Error ID Additional Items to Check Restoration Methods

Error ID (Hex) Event Level Category Description Likely Cause of Occurrence Precautions/ Restriction/ Additional Explanations Measures to Prevent Re-occurrences Update Log
(Dec) (General User) (General User)

[Additional Explanation] This error is not likely happens,

instead, the system will report error code 0x00000009 To restore the robot from error status:
1. Press the STOP button on the robot stick, 1. Make sure the points used in a Project would
1. Check if the robot is under Singularity
[Additional Explanation] If the settings of MOVE node is out or not lead to any Singularity
Inverse Kinematics Failure, Motion assigned is invalid, mostly
1 0x00000001 Error Motion of specification, such as, moving along X axis by 99999 mm 2. Press the FREE button 2019 W01
Working Range Issue because of over working range 2. Check if the motion assigned in MOVE node is out
2. Make sure the motion (distance, rotation)
of specification
[Additional Explanation] If the motion assigned is sure to be Adjust the motion related nodes in the assigned in move is available
correct but with this error occurs, contact and report to current project
Techman Robot Inc.
To restore the robot from error status:
[Additional Explanation] If the settings of MOVE node is out
1. Press the STOP button on the robot stick, 1. Make sure the points used in a Project would
1. Check if the robot is under Singularity of specification, such as, moving along X axis by 99999 mm
or not lead to any Singularity
Robot Controller Function Library
9 0x00000009 Error System Motion assigned is invalid 2. Press the FREE button 2019 W01
Issue 2. Check if the motion assigned in MOVE node is out [Additional Explanation] If the motion assigned is sure to be
2. Make sure the motion (distance, rotation)
of specification correct but with this error occurs, contact and report to
Adjust the motion related nodes in the assigned in move is available
Techman Robot Inc.
current project
1. Click Stop on the robot stick to restore the
1. 3 points which build a coordinate
error status
frame are on the same line
Make sure that these 3 points which build a
1. Check if the custom base is set properly
Cartesian Space Move Failure [Precaution] Improper custom base or path might lead to 2. Correct the invalid settings coordinate frame were not on the same line or
10 0x0000000A Motion Error 2. Motion path set at the position 2019 W03
From Robot Base Space unexpected risk to safety adjust the flow to let motion path in the
that Robot arm cannot reach. 2. Check if the path used is reachable or not
3. if this problem still occurs, contact a working range and away from the singularity
qualified service engineer for further
3. End point set at the singularity.
analysis with log files
To restore the robot from error status:
[Additional Explanation] This error is not likely happens,
1. Press the STOP button on the robot stick, 1. Make sure the points used in a Project would
1. Check if the robot is under Singularity instead, the system will report error code 0x00000009
or not lead to any Singularity
Inverse Kinematics Failure, Motion assigned is invalid, mostly
18 0x00000012 Error Motion 2. Press the FREE button 2019 W01
Interpolation Points Issue because of singularity 2. Check if the motion assigned in MOVE node may [Additional Explanation] If the motion assigned is sure to be
2. Make sure the motion (distance, rotation)
lead to any singularity correct but with this error occurs, contact and report to
Adjust the motion related nodes in the assigned in move is available
Techman Robot Inc.
current project
1. Check if the current posture or the destination
point is near a singularity point.
The current approaching action Stop Category: 2 1. Avoid postures or motion paths near
requires a huge variation of joint [Additional Explanation] If the robot moves under the To restore the robot from error status: singularities.
Over Range Between the 2. Check if the motion path would likely pass
20 0x00000014 Error Motion angles which is over the ability that circumstances of singularity (both internal and external) with 1. Press the STOP button on the robot stick, 2018 W48
Interpolation Points through an internal singularity point.
the motors can do in a single servo LINE on motion setting, that may easily cause this error. or 2. Decrease speed If you want to keep the
command. 2. Press the FREE button. posture or motion path smooth.
3. Check if the project speed or speed settings of
the points are too fast.

Robot can not be stop at the [Additional Explanations] Since the joint driver can not move To restore the robot from Error Status :
Timeout in Steady State Error in
25 0x00000019 Error Motion assigned point position with Precise to the assigned point position successfully, it would cause this 1. Press STOP button on the robot stick, or 2019 W02
Motion Process.
positioning option is checked. error. 2. Press FREE button.

[Additional Explanations] Robot detects the user input the

invalid values in the By Radius settings which can not be
To restore the robot from Error Status : Before running project, check if there is any
Motion Failure when Moving at Robot detects the LINE motion can Check if the motion is LINE while the blending executed successfully.
26 0x0000001A Error Motion 1. Press STOP button on the robot stick, or motion related nodes set to be LINE while the 2019 W02
Constant Speed not be executed successfully. radius is set to 0
2. Press FREE button. blending radius is set to 0
[Additional Explanation] This could probably happens on
POINT or MOVE node
 1. Check and make sure the TCP speed limit or Joint
speed limit on Settings\Safety Settings\Safety Stop
Criteria is suitable.
1. Avoid postures or motion paths near
2. Check and make sure the TCP speed limit or Joint
singularities.
speed limit on, Settings\Safety [Precaution] This error message would only show in the servo
Stop Category: 2
Settings\Collaborative Setting\More Limit Setting, is log and would be read by system's voice. It will not be
The robot detected an exceeding To restore the robot from error status: 2. Decrease the speed If you want to keep the
Velocity or Angular Velocity Over suitable for Collaborative Mode displayed in an HMI error window.
33 0x00000021 Error Safety Function TCP speed or Joint speed which is 1. Press the STOP button on the robot stick, posture or motion path smooth. 2018 W49
Range
over the limit of the Safety Settings or
3. Make sure the settings of TCP used are correct, [Additional Explanation] If the robot moves under the
2. Press the FREE button. 3. Make sure the speed limit values of the
especially the Pose of TCP. circumstances of singularity (both internal and external) with
Safety Settings are suitable in both
PTP on motion setting, that may easily cause this error.
Manual/Auto Mode and Collaborative Mode.
4. Check if the issued point is PTP on motion setting.

5. Check if the issued point is LINE on motion

setting(ABS).

1. Check if the robot collides with anything.

2. Check and make sure the TCP force limit or

Joint torque on Settings\Safety Settings\Safety Stop
Criteria is suitable. [Precaution] Tool with Mass Center Frame far from the flange
will add heavy external torque onto the robot. Without the
3. Check and make sure the TCP force limit or correct TCP settings (including, TCP pose, Mass, Mass Center
1. Avoid postures or motion paths near
Joint torque on Settings\Safety Frame and Principal Moments of Inertia), the Servo System
singularities.
Settings\Collaborative Setting\More Limit Setting is would likely mistake this for an error.
Stop Category: 2
suitable for Collaborative Mode
The robot detected an exceeding To restore the robot from error status: 2. Decrease the speed If you want to keep the
[Precaution] This error message would only show in the servo
34 0x00000022 Error Safety Function Force or Torque Over Range TCP force or Joint torque which is 1. Press the STOP button on the robot stick, posture or motion path smooth. 2018 W49
4. Make sure the settings of all TCP/Joint torque log and would be read by system's voice. It will not be
over the limit of the Safety Setting or
used are correct including the pose of TCP, Mass, displayed in an HMI error window.
2. Press the FREE button. 3. Make sure the speed limit values of the
Mass Center Frame and Principal Moments of
Safety Settings are suitable in both
Inertia. [Additional Explanation] The result of TCP force is achieved by
Manual/Auto Mode and Collaborative Mode.
calculation. This calculation will be dysfunctional when the
5. Make sure the payload setting is correct on robot passes through a singularity zone, and could mistakenly
every motion related node of the flow, e.g. Point, trigger this error.
Move, Pallet, etc.

6. Make sure there are no sudden pauses/stops in

the project while the robot is moving at high speed.

[Additional Explanation] This error code is not likely happen, 1. Click Stop on the robot stick to restore the
1. Make sure the speed of the current is within
1. Check if the robot has been moving too fast low possibility, since it always trigger either 0x21 or 0x22 at error status
specification
Both Alarm in Error(HEX)21 and TCP speed and force are both over currently the first place
35 0x00000023 Safety Error 2019 W03
Error(HEX)22 limit at the same time. 2. Reduce the payload or the motion speed
2. Make sure the robot would not collide with
2. Check if the robot has collided to anything [Precaution] Assess if it is necessary to drag the robot to a
the surroundings during project run
safer space by safe startup mode 3. Revise the safety criteria
1. Check if the robot collided with anything in
1. Ensure that the robot's posture, location 1. Ensure that the robot's posture, location and
Collaborative Mode.
and motion does not collide with anything motion does not collide with anything.
The robot detected an intense [Precaution] The environment or location of the robot should
36 0x00000024 Warning Hardware Shock Alarm in the Robot 2018 W49
shake. 2. Check the robot stability while the project is be stable.
2. Move or place the robot in a location 2. Move or place the robot in a location where
running.
where it is stable while a project is running it is stable while a project is running.

1. Remove all external devices first

Over Current in the Power Supply I/O Board's current over the spec [Additional Explanations] If the external devices are abnormal Make sure all external device will not consumed
48 0x00000030 Error Hardware 2. After restart the robot, the problem still 2019 W02
24V, I/O Board Alarm range(1.5A). that cause current are too large, it would cause this error. over 1.5A from Control box IO
occurs, contact a qualified service engineer
for further analysis.
 1. Click Stop on the robot stick to restore the
error status
Make sure the safety settings is suitable
Check if the TCP speed is too low on Safety Settings
The TCP speed is too high and over [Additional Explanation] This error is not likely happen, 2. Adjust the TCP setting and the Safety
TCP Speed over the criterion on
51 0x00000033 Safety Error safety setting during any operation usually, other error safety related error code might be Setting Make sure any motion related operation (Hand- 2019 W03
the manual mode Check if the TCP position is too far away from the
in manual mode triggered first guiding, step-run, Controller) moves within the
flange
3. Decrease the setting of the velocity and safety settings
the setting of the angular velocity on the
manual mode.
To restore the robot from Error Status :
[Additional Explanation] If there is any joint's driver
Depend on the error code after this error, find
System has detected an error on component error [Link] world all report this error code but
53 0x00000035 Error Hardware Joint Drivers Alarm Check the other error code come along with it. 1. Depend on the error code after this error, the corresponding error code description in the 2018 W50
joint driver user can check the next error code which along with tis error
find the corresponding error code error code table.
to get the further information.
description in the error code table.
The Joint Numbers of the Robot [Additional Explanation] This often occurs if the robot joint(s)
The Joint number will be different Contact a qualified service engineer for [Agent-only] Make sure EEPROM be updated
59 0x0000003B Error Hardware does not match the Default Check if any Robot Joint has been replaced recently been replaced or fixed but without proper update on 2018 W50
with the joint number in setting further analysis after replacing a Joint module or Power board
Setting EEPROM
1. Check if the robot cable is connected or not 1. Power off the system first
[Restriction] Power off the system and also un-plug the
power cable before opening the control box Before power on the system, you could double
EtherCAT connection failure during 2. If the robot cable is well connected, have a 2. Check and confirm the corresponding
60 0x0000003C Error Hardware This Model is not supported check robot cable is well connected to the 2018 W50
power on qualified service engineer to check if the Ethernet wire/cable is connected properly
[Additional Explanation] This error would only happen during Control Box
cable between Power Control Board and IPC Board
power on, and is shown on the HMI Error Page only.
is connected properly 3. Power on the system
[Additional Explanation] When a robot is equipped with a
power eater board, a short circuit in the power supply or
1. Power eater board malfunction. To restore the robot from error status :
power cable would cause this error.
The robot detected that voltage is 1. Perform the robot restart procedure.
The ESM input power is out of Ensure a secure connection at the power cable
62 0x0000003E Error Hardware over the specified range (43V~45V) 2. Power supply abnormal. 2. If an error still occurs after the restart, 2018 W49
range during PreOp mode. [Additional Explanation] The threshold to trigger the PreOP terminals.
in PreOP mode. please contact a qualified service engineer
error is lower than 40V(Electric motor),power eater board is
3. Robot power cable short-circuited. for additional support.
lower than 36.

