2. System Error

 

Code	Message	Cause	Remedy
E0001	Power down detection	A power was cut after motor ON or CB (Circuit Breaker) was OFF.	Just to store a power outage to the error list, Any action is not demanded.
E0002	Hardware limit switch operating	Limit Switch was actuated at the end of work range for each axis.	On the motor from system menu (press motor on button while holding the Enable switch), and move it back to operation area by using jog key. Refer to the troubleshooting method.
E0003	Brake power overload	Fuse was cut off due to overcurrent at AC220V power line to create brake power.	Refer to the troubleshooting method.
E0004	Arm interference limit switch operation	Limit Switch for preventing Arm Interference was actuated.	On the motor from system menu (press motor on button while holding the Enable switch), and move it back to operation area by using jog key. Refer to the troubleshooting method.
E0005	DSP version not exists in Flash ROM of Main board	It happens when stored performing code does not exist even though DSP performing code, which has been stored to flash ROM of main board, is being dispatched to servo board in power on.	Please make version up DSP with system version up function (R286).
E0006	Collision sensor is operating.	Collision sensor has worked.	Please check whether tool of robot end-effector was deformed. Please start after removing all error causes.
E0007	Stick detection	Sticking of welds signal is detected in completion of welding sequence.	1) Check the sticking of welds signal. 2) Remove the cause of weld stick.
E0008	Motor temperature rise (Hard-wiring)	Excessive rising of motor temperature was sensed through temperature sensor wired to each axis of robot.	Refer to the troubleshooting method.
E0009	#n Verify error after DSP version download	Data dispatching performing code through HPI port of servo board is wrong.	1) Please check whether servo board is mounted. 2) Please check DIP switch of servo board referring to trouble shooting.
E0010	AMP recovery discharge resistance overheating	The temperature of the recovery discharge resistance exceeds the standard. The overheating detection sensor malfunctions.	Refer to the troubleshooting method.
E0011	AMP overvoltage (P-N)	In the case of excess establish value of the motor voltage (P-N)	Inspect an AC input power on the control board (used for rated power). Check the connection of the recovery discharge resistance.
E0012	Brake power error	Brake voltage is lowered.	Refer to the troubleshooting method.
E0013	PWM error!! Contact error of sequence line.	Due to contact failure of PWM off line between AMP and system board, PWM command is not inserted to drive unit.	Please check CNSG cable of drive unit. Please make an inquiry to HHI if the error happens again even after the above article has been managed.
E0014	Instant contact of safety switch (EM,OTR,TS etc.)	Instant contact of safety switch (emergency halt, motor overheat, limit switch etc) has happend.	1) Check the Emergency Switch. If the error still occurs after the remedy set above, please contact our company.
E0015	Teaching pendant operation error	Communication halt between teaching pendant and main board was sensed.	You may ignore it.
E0017	Conveyor pulse line error	There is no input for the conveyor pulse.	1) Check up the conveyor encoder power. 2) Check up the connections of conveyor encoder pulse line. 3) Please replace conveyer I/F board.
E0018	Arc board connection error	There is a trouble on connecting with arc board.	Please check communication path and power supply line between arc board and main board.
E0019	Exceeded conveyor pulse permitted frequency	Bigger value than fixed allowable frequency on conveyer pulse number was input.	1) Check the allowable frequency setting. 2) Check if noise signal exists in the pulse line
E0020	Conveyor I/F board connection error	There problems in the connection to Conveyor I/F board.	Please check power supply lines and communication lines between Conveyor I/F board and the main board.
E0021	Exceeded conveyor permitted speed	Conveyor permission speed is high	1) Please check the fixed value of conveyer allowable speed. 2) Check if noise signal exists in pulse line.
E0022	Communication error between internal modules	The error on communication between main board and each inner module has happened.	Refer to the troubleshooting method.
E0031	Mode switch broken	Mode switch of operating panel (OP) has failed or connected status is strange.	Check the mode switch or connected line status.
E0032	IO board for a user Communication error	Communication trouble between user IO board and main board has happened.	Refer to the measures to be taken for the related items.
