are any unmatched keywords.
0x0F2011 PyCall() failed
Type:Warning
Description
PyCall() failed
Reason
The called Python script has a syntax error. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the called Python script.
0x0F2012 Parsing assertion failed
Type:Warning
Description
Parsing assertion failed.
Reason
The motion parameters are inappropriate. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the motion parameters.
0x0F2013 Parsing failed, the arc radius is zero
Type:Warning
Description
Parsing failed, the arc radius is zero.
Reason
The points chosen for the MoveC are inappropriate, so the robot failed to plan a trajectory. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if the points in the MoveC trajectory are appropriate. If not, please reset the points.
0x0F2014 Parsing failed, the syntax has errors
Type:Warning
Description
Parsing failed, the syntax has errors.
Reason
There is a data format exception in the variable interaction command (assignment command). The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check for any data format exceptions within the variable interaction commands (assignment commands) in the program.
0x0F2015 The network connection has failed
Type:Warning
Description
The network connection has failed.
Reason
Failed to create SOCKET. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Check the script according to the error.
0x0F2016 Failed to connect to the server
Type:Warning
Description
Failed to connect to the server.
Reason
The server has disconnected during Socket communication. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please check if the server for the Socket communication is closed.
- Please attempt to establish network connection (ping) with the Socket communication server.
- Please check if there is anything wrong in the Ethernet connection between the electrical control cabinet and the Socket communication server.
- Please check if the firewall on the Socket communication server is disabled.
0x0F2017 Communication failed, unable to connect to the server
Type:Warning
Description
Communication failed, unable to connect to the server.
Reason
When executing the command to read visual parameters, the camera is not connected. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please check if the server for the Socket communication is closed.
- Please attempt to establish network connection (ping) with the Socket communication server.
- Please check if there is anything wrong in the Ethernet connection between the electrical control cabinet and the Socket communication server.
- Please check if the firewall on the Socket communication server is disabled.
0x0F2018 TCP/IP failed to receive data
Type:Warning
Description
TCP/IP failed to receive data.
Reason
The controller failed to receive data from the camera. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- The camera is disconnected;
- Please check if the connection cable between the controller and the camera is functioning normally.
0x0F2019 TCP/IP failed to send data
Type:Warning
Description
TCP/IP failed to send data.
Reason
The controller failed to send data to the camera. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please check if the server for the Socket communication is closed.
- Please attempt to establish network connection (ping) with the Socket communication server.
- Please check if there is anything wrong in the Ethernet connection between the electrical control cabinet and the Socket communication server.
- Please check if the firewall on the Socket communication server is disabled.
0x0F201A Failed to load the 2D visual configuration
Type:Warning
Description
Failed to load the 2D visual configuration.
Reason
Abandon
Action
Please check if the controller is a debugging version, or contact the technical service team for detailed information on this error code.
0x0F201B Internal error
Type:Warning
Description
Internal error.
Reason
Internal error in the script parser. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the following situations according to the error log information:
- The parameters in sscanf command are incorrect.
- The read-only variables were wrote.
0x0F201C Syntax error occurs in the command program
Type:Warning
Description
Syntax error occurs in the command program.
Reason
Abandon
Action
Please check if the controller is a debugging version, or contact the technical service team for detailed information on this error code.
0x0F201D Syntax error occurs in the command program
Type:Warning
Description
Syntax error occurs in the command program.
Reason
Abandon
Action
Please check if the controller is a debugging version, or contact the technical service team for detailed information on this error code.
0x0F201E Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Error occurs in the code parameters The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if the code is correct, then operate.
0x0F201F Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Unrecognized command The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Check the script for Move command, especially the manually written ones.
0x0F2020 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Error occurs in the move command parameters The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the corresponding Move command according to the error information.
0x0F2021 The method shouldn't be called
Type:Warning
Description
The method shouldn't be called.
Reason
Unsupported code command was used in the MoveC. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if the function IO is continuously connected. Usually,
0x0F2022 Unknown operation
Type:Warning
Description
Unknown operation
Reason
The script program is using unsupported operators. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if any symbols other than the following operators are used, based on the error message: +, -, /, *, **, and, mod, or, xor，]
0x0F2023 Wrong data format
Type:Warning
Description
Wrong data format
Reason
The format of the defined variables is incorrect. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please correct the format first, then operate.
0x0F2024 Undefined parameters
Type:Warning
Description
Undefined parameters.
Reason
- Inconsistency between socket definition and the one used for sending in communication.
- Data assignment wasn't following the specified format. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please check the communication command in the program. Make sure all the using ports are open.
- Check the data assignment command. Strings need double quotation marks, and arrays need to be enclosed in square brackets.
0x0F2025 Failed to open file
Type:Warning
Description
Failed to open file
Reason
- The format is incorrect.
- The name of the file is too long. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please check the file's format. If it's incorrect, please correct it.
- Please check if the name of the file is too long. If so, please shorten it to the valid length.
0x0F2026 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
The ini parameters in the program are not defined in the ini file. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if the ini parameter names are correct.
0x0F2027 Insufficient memory
Type:Warning
Description
Insufficient memory
Reason
Not enough memory to store the string. The error occurred in file: ‘{0}’ line: ‘{1}’
Action
- Please restart the control cabinet and re-run the program.
- If this error continues to occur, please record it and contact the technical service team.
0x0F2028 Incorrect return value type
Type:Warning
Description
Incorrect return value type.
Reason
Unmatched return value type of the function. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the variable definition types and return value types to ensure that the return value's type is correct before proceeding with the task.
0x0F2029 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
There are too many layers of subroutine nested calls. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check whether the subroutine calls in the job program are nested in too many layers (it is recommended that the number of nested layers is less than 10).
0x0F202A Unable to add parameters
Type:Warning
Description
Unable to add parameters
Reason
Parameter assignment exception. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the following situations:
- If the parameter name is right;
- If the parameter type is right.
0x0F202B Error occurs in user-defined content
Type:Warning
Description
Error occurs in user-defined content
Reason
User-defined parameter error The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the variable's parameter.
0x0F202C Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
It is expected to read an integer value (such as an array index), but the script is provided with a non-integer parameter. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
There's a wrong setting in the step value parameter for character-related commands. Please set a reasonable step value. (The step value can only be integer)
0x0F202D Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Unknown character appears in keywords. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the keywords in the operated program.
0x0F202E Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Unknown operator The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the syntax in the operated program: The expressions within () do not support standalone &, |, !, =. They must be as follows: &&， ||， !=， ==
0x0F202F Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Incomplete expression The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the expression of the line that occurred this error.
0x0F2030 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F2031 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F2032 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F2033 The command is too long
Type:Warning
Description
The command is too long.
Reason
The script command and parameters are too long. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
The total length of single-line script instructions and parameters should not exceed 255 bytes (512 bytes in the latest version).
0x0F2034 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Error occurred while saving system variables. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please check the system variable file jaka_user.var
- Please check the system variable file to see if the variable index is stored by sequence.
0x0F2035 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Undefined command parameter. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if the parameters in the script are correct.
0x0F2036 Unable to open file
Type:Warning
Description
Unable to open file.
Reason
Unable to open file or folder. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please check if the folder or file path is correct;
- Please check if the authority to open the folder or file is correct;
- Please check if the file is damaged.
0x0F2037 Repetitive definition
Type:Warning
Description
Repetitive definition
Reason
Script interpreter keyword mapping error. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
An internal system error. Please record the error and the operated program, and contact the technical service team.
0x0F2038 Syntax error occurs in the operated program
Type:Warning
Description
Syntax error occurs in the operated program.
Reason
Script interpreter keyword mapping error. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
An internal system error. Please record the error and the operated program, and contact the technical service team.
0x0F2039 Repeatedly open files
Type:Warning
Description
Repeatedly open files
Reason
Unable to open files The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please check if the folder or file path is correct;
- Please check if the authority to open the folder or file is correct;
- Please check if the file is damaged.
0x0F203A Unmatched 'end' keywords
Type:Warning
Description
There are unmatched 'end' keywords in the script program.
Reason
There are unmatched 'end' keywords in the script program. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the 'end' keywords in the script program
0x0F203B Failed to create thread
Type:Warning
Description
Too many created threads.
Reason
It allows to run 5 threads at the same time at most. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Wait for the thread to end, or destroy this thread and create another one.
0x0F203C Failed to create thread
Type:Warning
Description
Failed to create thread.
Reason
This thread was already created, you don't have to create it again. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Wait for the thread to end, or destroy this thread and create another one.
0x0F203D Unmatched keywords
Type:Warning
Description
Unmatched "elif"
Reason
There is an "elif" but isn't a matched "if". The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the if statement block in the script program.
0x0F203E Unmatched keywords
Type:Warning
Description
Unmatched "else"
Reason
There is an "else" but isn't a matched "if". The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the "if" statement block in the script program.
0x0F203F Unmatched keywords
Type:Warning
Description
Unmatched "break"
Reason
There is a "break" but isn't a matched "while". The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the "while" statement block in the script program.
0x0F2040 Unmatched keywords
Type:Warning
Description
Unmatched "continue"
Reason
There is a "continue" but isn't a matched "while". The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the "while" statement block in the script program.
0x0F2041 Unmatched keywords
Type:Warning
Description
Unmatched "return"
Reason
There is a "return" but isn't a matched "sub". The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the "sub" statement block in the script program.
0x0F2042 Failed to read the TIO signals
Type:Warning
Description
Failed to read the TIO signals.
Reason
Undefined signals.
Action
Please define before accessing, or check the spelling.
0x0F2043 Failed to add system variables
Type:Warning
Description
Failed to add system variables.
Reason
The variable index is out of range.
Action
The variable index should be within 1-5601.
0x0F2050 Invalid SOCKET id
Type:Warning
Description
Invalid SOCKET id
Reason
Abandon
Action
0x0F2051 Failed inverse kinematics calculation
Type:Warning
Description
Failed inverse kinematics calculation
Reason
Inverse kinematics calculation was used in the program, and the calculation has failed. It might be related to the specified reference joint angles and the end-effector pose for the solution. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
JOG to check if it's possible to use MoveJ to move to the target point through Cartesian space. If so, consider altering the current robot's pose by exploring alternative trajectories or poses to reach the target point, or modifying the target point's pose.
0x0F2052 Forward kinematics calculation failed
Type:Warning
Description
Forward kinematics calculation failed
Reason
Forward kinematics calculation was used in the program, and the calculation has failed. It might be related to parameters of the set joint angle values. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
JOG to check if it's possible to use MoveJ to move to the target point through Cartesian space. If so, consider altering the current robot's pose by exploring alternative trajectories or poses to reach the target point, or modifying the target point's pose.
0x0F2053 Wrong data received by the TCP/IP communication
Type:Warning
Description
Wrong data received by the TCP/IP communication.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x0F2054 Invalid array variable
Type:Warning
Description
Invalid array variable
Reason
The array variable is undefined, or the variable is not an array type. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if the array variable corresponding to the error line of the script program is used correctly.
0x0F2055 Invalid array variable index
Type:Warning
Description
Invalid array variable index
Reason
The array index value is beyond the array's range. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if the array index corresponding to the error line of the script program is used correctly.
0x0F2056 Invalid pose interpolation coefficient
Type:Warning
Description
Invalid pose interpolation coefficient.
Reason
The interpolation coefficient provided for the pose interpolation command is invalid. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the parameters of the pose interpolation command which occurred this error.
0x0F2057 Unmatched termination delimiter of the control block
Type:Warning
Description
Unmatched termination delimiter of the control block.
Reason
The matched "end" termination delimiter is missing in the "if", "while" control block. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check if all 'if' and 'while' statement blocks in the custom script subroutine have their corresponding 'end' termination delimiters.
0x0F2058 Unsupported escape character
Type:Warning
Description
Unsupported escape character
Reason
Unsupported escape character was used in the script program. Currently, the supported are: \n, \r, \t, ", ', \, The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Currently, the supported escape characters are: \ Backslash ' Single quote " Double quote \nNewline \t Horizontal tab \r Carriage return
0x0F2059 Invalid array slice step parameter
Type:Warning
Description
Invalid array slice step parameter.
Reason
The step used for array slicing access is invalid. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the script program: When accessing an array using slicing, the step should be a positive integer.
0x0F2060 Nested arrays are not supported
Type:Warning
Description
Nested arrays are not supported.
Reason
Arrays are not supported as elements in the array variables. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the script program: Arrays are not supported as elements in the array variables.
0x0F2061 String arrays are not supported
Type:Warning
Description
String arrays are not supported.
Reason
Strings are not supported as elements in the array variables. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the script program: Strings are not supported as elements in the array variables.
0x0F2062 Too many SOCKETs are created
Type:Warning
Description
Too many SOCKETs are created.
Reason
Too many SOCKETs are created without closing any. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
- Please make sure to close the SOCKET after using the SOCKET command;
- Avoid opening SOCKET within loop statements. If opened, make sure to close it before the next use;
- Currently, up to 256 SOCKETS are allowed without closing any.
0x0F2063 Invalid data received by SOCKET
Type:Warning
Description
Invalid data received by SOCKET
Reason
The data format of the variable command received by SOCKET is incorrect. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
When using SOCKET to receive variables and array commands, please make sure the data format sent from the server-side adheres to the defined return data format in the script programming instructions.
0x0F2064 The length of the array received by the socket does not match
Type:Warning
Description
The length of the array received by the socket does not match.
Reason
The length of the array received by the socket doesn't match the length of the array sent by the server. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
When using the SOCKET command to receive arrays in the script program, ensure that the length of the array returned by the server is correct.
0x0F2065 The type of the array received by the socket does not match
Type:Warning
Description
The type of the array received by the socket does not match.
Reason
The type of the array received by the socket doesn't match the length of the array sent by the server. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
when using SOCKET to receive variables and arrays in the script program, ensure that the data type sent back by the server is correct.
0x0F2066 Collision sensitivity level setting in program commands is not enabled.
Type:Error
Description
Collision sensitivity level setting in program commands is not enabled.
Reason
This version has not enabled the function to set collision sensitivity levels in program commands, and relevant commands will be skipped when executed. The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please configure the collision sensitivity level in the safety settings or contact JAKA technical service team to enable this function.
0x0F2067 Wrong variable type
Type:Warning
Description
Unsupported operand type(s)
Reason
Unsupported operand type(s) for "<0>": "<1>" and "<2>". The error occurred in file: ‘{0}’ Error line number: ‘{1}’
Action
Please check the type of the corresponding script variable based on the error message.
0x0F2068 Program execution error
Type:Warning
Description
Program execution error.
Reason
Program execution error.
Action
Program execution error.
0x0F2069 Failed to obtain digital input signal
Type:Info
Description
Digital input signal cannot be obtained when the IO pin is set as output type
Reason
Action
0x0F206A Failed to obtain digital output signal
Type:Info
Description
Digital output signal cannot be obtained when the IO pin is set as input type
Reason
Action
0x0F206B Waiting for digital input command execution failed
Type:Info
Description
Abnormal digital input signal received, and error occurs when executing the waiting for digital input command.
Reason
Digital input cannot be obtained when the IO pin is of output type, unable to perform the 'wait' command based on the signal status of this IO pin
Action
Please confirm that the operated IO pin is of input type before executing the waiting for input signal command.
0x0F3001 Failed to connect to the target visual device
Type:Warning
Description
Failed to connect to the target visual device.
Reason
The controller failed to connect to the target visual device.
Action
Please check if the connection cable is functioning normally, and ensure the DC24V power supply for the visual device has the correct polarity. If it still fails to connect, please contact the technical service team.
0x0F3002 No visual device is connected
Type:Warning
Description
No visual device is connected
Reason
No online visual device is detected by the controller.
Action
Please check if the connection cable is functioning normally, and ensure the DC24V power supply for the visual device has the correct polarity. If it still fails to connect, please contact the technical service team.
0x0F4001 Failed to retrieve the servo's status
Type:Warning
Description
Failed to retrieve the servo's status
Reason
Action
0x0F4002 Failed to upgrade the firmware
Type:Warning
Description
Failed to upgrade the firmware
Reason
Failed to upgrade the robot's firmware.
Action
Check if the firmware file name has the .tar.gz extension and contains no additional content. When upgrading, please avoid turning off or powering off the device.
0x0F4003 This function is not supported by the hardware
Type:Warning
Description
This function is not supported by the hardware.
Reason
The robot or the control cabinet does not support this function.
Action
Please take a photo of this function and the version of the controller, and contact the technical service team.
0x0F4004 Error occurs in the robot's self-diagnose
Type:Info
Description
Potential risk detected in Joint ‘{0}’
Reason
Internal parameters of the joint have failed the self-check. This is a warning that has no effect on the running of the program.
Action
Please contact the technical service team to troubleshoot.
0x0FFFFE Other error
Type:Warning
Description
Other error
Reason
Action
0x0FFFFF Unknown error
Type:Warning
Description
Unknown error
Reason
Action
0x102230 Joint 1 busbar overcurrent
Type:Warning
Description
Joint 1 busbar overcurrent.
Reason
The motor reports that the current has exceeded the threshold.
Action
Please take a photo of this function and the version of the controller, and save the diagnostic log, and contact the technical service team.
0x102320 Joint 1 output overcurrent
Type:Warning
Description
Joint 1 output overcurrent.
Reason
The current in motor UVW exceeds beyond the hardware driver board's overcurrent threshold.
Action
- Please reduce the robot's payload.
- Please decrease the robot's speed and acceleration. 3. The robot's joint driver and reduce is not normal, please contact the technical service team.
- The communication is not normal, please replace the robot connection cable or the control cabinet, or to contact the techinical service team.
0x102321 Joint 1 is experiencing overcurrent during the homing process
Type:Warning
Description
Joint 1 is experiencing overcurrent during the homing process.
Reason
When the joint is enabling, there is a significant current output, but no motor rotation was detected.
Action
- Please disable the robot, manually release the joint electromagnets, and check if this joint can be moved by hand.
- Please power off the robot and remove the back lid to check if the cables are connecting unusually, or please contact the technical service team.
0x102350 Joint 1 module overloaded (I2T)
Type:Warning
Description
Joint 1 module overloaded (I2T)
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x103130 Input phase loss in Joint 1
Type:Warning
Description
Input phase loss in Joint 1.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x103210 Servo overvoltage detected in Joint 1
Type:Warning
Description
Servo overvoltage detected in Joint 1.
Reason
The busbar voltage has exceeded the overvoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the discharge protection board of the control cabinet is functioning normally.
- Please contact the technical service team to check the hardware driver board.
