hallo zusammen
hat jemand von euch
FANUC Robotics SYSTEM R-J3iC Controller Error Code
Manual ??
oder wo bekomm ich das her ??
gruß
steffen
FEHLER liste
-
Roth.S -
October 24, 2011 at 3:50 PM -
Thread is Resolved
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Hi, this is for RJ3ib.. but perhaps you can use it:
3. ERROR CODES
3.1 A
3.1.1 ACAL Alarm Code
________________________________________________________________ACAL-000 WARN Fail to run DETECT Motn
Cause: The AccuCal2 Motn failed to run. The AccuCal2 motion cannot be started.
Remedy: Clear all the errors before executing AccuCal2.
________________________________________________________________
ACAL-001 WARN Robot is not ready.
Cause: The robot is not ready. The system cannot issue motion because it is in an error state.
Remedy: Clear all faults, then retry the operation.
________________________________________________________________
ACAL-002 WARN Cannot converge.
Cause: AccuCal2 cannot converge within the set threshold.
Remedy: Perform the following:
Increase the number of iterations allowed.
Increase the convergence threshold setting.
Make sure the TCP has not been changed.
________________________________________________________________
ACAL-003 WARN Contact before search.
Cause: The robot is in contact with the part before starting a search motion.
Remedy: Reteach the starting position.
________________________________________________________________
ACAL-004 WARN No contact detected.
Cause: No contact was made during the AccuCal2 motion.
Remedy: Make sure the sensor and software are installed correctly.
________________________________________________________________
ACAL-005 WARN Undefined program name.
Cause: The AccuCal2 program name was not defined.
Remedy: Select an AccuCal2 teach pendant program before pressing the EXEC key.
________________________________________________________________
ACAL-007 WARN Calibration internal error.
Cause: This is an AccuCal2 internal error.
Remedy: Turn off the controller, and turn it on again to recover. If the problem persistes, reinstall the controller software. Refer to the Software Installation Manual for more information.
________________________________________________________________
ACAL-008 WARN File open error.
Cause: The output file cannot be opened.
Remedy: Check the path, and file name to be sure they are correct.
________________________________________________________________
ACAL-009 WARN No matching Start inst.
Cause: You are trying to execute a CALIB END instruction without a matching CALIB START instruction.
Remedy: Add a CALIB START instruction before the CALIB END.
________________________________________________________________
ACAL-011 WARN Cannot access $MNUFRAME.
Cause: The current $MNUFRAMENUM[] is incorrect and cannot be accessed.
Remedy: Go to the USER FRAME menu to select a valid user frame.
________________________________________________________________
ACAL-012 WARN Cannot access $MNUTOOL.
Cause: Cannot access $MNUTOOL. The current $MNUTOOLNUM[] is incorrect.
Remedy: Display the FRAME menu to select a valid tool frame.
________________________________________________________________
ACAL-013 WARN Backward execution ignored.
Cause: Backward execution were ignored. The AccuCal2 instructions can not be executed backward.
Remedy: The backward execution of the AccuCal2 instructions is ignored. Rewrite the instructions if you do not want this to happen.
________________________________________________________________
ACAL-014 WARN System loading error.
Cause: System loading error. The AccuCal2 is loaded incorrectly.
Remedy: Reload the controller. Refer to the FANUC Robotics Software Installation Manual for more information.
________________________________________________________________
ACAL-015 WARN Not enough data.
Cause: Not enough data exists to compute the frame offset.
Remedy: Add more Detect instructions in the AccuCal2 program.
________________________________________________________________
ACAL-016 STOP No Preplan motion for Detect
Cause: The Detect instruction does not allow pre-plan motion.
Remedy: None.
________________________________________________________________
ACAL-017 WARN Wrong number of searches.
Cause: An incorrect number of searches was performed.
Remedy: Re-teach the AccuCal2 program with an appropriate number of searches. Refer to the application-specific Setup and Operations Manual for information on the number of searches required for each calibration type.
________________________________________________________________
ACAL-018 WARN Nonorthogonal search vector
Cause: The 3 planes method requires three search directions be normal to each other.
Remedy: Re-teach the cell finder program with three search directions that are normal to each other.
________________________________________________________________
ACAL-019 WARN Positions are too close.
Cause: Positions are too close. The taught positions are too close to each other.
Remedy: Re-teach the cell finder program so that the contact positions are at least 10mm apart.
________________________________________________________________
ACAL-020 WARN Invalid Frame number.
Cause: The current frame number setting is invalid.
Remedy: Use the SETUP/FRAME menu to set up the correct frame.
________________________________________________________________
ACAL-021 WARN Large Frame deviation.
Cause: The computed frame offset exceeds the pre-set value.
Remedy: Run the calibration program again to make sure the robot makes solid contacts with the part. Change the XYZ and ORNT change value in the schedule if these numbers are very small.
________________________________________________________________
ACAL-022 WARN Detect without mastering
Cause: An AccuCal2 teach pendant program is running without performing mastering it first.
Remedy: Display the AccuCal2 menu, and master the program first.
________________________________________________________________
ACAL-023 WARN No EXEC at Single Step Mode.
Cause: The robot cannot execute an AccuCal2 program in Single Step Mode.
Remedy: Turn off Single Step before executing the cell finder program.
