ERROR MESSAGE
504 PROGRAM RUN
ERROR 68
504 PROGRAM RUN
ERROR 69
504 PROGRAM RUN
ERROR 70
504 PROGRAM RUN
ERROR 71
504 PROGRAM RUN
ERROR 72
504 PROGRAM RUN
ERROR 73
504 PROGRAM RUN
ERROR 74
504 PROGRAM RUN
ERROR 75
504 PROGRAM RUN
ERROR 76
504 PROGRAM RUN
ERROR 77
504 PROGRAM RUN
ERROR 78
504 PROGRAM RUN
ERROR 80
Error List
CAUSES
No position stored in the
current position register
.
Internal system fault
.
The soft-servo number or
softness vector is undefined
.
The wrist centre point or
the TCP has entered with-
in 20 mm of the base
Z-axis
.
This is not allowed
in rect
. or modrect
.
coordinates
.
Incorrect TCP may be
active
.
Output used in SWI function
not defined
.
Execution of an SWI function
without activated SWI
parameter
.
The program number in the
Instruction is not permitted
.
Attempt to reach a posi tion
with a wrong TCP active
have been made
. Pos-instruc-
tions and stored positions can
not be used between fixed TCP
and ordinary TCP
.
5
:
1
7
RECOMMENDED CORREC-
TIVE
MEASURES
•
~
Select another position register
.
•
~
Store a position
.
Switch off and start-up the system
once again
.
Active another set of softness, or
define the relevant softness set under
the manual menu
.
Use robot coordinates
•
~
modify the robot pass
.
Check that the correct TCP is active
•
~
the programmingunit
. Continue
program execution by pressing
instruction start or program start
once more
.
The weaving amplitude
~
•
Change TCP
cannot be reached because
•
Reduce the amplitude
.
the TCP is too close to the
x-axis
(weaving
axis)
of
the wrist
.
The robot moved when
~
Stop the robot and repeat
the activation/deactivation
the attempt
.
of a station was requested
.
Timeout in supervision of a
Check welding controller
.
spot weld
. WELD READY
not received within 5 s after
START L2
.
Define the function parameter
for GRIPPER 3
.
Define the SWI parameter or
change the instruction
.
Change the program number
in the instruction
.
Check the program and active
TCP
.
S3
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