Robostar Robot Controller Manual

ROBOSTAR ROBOT

N1 Series
AL ARM CODE MANUAL

INSTRUCTION MANUAL
OPERATION MANUAL
PROGRAMMING MANUAL
UNI-HOST MANUAL
GAIN SETUP MANUAL
√ ALARM CODE MANUAL

www.robostar.co.kr

Robostar Co., Ltd.

Copyright ⓒ ROBOSTAR Co., Ltd. 2012

Copyright of this manual is reserved to Robostar Co., Ltd.

Any part of this manual cannot be used as other forms or other means without permission of Robostar.

The specifications are subject to change without notice in advance.

 About Product Warranty

About Product Warranty

Products of Robostar Co., Ltd. are manufactured under the strict quality control. All the
Robostar products’ warranty period is one year from the date of manufacture. In this period,
Robostar is only responsible for the mechanical failures due to negligence of Robostar, or the
problems on design and manufacture occurring during normal use, in which the service is
free of charge.

However, such free service is not possible in the following cases.

(1) after the warranty period has expired
(2) failures arising due to improper repair, alteration, redeployment, or other mishandling,
when, under the instruction of you or any third party
(3) failures as a result of using parts, grease, etc. which have not been designated by
Robostar.
(4) failures caused by accidents, such as fire, disaster, earthquake, storms, or other natural
disasters
(5) failures caused in manure, flooding, or other environment
(6) failure caused by the consumption of consumable parts
(7) failures arising when not being operated under the instructions listed in the user or
instruction manual and the maintenance manual
(8) damages in cost other than the cost of robot repairing

Address and contact points of Robostar Robostar Co., Ltd.

Head Office & Factory
Request for service and Inquiry

119-38, Sasa-dong, Sangnok-gu, of products
Ansan-City, Gyeonggi-do, Republic of - Information on Marketing
Korea (426-220) TEL. 031-400-3600
FAX. 031-419-4249

2nd Factory - Customer Service
960, Gosaek-dong, Gwonseon-gu, TEL. 1588-4428
Suwon-City, Gyeonggi-do, Republic of
Korea (441-813)

www.robostar.co.kr

i Robostar Co., Ltd.

 Constitution of User Manual

Constitution of User Manual

The user manual for this product is constituted as follows. When using this product first,
please fully read all the manuals before use.

 Instruction Manual

A controller is generally explained. Overview of the controller, installation, and interfacing

to peripherals are explained.

 Manipulation & Operation Manual

As well as general use of the controller, parameter setup, Job program editing, robot
operation, etc. are explained.

 Programming Manual

RRL (Robostar Robot Language) which is the robot program of Robostar and how to
write a robot program by using RRL are explained.

 Unihost Manual

‘Unihost’ which is the on-line PC program of Robostar is explained.

 Gain Setup Manual

How to set up the gain necessary for trial run, and the motor response performance
according to change in the gain value are explained.

 Alarm Code Manual

Reasons for Reasons for and countermeasures against the alarms which can occur while
operating the controller are explained.

ii Robostar Co., Ltd.

 Contents

Contents
CHAPTER 1 ALARM MESSAGE MONITORING METHOD........................................................................... 1-0

1.1 ALARM MESSAGE DISPLAY .................................................................................................................. 1-0

1.2 DISPLAY OF MULTIPLE ALARMS ........................................................................................................... 1-1
1.3 ALARM HISTORY .................................................................................................................................. 1-2

CHAPTER 2 ALARM OCCURRENCES AND THEIR RESOLUTION (EXPLANATION OF ALARM

CODES) .............................................................................................................................................. 2-4

2.1 FILE SYSTEM ALARMS (E1001 - E1100)............................................................................................... 2-4

2.2 PROTECTIVE ALARMS (E1101 - E1200) .............................................................................................. 2-12
2.3 RUN TIME ALARMS (E1201 - E1300) ................................................................................................. 2-21
2.4 JOB COMPILE ALARMS (E1301 - E1400) ............................................................................................ 2-34
2.5 TRAJECTORY ALARMS (E1401 - E1500) ............................................................................................. 2-43
2.6 COMMUNICATION (E2101 - E2145).............................................................................................. 2-51
2.7 SERVO AMP (E2160 - E2219) .......................................................................................................... 2-59
2.8 ENCODER (E2220 - E2291, E2316 - E2321)...................................................................................... 2-1
2.9 SV_MEMORY (E2292 - E2303) ......................................................................................................... 2-8

CHAPTER 3 WARNING OCCURRENCES AND THEIR RESOLUTION (EXPLANATION FOR ALARM

CODES) .............................................................................................................................................. 3-1

1-0 Robostar Co., Ltd.

 Alarm Message Monitoring Method

Chapter 1 Alarm Message Monitoring Method

If the robot is in abnormal state, the error code appears on a front display of a controller, and the alarm
contents are displayed on a screen of the teaching pendant.

1.1 Alarm Message Display

<Alarm message >

<Alarm channel>
<Alarm code>
<Details of the alarm>

Alarm message : The contents of the alarm currently generated are displayed
Alarm channel : For the common alarm, “ALL” is displayed.
For the alarm related to the first robot, “CH1” is displayed.
For the alarm related to the second robot, “CH2” is displayed.
Alarm code : The code number of the alarm currently generated is displayed.
Details of the alarm: Detailed information on the alarm currently generated is displayed.

T/P Emergency H/W Limit

CH: ALL CH: 1
ECODE: 1153 ECODE: 1103
1 axis H/W limit

<Example of alarm message display>

1-0 Robostar Co., Ltd.

 Alarm Message Monitoring Method

1.2 Display of Multiple Alarms

A plurality of alarms of the controller may simultaneously occur when in the abnormal state of the
robot. The simultaneously occurring alarms can be stored up to 10 alarms. These alarms can be
monitored as the following procedure.

H/W Limit Confirm first alarm

CH: 1
ECODE: 1103
1 axis H/W limit ESC

T/P Emergency Confirm second alarm

CH: ALL
ECODE: 1153

1-1 Robostar Co., Ltd.

 Alarm Message Monitoring Method

1.3 Alarm History

Information on the controller alarm which has occurred before can be monitored through an alarm
history menu. The alarm history is stored up to 10 histories.

Step 1. Move to MAIN

SYSTEM MODE Escape SYSTEM MODE
CH MODE J_NUM STATE
1 AUTO NONE IDL F4
2 AUTO NONE IDL

1R 2R EXIT

Robostar Open Software Version

NewRo N1-Series
Version: 02.00.ST,05
DATE: 111201
ENTER
Press ENTER Key

<MAIN MENU> Open MAIN MENU

1. Job 2. RUN
3. HOST 4. PARA
5. ORIGIN 6. I/O
7. SYSTEM 8. GPNT
9. INT/FLT A. ALARM
SELECT #

Step 2. ALARM selection

<MAIN MENU> Select A. ALARM
1. Job 2. RUN
3. HOST 4. PARA
5. ORIGIN 6. I/O I/O
7. SYSTEM 8. GPNT
9. INT/FLT A. ALARM A

SELECT #

1-2 Robostar Co., Ltd.

 Alarm Message Monitoring Method

Step 3. ALARM-HISTORY
<ALARM-HISTORY 01/10> Confirm alarm
*01:1153
02:2111
03: 0
04: 0
05: 0
CLEAR

Step 4. ALARM-HISTORY
<ALARM-HISTORY 02/10> Confirm the previous alarm history
*01:1153

◀ ▶
02:2111
03:2125
04: 0
05: 0
CLEAR EXIT

Step 5. ALARM-HISTORY
<ALARM-HISTORY 02/10> Confirm the detailed alarm history
*01:1153
02:2111
03:2125 ENTER
04: 0
05: 0
CLEAR EXIT

<ALARM CODE - 1153>

T/P Emergency
CH: 1
55 D
14H 41M 11S
EXIT

1-3 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

Chapter 2 Alarm Occurrences and Their Resolution (Explanation of

Alarm Codes)

2.1 File System Alarms (E1001 - E1100)

E1001. FILE SYSTEM ERR

Description Damaged file system
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code MAIN MOUDLE
(Display on 7-seg) 1001
Display on T/P File System Error
Reason Resolution
■ File storage memory Initialize a file system.
damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main
If the alarm persistently occurs, consult with the selling agent or
module broken
the manufacturer.
소손
Caution If this alarm occurs, the stored program and parameter data may be damaged.

E1002. DIRECTORY FULL ERR

Description File directory is full
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1002
Display on T/P Directory Full
Reason Resolution

■ Insufficient memory capacity Remove the unused programs.