________________________________________________________________
ACAL-024 WARN Master Update failed.
Cause: A failure occurred while trying to update the master data in a FIND instruction.
Remedy: Re-master the frame search teach pendant program.
________________________________________________________________
ACAL-025 WARN Large frame shift.
Cause: A very large frame shift has occurred.
Remedy: Check the UTOOL and the fixture to make sure that they are properly installed.
________________________________________________________________
ACAL-027 WARN Counts do not match.
Cause: The number of master data and number of run time data does not match each other.
Remedy: Run the finder program again.
________________________________________________________________
ACAL-028 WARN No logged frame data.
Cause: No logged frame data exists and the frame cannot be restored.
Remedy: Select a logged frame.
________________________________________________________________
ACAL-029 WARN Zero offset, No Update.
Cause: No change occurred in the offset frame.
Remedy: Run Cell Finder again to compute a new offset.
________________________________________________________________
ACAL-030 WARN Frame Log is disabled.
Cause: The Frame data log is disabled.
Remedy: Enable the frame log first.
________________________________________________________________
ACAL-031 WARN Cold start to set $USEUFRAME
Cause: $USEUFRAME is set to FALSE. AccuCal2 reset it to TRUE.
Remedy: TUrn off the controller, the turn it on again to perform a Cold start.
________________________________________________________________
ACAL-032 WARN Invalid motion group.
Cause: The motion group number is invalid.
Remedy: Use only one group in the program and make sure the group is available.
________________________________________________________________
ACAL-033 WARN Other group is running.
Cause: The other program has motion control.
Remedy: Abort the other running program.
________________________________________________________________
ACAL-034 WARN Group mismatched.
Cause: The motion group number is not right.
Remedy: Use only one group in the program, and make sure group is available.
________________________________________________________________
ACAL-035 WARN Press Shift Key.
Cause: The SHIFT key was not pressed.
Remedy: Press the SHIFT key.
________________________________________________________________
ACAL-036 WARN Failed to create TPE program
Cause: The teach pendant program could not be created.
Remedy: Check the following:
Make sure enough memory is available.
Make sure the program is not being edited.
Make sure the program is not write protected.
________________________________________________________________
ACAL-037 WARN TPE Position is not recorded
Cause: The teach pendant position has not been recorded. Make sure the program is not write protected.
Remedy: Unprotect the write protected program.
________________________________________________________________
ACAL-038 WARN TPE Program does not exist.
Cause: The selected teach pendant program was not found and does not exist.
Remedy: Select an existing teach pendant program.
________________________________________________________________
ACAL-039 WARN Move to recorded posn failed
Cause: The robot could not move to the recorded position.
Remedy: Make sure the position is reachable and that another program does not have motion control.
________________________________________________________________
ACAL-040 WARN Invalid Detection TP program
Cause: The detection teach pendant program is not usable.
Remedy: Load a proper detection program.
________________________________________________________________
ACAL-041 WARN Override should be 100%.
Cause: The speed override is not 100%.
Remedy: Before running the program, increase the override to 100%.
________________________________________________________________
ACAL-042 WARN Large orientation change.
Cause: The found orientation is larger than the tolerance allows.
Remedy: Adjust the object so that orientation is smaller. Increase the orientation tolerance.
________________________________________________________________
ACAL-043 WARN Points & solution mismatch.
Cause: The number of search points does not match the selected solution type.
Remedy: Select a different solution type, or adjust number of detect statements.
________________________________________________________________
ACAL-044 WARN Solution type error.
Cause: An unsupported solution type error was selected.
Remedy: Choose a different solution type.
________________________________________________________________
ACAL-045 WARN Failed to set register.
Cause: The specified register was not set.
Remedy: Make sure the specified register exists.
________________________________________________________________
ACAL-046 WARN Failed to convert position.
Cause: The position failed to convert. The internal position was not set.
Remedy: Make sure the points are taught in the proper sequence and are not near limits.
________________________________________________________________
ACAL-047 WARN Too many points used.
Cause: Too many points are used.
Remedy: Reduce the number of detect points.
________________________________________________________________
ACAL-048 WARN Solution failed.
Cause: The solution failed to complete.
Remedy: Make sure the correct number of points are taught in the correct directions and orientation.
________________________________________________________________
ACAL-049 WARN Motion limit error.
Cause: This is a motion limit error. The detect motion failed due to a limit error for the destination position.
Remedy: Move the robot away from the joint limit, or reduce the search distance in the detection schedule.
________________________________________________________________
ACAL-050 WARN TCP Cal is not loaded.
Cause: TCP Cal is not loaded.
Remedy: Try to run the TCP Calibration instruction without the TCP Cal software. Perform a Controlled start, and load the TCP Cal software from the option menu.
________________________________________________________________
ACAL-051 WARN Cell Cal is not loaded.
Cause: Cell Cal is not loaded.
Remedy: Try to run the Cell Calibration instruction without the Cell Cal software. Perform a Controlled start, and load the Cell Cal software from the option menu.
________________________________________________________________
ACAL-052 WARN Robot Cal is not loaded.
Cause: Robot Cal is not loaded. The robot tried to run the robot Calibration instruction without the Robot Cal software.
Remedy: Perform a Controlled start, and load the Robot Cal software from the OPTION menu.
