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4.Finally, check use and click OK to modify
Type IV:
The operations of type 4 and type 1 are not very different. For specificoperations, please refer to the operation process of type 1, type 4 andthedifference of type 1 lies in the number of safety zones. Type 4 is 4 safetyzonesand type 1 is 6.
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5.3.6 Origin Setting
The origin setting page can set the setting content of the origin
finding program, including origin finding sequence, origin speed, origin
signal, origin signal status, first origin finding direction, reset
sequence, reset speed, IO signal in origin returning, etc.
The origin mode is divided into two types: long origin and short origin:
Long origin: after sensing the origin signal, continue to move until
the origin signal disappears, and then move in the opposite direction
until sensing the origin signal again. The stop position is the origin
position.
Short origin: after sensing the origin signal, immediately reverse
one circle, and then find the origin at low speed in the initial direction
of returning to the origin. After sensing the origin signal again, stop.
The stop position is the origin position.The smaller the number of the
origin sequence, the earlier to return to the origin. The numbers are the
same and return to the origin at the same time.
The origin speed is the movement speed from starting to return to the
origin to touching the origin signal. Reasonably setting the origin speed
is very helpful to the accuracy of the origin position.
The input IO of the origin sensing switch signal must be set. The
factory default is none. If the origin signal is not set, an alarm will be
given: The origin signal is not set.
State iron sheet contact induction switch, the signal is on-off,
normally open, and the signal is off, normally closed.
The direction origin signal selects the positive direction in the
negative direction of the axis and the reverse direction in the positive
direction of the axis. By default, the system finds the origin in the
negative direction.
The reset sequence is the same as the origin sequence (changeable).
Reset speed is the same as the origin speed (changeable).
Return to the original IO after setting this IO, the corresponding IO
will be output on during the return to the origin and off after the return
to the origin.
Note: clicking save will directly overwrite all programs in
\"programmable key [0]: Origin\" and \"programmable key [1]: reset\". Please
set the origin program and reset program according to the actual situation.
Origin finding process:
Find the origin switch for the first time according to the set origin
direction and speed. After touching the origin switch, change the direction,
reduce the speed and leave the origin switch. If the motor does not turn for a
full circle at this time, it will turn one circle away from the origin switch.
After turning for a full circle, find the adjustment direction again, find the
origin switch, approach the origin switch at a slower speed, and after
touching the origin switch, Start the program of finding the encoder single
turn value of the last recorded origin position until the last recorded
position is found. End of return to origin. If it does not end for a long time,
please increase the \"origin error pulse\". For setting of \"zero point error
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pulse\", please refer to \"5.3.2 motor parameters\". If the origin
deviation recorded twice is too large, it will alarm the origin offset, and
the origin position has changed. 5.3.7 Gantry Setting
After checking the use of heel, the checked axis moves with the
selected central axis (*Note: the reduction ratio and distance per
revolution must be set correctly).
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5.3.8 Servo Parameter
5.3.8.1 Drive Control Integrate System
*Note: 1. For servo parameter debugging, please refer to the servoparameter table of Huacheng drive control integrated system.
3. Check whether the motor code is correct.
5.3.8.2 RTEX System
Refresh: Click refresh to successively read the servo parameters in the list on the left.Clear the alarm: Clear the servo communication alarm. The motor alarm cannot be clearedandmust be powered off and restarted.
Clear multi turn value: Clear the multi turn value of servo motor, power off and restartafter clearing, and reset the origin.
Save parameters: For some servo parameters, click save and the parameters will take effectafter restart. Please refer to Panasonic servo motor manual for details.Address usage: For special servo parameters, please refer to Panasonic servo manual
settings, fill in the value of classification * 100 + number in the addressinput box, and click read / write.
For example, read the servo parameter category 2, the parameter No. 1, and
fill in 201 for the address.
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5.4 Hand Control Setting
5.4.1 Hand Control Setting
The manual control setting page can set the settings about the manual controldisplay.
Language: Select the language displayed by the manual controller. Key tone: When checked, the buzzer will sound when the screen is clicked, pressed,etc.Touch correction: If the screen touch position is not on time, click touch
calibration to enter the screen calibration page. After
calibration, it is necessary to manually power off and
restart. For the method of calibrating the screen when the
screen cannot be used normally, please refer to \"5.4.1
manual setting\".
Screen brightness: Click the +, - buttons to set the screen brightness.
Screen protection time: If there is no operation during the screen protection
time, the manual screen goes out, and the program will
continue to run. Click the screen or press the key, and
the screen will light up.
Date and time: Set the date and time of the current manual controller.
No prompt for deleting the teaching program: When checked, there will be no pop-up promptfor deleting the teaching program on the teaching programpage.No prompt for mobile teaching: When checked, the mobile teaching program will not popupaprompt on the teaching program page.
Only use simple programming: After checking, you cannot enter the advanced
page to modify the program logic. You can only
control counters, timers, stacks, reference
points, etc. in simple programming.
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Do not prompt that the counter has not been cleared: When the manual
controller is switched to the automatic state, if the current
value of any counter is not 0, it will prompt that the counter
has not been cleared. After checking, it will not prompt. 5.4.2 Network Configuration
The network configuration page can configure the network
port of the manual controller, and the system can be
remotely controlled through the network port of the manual
controller. Please refer to TCP remote protocol of Huacheng
control system for communication protocol.
5.4.3 Image Setting
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Startup page and standby page update method:
1. Make pictures:
Picture size: Startup page picture: width * height is
800 * 600 (unit: pixels).
Standby page picture: width * height is
800 * 400 (unit: pixels).
Format: PNG format.
2. Create a new \"hcupdate_pic\" in the root directory of the
USB flash disk and copy the pictures to this folder.
3. Insert the USB flash disk into the manual controller to enter the picture
setting interface, click the scanned picture, select the picture, and
select set as the start page or set as the standby page.
4. If it is set as the standby page, the standby page can be updated
successfully by changing the status of the third gear knob. If you start
the page, you need to power on the manual controller again to view the
effect.
Installation and operation instructions and methods:
1.Open the word document of the manual, click Save as and select other formats.
2.Select the format as a single web page file
3.The file name is fixed: \"index. HTML\" Click Save. After saving, you can open
it with a computer browser to check whether the content is normal.
4.Create a new folder \"instructions\" in the root directory of the USB flash disk, andputthe \"index. HTML\" file into the folder.
5.Insert the USB flash disk into the manual controller, click the scanning instructionsandthen the installation instructions. 5.4.4 Log In
Registration process:
1.Log in to the highest authority to view the manufacturer code, and then clickthe\"generate machine code\" button to generate a 6-digit machine code.
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2.Provide the manufacturer code and machine code to the supplier and let the supplierregister the production registration code.
3. Enter the 20 digit registration code provided by the manufacturer intothe\"registration code\" edit box.
4. Click the \"register\" button to complete the registration. 5.4.5 Word Changing Tool
This page can change IO input / output points, custom alarms,axis definitions, etc.
Click the selection drop-down box, select the file to be
modified, select the line to be modified, fill in the
translated text in the translation name on the right, click
Replace, after the whole file is modified, click save the
current modification, and it will take effect after restart.
Add alarm: The alarm number can be added based on the current 9000-9020.
Replace: Modify the translation name.
Scan USB flash disk: Read USB flash disk IO files.
Export: Fill in the name of the exported file in the upgrade package name,
click export to export the translated file to USB flash disk, and you
can import the translated file on other manual controllers.
Import: Click \"refresh USB flash disk\" to find the translation file exported
by the export function, and the file suffix is \"io. Hcdb\".Select to
switch and modify the directory.