E0033	AMP under-voltage error	PN voltage of servo AMP became low.	Please check input power of recovery discharging status and servo AMP.
E0034	AMP over-current error	F1 or F2 was cut off owing to surge voltage at servo AMP.	Please check power connecting status inside and outside of controller.
E0035	Hardware limit (Additional axis)	Limit switch, which is installed at end of operation area of auxiliary axis (running axis etc), operated.	On the motor from system menu (press motor on button while holding the Enable switch), and move it back to operation area by using jog key. Refer to error repair manual-E0002.
E0036	Hardware limit (Expanded 16 axes)	Limit switch, which is installed at end of operation area of expansion, operated.	On the motor from system menu (press motor on button while holding the Enable switch), and move it back to operation area by using jog key. Refer to error repair manual-E0002.
E0037	Control power overload	Fuse was disconnected because power line of control power AC220V has been overloaded.	After removing the cause of fuse disconnection, please replace the fuse.
E0038	Motor power overload (Motors Power)	CP was tripped owing to over-current at RST line of motor power.	After removing the cause of CP trip, please return CP switch.
E0039	SMPS power overload (SMPS Power)	Fuse was disconnected because power line of SMPS power AC48V has been overloaded.	After removing the cause of fuse disconnection, please replace the fuse.
E0041	(Additional axis) Motor temperature rise (Hard-wiring)	The motor temperature of an additional axis rises excessively.	Please refer to troubleshooting E0008.
E0042	General guard switch connection error	Error happened on connection of general safety guard.	Please check the connecting status of general safety guard or line.
E0043	Safety plug connection error	Connecting error of safety plug (auto guard) switch at automatic mode happened.	Please check the safety plug switch or connecting status line.
E0044	Lift axis belt disconnect sensor is operating	The belt of the elevation axis-motor driving part was cut off, or a sensor cable within the robot was cut off.	Replace the belt of the motor driving part or check the sensor cable inside the robot.
E0045	Change requested to remote auto mode	Despite the manual mode of the controller, a change from remote mode to automatic mode is requested.	Change the controller’s mode to automatic mode.
E0046	Changed manual mode from remote auto mode	The controller’s mode was changed from remote automatic mode to manual mode.	Try to operate the controller after changing the remote mode to manual mode.
E0047	Motion processing time exceed	Robot motion calculation has not been completed within the reference time.	Where too much allocation time for the embedded PLC is set, ask our engineers for a reduction of the allocation time.
E0048	Remote mode (system) signal has not been input.	1) Motor on has been attempted from a remote mode while remote mode (system) signal is not entered 2) Mode switch has been controlled in remote mode while remote mode (system) signal is not entered.	Examine the remote mode (system) signal from the Private input signal monitoring, and make sure the signal is being entered.
E0049	External start is possible after joystick mode release!	External start of LCD examining Robot is possible after joystick mode release.	1) Release joystick mode 2) If external start is not possible even after the release of joystick mode, please check if the joystick signal is normal
E0050	Light Curtain detection signal is entered	Light Curtain detection signal has been input.	Check the connection status of Light Curtain detection signal.
E0051	Extended brake Board Communication problems	The communication abnormality between the expansion brake and the main boards has been detected.	Refer to the measures of the relevant item.
E0052	PRM board communication error	The communication abnormality between PRM and main boards has been detected.	1) Reinject the controller power before inspecting. 2) Check CAN1 cable on PRM BD592 board.
E0053	PRM PN overcurrent generated	PRM recovery capacity exceeds its limit or PRM PN current exceeds error limits.	Slow down the robot’s regeneration speed and check for the error.
E0054	PRM 3-phase overcurrent generated	PRM recovery capacity exceeds its limit or PRM 3-phase current exceeds error limits.	Slow down the robot’s regeneration speed and check for the error.
E0055	PRM IPM fault signal detection	A fault signal is detected at PRM IPM.	1) Check the PRM FAN. 2) Slow down the robot’s regeneration speed and check for the error.
E0101	Number of servo boards insufficient	The number of motors to control is larger than the number of controllable motors on servo board	1) Check the total number of control axes. 2) Add the servo board.