After restart the robot, the problem still

Joint ESI does not match the 1. ESI returned unexpected data [Additional Explanations] When Joint ESI does not match the
64 0x00000040 System Error occurs, contact a qualified service engineer 2019 W03
Default Setting. 2. Joint PCB is abnormal default setting, it will report this error
for further analysis with log files
1. EtherCAT related components are
[Additional Explanation] When Joint abnormal response SDO
65 0x00000041 System Error Failed to execute SDO abnormal 2019 W03
command, it will report this error
2. Joint PCB is abnormal
After restart the robot, the problem still
[Additional Explanation] This may happen if quality of the
67 0x00000043 Error System Failed to initialize EtherCAT. TCP/IP stack abnormal. occurs, contact a qualified service engineer Make sure the network is stable 2019 W03
network is unstable
for further analysis with log files
1. EtherCAT related components are After restart the robot, the problem still
Failed to turn into DC SYNC in the [Additional Explanations] When failed to turn into DC SYNC in
68 0x00000044 System Error abnormal occurs, contact a qualified service engineer 2019 W03
EtherCAT Loop the EtherCAT loop, it will report this error
2. Joint PCB is abnormal for further analysis with log files
[Additional Explanation] When robot has power supply or
[Link] sure and regularly check if power cable
power cable short-circuited because of poor contact which
The robot detect the voltage is over After restart the robot, the problem still are connected to the robot are firmed enough.
The 48V power NG on the ESM-OP would cause this error.
72 0x00000048 Error Hardware the spec(48V)range in ESM-OP occurs, contact a qualified service engineer 2019 W01
mode
mode. for further analysis [Link] using robot, make sure the power
[Additional Explanation] The threshold to trigger this error is
supply is robust for robot running.
power board's voltage lower than 48.
After restart the robot, the problem still
Check the power supply is robust for [Additional Explanation] The threshold to trigger this error is Before using robot, make sure the power supply
73 0x00000049 Error Hardware Power supply 48V failure occurs, contact a qualified service engineer 2019 W01
robot running. power board's voltage lower than 48. is robust for robot running.
for further analysis
[Additional Explanation] This usually happens if any EtherCAT
devices is cut off, for example, Ethernet cable is loosen or
1. Shutdown the robot
power-off accidentally
1. Make sure all external EtherCAT devices are
2. Restore the external EtherCAT devices
Check if there is any external EtherCAT devices, and [Precaution] Power-off and unplug the power cable when well connected and functional
The Slave Numbers does not EtherCAT communication has been and then reboot the robot
75 0x0000004B Error Hardware if the Ethernet cable is loosen or if they are power checking inside the control box is necessary 2018 W52
Match the Default Numbers cut off while the robot is on
off accidentally 2. Make sure the robot would not be collided
3. If this still happens, contact a qualified
[Additional Explanation] This may happens if the robot or and be placed on an unstable platform.
service engineer for further analysis
control box has been placed on a unstable platform or having
violent collision.
 1. EEPROM in Power Board is
Failed to Access EEPROM Data in [Additional Explanation] When failed to access EEPROM Data
76 0x0000004C System Error abnormal 2019 W03
the Power Board in the Power Board, it will report this error
2. Power Board is abnormal
1. EtherCAT related components are
[Additional Explanation] When failed to access live data from
77 0x0000004D System Error Failed to Access Live Data abnormal 2019 W03
Joint, it will report this error
2. Joint PCB is abnormal
1. Before powering on the system, you could
[Additional Explanation] If the S/Ns are correctly matched,
1. Confirm and make sure the S/Ns are double check the connection about robot cable,
there would other possibilities, such as:
matched between the robot and the control and a suitable S/N match about robot arm and
System has detected a mismatch of
The S/N of the Joints does not 1. Check if the S/N (Serial Number) of the robot arm box control box
78 0x0000004E Error Hardware S/N between the robot and the 1. The Power Control Board is damaged 2018 W50
match the default setting matches the one on the control box
control box 2. The EEPROM is not updated correctly after replacing the
2. Else, contact a qualified service engineer 2. Service Engineers should follow the correct
Robot Joint or Power Control Board
for further analysis process when replacing the Robot Joints or
Power Control Board
[Precaution] Power-off and unplug the power cable when
checking inside the control box is necessary.

The power control board is not [Additional Explanation] This usually happens if the control Contact a qualified service engineer for Make sure the robot would not be collided and
79 0x0000004F Error System Power Board is Missing 2018 W50
detected during power on box has been placed on a unstable platform or having violent further analysis be placed on an unstable platform.
collision.

[Additional Explanation] This error is less likely happens.

[Additional Explanation] This usually happens if any EtherCAT
devices is cut off, for example, Ethernet cable is loosen or
1. Shutdown the robot
power-off accidentally
1. Make sure all external EtherCAT devices are
2. Restore the external EtherCAT devices
The system could not detect the Check if there is any external EtherCAT devices, and [Precaution] Power-off and unplug the power cable when well connected and functional
and then reboot the robot
80 0x00000050 Error Hardware Power Board Lost Connection power control board, or the if the Ethernet cable is loosen or if they are power checking inside the control box is necessary 2018 W51
EtherCAT communication fails off accidentally 2. Make sure the robot would not be collided
3. If this still happens, contact a qualified
[Additional Explanation] This may happens if the robot or and be placed on an unstable platform.
service engineer for further analysis
control box has been placed on a unstable platform or having
violent collision.

1. Power off the robot and let it cool down

for a while (suggest at least half an hour)
Power board's temperature is too Make sure the environment temperature is
[Additional Explanation] The servo would trigger this error if
81 0x00000051 Error Hardware Power Board Over Heat high because of the environment is within the specification (0~50 ℃) when robot is 2019 W01
the power board's temperature is higher than 80 ℃. 2. Restart the robot, if the problem still
too hot or power board is abnormal. running.
occurs, contact a qualified service engineer
for further analysis.
 If the emergency stop button has been
pressed on the robot stick:
1. Release the e-stop button.
a. The robot mode indicator lights
will blink red.
b. After a few seconds, the robot
mode indicator will blink light blue,
indicating the robot has entered safe start-
up mode.
1. Check that the wire between the robot stick and
the control box is securely connected. 1. Place the robot stick or the external
[Precaution] When the Emergency Stop is triggered, the If an external emergency stop button has
emergency stop button in a location to make
1. Emergency Stop Button on the robot will enter cat.1 stop, which means the power is cut off been pressed:
2. Check if the wire on the extension port(s) for sure it is reachable while not being pressed
Emergency Button Pressed (Robot robot stick has been pressed. after the robot speed has been decreased to zero. If there 1. Release the external e-stop button.
emergency stop is securely connected. accidentally.
82 0x00000052 Information Safety Function performed Cat.1 stop. High speed are any payloads on the TCP, without drive power, the TCP a. The robot mode indicator lights 2018 W48
bus disconnected.) 2. The extension port(s) for will tend to droop a little bit before coming to a complete will blink red.
3. Check if there are any external emergency stop 2. Check if the robot stick cable and the wire
Emergency Stop has been tripped. stop. Please be aware of the tool (payload) colliding with b. After a few seconds, the robot
buttons connected to the e-stop extension ports. If connected to the emergency stop ports are
objects in close proximity. mode indicator will blink light blue,
external e-stops are connected to any extension firmly connected.
indicating the robot has entered safe start-
ports, please ensure that they are released.
up mode.

If an one of the emergency stop ports has

been tripped:
1. Plug the wire back to the port.
2. Press, then release the external
emergency stop button.
a. The robot mode indicator lights
will blink red.
To restore the robot from error status:
[Additional Explanation] Error can be caused when the 1. Avoid setting the ABS speed to fast in point
1. Perform the robot restart procedure.
payload is large, and the ABS speed is very fast. nodes. This is especially important when the
The robot detected that voltage is Ensure that the input power is within the working robot is moving with large payloads.
83 0x00000053 Error Hardware The voltage is out of range. 2. If there are any problems on the 2018 W49
over the specified range. range. [Additional Explanation] A power eater board malfunction,
hardware after the restart procedure, please
power supply abnormality or a short circuited power cable 2. Ensure the power cables are securely
contact a qualified service engineer for
can also be the cause of this error. connected.
additional support.
1. Restart the robot.
[Additional Explanation] 48V Power Supply over current may
1. Avoid and make sure the robot would not
possibly caused by the following reasons:
2. Remove the payload or slow down the collided with the surroundings during running
1. There may have short circuit within the system (power
The Current is still out of range project speed project or carrying.
84 0x00000054 Error Hardware Power supply is abnormal supply, power board, joint) 2019 W01
under current limit constrain.
2. The current project is with payload and speed over
3. If the problem still occur, contact a 2. Prevent to use the robot with high speed and
specification
qualified service engineer for further heavy payload that are out of specification
3. The Joint is abnormal
analysis.
[Additional Explanation] 24V Power Supply over current may 1. Remove all IO connection and restart the
possibly caused by the following reasons: robot. 1. Beware and prevent short circuit on IO
The Current is out of range in the The robot detect the current is over 1. Power board is abnormal connection
85 0x00000055 Error Hardware 2019 W01
24V Power Supply the range from 24V Power Supply. 2. IO is accidentally shorten 2. If the problem still occur, contact a
3. IO is connected with a over spec. load (1.5 A) qualified service engineer for further 2. Not to have over loading on IO power supply
4. etc. analysis.
[Additional Explanation] If the control box is placed on an
unstable platform, it may cause the cables loosen. After restart the robot, the problem still
Robot detects an connection error Make sure the robot would not be collided and
86 0x00000056 Error Hardware I/O Board Lost Connection occur, contact a qualified service engineer 2018 W50
on I/O Board be placed on an unstable platform.
[Precaution] Power off and unplug the power cable before for further analysis
opening the control box for items checking
After restart the robot, the problem still
Motor driver connection is [Precaution] Shutdown the robot before checking the inside Make sure the robot is working on a stable
87 0x00000057 Error Hardware EtherCAT Slaves Lost Connection occurs, contact a qualified service engineer 2019 W03
abnormal of the joint platform
for further analysis with log files
Buzzer Failure in the Robot Stick 1. Stick buzzer is abnormal [Additional Explanation] When system get abnormal return
92 0x0000005C Hardware Error 2019 W03
Key 2. Power Board is abnormal data of stick buzzer, it will report this error
[Additional Explanations] Usually, it requires 1ms to complete After restart the robot, the problem still
93 0x0000005D Error Hardware EtherCAT Loop Lost Connection EtherCAT BUS is lost. a communication cycle, but the last signal delayed for more occurs, contact a qualified service engineer 2019 W03
than 5 ms. for further analysis with log files
 Safety Monitor Board detects some [Additional Explanations] Safety Monitor Board is responsible After restart the robot, the problem still
An alarm occurs in the Safety
94 0x0000005E Error Safety Function hardware or component are for monitoring whether each component has normal occurs, contact a qualified service engineer 2019 W02
Monitor Board
abnormal. communication. for further analysis.

The Motion Command Executed When user press FREE Button and [Additional Explanations] When user press FREE Button and To restore the robot from Error Status :
Check the FREE Button or Controller are both Check and avoid the FREE Button and the
96 0x00000060 Error Software with manual mode at the same using Controller at same time, it using Controller at the same time, it means user send the Stop pressing one of the free button or 2018 W51
pressed by something or someone at the same time Controller are pressed at same time.
time would cause this issue. motion command to robot, it would cause the conflict. controller.
1. Go to Controller\FREEBOT and change
The Pose of the Robot is closer to [Additional Explanation] In Controller\FREEBOT\Custom the setting to "Free all Joints" Make sure the motion of the robot will not
Robot reaches Singularity during Check the FREEBOT settings on Controller, see if
98 0x00000062 Warning Motion the singularity in the manual Setting, if some of the axe or joints are disable, hand-guiding trigger singularity before disable the axes or 2018 W51
Hand-Guiding there are any axes is disable
mode may trigger this error 2. Press the FREE Button to drag the robot joints for Hand-guiding
back from singularity position

[Additional Explanation] This safety function is automatically

1. Press the Stop Button on the robot stick to
activated after every Cat.2 Stop. Encoders of each joint are
disengage the “Funct. Alarm Stop” (which is
monitored continuously to check if there is any unintended
shown on the LCD on the control box”
motion, until the user acknowledges and manually recovers
the robot from Cat.2 Stop status. If there is any unintended
1. Check the log for any Cat. 2 stop codes prior to 2. The LED signals on the robot stick will
motion, this safety function will trigger a Cat.0 Stop, cutting
An unintended motion is detected the current error code. switch from slow blinking red to fast blinking
Encoder standstill function the power supply directly to the robot. Remember there should be no motion before
110 0x0000006E Error Safety Function while the robot is still in Cat. 2 Stop of all 3 LEDs 2018 W48
activated. the protective stop (Cat. 2) is disengaged.
status. 2. Check if a collision occurred or if a joint is
[Precaution] When the Encoder Standstill is triggered, the
jammed 3. Hold the Power Button on the robot stick
robot will enter Cat.0 stop, which means the power is cut off
for a few seconds to shut down the robot.
immediately; If there is any payload on the TCP, without drive
power, the TCP will drop a little before coming to a complete
4. Press the power button on the robot stick
stop. Please be aware that the tool (payload) does not collide
to power on the system again.
with nearby objects.
If this error happens, contact to your agent
Robot detects an unexpected error
112 0x00000070 Error Software Vision Servoing Failure [Additional Explanation] This error should not likely happen. or Techman Robot Inc. with the issued 2018 W50
of vision servoing.
Project file.
1. Set up the initial (view) point of the vision job
properly to make sure the robot would not
enter Singularity
[Additional Explanation] The possibility of robot moves into To restore the robot from Error Status :
singularity depends of the initial (view) point chosen or the 1. Press the STOP button on the robot stick 2. Set up the Moving Range of Servoing
The Pose of the Robot Over the
Robot is too close or at singularity Check if the pose of the robot is too close or at Moving Range settings of Visual Servoing to stop the project. properly to make sure the robot would not
114 0x00000072 Error Software Position or Close to the Singularity 2018 W50
during serving process. singularity during vision serving process. enter Singularity or hit anything of the layout
during Vision Serving Process
[Precaution] Please assess the risk of collision during servoing 2. Press FREE button to remove the robot
during project editing from Singularity. 3. It is suggested to use Fixed Point for object
localization instead of Visual Servoing for non-
open workspace (too narrow for servoing
movement)

1. Press STOP button on the robot stick to

[Additional Explanations] If the continuous point planned by stop the project Make sure the path used would not approaches
144 0x00000090 Error Software Process Line Motion Failure Path execution error on PATH node Check if the path would approaches any singularity 2019 W02
user then execute occur error, it would cause this error any singularity
2. Adjust the path before usage