Reset all files: All translated files will be restored to the default state,
which will be used in case of errors or restoring the default.
Save current modification: The corresponding translation after modification.
Click save current modification to update the
translation and take effect after restart.
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5.4.6 Maintain
Version update method:
Check the update rotation box → insert the USB flash disk. Afterafewseconds, click \"scan update package\" → select the version to be upgraded →click\"start update\" to enter the update interface for update. The system will automaticallyback up each update Ghost, start automatic update after the backup is completed.Backup / restore:
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Machine parameters: Refer to the setting of shaft parameters, including soft limitanddistance per revolution.
Manual control parameters: Parameter setting in programmable keys and all settingsunder manual control setting.
Ghost: backup all the data of the current manual controller.
Update package: the system will automatically store the upgraded version. If you needtoupgrade the previous version again, check it
again Select the version number to update the version, orexport the program to USB flash disk in this interface to version othermanual controllers to update.
Backup operation process:
Check → select the data to be backed up (machine
parameters / manual parameters / ghost) → Click to back up the current
status → enter the backup name in the pop-up backup name dialog box →click OK. The above steps are to back up the parameters to the local
machine. To back up to the USB flash disk, insert the USB flash disk on
the basis of the above steps, and then select the name of the parameters
just backed up to the local machine→ click export → click OK after the
export completion dialog box pops up. You can also rotate the third gear
knob at will, and then use the shortcut keys on the manual controller to
press F5 → F2 → F4 → F2 → F3 → F2 → F1 → F5 in order to enter the
backup interface and backup according to the prompt.
Restore process:
Check or → select the data to be restored
(machine parameters / manual parameters / ghost) → click the \"restore
selected backup\" button → according to the prompt, the manual controller
will restart and wait for the restart to complete the restoration.
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5.4.7 User Management
In this interface, you can set the administrator's permissionsandmodify the password.
Permission Description:
Operation permission (OP): the permissions of this item include:
1.The axis can be moved in the manual state, but cannot enter theteaching page for teaching;
2. It can start the manipulator and adjust the speed under automaticstate;
3. In the stop state, it can reset the origin and enter the productsetting page to set parameters;
4. You can enter the registration page.
Mold permission: Permission includes:
1.All rights of OP;
2. Settings related to module number;
3. You can enter the teaching page to teach;
4.The program action can be edited
automatically to modify the position,
speed and delay.
System permission: permission includes:
1.All rights of OP;
2. Machine parameters can be modified;
3. Most manual setting pages can be accessed.
User permission: permission includes:
1. All rights of OP;
2. Can enter the user management page. Advanced permission (root):permission includes:
1.All rights of OP;
2. The vendor code on the registration page is visible.
Auto modify: permission includes:
1.All rights of OP;
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2. The program action can be edited automatically to modify the position,speed,delay, etc.
New user name: edit user name → set password → check permission →operation
permission → click \"OK\". □ operation authority
□ module number authority
□ system authority
□ user authority
advanced permissions
□ auto modify
*Note: when selecting permission, if operation permission is not
selected, the system will automatically check it.
Delete user name: check the user list → click the \"delete\" button
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Chapter 6 Automatic Status
Turn the third gear knob to \"automatic\" to enter the automatic state as follows:In this interface, press the \"start\" key on the manual controller, and the
manipulator will start the program .
Speed regulation enable: After checking, press the key speed reduction key on themanual controller to regulate the global speed.
Follow: After selecting which step the program runs to, the color of that step willbecome dark.
Enter module: When checked, the following work will automatically switch to thecurrently running module, otherwise the module mode will not be switched.Single step: Single step operation in automatic state.
Please refer to the following figure for the use method:
Single cycle mode: The program goes from the first step to the end of the module.
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Cycle time: The time that the whole program runs to the end of the module.
Cycle display button: Click this button to display the upper mold cycle
time and current cycle time, as well as the counting
status of all counters, timer timing and stacking
parameter setting.
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Chapter 7 Alarm Content and Handling Plan7.1 Alarm Clear Operation
When there is an alarm in the system, a yellow alarm information bar
will appear at the bottom of the screen, which is composed of alarm number
and alarm information. After solving the problem, press the \"stop\" button
to clear the alarm information. If it cannot be cleared, the problem is
not solved.
Solution steps: Click this button to display the possible causes of the
current alarm, click Hide again, click the \">\" button on the
far right to hide the prompt bar of the current alarm
information, and click display again.
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7.2 Alarm Content and Response
Alarm
Number
Chinese name Alarm
reason
Solutions
1 Incomplete
initialization
It will be cleared automatically afterstartup2
Main engine shaft
configuration and
manual control shaft
Different
configuration
Select host or manual control as required3 Main engine axis
configuration
parameter error
Reset motor parameters
4 insufficient memory If the teaching program is too long, youcanuse the module to integrate the same actionsback and forth.
5 Teaching data
parsing error
Error in the tutorial program, hand controlandhost program version does not match, updatethematching program version.
6 Teach data editing
errors
1. Error in editing program, reload modulenumber or create a new module number2. The running instruction is not allowedtobemodified
7 Emergency stop 1. The emergency stop switch is pressed.2.Theemergency stop switch port on the hostisnotwired
8 Auto run jump error 1. Teach whether the label of program jumpisinvalid or deleted.
9 Failed to connect to
host
Host version error
10 Teaching program
error
Press the stop key to clear the alarm
11 Configuration
parameter store
failed
Restart or press the stop key to clearthealarm.
12 Model setting error Reset model
13
Single step / single
cycle commissioning
procedure setting
error
Restart or press the stop key to clearthealarm.
14
Read from host flash
wrong data
Error in data read from host flash
15 Communication with
IO board failed
1. Repair wiring 2. Check main board andIOboard
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16
Servo absolute
position read fail
Check the host and servo wiring
17
Servo absolute
position read
verification failed
Check the host and servo wiring
18
Servo absolute
position read
function code error
Check the host and servo wiring
19
Servo absolute
position read
overtime
Check the host and servo wiring
20 Communication with
IO board 2 failed
1. Repair wiring 2. Check main board andIOboard
21 Communication with
IO board 3 failed
1. Repair wiring 2. Check main board andIOboard
22 Communication with
IO board 4 failed
1. Repair wiring 2. Check main board andIOboard
23 Communication with
IO board 5 failed
1. Repair wiring 2. Check main board andIOboard
24
FPGA alarm, please
power off and
restart Open!
