22::
201:
Limit Switch open\n
\t\n

202:
Emergency Stop open\n
\t\n

203:
Enabling Device open\n
\t\n

204:
Operation Key open\n
\t\n

205:
Auto Stop open\n
\t\n

206:
General Stop open\n
\t\n

207:
Backplane Enable open\n
\t\n
1. Check other error messages for\n
primary fault reason.\n
2. If no other error messages,\n
please check line voltage for\n
one phase missing.
208:
Chain switches open\n
One or many switches in chain open.\n
\t\n

209:
External Contactor open\n
\t\n
1. External contactors to perifial\n
equipment not responding
210:
Motor Contactor open\n
\t\n

211:
Two channel fault\n
Enable from backplane was not allowed\n
to be closed.\n
Runchain two channel fault has not\n
been reset.\n
\t\n
First open both channels and then close\n
them again to reset runchain.\n
Please check the safety guard that\n
caused the status conflict.
212:
Two channel fault\n
Runchain was not allowed\n
to be closed.\n
Runchain two channel fault has not\n
been reset.\n
\t\n
First open both channels and then close\n
them again to reset runchain.\n
Please check the safety guard that\n
caused the status conflict.
213:
Two channel fault\n
Runchain two channel fault has not\n
been reset.\n
\t\n
First open both channels and then close\n
them again to reset runchain.\n
Please check the safety guard that\n
caused the status conflict.
214:
Safety conflict\n
The hardware ENABLE signals has been\n
deactivated but the runchain is still\n
intact.\n
\t\n
The system will be set in\n
system fail state.
221:
Chain conflict\n
Status conflict\n
for one or many switches in chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
222:
Limit Switch conflict\n
Status conflict\n
for the Limit Switch chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
223:
Emergency Stop conflict\n
Status conflict\n
for the Emergency Stop chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
224:
Enabling Device conflict\n
Status conflict\n
for the Enabling Device chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
225:
Auto Stop conflict\n
Status conflict\n
for the Auto Stop chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
226:
General Stop conflict\n
Status conflict\n
for the General Stop chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
227:
Motor Contactor conflict\n
Status conflict\n
for the Motor Contactor chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
228:
Ordered ES conflict\n
Status conflict\n
between ordered and configured type of\n
Emergency Stop Turn Off (immediate or\n
delayed).\n
\t\n
Replace Panel Board.
229:
Ordered AS conflict\n
Status conflict\n
between ordered and configured type of\n
Auto Stop Turn Off (immediate or\n
delayed).\n
\t\n
Replace Panel Board.
230:
Ordered GS conflict\n
Status conflict\n
between ordered and configured type of\n
General Stop Turn Off (immediate or\n
delayed).\n
\t\n
Replace Panel Board.
231:
Delayed ES conflict\n
Status conflict\n
between ES1 and CH1 or ES2 and CH2\n
after a delayed Emergency Stop.\n
\t\n
Replace Panel Board.
232:
Delayed AS conflict\n
Status conflict\n
between AS1 and CH1 or AS2 and CH2\n
after a delayed Auto Stop.\n
\t\n
Replace Panel Board.
233:
Delayed GS conflict\n
Status conflict\n
between GS1 and CH1 or GS2 and CH2\n
after a delayed General Stop.\n
\t\n
Replace Panel Board.
234:
Immediate ES conflict\n
Status conflict\n
between ES1 and CH1 or ES2 and CH2\n
after an immediate Emergency Stop.\n
\t\n
Replace Panel Board.
235:
Immediate AS conflict\n
Status conflict\n
between AS1 and CH1 or AS2 and CH2\n
after an immediate Auto Stop.\n
\t\n
Replace Panel Board.
236:
Immediate GS conflict\n
Status conflict\n
between GS1 and CH1 or GS2 and CH2\n
after an immediate General Stop.\n
\t\n
Replace Panel Board.
241:
Key speed status fault\n
Status conflict\n
for the operating mode key signals\n
and the speed signal.\n
\t\n
Check operating mode key hardware\n
or replace Panel Board.
242:
Auto mode conflict\n
Status conflict\n