0x103211 Joint 1 driver board power supply failure
Type:Warning
Description
Joint 1 driver board power supply failure.
Reason
The hardware driver board has been damaged.
Action
Please contact the technical service team.
0x103220 Servo undervoltage detected in Joint 1
Type:Warning
Description
Servo undervoltage detected in Joint 1.
Reason
The busbar voltage has exceeded the undervoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the robot connection cable is functioning normally.
- Please contact the technical service team to check the hardware driver board.
- Please contact the technical service team to check the communication or the power supply of the control cabinet.
0x103380 Encoder zero calibration failed in Joint 1
Type:Warning
Description
Encoder zero calibration failed in Joint 1.
Reason
When the joint is enabling, its motor doesn't rotate as expected.
Action
- Please contact the technical service team to check if all the parameters are correct in this joint.
- Please disable and enable the robot to check if the brake is functioning normally.
- Please contact the technical service team to check if the joint's ABZ cables and ABZ encoder disc are functioning normally.
0x103381 Output phase loss in Joint 1
Type:Warning
Description
Output phase loss in Joint 1.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x104210 Joint 1's motor is overheating
Type:Warning
Description
Joint 1's motor is overheating.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x104310 The servo in Joint 1 is overheating
Type:Warning
Description
The servo in Joint 1 is overheating.
Reason
The temperature of the driver board has exceeded the hardware driver board's overheating threshold.
Action
- Please check if the ambient temperature has exceeded the operating temperature of the robot.
- Please check if the temperature of the robot surface has exceeded 50℃. If so, try to decrease it.
- Please contact the technical service team to check if the joint driver board and the joint reducer are functioning normally.
0x105201 Joint 1's parameters are still locked
Type:Info
Description
Joint 1's parameters are still locked.
Reason
Starting from version R176, the servo's critical parameters have written-protection to prevent inadvertent errors.
Action
Please contact the the technical service team to check the joint's parameters.
0x105202 Joint 1's zero calibration and DH parameter are in contradiction
Type:Warning
Description
Joint 1's zero calibration and DH parameter are in contradiction.
Reason
During zero calibration, the servo detects whether the current model underwent DH parameter calibration before delivery. Using the zero calibration function on an already calibrated model can lead to DH parameter errors, resulting in a loss of robot accuracy.
Action
Please contact the technical service team.
0x105210 The parameters set for Joint 1 do not match its hardware power
Type:Warning
Description
The parameters set for Joint 1 do not match its hardware power.
Reason
There's a mismatch among the hardware driver board, the motor brand and model, and the servo's parameters.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to check if the joint driver board is functioning normally.
0x105211 Model selection error for Joint 1
Type:Warning
Description
Model selection error for Joint 1.
Reason
Mismatch between the hardware driver board and the servo's parameters.
Action
Please contact the technical service team to check if the joint's hardware version and the servo's parameters are correct.
0x105280 Wrong internal parameters of Joint 1
Type:Warning
Description
Wrong internal parameters of Joint 1.
Reason
The servo's parameters have exceeded the threshold. This error only occurs when powering on the robot.
Action
Please contact the technical service team to check if the internal parameters of the joint are correct.
0x105281 Joint 1 PID calculation overflow
Type:Warning
Description
Joint 1 PID calculation overflow.
Reason
The servo's PID calculation has exceeded its limit.
Action
Please contact the technical service team.
0x105282 Joint 1 EEPROM error
Type:Warning
Description
Joint 1 EEPROM error.
Reason
Hardware EEPROM chip read and write error.
Action
- Please try to power on and off the robot for several times to check the power on sequence. If the error still occurs, please contact the technical service team.
- Please contact the technical service team to check if the joint's driver board is working normally.
0x105283 Failed to enable Joint 1
Type:Warning
Description
Failed to enable Joint 1.
Reason
The enabling process failed due to other system errors.
Action
Please check if there are other errors. If so, deal with them first before enable the robot again.
0x105441 Error occurs in Joint 1's internal connection
Type:Warning
Description
Error occurs in Joint 1's internal connection.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x105480 Servo in Joint 1 has exceeded the power limit
Type:Warning
Description
Servo in Joint 1 has exceeded the power limit.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x106000 Joint 1 Absolute Encoder Internal Error
Type:Warning
Description
Abnormal internal status of absolute encoder in Joint 1
Reason
The driver has detected an abnormal operation status of the absolute encoder.
Action
Confirm whether there is strong electric field or strong magnetic field interference in the field environment; confirm whether the power supply of the absolute encoder is normal; confirm whether the connecting wire between the absolute encoder and the driver is loose and check whether the connecting wire is broken.
0x106010 Encoder temperature of Joint 1 is too high
Type:Info
Description
Encoder temperature of Joint 1 is too high.
Reason
The temperature of the encoder exceeds the normal range.
Action
- Please check the temperature of the joint, if it has exceeded the allowable range, please lower it.
- Please contact the technical service team to check if the joint and encoder are functioning normally.
0x107180 Joint 1's motor is overloading
Type:Warning
Description
Joint 1's motor is overloading.
Reason
The motor was outputting too much current for a while.
Action
- Please check for any collision that happened before this error occurs.
- Please check if the actual payload of the joint has largely exceeded the standard payload of the robot.
- Please contact the technical service team to check the parameters of this joint.
- Please manually drag the robot to check if the joint's brake is functioning normally.
- Please contact the technical service team to check if the joint was not moving smoothly.
- Please contact the technical service team to check if the motor's rotor is functioning normally, or if the ABZ encoder can be read normally.
0x107181 Joint 1's motor brake is not functioning normally
Type:Warning
Description
Joint 1's motor brake is not functioning normally.
Reason
Electromagnet undetected.
Action
- Please check if the connection cable of the joint's electromagnet is in normal conditions.
- Please check to see if the resistance value of the electromagnet is correct.
0x107182 Joint 1's motor is on the opposite moving direction
Type:Warning
Description
Joint 1's motor is on the opposite moving direction.
Reason
The actual magnetic pole direction of the motor doesn't match the calculated pulse injection, causing unusual controlling conditions.
Action
- Please contact the technical service team to check if the motor's parameters are correct.
- Please check if the motor's phrase sequence connection cables are correct.
- Please contact the technical service team to check if the joint's driver board is functioning normally.
0x107185 Joint 1 motor brake current is unusual
Type:Warning
Description
Joint 1 motor brake current is unusual
Reason
Current detected in joint 1 brake when closed, or current exceeds 2A when brake is open.
Action
- Check if the connection with the joint brake cable is working properly.
- Check if there is a short circuit in the joint brake.
0x107380 Joint 1's encoder connection timeout
Type:Warning
Description
Joint 1's encoder connection timeout.
Reason
Error occurs in reading the status of the absolute encoder.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to replace the encoder connection cable to see if the fault is resolved.
- Please contact the technical service team to inspect if there are any irregular situations in the encoder's status light.
0x107381 Low voltage in the encoder battery for Joint 1
Type:Warning
Description
Low voltage in the encoder battery for Joint 1.
Reason
The voltage in the encoder battery is low.
Action
- Production parameter verification: Please contact the technical service team to confirm if the production parameters of this joint are correct.
- Wiring inspection: Remove the joint lid to check if any of the encoder's wiring is loose. If so, please contact the technical service team for replacement.
- Encoder malfunction: Replace the joint's encoder or replace the entire joint.
0x107382 Encoder battery disconnected in Joint 1
Type:Warning
Description
Encoder battery disconnected in Joint 1.
Reason
Encoder power supply error.
Action
- If this error occurs when power on or off the robot, no further measures need to be taken.
- If the encoder is damaged, and this error continues to occur and bother, please contact the technical service team for replacement.
0x107383 The angle stored in Joint 1's encoder is wrong
Type:Warning
Description
The angle stored in Joint 1's encoder is wrong.
Reason
Error occurs in the joint motor's position calibration.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to recalibrate the Z value of the joint.
0x107384 Wrong count in Joint 1's encoder
Type:Warning
Description
Wrong count in Joint 1's encoder.
Reason
Wrong count in the relative encoder.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x107385 Verification error in Joint 1's two encoders
Type:Warning
Description
Verification error in Joint 1's two encoders.
Reason
The deviation of position between the absolute encoder and the relative has exceeded the threshold.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please confirm if there has been a severe collision or mechanical failure, and contact the technical service team.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x107386 Internal errors of the Joint 1's encoder
Type:Warning
Description
Internal errors of the Joint 1's encoder.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x107387 Joint 1's Z signal is missing
Type:Warning
Description
Joint 1's Z signal is missing.
Reason
The Z signal of the relative encoder is missing.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to check the relative encoder for any necessary repair.
0x107388 Unusual magnetic signals from the Joint 1's encoder
Type:Warning
Description
Unusual magnetic signals from the Joint 1's encoder.
Reason
It can be errors in the encoder's signal amplitude and magnetic mode, or signal loss or signal irregularities.
Action
- Please check if this error occurs in a specific joint. Contact the technical service team to verify it the joint and the encoder are functioning normally.
- Please make sure the robot itself and its working environment are not interfered by external signals, especially magnetic signals.
0x107389 Joint 1 has an incremental encoder connection error
Type:Warning
Description
Joint 1 has an incremental encoder connection error
Reason
Incremental encoder data did not change during pulse injection micro-movement after powering on joint 1
Action
- Check if the connection with the incremental encoder cable connection is working properly.
- Check if the incremental encoder read head is damaged.
- Check if the code disc is smeared for a large area.
0x107580 Joint 1 torque feedforward has exceeded the limit
Type:Warning
Description
Joint 1 torque feedforward has exceeded the limit.
Reason
The torque feedforward has exceeded the servo threshold.
Action
Please contact the technical service team.
0x108000 Joint 1's position has deviated
Type:Info
Description
Joint 1's position has deviated.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x108001 Joint 1 position deviation alarm
Type:Info
Description
Joint 1 position deviation alarm.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x108480 Joint 1 forward speed tracking error
Type:Warning
Description
Joint 1 forward speed tracking error.
Reason
When the actual speed and the set speed are in the same direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x108481 Joint 1 reverse speed tracking error
Type:Warning
Description
Joint 1 reverse speed tracking error.
Reason
When the actual speed and the set speed are in the opposite direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x108482 Excessive speed detected in Joint 1
Type:Warning
Description
Excessive speed detected in Joint 1.
Reason
The actual speed of the joint exceeds its rated speed.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x108483 The speed tracking error for Joint 1 is too large
Type:Warning
Description
The speed tracking error for Joint 1 is too large.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x108484 Joint 1's acceleration has exceeded the allowable margin of error
Type:Warning
Description
Joint 1's acceleration has exceeded the allowable margin of error.
Reason
Abandon
Action
Please check if the servo is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x108485 Joint 1 speed control error
Type:Warning
Description
Joint 1 speed control error.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x108501 Joint 1: Servo enabling is prohibited in reverse drive mode
Type:Warning
Description
Joint 1: Servo enabling is prohibited in reverse drive mode
Reason
Joint 1: Servo enabling is prohibited in reverse drive mode
Action
Please exit the reverse drive mode and enable again.
0x108611 Excessive deviation in Joint 1's position
Type:Warning
Description
Excessive deviation in Joint 1's position.
Reason
The deviation between the actual position and the commanded position has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x108612 The increment of Joint 1's command position is too large
Type:Warning
Description
The increment of Joint 1's command position is too large.
Reason
The increment of Joint 1's command position is too large that it exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x108613 Excessive acceleration in Joint 1
Type:Warning
Description
Excessive acceleration in Joint 1.
Reason
The acceleration in Joint 1 has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x108614 The distance between Joint 1's commanded position and the servo's current position is too large
Type:Warning
Description
The distance between Joint 1's commanded position and the servo's current position is too large.
Reason
The controller gave the wrong position command.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please contact the technical service team to check if the robot's bus communication is functioning properly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x108615 Error occurs in Joint 1's CAN communication
Type:Warning
Description
Error occurs in Joint 1's CAN communication.
Reason
The robot's bus communication is not functioning normally.
Action
Please contact the technical service team to check the bus communication.
0x108616 joint 1 temperature sensor communication error
Type:Warning
Description
joint 1 temperature sensor communication error
Reason
Joint internal temperature sensor error
Action
Please check the temperature sensor of the IIC interface.
0x108617 Joint 1: CAN communication cycle fluctuation warning
Type:Warning
Description
Joint 1 detected fluctuation in CAN communication cycle
Reason
Significant fluctuations in the CAN communication cycle were detected multiple times in a short period in joint 1
Action
1.Conduct fault diagnosis (diagnostics may already have been performed automatically due to other errors) and save the diagnostic package. Check for fluctuations in the CAN communication cycle (fluctuations within 4-12ms are considered normal). 2.Check whether all switches on the SCB S2 are in the OFF position. 3.Check for any looseness in the control cabinet's cable, the main body's cable, the robot connection cable and the CAN cable.
0x10FFFF Joint Error Occurred
Type:Warning
Description
Joint Error Occurred
Reason
Joint ‘{0}’ encountered error ‘{1}’
Action
The current controller version cannot recognize this error, please contact JAKA technical staff for consultation
0x112230 Joint 2 busbar overcurrent
Type:Warning
Description
Joint 2 busbar overcurrent.
Reason
The motor reports that the current has exceeded the threshold.
Action
Please take a photo of this function and the version of the controller, and save the diagnostic log, and contact the technical service team.
0x112320 Joint 2 output overcurrent
Type:Warning
Description
Joint 2 output overcurrent.
Reason
The current in motor UVW exceeds beyond the hardware driver board's overcurrent threshold.
Action
- Please reduce the robot's payload.
- Please decrease the robot's speed and acceleration. 3. The robot's joint driver and reduce is not normal, please contact the technical service team.
- The communication is not normal, please replace the robot connection cable or the control cabinet, or to contact the techinical service team.
0x112321 Joint 2 is experiencing overcurrent during the homing process
Type:Warning
Description
Joint 2 is experiencing overcurrent during the homing process.
Reason
When the joint is enabling, there is a significant current output, but no motor rotation was detected.
Action
- Please disable the robot, manually release the joint electromagnets, and check if this joint can be moved by hand.
- Please power off the robot and remove the back lid to check if the cables are connecting unusually, or please contact the technical service team.
0x112350 Joint 2 module overloaded (I2T)
Type:Warning
Description
Joint 2 module overloaded (I2T)
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x113130 Input phase loss in Joint 2
Type:Warning
Description
Input phase loss in Joint 2.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x113210 Servo overvoltage detected in Joint 2
Type:Warning
Description
Servo overvoltage detected in Joint 2.
Reason
The busbar voltage has exceeded the overvoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the discharge protection board of the control cabinet is functioning normally.
- Please contact the technical service team to check the hardware driver board.
0x113211 Joint 2 driver board power supply failure
Type:Warning
Description
Joint 2 driver board power supply failure.
Reason
The hardware driver board has been damaged.
Action
Please contact the technical service team.
0x113220 Servo undervoltage detected in Joint 2
Type:Warning
Description
Servo undervoltage detected in Joint 2.
Reason
The busbar voltage has exceeded the undervoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the robot connection cable is functioning normally.
- Please contact the technical service team to check the hardware driver board.
- Please contact the technical service team to check the communication or the power supply of the control cabinet.
0x113380 Encoder zero calibration failed in Joint 2
Type:Warning
Description
Encoder zero calibration failed in Joint 2.
Reason
When the joint is enabling, its motor doesn't rotate as expected.
Action
- Please contact the technical service team to check if all the parameters are correct in this joint.
- Please disable and enable the robot to check if the brake is functioning normally.
- Please contact the technical service team to check if the joint's ABZ cables and ABZ encoder disc are functioning normally.
0x113381 Output phase loss in Joint 2
Type:Warning
Description
Output phase loss in Joint 2.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x114210 Joint 2's motor is overheating
Type:Warning
Description
Joint 2's motor is overheating.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x114310 The servo in Joint 2 is overheating
Type:Warning
Description
The servo in Joint 2 is overheating.
Reason
The temperature of the driver board has exceeded the hardware driver board's overheating threshold.
Action
- Please check if the ambient temperature has exceeded the operating temperature of the robot.
- Please check if the temperature of the robot surface has exceeded 50℃. If so, try to decrease it.
- Please contact the technical service team to check if the joint driver board and the joint reducer are functioning normally.
0x115201 Joint 2's parameters are still locked
Type:Info
Description
Joint 2's parameters are still locked.
Reason
Starting from version R176, the servo's critical parameters have written-protection to prevent inadvertent errors.
Action
Please contact the the technical service team to check the joint's parameters.
0x115202 Joint 2's zero calibration and DH parameter are in contradiction
Type:Warning
Description
Joint 2's zero calibration and DH parameter are in contradiction.
Reason
During zero calibration, the servo detects whether the current model underwent DH parameter calibration before delivery. Using the zero calibration function on an already calibrated model can lead to DH parameter errors, resulting in a loss of robot accuracy.
Action
Please contact the technical service team.
0x115210 The parameters set for Joint 2 do not match its hardware power
Type:Warning
Description
The parameters set for Joint 2 do not match its hardware power.
Reason
There's a mismatch among the hardware driver board, the motor brand and model, and the servo's parameters.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to check if the joint driver board is functioning normally.
0x115211 Model selection error for Joint 2
Type:Warning
Description
Model selection error for Joint 2.
Reason
Mismatch between the hardware driver board and the servo's parameters.
Action
Please contact the technical service team to check if the joint's hardware version and the servo's parameters are correct.
0x115280 Wrong internal parameters of Joint 2
Type:Warning
Description
Wrong internal parameters of Joint 2.
Reason
The servo's parameters have exceeded the threshold. This error only occurs when powering on the robot.
Action
Please contact the technical service team to check if the internal parameters of the joint are correct.
0x115281 Joint 2 PID calculation overflow
Type:Warning
Description
Joint 2 PID calculation overflow.
Reason
The servo's PID calculation has exceeded its limit.
Action
Please contact the technical service team.
0x115282 Joint 2 EEPROM error
Type:Warning
Description
Joint 2 EEPROM error.
Reason
Hardware EEPROM chip read and write error.
Action
- Please try to power on and off the robot for several times to check the power on sequence. If the error still occurs, please contact the technical service team.
- Please contact the technical service team to check if the joint's driver board is working normally.
0x115283 Failed to enable Joint 2
Type:Warning
Description
Failed to enable Joint 2.
Reason
The enabling process failed due to other system errors.
Action
Please check if there are other errors. If so, deal with them first before enable the robot again.