■ File storage memory Initialize a file system.

damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

2-4 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1003. MEMORY ERR

Description Insufficient memory for execution of Job
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1003
Display on T/P Out of Memory
Reason Resolution
■ Insufficient memory space to
Correct Job so that many Jobs are not called simultaneously.
execute the program
■ File storage memory Initialize a file system.
damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

E1004. FILE NAME ERR

Description There are different Jobs having the same name
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1004
Display on T/P Same File Name Ext
Reason Resolution
■ Different jobs having the
Change, and store, the Job name.
same name exist
■ File storage memory Initialize a file system.
damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

2-5 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1005. BAD FILE ERR

Description Damaged file system
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1005
Display on T/P Bad File
Reason Resolution
■ File storage memory Initialize a file system.
damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

E1006. DISK FULL ERR

Description Insufficient space for storage of Job
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1006
Display on T/P Disk Full
Reason Resolution

■ Insufficient memory capacity Remove the unused programs.

■ File storage memory Initialize a file system.

damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

2-6 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1007. PROG DEL ERR

Description Job file does not exist
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1007
Display on T/P PROG Delete Error
Reason Resolution

■ Job file does not exist Confirm the Job name to be deleted.

■ File storage memory Initialize a file system.

damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

E1008. PNT DEL ERR

Description PNT file does not exist
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1008
Display on T/P POINT Delete Error
Reason Resolution

■ PNT file does not exist Confirm PNT name to be deleted.

■ File storage memory Initialize a file system.

damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

2-7 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1009. PROG COPY ERR

Description Job file cannot be copied
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1009
Display on T/P PROG Copy Error
Reason Resolution
■ Original Job file does not
Confirm the original Job file name.
exist
■ The name of Job file to be
Confirm, and change, the name of Job to be new created.
new created already exists.
■ File storage memory Initialize a file system.
damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

E1010. PNT COPY ERR

Description PNT file cannot be copied
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1010
Display on T/P POINT Copy Error
Reason Resolution
■ Original PNT file does not
Confirm the original PNT file name.
exist
■ The name of PNT file to be
Confirm, and change, the name of PNT to be new created.
new created already exists.
■ File storage memory Initialize a file system.
damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

2-8 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1013. NO Job ERR

Description Job file does not exist or damaged
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1013
Display on T/P There Is No Job
Reason Resolution

■ Job file does not exist Confirm the Job name.

■ File storage memory Initialize a file system.

damaged (See BRAM parameter in Instruction & Operation Manual.)
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

E1018. PARA LOAD FAIL

Description Parameter structure damaged
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1018
Display on T/P Para Load Fail
Reason Resolution
■ Parameter memory area
Re - Establish the parameter
damaged
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

Caution When this alarm occurs, the parameter of corresponding channel is initialized.

2-9 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1019. BAD PARAMETER ERR

Description Parameter value damaged
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1019
Display on T/P Bad Parameter Data
Reason Resolution
■ Stored system parameter Re - Establish the system parameter of the channel the alarm
value is damaged occurred.
■ Memory device of a main If the alarm persistently occurs, consult with the selling agent or
module broken the manufacturer.

Caution When this alarm occurs, the parameter of corresponding channel is initialized.

E1020. STRING VAR. BUFF OVERFLOW

Description 300 or more character variables and character constants are used for each channel
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1020
Display on T/P STR buff overflow
Reason Resolution
■ 300 or more character variables
Reduce the number of character variables and constants to be
and character constants are used
less than 300.
for each channel.

2-10 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1021. STRING VAR. LINE OVERFLOW

The length of text string of character variable and character constant
Description
exceeds 100 letters
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1019
Display on T/P Line buff overflow
Reason Resolution
■ The length of text string of
character variable and character Reduce the text string to be less than 100 letters.
constant exceeds 100 letters.

2-11 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

2.2 Protective Alarms (E1101 - E1200)

E1101. S/W LIMIT

Description Deviation from the operation range of the robot parameter (Range)
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1101
Display on T/P S/W Limit
Reason Resolution

1. Correct the operation range value of the system parameter

■ Wrong setup of the
(Range) as the value written on a name plate of the robot.
operation range of the system
2. If this error occurs during origin searching or Job execution,
parameter (Range)
check, and adjust, the teaching point
1. Adjust, in Job program, the setup of operation range of LIMIT
■ Deviation from the operation
command.
range of LIMIT command,
2. Check that the teaching point operates within the set up range,
during Job execution
and adjust it.

E1102. INPOS ERROR

Description A motor does not stop within the regular time
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1102
Display on T/P Inpos. Error
Reason Resolution
■ Oscillation or hunting action Readjust the gain.
due to wrong gain setting. (See “How to set up the gain” in Gain Setup Manual.)
■ Wrong setup of system Adjust appropriately IPA (INPOS amount), IPE (INPOS time)
parameter (IPE, IPA) according to the state of the mechanism.

2-12 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1103. H/W LIMIT

Description H/W limit sensor signal is detected
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1103
Display on T/P H/W Limit
Reason Resolution
1. Check, and adjust, the teaching point.
■ Limit sensor is detected
2. Check whether the specs. of a real robot are consistent with the
during robot operation
robot parameters (arm length, offset, deceleration ratio, etc.)
■ Limit sensor detection
Check the sensor and harness system or replace them.
malfunctions
■ Failure in a limit sensor input
Replace a servo module.
port

E1104. SERVO NOT READY

Description Servo ON is actuated when a servo module has not been yet initialized.
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1104
Display on T/P Servo Not Ready
Reason Resolution
■ Failure in power supply to a
Check power supply lines and electric modules.
servo module

2-13 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1105. TORQUE LIMIT ERR

While TRQ command is used, the setup value is higher than the actual
Description
torque value
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1105
Display on T/P Torque Limit
Reason Resolution
■ TRQ command setup value is low Check the maximum torque value of the corresponding
for a normal operation. axis, and increase the setup value.
■ External interference with
Check the mechanical external interference
mechanical parts during operation.
■ Vibration or noise generation due Readjust the gain.
to wrong gain adjustment (See “How to set up the gain” in Gain Setup Manual.)

2-14 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1107. OVER LOAD 2 ERR

When the motor’s average loading rate exceeds the set value of system
Alarm Description
parameter (OVL2 )
Alarm Disabling RESET POWER ON/OFF
Alarm Classification PROTECTION
Alarm Code ALL
(7-Seg Display) 1107
T/P Display Over Load 2
Causes Measures
■ Rated error that occurs when
1. Increase the capacity of Servo Module and motor.
running motor for certain
2. Set acceleration/deceleration time longer.
time with effective torque
3. Reduce a load.
exceeding rated torque
■ Occurrence of vibration or
Readjust a gain.
noise due to poor gain
(Refer to the gain setup manual.)
control
■ Occurrence of external
mechanical interference while Check if external mechanical interference has been present.
performing task
■ Malfunction of motor’s
Check the wiring in brake terminal and operating conditions.
electronic brake
■ System parameter (OVL2) If a system parameter (OVL2) set value is set at low level,
value set at low level modify it to an appropriate level.

2-15 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1151. SYSTEM EMERGENCY

Description Emergently stop because of manipulation of system I/O
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1151
Display on T/P System Emergency
Reason Resolution
■ User-initiated system Release an emergency stop button and reset the alarm
emergency stop in the controller.
■ Abnormal system emergency 1. Check 24V is normally applied to terminals of system I/O
stop line system. SYS_EMG+ and SYS_EMG-.
2. Check disconnection of a system I/O cable.

E1152. FRONT EMERGENCY

Description Emergently stopped by a front panel emergency stop switch
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1152
Display on T/P Front Emergency
Reason Resolution
■ An emergency stop switch in a Release the front panel emergency stop switch and reset
front panel is being depressed. the alarm in the controller.
■ Failure in front panel emergency
Replace the emergency stop switch.
stop switch line system

2-16 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1153. T/P EMERGENCY

Description Emergently stopped by an emergency stop switch of the teaching pendant
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1153
Display on T/P T/P Emergency
Reason Resolution
■ An emergency stop switch of the
Release the emergency stop switch of the teaching pendant,
teaching pendant is being
and reset the alarm in the controller.
depressed.
■ Failure in an emergency stop switch
line system of the teaching pendant Repair or replace the teaching pendant.

2-17 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1154. Host Emergency

Description Emergently stopped by an emergency stop protocol in Host mode
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1154
Display on T/P Host Emergency
Reason Resolution
■ Emergency stop due to an
emergency stop protocol in Host Clear the state of emergency stop, and reset the controller.
mode

E1163. ENCODER CNT ALARM

Description Encoder value of a motor abruptly changes over the permissible value.
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1163
Display on T/P Enc count Alarm
Reason Resolution
■ Wrong setup of system parameter Check the system parameter value and the amount of 1
(ENC) turn of a real motor encoder, and correct it.

■ Failure in servo module Check a servo module.

■ Vibration or noise generation due Readjust the gain.

to wrong gain adjustment (See “How to set up the gain” in Gain Setup Manual.)

Caution This alarm may occur when Mufti Turn Clear for position data initialization of
ABS motor.