E0102	Robot type mismatch	The robot type is not supported.	Check up setup robot type.
E0103	(0 axis)Encoder error: Exceeded communication processing time	The encoder data are not received within the time for processing the communication.	Refer to the troubleshooting method.
E0104	(0 axis) Encoder error: Incomplete data frame	Data are received, but not in a designated type.	Refer to the troubleshooting method.
E0105	(0 axis) Encoder error: Encoder disconnection	Communication is impossible because the encoder is open-circuited.	Refer to the troubleshooting method.
E0106	(0 axis) Encoder error: Received data error	Data are received, but not in a designated type.	Refer to the troubleshooting method.
E0107	(0 axis) Encoder error: Bit sequence error	Data are received, but not in a designated type.	Refer to the troubleshooting method.
E0108	(0 axis) Encoder error: Encoder reset required	Encoder data gets out of the range to apply the offset function.	Refer to the troubleshooting method.
E0112	(0 axis) IPM fault signal detection	A fault signal occurs to the IPM of the axis.	1) Check the motor driven parts. 2) Check the robot for the motion. 3) Check the controller’s cooling fan. 4) Refer to the troubleshooting method.
E0113	(0 axis) Over-current	Over-current flows through the Motor or amplifier.	Refer to the troubleshooting method.
E0114	(0 axis) Decrease control voltage for operating device	The control power +15V supplied to the servo driving gear have dropped.	Refer to the troubleshooting method.
E0115	(0 axis) Received command code error	The servo board, which receives the command code from the main board, is incorrect.	Refer to the troubleshooting method.
E0117	(0 axis) Position deviation set value exceeded	Position Error exceeded the set value.	Refer to the troubleshooting method.
E0118	(0 axis) Speed deviation set value exceeded	Speed Error exceeded the set value.	Refer to the troubleshooting method.
E0119	(0 axis) Overload	The motor is overloaded, which makes it exceed the setting.	Refer to the troubleshooting method.
E0122	Servo ON limit time exceeded	When executing Servo On or releasing power saving mode, Servo On was not executed within the set time.	Refer to the troubleshooting method.
E0123	Servo OFF limit time exceeded	When executing Servo Off or releasing power saving mode, Servo Off was not executed within the set time.	1) Replace the servo board. 2) Contact with our service department.
E0124	Servo error clear limit time exceeded	Motor ON was not available because of servo error	Clear the servo error
E0125	Target location reach time exceeded	The current value fails to reach a target location within 10 seconds.	Refer to the troubleshooting method.
E0126	Operation outside the work space is tried	The operation of the robot is attempted outside the work space.	Check if the robot has reached the targeted work location.
E0127	MSHP operation error	MSHP doesn't work.	Refer to the troubleshooting method.
E0131	(0 axis) Bit jump (Normal operation) error	In normal Speed Mode (playback), the speed exceeds High Speed Detection Level (Bit Jump High Level -BJH).	1) Check the connection of CNEC for servo board. 2) Check the connection of CNR4. 3) Check whether BJH is set to 1.5 times of the maximum speed.
E0132	(0 axis) Bit jump (Low speed operation) error	In Low Speed Mode (Jog, Step forward/ backward, Allocation input signals, Teach mode), The speed exceeds Low Speed Detecting Level (Bit Jump Low Level-BJL).	1) Check the connection of CNEC for servo board. 2) Check the connection of CNR4. 3) Check whether BJL is set to 1.5 times of the maximum speed.
E0133	(0 axis) Command value error	The location command transmitted to the servo board has an error.	Refer to the troubleshooting method.
E0134	(0 axis) Maximum speed exceeded	The location command transmitted to the servo board exceeds the maximum speed.	Refer to the troubleshooting method.
E0135	(0 axis) PWM OFF at servo on	PWM error!! Loose contact on sequence line. PWM command is not being input to drive unit due to loose contact on PWM off line between AMP and sequence board	Examine the CNSG cable of drive unit. If the error persists, please contact to our office
E0136	Servo AMP control voltage reduction	Control voltage +15V reduction. Error on a recovery control SMPS in drive unit	Refer to the troubleshooting method.
