Error Codes#

Error Message Window#

When an error log occurs, a pop-up window will be displayed on the interface at the same time to remind the users. Users can approximately understand the cause and handling methods of the error message through the pop-up window. The form of the pop-up error message window is shown in the following figure:

image1

  1. The first line of the pop-up window is marked with yellow bold characters to identify the error content and the corresponding error code.

  2. The second line describes the cause of the error and the general direction of troubleshooting.

  3. The third line records the time when the error occurred.

  4. If you still have questions about the error, click “View Help” to learn more.

Error Code Composition#

The error code is composed of a set of hexadecimal 32-bit error codes, expressed in the form of 8-bit reservation bit + 8-bit error module id+ detailed error id. Take the invalid error 0x00A10007 robot dynamics model as an example:

Reservation Bit

Error Module id

Detailed Error id

0x00

A1

0007

Error Code Table#

System issues[0x00]#

0x00000001: Robot power on error

Detailed description of the error

Handle advice

Fatal communication error detected

Restart the control cabinet and contact developer if the error cannot

be eliminated

Safety board state in INIT

Safety board version need to be updated

Use the DucoCore upgrade function to upgrade the safety board to the

minimum version required for version compatibility

Get safety board version info fail

The communication layer is abnormal, check the line between the

controller and the safety board in the control cabinet,

Restart the control cabinet

Get communicaiton board version info fail

The communication layer is abnormal, check the line between the

controller and the safety board in the control cabinet,Check the line

between the safety board and the communication board in the control

cabinet(DC30 control cabinet), Restart the control cabinet

IO board version need to be updated

Use the DucoCore upgrade function to upgrade the communication board

to the minimum version required for version compatibility

Safety controller not in operational status

Observe the switching process of the safety state machine in the

dashboard page,record the state machine to which the safety controller

was switched to the last before power-on, restart the control cabinet,

and replace the safety board if the error cannot be eliminated,

and check the internal problems of the replaced safety board

Model parameters config fail 0x********

The communication layer is abnormal, record the communication error

code, check the line between the controller and the safety board in

the control cabinet, Restart the control cabinet

Model parameters check error 0x********

Model parameters check timeout

Safety power on fail 0x********

Safety error: ****

Record and query the safety board code and restart the control cabinet

Safety stop1 triggered please restore

Check whether the emergency stop of the teach pendant, the emergency

stop of the control cabinet, and the emergency stop of the user are

pressed and not reset, and power on again after resetting

Safety power feedback abnormal

Restart the control cabinet, if the error cannot be eliminated,

check the status of the safety board and the power-on circuit

in the control cabinet

Switch communication frame to

ready-to-switch-on status fail

The communication layer is abnormal, check the line between the

controller and the safety board in the control cabinet,Check the line

between the safety board and the communication board in the control

cabinet(DC30 control cabinet), Restart the control cabinet,

If the error cannot be eliminated, contact developer

Communication frame swtich to

swtiched-on status fail

The communication layer is abnormal, usually caused by some slave

abnormalities during the power-up process.

Step 1:

check the line between the controller and the safety board in the

control cabinet,and check the line between the safety board and the

communication board in the control cabinet(DC30 control cabinet),

check the line between the control cabinet and the robot, check the

internal power supply and communication wiring in the robot,

and restart the control cabinet.

Step 2:

Check whether there is a process that has updated the robot system

or updated part of the driver board,and there has been an update

process exception.If so, contact developer to obtain the corresponding

repair update package and re-update the interrupted system update.

If the problem cannot be repaired after the above troubleshooting

steps, contact developer.

