1Error list
Error no. L3987
1-40
L3987 One of the errors below is detected. Please take measures corresponding to an error message.
Error message Force sense control is disabled.
Cause Force sense control is disabled, and so unable to execute the command.
Measures Enable the force sense control function.
Error message Force sense control is enabled.
Cause It is not possible to enable force sense control again while already enabled.
Measures First disable the force sense control function, and then enable again.
Error message Unable to execute the FsGChg command.
Cause It is not possible to execute the FsGChg command when force control gain change is not complete.
Measures Review the program so that the FsGChg command is executed after force control gain change is complete.
Error message Unable to output log file.
Cause FTP processing was not properly performed.
Measures Check the FTP related parameter setting.
Check the Ethernet cable connection.
Check the FTP server settings at the computer.
Error message The specified log file does not exist.
Cause The log file for the No. specified with the FsOutLog command does not exist.
Measures Check whether the log file No. is incorrect.
Error message Unable to change the force sense status variable.
Cause The status variable setting is currently being used by the force sense control function and so cannot be
changed.
Measures If changing the setting, disable the force sense control function.
Error message Force sense log commands executed simultaneously.
Cause It is not possible to create/output another file while creating (FsLog Off command) or outputting
(FsOutLog command) a force sense log file.
Measures Process after force sense log file creation/output is complete.
Error message Unable to create log file.
Cause Unable to create a force sense log file.
Measures Check the amount of available record space in the robot controller.
Error message Unable to execute the Fsc ON command.
Cause It is not possible to execute the Fsc On command while changing the force control gain.
Measures Execute the Fsc On command after force control gain change is complete.
Error message Unable to perform log data related processing.
Cause It is not possible to execute FsLog On command file while recording force sense control log data.
Measures Execute the FsLog On command after log data recording is complete.
Error message Force sense control is enabled.
Cause The parameter setting is currently being used by the force sense control function and so cannot be
changed.
Measures If changing the parameter, disable the force sense control function once.
Error message Unable to enable the Mo trigger.
Cause The Mo trigger for the FsCtrg command executed first is enabled.
Measures Execute after changing the control characteristics.
Error message Mo trigger timeout
Cause The Mo trigger did not turn ON within the specified time.
Measures Review the Mo trigger conditions and robot program.
Error message Unable to execute the FsCTrg command.
Cause The control characteristics is currently being changed.
The Mo trigger for the FsCTrg command executed first is enabled.
Measures Execute after changing the control characteristics.
Error message Unable to specify the control characteristics change.
Cause The control characteristics change has been set with another command.
Measures Change the program so that the command is not executed at the same time as another command.
Error No. Error cause and measures
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