________________________________________________________________
ACAL-053 WARN No calibration software.
Cause: No calibration software. The robot tried to run a detect instruction without Calibration software.
Remedy: Perform a Controlled start, and load one of the Calibration software options from the OPTION menu.
________________________________________________________________
ACAL-054 WARN Invalid Calibration program.
Cause: Invalid Calibration program. The calibration program type does not match the calibration menu.
Remedy: Check the teach pendant program’s calibration start instruction so it matches the calibration menu.
________________________________________________________________
ACAL-055 WARN Too Many Parallel Searches.
Cause: Too Many Parallel Searches have occurred. More than three parallel searches occurred when the total number of searches is less than 7.
Remedy: Teach more searches, or change the excess parallel searches to be in a different direction.
________________________________________________________________
ACAL-057 WARN Large Calibration Error
Cause: Residual maximum calibration has exceeded the limit allowed by the specified schedule.
Remedy: Verify solid tooling and good contact is made during all searches. Increase the limit in the schedule.
________________________________________________________________
ACAL-058 WARN UFRAME Change Not Allowed
Cause: The UFRAME was changed during UTOOL calibration and this is not allowed.
Remedy: Use the same UFRAME for all points during the initial UTOOL calib.
________________________________________________________________
ACAL-059 WARN All Positions Not Recorded
Cause: All required positions are not recorded.
Remedy: Record all necessary positions, and retry the operation.
________________________________________________________________
ACAL-060 WARN Excessive Accumulated offset
Cause: The accumulated offset exceeds the tolerance specified in the schedule.
Remedy: Repair the tool so that the TCP is closer to the reference TCP, or increase Accumulated Error Threshold in the tool calibration schedule.
3.1.2 AG Alarm Code
________________________________________________________________AG-001 WARN No global variables
Cause: Attach group global variables are not loaded.
Remedy: Perform a controlled start and initialize motion softparts.
________________________________________________________________
AG-002 STOP Joint motion not allow
Cause: No joint motion allow with attach group option
Remedy: Change motype to Linear or Circular
________________________________________________________________
AG-003 STOP Wrist Joint motion not allow
Cause: No wrist joint motion allow with attach group option
Remedy: Remove wrist joint instruction
________________________________________________________________
AG-004 STOP UFRAME must be zero
Cause: Uframe number is not set to zero
Remedy: Set current uframe number to zero
3.1.3 APSH Alarm Code
________________________________________________________________APSH-000 WARN %s
Cause: General status messages.
Remedy: N/A
________________________________________________________________
APSH-001 WARN %s missing
Cause: A MACRO was called without a parameter that must be entered.
Remedy: Check the MACRO call in the TP program.
________________________________________________________________
APSH-002 WARN %s Illegal type
Cause: A MACRO was called with a parameter that is illegal. The parameter has the wrong data type.
Remedy: Check the MACRO call in the TP program.
________________________________________________________________
APSH-003 WARN %s Illegal zone number
Cause: An zone number less that 1 or greater than $IZONEIO.$NO_ZONES was used.
Remedy: Use an event number from 1 to $IZONEIO.$NO_ZONES.
________________________________________________________________
APSH-004 WARN Waiting for interf. zone %s
Cause: The robot has requested an interferance zone, but has not been given permission to enter by the cell controller.
Remedy: If the cell controller does not give control of an interferance zone to the robot when it should, check the cell controller’s interferance zone programming.
________________________________________________________________
APSH-005 WARN Entering interf. zone %s
Cause: The robot has received permission to enter the interferance zone.
Remedy: Used to clear the waiting for interferance zone message only.
________________________________________________________________
APSH-006 WARN PERM memory is low
Cause: This warning indictates that the amount of free memory in the CMOS memory partition has gotten dangerously low. If the PERM memory runs out, you will experience strange MEMO errors and possibly robot lock-ups or register dumps.
Remedy: Warning only. Delete any unneeded data. Contact your FANUC representative with this error. You will probably have to adjust the memory configuration in your robot controller.
________________________________________________________________
APSH-007 WARN TEMP DRAM memory is low
Cause: This warning indicates that the amount of free memory in the TEMP memory partition has gotten dangerously low. If the TEMP memory runs out, you will experience strange MEMO errors and possibly robot lock-ups or register dumps.
Remedy: Warning only. Delete any unneeded data. Contact your FANUC representative with this error. You will probably have to adjust the memory configuration in your robot controller.
________________________________________________________________
APSH-008 WARN FAULT must be reset
Cause: A fault has ocurred, so the operation requested cannot be performed.
Remedy: Clear the source of the fault, and press FAULT RESET.
________________________________________________________________
APSH-009 WARN Program already running
Cause: The shell detected a start signal but a program is already running.
Remedy: Re-issue start request when current program is paused or aborted.
________________________________________________________________
APSH-010 WARN %s aborted
Cause: A UOP CYCLE START or DI[Initiate Style] was detected when a non-production (i.e. test cycle) program was paused. This paused program was aborted for safety reasons.
Remedy: None is required. The next production start signal will start the current style.
________________________________________________________________
APSH-012 WARN REMOTE switch must be on LOCAL
Cause: The robot’s REMOTE condition is TRUE, so the remote operating device (PLC) currently has motion control over the robot.