E0137	(0 axis) Improper encoder pulse setting	In the servo parameters, Encoder Pulse Setting Value ('PULS') is unusable.	Check 'PULS' of servo parameters.
E0138	Previous location recovery time limit exceeded	Previous location recovery time limit exceeded	1) Check the servo loop gain settings. 2) Check encoder power voltage. 3) Check encoder wiring.
E0139	Filter change time limit exceeded	Communication from the main board to servo board was unable.	1) Check the insertion of main board and servo board. 2) Replace the main board or servo board.
E0140	MSPR operation error	The operation of the MSPR relay for the main power supply has failed.	Check up the MSPR relay and the CNPC cable on drive unit.
E0150	Fault by CPU exception	A CPU fault has occurred, which stops the controller abnormally.	Back up all the files from the controller and send them to us.
E0151	Step command cannot be executed	Robot can't work. because of unprofitable step information	Please contact with our service department.
E0154	(0 gun) Maximum tip consumption exceeded	Total tip consumption detected by gun search exceeded the maximum tip consumption to be set at servo gun parameter.	1) Check maximum tip consumption at servo gun parameter 2) Replace tips.
E0155	(0 gun) Maximum moving tip consumption exceeded	Moving tip consumption detected by gun search exceeded the maximum moving tip consumption to be set at servo gun parameter.	1) Check up maximum moving tip consumption which was set in servo gun parameter setting 2) Replace tips.
E0156	(0 gun) Maximum fixed tip consumption exceeded	Fixed tip consumption detected by gun search exceeded the maximum moving tip consumption to be set at servo gun parameter.	1) Check up maximum fixed tip consumption which was set in servo gun parameter setting 2) Replace tips.
E0157	(0 axis)Twist deviation too high	This error occurs in the synchronizing 2 axes function of gantry robots. Torsion angle to travelling axis was larger than set parameter of the synchronizing 2 axes function	Adjust torsion parameter of the synchronizing 2 axes function of servo parameter.
E0158	Twist recovery time limit exceeded	This error occurs in the synchronizing 2 axes function of gantry robots. Returning torsion angle to travelling axis exceeded set 5 seconds after motor on.	1) Check if there is any obstacle in the traveling axis. 2) Check encoder power voltage and wiring. 3) Replace motors.
E0159	(0 axis) Axis speed limit exceeded	The axis rotates rapidly during the calibration operation.	1) Reduce the speed of step recording. 2) Modify the subject step position.
E0160	(0 axis) Collision detected	Disturbance torque is over excess collision detection level.	1) If collision is occurred, remove the problems 2) Adjust collision detection level
E0161	(0 axis) Impact detected	Disturbance torque ratio is over excess impact detection level.	1) If collision is occurred, remove the problems. 2) Adjust impact detection level.
E0162	(0 axis) current sensor error	The AMP current feedback has an excessively high offset value.	1) Check the +/-15V power of the complex power source unit. 2) Change the servo board. 3) Change the AMP.
E0163	Axis slippage during power outage function	In power saving mode it happens that the brake is slipped.	Replace system I/O board
E0164	Dynamic brake error	An error happened to dynamic brake of AMP.	1) Please check CNBS cable linked to AMP at servo board. 2) Please replace AMP.
E0165	(0 axis) Keeping Servo lock is not possible.	Current supply to motor is impossible.	The wiring for the motor, the AMP, the servo board, and the CNBS cable between AMP and servo board should be checked.
E0170	Stop time (5 seconds) exceeded	To decrease speed and stop on working exceed 5 seconds after stop signal input	Decrease sum of times within 5 seconds after converting acceleration time and reduction ratio of acceleration and deceleration parameter into time Refer to acceleration and deceleration parameter of operation manual
E0171	Gun open time (5 seconds) exceeded	Opening time was exceeded 5 seconds after pressurization of spot welding or gun-search function.	1) The gun should not be deposited and/or any interference should be presented to the welding object. 2) Check the moving gun to ensure that no welding and/or interference occur.
E0172	(0 axis) Endless rotation location error	The difference between the backed up encoder value and the initial value, which is read in the endless axis, is more than 0x20000.	1) Compensate the encoder offset value of endless axis again. 2) Reset the encoder offset value of endless axis and compensates it.
