V3 Error Description and Solutions

Version Date Revised content

V1.0.0 20231107 The first version

Supplementary description for the
V1.0.1 20231108
controller's internal error

Algorithm error
Error ID Description Solution Level

The planned point is close to the shoulder

16 Reselect the movement points 5
singularity

17 Inverse kinematics error with no solution Reselect the movement points 5

Inverse kinematics error with result out

18 Reselect the movement points 5
of working area

Duplicated data in JUMP or ARC or

19 Reselect the movement points 5
Circles command

20 The points of arc are wrong Enter the correct points 5

The Start height or the End height is

21 negative, or the zLimit is lower than the Enter the correct parameters 5
height of the start point or the end point

22 Arm orientation error Reselect the movement points 5

The planned point is out of range of the

23 Reselect the movement points 5
workspace in MOVL mode

The planned point is out of range of the

24 Reselect the movement points 5
workspace in ARC mode

The planned point is out of range of the

25 Reselect the movement points 5
workspace in JUMP mode

The planned point is close to the wrist

26 Reselect the movement points 5
singularity

The planned point is close to the elbow

27 Reselect the movement points 5
singularity

28 The motion command is wrong Internal software error, restart controller 5

Error ID Description Solution Level

or contact technical support engineer

29 Speed parameter is wrong Enter the correct parameters 5

Inverse kinematics error with shoulder

32 Reselect the movement points 5
singularity when robot moving

Inverse kinematics error with no solution

33 Reselect the movement points 5
when robot moving

Inverse kinematcis limit when robot

34 Reselect the movement points 5
moving

Inverse kinematics error with wrist

35 Reselect the movement points 5
singularity when robot moving

Inverse kinematics error with elbow

36 Reselect the movement points 5
singularity when robot moving

37 The Joint angle is changed over 180° Reselect the movement points 5

41 Collision backoff in the first axis Please contact technical support engineer 5

42 Collision backoff in the second axis Please contact technical support engineer 5

43 Collision backoff in the third axis Please contact technical support engineer 5

44 Collision backoff in the fourth axis Please contact technical support engineer 5

45 Collision backoff in the fifth axis Please contact technical support engineer 5

46 Collision backoff in the sixth axis Please contact technical support engineer 5

Reset the speed or re-select the

48 Joint 1 overspeed movement point away from the 5
singularity

Reset the speed or re-select the

49 Joint 2 overspeed movement point away from the 5
singularity

Reset the speed or re-select the

50 Joint 3 overspeed movement point away from the 5
singularity

Reset the speed or re-select the

51 Joint 4 overspeed movement point away from the 5
singularity
Error ID Description Solution Level

Reset the speed or re-select the

52 Joint 5 overspeed movement point away from the 5
singularity

Reset the speed or re-select the

53 Joint 6 overspeed movement point away from the 5
singularity

System error, restart controller or contact

54 Joint 1 position out of range 5
technical support engineer

System error, restart controller or contact

55 Joint 2 position out of range 5
technical support engineer

System error, restart controller or contact

56 Joint 3 position out of range 5
technical support engineer

System error, restart controller or contact

57 Joint 4 position out of range 5
technical support engineer

System error, restart controller or contact

58 Joint 5 position out of range 5
technical support engineer

System error, restart controller or contact

59 Joint 6 position out of range 5
technical support engineer

Jog the joint towards the opposite

64 Positive limit alarm of Joint 1 5
direction

Jog the joint towards the opposite

65 Negative limit alarm of Joint 1 5
direction

Jog the joint towards the opposite

66 Positive limit alarm of Joint 2 5
direction

Jog the joint towards the opposite

67 Negative limit alarm of Joint 2 5
direction

Jog the joint towards the opposite

68 Positive limit alarm of Joint 3 5
direction

Jog the joint towards the opposite

69 Negative limit alarm of Joint 3 5
direction

Jog the joint towards the opposite

70 Positive limit alarm of Joint 4 5
direction

Jog the joint towards the opposite

71 Negative limit alarm of Joint 4 5
direction
Error ID Description Solution Level

Jog the joint towards the opposite

72 Positive limit alarm of Joint 5 5
direction

Jog the joint towards the opposite

73 Negative limit alarm of Joint 5 5
direction

Jog the joint towards the opposite

74 Positive limit alarm of Joint 6 5
direction

Jog the joint towards the opposite

75 Negative limit alarm of Joint 6 5
direction

Leave the wrong position and reselect the

76 Posture joint self-interference: type1 5
movement point

Leave the wrong position and reselect the

77 Posture joint self-interference: type2 5
movement point

Leave the wrong position and reselect the

78 Posture joint self-interference: type3 5
movement point

System error, restart controller or contact

80 Joint 1 lose step 0
technical support engineer

System error, restart controller or contact

81 Joint 2 lose step 0
technical support engineer

System error, restart controller or contact

82 Joint 3 lose step 0
technical support engineer

System error, restart controller or contact

83 Joint 4 lose step 0
technical support engineer

System error, restart controller or contact

84 Joint 5 lose step 0
technical support engineer

System error, restart controller or contact

85 Joint 6 lose step 0
technical support engineer

System error, restart controller or contact

96 Joint 1 status error 0
technical support engineer

System error, restart controller or contact

97 Joint 1 is disabled 0
technical support engineer

System error, restart controller or contact

99 Joint 2 status error 0
technical support engineer

100 Joint 2 is disabled Re-enable all joints 0

Error ID Description Solution Level

System error, restart controller or contact

102 Joint 3 status error 0
technical support engineer

Re-enable all joints, or contact technical

103 Joint 3 is disabled 0
support engineer

System error, restart controller or contact

105 Joint 4 status error 0
technical support engineer

Re-enable all joints, or contact technical

106 Joint 4 is disabled 0
support engineer

System error, restart controller or contact

108 Joint 5 status error 0
technical support engineer

Re-enable all joints, or contact technical

109 Joint 5 is disabled 0
support engineer

System error, restart controller or contact

111 Joint 6 status error 0
technical support engineer

Re-enable all joints, or contact technical

112 Joint 6 is disabled 0
support engineer

114 Homing error Perform the homing procedure again 5

Check whether the hardware is working

115 Failed to enable the robot 0
properly and re-enable the robot

Release the E-Stop button, clear the

116 The E-Stop button is pressed 0
alarm and power on again

Keep away from the obstacles, clear the

117 Collision detection 5
alarm and continue to run the robot

Check whether the hardware is working

118 Safety I/O disconnected properly, restart the controller, or contact 0
technical support engineer

Keep away from the obstacles, clear the

119 SafeSkin collision detection 0
alarm and continue to run the robot

120 Six-dimensional force is not enabled Enable the six-dimensional force 5

Check whether the hardware is working

121 Initialization failed properly, restart the controller, or contact 5
technical support engineer

122 Contactor is open Check whether the hardware is working 0

properly, restart the controller, or contact
Error ID Description Solution Level

technical support engineer

Check whether the hardware is working 0

No power-on signal feedback from the
123 properly, restart the controller, or contact
energy-feedback board
technical support engineer

AC detection board status error Check whether the hardware is working 0

124 properly, restart the controller, or contact
technical support engineer

Check whether the hardware is working 0

The energy-feedback board data is not
125 properly, restart the controller, or contact
updated
technical support engineer

Power on again, or contact technical

126 The switch on the controller is pressed 0
support engineer

CAN NOT connect to modbus of the Power on again, or contact technical

127 0
energy-feedback board support engineer

System error, restart controller or contact

128 Internal error - timeout 0
technical support engineer

Universal IO board disconnected Check whether the hardware is working 0

130 properly, restart the controller, or contact
technical support engineer

Tool IO board disconnected Check whether the hardware is working 0

131 properly, restart the controller, or contact
technical support engineer

Check whether the hardware is working 0

Abnormal charging detection of 24V
132 properly, or contact technical support
super capacitor
engineer

Check whether the hardware is working 0

Abnormal charging detection of 48V
133 properly, or contact technical support
super capacitor
engineer

Position deviation of joint is too large Check whether the load parameters and
134 0
when enabled mounting angle are correct

144 The selected points are wrong Enter the correct parameters 5

The target point is out of workspace Check whether the target point is in the
146 5
when stepping the robot workspace of the robot

The current motion command does not The current motion command does not
160 5
support pause support pause
Error ID Description Solution Level

System error, restart controller or contact

161 Error in switching the control mode 5
technical support engineer

Check if the voltage is normal, or contact

162 MCU undervoltage 0
technical support engineer

Check whether the hardware is working

163 MCU overvoltage properly, or contact technical support 0
engineer

Check whether the hardware is working

164 Abnormal energy-feedback circuit properly, or contact technical support 0
engineer

Release the E-Stop, power on again, or

165 Soft or hard E-Stop triggered 0
contact technical support engineer

Check whether the hardware is working

166 Abnormal hard E-Stop cable properly, or contact technical support 0
engineer

Check whether the hardware is working

167 Short-circuit in the mains supply properly, or contact technical support 0
engineer

Error in setting the minimum value of Reset the value or contact technical
168 5
feedback voltage support engineer

Error in setting the maximum value of Reset the value or contact technical
169 5
feedback voltage support engineer

Please connect to an external energy-

feedback resistor. If an external energy-
170 MCU temperature too high feedback resistor is already connected but 5
the error persists, contact technical
support engineer

Reset or contact technical support

171 MCU universal IO failed to set PNP 5
engineer

Reset or contact technical support

172 MCU universal IO failed to set NPN 5
engineer

Please check if the RMT port is short

173 Abnormal shutdown circuited, or contact technical support 5
engineer

174 Abnormal energy-feedback time Check if the input power supply and load 5
detection are standardized, or contact technical
Error ID Description Solution Level

support engineer

176 ForceControl command timeout Contact technical support engineer 5

Force control status does not support

177 ForceControl pause error 5
pause, restart after it is stopped

178 ForceControl sensor data is abnormal Check the force control sensor 5

179 ForceControl sensor is not enabled Enable the force control sensor 5

180 Tool DO 1 output overcurrent Check whether the hardware is working 5

properly, restart the controller, or contact
technical support engineer

181 Tool DO 2 output overcurrent Check whether the hardware is working 5

properly, restart the controller, or contact
technical support engineer

182 Tool 24V output overcurrent Check whether the hardware is working 5
properly, restart the controller, or contact
technical support engineer