0x115441 Error occurs in Joint 2's internal connection
Type:Warning
Description
Error occurs in Joint 2's internal connection.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x115480 Servo in Joint 2 has exceeded the power limit
Type:Warning
Description
Servo in Joint 2 has exceeded the power limit.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x116000 Joint 2 Absolute Encoder Internal Error
Type:Warning
Description
Abnormal internal status of absolute encoder in Joint 2
Reason
The driver has detected an abnormal operation status of the absolute encoder.
Action
Confirm whether there is strong electric field or strong magnetic field interference in the field environment; confirm whether the power supply of the absolute encoder is normal; confirm whether the connecting wire between the absolute encoder and the driver is loose and check whether the connecting wire is broken.
0x116010 Encoder temperature of Joint 2 is too high
Type:Info
Description
Encoder temperature of Joint 2 is too high.
Reason
The temperature of the encoder exceeds the normal range.
Action
- Please check the temperature of the joint, if it has exceeded the allowable range, please lower it.
- Please contact the technical service team to check if the joint and encoder are functioning normally.
0x117180 Joint 2's motor is overloading
Type:Warning
Description
Joint 2's motor is overloading.
Reason
The motor was outputting too much current for a while.
Action
- Please check for any collision that happened before this error occurs.
- Please check if the actual payload of the joint has largely exceeded the standard payload of the robot.
- Please contact the technical service team to check the parameters of this joint.
- Please manually drag the robot to check if the joint's brake is functioning normally.
- Please contact the technical service team to check if the joint was not moving smoothly.
- Please contact the technical service team to check if the motor's rotor is functioning normally, or if the ABZ encoder can be read normally.
0x117181 Joint 2's motor brake is not functioning normally
Type:Warning
Description
Joint 2's motor brake is not functioning normally.
Reason
Electromagnet undetected.
Action
- Please check if the connection cable of the joint's electromagnet is in normal conditions.
- Please check to see if the resistance value of the electromagnet is correct.
0x117182 Joint 2's motor is on the opposite moving direction
Type:Warning
Description
Joint 2's motor is on the opposite moving direction.
Reason
The actual magnetic pole direction of the motor doesn't match the calculated pulse injection, causing unusual controlling conditions.
Action
- Please contact the technical service team to check if the motor's parameters are correct.
- Please check if the motor's phrase sequence connection cables are correct.
- Please contact the technical service team to check if the joint's driver board is functioning normally.
0x117185 Joint 2 motor brake current is unusual
Type:Warning
Description
Joint 2 motor brake current is unusual
Reason
Current detected in joint 2 brake when closed, or current exceeds 2A when brake is open.
Action
- Check if the connection with the joint brake cable is working properly.
- Check if there is a short circuit in the joint brake.
0x117380 Joint 2's encoder connection timeout
Type:Warning
Description
Joint 2's encoder connection timeout.
Reason
Error occurs in reading the status of the absolute encoder.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to replace the encoder connection cable to see if the fault is resolved.
- Please contact the technical service team to inspect if there are any irregular situations in the encoder's status light.
0x117381 Low voltage in the encoder battery for Joint 2
Type:Warning
Description
Low voltage in the encoder battery for Joint 2.
Reason
The voltage in the encoder battery is low.
Action
- Production parameter verification: Please contact the technical service team to confirm if the production parameters of this joint are correct.
- Wiring inspection: Remove the joint lid to check if any of the encoder's wiring is loose. If so, please contact the technical service team for replacement.
- Encoder malfunction: Replace the joint's encoder or replace the entire joint.
0x117382 Encoder battery disconnected in Joint 2
Type:Warning
Description
Encoder battery disconnected in Joint 2.
Reason
Encoder power supply error.
Action
- If this error occurs when power on or off the robot, no further measures need to be taken.
- If the encoder is damaged, and this error continues to occur and bother, please contact the technical service team for replacement.
0x117383 The angle stored in Joint 2's encoder is wrong
Type:Warning
Description
The angle stored in Joint 2's encoder is wrong.
Reason
Error occurs in the joint motor's position calibration.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to recalibrate the Z value of the joint.
0x117384 Wrong count in Joint 2's encoder
Type:Warning
Description
Wrong count in Joint 2's encoder.
Reason
Wrong count in the relative encoder.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x117385 Verification error in Joint 2's two encoders
Type:Warning
Description
Verification error in Joint 2's two encoders.
Reason
The deviation of position between the absolute encoder and the relative has exceeded the threshold.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please confirm if there has been a severe collision or mechanical failure, and contact the technical service team.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x117386 Internal errors of the Joint 2's encoder
Type:Warning
Description
Internal errors of the Joint 2's encoder.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x117387 Joint 2's Z signal is missing
Type:Warning
Description
Joint 2's Z signal is missing.
Reason
The Z signal of the relative encoder is missing.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to check the relative encoder for any necessary repair.
0x117388 Unusual magnetic signals from the Joint 2's encoder
Type:Warning
Description
Unusual magnetic signals from the Joint 2's encoder.
Reason
It can be errors in the encoder's signal amplitude and magnetic mode, or signal loss or signal irregularities.
Action
- Please check if this error occurs in a specific joint. Contact the technical service team to verify it the joint and the encoder are functioning normally.
- Please make sure the robot itself and its working environment are not interfered by external signals, especially magnetic signals.
0x117389 Joint 2 has an incremental encoder connection error
Type:Warning
Description
Joint 2 has an incremental encoder connection error
Reason
Incremental encoder data did not change during pulse injection micro-movement after powering on joint 2
Action
- Check if the connection with the incremental encoder cable connection is working properly.
- Check if the incremental encoder read head is damaged.
- Check if the code disc is smeared for a large area.
0x117580 Joint 2 torque feedforward has exceeded the limit
Type:Warning
Description
Joint 2 torque feedforward has exceeded the limit.
Reason
The torque feedforward has exceeded the servo threshold.
Action
Please contact the technical service team.
0x118000 Joint 2's position has deviated
Type:Info
Description
Joint 2's position has deviated.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x118001 Joint 2 position deviation alarm
Type:Info
Description
Joint 2 position deviation alarm.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x118480 Joint 2 forward speed tracking error
Type:Warning
Description
Joint 2 forward speed tracking error.
Reason
When the actual speed and the set speed are in the same direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x118481 Joint 2 reverse speed tracking error
Type:Warning
Description
Joint 2 reverse speed tracking error.
Reason
When the actual speed and the set speed are in the opposite direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x118482 Excessive speed detected in Joint 2
Type:Warning
Description
Excessive speed detected in Joint 2.
Reason
The actual speed of the joint exceeds its rated speed.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x118483 The speed tracking error for Joint 2 is too large
Type:Warning
Description
The speed tracking error for Joint 2 is too large.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x118484 Joint 2's acceleration has exceeded the allowable margin of error
Type:Warning
Description
Joint 2's acceleration has exceeded the allowable margin of error.
Reason
Abandon
Action
Please check if the servo is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x118485 Joint 2 speed control error
Type:Warning
Description
Joint 2 speed control error.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x118501 Joint 2: Servo enabling is prohibited in reverse drive mode
Type:Warning
Description
Joint 2: Servo enabling is prohibited in reverse drive mode
Reason
Joint 2: Servo enabling is prohibited in reverse drive mode
Action
Please exit the reverse drive mode and enable again.
0x118611 Excessive deviation in Joint 2's position
Type:Warning
Description
Excessive deviation in Joint 2's position.
Reason
The deviation between the actual position and the commanded position has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x118612 The increment of Joint 2's command position is too large
Type:Warning
Description
The increment of Joint 2's command position is too large.
Reason
The increment of Joint 2's command position is too large that it exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x118613 Excessive acceleration in Joint 2
Type:Warning
Description
Excessive acceleration in Joint 2.
Reason
The acceleration in Joint 2 has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x118614 The distance between Joint 2's commanded position and the servo's current position is too large
Type:Warning
Description
The distance between Joint 2's commanded position and the servo's current position is too large.
Reason
The controller gave the wrong position command.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please contact the technical service team to check if the robot's bus communication is functioning properly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x118615 Error occurs in Joint 2's CAN communication
Type:Warning
Description
Error occurs in Joint 2's CAN communication.
Reason
The robot's bus communication is not functioning normally.
Action
Please contact the technical service team to check the bus communication.
0x118616 joint 2 temperature sensor communication error
Type:Warning
Description
joint 2 temperature sensor communication error
Reason
Joint internal temperature sensor error
Action
Please check the temperature sensor of the IIC interface.
0x118617 Joint 2: CAN communication cycle fluctuation warning
Type:Warning
Description
Joint 2 detected fluctuation in CAN communication cycle
Reason
Significant fluctuations in the CAN communication cycle were detected multiple times in a short period in joint 2
Action
1.Conduct fault diagnosis (diagnostics may already have been performed automatically due to other errors) and save the diagnostic package. Check for fluctuations in the CAN communication cycle (fluctuations within 4-12ms are considered normal). 2.Check whether all switches on the SCB S2 are in the OFF position. 3.Check for any looseness in the control cabinet's cable, the main body's cable, the robot connection cable and the CAN cable.
0x122230 Joint 3 busbar overcurrent
Type:Warning
Description
Joint 3 busbar overcurrent.
Reason
The motor reports that the current has exceeded the threshold.
Action
Please take a photo of this function and the version of the controller, and save the diagnostic log, and contact the technical service team.
0x122320 Joint 3 output overcurrent
Type:Warning
Description
Joint 3 output overcurrent.
Reason
The current in motor UVW exceeds beyond the hardware driver board's overcurrent threshold.
Action
- Please reduce the robot's payload.
- Please decrease the robot's speed and acceleration. 3. The robot's joint driver and reduce is not normal, please contact the technical service team.
- The communication is not normal, please replace the robot connection cable or the control cabinet, or to contact the techinical service team.
0x122321 Joint 3 is experiencing overcurrent during the homing process
Type:Warning
Description
Joint 3 is experiencing overcurrent during the homing process.
Reason
When the joint is enabling, there is a significant current output, but no motor rotation was detected.
Action
- Please disable the robot, manually release the joint electromagnets, and check if this joint can be moved by hand.
- Please power off the robot and remove the back lid to check if the cables are connecting unusually, or please contact the technical service team.
0x122350 Joint 3 module overloaded (I2T)
Type:Warning
Description
Joint 3 module overloaded (I2T)
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x123130 Input phase loss in Joint 3
Type:Warning
Description
Input phase loss in Joint 3.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x123210 Servo overvoltage detected in Joint 3
Type:Warning
Description
Servo overvoltage detected in Joint 3.
Reason
The busbar voltage has exceeded the overvoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the discharge protection board of the control cabinet is functioning normally.
- Please contact the technical service team to check the hardware driver board.
0x123211 Joint 3 driver board power supply failure
Type:Warning
Description
Joint 3 driver board power supply failure.
Reason
The hardware driver board has been damaged.
Action
Please contact the technical service team.
0x123220 Servo undervoltage detected in Joint 3
Type:Warning
Description
Servo undervoltage detected in Joint 3.
Reason
The busbar voltage has exceeded the undervoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the robot connection cable is functioning normally.
- Please contact the technical service team to check the hardware driver board.
- Please contact the technical service team to check the communication or the power supply of the control cabinet.
0x123380 Encoder zero calibration failed in Joint 3
Type:Warning
Description
Encoder zero calibration failed in Joint 3.
Reason
When the joint is enabling, its motor doesn't rotate as expected.
Action
- Please contact the technical service team to check if all the parameters are correct in this joint.
- Please disable and enable the robot to check if the brake is functioning normally.
- Please contact the technical service team to check if the joint's ABZ cables and ABZ encoder disc are functioning normally.
0x123381 Output phase loss in Joint 3
Type:Warning
Description
Output phase loss in Joint 3.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x124210 Joint 3's motor is overheating
Type:Warning
Description
Joint 3's motor is overheating.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x124310 The servo in Joint 3 is overheating
Type:Warning
Description
The servo in Joint 3 is overheating.
Reason
The temperature of the driver board has exceeded the hardware driver board's overheating threshold.
Action
- Please check if the ambient temperature has exceeded the operating temperature of the robot.
- Please check if the temperature of the robot surface has exceeded 50℃. If so, try to decrease it.
- Please contact the technical service team to check if the joint driver board and the joint reducer are functioning normally.
0x125201 Joint 3's parameters are still locked
Type:Info
Description
Joint 3's parameters are still locked.
Reason
Starting from version R176, the servo's critical parameters have written-protection to prevent inadvertent errors.
Action
Please contact the the technical service team to check the joint's parameters.
0x125202 Joint 3's zero calibration and DH parameter are in contradiction
Type:Warning
Description
Joint 3's zero calibration and DH parameter are in contradiction.
Reason
During zero calibration, the servo detects whether the current model underwent DH parameter calibration before delivery. Using the zero calibration function on an already calibrated model can lead to DH parameter errors, resulting in a loss of robot accuracy.
Action
Please contact the technical service team.
0x125210 The parameters set for Joint 3 do not match its hardware power
Type:Warning
Description
The parameters set for Joint 3 do not match its hardware power.
Reason
There's a mismatch among the hardware driver board, the motor brand and model, and the servo's parameters.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to check if the joint driver board is functioning normally.
0x125211 Model selection error for Joint 3
Type:Warning
Description
Model selection error for Joint 3.
Reason
Mismatch between the hardware driver board and the servo's parameters.
Action
Please contact the technical service team to check if the joint's hardware version and the servo's parameters are correct.
0x125280 Wrong internal parameters of Joint 3
Type:Warning
Description
Wrong internal parameters of Joint 3.
Reason
The servo's parameters have exceeded the threshold. This error only occurs when powering on the robot.
Action
Please contact the technical service team to check if the internal parameters of the joint are correct.
0x125281 Joint 3 PID calculation overflow
Type:Warning
Description
Joint 3 PID calculation overflow.
Reason
The servo's PID calculation has exceeded its limit.
Action
Please contact the technical service team.
0x125282 Joint 3 EEPROM error
Type:Warning
Description
Joint 3 EEPROM error.
Reason
Hardware EEPROM chip read and write error.
Action
- Please try to power on and off the robot for several times to check the power on sequence. If the error still occurs, please contact the technical service team.
- Please contact the technical service team to check if the joint's driver board is working normally.
0x125283 Failed to enable Joint 3
Type:Warning
Description
Failed to enable Joint 3.
Reason
The enabling process failed due to other system errors.
Action
Please check if there are other errors. If so, deal with them first before enable the robot again.
0x125441 Error occurs in Joint 3's internal connection
Type:Warning
Description
Error occurs in Joint 3's internal connection.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x125480 Servo in Joint 3 has exceeded the power limit
Type:Warning
Description
Servo in Joint 3 has exceeded the power limit.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x126000 Joint 3 Absolute Encoder Internal Error
Type:Warning
Description
Abnormal internal status of absolute encoder in Joint 3
Reason
The driver has detected an abnormal operation status of the absolute encoder.
Action
Confirm whether there is strong electric field or strong magnetic field interference in the field environment; confirm whether the power supply of the absolute encoder is normal; confirm whether the connecting wire between the absolute encoder and the driver is loose and check whether the connecting wire is broken.
0x126010 Encoder temperature of Joint 3 is too high
Type:Info
Description
Encoder temperature of Joint 3 is too high.
Reason
The temperature of the encoder exceeds the normal range.
Action
- Please check the temperature of the joint, if it has exceeded the allowable range, please lower it.
- Please contact the technical service team to check if the joint and encoder are functioning normally.
0x127180 Joint 3's motor is overloading
Type:Warning
Description
Joint 3's motor is overloading.
Reason
The motor was outputting too much current for a while.
Action
- Please check for any collision that happened before this error occurs.
- Please check if the actual payload of the joint has largely exceeded the standard payload of the robot.
- Please contact the technical service team to check the parameters of this joint.
- Please manually drag the robot to check if the joint's brake is functioning normally.
- Please contact the technical service team to check if the joint was not moving smoothly.
- Please contact the technical service team to check if the motor's rotor is functioning normally, or if the ABZ encoder can be read normally.
0x127181 Joint 3's motor brake is not functioning normally
Type:Warning
Description
Joint 3's motor brake is not functioning normally.
Reason
Electromagnet undetected.
Action
- Please check if the connection cable of the joint's electromagnet is in normal conditions.
- Please check to see if the resistance value of the electromagnet is correct.
0x127182 Joint 3's motor is on the opposite moving direction
Type:Warning
Description
Joint 3's motor is on the opposite moving direction.
Reason
The actual magnetic pole direction of the motor doesn't match the calculated pulse injection, causing unusual controlling conditions.
Action
- Please contact the technical service team to check if the motor's parameters are correct.
- Please check if the motor's phrase sequence connection cables are correct.
- Please contact the technical service team to check if the joint's driver board is functioning normally.
0x127185 Joint 3 motor brake current is unusual
Type:Warning
Description
Joint 3 motor brake current is unusual
Reason
Current detected in joint 3 brake when closed, or current exceeds 2A when brake is open.
Action
- Check if the connection with the joint brake cable is working properly.
- Check if there is a short circuit in the joint brake.
0x127380 Joint 3's encoder connection timeout
Type:Warning
Description
Joint 3's encoder connection timeout.
Reason
Error occurs in reading the status of the absolute encoder.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to replace the encoder connection cable to see if the fault is resolved.
- Please contact the technical service team to inspect if there are any irregular situations in the encoder's status light.
0x127381 Low voltage in the encoder battery for Joint 3
Type:Warning
Description
Low voltage in the encoder battery for Joint 3.
Reason
The voltage in the encoder battery is low.
Action
- Production parameter verification: Please contact the technical service team to confirm if the production parameters of this joint are correct.
- Wiring inspection: Remove the joint lid to check if any of the encoder's wiring is loose. If so, please contact the technical service team for replacement.
- Encoder malfunction: Replace the joint's encoder or replace the entire joint.
0x127382 Encoder battery disconnected in Joint 3
Type:Warning
Description
Encoder battery disconnected in Joint 3.
Reason
Encoder power supply error.
Action
- If this error occurs when power on or off the robot, no further measures need to be taken.
- If the encoder is damaged, and this error continues to occur and bother, please contact the technical service team for replacement.
0x127383 The angle stored in Joint 3's encoder is wrong
Type:Warning
Description
The angle stored in Joint 3's encoder is wrong.
Reason
Error occurs in the joint motor's position calibration.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to recalibrate the Z value of the joint.
0x127384 Wrong count in Joint 3's encoder
Type:Warning
Description
Wrong count in Joint 3's encoder.