E0173	Endless rotation overflow	The endless step recording location exceeds the usage range for the encoder.	Use R350 code to reset the endless rotation manually and adjust the step position.
E0174	1st DSP reset error	Initialization response of DSP1 in first board was not received	1) Check up insertion the servo board. 2) Examine if the DS1, DS2, S1 switch of servo Board is working 3) Replace the servo board
E0175	2nd DSP reset error	Initialization response of DSP2 in first board was not received	1) Check up insertion the servo board. 2) Examine if the DS1, DS2, S1 switch of servo Board is working 3) Replace the servo board
E0176	3rd DSP reset error	Initialization response of DSP1 in second board was not received	1) Check up insertion the servo board. 2) Examine if the DS1, DS2, S1 switch of servo Board is working 3) Replace the servo board
E0177	4th DSP reset error	Initialization response of DSP2 in second board was not received	1) Check up insertion the servo board. 2) Examine if the DS1, DS2, S1 switch of servo Board is working 3) Replace the servo board
E0178	1st DSP version too low	The ROM version of DSP1 in first board is so low that set robot can't use.	Please contact with our service department.
E0179	2nd DSP version too low	The ROM version of DSP2 in first board is so low that set robot can't use.	Please contact with our service department.
E0180	3rd DSP version too low	The ROM version of DSP1 in second servo board is so low that set robot can't use.	Please contact with our service department.
E0181	4th DSP version too low	The ROM version of DSP2 in second servo board is so low that set robot can't use.	Please contact with our service department.
E0182	1st DSP communication error	Communication between main CPU board and the DSP1 of the first servo board was not work.	1) Check up insertion the servo board. 2) Replace the servo board.
E0183	2nd DSP communication error	Communication between main CPU board and the DSP2 of the first servo board was not work.	1) Check up insertion the servo board. 2) Replace the servo board.
E0184	3rd DSP communication error	Communication between main CPU board and the DSP1 of the second servo board was not work.	1) Check up insertion the servo board. 2) Replace the servo board.
E0185	4th DSP communication error	Communication between main CPU board and the DSP2 of the second servo board was not work.	1) Check up insertion the servo board. 2) Replace the servo board.
E0186	1st DSP detected main watchdog	Watch dog error of main board was detected in the DSP1 of the first servo board.	1) Check up insertion the main or servo board. 2) Replace the main board or servo board
E0187	2nd DSP detected main watchdog	Watch dog error of main board was detected in the DSP2 of the first servo board.	1) Check up insertion the main or servo board. 2) Replace the main board or servo board
E0188	3rd DSP detected main watchdog	Watch dog error of main board was detected in the DSP1 of the second servo board.	1) Check up insertion the main or servo board. 2) Replace the main board or servo board
E0189	4th DSP detected main watchdog	Watch dog error of main board was detected in the DSP2 of the second servo board.	1) Check up insertion the main or servo board. 2) Replace the main board or servo board
E0190	(0 axis) Unidentified servo error during initialize	An unidentified error code is received from the servo board while receiving the initial absolute position data of the encoder.	1) Check up insertion the main or servo board. 2) Replace the main board or servo board
E0191	(0 axis) Unidentified servo error	An unidentified error code is received from the servo board while receiving the initial absolute position data of the encoder.	1) Check up insertion the main or servo board. 2) Replace the main board or servo board
E0192	Error in specifying the additional axis drive unit number.	The drive number of auxiliary axis has assigned as same number	Check up the number of BD, DSP, AXIS of auxiliary parameter set up assigned as same number
E0193	(0 axis) Endless unsupported encoder type	In terms of the encoder type of the endless axis rotation, the number of pulse per rotation is incorrectly indicated.	Verify from the menu that the PULS values in servo parameter/motor, which is the encoder type, are 1024, 2048, 4096, and 8192.
E0194	Exceeded permitted load weight	Load weight is over 120% of normal capacitance	1) Check the weight value in the tool data. 2) Reduce tool load weight.