1. Plug the wire back in to the port.

2. Press (and or release) the external
emergency stop button.
Non-matching result was detected [Additional Explanations] In order to comply with safety a. The robot mode indicator lights
Both emergency stop ports do not Check if the wire on the extension port(s) for Ensure that all wires connected to the
32768 0x00008000 Warning External Device between both channels of the regulations, the emergency button external ports were will blink red. 2018 W49
trigger at the same time. emergency stop is securely fastened. emergency stop ports are securely connected.
emergency stop ports. designed to be simultaneously triggered. b. After a few seconds, the robot
mode indicator will blink light blue,
indicating the robot has entered safe start-
up mode.
 1. Press STOP button on the robot stick to
1. Check if the TCP setting of the current tool is
restore from error status
correct
[Additional Explanation] Momentum is defined as mass (tool
+ payload) x TCP speed 2. Modified the TCP settings or motion
Payload and speed are over 2. Check if the payload setting on each motion node Make sure both payload and speed is within
65281 0x0000FF01 Error Safety Function Momentum exceeds limit settings; or remove the payload first 2019 W02
specification is correct specification
[Additional Explanation] This error is not likely happen if both
payload and speed is within specification 3. Run the project again; if this error still
3. Check if the speed of the current project is too
occurs, contact a qualified service engineer
fast
for further analysis
1. Press STOP button on the robot stick to
1. Check if the TCP setting of the current tool is
restore from error status
correct
1. Current motion of the robot is too
[Additional Explanation] This error does not likely happen 2. Modified the TCP settings or motion
fast 2. Check if the payload setting on each motion node Make sure both payload and speed is within
65282 0x0000FF02 Error Safety Function Power exceeds limit since other error code should be triggered first, such as settings; or remove the payload first 2019 W02
is correct specification
0x00000049, 0x00000053, 0x00000054
2. Hardware issue
3. Run the project again; if this error still
3. Check if the speed of the current project is too
occurs, contact a qualified service engineer
fast
for further analysis

1. Check and make sure the TCP speed limit on

Settings\Safety Settings\Safety Criteria is suitable 1. Avoid postures or motion paths near
singularities.
2. Check and make sure the TCP speed limit on
To restore the robot from Error Status :
The robot detects a TCP speed Settings\Safety Settings\Collaborative Setting\More [Additional Explanation] If the robot moves under the 2. Decrease the speed if you want to keep the
1. Press the STOP button on the robot stick,
65284 0x0000FF04 Error Safety Function TCP speed exceeds limit which exceeds the limit of the safety Limit Setting is suitable for Collaborative Mode circumstances of singularity (both internal and external) with posture or motion path smooth. 2018 W48
or
settings. PTP on motion setting, that may easily cause this error.
2. Press the FREE button.
3. Make sure the settings of TCP used are correct, 3. Make sure the force limit value of the
especially the Pose of TCP. Safety Settings is suitable in both Manual/Auto
Mode and Collaborative Mode.
4. Check if the issued point is PTP on motion setting.

1. Check if the robot will collide with anything.

2. Check and make sure the TCP force limit on

Settings\Safety Settings\Safety Criteria is suitable[Precaution] Tools with a mass center frame far from the
1. Avoid postures or motion paths near
flange will add large external torques onto the robot.
singularities.
3. Check and make sure the TCP force limit on Without the correct TCP settings (including, TCP pose, Mass,
Settings\Safety Settings\Collaborative Setting\More Mass Center Frame, Principal Moments of Inertia), the servo To restore the robot from Error Status :
The robot detects an exceeding TCP 2. Decrease the speed if you want to keep the
Limit Setting is suitable for collaborative mode system would mistake this for an error. 1. Press the STOP button on the robot stick,
65285 0x0000FF05 Error Safety Function TCP force exceeds limit force which is over the limit of the posture or motion path smooth. 2018 W48
or
Safety Setting.
4. Make sure the settings of all TCP used are [Additional Explanation] The result of TCP forces achieved is 2. Press the FREE button.
3. Make sure the force limit value of the
correct, including the pose of TCP, Mass, Mass by calculations. This calculation will be dysfunctional when
Safety Settings is suitable in both Manual/Auto
Center Frame, Principal Moments of Inertia. the robot passes through the singularity zone, and will
Mode and Collaborative Mode.
mistakenly trigger this error.
5. Make sure the payload setting is correct on every
motion related node of the flow, e.g. Point, Move,
Pallet, etc.

1. Check that the safety threshold angle of the axis

is appropriate. To restore the robot from error status:
1. Set the safety threshold to a more suitable
J1 Position exceeds the value in Joint 1 Position exceeds the value of 1. Press the STOP button on the robot stick,
65286 0x0000FF06 Error Safety Function value. 2018 W48
the safety threshold the safety setting threshold. 2. Check that the project flow has not set a position or
2. Revise the project flow.
that the TM robot cannot reach (for example, using 2. Press the FREE button
a TM5 to run TM12 project).
1. Make sure the safety settings are suitable for
1. Check that the safety threshold speed of the axis To restore the robot from error status:
current application
J1 Velocity exceeds the value in Joint 1 Velocity exceeds the value of is appropriate. 1. Press the STOP button on the robot stick,
65287 0x0000FF07 Error Safety Function 2019 W11
the safety threshold the safety setting threshold. or
2. Make sure the motion of the project would
2. Check the line speed setting. 2. Press the FREE button.
be trigger this error
 1. Make sure the payload setting or payload
Joint 1 Torque exceeds the value of used is suitable
1. Check that the payload setting is correct
the safety setting threshold. This To restore the robot from Error Status :
J1 Torque exceeds the value in the maybe caused by: 1. Press the STOP button on the robot stick, 2. Make sure the safety settings are suitable for
65288 0x0000FF08 Error Safety Function 2. Check if there has been a collision 2019 W11
safety threshold 1. Improper payload settings or current application
2. A collision has occurred 2. Press the FREE button.
3. Check whether the first axis brake is abnormal
3. The brake is abnormal 3. Assess the working environment, avoid any
violent collision onto the robot
1. Check that the safety threshold angle of the axis
is appropriate. To restore the robot from error status:
1. Set the safety threshold to a more suitable
J2 Position exceeds the value in Joint 2 Position exceeds the value of 1. Press the STOP button on the robot stick,
65289 0x0000FF09 Error Safety Function value. 2018 W48
the safety threshold the safety setting threshold. 2. Check that the project flow has not set a position or
2. Revise the project flow.
that the TM robot cannot reach (for example, using 2. Press the FREE button
a TM5 to run TM12 project).
1. Make sure the safety settings are suitable for
1. Check that the safety threshold speed of the axis To restore the robot from error status:
current application
J2 Velocity exceeds the value in Joint 2 Velocity exceeds the value of is appropriate. 1. Press the STOP button on the robot stick,
65290 0x0000FF0A Error Safety Function 2018 W48
the safety threshold the safety setting threshold. or
2. Make sure the motion of the project would
2. Check the line speed setting. 2. Press the FREE button.
be trigger this error
1. Make sure the payload setting or payload
Joint 2 Torque exceeds the value of used is suitable
1. Check that the payload setting is correct
the safety setting threshold. This To restore the robot from Error Status :
J2 Torque exceeds the value in the maybe caused by: 1. Press the STOP button on the robot stick, 2. Make sure the safety settings are suitable for
65291 0x0000FF0B Error Safety Function 2. Check if there has been a collision 2018 W48
safety threshold 1. Improper payload settings or current application
2. A collision has occurred 2. Press the FREE button.
3. Check whether the first axis brake is abnormal
3. The brake is abnormal 3. Assess the working environment, avoid any
violent collision onto the robot
1. Check that the safety threshold angle of the axis
is appropriate. To restore the robot from error status:
1. Set the safety threshold to a more suitable
J3 Position exceeds the value in Joint 3 Position exceeds the value of 1. Press the STOP button on the robot stick,
65292 0x0000FF0C Error Safety Function value. 2018 W48
the safety threshold the safety setting threshold. 2. Check that the project flow has not set a position or
2. Revise the project flow.
that the TM robot cannot reach (for example, using 2. Press the FREE button
a TM5 to run TM12 project).
1. Make sure the safety settings are suitable for
1. Check that the safety threshold speed of the axis To restore the robot from error status:
current application
J3 Velocity exceeds the value in Joint 3 Velocity exceeds the value of is appropriate. 1. Press the STOP button on the robot stick,
65293 0x0000FF0D Error Safety Function 2018 W48
the safety threshold the safety setting threshold. or
2. Make sure the motion of the project would
2. Check the line speed setting. 2. Press the FREE button.
be trigger this error
1. Make sure the payload setting or payload
Joint 3 Torque exceeds the value of used is suitable
1. Check that the payload setting is correct
the safety setting threshold. This To restore the robot from Error Status :
J3 Torque exceeds the value in the maybe caused by: 1. Press the STOP button on the robot stick, 2. Make sure the safety settings are suitable for
65294 0x0000FF0E Error Safety Function 2. Check if there has been a collision 2018 W48
safety threshold 1. Improper payload settings or current application
2. A collision has occurred 2. Press the FREE button.
3. Check whether the first axis brake is abnormal
3. The brake is abnormal 3. Assess the working environment, avoid any
violent collision onto the robot
1. Check that the safety threshold angle of the axis
is appropriate. To restore the robot from error status:
1. Set the safety threshold to a more suitable
J4 Position exceeds the value in Joint 4 Position exceeds the value of 1. Press the STOP button on the robot stick,
65295 0x0000FF0F Error Safety Function value. 2018 W48
the safety threshold the safety setting threshold. 2. Check that the project flow has not set a position or
2. Revise the project flow.
that the TM robot cannot reach (for example, using 2. Press the FREE button
a TM5 to run TM12 project).
1. Make sure the safety settings are suitable for
1. Check that the safety threshold speed of the axis To restore the robot from error status:
current application
J4 Velocity exceeds the value in Joint 4 Velocity exceeds the value of is appropriate. 1. Press the STOP button on the robot stick,
65296 0x0000FF10 Error Safety Function 2018 W48
the safety threshold the safety setting threshold. or
2. Make sure the motion of the project would
2. Check the line speed setting. 2. Press the FREE button.
be trigger this error
 1. Make sure the payload setting or payload
Joint 4 Torque exceeds the value of used is suitable
1. Check that the payload setting is correct
the safety setting threshold. This To restore the robot from Error Status :
J4 Torque exceeds the value in the maybe caused by: 1. Press the STOP button on the robot stick, 2. Make sure the safety settings are suitable for
65297 0x0000FF11 Error Safety Function 2. Check if there has been a collision 2018 W48
safety threshold 1. Improper payload settings or current application
2. A collision has occurred 2. Press the FREE button.
3. Check whether the first axis brake is abnormal
3. The brake is abnormal 3. Assess the working environment, avoid any
violent collision onto the robot
1. Check that the safety threshold angle of the axis
is appropriate. To restore the robot from error status:
1. Set the safety threshold to a more suitable
J5 Position exceeds the value in Joint 5 Position exceeds the value of 1. Press the STOP button on the robot stick,
65298 0x0000FF12 Error Safety Function value. 2018 W48
the safety threshold the safety setting threshold. 2. Check that the project flow has not set a position or
2. Revise the project flow.
that the TM robot cannot reach (for example, using 2. Press the FREE button
a TM5 to run TM12 project).
1. Make sure the safety settings are suitable for
1. Check that the safety threshold speed of the axis To restore the robot from error status:
current application
J5 Velocity exceeds the value in Joint 5 Velocity exceeds the value of is appropriate. 1. Press the STOP button on the robot stick,
65299 0x0000FF13 Error Safety Function 2018 W48
the safety threshold the safety setting threshold. or
2. Make sure the motion of the project would
2. Check the line speed setting. 2. Press the FREE button.
be trigger this error
1. Make sure the payload setting or payload
Joint 5 Torque exceeds the value of used is suitable
1. Check that the payload setting is correct
the safety setting threshold. This To restore the robot from Error Status :
J5 Torque exceeds the value in the maybe caused by: 1. Press the STOP button on the robot stick, 2. Make sure the safety settings are suitable for
65300 0x0000FF14 Error Safety Function 2. Check if there has been a collision 2018 W48
safety threshold 1. Improper payload settings or current application
2. A collision has occurred 2. Press the FREE button.
3. Check whether the first axis brake is abnormal
3. The brake is abnormal 3. Assess the working environment, avoid any
violent collision onto the robot
1. Check that the safety threshold angle of the axis
is appropriate. To restore the robot from error status:
1. Set the safety threshold to a more suitable
J6 Position exceeds the value in Joint 6 Position exceeds the value of 1. Press the STOP button on the robot stick,
65301 0x0000FF15 Error Safety Function value. 2018 W48
the safety threshold the safety setting threshold. 2. Check that the project flow has not set a position or
2. Revise the project flow.
that the TM robot cannot reach (for example, using 2. Press the FREE button
a TM5 to run TM12 project).
1. Make sure the safety settings are suitable for
1. Check that the safety threshold speed of the axis To restore the robot from error status:
current application
J6 Velocity exceeds the value in Joint 6 Velocity exceeds the value of is appropriate. 1. Press the STOP button on the robot stick,
65302 0x0000FF16 Error Safety Function 2018 W48
the safety threshold the safety setting threshold. or
2. Make sure the motion of the project would
2. Check the line speed setting. 2. Press the FREE button.
be trigger this error
1. Make sure the payload setting or payload
Joint 6 Torque exceeds the value of used is suitable
1. Check that the payload setting is correct
the safety setting threshold. This To restore the robot from Error Status :
J6 Torque exceeds the value in the maybe caused by: 1. Press the STOP button on the robot stick, 2. Make sure the safety settings are suitable for
65303 0x0000FF17 Error Safety Function 2. Check if there has been a collision 2018 W48
safety threshold 1. Improper payload settings or current application
2. A collision has occurred 2. Press the FREE button.
3. Check whether the first axis brake is abnormal
3. The brake is abnormal 3. Assess the working environment, avoid any
violent collision onto the robot
1. Please press E-stop and release E-stop to
resume Robot to see the issue is still
Current for solenoid is over [Additional Explanation] System will detect the current for
occurred or not.
65312 0x0000FF20 Error Hardware Solenoid current is NG specification during brake release solenoid during brake releasing process, when it find the 2018 W52
process value over specification, it will report this error
2. If this still occurs, contact a qualified
service engineer for further analysis

