Fanuc Alarm Codes [PDF]

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C. ALARM CODES

B-82594EN-2/01

C.2

ALARM CODES

APSH Error Codes APSH-000 WARN %s [Cause] Message for a general status. [Remedy] None in particular. APSH-001 WARN %s missing [Cause] A macro was called without entering the necessary parameter. [Remedy] Check the macro call in the TP program. APSH-002 WARN %s Illegal type [Cause] An invalid parameter is used in the macro. An inappropriate data type is used for the parameter. [Remedy] Check the macro call in the TP program. APSH-003 WARN %s Illegal zone number [Cause] The zone number used is less than 1 or greater than the system variable $IZONEIO.$NO_ZONES. [Remedy] Use a zone number of 1 to $IZONEIO.$NO_ZONES. APSH-004 WARN Waiting for interf. zone [Cause] The robot is attempting to enter the interference area, but the cell controller has not granted entry permission. [Remedy] If the cell controller does not grant interference area entry permission when needed, check the program of the cell controller. APSH-005 WARN Entering interf., zone %s [Cause] The robot received interference area entry permission. [Remedy] This message indicates that the interference area wait status has been canceled. APSH-006 WARN PERM memory is low [Cause] Indicates that the amount of memory in the CMOS area has reduced drastically. If the permanent memory is exhausted, an unexpected MEMO alarm, robot stoppage, or register dump may occur. [Remedy] Erase any unnecessary data. Contact our service center serving your locality. The memory settings of the robot controller need adjustment. APSH-007 WARN TEMP DRAM memory is low [Cause] Indicates that the amount of memory in the temporary area has reduced drastically. If the temporary memory is exhausted, an unexpected MEMO alarm, robot stoppage, or register dump may occur. [Remedy] Erase any unnecessary data. Contact our service center serving your locality. The memory settings of the robot controller need adjustment. APSH-008 WARN FAULT must be reset [Cause] An error occurred, so the requested operation cannot be executed. [Remedy] Remove the cause of the error and press the reset button.

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C. ALARM CODES

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APSH-009 WARN Program already running [Cause] A start operation was attempted, but the program is already under execution. [Remedy] Stop or terminate the current program, and start it again. APSH-010 WARN %s aborted [Cause] When a non-production program (such as a test cycle) was stopped, either a UOP cycle start or SDI [production start] was detected. For safety reasons, the stopped program was terminated. [Remedy] No action is required. The current program will be started with the next production start signal. APSH-012 WARN REMOTE switch must be on LOCAL [Cause] The robot is in a remote status, sot the current robot operation is under the management of the remote controller (PLC). [Remedy] Switch the SOP remote key switch to local to disable the remote status. APSH-013 WARN Place robot into REMOTE state [Cause] The robot is not in a remote status, so the robot is not under the management of the remote controller (PLC). [Remedy] To place the robot in a remote status, check the items below. 1. #1 (IMSTP), #3 (SFTYSPD), and #8 (ENBL) for UOP input are all ON. 2. The SOP remote/local key switch is in the remote position. 3. The teach pendant is disabled. 4. The auto/bypass mode input for the robot is ON (if allocated). 5. The user program does not have a setting of $RMT_MASTER = 1. APSH-014 WARN RESET Failure [Cause] An active error impedes the execution of a reset request. [Remedy] Remove the cause of the active error (such as an external emergency stop) and reset the alarm. APSH-015 WARN Step mode must be disabled [Cause] The system is in a single step status, so an execution request cannot be started. [Remedy] Press the step key to release the system from the single step status. APSH-016 WARN Robot is not under PLC control [Cause] UOP is a master device, so an execution request cannot be started. [Remedy] Switch the SOP remote/local key switch to the remote position. Check that all UOP signals are in a correct status. Set $RMT_MASTER to 0. APSH-017 WARN Running with process disabled [Cause] This messages notifies that the production program is being executed in a sealant disabled status. [Remedy] No action is required. APSH-018 WARN WARNING ! Machine lock is on [Cause] This message notifies that the production program is being executed while still in a machine lock state. [Remedy] No action is required.

