JEL-Leading Manufacturer of Clean Robot

Troubleshooting

When Error Occurs

When Error occurs

Check the error number on the controller LED display.
[When error occurs]
The last four errors are displayed in 2- digit hexadecimal number.
The latest error is shown on the leftmost side and the error history is shown in order.
[Example of display]
Remove the cause of the error (Refer to the below tables) and return to the normal operation.

Error "01""02""03""04""05""06"


*When errors in the table above occur,
Error ("01""02""03""04""05""06") occurs.
Cause of the error
: Communication setting is wrong.
: Noise in the communication cable.
: Disconnect/connect RS232C cable or teaching box cable
A01-1
Via communication:
Execute Command “RD” to clear the error.
A01-2
Via PLC:
Execute PLC command “10h“ to clear the error.
A01-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation.

Error "*1"(step-out error)

When Error "*1"(step-out error) occurs:
Error "*1" occurs
"*" shows the axis number. Remove the cause of the axis.
(1: Arm 1 axis (right), 2: Rotation axis, 3: Arm 2 axis (left), 4: Z-axis, 5: X-axis)
Cause of the error
: Overload is applied to the axis.
: Disconnection or connection problem of the cables between robot and the controller.
: Improper setting of the servo data. (Only for SM/AM specs)
: Emergency stop (stop by EMG/REM input)
: Encoder pulse order contains noise.
: Change of the step-out setting value. (not for all the robot type)
: Controller driver problem
: Motor problem
A*1-1
Via communication:
Execute Command "RD" to clear the error.
A*1-2
Via PLC:
Execute PLC command "10h" to clear the error.
A*1-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation. Make sure there is no interference within the operation range of robot beforehand.
It is not necessary to execute "origin search".
A*1-4
When the error occurs again:
Check if the robot (axis) is excited by moving the robot softly by hand.
When moved (not excited), check the motor cable. Connect the cable properly and lock it.
A*1-5
Check if there is no interference with the robot. Check the operating environment.
When interfered, remove the interference object using teaching box, and recover.
A*1-6
Check if the robot can be moved manually when the main power is turned OFF. (Z-axis has a brake and never moves. Also in some models, X-axis (track -axis) has a brake and never moves.)
When the robot cannot be operated manually:
Check if there is no object interfering with axes.
Check if the robot is within the operation range.
Check if the main power is turned OFF. Check the breaker.
Check if there is no interference.
A*1-7
Check if JOG movement is available using the teaching box.
If not, check if external stop order is not input from REM or I/O.
A*1-8
Check the power supply voltage.
Check if driver setting (volume, switch), speed setting, or step-out detection has not been changed.

Error "*2" (limit stop)

When Error "*2" (limit stop) occurs:
Error "*2" occurs
"*" shows the axis number. Remove the cause of the axis.
(1: Arm 1 axis (right), 2: Rotation axis, 3: Arm 2 axis (left), 4: Z-axis, 5: X-axis)
Cause of the error
: Each axis reached the movement limit during operation.
: Disconnection or connection problem of the cables between robot and the controller.
: Disconnection of the limit sensor cable, or sensor failure.
: Improper setting or setting change of the software limit. (Only for absolute type)
: Current position is out of the operation range.
: Change or resetting of the original position. (Only for absolute type)
A*2-1
Via communication:
Execute Command “RD” to clear the error.
A*2-2
Via PLC:
Execute PLC command “10h“ to clear the error.
A*2-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation. It is not necessary to execute "origin search".
A*2-4
When the error occurs again:
Check the connector. Check if there is no disconnection of the cable.
If the cable is loosened or disconnected, turn the power OFF and plug the connector properly. In the case of disconnection, replace the cables.
A*2-5
Check if the current position is within the operation range.
When the current position is out of the range:
Execute the origin search with ORG button of the teaching box.
After turning the power OFF, move the robot back around the ORG position manually and restart the operation.
For absolute type: check if the setting of the software limit or origin has not been changed.
A*2-6
Can the errors be cleared?
If not, after turning the power OFF, move the robot back around the ORG position manually and restart the operation.
For absolute type: check if the setting of the software limit or origin is not changed.
A*2-7
When the error occurs after operating the robot, check the robot serial number and contact JEL service section.

