System & program alarms: 26 alarm codes

The software layer: corrupted program or parameter files, boot failures, version mismatch, memory and storage media storage media (CF / flash / disk) -> system software and firmware -> parameters and calibration data -> user programs -> runtime

Inspection line: the first step is a complete backup of programs, parameters and calibration data before any restart or restore

Spares we carry: we carry recovery media and common storage media, but on this family the backup matters more than the spare

Most frequent causes (by pages seen)

• Firmware exception in the joint module (seen on 1 pages)
• Power dip during operation (seen on 1 pages)
• Unhandled exception in the robot program (seen on 1 pages)
• Corrupted project or configuration file (seen on 1 pages)
• ARC mode: two or three of the taught points are identical, so no circle can be fitted (seen on 1 pages)
• JUMP_MOVL mode: start point equals end point with no translation segment (seen on 1 pages)

All 26 codes, grouped by brand

KUKA 5 AUBO 2 Dobot 2 Kawasaki 2 NACHI 2 OMRON 2 ROKAE 2 Staubli 2 Universal Robots 2 EPSON 1 ESTUN 1 INOVANCE 1 JAKA 1 YASKAWA 1

• AUBO 10008 — Joint Driver Internal Error (JOINT_ERR)
• AUBO 20001 — Controller System Error
• Dobot 0x13 — Duplicate Data — Planned Points Repeated
• Dobot 0x15 — JUMP Parameter Error
• EPSON 9720 — Speed Too High at Controller Power-On
• ESTUN e-02 — Controller System Error (ERC)
• INOVANCE er-101 — Parameter Storage Exception
• JAKA 0x0f0101 — APP / Robot Software Version Mismatch
• KUKA 1004 — File System Error
• KUKA 1015 — No Program Selected
• KUKA 1020 — Pending Message Not Acknowledged ($CONF_MESS)
• KUKA 1030 — External Start Missing ($EXT_START)
• KUKA 15102 — SmartPad (Teach Pendant) Fault
• Kawasaki d0001 — Main CPU Board Failure
• Kawasaki p1001 — Program Cannot Be Executed in Teach Mode
• NACHI e0081 — CPU Board Battery Failure
• NACHI e0106 — Operation Ready Not Engaged
• OMRON rc — RSC Fault (Robot Setup / Calibration Data)
• OMRON sw — Software Watchdog Timeout
• ROKAE 50001 — xCore Controller System Error
• ROKAE 60001 — Program Execution Error
• Staubli nodrivecfg — Internal Error DRIVE NoDriveConfiguration (All Axes)
• Staubli val3err — VAL3 Application Error at Startup
• Universal Robots c160 — Joint Position Disagreement After Power-Off
• Universal Robots c71a1 — Joint Firmware Mismatch (Size 1 Joint)
• YASKAWA 4498 — No Control Group