Reason
Wrong count in the relative encoder.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x127385 Verification error in Joint 3's two encoders
Type:Warning
Description
Verification error in Joint 3's two encoders.
Reason
The deviation of position between the absolute encoder and the relative has exceeded the threshold.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please confirm if there has been a severe collision or mechanical failure, and contact the technical service team.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x127386 Internal errors of the Joint 3's encoder
Type:Warning
Description
Internal errors of the Joint 3's encoder.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x127387 Joint 3's Z signal is missing
Type:Warning
Description
Joint 3's Z signal is missing.
Reason
The Z signal of the relative encoder is missing.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to check the relative encoder for any necessary repair.
0x127388 Unusual magnetic signals from the Joint 3's encoder
Type:Warning
Description
Unusual magnetic signals from the Joint 3's encoder.
Reason
It can be errors in the encoder's signal amplitude and magnetic mode, or signal loss or signal irregularities.
Action
- Please check if this error occurs in a specific joint. Contact the technical service team to verify it the joint and the encoder are functioning normally.
- Please make sure the robot itself and its working environment are not interfered by external signals, especially magnetic signals.
0x127389 Joint 3 has an incremental encoder connection error
Type:Warning
Description
Joint 3 has an incremental encoder connection error
Reason
Incremental encoder data did not change during pulse injection micro-movement after powering on joint 3
Action
- Check if the connection with the incremental encoder cable connection is working properly.
- Check if the incremental encoder read head is damaged.
- Check if the code disc is smeared for a large area.
0x127580 Joint 3 torque feedforward has exceeded the limit
Type:Warning
Description
Joint 3 torque feedforward has exceeded the limit.
Reason
The torque feedforward has exceeded the servo threshold.
Action
Please contact the technical service team.
0x128000 Joint 3's position has deviated
Type:Info
Description
Joint 3's position has deviated.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x128001 Joint 3 position deviation alarm
Type:Info
Description
Joint 3 position deviation alarm.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x128480 Joint 3 forward speed tracking error
Type:Warning
Description
Joint 3 forward speed tracking error.
Reason
When the actual speed and the set speed are in the same direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x128481 Joint 3 reverse speed tracking error
Type:Warning
Description
Joint 3 reverse speed tracking error.
Reason
When the actual speed and the set speed are in the opposite direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x128482 Excessive speed detected in Joint 3
Type:Warning
Description
Excessive speed detected in Joint 3.
Reason
The actual speed of the joint exceeds its rated speed.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x128483 The speed tracking error for Joint 3 is too large
Type:Warning
Description
The speed tracking error for Joint 3 is too large.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x128484 Joint 3's acceleration has exceeded the allowable margin of error
Type:Warning
Description
Joint 3's acceleration has exceeded the allowable margin of error.
Reason
Abandon
Action
Please check if the servo is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x128485 Joint 3 speed control error
Type:Warning
Description
Joint 3 speed control error.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x128501 Joint 3: Servo enabling is prohibited in reverse drive mode
Type:Warning
Description
Joint 3: Servo enabling is prohibited in reverse drive mode
Reason
Joint 3: Servo enabling is prohibited in reverse drive mode
Action
Please exit the reverse drive mode and enable again.
0x128611 Excessive deviation in Joint 3's position
Type:Warning
Description
Excessive deviation in Joint 3's position.
Reason
The deviation between the actual position and the commanded position has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x128612 The increment of Joint 3's command position is too large
Type:Warning
Description
The increment of Joint 3's command position is too large.
Reason
The increment of Joint 3's command position is too large that it exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x128613 Excessive acceleration in Joint 3
Type:Warning
Description
Excessive acceleration in Joint 3.
Reason
The acceleration in Joint 3 has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x128614 The distance between Joint 3's commanded position and the servo's current position is too large
Type:Warning
Description
The distance between Joint 3's commanded position and the servo's current position is too large.
Reason
The controller gave the wrong position command.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please contact the technical service team to check if the robot's bus communication is functioning properly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x128615 Error occurs in Joint 3's CAN communication
Type:Warning
Description
Error occurs in Joint 3's CAN communication.
Reason
The robot's bus communication is not functioning normally.
Action
Please contact the technical service team to check the bus communication.
0x128616 joint 3 temperature sensor communication error
Type:Warning
Description
joint 3 temperature sensor communication error
Reason
Joint internal temperature sensor error
Action
Please check the temperature sensor of the IIC interface.
0x128617 Joint 3: CAN communication cycle fluctuation warning
Type:Warning
Description
Joint 3 detected fluctuation in CAN communication cycle
Reason
Significant fluctuations in the CAN communication cycle were detected multiple times in a short period in joint 3
Action
1.Conduct fault diagnosis (diagnostics may already have been performed automatically due to other errors) and save the diagnostic package. Check for fluctuations in the CAN communication cycle (fluctuations within 4-12ms are considered normal). 2.Check whether all switches on the SCB S2 are in the OFF position. 3.Check for any looseness in the control cabinet's cable, the main body's cable, the robot connection cable and the CAN cable.
0x132230 Joint 4 busbar overcurrent
Type:Warning
Description
Joint 4 busbar overcurrent.
Reason
The motor reports that the current has exceeded the threshold.
Action
Please take a photo of this function and the version of the controller, and save the diagnostic log, and contact the technical service team.
0x132320 Joint 4 output overcurrent
Type:Warning
Description
Joint 4 output overcurrent.
Reason
The current in motor UVW exceeds beyond the hardware driver board's overcurrent threshold.
Action
- Please reduce the robot's payload.
- Please decrease the robot's speed and acceleration. 3. The robot's joint driver and reduce is not normal, please contact the technical service team.
- The communication is not normal, please replace the robot connection cable or the control cabinet, or to contact the techinical service team.
0x132321 Joint 4 is experiencing overcurrent during the homing process
Type:Warning
Description
Joint 4 is experiencing overcurrent during the homing process.
Reason
When the joint is enabling, there is a significant current output, but no motor rotation was detected.
Action
- Please disable the robot, manually release the joint electromagnets, and check if this joint can be moved by hand.
- Please power off the robot and remove the back lid to check if the cables are connecting unusually, or please contact the technical service team.
0x132350 Joint 4 module overloaded (I2T)
Type:Warning
Description
Joint 4 module overloaded (I2T)
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x133130 Input phase loss in Joint 4
Type:Warning
Description
Input phase loss in Joint 4.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x133210 Servo overvoltage detected in Joint 4
Type:Warning
Description
Servo overvoltage detected in Joint 4.
Reason
The busbar voltage has exceeded the overvoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the discharge protection board of the control cabinet is functioning normally.
- Please contact the technical service team to check the hardware driver board.
0x133211 Joint 4 driver board power supply failure
Type:Warning
Description
Joint 4 driver board power supply failure.
Reason
The hardware driver board has been damaged.
Action
Please contact the technical service team.
0x133220 Servo undervoltage detected in Joint 4
Type:Warning
Description
Servo undervoltage detected in Joint 4.
Reason
The busbar voltage has exceeded the undervoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the robot connection cable is functioning normally.
- Please contact the technical service team to check the hardware driver board.
- Please contact the technical service team to check the communication or the power supply of the control cabinet.
0x133380 Encoder zero calibration failed in Joint 4
Type:Warning
Description
Encoder zero calibration failed in Joint 4.
Reason
When the joint is enabling, its motor doesn't rotate as expected.
Action
- Please contact the technical service team to check if all the parameters are correct in this joint.
- Please disable and enable the robot to check if the brake is functioning normally.
- Please contact the technical service team to check if the joint's ABZ cables and ABZ encoder disc are functioning normally.
0x133381 Output phase loss in Joint 4
Type:Warning
Description
Output phase loss in Joint 4.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x134210 Joint 4's motor is overheating
Type:Warning
Description
Joint 4's motor is overheating.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x134310 The servo in Joint 4 is overheating
Type:Warning
Description
The servo in Joint 4 is overheating.
Reason
The temperature of the driver board has exceeded the hardware driver board's overheating threshold.
Action
- Please check if the ambient temperature has exceeded the operating temperature of the robot.
- Please check if the temperature of the robot surface has exceeded 50℃. If so, try to decrease it.
- Please contact the technical service team to check if the joint driver board and the joint reducer are functioning normally.
0x135201 Joint 4's parameters are still locked
Type:Info
Description
Joint 4's parameters are still locked.
Reason
Starting from version R176, the servo's critical parameters have written-protection to prevent inadvertent errors.
Action
Please contact the the technical service team to check the joint's parameters.
0x135202 Joint 4's zero calibration and DH parameter are in contradiction
Type:Warning
Description
Joint 4's zero calibration and DH parameter are in contradiction.
Reason
During zero calibration, the servo detects whether the current model underwent DH parameter calibration before delivery. Using the zero calibration function on an already calibrated model can lead to DH parameter errors, resulting in a loss of robot accuracy.
Action
Please contact the technical service team.
0x135210 The parameters set for Joint 4 do not match its hardware power
Type:Warning
Description
The parameters set for Joint 4 do not match its hardware power.
Reason
There's a mismatch among the hardware driver board, the motor brand and model, and the servo's parameters.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to check if the joint driver board is functioning normally.
0x135211 Model selection error for Joint 4
Type:Warning
Description
Model selection error for Joint 4.
Reason
Mismatch between the hardware driver board and the servo's parameters.
Action
Please contact the technical service team to check if the joint's hardware version and the servo's parameters are correct.
0x135280 Wrong internal parameters of Joint 4
Type:Warning
Description
Wrong internal parameters of Joint 4.
Reason
The servo's parameters have exceeded the threshold. This error only occurs when powering on the robot.
Action
Please contact the technical service team to check if the internal parameters of the joint are correct.
0x135281 Joint 4 PID calculation overflow
Type:Warning
Description
Joint 4 PID calculation overflow.
Reason
The servo's PID calculation has exceeded its limit.
Action
Please contact the technical service team.
0x135282 Joint 4 EEPROM error
Type:Warning
Description
Joint 4 EEPROM error.
Reason
Hardware EEPROM chip read and write error.
Action
- Please try to power on and off the robot for several times to check the power on sequence. If the error still occurs, please contact the technical service team.
- Please contact the technical service team to check if the joint's driver board is working normally.
0x135283 Failed to enable Joint 4
Type:Warning
Description
Failed to enable Joint 4.
Reason
The enabling process failed due to other system errors.
Action
Please check if there are other errors. If so, deal with them first before enable the robot again.
0x135441 Error occurs in Joint 4's internal connection
Type:Warning
Description
Error occurs in Joint 4's internal connection.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x135480 Servo in Joint 4 has exceeded the power limit
Type:Warning
Description
Servo in Joint 4 has exceeded the power limit.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x136000 Joint 4 Absolute Encoder Internal Error
Type:Warning
Description
Abnormal internal status of absolute encoder in Joint 4
Reason
The driver has detected an abnormal operation status of the absolute encoder.
Action
Confirm whether there is strong electric field or strong magnetic field interference in the field environment; confirm whether the power supply of the absolute encoder is normal; confirm whether the connecting wire between the absolute encoder and the driver is loose and check whether the connecting wire is broken.
0x136010 Encoder temperature of Joint 4 is too high
Type:Info
Description
Encoder temperature of Joint 4 is too high.
Reason
The temperature of the encoder exceeds the normal range.
Action
- Please check the temperature of the joint, if it has exceeded the allowable range, please lower it.
- Please contact the technical service team to check if the joint and encoder are functioning normally.
0x137180 Joint 4's motor is overloading
Type:Warning
Description
Joint 4's motor is overloading.
Reason
The motor was outputting too much current for a while.
Action
- Please check for any collision that happened before this error occurs.
- Please check if the actual payload of the joint has largely exceeded the standard payload of the robot.
- Please contact the technical service team to check the parameters of this joint.
- Please manually drag the robot to check if the joint's brake is functioning normally.
- Please contact the technical service team to check if the joint was not moving smoothly.
- Please contact the technical service team to check if the motor's rotor is functioning normally, or if the ABZ encoder can be read normally.
0x137181 Joint 4's motor brake is not functioning normally
Type:Warning
Description
Joint 4's motor brake is not functioning normally.
Reason
Electromagnet undetected.
Action
- Please check if the connection cable of the joint's electromagnet is in normal conditions.
- Please check to see if the resistance value of the electromagnet is correct.
0x137182 Joint 4's motor is on the opposite moving direction
Type:Warning
Description
Joint 4's motor is on the opposite moving direction.
Reason
The actual magnetic pole direction of the motor doesn't match the calculated pulse injection, causing unusual controlling conditions.
Action
- Please contact the technical service team to check if the motor's parameters are correct.
- Please check if the motor's phrase sequence connection cables are correct.
- Please contact the technical service team to check if the joint's driver board is functioning normally.
0x137185 Joint 4 motor brake current is unusual
Type:Warning
Description
Joint 4 motor brake current is unusual
Reason
Current detected in joint 4 brake when closed, or current exceeds 2A when brake is open.
Action
- Check if the connection with the joint brake cable is working properly.
- Check if there is a short circuit in the joint brake.
0x137380 Joint 4's encoder connection timeout
Type:Warning
Description
Joint 4's encoder connection timeout.
Reason
Error occurs in reading the status of the absolute encoder.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to replace the encoder connection cable to see if the fault is resolved.
- Please contact the technical service team to inspect if there are any irregular situations in the encoder's status light.
0x137381 Low voltage in the encoder battery for Joint 4
Type:Warning
Description
Low voltage in the encoder battery for Joint 4.
Reason
The voltage in the encoder battery is low.
Action
- Production parameter verification: Please contact the technical service team to confirm if the production parameters of this joint are correct.
- Wiring inspection: Remove the joint lid to check if any of the encoder's wiring is loose. If so, please contact the technical service team for replacement.
- Encoder malfunction: Replace the joint's encoder or replace the entire joint.
0x137382 Encoder battery disconnected in Joint 4
Type:Warning
Description
Encoder battery disconnected in Joint 4.
Reason
Encoder power supply error.
Action
- If this error occurs when power on or off the robot, no further measures need to be taken.
- If the encoder is damaged, and this error continues to occur and bother, please contact the technical service team for replacement.
0x137383 The angle stored in Joint 4's encoder is wrong
Type:Warning
Description
The angle stored in Joint 4's encoder is wrong.
Reason
Error occurs in the joint motor's position calibration.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to recalibrate the Z value of the joint.
0x137384 Wrong count in Joint 4's encoder
Type:Warning
Description
Wrong count in Joint 4's encoder.
Reason
Wrong count in the relative encoder.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x137385 Verification error in Joint 4's two encoders
Type:Warning
Description
Verification error in Joint 4's two encoders.
Reason
The deviation of position between the absolute encoder and the relative has exceeded the threshold.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please confirm if there has been a severe collision or mechanical failure, and contact the technical service team.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x137386 Internal errors of the Joint 4's encoder
Type:Warning
Description
Internal errors of the Joint 4's encoder.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x137387 Joint 4's Z signal is missing
Type:Warning
Description
Joint 4's Z signal is missing.
Reason
The Z signal of the relative encoder is missing.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to check the relative encoder for any necessary repair.
0x137388 Unusual magnetic signals from the Joint 4's encoder
Type:Warning
Description
Unusual magnetic signals from the Joint 4's encoder.
Reason
It can be errors in the encoder's signal amplitude and magnetic mode, or signal loss or signal irregularities.
Action
- Please check if this error occurs in a specific joint. Contact the technical service team to verify it the joint and the encoder are functioning normally.
- Please make sure the robot itself and its working environment are not interfered by external signals, especially magnetic signals.
0x137389 Joint 4 has an incremental encoder connection error
Type:Warning
Description
Joint 4 has an incremental encoder connection error
Reason
Incremental encoder data did not change during pulse injection micro-movement after powering on joint 4
Action
- Check if the connection with the incremental encoder cable connection is working properly.
- Check if the incremental encoder read head is damaged.
- Check if the code disc is smeared for a large area.
0x137580 Joint 4 torque feedforward has exceeded the limit
Type:Warning
Description
Joint 4 torque feedforward has exceeded the limit.
Reason
The torque feedforward has exceeded the servo threshold.
Action
Please contact the technical service team.
0x138000 Joint 4's position has deviated
Type:Info
Description
Joint 4's position has deviated.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x138001 Joint 4 position deviation alarm
Type:Info
Description
Joint 4 position deviation alarm.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x138480 Joint 4 forward speed tracking error
Type:Warning
Description
Joint 4 forward speed tracking error.
Reason
When the actual speed and the set speed are in the same direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x138481 Joint 4 reverse speed tracking error
Type:Warning
Description
Joint 4 reverse speed tracking error.
Reason
When the actual speed and the set speed are in the opposite direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x138482 Excessive speed detected in Joint 4
Type:Warning
Description
Excessive speed detected in Joint 4.
Reason
The actual speed of the joint exceeds its rated speed.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x138483 The speed tracking error for Joint 4 is too large
Type:Warning
Description
The speed tracking error for Joint 4 is too large.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x138484 Joint 4's acceleration has exceeded the allowable margin of error
Type:Warning
Description
Joint 4's acceleration has exceeded the allowable margin of error.
Reason
Abandon
Action
Please check if the servo is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x138485 Joint 4 speed control error
Type:Warning
Description
Joint 4 speed control error.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x138501 Joint 4: Servo enabling is prohibited in reverse drive mode
Type:Warning
Description
Joint 4: Servo enabling is prohibited in reverse drive mode
Reason
Joint 4: Servo enabling is prohibited in reverse drive mode
Action
Please exit the reverse drive mode and enable again.
0x138611 Excessive deviation in Joint 4's position
Type:Warning
Description
Excessive deviation in Joint 4's position.
Reason
The deviation between the actual position and the commanded position has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x138612 The increment of Joint 4's command position is too large
Type:Warning
Description
The increment of Joint 4's command position is too large.
Reason
The increment of Joint 4's command position is too large that it exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x138613 Excessive acceleration in Joint 4
Type:Warning
Description
Excessive acceleration in Joint 4.
Reason
The acceleration in Joint 4 has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x138614 The distance between Joint 4's commanded position and the servo's current position is too large
Type:Warning
Description
The distance between Joint 4's commanded position and the servo's current position is too large.
Reason
The controller gave the wrong position command.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please contact the technical service team to check if the robot's bus communication is functioning properly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x138615 Error occurs in Joint 4's CAN communication
Type:Warning
Description
Error occurs in Joint 4's CAN communication.
Reason
The robot's bus communication is not functioning normally.