1. Power off the robot 1. Make sure the payload is within specification
(including the center of mass and inertia)
[Additional Explanation] System will detect the movement
Joint movement range is NG in Joint movement range is over range Check if the payload is too that out of specification, 2. Remove all payload and restart the robot
65313 0x0000FF21 Error Hardware range while brake release process, when the value is over 2018 W52
brake release status during brake release process including the mass, center of mass, inertia, etc. 2. Make sure there is no unexpected force
expected, it will report this error.
3. If this issue still happens, have a qualified acting on the robot during brake release
service engineer for further analysis process
 [Additional Explanation] There maybe a variety of reasons
that cause a low voltage, for example:
1. The power source is not stable on customer-site Shut down the robot, make sure the power
The voltage on DCBUS is too low Robot detect a low voltage on 2. Power supply is abnormal source is stable then power on. If the same Make sure the power source is robust for robot
65440 0x0000FFA0 Error Hardware 2018 W50
(40V) DCBUS. 3. etc. issue still occurs, contact a qualified service running.
engineer for further analysis
[Precaution] Power off and unplug the power cable before
opening the control box for items checking
[Additional Explanation] There maybe a variety of reasons
that cause a high voltage, for example:
1. The robot move too fast with the current project (with 1. Make sure the robot would not be collided
heavy payload) After restart the robot, the problem still and be placed on an unstable platform.
The voltage on DCBUS is too high Robot detect the voltage on DCBUS Check whether there are others error log along with
65441 0x0000FFA1 Error Hardware 2. Power eater modules is abnormal occur, contact a qualified service engineer 2018 W50
(60V) is higher than spec. this error.
3. etc. for further analysis 2. Make sure project speed with payload is
within the specification.
[Precaution] Power off and unplug the power cable before
opening the control box for items checking
1. Make sure the temperature of the working
1. Check if the environment temperature is higher Shut down the robot, and keep it cool for a
[Additional Explanation] The temperature would rise during environment is within the specification.
The temperature on PCB is too Robot detect the temperature on than the spec. while robot moving. while before start up again. If this issue still
65445 0x0000FFA5 Error Hardware robot operating and the work space temperature will affect 2018 W50
high (90 degree Celsius) PCB is higher than spec. occurs, please contact a qualified service
as well. 2. Make sure the payload or the project speed is
2. Check the temperature on View->Status engineer for further analysis
within the specification
[Additional Explanation] If the robot is driven and accelerate
1. Shut down and reboot the robot
1. Check the header of the error code to see which fast, current of the motor will overshoot and trigger this error
1. Make sure the payload (including the tool) is
motor is with this issue
2. Adjust the payload, safety settings, speed within the spec.
[Additional Explanation] This is usually be triggered when
The current in U phase of motor is Robot has detected a overshoot of and see if the issue still happens
65446 0x0000FFA6 Error Hardware 2. Check if the robot is run with payload out of spec. running the robot with a heavy payload with high speed 2018 W51
too high U phase current on the motor 2. Adjust the speed or movement to prevent
and also in high speed which is nearly or already out of spec.
3. If it still happens, export the Logs, Project the risk of having a single joint accelerate too
and TCP used, and contact to your service fast
3. Check if the safety settings of the robot [Additional Explanation] Another reason may be there is
engineer
dysfunction on the electronics on the motors

[Additional Explanation] If the robot is driven and accelerate

1. Shut down and reboot the robot
1. Check the header of the error code to see which fast, current of the motor will overshoot and trigger this error
1. Make sure the payload (including the tool) is
motor is with this issue
2. Adjust the payload, safety settings, speed within the spec.
[Additional Explanation] This is usually be triggered when
The current in V phase of motor is Robot has detected a overshoot of and see if the issue still happens
65447 0x0000FFA7 Error Hardware 2. Check if the robot is run with payload out of spec. running the robot with a heavy payload with high speed 2018 W51
too high V phase current on the motor 2. Adjust the speed or movement to prevent
and also in high speed which is nearly or already out of spec.
3. If it still happens, export the Logs, Project the risk of having a single joint accelerate too
and TCP used, and contact to your service fast
3. Check if the safety settings of the robot [Additional Explanation] Another reason may be there is
engineer
dysfunction on the electronics on the motors

[Additional Explanation] If the robot is driven and accelerate

1. Shut down and reboot the robot
1. Check the header of the error code to see which fast, current of the motor will overshoot and trigger this error
1. Make sure the payload (including the tool) is
motor is with this issue
2. Adjust the payload, safety settings, speed within the spec.
[Additional Explanation] This is usually be triggered when
The current in W phase of motor is Robot has detected a overshoot of and see if the issue still happens
65448 0x0000FFA8 Error Hardware 2. Check if the robot is run with payload out of spec. running the robot with a heavy payload with high speed 2018 W51
too high W phase current on the motor 2. Adjust the speed or movement to prevent
and also in high speed which is nearly or already out of spec.
3. If it still happens, export the Logs, Project the risk of having a single joint accelerate too
and TCP used, and contact to your service fast
3. Check if the safety settings of the robot [Additional Explanation] Another reason may be there is
engineer
dysfunction on the electronics on the motors
 [Additional Explanation] When the robot collides to a solid
object in a high speed, some of the joints may suffer a great 1. Trigger the Emergency Switch (Button)
torque on them and this causes the motor current raise and then shutdown the robot
rapidly and trigger this error
2. Reboot the robot
[Precaution] If the robot is closed to any thing or surface,
using ordinary start-up may cause collision again during the 3. Release the Emergency Switch (Button)
1. Check if there robot has collided to the
joint calibration; therefore, use should use Safe Start-up when the Control Box starts working
surroundings seriously
The protection is on for motor The motor current rises suddenly Mode to restore the robot Make sure the robot will not collide with the
65451 0x0000FFAB Error Hardware 2018 W52
hold and triggers motor hold protection 4. The system will enter Safe Start-up Mode surroundings during project run
2. Check the description of this error code to see
[Precaution] When manually driving the robot in Safe Start- (light blue on LED)
which joint it belongs to
up Mode, there is no drive power but just release the brakes
of all joints, if there is tool or payload on the end-effector, it 5. Press FREE button and drive the robot to a
is suggest to have more than one person to hold the end- safe region or pose
effector.
6. Hold the STOP button of the robot stick
[Precaution] Do not drive the joint manually when this error and switch the system to AUTO mode
occurs, which might damage the joint
[Additional Explanations] If robot is moving in a high speed in
1. The speed(ABS/project speed) is too fast. [General User] After restart the robot, the [Link] down the speed(ABS/project speed).
Robot has detected the current on some movement or pose, it would cause this error.
65454 0x0000FFAE Error Hardware Overcurrent in DCBUS 2. Check whether there is any collision while robot problem still occur, contact a qualified 2018 W51
DCBUS went too high suddenly. And if robot has collisions, it would cause the current became
moving. service engineer for further analysis. 2. Avoid any collision while robot is moving.
abnormal.
[Additional Explanation] System will periodic check the
The communication of EtherCAT is The communication time of Check if any external EtherCAT device used has lost Contact a qualified service engineer for
65455 0x0000FFAF Error System EtherCAT communication, if communication timeout, it will external 2018 W52
timeout EtherCAT is timeout connection further analysis
report this error.
The communication of SPI is The communication time of SPI is [Additional Explanation] It may possibly because the SPI IC is
65457 0x0000FFB1 Error System 2018 W52
timeout timeout dysfunction which is not likely to happen
1. Export the Logs
[Additional Explanation] This error is not likely happens,
65464 0x0000FFB8 Error Hardware Gate Driver NG Hardware Failure 2019 W01
mostly because of hardware issue 2. Contact a qualified service engineer for
further analysis
1. Export the Logs
[Additional Explanation] This error is not likely happens,
65465 0x0000FFB9 Error Hardware Mosfet NG Hardware Failure 2019 W01
mostly because of hardware issue 2. Contact a qualified service engineer for
further analysis
1. Export the Logs
[Restriction] Do not drive the joint with or without drive Make sure the power source is robust for robot
65466 0x0000FFBA Error Hardware Current Sensor NG Hardware Failure 2019 W02
power 2. Contact a qualified service engineer for running.
further analysis
1. Export the log,
Multi Z index happened in [Additional Explanation] This error is not likely happens,
65482 0x0000FFCA Error Hardware Encoder is dysfunctional 2019 W01
encoder output mostly because of hardware issue 2. Contact a qualified service engineer for
further analysis
1. Export the log,
[Additional Explanation] This error is not likely happens,
65484 0x0000FFCC Error Hardware The Z index signal is missing Encoder is dysfunctional 2019 W01
mostly because of hardware issue 2. Contact a qualified service engineer for
further analysis
1. Export the Logs
Make sure the robot would not collided with
[Restriction] Do not drive the joint with or without drive
65485 0x0000FFCD Error Hardware Encoder connection failed Hardware Failure the surroundings during project run or robot 2018 W51
power when this issue happens 2. Contact a qualified service engineer for
shifting
further analysis
1. Export the Logs
The compensation of encoder [Restriction] Do not drive the joint with or without drive
65486 0x0000FFCE Error Hardware Hardware Failure 2019 W02
signal is too high power 2. Contact a qualified service engineer for
further analysis
 [Additional Explanation] When the robot collides to a solid
object in a high speed, some of the joints may suffer a great 1. Trigger the Emergency Switch (Button)
torque on them and this causes the motor current raise and then shutdown the robot
rapidly and trigger this error
2. Reboot the robot
[Precaution] If the robot is closed to any thing or surface,
using ordinary start-up may cause collision again during the 3. Release the Emergency Switch (Button)
1. Check if there robot has collided to the
joint calibration; therefore, use should use Safe Start-up when the Control Box starts working
surroundings seriously
The protection is on for motor The motor current rises suddenly Mode to restore the robot Make sure the robot will not collide with the
65487 0x0000FFCF Error Hardware 2018 W52
hold (type 2) and triggers motor hold protection 4. The system will enter Safe Start-up Mode surroundings during project run
2. Check the description of this error code to see
[Precaution] When manually driving the robot in Safe Start- (light blue on LED)
which joint it belongs to
up Mode, there is no drive power but just release the brakes
of all joints, if there is tool or payload on the end-effector, it 5. Press FREE button and drive the robot to a
is suggest to have more than one person to hold the end- safe region or pose
effector.
6. Hold the STOP button of the robot stick
[Precaution] Do not drive the joint manually when this error and switch the system to AUTO mode
occurs, which might damage the joint
1. Export the Logs

2. Make sure the robot is not under any

strong magnetic field and then reboot the
The data is abnormal when Check if the robot is placed near any device with [Additional Explanation] Under a strong magnetic field may Make sure the robot is not under any strong
65489 0x0000FFD1 Error Hardware Hardware Failure robot 2019 W02
reading magnetic encoder. strong magnetic field affect the readings of the magnetic encoder magnetic field
3. If this still does not work, Contact a
qualified service engineer for further
analysis
1. Export the Logs

2. Make sure the robot is not under any

strong magnetic field and then reboot the
The magnet is NG judged by Check if the robot is placed near any device with [Additional Explanation] Under a strong magnetic field may Make sure the robot is not under any strong
65490 0x0000FFD2 Error Hardware Hardware Failure robot 2019 W02
magnetic encoder strong magnetic field affect the readings of the magnetic encoder magnetic field
3. If this still does not work, Contact a
qualified service engineer for further
analysis

[Link] robot may be disassembled

abnormally. Please check the 1. Export the log file
The origin of joint module is out of [Additional Explanation] When the origin of joint module is
65491 0x0000FFD3 Error Hardware warranty sticker and thread-locking 2019 W02
preset not detected, it will report this error
fluid are both broken or not 2. Contact a qualified service engineer
2. Joint gear wear out

1. Motor is damaged 1. Export the log file

The resistance of UVW of motor is [Additional Explanation] When the resistance of UVW current
65496 0x0000FFD8 Hardware Error 2019 W02
abnormal of motor is abnormal, it will report this error
2. Joint PCB is damaged 2. Contact a qualified service engineer
 [Additional Explanation] The cables connection sequence of 1. Export the log file
The connection sequence of UVW Make sure the robot is not being disassembled
65497 0x0000FFD9 Hardware Error Hardware Failure UVW of motor is not correct. Qualilty issue or the robot may 2019 W02
of motor is not correct illegally
be disassembled abnormally. 2. Contact a qualified service engineer