Switch communication frame to

pre-operational status fail

The communication layer is abnormal, the error is a fatal

initialization error, If so, please contact developer directly

for assistance

Initialize communication frame fail

Communication frame not in

ready-to-switch-on status

The communication layer is abnormal, usually caused by the abnormal

connection between the safety board and the communication board

in the control cabinet, check the line between the controller and the

safety board in the control cabinet,and check the line between the

safety board and the communication board in the control

cabinet(DC30 control cabinet) ,Restart the control cabinet,

If the error cannot be eliminated, contact developer

Servo version upload error

Check the status and wiring of the servo drive board in the robot,

and restart the control cabinet

Servo version need to be updated

It is recommended(not mandatory)to upgrade the servo drive to

the minimum uniform version required for version compatibility

by the DucoCore upgrade feature

Get tcp board version info fail

The communication layer is abnormal, check the wiring of the end

board of the robot and restart the control cabinet

Robot info check error

Robot info and safety function

parameters need to be updated

Switch to an account with admin permissions, power on again, and

synchronize the parameters stored in the end board of the robot to

the control cabinet according to the pop-up window guidance,

Restart the control cabinet

Robot info need to be updated

Switch to an account with admin permissions, power on again, and

synchronize the parameters stored in the end board of the robot to

the control cabinet according to the pop-up window guidance,

Restart the control cabinet

Toolboard config fail 0x********

The communication layer is abnormal, check the wiring of the end

board of the robot and restart the control cabinet

IO board config fail 0x********

The communication layer is abnormal, check the line between the

controller and the safety board in the control cabinet,Check the line

between the safety board and the communication board in the control

cabinet(DC30 control cabinet), Restart the control cabinet

Safety parameters check error,Safety

function parameters need to be

updated 0x********

Safety function parameters need to

be updated

Reconfigure the safety parameters after the robot is powered off

Axis config fail 0x********

The communication layer is abnormal, check the status and wiring of

the servo drive in the robot. Restart the control cabinet

0x00000002: Robot power off error

Detailed description of the error

Handle advice

0x00000003: Robot enable failed

Detailed description of the error

Handle advice

Brake deactive detected,please activate

all brakes before enable operation

By manually releasing the brake function to confirm that

all joint brakes are closed and then re-enabled

Safety state in *

Record the abnormal safety controller status and restart

the control cabinet. If the error cannot be eliminated,

contact developer

Axis * error detected 0x********

Record the servo error code and refer to the servo error

checklist for troubleshooting

0x00000004: Robot disable failed

Detailed description of the error

Handle advice

0x00000005: System reset failed

Detailed description of the error

Handle advice

Check whether the emergency stop signal is reset

0x00000006: System shutdown failed

Detailed description of the error

Handle advice

Save the project

0x00000007: System restart failed

Detailed description of the error

Handle advice

Check the shutdown failure cause

0x00000009: Unregistered task or queue is full

Detailed description of the error

Handle advice

1.Restart the control cabinet;2.Check the programming logic

0x0000000A: Task resume fail

Detailed description of the error

Handle advice

Please remove the current collision state

Eliminate collision states

File system issues[0x01]#

0x00010001: Add account failed

Detailed description of the error

Handle advice

The same account exist

Change the name of your new account

0x00010002: Delete account failed

Detailed description of the error

Handle advice

Account does not exist

Confirm your account information

0x00010003: Change password failed

Detailed description of the error

Handle advice

Wrong account number or password

Confirm your account and password

0x00010004: Login failed

Detailed description of the error

Handle advice

Wrong account number or password

Confirm your account and password

0x00010005: Check password failed

Detailed description of the error

Handle advice

Wrong account number or password

Confirm your account and password

0x00010006: Logout failed

Detailed description of the error

Handle advice

none

—

0x00010007: Verify Login failed

Detailed description of the error

Handle advice

Wrong account number or password

Confirm your account and password

0x00010008: Get account list failed

Detailed description of the error

Handle advice

File serialization failed

Restart the control cabinet

0x00010101: Load system file failed

Detailed description of the error

Handle advice

none

Restart the control cabinet

0x00010102: Switch project failed

Detailed description of the error

Handle advice

none

Restart the control cabinet

0x00010103: Set language failed

Detailed description of the error

Handle advice

none

—

0x00010104: Change wlan failed

Detailed description of the error

Handle advice

wifi.config open failed

Check the Wifi module

0x00010105: Change ip failed

Detailed description of the error

Handle advice

ifconfig failed(system)

  1. Check the network card, network port connection, network cable;

  2. Please contact after-sales

0x00010106: Get network infomation by name failed

Detailed description of the error

Handle advice

The given Ethernet interface does not exist:name

1.Check the network name;2.Check the network card

0x00010201: Add project failed

Detailed description of the error

Handle advice

The same project exists

Change the project name

Add folder failed:name

0x00010202: Delete project failed

Detailed description of the error

Handle advice

Project not exist

Confirm the project name

0x00010203: Delete project failed

Detailed description of the error

Handle advice

Delete folder failed:name

Confirm the project name

0x00010204: Get projetct list failed

Detailed description of the error

Handle advice

Load folder failed:project

The file system is damaged, please contact after-sales

0x00010205: Rename project failed

Detailed description of the error

Handle advice

project not exist/Rename folder failed:A to B

Confirm the project name

0x00010206: Export project failed

Detailed description of the error

Handle advice

Compress file failed:name

  1. Perform the export operation again;

  2. Export again after the project is saved

0x00010207: Import project failed

Detailed description of the error

Handle advice

Compress file failed:name

  1. Perform the export operation again;

  2. Export again after the project is saved

0x00010301: Init filesystem failed

Detailed description of the error

Handle advice

none

Restart the control cabinet

0x00010302: Save project failed

Detailed description of the error

Handle advice

none

Restart the control cabinet

0x00010303: Get root file path failed

Detailed description of the error

Handle advice

Root is empty

Restart the control cabinet

0x00010401: Load project setting failed

Detailed description of the error

Handle advice

none

Restart the control cabinet

0x00010402: Config function digital input failed

Detailed description of the error

Handle advice

none

  1. Check whether the mode is correct;

  2. Check whether the index is out of bounds

0x00010403: Config function digital output failed

Detailed description of the error

Handle advice

none

  1. Check whether the mode is correct;

  2. Check whether the index is out of bounds

0x00010404: Config function register input failed

Detailed description of the error

Handle advice

none

  1. Check whether the mode is correct;

  2. Check whether the index is out of bounds

0x00010405: Config function register output failed

Detailed description of the error

Handle advice

none

  1. Check whether the mode is correct;

  2. Check whether the index is out of bounds

0x00010406: Config interface name failed

Detailed description of the error

Handle advice

none

  1. Change the interface name; 2.Pay attention to naming rules

0x00010407: Set current loaded program failed

Detailed description of the error

Handle advice

none

Check the setting information

0x00010408: Set home position failed

Detailed description of the error

Handle advice

none

Check the home position of the setting

0x00010409: Set project auto login failed

Detailed description of the error

Handle advice

none

—

0x0001040A: Set project default program failed

Detailed description of the error

Handle advice

none

—

0x0001040B: Change interface recipe failed

Detailed description of the error

Handle advice

File parse failed

Rework the recipe

0x0001040C: Open recipe failed

Detailed description of the error

Handle advice

Recipe type not match

Check the recipe type

0x0001040D: Create recipe failed

Detailed description of the error

Handle advice

none

Modify the recipe name

0x0001040F: Delete recipe failed

Detailed description of the error

Handle advice

none

1.Check the recipe name; 2.Stop the program from running

0x00010410: Config profinet diconected response failed

Detailed description of the error

Handle advice

none

Check the function output

0x00010501: Load workcell error

0x00010502: Add TCP coordinate error

Detailed description of the error

Handle advice

The same TCP coordinate exists

Change the tool coordinate name

0x00010503: Modify TCP coordinate error

Detailed description of the error

Handle advice

Tcp not exist

Check the tool coordinate name

0x00010504: Delete TCP coordinate error

Detailed description of the error

Handle advice

Tcp not exist

Check the tool coordinate name

0x00010505: Add user coordinate error

Detailed description of the error

Handle advice

The same user coordinate exist

Change the user coordinate name

0x00010506: Modify user coodinate error

Detailed description of the error

Handle advice

User coodinate not exist

Check the user coordinate name

0x00010507: Delete user coodinate error

Detailed description of the error

Handle advice

User coodinate not exist

Check the user coordinate name

0x00010508: Set default tcp coodinater failed

Detailed description of the error

Handle advice

none

0x00010509: Set default user coodinater failed

Detailed description of the error

Handle advice

none

0x0001050A: Set robot installation failed

Detailed description of the error

Handle advice

none

0x0001050B: Can not find world

Detailed description of the error

Handle advice

none

0x0001050C: Can not find base

Detailed description of the error

Handle advice

none

0x0001050D: Add model error

Detailed description of the error

Handle advice

Model with the same name already exists

0x000163: Delete frame error

Detailed description of the error

Handle advice

Frame does not exist

0x00010601: Load device file failed

Detailed description of the error

Handle advice

none

1.Resync device information;

