1-23
Error no. H216n (n indicates the axis number (1 to 8).)
1Error list
H216n
(n indicates the
axis number (1
to 8).)
Error message Jn (+) angle exceeds the limit
Cause The axis "n" + Joint limit was exceeded. When the teach mode, numerical "0" is set to n.
Measures Adjust the position.
H217n
(n indicates the
axis number (1
to 8).)
Error message Jn (-) angle exceeds the limit
Cause The axis "n" - Joint limit was exceeded. When the teach mode, numerical "0" is set to n.
Measures Adjust the position.
H2181 Error message X(+) data exceeds the limit
Cause The X axis + XYZ limit was exceeded.
Measures Adjust the position.
H2182 Error message Y(+) data exceeds the limit
Cause The Yaxis + XYZ limit was exceeded.
Measures Adjust the position.
H2183 Error message Z(+) data exceeds the limit
Cause The Z axis + XYZ limit was exceeded.
Measures Adjust the position.
H2191 Error message X(-) data exceeds the limit
Cause X(-) data exceeds the limit
Measures Adjust the position.
H2192 Error message Y(-) data exceeds the limit
Cause Y(-) data exceeds the limit
Measures Adjust the position.
H2193 Error message Z(-) data exceeds the limit
Cause Z(-) data exceeds the limit
Measures Adjust the position.
H220m
(m indicates
the monitor
-
ing plane
number (1 to
8).)
One of the errors below is detected.
Please take measures corresponding to an error message.
Error message SLP robot position error (command)
Cause A position in excess of the limit is detected by the position monitoring function.
Measures The monitoring position calculated based on the robot position command exceeds the operable area limit
defined by the plane of the position monitoring function. Check the relevant parameter setting such as
details of the robot movement or the definition of the plane.
Error message SLP robot position error (FB)
Cause A position in excess of the limit is detected by the position monitoring function.
Measures The monitoring position calculated based on the robot feedback position exceeds the operable area limit
defined by the plane of the position monitoring function. Check the relevant parameter setting such as
details of the robot movement or the definition of the plane.
Error message SLP robot position error (SCPU)
Cause A position in excess of the limit is detected by the position monitoring function.
Measures The monitoring position calculated by the servo CPU exceeds the operable area limit defined by the plane
of the position monitoring function. Check the relevant parameter setting such as details of the robot
movement or the definition of the plane.
H221n
(n indicates
the axis
number (1 to
8).)
One of the errors below is detected.
Please take measures corresponding to an error message.
Error message STR robot torque error (MCPU)
Cause A torque error is detected by the torque width monitoring function.
Measures A feedback torque in excess of the predetermined allowable torque width is detected by the torque width
monitoring function of the main CPU. Check the relevant parameter setting such as details of the robot
movement, interference with the peripheral equipment, or the allowable torque width / terminal load setting.
Error message STR robot torque error (SCPU)
Cause A torque error is detected by the torque width monitoring function.
Measures A feedback torque in excess of the predetermined allowable torque width is detected by the torque width
monitoring function of the servo CPU. Check the relevant parameter setting such as details of the robot
movement, interference with the peripheral equipment, or the allowable torque width / terminal load setting.
Error No. Error cause and measures
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