Power off and restart
25
Analog output
module output
verification error
1. Test wiring
2. Unsupported analog module
26
Analog output
module read
timeout
1. Test wiring3. Unsupported analog module27
The current
workbench coordinate
system is wrong
error, switching
failed
Workbench
parameters
number
error
Reset workbench parameters
28 Stack interval
output failed
Counter
setting
set error
Reset counter
29 Position stable
Synchroniz
ing
position
Auto clear
30 No current workbench
coordinate system
No current
worker
workbench
coordinate
system
31 The current
turntable is not
defined
Current
turntable
undefined
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31 The current
turntable is not
defined
Current turntable
undefined
32
The current tool
coordinate system
is wrong, switching
failed
Tool seat
calibration
system parameter
setting error
33 No current tool
coordinate system
No current worker
with coordinate
system
34 Communication with
euio board 1 failed
1. Repair wiring 2. Check mainboardandIOboard
35 Communication with
euio board 2 failed
1. Repair wiring 2. Check mainboardandIOboard
36 Safety door open Close the safety door
37 Single axis
reference address
error
Unsupported
address value
The address value should be between800-899
38 Path reference
address error
Unsupported
address value
The address value should be between800-899
39 Axis mapping error
Repeated mapping Check each axis mapping
40
Manual control
and host teaching
procedures are
inconsistent
Teaching
program
verification
error
1.Contains unsupported instruction,checkversion
2.Resave all programs
41 Single axis
following error
The axis
follows
multiple axis
42 Servo not enabled
Servo is not
enabled during
running
Press the enable switch
43 Return to origin
failed
nothing nothing
44
Analog module
baud rate search
failed
Can't find
supported analog
module
Check the wiring
45
Baud rate setting
of analog module
set successfully
nothing
Please restart
46 Follow target to
boundary
Improve the execution speed in thefollowing process
70 485 online
communication
timeout
Check 485 wiring
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90 Motor 1 alarm
Motor wiring fault or host circuitfaultCause: 1. The connecting linebetweenthe host and the servo driver is broken;2 servo alarm fault
91 Motor 2 alarm
Motor wiring fault or host circuitfaultCause: 1. The connecting linebetweenthe host and the servo driver is broken;3servo alarm fault
92 Motor 3 alarm
Motor wiring fault or host circuitfaultCause: 1. The connecting linebetweenthe host and the servo driver is broken;4servo alarm fault
93 Motor 4 alarm
Motor wiring fault or host circuitfaultCause: 1. The connecting linebetweenthe host and the servo driver is broken;5servo alarm fault
94 Motor 5 alarm
Motor wiring fault or host circuitfaultCause: 1. The connecting linebetweenthe host and the servo driver is broken;6servo alarm fault
95 Motor 6 alarm
Motor wiring fault or host circuitfaultcause: 1. The connecting line betweenthehost and the servo driver is broken;7servo alarm fault
96 Motor 7 alarm
Motor wiring fault or host circuitfaultcause: 1. The connecting line betweenthehost and the servo driver is broken;8servo alarm fault
97 Motor 8 alarm
Motor wiring fault or host circuitfaultcause: 1. The connecting line betweenthehost and the servo driver is broken;9servo alarm fault
100 Axis 1 movement
failure
Press the stop key to clear thealarm.Move again. Reasons:
1. Teach the same axis to move atthesame time;
2. The main program and subroutinehavethe same axis and move at the sametime;3. Teach trajectory motion and singleaxis motion to run at the same time
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101 Axis 2 movement
failure
Press the stop key to clear thealarm.Move again. Reasons:
1. Teach the same axis to moveatthesame time;
2. The main program and subroutinehavethe same axis and move at the sametime;3. Teach trajectory motion andsingleaxis motion to run at the sametime102 Axis 3 movement
failure
Press the stop key to clear thealarm.Move again. Reasons:
1.Teach the same axis to move atthesame time;
2. The main program and subroutinehavethe same axis and move at the sametime;3. Teach trajectory motion andsingleaxis motion to run at the sametime103 Axis 4 movement
failure
Press the stop key to clear thealarm.Move again. Reasons:
1.Teach the same axis to move atthesametime;
2.The main program and subroutinehavethe same axis and move at the sametime;3. Teach trajectory motion andsingleaxis motion to run at the same time104 Axis 5 movement
failure
Press the stop key to clear thealarm.Move again. Reasons:
1.Teach the same axis to move atthesametime;
2. The main program and subroutinehavethe same axis and move at the sametime;3. Teach trajectory motion and singleaxis motion to run at the same time105 Axis 6 movement
failure
Press the stop key to clear thealarm.Move again. Reasons: 1. Teach thesameaxis to move at the same time;2.Themain program and subroutine havethesame axis and move at the sametime;3.Teach trajectory motion and singleaxismotion to run at the same time106 Axis 7 movement
failure
Press the stop key to clear thealarm.Move again. Reasons: 1. Teach thesameaxis to move at the same time;2. The main program and subroutinehavethe same axis and move at the sametime;3. Teach trajectory motion andsingleaxis motion to run at the sametime
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107 Axis 8 movement
failure
Press the stop key to clear thealarm.Move again. Reasons:
1. Teach the same axis to moveatthesame time;
2. The main program and subroutinehavethe same axis and move at the sametime;3. Teach trajectory motion and singleaxis motion to run at the same time110 Axis 1 speed
setting error
Press the stop key to clear the alarm.Removement
111 Axis 2 speed
setting error
Press the stop key to clear the alarm.Removement
112 Axis 3 speed
setting error
Press the stop key to clear the alarm.Removement
113 Axis 4 speed
setting error
Press the stop key to clear the alarm.Removement
114 Axis 5 speed
setting error
Press the stop key to clear the alarm.Removement
115 Axis 6 speed
setting error
Press the stop key to clear the alarm.Removement
116 Axis 7 speed
setting error
Press the stop key to clear the alarm.Removement
117 Shaft 8 speed
setting error
Press the stop key to clear the alarm.Removement
120 Shaft 1 run over
speed
Press the stop key to clear thealarm.Move again. Cause: 1. The trackacceleration setting is too large121 Shaft 2 run over
speed
Press the stop key to clear thealarm.Move again. Cause: 1. The trackacceleration setting is too large122 Shaft 3 run over
speed
Press the stop key to clear thealarm.Move again. Cause: 1. The trackacceleration setting is too large123 Shaft 4 runt over
speed
Press the stop key to clear thealarm.Move again. Cause: 1. The trackacceleration setting is too large123 Shaft 4 runt over
speed
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
track acceleration
setting is too large
124 Excessive movement
of shaft 5
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
track acceleration
setting is too large
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125 Excessive run of
shaft 6
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
track acceleration
setting is too large
126 Shaft 7 moves too
fast
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
track acceleration
setting is too large
127 Excessive movement
of shaft 8
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
track acceleration
setting is too large
130 Axis 1 positive
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;2. Theteaching program position exceedsthesingle axis soft limit range, modifytheteaching program position.
131 Axis 2 positive
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position.
132 Axis 3 positive
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position.
133 Axis 4 positive
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position.
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134 Axis 5 positive
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position.
135 Axis 6 positive
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position.
136 Axis 7 positive
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position.
137 Axis 8 positive
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position.