2-18 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1165. REF COUNT ALARM

Description Positional error due to operation error of a controller
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1165
Display on T/P Ref count Alarm
Reason Resolution
■ Positional error due to operation
error of a controller exceeds the Reset and restart the controller.
permissible value.

E1168. SERVO ON POSITION ERR

Amount of rotation of a motor exceeds the permissible value when in Servo
Description
ON
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1167
Display on T/P Servo ON POS Error
Reason Resolution
1. Do not touch the robot at the time of Servo ON.
■ At the time of Servo On, there is
2. Check the robot moving due to the external devices (e.g.,
a robot moving (sagging)
cable, etc.).
■ Vibration or noise generation Readjust the gain.
due to wrong gain adjustment (See “How to set up the gain” in Gain Setup Manual.)

2-19 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1169. TASK EXIT FAIL

Description Abnormal system task in the controller
Alarm clearing RESET POWER ON/OFF
Alarm type FILE SYSTEM
Alarm code ALL
(Display on 7-seg) 1169
Display on T/P TASK EXIT FAIL
Reason Resolution

■ System task in the controller was

Re-apply the controller power.
abnormally created or finished.

2-20 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

2.3 Run Time Alarms (E1201 - E1300)

E1201. FILE NOT FOUND

Description JCALL’ed, but Job does not exist
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1201
Display on T/P File Not Found
Reason Resolution
■ Job to be JCALL’ed does not
Confirm the Job file to be JCALL’ed and correct it.
exist.

E1202. RANGE OVER

Description Values of command and variable index are out of permissible range
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1202
Display on T/P Range Over
Reason Resolution
■ Values of command and 1. Confirm the factor values of commands (VEL, ACC, DEC,
variable index are out of permissible PLUP, FORM, etc.) and correct them.
range. 2. Confirm the values of variable indexes (I_, GP_, F_, etc.),
and correct them.
■ Improper use of system variables
Correct CNT number (0-15 available) or TMR number (0-1
(CNT, TMR, SYS, etc.) in the
available).
program.
■ Improper parameter values
Correct the setup values.
(output port, type or time) set up
(See Instruction and Operation Manual – PALLET parameter)
in the pallet data.

2-21 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1203. INVERS ERROR

Error arising in inversion of XY mode (X,Y,Z,W) into Joint (A,B,Z,W) in a
Description
horizontal articulated robot
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1203
Display on T/P Invers Error
Reason Resolution
■ Wrong teaching point or trajectory Check the teaching point or the trajectory according to
when in CP motion the operation condition, and correct it.
■ Failure in XPOS variable value used in Check XPOS variable value (XYZ coordinate value, and
CP motion. FORM designation value), and correct it.
■ When in PMOV moving, the pallet
position data is computed to the position Check the pallet position data, and correct it.
that a real robot cannot move.
■ In HOST mode, failure in the point data
when in Inching motion with XYZ Check the position data, and correct it.
coordinate value
■ In HOST mode, failure in the point data
when in moving with XYZ coordinate Check the position data, and correct it.
value
■ In HOST mode, data abnormality when Check the controller point and the downloaded point
downloading PNT file to find the failure.

2-22 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1204. NOT TEACHING POINT

Description Error arising when in use of a point which has not been taught
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1204
Display on T/P Not Teaching Point
Reason Resolution
■ A point that has been not taught is
Check or create a point.
used, in using the robot move
(See JEDIT mode in Instruction & Operation Manual)
command.
■ A point that has been not taught is Check or create a point.
used, in using the OFFSET command (See JEDIT mode in Instruction & Operation Manual)
■ A point that has been not taught is
Check or create a point.
used, when in point moving in HOST
(See JEDIT mode in Instruction & Operation Manual)
mode

E1205. Job DEPTH OVER

Description JCALL is continuously used, exceeding the regular times (3 times)
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1205
Display on T/P Job Depth Over
Reason Resolution
Confirm in the robot program the number of multiply using
■ JCALL is continuously used,
JCALL, and correct it.
exceeding 3 times
(See JCALL command in Program Manual)

2-23 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1206. CALL DEPTH OVER

Description CALL is continuously used, exceeding the regular times (8 times)
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1206
Display on T/P CALL Depth Over
Reason Resolution
Confirm in the robot program the number of multiply using
■ CALL is continuously used,
CALL, and correct it.
exceeding 8 times
(See CALL command in Program Manual)

E1207. FOS ERROR

Description Improper use of FOS command
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1207
Display on T/P Invalid FOS Error
Reason Resolution
■ TOOL command is used,
while the robot continuously Correct the program so that TOOL command is used, after FOS
moving in response with FOS operation is disabled by FOS 0 command.
command

2-24 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1208. FORMAT ERROR

Description Factors of a command are not the specified value
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1208
Display on T/P Format Error
Reason Resolution
■ Factor of a command is not Check the minimum and maximum values of factors of
the specified value the command.
■ Abnormal data invaded the
Save the Job program in which the error occurs as another
Job command area due to the
name, and re - Execute the program.
memory fault

E1209. PALLET DATA ERROR

Description Improper pallet data
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1209
Display on T/P Pallet Data Error
Reason Resolution
■ The number of workpieces is
less than that of start points Correct parameter DATA or CNT.
of pallets.
■ Pallet data is used without
Initialize the pallet data.
initialization, or data area is
(See Instruction and Operation Manual – Pallet data initialization.)
damaged.

2-25 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1210. UNREACHABLE POINT

Description A point that the robot cannot move to has been taught
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1210
Display on T/P Unreachable Point
Reason Resolution
■ Unreachable point is taught
by the determined velocity or Correct the teaching point or the conditional move command.
acceleration.
■ A teaching point to be Correct the teaching point if the inner angle formed by three
moved with CMOV or AMOV points constituting a circle or arc is smaller than or equal to 0.1
is not a circle or arc, or has degree, or greater than or equal to 179.9 degree, and the radius
small radius is smaller than or equal to 1 mm.

E1211. EXIT INSTRUCTION

Description When EXIT command or instruction is executed
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1211
Display on T/P EXIT Instruction
Reason Resolution
■ EXIT command that a user
writes is executed and so the Clear the alarm and restart Job.
program is stopped.

2-26 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1212. POS VARIABLE ERROR

Description Wrong use of POS variable
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1212
Display on T/P POS Variable Error
Reason Resolution
Correct the program so that the value designated to the variable
■ Use of POS variable whose
is to be used.
value is not designated.
(See Variable part in Instruction & Operation Manual.)
■ Use of POS array variable
Correct the program to be used within the set up range.
which is out of the user
(See Variable part in Instruction & Operation Manual.)
determined range
■ Use of XPOS variable for In OFFS or LIMT command, use the teaching point or
OFFS or LIMT command POS variable.

E1213. JCALL ERROR

Description Insufficient memory during the robot Job operation
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1213
Display on T/P JCALL Error
Reason Resolution
If Job, in which many program steps or variable uses are included,
is JCALL’ed in the case that the number of program steps and
■ Insufficient job memory for teaching points, or the variable uses, occupy much memory space,
JCALL it may be impossible to perform a normal job due to the short of
the memory. Thus, reduce the number of program steps and
teaching points, or the variable uses, to progress the job.

2-27 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1214. NOT SUPPORT FUNCTION

When motion-related commands are executed, use of the robot is not set
Description
up
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1214
Display on T/P Not Support function
Reason Resolution
■ Motion-related commands
1. Check the setup of the system parameter (RENB), and
are going to be executed,
correct it.
when the robot has not been
2. Delete motion-related commands in Job.
set up.

E1216. SOURCE LINE ERR

Description There are no commands in the executed Job
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1216
Display on T/P Source Line Error
Reason Resolution
■ There are no commands in
Check the contents of the executed Job.
the executed Job

2-28 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1217. PASS PALLET OVER ERROR

Description The number of uses of PASS command is exceeded.
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1217
Display on T/P Passing PLT Over
Reason Resolution
■ The number of PASS
Command used per pallet Reduce uses of the command to be 21 or less for each pallet.
exceeds 21.
■ The number of pallets using
Reduce a pallet using PASS command to 5 or less.
PASS command exceeds 5.

E1219 - E1224 RANGE OVER AXIS

Description Deviate from axis setup range
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) 1219 1220 1221 1222 1223 1224
Display on T/P Range Over Axis1-6 AXIS
Reason Resolution
■ The teaching point value
Check that the taught point value is within the setup range of
exceeds the setup range of
the system parameter (RANG).
the system parameter (RANG)
■ Improper parameter (RANG)
Check the robot spec. and correct the parameter (RANG).
setup.
■ Deviation from the axis setup Move the relevant axis and check it is within the setup range of
range system parameter (RANG).