192 CAN NOT pause in tracking process Rerun the script 5

CAN NOT run joint interpolated motion

193 Select the correct motion command 5
commands in tracking process

194 Tracking limit Increase tracking range or speed up 5

Trajectory fitting requires at least 4

208 The fitting point is not enough 5
points

209 StartPath preprocessing failed Record a new trajectory 5

210 Wrong parameters for linear weaving Enter the correct parameters 5

211 Wrong parameters for arc weaving Enter the correct parameters 5

212 ServoP or ServoJ planning failed Enter the correct parameters 5

224 Tool TCP/elbow crossing the safety wall Jog the robot back to the safety wall 5

The tracking difference of Joint 1 is too System error, restart controller or contact
225 5
large technical support engineer

The tracking difference of Joint 2 is too System error, restart controller or contact
226 5
large technical support engineer

227 The tracking difference of Joint 3 is too System error, restart controller or contact 5
Error ID Description Solution Level

large technical support engineer

The tracking difference of Joint 4 is too System error, restart controller or contact
228 5
large technical support engineer

The tracking difference of Joint 5 is too System error, restart controller or contact
229 5
large technical support engineer

The tracking difference of Joint 6 is too System error, restart controller or contact
230 5
large technical support engineer

231 Arc radius exceeds limit Reselect the point 5

232 Weaving speed exceeds limit Enter the correct parameter 5

233 Weaving frequency exceeds limit Enter the correct parameter 5

240 Robot end exceeds pressure threshold Please contact technical support engineer 5

241 Robot end reach distance exceeds limit Please contact technical support engineer 5

The following error of the first axis is too System error, restart controller or contact
242 5
large technical support engineer

The following error of the second axis is System error, restart controller or contact
243 5
too large technical support engineer

The following error of the third axis is System error, restart controller or contact
244 5
too large technical support engineer

The following error of the fourth axis is System error, restart controller or contact
245 5
too large technical support engineer

The following error of the fifth axis is too System error, restart controller or contact
246 5
large technical support engineer

The following error of the sixth axis is System error, restart controller or contact
247 5
too large technical support engineer

The steady-state error of the first axis is System error, restart controller or contact
248 5
too large technical support engineer

The steady-state error of the second axis System error, restart controller or contact
249 5
is too large technical support engineer

The steady-state error of the third axis is System error, restart controller or contact
250 5
too large technical support engineer

The steady-state error of the fourth axis is System error, restart controller or contact
251 5
too large technical support engineer
Error ID Description Solution Level

The steady-state error of the fifth axis is System error, restart controller or contact
252 5
too large technical support engineer

The steady-state error of the sixth axis is System error, restart controller or contact
253 5
too large technical support engineer

The current command does not support Please adjust the command to avoid
254 5
resuming operation after collision obstacles

Parameter configuration error

Error ID Description Solution Level

The first parameter of “tcpread” is

1001 | 0x03E9 Enter the correct parameter 0
incorrect

The second parameter of “tcpread” is

1002 | 0x03Ea Enter the correct parameter 0
incorrect

The third parameter of “tcpread” is

1003 | 0x03Eb Enter the correct parameter 0
incorrect

Failed to open the mechanical parameter Check the file path and restart the
4096 | 0x1000 5
file controller

Clear the alarm and rerun the script, or

8192 | 0x2000 Failed to open the project file 5
contact technical support engineer

Clear the alarm and rerun the script, or

8193 | 0x2001 Failed to open the program file 5
contact technical support engineer

Clear the alarm and rerun the script, or

8194 | 0x2002 Failed to open the global variable file 5
contact technical support engineer

Clear the alarm and rerun the script, or

8195 | 0x2003 Failed to open the teaching point file 5
contact technical support engineer

SpeedFactor command has no input

32768 | 0x8000 Enter the correct parameters 5
parameters

Parameters of SpeedFactor command are

32769 | 0x8001 Enter the correct parameters 5
out of range

32770 | 0x8002 Parameters of DO command are wrong Enter the correct parameters 5

32771 | 0x8003 Parameters of DI command are wrong Enter the correct parameters 5
Error ID Description Solution Level

The number of DIGroup parameters is

32772 | 0x8004 Enter the correct number of parameters 5
wrong

Check if the range of the input parameters

32773 | 0x8005 Index out of range in DIGroup parameter is out of range, enter the correct 5
parameters

32774 | 0x8006 Index type error in DIGroup parameter Number only 5

Try again, if the error persists, contact

32775 | 0x8007 DIGroup internal error 5
technical support

The number of DOGroup parameters is

32776 | 0x8008 Enter the correct number of parameters 5
incorrect

32777 | 0x8009 Index out of range in DOGroup parameter Enter the correct parameters 5

32778 | 0x800A Index type error in DOGroup parameter Number only 5

Enter the correct parameters, number type

Incorrect type of point output value for
32779 | 0x800B or boolean is needed, e.g. (0/1) || 5
DOGroup parameter
(true/false) || (ON/OFF)

Enter the correct parameters, number type

or boolean is needed, e.g. (0/1) ||
Incorrect command type of optional
32780 | 0x800C (true/false) || (ON/OFF). true: queue 5
parameter for DOGroup parameter
command (default), false: immediate
command

Clear the alarm and rerun the script, or

32781 | 0x800D DOGroup internal error 5
contact technical support engineer

32785 | 0x8011 Parameters of AI command are wrong Enter the correct parameters 5

Parameter number of AO command is

32801 | 0x8021 Enter the correct parameters 5
wrong

Index parameter of AO command is

32802 | 0x8022 Enter the correct parameter, 1 or 2 5
wrong

Voltage parameter of AO command is out

32803 | 0x8023 Enter the correct parameter, range: [0,10] 5
of range

Index parameter of AO command is out

32804 | 0x8024 Enter the correct parameter, 0 or 1 5
of range

32849 | 0x8051 AO mode error Enter the correct parameters 5

33024 | 0x8100 CP command has no input parameters Enter the correct parameters 5
Error ID Description Solution Level

Input parameters of CP command is out Enter the correct parameters, range:

33025 | 0x8101 5
of range [0,100]

33280 | 0x8200 Arch command has no input parameters Enter the correct parameters 5

Index parameter of Arch command is out

33281 | 0x8201 Enter the correct parameters, range: [0，9] 5
of range

Index parameter of Arch command are

33282 | 0x8202 Please set index parameters 5
not configured

33536 | 0x8300 LimZ command has no input parameters Enter the correct parameters 5

Input parameter of LimZ command is out

33537 | 0x8301 Enter the correct parameters 5
of range

33792 | 0x8400 Speed command has no input parameters Enter the correct parameters 5

Ratio parameter of Speed command is out Enter the correct parameters, range:
33793 | 0x8401 5
of range [1,100]

34048 | 0x8500 Accel command has no input parameters Enter the correct parameters 5

Ratio parameter of Accel command is out Enter the correct parameters, range:
34049 | 0x8501 5
of range [1,100]

34304 | 0x8600 Jerk command has no input parameters Enter the correct parameters 5

Ratio parameter of Jerk command is out Enter the correct parameters, range:
34305 | 0x8601 5
of range [1,100]

SpeedS command has no input

34560 | 0x8700 Enter the correct parameters 5
parameters

Ratio parameter of SpeedS command is Enter the correct parameters, range:

34561 | 0x8701 5
out of range [1,100]

SpeedR command has no input

34816 | 0x8800 Enter the correct parameters 5
parameters

Ratio parameter of SpeedR command is Enter the correct parameters, range:

34817 | 0x8801 5
out of range [1,100]

Enter the correct parameters, range:

35072 | 0x8900 AccelS command has no input parameters 5
[1,100]

Ratio parameter of AccelS command is Enter the correct parameters, range:

35073 | 0x8901 5
out of range [1,100]

35328 | 0x8A00 AccelR command has no input Enter the correct parameters 5
Error ID Description Solution Level

parameters

Ratio parameter of AccelR command is Enter the correct parameters, range:

35329 | 0x8A01 5
out of range [1,100]

35584 | 0x8B00 JerkS command has no input parameters Enter the correct parameters 5

Ratio parameter of JerkS icommand is out Enter the correct parameters, range:
35585 | 0x8B01 5
of range [1,100]

35840 | 0x8C00 JerkR command has no input parameters Enter the correct parameters 5

Ratio parameter of JerkR command is out Enter the correct parameters, range:
35841 | 0x8C01 5
of range [1,100]

36096 | 0x8D00 Go command has no input parameters Enter the correct parameters 5

36097 | 0x8D01 Go command has no point parameter Enter the correct parameters 5

36098 | 0x8D02 Point parameter of Go command is wrong Enter the correct parameters 5

Control parameter of Go command is

36099 | 0x8D03 Enter the correct parameters 5
wrong

36100 | 0x8D04 MoveJ command has no input parameters Enter the correct parameters 5

36101 | 0x8D05 MoveJ command has no point parameters Enter the correct parameters 5

36102 | 0x8D06 MoveJ command has no point parameters Enter the correct parameters 5

36103 | 0x8D07 Point parameter of RP command is wrong Enter the correct parameters 5

Offset parameter of RP command is

36104 | 0x8D08 Enter the correct parameters 5
wrong

36105 | 0x8D09 Point parameter of RJ command is wrong Enter the correct parameters 5

Offset parameter of RJ command is

36106 | 0x8D0A Enter the correct parameters 5
wrong

36107 | 0x8D0B GoR command has no input parameters Enter the correct parameters 5

Point parameter of GoR command is

36108 | 0x8D0C Enter the correct parameters 5
wrong

MoveJR command has no input

36109 | 0x8D0D Enter the correct parameters 5
parameters

Point parameter of MoveJR command is

36110 | 0x8D0E Enter the correct parameters 5
wrong
Error ID Description Solution Level

36111 | 0x8D0F GoIO command has no input parameters Enter the correct parameters 5

Point parameter of GoIO command is

36112 | 0x8D10 Enter the correct parameters 5
wrong

I/O parameter of GoIO command is

36113 | 0x8D11 Enter the correct parameters 5
wrong

MoveIO command has no input

36114 | 0x8D12 Enter the correct parameters 5
parameters

Point parameter of MoveIO command is

36115 | 0x8D13 Enter the correct parameters 5
wrong

I/O parameter of MoveIO command is

36116 | 0x8D14 Enter the correct parameters 5
wrong

MoveJIO command has no input

36117 | 0x8D15 Enter the correct parameters 5
parameters

Point parameter of MoveJIO command is

36118 | 0x8D16 Enter the correct parameters 5
wrong

I/O parameter of MoveJIO command is

36119 | 0x8D17 Enter the correct parameters 5
wrong

36120 | 0x8D18 MoveJ command has no point parameters Enter the correct parameters 5