2.Restore the system to factory settings;

3.Contact after-sales

0x00010701: Load safety filed failed

Detailed description of the error

Handle advice

none

1.Resynchronize safety parameters;

2.Restore the default settings of safety parameters;

3.Contact after-sales

0x00010801: Load logfile list failed

Detailed description of the error

Handle advice

Open log folder failed

1.Reopen the log after shutting down and restarting;

2.Contact after-sales

0x00010802: Load logfile failed

Detailed description of the error

Handle advice

Open file failed

1.Reopen the log after shutting down and restarting;

2.Contact after-sales

0x00010803: Export logfile failed

Detailed description of the error

Handle advice

Compress file failed

1.Re-export the log after shutting down and restarting;

2.Contact after-sales

0x00010901: Add global variable failed

Detailed description of the error

Handle advice

The same global variable exist

Change the variable name

0x00010902: Set global varialbe init value failed

Detailed description of the error

Handle advice

Value not exist or type not match

1.Check the name of the global variable;

2.Check the input value type and the global variable type

0x00010903: Delete global variable failed

Detailed description of the error

Handle advice

Value not exist

Check the name of the global variable

0x00010904: Get global variable list failed

Detailed description of the error

Handle advice

File serialization failed

Restart the control cabinet

0x00010A01: Set register value failed

Detailed description of the error

Handle advice

none

1.Check the register address;

2.Check the input value type and register type;

3.Check the input values

0x00010B01: Load directory list failed

Detailed description of the error

Handle advice

open name folder failed

The FAT32 format flash drive needs to be replaced

0x00010B02: Create directory failed

Detailed description of the error

Handle advice

:name

Check whether the USB flash drive is in poor contact

0x00010B03: Copy file failed

Detailed description of the error

Handle advice

A to B

1.Modify the file name;

3.Check whether the USB flash drive is in poor contact

0x00010B04: Delete file failed

Detailed description of the error

Handle advice

name

1.Modify the file name;

3.Check whether the USB flash drive is in poor contact

0x00010B05: Save file failed

Detailed description of the error

Handle advice

name

1.Modify the file name;

3.Check whether the USB flash drive is in poor contact

0x00010B06: Load file failed

Detailed description of the error

Handle advice

name

1.Modify the file name;

3.Check whether the USB flash drive is in poor contact

0x00010B07: File parse failed

Detailed description of the error

Handle advice

A to B

1.Check the integrity of the documents;

2.Check the file format

0x00010B08: Export directory error

Detailed description of the error

Handle advice

Compress file fail

Try exporting again

0x00010B09: append file error

Detailed description of the error

Handle advice

name

1.Check the folder name;

2.Check whether the USB flash drive is in poor contact

0x00010C01: Load motion para file failed

Detailed description of the error

Handle advice

Resynchronize robot parameters

0x00010D01: Install plugin failed

Detailed description of the error

Handle advice

Confirm the completeness and correctness of the plug-in package

0x00010D02: Uninstall plugin failed

Detailed description of the error

Handle advice

Confirm the completeness and correctness of the plug-in package

0x00010E01:

Detailed description of the error

Handle advice

Confirm the completeness and correctness of the plug-in package

Program issues[0x02]#

0x00020001: Run program failed

Detailed description of the error

Handle advice

Stop the running program

0x00020002: Delete program folder failed；Types do not match

Detailed description of the error

Handle advice

Confirm the folder name

0x00020003: Rename progarm folder failed；Types do not match

Detailed description of the error

Handle advice

Change the folder name

0x00020004: Record trajectory failed

0x00020005:

Detailed description of the error

Handle advice

Confirm the name of the trajectory to be stopped

0x00020006: Load progarm list failed

Detailed description of the error

Handle advice

Confirm the loading path

0x00020007: Load progarm failed

Detailed description of the error

Handle advice

1.Confirm the loading path;2.Confirm the program name

0x00020008: Save progarm failed

Detailed description of the error

Handle advice

Confirm the program name

0x00020009: Delete progarm failed

Detailed description of the error

Handle advice

Confirm the program name

0x0002000A: Rename Program failed

Detailed description of the error

Handle advice

Change the program name

Movement issues[0x03]#

0x00030000: Move state queue fatal error

Detailed description of the error

Handle advice

Queue fault times over limit

Contact develop

0x00030000: Move kinematics calculation error

Detailed description of the error

Handle advice

0x********

Confirm the actual movement status of the robot and

adjust the motion script

0x00030000: Move task error

Detailed description of the error

Handle advice

Dual move task received

Check whether there is a non-blocking motion called in the program

and a new motion command is sent before the previous motion is

completed (except for SpeedMove and ServoMove)

0x00030000: Blend cancel

Detailed description of the error

Handle advice

code:0x********

Record fusion cancellation error code 0x********,

Refer to the fusion motion programming technique

process to modify the fusion motion parameters

0x00030000: Move task aborted

Detailed description of the error

Handle advice

Receive invalid move task

Confirm whether the current robot is in the program pause state,

Check whether the motion task is sent through an external

interface such as RPC.Stop the current running program and resend

the motion task to confirm if the problem is gone

0x00030001: Online move error

Detailed description of the error

Handle advice

Invalid velocity setting parameter

Check whether the speed parameter is valid and modify

the speed parameter

0x00030002: Single move error

Detailed description of the error

Handle advice

Invalid velocity setting parameter

Check whether the speed parameter is valid and modify

the speed parameter

Invalid acceleration setting parameter

Check whether the acceleration parameter is valid

and modify the acceleration parameter

Invalid target pose parameter

Check whether the target pose parameter is valid and

modify the target pose parameter

0x00030003: Blend move error

Detailed description of the error

Handle advice

Invalid blend radius setting parameter

Check whether the fusion radius parameter is valid

and modify the fusion radius parameter

0x00030004: Spline move error

Detailed description of the error

Handle advice

The path input error

Check whether there are two points in Spline programming

where the spatial points coincide but there is a change

in posture. Modify waypoint information

Invalid velocity setting parameter

Check whether the speed parameter is valid and modify

the speed parameter

0x00030005:

Detailed description of the error

Handle advice

0x00030006: Conveyor move error

Detailed description of the error

Handle advice

Conveyor move over limit 0x********

Check whether the current tracking limit distance is

reasonable, Check whether the current conveyor speed

and encoder value are abnormal.