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C. ALARM CODES

B-82594EN-2/01

APSH-019 WARN Job queue is full [Cause] The job queue is full, so the next queue cannot be accepted. [Remedy] Either delete any unnecessary jobs manually or increase the queue size. APSH-020 WARN Job queue is empty [Cause] The next job was requested, but there is no waiting job. [Remedy] Check the external unit to see if a job number was sent to the controller correctly. Or, create a job directly. APSH-021 WARN Raise UOP ENBL input [Cause] If #8 for UOP is not ON, robot operation or program execution is not possible. [Remedy] Check the I.O settings for UOP. #8 (ENBL) for UOP must be ON. APSH-022 WARN Safety fence is open [Cause] The safety fence signal is OFF. [Remedy] To resume normal robot operation, the safety fence signal must be ON. Start up the safety fence signal. APSH-023

WARN

Teach Pendant is enabled

APSH-024 WARN Program %s not loaded [Cause] The program requested for execution was not loaded into the controller. [Remedy] Check the status of communication between the PLC and the robot. Check the program name requested to the PLC. Load the specified program or create it. APSH-025 WARN WARNING ! Running at < 100% [Cause] This message notifies that the production program is being executed with the override being less than 100%. [Remedy] No action is required. If required, the dispense tool can increase the override to 100%. On the sell setup screen, set up this option. APSH-027 WARN Press FAULT RESET button [Cause] The dispense tool requests that a reset be made to continue a normal production operation. [Remedy] To continue a normal production operation, press the reset button. APSH-028 WARN Increasing speed to 100% [Cause] This message notifies the operator that the dispense tool has increased the speed override to 100%. [Remedy] No action is required. To disable this setting, change this option on the cell setup screen. APSH-029 WARN Robot must be at home [Cause] For the requested operation to be executed, the robot must be in its home position. This message is displayed if the robot is not in its home position when the PLC makes a cycle start. [Remedy] Move the robot to its home position. APSH-030 WARN Style code %s is invalid [Cause] GIN [Style Input] is an invalid number. [Remedy] Check to see if the value of GIN [Style Input] is the same as the setting of the group input. APSH-031 WARN %s [Cause] This is an alarm message. [Remedy] None in particular. - 921 -

C. ALARM CODES

B-82594EN-2/01

APSH-032 WARN Robot Servos Disabled [Cause] The dispense tool detected that the robot servo was disabled manually. [Remedy] This message is for confirming that the robot is inoperable. To continue normal production operation, enable the servo again. APSH-033 WARN PLC comm. error - timeout [Cause] Sequence communication took too long to complete. [Remedy] Either increase the communication timeout time on the PNS sell setup screen or disable the communication timeout check. APSH-034 WARN No UOP output defined [Cause] The output signal for UOP has not been defined. [Remedy] On the I/O setup screen for UOP, set up the output signal for UOP and turn the controller off and back on. APSH-035 WARN Robot is in Bypass mode [Cause] Mode input turned OFF, forcibly placing the robot in bypass mode. The robot will ignore all production instructions of the PLC. [Remedy] Set the mode switch to ON. This causes the robot to enter auto mode, capable of receiving signals of the PLC. APSH-036 WARN User JOB has been paused [Cause] The current job has stopped. This often occurs if the HOLD signal is ON or if the ENBL signal for UOP is OFF. [Remedy] If the system is in a remote status, an error recovery menu appears, allowing selection of an appropriate recovery method. If not in a remote status, the user must perform recovery by himself. In other cases, press the FCTN key to terminate the program. APSH-037 WARN No UOP input defined [Cause] The input signal for UOP has not been defined. [Remedy] Set it up on the I/O setup screen for UOP input signals. APSH-038 WARN No style input group defined [Cause] The group input signal for use as a style code has not been defined. [Remedy] On the cell I/O screen and the group I/O screen, set up the group input for style selection signal and resume robot operation. APSH-039 WARN No style ack strobe defined [Cause] The style Ack strobe necessary for communication setup has not been defined. [Remedy] On the cell I/O screen, set up the style Ack signal and resume robot operation. APSH-040 WARN No backup input group defined [Cause] The backup input signal necessary for communication setup has not been defined. [Remedy] On the cell I/O screen the group I/O screen, set up the group input for backup signals and resume robot operation. APSH-041 WARN No style input strobe defined [Cause] The style strobe signal necessary for communication setup has not been defined. [Remedy] On the cell I/O screen, set up the strobe signal and resume robot operation.