Action
Please contact the technical service team to check the bus communication.
0x138616 joint 4 temperature sensor communication error
Type:Warning
Description
joint 4 temperature sensor communication error
Reason
Joint internal temperature sensor error
Action
Please check the temperature sensor of the IIC interface.
0x138617 Joint 4: CAN communication cycle fluctuation warning
Type:Warning
Description
Joint 4 detected fluctuation in CAN communication cycle
Reason
Significant fluctuations in the CAN communication cycle were detected multiple times in a short period in joint 4
Action
1.Conduct fault diagnosis (diagnostics may already have been performed automatically due to other errors) and save the diagnostic package. Check for fluctuations in the CAN communication cycle (fluctuations within 4-12ms are considered normal). 2.Check whether all switches on the SCB S2 are in the OFF position. 3.Check for any looseness in the control cabinet's cable, the main body's cable, the robot connection cable and the CAN cable.
0x142230 Joint 5 busbar overcurrent
Type:Warning
Description
Joint 5 busbar overcurrent.
Reason
The motor reports that the current has exceeded the threshold.
Action
Please take a photo of this function and the version of the controller, and save the diagnostic log, and contact the technical service team.
0x142320 Joint 5 output overcurrent
Type:Warning
Description
Joint 5 output overcurrent.
Reason
The current in motor UVW exceeds beyond the hardware driver board's overcurrent threshold.
Action
- Please reduce the robot's payload.
- Please decrease the robot's speed and acceleration. 3. The robot's joint driver and reduce is not normal, please contact the technical service team.
- The communication is not normal, please replace the robot connection cable or the control cabinet, or to contact the techinical service team.
0x142321 Joint 5 is experiencing overcurrent during the homing process
Type:Warning
Description
Joint 5 is experiencing overcurrent during the homing process.
Reason
When the joint is enabling, there is a significant current output, but no motor rotation was detected.
Action
- Please disable the robot, manually release the joint electromagnets, and check if this joint can be moved by hand.
- Please power off the robot and remove the back lid to check if the cables are connecting unusually, or please contact the technical service team.
0x142350 Joint 5 module overloaded (I2T)
Type:Warning
Description
Joint 5 module overloaded (I2T)
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x143130 Input phase loss in Joint 5
Type:Warning
Description
Input phase loss in Joint 5.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x143210 Servo overvoltage detected in Joint 5
Type:Warning
Description
Servo overvoltage detected in Joint 5.
Reason
The busbar voltage has exceeded the overvoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the discharge protection board of the control cabinet is functioning normally.
- Please contact the technical service team to check the hardware driver board.
0x143211 Joint 5 driver board power supply failure
Type:Warning
Description
Joint 5 driver board power supply failure.
Reason
The hardware driver board has been damaged.
Action
Please contact the technical service team.
0x143220 Servo undervoltage detected in Joint 5
Type:Warning
Description
Servo undervoltage detected in Joint 5.
Reason
The busbar voltage has exceeded the undervoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the robot connection cable is functioning normally.
- Please contact the technical service team to check the hardware driver board.
- Please contact the technical service team to check the communication or the power supply of the control cabinet.
0x143380 Encoder zero calibration failed in Joint 5
Type:Warning
Description
Encoder zero calibration failed in Joint 5.
Reason
When the joint is enabling, its motor doesn't rotate as expected.
Action
- Please contact the technical service team to check if all the parameters are correct in this joint.
- Please disable and enable the robot to check if the brake is functioning normally.
- Please contact the technical service team to check if the joint's ABZ cables and ABZ encoder disc are functioning normally.
0x143381 Output phase loss in Joint 5
Type:Warning
Description
Output phase loss in Joint 5.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x144210 Joint 5's motor is overheating
Type:Warning
Description
Joint 5's motor is overheating.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x144310 The servo in Joint 5 is overheating
Type:Warning
Description
The servo in Joint 5 is overheating.
Reason
The temperature of the driver board has exceeded the hardware driver board's overheating threshold.
Action
- Please check if the ambient temperature has exceeded the operating temperature of the robot.
- Please check if the temperature of the robot surface has exceeded 50℃. If so, try to decrease it.
- Please contact the technical service team to check if the joint driver board and the joint reducer are functioning normally.
0x145201 Joint 5's parameters are still locked
Type:Info
Description
Joint 5's parameters are still locked.
Reason
Starting from version R176, the servo's critical parameters have written-protection to prevent inadvertent errors.
Action
Please contact the the technical service team to check the joint's parameters.
0x145202 Joint 5's zero calibration and DH parameter are in contradiction
Type:Warning
Description
Joint 5's zero calibration and DH parameter are in contradiction.
Reason
During zero calibration, the servo detects whether the current model underwent DH parameter calibration before delivery. Using the zero calibration function on an already calibrated model can lead to DH parameter errors, resulting in a loss of robot accuracy.
Action
Please contact the technical service team.
0x145210 The parameters set for Joint 5 do not match its hardware power
Type:Warning
Description
The parameters set for Joint 5 do not match its hardware power.
Reason
There's a mismatch among the hardware driver board, the motor brand and model, and the servo's parameters.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to check if the joint driver board is functioning normally.
0x145211 Model selection error for Joint 5
Type:Warning
Description
Model selection error for Joint 5.
Reason
Mismatch between the hardware driver board and the servo's parameters.
Action
Please contact the technical service team to check if the joint's hardware version and the servo's parameters are correct.
0x145280 Wrong internal parameters of Joint 5
Type:Warning
Description
Wrong internal parameters of Joint 5.
Reason
The servo's parameters have exceeded the threshold. This error only occurs when powering on the robot.
Action
Please contact the technical service team to check if the internal parameters of the joint are correct.
0x145281 Joint 5 PID calculation overflow
Type:Warning
Description
Joint 5 PID calculation overflow.
Reason
The servo's PID calculation has exceeded its limit.
Action
Please contact the technical service team.
0x145282 Joint 5 EEPROM error
Type:Warning
Description
Joint 5 EEPROM error.
Reason
Hardware EEPROM chip read and write error.
Action
- Please try to power on and off the robot for several times to check the power on sequence. If the error still occurs, please contact the technical service team.
- Please contact the technical service team to check if the joint's driver board is working normally.
0x145283 Failed to enable Joint 5
Type:Warning
Description
Failed to enable Joint 5.
Reason
The enabling process failed due to other system errors.
Action
Please check if there are other errors. If so, deal with them first before enable the robot again.
0x145441 Error occurs in Joint 5's internal connection
Type:Warning
Description
Error occurs in Joint 5's internal connection.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x145480 Servo in Joint 5 has exceeded the power limit
Type:Warning
Description
Servo in Joint 5 has exceeded the power limit.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x146000 Joint 5 Absolute Encoder Internal Error
Type:Warning
Description
Abnormal internal status of absolute encoder in Joint 5
Reason
The driver has detected an abnormal operation status of the absolute encoder.
Action
Confirm whether there is strong electric field or strong magnetic field interference in the field environment; confirm whether the power supply of the absolute encoder is normal; confirm whether the connecting wire between the absolute encoder and the driver is loose and check whether the connecting wire is broken.
0x146010 Encoder temperature of Joint 5 is too high
Type:Info
Description
Encoder temperature of Joint 5 is too high.
Reason
The temperature of the encoder exceeds the normal range.
Action
- Please check the temperature of the joint, if it has exceeded the allowable range, please lower it.
- Please contact the technical service team to check if the joint and encoder are functioning normally.
0x147180 Joint 5's motor is overloading
Type:Warning
Description
Joint 5's motor is overloading.
Reason
The motor was outputting too much current for a while.
Action
- Please check for any collision that happened before this error occurs.
- Please check if the actual payload of the joint has largely exceeded the standard payload of the robot.
- Please contact the technical service team to check the parameters of this joint.
- Please manually drag the robot to check if the joint's brake is functioning normally.
- Please contact the technical service team to check if the joint was not moving smoothly.
- Please contact the technical service team to check if the motor's rotor is functioning normally, or if the ABZ encoder can be read normally.
0x147181 Joint 5's motor brake is not functioning normally
Type:Warning
Description
Joint 5's motor brake is not functioning normally.
Reason
Electromagnet undetected.
Action
- Please check if the connection cable of the joint's electromagnet is in normal conditions.
- Please check to see if the resistance value of the electromagnet is correct.
0x147182 Joint 5's motor is on the opposite moving direction
Type:Warning
Description
Joint 5's motor is on the opposite moving direction.
Reason
The actual magnetic pole direction of the motor doesn't match the calculated pulse injection, causing unusual controlling conditions.
Action
- Please contact the technical service team to check if the motor's parameters are correct.
- Please check if the motor's phrase sequence connection cables are correct.
- Please contact the technical service team to check if the joint's driver board is functioning normally.
0x147185 Joint 5 motor brake current is unusual
Type:Warning
Description
Joint 5 motor brake current is unusual
Reason
Current detected in joint 5 brake when closed, or current exceeds 2A when brake is open.
Action
- Check if the connection with the joint brake cable is working properly.
- Check if there is a short circuit in the joint brake.
0x147380 Joint 5's encoder connection timeout
Type:Warning
Description
Joint 5's encoder connection timeout.
Reason
Error occurs in reading the status of the absolute encoder.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to replace the encoder connection cable to see if the fault is resolved.
- Please contact the technical service team to inspect if there are any irregular situations in the encoder's status light.
0x147381 Low voltage in the encoder battery for Joint 5
Type:Warning
Description
Low voltage in the encoder battery for Joint 5.
Reason
The voltage in the encoder battery is low.
Action
- Production parameter verification: Please contact the technical service team to confirm if the production parameters of this joint are correct.
- Wiring inspection: Remove the joint lid to check if any of the encoder's wiring is loose. If so, please contact the technical service team for replacement.
- Encoder malfunction: Replace the joint's encoder or replace the entire joint.
0x147382 Encoder battery disconnected in Joint 5
Type:Warning
Description
Encoder battery disconnected in Joint 5.
Reason
Encoder power supply error.
Action
- If this error occurs when power on or off the robot, no further measures need to be taken.
- If the encoder is damaged, and this error continues to occur and bother, please contact the technical service team for replacement.
0x147383 The angle stored in Joint 5's encoder is wrong
Type:Warning
Description
The angle stored in Joint 5's encoder is wrong.
Reason
Error occurs in the joint motor's position calibration.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to recalibrate the Z value of the joint.
0x147384 Wrong count in Joint 5's encoder
Type:Warning
Description
Wrong count in Joint 5's encoder.
Reason
Wrong count in the relative encoder.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x147385 Verification error in Joint 5's two encoders
Type:Warning
Description
Verification error in Joint 5's two encoders.
Reason
The deviation of position between the absolute encoder and the relative has exceeded the threshold.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please confirm if there has been a severe collision or mechanical failure, and contact the technical service team.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x147386 Internal errors of the Joint 5's encoder
Type:Warning
Description
Internal errors of the Joint 5's encoder.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x147387 Joint 5's Z signal is missing
Type:Warning
Description
Joint 5's Z signal is missing.
Reason
The Z signal of the relative encoder is missing.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to check the relative encoder for any necessary repair.
0x147388 Unusual magnetic signals from the Joint 5's encoder
Type:Warning
Description
Unusual magnetic signals from the Joint 5's encoder.
Reason
It can be errors in the encoder's signal amplitude and magnetic mode, or signal loss or signal irregularities.
Action
- Please check if this error occurs in a specific joint. Contact the technical service team to verify it the joint and the encoder are functioning normally.
- Please make sure the robot itself and its working environment are not interfered by external signals, especially magnetic signals.
0x147389 Joint 5 has an incremental encoder connection error
Type:Warning
Description
Joint 5 has an incremental encoder connection error
Reason
Incremental encoder data did not change during pulse injection micro-movement after powering on joint 5
Action
- Check if the connection with the incremental encoder cable connection is working properly.
- Check if the incremental encoder read head is damaged.
- Check if the code disc is smeared for a large area.
0x147580 Joint 5 torque feedforward has exceeded the limit
Type:Warning
Description
Joint 5 torque feedforward has exceeded the limit.
Reason
The torque feedforward has exceeded the servo threshold.
Action
Please contact the technical service team.
0x148000 Joint 5's position has deviated
Type:Info
Description
Joint 5's position has deviated.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x148001 Joint 5 position deviation alarm
Type:Info
Description
Joint 5 position deviation alarm.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x148480 Joint 5 forward speed tracking error
Type:Warning
Description
Joint 5 forward speed tracking error.
Reason
When the actual speed and the set speed are in the same direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x148481 Joint 5 reverse speed tracking error
Type:Warning
Description
Joint 5 reverse speed tracking error.
Reason
When the actual speed and the set speed are in the opposite direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x148482 Excessive speed detected in Joint 5
Type:Warning
Description
Excessive speed detected in Joint 5.
Reason
The actual speed of the joint exceeds its rated speed.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x148483 The speed tracking error for Joint 5 is too large
Type:Warning
Description
The speed tracking error for Joint 5 is too large.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x148484 Joint 5's acceleration has exceeded the allowable margin of error
Type:Warning
Description
Joint 5's acceleration has exceeded the allowable margin of error.
Reason
Abandon
Action
Please check if the servo is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x148485 Joint 5 speed control error
Type:Warning
Description
Joint 5 speed control error.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x148501 Joint 5: Servo enabling is prohibited in reverse drive mode
Type:Warning
Description
Joint 5: Servo enabling is prohibited in reverse drive mode
Reason
Joint 5: Servo enabling is prohibited in reverse drive mode
Action
Please exit the reverse drive mode and enable again.
0x148611 Excessive deviation in Joint 5's position
Type:Warning
Description
Excessive deviation in Joint 5's position.
Reason
The deviation between the actual position and the commanded position has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x148612 The increment of Joint 5's command position is too large
Type:Warning
Description
The increment of Joint 5's command position is too large.
Reason
The increment of Joint 5's command position is too large that it exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x148613 Excessive acceleration in Joint 5
Type:Warning
Description
Excessive acceleration in Joint 5.
Reason
The acceleration in Joint 5 has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x148614 The distance between Joint 5's commanded position and the servo's current position is too large
Type:Warning
Description
The distance between Joint 5's commanded position and the servo's current position is too large.
Reason
The controller gave the wrong position command.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please contact the technical service team to check if the robot's bus communication is functioning properly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x148615 Error occurs in Joint 5's CAN communication
Type:Warning
Description
Error occurs in Joint 5's CAN communication.
Reason
The robot's bus communication is not functioning normally.
Action
Please contact the technical service team to check the bus communication.
0x148616 joint 5 temperature sensor communication error
Type:Warning
Description
joint 5 temperature sensor communication error
Reason
Joint internal temperature sensor error
Action
Please check the temperature sensor of the IIC interface.
0x148617 Joint 5: CAN communication cycle fluctuation warning
Type:Warning
Description
Joint 5 detected fluctuation in CAN communication cycle
Reason
Significant fluctuations in the CAN communication cycle were detected multiple times in a short period in joint 5
Action
1.Conduct fault diagnosis (diagnostics may already have been performed automatically due to other errors) and save the diagnostic package. Check for fluctuations in the CAN communication cycle (fluctuations within 4-12ms are considered normal). 2.Check whether all switches on the SCB S2 are in the OFF position. 3.Check for any looseness in the control cabinet's cable, the main body's cable, the robot connection cable and the CAN cable.
0x152230 Joint 6 busbar overcurrent
Type:Warning
Description
Joint 6 busbar overcurrent.
Reason
The motor reports that the current has exceeded the threshold.
Action
Please take a photo of this function and the version of the controller, and save the diagnostic log, and contact the technical service team.
0x152320 Joint 6 output overcurrent
Type:Warning
Description
Joint 6 output overcurrent.
Reason
The current in motor UVW exceeds beyond the hardware driver board's overcurrent threshold.
Action
- Please reduce the robot's payload.
- Please decrease the robot's speed and acceleration. 3. The robot's joint driver and reduce is not normal, please contact the technical service team.
- The communication is not normal, please replace the robot connection cable or the control cabinet, or to contact the techinical service team.
0x152321 Joint 6 is experiencing overcurrent during the homing process
Type:Warning
Description
Joint 6 is experiencing overcurrent during the homing process.
Reason
When the joint is enabling, there is a significant current output, but no motor rotation was detected.
Action
- Please disable the robot, manually release the joint electromagnets, and check if this joint can be moved by hand.
- Please power off the robot and remove the back lid to check if the cables are connecting unusually, or please contact the technical service team.
0x152350 Joint 6 module overloaded (I2T)
Type:Warning
Description
Joint 6 module overloaded (I2T)
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x153130 Input phase loss in Joint 6
Type:Warning
Description
Input phase loss in Joint 6.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x153210 Servo overvoltage detected in Joint 6
Type:Warning
Description
Servo overvoltage detected in Joint 6.
Reason
The busbar voltage has exceeded the overvoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the discharge protection board of the control cabinet is functioning normally.
- Please contact the technical service team to check the hardware driver board.
0x153211 Joint 6 driver board power supply failure
Type:Warning
Description
Joint 6 driver board power supply failure.
Reason
The hardware driver board has been damaged.
Action
Please contact the technical service team.
0x153220 Servo undervoltage detected in Joint 6
Type:Warning
Description
Servo undervoltage detected in Joint 6.
Reason
The busbar voltage has exceeded the undervoltage threshold of the hardware driver board.
Action
- Please check if the payload and acceleration of the robot are too large. If so, decrease them.
- Please check if the robot connection cable is functioning normally.
- Please contact the technical service team to check the hardware driver board.
- Please contact the technical service team to check the communication or the power supply of the control cabinet.
0x153380 Encoder zero calibration failed in Joint 6
Type:Warning
Description
Encoder zero calibration failed in Joint 6.
Reason
When the joint is enabling, its motor doesn't rotate as expected.
Action
- Please contact the technical service team to check if all the parameters are correct in this joint.
- Please disable and enable the robot to check if the brake is functioning normally.
- Please contact the technical service team to check if the joint's ABZ cables and ABZ encoder disc are functioning normally.
0x153381 Output phase loss in Joint 6
Type:Warning
Description
Output phase loss in Joint 6.
Reason
When enabling, the output of three-phase electric power is not normal.
Action
- Please contact the technical service team to check if the joint's three-phase connection cable is working properly.
- Please contact the technical service team to check if the joint's motor circuit is working properly.
- Please contact the technical service team to check if the joint's driver board is working properly.
0x154210 Joint 6's motor is overheating
Type:Warning
Description
Joint 6's motor is overheating.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x154310 The servo in Joint 6 is overheating
Type:Warning
Description
The servo in Joint 6 is overheating.