MoveR command has no input

36121 | 0x8D19 Enter the correct parameters 5
parameters

Point parameter of MoveR command is

36122 | 0x8D1A Enter the correct parameters 5
wrong

36352 | 0x8E00 Move command has no input parameters Enter the correct parameters 5

36353 | 0x8E01 Move command has no point parameters Enter the correct parameters 5

Point parameter of Move command is

36354 | 0x8E02 Enter the correct parameters 5
wrong

Control parameter of Move command is

36355 | 0x8E03 Enter the correct parameters 5
wrong

36608 | 0x8F00 Arch3 command has no input parameters Enter the correct parameters 5

36609 | 0x8F01 Arch3 command has no point parameters Enter the correct parameters 5

Point parameter of Arch3 command is

36610 | 0x8F02 Enter the correct parameters 5
wrong
Error ID Description Solution Level

Control parameter of Arch3 command is

36611 | 0x8F03 Enter the correct parameters 5
wrong

GetRunningData command has input This command requires no input

36612 | 0x8F04 5
parameters parameters

The input parameter type of the Wait

36613 | 0x8F05 Enter the correct parameters 5
command is integer

The input parameter type of the Sleep

36614 | 0x8F06 Enter the correct parameters 5
command is integer

36864 | 0x9000 Jump command has no input parameters Enter the correct parameters 5

36865 | 0x9001 Jump command has no point parameters Enter the correct parameters 5

Point parameter of Jump command is

36866 | 0x9002 Enter the correct parameters 5
wrong

Control parameter of Jump command is

36867 | 0x9003 Enter the correct parameters 5
wrong

40960 | 0xA000 Circle3 command has no input parameters Enter the correct parameters 5

40961 | 0xA001 Circle3 command has no point parameters Enter the correct parameters 5

Point parameter of Circle3 command is

40962 | 0xA002 Enter the correct parameters 5
wrong

Control parameter of Circle3 command is

40963 | 0xA003 Enter the correct parameters 5
wrong

41216 | 0xA100 Spiral command has no input parameters Enter the correct parameters 5

41217 | 0xA101 Spiral command has no point parameters Enter the correct parameters 5

Point parameter of Spiral command is

41218 | 0xA102 Enter the correct parameters 5
wrong

Control parameter of Spiral command is

41220 | 0xA104 Enter the correct parameters 5
wrong

Threshold parameter of Spiral command

41221 | 0xA105 Enter the correct parameters 5
is wrong

Radius parameter of Spiral command is

41222 | 0xA106 Enter the correct parameters 5
wrong
Error ID Description Solution Level

Rotation command has no input

41472 | 0xA200 Enter the correct parameters 5
parameters

Rotation command has no point

41473 | 0xA201 Enter the correct parameters 5
parameter

Point parameter of Rotation command is

41474 | 0xA202 Enter the correct parameters 5
wrong

Control parameter of Rotation command

41475 | 0xA203 Enter the correct parameters 5
is wrong

Speed parameter of Rotation command is

41476 | 0xA204 Enter the correct parameters 5
wrong

Max torque parameter of Rotation

41477 | 0xA205 Enter the correct parameters 5
command is wrong

41728 | 0xA300 Liner command has no input parameters Enter the correct parameters 5

Optional parameter of Liner command is

41732 | 0xA304 Enter the correct parameters 5
wrong

41984 | 0xA400 The parameter of Jack direction is wrong Enter the correct parameters 5

41985 | 0xA401 The parameter of Jack speed is wrong Enter the correct parameters 5

41986 | 0xA402 The parameter of Jack force is wrong Enter the correct parameters 5

The parameter of Jack max speed is

41987 | 0xA403 Enter the correct parameters 5
wrong

41988 | 0xA404 The parameter of Jack mode is wrong Enter the correct parameters 5

The homing parameter of six-dimensional

42240 | 0xA500 Enter the correct parameters 5
force is wrong

42241 | 0xA501 Six-dimensional force is OFF Turn on six-dimensional force 5

The parameter of six-dimensional force is

42242 | 0xA502 Enter the correct parameters 5
wrong

Six-dimensional force sensor has no data

42243 | 0xA503 Check the connection of the hardware 5
over 1 second

42496 | 0xA600 FCAct parameter error Enter the correct parameters 5

42497 | 0xA601 FCAct command has no input parameters Enter the correct parameters 5
Error ID Description Solution Level

42498 | 0xA602 FCAct parameter out of range 0/1 Enter the correct parameters 5

42499 | 0xA603 FCDeact parameter error Enter the correct parameters 5

FCSetComplianceNormal command has

42500 | 0xA604 Enter the correct parameters 5
no input parameters

42501 | 0xA605 FCSetCompliance parameter error Enter the correct parameters 5

FCSetComplianceNormal has no input

42502 | 0xA606 Enter the correct parameters 5
parameters

The parameter of FCSetCompliance

42503 | 0xA607 Enter the correct parameters 5
command is wrong

42504 | 0xA608 Load identification ID error Enter the correct parameters 5

42505 | 0xA609 FCCalib has no input parameters Enter the correct parameters 5

42506 | 0xA60A FCCalib parameter error Enter the correct parameters 5

42507 | 0xA60B FCCalib optional parameter error Enter the correct parameters 5

42508 | 0xA60C Optional parameter “IsInside” error Enter the correct parameters 5

42509 | 0xA60D Optional parameter “timeout” error Enter the correct parameters 5

42510 | 0xA60E Optional parameter “IsAlarm” error Enter the correct parameters 5

42511 | 0xA60F FCCond parameter “Force” not exist Enter the correct parameters 5

42512 | 0xA610 FCCond parameter “Force” error Enter the correct parameters 5

42513 | 0xA611 FCCond optional parameter “Force” error Enter the correct parameters 5

42514 | 0xA612 FCCond TCP speed parameter not exist Enter the correct parameters 5

42515 | 0xA613 FCCond TCP speed parameter error Enter the correct parameters 5

FCCond optional parameter “Speed”

42516 | 0xA614 Enter the correct parameters 5
error

42517 | 0xA615 FCCond parameter “Torque” not exist Enter the correct parameters 5

42518 | 0xA616 FCCond parameter “Torque” error Enter the correct parameters 5

FCCond optional parameter “Torque”

42519 | 0xA617 Enter the correct parameters 5
error

42520 | 0xA618 FCCond Displac not exit Enter the correct parameters 5
Error ID Description Solution Level

42521 | 0xA619 FCCond parameter Displac error Enter the correct parameters 5

FCCond optional parameter “Displac”

42522 | 0xA61A Enter the correct parameters 5
error

42523 | 0xA61B FCRef optional parameter “SpeedF” error Enter the correct parameters 5

FCRef optional parameter “TimeOut”

42524 | 0xA61C Enter the correct parameters 5
error

FCRef optional parameter “Direction”

42525 | 0xA61D Enter the correct parameters 5
error

42526 | 0xA61E FCRef “Distance” error Enter the correct parameters 5

42527 | 0xA61F FCRef optional parameter “SpeedL” error Enter the correct parameters 5

42544 | 0xA630 FCRefForce parameter not exist Enter the correct parameters 5

42545 | 0xA631 FCRefForce optional parameter error Enter the correct parameters 5

42546 | 0xA632 FCRefForce parameter error Enter the correct parameters 5

42547 | 0xA633 FCRefTorque parameter not exist Enter the correct parameters 5

42548 | 0xA634 FCRefTorque optional parameter error Enter the correct parameters 5

42549 | 0xA635 FCRefTorque parameter error Enter the correct parameters 5

42550 | 0xA636 FCRefline has no input parameters Enter the correct parameters 5

42551 | 0xA637 FCRefline optional parameter error Enter the correct parameters 5

42552 | 0xA638 FCRefline parameter error Enter the correct parameters 5

42553 | 0xA639 FCRefRot parameter not exist Enter the correct parameters 5

42554 | 0xA63A FCRefrotate optional parameter error Enter the correct parameters 5

42555 | 0xA63B FCRef parameter “rotate” error Enter the correct parameters 5

42556 | 0xA63C FCRefSpiral parameter not exist Enter the correct parameters 5

42557 | 0xA63D FCRefSpiral optional parameter error Enter the correct parameters 5

42558 | 0xA63E FCRefSpiral parameter error Enter the correct parameters 5

42559 | 0xA63F FCRef limitValue error Enter the correct parameters 5

The number of FCSetGain parameters is

42688 | 0xA6C0 Enter a floating-point number 5
incorrect
Error ID Description Solution Level

The type of FCSetGain parameters is

42689 | 0xA6C1 Enter a floating-point number 5
incorrect

The range of FCSetGain parameters is Enter a floating-point number within the

42690 | 0xA6C2 5
incorrect range of 0 to 2

The number of FCSetGain parameters is

42688 | 0xA6C0 Enter a floating-point number 5
incorrect

The type of FCSetGain parameters is

42689 | 0xA6C1 Enter a floating-point number 5
incorrect

The range of FCSetGain parameters is Enter a floating-point number within the

42690 | 0xA6C2 5
incorrect range of 0 to 2

42752 | 0x7000 SetSafeSkin parameter not exist Enter the correct parameters 5

42753 | 0x7001 SetSafeSkin parameter error Enter the correct parameters 5

42754 | 0x7002 SetSafeSkin parameter out of range Enter the correct parameters 5

Optional parameters of Circle3 command

45056 | 0xB000 Enter the correct parameters 5
are wrong

Optional parameters of Jump command

45057 | 0xB001 Enter the correct parameters 5
are wrong

Optional parameters of Arch command

45058 | 0xB002 Enter the correct parameters 5
are wrong

Optional parameters of Arch3 command

45059 | 0xB003 Enter the correct parameters 5
are wrong

Optional parameters of Jerk command are

45060 | 0xB004 Enter the correct parameters 5
wrong

Optional parameters of JerkR command

45061 | 0xB005 Enter the correct parameters 5
are wrong

Optional parameters of JerkS command

45062 | 0xB006 Enter the correct parameters 5
are wrong

Optional parameters of Accel command

45063 | 0xB007 Enter the correct parameters 5
are wrong

Optional parameters of AccelR command

45064 | 0xB008 Enter the correct parameters 5
are wrong

Optional parameters of AccelS command

45065 | 0xB009 Enter the correct parameters 5
are wrong
Error ID Description Solution Level