1. Power supply is not stable.

1. Power off the robot
2. Robot moves in high speed,
current is higher, voltage loss
The voltage of DC bus is low in [Additional Explanation] When robot is working and detects 2. Check Robot Cable and its connector
65504 0x0000FFE0 Hardware Error getting higher.(Vinput-Vloss=V for DC Make sure power source is stable 2019 W02
EtherCAT OP mode the voltage of DC bus is low, it will report this error before power on again
bus)
3. Reduce Robot speed if necessary
3. Power connector problem,
consume too much power
1. Export the log,
The position initialization process
[Additional Explanation] This error is not likely happens,
65508 0x0000FFE4 Error System is timeout ("Z search" is not Encoder is abnormal 2019 W01
mostly because of hardware issue 2. Contact a qualified service engineer for
finished)
further analysis

1. Export the log file

[Additional Explanation] When the output of the G sensor is
65512 0x0000FFE8 Hardware Error The output of g sensor is NG Hardware Failure 2019 W02
abnormal, it will report this error
2. Contact a qualified service engineer

DC to DC component on Join PCB is [Additional Explanation] When detect voltage of 5V is

65514 0x0000FFEA Hardware Error The voltage of 5V is NG 2019 W03
damaged abnormal, it will report this error
DC to DC component on Join PCB is [Additional Explanation] When detect voltage of 12V is
65515 0x0000FFEB Hardware Error The voltage of 12V is NG 2019 W03
damaged abnormal, it will report this error
1. Export the log,
The compensation of encoder [Additional Explanation] This error is not likely happens,
65517 0x0000FFED Error Hardware Encoder is msyfunction 2019 W01
signal is too high in ABS mode mostly because of hardware issue 2. Contact a qualified service engineer for
further analysis
1. Check if there is a camera icon in the vision job
[Precaution] Causes a camera malfunction and VISION
page.
job\task will not be available.
The robot can not detect or Refer to the related service manual for Ensure that all USB cables are securely
131072 0x00020000 Error Hardware Camera NOT found 2. Check whether the USB connection of the 2018 W49
recognize the camera. [Precaution] Importing the project within the vision job to a proper USB plugin methods. connected to the camera and the control box.
camera is broken on the control box or inside the
non-vision robot will also cause this error.
robot arm.
 1. Please refer to the service manual which
[Precaution] Causes a camera malfunction and VISION
related Robot arm which would teach you
job\task will not be available.
how to dismantle and plug the USB cable
properly.
[Precaution] The USB cable's transmission signal would
1. Check the USB connection to the camera and
become weak gradually because of the normal consumption
control box is secure. 2. Please refer to the service manual which Please regularly check if the USB Cable
The connection between camera of wire.
131075 0x00020003 Error Hardware Camera is disconnected related control box which would teach you connected to the camera and control box are all 2018 W49
and robot is unstable.
2. Check if the USB slots are overloaded. how to plug the USB cable properly. fine.
[Additional Explanations] Signal attenuation cause by too
many USB cable plug on the control box.
3. Please check the USB slots are overloaded
Sometimes, if the signal attenuation became worse it will
on the control box and please plug out the
cause the error "0x00020000 Camera NOT found "
USB which is not required.

1. Press STOP button on the robot stick to

restore from error status

2. Connect the corresponding Dongle onto

Dongle key is not detected while Make sure having the corresponding Dongle key
the Control box and run the project again
131077 0x00020005 Warning User Setting Missing Dongle Key: … edit the corresponding function on a Check if the dongle is plugged onto the Control Box plugged before running or editing the project 2019 W02
project or run that project with license functions
3. Run the project again; if this error still
occurs, contact a qualified service engineer
for further analysis

Vision job can not be found during 1. Press STOP button on the robot stick and Make sure the vision job is exist before
131080 0x00020008 Error Vision Job NOT found Check if the vision job is exist or not. 2018 W10
executing the VISION node 2. Re-create the vision job executes the project.

The same camera is simultaneously Check if there are multi- threads using the same Press STOP button on the robot stick to stop Make sure a camera is being used by only one
131081 0x00020009 Error Vision Actioner is busy 2018 W10
accessed by multiple threads. camera while running the project. the project. thread

To restore the robot from Error Status :

1. Click on the OK button on the pop up
windows.
Points setting error during creating Check if more than 2 of the three points of the [Additional Explanation] Before creating a plane, make sure the 3 points
196609 0x00030001 Error User Setting Invalid plane points 2019 W02
a plane for Operation Space plane are the same A plane could only be created by 3 different points are set well, and should not be repeated.
2. Reset the 3 points in following steps:
Setting > Operation Space > Select project
name of plane > Set Point

To restore the robot from Error Status :

1. Click on the OK button on the pop up
windows.
Points setting error during creating Check if more than 2 of the four points of the cube [Additional Explanation] Before creating a cube, make sure the 4 points
196610 0x00030002 Error User Setting Invalid cube points 2019 W02
a cube for Operation Space are the same A cube could only be created by 4 different points are set well, and should not be repeated.
2. Reset the 4 points in following steps:
Setting > Operation Space > Select project
name of cube > Set Point

Check if the three points set by the user when Check if the three points are set up when
Failed to build operation space The system fails to combine this
196611 0x00030003 Error User Setting adding this plane, the center point of the circle falls Re-create a plane which is suitable adding this plane, the center point of the circle 2018 W10
with the new plane plane with other planes.
on the outside of plane. falls on the inside of plane.
Check if the three points set by the user when Check if the three points are set up when
Failed to build operation space The system fails to combine this
196612 0x00030004 Error User Setting adding this stop plane, the center point of the circle Re-create a stop plane which is suitable adding this stop plane, the center point of the 2018 W10
with the new stop plane stop plane with other planes.
falls on the outside of plane. circle falls on the inside of plane.
 1. Export the log

2. Have the robot power cycling to see if this

The 3D Viewer function has been Check any 3D viewer on TMflow (such as [Additional Explanation] This error does not likely happen
200704 0x00031000 Error System Can not connect to Viewer error still occurs 2019 W02
terminated Setting/Controller) if it is functional unless there is a software issue
3. Report to the service engineer with the
log file

1. Check if there is other error message describe

the location of the issue node [Additional Explanation] This error usually happens if there is 1. Export the log file and the project file
The HMI found that an unexpected
262149 0x00040005 Error Flow Program Exception an unexpected software issue 2019 W02
exception error.
2. Check if there is other error message describe 2. Contact a qualified service engineer
more detail of this issue

If the emergency stop button has been

pressed on the robot stick:
1. Release the e-stop button.
a. The robot mode indicator lights
will blink red.
b. After a few seconds, the robot
[Additional Explanation] This error usually appears as a mode indicator will blink light blue,
popped up message on HMI indicating the robot has entered safe start-
up mode.
[Additional Explanation] This error usually happens because
the power of the robot is cut off by ESTOP mode triggered If an external emergency stop button has
Check if ESTOP mode is triggered：
while doing the one of the following cases: been pressed:
1. The ESTOP button of the stick is pressed.
ESTOP mode is triggered, and the 1. When open and close the camera IO LED, the HMI will pop 1. Release the external e-stop button. Make sure the robot is connected while using
2. The ESTOP wire of the control box is not
262151 0x00040007 Hardware Error Robot is not connected power of the robot is cut off. HMI up a window message「Robot is not connected」 a. The robot mode indicator lights HMI 2019 W03
connected.
can't connect the robot. 2. In Project, click the "Step Run" button, the HMI will pop up will blink red.
a window message「Set Speed Fail :Robot is not b. After a few seconds, the robot
Check if the LED light of the robot is turn off.
connected」 mode indicator will blink light blue,
3. Leave the project and enter the project again, the HMI will indicating the robot has entered safe start-
pop up a window message「error code : Robot is not up mode.
connected」
4. etc. If an one of the emergency stop ports has
been tripped:
1. Plug the wire back to the port.
2. Press, then release the external
emergency stop button.
a. The robot mode indicator lights
will blink red.
 If the emergency stop button has been
pressed on the robot stick:
1. Release the e-stop button.
a. The robot mode indicator lights
will blink red.
b. After a few seconds, the robot
mode indicator will blink light blue,
indicating the robot has entered safe start-
up mode.
[Additional Explanation] This error usually appears as a
popped up message in HMI If an external emergency stop button has
Check if ESTOP mode is triggered：
been pressed:
1. The ESTOP button of the stick is pressed.
ESTOP mode is triggered, and the [Additional Explanation] This error usually happens because 1. Release the external e-stop button. Make sure the robot is connected while using
2. The ESTOP wire of the control box is not
262154 0x0004000A info. Robot is locked power of the robot is cut off. HMI the power of the robot is cut off by ESTOP mode triggered. a. The robot mode indicator lights HMI 2019 W03
connected.
can't connect the robot. 1. When operator the controller ,the HMI will pop up a will blink red.
window message「System fault: Lock Robot{{0}}」 b. After a few seconds, the robot
Check if the LED light of the robot is turn off.
mode indicator will blink light blue,
indicating the robot has entered safe start-
up mode.

If an one of the emergency stop ports has

been tripped:
1. Plug the wire back to the port.
2. Press, then release the external
emergency stop button.
a. The robot mode indicator lights
will blink red.
To restore the robot from Error Status :
The project is broken or does not Check the project list again whether the project is [Precaution] This error would only show on the pop up Make sure project is exported successfully
262159 0x0004000F Error Software Delete project failed Click on the OK button on the pop up 2018 W51
exists. not existing. window, not in the HMI log. before un-plug the usb drive
window.
1. Make sure all motion related nodes built
1. Check if the issued node is grey in color which
1. Press Stop Button on the robot stick to from TMFlow Editor has complete settings
means it is still in offline mode [Additional Explanation] Motion related node built by TMFlow
The current node has not been set restore the error status before step run
262161 0x00040011 Error Motion Step run failed Editor has no position information which need further set up 2019 W03
up correctly
2. Check if the setting of the current node is on a robot
2. Complete the set up of the current node 2. Make sure all nodes of the project has been
abnormal
set up correctly
[Link] sure the USB devices and import
When the TCP data is lost, or the 1. Import the project or TCP data again or process are stable during importing project and
262163 0x00040013 Error Motion Change TCP failed servo check and the TCP data Check if the TCP Setting UI could open that TCP TCP data. 2018 W10
exchange error occurred. 2. Re-et the TCP settings
[Link] if the TCP data is existed before uses it.
1. Check the error message followed and locate the
1. Make sure all motion related nodes built
issued node
1. Click Stop on the robot stick to restore the from TMFlow Editor has complete settings
[Additional Explanation] Motion related node built by TMFlow
System has detected settings of the error status before project run
262164 0x00040014 Error System Generate Prog File failed 2. Check if the issued node is grey in color which Editor has no position information which need further set up 2019 W03
certain node is invalid
means it is still in offline mode on a robot
2. Complete the set up of the current node 2. Make sure all nodes of the project has been
set up correctly
3. Check if the setting of any nodes is abnormal
System has detected a dysfunction Check if there is any werid noise coming from the [Additional Explanation] If CPU fan is being stuck or the Contact a qualified service engineer for Make sure the robot is installed on a stable
262165 0x00040015 Warning Hardware Fan rpm less than 1000 2019 W04
on the CPU Fan Control box power cable of the fan is loosen, this error might happen further analysis platform
[Additional Explanation]
Check if This error usually appears as an pop up window when using,
Input the invalid value in the field in Make sure the value in the field is valid during
262166 0x00040016 User Setting Error Invalid Parameter 1. The Field of setting is empty 1. HMI Setting Page Click OK and close the pop up window 2019 W03
user setting. setting
2. The format type of value in the field is invalid 2. Project Flow

[Additional Explanations] The base is currently used by other

nodes (POINTS, NEW BASE, etc.) , deleting this base will
The base is currently used by other To restore the robot from Error Status :
trigger this error Make sure the base is not being used by any
262168 0x00040018 Error Software Base is in use nodes, deleting this base will trigger Check if the base is currently used by any nodes Click on the OK button on the pop up 2018 W51
nodes before deleting it
this error window.
[Additional Explanation] This error code will only appears on
HMI as a pop up window
 1. To restore the robot from Error Status :
Press the STOP button on the robot stick, or
press the FREE button.
There is no nodes connected to the 1. Check if there is no nodes connected to the Start
262172 0x0004001C Error Flow Start Node Not Connected Be careful when editing Project Flow 2018 W51
Start Node in the Project Flow Node in the Project Flow 2. Connect the next process Node to the
Start Node

[Additional Explanation] This error is not likely happens,

user account has already been login Check if someone else has already login with the Make sure you are the only one use this
262174 0x0004001E Error User Setting User number over limit instead, 0x00040009 (Log In/Out failed) is more often. Click OK and close the pop up window 2019 W03
by other client device same account account while logging in