Remedy: Disable the REMOTE condition by turning the REMOTE keyswitch on the SOP to LOCAL.
________________________________________________________________
APSH-013 WARN Place robot into REMOTE state
Cause: The REMOTE condition is currently false, so the robot is not under the control of the remote operating device (PLC).
Remedy: Verify that the following conditions are true in order to put the robot into the REMOTE condition: 1. UOP inputs #1 (IMSTP), #3 (SFTYSPD), and #8 (ENBL) are all HIGH. 2. SOP REMOTE/LOCAL keyswitch is set to REMOTE. 3. Teach pendant is disabled. 4. Robot Auto/Bypass mode input is HIGH (if so assigned). 5. Make sure a user program is not setting $RMT_MASTER = 1
________________________________________________________________
APSH-014 WARN RESET Failure
Cause: There is an active fault, which prevents the reset request from executing
Remedy: Clear the source of the fault (usually en external E-Stop) and press FAULT RESET.
________________________________________________________________
APSH-015 WARN Step mode must be disabled
Cause: Step mode is enabled, which prevents the run request from executing
Remedy: Disable step mode by pressing the STEP hardkey.
________________________________________________________________
APSH-016 WARN Robot is not under PLC control
Cause: The UOP is not the master device, which prevents the run request from executing
Remedy: Turn SOP REMOTE/LOCAL keyswitch to REMOTE. Make sure all UOP signals are correct for execution. Set $RMT_MASTER to 0.
________________________________________________________________
APSH-017 WARN Running with process disabled
Cause: This is a warning to notify the user that a production job is running with the sealant disabled.
Remedy: None needed.
________________________________________________________________
APSH-018 WARN WARNING - Machine lock is on
Cause: This is a warning to notify the user that a production job is running with machine lock on.
Remedy: None needed.
________________________________________________________________
APSH-019 WARN Job queue is full
Cause: The job queue cannot accept the next job because it is full.
Remedy: Manually edit the job queue to delete any unneeded jobs or increase queue size.
________________________________________________________________
APSH-020 WARN Job queue is empty
Cause: A request to run the next job in the queue came in, but the queue is empty.
Remedy: Check the external device to make sure that a job number was correctly sent to the controller, or manually edit the job queue to CREATE a job.
________________________________________________________________
APSH-021 WARN Raise UOP ENBL input
Cause: Robot motion and/or program execution cannot occur unless UOP input 8 is ON.
Remedy: Check UOP I/O setup. UOP input 8 (ENBL) must be ON.
________________________________________________________________
APSH-022 WARN Safety fence is open
Cause: The safety fence input is LOW.
Remedy: The safety fence input must be ON to resume normal robot operation. Raise the safety fence input.
________________________________________________________________
APSH-024 WARN Program %s not loaded
Cause: The program name that the shell was requested to run is not loaded on the controller.
Remedy: Check PLC->Robot style communication. Verify that specified JOB name was requested by PLC. Load or create the specified JOB program.
________________________________________________________________
APSH-025 WARN WARNING - Running at < 100%%
Cause: This is a warning to notify the user that a production job is running at less than 100% speed. override.
Remedy: None needed. Dispensetool can increase the override speed to 100% if you require it. Go to the Cell Setup menu to access this option.
________________________________________________________________
APSH-027 WARN Press FAULT RESET button
Cause: In order to resume normal production operation, Dispensetool requires that you perform this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal operation.
________________________________________________________________
APSH-028 WARN Increasing speed to 100%%
Cause: This is a warning to notify the user that Dispensetool in increasing the genoverride (speed override) to 100%.
Remedy: None needed. To disable this feature, you may change this option on the Cell Setup menu.
________________________________________________________________
APSH-029 WARN Robot must be at home
Cause: The robot must be at the HOME position in order to perform the requested operation. This error is usually posted when the PLC sends a cycle start and the robot is not at home.
Remedy: Move the robot to the home position.
________________________________________________________________
APSH-030 WARN Style code %s is invalid
Cause: The GIN[style_in] is set to an invalid number.
Remedy: Check the GIN[style_in] value as well as the Group input configuration.
________________________________________________________________
APSH-031 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Check the GIN[style_in] value as well as the Group input configuration.
________________________________________________________________
APSH-032 WARN Robot Servos Disabled
Cause: Dispensetool has detected that the robot servos have been disabled manually.
Remedy: This is a status message to make sure the user is aware that the robot cannot move. The servos must be re-enabled to resume normal production operations.
________________________________________________________________
APSH-033 WARN PLC comm error - timeout
Cause: A communication sequence took too long to complete.
Remedy: Increase communication timeout value in PNS Cell Communication setup menu or disable communication timeout checking.
________________________________________________________________
APSH-034 WARN No UOP output defined
Cause: The User Operator Panel output group has not been defined.
Remedy: Set up the UOP Outputs in the UOP I/O menu and restart the robot controller.
________________________________________________________________
APSH-035 WARN Robot is in Bypass mode
Cause: The MODE input is low, forcing the robot into BYPASS mode. The robot will now ignore all PLC style initiation.
Remedy: Set the MODE switch to ON. The robot will then re-enter AUTOMATIC mode and again accept PLC signals.
________________________________________________________________
APSH-036 WARN User JOB has been paused
Cause: The current JOB has been paused. This often happens if the HOLD input is turned ON or the UOP ENBL signal is set to OFF.