140 Axis 1 negative
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position
141 Axis 2 negative
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position
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142 Axis 3 negative
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program position exceedsthe single axis soft limit range,modifythe teaching program position
143 Axis 4 negative
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range;
2. The teaching program positionexceedsthe single axis soft limit range,modifythe teaching program position
144 Axis 5 negative
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range; 2. Theteaching program position exceedsthesingle axis soft limit range, modifytheteaching program position
145 Axis 6 negative
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range; 2. Theteaching program position exceedsthesingle axis soft limit range, modifytheteaching program position
146 Axis 7 negative
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range; 2. Theteaching program position exceedsthesingle axis soft limit range, modifytheteaching program position
147 Axis 8 negative
limit alarm
Press the stop key to clear the alarm.Moveagain.Reasons: 1. If the movementexceedsthe single axis soft limit range,resetthesingle axis soft limit range; 2. Theteaching program position exceedsthesingle axis soft limit range, modifytheteaching program position
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150 Excessive
deviation of shaft
1
Machine Setting - > operation parameters,increase the tolerance setting, andpressthe stop key to clear the alarm.Moveagain.Cause: 1. The servo feedbackpulsesignal is incorrect. Test the forwardandreverse rotation of the motor on themotorpage. 2. The tolerance settingistoosmall. During the movement, thereisacertain gap between the feedback pulseandthe output pulse. Set the tolerancedifference to a reasonable position.151 Excessive
deviation of shaft
2
Machine Setting - > operation parameters,increase the tolerance setting, andpressthe stop key to clear the alarm.Moveagain.Cause: 1. The servo feedbackpulsesignal is incorrect. Test the forwardandreverse rotation of the motor on themotorpage. 2. The tolerance settingistoosmall. During the movement, thereisacertain gap between the feedback pulseandthe output pulse. Set the tolerancedifference to a reasonable position.152 Excessive
deviation of shaft
3
Machine Setting - > operation parameters,increase the tolerance setting, andpressthe stop key to clear the alarm.Moveagain.Cause: 1. The servo feedbackpulsesignal is incorrect. Test the forwardandreverse rotation of the motor on themotorpage. 2. The tolerance settingistoosmall. During the movement, thereisacertain gap between the feedback pulseandthe output pulse. Set the tolerancedifference to a reasonable position.153 Excessive
deviation of shaft
4
Machine Setting - > operation parameters,increase the tolerance setting, andpressthe stop key to clear the alarm.Moveagain.Cause: 1. The servo feedbackpulsesignal is incorrect. Test the forwardandreverse rotation of the motor on themotorpage. 2. The tolerance settingistoosmall. During the movement, thereisacertain gap between the feedback pulseandthe output pulse. Set the tolerancedifference to a reasonable position.154
Excessive deviation
of shaft 5
Machine Setting - > operation parameters,increase the tolerance setting, andpressthe stop key to clear the alarm.Moveagain.Cause: 1. The servo feedbackpulsesignal is incorrect. Test the forwardandreverse rotation of the motor on themotor
ECTC product series function specification v4.0
168
page. 2. The tolerance settingistoosmall. During the movement, thereisacertain gap between the feedback pulseandthe output pulse. Set the tolerancedifference to a reasonable position.155 Excessive deviation
of shaft 6
Machine Setting - > operation parameters,increase the tolerance setting, andpressthe stop key to clear the alarm.Moveagain.Cause: 1. The servo feedbackpulsesignal is incorrect. Test the forwardandreverse rotation of the motor on themotorpage. 2. The tolerance settingistoosmall. During the movement, thereisacertain gap between the feedback pulseandthe output pulse. Set the tolerancedifference to a reasonable position.156 Excessive
deviation of shaft
7
Machine Setting - > operation parameters,increase the tolerance setting, andpressthe stop key to clear the alarm.Moveagain.Cause: 1. The servo feedbackpulsesignal is incorrect. Test the forwardandreverse rotation of the motor on themotorpage. 2. The tolerance settingistoosmall. During the movement, thereisacertain gap between the feedback pulseandthe output pulse. Set the tolerancedifference to a reasonable position.157 Excessive
deviation of shaft
8
Machine Setting - > operation parameters,increase the tolerance setting, andpressthe stop key to clear the alarm.Moveagain.Cause: 1. The servo feedbackpulsesignal is incorrect. Test the forwardandreverse rotation of the motor on themotorpage. 2. The tolerance settingistoosmall. During the movement, thereisacertain gap between the feedback pulseandthe output pulse. Set the tolerancedifference to a reasonable position.160 Axis 1
acceleration alarm
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
acceleration setting is
too large.
ECTC product series function specification v4.0
169
161 Axis 2 acceleration
alarm
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
acceleration setting is
too large.
162 Axis 3 acceleration
alarm
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
acceleration setting is
too large.
163 Axis 4 acceleration
alarm
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
acceleration setting is
too large.
164 Axis 5 acceleration
alarm
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
acceleration setting is
too large.
165 Axis 6 acceleration
alarm
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
acceleration setting is
too large.
166 Axis 7 acceleration
alarm
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
acceleration setting is
too large.
167 Axis 8 acceleration
alarm
Press the stop key to
clear the alarm. Move
again. Cause: 1. The
acceleration setting is
too large.
170 Axis 1 positive
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2.Limit signal is normally closed ornormallyopen, which is inconsistent with theinstalled switch; 3. Wrong connectionportof limit signal
171 Axis 2 positive
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2.Limit signal is normally closed ornormallyopen, which is inconsistent with theinstalled switch; 3. Wrong connectionportof limit signal
ECTC product series function specification v4.0
170
172 Axis 3 positive
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch; 3. Wrong connectionport of limit signal
173 Axis 4 positive
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch; 3. Wrong connectionport of limit signal
174 Axis 5 positive
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch; 3. Wrong connectionport of limit signal
175 Axis 6 positive
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2.Limit signal is normally closed ornormallyopen, which is inconsistent with theinstalled switch; 3. Wrong connectionportof limit signal
176 Axis 7 positive
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2.Limit signal is normally closed ornormallyopen, which is inconsistent with theinstalled switch; 3. Wrong connectionportof limit signal
177 Axis 8 positive
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2.Limit signal is normally closed ornormallyopen, which is inconsistent with theinstalled switch; 3. Wrong connectionportof limit signal
180 Axis 1 negative
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2.Limit signal is normally closed ornormallyopen, which is inconsistent with theinstalled switch;3. Wrong connectionportof limit signal
ECTC product series function specification v4.0
171
181 Axis 2 negative
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch;3. Wrong connectionport of limit signal
182 Axis 3 negative
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch;3. Wrong connectionport of limit signal
183 Axis 4 negative
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch;3. Wrong connectionport of limit signal
184 Axis 5 negative
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch;3. Wrong connectionport of limit signal
185 Axis 6 negative
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch;3. Wrong connectionport of limit signal
186 Axis 7 negative
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.2. Limit signal is normally closedornormally open, which is inconsistentwiththe installed switch;
3. Wrong connection port of limit signal187 Axis 8 negative
limit signal alarm
Press the stop key to clear the alarm.Moveagain.Cause: 1. Limit signal is off.3. Limit signal is normally closed ornormally open, which is inconsistentwiththe installed switch;
3. Wrong connection port of limit signal
ECTC product series function specification v4.0
172
190 Axis 1 zero point
signal not set
Press the stop key to clear the alarm.Reset.Reason: the axis zero point signalisnot set in the system parameters. Theorigin instruction performs a signalwithan origin
191 Axis 2 zero point
signal not set
Press the stop key to clear the alarm.Reset.Reason: the axis zero point signalisnot set in the system parameters. Theorigin instruction performs a signalwithan origin
192 Axis 3 zero point
signal not set
Press the stop key to clear the alarm.Reset.Reason: the axis zero point signalisnot set in the system parameters. Theorigin instruction performs a signalwithan origin
193 Axis 4 zero point
signal not set
Press the stop key to clear the alarm.Reset.Reason: the axis zero point signalisnot set in the system parameters. Theorigin instruction performs a signalwithan origin
194 Axis 5 zero point
signal not set
Press the stop key to clear the alarm.Reset.Reason: the axis zero point signalisnot set in the system parameters. Theorigin instruction performs a signalwithan origin
195 Axis 6 zero point
signal not set
Press the stop key to clear the alarm.Reset.Reason: the axis zero point signalisnot set in the system parameters. Theorigin instruction performs a signalwithan origin
196 Axis 7 zero point
signal not set
Press the stop key to clear the alarm.Reset.Reason: the axis zero point signalisnot set in the system parameters. Theorigin instruction performs a signalwithan origin
197 Axis 8 zero point
signal not set
Press the stop key to clear the alarm.Reset.Reason: the axis zero point signalisnot set in the system parameters. Theorigin instruction performs a signalwithan origin
200 Track motion failed
Press the stop key to clear the alarm.Moveagain.Reason: there are some singularitiesin the trajectory motion, which canbebypassed by uniaxial motion.