Optional parameters of SpeedFactor

45066 | 0xB00A Enter the correct parameters 5
command are wrong

Optional parameters of Speed command

45067 | 0xB00B Enter the correct parameters 5
are wrong

Optional parameters of SpeedR command

45068 | 0xB00C Enter the correct parameters 5
are wrong

Optional parameters of LimZ command

45069 | 0xB00D Enter the correct parameters 5
are wrong

Optional parameters of CP command are

45070 | 0xB00E Enter the correct parameters 5
wrong

Optional parameters of DO command are

45071 | 0xB00F Enter the correct parameters 5
wrong

Optional parameters of Go command are

45072 | 0xB010 Enter the correct parameters 5
wrong

Optional parameters of Move command

45073 | 0xB011 Enter the correct parameters 5
are wrong

Optional parameters of MoveJ command

45074 | 0xB012 Enter the correct parameters 5
are wrong

Optional parameters of Ecp command are

45075 | 0xB013 Enter the correct parameters 5
wrong

Optional parameters of EcpSet command

45076 | 0xB014 Enter the correct parameters 5
are wrong

Optional parameters of SetExicitMode

45077 | 0xB015 Enter the correct parameters 5
command are wrong

Optional parameters of Pallet command

45078 | 0xB016 Enter the correct parameters 5
are wrong

45079 | 0xB017 Optional parameter “CP” is wrong Enter the correct parameters 5

45080 | 0xB018 Optional parameter "TooL” is wrong Enter the correct parameters 5

45081 | 0xB019 Optional parameter "user” is wrong Enter the correct parameters 5

45082 | 0xB01A Optional parameter “Speed” is wrong Enter the correct parameters 5

45083 | 0xB01B Optional parameter “SpeedS” is wrong Enter the correct parameters 5

45084 | 0xB01C Optional parameter “Accel” is wrong Enter the correct parameters 5
Error ID Description Solution Level

45085 | 0xB01D Optional parameter “AccelS” is wrong Enter the correct parameters 5

45086 | 0xB01E Optional parameter “Arch” is wrong Enter the correct parameters 5

45087 | 0xB01F Optional parameter “start” is wrong Enter the correct parameters 5

45088 | 0xB020 Optional parameter “zlimit” is wrong Enter the correct parameters 5

45089 | 0xB021 Optional parameter “end” is wrong Enter the correct parameters 5

45090 | 0xB022 Optional parameter “sync” is wrong Enter the correct parameters 5

45091 | 0xB023 Optional parameter “arm” is wrong Enter the correct parameters 5

Optional parameter “ForceControl” is

45092 | 0xB024 Enter the correct parameters 5
wrong

45093 | 0xB025 Index of setTool overflow Enter the correct parameters 5

45094 | 0xB026 Index of setUser overflow Enter the correct parameters 5

45095 | 0xB027 “tool” list in setTool params is wrong Enter the correct parameters 5

45096 | 0xB028 “user” list in setUser params is wrong Enter the correct parameters 5

45135 | 0xB04F MoveR command type error Enter the correct parameters 5

The parameters of MoveR command are

45136 | 0xB050 Enter the correct parameters 5
wrong

The parameters of GoR command are

45137 | 0xB051 Enter the correct parameters 5
wrong

The parameters of MoveJR command are

45138 | 0xB052 Enter the correct parameters 5
wrong

Optional parameters of GoIO command

45139 | 0xB053 Enter the correct parameters 5
are wrong

Optional parameters of MoveIO

45140 | 0xB054 Enter the correct parameters 5
command are wrong

Optional parameters of MoveJIO

45141 | 0xB055 Enter the correct parameters 5
command are wrong

Optional parameters of Trajectory

45142 | 0xB056 Enter the correct parameters 5
playback are wrong

Optional parameters of LoadSwitch

45312 | 0xB100 Enter the correct parameters 5
command are wrong
Error ID Description Solution Level

Optional parameters of LoadSet

45313 | 0xB101 Enter the correct parameters 5
command are wrong

Optional parameters of SetABZ

45568 | 0xB200 Enter the correct parameters 5
command are wrong

Optional parameters of GetABZ() are

45569 | 0xB201 Enter the correct parameters 5
wrong

The parameters of SetToolBaudRate() are

45824 | 0xB300 Enter the correct parameters 5
wrong

The parameters of SetDOMode() are

45825 | 0xB301 Enter the correct parameters 5
wrong

The parameters of SetToolPower() are

45826 | 0xB302 Enter the correct parameters 5
wrong

The baud rate type of SetTool485() is

45827 | 0xB303 Enter the correct parameters 5
wrong

The baud rate range of SetTool485() is

45828 | 0xB304 Enter the correct parameters 5
wrong

The stop bit type of SetTool485() is

45829 | 0xB305 Enter the correct parameters 5
wrong

The stop bit value of SetTool485() is

45830 | 0xB306 Enter the correct parameters 5
wrong

The parity type of SetTool485() is wrong,

45831 | 0xB307 Enter the correct parameters 5
need a string N/O/E

The parity value of SetTool485() is

45832 | 0xB308 Enter the correct parameters 5
wrong, need a string NO E

The number of parameter in SetTool485()

45833 | 0xB309 is wrong, 1 – 3 parameters need to be Enter the correct parameters 5
entered

The parameter of collisionLogInfo() is

46096 | 0xB410 Enter the correct parameters 5
wrong, interger only

The parameter of setCollisionLevel() is

46097 | 0xB411 Enter the correct parameters 5
wrong, interger only

It is not allowed to set the installation Disable the robot, then set the installation
46098 | 0xB412 0
angle when the robot is in enabled status angle

46080 | 0xB400 The parameter of ExcitMode() is wrong Enter the correct parameters 5
Error ID Description Solution Level

The number of parameter in Enter the correct parameter, only 1

46112 | 0xB420 5
BlockHighlight("id") is wrong parameter

The type of parameter in

46113 | 0xB421 Enter the correct parameter, need a string 5
BlockHighlight("id") is wrong

The parameters of StartPath() command

46336 | 0xB500 Enter the correct parameters 5
are wrong

StartPath command has no input

46337 | 0xB501 Enter the correct parameters 5
parameters

Enter a camera name,

49425 | 0xC111 InitCam("CAMn") param number error 5
e.g. InitCam("CAMn")

InitCam("CAMn") param type error,

49426 | 0xC112 Enter the correct camera name 5
string only

InitCam("CAMn") has received a wrong

49427 | 0xC113 Enter the correct camera name 5
camera name, can not find this camera

TriggerCam("CAMn") param number

49441 | 0xC121 Enter the correct parameters 5
error, only need one camera name

TriggerCam("CAMn") param type error,

49442 | 0xC122 Enter the correct parameters 5
string only

TriggerCam("CAMn") param content

49443 | 0xC123 Enter the correct parameters 5
error, can not find this camera!

SendCam("CAMn","string") param
49457 | 0xC131 number error, need two parameters, one Enter the correct parameters 5
camera name, one string

SendCam("CAMn","string") param 1
49458 | 0xC132 Enter the correct parameters 5
type error, string only

SendCam("CAMn","string") param 2
49459 | 0xC133 Enter the correct parameters 5
type error, string only

SendCam("CAMn","string") param 1
49460 | 0xC134 Enter the correct parameters 5
content error, can not find this camera!

49473 | 0xC141 RecvCam("CAMn") param number error Enter the correct parameters 5

RecvCam("CAMn") param 1 type error,

49474 | 0xC142 Enter the correct parameters 5
string only

RecvCam("CAMn") param 2 type error,

49475 | 0xC143 Enter the correct parameters 5
bool only
Error ID Description Solution Level

RecvCam("CAMn", true / false) param 1

49476 | 0xC144 Enter the correct parameters 5
content error, can not find this camera!

RecvCam("CAMn", true / false) param 2

49477 | 0xC145 Enter the correct parameters 5
content error

DestroyCam("CAMn") param number Enter a camera name, e.g.

49489 | 0xC151 5
error DestroyCam("CAMn")

DestroyCam("CAMn") param type error,

49490 | 0xC152 Enter the camera name in string 5
string only

DestroyCam("CAMn") has received a

49491 | 0xC153 wrong camera name, can not find this Enter the correct camera name 5
camera

Not in OP status, in PREOP status, the Check whether the hardware is working
49674 | 0xC20A system will try to switch from station to properly, restart the controller, or contact 5
OP technical support engineer

The number of Modbus masters exceeds

49664 | 0xC200 Do not create more than 4 masters! 5
4 (maximum), cannot be created

The number of Modbus masters exceeds

49665 | 0xC201 Do not create more than 4 masters! 5
4 (maximum), cannot be created

49666 | 0xC202 ModbusCreate input param error Enter the correct parameters 5

49667 | 0xC203 Initialization failed! Enter the correct parameters 5

49668 | 0xC204 GetInBits param error Enter the correct parameters 5

49669 | 0xC205 GetInRegs input param error Enter the correct parameters 5

49670 | 0xC206 SetHoldRegs input param error Enter the correct parameters 5

49671 | 0xC207 GetHoldRegs input param error Enter the correct parameters 5

49672 | 0xC208 GetCoils input param error Enter the correct parameters 5

49673 | 0xC209 SetCoils input param error Enter the correct parameters 5

The fourth input parameter of

49675 | 0xC20B ModbusCreate is incorrect. The valid Enter the correct parameters 5
range is 0 or 1.

