4. Warning

 

Code	Message	Cause	Remedy
W0001	Backup memory damaged.	It occurs when damage is found in all kinds of files.	Initialize the internal memory, and load all kinds of files backed up in a diskette. If the issue continues, replace the mainboard.
W0002	Internal temperature is rising. Be careful.	It occurs when the controller temperature is above 65.	Refer to the troubleshooting method.
W0003	Delete the program because it is damaged.	Program to execute is damaged.	Delete the program, and reload a Backup program.
W0004	Emergency stop key is entered.	It occurs when [Motor ON] in an emergency.	Release emergency stop and execute
W0005	Backup battery voltage is low.	Backup battery voltage connected to Main board BATCN connector is below the standard.	Replace the backup battery.
W0009	Brake slip (Set value exceeded)	It happens when brake slip by compression during stud welding exceeds the installed value.	Please check the axis having the largest slip at brake slip count. Replace the motor where axis has the largest slip.
W0010	Fieldbus power supply error	Fieldbus power is not supplied.	In case of DeviceNet, check if +24V of power supply line is correctly connected, and measure the voltage with multimeter. Take necessary actions to correctly supply +24V power to DeviceNet cable.
W0011	Fieldbus network connection error	Fieldbus network connection is not normal.	Check if field bus connector is taken off. Check if field bus network cables are all in comply with each field bus regulation.
W0012	Fieldbus IDLE state (PLC STOP)	Master stops I/O operating.	If PLC is in a program mode, change it to RUN mode.
W0013	Fieldbus module is not detected.	Field bus module is not sensed.	If you want not to use filedbus, please install field bus use invalid.
W0014	Fieldbus setting error	Parameter setting for field bus master is not identical with that of slave.	Check if parameter setting is correctly done for filed bus master and slave. If any errors, then correct them
W0015	Fieldbus general error	Fieldbus has an error.	Check if there is any error in fieldbus setting an fieldbus master setting, and cabling.
W0016	GE or DE signal usage number is inappropriate	The specified values for GE or DE variable are incorrect. The values are out of range.	1) The number is not corresponding to the cooperation robot. 2) GE: Min.=(robot #-1)*4+1, Max.=(robot #-1)*4+4 3) DE: Min.=( robot #-1)*32+1, Max.=(robot #-1)*32+32
W0017	External emergency stop is entered.	It happens when [motor ON] is done at the status that external emergency halt is inserted.	Please check the status and manage at monitoring of Private input signal.
W0018	Embedded fieldbus #n node connection is cut off.	Occurs if the response is lost after a normal operation	Check the cable status.
W0019	Input size of embedded fieldbus #n node does not match.	Occurs if the input size of corresponding node has been changed	Check the input module of corresponding node, or execute [Re scan] function
W0020	Output size of embedded fieldbus #n node does not match.	Occurs if the output size of corresponding node has been changed	Check the output module of corresponding node, or execute [Re scan] function
W0021	IO size of embedded fieldbus #n node is too large.	Occurs if the I/O size of each node exceeds 16 bytes	Distribute input/output by adding a Fieldbus adaptor
W0022	Embedded fieldbus #n node is not responding.	Occurs if there is no response after the power on	Check the cable status of corresponding node
W0023	Master Mac (0) of embedded fieldbus is colliding.	Occurs if one of the node has Mac as same as Master Mac(0)	Turn off the power and change the Mac of a node with Mac=0
W0024	The period of usage for temporary license key of option function is expired.	The temporary license for the subject optional function has expired.	Contact our company to purchase a license for the subject function.
W0025	Only (%d) days for free usage of temporary license key of option function are remained.	The temporary license for the subject optional function will expire soon.	Contact our company to purchase a license for the subject function.
W0026	Grease lubrication is required! System characteristic data/moving distance check.	Warning is generated depending on the distance set for filling the grease and the date for it.	After the grease is supplemented, all the values at the grease filling scheduling setting menu of the robot parameter of T/P should be initialized. * For information: W0018 at V30.09-84~V30.09-88.
W0027	The field bus master setting is CC-Link v1.0	The CC-Link master does not match with the CC-Link version.	Check the CC-Link master and the controller CC-Link version.
W0028	This is robot-fan failure.	A failure occurs to the robot fan (R-FAN).	The activity state of the robot fan (R-FAN) should be checked.
W0030	PRM PN over-voltage occur	The PRM PN voltage was over the warning limit.	1) Check the PRM input 3-phase voltage. 2) Check the PRM input PN voltage.