ECTC product series function specification v4.0
173
219
Track motion
speed setting
failed
Press the stop key to clear the alarm.Moveagain.Reason: 1. Set the speed to 0;2.Thetrack is still moving, and the nexttrackis moving. For example, the main programisrunning one track, and the subroutinestarts another track.
220 Trajectory planning
failed
Press the stop key to clear the alarm.Slowdown and move again. Reason: on orbitthereare some singularities in the tracemotion,which can be bypassed by uniaxial motion221 Trajectory re
planning failed
Reasons: 1. The track speed is toofast.After correcting the track speed formanytimes,One joint still moves too fast222 Timeout waiting for
stacked data
sources
Reasons: 1. Visual photography wasunsuccessful. 2. Visual communicationdisconnected
223 Stack data source
error
Check the setting of the stack counter260 Remote
communication
photographing
failed
Photo taking failed
300 Counter not defined Reset counter
301 Timer not defined Reset timer
310 And or command wait
timeout
Check signal
500 Shaft 1 over
current alarm
Servo alarm
501 Shaft 2 over
current alarm
Servo alarm
502 Shaft 3 over
current alarm
Servo alarm
503 Shaft 4 over
current alarm
Servo alarm
504 Shaft 5 over
current alarm
Servo alarm
505 Shaft 6 over
current alarm
Servo alarm
506 Shaft 7 over
current alarm
Servo alarm
507 Shaft 8 over
current alarm
Servo alarm
510 Axis 1 Z pulse
error
Check servo and servo wiring
511 Axis 2 Z pulse
error
Check servo and servo wiring
ECTC product series function specification v4.0
174
512 Axis 3 Z pulse
error
Check servo and servo wiring
513 Axis 4 Z pulse
error
Check servo and servo wiring
514 Axis 5 Z pulse
error
Check servo and servo wiring
515 Axis 6 Z pulse
error
Check servo and servo wiring
516 Axis 7 Z pulse
error
Check servo and servo wiring
517 Axis 8 Z pulse
error
Check servo and servo wiring
520 Axis 1 no Z pulse Check servo and servo wiring
521 No Z pulse on axis
2
Check servo and servo wiring
522 No Z pulse on axis
3
Check servo and servo wiring
523 Axis 4 no Z pulse Check servo and servo wiring
524 No Z pulse on axis
5
Check servo and servo wiring
525 No Z pulse on axis
6
Check servo and servo wiring
526 No Z pulse on axis
7
Check servo and servo wiring
527 No Z pulse on axis
8
Check servo and servo wiring
530 Axis 1 origin
offset
The origin has changed. Reset the origin531 Axis 2 origin
offset
The origin has changed. Reset the origin532 Axis 3 origin
offset
The origin has changed. Reset the origin533 Axis 4 origin
offset
The origin has changed. Reset the origin534 Axis 5 origin
offset
The origin has changed. Reset the origin535 Axis 6 origin
offset
The origin has changed. Reset the origin536 Axis 7 origin
offset
The origin has changed. Reset the origin537 Axis 8 origin
offset
The origin has changed. Reset the origin540 Axis 1 positive and
negative limit
conflict
Test wiring and signal settings
541 Axis 2 positive and Test wiring and signal settings
ECTC product series function specification v4.0
175
negative limit
conflict
542 Axis 3 positive and
negative limit
conflict
Test wiring and signal settings
543 Axis 4 positive and
negative limit
conflict
Test wiring and signal settings
544 Axis 5 positive and
negative limit
conflict
Test wiring and signal settings
545 Axis 6 positive and
negative limit
conflict
Test wiring and signal settings
546 Axis 7 positive and
negative limit
conflict
Test wiring and signal settings
547 Axis 8 positive and
negative limit
conflict
Test wiring and signal settings
601 Non safety zone
zone 1 alarm
Move the manipulator to a safe area602 Non safety zone 2
alarm
Move the manipulator to a safe area603 Non safety zone
zone 3 alarm
Move the manipulator to a safe area604 Non safety zone 4
alarm
Move the manipulator to a safe area605 Non safety zone
zone 5 alarm
Move the manipulator to a safe area606 Non safety zone 6
alarm
Move the manipulator to a safe area650 Double arm distance
detection alarm
Move the manipulator to a safe area651 Double arm signal
detection alarm
Move the manipulator to a safe area700 Machine tool safety
zone alarm
Move the manipulator to a safe area800 Axis 1 servo off
line
Check wiring and servo
801 Axis 2 servo off
line
Check wiring and servo
802 Axis 3 servo off
line
Check wiring and servo
803 Axis 4 servo off
line
Check wiring and servo
ECTC product series function specification v4.0
176
804 Axis 5 servo off
line
Check wiring and servo
805 Axis 6 servo off
line
Check wiring and servo
806 Axis 7 servo off
line
Check wiring and servo
807 Axis 8 servo off
line
Check wiring and servo
900
Motor 1 encoder
battery failure
Servo alarm, check servo
901
Motor 2 encoder
battery failure
Servo alarm, check servo
902
Motor 3 encoder
battery failure
Servo alarm, check servo
903
Motor 4 encoder
battery failure
Servo alarm, check servo
904
Motor 5 encoder
battery failure
Servo alarm, check servo
905
Motor 6 encoder
battery failure
Servo alarm, check servo
906
Motor 7 encoder
battery failure
Servo alarm, check servo
907
Motor 8 encoder
battery failure
barrier
Servo alarm, check servo
910
Motor 1 encoder
on-off fault
barrier
Servo alarm, check servo
911
Motor 2 encoder
on-off fault
barrier
Servo alarm, check servo
912
Motor 3 encoder
on-off fault
barrier
Servo alarm, check servo
913
Motor 4 encoder
on-off fault
barrier
Servo alarm, check servo
914
Motor 5 encoder
on-off fault
barrier
Servo alarm, check servo
915
Motor 6 encoder
on-off fault
barrier
Servo alarm, check servo
916
Motor 7 encoder
on-off fault
barrier
Servo alarm, check servo
917
Motor 8 encoder
on-off fault
barrier
Servo alarm, check servo
ECTC product series function specification v4.0
177
920 Motor 1 is not
recognized and
needs to be
restarted
Power off and restart
921 Motor 2 is not
recognized and
needs to be
restarted
Power off and restart
922 Motor 3 is not
recognized and
needs to be
restarted
Power off and restart
923 Motor 4 is not
recognized and
needs to be
restarted
Power off and restart
924 Motor 5 is not
recognized and
needs to be
restarted
Power off and restart
925 Motor 6 is not
recognized and
needs to be
restarted
Power off and restart
926 Motor 7 is not
recognized and
needs to be
restarted
Power off and restart
927 Motor 8 is not
recognized and
needs to be
restarted
Power off and restart
1000
Servo 1 fault,
servo not enable
Servo alarm, check servo
1001
Servo 2 fault,
servo not enabled
Servo alarm, check servo
1002
Servo 3 fault,
servo not enabled
Servo alarm, check servo
1003
Servo 4 fault,
servo not enabled
Servo alarm, check servo
1004
Servo 5 fault,
servo not enabled
Servo alarm, check servo
1005
Servo 6 fault,
servo not enabled
Servo alarm, check servo
1006
Servo 7 fault,
servo not enabled
Servo alarm, check servo
1007
Servo 8 fault,
servo not enabled
Servo alarm, check servo
ECTC product series function specification v4.0
178
1020 RTEX, drive 1
Failure
Servo alarm, check servo
1021 RTEX, drive 2