Remedy: If the REMOTE condition is TRUE, the fault recovery menu will appear and give the user the appropriate recovery options. If the REMOTE condition is not TRUE, recovery is up to the user. If all else fails, select FCTN (Function hardkey) then ABORT ALL.
________________________________________________________________
APSH-037 WARN No UOP input defined
Cause: The User Operator Panel input group has not been defined.
Remedy: Set up the UOP Inputs in the UOP I/O menu.
________________________________________________________________
APSH-038 WARN No style input group defined
Cause: The group which carry the style code in to the controller has not been defined.
Remedy: Set up a STYLE SELECT group in the Cell I/O and GROUP I/O input menus and restart the robot.
________________________________________________________________
APSH-039 WARN No style ack strobe defined
Cause: The style acknowlege strobe, which is needed with the current communication configuration, has not been defined.
Remedy: Set up a Style Ack Strobe in the Cell Output I/O menu and restart the robot.
________________________________________________________________
APSH-040 WARN No backup input group defined
Cause: The backup input group, which is needed with the current communication configuration, has not been defined.
Remedy: Set up a Backup Style Select group in the Cell output I/O and GROUP I/O menus and restart the robot.
________________________________________________________________
APSH-041 WARN No style input strobe defined
Cause: The style strobe, which is needed with the current communication configuration (queue enabled), has not been defined.
Remedy: Set up a PNS Strobe in the Cell Input I/O menu and restart the robot.
________________________________________________________________
APSH-042 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Set up a PNS Strobe in the Cell Input I/O menu and restart the robot.
________________________________________________________________
APSH-043 WARN No style ack group defined
Cause: The style acknowlege group, which is needed with the current communication configuration, has not been defined.
Remedy: Set up a Style Ack Group in the Cell output I/O and GROUP I/O menus and restart the robot.
________________________________________________________________
APSH-044 WARN A user program is HELD
Cause: The current job has been held by pressing the HOLD button or setting the UOP HOLD input LOW.
Remedy: Release the HOLD button and raise the UOP HOLD input.
________________________________________________________________
APSH-045 WARN No program setup for style %s
Cause: No program number has been set up for this RSR input.
Remedy: Enter a program number for this RSR input in the RSR Cell Setup menu.
________________________________________________________________
APSH-046 WARN Robot is in Automatic mode
Cause: This is a notice that the robot is leaving BYPASS mode and entering AUTOMATIC mode, where it can respond to PLC inputs
Remedy: None needed.
________________________________________________________________
APSH-047 WARN Shell will not run without UOPs
Cause: This is a warning, telling the user that the UOPs have not yet been set up, so the shell will wait for the UOPs to be defined before resuming.
Remedy: The shell requires the UOPs to run. Once the UOPs have been set up, the shell will continue its initialization sequence.
________________________________________________________________
APSH-048 WARN PLC comm error - invert check
Cause: The backup style group is not the 1’s complement (inverse) of the style input group.
Remedy: Verify that the PLC is sending the correct invert style to the correct group. Disable invert checking in the PNS Cell Setup menu.
________________________________________________________________
APSH-049 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Verify that the PLC is sending the correct invert style to the correct group. Disable invert checking in the PNS Cell Setup menu.
________________________________________________________________
APSH-050 WARN Cell IO setup is invalid
Cause: Signals which are required for this cell IO configuration have not been configured.
Remedy: Check the messages posted previous to the in the error log for the names of the incorrect signals. Fix the IO setup of these signals and cold start the controller.
________________________________________________________________
APSH-051 WARN Connect or deassign UOP inputs
Cause: The robot cannot move while the UOP inputs are in this state.
Remedy: You must either wire UOP inputs #1, #2, #3, and #8 high or deassign the UOP inputs and restart the controller.
________________________________________________________________
APSH-052 WARN Critical UOP inputs are LOW
Cause: UOP inputs #1 (IMSTP), #2 (HOLD), #3(SFTYFNC), #8 (ENBL) are all LOW. These must all be HIGH for normal production operation.
Remedy: See remedy for APSH-051, Connect or deassign UOP inputs.
________________________________________________________________
APSH-054 PAUSE Release SOP E-STOP
Cause: In order to resume normal production operation, Dispensetool requires that you perform this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal operation.
________________________________________________________________
APSH-055 PAUSE Raise UOP IMSTP input
Cause: In order to resume normal production operation, Dispensetool requires that you perform this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal operation.
________________________________________________________________
APSH-056 PAUSE Release SOP E-STOP
Cause: In order to resume normal production operation, Dispensetool requires that you perform this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal operation.
________________________________________________________________
APSH-057 PAUSE Release TP E-STOP
Cause: In order to resume normal production operation, Dispensetool requires that you perform this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal operation.
________________________________________________________________
APSH-058 PAUSE Pause forced by shell
Cause: This error is posted to simulate a PAUSE error.
Remedy: This error is posted by Dispensetool during normal operation, but should not be visible to the user. If you see this error, report it to you FANUC representative.
________________________________________________________________
APSH-059 PAUSE Abort forced by shell
Cause: This error is posted to simulate a ABORT error.
Remedy: This error is posted by Dispensetool during normal operation, but should not be visible to the user. If you see this error, report it to you FANUC representative.