2-29 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1225. Job NOT READY

Description Job loading is not completed.
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1225
Display on T/P Not ready start
Reason Resolution
■ START instruction is received
Fully understand how to exactly use the robot commands, and
in the state that Job loading is
rewrite the program portion that the error occurred.
not yet completed.
■ If the variable name used in
the command and the system Change, and declare, the variable name.
variable or the controller

E1226. PLEASE ORIGIN

Description Error requiring the origin searching
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1226
Display on T/P Please Origin
Reason Resolution
■ Robot operation is tried
Perform the origin searching.
without origin searching

2-30 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1227. INVALID PARAMETER

Description Insufficient number of variables of the string command
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1227
Display on T/P Invalid Parameter
Reason Resolution
■ Wrong factor value of the
Check the factor of String Command in Job command
entered String Command

E1228. INVAILD STRING LENG

Text string and the number of extracted letters does not correspond to each
Description
other in String Command
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1228
Display on T/P Invalid string leng
Reason Resolution

■ If the text string is less than the

Check the text string and the number of text string extraction of
number of letters to be
SRIGHT, SMID, and SLEFT, and set up the number of text string
extracted from the text string
extraction to be less than the text string.
extracting command

2-31 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1230. COMM BUFFER OVERFLOW

Description The received number of the text string is more than the specified text string
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1230
Display on T/P Comm buf overflow
Reason Resolution
■ The received number of
Check that the received number of text strings is not more than
the text string is more than
80.
the specified text string

E1231. LPOS READ TIMEOUT

Description Time to read the latched position data is longer than the specified time
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1231
Display on T/P LPOS Read Timeout
Reason Resolution
■ Time to read the latched
Check the number of latched position data and make the time
position data is longer than
setup factor be greater.
the specified time

E1232. LATCH SEQUENCE ERR

Description Latch commands are not executed in the determined order.
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1232
Display on T/P Latch Sequence Err
Reason Resolution
■ Latch commands are not
Check Job program whether Latch commands have been
executed in the determined
executed in the order of initialization, start, and reading.
order.

2-32 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1233 - E1235 MISSMATCH SLAVE (1-3)

Description Point data of Master and Slave of synchronizing axes do not match
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code 1233 1234 1235
(Display on 7-seg) SLAVE 1 SLAVE 2 SLAVE 3
Display on T/P Data Miss match SLV1-3
Reason Resolution
■ Point data of Master and
Match the teaching points of a master axis and a slave axis
Slave of synchronizing axes do
which have been set up as the synchronizing axes.
not match

E1237. NOT FIND FIELDBUS

Setups of Fieldbus card and system parameters (FDBUS-CARD) are not
Description
identical
Alarm clearing RESET POWER ON/OFF
Alarm type RUN TIME
Alarm code ALL
(Display on 7-seg) 1237
Display on T/P Not find Fieldbus
Reason Resolution
■ Setups of Fieldbus card
and system parameters Check that the Fieldbus card is identical to system parameters
(FDBUS-CARD) are not (FDBUS-CARD), and correct the parameter settings.
identical
1. Check the contact condition between the controller and
Fieldbus card.
■ Fault of a fieldbus card
2. If the alarm persistently occurs, consult with the selling agent
or the manufacturer.

2-33 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

2.4 Job Compile Alarms (E1301 - E1400)

E1301. SYNTAX ERROR

Description Job program syntax error
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1301
Display on T/P Syntax Error
Reason Resolution
■ Commands undefined or Fully understand how to exactly use the robot commands, and
unfit to the robot command rewrite the program portion that the error occurs.
formation are used. (See Program Manual – Explanations for commands)
■ A variable name, which is
equal to the command and
Change, and declare, the variable name.
the system variable or is used
in the controller, is declared.

E1302. NOT INIT SYSTEM VARIABLE

Description System variable (TMR, CNT, and SYS) or the like is used without initialization
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1302
Display on T/P Not Init Sys Var
Reason Resolution

■ System variable (TMR, CNT,

Write a command for initializing a system variable as a necessary
and SYS) or the like is used
value.
without initialization

2-34 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1303. UNDEFINED SYMBOL

Description Undefined command or non-declared variable name is used
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1303
Display on T/P Undefined Symbol
Reason Resolution
■ Undefined command or
non-declared variable name is Use a defined command or a declared variable name.
used

E1304. DUPLICATED SYMBOL

Description The same variable name is declared in duplicate
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1304
Display on T/P Duplicated Symbol
Reason Resolution
■ The same variable name is Change the duplicate declared variable name to another and
declared in duplicate re-declare it.
■ The same LABL name is
Delete, or change, the duplicate LABL name.
declared in duplicate

2-35 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1305. IMPOS. BRANCH

Description Branch executional error
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1305
Display on T/P Impossible Branch
Reason Resolution
■ GOTO branch is executed
Rewrite the program conforming to the rule that GOTO branch
inside blocks of IF-ENDIF,
cannot be executed inside IF-ENDIF command block, WHILE-
WHILE-ENDWL, and FOR-
ENDWL command block, and FOR-NEXT command block.
NEXT commands.
■ GOTO branch is executed
Rewrite the program conforming to the rule that GOTO branch
between MAIN-EOP command
cannot be executed between MAIN-EOP command block and
block and SUBR-RET
SUBR-RET command block.
command block

E1306. EXTRA PARAMETER

Description Exceed the parameter value
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1306
Display on T/P Too Many Param
Reason Resolution
■ The specified number of
Check the number of factors for a mathematical function that
factors is exceeded when
the error occurs, and correct it.
using mathematical
(See Operator Commands in Program Manual)
functions.

2-36 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1307. NOT ENOUGH PARAMETER

Description Parameter value not reached
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1307
Display on T/P Not Enough Param
Reason Resolution
■ The specified number of
Check the number of factors for a mathematical function that
factors is not reached when
the error occurs, and correct it.
using mathematical
(See Operator Commands in Program Manual)
functions.

E1308. ILLEGAL EXPRESSION

Description Error in operation format
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1308
Display on T/P Illegal Exp
Reason Resolution
■ The equation expression Check whether the equation expression the error occurs is
does not conform to the operable, and correct it.
specified format of operation. (See Operator Commands in Program Manual)

2-37 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1309. ILLEGAL VARIABLE TYPE

Description Command does not match the variable type
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1309
Display on T/P Illegal Var. Type
Reason Resolution
■ The index value of FOR command
Correct it to the integer variable.
is not an integer type
■ The index value of array variables
(IO variable, teaching point variable,
POS-type variable, integer global, Correct it to the integer variable or integer value.
and real number global) is not an
integer type.

E1310. IMPOSSIBLE ASSIGN

Description Error in variable assignment formation
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1310
Display on T/P Impossible Assign
Reason Resolution
■ Data type of the result of the
Correct the program such that the result of the equation
equation computation is different
computation becomes the same as the variable type, for
from the variable type, for which
which such result is to be substituted.
such result is to be substituted.

2-38 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1311. EOF IN COMMENT

Description Error in Comment statement
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1311
Display on T/P EOF In Comment
Reason Resolution
Check the program that a left declaration symbol (/*) and a right
■ Error in Comment statement
declaration symbol (*/) are used in pair, and correct it.
■ The number of letters after a
Correct the number of letters after a one-line declaration symbol
one-line declaration symbol
(//) to be within 80 letters.
(//) is exceeded.

E1312. NO EXIST LABEL

Description LABL branch error.
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1312
Display on T/P No Exist Label
Reason Resolution
■ There is no LABL name being If there is no relevant LABL command in a program, write a new
branched by CALL or GOTO program; if the LABL command exists, change the LABL name to
statement. the existing value.

2-39 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1313. DECLARATION ERROR

Description Array declaration error
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1313
Display on T/P Declaration Error
Reason Resolution
■ Array variable is declared in Change the array variable to the simple variable and declare it,
INT or REAL command. because the array variable can be declare only in POS command.
■ The size of array declared in Declare the size of array variable to be 2 or more, or change it
POS command is equal to or to the simple variable, because the size of POS array variable
less than 1. must be 2 or more.

E1314. COMPILE ERROR

Description Error in robot Job compiling
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1314
Display on T/P Compile Error
Reason Resolution
■ Controller cannot understand
Check the line numbers and the detailed messages and correct
the robot command program
them. Then retry compiling.
written by a user, or a user
(See E1301 - E1313.)
erroneously writes it.

2-40 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1315. NOT SAME SPEC ROBOT

Information on the robot Job is not identical to the current system
Description
parameter
Alarm clearing RESET POWER ON/OFF
Alarm type
Alarm code ALL
(Display on 7-seg) 1315
Display on T/P Not Same Spec RBT
Reason Resolution
■ Robot spec. of the robot Job
is not consistent with the system Re-store the robot Job as the current spec. of the robot.
parameter setups (CONF)

E1316. NOT FIND Job

Description Job file does not exist
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1316
Display on T/P Not Find Job
Reason Resolution
Re-designate Job file number or Job file name to the existing
■ Job file does not exist
file.

E1317. ROBOT DISABLED

Description Error when the system parameter (RDIS) has been set to “not used”
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1317
Display on T/P Robot Disabled
Reason Resolution
■ The system parameter
(RDIS) has been set to “not Set up RENB parameter of a channel to be used to ENABLE.
used”.