Reason
The temperature of the driver board has exceeded the hardware driver board's overheating threshold.
Action
- Please check if the ambient temperature has exceeded the operating temperature of the robot.
- Please check if the temperature of the robot surface has exceeded 50℃. If so, try to decrease it.
- Please contact the technical service team to check if the joint driver board and the joint reducer are functioning normally.
0x155201 Joint 6's parameters are still locked
Type:Info
Description
Joint 6's parameters are still locked.
Reason
Starting from version R176, the servo's critical parameters have written-protection to prevent inadvertent errors.
Action
Please contact the the technical service team to check the joint's parameters.
0x155202 Joint 6's zero calibration and DH parameter are in contradiction
Type:Warning
Description
Joint 6's zero calibration and DH parameter are in contradiction.
Reason
During zero calibration, the servo detects whether the current model underwent DH parameter calibration before delivery. Using the zero calibration function on an already calibrated model can lead to DH parameter errors, resulting in a loss of robot accuracy.
Action
Please contact the technical service team.
0x155210 The parameters set for Joint 6 do not match its hardware power
Type:Warning
Description
The parameters set for Joint 6 do not match its hardware power.
Reason
There's a mismatch among the hardware driver board, the motor brand and model, and the servo's parameters.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to check if the joint driver board is functioning normally.
0x155211 Model selection error for Joint 6
Type:Warning
Description
Model selection error for Joint 6.
Reason
Mismatch between the hardware driver board and the servo's parameters.
Action
Please contact the technical service team to check if the joint's hardware version and the servo's parameters are correct.
0x155280 Wrong internal parameters of Joint 6
Type:Warning
Description
Wrong internal parameters of Joint 6.
Reason
The servo's parameters have exceeded the threshold. This error only occurs when powering on the robot.
Action
Please contact the technical service team to check if the internal parameters of the joint are correct.
0x155281 Joint 6 PID calculation overflow
Type:Warning
Description
Joint 6 PID calculation overflow.
Reason
The servo's PID calculation has exceeded its limit.
Action
Please contact the technical service team.
0x155282 Joint 6 EEPROM error
Type:Warning
Description
Joint 6 EEPROM error.
Reason
Hardware EEPROM chip read and write error.
Action
- Please try to power on and off the robot for several times to check the power on sequence. If the error still occurs, please contact the technical service team.
- Please contact the technical service team to check if the joint's driver board is working normally.
0x155283 Failed to enable Joint 6
Type:Warning
Description
Failed to enable Joint 6.
Reason
The enabling process failed due to other system errors.
Action
Please check if there are other errors. If so, deal with them first before enable the robot again.
0x155441 Error occurs in Joint 6's internal connection
Type:Warning
Description
Error occurs in Joint 6's internal connection.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x155480 Servo in Joint 6 has exceeded the power limit
Type:Warning
Description
Servo in Joint 6 has exceeded the power limit.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x156000 Joint 6 Absolute Encoder Internal Error
Type:Warning
Description
Abnormal internal status of absolute encoder in Joint 6
Reason
The driver has detected an abnormal operation status of the absolute encoder.
Action
Confirm whether there is strong electric field or strong magnetic field interference in the field environment; confirm whether the power supply of the absolute encoder is normal; confirm whether the connecting wire between the absolute encoder and the driver is loose and check whether the connecting wire is broken.
0x156010 Encoder temperature of Joint 6 is too high
Type:Info
Description
Encoder temperature of Joint 6 is too high.
Reason
The temperature of the encoder exceeds the normal range.
Action
- Please check the temperature of the joint, if it has exceeded the allowable range, please lower it.
- Please contact the technical service team to check if the joint and encoder are functioning normally.
0x157180 Joint 6's motor is overloading
Type:Warning
Description
Joint 6's motor is overloading.
Reason
The motor was outputting too much current for a while.
Action
- Please check for any collision that happened before this error occurs.
- Please check if the actual payload of the joint has largely exceeded the standard payload of the robot.
- Please contact the technical service team to check the parameters of this joint.
- Please manually drag the robot to check if the joint's brake is functioning normally.
- Please contact the technical service team to check if the joint was not moving smoothly.
- Please contact the technical service team to check if the motor's rotor is functioning normally, or if the ABZ encoder can be read normally.
0x157181 Joint 6's motor brake is not functioning normally
Type:Warning
Description
Joint 6's motor brake is not functioning normally.
Reason
Electromagnet undetected.
Action
- Please check if the connection cable of the joint's electromagnet is in normal conditions.
- Please check to see if the resistance value of the electromagnet is correct.
0x157182 Joint 6's motor is on the opposite moving direction
Type:Warning
Description
Joint 6's motor is on the opposite moving direction.
Reason
The actual magnetic pole direction of the motor doesn't match the calculated pulse injection, causing unusual controlling conditions.
Action
- Please contact the technical service team to check if the motor's parameters are correct.
- Please check if the motor's phrase sequence connection cables are correct.
- Please contact the technical service team to check if the joint's driver board is functioning normally.
0x157185 Joint 6 motor brake current is unusual
Type:Warning
Description
Joint 6 motor brake current is unusual
Reason
Current detected in joint 6 brake when closed, or current exceeds 2A when brake is open.
Action
- Check if the connection with the joint brake cable is working properly.
- Check if there is a short circuit in the joint brake.
0x157380 Joint 6's encoder connection timeout
Type:Warning
Description
Joint 6's encoder connection timeout.
Reason
Error occurs in reading the status of the absolute encoder.
Action
- Please contact the technical service team to check if the production parameters of this joint are correct.
- Please contact the technical service team to replace the encoder connection cable to see if the fault is resolved.
- Please contact the technical service team to inspect if there are any irregular situations in the encoder's status light.
0x157381 Low voltage in the encoder battery for Joint 6
Type:Warning
Description
Low voltage in the encoder battery for Joint 6.
Reason
The voltage in the encoder battery is low.
Action
- Production parameter verification: Please contact the technical service team to confirm if the production parameters of this joint are correct.
- Wiring inspection: Remove the joint lid to check if any of the encoder's wiring is loose. If so, please contact the technical service team for replacement.
- Encoder malfunction: Replace the joint's encoder or replace the entire joint.
0x157382 Encoder battery disconnected in Joint 6
Type:Warning
Description
Encoder battery disconnected in Joint 6.
Reason
Encoder power supply error.
Action
- If this error occurs when power on or off the robot, no further measures need to be taken.
- If the encoder is damaged, and this error continues to occur and bother, please contact the technical service team for replacement.
0x157383 The angle stored in Joint 6's encoder is wrong
Type:Warning
Description
The angle stored in Joint 6's encoder is wrong.
Reason
Error occurs in the joint motor's position calibration.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to recalibrate the Z value of the joint.
0x157384 Wrong count in Joint 6's encoder
Type:Warning
Description
Wrong count in Joint 6's encoder.
Reason
Wrong count in the relative encoder.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x157385 Verification error in Joint 6's two encoders
Type:Warning
Description
Verification error in Joint 6's two encoders.
Reason
The deviation of position between the absolute encoder and the relative has exceeded the threshold.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please confirm if there has been a severe collision or mechanical failure, and contact the technical service team.
- Please contact the technical service team to inspect the encoder's installation or check for any dirt or contamination on the encoder disc.
0x157386 Internal errors of the Joint 6's encoder
Type:Warning
Description
Internal errors of the Joint 6's encoder.
Reason
Abandon
Action
Please check if the controller is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x157387 Joint 6's Z signal is missing
Type:Warning
Description
Joint 6's Z signal is missing.
Reason
The Z signal of the relative encoder is missing.
Action
- Please contact the technical service team to verify if the production parameters of this joint are correct.
- Please contact the technical service team to check the relative encoder for any necessary repair.
0x157388 Unusual magnetic signals from the Joint 6's encoder
Type:Warning
Description
Unusual magnetic signals from the Joint 6's encoder.
Reason
It can be errors in the encoder's signal amplitude and magnetic mode, or signal loss or signal irregularities.
Action
- Please check if this error occurs in a specific joint. Contact the technical service team to verify it the joint and the encoder are functioning normally.
- Please make sure the robot itself and its working environment are not interfered by external signals, especially magnetic signals.
0x157389 Joint 6 has an incremental encoder connection error
Type:Warning
Description
Joint 6 has an incremental encoder connection error
Reason
Incremental encoder data did not change during pulse injection micro-movement after powering on joint 6
Action
- Check if the connection with the incremental encoder cable connection is working properly.
- Check if the incremental encoder read head is damaged.
- Check if the code disc is smeared for a large area.
0x157580 Joint 6 torque feedforward has exceeded the limit
Type:Warning
Description
Joint 6 torque feedforward has exceeded the limit.
Reason
The torque feedforward has exceeded the servo threshold.
Action
Please contact the technical service team.
0x158000 Joint 6's position has deviated
Type:Info
Description
Joint 6's position has deviated.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x158001 Joint 6 position deviation alarm
Type:Info
Description
Joint 6 position deviation alarm.
Reason
According to the servo's position tracking deviation, a collision might have occurred.
Action
- Please check if the robot has collided with something.
- Please check if the robot's acceleration was too large.
- Please check if the robot's payload has exceeded its allowable range.
- Please check if the mounting pose of the robot in the software is aligned with its actual pose.
- Please check if the motion segment transition is used correctly.
0x158480 Joint 6 forward speed tracking error
Type:Warning
Description
Joint 6 forward speed tracking error.
Reason
When the actual speed and the set speed are in the same direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x158481 Joint 6 reverse speed tracking error
Type:Warning
Description
Joint 6 reverse speed tracking error.
Reason
When the actual speed and the set speed are in the opposite direction, their speed error exceeds the set alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
0x158482 Excessive speed detected in Joint 6
Type:Warning
Description
Excessive speed detected in Joint 6.
Reason
The actual speed of the joint exceeds its rated speed.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x158483 The speed tracking error for Joint 6 is too large
Type:Warning
Description
The speed tracking error for Joint 6 is too large.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the alarm threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x158484 Joint 6's acceleration has exceeded the allowable margin of error
Type:Warning
Description
Joint 6's acceleration has exceeded the allowable margin of error.
Reason
Abandon
Action
Please check if the servo is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x158485 Joint 6 speed control error
Type:Warning
Description
Joint 6 speed control error.
Reason
The deviation between the actual joint speed and the demanded speed exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x158501 Joint 6: Servo enabling is prohibited in reverse drive mode
Type:Warning
Description
Joint 6: Servo enabling is prohibited in reverse drive mode
Reason
Joint 6: Servo enabling is prohibited in reverse drive mode
Action
Please exit the reverse drive mode and enable again.
0x158611 Excessive deviation in Joint 6's position
Type:Warning
Description
Excessive deviation in Joint 6's position.
Reason
The deviation between the actual position and the commanded position has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x158612 The increment of Joint 6's command position is too large
Type:Warning
Description
The increment of Joint 6's command position is too large.
Reason
The increment of Joint 6's command position is too large that it exceeds the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x158613 Excessive acceleration in Joint 6
Type:Warning
Description
Excessive acceleration in Joint 6.
Reason
The acceleration in Joint 6 has exceeded the threshold.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please check if the robot has collided with any object, or the payload value was set correctly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x158614 The distance between Joint 6's commanded position and the servo's current position is too large
Type:Warning
Description
The distance between Joint 6's commanded position and the servo's current position is too large.
Reason
The controller gave the wrong position command.
Action
- Please check if the acceleration of the command is too fast.
- Please check if the motion segment transition parameters are correct.
- Please contact the technical service team to check if the robot's bus communication is functioning properly.
- If it's in servo mode, please check if the command sent was continuous or unusual, and if the inverse kinematics calculation for position was continuous or unusual.
0x158615 Error occurs in Joint 6's CAN communication
Type:Warning
Description
Error occurs in Joint 6's CAN communication.
Reason
The robot's bus communication is not functioning normally.
Action
Please contact the technical service team to check the bus communication.
0x158616 joint 6 temperature sensor communication error
Type:Warning
Description
joint 6 temperature sensor communication error
Reason
Joint internal temperature sensor error
Action
Please check the temperature sensor of the IIC interface.
0x158617 Joint 6: CAN communication cycle fluctuation warning
Type:Warning
Description
Joint 6 detected fluctuation in CAN communication cycle
Reason
Significant fluctuations in the CAN communication cycle were detected multiple times in a short period in joint 6
Action
1.Conduct fault diagnosis (diagnostics may already have been performed automatically due to other errors) and save the diagnostic package. Check for fluctuations in the CAN communication cycle (fluctuations within 4-12ms are considered normal). 2.Check whether all switches on the SCB S2 are in the OFF position. 3.Check for any looseness in the control cabinet's cable, the main body's cable, the robot connection cable and the CAN cable.
0x201002 Failed to initialize the TIO
Type:Warning
Description
Failed to initialize the TIO after the robot is powered on.
Reason
No TIO data is received within 1s after the communication of all joints has been established.
Action
Please check if the connection cable and power cable of TIO are connected properly; Please check if the TIO panel has seeable damages; Please contact the manufacture for help.
0x201101 Modbus RTU configuration error during extended IO initialization
Type:Warning
Description
Failed initialization of extended IO due to mismatched Modbus RTU communication parameters.
Reason
Error occurred while attempting to connect Modbus slave IO modules based on the provided configuration.
Action
- Please confirm the type of extended IO module and its communication settings;
- Please make sure the communication connection between the control cabinet interface and the external extended IO module is normal; 3.Please confirm the power supply of the extended IO module is normal; 4.Try using Modbus Poll tool to connect to the extended IO to check if the module is malfunctioning.
0x201102 Failed to establish Modbus RTU connection during extended IO initialization
Type:Warning
Description
Failed to establish Modbus RTU connection during extended IO initialization.
Reason
Error occurred while attempting to connect Modbus slave IO modules based on the provided configuration.
Action
- Please confirm the type of extended IO module and its communication settings;
- Please make sure the communication connection between the control cabinet interface and the external extended IO module is normal;
- Please confirm the power supply of the extended IO module is normal;
- Try using Modbus Poll tool to connect to the extended IO to check if the module is malfunctioning.
0x201104 The parameters of the extended IO's RTU serial bus are inconsistent
Type:Info
Description
The parameters of the extended IO's RTU serial bus are inconsistent.
Reason
Multiple RTU extended IO modules are configured, and each module has different serial bus parameters.
Action
Modify the extended IO's RTU serial bus parameters to match those of the first RTU module's parameters across all modules.
0x201201 Modbus RTU configuration error during extended IO initialization
Type:Warning
Description
Failed initialization of extended IO due to mismatched Modbus RTU communication parameters.
Reason
Error occurred while attempting to connect Modbus slave IO modules based on the provided configuration.
Action
- Please confirm the type of extended IO module and its communication settings;
- Please make sure the communication connection between the control cabinet interface and the external extended IO module is normal;
- Please confirm the power supply of the extended IO module is normal;
- Try using Modbus Poll tool to connect to the extended IO to check if the module is malfunctioning.
0x201202 Failed to establish Modbus TCP connection during extended IO initialization
Type:Warning
Description
Failed to establish Modbus TCP connection during extended IO initialization.
Reason
Error occurred while attempting to connect Modbus slave IO modules based on the provided configuration.
Action
- Please confirm the type of extended IO module and its communication settings;
- Please make sure the communication connection between the control cabinet interface and the external extended IO module is normal;
- Please confirm the power supply of the extended IO module is normal;
- Try using Modbus Poll tool to connect to the extended IO to check if the module is malfunctioning.
0x201304 Unknown error occurs during extended IO initialization
Type:Warning
Description
Unknown error occurs during initialization.
Reason
Error occurred while attempting to connect Modbus slave IO modules based on the provided configuration.
Action
- Please confirm the type of extended IO module and its communication settings;
- Please make sure the communication connection between the control cabinet interface and the external extended IO module is normal;
- Please confirm the power supply of the extended IO module is normal;
- Try using Modbus Poll tool to connect to the extended IO to check if the module is malfunctioning.
0x202102 Modbus TCP node disconnected during extended IO operation
Type:Warning
Description
The extended IO failed to run and the Modbus TCP node disconnected.
Reason
The connection between the Modbus TCP extended IO and the controller dropped during operation.
Action
- Please confirm the type of extended IO module and its communication settings;
- Please make sure the communication connection between the control cabinet interface and the external extended IO module is normal;
- Please confirm the power supply of the extended IO module is normal;
- Try using Modbus Poll tool to connect to the extended IO to check if the module is malfunctioning.
0x202103 Modbus RTU node disconnected during extended IO operation
Type:Warning
Description
The extended IO failed to run and the Modbus RTU node disconnected.
Reason
The connection between the Modbus RTU extended IO and the controller dropped during operation.
Action
- Please confirm the type of extended IO module and its communication settings;
- Please make sure the communication connection between the control cabinet interface and the external extended IO module is normal;
- Please confirm the power supply of the extended IO module is normal;
- Try using Modbus Poll tool to connect to the extended IO to check if the module is malfunctioning.
0x302380 The current of the fan is not normal
Type:Info
Description
The current of the fan is not normal.
Reason
The fan in the control cabinet is not normal or a short circuit occurs in the fan.
Action
Please check the status of the fan.
0x302381 Level 1 warning: robot current error
Type:Info
Description
Robot output power supply current error, level 1 warning: 25A Robot current consumption error.
Reason
The current collected by the SCB exceeds the threshold.
Action
Please check whether the SCB is the debugging version, or contact the technical service personnel.
0x302382 Level 2 warning: robot current error
Type:Info
Description
Robot output power supply current error, level 2 warning: 31.25A
Reason
The current collected by the SCB exceeds the threshold.
Action
Please check whether the SCB is the debugging version, or contact the technical service personnel.
0x302383 Level 3 warning: robot current error
Type:Info
Description
Robot output power supply current error, level 3 warning: 37.25A
Reason
The current collected by the SCB exceeds the threshold.
Action
Please check whether the SCB is the debugging version, or contact the technical service personnel.
0x302384 The power supply current of the user IO is not normal
Type:Info
Description
The power supply current of the user IO is not normal (2.3A)
Reason
The total current value of the 24V output on the control cabinet panel has exceeded 1.5A.
Action
- Please remove the devices on the control cabinet's panel to see if this issue persists;
- If the issue doesn't occur after step 1, it means user cannot use the control cabinet as the power supply for other devices;
- If the issue persists after step 1, try powering off the robot and restarting it. If nothing changes, please contact the technical service team to check for any damage on the hardware.