[Additional Explanation] This could only happen if multiple

accounts try to get the Control ownership at the same time
1. Have the current ownership account
(nearly)
Another account gets the Control Check if there is someone else get the Control release the control first Make sure only one account would get the
262175 0x0004001F Error User Setting Ownership has been acquired 2019 W02
ownership ownership with another account Control ownership at once
[Additional Explanation] Usually, if one account has already
2. Try getting the Control ownership again
get the Control ownership, the ownership button on other
accounts would disable
If user edit an exist base which using
"by pointing 3 points" function in In "Build a Base by 3 points" page, if user did not [Additional Explanations] User must to choose and teach one To restore the robot from Error Status : Check the base is set correctly by manual
262177 0x00040021 Error Software New Base failed Base Manager without manual teach the one of three axis direction in the both of three axis direction(X,Y,Z) in the settings "Point on X axis" Click on the OK button on the pop up operation in the "by pointing 3 points" function 2019 W01
teaching and click OK directly, it option "Point on X axis" and "Point on Surface". and "Point on Surface". windows. page .
might cause this error.
Teach points in Compliance or In Compliance or Touch Stop Node, check if the
[Precaution] This error would only show the "Calculation Make sure the teach points are all suitable and
262178 0x00040022 Error User Setting Compliance teach failed Touch Stop node are not able to teach points are at the same position or impossible Click on the OK and close the pop window 2018 W10
failed" on the pop up window, not in the HMI log. correct.
generate a legal motion to generate a legal motion
Teach points in Compliance or In Compliance or Touch Stop Node, check if the
[Precaution] This error would only show the "Calculation Make sure the teach points are all suitable and
262179 0x00040023 Error User Setting Line teach failed Touch Stop node are not able to teach points are at the same position or impossible Click on the OK and close the pop window 2018 W10
failed" on the pop up window, not in the HMI log. correct.
generate a legal linear motion to generate a legal linear motion
To restore the robot from error status:
1. Press the STOP button on the robot
Project cannot run in Auto Mode Make sure all USB devices are removed from
Check if there is no USB devices plugged on the [Additional Explanation] This error usually happens because stick, or
262183 0x00040027 Error External Device USB Error when USB device plugged in the the control box before the project runs in Auto 2019 W01
control box the user forgets to remove the USB device from the control 2. Press the FREE button.
control box. Mode.
box before run the project in Auto Mode 3. Remove the USB device from the
control box
If the target project of the WARP function Please remind when deleting or renaming a
The target project is not found while Please check if the target project selected in WARP
262186 0x0004002A Error Flow Project does not exist node has been deleted or renamed, please project if it is related to other project with 2018 W49
running function WARP function node is still exist
reset or erase the node WARP function

1. Press the STOP button on the robot stick

to restore from error status
Check if the target project of the WARP node is [Additional Explanation] This project are not likely to be Make sure the project used by WARP node
262187 0x0004002B System Error Project File Load Error Warp project failed 2. Export both project files and log file 2019 W03
damaged or deleted damaged, possibly because of software issue exists
3. Contact a qualified service engineer for
further analysis

1. Press the STOP button on the robot stick

to restore from error status
Unexpected software issue during [Additional Explanation] This error occurs if and only if there
262188 0x0004002C System Error Project Compile failed Check if there is any error messages followed 2. Export the project file and log file 2019 W03
project compiling is an unexpected issue on software
3. Contact a qualified service engineer for
further analysis

[Additional Explanation] There are lot of cases for this error, To restore the robot from Error Status :
such as: 1. Press the STOP button on the robot stick, 1. Be careful when deleting variables in Variable
1. Check the message with this error code; it should
1. Any variables being used in the Project is deleted. or Manager.
System detected an error on Project specify which node has error
262189 0x0004002D Error System Project Run failed 2. Incorrect settings on Pallet node, Circle node, etc. 2. Press the FREE button. 2018 W51
Flow while the it is running
3. Expressions or settings of If node, Waitfor node, Gateway 2. Study and have a full understanding on Node
2. Check if there is another error code also occurs
node are incorrect Follow the message of the error code and Function, make sure the settings are correct
4. etc. correct the error
 To restore the robot from Error Status :
1. Click on the OK button on the pop up
[Additional Explanation] This error usually appears as a windows.
1. Check if the robot is controlled by other user 1. Check if the robot is controlled by other user
popped up message in HMI
before using the robot.
Fail to get control of the robot 2. Stop the running project through pressing
262190 0x0004002E info. System Project Locked 2. Check if the robot is running a project 2019 W01
during the project running. [Additional Explanation] This error usually happens when user the Stop button on Stick
2. Don't release control of the robot during
wants to use the robot (Project Editing or Controller) while it
3. Check if the robot has been released control project-running.
is running a project. 3. Recover to get control of the robot by
following steps in HMI : Log in --> Get
control
[Additional Explanation] All robots are servers to TMflow
client, this message will be triggered if:
TMflow client connects with a robot
262191 0x0004002F info. Connected to a new Proxy Server 1. The TMflow client is newly opened and connect to a robot 2018 W51
arm
at the first time,
2. Connect to another robot
Robot detect the Force-Torque
Check if the COM port is correct in the Force- [Precaution] This error would only show on the pop up Make sure the COM port setting is correct
262193 0x00040031 Error External Device Force-Torque sensor open failed sensor occurred error during Click on the OK and close the pop window 2018 W10
Torque sensor devices settings page. window, not in the HMI log. before use the Force-Torque sensor.
opening COM port.
[Additional Explanation] While the Force-Torque sensor is
Force-Torque sensor data does Robot detect the Force-Torque Make sure the COM port cable is stable during
262197 0x00040035 Error External Device Check if the COM port cable is loose. working, if the COM port cable is loose, it would cause this Re-Plug the COM port cable on the robot. 2018 W10
not response sensor does not respond. robot and Force-Torque sensor are working.
error.
1. Click Stop on the robot stick to restore the
The issued Point node built by [Additional Explanation] Point node built by TMFlow Editor Make sure all motion related nodes built from
Check if the issued Point node is grey in color which error status
262198 0x00040036 info. Point Type is Offline TMFlow Editor has not been has no position information which need further set up on a TMFlow Editor has complete settings before 2019 W03
means it is still in offline mode
complete yet robot project run or step run
2. Complete the set up of the point node
After restart the robot, if the problem still
262199 0x00040037 Error System Set watch node failed System memory is not enough occurs, contact a qualified service engineer 2018 W10
for further analysis.

[Additional Explanation] Motion related nodes are all in

1. Check if the error message following with this
offline mode if they are created by offline editor, user need 1. Press STOP button on the robot stick to
The current node function created error and locate the issue node
to complete the settings before usage restore the error status Make sure all offline nodes are complete setting
262200 0x00040038 Error Node is in offline mode by offline editor has not been 2019 W02
on HMI
complete editing yet 2. Check if the node is grey in color which means it
[Additional Explanation] This error would be trigger during 2. Finish the setting of the node on HMI
is in offline mode
step run or project run

The payload value set exceeds the Check if the payload value set exceeds the [Precaution] This error would only show on the pop up Check and make sure the payload value set on a
262202 0x0004003A Error User Setting Over maximum loading Click on the OK and close the pop window 2018 W10
maximum payload limit maximum payload limit window, not in the HMI log. node is within the maximum payload limit

[Additional Explanation] This error usually shows as a pop up

window
1. Check the mass of the TCP
[Additional Explanation] TCP load is defined as the mass of 1. Click OK to close the pop up window
Over maximum loading with TCP TCP loading (including Payload Make sure the mass of TCP and Payload setting
262203 0x0004003B Error User Setting TCP used plus the Payload setting 2019 W02
loading setting) is over limit 2. Check the Payload setting of the related motion are within specification
2. Modified the related settings
node
[Additional Explanation] Instead of motion related nodes, this
will also happens on Controller if the Payload setting is over
limit

[Additional Explanation] This is just a warning which means

you can still connect to the robot for further control or 1. Click OK to close the pop up window
The software version between the Check both versions of the robot (host) and the Make sure both versions of the robot (host) and
project editing
262402 0x00040102 Warning User Setting Host and client version conflict robot (host) and [Link] (client) [Link] on PC (client) if they are matched or the [Link] on PC (client) are matched 2019 W02
2. Continue the login or reinstall a matched
is not matched not before login
[Precaution] If the versions are not matched, there would be version
possibly to trigger unexpected errors for certain functions
 Certification does not match.
Please get the certification file
1. Check if the certification file on Techman folder is [Additional Explanation] This error would only happen on
from the product provider, and
the correct version if this happens on [Link] robots of OMRON version 1. Click OK to close the pop up window
put it under TMflow folder located Certification for the corresponding
262403 0x00040103 Error User Setting Make sure the certification file is correct 2019 W02
under the installation directory to HMI does not match
2. Check if the certification file on the USB drive [Additional Explanation] This error usually shows as a pop up 2. Replace the file with the correct one
enable TMflow Editor.
exists or if it is the correct version for HMI update window
Program will be closed
automatically.

[Additional explanation]
1. Cat. 1 stop usually means Emergency Switch of the robot 1. Makes sure any Emergency Related
stick or the Emergency port on the Control Box being tripped switches have been restored, then reboot
1. Check if the Emergency Switch of the robot stick
the robot
Internal high speed Emergency Stop has been triggered has been pressed Prevent to trigger any Emergency Stop
266242 0x00041002 Error System 2. During the resuming Cat. 1 (robot LED blinks red), the 2018 W51
communication failure during resuming from a Cat.1 stop switch(es) during the resuming of Cat.1 stop
EtherCAT communication starts initializing and connecting all 2. If the this issue still occurs, contact your
2. Check if the Emergency port is being tripped
slaves, if any Emergency Switches are being tripped, power service engineer for further analysis
through the robot will cut off which makes the
communication can no longer be available.

1. To restore the robot from error status:

Press the STOP button on the robot stick, or
[Additional Explanation] If the inverse kinematics of the
press the FREE button
target point is failed to be solved, it may trigger this error
Check if there is any custom base in the current
266243 0x00041003 Error Motion Robot motion error Inverse Kinematics failure 2. Export the project file and log file to a Make sure the custom base is well assigned 2019 W01
project which may be badly assigned [Additional Explanation] This may possibly because the
qualified service engineer for further
custom base used is badly assigned, e.g., 3 points on the
analysis
same line

1. Make sure the Joint Position on

1. Check to see if the Joint Position on Settings\Safety Settings\Safety Stop
Settings\Safety Settings\Safety Stop Criteria\Joint To restore the robot from Error Status : Criteria\Joint Position is set with the correct
The joint is rotating over its degree
Position is set with the correct limits [Precaution] It's would also show which joint is exceeds the 1. Press the STOP button on the robot stick, limits
266248 0x00041008 Error Motion Over Working Area setting range or the robot's position 2018 W49
limit to notice the user to check the Joint Position setting. or
exceeds the defined working area.
2. Check to see if the Working Area on 2. Press the FREE button. 2. Make sure the Working Area on
Settings\Operation Space\Stop Plane is set correctly Settings\Operation Space\Stop Plane is set
correctly
1. Click Stop on the robot stick to restore the
error status
[Additional Explanation] This error is not likely to happen
HMI detected that the vision job file Check if the vision job can still be edited through
274435 0x00043003 Vision Error Vision Job file error 2. Export the project file and log file 2019 W03
is damaged HMI [Additional Explanation] The vision job file might be damaged
if there is an software issue
3. Contact with a qualified service engineer
for further analysis

1. Click Stop on the robot stick to restore the

error status
[Additional Explanation] This error is not likely to happen
Check if the vision job can still be edited through
274436 0x00043004 Vision Error Vison job file not found vision job file is damaged or deleted 2. Export the project file and log file 2019 W03
HMI [Additional Explanation] The vision job file might be damaged
or deleted if there is an software issue
3. Contact with a qualified service engineer
for further analysis

1. Export the Logs

The camera's usb cable connection [Additional Explanations] This error is not likely to happen if Make sure only the qualified engineer could do
274438 0x00043006 Error Hardware Vision reply message error 2019 W02
is loosen during project running. the robot is not being dismantling illegally 2. Contact a qualified service engineer for any repairing on the hardware
further analysis
 1. Click Stop on the robot stick to restore the
error status

Vision actioner reply data is not Calculation of coordinate or arm [Additional Explanation] This error does not likely happen, 2. Run the project again
274443 0x0004300B Error VISION Check the other error code come along with it. 2019 W03
applicable posture correction occurs error. low possibility.
3. If this error still happens, contact a
qualified service engineer for further
analysis
1. Check if the Ethernet cable is loosen 1. Connect the general usage LAN with
[Additional Explanation] Modbus can only be initialized if the Ethernet Make sure the general usage LAN port (not
Modbus-TCP failed to initialize
278528 0x00044000 info. Modbus object initializing 2. Check if the Ethernet Connection is not on the general usage LAN port (not those 2 for GigE Camera) is those 2 for GigE Camera) has been connected 2019 W01
during power-on
general usage LAN port (not those 2 for GigE activated during power-on 2. Disable and then Enable Modbus at to Ethernet before power-on
Camera) Setting/Modbus

1. Export the log and project file

Program exception during Modbus [Additional Explanation] This error is not likely happens, only
278531 0x00044003 info. com. Modbus data wrote 2019 W02
writing if there is a software issue
2. Contact a qualified service engineer