E0195	the same DSP is not specified for the synchronized axis.	In order to execute the synchronized control, the axis must be composed to control the two synchronized axes at the same DSP.	Modify the system composition to a DSP that can control the two synchronized axes. When a synchronized axis is added to the robot having less than 5 axes, 1 DSP may be composed to perform the synchronized control. However, for the robot having more than 6 axes, an additional servo board needs to be used if synchronized axis is further added.
E0196	Error in Servo brake of System Board	The servo brake signal is not disabled at the servo when the motor is turned ON.	Check if the motor cannot be turned ON because of any initialization error or encoder error. Inspect the board and connection cables as signals are input through BD542 board, AMP, and BD530 board.
E0197	Error in Servo brake of Expand System Board	The servo brake signal is not disabled at the servo when the motor is turned ON.	Check if the motor cannot be turned ON because of any initialization error or encoder error. Inspect the board and connection cables as signals are input through BD542 board, AMP, extension system board BD53E, and BD530 board.
E0200	(0 axis) Maximum speed exceeded during collaborative operation	A command, which exceeds the maximum speed of the robot, is input during the collaborative operation.	On the standard position of a slave robot for the collaborative operation, change the position of the robot, adjust the position for collaboration or recording, or reduce the recording speed.
E0201	Cooperative operation start error	An error occurs to the transmission of synchronized signals between cooperative robots, which are communicated in different modes.	Check communication status. Adjust the mode status of robots in same, and run.
E0203	Cooperative robot error – Emergency stop	The corresponding robot motor is turned OFF during the cooperative operation and stops.	After resolving the causes of the counter robot, perform the restart while the motor on.
E0204	Robot 0 Cooperation control communication disconnection	The communication with a subject robot is disconnected during the cooperation jog and play.	Ensure that the connection between the communication cable and the communication card is normal. HiNet may be utilized to detect any malfunctioning parts.
E0205	HiNet communication error of system	HiNet communication for cooperation control is not working.	Ensure that the connection between the communication cable and the communication card is normal. HiNet may be utilized to detect any malfunctioning parts.
E0210	Servo tool servo on time limit is exceeded	The initialization of connecting the servo tool has failed.	DSP version should be 4.13 or higher. Check if the ATC connection is normal and the encoder power is applied.
E0211	Servo tool servo on time limit is exceeded	The servo on the servo tool was not turned on within the time limit.
E0212	Servo tool filter clear time is exceeded.	Filter clearing has failed while attempting to access the servo tool.	Communication between Main board and Servo board is bad. Check the connection status or another try after changing board.
E0213	Servo tool servo off time limit is  exceeded	The servo was not turned OFF within the time limit during the detachment process of the servo tool.	Check if ATC is connect well. Or another try after changing servo board.
E0214	Servo tool encoder power connection failure	The encoder power connection has failed while connecting the servo tool axis.	Check if the encoder power control system at the servo tool axis is normal. Replace the subject part in case of any failure.
E0215	Servo tool encoder power disconnection failure	The encoder power disconnection has failed while disconnecting the servo tool axis.	Check if the encoder power control system at the servo tool axis is normal. Replace the subject part in case of any failure.
E0216	Servo tool encoder data not normal	The encoder data received is not normal while connecting the servo tool axis.	Check if the battery of the connected encoder is discharged. Then, reset the encoder and retry. After resetting, the encoder offset must be calibrated.
E0217	Synchronized axis acceleration/deceleration parameter error	The parameters for the maximum speed, the acceleration time period, or the deceleration ratio of the two synchronized axes must be identical in order to control synchronization. Each axis is set with different parameters.	Please set speed increasing and decreasing parameter of motive axis to be same by checking speed increasing and decreasing parameter of robot parameter.
E0218	(0 axis)Overload detected.	Overload of the Axis is detected. Current has lasted over rated current to harm the motor of axis.	Check if rated current is set correctly, and check servo gun mechanism. Don't take pressurization over rated current for a long time.
E0219	Unselected station SMOV is not possible	You could not execute positioner sync. command(SMOV) without selecting station in a SELSTN command	Choose a correct station for use in SELSTN command. Set the same station number for SMOV command as the station number of SELSTN.
