1Error list
Error no. H220m (m: monitoring plane, area, or axis number (1 to 8))
1-26
H220m
(m: monitoring
plane, area, or
axis number (1
to 8))
One of the errors below is detected.
Please take measures corresponding to an error message.
Error message SLP (Position error:CMD Plane)
Cause SLP function detects position command exceeded the limit value
Measures Please confirm the robot movement or related parameter setting
Error message SLP (Position error:FB Plane)
Cause SLP function detects position feedback exceeded the limit value
Measures Please confirm the robot movement or related parameter setting
Error message SLP (Position error:CMD Area)
Cause SLP function detects position command exceeded the limit value
Measures Please confirm the robot movement or related parameter setting
Error message SLP (Position error:FB Area)
Cause SLP function detects position feedback exceeded the limit value
Measures Please confirm the robot movement or related parameter setting
Error message SLP (Joint error:CMD)
Cause SLP function detects joint command exceeded the limit value
Measures Please confirm the robot movement or related parameter setting
Error message SLP (Joint error:FB)
Cause SLP function detects joint feedback exceeded the limit value
Measures Please confirm the robot movement or related parameter setting
H221n
(n indicates
the axis
number (1 to
8).)
Error message STR (ROBOT torque error)
Cause Safety Torque Range monitoring detected over the torque limit
Measures The STR function has detected feedback torque that exceeds the fixed, permissible torque range. Remove
the cause of the collision. Then check that it is safe to restart the operation before doing so. If the error
still occurs, review the operation of the robot and settings such as hand and workpiece settings.
The STR function may not detect changes in torque accurately at low temperatures, causing the error
"H221n" to occur. To clear this error, warm up the robot using the warm-up operation while the robot is in
high-speed operation mode. Warming up an affected joint by releasing its brake and moving it around will
also clear this error.
The following errors may be triggered if the torque level is close to the limits of the permissible torque
range. If any of these errors occur, cycle the controller power and check the robot operation.
H0242: Fault in Safety Data (S_CMD)
H0242: Fault in Safety Data (S_ALM)
H221n *
(n indicates
the axis
number (1 to
8).)
Error message STR (ROBOT torque error 2)
Cause Excessive torque was detected during stop operation.
Measures Torque exceeding the permissible torque was detected while the robot decelerated. Remove the cause of
the collision. Then check that it is safe to restart the operation before doing so. If the error still occurs,
review the operation of the robot and settings such as the permissible torque and hand load settings.
The following errors may also occur in conjunction with this error. Follow the solutions to the errors noted
below.
H081n: Voltage error at accel/decel (n: axis number)
H0117: 12V power supply error (brake)
H096n: Excessive error 1
This error cannot be reset even in recovery mode.
H222m *
(m indicates
the DSI
number (1 to
8).)
Error message DSI inconsistency
Cause The duplex DSI status is not consistent.
Measures The duplex DSI signal ON/OFF status is not consistent. Check the following for the DSI.
・ DSI wiring
・ Duplex signal ON/OFF status
・ ON/OFF status switching timing (The error occurs when the ON/OFF status remains inconsistent
between the duplex signals for about 0.1 seconds or more.)
H2230 * Error message Mismatch of Dual Safety Output
Cause State of the redundant wiring do not match (Dual Safty Output)
Measures Turn the power OFF and ON once
If the same error recurs, contact the manufacturer.
Error No. Error cause and measures
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