Adept Status Code Summary for Embedded Products
Contents
1. Power system 1115 The dual channel brake Contact Adept failure Code 0 circuit has reported a cyc Customer Service lic check error Contact Adept Cus tomer Service if the error persists Power system 1115 The power system has On PA 4 chassis fur failure Code 1 unexpectedly turned off ther information may power be indicated on the PA 4 status lights Refer to Adept PA 4 Power Chassis User s Guide for details dump circuit has exper Power system 1115 The high voltage DC bus Contact Adept failure Code 2 to the regenerative energy Customer Service ienced an overvoltage exceeded its max short term dump rating Power system 1115 The regenerative energy Contact Adept failure Code 3 dump circuit has Customer Service Adept Status Code Summary for Embedded Products Rev C Page 8 of 16 Copyright 2006 2013 by Adept Technology Inc Power system failure Code 4 Power system failure Code 5 Power system failure Code 6 RSC com munications fail ure Platform Dependent Two digit Status Codes The high voltage DC bus did not discharge its voltage when expected Note This error is only relevant to legacy Cobra AIB systems An inrush error was detected by the power sequencer This means the high voltage DC bus failed to rise at the expec ted rate when power was enabled The MAI 2 sMAT sDAI regenerative energy cir cuit temperature sensor indicates an overtemp2. This error code only applies to robots equipped with an eAIB eMB 60R or eMB 40R The E STOP delay feature is not commissioned and an attempt was made to enable high power in either auto matic or manual mode This error code only applies to robots equipped with an eAIB eMB 60R or eMB 40R The battery used to backup the encoder pos ition has low voltage The position is not yet lost but the battery needs to be replaced soon Adept Status Code Summary for Embedded Products Rev C Platform Dependent Two digit Status Codes If the problem per sists Contact Adept Customer Service Use Adept ACE to recommission the robot If the problem per sists Contact Adept Customer Service Replace battery as described in the cor responding robot manual Page 16 of 16 Copyright 2006 2013 by Adept Technology Inc
3. condition There is a failure to com municate with the Robot Signature Card RSC Adept Status Code Summary for Embedded Products Rev C Contact Adept Customer Service This can occur if AC power is abruptly removed during the high power enable sequence If it occurs unexpectedly contact Adept Customer Ser vice Contact Adept Customer Service Contact Adept Customer Service Page 9 of 16 Copyright 2006 2013 by Adept Technology Inc Platform Dependent Two digit Status Codes RSC hardware The Robot Signature If the problem per failure Card RSC has reported sists contact Adept an internal failure Customer Service Because RSC failures almost always cause the RSC to stop com municating altogether rendering it incapable of reporting the failure this error message may be due to some other cause such as electrical noise at the RSC or within or around the arm signal cable RSC power fail The Robot Signature If the problem per ure Card RSC has reported sists contact Adept that its power is failing Customer Service Because a power failure on the RSC typically causes it to stop com municating rendering it incapable of reporting the failure this error mes sage may be due to some other cause such as elec trical noise or an inter mittent connection Adept Status Code Summary for Embedded Products Rev C Page 10 of 16 Copyright 2006 2013 by Adept Tec
4. 16 Copyright 2006 2013 by Adept Technology Inc V Error Message Safety System Fault Code 9 Safety System Fault Code 10 Safety System Fault Code 11 Safety System Not Com missioned Platform Dependent Two digit Status Codes V Error Explanation Code 1109 A watchdog circuit that cross checks the clocks for the dual channel safety system is reporting an error 1109 An error was detected during a software self test of a secondary safety and monitoring circuit SRV_DIRECT SRV_ STAT 1109 A failure open circuit of the arm mounted High Power lamp has been detected Typically this indicates a defective lamp which is con sidered a safety hazard High Power cannot be enabled until the lamp is replaced The arm mounted High Power lamp is only avail able on the AdeptSix 600 robot The Teach Restrict fea ture is not com missioned and an attempt was made to enable high power in Manual mode Adept Status Code Summary for Embedded Products Rev C sMAT SDAI SEJI Contact Adept Cus tomer Service Contact Adept Customer Service Replace the bulb in the arm mounted High Power lamp Use Adept ACE to recommission the robot or use the robot in Automatic mode only Page 15 of 16 Supported Platforms Cobra s600 s800 i600 i800 Copyright 2006 2013 by Adept Technology Inc Safety System Not Com missioned Battery low warn ing
5. Adept Status Code Summary for Embedded Products Common Two digit Status Codes N A STATUS message High Power None OFF ON Motor amplifier 1018 A power amplifier fault is indic Check user motor power con fault ated on axis nections for shorts or opens Turn high power back on and restart the program If the error persists contact Adept Customer Service None N A _ IO Blox communications error Check user IO Blox connections with IO Blox for shorts or opens Check IO Blox address switches for proper configuration Cycle power to the control system If the error per sists contact Adept Customer Service RSC Power Fail 670 A loss of AC power was detec Check user AC power con ure ted nections for shorts or opens Turn high power back on and restart the program If the error persists contact Adept Customer Service Adept Status Code Summary for Embedded Products Rev C Page 1 of 16 Copyright 2006 2013 by Adept Technology Inc V Error Message Duty cycle exceeded Mtrn Encoder Fault V Error Code 1021 1025 Common Two digit Status Codes Explanation The indicated motor has been driven hard for too long a period of time The servo system has disabled power to protect the robot hardware The servo system has detected an encoder fault Turn high power back on Reduce the speed and or accel eration for the motion that was in progress or fo