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C. ALARM CODES

B-82594EN-2/01

APSH-042 WARN %s [Cause] This is an error message. [Remedy] On the cell I/O screen, set up the strobe signal and resume robot operation. APSH-043 WARN No style ack group defined [Cause] The style Ack group signal necessary for communication setup has not been defined. [Remedy] On the cell I/O screen and the group I/O screen, set up the style Ack group output signal and resume robot operation. APSH-044 WARN A user program is HELD [Cause] The current job was put on hold because the HOLD button was pressed or the HOLD input for UOP turned OFF. [Remedy] Either release the HOLD button or start up the HOLD input for UOP. APSH-045 WARN No program setup for style %s [Cause] The program number for RSR input has not been set. [Remedy] On the RSR cell setup screen enter the program number for RSR input. APSH-046 WARN Robot is in Automatic mode [Cause] This message notifies that the robot has changed from bypass mode to auto mode and now accepts signals from the PLC. [Remedy] No action is required. APSH-047 WARN Shell will not run without UOPs [Cause] This messages notifies the operator that UOP has not been set up and the system is waiting for UOP to be set up. [Remedy] UOP must be set up. Once UOP is set up, the shell can resume the start sequence. APSH-048 WARN PLC comm. error!invert check [Cause] The backup style group signal has not been inverted, unlike style group input. [Remedy] Check to see if the PLC inverts style input correctly. On the PNS cell setup screen, disable the inversion check. APSH-049 WARN %s [Cause] This is an error message. [Remedy] Check to see if the PLC inverts style input correctly. On the PNS cell setup screen, disable the inversion check. APSH-050 WARN Cell IO setup is invalid [Cause] The signal necessary for the cell has not been set up. [Remedy] Refer to the error history. An inappropriate signal name is indicated in the immediately preceding error log. Correct the settings of the I/O signal and make a cold start. APSH-051 WARN Connect or deassign UOP inputs [Cause] In the current UOP input status, the robot cannot operate. [Remedy] Either of the following is necessary: Input signals #1, #2, #3, and #8 for UOP are ON or UOP input is disabled. After the check, turn off the controller and back on. APSH-052 WARN Critical UOP inputs are LOW [Cause] The input signals for UOP, #1 (IMSTP), #2 (HOLD), #3(SFTYFNC), and #8 (ENBL) are all OFF. For normal production operation, all of them must be turned ON. [Remedy] Refer to the remedy for APSH-051.

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C. ALARM CODES

B-82594EN-2/01

APSH-054 PAUSE.L Release SOP E-STOP [Cause] The external emergency stop has not been released. [Remedy] Release the SOP external emergency stop. APSH-055 PAUSE.L Raise UOP IMSTP input [Cause] The IMSTP signal for UOP has not been input. [Remedy] Input the IMSTP signal for UOP. APSH-056 PAUSE.L Release SOP E-STOP [Cause] The external emergency stop has not been released. [Remedy] Release the SOP external emergency stop. APSH-057 PAUSE.L Release TP E-STOP [Cause] The emergency stop of the teach pendant has not been released. [Remedy] Release the emergency stop of the teach pendant. APSH-058 PAUSE.L Pause forced by shell [Cause] Dummy PAUSE error. [Remedy] Usually, this error will never occur. If this error should occur, contact our service center serving your locality. APSH-059 PAUSE.L Abort forced by shell [Cause] Dummy ABORT error. [Remedy] Usually, this error will never occur. If this error should occur, contact our service center serving your locality. APSH-060 WARN Cycle start ignored-not in AUTO [Cause] This is not an error. This message notifies that when a cycle start instruction was issued from the cell controller, the robot was in either bypass mode (which can be setup on the soft panel) or manual mode. A manual cycle start cannot be made. Or, when a manual cycle was attempted in manual mode, the style sent from the PLC did not match the style specified on the soft panel. [Remedy] Basically, this error may be ignored. This message is for assisting the debug program on the soft panel in the dispense tool. If a manual cycle is to be started, check that the manual cycle style input from the menu on the soft panel is the same as that sent from the PLC. APSH-061 WARN %s [Cause] This is an error message. [Remedy] Basically, this error may be ignored. This message is for assisting the debug program on the soft panel in the dispense tool. If a manual cycle is to be started, check that the manual cycle style input from the menu on the soft panel is the same as that sent from the PLC. APSH-062 WARN %s [Cause] This is an error message. [Remedy] Basically, this error may be ignored. This message is for assisting the debug program on the soft panel in the dispense tool. If a manual cycle is to be started, check that the manual cycle style input from the menu on the soft panel is the same as that sent from the PLC. APSH-063 PAUSE.L A HOLD input is active [Cause] The job paused because the HOLD button was pressed or the HOLD input for UOP turned OFF. [Remedy] Either release the HOLD button or turn ON the HOLD input for UOP. - 924 -