fault
Servo alarm, check servo
1022 RTEX, drive 3
fault
Servo alarm, check servo
1023 RTEX, drive 4
fault
Servo alarm, check servo
1024 RTEX, drive 5
failure
Servo alarm, check servo
1025 RTEX, drive 6
failure
Servo alarm, check servo
1026 RTEX, drive 7
failure
Servo alarm, check servo
1027 RTEX, drive 8
failure
Servo alarm, check servo
1497
When the encoder
is absolute,
please confirm
whether to
execute the zero
point process
order
Please confirm
1498 Different
manufacturers
Reset motor parameter
1499 Different control
modes
Reset motor parameter
1500 Axis 1CAN
communication
timeout
Check the servo wiring and servo setting1501 Axis 2CAN
communication
timeout
Check the servo wiring and servo setting1502 Axis 3CAN
communication
timeout
Check the servo wiring and servo setting1503 Axis 4CAN
communication
timeout
Check the servo wiring and servo setting1504 Axis 5CAN
communication
timeout
Check the servo wiring and servo setting1505 Axis 6CAN
communication
timeout
Check the servo wiring and servo setting1506 Axis 7CAN
communication
Check the servo wiring and servo setting
ECTC product series function specification v4.0
179
timeout
1507 Axis 8CAN
communication
timeout
Check the servo wiring and servo setting1508 Axis 1CAN read
data error
Check the servo wiring and servo setting1509 Axis 2Can read
data error
Check the servo wiring and servo setting1510 Error reading data
of axis 3Can
Check the servo wiring and servo setting1511 Error reading data
of axis 4Can
Check the servo wiring and servo setting1512 Axis 5Can data
reading error
Check the servo wiring and servo setting1513 Axis 6can read
data error
Check the servo wiring and servo setting1514 Axis 7can read
data error
Check the servo wiring and servo setting1515 Axis 8can read
data error
Check the servo wiring and servo setting1516 Axis 1Can write
data error
Check the servo wiring and servo setting1517 Axis 2Can write
data error
Check the servo wiring and servo setting1518 Axis 3Can write
data error
Check the servo wiring and servo setting1519 Axis 4Can write
data error
Check the servo wiring and servo setting1520 Axis 5Can write
data error
Check the servo wiring and servo setting1521 Axis 6can write
data error
Check the servo wiring and servo setting1522 Axis 7can write
data error
Check the servo wiring and servo setting1523 Axis 8can write
data error
Check the servo wiring and servo setting1524 Axis 1 servo over
current
Servo alarm
1525 Axis 2 servo over
current
Servo alarm
1526 Axis 3 servo over
current
Servo alarm
1527 Axis 4 servo over
current
Servo alarm
ECTC product series function specification v4.0
180
1528 Axis 5 servo over
current
Servo alarm
1529 Axis 6 servo over
current
Servo alarm
1530 Axis 7 servo over
current
Servo alarm
1531 Axis 8 servo over
current
Servo alarm
1532
Axis 1 Drive main
circuit electrical
over voltage
Servo alarm
1533
Shaft 2 driver
main circuit power
over voltage
Servo alarm
1534
Shaft 3 driver
main circuit power
over voltage
Servo alarm
1535
Shaft 4 driver
main circuit power
Over voltage
Servo alarm
1536
Shaft 5 driver
main circuit power
over voltage
Servo alarm
1537
Shaft 6 driver
main circuit
over voltage
Servo alarm
1538
Shaft 7 driver
main circuit power
over voltage
Servo alarm
1539
Shaft 8 driver
main circuit power
over voltage
Servo alarm
1540
Shaft 1 driver
main circuit power
under voltage
Servo alarm
1541
Shaft 2 driver
main circuit power
under voltage
Servo alarm
1542
Shaft 3 driver
main circuit power
under voltage
Servo alarm
1543
Shaft 4 driver
main circuit power
under voltage
Servo alarm
1543
Shaft 4 driver
main circuit power
under voltage
Servo alarm
ECTC product series function specification v4.0
181
1545
Electrical under
voltage of main
circuit of shaft 6
driver
Servo alarm
1546
Shaft 7 driver main
circuit power under
voltage
Servo alarm
1547
Shaft 8 driver main
circuit power under
voltage
Servo alarm
1548 Axis 1 servo control
electric under voltage
Servo alarm
1549 Axis 2 servo control
electric under voltage
Servo alarm
1550 Axis 3 servo control
electric under
voltage
Servo alarm
1551 Axis 4 servo control
electric under voltage
Servo alarm
1552 Axis 5 servo control
electric under voltage
Servo alarm
1553 Axis 6 servo control
electric under voltage
Servo alarm
1554 Axis 7 servo control
electric under voltage
Servo alarm
1555 Axis 8 servo control
electric under voltage
Servo alarm
1556
Axis 1 servo output
short to ground road
Servo alarm
1557
Axis 2 servo output
short circuit to
ground
Servo alarm
1558
Axis 3 servo output
short to ground road
Servo alarm
1559
Axis 4 servo output
short to ground road
Servo alarm
1560
Axis 5 servo output
short to ground road
Servo alarm
1561
Axis 6 servo output
short to ground road
Servo alarm
1562
Axis 7 servo output
short to ground road
Servo alarm
1563
Axis 8 servo output
short to ground road
Servo alarm
1564 Axis 1 power line
phase loss warning
Servo alarm
1565 Shaft 2 power line
phase loss warning
Servo alarm
ECTC product series function specification v4.0
182
1566 Shaft 3 power line
phase loss warning
Servo alarm
1567 Shaft 4 power line
phase loss warning
Servo alarm
1568 Axis 5 power line
phase loss warning
Servo alarm
1569 Axis 6 power line
phase loss warning
Servo alarm
1570 Axis 7 power line
phase loss warning
Servo alarm
1571 Shaft 8 power line
phase loss warning
Servo alarm
1572 Axis 1 servo braking
resistance is too
high load
Servo alarm
1573
Axis 2 servo braking
resistance is too high
load
Servo alarm
1574 Axis 3 servo braking
resistance is too high
load
Servo alarm
1575
Axis 4 servo braking
resistance is too high
load
Servo alarm
1576
Axis 5 servo braking
resistance is too high
load
Servo alarm
1577
Axis 6 servo braking
resistance overload
Servo alarm
1578
Axis 7 servo braking
resistance is too high
load
Servo alarm
1579
Axis 8 servo braking
resistance is too high
load
Servo alarm
1580 Shaft 1 driver
overload warning
Servo alarm
1581 Shaft 2 driver
overload warning
Servo alarm
1582 Shaft 3 driver
overload warning
Servo alarm
ECTC product series function specification v4.0
183
1583 Shaft 4 driver
overload warning
Servo alarm
1584 Shaft 5 driver
overload warning
Servo alarm
1585 Shaft 6 driver
overload warning
Servo alarm
1586 Shaft 7 driver
overload warning
Servo alarm
1587 Shaft 8 driver
overload warning
Servo alarm
1588 Shaft 1 motor power
line broken
Servo alarm
1589 Shaft 2 motor power
line broken
Servo alarm
1590 Broken power line of
shaft 3 Motor
Servo alarm
1591 Broken power line of
shaft 4 motor
Servo alarm
1592 Shaft 5 motor power
line broken
Servo alarm
1593 Broken power line of
shaft 6 motor
Servo alarm
1594 Shaft 7 motor power
line broken
Servo alarm
1595 Broken power line of
shaft 8 motor
Servo alarm
1596
Shaft 1 drive
radiator overheating
Servo alarm
1597
Shaft 2 drive radiator
overheat
Servo alarm
1598
Shaft 3 drive radiator
overheat
Servo alarm
1599
Shaft 4 drive radiator
overheat
Servo alarm