Robot conveyor sync fail 0x********

Check whether the current conveyor speed and encoder

are abnormal, Check whether the current conveyor

configuration parameters are reasonable

0x00030007: Handling move error

Detailed description of the error

Handle advice

Unkonwn external force detected,

check tcp load parameters

Check that the current robot load mass and centroid parameters

are filled in correctly, Check that the current robot

installation orientation is set correctly, Check that there is

no external force applied to the robot before the robot enters

traction mode

0x00030008: Teach replay error

Detailed description of the error

Handle advice

Current point is not same to replay starting point

Confirm the starting point of the reproduction trajectory, and modify

the robot script so that the robot is in this position before starting

to pull the reproduction task

The path input error

Check whether there are two points in the traction reproduction

teaching process where the spatial points coincide but there is a

change in posture. Modify waypoint information

Invalid velocity setting parameter

Check whether the speed parameter is valid and modify the speed

parameter

0x00030009: Realtime control error

Detailed description of the error

Handle advice

Realtime communication lost

Check the TCP communication wiring and its status

Command joint position exceeds limit

Check the real-time control joint position commands sent to the robot

Command joint speed exceeds limit

Check the real-time control joint position / joint velocity commands sent

to the robot

Command joint acceleration exceeds limit

Command joint jerk exceeds limit

Command joint torque exceeds limit

Check the real-time control joint moment commands sent to the robot

Command cartesian velocity exceeds limit

Check the real-time control Cartesian position/Cartesian speed commands

sent to the robot

Command cartesian acceleration exceeds limit

Command cartesian jerk exceeds limit

Inverse kinematic position solve fail

Inverse kinematic velocity solve fail

Inverse kinematic acceleration solve fail

Robot approaches singularity

Command tool force exceeds limit

Check the real-time control end force commands sent to the robot

0x0003000A: Servo move error

Detailed description of the error

Handle advice

Inverse kinematic position solve fail

Check the ServoMove command sent to the robot

Forward kinematic position solve fail

Robot approaches singularity

0x0003000B: Brake test error

Detailed description of the error

Handle advice

Invalid test counter

Confirm whether the joint is effectively displaced during the brake detection

Brake operation error, 0x********

Communication layer problem, confirm the status and wiring of each joint of

the robot, and restart the control cabinet

0x0003000C: Dual robot calibration error

Detailed description of the error

Handle advice

Calibration calculation fail code: 0x********

Check whether the multi-machine collaboration function is started normally.

Check whether the communication between the master and slave robot is

normally connected,Check whether the calibration point position is coplanar,

and record the calibration error code 0x********

0x0003000C: Sync Move Error

Detailed description of the error

Handle advice

Sync Move function is deactivated

Check whether the multi-machine collaboration function is properly

enabled in the settings page

Illegle client sync move state

Check whether the client robot is in a normal state. Check whether the

communication between the master and slave robot is normally connected

Illegle server sync move state

Check whether the server robot is in a normal state.Check whether the

communication between the master and slave robot is normally connected

Fail to enter sync move

Contact developer

Sync move start position illegal

Check whether the starting point of multi-machine cooperative motion is

and the client robot respectively, and whether the robot is in the

server robot in a singular configuration or exceeds the maximum spatial

range, and modify the point

Real-time control error

Confirm the status of the master-slave robot, confirm whether the

communication between the master and slave robot is normally connected,

and confirm whether there is an error in the process of multi-machine

cooperative movement

Coordinate system issues[0x04]#

0x00040001: Set tcp coodinate failed

Detailed description of the error

Handle advice

Modify the tool coordinate system name

0x00040002: Set user coodinate failed

Detailed description of the error

Handle advice

Modify the user coordinate system name

0x00040003: Tcp calibration error

Detailed description of the error

Handle advice

Calibrate points are too close, The distance between

any two points should be greater than 1 mm

Re-teach the calibration point position to ensure that

the distance between the points is greater than 1mm

Unknown calibration type

0x00040004: User Coordinate calibration error

Detailed description of the error

Handle advice

Calibrate points are too close, The distance between

any two points should be greater than 1 mm

Re-teach the calibration point position to ensure that

the distance between the points is greater than 1mm

Calibration points are collinear

Manipulation mode issues[0x05]#

0x00050001: Switch operation mode error

Detailed description of the error

Handle advice

Operation timeout

The safety board is abnormal, confirm the status of

the safety board and restart the control cabinet

0x00050002: Switch operation mode error

Detailed description of the error

Handle advice

Robot must in Enable state

After the robot is enabled,switch the simulation mode

Robot must in Stopped state

Stop the current robot motion and the running script

and switch the simulation mode

IO port issues[0x06]#

0x00060001: Set digital output fail

Detailed description of the error

Handle advice

Confirm that whether the output port number is correct

0x00060002: Get digtial input fail

Detailed description of the error

Handle advice

Confirm that whether the output port number is correct

0x00060003: Set digital output failed

Detailed description of the error

Handle advice

io is configured with output function

1.Confirm that whether the output port number is correct;

2.Confirm the current mode of the port

0x00060004: Set digital output fail

Detailed description of the error

Handle advice

io is configured with output function

Check whether the port is configured as a function output

0x00060005: Set analog output mode fail

Detailed description of the error

Handle advice

Communication error 0x********

1.Confirm that whether the output port number is correct;

2.Confirm the current mode of the port

0x00060006: Set analog input mode fail

Detailed description of the error

Handle advice

Communication error 0x********

1.Confirm that whether the output port number is correct;