Error "*3" (adjust error)

When Error "*3" (adjust error) occurs:
Error "*3" (adjust error) occurs
"*" shows the axis number. Remove the cause of the axis.
(1: Arm 1 axis (right), 2: Rotation axis, 3: Arm 2 axis (left), 4: Z-axis, 5: X-axis)
Cause of the error
: Output error or setting error of the driver.
: Setting of ADJUST is wrong.
: External stress to the robot.
A*3-1
Via communication:
Execute Command “RD” to clear the error.
A*3-2
Via PLC:
Execute PLC command “10h“ to clear the error.
A*3-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation. It is not necessary to execute "origin search".
A*3-4
When the error occurs again:
Check the driver setting.
When setting is wrong or changed, return the setting to the original one and check again.
A*3-5
Check if there is no interference with the robot.
When interfered, remove the interference object using teaching box, and recover.
A*3-6
Check the ADJUST setting.
When the error cannot be cleared, after turning the power OFF, move the robot back around the ORG position manually and restart the operation.
For absolute type: check if the setting of the software limit or origin is not changed.
A*3-7
When the error occurs after operating the robot, check the robot serial number and contact JEL service section.

Error "*4" (displacement during stop)

When Error "*4" (displacement during stop) occurs,
Error *4 occurs.
"*" shows the axis number. Remove the cause of the axis.
(1: Arm 1 axis (right), 2: Rotation axis, 3: Arm 2 axis (left), 4: Z-axis, 5: X-axis)
Cause of the error
: Each axis reached the movement limit during operation.
: Disconnection or connection problem of the cables between robot and the controller.
: Emergency stop
: Encoder pulse order contains noise.
: Change of the displacement setting value. (not for all the robot type)
: Improper setting of the servo data.
A*4-1
Via communication:
Execute Command “RD” to clear the error.
A*4-2
Via PLC:
Execute PLC command “10H“ to clear the error.
A*4-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation. It is not necessary to execute "origin search".
A*4-4
When the error occurs again:
Check if the robot (axis) is excited by moving the robot softly by hand.
When moved (not excited), check the motor cable. Connect the cable properly and lock it.
A*4-5
Check if there is no interference with the robot.
When interfered, remove the interference object using teaching box, and recover.
A*4-6
Check if the robot can be moved manually when the main power is turned OFF. (Z-axis has a brake and never moves. Also in some models, X-axis (track -axis) has a brake and never moves.)
When the robot cannot be operated manually:
Check if there is no object interfering with axes.
Check if the robot is within the operation range.
Check if the main power is turned OFF. Check the breaker.
Check if there is no interference.
A*4-7
Check if JOG movement is available using the teaching box.
If not, check if external stop order is not input from REM or I/O.
A*4-8
Check if speed setting has not been changed.
Check if driver setting (volume, switch) has not been changed.
Check if servo data has not been changed.
Check if displacement detection has not been changed.

Error "07"(Alarm input stop)

When Error "07"(Alarm input stop) occurs:
Error "07" occurs
Cause of the error
: Emergency stop signal is input from teaching box.
: Teaching box is disconnected or has connection problem.
: Emergency stop signal is input via PLC.
: REM terminal is opened.
After clear the input signal:
A07-1
Via communication:
Execute Command "RD" to clear the error.
A07-2
Via PLC:
Execute PLC command "10h" to clear the error.
A07-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation. It is not necessary to execute "origin search".

Error "08"(Command error)

When Error "08"(Command error) occurs:
Error "08" occurs
Cause of the error
: Command format is wrong.
: Command usage is wrong.
: Command is input during operation.
A08-1
Via communication:
Execute Command "RD" to clear the error.
A08-2
Via PLC:
Execute PLC command "10h" to clear the error.
A08-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation. It is not necessary to execute "origin search".

Error "75"(Interlock error)

When Error "75"(Interlock error) occurs:
Error "75" occurs
Cause of the error
: Robot moves while the interlock input is OFF.
After turning the interlock input ON:
A75-1
Via communication:
Execute Command "RD" to clear the error.
A75-2
Via PLC:
Execute PLC command "10h" to clear the error.
A75-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation. It is not necessary to execute "origin search".

Error "77"(Servo alarm)

When Error "77"(Interlock error) occurs:
Error "77" occurs
Cause of the error
: Overload is applied to each axis.
: Disconnection or connection problem of the cables between robot and the controller.
: Servo alarm is input.
: Voltage shortage
A77-1
Via communication:
Execute Command "RD" to clear the error.
A77-2
Via PLC:
Execute PLC command "10h" to clear the error.
A77-3
Via Teaching Box:
Press CLR key to clear the error.
Remove the cause of the error and return to the usual operation. It is not necessary to execute "origin search".
*Note: Error 77 cannot be cleared depending on the robot specifications.
In this case, turn the power OFF and recover.
A77-4
When the error occurs again:
Check the driver alarm on the display.
When alarm is displayed:
Check each axis and turn the main power OFF. Wait 15 sec and check again. If the error occurs again, check the robot serial number and contact JEL service section.
A77-5
Clear the error and check if JOG operation is available using teaching box.
If JOG operation is not available, check the operation parameter. Check the original position.
A77-6
Operate the robot again, and check the driver status when the error 77 is occurred.
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