23. ERROR MESSAGE LIST
When an error occurs, the program number display on the front of the main unit alternately displays “Er”
and the error number.
Also, you can confirm the time and date the error occurred and the error number from [Error History].
The error number and the error content also appear on the teaching pendant LCD. If the
teaching pendant is not connected, turn OFF the power once and connect the teaching
pendant. When you turn ON the power again, the error and error number appear on the
teaching pendant LCD.
Run Mode Æ MENU Æ [Error History]
Teaching Mode Æ UTILITY Æ [Error History]
Administration Mode Æ [Error History]
In addition, error history can be deleted from Administration Mode Æ [Administration
Settings Mode] Æ [Clear Error History].
When connected to a PC, select [Error History] from the [Robot] pull-down menu in JR
C-Points II. Every error of the connected robot is loaded and displayed.
If the PC is not connected, turn OFF the robot’s power (if the PC is running, also turn OFF
the PC’s power) and after connecting the PC, startup both the robot and the PC and load
the error information.
There are 2 types of errors.
• Run Errors: a situational error which can be restored or an error during Run Mode.
• System Errors: a robot system error or an error caused by something faulty.
However, error number82 (Emergency Stop) is an independent error; not classified as either of the
above.
Message Countermeasure
Enter the number of a registered program.
A Point type error in which a PTP point is succeeded
by a CP passing point.
Check and reenter the point type.
range
The point position itself is out of range or the axes
have gone out of range at a CP arc point, etc. Out of
range means that the tool tip is unable to move in the
range designated by the robot’s move area limit.
Check and reenter teaching positions.
Also, check and reenter the move area limit and TCP
(tool center point) in the tool data.
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