1. Connect all related rs232 cable or 1. It is suggested not to use USB-Rs232

[Additional Explanation] This usually happens if USB - Rs232
1. Check if the Serial Port cable is loosen convertor onto the Control Box convertor for Modbus-RTU
Modbus-RTU failed to initialize convertor is used that an extra COM port is used for Modbus-
278533 0x00044005 info. Modbus serial port open 2019 W01
during power-on RTU. If the cable or converter is unplugged, the extra COM-
2. Check if any Rs232 related device is loosen 2. Disable and then Enable Modbus at 2. Make sure cable or convertor used is plug
port would be disable and trigger this error
Setting/Modbus well before power on
1. Check if the USB drive is plugged well onto the
1. To restore the robot from Error Status :
control box.
Press the STOP button on the robot stick, or 1. Avoid removing the USB drive during the
press the FREE button. process of Import/Export
The system detected a 2. If the USB drive is plugged well, try another USB [Additional Explanation] If the USB drive is confirmed to be
USB with correct name does not
282624 0x00045000 Error External Device disconnection on the USB drive drive and see if the same issue happens during plugged well, that means this error maybe caused by USB or 2018 W50
exist 2. Make sure the USB drive is well connected 2. After finishing the process of export/ import
during the process of Import/Export Export/Import. USB port hardware/firmware issue
to the control box job, wait for a few seconds before unplugging
the USB drive
3. Check if there are other USB devices on the
3. Try Import/Export again
control box, remove them and try again
[Additional Explanations] If user wants to export a very large To restore the robot from Error Status :
External drive do not have enough Check the external devices which has enough
282625 0x00045001 Error Software No Space for External Device Check if the disk space is insufficient. data from robot, the external devices needs a sufficient free Find another usb which has enough space 2018 W51
free space for user export data. space for data export.
space. for data export.
1. Check if the compressed file in the USB drive is
damaged by trying to unzip; if it is damaged, there
would be a related message.
[Additional Explanation] 1. To restore the robot from Error Status :
The compressed file in the USB
Data exchange failed. File may be 1. Removing the USB drive too quickly just after exporting a Press the STOP button on the robot stick, 1. After exporting the file, keep the USB drive
282627 0x00045003 Error com. drive had been damaged and the 2. Check if that file fails to be imported to this robot 2018 W50
accessed. file (even with the message of "Export successfully") might or still for a few seconds before unplugging it from
system failed to import it only.
damage it Press the FREE button. the control box
3. Check if other files in the USB drive also have the
same issue.
1. Click on the OK button on the pop
windows.
[Additional Explanation] When the robot can not access the
Robot detect the file can not be data from project 、system
282628 0x00045004 Error Com. File not found 2. Press STOP button on the robot stick. 2018 W10
accessed or executed. update、backup/recovery、Path node file …etc, it would
cause this error.
3. Contact your service engineer and export
the Logs for further analysis.
[Link] on the OK and close the pop window.
Robot detect the file can not be [Precaution] This error would only show on the pop up
282629 0x00045005 Error Com. Read data file failed 2018 W10
accessed or executed. window, not in the HMI log. [Link] your service engineer and export
the Logs for further analysis.
[Additional Explanation] Abnormal socket disconnection
TM client fails to connect to the Check if the network connection/cable between Make sure the network connection/cable is
282630 0x00045006 Error Com. Client connect server failed would cause program error exception while the program is Press STOP button on the robot stick 2018 W10
robot(server) robot and client is stable. stable during the connection process.
running between robot and client.
 [Additional Explanation] Abnormal socket disconnection
The connection between robot and Check if the network connection/cable between Make sure the network connection/cable is
282631 0x00045007 Error Com. Client connection failed would cause program error exception while the program is Press STOP button on the robot stick 2018 W10
the TM clients is failed. robot and client is stable. stable during the connection process.
running between robot and client.
[Additional Explanation] Abnormal socket disconnection
The communication between robot Check if the network connection/cable between Make sure the network connection/cable is
282632 0x00045008 Error Com. Client send command failed would cause program error exception while the program is Press STOP button on the robot stick 2018 W10
and the TM client is failed. robot and client is stable. stable during the connection process.
running between robot and client.
1. Press STOP button on the robot stick.
HMI client and HMI server is Check if there is any follow up error logs or
282634 0x0004500A Error Com. TCP listener error 2018 W10
disconnection. messages with this error code. 2. Contact your service engineer and export
the Logs for further analysis.
[Link] if the network path in the export/import is 1. Click on the OK button and close the pop
Robot detect the network path Make sure the network setting/cable are
correct. [Additional Explanation] Abnormal network disconnection window.
282635 0x0004500B Error Com. Configure network failed settings is wrong or can not be correct and stable before/during the data 2018 W10
would cause data transfer failed.
accessed. transfer process.
[Link] if the network cable is loose. 2. Press STOP button on the robot stick.

To restore the robot from Error Status :

(Import/Export)
1. Click on the OK button on the pop up
[Additional Explanation] This error usually appears in HMI windows.
The space of system drive is not Check if have the enough space of the system drive during Import/Export files if there is not enough space in the Make sure there is enough space for storage on
282636 0x0004500C Hardware Error No Space for Application Directory 2019 W02
enough. (for [Link] on PC) system 2. Stop the running project through pressing the system
the Stop button on Stick

3. Clear some data and reserve enough free

space for use.

Avoid any interruption during HMI update:

[Additional Explanation] If the update is interrupted during
1. Do not cut off the power during process
process, such as, closing the execution windows, restart or
1. Shutdown and power on the system again to see Contact a qualified service engineer for 2. Do not close the execution windows during
282880 0x00045100 Error Software Incomplete update HMI update failed power off the system manually, power cut-off, etc.; this 2018 W50
if this error still appears further analysis process
might cause the control box and robot's firmware update
3. Do not close or restart the system manually
incomplete and failed.
during process
[Additional Explanation] This error usually appears as a
popped up message in HMI
Make sure all arrays are assigned correctly by
[Additional Explanation] This error usually happens because data type, such as
To restore the robot from Error Status :
the user assign ( "=" ) the mismatching data type to array in
HMI detected an array assignment Check if any array has been assigned with the 1. Click on the OK button on the pop up
294912 0x00048000 Error Flow Invalid syntax error the flow. (1) int[]/ var_arrayA = int[]/var_arrayB 2019 W01
error. different data type variables windows.
==> (arrayA == arrayB)
i.e. int[]/ var_arrayA = bool[]/var_arrayB (2) int[]/ var_arrayA = int[]/var_arrayB[0]
i.e. int[]/ var_arrayA = bool/var_b ==> (arrayA == arrayB[0])
i.e. bool[]/ var_arrayB = int[]/ var_arrayA
i.e. bool[]/ var_arrayB = int/var_i
[Additional Explanation] For number format,
Incorrect:
0x12CG // Hex includes values(0-9, A-F).「G」is invalid.
0b1212 // Binary includes values(0, 1). 「2」is invalid. To restore the robot from error status:
1. Press the STOP button on the robot stick,
Correct: or
0x12CF // Hex value is valid. 2. Press the FREE button
Value assigned is in invalid number Check if the value assigned to a variable is valid Make sure the variables used are with a valid
294913 0x00048001 Flow Error Invalid number format 0b1110 // Binary value is valid. 3. Input the valid number format 2019 W03
format format type. number format.
[Additional Explanation] if it appears the pop-up windows with
This error usually appears in warning message「Invalid Value」, click OK
1. The project file is generated by 3rd party flow editor to close it
2. The input format error in Listen Node
3. In flow editing, it usually appears with a pop-up windows
with warning message「Invalid Value」
 1. Click Stop on the robot stick to restore the
[Additional Explanation]
Check if this error is triggered in the following items error status
There are repeated cases in the This error usually appears if Make sure there is no repeated cases in the
294914 0x00048002 Flow Error Duplicated cases of switch 1. SET Node 2019 W03
conditional expression in project. 1. The project file is generated by 3rd party flow editor conditional expressions in the project.
2. Listen Node 2. Remove the repeated cases in the
2. The input format to Listen Node is incorrect
conditional expression

1. Press the STOP button on the robot stick,

[Additional Explanation] or
This error usually appears if
There are variables created with the 1. The project file is generated by 3rd party flow editor 2. if this error appears as a pop-up windows Make sure there is no repeated variables in the
294915 0x00048003 Flow Error Duplicate declaration Check if there are variables with the same name. 2019 W03
repeated name in project. 2. The input format to Listen Node is incorrect with the error message「Variable Name project.
3. In flow editing, it usually appears with a pop-up windows Repeat」, click OK to close it
with warning message「Variable Name Repeat」
3. Remove the variable with repeated name

1. Have fully understanding on expression

To restore the robot from Error Status : functions before programming
1. Check the description with this error, which
1. Click on the OK button on the pop up
An invalid expression is found within shows the error node and the expression with it [Additional Explanation] This error would be shown on either
294916 0x00048004 Error Flow Invalid expression error windows. 2. Make sure all expressions are correct 2018 W52
the current Project pop out window on HMI or Notice Log
2. Check if that expression is invalid or not
2. Correct the expression 3. Make sure the variables used in expressions
would not set to invalid value during project run
1. Follow the description on the log and check to
see if the variable names and function syntax are 1. Make sure to use proper variable names and
correct Confirm that the variables used in the syntax within the expression editor according to
Undefined functions in the [Additional Explanation] This error usually appears as a
294918 0x00048006 Error Flow Undefined functions expression editor exist and that the proper the current HMI version 2018 W49
expression editor popped up message in HMI
2. Check to see if any variables used in the function syntax has been followed
expression editor have been deleted from the 2. Avoid deleting variables that are still in use
Variable Manager

1. Press the STOP button on the robot stick,

or
In SET node, [Additional Explanation]
2. if this error appears as pop-up windows
It is invalid in the expression with the form: This error usually appears in
with the error message「Function operation
294919 0x00048007 Flow Error Function operation is not allowed Invalid expression int\var_i= GetNow()+=10 1. The project file is generated by 3rd party flow editor Make sure all expressions all correct 2019 W03
is not allowed」, click OK to close it
(Functions with the following operands： 2. In flow editing, it usually appears with a pop-up windows
「+=」、「 -=」、「 *=」、「 /=」) with warning message「Function operation is not allowed」
3. Remove the invalid operant (「+=」、「 -
=」、「 *=」、「 /=」) triggering the
error

[Precaution] This error would only show on the pop up

windows, not in the HMI log.

[Additional Explanations]
The error code is often triggered between two arrays'
operation without index assigning:

In assignment expression of project node (SET).

To restore the robot from Error Status :
The expression is assigned with an Check if there is any missing index of the array. Incorrect operators: (" += ", " -= ", " *= ", " /= ") Makes sure all assignment and comparison
294920 0x00048008 Error Flow Array operation is not allowed Click on the OK button on the pop up 2018 W52
invalid operator in array operations. Or an incorrect operator has been chosen (i.e. var_array_A += var_array_B) expressions have the valid operator.
windows then assign the suitable operators.
Correct operators: (" = ")
(i.e. var_array_A = var_array_B)

In comparison expression of project node (IF).