2.Confirm the current mode of the port

Safety setting issues[0x07]#

0x00070001: Safety controller switch to config mode fail

Detailed description of the error

Handle advice

Safety communication state not in OP

Please disable and power off the robot first

Operation timeout

The safety board is abnormal, confirm the status

of the safety board and restart the control cabinet

0x00070002: Safety controller exit config mode error

Detailed description of the error

Handle advice

Safety in failure state

The safety board is abnormal, confirm the status

of the safety board and restart the control cabinet

0x00070003: Set safety parameters tag error

Detailed description of the error

Handle advice

Operation timeout

The safety board is abnormal, confirm the status

of the safety board and restart the control cabinet

0x00070004: Apply safety parameter error

Detailed description of the error

Handle advice

Operation timeout

The safety board is abnormal, confirm the status

of the safety board and restart the control cabinet

0x00070005: Set safety parameters error

Detailed description of the error

Handle advice

Safety parameters download fail, 0x********

The communication layer is abnormal, check the line between

the controller and the safety board in the control cabinet,

Check the line between the safety board and the communication

board in the control cabinet(DC30 control cabinet), Restart

the control cabinet

Safety parameters upload fail, 0x********

Safety parameters crc check invalid, 0x********

The communication layer is abnormal, check the status of the

safety board, check the line between the controller and the

safety board in the control cabinet,Check the line between

the safety board and the communication board in the control

cabinet(DC30 control cabinet), Restart the control cabinet

0x00070006: Abort set safety parameters error

Detailed description of the error

Handle advice

Operation timeout

Restart the control cabinet

Toolboard issues[0x08]#

0x00080001: Set toolboard digital output fail

Detailed description of the error

Handle advice

Confirm that whether the output port number is correct

0x00080002: Set toolboard io mode error

Detailed description of the error

Handle advice

Mode parameter download fail

1.Confirm that whether the output port number is correct;

2.Confirm the current mode of the port

0x00080003: Config toolboard reuse interface error

Detailed description of the error

Handle advice

Port parameter download fail

Confirm the current interface mode

Baud rate parameter download fail

0x00080004: Update toolboard firmware error

Detailed description of the error

Handle advice

Firmware upload fail

1.Check whether the upgrade package is damaged.

2.Perform the upgrade operation again

0x00080005: Change toolboard recipe failed

Detailed description of the error

Handle advice

Rework the recipe

0x00080006: Config toolboard interface name failed

Detailed description of the error

Handle advice

1.Change the name; 2.Confirm the configured interface number

0x00080007: Tool 485 write fail

Detailed description of the error

Handle advice

Occupied by real cycle or insert the queue fail

Wait for the current task to complete

0x00080008: Tool 485 read fail

Detailed description of the error

Handle advice

Occupied by real cycle or insert the queue fail

Wait for the current task to complete

0x00080009: Set tool led light brightness fail

Detailed description of the error

Handle advice

Configuration parameter write fail

Confirm whether the end board of the current robot is damaged,

Confirm whether the robot parameters are stored in the end

board of the current robot, Confirm the status of the end board

of the robot, Confirm the wiring of the end board of the robot,

Restart the control cabinet

Modbus communication issues[0x09]#

0x00090001: Add modbus device failed

Detailed description of the error

Handle advice

0x00090002: Delete modbus device failed

Detailed description of the error

Handle advice

0x00090003: Add modbus signal failed

Detailed description of the error

Handle advice

0x00090004: Delete Modbus signal failed

Detailed description of the error

Handle advice

0x00090005: Update modbus signal failed

Detailed description of the error

Handle advice

0x00090006: Write modbus value failed

Detailed description of the error

Handle advice

DataComm[0x0A]#

0x000A0001: Tcp socket open fail

Detailed description of the error

Handle advice

socket name already exist or socket num limit exceeded;

socket open fail;socket open timeout

1.Check whether there is a socket port with the same name open;

2.Check the socket

0x000A0002: Tcp socket close fail

Detailed description of the error

Handle advice

close socket fail;socket name doesn’t exist

Check whether the socket port is closed

0x000A0003: Tcp socket write fail

Detailed description of the error

Handle advice

socket name doesn’t exist;socket write fail

Confirm the name of the socket being operated

0x000A0004: Tcp socket read fail

Detailed description of the error

Handle advice

socket name doesn’t exist

Confirm the name of the socket being operated

0x000A0005: 485 write fail

Detailed description of the error

Handle advice

in real cycle or insert the queue fail

Wait for the current task to complete

0x000A0006: 485 read fail

Detailed description of the error

Handle advice

in real cycle or already in use

Wait for the current task to complete

0x000A0007: CAN write fail

Detailed description of the error

Handle advice

in real cycle or data length incorrect

Check whether the CAN configuration information is correct

0x000A0008: CAN read fail

Detailed description of the error

Handle advice

in real cycle

Check whether the CAN configuration information is correct

Other issues[0x0F]#

0x00F00001: Synchronize robot parameter files fail

Detailed description of the error

Handle advice

Robot parameter files upload fail, 0x********

Confirm whether the end board of the current robot is damaged,

Confirm whether the robot parameters are stored in the end

board of the current robot,Confirm the status and wiring of

the end board of the robot, and restart the control cabinet

Robot parameter files download fail, 0x********

0x00F00002: Config encode interface fail

Detailed description of the error

Handle advice

IO board paramerter config fail, 0x********

The communication layer is abnormal, check the line between

the controller and the safety board in the control cabinet,

Check the line between the safety board and the communication

board in the control cabinet(DC30 control cabinet), Restart

the control cabinet

0x00F00003: Change baud rate fail

Detailed description of the error

Handle advice

Baud rate config fail, 0x********

The communication layer is abnormal, check the line between

the controller and the safety board in the control cabinet,

Check the line between the safety board and the communication

board in the control cabinet(DC30 control cabinet), Restart

the control cabinet

0x00F00004: Update firmware fail

0x00F00005: Change can recipe fail

Detailed description of the error

Handle advice

file

Rework the recipe

0x00F00006: Change 485 recipe fail

Detailed description of the error

Handle advice

file

Rework the recipe

0x00F00007: Change socket recipe fail

Detailed description of the error

Handle advice

file

Rework the recipe

0x00F00008: Update robot software fail

0x00F00009: Brake control error

Detailed description of the error

Handle advice

Invalid target control mode

Contact developer

Brake operation interface error, 0x********

The communication layer is abnormal,Check the status and

wiring of the servo drive board in the robot.

