This book covers two types of error codes--Controller error codes and WINCAPSII error codes. The former would appear on the teach pendant (TP), mini-pendant (MP), or operating panel (OP) if an error occurs in the robot controller when the robot is in operation. The latter would appear on the PC screen if an error occurs in WINCAPSII. Those error codes will be followed by error messages.
Errors that could occur in the robot controller may be classified into five levels. Depending upon the error level, the controller's reaction to errors will differ as listed below. If Level 4 error occurs, for example, the controller will output "Robot failure" signal, stop the program in emergency, switch the motion mode from external to internal, and turn the motor power off.
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Error level
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The robot controller
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| Outputs this error signal: | Makes the program come to: | Switches the motion mode: | Turns the motor power: | ||
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Level 1
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Level 2
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Errors when using TP/MP/OP *1 |
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| Other errors | Robot Warning (RC5) Robot Warning (RC7) |
Halt |
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Level 3
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Errors when using TP/MP/OP *1 |
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| Other errors | Robot Failure | Halt | External -> Internal | Off *2 | |
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Level 4
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Robot Failure | Emergency stop | External -> Internal | Off | |
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Level 5
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Robot Failure | Emergency stop | External -> Internal | Off(Restart disabled) | |
| CAUTION: *1 : If caused during operation with the teach pendant, mini-pendant or operating panel, errors 6000s and run-time errors will be treated in the same way as for "Other errors" listed on the next line. *2 : If any of errors 6071 to 607B and 6671 to 667B (software motion limit over, out of motion space, or singular point), 607F (figure mismatch), 6081 to 6088 (Jx command speed limit over), and 6AF3 (Interference area detected by J1, 2, 3) occurs when the robot is in operation in Manual mode, then the robot controller will not cut off the motor power. |
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| Error level | Errors when using TP/MP/OP | Errors caused by misoperation of the teach pendant (TP), mini-pendant (MP) or operating panel (OP). |
| Other errors | Errors caused during program execution, dedicated I/O input operation, or servo operation. | |
| Outputs this error signal: | Robot Warning | The robot controller will output the Robot Warning signal to the external equipment (e.g., PLC) to tell the occurrence of an insignificant error (Level 2 error). |
| Robot Failure | The robot controller will output the Robot Failure signal to the external equipment (e.g., PLC) to tell the occurrence of a fatal error (Level 3 error or higher one). | |
| Makes the program come to: | Halt | The robot stops if Level 2 or 3 error occurs. When decelerating the motor speeds for this stop, the robot traces the same motion path as in the normal motion. |
| Emergency stop | The robot stops in emergency if Level 4 or 5 error occurs.Each axis motor decelerates at the maximum rate for this stop, so the motion path may be different from that in the normal motion, particularly in CP motion. | |
| Switches the motion mode: | External -> Internal | If an error occurs in the external automatic mode, then the mode switches to the internal automatic mode. |
| Turns the motor power: | Off | If the motor power is ON when an error occurs, the controller will turn the motor power OFF. |
| Off (Restart disabled) | If the motor power is ON when an error occurs, the controller will turn the motor power OFF.To restart, you need to turn the controller power OFF and ON. Without it, if you attempt to turn the motor power ON, then error 27A6 "Not executable due to fatal error" will result. |
The WINCAPSII error code table is divided into several parts according to Manager (System Manager, PAC Manager, DIO Manager, and others). If an error occurs, refer to the part associated with the Manager in which the error has occurred.