6. ble high power This is an expected response to impact with an obstacle on robots with the shock sensor option installed Move the robot away from the obstacle and re enable high power This is an expected response when the joint limit switch has been activated Move the robot away from the limit position and re enable high power Page 5 of 16 Copyright 2006 2013 by Adept Technology Inc RSC power fail ure Robot over heated Robot over heated Platform Dependent Two digit Status Codes The high voltage DC bus for the amplifiers is out of bounds too high or low The MB 10 internal regen erative dump resistor has reached its temperature limit The temperature sensor on the embedded pro cessor board has reached its temperature limit Adept Status Code Summary for Embedded Products Rev C This may occur when AC power is unex pectedly removed Check AC con nections and re enable high power If the error persists con tact Adept Customer Service Allow the amplifier to cool for a short time re enable power and retry the motion It may be necessary to slow the motion or insert pauses to reduce the regen erative energy Check for excessive ambient temperature inadequate vent ilation and proper function of any cool ing fans Page 6 of 16 Copyright 2006 2013 by Adept Technology Inc Robot over heated Motor over heating Mtr n Motor over heati
7. e to many E robot STOP conditions Remove the source of the E STOP and re enable high power No air pressure V detected that the air Restore the air pres supply to the robot sure turn high power brakes and hand has back on and resume failed program execution If the error persists con tact Adept Customer Service Adept Status Code Summary for Embedded Products Rev C Page 4 of 16 Copyright 2006 2013 by Adept Technology Inc Platform Dependent Two digit Status Codes V Error Message V Error Explanation Code The end of arm Break E STOP detected by robot away sensor has tripped open circuit Reporting of this error can be enabled disabled via a SPEC option or the Adept ACE Controller Editor The end of arm SHOCK sensor has tripped open circuit Reporting of this error can be enabled dis abled via a SPEC option or the Adept ACE Con troller Editor The shock sensor is an option on the six axis robots E STOP detected by robot Adept Status Code Summary for Embedded Products Rev C The LIMIT sensor has tripped Reporting of this error can be enabled dis abled via a SPEC option or the Adept ACE Con troller Editor A single common sensor is used to report a limit con dition on J1 amp J2 J3 if the option is installed E STOP detected by robot Supported Platforms Cobra s600 s800 sMATI SDAT SEJI i600 i800 Close the breakaway circuit and re ena
8. hnology Inc Safety System Fault Code 0 Safety System Fault Code 1 Safety System Fault Code 2 Platform Dependent Two digit Status Codes The robot hardware did not detect that the front panel high power button was pressed before the servo system attempted to enable power The SmartController has signaled a power off con dition to the robot through the HIPWR_DIS line on the XSYS inter face This fault indication typically accompanies other fault conditions that cause fatal error on the SmartController such as a loss of IEEE 1394 communication The safety system exper ienced a failure on chan nel 1 during the cyclic check of the dual channel power system This may indicate a stuck relay con tact or other hardware failure Adept Status Code Summary for Embedded Products Rev C Contact Adept Customer Service Check for other mes sages on the SmartController that may indicate a fatal error If the error source can be elim inated re enable power If the problem per sists contact Adept Customer Service Page 11 of 16 Copyright 2006 2013 by Adept Technology Inc Safety System Fault Code 3 Safety System Fault Code 4 Safety System Fault Code 5 The safety system exper ienced a failure on chan nel 2 during the cyclic check of the dual channel power system This may indicate a stuck relay con tact or other hardware failure The internal E STOP delay t
9. imer has timed out and caused power to be turned off Under nor mal circumstances the software initiates a shut down before the time out which prevents this mes sage While in manual mode the power system was not properly unlocked by software during a power sequence Adept Status Code Summary for Embedded Products Rev C Platform Dependent Two digit Status Codes If the problem per sists contact Adept Customer Service If the problem per sists contact Adept Customer Service Contact Adept Customer Service Page 12 of 16 Copyright 2006 2013 by Adept Technology Inc Safety System Fault Code 6 Safety System Fault Code 7 Platform Dependent Two digit Status Codes The CAT 3 hardware safety system detected an encoder OVERSPEED condition and power has been turned off This cir cuitry is on certain robots that have the CAT 3 teach mode option installed It is active only when in manual mode The CAT 3 hardware safety system detected an accelerometer error on channel 1 or 2 This cir cuitry is on certain robots that have the CAT 3 teach mode option installed It is active only when in manual mode The robot joint 1 or 2 is moving or accelerating too fast which indicates there is a fault with the accelerometer system or a failure of the accel erometer s self test func tion Adept Status Code Summary for Embedded Products Rev C This fault is triggered on purpose d