W0031	PRM PN under-voltage occur	The PRM PN voltage was under the warning limit.	1) Check the PRM input 3-phase voltage. 2) Check the PRM input PN voltage. 3) Check PRM NFBRST and NFBPN status.
W0032	PRM 3-phase over-voltage occur	The PRM-3 phase voltage was over the warning limit.	Check the PRM input 3-phase voltage.
W0033	PRM 3-phase under-voltage occur	The PRM-3 phase voltage was under the warning limit.	1) Check the PRM input 3-phase voltage. 2) Check PRM NFBRST and NFBPN status.
W0034	PRM 3-phase voltage frequency error	PRM-3 phase voltage frequency was over the warning limit.	1) Check the PRM input 3-phase voltage. 2) Check PRM NFBRST and NFBPN status.
W0035	PRM ADC offset value error	PRM ADC Offset value was over the warning limit.	Re-inject the controller power and inspect.
W0036	PRM 3-phase voltage offset value error	PRM-3 phase voltage Offset value was over the warning limit.	Check the PRM input 3-phase voltage.
W0037	PRM heat sink or reactor temperature rise	The temperature of PRM heat sinking plane or reactor was over the warning limit.	Check the PRM fan.
W0038	PRM regenerative current error	Abnormality of PRM’s regenerative current has been detected.	Reinject the controller power and inspect.
W0039	PRM control power (+15V/-15V) error	PRM control power supply (+15V/-15V) is not normal.	1) Check the POW LED on the PRM BD591 board. 2) Check the CNP24 (24V) on the PRM BD591 board.
W0040	PRM load capacity error	PRM load capacity was over the warning limit.	Reduce the robot play speed and check the warning.
W0041	PRM NFB Trip	PRM NFB Trip occurred.	Check PRM NFBRST and NFBPN status.
W0042	PRM PN current warning standard exceeded	An exceeding PRM recovery capacity, PRM PN current exceeds error limits.	Reduce the robot play speed and check the warning.
W0043	PRM 3-phase current warning standard exceeded	An exceeding PRM recovery capacity, PRM 3-phase current exceeds error limits.	Reduce the robot play speed and check the warning.
W0051	High loads mode is ‘Disable’, which may cause early breakdown of the robot.	The high loads mode has been set as ‘invalid’.	Only when the user accepts the robot’s early breakdown, set the high load mode as ‘invalid’.
W0052	Loads data of the subject tool is not defined (therefore, operating in high loads mode)	The robot has started to move without the setting of the involved tool load data. The robot operates in a high load mode.	Execute the load estimation of the involved tool or directly perform the setting by means of CAD data.
W0053	Loads data of the subject tool is not defined.	It has been executed without the setting of the involved tool load data.	Execute the load estimation of the involved tool or directly perform the setting by means of CAD data.
W0054	Setting of the duplicated use of the CAN port.	CAN port is used to set in two or more applications.	Do not use a CAN port for two or more applications. Change the setting accordingly.
W0055	Impossible to use the embedded fieldbus #n node.	The previous node, which has an IP size larger than 16 bytes (128 points), already occupied the FN object of #n node.	Use a different node #.
W0104	(0 axis)Encoder battery voltage is low	Encoder battery voltage is too low.	Follow the controller MANUAL to check the encoder battery in corresponding axis. Check the Battery connection of corresponding axis encoder.
W0105	(0 gun)Total tip exceeds consumption for exchange.	It occurs when total tip consumption detected with gun search is in excess of tip exchange consumption set in servo gun parameter.	Inspect the moving tip and fixed tip consumption, and replace the tip.
W0106	(0 gun)Moving tip exceeds consumption for exchange	It occurs when moving tip consumption detected with gun search is in excess of tip exchange wear set in servo gun parameter.	Check the consumption of the moving tip and exchange the tip if necessary.
W0107	(0 gun) Fixed tip exceeds consumption for exchange	It occurs when fixed tip consumption detected with gun search is in excess of moving tip exchange consumption set in servo gun parameter.	Check the consumption of the fixed tip and exchange the tip if necessary.
W0108	Actual squeeze force during jog operation exceeded the set value	It occurs when actual value of pressure is in excess of set value in manual pressurizing. Here operate the servo gun axis in the opposite direction.	Check if force is sufficiently set for the axis you intend to operate. Make contact with servo gun manufacturer because mechanical problem is anticipated in servo gun.