2-41 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1318. ROBOT IDLE

Description Robot tries to check the robot information while it is in idle state.
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1318
Display on T/P Robot Idle
Reason Resolution
■ Job is tried to be checked,
during idle state in System Select the robot Job and then load it.
Mode

E1319. LOADING ERROR

Description Job file number exceeds the maximum value
Alarm clearing RESET POWER ON/OFF
Alarm type Job COMPILE
Alarm code ALL
(Display on 7-seg) 1319
Display on T/P Loading Error
Reason Resolution
■ Job file number exceeds the Re-execute the Job file number with not more than the
maximum value maximum value (200).

2-42 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

2.5 Trajectory Alarms (E1401 - E1500)

E1400. TRAJECTORY ERR

Description Motion trajectory creation is not exact
Alarm clearing RESET POWER ON/OFF
Alarm type PROTECTION
Alarm code ALL
(Display on 7-seg) 1400
Display on T/P Trajectory Error
Reason Resolution
■ A time schedule of FOS, arc Check the additional motion alarm, and then change the value
insertion, motion is not exact of motion related variables.

E1401. CP TIME SCHEDULER ERR

Description Fail in creation of interpolation motion profile
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1401
Display on T/P CP Sched. Error
Reason Resolution

■ Creation of the interpolation motion

profile is failed because, during
1. Check, and adjust, the motion velocity.
connection motion by using FOS
2. Check, and adjust, the teaching point.
command, the position of next
3. Check, and adjust, FOS command setup value.
motion is too short or entry velocity
is too high.

2-43 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1402. RESTART TIME SCHEDULER ERR

Description Creation of motion profile is failed in restarting after motion stops
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1402
Display on T/P Restart Sched. Error
Reason Resolution
■ Motion profile creation is failed,
when the robot is restarted due to
Newly start the Job.
the alarm or malfunction during
motion.

E1404. TIME SYNC ERR

Description Axis-to-axis synchronous motion profile creation is failed
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1404
Display on T/P Time Sync. Err
Reason Resolution
■ Axis-to-axis synchronous
1. Check, and adjust, the teaching point.
motion profile creation is
2. Check, and adjust, the motion velocity.
failed

2-44 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1405. ARC PLAN ERR

Description Creation of circular or arc motion trajectory is failed
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1405
Display on T/P Arc Plan Error
Reason Resolution
■ Creation of circular or arc
Adjust the teaching point.
motion trajectory is failed
■ Creation of the circular or arc
1. Check, and adjust, the motion velocity.
motion trajectory is failed,
2. Check, and adjust, the teaching point.
during connection motion by
3. Check, and adjust, FOS command setup value.
using FOS command.

E1406. PLAN TOO MUCH FOS ERR

Description Error in FOS setup value
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1406
Display on T/P Too Much FOS
Reason Resolution
■ During connection motion by
1. Check, and adjust, the motion velocity.
using FOS command, the position
2. Check, and adjust, the teaching point.
of next motion is too short or
3. Check, and adjust, FOS command setup value.
entry velocity is too high.

2-45 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1413. TRAJ INVERSE ERR

Description Error in coordinate conversion form X,Y mode to Joint mode
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1413
Display on T/P Inverse Kine. Err
Reason Resolution
■ X, Y coordinate, to which the
current robot cannot move, is Check and adjust the teaching point.
entered.
■ Although there is no problem in
coordinate conversion, a certain axis Check and adjust the teaching point.
deviates from the permissible range.

E1414. TRAJ ISNAN ERR

Description JOINT data error in coordinate conversion form X,Y mode to Joint mode
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1414
Display on T/P IK Isnan Error
Reason Resolution
■ JOINT data error in coordinate
conversion form X, Y mode to Check and adjust the teaching point.
Joint mode

2-46 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1415. IK POSITION Error

XY coordinate entered in X,Y mode deviates from the length of the robot
Description
arm
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1415
Display on T/P IK Position Error
Reason Resolution
■ When the coordinate is converted
from X, Y mode to Joint mode, the XY
coordinate entered in X, Y mode Check, and adjust, the teaching point.
deviates from the length of the robot
arm.

E1416 - E1421. IK Range Over

The coordinate entered in X,Y mode deviates from the setup range of the
Description
system parameter (RANG)
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS4 AXIS5 AXIS6
(Display on 7-seg) E1416 E1417 E1418 E1419 E1420 E1421
Display on T/P IK Range Over 1-6 Axis
Reason Resolution
■ When the coordinate is converted
from X, Y mode to Joint mode, the
Check whether the taught point value is within the
entered coordinate deviates from the
setup range of RANG, and adjust it.
setup range of the system parameter
(RANG).

2-47 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1422. PTP_TIME_SCHEDULER_ERR
Description Failure in PTP motion profile creation
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1422
Display on T/P PTP Sched. Err
Reason Resolution
■ Creation of PTP motion profile is
failed, because, during the
1. Check, and adjust, the motion velocity.
connection motion by using FOS
2. Check, and adjust, the teaching point.
command, the position of next
3. Check, and adjust, FOS command setup value.
motion is too short or entry velocity
is too high.

E1423. OVER_RANGE_ERR
Description Permissible range of axis moving is deviated during the robot operation
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1423
Display on T/P Over Range Err
Reason Resolution
■ The teaching point value exceeds
Check that the taught point value is within the setup range
the setup range of the system
of system parameter (RANG).
parameter (RANG)
■ Improper setup of parameter
Check the robot spec. and correct the parameter (RANG).
(RANG)
■ Deviation from the axis setup After moving the relevant axis, and check that it is within the
range setup range of system parameter (RANG).

2-48 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1424. OVER SPEED (REF) ERR

Description Velocity instruction exceeds the specified value
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1424
Display on T/P Over Speed (Ref) Error
Reason Resolution
■ Wrong setup of system Adjust the setup value if the setup value of system parameter
parameter (OVS) (OVS) has been set up too low.
■ Wrong setup of system Adjust the setup value of Mv, Jv, and At of system parameter
parameter (JONT, LINE) (JONT, LINE).
■ Improper robot operating Check the suitability of MOVE command, operation conditions
commands (FOS, ACC, DEC), and teaching point in Job.

E1425. OVER ACCELERATION (REF) ERR

Description Acceleration and deceleration instructions exceeds the specified value
Alarm clearing RESET POWER ON/OFF
Alarm type TRAJECTORY
Alarm code ALL
(Display on 7-seg) 1425
Display on T/P Over Accel (Ref) Err
Reason Resolution
■ Wrong setup of system Adjust the setup value if the setup value of system parameter
parameter (OVA) (OVA) has been set up too low.
■ Wrong setup of system Adjust the setup value of Mv, Jv, and At of system parameter
parameter (JONT, LINE) (JONT, LINE).
■ Improper robot operating Check the suitability of MOVE command, operation conditions
commands (FOS, ACC, DEC), and teaching point in Job.

2-49 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E1439. IN RANGE ERR

Alarm Description When the robot motion path is out of the already-set IN RANGE
Alarm Disabling RESET POWER ON/OFF
Alarm Classification TRAJECTORY
Alarm Code ALL
(7-Seg Display) 1439
T/P Display IN RANGE Err
Causes Measures
Check if robot motion path stays out of the set range of system
■ Error in system parameter
parameter (IRNG) and adjust the motion path and the set range
(IRNG) and robot path
of system parameter (INRANG), only when setting IRNG->Alarm
planning
to “ENB”.
■ Error in system parameter
Check if robot motion path stays out of the set range of system
(URNG) and robot path
parameter (URNG) and adjust the motion path and the set range
planning
of system parameter (URNG).

■ Error in robot’s Z-axis This happens when a robot in USER RANGE moves along the Z-
movement exceeding the set axis more than what is set in system parameter (URNG->Z DELTA).
level Control the fixed parameter and movement on Z-axis.