E0220	0 axis)Encoder noise inflow	Robot current position is not the same as encoder data. There is noise in encoder pulse.	Check encoder voltage, connection of lines and frame grounds at controller and robot.
E0221	(0 axis)Absolute value encoder data receipt failure	Failure to receive absolute value for the encoder data from the encoder that checks the encoder noise status.	Check the encoder voltage, the connection between cables, controller, and robot grounding status.
E0222	Same cube simultaneous entry detected	Robot's TCP enter the cube area on which other robot is working. You can't playback in status of deadlock.	In the manual mode, use a jog to move the robot beyond the cube area. Modify the program to avoid the deadlock during playback.
E0223	(0 axis)Encoder disconnection or communication failure	An error occurs while receiving a location data from the serial encoder.	The voltage of the encoder, the connected state of the cable, and the grounding work for the controller and the robot should be checked.
E0224	(0 axis) Encoder state error	Errors are received from the encoder because of overflow, over speed, internal condenser voltage, LED errors, etc.	Even after the error resetting is run from the encoder reset function, if the error keeps occurring, the encoder (Motor) should be replaced.
E0225	0 axis) Soft limit encoder usage range exceeded	The current soft limit range of the axis exceeds the range which can be used by encoder.	In case that machine integer file is loaded on controller newly, please make initialization in accordance with the order of encoder offset calibration, axis integer setting and soft limit setting after encoder reset of the corresponding axis. If not, please set at an appropriate position by checking the limit.
E0226	0 axis) Exceeded encoder permitted range	Robot axis can't reach the position which exceeds the limit of encoder usable range.	In the manual mode, convert to the axis coordinate system. In the system setting, manipulate the jog into the encoder zero point. If the allowable range of the encoder is beyond the normal range, reset the encoder and initialize the subject axis again.
E0227	Cooperation control synchronization sequence error	During the cooperation control, a different command sequence occurs between the master robot and the slave robot.	Check the cooperation control network connection. Confirm that the slave robot is not operating under the power saving mode. If so, disable the power save on the slave robot.
E0228	Step target exceeds the operation range	A target position of the current step or the following step exceeds the operation range on the robot.	Find the error step by step go process. Check the all shift registers. And change the step target position.
E0229	0 axis) Encoder overheating detected	The internal temperature inside the encoder reaches the allowable limit.	Check the motor temperature and change the robot speed.
E0230	Encoder not normal during servo gun connection	Errors received from the connected servo gun due to overflow, over speed, internal condenser voltage, LED errors, etc.	Reset the encoder in encoder reset menu after connecting the encoder power with R359. If it is still in error state, the encoder(motor) should be changed
E0231	Encoder disconnected/Communication failure during servo gun connection	An error occurs when receiving the location data from the serial encoder at the servo gun for connection.	Check encoder voltage, connection of lines and frame grounds at controller and robot.
E0232	0 axis) Encoder battery exchange, reset required	Because encoder battery may be disconnected or voltage drop, the encoder alarm is occurred.	Check encoder battery voltage, connection cables, and change the battery and reset the encoder.
E0233	The target step position is interpreted into a collision position.	The target step position is determined at the collision location, which is either announced or calculated.	Change step position. It is required to program the step to be capable of avoiding collision in cases where the step is programmed for calculation.
E0234	0 axis)Average speed limit exceeded	The robot is being operated while exceeding average speed limitations.	If the robot is operated while exceeding average speeds set in each axis of the robot, the life of the robot may decline rapidly. Low operating robot speeds must be secured.
E0235	Re-Start failure, Be careful of trajectory when restarting!	The robot will restart after stopping or when step reversing occurs.	Be cautious as the newly calculated locus may be different from the precious one. In order to maintain a same route, please re-start the program from first step.
E0236	Motion plan fail	Robot is immobilized as motion planning has failed	Please contact to the laboratory. Please change the speed or location of steps as temporary solution
E0237	Detection of the interference with the robot 0) arm area	The arm interference detection function is being activated. Through the HiNET, the interference with the robot 0) is detected.	Deactivate the ARM interference detection function to avoid the robot.  Then, reactivate the ARM interference detection function.