1600
Shaft 5 drive radiator
overheat
Servo alarm
1601
Shaft 6 drive radiator
overheat
Servo alarm
1602
Shaft 7 drive radiator
overheat
Servo alarm
1603
Shaft 8 drive radiator
overheat
Servo alarm
1604
Axis 1 drive parameter
storage fault
Servo alarm
1605
Axis 2 driver
parameter storage
fault
Servo alarm
ECTC product series function specification v4.0
184
1606
Axis 3 driver parameter
storage fault
Servo alarm
1607
Axis 4 driver parameter
storage fault
Servo alarm
1608
Axis 5 driver parameter
storage failure
Servo alarm
1609
Axis 6 driver parameter
storage fault
Servo alarm
1610
Axis 7 driver parameter
storage fault
Servo alarm
1611
Axis 8 driver parameter
storage failure
Servo alarm
1612
Axis 1 driver setup
parameter abnormal
Servo alarm
1613
Axis 2 driver setup
parameter abnormal
Servo alarm
1614
Axis 3 driver setup
parameter abnormal
Servo alarm
1615
Axis 4 driver setup
parameter abnormal
Servo alarm
1616
Axis 5 driver setup
parameter abnormal
Servo alarm
1617
Axis 6 driver setup
parameter abnormal
Servo alarm
1618
Abnormal setting
parameters of axis 7
driver
Servo alarm
1619
Axis 8 driver setup
parameter abnormal
Servo alarm
1620 Axis 1 servo motor locked Servo alarm
1621 Axis 2 servo motor locked Servo alarm
1622 Locked rotor of axis 3
servo motor
Servo alarm
1623 Axis 4 servo motor locked Servo alarm
1624 Axis 5 servo motor locked
rotor
Servo alarm
1625 Axis 6 servo motor locked Servo alarm
1626 Axis 7 servo motor locked Servo alarm
1627 Shaft 8 servo motor
locked
Servo alarm
1628 Shaft 1 encoder internal
fault
Servo alarm
1629 Shaft 2 encoder internal
fault
Servo alarm
1630 Shaft 3 encoder internal
fault
Servo alarm
ECTC product series function specification v4.0
185
1631 Shaft 4 encoder internal
fault
Servo alarm
1632 Shaft 5 encoder internal
fault
Servo alarm
1633 Shaft 6 encoder internal
fault
Servo alarm
1634 Shaft 7 encoder internal
fault
Servo alarm
1635 Shaft 8 encoder internal
fault
Servo alarm
1636 Axis 1 servo motor over
speed
Servo alarm
1637 Axis 2 servo motor over
speed
Servo alarm
1638 Axis 3 servo motor over
speed
Servo alarm
1639 Axis 4 servo motor over
speed
Servo alarm
1640 Axis 5 servo motor over
speed
Servo alarm
1641 Axis 6 servo motor over
speed
Servo alarm
1642 Axis 7 servo motor over
speed
Servo alarm
1643 Axis 8 servo motor over
speed
Servo alarm
1644
Axis 1 driver position
deviation too large
Servo alarm
1645
Axis 2 driver position
deviation too large
Servo alarm
1646
The position deviation
of shaft 3 driver is
too large
Servo alarm
1647
Axis 4 driver position
deviation too large
Servo alarm
1648
Axis 5 driver position
deviation too large
Servo alarm
1649
The position deviation
of shaft 6 driver is
too large
Servo alarm
1650
Shaft 7 driver position
deviation too large
Servo alarm
1651
Shaft 8 driver position
deviation too large
Servo alarm
1652 Abnormal pulse of shaft 1
driver
Servo alarm
ECTC product series function specification v4.0
186
1653 Abnormal pulse of shaft 2
driver
Servo alarm
1654 Abnormal pulse of shaft 3
driver
Servo alarm
1655 Abnormal pulse of axis 4
driver
Servo alarm
1656 Abnormal pulse of axis 5
driver
Servo alarm
1657 Abnormal pulse of shaft 6
driver
Servo alarm
1658 Abnormal pulse of shaft 7
driver
Servo alarm
1659 Abnormal pulse of shaft 8
driver
Servo alarm
1660
Axis 1canopen node
protection or heartbeat
timeout
Check parameter setting and servowiring1661
Axis 2canopen node
protection or heartbeat
timeout
Check parameter setting and servowiring1662
Axis 3canopen node
protection or heartbeat
timeout
Check parameter setting and servowiring1663
Axis 4canopen node
protection o r heartbeat
timeout
Check parameter setting and servowiring1664
Axis 5canopen node
protection or heartbeat
timeout
Check parameter setting and servowiring1665
Axis 6canopen node
protection or heartbeat
timeout
Check parameter setting and servowiring1666
Axis 7canopen node
protection or heartbeat
timeout
Check parameter setting and servowiring1667
Axis 8canopen node
protection or heartbeat
timeout
Check parameter setting and servowiring1668
Axis 1canopen PDO
transmission length
error
Check parameter setting and servowiring1669
Axis 2canopen PDO
transmission length error
Check parameter setting and servowiring1670
Axis 3canopen PDO
transmission length error
Check parameter setting and servowiring
ECTC product series function specification v4.0
187
1671
Axis 4canopen PDO
transmission length
error
Check parameter setting and servowiring1672
Axis 5canopen PDO
transmission length error
Check parameter setting and servowiring1673
Axis 6canopen PDO
transmission length error
Check parameter setting and servowiring1674
Axis 7canopen PDO
transmission length
error
Check parameter setting and servowiring1675
Axis 8canopen PDO
transmission length error
Check parameter setting and servowiring1676
Axis 1 servo alarm,
reaching reverse
directional switch
Check servo parameter settings1677
Axis 2 servo alarm,
reaching reverse
directional switch
Check servo parameter settings1678
Axis 3 servo alarm,
reaching reverse
directional switch
Check servo parameter settings1679
Axis 4 servo alarm,
reaching reverse
directional switch
Check servo parameter settings1680
Axis 5 servo alarm,
reaching reverse
directional switch
Check servo parameter settings1681
Axis 6 servo alarm,
reaching the reverse
switch
Check servo parameter settings1682
Axis 7 servo alarm,
reaching reverse
directional switch
Check servo parameter settings1683
Axis 8 servo alarm,
reaching reverse
directional switch
Check servo parameter settings1684 Axis 1 servo alarm Servo alarm
1685 Axis 2 servo alarm Servo alarm
1686 Axis 3 servo alarm Servo alarm
1687 Axis 4 servo alarm Servo alarm
1688 Axis 5 servo alarm Servo alarm
1689 Axis 6 servo alarm Servo alarm
1690 Axis 7 servo alarm Servo alarm
1691
Axis 8 servo alarm//1691
Servo alarm
1692
//< Axis 1 servo stroke
limit alarm
Servo alarm
ECTC product series function specification v4.0
188
1693
//< Axis 2 servo travel
limit call the police
Servo alarm
1694
//< Axis 3 servo stroke
limit call the police
Servo alarm
1695
//< Axis 4 servo stroke
limit alarm
Servo alarm
1696
//< Axis 5 servo travel
limit call the police
Servo alarm
1697
//< Axis 6 servo stroke
limit call the police
Servo alarm
1698
//< Axis 7 servo travel
limit call the police
Servo alarm
1699
//< Axis 8 servo stroke
limit alarm
Servo alarm
1700
//< Axis 1eeprom read /
write error
Servo alarm
1701
//< Axis 2eeprom read /
write error
Servo alarm
1702
//< Axis 3eeprom read /
write error
Servo alarm
1703
//< Axis 4eeprom read /
write error
Servo alarm
1704
//< Axis 5eeprom read /
write error
Servo alarm
1705
//< Axis 6eeprom read /
write error
Servo alarm
1706
//< Axis 7eeprom read /
write error
Servo alarm
1707
//< Axis 8eeprom read /
write error
Servo alarm
1708
//< Axis 1canopen
communication abnormal
Servo alarm
1709
//< Axis 2canopen
communication abnormal
Servo alarm
1710