________________________________________________________________
APSH-060 WARN Cycle start ignored-not in AUTO
Cause: This is not a fault. This error is posted when the robot is sent a cycle start from the cell controller, but the robot is either in BYPASS mode (set from Soft Panel menu) or in MANUAL mode, but no manual cycle start has been initiated. Is is also possible that the robot is in the MANUAL mode and a MANUAL CYCLE was requested, but the style sent by the PLC does not match the one specified on the SOFT PANEL.
Remedy: In most cases, this fault can be ignored. This fault was put in to assist in debugging problems with the soft panel in Dispensetool. If you are trying to initiate a MANUAL CYCLE, make sure the MANUAL CYCLE STYLE inputted into the Soft Panel menu is the same as what the PLC is sending.
________________________________________________________________
APSH-061 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: In most cases, this fault can be ignored. This fault was put in to assist in debugging problems with the soft panel in Dispensetool. If you are trying to initiate a MANUAL CYCLE, make sure the MANUAL CYCLE STYLE inputted into the Soft Panel menu is the same as what the PLC is sending.
________________________________________________________________
APSH-062 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: In most cases, this fault can be ignored. This fault was put in to assist in debugging problems with the soft panel in Dispensetool. If you are trying to initiate a MANUAL CYCLE, make sure the MANUAL CYCLE STYLE inputted into the Soft Panel menu is the same as what the PLC is sending.
________________________________________________________________
APSH-063 PAUSE A HOLD input is active
Cause: The current job has been paused by pressing the HOLD button or setting the UOP HOLD input LOW.
Remedy: Release the HOLD button and raise the UOP HOLD input.
________________________________________________________________
APSH-064 PAUSE %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Release the HOLD button and raise the UOP HOLD input.
________________________________________________________________
APSH-065 PAUSE %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Release the HOLD button and raise the UOP HOLD input.
________________________________________________________________
APSH-066 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Release the HOLD button and raise the UOP HOLD input.
________________________________________________________________
APSH-070 PAUSE Failed to continue %s
Cause: The error handler was unable to continue the task named when the user requested that all tasks be continued This is probably due to one of the E-Stops or HOLD buttons being active.
Remedy: Disable all E-Stops and release HOLD buttons. If it is not desired that the task named be continued, abort it.
________________________________________________________________
APSH-071 PAUSE Failed to pause robot task
Cause: A Karel PAUSE_TASK() command failed to pause a task which the error handler believes should be paused.
Remedy: The task which the error handler tried to pause was probably a system utility, and is not allowed to be paused. You can probably ignore this fault without any problems.
________________________________________________________________
APSH-072 PAUSE Failed to abort robot task
Cause: A Karel ABORT_TASK() command failed.
Remedy: Cold start the robot controller, then manually restore production status.
________________________________________________________________
APSH-073 WARN Servos Locked-out, enable servos
Cause: Robot servos are locked out.
Remedy: Enable robot servos.
________________________________________________________________
APSH-074 WARN Disable Teach Pendant
Cause: In order to resume normal production operation, Dispensetool requires that you perform this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal operation.
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APSH-075 WARN Error in accessing TPE:%s
Cause: The following error occured when a the data associated with a TPE program was accessed.
Remedy: Verify that this TPE program exists. Go into the DETAIL pages under the SELECT menu and hit NEXT key until robot allows this mode to END.
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APSH-076 WARN Shell could not run:%s
Cause: The shell tried to execute a program, but was stopped by the operating system.
Remedy: Make sure the program exists and it is not already running or paused. Use the PROGRAM STATUS display to make sure you have not exceeded the maximum number of tasks. Abort all programs which do not need to be running.
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APSH-077 WARN No positions in %s
Cause: This TPE did not contain a position to represent HOME, SERVICE, or PURGE.
Remedy: If you need to use the AT PERCH, AT PURGE, or AT SERVICE outputs, teach the positons you need in the appropriate TPEs. If you do not need these outputs to be updated ignore this warning.
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APSH-078 WARN Shell could not run program
Cause: The shell tried to execute a program, but was stopped by the operating system.
Remedy: Make sure the program exists and it is not already running or paused. Use the PROGRAM STATUS display to make sure you have not exceeded the maximum number of tasks. Abort all programs which do not need to be running.
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APSH-079 WARN No DIN for Auto/Bypass
Cause: No Auto/Bypass input has been defined, but one was expected.
Remedy: Set a Auto/Bypass input in the Cell I/O Input menu and restart the robot.
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APSH-080 WARN Waiting for Cancel/Continue
Cause: The robot is currently waiting for Cancel or continue (Wet or Dry) or a HOME input from the PLC.
Remedy: This is a warning to inform the person at the teach pendant that the PLC has been given exclusive control over how the robot will recover from the current error.
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APSH-081 WARN Waiting for Cancel
Cause: The robot is currently waiting for a cancel input from the PLC. The current JOB has had a fault so severe that it cannt recover and must be aborted or recieve the HOME UOP input
Remedy: This is a warning to inform the person at the teach pendant that the PLC has been given exclusive control over how the robot will recover from the current error.
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APSH-082 WARN No $ERROR_PROG defined
Cause: No $ERROR_PROG has been defined for this JOB. This fault will only appear if the Karel variable [SLERROR]POST_NO_ERRP is set to TRUE (deault = FALSE).