The parameter number of

49792 | 0xC280 Enter the correct parameters 5
InverseSolution() is incorrect
Error ID Description Solution Level

Parameter 1 of InverseSolution() is of
49793 | 0xC281 Enter the correct parameters 5
wrong type

Parameter 2 of InverseSolution() is of
49794 | 0xC282 Enter the correct parameters 5
wrong type

Parameter 3 of InverseSolution() is of
49795 | 0xC283 Enter the correct parameters 5
wrong type

Parameter 4 of InverseSolution() is of
49796 | 0xC284 Enter the correct parameters 5
wrong type

Parameter 5 of InverseSolution() is of
49797 | 0xC285 Enter the correct parameters 5
wrong type

Parameter 1 of InverseSolution() has

49798 | 0xC286 Enter the correct parameters 5
wrong content

Parameter 5 of InverseSolution() has

49799 | 0xC287 Enter the correct parameters 5
wrong content

The input number of setbackdistance() is

49808 | 0xC290 Enter the correct parameters 5
incorrect

The input parameter type of

49809 | 0xC291 Enter the correct parameters 5
setbackdistance() is incorrect

The input parameter range of

49810 | 0xC292 Enter the correct parameters 5
setbackdistance() is incorrect

The number of the second parameter of

50441 | 0xC509 Enter the correct parameters 5
“goio” is incorrect

The first value range of the second

50442 | 0xC50A Enter the correct parameters 5
parameter of “goio” is incorrect

60949 | 0xEE15 ModbusClose input param error Enter the correct parameters 0

The number of the parameter of CyHelix

49713 | 0xC231 Enter the correct parameters 5
is incorrect

The range of the parameter of CyHelix is

49714 | 0xC232 Enter the correct parameters 5
incorrect

The number of the parameter of

49728 | 0xC240 GoToolR() or GoUserR() is incorrect, 2 Enter the correct parameters 5
or 3 parameters

49729 | 0xC241 Parameter 1 of GoToolR() or GoUserR() Enter the correct parameters 5

is in wrong type, need a table
Error ID Description Solution Level

{x,y,z,a,b,c}

Parameter 1 of GoToolR() or GoUserR() Enter the correct parameters 5

49730 | 0xC242 has wrong content, need a table
{x,y,z,a,b,c}

Parameter 2 of GoToolR() or GoUserR() Enter the correct parameters 5

49731 | 0xC243 is in wrong type, need an integer index
within the range of 0 to 9

Parameter 2 of GoToolR() or GoUserR() Enter the correct parameters 5

49732 | 0xC244 has wrong content, need an integer index
within the range of 0 to 9

Parameter 3 of GoToolR() or GoUserR()

49733 | 0xC245 Enter the correct parameters 5
is in wrong type, need a string

Parameter 3 of GoToolR() or GoUserR()

49734 | 0xC246 Enter the correct parameters 5
has wrong content, need a string

The number of the parameter of Enter the correct parameters 5

49744 | 0xC250 MoveToolR() or MoveUserR() is
incorrect, 2 or 3 parameters

Parameter 1 of MoveToolR() or Enter the correct parameters 5

49745 | 0xC251 MoveUserR() is in wrong type, need a
table {x,y,z,a,b,c}

Parameter 1 of MoveToolR() or Enter the correct parameters 5

49746 | 0xC252 MoveUserR() has wrong content, need a
table {x,y,z,a,b,c}

Parameter 2 of MoveToolR() or Enter the correct parameters 5

49747 | 0xC253 MoveUserR() is in wrong type, need an
integer index within the range of 0 to 9

Parameter 2 of MoveToolR() or Enter the correct parameters 5

49748 | 0xC254 MoveUserR() has wrong content, need an
integer index within the range of 0 to 9

Parameter 3 of MoveToolR() or Enter the correct parameters 5

49749 | 0xC255 MoveUserR() is in wrong type, need a
string

Parameter 3 of MoveToolR() or
49750 | 0xC256 Enter the correct parameters 5
MoveUserR() has wrong content

The parameter number of

49921 | 0xC301 Enter the correct parameters 5
ScrewSetCurrentSN() is incorrect
Error ID Description Solution Level

The parameter type of

49922 | 0xC302 Enter the correct parameters 5
ScrewSetCurrentSN() is incorrect

The parameter range of

49923 | 0xC303 Enter the correct parameters 5
ScrewSetCurrentSN() is incorrect

The parameter number of

49953 | 0xC321 Enter the correct parameters 5
ScrewCommitInfo() is incorrect

The type of the first parameter of

49954 | 0xC322 Enter the correct parameters 5
ScrewCommitInfo() is incorrect

The range of the first parameter of

49955 | 0xC323 Enter the correct parameters 5
ScrewCommitInfo() is incorrect

The type of the second parameter of

49957 | 0xC325 Enter the correct parameters 5
ScrewCommitInfo() is incorrect

The type of the third parameter of

49960 | 0xC328 Enter the correct parameters 5
ScrewCommitInfo() is incorrect

The type of the fourth parameter of

49963 | 0xC32B Enter the correct parameters 5
ScrewCommitInfo() is incorrect

The parameter number of

49969 | 0xC331 Enter the correct parameters 5
ScrewCommitProductInfo() is incorrect

The type of the first parameter of

49970 | 0xC332 Enter the correct parameters 5
ScrewCommitProductInfo() is incorrect

The range of the first parameter of

49971 | 0xC333 Enter the correct parameters 5
ScrewCommitProductInfo() is incorrect

The type of the second parameter of

49973 | 0xC335 Enter the correct parameters 5
ScrewCommitProductInfo() is incorrect

The type of the third parameter of

49976 | 0xC338 Enter the correct parameters 5
ScrewCommitProductInfo() is incorrect

The type of the fourth parameter of

49979 | 0xC33B Enter the correct parameters 5
ScrewCommitProductInfo() is incorrect

The parameter number of

49985 | 0xC341 Enter the correct parameters 5
ScrewCommitErrInfo() is incorrect

The parameter type of

49986 | 0xC342 Enter the correct parameters 5
ScrewCommitErrInfo() is incorrect

The parameter range of

49987 | 0xC343 Enter the correct parameters 5
ScrewCommitErrInfo() is incorrect
Error ID Description Solution Level

The parameter number of GetPose() is

50176 | 0xC400 Enter the correct parameters 5
incorrect

The parameter type of GetPose() is

50177 | 0xC401 Enter the correct parameters 5
incorrect

The parameter content of GetPose() is

50178 | 0xC402 Enter the correct parameters 5
incorrect

50179 | 0xC403 GetPose() execution error Enter the correct parameters 5

The parameter number of tcpspeed() is

50192 | 0xC410 Enter the correct parameters 5
incorrect

50193 | 0xC411 Wrong number of tcpspeed () parameters Enter the correct parameters 5

The parameter range of tcpspeed() is

50194 | 0xC412 Enter the correct parameters 5
incorrect

50195 | 0xC413 Tcpspeed() internal execution error Enter the correct parameters 5

The parameter number of tcpspeedend()

50208 | 0xC420 Enter the correct parameters 5
is incorrect

50209 | 0xC421 GetPose() execution error Enter the correct parameters 5

The parameter number of servoj() is

50224 | 0xC430 Enter the correct parameters 5
incorrect

The type of servoj() parameter 1 is

50225 | 0xC431 Enter the correct parameters 5
incorrect

The range of servoj() parameter 1 is

50226 | 0xC432 Enter the correct parameters 5
incorrect

50227 | 0xC433 Servoj() optional parameter does not exist Enter the correct parameters 5

Servoj() optional parameter “t” is

50228 | 0xC434 Enter the correct parameters 5
incorrect

Servoj() optional parameter

50229 | 0xC435 Enter the correct parameters 5
“lookahead_time” is incorrect

Servoj() optional parameter “gain” is

50230 | 0xC436 Enter the correct parameters 5
incorrect
Controller internal error
Error ID Description Solution Level

Cause:
Check if the hardware E-Stop button is
Failed to exit the drag mode and disable pressed.
1000 | 0x03E8 0
the robot Hardware:
Release the hardware E-Stop button, and
restart the controller.

Cause:
Check if the hardware E-Stop button is
pressed.
1004 | 0x03Ec Failed to exit the drag mode 0
Hardware:
Release the hardware E-Stop button, and
restart the controller.

Cause:
The modbus configuration is abnormal.
Check whether the modbus enabled coil
address and the disabled coil address are
occupied.
1005 | 0x03Ed Abnormal remote modbus configuration 0
Software:
1. The enabled coil address must be set to
100.
2. The disabled coil address must be set to
101.

Cause:
There is a null-valued variable in the Lua
code.
1006 | 0x03EE Attempt to compare number with nil. 0
Software:
Check if there are any null-valued
variables in the Lua code.

Cause:
Check if the hardware E-Stop button is
pressed.
1007 | 0x03EF Power-on failure, controller internal error. 0
Hardware:
Release the hardware E-Stop button, and
restart the controller.

Cause:
Check if the hardware E-Stop button is
Power-on failure, emergency stop pressed.
1008 | 0x03F0 0
triggered during power-on. Hardware:
Release the hardware E-Stop button, and
restart the controller.
Error ID Description Solution Level

Power-on failure, communication error Restart the controller, or contact technical

1009 | 0x03F1 0
occurred during power-on. support engineer.

...

8196 | 0x2004 Failed to run debugger Rerun the debugger 0

8197 | 0x2005 Failed to parse the project file Check the file, or rerun the debugger 0

8198 | 0x2006 Project file content is empty Check the file, or rerun the debugger 0

8199 | 0x2007 Project file does not exist Check the file, or rerun the debugger 0

8200 | 0x2008 Failed to parse CPUs Rerun the debugger 0

8201 | 0x2009 Internal communication error Rerun the script 0

Restart the controller, or contact technical

8448 | 0x2100 Failed to get robot type 0
support engineer.

...

Cause:
There are obstacles in the area.
16384 | 0x4000 Obstacle detected in the area Environment: 5
Clear the obstacles and continue to run the
robot.

16386 | 0x4002 Inverse kinematics failed, wrong points Clear the alarm and re-teach points. 5

Cause:
1. SafeSkin is not installed.
2. SafeSkin is damaged.
49920 | 0xC300 SafeSkin not installed 5
Hardware:
1. Check if the SafeSkin is damaged.
2. Install SafeSkin before using this API.

Cause:
Codesys detected that the PDO variable
“OnlineStatus” for the tool IO has not
Tool IO is disconnected, please check the changed for a period of time.
60968 | 0xEE28 EtherCAT link between the controller and Software: 0
the robot body. Use Codesys to check whether the
heartbeat of the tool IO changes. Track the
heartbeat value curve and observe if
changes are continuous without pauses.
Error ID Description Solution Level

Abnormal communication between

50240 | 0xC440 Rerun the script 5
controller and algorithm

Abnormal communication between DI()

50241 | 0xC441 Rerun the script 5
and algorithm

Energy-feedback board error

Error ID Description Solution Level

No power-on signal
Check whether the hardware is working properly, restart
1773 | 0x06ED feedback from the energy- 0
the controller, or contact technical support engineer
feedback board

The energy-feedback Check whether the hardware is working properly, restart

1776 | 0x06F0 0
board data is not updated the controller, or contact technical support engineer

...

Cause:
The controller has detected no change in the heartbeat
value of the energy-feedback board.
Software:
Modbus of energy- Use Codesys to check whether the voltage data of the
20480 | 0x5000 feedback board is energy-feedback board (V2.3.1 and above, check Rsv0) is 0
disconnected normal and changing.
Hardware:
Check whether the 485 wiring between the energy-
feedback board and safety I/O inside the controller is
normal.