//< Axis 3canopen
communication abnormal
Servo alarm
1711
//< Axis 4canopen
communication abnormal
Servo alarm
1712
//< Axis 5canopen
communication abnormal
Servo alarm
1713
//< Axis 6canopen
communication abnormal
Servo alarm
1714
//< Axis 7canopen
communication abnormal
Servo alarm
1715
//< Axis 8canopen
communication abnormal
Servo alarm
1716 //< Axis 1 servo overload Servo alarm
ECTC product series function specification v4.0
189
1717 //< Axis 2 servo overload Servo alarm
1718 //< Axis 3 servo overload Servo alarm
1719 //< Axis 4 servo overload Servo alarm
1720 //< Axis 5 servo overload Servo alarm
1721 //< Axis 6 servo overload Servo alarm
1722 //< Axis 7 servo overload Servo alarm
1723 //< Axis 8 servo overload Servo alarm
1724
//< Axis 1 servo can
synchronization abnormal
Servo alarm
1725 //< Axis 2 servo can
synchronization abnormal
Servo alarm
1726
//< Axis 3 servo can
synchronization abnormal
Servo alarm
1727
//< Axis 4 servo can
synchronization abnormal
Servo alarm
1728
//< axis 5 servo can
synchronization
abnormality
Servo alarm
1729
//< Axis 6 servo can
synchronization abnormal
Servo alarm
1730
//< Axis 7 servo can
synchronization abnormal
Servo alarm
1731
//< Axis 8 servo can
synchronization abnormal
Servo alarm
1732
Servo 1 fault, IGBT
overheat
Servo alarm
1733
Servo 2 fault, IGBT
overheat
Servo alarm
1734
Servo 3 fault, IGBT
overheat
Servo alarm
1735
Servo 4 fault, IGBT
overheating
Servo alarm
1736
Servo 5 fault, IGBT
overheat
Servo alarm
1737
Servo 6 fault, IGBT
overheat
Servo alarm
1738
Servo 7 fault, IGBT
overheat
Servo alarm
ECTC product series function specification v4.0
190
1739
Servo 8 fault, IGBT
overheat
Servo alarm
1740
None or more were
detected online first
machine
Check can online parameter settings1741
On line manipulator 1
communication timeout
Unable to communicate with manipulator11742
Online manipulator 2
communication timeout
Unable to communicate with manipulator21743
On line manipulator 3
communication timeout
Unable to communicate with manipulator31744
On line manipulator 4
communication timeout
Unable to communicate with manipulator41745
Online manipulator 5
communication timeout
Unable to communicate with manipulator51746
On line manipulator 6
communication timeout
Unable to communicate with manipulator61747
On line manipulator 7
communication timeout
Unable to communicate with manipulator71748
On line manipulator 8
communication timeout
Unable to communicate with manipulator81749
On line manipulator 9
communication timeout
Unable to communicate with manipulator91750
On line manipulator 10
communication timeout
Unable to communicate with manipulator101751
On line manipulator 11
communication timeout
Unable to communicate with manipulator111752
On line manipulator 12
communication timeout
Unable to communicate with manipulator121753
Online manipulator 13
communication timeout
Unable to communicate with manipulator131754
On line manipulator 14
communication timeout
Unable to communicate with manipulator141755
On line manipulator 15
communication timeout
Unable to communicate with manipulator151756
Online manipulator 16
communication timeout
Unable to communicate with manipulator161757
Online manipulator ID No.
1 conflict
Reset can online ID
1758
Online manipulator ID No.
2 conflict
Reset can online ID
1759
Online manipulator ID No.
3 conflict
Reset can online ID
1760
Online manipulator ID No.
4 conflict
Reset can online ID
1761
Online manipulator ID No.
5 conflict
Reset can online ID
1762
Online manipulator ID No.
6 conflict
Reset can online ID
ECTC product series function specification v4.0
191
1763
Online manipulator ID
No. 7 conflict
Reset can online ID
1764
Online manipulator ID
No. 8 conflict
Reset can online ID
1765
Online manipulator ID
No. 9 conflict
Reset can online ID
1766
Online manipulator ID
No. 10 conflict
Reset can online ID
1767
Online manipulator ID
No. 11 conflict
Reset can online ID
1768
Online manipulator ID
No. 12 conflict
Reset can online ID
1769
Online manipulator ID
No. 13 conflict
Reset can online ID
1770
Online manipulator ID
No. 14 conflict
Reset can online ID
1771
Online manipulator ID
No. 15 conflict
Reset can online ID
1772
Online manipulator ID
No. 16 conflict
Reset can online ID
1773
Online manipulator 1
is not in automatic
state
Switch manipulator 1 to automaticstate1774
Online manipulator 2 is
not in automatic state
Switch manipulator 2 to automaticstate1775
Online manipulator 3 is
not in automatic state
Switch manipulator 3 to automaticstate1776 Online manipulator 4 is
not in self Dynamic
state
Switch manipulator 4 to automaticstate1777
Online manipulator 5 is
not in automatic state
Switch manipulator 5 to automaticstate1778
Online manipulator 6 is
not in automatic state
Switch manipulator 6 to automaticstate1779
Online manipulator 7
is not in automatic
state
Switch manipulator 7 to automaticstate1780
Online manipulator 8 is
not in automatic state
Switch manipulator 8 to automaticstate1781
Online manipulator 9 is
not in automatic state
Switch manipulator 9 to automaticstate
ECTC product series function specification v4.0
192
1782
Online manipulator
10 is not in
automatic state
Switch the manipulator 10 to theautomatic state
1783
Online manipulator
11 is not in
automatic state
Switch manipulator 11 to automaticstate1784
Online manipulator
12 is not in
automatic state
Switch the manipulator 12 to theautomatic state
1785
Online manipulator
13 is not in
automatic state
Switch the manipulator 13 to theautomatic state
1786
The on-line
manipulator 14 is
not in the
automatic state
Switch the manipulator 14 to theautomatic state
1787
Online manipulator
15 is not in
automatic state
Switch the manipulator 15 to theautomatic state
1788
Online manipulator
16 is not in
automatic state
Switch the manipulator 16 to theautomatic state
1800 Remote emergency
stop
On line manipulator emergencystop1850 Can encoder
reading failed
Detect can encoder settings
1851 Can encoder
setting failed
Detect can encoder settings
5000 Custom alarm start Custom alarm
10000 Custom alarm end Custom alarm
10001 X emergency stop
alarm
Servo with
emergency stop
signal input
1. Screw out the manual controlleremergency stop2. Short circuittheemergency stop signal of the mainengine10002 X axis over
current
IPM module over
current
protection
1. Whether the motor is locked2.Poweronagain after pulling out the powerlineand holding brake line. If theabovetelegram alarm is the main enginefault,replace it. Otherwise, check themotorand circuit problems
10003 X axis over
current
IPM module over
current
protection
1. Whether the motor is locked2.Poweronagain after pulling out the powerlineand holding brake line. If theabovetelegram alarm is the main enginefault,replace it. Otherwise, check themotorand circuit problems
10004 X external bus
disconnection
Bus normal not
received signal
1. The top 3pin white terminalisloose2.Host failure