C. ALARM CODES

B-82594EN-2/01

APSH-070 PAUSE.L Failed to continue %s [Cause] When a request was made to continue all tasks, the error handler failed to continue tasks. Probably, an external stop was issued or the HOLD button was pressed. [Remedy] Disable all external stop buttons and the HOLD button. If the tasks need not be continued, terminate the tasks. APSH-071 PAUSE.L Failed to pause robot task [Cause] The PAUSE_TASK() command of KAREL failed to stop the task to be stopped. [Remedy] Probably, the task to be stopped is in a system utility and is not set up to be stopped. This error may be ignored. APSH-072 PAUSE.L Failed to abort robot task [Cause] The ABORT_TASK command of KAREL failed. [Remedy] Cold start the controller and recover the production status manually. APSH-073 WARN Servos Locked-out, enable servos [Cause] The robot server is in a lockout status. [Remedy] Enable the robot servo. APSH-074 WARN Disable Teach Pendant [Cause] To continue normal production operation, the teach pendant must be disabled. [Remedy] Before the start of operation, disable the teach pendant. APSH-075 WARN Error in accessing TPE:%s [Cause] This error occurs when an attempt is made to access data related to TPE. [Remedy] Check to see if this TPE program exists. From the list screen, enter the detail screen and check the settings. APSH-076 WARN Shell could not run:%s [Cause] An attempt was made to execute a program, but was stopped by the OS. [Remedy] Check to see if the program exists, and if its exists, check to see if it has already been executed or stopped. On the program status screen, it is possible to check to see if the maximum allowable number of tasks is exceeded. Terminate any unnecessary programs. APSH-077 WARN No positions in %s [Cause] TPE does not have position data for the home position, maintenance position, or purge position. [Remedy] If using the AT PERCH, AT PURGE, or AT SERVICE signal, teach positions with appropriate TPE. If these outputs are not necessary, ignore this alarm. APSH-078 WARN Shell could not run program [Cause] An attempt was made to executed a program, but the OS stopped the program. [Remedy] Check to see if the program exists, and if it exists, check to see if it is already not in an execution or stop status. Check with the program status display that the maximum number of tasks is not exceeded. Terminate any unnecessary programs. APSH-079 WARN No DIN for Auto/Bypass [Cause] Auto/bypass input has not been defined, but is necessary. [Remedy] On the cell I/O screen, setup auto/bypass input and restart the controller.

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C. ALARM CODES

B-82594EN-2/01

APSH-080 WARN Waiting for Cancel/Continue [Cause] The robot is waiting for robot cancellation, wet/dry continuance, or input of a home position return from the PLC. [Remedy] This message notifies that robot recovery authority was given to the PLC. APSH-081 WARN Waiting for Cancel [Cause] The robot is waiting for cancellation input from the PLC. The current job error cannot be recovered. The job must be terminated or the HOME input signal for UOP is required. [Remedy] This message notifies that robot recovery authority was given to the PLC. APSH-082 WARN No $ERROR_PROG defined [Cause] $ERROR_PROG has not been defined. This error message is displayed only if the KAREL variable [SLERROR]POST_NO_ERRP is set to TURE. (FALSE by default) [Remedy] Using ERROR_PROG, set up the error measure program for this job. In the event of an error, the robot can be evacuated from the work area. APSH-083 WARN No $RESUME_PROG defined [Cause] $RESUME_PROG has not been defined. [Remedy] Using RESUME_PROG, set up the program for resuming. An interrupted program can be resumed. APSH-084 WARN WARNING ! simulated I/O [Cause] The production program is being executed with simulated I/O being set up. Unexpected operation may result. [Remedy] Check all I/O signals placed in a simulated status. Release from a simulated status those signals that need not be in a simulated status. APSH-090 WARN %s [Cause] This is an error message. [Remedy] Check all I/O signals placed in a simulated status. Release from a simulated status those signals that need not be in a simulated status. APSH-091 WARN %s [Cause] This is an error message. [Remedy] Check all I/O signals placed in a simulated status. Release from a simulated status those signals that need not be in a simulated status. APSH-092 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. APSH-093 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. APSH-094 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. APSH-095 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. - 926 -

C. ALARM CODES

B-82594EN-2/01

APSH-096 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. APSH-097 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. APSH-098 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. APSH-099 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. APSH-100 WARN %s [Cause] This alarm can be set up for each user. [Remedy] If wishing to set up this alarm, contact our service center serving your locality. APSH-110 WARN READ IO parm %s missing [Cause] The READ IO macro was called with no parameters being input. READ IO(signal name, integer register number) [Remedy] Check the macro call in the TP program. APSH-111 WARN READ IO parm %s is wrong type [Cause] The READ IO parameter is invalid. READ IO(signal name, integer register number) [Remedy] Check the macro call in the TP program. APSH-112 WARN signal %s does not exist [Cause] The READ IO macro was called, but the signal cannot be found. READ IO(signal name, integer register number) [Remedy] Check the macro call in the TP program. APSH-113 WARN can't fetch signal type [Cause] The READ IO macro was called, but the signal cannot be found. READ IO(signal name, integer register number) [Remedy] Check the macro call in the TP program. APSH-114 WARN can't fetch signal number [Cause] The READ IO macro was called, but the signal cannot be found. READ IO(signal name, integer register number) [Remedy] Check the macro call in the TP program. APSH-115 WARN can't read signal %s [Cause] The READ IO macro was called, but the signal cannot be found. READ IO(signal name, integer register number) [Remedy] Check the macro call in the TP program.