10. ng Mtr n Platform Dependent Two digit Status Codes Amplifier over temperature occurred on Joint Note MB 10 sys tems only report hl The motor encoder tem perature sensor indicates an overtemperature The temperature sensor on the RSC card in the base of the robot indic ates an overtemperature Adept Status Code Summary for Embedded Products Rev C Check for excessive ambient temperature inadequate vent ilation and proper function of any cool ing fans It may be necessary to slow the motion or insert pauses to reduce over all heating Reduce the speed acceleration and or deceleration of the robot motions or introduce delays in the application cycle to give the motor an opportunity to cool Reduce the speed acceleration and or deceleration of the robot motions or introduce delays in the application cycle to give the motor an opportunity to cool Page 7 of 16 Copyright 2006 2013 by Adept Technology Inc Platform Dependent Two digit Status Codes Supported Platforms Ua Error V Cobra Maesan Error Explanation i s600 s800 g Code sMAI SDATI SEJI i600 i800 Positive over 1033 The hardware overtravel Manually move the travel Mtr n sensor for the indicated robot back into range motor has tripped and and re enable power robot power has been dis Use the SPEC utility abled to adjust the soft lim its for the robot so they are inside the hard limits
11. on the T bracket and check for proper mounting of the MB 10 If the error persists contact Adept Customer Service None N A A servo task has overrun its If the problem persists contact allotted execution window Adept Customer Service Hard envelope 1027 The indicated motor was not Turn on high power and try to error Mtr n tracking the commanded pos perform the motion at a slower ition with sufficient accuracy as speed Make sure that nothing is set by SPEC or the Adept ACE obstructing the robot s motion If Controller Editor the error recurs contact Adept Customer Service None Timeout of the software watch If the problem persists contact dog timer On some products it Adept Customer Service is normal for this to occur momentarily during a servo reset Adept Status Code Summary for Embedded Products Rev C Page 3 of 16 Copyright 2006 2013 by Adept Technology Inc Platform Dependent Two digit Status Codes Platform Dependent Two digit Status Codes RSC power fail The 24 VDC input Check connections ure voltage is out of bounds and voltage level too high or low from the user sup plied 24 VDC power supply Manual brake The manual brake release Ensure the brake but release button was pressed while ton is released The high power was enabled message will clear upon re enabling power E STOP detected An E STOP condition has This is a normal by robot been detected by the respons
12. r motions that preceded that motion and repeat the motion that failed User actions vary by product Please reference individual robot manuals for appropriate actions 1394 com munications timeout Motor stalled Mtr n The IEEE 1394 communications system has failed to initialize or has lost communications with the SmartController Servo initialization stages These steps normally sequence 10 I1 on the display during nor mal system boot A motor stall occurs when the maximum allowed torque for a given motor was applied for longer than the defined timeout period This typically occurs when an obstacle is encountered Adept Status Code Summary for Embedded Products Rev C This will occur normally if the SmartController is powered down separately from the robot systems If it occurs unex pectedly check the connections and integrity of the 1394 cabling If any initialization code persists greater than 30 seconds it may indicate servo initialization has failed Contact Adept Customer Service Check for obstacles and free movement of all joints Turn high power back on and repeat the motion that failed Page 2 of 16 Copyright 2006 2013 by Adept Technology Inc Common Two digit Status Codes V Status V Error 7 Error Explanation Code Message Code None Communication to a non volat On MB 10 units clean the con N A ile memory device failed tacts to the signature card moun ted
13. uring specific com missioning tests for the CAT 3 system If the fault occurs dur ing normal operation contact Adept Cus tomer Service If the error occurred while moving the robot try moving the robot less quickly or with a lower rate of acceleration or decel eration For faults with cables or sensors consult your robot documentation or contact Adept Cus tomer Service Page 13 of 16 Copyright 2006 2013 by Adept Technology Inc Safety System Fault Code 8 The CAT 3 hardware safety system detected an error This circuitry is on certain robots that have the CAT 3 teach mode option installed It is act ive only when in manual mode This fault occurs in response to multiple sources 1 The velocity restrict check failed for Joint 3 or 4 The robot joint 3 or 4 is moving or accelerating too fast which indicates there is a fault with the voltage restrict sensor or a failure of the voltage restrict sensor s self test function 2 The dual channel sensor circuits disagree or multiple sensors are simultaneously indic ating a fault Adept Status Code Summary for Embedded Products Rev C Platform Dependent Two digit Status Codes If the error occurred while moving the robot try moving the robot less quickly or with a lower rate of acceleration or decel eration For faults with cables or sensors consult your robot documentation or contact Adept Cus tomer Service Page 14 of
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