Remedy: Use the TPE ERROR_PROG command, under Program Control, to set up a Error Program for this JOB. This will allow the robot to move out of the work area when an error occurs.
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APSH-083 WARN No $RESUME_PROG defined
Cause: No $RESUME_PROG has been defined for this JOB.
Remedy: Use the TPE RESUME_PROG command, under Program Control, to set up a Resume Program for this JOB. This will allow the JOB to resume the interrupted program.
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APSH-084 WARN WARNING - simulated I/O
Cause: The robot is running a style program with one or more I/O ports simulated. Unexpected motions and actions may occur.
Remedy: Verify that all simulated I/O points should be simulated. Un-simulate all I/O ports which should not be simulated.
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APSH-090 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Verify that all simulated I/O points should be simulated. Un-simulate all I/O ports which should not be simulated.
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APSH-091 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Verify that all simulated I/O points should be simulated. Un-simulate all I/O ports which should not be simulated.
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APSH-092 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-093 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-094 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-095 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-096 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-097 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-098 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-099 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-100 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-110 WARN READ IO parm %s missing
Cause: The READ IO MACRO was called without a parameter that must be entered. READ IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-111 WARN READ IO parm %s is wrong type
Cause: The READ IO MACRO was called with illegal parameters. READ IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-112 WARN signal %s does not exist
Cause: The READ IO MACRO was called but the signal could not be found. READ IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-113 WARN can’t fetch signal type
Cause: The READ IO MACRO was called but the signal could not be found. READ IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-114 WARN can’t fetch signal number
Cause: The READ IO MACRO was called but the signal could not be found. READ IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-115 WARN can’t read signal %s
Cause: The READ IO MACRO was called but the signal could not be found. READ IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-116 WARN Reg %s could not be set
Cause: Register operation failed
Remedy: Check if the register is defined, if it is between 1-64 and if it has the right value. Must ABORT ALL and retry
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APSH-117 WARN Register not defined %s
Cause: This is just a debug message
Remedy: N/A
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APSH-118 WARN WRITE IO parm %s missing
Cause: The WRITE IO MACRO was called without a parameter that must be entered. WRITE IO(signal name string, integer value to write)
Remedy: Check the MACRO call in the TP program.
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APSH-119 WARN WRITE IO parm %s is wrong type
Cause: The WRITE IO MACRO was called with illegal parameters. WRITE IO(signal name string, integer value to write)
Remedy: Check the MACRO call in the TP program.
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APSH-120 WARN signal %s does not exist
Cause: The WRITE IO MACRO was called but the signal could not be found. WRITE IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-121 WARN can’t write signal %s
Cause: The WRITE IO MACRO was called but the signal could not be found. WRITE IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-122 WARN GET IO PORT parm %s missing
Cause: The GET IO MACRO was called without a parameter that must be entered. GET IO(signal name string, integer port number)
Remedy: Check the MACRO call in the TP program.
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APSH-123 WARN GET IO PORT parm %s is wrong type
Cause: The GET IO MACRO was called with illegal parameters. GET IO(signal name string, integer port number)
Remedy: Check the MACRO call in the TP program.
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APSH-124 WARN signal %s does not exist
Cause: The GET IO MACRO was called but the signal could not be found. GET IO(signal name string, integer port number)
Remedy: Check the MACRO call in the TP program.
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APSH-125 WARN Forcing Process Enabled
Cause: It was detected that the Process was DISABLED at the start of this production program. A choice (or setup selection) has indicated that the Process should be FORCED to the enabled state.
Remedy: - Don’t choose to FORCE the process enable. - Change Prog Select-Production Check Process ready setup to NOT Force Condition. - Ensure that Process Enabled input is on at the start of the next production cycle.
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APSH-126 PAUSE %s
Cause: Robot is paused
Remedy: Status message
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APSH-130 WARN Cannot access FR: %s *.DT files
Cause: Error occurred while accessing the FR: device. No .dt files found.
Remedy: .DT files must exist on the FR: device.
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APSH-131 WARN I/O data error: %s
Cause: I/O port defined wrong: Illegal type, Default data is used.
Remedy: .DT file on the FR: device must be corrected.
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APSH-132 WARN Selected Prog %s not loaded
Cause: The program name that the shell was requested to run is not loaded on the controller.
Remedy: Check PLC->Robot style communication. Verify that specified Program name was requested by PLC. Load or create the specified Program program.
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APSH-133 WARN Not in safe starting position
Cause: The robot has been jogged away from the position where the teach pendant was enabled.
Remedy: Move the robot back to the position where the teach pendant was enabled, abort the program, or continue (in linear motion) from position where the robot is currently positioned.
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APSH-141 PAUSE %s
Cause: The robot has been jogged away from the position where the teach pendant was enabled.
Remedy: Move the robot back to the position where the teach pendant was enabled, abort the program, or continue (in linear motion) from position where the robot is currently positioned.
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APSH-142 WARN WARNING - System is in dry run
Cause: This is a warning to notify you that a production job is running with the process disabled.
Remedy: None is required.
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APSH-143 WARN Robot motion is not enabled
Cause: Robot motion and/or program execution cannot occur unless UOP input 8 is ON.