W0109	Unselected servo gun cannot be operated manually	The servo gun you intend to operate is different from the selected servo gun number.	Servo gun should be operated by manual jog after being selected. Select the servo gun you intend to operate with R210 code before operating.
W0110	Condition is set up not to detect squeeze force	This occurs when the pressurization force level of the servo gun parameter menu or the pressurization force error detection delay time is not set.	Check whether the pressurization force level of the servo gun parameter menu or the pressurization force error detection delay time.
W0111	Previous location recovery error detection distance exceeded	This warning occurs when the returning distance simultaneously with motor ON input is larger than the set value of error detecting distance in case of enable returning function in [Motor ON].	Please expand error detecting distance of previous position recovery. Please make recovery function for previous position invalid. Please contact to A/S of HHI.
W0112	Previous location recovery distance exceeded	This occurs when the returning distance simultaneously with motor ON input is larger than the set value in case of enable returning function in [Motor ON].	Set the returning distance setting to be larger than the existing set value.
W0116	Impossible to maintain weaving movement used previously.	It happens weaving movement, which is made when WEAVON command is performed, cannot be maintained.	1) Please start again from step having WEAVON command. 2) If welding, after starting from command that WEAVON command is recorded by OFF status and moving to the point where weld is cut off, please change into weld ON status and make progress on.
W0117	(0 axis) Manual operation in a posture of high speed	Robot is in a posture of high speed while manually operated in rectangular coordinate system or tool coordinate system.	Change the robot’s posture by manipulating with articulation coordinate before operating it manually.
W0118	1st Servo CPU version is old	The robot may be used, but it has problems in the use of some functions due to the old CPU version of 1st servo in the 1st servo board.	You may use the existing functions as they are, but for the use of new functions, please make contact with our A/S to update the version.
W0119	2nd Servo CPU version is old	The robot may be used, but it has problems in the use of some functions due to the old CPU version of 2nd servo in the 1st servo board.	You may use the existing functions as they are, but for the use of new functions, please make contact with our A/S to update the version.
W0120	3rd Servo CPU version is old	The robot may be used, but it has problems in the use of some functions due to the old CPU version of 1st servo in the 2nd servo board.	You may use the existing functions as they are, but for the use of new functions, please make contact with our A/S to update the version.
W0121	4th Servo CPU version is old	The robot may be used, but it has problems in the use of some functions due to the old CPU version of 2nd servo in the 2nd servo board.	You may use the existing functions as they are, but for the use of new functions, please make contact with our A/S to update the version.
W0123	Stop request of opponent robot	Stop instruction is received from the partner robot during cowork control operation. In this case, the above message is output, and the robot stops.	Start running a master to resume a program after starting the robot on the part of slave.
W0124	Slave robot jog is inoperable	It is set as salve in the condition of manual cowork control. The robot set as slave is impossible to operate separately.	To operate each robot individually in a manual mode, change the condition of manual cowork. To change the condition of manual cowork, users need to use F key or R351 code.
W0125	Abnormal position of connected servo gun	The position of servo gun attached by GUNCHNG ON instruction or instruction for manual gun connection is different from the one remained in its memory when separating.	It is normal if it occurs when servo gun is initially connected. If it occurs other than the initial connection, check the followings. It may occur if an incorrect servo gun is selected. Thus, check this out. And check if encoder battery of servo gun is sufficient.
W0131	Cooperative jog is inoperable –Duplicate master robot	Among robots connected to HiNet are more than two robots set as Master in their manual cowork.	Only one Master for manual cowork is possible to set. Change the setting.
W0132	Cooperative jog is inoperable –Slave not selected	Jog operation is attempted for Master robot without setting the Slave robot to be available to cowork.	Check if Slave robot is selected, and get it ready to be available to cowork before operating (Jog Off/Enabling Switch On).
W0133	Jog setting of slave side changed -Stop	A robot changed its manual cowork is detected among the coworking Slave robots Master during cowork jog operation with robot.	Double check the cowork condition of Slave before operating.
W0134	Master tool coordinate system is not selected	It occurs when attempting to operate jog for Slave robot in a CMOV recording mode (R351,3).Master robot is not specified. Or it may occur when using forwarding function of CMOV step. The currently set number of Master is different from the recorded Master	Set a correct master robot for manual cowork Master.
W0137	Manual operation in a high-speed tool end	During the manual operation of cartesian coordinate and a tool coordinate, the speed of the tool end of the robot exceeded safety speed limits.	Check if axis B is near 0 deg. An axial coordinate must be operated in a manual manner when axis B is near 0 deg.