Cause:
The CR controller routes 220V AC through an AC
contactor to a 48V switch-mode power supply, then to a
48V regulated power supply, and finally to the 48V input
of the energy-feedback board. When powering on the
robot body, the energy-feedback board checks the 48V
Voltage above 49.5V
20481 | 0x5001 input and triggers an alarm when it detects a voltage value 0
before powering
above 49.5V.
Hardware:
1. Check if the power supply and voltage are normal.
2. If the alarm persists after multiple restarts, it might be
the controller power failure, please contact the hardware
engineer for further assistance.

20482 | 0x5002 Voltage below 42V before Cause: 0

powering When powering on the robot body, the energy-feedback
Error ID Description Solution Level

board checks the 48V input and triggers an alarm when it

detects a voltage value below 42V.
Hardware:
1. Check if the power supply is normal and if the voltage
is too low.
2. If the power supply is normal, check for any safety I/O-
related alarms.
3. After the above two steps, if the alarm persists after
multiple restarts, contact development team or hardware
engineer for further assistance.

Cause:
The current-limiting chip monitors the current on the bus.
If the current is excessively high, it emits an abnormal
signal. Upon detecting this signal, the software triggers an
alarm and powers off the robot body to prevent damage
due to excessive current.
Hardware:
The hardware circuit
1. Check if the robot body has experienced any serious
20483 | 0x5003 related to the current- 0
collisions.
limiting chip is abnormal
2. Check if there is a short circuit in the robot body. You
can turn off the power, unplug the heavy-duty cable, and
restart the controller to see if the alarm persists.
3. If there is no alarm after restarting, it may be a problem
with the robot body, and the body needs to be replaced. If
the alarm persists after multiple restarts, the hardware may
be damaged and the board needs to be replaced.

Cause:
After the robot body is powered on, the bus voltage is
continuously monitored. An alarm is triggered if the bus
voltage exceeds 56V.
Hardware:
Voltage above 56V after
20484 | 0x5004 1. Check if the robot body has experienced any serious 0
powering
collisions.
2. If the alarm occurs during operation, it is possible that
the energy-feedback resistor is damaged and fails to
function properly, leading to a continuous increase in
voltage that triggers the alarm.

20485 | 0x5005 Voltage below 24V after Cause: 0

powering After the robot body is powered on, the bus voltage is
continuously monitored. An alarm is triggered if the bus
voltage drops below 24V.
Hardware:
1. Check if the power supply is normal.
2. Check if the alarm occurs under full load and speed or
under bad operating conditions. It may be caused by
Error ID Description Solution Level

insufficient power supply, you can adjust the operating

conditions or replace the power supply with a higher
power.

Cause:
It may be that the power supply is abnormal and exceeds
the operating voltage range of the regulator chip.
Hardware:
Internal first stabilized 1. Check if the power supply and voltage are normal.
20486 | 0x5006 0
voltage is abnormal 2. Check if the power supply is sufficient.
3. If the power supply is normal and the alarm persists
after multiple restarts, it might be the hardware failure,
please contact the hardware engineer for further
assistance.

Cause:
It may be that the power supply is abnormal and exceeds
the operating voltage range of the regulator chip.
Hardware:
Internal second stabilized 1. Check if the power supply and voltage are normal.
20487 | 0x5007 0
voltage is abnormal 2. Check if the power supply is sufficient.
3. If the power supply is normal and the alarm persists
after multiple restarts, it might be the hardware failure,
please contact the hardware engineer for further
assistance.

Cause:
After the controller is powered on, it will not immediately
output 48V to the robot body. There will be a slow-start
process first (pre-charging of the body). Once the body
voltage rises to 44V, the slow-start is discontinued, and the
48V power supply is activated. This process is designed to
prevent damage to the body caused by powering on too
quickly. Before the slow-start, the output voltage is
Abnormal output voltage
checked, and an alarm is triggered if the voltage exceeds
20488 | 0x5008 before the robot is slow- 0
49.5V for more than 3 seconds to prevent the circuit from
starting
directly burning out the MOSFET.
Hardware:
1. Ensure the robot body is powered on in a stationary
status.
2. Check if the power supply and voltage are normal.
3. If the alarm persists after multiple restarts, it might be
the hardware failure, please contact the hardware engineer
for further assistance.

20489 | 0x5009 The feed current is higher Cause: 0

than 17A Alarms may occur under bad operating conditions.
Operation:
Error ID Description Solution Level

Reduce the speed or decrease the load. If it is necessary to

operate under current conditions, contact the development
team to discuss adjusting the current limit.

Cause:
During deceleration, energy is dissipated through heat
generated by the energy-feedback resistor, reducing the
bus voltage. The software monitors the current through the
resistor, triggering an alarm if the current exceeds 2.55A
Power protection for
20490 | 0x500A for more than 5 seconds to prevent the resistor from 0
cement resistor
burning out.
Hardware:
Potential abnormalities in the circuit of the energy-
feedback board, contact the development team or
hardware engineer for assistance.

Cause:
The software continuously monitors the bus current and
triggers an alarm when it detects that the bus current
exceeds the limit values (CR3: 10A, CR5/7: 26A,
CR10/12: 47.5A, CR16: 47.5A).
The bus current is higher Operation:
20491 | 0x500B 0
than 26A Generally, this alarm does not appear. If it is running at
full load and speed, or bad operating conditions, this alarm
may appear. You can reduce the speed or decrease the
load. If it is necessary to operate under current conditions,
contact the development team to discuss adjusting the
current limit.

Cause:
After the controller is powered on, it will not immediately
output 48V to the robot body. There will be a slow-start
process first (pre-charging of the body). Once the body
voltage rises to 44V, the slow-start is discontinued, and the
48V power supply is activated. This process is designed to
prevent damage to the body caused by powering on too
The energy-feedback quickly. Throughout the slow-start process, the system checks for
20492 | 0x500C board alarms when the energy feedback, triggering an alarm if detected to prevent the 0
robot is slow-starting circuit from directly burning out the MOSFET.
Hardware:
1. Ensure the robot body is powered on in a stationary
status.
2. Check if the power supply and voltage are normal.
3. If the alarm persists after multiple restarts, it might be
the hardware failure, please contact the hardware engineer
for further assistance.

20493 | 0x500D The fan of the energy- Cause: 5

Error ID Description Solution Level

After the robot body is powered on, the fan is activated,

and its status is continuously monitored. An alarm is
feedback board is short- triggered when abnormal status is detected.
circuited Hardware:
Check if the fan wiring inside the controller is loose or
damaged.

20494 | 0x500E Cause: 5

If the voltage is detected to be lower than 44V after 500ms
of the slow-start, an alarm will be triggered if it is
determined that the slow-start has failed.
The robot slow-start
Hardware:
failed
1. Check if the power supply and voltage are normal.
2. If the alarm persists after multiple restarts, it might be
the hardware failure, please contact the hardware engineer
for further assistance.

Cause:
Communication between the safety I/O board and the
energy-feedback board uses the 485-bus Modbus protocol.
The safety I/O board periodically reads data from the
energy-feedback board. If communication fails or the
energy-feedback board’s heartbeat remains unchanged for
The communication of
more than 2 seconds, an alarm is triggered.
24584 | 0x6008 energy-feedback board 0
Software:
Modbus is interrupted
Update the firmware to match the version of the controller.
Hardware:
After updating, if the alarm persists after multiple restarts,
it may be caused by bad wiring of the 485 bus in the
controller or hardware failure, please contact the hardware
engineer for further assistance.

...

Safety I/O error

Error ID Description Solution Level

1772 | 0x06EC Contactor is open Cause: 0

After the robot body is powered on, the AC contactor is
closed. The software continuously monitors the status of
the contactor, where a closed status is indicated by a low
level signal. If a high level signal is detected continuously
for 2 seconds, it is determined that there is a contactor
anomaly.
Error ID Description Solution Level

Hardware:
1. Power off the controller and restart it. At the same time,
observe the controller to see if there is clicking noise of
the AC contactor.
2. If there is clicking noise of the contactor but the
software still reports an error, check if there is poor wiring
inside the controller.
3. If there is no clicking noise of the contactor and the
error persists after multiple restarts, the AC contactor may
be damaged.

Cause:
AC detection is used to monitor the power status. For AC
controller, the AC power goes through waveform shaping
before sending a detection signal to the software. The
software checks the waveform frequency, if the detected
frequency is less than 20Hz or continuously zero, an alarm
is triggered. For DC controller, the detection signal will be
a high-level signal. The software monitors the signal level,
AC detection board status if a low level is detected for more than 100ms, an alarm is
1775 | 0x06EF 0
error triggered.
Hardware:
1. Check if the rocker switch is off or if the power cable
has been unplugged.
2. Check if the power supply is normal.
3. If the alarm persists after multiple restarts, it may be
caused by bad wiring of the detection cables inside the
controller or hardware failure, please contact the hardware
engineer for further assistance.

Check whether the hardware is working properly, restart

4118 | 0x1016 MCU disconnected 0
the controller, or contact technical support engineer

Cause:
The E-Stop button is pressed.
12288 | 0x3000 Emergency stop detected Hardware: 0
Release the E-Stop button, clear the alarm and power on
again.

External emergency stop

12289 | 0x3001 Clear the alarm and power on again 0
status detected

12296 | 0x3008 The robot is power-off Cause: 0

1. Check if the E-Stop button is pressed, clear the alarm
and power on again.
2. Check if there are any alarms related to the energy-
feedback board in the software. Some alarms from the
energy-feedback board will directly power off the robot
Error ID Description Solution Level

body.
Software:
Refer to the solutions for the related alarms, clear the
alarms, and power on the body again.

24576 | 0x6000 Cause: 0

The controller has detected no change in the heartbeat
value of the safety I/O.
Software:
Modbus of safety I/O
Use Codesys to check whether the heartbeat
board is disconnected
“OnlineStatus” for the safety I/O changes.
Hardware:
If there are any changes, further check for proper or loose
485 wiring in the controller.

Cause:
After the robot body is powered on, the AC contactor is
closed. The software continuously monitors the status of
the contactor, where a closed status is indicated by a low
level signal. If a high level signal is detected continuously
for 1 seconds, it is determined that there is a contactor
anomaly.
Hardware:
The contactor did not
24578 | 0x6002 1. Power off the controller and restart it. At the same time, 0
close as required
observe the controller to see if there is clicking noise of
the AC contactor.
2. If there is clicking noise of the contactor but the
software still reports an error, check if there is poor wiring
inside the controller.
3. If there is no clicking noise of the contactor and the
error persists after multiple restarts, the AC contactor may
be damaged.