Restart the control cabinet

0x00F0000A: Kinematics calculation error

Detailed description of the error

Handle advice

0x********

Check the target point sent to the robot

0x00F00010: Path length exceed limit

Detailed description of the error

Handle advice

0x********

Re-record the track point

0x00F00020:

Detailed description of the error

Handle advice

Check whether the current robot model posture is consistent

with the actual situation

0x00F00021: Set servo parameter fail

Detailed description of the error

Handle advice

0x********

Record detailed error codes and feedback to the developer,

Refer to the detailed error code information to troubleshoot

communication exceptions

0x00F00022: Apply servo parameter fail

Detailed description of the error

Handle advice

0x********

Record detailed error codes and feedback to the developer,

Refer to the detailed error code information to troubleshoot

communication exceptions

0x00F00023: Path offser calculation error

Detailed description of the error

Handle advice

Invalid path type

Check whether the path type parameter is correct in the

corresponding script

EtherCAT communication monitoring issues[0xA0]#

0x00A00001: Communication error

Detailed description of the error

Handle advice

code:0x13xxxxxx(busdevice error id)

-0xxxxxxxxx(acontis error id)

Record the BusDevice error ID and the ACONTIS error ID, Restart the control

cabinet,and contact developer if the problem cannot be eliminated

Safety function monitoring issues[0xA1]#

0x00A10000: Unknown joint movement detected during robot power off status

Detailed description of the error

Handle advice

Please verify current joint position accuracy

Confirm whether the displayed position on the robot teach pendant model

matches the real robot position, and continue to operate the robot after

confirming that it is correct according to the prompts.

If it does not match,it will be Power off, stop using and contact developer

0x00A10001: Safety function violation detected

Detailed description of the error

Handle advice

Safety Error Description - 0x******** (Safety Error Code)

For more information, please refer to the safety function error code,

In view of the frequent speed safety problems, priority is given to

safety monitoring errors due to speed fluctuations caused by robot

vibrations, Try using the vibration control function as long as the site

conditions allow

0x00A10002:

Detailed description of the error

Handle advice

0x00A10003: Safety soft protection triggered

Detailed description of the error

Handle advice

Stop x triggered - protection message

Check the trigger cause of the safety input, see safety function error

code for details. If it is not a safety input trigger reason,In view of

the frequent speed safety problems, priority is given to safety monitoring

errors due to speed fluctuations caused by robot vibrations,Try using the

vibration control function as long as the site conditions allow

0x00A10004: Collision detection triggered

Detailed description of the error

Handle advice

Safety collision reaction triggered - Joint *

/ Robot tool / Robot base encountered

a collision

1.Check whether the robot collides with the outside world, Check whether

the tools, dresspack and other factors have an impact on the normal operation

of the robot, etc.;

2.Check whether the load mass and centroid parameters of setting are quite

different from the actual working conditions;

3.Check whether there is a large deviation between the installation direction

setting and the actual installation direction of the robot;

4.Check whether the brake is out of order.

0x00A10005: Safety function parameters invalid

Detailed description of the error

Handle advice

Safety function parameters need to be updated

Re-execute the process of configuring safety parameters

0x00A10006: 3-position enable button loosen

Detailed description of the error

Handle advice

Stop 2 triggered - 3-position enable button

need to be triggered to continue the operation

Check whether the external three-position enable input is

configured in the safety parameters,and if so,check whether

the three-position enable is pressed normally

0x00A10007: Need to carry out brake test

Detailed description of the error

Handle advice

Joint error monitoring issues[0xA2]#

0x00A20100: Axis 1 status abnormal

Detailed description of the error

Handle advice

Axis 1 error detected, code:0x13xxxxxx(BusDevice error ID)

-0xxxxxxxxx(Servo error ID)

For more information, see Servo Error Codes

0x00A20200: Axis 2 status abnormal

Detailed description of the error

Handle advice

Axis 2 error detected, code:0x13xxxxxx(BusDevice error ID)

-0xxxxxxxxx(Servo error ID)

For more information, see Servo Error Codes

0x00A20300: Axis 3 status abnormal

Detailed description of the error

Handle advice

Axis 3 error detected, code:0x13xxxxxx(BusDevice error ID)

-0xxxxxxxxx(Servo error ID)

For more information, see Servo Error Codes

0x00A20200: Axis 4 status abnormal

Detailed description of the error

Handle advice

Axis 4 error detected, code:0x13xxxxxx(BusDevice error ID)

-0xxxxxxxxx(Servo error ID)

For more information, see Servo Error Codes

0x00A20200: Axis 5 status abnormal

Detailed description of the error

Handle advice

Axis 5 error detected, code:0x13xxxxxx(BusDevice error ID)

-0xxxxxxxxx(Servo error ID)

For more information, see Servo Error Codes

0x00A20200: Axis 6 status abnormal

Detailed description of the error

Handle advice

Axis 6 error detected, code:0x13xxxxxx(BusDevice error ID)

-0xxxxxxxxx(Servo error ID)

For more information, see Servo Error Codes

Serial port data monitoring issues[0xA3]#

0x00A30001: Port parameters read error

Detailed description of the error

Handle advice

Cannot read serial port existing parameters

Check the serial communication line inside the control cabinet

0x00A30002: Set port parameters error

Detailed description of the error

Handle advice

Cannot set serial port parameters

Check the serial communication line inside the control cabinet

0x00A30101: Serial port open failed

Detailed description of the error

Handle advice

Serial port of power control board open failed

Check the serial communication cable of the power management

board inside the control cabinet

0x00A30102: Abnormal communication detected

Detailed description of the error

Handle advice

Failed to send power control message/ power off message …..

Check the serial communication cable of the power

management board inside the control cabinet

0x00A30103: Abnormal communication detected

Detailed description of the error

Handle advice

Cannot receive the message from power control board

Check the serial communication cable of the power management

board inside the control cabinet

0x00A30104: Power control board error

Detailed description of the error

Handle advice

Precharge resistor is overheated, please restart

Let it sit for a while after shutting down

0x00A30105: Power control board error

Detailed description of the error

Handle advice

Temperature of Power control board is too high, please restart

Let it sit for a while after shutting down

0x00A30106: Abnormal communication detected

Detailed description of the error

Handle advice

Failed to send restart message

Check the serial communication cable of the power management

board inside the control cabinet

0x00A30201: Serial port open failed

Detailed description of the error

Handle advice

Serial port of teach pendant open failed

Check the teach pendant wiring in the inside of the control cabinet

0x00A30202: Manual movement is not allowed

Detailed description of the error

Handle advice

Teach pendent button disabled, robot need to be enabled

Start the teach pendant button

Websocket interface[0xB0]#

0x00B00001:

Detailed description of the error

handle advice

TCP/IP interface[0xB1]#

RPC interface[0xB2]#

Profinet interface[0xB3]#

Compilation issues[0xC0-0xC1]#

0x00C00000: compiler error

Detailed description of the error

handle advice

See error description

Check the program logic

0x00C10001: Task Parameter mismatch

Detailed description of the error

handle advice

task_name

Confirm the Parameter correctness of task

Servo Error Code#

Fault Detail

Fault Cause

Troubleshooting Method or Solution

Comp atibility error

(#99)C ompati bility Err

The driver firmware version is too low.