2-50 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

2.6 COMMUNICATION (E2101 - E2145)

E2101 - E2103. MAIN COM TIME OUT ALARM

Description No reply from the servo module
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2101 E2102 E2103
Display on T/P Main Com Time Out (1, 2, and 3) SM
Reason Resolution
1. Check the connected state between a servo module and a
■ Failure in communication
main module.
between a servo module and
2. If the alarm persistently occurs, consult with the selling agent
a main module
or the manufacturer.
■ Insertion of a servo module
and the setup value of the Check the setup value of system parameter (USAX), and correct
system parameter (USAX) do it. (See Instruction and Operation Manual – USAX parameter)
not match.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due
2. Install a ferrite core at the output of U∙V∙W cable of the
to external noise
controller.
■ The software version of a
main module and a servo Consult with the selling agent or the manufacturer.
module do not match

2-51 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2104 - E2106. RX TIME OUT ALARM

Data not received as much as the specified number of packet from the
Description
servo module
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2104 E2105 E2106
Display on T/P RX Time out (1, 2, and 3) SM
Reason Resolution
1. Check the connected state between a servo module and a
■ Failure in communication
main module.
between a servo module and a
2. If the alarm persistently occurs, consult with the selling agent
main module
or the manufacturer.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due to
2. Install a ferrite core at the output of U∙V∙W cable of the
external noise
controller.
■ The software version of a main
module and a servo module do Consult with the selling agent or the manufacturer.
not match

2-52 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2107 - E2109. LRC ERR ALARM

CRC operation and CRC data of the received frame in a servo module do
Description
not match
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2107 E2108 E2109
Display on T/P LRC Err (1, 2, and 3) SM
Reason Resolution
1. Check the connected state between a servo module and a
■ Failure in communication
main module.
between a servo module and a
2. If the alarm persistently occurs, consult with the selling agent
main module
or the manufacturer.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due to
2. Install a ferrite core at the output of U∙V∙W cable of the
external noise
controller.
■ The software version of a main
module and a servo module do Consult with the selling agent or the manufacturer.
not match

E2110 - E2112. ID MISMATCH ALARM

Description ID setup value and the slot position in a servo module do not match
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2110 E2111 E2112
Display on T/P Com ID Err (1, 2, and 3) SM
Reason Resolution
■ ID setup value and the slot
number in a servo module do not Check ID and slot of the servo module.
match

First slot used Second slot used Third slot used

ID 1 ID 2 ID 3

[Setup of ID switches of servo module]

2-53 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2113 - E2115. PACKET DATA ERR ALARM

Description Loss in communication data between a main module and a servo module
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2113 E2114 E2115
Display on T/P Packet Data Err (1, 2, and 3) SM
Reason Resolution
1. Check the connected state between a servo module and a
■ Failure in communication between main module.
a servo module and a main module 2. If the alarm persistently occurs, consult with the selling
agent or the manufacturer.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due to
2. Install a ferrite core at the output of U∙V∙W cable of the
external noise
controller.
■ The software version of a main
module and a servo module do not Consult with the selling agent or the manufacturer.
match

2-54 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2122 - E2124. PARA READ ERR ALARM

Description Failure in the parameter data read from the servo module
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2122 E2123 E2124
Display on T/P PARA Read Err (1, 2, and 3) SM
Reason Resolution
Check the parameter value setup is in the permissible range, and
■ Failure in parameter value
correct it.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due
2. Install a ferrite core at the output of U∙V∙W cable of the
to external noise
controller.
1. Check EEPROM in a servo module.
■ Failure in servo module 2. If the alarm persistently occurs, consult with the selling agent
or the manufacturer.

E2125 - E2127. PARA WRITE ERR ALARM

Description Parameter is not normally written in the servo module
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2125 E2126 E2127
Display on T/P PARA Write Err (1, 2, and 3) SM
Reason Resolution
Check the parameter value setup is in the permissible range, and
■ Failure in parameter value
correct it.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due
2. Install a ferrite core at the output of U∙V∙W cable of the
to external noise
controller.
1. Check EEPROM in a servo module.
■ Failure in servo module 2. If the alarm persistently occurs, consult with the selling agent
or the manufacturer.

2-55 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2128 - E2130. PARA SAVE ERR ALARM

Description The parameter is not normally saved in the servo module
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2128 E2129 E2130
Display on T/P PARA Save Err (1, 2, and 3) SM
Reason Resolution
Check the parameter value setup is in the permissible range, and
■ Failure in parameter value
correct it.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due
2. Install a ferrite core at the output of U∙V∙W cable of the
to external noise
controller.
1. Check EEPROM in a servo module.
■ Failure in servo module 2. If the alarm persistently occurs, consult with the selling agent
or the manufacturer.

E2131 - E2133. SV SYNC SIGNAL ALARM

Description Failure in Sync signal for synchronization of the servo module
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2128 E2129 E2130
Display on T/P SYNC SIGNAL Err (1, 2, and 3) SM
Reason Resolution
■ Failure in a Sync signal input If the alarm persistently occurs, consult with the selling agent or
line of the servo module the manufacturer.
■ Failure in a Sync signal
1. Replace a main module.
output line of the main
2. Replace a back board.
module
■ Communicational error due 1. Check the FG line in U∙V∙W cable of AC source and a motor.
to external noise 2. Install a ferrite core at both ends of U∙V∙W cable of a motor.

2-56 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2134 - E2136. SV EXT EMG ERR ALARM

Description External emergency signal is entered the servo module
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2134 E2135 E2136
Display on T/P SV Ext EMG Err (1, 2, and 3) SM
Reason Resolution
Alarm occurrence in the controller is to notify the servo module
■ External emergency signal is
of the alarming state. Check the causes to the alarm, and resolve
entered the servo module
them.
■ Insertion of the servo module
Check whether or not the servo module is inserted, and the
and the switch setup of the
switch setup values.
back board do not match
■ Failure in external emergency 1. Check the signal line of the back board.
signal line of the servo 2. If the alarm persistently occurs, consult with the selling agent
module or the manufacturer.

Servo module is inserted Servo module is not inserted

[Switch setup for use of servo module]

2-57 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2137 - E2139. SV Com Time Out ALARM

Servo module does not receive the communication data within the specified
Description
time
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2137 E2138 E2139
Display on T/P SV Com Time Out (1, 2, and 3) SM
Reason Resolution
1. Check the connected state between a servo module and a main
■ Failure in communication
module.
between a servo module
2. If the alarm persistently occurs, consult with the selling agent or
and a main module
the manufacturer.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due
2. Install a ferrite core at the output of U∙V∙W cable of the
to external noise
controller.

E2140 - E2145. ENC MULTI_TURN_FAIL_ALARM

Description Multi-turn data of an encoder is not cleared within the specified time
Alarm clearing RESET POWER ON/OFF
Alarm type COMMUNICATION
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2140 E2141 E2142 E2143 E2144 E2145
Display on T/P M-Turn Clear Fail 1-6 Axis
Reason Resolution
■ An encoder of the motor is 1. Check the encoder spec. of the motor used.
not supported ABS mode 2. Check the system parameter (ENC), and correct it.
1. Check FG line in U∙V∙W cable of AC source and a motor.
■ Communicational error due
2. Install a ferrite core at the output of U∙V∙W cable of the
to external noise
controller.

2-58 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

2.7 SERVO AMP (E2160 - E2219)

E2160 - E2162. OVER VOLATAGE ALARM

Description DC link voltage of the servo module exceeds 400V
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2160 E2161 E2162
Display on T/P Over Voltage (1, 2, and 3) SM
Reason Resolution
■ Too short acceleration and
Adjust the acceleration and deceleration time setup of the system
deceleration time for the
parameter to be longer.
motor load
1. Check that the regenerative resistor is inserted in the servo
■ Failure in regenerative module.
resistor in the servo module 2. Check the resistance value and the state of the regenerative
resistor in the servo module.
■ Input voltage excess the
Check the input source voltage, and apply the proper voltage.
permissible voltage.
If the alarm persistently occurs, consult with the selling agent or
■ Servo module fault
the manufacturer.

2-59 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2163 - E2165. UNDER VOLTAGE ALARM

Description DC link voltage of the servo module is under 180V
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(Display on 7-seg) E2163 E2164 E2165
Display on T/P Under Voltage (1, 2, and 3) SM
Reason Resolution
■ Too short acceleration and
Adjust the acceleration and deceleration time setup of the system
deceleration time for the
parameter to be longer.
motor load
■ Source voltage is lower than
Check the input source voltage, and apply the proper voltage.
the permissible input voltage.
Check whether the power relay in the electrical module normally
■ Failure in a power relay in the
works.
electrical module.
Replace the electrical module.
If the alarm persistently occurs, consult with the selling agent or
■ Servo module fault
the manufacturer.

E2166~E2168. MOTOR POWER FAIL ALARM

When instantaneous power outage lasts longer than the set value of system
Alarm Description
parameter (MPDT) for motor power detection time.
Alarm Disabling RESET POWER ON/OFF
Alarm Classification SERVO
Alarm Code SERVO MODLE 1 SERVO MODLE 2 SERVO MODLE 3
(7-Seg Display) E2166 E2167 E2168
T/P Display Motor Power Fail (1,2,3) SM
Causes Measures
1. Set MPDT set value longer than instant power outage time.
■ In the event of instant power
2. Set the detection function on motor power supply to 0 when
outage
not wanted for use.
■ Breakdown of power relay in Check if the power relay in electric field module is working.
electric field module Replace the electric field module.
If alarm occurs persistently, ask the agency and manufacturer for
■ Servo Module breakdown
inspection.