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C. ALARM CODES

B-82594EN-2/01

APSH-116 WARN Reg %s could not be set [Cause] The register instruction failed. [Remedy] Check to see if the register is defined. Check to see if the register is between 1 and 64 and if it has an appropriate value. Terminate all programs and make a retry. APSH-117 WARN Register not defined %s [Cause] This message is merely for debugging purposes. [Remedy] None in particular. APSH-118 WARN WRITE IO parm %s missing [Cause] The WRITE IO macro was called with no parameters being input. WRITE IO(signal name, integer value input) [Remedy] Check the WRITE IO call in the TP program. APSH-119 WARN WRITE IO parm %s is wrong type [Cause] The WRITE IO macro parameter is invalid. WRITE IO(signal name, integer value input) [Remedy] Check the macro call in the TP program. APSH-120 WARN signal %s does not exist [Cause] The WRITE IO macro was called, but the signal cannot be found. WRITE IO(signal name, integer value input) [Remedy] Check the macro call in the TP program. APSH-121 WARN can't write signal %s [Cause] The WRITE IO macro was called, but the signal cannot be found. WRITE IO(signal name, integer value input) [Remedy] Check the macro call in the TP program. APSH-122 WARN GET IO PORT parm %s missing [Cause] The GET IO macro was called with the no parameters being input. GET IO(signal name, port number) [Remedy] Check the macro call in the TP program. APSH-123 WARN GET IO PORT parm %s is wrong type [Cause] The GET IO macro parameter is invalid. GET IO(signal name, port number) [Remedy] Check the macro call in the TP program. APSH-124 WARN signal %s does not exist [Cause] The GET IO macro was called, but the signal cannot be found. GET IO(signal name, port number) [Remedy] Check the macro call in the TP program. APSH-125 WARN Forcing Process Enabled [Cause] At the start of the production program, a process disable setting was detected. The program is set up so that processes are forcibly enabled. [Remedy] Take the following action: - Do not select the forcible process enable setting. - Forced recovery (program selection - auto operation check - process ready) is disabled. - Check that at the next production cycle start, the process enable signal is ON.

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C. ALARM CODES

B-82594EN-2/01

APSH-126 PAUSE.L %s [Cause] The robot stopped. [Remedy] This is a status message. APSH-127 WARN Repower to activate change. [Cause] Parameters were changed, so the power must be turned off and back on. [Remedy] Turn off the controller and back on. APSH-130 WARN Cannot access FR:%s*.DT files [Cause] An error occurred during access to FR. The .dt file cannot be found. [Remedy] The .dt file must be in FR. APSH-131 WARN I/O data error: %s [Cause] The I/O port definition is inappropriate. Either the data format is invalid or standard data is used. [Remedy] Check that the unit is correct. APSH-132 WARN Selected Prog %s not loaded [Cause] The program requested for execution was not loaded successfully. [Remedy] Check the status of communication between the PLC and the robot. specified program is the one that the PLC requested for execution. specified program.

Check that the Create/load the

APSH-133 WARN Not in safe starting position [Cause] The robot moved from the TP-enabled position. [Remedy] Either return the robot to the TP-enabled position or continue a linear operation from the current position of the robot. APSH-141 PAUSE.L %s [Cause] The robot moved from the teach pendant-enabled position. [Remedy] Return the robot to the teach pendant-enabled position and terminate the program. Or, continue a linear operation from the current position. APSH-142 WARN WARNING ! System is in dry run [Cause] This message notifies that production is being executed in a process disabled status. [Remedy] No action is required in particular. APSH-143 WARN Robot motion is not enabled [Cause] If #8 for UOP is not ON, robot operation or program execution is not possible. [Remedy] Check the settings for UOP and set #8 for UOP to ON. APSH-144 WARN WARNING- Process Complete manually turned on at end of %s [Cause] Process completion forced output on the soft panel was executed. [Remedy] This message notifies the operator that process completion was set to ON manually. APSH-150 WARN Gun operation is NOSTROKE [Cause] This message notifies that the production program is being executed in a pressurization disabled status. [Remedy] No action is required in particular.