The firmware versions of CPU1 and CPU2 are incompatible.

Suggestion: Upgrade the firmware versions of drives CPU1 and CPU2 to the latest version.

Bus und ervoltage

w0 Under_ voltag e_soft

(0000 0001)

Failure of the power supply itself

Check whether the power output is proper.

Insufficient power supply

Check whether only one power supply is connected to the large-load control cabinet.

Excessive speed or load (often accompanied by 20 hardware failures or 8000 current loop saturation failures)

Check for excessive load and track speed.

Driver device falling off

Driver device welding error

Exclude the above problems and try to replace the drive.

Bus ov ervoltage

w 1Over_ voltag e_soft

(0000 0002)

Power supply voltage fault

Check whether the power supply voltage is within the operating range

The brake board is not connected.

Check whether the brake board is connected

The hardware circuit of the overvoltage protection part is wrong.

The driver device falls off or is welded incorrectly.

Exclude the above problems and replace the drive.

Overspeed

w3Over _Speed

(0000 0008)

The ABS encoder is abnormal or the INC encoder is faulty

Refer to Section 5.5 to check the corresponding sensor and harness according to ABS and INC error messages.

Driver te mperature sensor fault

w4IGB TTemp_ sensor _error

(0000 0010)

Thermistor missing or welding error.

Replace the drive.

Hardware

ove rcurrent/ unde rvoltage/ ov ervoltage

w5Ha rdware _error

(0000 0020)

The UVW is loose or in poor contact.

If the current waveform sometimes changes to 0, check whether the UVW cable is secure.

The INC connection sequence is reversed or the pulse is lost.

Check whether the INC connection is correct, whether the code disk is scratched, and whether the installation is qualified; Refer to Section 5.5 to search for INC code loss.

If 1 undervoltage or 8000 current ring saturation fault occurs at the same time during operation, the possible cause is that the bus voltage drops abnormally

The oscilloscope observes whether the bus voltage is normal

Incorrect parameters lead to current oscillation and overcurrent

Confirm the servo parameters.

After the upper computer detects the collision, the back-up acceleration instruction is too large. Excessive user trajectory acceleration and speed;

Check the 1og file for collision detection at the same time. Check the parameter settings of user trajectories.

The power supply is insufficient, and there is a problem with the current sharing module (for example, all joints of the whole arm report the fault at the same time)

Replace the power supply or current balancing module.

The driver board hardware faulty

If the preceding information is normal, replace the drive.

ABS encoder is abnormal.

Refer to Section 5.5 to query the ABS status.

Position error out of limit

w6Pos i_Erro r_Over

(0000 0040)

The three-phase line sequence of the motor itself is reversed.

Check whether the three-phase cable sequence of the motor is reversed.

UVW tightening force is too strong, resulting in the fracture of the three-phase cable.

Check whether the three-phase cable of the motor is broken.

The INC wiring harness is reversed. The reading head code disk installation gap is problematic. The radial installation distance is problematic. The code disk is contaminated.

Check INC encoders one by one (harness sequence, code disk, mounting distance, reading head).

Driver board o verheated

w7I GBT_Ov ertemp

(0000 0080)

The ambient temperature is too high or the thermistor is damaged.

Stop running for a period of time. After the temperature drops, power on the driver and check whether the ambient temperature exceeds the threshold. If no, the ambient temperature exceeds the threshold

Self-test failure

w8Se lfTest

(0000 0100)

The power-on self-test of the driver board failed.

Power off and restart. If the error is still reported, contact R & D.

Ethernet comm unication overtime

w9 No_Mot ionCMD

(0000 0200)

The ECAT network cable or connector terminal is damaged (for example, the buckle is damaged).

Try to change the cable; Attempt to change the drive.

If the communication is broken, the communication recovers by itself after cooling for a while: the power chip overtemperature causes the DSP to reset.

Check whether the ambient temperature is too high.

The communication is completely disconnected and can be restored after being powered on again: the communication module is overheated.

Check whether the ambient temperature is too high.

U-phase current sensor fault

w10Cur rentu_ sensor _error

(0000 0400)

H ardware-related fault

Replace the drive.

Invalid ABS encoder data

w 11ABS_ data_i nvalid

(0000 0800)

H ardware-related fault

Refer to Section 5.5 and check the wiring harness and encoder according to the ABS error message; If nothing goes wrong, replace the drive.

Bus voltage sensor fault

w12Vo ltage_ sensor _error

(0000 1000)

The bus voltage sensing chip is not welded, welded incorrectly or damaged.

Replace the drive.

Abnormal ABS encoder c onnection

w 13ABS_ lost_c onnect

(0000 2000)

ABS encoder harness contact is poor.

Replace the ABS harness.

The driver board connector is damaged or in poor contact

Replace the drive board.

Current sampling module fault

w 14Curr _samp_ module _error

(0000 4000)

H ardware-related fault

Replace the drive.

Current loop s aturation fault

w 15Satu ration

(0000 8000)

The current sharing module of the power cabinet is not connected, and the voltage drops due to insufficient power under high speed and acceleration conditions.

Check whether only one power module is connected to the large-load cabinet.

A phase of the motor is broken.

Check whether the three-phase cable of the motor is tight.

Instruction acc eleration/speed is too high.

Check user trajectory parameter settings.

The MOSFET is damaged or the current sampling chip is removed.

Replace the drive.

Hardware version error

w16Har dwareV ersion

(0001 0000)

The hardware version number is not written or is incorrectly written.

Return to incoming material inspection station for processing

Motor overte mperature

w18M otorOv erHeat

(0004 0000)

The electromagnet did not bounce off.

Check whether the electromagnet bounces off.

Command spe ed/acceleration is too large.

Check the user trajectory.

INC failure; Motor three-phase line sequence reverse; Parameter file error.

Check INC code loss with reference to Section 5.5, check the motor three-phase line sequence, and confirm the parameter file.

main control chip overheat

w20 DSP_Ov erTemp

(0010 0000)

DSP overtemperature

Ambient temperature is too high.