2-60 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2178~E2183. E-STOP OVS ALARM

When the motor rotation rate is beyond the set level of system parameter
Alarm Description
(E-STOP->OVS) in case of an emergency stop
Alarm Disabling RESET POWER ON/OFF
Alarm Classification SERVO
Alarm Code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(7-Seg Display) E2178 E2179 E2180 E2181 E2182 E2183
T/P Display E-STOP OVS 1~6 AXIS
Causes Measures
■ System parameter (E-STOP Check that E-STOP->OVS set value is set over 110% of JOINT
OVS) set at low level speed (Mv).
■ Occurrence of vibration or
Readjust the gain.
noise due to poor gain
(Refer to Gain Manual – How to set gain)
control

2-61 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2184 - E2189. IPM FAULT ALARM

Description Failure in IPM of servo module
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2184 E2185 E2186 E2187 E2188 E2189
Display on T/P IPM Fault 1-6 AXIS
Reason Resolution
1. Check the short-circuit of U∙V∙W∙FG cables of the motor, and
connect them properly.
■ Motor cables U, V, and W 2. Check the correct order of the controller U∙V∙W∙FG cables and
are short-circuited the motor U∙V∙W∙FG input terminals.
3. Exactly connect encoders of each axis and U∙V∙W cables, one-to-
one.
1. If 300% of excess occurs after monitoring maximum torque,
■ Permissible maximum adjust the parameter acceleration and deceleration time to be
current of IPM for each axis longer.
is exceeded 2. Adjust the gain.
3. Raise the capacity of the motor and the servo module.
1. Check the operation of a fan of the controller, and if it does not
■ Permissible maximum
normally work, replace it.
temperature for IPM
2. Install the controller at the outside, when the controller has in it
module is exceeded
the regenerative resistor.
If the alarm persistently occurs, consult with the selling agent or the
■ IPM broken
manufacturer

2-62 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2190 - E2195. CURRENT SENSING ALARM

Description Failure in the current sensing circuit in the servo module
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2190 E2191 E2192 E2193 E2194 E2195
Display on T/P Current Sen Err 1-6 AXIS
Reason Resolution
■ Failure in the current sensing
Replace a servo module.
circuit in the servo module

E2196 - E2201. OVER CURRENT ALARM

The current of the alarmed axis motor exceeds the permissible maximum
Description
value.
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2196 E2197 E2198 E2199 E2200 E2201
Display on T/P Over Current 1-6 AXIS
Reason Resolution
1. Check the short-circuit of U∙V∙W∙FG cables of the motor, and
connect them properly.
■ Motor cable U, V, and W 2. Check the correct order of the controller U∙V∙W∙FG cables and
short-circuited. the motor U∙V∙W∙FG input terminals.
3. Exactly connect encoders of each axis and U∙V∙W cables, one-
to-one.
Check the insulation resistance and line-to-line resistance of the
■ Motor burnt or damaged
motor, and replace the motor if necessary.
Check the operation of a dynamic braking relay of a servo
■ Relay for dynamic braking is
module, and replace the servo module.
melted down due to
(If the dynamic breaking relay does not work, do not perform
frequently Servo On-Off.
Servo ON/Off.)
■ Vibration or noise generation Readjust the gain.
due to wrong gain adjustment (See “How to set up the gain” in Gain Setup Manual.)
■ Failure in the rated load If 300% or more of excess occurs after monitoring the maximum
capacity, and excessive torque during the robot operation, change the decel./accel.
accel./decel. setup. setup and enlarge the motor capacity.

2-63 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2202 - E2207. OVER LOAD ALARM

Description Torque load rate exceeds the system parameter (OVL)
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2202 E2203 E2204 E2205 E2206 E2207
Display on T/P Over Load 1-6 AXIS
Reason Resolution
■ A motor is operated for a
given time, under the state of 1. Enlarge the capacity of the servo module and the motor.
wrong ratings and when the 2. Set the accel/decal operation time to be longer.
effective torque exceeds the 3. Reduce the load.
rated torque.
■ Vibration or noise generation
Readjust the gain. (See Gain Setup Manual.)
due to wrong gain adjustment
1. Check the disconnection of motor U∙V∙W∙FG cables, and
connect them exactly.
■ Miss-wiring or disconnection 2. Check the correct order of the controller U∙V∙W∙FG cables and
of the motor cable the motor U∙V∙W∙FG input terminals.
3. Exactly connect encoders of each axis and U∙V∙W cables, one-
to-one.
■ Mechanical external
Check whether there is any mechanical external interference.
interference during operation
■ Failure in an electromagnetic
Check the wiring of the brake terminals and its operation.
brake of the motor
■ System parameter (OVL) If the system parameter (OVL) setup value is too low, change it
value is set up too low. properly.

2-64 Robostar Co., Ltd.

 Alarm Occurrences and Their Resolution

E2208 - E2213. OVER SPEED ALARM

Description Rotating velocity of the motor exceeds the system parameter (OVS).
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code AXIS1 AXIS2 AXIS3 AXIS4 AXIS5 AXIS6
(Display on 7-seg) E2208 E2209 E2210 E2211 E2212 E2213
Display on T/P Over Speed 1-6 AXIS
Reason Resolution
■ The system parameter (OVS) value Check that OVS setup value is set up to be not less than
is set up too low 110% of JOINT velocity (Mv).
1. Reduce the maximum RPM velocity.
■ Excessive velocity instruction
2. Set up accel/decel time to be longer.
■ The motor encoder setup value Check the motor encoder setup value and the part
and the motor do not match number of the motor.
■ Vibration or noise generation due Re-adjust the gain.
to wrong gain adjustment (See “How to set up the gain” in Gain Setup Manual.)

E2214 - E2219. FOLLOWING ERR ALARM

Positional error value of a motor exceeds the setup value range of the
Description
system parameter (FOW)
Alarm clearing RESET POWER ON/OFF
Alarm type SERVO
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2214 E2215 E2216 E2217 E2218 E2219
Display on T/P Following Err 1-6 AXIS
Reason Resolution
If the error occurs when in accel/decel during the robot
■ The system parameter (FOW) value
operation, increased the setup value of the system
is set up too low
parameter (FOW).
■ Excessive velocity instruction is 1. Reduce the maximum RPM velocity.
entered, than the robot spec. 2. Set up accel/decel time to be longer.
■ Mechanical external interference Check whether there is any mechanical external
during operation interference.
■ Vibration or noise generation due Re-adjust the gain.
to wrong gain adjustment (See “How to set up the gain” in Gain Setup Manual.)

2-65 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

2.8 ENCODER (E2220 - E2291, E2316 - E2321)

E2220 - E2225. ENCODER OPEN ALARM

Description Disconnection of an encoder line when in use of a pulse encoder
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2220 E2221 E2222 E2223 E2224 E2225
Display on T/P Enc Open 1-6 AXIS
Reason Resolution
■ Poor contact in encoder Check the connecting state of encoder connectors of a
connector controller and a motor.
Measure whether the source voltage is 4.75 to 5.25V on a motor
■ Low source voltage for
encoder. If it is less than 4.75V, reinforce the power source for a
encoder
robot cable, or shorten the cable length.

■ Encoder cable disconnection Check the encoder cable disconnection, and if so, replace it.

E2226 - E2231. ENCODER INIT ALARM

Description Failure in an encoder signal during initialization of a servo module
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2226 E2227 E2228 E2229 E2230 E2231
Display on T/P Enc INIT Err 1-6 AXIS
Reason Resolution
■ Poor contact in encoder Check the connecting state of encoder connectors of a
connector controller and a motor.
Measure whether the source voltage is 4.75 to 5.25V on a motor
■ Low source voltage for
encoder. If it is less than 4.75V, reinforce the power source for a
encoder
robot cable, or shorten the cable length.

■ Encoder cable disconnection Check the encoder cable disconnection, and if so, replace it.

2-1 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

E2232 - E2238. ENCODER HALL OPEN ALARM

Description Failure in a Hall sensor signal of the encoder
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6 AXIS 7
(Display on 7-seg) E2232 E2233 E2234 E2235 E2236 E2237 E2238
Display on T/P Enc Hall Open 1-6 AXIS
Reason Resolution
■ Poor contact in encoder Check the connecting state of encoder connectors of a controller
connector and a motor.
Measure whether the source voltage is 4.75 to 5.25V on a motor
■ Low source voltage for
encoder. If it is less than 4.75V, reinforce the power source for a
encoder
robot cable, or shorten the cable length.
■ Encoder cable disconnection Check the encoder cable disconnection, and if so, replace it.

E2238 - E2243. ENCODER HALL INIT ALARM

Failure in a Hall sensor signal of the encoder during initialization of a servo
Description
module
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2238 E2239 E2240 E2241 E2242 E2243
Display on T/P Enc Hall Init Err 1 AXIS
Reason Resolution
■ Poor contact in encoder Check the connecting state of encoder connectors of a
connector controller and a motor.
Measure whether the source voltage is 4.75 to 5.25V on a motor
■ Low source voltage for
encoder. If it is less than 4.75V, reinforce the power source for a
encoder
robot cable, or shorten the cable length.
■ Encoder cable disconnection Check the encoder cable disconnection, and if so, replace it.