E0238	Sensor speed tracking is impossible.	The velocity of the sensor ( Press) during the synchronization is too fast to follow	The travelling distance of the robot should be programmed in a way to be equal as much as possible when compared with the travelling distance of the sensor( Press)
E0239	The sensor position for the step does not increase sequentially	When the sensor synchronization is to be applied, the position of the sensor registered in the step should go up as the step goes up.	Through the Quick-Open, the position of the sensor of the step should be checked and adjusted in a way to allow it to increase sequentially.
E0241	The essential processing by the mainboard exceeded the allowed time.	It happens when the main CPU surpassed the time limit during the required process.	Check whether the set value of PLC run time is too large in the Control Configuration.
E0242	The robotic motion calculation exceeded the allowed time.	The error happens when the robot motion calculation is not finished within the time limit.	Give notice to HHI and upgrade the Command Buffer size in the Servo Control Configuration.
E0243	The CPU fault was detected on the mainboard.	The CPU fault has happened during the main board’s arithmetic operation. During such, the operation cannot go along.	Back up and send all files to us.
E0244	The corresponding robot’s ARM interference setting is not ready.	An error occurs at the corresponding robot’s ARM interference prevention condition or at the cooperation control status.	Check the corresponding robot’s ARM interference prevention condition and/or cooperation control status.
E0245	Inappropriate step setting for spline calibration.	The distance between the involved and previous steps is too narrow.	Enlarge the distance between the involved and previous steps.
E0246	Inappropriate step setting for spline calibration.	The involved step’s front and rear position or their direction is almost in the opposite.	Adjust the involved step’s front and rear direction so as not to be in the exact opposite.
E0247	Path cannot be restored.	The distance deviating from the path deviation point surpassed the set distance limit for the path restoration. System -> Control Parameter -> Control environment setting -> Auto Mode Distance Limit for Path Restoration.	Convert to the manual mode to conduct the path restoration. Enter the allowable distance of the path restoration as set and rerun.
E0248	Operation with other path (not the existing path) expected	Unexpected step corrections or S/W errors are the causes.	Make sure to restart on a manual path. When S/W is questioned as an error, back up the control files and give notice to HHI.
E0249	A larger torque setting is applied to the subject axis reducer.	The device may have an impact or vibration, or the encoder data may have an error.	Reduce the speed of the subject step to identify the reason. Please contact our customer service center regarding any other concerns.
E0251	0 axis) AXISCTRL CUR Permitted Distance Exceeded	After executing AXISCTRL CUR function, the distance traveling from the standard position exceeds the allowable limit.	Exit the AXISCTRL CUR function.
E0252	The tolerance of the roller hemming squeeze is above the error limits.	The roller hemming speed is too fast to control the squeeze in real time.	Reduce the roller hemming speed or make TOL_E value large.
E0253	The roller hemming squeeze is above 2.5kN.	The roller hemming speed is too fast to control the squeeze in real time.	Reduce the roller hemming speed or check if there is error in the teaching path.
E0254	Collision detection	High possibility to collide against peripheral devices.	If the error occurs frequently by not colliding against the outside, deactivate the collision detection function temporarily and contact our customer service center.
E0255	Violates SafeSpace	Robot’s safety area is compromised.	Move the robot to the safety area as set by a user.
E0256	Exceeds the output limit torque detection time	Torque saturation occurs during the error detection.	Check the 3-phase input voltage. (Based on 220V, tolerance range 10%) Initialize the servo parameter of the robot parameter.
E0257	Accel./Decel. torque insufficient	Cause 1: Mechanic data error; Cause 2: Torque coefficient was entered too low	If both the causes 1 and 2 are normal, please contact our customer service center.
E0258	Network (EN2) setting error	EN2 network settings (IP address, subnet mask, and gateway) are incorrect.	Refer to the manual and set EN2 network again.
E0259	Force sensor communication failed	Cables are disconnected or the power of Net Box is deactivated.	Check the cable between the sensor, the controller, and the power connection of Net Box.
E0260	Force control disabled	Force control usage is deactivated.	Activate the use of function at [Force control] – [Environment setting].