Motion & path alarms: 51 alarm codes

The gap between command and execution: trajectory planning, joint limits, singularities, following error and mechanical resistance program command -> trajectory planner -> joint targets -> servo execution -> actual position feedback -> deviation compare

Inspection line: reproduce at low speed with the tooling removed to split software causes from mechanical ones

Spares we carry: we carry mechanical and configuration items: grease, limit switches, drag-chain segments, encoder cables and the parameter sheets for common reducers

Most frequent causes (by pages seen)

• Taught point at the limit (seen on 4 pages)
• Payload above rating (seen on 3 pages)
• TCP speed set too high for the posture change (seen on 2 pages)
• Obstruction or collision in the path (seen on 2 pages)
• Taught orientation at the limit (seen on 2 pages)
• Mechanical interference or collision (seen on 2 pages)

All 51 codes, grouped by brand

Dobot 15 Universal Robots 5 AUBO 4 FANUC 4 NACHI 4 ROKAE 3 ABB 2 EFORT 2 ESTUN 2 INOVANCE 2 JAKA 2 OMRON 2 YASKAWA 2 KUKA 1 Staubli 1

• ABB 50056 — Joint Collision
• ABB 50204 — Motion Supervision (Collision Detection) Triggered
• AUBO 10002 — Joint Overspeed (JOINT_ERR)
• AUBO 10003 — Joint Position Tracking Error (JOINT_ERR)
• AUBO 40001 — Target Out of Workspace
• AUBO 40002 — Singularity in Path
• Dobot 0x20 — Inverse Kinematics Singularity
• Dobot 0x21 — Inverse Kinematics No Solution — Out of Workspace
• Dobot 0x22 — Inverse Kinematics Over Joint Limit
• Dobot 0x30 — Joint 1 Overspeed
• Dobot 0x31 — Joint 2 Overspeed
• Dobot 0x32 — Joint 3 Overspeed
• Dobot 0x33 — Joint 4 Overspeed
• Dobot 0x40 — Joint 1 Positive Limit Reached
• Dobot 0x41 — Joint 1 Negative Limit Reached
• Dobot 0x42 — Joint 2 Positive Limit Reached
• Dobot 0x43 — Joint 2 Negative Limit Reached
• Dobot 0x44 — Joint 3 Positive Limit Reached
• Dobot 0x45 — Joint 3 Negative Limit Reached
• Dobot 0x46 — Joint 4 Positive Limit Reached
• Dobot 0x47 — Joint 4 Negative Limit Reached
• EFORT 3901 — Position Deviation Over Limit (EC2-S)
• EFORT 3910 — Joint Speed Limit Exceeded (EC2-S)
• ESTUN a-51 — Overspeed
• ESTUN e-31 — Position Deviation Over Limit
• FANUC motn-017 — Limit Error (Group / Axis)
• FANUC motn-018 — Position Not Reachable
• FANUC motn-023 — In Singularity
• FANUC motn-056 — Speed Limits Used
• INOVANCE er-234 — Runaway / Loss of Control
• INOVANCE er-630 — Motor Stall (Blocked Rotor)
• JAKA 0x000036 — Joint Overspeed
• JAKA 0x000037 — Position Deviation Too Large
• KUKA 1105 — Positioning Monitoring (Axis N)
• NACHI e0012 — Robot Cannot Reach Recorded Point
• NACHI e0021 — Servo Follow-Up Error (Following Error)
• NACHI e0022 — Deviation Error
• NACHI e0025 — Position Jump (Jump Position)
• OMRON m-1007 — Motor Stalled (Joint N)
• OMRON v-1027 — Hard Envelope Error (Joint N)
• ROKAE 10020 — Motion Planning Failed
• ROKAE 60100 — Joint Limit / Workspace Violation
• ROKAE 60200 — Singularity Approached
• Staubli followerr — Following Error During Motion
• Universal Robots c150 — Protective Stop — Position Close to Joint Limits
• Universal Robots c153 — Protective Stop — Position Deviates from Path
• Universal Robots c154 — Protective Stop — Position in Singularity
• Universal Robots c155 — Protective Stop — Robot Cannot Maintain Position
• Universal Robots c157 — Protective Stop — Collision Detected
• YASKAWA 4733 — Singular Posture
• YASKAWA a-510 — Overspeed