AUBO i5 - Page 168

APPENDIX V4.3
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Alert
Codes
Error
information
Error
Description
Possible error
Solution
40003
Joint 3 can
bus error!
Please check
can bus
cable!
Joint 3 can bus
error.
1. Joint 3 circuit
board error.
2. CAN bus
error
Check CAN bus
connection between
module 2 and module 3.
40004
Joint 4 can
bus error!
Please check
can bus
cable!
Joint 4 can bus
error.
1. Joint 4 circuit
board error.
2. CAN bus
error.
Check CAN bus
connection between
module 3 and module 4.
40005
Joint 5 can
bus error!
Please check
can bus
cable!
Joint 5 can bus
error.
1. Joint 5 circuit
board error.
2. CAN bus
error.
Check CAN bus
connection between
module 4 and module 5.
40006
Joint 6 can
bus error!
Please check
can bus
cable!
Joint 6 can bus
error.
1. Joint 6 circuit
board error.
2. CAN bus
error
3. Whether
matching
resistor
connected
properly.
1. Check whether
resistor of whole CAN
bus is 60Ω.
2. Check CAN bus
connection between
module 5 and module 6.
40007
Tool can bus
error!
Tool can bus
error.
1. Robot power
down.
1. Check whether tool
exist.
2. Tool power up
3. CAN bus connection
between joint 6 and toll.
4. Tool can bus.
60001
"Cartesian
motion---
across
irresolvable
singularity!")
;
Across
irresolvable
singularity.
Irregular
movement.
Re-planned trajectory.
60002
"Cartesian
motion---
over speed
protection
for bad
inverse
Over speed
protection for
bad inverse
kinematic
solution of
singularity.
Irregular
movement.
Re-planned trajectory.