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C. ALARM CODES

B-82594EN-2/01

APSH-151 WARN Weld operation is NOWELD [Cause] This message notifies that the production program is being executed in a welding disabled status. [Remedy] No action is required in particular. APSH-152 WARN Robot mode must be AUTO [Cause] The robot must be placed in auto mode before production operation. [Remedy] Go to the soft panel screen to place the robot in auto mode. APSH-153 WARN Must press SHIFT key too [Cause] The shift key must be held down for operation on the teach pendant. [Remedy] Operate while holding down the shift key. APSH-154 WARN Only one gun defined [Cause] Because the number of units is 1 and the system settings for a single gun are made, the unit number need not be set when the pressurization key and the stroke switching key are to be operated on. [Remedy] No action is required. APSH-155 WARN HOME position not recorded [Cause] The home position is not recorded. The home position is on the reference position setting screen. [Remedy] Go to the setup screen, press F1 [TYPE], and select [Ref. Position]. Move the robot to its home position with a jog operation, record the reference position, and then specify 'Reference position check'. APSH-156 WARN Specify Home in Ref Pos Menu [Cause] The home position is not set. The home position is in Position register #1. [Remedy] On the data screen, select F1 [TYPE] and select Position register. Move the robot to its home position with a job operation and record it in Position register #1. When the robot moves to its home position, UOP output #7 becomes ON. APSH-157 WARN Teach pendant must be enabled [Cause] To operate the teach pendant, the teach pendant must be enabled. [Remedy] Enable the teach pendant. APSH-158 WARN No group output for weld sched [Cause] The group output for welding conditions signals has not be set. [Remedy] On the output signal setup screen for spot welders, set a welding condition signal number. On the group signal setup screen, check that the group output is set correctly. After the signal number is changed or the group signal is redefined, perform a cold start. APSH-159 WARN Servos are not ready [Cause] The requested instruction cannot be executed because the servo is not ready. [Remedy] Reset the error, and wait for the servo to start up before executing the program. APSH-160 WARN Robot not at POUNCE position [Cause] The requested instruction cannot be executed because the robot is not in the wait position. [Remedy] Move the robot to the wait position and then retry the instruction.

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C. ALARM CODES

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APSH-161 WARN No production program is running [Cause] The request instruction cannot be executed because the robot is not executing a production program. [Remedy] Retry the instruction after the robot starts executing a production program. APSH-162 WARN No group output for multi-pressure [Cause] The group output signal for variable pressure valves is not set. [Remedy] On the spot unit I/O screen, set a valve pressure signal number. On the group signal setup signal, check that the group output is set up correctly. After the signal number is changed or the group signal is redefined, perform a cold start. APSH-163 WARN No motion allowed-gun closed [Cause] The gun is inoperable because it is closed. While the gun is closed, robot job operation or program execution is not possible to prevent parts and tools from damage. [Remedy] Open the gun. APSH-164 WARN Home I/O program %s not loaded [Cause] The HOME I/O program specified on the cell setup screen did not exist and could not be executed. [Remedy] On the cell setup screen, check the program name in the HOME I/O program setting. Check to see if the controller has that file. Either create a program with that program name or change the existing program name to the program name in the setting. APSH-165 WARN Invalid Studgun Selection [Cause] Appropriate I/O settings for stud welding guns are not made. [Remedy] On the spot unit I/O screen, make SDI 'gun coupling' signal ON/OFF and 'gun present' signal ON/OFF settings for two guns. For each gun used, set up each signal as follows: If using gun 1, gun 1 (gun coupling = ON, gun presence = OFF) and gun 2 (gun coupling = OFF, gun present = ON) If using gun 2, gun 1 (gun coupling = OFF, gun presence = ON) and gun 2 (gun coupling = ON, gun present = OFF) APSH-166 WARN Studgun Change Unsuccessful [Cause] The program was either terminated or interrupted during a stud gun change. [Remedy] Make a gun change manually and move the robot to its home position. Press cycle start to execute the production program. APSH-167 WARN Move robot home & cycle start [Cause] The stud gun change program was interrupted. [Remedy] To resume production, return the robot to its home position manually and press the cycle start button. APSH-168 WARN No GO for EQP pressure [Cause] The group output for equalize pressure is not set. [Remedy] On the output signal setup screen for spot welders, set the signal number for equalize pressure. On the group signal setup screen, check that the group output is set correctly. After the signal number is changed or the group signal is redefined, perform a cold start. APSH-169 WARN Uninitialized Stud Macros [Cause] The stud gun macro is not initialized. [Remedy] On the spot unit setup screen, initialize the stud welding macro. This is displayed only stud backup is enabled at a cold start. - 931 -