Double encoder ca libration error

w21Enc oderHa llCros sCheck

(0020 0000)

Incorrect reduction ratio setting of joint reducer, ABS or INC-related failure

Reconfigure the joint deceleration ratio or check the deceleration model number, refer to Section 5.5 to troubleshoot the encoder problem and further target.

ABS encoder CRC check error

w22A BS_CRC _error

(0040 0000)

The ABS read head model is not matched, or the signal is interfered, or the servo parameters are incorrect

Replace the wiring harness, ensure that the reading head is correct, and confirm the servo parameters.

Near invalid ABS encoder data

w 24ABS_ data_w arning

(0100 0000)

Hardware related

Refer to Section 5.5 to identify the root cause.

INC encoder pulse loss

w25INC _error

(0200 0000)

The INC code disk is contaminated.

Wipe the code tray if it is contaminated.

There is a problem with INC installation.

Use INC special detector test, if the same error, adjust the reading head axial/radial position, adjust the assembly of the code disc, adjust the gap between the reading head and the code disc.

Loose connector

The connector is glued and fixed.

Driver hardware circuit error (push-down resistance not removed)

Replace the drive board.

There’s a problem with the harness

Replace the harness.

Driver board fault

Exclude the preceding faults and replace the driver board.

V phase current sensor fault

w27Cur rentv_ sensor _error

(0800 0000)

H ardware-related fault

Replace the drive.

W phase current sensor fault

w28Cur rentw_ sensor _error

(1000 0000)

H ardware-related fault

Replace the drive.

Phase finding failure

w29Ha llLess _Doubl eCheck

(2000 0000)

INC harness sequence is incorrect.

Check that whether the INC harness sequence is correct.

The gap between INC read head and code disk is unqualified.

Test to ensure compliance.

The welded heads on the INC harness are bent causing reading problems.

Replace the unbent harness.

The three-phase UVW line of the motor itself is welded back.

Adjust the UVW to the correct connection to the drive.

Wrong parameter file

Confirm the parameter file.

INC encoder loss Z

w30 INCnoZ

(4000 0000)

INC code disk design problems.

Replace the correct INC code disk.

INC disc radial mounting problem

Reinstall the INC platter and read head, and control the motor radial runout.

Elec tromagnet current overflow

w31 BrakeO verCur

(8000 0000)

Voltage drop due to overtemperature or insufficient power supply

The driver board recovers after power failure for a period of time, indicating that the temperature is the problem.

Check whether the power supply is connected only one way or the user’s command track speed/acceleration is too large.

Description of the Servo Error Message#

When a fault occurs, the controller of the robot arm will automatically query the internal fault word of each axis (provided that the robot arm is not powered off), and the detailed servo error information can be queried by exporting the log information, as shown in Figure 1.

image2

image3 Figure 1 Error information reported on each axis

The message meaning of the error code is as follows:

a) Values 1 to 10 indicate the error axis time. The first 10 hexadecimal numbers related to the INC encoder, whose specific meaning and order are as follows:

1)The pulse number automatically compensated by the firmware;

2)The pulse number increment between the last two Z pulses;

3)The pulse number increment between the first two Z pulses when the maximum code loss occurs;

4)The code corresponding to the last Z-pulse before the fault;

5)~9)The codes corresponding to the last 5 Z pulses (1 circle 0~FFFF);

10)The reference code corresponding to the Z pulse (1 circle 0~FFFF);

b) The values 11 to 15 are hexadecimal numbers. The corresponding meanings are as follows:

11)The maximum code loss value in history (read by the INC encoder) since the last cleaning fault or power-on;

12)ABS fault code;

13)Continuous current loop saturation time (within 100us) before servo fault alarm;

14)The historical fault LOG contains four digits higher information. (Read Section 5.4)

15)The historical fault LOG contains four digits lower information. (Read Section 5.4)

  1. The value 16 is a decimal number with the following meanings:

16)The maximum number of consecutive EtherCAT frames lost since power-on (maximum 4);

Methods for Querying Joint Fault Information#

You can query joint fault information as follows:

  1. INC encoder code loss information query

Taking Axis1 as an example (refer to 11 in Figure 1): The historical maximum code loss since the last cleanup or power-on is explained as follows:

Definition of reading: The historical maximum code loss value since the last fault clearance or last power-on;

Conversion method: Assume that the reading is M (converted decimal), INC coil number L; Then:

The angle corresponding to the code drop (°) = (M/65536) * 360;

The number of encoder pulses corresponding to code loss = (M/65536) * (L*4);

Note: (1) The INC code loss that results in complete loss of encoder pulse due to reading head damage and other reasons cannot be detected. (2) The detailed code loss information can be referred to records 1) ~10).

  1. ABS encoder fault query

Taking Axis1 as an example (refer to Figure 1 12): ABS fault code, meaning all the fault bits that have occurred since power-on, and detailed alarm information and examples are shown in the following figure.

  1. Current loop saturation duration query

Taking Axis1 as an example (refer to 13 in Figure 1): The current loop saturation time (within 100us) that occurs continuously before the servo fault alarm.

  1. Historical fault LOG information query

1) High 4 bits of information: taking Axis1 as an example (refer to 14 in Figure 1);

2) Low 4 bits of information: taking Axis1 as an example (refer to 15 in Figure 1);

3) Combine the high and low information into an 8-digit hexadecimal number. You can view the fault information in the table. The fault information means all the faults (including the masked faults) that have occurred since the last fault clearance or last power-on;

4) Specific examples: read high message 0010 and low message 0020; Combine the high-bit and low-bit information into an 8-digit hexadecimal number 00100020. Check the table for the fault information: Hardware fault and DSP overtemperature.

  1. Historical EtherCAT frame drop information query

Taking Axis1 as an example (refer to 16 in Figure 1): The number of consecutive frames (up to 4) that have been lost since power-on.

image4

Figure 2 ABS error message

Error Message from Safety Controller#

Safety controller main status:

SS_INIT

0

SS_WAIT

2

SS_CONFIG

3

SS_POWER_OFF

4

SS_RUN

5

SS_RECOVERY

6

SS_STOP2

7

SS_STOP1

8

SS_STOP0

9

SS_MODEL

10

SS_REDUCE

12

SS_BOOT

13

SS_FAIL

14

SS_ARM_BOOT

15

Error Code Table Reported by the Safety Controller#

safety_code