Remedy: Check UOP I/O setup. UOP input 8 must be ON.
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APSH-144 WARN WARNING - Process Complete manually turned on at end of %s
Cause: A ’Force Process Complete’ was performed from the Soft Panel
Remedy: This is just a warning to let the operator know that Process Complete was manually turned on.
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APSH-150 WARN Gun operation is NOSTROKE
Cause: This is a warning to notify you that a production job is running with gun set to NOSTROKE. None is required.
Remedy: N/A
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APSH-151 WARN Weld operation is NOWELD
Cause: This is a warning to notify you that a production job is running with weld set to NOWELD. None is required.
Remedy: N/A
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APSH-152 WARN Robot mode must be AUTO
Cause: The robot must be in full automatic mode with the PLC before production operation can occur.
Remedy: Go to the SOFT PANEL menu and set Robot mode=AUTO.
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APSH-153 WARN Must press SHIFT key too
Cause: The shift key must be pressed when accessing this teach pendant hardkey.
Remedy: Press the shift key.
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APSH-154 WARN Only one gun defined
Cause: Because the system is currently configured for one equipment with a single gun, there is no need to set the equiopment that that GUN and BACKUP hardkeys will operate on; they will always operate on the one gun.
Remedy: None is required
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APSH-155 WARN HOME position not recorded
Cause: The HOME position hasn’t been recorded yet. The HOME position is contained in position register #1.
Remedy: Go to the DATA menu, select Position Reg from the [TYPE] menu. Jog the robot to the HOME position. Record PR[1]. UOP output 7 will be ON when the robot is at the HOME position.
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APSH-156 WARN Specify Home in Ref Pos Menu
Cause: The HOME position hasn’’t been recorded yet. The HOME position is contained in position register #1.
Remedy: Go to the DATA menu, select Position Reg from the [TYPE] menu. Jog the robot to the HOME position. Record PR[1]. UOP output 7 will be ON when the robot is at the HOME position.
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APSH-157 WARN Teach pendant must be enabled
Cause: The teach pendant must be enabled when accessing this teach pendant hardkey.
Remedy: Enable the teach pendant.
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APSH-158 WARN No group output for weld sched
Cause: The group output that contains the weld schedule has not been configured yet.
Remedy: Go to the Weld Intface Output menu, and edit the index of the Weld Schedule I/O point. Make sure the group output has been properly configured from the Group Output menu. You must cold start the controller when changing this index, or redefining the group output.
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APSH-159 WARN Servos are not ready
Cause: The servos are not ready, so operation requested cannot be performed.
Remedy: When resetting a fault, wait for the servos to click on before attempting to execute a program.
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APSH-160 WARN Robot not at POUNCE position
Cause: The robot is not at the POUNCE position, so the operation requested cannot be performed.
Remedy: Re-issue this request when the robot is AT POUNCE.
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APSH-161 WARN No production style is running
Cause: The robot is not currently running a production style, so the operation requested cannot be performed.
Remedy: Re-issue the request when the robot is running a production style.
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APSH-162 WARN No group output for multi-pressure
Cause: The group output that contains the setting for the multi-pressure valving has not been configured yet.
Remedy: Go to the Spot Equipment Intface Output menu, and edit the index of the Valve pressure I/O point. Make sure the group output has been properly configured from the Group Output menu. You must cold start the controller when changing this index, or redefining the group output.
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APSH-163 WARN No motion allowed--gun closed
Cause: No motion can occur because the gun is closed. This prevents the user from jogging or running a program while the gun is closed, and damaging parts and/or tooling.
Remedy: Open the gun.
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APSH-164 WARN Home I/O program %s not loaded
Cause: The HOME I/O program as specified from the Cell Setup menu does not exist and was not run.
Remedy: Go to the Cell Setup menu and either check the name of the HOME I/O macro name menu item. Make sure the file specified exists on the controller. Either create a program by that name or change this menu item to a program that already exists on the controller.
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APSH-165 WARN Invalid Studgun Selection
Cause: There I/O configuration for the proper studwelding gun has not been initialized.
Remedy: Proceed to the Spot Equipment I/O setup screen and configure the digital inputs Gun Present = On/Off, Gun in Nest = On/Off for the 2 stud guns. Proper configuration if gun 1 is on the robot is for Gun 1 (Gun Present = ON, Gun in Nest = OFF and for Gun 2 (Gun Present = OFF, Gun in Nest = ON. Proper configuration if gun 2 is on the robot is for Gun 1 (Gun Present = OFF, Gun in Nest = ON and for Gun 2 (Gun Present = ON, Gun in Nest = OFF.
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APSH-166 WARN Studgun Change Unsuccessful
Cause: The robot was aborted or interrupted during the studgun change sequence.
Remedy: Manually change the stud guns and move the robot to the home position. Press cycle start to run production.
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APSH-167 WARN Move robot home & cycle start
Cause: The stud gun change program was interrupted.
Remedy: To resume production the robot must be manually returned home and cycle start must be pressed to continue.
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APSH-168 WARN No GO for EQP pressure
Cause: The group output that contains the setting for the equalization pressure has not been configured yet.
Remedy: Go to the Spot Equipment Intface Output menu, and edit the i
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hallo biele,
gibts natürlich bei fanuc
frag doch mal den verkäufer deines vertrauens....