0x302385 The IPC current is not normal
Type:Info
Description
The IPC current is not normal (if the current exceeds 1.5A, it indicates a short circuit, triggering an error report).
Reason
After powering up, the IPC is not connected, or the current of the IPC has exceeded 1.5A;
Action
Please contact the technical service team to check if the hardware of the IPC is functioning normally.
0x302391 Power limit of the robot is not normal
Type:Info
Description
Power limit of the robot is not normal.
Reason
The power limit of the robot calculated by the SCB has exceeded the set limit.
Action
- Please reset the power limit in Safety Settings.
- Please contact the technical service team to check if it's the hardware's issue that caused the exceeding of the power limit.
0x303181 220V power supply voltage is not normal
Type:Info
Description
220V power supply is not normal.
Reason
Unusual amplitude and frequency are detected by the control cabinet in the 220V signal.
Action
- Please verify the present voltage and frequency of the control cabinet. The 220V power loss detection function is activated solely with AC power exceeding 110V and operating at a frequency between 50-60Hz. Control cabinets powered by 90-110V AC should utilize firmware versions specifically marked as 'dis220v';
- Please update the firmware to the newest version to see if the issue persists;
- If both steps 1 and 2 don't resolve the issue, it's necessary to determine the amplitude and frequency of the power supply and any fluctuations during operation;
- If steps 1 and 2 failed to resolve the issue and step 3 was unachievable, check if there are any cases on-site where the control cabinet's power supply is directly cut off during robot operation (including, but not limited to, unplugging the 220V plug or factory power outage). If such cases don't occur, temporarily use firmware with the 'dis220V' version until a solution is found.
0x303182 The main power supply relay is malfunctioning
Type:Info
Description
The main power supply relay is malfunctioning.
Reason
The relay controlling the 48V output detects an output signal when not powered, indicating a potential sticking issue with the relay that controls the input signal for the 48V power supply.
Action
- Please update the SCB firmware to the latest version and check if the issue persists;
- Please confirm the amplitude and frequency of the control cabinet's power supply. Control cabinets powered by 90-110V AC should utilize firmware versions specifically marked as 'dis220v';
- If the issue persists after the previous steps, please contact the technical service team to inspect the relay controlling the 48V power supply in the control cabinet for possible damage.
0x303184 Safety signal is not normal, unable to power on
Type:Info
Description
The safety DI signal is not normal. The SCB has detected this error but has not solved it yet, and it refused to power on the robot again.
Reason
Please check if the safety DI signal on the control cabinet's interface panel is normal. Make sure the safety DI signal is normal, then power on the robot again to clear the error.
Action
0x303281 5V power supply voltage is not normal
Type:Info
Description
5V not normal (the fluctuation range of the power voltage)
Reason
The internal 5V signal voltage of the control cabinet has exceeded the preset value (3.5-6.1V). You can use a multimeter to test the 5V signal voltage.
Action
- Please check if the firmware version is the latest. If not, update to the latest version and check if the issue persists;
- Please disconnect and reconnect the power supply of the control cabinet to check if the issue still exists. If so, please contact the technical service team to check the control cabinet;
- For standard 220V powered control cabinets, unplugging the 220V power supply will trigger this error, which is a normal occurrence.
0x303282 12V power supply voltage is not normal
Type:Info
Description
12V not normal (the fluctuation range of the power voltage)
Reason
The internal 12V signal voltage of the control cabinet has exceeded the preset value (9-14V). You can use a multimeter to test the 12V signal voltage.
Action
- Please check if the firmware version is the latest. If not, update to the latest version and check if the issue persists;
- Please disconnect and reconnect the power supply of the control cabinet, and restart it to check if the issue still exists. If so, please contact the technical service team to check the control cabinet;
- For standard 220V powered control cabinets, unplugging the 220V power supply will trigger this error, which is a normal occurrence.
0x303283 24V power supply voltage is not normal
Type:Warning
Description
24V not normal (the fluctuation range of the power voltage)
Reason
The internal 24V signal voltage of the control cabinet has exceeded the preset value (15-31V). You can use a multimeter to test the 24V signal voltage.
Action
- Please check if the firmware version is the latest. If not, update to the latest version and check if the issue persists;
- Please disconnect and reconnect the power supply of the control cabinet, and restart it to check if the issue still exists. If so, please contact the technical service team to check the control cabinet;
- For standard 220V powered control cabinets, unplugging the 220V power supply will trigger this error, which is a normal occurrence.
0x303381 The voltage of the robot's output power supply is not normal
Type:Info
Description
The power voltage or its configuration of the robot is not normal.
Reason
The discharge voltage set on MiniCAB is lower than its input voltage.
Action
Please reset the discharging voltage on the App.
0x303387 The PSCB relay malfunctions
Type:Info
Description
The PSCB relay malfunctions.
Reason
When the robot is powered off, the detected voltage of the robot power supply's two relays is not consistent.
Action
- Please update the firmware to the latest version and check if the issue persists;
- If the issue persists after the previous steps, please contact the technical service team to check if the internal relay of the PSCB is damaged.
0x304281 PDU temperature is not normal
Type:Info
Description
PDU temperature is not normal.
Reason
The internal temperature of the control cabinet has exceeded 70℃.
Action
- Please check if the internal temperature of the control cabinet has exceeded 70℃;
- Please check if the fan within the control cabinet is functioning.
0x304282 The breaking resistor is overheating
Type:Warning
Description
The breaking resistor is overheating.
Reason
The temperature of the resistor within the MiniCAB has exceeded 80℃.
Action
- Please check the internal temperature of the MiniCAB;
- Please lower the robot's acceleration;
- Please add a fan to dissipate the heat.
0x305081 Control stick emergency stop safety inputs differ
Type:Info
Description
Control stick emergency stop safety inputs differ.
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please try another control stick, or contact the JAKA technical service team to check the control cabinet's SCB circuit.
0x305082 External emergency stop safety inputs differ
Type:Info
Description
External emergency stop safety inputs differ.
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check the interface panel to see if the P8 port's connection is malfunctioning, and check if the external circuit is functioning properly.
0x305083 The safeguard stop signals differ
Type:Info
Description
The safeguard stop signals differ
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check the interface panel to see if the P8 port's connection is malfunctioning, and check if the external circuit is functioning properly.
0x305084 SCB's relay is malfunctioning
Type:Info
Description
SCB's relay is malfunctioning
Reason
Abandon
Action
Please check if the SCB is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x305085 SCB's relay is overheating
Type:Info
Description
SCB's relay is overheating
Reason
Abandon
Action
Please check if the SCB is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x305086 The control stick cannot be enabled normally
Type:Info
Description
The control stick cannot be enabled normally
Reason
Abandon
Action
Please check if the SCB is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x305087 The additional emergency stop safety inputs differ
Type:Info
Description
The additional emergency stop safety inputs differ.
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305088 The additional safeguard stop safety inputs differ
Type:Info
Description
The additional safeguard stop safety inputs differ.
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305089 The safeguard reset safety inputs differ
Type:Info
Description
The safeguard reset safety inputs differ.
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x30508A The reduced mode safety inputs differ
Type:Info
Description
The reduced mode safety inputs differ
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x30508B Three position enable safety inputs differ
Type:Info
Description
Three position enable safety inputs differ.
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305090 Turn off collision detection safety inputs differ
Type:Info
Description
Turn off collision detection safety inputs differ
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305091 Set collision sensitivity LV1 safety inputs differ
Type:Info
Description
Set collision sensitivity LV1 safety inputs differ
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305092 Set collision sensitivity LV2 safety inputs differ
Type:Info
Description
Set collision sensitivity LV2 safety inputs differ
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305093 Set collision sensitivity LV3 safety inputs differ
Type:Info
Description
Set collision sensitivity LV3 safety inputs differ
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305094 Set collision sensitivity LV4 safety inputs differ
Type:Info
Description
Set collision sensitivity LV4 safety inputs differ
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305095 Set collision sensitivity LV5 safety inputs differ
Type:Info
Description
Set collision sensitivity LV5 safety inputs differ.
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x305097 Set collision sensitivity extremely low safety inputs differ
Type:Info
Description
Set collision sensitivity extremely low safety inputs differ.
Reason
The safety signal has dual redundancy channels, which will enter a safe state when the two signals differ.
Action
Please check if there are any unusual circumstances in the safety input circuit connection.
0x308181 Control stick CAN communication was interrupted
Type:Info
Description
Control stick CAN communication was interrupted.
Reason
Error occurs in the data between the SCB and control stick bus.
Action
- Please check if the connection cable between the control stick and the control cabinet is working normally.
- Please contact the technical service team to check if the CAN bus between the SCB/PSCB and the control cabinet's CAN2 is working normally.
0x308182 Controller CAN communication was interrupted
Type:Info
Description
Controller CAN communication was interrupted.
Reason
The robot has not received any signal send from the controller long after powered on.
Action
- Please upgrade the SCB and PSCB firmware to the newest version to see if this error recurs;
- Please monitor the data of Joint 1 to 6 on the App for any updates;
- Please check if the indicator light on the robot end is shining or not. If not, please check to make sure the wiring is proper.
0x308183 Robot CAN communication was interrupted
Type:Info
Description
Robot CAN communication was interrupted.
Reason
The robot has not received any signal send from the controller long after powered on.
Action
- Please upgrade the SCB and PSCB firmware to the newest version to see if this error recurs;
- Please monitor the data of Joint 1 to 6 on the App for any updates;
- Please check if the indicator light on the robot end is shining or not. If not, please check to make sure the wiring is proper.
0x308184 TIO CAN communication was interrupted
Type:Info
Description
TIO CAN communication was interrupted.
Reason
The robot has not received any signal send from the controller long after powered on.
Action
- Please upgrade the SCB and PSCB firmware to the newest version to see if this error recurs;
- Please monitor the data of Joint 1 to 6 on the App for any updates;
- Please check if the indicator light on the robot end is shining or not. If not, please check to make sure the wiring is proper.
0x308185 Timeout: waiting for CAN communication to return to normal
Type:Info
Description
Timeout: waiting for CAN communication to return to normal.
Reason
The robot has not received any signal send from the controller long after powered on.
Action
- Please upgrade the SCB and PSCB firmware to the newest version to see if this error recurs;
- Please monitor the data of Joint 1 to 6 on the App for any updates;
- Please check if the indicator light on the robot end is shining or not. If not, please check to make sure the wiring is proper.
0x309081 Drag mode TCP speed exceeds the limit
Type:Info
Description
Drag mode TCP speed exceeds the limit
Reason
The TCP speed in drag mode exceeds the limit of ‘{0}’ mm/s, the current TCP speed is ‘{1}’ mm/s.
Action
Please reduce the dragging speed. If the TCP speed exceeds the limit in drag mode, the robot will exit drag mode.
0x309082 Emergency stop is triggered
Type:Info
Description
Emergency stop is triggered.
Reason
Any of the emergency stop function is triggered among the control stick, SI/EI, and safety function IO.
Action
Please check which one has been triggered.
0x309083 The power limit of the robot has reached the threshold
Type:Warning
Description
The power limit of the robot has reached the threshold
Reason
Abandon
Action
Please check if the SCB is in debugging mode, or to contact the technical service team for detailed information on the error code.
0x3F0001 Torque sensor communication initialization failed
Type:Warning
Description
Torque sensor communication initialization failed.
Reason
When the sensor is activated, the controller would connect with the sensor based on the communication configuration. It will return to this error when the connection failed.
Action
- Please confirm the type of torque sensor and the communication settings;
- Please make sure the communication connection between the control cabinet's interface and the torque sensor is normal;
- Please confirm the power supply of the torque sensor is normal;
- Try using Modbus debugging tools or network debugging tools to connect to the torque sensor and check if it is functioning properly.
0x3F1001 Failed to receive the data from the torque sensor
Type:Warning
Description
Failed to receive the data from the torque sensor.
Reason
This error occurs when the connection between the controller and sensor drops during operation.
Action
- Please confirm the type of torque sensor and the communication settings;
- Please make sure the communication connection between the control cabinet's interface and the torque sensor is normal;
- Please confirm the power supply of the torque sensor is normal;
- Try using Modbus debugging tools or network debugging tools to connect to the torque sensor and check if it is functioning properly.
0x3F1002 Wrong format of the received data from the torque sensor
Type:Warning
Description
Wrong format of the received data from the torque sensor.
Reason
This error occurs when the format of the data that received by the torque sensor is wrong.
Action
- Please confirm the type of torque sensor and its communication protocol;
- Try to analyze the received torque sensor data by using Modbus debugging tools, network debugging tools, or serial port debugging tools to determine if it complies with the communication protocol of the JAKA+ torque sensor.
0x10F0000 System emergency stop has been triggered
Type:Info
Description
System emergency stop has been triggered
Reason
Action
0x10F0001 System emergency stop has been reset
Type:Info
Description
System emergency stop has been reset
Reason
Action
0x10F0002 The robot is powered on
Type:Error
Description
The robot is powered on
Reason
Action
0x10F0003 The robot is powered off
Type:Error
Description
The robot is powered off
Reason
Action
0x10F0004 The robot is enabled
Type:Error
Description
The robot is enabled
Reason
Action
0x10F0005 The robot is disabled
Type:Error
Description
The robot is disabled
Reason
Action
0x10F0006 The decelerated mode is off
Type:Warning
Description
The decelerated mode is off
Reason
Action
0x10F0007 The robot is in level 1 decelerated mode
Type:Warning
Description
The robot is in level 1 decelerated mode
Reason
Action
0x10F0008 The robot is in level 2 decelerated mode
Type:Warning
Description
The robot is in level 2 decelerated mode
Reason
Action
0x10F0009 Safeguard stop mode is on
Type:Info
Description
Safeguard stop mode is on
Reason
Action
0x10F000A Collision protection is off
Type:Info
Description
Collision protection is off
Reason
Action
0x10F000B Collision protection is on
Type:Info
Description
Collision protection is on
Reason
Action
0x10F000C Robot joint limit status has been restored
Type:Error
Description
Robot joint limit status has been restored
Reason
Action
0x10F000D Conveyor tracking is on
Type:Error
Description
Conveyor tracking is on
Reason
Action
0x10F000E Conveyor tracking is off
Type:Error
Description
Conveyor tracking is off
Reason
Action
0x10F000F Compliant control is on
Type:Error
Description
Compliant control is on
Reason
Action
0x10F0010 Compliant control is off
Type:Error
Description
Compliant control is off
Reason
Action
0x10F0011 Freedrive mode is on
Type:Error
Description
Freedrive mode is on
Reason
Action
0x10F0012 Freedrive mode is off
Type:Error
Description
Freedrive mode is off
Reason
Action
0x10F0013 Admittance force control mode is on
Type:Error
Description
Admittance force control mode is on
Reason
Action
0x10F0014 Admittance force control mode is off
Type:Error
Description
Admittance force control mode is off
Reason
Action
0x10F0015 Robot SERVO move mode is on
Type:Error
Description
Robot SERVO move mode is on
Reason
Action
0x10F0016 Robot SERVO move mode is off
Type:Error
Description
Robot SERVO move mode is off
Reason
Action
0x10F0017 The robot has moved beyond its safety plane
Type:Info
Description
The robot has moved beyond its safety plane.
Reason
The robot has moved beyond its safety plane, which is not allowable since the robot can only move within the set safety plane.
Action
Please confirm if the safety plane is set reasonably. When troubleshooting, you can disable the safety plane function or direct the robot to move within the safety plane.