W0138	The remaining rated life of reduction gear is less than 10%	The remaining rated life of the decelerator of the corresponding axis is calculated into a value of less than 10% of the initial specification value.	Under current operational conditions, the user is requested to prepare a replacement of the decelerator with reference to the expected life of the decelerator of the corresponding axis.
W0139	The mass of the tool exceeds the allowable tolerance	The mass of the current tool is much lower than the real mass. Over-demanding motions are expected.	Check the mass/mass center value, gravity direction, or standard position of the subject tool.
W0140	The expected life span of the reduction gear: less than 40,000 hours	Based on current operating condition, the expected life span of reduction gear for the axis is less than 40,000 hours. Early break of reduction gear is predicted	Check if the physical property of the current tool is set correctly. If the tool properties are correct, please consult with an HHI engineer.
W0141	Tool (0) Allowable inertia exceeded. High load mode is used.	As the tool’s inertia exceeds the value allowed for the wrist axis, the performance and life-span of the robot is lowered.	While, in principle, the adjustment should be made in a way that the tool’s inertia is lowered, if it is impossible to make an adjustment, the high-load mode needs to be made valid and used.
W0142	0 axis) Average load rate error during task.	The average load factor set for the detection of warning is exceeded.	If the axis of the robot that generates the warning is excessively running, the load for the tool should be reduced and its velocity should be lowered. If the error occurs to the robot that has operated normally in the same conditions, the apparatus should be checked.
W0143	0 axis) Encoder data error. Check.	Due to the abnormality of the serial encoder, "skipping" phenomenon occurs to the position data.	While the servo board compensates for the "skipping" phenomenon of the position data, it is recommended to replace the motor after making inquiries to our A.S department in order to prevent those problems from keeping combing back.
W0144	Safety restarting mode operation	If it is restarted, the position of the step will be changed, allowing it to run in a safe velocity.	If the travelling should be made in the registered velocity, not the safe velocity, the motor should be turned off, before the re-starting should be made.
W0145	0 axis) Encoder communication abnormal. Check required.	The encoder communication failures have occurred more than 6 times consecutively.	The encoder line and DSP board of the axis should be checked.
W0146	0 axis) Encoder temperature is abnormal. Inspection is required	The temperature of the encoder at the axis where the warning occurs is above 85℃	The load factor of the axis should be checked. In case of the axis fitted with the fan, the checking of the fan should be also carried out together. Make inquiries to our A.S department.
W0147	Stop as interference between the robot (0) and the arm is expected.	As the interference with the Arm is expected if the robot runs continuously, the stopping occurs due to the Arm interference detection function.	The conditions for the step should be changed in order to prevent the interference with the Arm.
W0149	The remaining usage time limit of the arc welding tip is below 10%	The use time limit of 90% and over has been consumed for the welding tip.	Change the welding tip and initialize the tip use time.
W0150	The usage time limit of the arc welding tip is exceeded.	The use time of the welding tip has surpassed the set time.	Change the welding tip and initialize the tip use time.
W0151	FN output is impossible when the embedded PLC is on and SP11 of off	If the built-in PLC is used while the SP11 off, the FN signal cannot be output.	Turn off the built-in PLC. When the built-in PLC is used, turn on the SP11 On additionally.
W0152	The measured panel thickness is outside the normal range.	After the pressurization and fitting processes, the measured panel thickness was over the limit of the standard thickness.	Check whether any of the panels has been left out. Perform the gun search and the gun search reference position record.
W0153	The motor current detected exceeds the allowable range by the reducer.	The tool load and/or additional weights are not accurate. The electric current value increases as the motor temperature goes up.	Check the tool load and additional weights. If everything is in normal range, contact our customer service center.
W0154	The tolerance of the roller hemming squeeze is above the warning limits.	The roller hemming speed is too fast to control the squeeze in real time.	Reduce the roller hemming speed or make TOL_W value larger.
W0155	Output torque is outside the normal range	Torque saturation occurs during the warning detection time period.	Inspect the 3-phase input voltage (based on 220V, tolerance range 10%) Initialize the servo parameter of the robot parameters.
W0156	Sensing tracking distance exceeds the limit.	The distance tracking along the height sensing exceeds the limit.	Check if the sensing function works normally. If the limit is set too low, change the setting higher.
W0157	The welder internal synergic change is in progress.	The welder could not receive the command because the welder synergic setting is changed.	Remain on standby for up to 6 seconds until the communication with the welder is normalized. If the synergic setting in the welding condition is not changed, the standby time will be minimized.