Incorrect operators: (" > ", " >= ", " < ", " <= ")
(i.e. var_array_A >= var_array_B)
Correct operators: ("==" or "!=")
(i.e. var_array_A == var_array_B)
 [Additional explanation] The variable used as an array index is
1. Press STOP button on the robot stick, or
invalid in value possibly by initialization or assigned by SET
Check if any variables used as an array index in the press free robot button.
Array Index is not an integer The index used on a array variable is node during project run Make sure before you delete any variable in the
294921 0x00048009 Error Flow project is assigned to be a null value or a non- 2018 W51
number not a integer project, check if it is as an array index or not
integral value 2. Then you can find the robot LED shows
[Additional Explanation] If the variable used as an array index
green color
is deleted, the value will become null
Check if the operands of the related expression To restore the robot from Error Status :
The expression is assigned with an (which operators are: "==", ">=", "<==", etc.) are [Precaution] This error would only show on the pop up Click on the OK button on the pop up Makes sure all expressions have the valid
294922 0x0004800A Error Flow Calculation is not a Number 2018 W52
invalid operand. assigned the number type value or variable in the windows, not in the HMI log. windows then assign the number type value operand.
current project node (SET, IF, etc.) or variable to the operands.
To restore the robot from Error Status :
Check if the value or variable is integer type after Click on the OK button on the pop up
Calculation is not an Integer The expression is assigned with an [Precaution] This error would only show on the pop up Makes sure all expressions with the
294923 0x0004800B Error Flow the complement operator (" ~ ") in the current windows then assign the integer type value 2018 W52
Number invalid operand. windows, not in the HMI log. complement operator have the valid operand.
project node (SET, IF, etc.) or variable to the operand after the
complement operator.
[Additional Explanation] Remind of the following cases:
1. Variables created by Pallet node have been deleted To restore the robot from Error Status :
manually. 1. Press the STOP button on the robot 1. Be careful when deleting variables in Variable
System detected an error on Project 1. Check the message with this error code; it should
2. Variables used in any expression (If, Waitfor, Gateway, stick, or Manager.
Flow while the it is running, which is specify which node has error
294924 0x0004800C Error Flow Calculation is not a Variables etc.) have been deleted manually. 2. Press the FREE button. 2018 W51
mostly because some variables are
3. Global variables used in the current robot will not be 2. Study and have a full understanding on Node
missing. 2. Check if there is another error code also occurs
exported with the project; user need to create the same Follow the message of the error code and Function, make sure the settings are correct
Global variable or export them separately correct the error
4. etc.
1. Click OK and close the popped up
[Additional Explanation]
windows
This error usually happens in a SET Node.
Calculation is not an Integer In the expression, the data type of Check if the operant 「++」or「- -」are used Make sure the operant 「++」or「- -」are
294925 0x0004800D Flow Error The operands 「++」、「- -」are only used by integer 2019 W03
Variables variable assignment error. properly with integer data type 2. Correct the data type of variable as used properly with integer data type
variable.
integer type in expression
(i.e. var A: A++、A--、++A、--A)
To restore the robot from Error Status :
the item following the symbol "!" is
1. Click on the OK button on the pop up
invalid in an expression which is Check if the subject after the symbol "!" is a [Precaution] This error would only show on the pop up Check and confirm the type is correct while
294926 0x0004800E Error Software Calculation is not a Boolean windows. 2018 W52
supposed to be a Boolean type Boolean type object or not windows, not in the HMI log. creating an expression.
object (or variable)
2. Correct the expression
To restore the robot from Error Status :
Check if the operand in the left side of the
Data type is different, can not The expression is assigned with an [Precaution] This error would only show on the pop up Click on the OK button on the pop up Makes sure all assignment of expressions have
294927 0x0004800F Error Flow assignment operator (" = ") is type matching with 2018 W52
assign operation invalid operand. windows, not in the HMI log. windows then assign the same type value or the valid type-matching operand.
the right side one in the current project node (SET)
variable to the operand in the expression.
[Precaution] This error would only show on the pop up
windows, not in the HMI log. To restore the robot from Error Status :
1. Click on the OK button on the pop up
Data type is different, can not There is an invalid usage on an Check if the data type is matched from both sides of Check and confirm the type is correct while
294928 0x00048010 Error Software [Additional Explanation] This error would be triggered if there windows. 2018 W52
compare operation expression an expression, especially on an IF node creating an expression.
is an invalid symbol usage and only have it on an expression,
for example: 2. Correct the expression
string == ###
To restore the robot from Error Status :
Check if an integer type operand is assigned a [Precaution] This error would possibly show on the pop up
The operand in the expression is Click on the OK button on the pop up Makes sure all assignment of expressions have
294929 0x00048011 Error Flow Invalid Number Range number large than 2147483647 in the current windows. 2018 W52
assigned a number out of range . windows then assign an integer number less the valid operand with the appropriate value.
project node (SET).
than 2147483648 to the operand.
Check the expression in the current project node To restore the robot from Error Status :
The expression has missing the right [Precaution] This error would only show on the pop up Makes sure all expressions has the right
294930 0x00048012 Error Software Missing Right Parentheses (SET, IF, WAITFOR, etc.) whether the expression Click on the OK button on the pop up 2018 W51
parentheses. windows, not in the HMI log. parentheses.
misses any parentheses. windows then make up a right parentheses.
The expression has missing the right Check the expression in the current project node To restore the robot from Error Status :
[Precaution] This error would only show on the pop up
294931 0x00048013 Error Flow Missing Right Brackets Bracket when access the array data (SET, IF, WAITFOR, etc.) whether the expression Click on the OK button on the pop up Makes sure all expressions has right Brackets. 2018 W52
windows, not in the HMI log.
with index. misses any bracket on the right side. windows then make up a right Brackets.
Check the expression in the current project node To restore the robot from Error Status :
The expression has missing the right [Precaution] This error would only show on the pop up
294932 0x00048014 Error Flow Missing Right Brace (SET, IF, WAITFOR, etc.) whether the expression Click on the OK button on the pop up Makes sure all expressions has the right Brace. 2018 W52
Brace. windows, not in the HMI log.
misses any Brace. windows then make up a right Brace.
 1. Click Stop on the robot stick to restore the
error status
1. Check if the PLAY button has been triggered just [Additional Explanation] This error does not likely happen,
after stopping a project low possibility
PLAY being triggered just after 2. Run the project again Make sure not to trigger PLAY just after
294933 0x00048015 Error Flow Target Node is not exist 2019 W03
stopping a project stopping a project, have a buffer of few seconds
2. Check if there is any external device trigger PLAY [Additional Explanation] PLAY can be triggered by either
3. If this error still happens, contact a
with I/O or Modbus robot stick, configurable IO or Modbus
qualified service engineer for further
analysis
The HMI detected a division 1. Check if any variables as a divisor in the project is [Additional Explanation] It often occurs in the division To restore the robot from Error Status : 1. Designing a program mechanism examines
294934 0x00048016 info. Flow Division by Zero calculation error during the project assigned a value zero by initial setting or during expression of SET and Display Node, or in the Boolean Press the STOP button on the robot stick, or that every variable as a divisor and prevent it 2018 W50
running process expression of IF and Gateway Node in the project flow press the FREE button. running if it is assigned zero
[Additional Explanation]
1. To restore the robot from Error Status :
Usually, HMI will block the expression (warning message) if it
1. Check if any variable used as the divisor of a Press the STOP button on the robot stick, or
Project Flow contains expression is directly as, e.g., "var_result = var_num1%0"; however, if Make sure the variables used as the divisor will
294935 0x00048017 info. Flow Modulo by Zero modulo expression could possibly change to zero press the FREE button. 2018 W51
modulo by zero the expression is written as, e.g., "var_result = never be zero, either by initialization or
during project run
var_num1%var_num2", if var_num changes to 0 during
2. Correct the issued expression(s)
project run will trigger this error.
1. Make the initial value of all index variables is
To restore the robot from Error Status : correct
The HMI detected an invalid index [Additional explanation] The variable used as an array index is
Check if the value any variables used as an array 1. Press the STOP button on the robot stick,
294936 0x00048018 Error Flow Invalid Array Index used on a array variable during invalid in value possibly by initialization or assigned by SET 2018 W51
index is out of range or a negative quantity or 2. Make sure the value of all index variables
project run node during project run
2. Press the FREE button. would not be change incorrectly by any SET
node

[Precaution] An error message『Warning for Number Value

maybe missing』would show on the pop up windows when
project is edited.

If ignore it, this error code would show with the warning
message in the HMI log during project running.
To restore the robot from Error Status :
[Additional Explanation]
1. Press the STOP button on the robot stick,
Number related expression should have the following
The operand in the assignment Check if the operand on the left side of the or
instruction when using different types, i.e. : Makes sure all assignment expressions have the
294939 0x0004801B Error Flow Invalid Number Value expression is assigned with a assignment operator (" = ") is type matching with 2. Press the FREE button. 2019 W02
valid type-matching number operands.
different type number. the right side one in the current project node (SET) 3. Then assign the same type number value
Correct :
or variable to the operands in the
1. double = int
expression.
2. float = int
3. double = float

Incorrect :
1. int = double
2. int = float
3. float = double

[Additional Explanation] This error only happens on force

control related node (smart insert, polish, etc) using force
torque with rs232 interface 1. Press Stop Button on the robot stick to 1. It is not suggested to use USB-Serial
restore the error status convertor
System cannot detect the sensor
294940 0x0004801C Error External Device Force-Torque sensor open failed Check if the USB-Serial converter cable is loosen [Additional Explanation] COM Port generated by USB-Serial 2019 W11
through serial port
convertor would be deleted if the cable is loosen 2. Reconnect the convertor back to the 2. If it is necessary, please make sure the
SAME usb port convertor is always plugged well
[Precaution] The Serial Port number might change if the
convertor is plugged onto a different usb port
 1. Check if the robot is connected to the network,
including wire connection, and the quality of the
network

2. Check if the Setting\Network Setting is correct or [Additional Explanation] For Modbus TCP, this usually
1. Confirm and restore the network, then
not (if using Modbus TCP) happens because the robot is not connected to the network 1. Regularly check the quality of the network,
enable Modbus again on Settings\Modbus
or network settings (especially, IP Address and Port) including hardware.
System failed to open a Modbus
294941 0x0004801D Error Com. Modbus open failed 3. Check if the settings on Modbus TCP Device is 2018 W50
master 2. Confirm and correct the settings of
correct or not , including: ip address, port, address, [Additional Explanation] For Modbus RTU, this usually 2. It is suggested to have knowledge on Modbus
Modbus Devices, then enable Modbus again
signal type, etc. happens because the ComPort selected has already been before usage
on Settings\Modbus
used by other functions (normal usage on Serial Port)
4. Check if the settings on Modbus RTU Device is
correct or not , including: ComPort, BaulRate,
DataBits, StopBits, ParityCheck, address, signal type,
etc.
1. Export the project file and log file
[Additional Explanation] This error occurs if and only if there
294943 0x0004801F Error Flow Exception Error Unexpected software issue Check if there is any error messages followed 2019 W03
is an unexpected issue on software 2. Contact with a qualified service engineer
for further analysis
1. Check if the robot is connected to the network,
including wire connection, and the quality of the
network

2. Check if the Setting\Network Setting is correct or 1. Confirm and restore the network, then
not (if using Modbus TCP) enable Modbus again on Settings\Modbus 1. Regularly check the quality of the network,
including hardware.
System failed to read data through
294944 0x00048020 Error Com. Modbus read failed 3. Check if the settings on Modbus TCP Device is 2. Confirm and correct the settings of 2018 W50
Modbus
correct or not , including: ip address, port, address, Modbus Devices, then enable Modbus again 2. It is suggested to have knowledge on Modbus
signal type, etc. on Settings\Modbus before usage

4. Check if the settings on Modbus RTU Device is

correct or not , including: ComPort, BaulRate,
DataBits, StopBits, ParityCheck, address, signal type,
etc.
1. Check if the robot is connected to the network,
including wire connection, and the quality of the
network

2. Check if the Setting\Network Setting is correct or 1. Confirm and restore the network, then
not (if using Modbus TCP) enable Modbus again on Settings\Modbus 1. Regularly check the quality of the network,
including hardware.
System failed to write data through
294945 0x00048021 Error Com. Modbus write failed 3. Check if the settings on Modbus TCP Device is 2. Confirm and correct the settings of 2018 W50
Modbus
correct or not , including: ip address, port, address, Modbus Devices, then enable Modbus again 2. It is suggested to have knowledge on Modbus
signal type, etc. on Settings\Modbus before usage

4. Check if the settings on Modbus RTU Device is

correct or not , including: ComPort, BaulRate,
DataBits, StopBits, ParityCheck, address, signal type,
etc.
[Additional Explanation] Some warning information usually To restore the robot from Warning Status :
appears as a popped up message during flow editing, but the (in flow editing)
HMI could endure these warnings. Click on the OK button on the pop up
windows.
HMI detected that one or more The value of n in the string "Warning Counter(n)" If ignore it, the HMI log still shows these warnings to user
Check if data type mismatch of assignment
296449 0x00048601 Warning Flow Warning Counter Warning situations during the showing in the HMI log displays that how many during running the project. (in project running) 2019 W01
variables in the flow.
project running. warning situations have during the project running. Stop the running project through pressing
These warnings may be the following below: the Stop button on Stick
(1) Warning for String Format
(2) Warning for Number Value maybe missing 3. Check these warnings one by one and
(3) ..etc. clear them.
 1. Check if there are any strings used in the
expression editor that have no double quotes 1. Make sure to use double quotes when
System detected the text characters Confirm that there are double quotes
[Additional Explanation] This error usually appears as a defining strings
296450 0x00048602 Warning Flow Warning for String Format that may be strings but are without around all strings and that all variables used 2018 W49
2. Check to see if any variables used in the popped up message in HMI
double quotes in the expression editor exist
expression editor have been deleted from the 2. Avoid deleting variables that are still in use
Variable Manager
[Precaution] This error would show on the pop up windows,
not in the HMI log.

[Additional Explanation]
Number related expression should have the following
instruction when using different types, i.e. :
To restore the robot from Error Status :
The operand in the assignment Check if the operand in the left side of the Click on the OK button on the pop up
Warning for Number Value maybe Correct : Makes sure all assignment expressions have the
296451 0x00048603 Warning Flow expression is assigned with a assignment operator (" = ") is type matching with windows then assign the same type number 2018 W52
missing 1. double = int, valid type-matching number operands.
different type number. the right side one in the current project node (SET) value or variable to the operands in the
2. float = int
expression.
3. double = float

Incorrect :
1. int = double
2. int = float
3. float = double
To restore the robot from error status:
[Additional Explanation] This error usually appears as a
popped up message in HMI
Flow editing
[Link] OK on the popped up windows
[Additional Explanation] This error usually happens in a SET
2. Delete the single quotation marks, or When editing in flow or before project running,
Warning for String Format include A string type variable with single Check if there is any single quotation marks is used Node, a variable with single quotation marks
296452 0x00048604 Flow Warning ignore it make sure why to use a variable with the single 2019 W03
Variables quotation marks(' ') in the issued expression (i.e. String s1 = 'var_s2')
quotation marks.
If ignore the warning message window, and running the
Project running
project, this error code will show in the HMI log with the
[Link] the stop button on the stick
warning message「Warning for String Format」
2. Delete the single quotation marks in a SET
node, or ignore it
1. Check the network setting on Log node if the
[Additional Explanation]
address is accessible To restore the robot from error status:
This error usually appears in
1. Press the STOP button on the robot stick,
1. Log node in project flow
Warning for Network path could Network address is not available on 2. Check if the network target requires any or
296453 0x00048605 Flow Warning 2. The local network path format Make sure the network is accessible 2019 W03
not be access Log node advanced authority 2. Press the FREE button
(i.e. \\[Link]\sharedfolder)
3. Make sure the network path could be
This error would be triggered when system fails to connect to
3. Check if there is any other issue on the network, access
the network path
such as loosen Ethernet cable