2-2 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

E2244 - E2249. ENCODER TIME OUT ALARM

Description There is no reply from a communicational encoder in a servo module
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2244 E2245 E2246 E2247 E2248 E2249
Display on T/P Enc Timeout 1-6 AXIS
Reason Resolution
■ Poor contact in encoder Check the connecting state of encoder connectors of a
connector controller and a motor.
Measure whether the source voltage is 4.75 to 5.25V on a motor
■ Low source voltage for
encoder. If it is less than 4.75V, reinforce the power source for a
encoder
robot cable, or shorten the cable length.
■ The setup value of the
Check the setup value of the system parameter and the actual
system parameter (MOTOR)
motor. (See Instruction and Operation Manual – Motor
and the actual motor do not
parameter.)
match.

Since this alarm may cause the positional error of the mechanism, ORG-
completed signal is to be turned off.
Caution
< How to do origin searching >
- ABS Type : Perform the reboot. - INC Type : Perform the origin searching.

2-3 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

E2250 - E2255. SERIAL ENCODER ID ALARM

The setup value of the system parameter is different from the actual motor
Description
type
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2250 E2251 E2252 E2253 E2254 E2255
Display on T/P Enc ID Miss 1-6 AXIS
Reason Resolution
1. Check the actual motor and the setup value of the system
parameter (Watt), and correct it.
■ The setup value of the
2. Check the number of pulses per encoder rotation of the actual
system parameter (Watt,
motor and the setup value of the system parameter (ENC), and
ENC, and ABS) and the
correct it.
actual motor do not
3. Check ENC type of the actual motor and the setup value of the
match
system parameter (ABS), and correct it.
(See Instruction and Operation Manual – Motor parameter)

E2256 - E2261. ENCODER OVER SPEED ALARM

Description Failure in multi-turn data detection in an absolute encoder
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2256 E2257 E2258 E2259 E2260 E2261
Display on T/P Enc Over Speed 1-6 AXIS
Reason Resolution
Measure whether the source voltage is 4.75 to 5.25V on a
■ Low source voltage for encoder motor encoder. If it is less than 4.75V, reinforce the power
source for a robot cable, or shorten the cable length.
■ If only the battery source is
supplied when in electricity power After connecting the power source for a battery, perform the
failure in a 17-bit absolute encoder, absolute encoder Multi–Turn Clear. (See Instruction and
the rotating velocity of the motor Operation Manual – M-Turn parameter.)
exceeds the specified value.

Caution This alarm is retained until Multi-Turn Clear is performed.

2-4 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

E2262 - E2267. ENCODER STATUS ALARM

Description Power source is applied when an absolute encoder rotates over 100 rpm.
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2262 E2263 E2264 E2265 E2266 E2267
Display on T/P Enc Status 1-6 AXIS
Reason Resolution
■ When the power source is
applied, the 17-bit absolute When applying the source, check whether the motor moves, and
encoder rotates, exceeding have the motor not move.
the specified value.

E2268 - 2273. ENCODER SIGNLE TURN ALARM

Description Failure in 1-turn data of an absolute encoder
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2268 E2269 E2270 E2271 E2272 E2273
Display on T/P Enc S-Turn Err 1-6 AXIS
Reason Resolution
■ 17-bit absolute encoder detects
Replace the motor.
a failure in 1-turn counter.

2-5 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

E2274 - 2279. ENCODER OVER FLOW ALARM

Description Multi-turn data overflow of an absolute encoder
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2274 E2275 E2276 E2277 E2278 E2279
Display on T/P Enc Over Flow 1-6 AXIS
Reason Resolution
■ 17-bit absolute encoder detects
Replace the motor.
a failure in multi-turn counter.

E2280 - 2285. ENCODER MUTI TURN ALARM

Description Failure in multi-turn counter of an absolute encoder
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2280 E2281 E2282 E2283 E2284 E2285
Display on T/P Enc M-Turn Err 1-6 AXIS
Reason Resolution
■ 17-bit absolute encoder detects
Replace the motor.
a failure in multi-turn counter.

2-6 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

E2286 - 2291. ENC SYSTEM DOWN ALARM

Description The battery voltage of an absolute encoder is under 2.5V
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2286 E2287 E2288 E2289 E2290 E2291
Display on T/P Enc Sys Down 1-6 AXIS
Reason Resolution
■ Supply voltage and battery
Replace the battery, and perform Multi–Turn Clear of the
source of the 17-bit absolute
absolute encoder.
encoder are increased, and so, the
(See Instruction and Operation Manual – M-Turn
built-in capacitor voltage is under
parameter.)
the specified value.

Caution This alarm is retained until Multi-Turn Clear is performed.

E2316 - 2321. ENC TYPE MISS MATCH ALARM

The setup value of the system parameter is different from the encoder type
Description
of the actual motor
Alarm clearing RESET POWER ON/OFF
Alarm type ENCODER
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2316 E2317 E2318 E2319 E2320 E2321
Display on T/P Enc Type Miss 1-6 AXIS
Reason Resolution
Check the setup value of the system parameter (ABS) and the
■ The setup value of the
encoder type of the actual motor.
system parameter (ABS) and
E.g.) For a motor with 2,500 pulses per turn, only INC is
the actual motor do not
supported in the system parameter (ABS), and if it is set to
match.
ABS, this alarm occurs.

2-7 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

2.9 SV_MEMORY (E2292 - E2303)

E2292 - E2297. PARA EEPROM ALARM

Description Failure in an internal EEPROM of the servo module
Alarm clearing RESET POWER ON/OFF
Alarm type MEMORY
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2292 E2293 E2294 E2295 E2296 E2297
Display on T/P SV ParaRom Err 1-6 AXIS
Reason Resolution
■ The internal EEPROM of the If the alarm persistently occurs, consult with the selling agent or
servo module damaged. the manufacturer.

E2298 - E2303. FACTORY PARA ALARM

Description Failure in the parameter
Alarm clearing RESET POWER ON/OFF
Alarm type MEMORY
Alarm code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(Display on 7-seg) E2298 E2299 E2300 E2301 E2302 E2303
Display on T/P Fac. Para Err 1-6 AXIS
Reason Resolution
■ The parameter of the internal
1. Check the value range of the parameter.
EEPROM of the servo module
2. Save the parameter of the servo module.
exceeds the setup range

2-8 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

E2322~E2327. ENC DATA ERR ALARM

Alarm Description In case the data received from motor encoder is not correct
Alarm Disabling RESET POWER ON/OFF
Alarm Classification ENCODER
Alarm Code AXIS 1 AXIS 2 AXIS 3 AXIS 4 AXIS 5 AXIS 6
(7-Seg Display) E2322 E2323 E2324 E2325 E2326 E2327
T/P Display Enc Data Err 1~6 AXIS
Causes Measures
■ Poor contact with encoder Check the connection between the controller and encoder
connector connector at both ends of a motor.
Check the power supply voltage (4.75~5.25V) on side of motor
■ Power supply voltage for encoder.
encoder at low level If below 4.75V, supplement the power supply to robot cable or
shorten the cable.

■ Occurrence of communication 1. Check AC power and FG line on U∙V∙W cables of motor.

error by external noise 2. Install a ferrite core on U∙V∙W cable output terminal of the controller.

2-9 Robostar Co., Ltd.

 Warning Occurrences and Their Resolution

Chapter 3 Warning Occurrences and Their Resolution (Explanation

for Alarm Codes)

FAN FAULT
Description Failure in cooling fan operation
Display on T/P FAN FAULT
Reason Resolution
1. Check the connecting status of a connection of the cooling
fan, and exactly connect it.
■ Failure in cooling fan
2. Check the foreign materials adhered to the fan, and remove it.
operation
3. Check that the cooling fan turns smoothly without supplying
the power, if it is not smooth, replace the fan.

ENC Low Battery

Description The voltage of the encoder backup battery is under 3.2V
Display on T/P ENC Low Battery
Reason Resolution
1. Check the connecting status of the encoder backup battery,
■ The voltage of the encoder
and exactly connect it.
backup battery goes down
2. Measure the voltage of the encoder backup battery. If it is
under 3.2V
under 3.2V, replace the battery.

When in situation of Enc Low Battery, the battery replacement must be done,
under the state of the controller power is being supplied.
Caution
If the controller power is not supplied for a long time after Enc Low Battery
Warning occurred, the position data of the robot may be lost.

3-1 Robostar Co., Ltd.

 Revision S/W
Rev. Description Reviser
Date Version
V.1.0 2012.07.30
First Edition Printed
V2.0 2013.01.17 “OVER LOAD 2” ESCHO
“IN RANG ERR”
“MOTOR POWER FAIL”
“E-STOP OVS”
“ENC DATA ERR”

N1 ROBOT CONTROLLER

CONTROLLER MANUAL
FIRST EDITION JULY 2012
ROBOSTAR CO, LTD
ROBOT R&D CENTER

Robostar Co., Ltd.