What the E0106 alarm means

The robot cannot start because the operation-ready state is not active. We have built up many handled cases of this Nachi AW / FD series alarm, and usually the first on-site inspection tells us what is wrong.

Most common causes

  • Safety conditions not met
  • Mode selector in wrong position
  • External interlock open
  • Servo not enabled
Field note: Confirm or rule out the first cause first — it is the situation we encounter most.

Step-by-step field fix

  1. Check the mode selector
  2. Verify all safety conditions are satisfied
  3. Close external interlocks
  4. Enable servo / operation ready
  5. Reset and retry the start
Safety first: For NACHI e0106, the risk on this family is not injury but data: lose the program, parameters and calibration data and weeks of teaching work start over. What you can check yourself first is Check the mode selector; program and calibration data handling is not a DIY job.

How we diagnose system alarms on site

NACHI e0106 belongs to the system & program family. On NACHI e0106 the failing stage is NACHI robot software (menu-driven pendant) (AX-series / FD-series controllers) on the AX-series / FD-series controllers - the software layer: corrupted program or parameter files, boot failures, version mismatch, memory and storage media. We start reading NACHI e0106 at the pendant error-code screen (E-series codes) with amplifier panel indicators.

The chain involved in NACHI e0106 runs: storage media (CF / flash / disk) -> system software and firmware -> parameters and calibration data -> user programs -> runtime.

If NACHI e0106 comes with slower boots, think media: The CF card, flash or disk inside a controller has a finite life, and heavy log writing shortens it. Ageing media usually announces itself in stages: occasional read/write errors, then slow boots, then a failure to boot at all. The nasty part is that the data may already be damaged. We bring the system up from recovery media first, then salvage user programs and parameters; everything salvaged is stored in two copies, and we set the customer up with a standing backup habit afterwards.

Field notes on this page cover NACHI e0106 (Operation Ready Not Engaged); written by the Henghuan repair team, updated 2026-10-01.

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Related System & Program alarms

E0081 — CPU Board Battery Failure
Same family: this code belongs to the System & program alarms family - the page collects all System & program-family codes we have handled, with the common inspection order and spares.
Other brands: we also keep field-fix libraries for Omron · ESTUN · INOVANCE and more — see the complete alarm code hub.

Frequently asked questions

QWhat does the NACHI e0106 alarm mean?

The robot cannot start because the operation-ready state is not active. We have built up many handled cases of this Nachi AW / FD series alarm, and usually the first on-site inspection tells us what is wrong. NACHI e0106 sits in the system & program family; on our work orders the highest-frequency trigger for this code is "Safety conditions not met".

QCan I clear a NACHI e0106 alarm myself?

Whether NACHI e0106 clears on its own depends on the outcome of "Check the mode selector". Finish the flow with "Reset and retry the start" to confirm NACHI e0106 - do not skip it. If that step is clean, the second most frequent cause on NACHI e0106 is "Mode selector in wrong position". When NACHI e0106 keeps coming back it is not a one-off trigger - especially if Reset and retry the start is where you get stuck. Do not keep producing through NACHI e0106.

QWhen you handle NACHI e0106, will my programs and frames get lost?

The commonest causes we see on NACHI e0106 are "Safety conditions not met, Mode selector in wrong position, External interlock open", so we stock the van against those. For NACHI e0106 specifically, we carry recovery media and common storage media, but on this family the backup matters more than the spare. For NACHI e0106, on system alarms the first move is backup; we can walk the customer through preserving data remotely before anything else. Before we roll, tell us what NACHI e0106 shows on the pendant error-code screen (E-series codes) with amplifier panel indicators and what the machine was doing - phone or video triage is free.

This page on NACHI e0106 was compiled from actual repair records of the Henghuan Robotics repair team. Alarm notes are our own summary for troubleshooting reference only and may vary with controller and software version — please consult Nachi documentation or contact us if in doubt. Henghuan is an independent service provider, not affiliated with or endorsed by Nachi.