C. ALARM CODES

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APSH-170 WARN Check Nest/Changer Inputs [Cause] The presence/coupling signal is not set up correctly. [Remedy] On the spot I/O setup screen, set up the input signal correctly. APSH-171 WARN HOME_IO has not completed running [Cause] The next program cannot be executed because HOME_IO execution is not completed correctly. [Remedy] Check HOME_IO to see if a loop is formed in I/O processing. APSH-174 WARN SCR overtemp detected [Cause] An SCR overheat signal was received. [Remedy] Check to see if SCR is overheated. APSH-175 WARN Req. Press. Not mapped for WC㧦%s [Cause] The pressure request input signal has not been defined. [Remedy] On the spot welder I/O screen, set up the pressure request signal. APSH-176 WARN GIN For Weld Press. Not mapped for WC㧦%s [Cause] The group input signal for weld pressure has not been defined. [Remedy] On the spot welder I/O screen, set up the weld pressure input signal. APSH-177 WARN Read Press. Not mapped for WC:%s [Cause] The pressure read input signal has not been defined. [Remedy] On the spot welder I/O screen, set up the pressure read signal. APSH-178 WARN MAP /O in Weld Interface Menu [Cause] Help code. [Remedy] No action is required. APSH-179 WARN Upd. Press. timeout WC㧦%s [Cause] Pressure update input could not be set within the time. [Remedy] Check to see if the welder is functioning correctly. Or, increase the welding pressure timeout value on the control start screen. APSH-180 WARN Could not communicate to WC [Cause] I/O from the welder cannot be read. The unit is not connected. [Remedy] Check to see if the welder is functioning correctly. Or, turn off the welder and back on. APSH-201 WARN Automatic Collision Recovery [Cause] The collision automatic recovery program was started. [Remedy] This is merely a warning message. APSH-202 WARN Recovery Program not found [Cause] An attempt was made to execute the collision automatic recovery program. [Remedy] Check that the program is being loaded. APSH-203 WARN Error running %s [Cause] It was not possible to execute or continue a task. [Remedy] Check the message related to the task error and follow the recovery instructions.

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APSH-204 WARN Running recovery prog %s [Cause] The collision automatic recovery program was started. [Remedy] This is merely a warning message. APSH-205 WARN Running original prog %s [Cause] The original program for collision automatic recovery was started. [Remedy] This is merely a warning message. APSH-206 WARN Invalid Group Specified [Cause] The GET_HOME group specification is incorrect. [Remedy] Check the specified group number. APSH-207 WARN Invalid Ref Pos Specified [Cause] The GET_HOME reference position specification is incorrect. [Remedy] Check the reference position. APSH-208 WARN Failed to check %s [Cause] This is an error related to the robot ready screen. With the current settings, this item cannot be checked. [Remedy] Press F6 [REDO] and the power button, and update the item.

CMND Error Codes CMND-001 WARN Directory not found [Cause] The specified directory can not be found. [Remedy] Check the device and path that you entered. CMND-002 WARN File not found [Cause] The specified file could not be found. [Remedy] Check to make sure the file has been spelled correctly and that it exists. Also verify the device and path name are correct. CMND-003 WARN File already exists [Cause] The file already exists and could not be overwritten. [Remedy] Make sure the overwrite option has been specified. CMND-006 WARN Self copy not allowed [Cause] A file cannot be copied to itself. [Remedy] Change the name of the destination file so it is different from the source file. CMND-009 WARN Position types are the same [Cause] Internal error. CMND-010 WARN Source type code is invalid [Cause] Internal error. CMND-011 WARN Destination type code is invalid [Cause] Internal error. CMND-012 WARN Type codes do not match [Cause] Internal error.

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C. ALARM CODES

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CMND-013 WARN Representation mismatch [Cause] Internal error. CMND-014 WARN Positions are not the same [Cause] Internal error. CMND-015 WARN Both arguments are zero [Cause] Internal error. CMND-016 WARN Division by zero [Cause] Internal error. CMND-017 WARN Angle is out of range [Cause] Internal error. [Remedy] Make sure that the rotational angle is no greater than 100 times PI, or about 314.15926######. CMND-018 WARN Invalid device or path [Cause] You have specified an invalid device or path. [Remedy] Check the device and path that you entered. CMND-019 WARN Operation cancelled [Cause] The operation was cancelled because CTRL-C or CTRL-Y was pressed. [Remedy] Repeat the operation. CMND-020 WARN End of directory [Cause] The directory listing is finished. [Remedy] This is a notification. You do not have to do anything for this warning message. CMND-021 WARN Cannot rename file [Cause] The destination file name contained both alphanumeric characters and the global character '*'. [Remedy] Use only alphanumeric characters or a single global character when renaming a file. CMND-022 STOP.G Time motion with dist before [Cause] A time-based motion was specified along with distance before. [Remedy] Do not use these options in combinations.