0x10F0018 The robot has moved back to the safety plane
Type:Error
Description
The robot has moved back to the safety plane
Reason
Action
0x10F0019 The speed limit in Cartesian space is activated
Type:Error
Description
The speed limit in Cartesian space is activated
Reason
Action
0x10F001A The speed limit in Cartesian space is stopped
Type:Error
Description
The speed limit in Cartesian space is stopped
Reason
Action
0x10F001B Start the program
Type:Error
Description
Start the program
Reason
Action
0x10F001C Pause the program
Type:Error
Description
Pause the program
Reason
Action
0x10F001D Resume the program
Type:Error
Description
Resume the program
Reason
Action
0x10F001E Stop the program
Type:Error
Description
Stop the program
Reason
Action
0x10F0020 Reduced mode on
Type:Info
Description
Reduced mode on
Reason
Action
0x10F0021 Reduced mode off
Type:Info
Description
Reduced mode off
Reason
Action
0x10F0022 Reducing in the robot's momentum is triggered
Type:Error
Description
Reducing in the robot's momentum is triggered
Reason
Action
0x10F0023 Reducing in the robot's power limit is triggered
Type:Error
Description
Reducing in the robot's power limit is triggered
Reason
Action
0x10F0024 Safeguard stop mode off
Type:Info
Description
Safeguard stop mode off
Reason
Action
0x10F0025 The Safety Settings have changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Safety checksum has changed
Action
0x10F0026 The initial pose in Safety Settings has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The initial pose in safety checksum has changed from ‘{2}’ to ‘{3}’
Action
0x10F0027 The initial pose tolerance in safety checksum has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The initial pose tolerance in safety checksum has changed from ‘{2}’ to ‘{3}’
Action
0x10F0028 The controller's move mode in Safety Settings has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The controller's move mode has changed from ‘{2}’ to ‘{3}’
Action
0x10F0029 The joint's negative limit in Safety Settings has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Joint ‘{2}’'s negative limit has changed from ‘{3}’ to ‘{4}’
Action
0x10F002A The joint's positive limit in Safety Settings has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Joint ‘{2}’'s positive limit has changed from ‘{3}’ to ‘{4}’
Action
0x10F002B The safety function DI in Safety Settings has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
DI ‘{2}’'s configured safety function code has changed from ‘{3}’ to ‘{4}’
Action
0x10F002C The safety function DO in Safety Settings has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
DO ‘{2}’'s configured safety function code has changed from ‘{3}’ to ‘{4}’
Action
0x10F002D The robot's power limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The robot's power limit has changed from ‘{2}’ to ‘{3}’
Action
0x10F002E The robot's TCP speed limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The robot's TCP speed limit has changed from ‘{2}’ to ‘{3}’
Action
0x10F002F The stop distance in Safety Settings has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The stop distance has changed from ‘{2}’ to ‘{3}’
Action
0x10F0030 The stop time in Safety Settings has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The stop time has changed from ‘{2}’ to ‘{3}’
Action
0x10F0031 The elbow limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The elbow limit has changed from ‘{2}’ to ‘{3}’
Action
0x10F0032 The momentum limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The momentum limit has changed from ‘{2}’ to ‘{3}’
Action
0x10F0033 The joint speed limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Joint ‘{2}’'s speed limit has changed from ‘{3}’ to ‘{4}’
Action
0x10F0034 The joint error alarm threshold has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Joint ‘{2}’'s error alarm threshold has changed from ‘{3}’ to ‘{4}’
Action
0x10F0035 The tool pose limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The original tool pose limit were: Coordinate System ‘{2}’, Tool Direction X: ‘{3}’, Tool Direction Y: ‘{4}’, Limit Range: ‘{5}’, Safe Distance: ‘{6}’, Limit Direction RX: ‘{7}’, RY: ‘{8}’, RZ: ‘{9}’, Run Enable: ‘{10}’, Power on Enabled: ‘{11}’; The current tool pose limit are: Coordinate System ‘{12}’, Tool Direction X: ‘{13}’, Tool Direction Y: ‘{14}’, Limit Range: ‘{15}’, Safe Distance: ‘{16}’, Limit Direction RX: ‘{17}’, RY: ‘{18}’, RZ: ‘{19}’, Run Enable: ‘{20}’, Power on Enabled: ‘{21}’;
Action
0x10F0036 The collision processing settings have changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The original collision processing settings were: Collision Detection Method: ‘{2}’, Post-collision Handling Option: ‘{3}’, Collision Bounce Angle: ‘{4}’, Collision Bounce Distance: ‘{5}’, Bounce Joint Acceleration: ‘{6}’, Bounce Joint Speed: ‘{7}’, Bounce Linear Acceleration: ‘{8}’, Bounce Linear Speed: ‘{9}’ The current collision processing settings are: Collision Detection Method: ‘{10}’, Post-collision Handling Option: ‘{11}’, Collision Bounce Angle: ‘{12}’, Collision Bounce Distance: ‘{13}’, Bounce Joint Acceleration: ‘{14}’, Bounce Joint Speed: ‘{15}’, Bounce Linear Acceleration: ‘{16}’, Bounce Linear Speed: ‘{17}’
Action
0x10F0037 The servo joint torque limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The torque limit has changed from ‘{2}’ to ‘{3}’
Action
0x10F0038 The default loading configuration at startup has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The original startup default loading configuration was: Default loading: ‘{2}’; Program: ‘{3}’ The current startup default loading configuration is: Default loading: ‘{4}’; Program: ‘{5}’
Action
0x10F0039 "The robot runs automatically when enabled" has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The automatically enable status has changed from ‘{2}’ to ‘{3}’
Action
0x10F003A "Load default program on startup" has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
"Load default program on startup" has changed from ‘{2}’ to ‘{3}’
Action
0x10F003B The Safety zone configurations have changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The original parameters were: Power on enabled: ‘{2}’, Run enabled: ‘{3}’, Handling method when reach/reach beyond the safety zone: ‘{4}’, Elbow limit: ‘{5}’ The current parameters are: Power on enabled: ‘{6}’, Run enabled: ‘{7}’, Handling method when reach/reach beyond the safety zone: ‘{8}’, Elbow limit: ‘{9}’
Action
0x10F003C Safety checksum has changed during initialization
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Action
0x10F003D The force limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The force limit has changed from ‘{2}’ to ‘{3}’
Action
0x10F003F The joint sensitivity has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The joint sensitivity has changed from ‘{2}’ to ‘{3}’
Action
0x10F0040 The collision enabled status has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The enabled status has changed from ‘{2}’ to ‘{3}’
Action
0x10F0041 The single safety zone configuration has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Plane ‘{2}’: The original parameters were: Plane name: ‘{3}’, Whether to enable: ‘{4}’, Safety distance: ‘{5}’ The current parameters are: Plane name: ‘{6}’, Whether to enable: ‘{7}’, Safety distance: ‘{8}’
Action
0x10F0042 The Plane Points of one single plane have changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Plane ‘{2}’: The original parameters were: Plane Point 1: ‘{3}’, Plane Point 2: ‘{4}’, Plane Point 3: ‘{5}’, Security Point: ‘{6}’ The current parameters are: Plane Point 1: ‘{7}’, Plane Point 2: ‘{8}’, Plane Point 3: ‘{9}’, Security Point: ‘{10}’
Action
0x10F0043 The robot's power limit in reduce mode has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The robot's power limit in reduce mode has changed from ‘{2}’ to ‘{3}’
Action
0x10F0044 Momentum limit in reduced mode has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
momentum limit in reduced mode has changed from ‘{2}’ to ‘{3}’
Action
0x10F0045 The robot's TCP speed limit in reduced mode has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The robot's TCP speed limit in reduced mode has changed from ‘{2}’ to ‘{3}’
Action
0x10F0046 Stop distance in reduce mode has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Stop distance in reduce mode has changed from ‘{2}’ to ‘{3}’
Action
0x10F0047 Stop time in reduce mode has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
Stop time in reduce mode has changed from ‘{2}’ to ‘{3}’
Action
0x10F0048 Do not power on during an emergency stop
Type:Info
Description
Do not power on during an emergency stop.
Reason
When an emergency stop occurs, the power-on operation cannot be performed.
Action
Please reset the emergency stop and then perform the power-on operation again.
0x10F0049 The robot's TCP drag speed limit has changed
Type:Warning
Description
Safety checksum has changed from ‘{0}’ to ‘{1}’
Reason
The robot's TCP drag speed limit has changed from ‘{2}’ to ‘{3}’
Action
0x10F0060 Cannot resume program execution
Type:Info
Description
Cannot resume program execution
Reason
Program execution cannot be resumed during protective stop or collision status.
Action
- Automatically resume program execution after exiting protective stop.
- Attempt to resume program execution again after clearing the collision error state.
0x10F0061 Failed to back to the initial position
Type:Info
Description
Cannot return to the initial position in the protective stop state.
Reason
Cannot return to the initial position in the protective stop state.
Action
Trt to return to the initial position again after exiting the protective stop.
0x10F0100 The torque sensor is switched on
Type:Error
Description
The torque sensor is switched on
Reason
Action
0x10F0101 The torque sensor is switched off
Type:Error
Description
The torque sensor is switched off
Reason
Action
0x10F0102 The extended IO module is enabled
Type:Error
Description
The extended IO module is enabled
Reason
Action
0x10F0103 The extended IO module is disabled
Type:Error
Description
The extended IO module is disabled
Reason
Action
0x10F0104 The control stick is locked
Type:Error
Description
The control stick is locked
Reason
Action
0x10F0200 Function DI (run program) has been triggered
Type:Error
Description
Function DI (run program) has been triggered
Reason
Action
0x10F0201 Function DI (pause program) has been triggered
Type:Error
Description
Function DI (pause program) has been triggered
Reason
Action
0x10F0202 Function DI (resume program) has been triggered
Type:Error
Description
Function DI (resume program) has been triggered
Reason
Action
0x10F0203 Function DI (stop program) has been triggered
Type:Error
Description
Function DI (stop program) has been triggered
Reason
Action
0x10F0204 Function DI (power on the robot) has been triggered
Type:Error
Description
Function DI (power on the robot) has been triggered
Reason
Action
0x10F0205 Function DI (power off the robot) has been triggered
Type:Error
Description
Function DI (power off the robot) has been triggered
Reason
Action
0x10F0206 Function DI (enable the robot) has been triggered
Type:Error
Description
Function DI (enable the robot) has been triggered
Reason
Action
0x10F0207 Function DI (disable the robot) has been triggered
Type:Error
Description
Function DI (disable the robot) has been triggered
Reason
Action
0x10F0208 Function DI (enter the level 1 decelerated mode) has been triggered
Type:Error
Description
Function DI (enter the level 1 decelerated mode) has been triggered
Reason
Action
0x10F0209 Function DI (enter the level 2 decelerated mode) has been triggered
Type:Error
Description
Function DI (enter the level 2 decelerated mode) has been triggered
Reason
Action
0x10F020A Function DI (enter the safeguard stop mode) has been triggered
Type:Error
Description
Function DI (enter the safeguard stop mode) has been triggered
Reason
Action
0x10F020B Function DI (return to initial position) has been triggered
Type:Error
Description
Function DI (return to initial position) has been triggered
Reason
Action
0x10F020C Function DI (clear collision) has been triggered
Type:Error
Description
Function DI (clear collision) has been triggered
Reason
Action
0x10F020D Function DI (freedrive mode on) has been triggered
Type:Error
Description
Function DI (freedrive mode on) has been triggered
Reason
Action
0x10F020E Function DI (freedrive mode off) has been triggered
Type:Error
Description
Function DI (freedrive mode off) has been triggered
Reason
Action
0x10F020F Function DI (stop program or pause program) has been triggered, (run program) should not be executed
Type:Warning
Description
Function DI (stop program or pause program) has been triggered, (run program) should not be executed
Reason
Action
0x10F0210 Function DI (pause program) has been triggered, (resume program) should not be executed
Type:Warning
Description
Function DI (pause program) has been triggered, (resume program) should not be executed
Reason
Action
0x10F0211 Function DI (power off the robot) has been triggered, (power on the robot) should not be executed
Type:Warning
Description
Function DI (power off the robot) has been triggered, (power on the robot) should not be executed
Reason
Action
0x10F0212 Function DI (disable the robot) has been triggered, (enable the robot) should not be executed
Type:Warning
Description
Function DI (disable the robot) has been triggered, (enable the robot) should not be executed
Reason
Action
0x10F0220 Function DO (idle) has been set
Type:Error
Description
Function DO (idle) has been set
Reason
Action
0x10F0221 Function DO (idle) has been reset
Type:Error
Description
Function DO (idle) has been reset
Reason
Action
0x10F0222 Function DO (program paused) has been set
Type:Error
Description
Function DO (program paused) has been set
Reason
Action
0x10F0223 Function DO (program paused) has been reset
Type:Error
Description
Function DO (program paused) has been reset
Reason
Action
0x10F0224 Function DO (program running) has been set
Type:Error
Description
Function DO (program running) has been set
Reason
Action
0x10F0225 Function DO (program running) has been reset
Type:Error
Description
Function DO (program running) has been reset
Reason
Action
0x10F0226 Function DO (control system error) has been set
Type:Error
Description
Function DO (control system error) has been set
Reason
Action
0x10F0227 Function DO (control system error) has been reset
Type:Error
Description
Function DO (control system error) has been reset
Reason
Action
0x10F0228 Function DO (robot powered on) has been set
Type:Error
Description
Function DO (robot powered on) has been set
Reason
Action
0x10F0229 Function DO (robot powered on) has been reset
Type:Error
Description
Function DO (robot powered on) has been reset
Reason
Action
0x10F022A Function DO (robot enabled) has been set
Type:Error
Description
Function DO (robot enabled) has been set
Reason
Action
0x10F022B Function DO (robot enabled) has been reset
Type:Error
Description
Function DO (robot enabled) has been reset
Reason
Action
0x10F022C Function DO (moving) has been set
Type:Error
Description
Function DO (moving) has been set
Reason
Action
0x10F022D Function DO (moving) has been reset
Type:Error
Description
Function DO (moving) has been reset
Reason
Action
0x10F022E Function DO (stationary) has been set
Type:Error
Description
Function DO (stationary) has been set
Reason
Action
0x10F022F Function DO (stationary) has been reset
Type:Error
Description
Function DO (stationary) has been reset
Reason
Action
0x10F0230 Function DO (control system ready) has been set
Type:Error
Description
Function DO (control system ready) has been set
Reason
Action
0x10F0231 Function DO (control system ready) has been reset
Type:Error
Description
Function DO (control system ready) has been reset
Reason
Action
0x10F0232 Function DO (emergency stop state) has been set
Type:Error
Description
Function DO (emergency stop state) has been set
Reason
Action
0x10F0233 Function DO (emergency stop state) has been reset
Type:Error
Description
Function DO (emergency stop state) has been reset
Reason
Action
0x10F0234 Function DO (level 2 decelerated state) has been set
Type:Error
Description
Function DO (level 2 decelerated state) has been set
Reason
Action
0x10F0235 Function DO (level 2 decelerated state) has been reset
Type:Error
Description
Function DO (level 2 decelerated state) has been reset
Reason
Action
0x10F0236 Function DO (safeguard stop state) has been set
Type:Error
Description
Function DO (safeguard stop state) has been set
Reason
Action
0x10F0237 Function DO (safeguard stop state) has been reset
Type:Error
Description
Function DO (safeguard stop state) has been reset
Reason
Action
0x10F0238 Function DO (initial position) has been set
Type:Error
Description
Function DO (initial position) has been set
Reason
Action
0x10F0239 Function DO (initial position) has been reset
Type:Error
Description
Function DO (initial position) has been reset
Reason
Action
0x10F0240 Function DO (level 1 decelerated state) has been set
Type:Error
Description
Function DO (level 1 decelerated state) has been set
Reason
Action
0x10F0241 Function DO (level 1 decelerated state) has been reset
Type:Error
Description
Function DO (level 1 decelerated state) has been reset
Reason
Action
0x10F0250 Safety Function DI (additional emergency stop input) has been triggered
Type:Error
Description
Safety Function DI (additional emergency stop input) has been triggered
Reason
Action
0x10F0251 Safety Function DI (additional safeguard stop input) has been triggered
Type:Error
Description
Safety Function DI (additional safeguard stop input) has been triggered
Reason
Action
0x10F0252 Safety Function DI (safeguard reset input) has been triggered
Type:Error
Description
Safety Function DI (safeguard reset input) has been triggered
Reason
Action
0x10F0253 Safety Function DI (reduced mode) has been triggered
Type:Error
Description
Safety Function DI (reduced mode) has been triggered
Reason
Action
0x10F0254 Safety Function DI (3-position enable) has been triggered
Type:Info
Description
Safety Function DI (3-position enable) has been triggered
Reason
Action
0x10F0255 Safety Function DI set collision sensitivity (level0) has been triggered
Type:Error
Description
Safety Function DI set collision sensitivity (level0) has been triggered
Reason
Action
0x10F0256 Safety Function DI set collision sensitivity (level1) has been triggered
Type:Error
Description
Safety Function DI set collision sensitivity (level1) has been triggered
Reason
Action
0x10F0257 Safety Function DI set collision sensitivity (level2) has been triggered
Type:Error
Description
Safety Function DI set collision sensitivity (level2) has been triggered
Reason
Action
0x10F0258 Safety Function DI set collision sensitivity (level3) has been triggered
Type:Error
Description
Safety Function DI set collision sensitivity (level3) has been triggered
Reason
Action
0x10F0259 Safety Function DI set collision sensitivity (level4) has been triggered
Type:Error
Description
Safety Function DI set collision sensitivity (level4) has been triggered
Reason
Action
0x10F025A Safety Function DI set collision sensitivity (level5) has been triggered
Type:Error
Description
Safety Function DI set collision sensitivity (level5) has been triggered
Reason
Action
0x10F025B Safety Function DI set collision sensitivity (level7) has been triggered
Type:Error
Description
Safety Function DI set collision sensitivity (level7) has been triggered
Reason
Action
0x10F025C The safety function DI (protective stop) has been triggered
Type:Error
Description
The safety function DI (protective stop) has been triggered.
Reason
Action
0x10F0260 Safety Function DO (control stick emergency stop state output) has been set
Type:Error
Description
Safety Function DO (control stick emergency stop state output) has been set
Reason
Action
0x10F0261 Safety Function DO (control stick emergency stop state output) has been reset
Type:Error
Description
Safety Function DO (control stick emergency stop state output) has been reset
Reason
Action
0x10F0262 Safety Function DO (system emergency stop state output) has been set
Type:Error
Description
Safety Function DO (system emergency stop state output) has been set
Reason
Action
0x10F0263 Safety Function DO (system emergency stop state output) has been reset
Type:Error
Description
Safety Function DO (system emergency stop state output) has been reset
Reason
Action
0x10F0264 Safety Function DO (safeguard stop mode on) has been set
Type:Error
Description
Safety Function DO (safeguard stop mode on) has been set
Reason
Action
0x10F0265 Safety Function DO (safeguard stop mode on) has been reset
Type:Error
Description
Safety Function DO (safeguard stop mode on) has been reset
Reason
Action
0x10F0266 Safety Function DO (move state output) has been set
Type:Error
Description
Safety Function DO (move state output) has been set
Reason
Action
0x10F0267 Safety Function DO (move state output) has been reset
Type:Error
Description
Safety Function DO (move state output) has been reset
Reason
Action
0x10F0268 Safety Function DO (reduced mode) has been set
Type:Error
Description
Safety Function DO (reduced mode) has been set
Reason
Action
0x10F0269 Safety Function DO (reduced mode) has been reset
Type:Error
Description
Safety Function DO (reduced mode) has been reset
Reason
Action
0x10F0280 Identification of dynamic parameters complete
Type:Warning
Description
Identification of dynamic parameters complete
Reason
Action
0x10F0281 Identification of friction parameters complete
Type:Warning
Description
Identification of friction parameters complete
Reason
Action
0x10F0282 Writing of dynamic parameters complete
Type:Warning
Description
The writing of dynamic parameters has completed, please reboot to take effect.
Reason
Action
0x10F0283 Collision bounce terminated
Type:Error
Description
The collision point is too close to starting point of the movement, therefore it's uncertain whether the path trajectory of bounce is safe, thus the bounce might be terminated.
Reason
Action
0x10F0284 No bounce occurred in this collision
Type:Error
Description
When near the collision point, the robot is about to stop or already has stopped, therefore no bounce would occur in this collision.
Reason
Action
0x10F0285 Brake resistor startup voltage setting successful.
Type:Warning
Description
Brake resistor startup voltage setting successful. Current value is ‘{0}’V
Reason
Action
0x10F0286 The program is already running
Type:Warning
Description
The program is already running and cannot be started again.
Reason
Action
0x10F0300 Login initialization failed
Type:Warning
Description
Login initialization failed.
Reason
There is a data reading exception during the login connection.
Action
- Please check if there is a mismatch between the current App version and controller version.
- Please check if the Internet connection is working normally.
- Please try to reconnect the robot or restart the App.
0x10F0301 This is a trial version
Type:Warning
Description
This is a trial version
Reason
This is a trial version
Action
Please contact the technical service team to get the full version.
0x10F2000 Program execution completed
Type:Warning
Description
Program execution completed.
Reason
Program execution completed.
Action
Program execution completed.
0x10F2001 Terminate program execution
Type:Warning
Description
Terminate program execution.
Reason
Terminate program execution.
Action
Terminate program execution.