Installation manual

Chapter 6 Programming
6-119
（２）Error Information (Level 1) →Brake is active (Communication status continuing)
Errors occurring when in arm motion controller operation.
With an uncontrollable error, control status changes into a brake-stop status.
Error No. Details
-2017 Exceeding RMRC controllable arm length during the motion
-2020 S1 axis exceeding axis limit angle
-2021 S2 axis exceeding axis limit angle
-2022 S3 axis exceeding axis limit angle
-2023 E1 axis exceeding axis limit angle
-2024 E2 axis exceeding axis limit angle
-2025 W1 axis exceeding axis limit angle
-2026 W2 axis exceeding axis limit angle
-2030 S1 axis exceeding angle limit in direct control
-2031 S2 axis exceeding angle limit in direct control
-2032 S3 axis exceeding angle limit in direct control
-2033 E1 axis exceeding angle limit in direct control
-2034 E2 axis exceeding angle limit in direct control
-2035 W1 axis exceeding angle limit in direct control
-2036 W2 axis exceeding angle limit in direct control
-2051 Can not turn into RMRC control from the current position
-2060 S1 resolver deviation error
-2061 S2 resolver deviation error
-2062 S3 resolver deviation error
-2063 E1 resolver deviation error
-2064 E2 resolver deviation error
-2065 W1 resolver deviation error
-2066 W2 resolver deviation error
-2070 Stopped automatically by exceeding checking time
-2071 Did not reach target value
-2080 S1 Axis Sync. Error (Exceeding deviation limit)
-2081 S2 Axis Sync. Error (Exceeding deviation limit)
-2082 S3 Axis Sync. Error (Exceeding deviation limit)
-2083 E1 Axis Sync. Error (Exceeding deviation limit)
-2084 E2 Axis Sync. Error (Exceeding deviation limit)
-2085 W1 Axis Sync. Error (Exceeding deviation limit)
-2086 W2 Axis Sync. Error (Exceeding deviation limit)
-2087 X axis synchronization error in RMRC control
-2088 Y axis synchronization error in RMRC control
-2089 Z axis synchronization error in RMRC control
-2090 Velocity deviation error
-2091 Tip orientation deviation error in RMRC control
-2100 Interfering to cube
-2200 Motion can not be continued or started at the arm singular point
-2201 Motion can not be continued or started at the arm singular point
-2202 Motion can not be continued or started at the arm singular point