CNTR Error Codes CNTR-004 WARN No cnir pointer [Cause] Internal software error. [Remedy] Contact your FANUC service center. CNTR-005 WARN Wrong CN Axis/N1 or N2 (G:i) [Cause] The number of the continuous rotation axis is invalid. [Remedy] Set a valid axis number. CNTR-006 WARN Unable to Allocate Memory [Cause] Internal software error. [Remedy] Contact your FANUC service center. - 934 -

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CNTR-007 STOP.G Serious Internal error (G:i) [Cause] Internal software error. [Remedy] Contact your FANUC service center. CNTR-008 STOP.G Invalid dest.angle (G:i) [Cause] An operation option that cannot be used with the continuous rotation function is specified. [Remedy] Check the operation option. CNTR-009 WARN Warn-Cont Vel too high (G:i) [Cause] The continuous rotation speed is relatively high. [Remedy] This does not present any problem. Ignore this message. CNTR-010 STOP.G Ind.EV option not allowed [Cause] Both an additional axis speed instruction and continuous rotation instruction are used. [Remedy] Delete either instruction. CNTR-011 STOP.G Axis speed exceeds lim (G:i) [Cause] The continuous rotation speed exceeds the upper limit. [Remedy] Decrease the continuous rotation speed. CNTR-012 STOP.G Ending Cont Rot on Rel Motion [Cause] The continuous rotation speed instruction ended with a relative operation. [Remedy] Check the operation add instruction used together with the continuous rotation instruction.

COND Error Codes COND-001 WARN Condition does not exist [Cause] The number of a monitor to be enabled, disabled, or deleted is specified, but it is not found. [Remedy] Check the existing monitor numbers and specify one of them. COND-002 WARN Condition handler superseded [Cause] The specified condition number already exists in the system, and has been superseded by the new condition. [Remedy] This is a notification. You do not have to do anything for this warning message. COND-003 WARN Already enabled, no change [Cause] The specified condition is already enabled. No change has been made. [Remedy] This is just a notification, and you do not have to do anything for this warning massage. COND-004 WARN Already disabled, no change [Cause] The specified condition is already disabled. No change has been made. [Remedy] This is just a notification, and you do not have to do anything for this warning message. COND-009 WARN Break point encountered [Cause] Break point has been encountered. [Remedy] No action is required. COND-010 WARN Cond exists, not superseded [Cause] The specified condition already exists. Condition was not superseded. [Remedy] Either renumber the condition handler or avoid re-defining the same condition handler.

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COND-011 ABORT.G Scan time took too long [Cause] There are too many conditions defined. It took too long to scan them all. [Remedy] Reduce the number of conditions defined.

CPMO Error Codes CPMO-001 ABORT.G internal PLAN error (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-002 ABORT.G Internal INTR error (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-003 SERVO2 Internal CP error (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

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C. ALARM CODES

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CPMO-004 ABORT.G Feature not Supported(G:%d^2) [Cause] An unsupported function was used. [Remedy] Disable the function and retry. CPMO-010 SERVO2 Cycle power: JBF size (G: %d^2) [Cause] The data structure is not sufficiently large for JBF or Ext JBF. [Remedy] Turn off the power and back on. CPMO-011

SERVO2 JBF INTR_T < Ts (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

CPMO-012 SERVO2 JBF Lenitp (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-016 SERVO2 JBF Ts != 0 (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

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C. ALARM CODES

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CPMO-017 SERVO2 JBF INTR_T != itp (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-018 SERVO2 JBF nitp_time < 1 (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-019 SERVO2 JBF INTR_T > itp (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-020 ABORT.G JBF MEMORY ALLOC ERROR [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the - 939 -

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editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-021 SERVO2 JBF Index < 0 (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

CPMO-022 SERVO2 JBF Ptout > Ptin (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

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C. ALARM CODES

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CPMO-023 SERVO2 JBF Ptout != Ptin (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-024 SERVO2 JBF (Ptin-Ptout)>itp (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

CPMO-025 SERVO2 JBF Ts < 0 (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

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C. ALARM CODES

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CPMO-026 SERVO2 JBF Ts != 0 (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-027 SERVO2 JBF Ts > itp [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

CPMO-028 SERVO2 JBF TS, Ptin & Ptout mismatch [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality.

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C. ALARM CODES

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CPMO-029 SERVO2 JBF Index > 1 (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-030 SERVO2 JBF Ptout > npts (G: %d^2) [Cause] Internal error of software. [Remedy] The system may have been destroyed. Possible actions include: (1) Turn off the power and back on. (2) Perform an initial start and reconfigure the robot. (3) Check to see if any optional or additional software differs in edition from original software. If the original software is distributed in multiple media, check to see if the editions of all software match. In addition, check to see if the software installation manual matches the edition of the software to be installed. If any edition does not match, it is necessary to re-install correct software. (4) Check to see if options that are exclusive to each other and incompatible are loaded. (5) Re-load all software. (6) If the error persists, record the operation procedure used until the error occurred, and contact our service center serving your locality. CPMO-031 SERVO2 JBF Len