In the controller power-on

status, the energy-
Check whether the hardware is working properly, restart
24579 | 0x6003 feedback board did not 0
the controller, or contact technical support engineer
return a power-on signal
for 2 seconds

24581 | 0x6005 AC status is abnormal Cause: 0

AC detection is used to monitor the power status. For AC
controller, the AC power goes through waveform shaping
before sending a detection signal to the software. The
software checks the waveform frequency, if the detected
frequency is less than 20Hz or continuously zero, an alarm
is triggered. For DC controller, the detection signal will be
a high-level signal. The software monitors the signal level,
if a low level is detected for more than 100ms, an alarm is
Error ID Description Solution Level

triggered.
Hardware:
1. Check if the rocker switch is off or if the power cable
has been unplugged.
2. Check if the power supply is normal.
3. If the alarm persists after multiple restarts, it may be
caused by bad wiring of the detection cables inside the
controller or hardware failure, please contact the hardware
engineer for further assistance.

Cause:
The safety I/O board checks the bus communication status
5 minutes after the controller is powered on to ensure it is
After 5 minutes of power-
functioning correctly.
on, the data of the energy-
24582 | 0x6006 Software: 0
feedback board did not
1. Use Codesys to check the communication status of each
update for 1 minute
slave.
2. Check if the PDO variable “ControlSource” on the
safety I/O is set to 1.

Cause:
This alarm occurs when the switch on the controller is
The switch on the
24583 | 0x6007 pressed to shut down. 0
controller is pressed
Operation:
Turn the switch on.

Cause:
There is a 24V super capacitor on the AC detection board
of the CR controller. After the controller is powered on, it
charges the capacitor. The software monitors the charging
status. When the voltage is higher than 16.4V, the software
detects a high level signal. When the voltage is lower than
16.4V, the software detects a low level signal. An alarm is
Abnormal charging
triggered if a low level signal is detected continuously for
24588 | 0x600C detection of 24V super 0
200ms.
capacitor (modbus)
Hardware:
1. Restart the controller.
2. If the alarm persists after restart, it is possible that the
fuse in the charging circuit of the energy-feedback board is
damaged (the energy-feedback board may need to be
replaced), contact the hardware engineer for further
assistance.

24589 | 0x600D Abnormal charging Cause: 0

detection of 48V super There is a 48V super capacitor on the AC detection board
capacitor (modbus) of the CR controller. After the controller is powered on, it
charges the capacitor. The software monitors the charging
status. When the voltage is higher than 36.6V, the software
Error ID Description Solution Level

detects a high level signal. When the voltage is lower than

16.4V, the software detects a low level signal. An alarm is
triggered if a low level signal is detected continuously for
200ms.
Hardware:
1. Restart the controller.
2. If the alarm persists after restart, it is possible that the
fuse in the charging circuit of the energy-feedback board is
damaged (the energy-feedback board may need to be
replaced), contact the hardware engineer for further
assistance.

Cause:
The hardware E-Stop The hardware E-Stop button is pressed.
49153 | 0xC001 5
button is pressed Hardware:
Release the hardware E-Stop button.

Cause:
The software E-Stop The software E-Stop button is pressed.
49154 | 0xC002 5
button is pressed Software:
Release the software E-Stop button.

Cause:
The user emergency stop The user emergency stop is triggered.
49155 | 0xC003 5
is triggered Hardware:
Recover the user emergency stop wiring.

Cause:
Safety I/O is Codesys detected that the PDO variable “OnlineStatus”
disconnected, please for the safety I/O has not changed for a period of time.
60960 | 0xEE20 check the EtherCAT link Software: 0
between the controller Use Codesys to check whether the heartbeat of the safety
and the safety I/O board. I/O changes. Track the heartbeat value curve and observe
if changes are continuous without pauses.

Servo error
Error ID Description Solution Level

Check whether the communication of joints

2 SoftMotion axis error is working properly, then clear the alarm, or 0
contact technical support engineer

Check whether the communication of joints

Bus synchronization mode is
3 is working properly, then clear the alarm, or 0
abnormal
contact technical support engineer
Error ID Description Solution Level

The current position is out of

10 Jog the joint towards the opposite direction 5
Software limit

The current position is out of

11 Jog the joint towards the opposite direction 5
Hardware limit

The parameters of SoftMotion

12 Enter the correct parameters 5
command are out of range

The servo does not support

13 Contact technical support engineer 0
emergency stop or fast stop

Check whether the hardware is working

14 The servo is not powered on properly, then power on again, or contact 0
technical support engineer

Difference between the set position Check whether the motor and circuit are
16 and current position exceeds the working properly, and adjust the servo 0
range parameters

17 Homing error Perform the homing procedure again 0

18 The license is lost Re-obtain the license 0

20 The servo is disabled Enable the servo 0

Control mode of SoftMotion axis is System error, please contact technical

21 0
wrong support engineer

System error, please contact technical

25 Invalid action at logical axis 0
support engineer

Interpolation module is not called System error, please contact technical

30 0
again before the motion is over support engineer

The input to the SoftMotion System error, please contact technical

31 0
module is not of AXIS_REF type support engineer

AXIS_REF variable has been

System error, please contact technical
32 replaced when the SoftMotion 0
support engineer
module was called

The SoftMotion axis disabled System error, please contact technical

33 0
while running support engineer

CAN NOT execute motion

System error, please contact technical
34 commands when the SoftMotion 0
support engineer
axis is in the current status

35 The servo drive is abnormal when System error, please contact technical 0
Error ID Description Solution Level

the SoftMotion is running support engineer

Working speed is higher than the System error, please contact technical
40 0
expected speed support engineer

Working acceleration is higher than System error, please contact technical

41 0
the expected acceleration support engineer

Working deceleration is higher than System error, please contact technical

42 0
the expected deceleration support engineer

Invalid speed or acceleration

50 Reset the speed or acceleration 0
values

In this mode, the hardware limit is

51 Please contact technical support engineer 0
required, please set it

System error, please contact technical

60 Failed to open CNC file 0
support engineer

System error, please contact technical

70 Invalid control mode 0
support engineer

In current mode, controller mode System error, please contact technical

71 0
CAN NOT be modified support engineer

SMC_SetControllerMode has been

System error, please contact technical
72 interrupted by MC_Stop or 0
support engineer
errorstop

80 SoftMotion axes initialization error Power on again 0

The SoftMotion axis is not in the Switch the SoftMotion axis to the
81 0
required status corresponding status

The function does not support System error, please contact technical
85 0
virtual or logical mode support engineer

86 The bit width is invalid Reset the bit width, range: [8, 32] 0

Reduction ratio parameters cannot

System error, please contact technical
91 be modified when the servo is 0
support engineer
working

Reset the modulus period to be less than or

equal to zero, or greater than half of the
92 Invalid modulus period 0
bandwidth. If adjustments do not resolve the
problem, contact technical support engineer

93 The pulse value of modulus period System error, please contact technical 0
Error ID Description Solution Level

is not an integer support engineer

110 The fTaskCycle is set to 0 Reset the fTaskCycle 0

Servo has no response to the reset System error, please contact technical
121 0
command support engineer

System error, please contact technical

122 Unable to reset 0
support engineer

The servo communication is Check the EtheCAT node connection, or

123 0
abnormal contact technical support engineer

170 Axis is not enabled Enable axis 0

Homing operation error. The

System error, please contact technical
171 SofotMotion axis did not start the 0
support engineer
homing procedure

Homing operation error. The

System error, please contact technical
172 SofotMotion axis has no response 0
support engineer
to the homing operation

Homing operation error. The

173 Set the deceleration 0
deceleration is not set

Homing operation error. The servo

System error, please contact technical
174 is in the error status, unable to start 0
support engineer
the homing procedure

1000 CNC license is lost Add the CNC license 0

5000 Denominator of reduction ratio is 0 Reset the denominator of reduction ratio 0

Check whether the hardware is working

60929（不对外） Communication error properly, restart the controller, or contact 0
technical support engineer

8752|0x2230 Hardware overcurrent Cause: 0

or The actual current measured by the servo
IPM anomaly exceeds 90% of the hardware's maximum
sampling current. This alarm is determined
by the FPGA, and hardware overcurrent is
assessed before software overcurrent, so the
hardware overcurrent alarm is usually
reported.
Hardware:
1. Check the drive circuit for shorts.
2. Check whether the sampling resistor value
Error ID Description Solution Level

is abnormal.
Structure:
1. Check whether the brake can be switched
on normally.
2. Switch on the brake and check whether
the joint rotation is normal.
3. Check whether the load exceeds the
nominal value of the load curve in the user
guide.

8992 | 0x2320（内部有 The actual current measured by the servo

此报错，但不会上报，会报 Software overcurrent exceeds 90% of the hardware's maximum 0
“硬件过流保护错误”） sampling current.

Cause:
One phase of the collected UVW three-phase
current significantly deviates from its zero-
point current, exceeding the protection
The current offset of the zero point
9088 | 0x2380 threshold. 0
is too high
Hardware:
1. Check whether the sampling resistor value
is normal.
2. Check whether the bus voltage is normal.

Ensure the stability of the EtherCAT

communication link between the controller
EtherCAT communication is
30080 | 0x7580 and the servo. If the problem persists, 0
abnormal
contact the development team for
troubleshooting.

Cause:
The output speed is higher than the
maximum speed of motor.
33920 | 0x8480 Motor overspeed 0
Software:
Check whether the controller and servo
versions are compatible.

Cause:
1. Check if the robot has collided and caused
Difference between the set speed
the alarm to appear on the corresponding
33921 | 0x8481 and current speed exceeds the 0
joint motor.
range
2. Check if the servo parameters are
configured properly.

33922 | 0x8482 Motor stalled Software: 0

1. Check if the motor angle in the servo
parameters is abnormal.
2. Check if the motor's three-loop gain
Error ID Description Solution Level

parameters in the servo settings are

configured properly.
3. Check if the motor is damaged.
Solution:
Check if the parameters mentioned in steps 1
and 2 are abnormal.

Check the cable, try to unplug and replug it.

Encoder communication is
29568 | 0x7380 If the error persists, replace the cable with a 0
abnormal
new one.

Check if the encoder is loose or damaged, try

29569 | 0x7381 Encoder is abnormal 0
to replace the encoder or recalibrate it.

Test if the encoder battery voltage is below

29570 | 0x7382 Encoder battery is abnormal the alarm threshold, replace the encoder 0
battery.

