17-5
17-2. Error codes
Error
code
Message Probable Cause Remedy
E1010
Impossible to start Robot does not start. Check if start program is selected.
Check if servo power is turned ON.
E1020
Weaving parameter error Selected weaving pattern, speed,
frequency or timer is out of set range.
Correct (speed, frequency or
timer) settings.
E1030
Coordinates error (Operation)
(Manual)
E1040
Move data over (Operation)
(Manual)
Interpolation does not function. Check the program.
E1050
Position does not match Robot cannot make the orientation
taught in the program.
Change robot orientation data.
E1060
Wrist swing over 180°
CL number (wrist calculation number)
specified in the teaching point is not
applicable to the applied interpolation.
Correct the CL number.
E1070
You try to start the program
that does not exist or cannot
be started.
Program specified by CALL command
does not exist.
E1080
The label does not exist.
Please confirm the label.
The label specified by the Jump
command does not exist in the
program.
E1090
No global position variable Specified global variable does not
exist.
E1100
Cannot call any more. CALL command exceeds hierarchical
limit (max. 8).
E1120
No local position variable Specified local variable does not exist.
Check and correct the program.
E1130
PULSE counter over More than 16 PULSE commands were
executed at a time.
Correct the program by reducing
the number of PULSE commands
to be executed at a time.
E1140
Multi program execution
error.
Due to the current combination of the
parallel execution programs, No
further execution is possible.
E1150
Calculation command error Calculation is impossible. (Example:
Zero divisor, square root of negative
number etc.)
E1160
Undefined command The system does not support the
specified command.
E1170
Command parameter error Parameter of the command is out of
support range.
Check and correct the program.
E1180
Soft-limit Error Soft-limit Error Articulated axis is at the soft-limit.
E1190
RT monitoring Error Robot is about to enter the monitored
area when the RT monitor input is ON.
Robot is capable of restarting
operation when the RT monitor
input goes OFF.
E1191
RT monitoring Error (Slave) Slave robot is about to enter the
monitored area when the RT monitor
input is ON.
Slave robot is capable of restarting
operation when the cube monitor
input goes OFF.
E1200
Cube monitoring Error Robot is about to enter the monitored
area when the cube monitor input is
ON.
Robot is capable of restarting
operation when the cube monitor
input goes OFF.
E1201
Cube monitoring Error
(Slave)
Slave robot is about to enter the
monitored area when the cube monitor
input is ON.
Slave robot is capable of restarting
operation when the cube monitor
input goes OFF.
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