Check if the encoder is loose or damaged, try

29571 | 0x7383 Main encoder internal error 0
to replace the encoder or recalibrate it.

Check if the encoder is loose or damaged, try

29572 | 0x7384 Main encoder CRC check error 0
to replace the encoder or recalibrate it.

Check the cable, try to unplug and replug it.

29573 | 0x7385 Auxiliary encoder is disconnected If the error persists, replace the cable with a 0
new one.

Check if the encoder is loose or damaged, try

29574 | 0x7386 Auxiliary encoder internal error 0
to replace the encoder or recalibrate it.

Check if the encoder is loose or damaged, try

29575 | 0x7387 Auxiliary encoder CRC check error 0
to replace the encoder or recalibrate it.

Cause:
1. Check if the robot has collided and caused
Difference between the set position
the alarm to appear on the corresponding
34321 | 0x8611 and current position exceeds the 0
joint motor.
range
2. Check if the servo parameters are
configured properly.

Cause:
The planned command of the controller is
abnormal.
34322 | 0x8612 Position is out of range 0
Software:
Check whether the controller and servo
versions are compatible.

12832 | 0x3220 Voltage between PN is too low Cause: 0

Error ID Description Solution Level

The bus voltage detected is below the

threshold for each model.
Hardware:
1. Check if the voltage output from the
switch, adapter, or AGV battery is normal.
2. Check for short circuits on the main bus
circuit board.
Software:
Check if the load is too high or if there is
overspeed.

Cause:
The bus voltage detected exceeds the
threshold for each model.
12816 | 0x3210 Voltage between PN is too high 0
Hardware:
1. Check if the voltage output from the
switch, adapter, or AGV battery is normal.

Cause:
The MCU detects that the temperature
register is higher than 90°C.
Environment:
Check whether the robot has been operating
in high-temperature conditions for an
extended period or running under excessive
17168 | 0x4310 Driver temperature is too high load. 0
Hardware:
Check if the servo driver has short-circuited
or burnt out.
Solution:
1. Disable the robot, power off the robot
body and cool it down for a period of time.
2. Replace the servo power board.

Check whether the hardware is working

9040 | 0x2350（不对
Module in overload status properly, or contact technical support 0
外）
engineer

Cause:
Incorrect UVW wiring.
13184 | 0x3380（不对
Driver output phase sequence error Hardware: 0
外）
Check the wiring sequence of the UVW
three-phase cables.

13185 |（不对外） Driver output phase lost Cause: 0

One of the phases in the collected UVW
three-phase current is 0.
Hardware:
Error ID Description Solution Level

Use a multimeter to check if the UVW three-

phase cables are conducted in pairs.

12592 | 0x3130（不对
Driver input phase lost Check if the power input terminal is normal. 0
外）

Check whether the hardware is working

Driver board connection is
21569（不对外） properly, or contact technical support 0
abnormal
engineer

Troubleshooting:
1. Check if the connection between the servo
control board and the servo power board is
loose.
21008 | 0x5210（不对 Driver board identification is 2. Check if the servo power board is
0
外） abnormal damaged.
Solution:
Ensure that the connection between the servo
control board and the servo power board is
secure.

System error, please contact technical

21120（不对外） FPGA configuration error 0
support engineer

System error, please contact technical

21121（不对外） Internal error 0
support engineer

Check if the emergency stop terminals are

correctly connected to the device.
21122 | 0x5282（不对
STO safety wiring error Solution: 0
外）
Properly connect the emergency stop
terminals.

Hardware:
1. Check if the motor is jammed due to a
mechanical failure.
2. Check if the motor brake is functioning
properly or is damaged.
28961 | 0x7121 Motor is in Locked-Rotor status 0
Solution:
If the motor shaft can rotate normally with
the brake on and the motor is disabled, you
can enable the motor and carry out the
operation of the whole unit.

29056 | 0x7180 Motor is in overload status Cause: 0

The actual current measured by the servo
exceeds 90% of the hardware's maximum
sampling current.
Error ID Description Solution Level

Hardware:
1. Check the drive circuit for shorts.
2. Check whether the sampling resistor value
is abnormal.
Structure:
1. Check whether the brake can be switched
on normally.
2. Switch on the brake and check whether
the joint rotation is normal.
3. Check whether the load exceeds the
nominal value of the load curve in the user
guide.

Check whether the hardware is working

16912（不对外） Motor temperature is too high properly, or contact technical support 0
engineer

Check whether the hardware is working

29057（不对外） Brake error properly, or contact technical support 0
engineer

Check the cable connection, set an

External braking resistor is in
29058（不对外） appropriate resistance value, and reduce the 0
overload status
load.

Hardware:
1. Check if the motor is jammed due to a
mechanical failure.
2. Check if the motor brake is functioning
29059 | 0x7183 Failed to enable 0
properly or is damaged.
3. Check if the direction of the first swing of
the motor is the direction of getting rid of the
teeth.

Not in OP status, in BOOT status, Check whether the hardware is working

60944 the system will try to switch from properly, restart the controller, or contact 0
station to OP technical support engineer

Not in OP status, in Init status, the Check whether the hardware is working
60945 system will try to switch from properly, restart the controller, or contact 0
station to OP technical support engineer

Not in OP status, in PREOP status, Check whether the hardware is working

60946 the system will try to switch from properly, restart the controller, or contact 0
station to OP technical support engineer

60948 Not in OP status, in SAFEOP Check whether the hardware is working 0

status, the system will try to switch properly, restart the controller, or contact
Error ID Description Solution Level

from station to OP technical support engineer

Check whether the hardware is working

60949 Not in OP status, may be offline properly, restart the controller, or contact 0
technical support engineer

Cause:
Codesys detected that the PDO variable
“OnlineStatus” for the universal IO has not
Universal IO is disconnected,
changed for a period of time.
please check the EtherCAT link
60961 | 0xEE21 Software: 0
between the robot body and the
Use Codesys to check whether the heartbeat
universal IO board.
of the universal IO changes. Track the
heartbeat value curve and observe if changes
are continuous without pauses.

Joint 1 is disconnected, please Check the EtheCAT cable connection and

60962 | 0xEE22 check the EtherCAT link between restart the controller, or contact technical 0
the controller and the robot body. support engineer

Joint 2 is disconnected, please Check the EtheCAT cable connection and

60963 | 0xEE23 check the EtherCAT link between restart the controller, or contact technical 0
the controller and the robot body. support engineer

Joint 3 is disconnected, please Check the EtheCAT cable connection and

60964 | 0xEE24 check the EtherCAT link between restart the controller, or contact technical 0
the controller and the robot body. support engineer

Joint 4 is disconnected, please Check the EtheCAT cable connection and

60965 | 0xEE25 check the EtherCAT link between restart the controller, or contact technical 0
the controller and the robot body. support engineer

Joint 5 is disconnected, please Check the EtheCAT cable connection and

60966 | 0xEE26 check the EtherCAT link between restart the controller, or contact technical 0
the controller and the robot body. support engineer

Joint 6 is disconnected, please Check the EtheCAT cable connection and

60967 | 0xEE27 check the EtherCAT link between restart the controller, or contact technical 0
the controller and the robot body. support engineer

1. Check the servo reduction ratio

parameters.
29584 Large deviation of joint position 1
2. Check the encoder installation.
3. Check the transmission structure.

12290 | 0x3002 Axis 1 not in Bus mode Check if Axis 1 cable is damaged or 0
disconnected, or contact technical support
Error ID Description Solution Level

engineer.

Check if Axis 2 cable is damaged or

12291 | 0x3003 Axis 2 not in Bus mode disconnected, or contact technical support 0
engineer.

Check if Axis 3 cable is damaged or

12292 | 0x3004 Axis 3 not in Bus mode disconnected, or contact technical support 0
engineer.

Check if Axis 4 cable is damaged or

12293 | 0x3005 Axis 4 not in Bus mode disconnected, or contact technical support 0
engineer.

Check if Axis 5 cable is damaged or

12294 | 0x3006 Axis 5 not in Bus mode disconnected, or contact technical support 0
engineer.

Check if Axis 6 cable is damaged or

12295 | 0x3007 Axis 6 not in Bus mode disconnected, or contact technical support 0
engineer.

... ... ...

If the CPU temperature is higher than the

limit, this alarm cannot be cleared.
Check whether the CPU heat sink is
CPU temperature exceeds alarm
12297 | 0x3009 damaged or detached, lower the operating 0
threshold
environment temperature, or contact
technical support engineer for further
assistance.

Cause:
The servo 1 MCU detects that the
temperature register is higher than 90°C.
Environment:
Check whether the robot has been operating
Servo 1 MCU temperature exceeds
12298 | 0x300A in high-temperature conditions for an 0
alarm threshold
extended period or running under excessive
load.
Hardware:
Check if the servo driver has short-circuited
or burnt out.

12299 | 0x300B Servo 2 MCU temperature exceeds Cause: 0

alarm threshold The servo 2 MCU detects that the
temperature register is higher than 90°C.
Environment:
Check whether the robot has been operating
Error ID Description Solution Level

in high-temperature conditions for an

extended period or running under excessive
load.
Hardware:
Check if the servo driver has short-circuited
or burnt out.

Cause:
The servo 3 MCU detects that the
temperature register is higher than 90°C.
Environment:
Check whether the robot has been operating
Servo 3 MCU temperature exceeds
12300 | 0x300C in high-temperature conditions for an 0
alarm threshold
extended period or running under excessive
load.
Hardware:
Check if the servo driver has short-circuited
or burnt out.

Cause:
The servo 4 MCU detects that the
temperature register is higher than 90°C.
Environment:
Check whether the robot has been operating
Servo 4 MCU temperature exceeds
12301 | 0x300D in high-temperature conditions for an 0
alarm threshold
extended period or running under excessive
load.
Hardware:
Check if the servo driver has short-circuited
or burnt out.

Cause:
The servo 5 MCU detects that the
temperature register is higher than 90°C.
Environment:
Check whether the robot has been operating
Servo 5 MCU temperature exceeds
12302 | 0x300E in high-temperature conditions for an 0
alarm threshold
extended period or running under excessive
load.
Hardware:
Check if the servo driver has short-circuited
or burnt out.

12303 | 0x300F Servo 6 MCU temperature exceeds Cause: 0

alarm threshold The servo 6 MCU detects that the
temperature register is higher than 90°C.
Environment:
Check whether the robot has been operating
Error ID Description Solution Level

in high-temperature conditions for an

extended period or running under excessive
load.
Hardware:
Check if the servo driver has short-circuited
or burnt out.