for the operating mode key signals\n
in Auto operation.\n
\t\n
Check operating mode key hardware\n
or replace Panel Board.
243:
Manual mode conflict\n
Status conflict\n
for the operating mode key signals\n
in Manual operation.\n
\t\n
Check operating mode key hardware\n
or replace Panel Board.
244:
Manual FS mode conflict\n
Status conflict\n
for the operating mode key signals\n
in Manual Full Speed operation.\n
\t\n
Check operating mode key hardware\n
or replace Panel Board.
251:
Transformer temp. high\n
Status active for over temperatur\n
in main transformer.\n
Make sure to let the transformer cool\n
down before ordering Motors On again.\n
\t\n
View Safety in the IO window and wait\n
until the signal TRFOTMP equals 0\n
before ordering Motors On again.
252:
Motor temp. high\n
Status active\n
for over temperature in\n
motors of manipulator.\n
Make sure to let the Motors cool down\n
before ordering Motors On again.\n
\t\n
View Safety in the IO window and wait\n
until the signal PTC equals 0 before\n
ordering Motors On again.
253:
Ext. device temp. high\n
Status active\n
for over temperature in\n
external device.\n
Make sure to let the Motors cool down\n
before ordering Motors On again.\n
\t\n
View Safety in the IO window and wait\n
until the signal PTCEXT equals 0 before\n
ordering Motors On again.
254:
Power supply fan stopped\n
Status active\n
when fan in power supply not running.\n
\t\n
Check the power supply fan hardware.
255:
Panel Board voltage low\n
Status active\n
when Panel Board 24 V failed.\n
\t\n
Check the Panel Board voltage.
260:
Run control status fault\n
Status conflict between\n
motor contactors and run control.\n
\t\n
Replace Panel Board.
301:
Fan malfunction\n
Drive system cool fan 1 malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
302:
Fan malfunction\n
Drive system cool fan 2 malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
303:
Fan malfunction\n
Drive system cool fan 3 malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
304:
Fan malfunction\n
Drive system cool fan 4 malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
305:
Fan malfunction\n
Cabinet cool fan 1 malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
306:
Fan malfunction\n
Cabinet cool fan 2 malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
307:
Fan malfunction\n
Motor 1 cool fan malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
308:
Fan malfunction\n
Motor 2 cool fan malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
309:
Fan malfunction\n
Motor 3 cool fan malfunction.\n
\t\n
Check\n
1. Fan hardware.\n
2. Fan cabling.\n
3. Panel unit supervision.
311:
Enable 1 open\n
Status active when\n
enable from I/O Computer open.\n
\t\n
1. Check other error messages for\n
primary fault reason.\n
2. If no other error messages,\n
please check line voltage for\n
one phase missing.
312:
Enable 2 open\n
Status active when\n
enable from Axis Computer open.\n
\t\n
1. Check other error messages for\n
primary fault reason.\n
2. If no other error messages,\n
please check line voltage for\n
one phase missing.
313:
IOC EN Supervision fault\n
Supervision of the IO Computer ENABLE\n
signal has detected an error.The ENABLE\n
signal path is broken.\n
\t\n
1. Check other error messages for\n
possible stop reasons.\n
2. Check cables(Panel Board - IO Comp)\n
3. Replace IO Computer, Panel board, or\n
Connector board.
314:
AXC EN Supervision fault\n
Supervision of the Axis Computer ENABLE\n
signal has detected an error.The ENABLE\n
signal path is broken.\n
\t\n
1. Check other error messages for\n
possible stop reasons.\n
2. Check cables(Panel Board - AX Comp)\n
3. Replace AX Computer, Panel board, or\n
Connector board.
315:
Motor supervision error\n
Reference of unknown or incorrect\n
motor temperature sensor(ptc).\n
Signal input %s is incorrect.\n
\t\n
1. Check system parameters
501:
ES panel open\n
\t\n

502:
ES pendant open\n
\t\n

503:
ES ext.cat.0 open\n
\t\n

504:
Purge relay open\n
Status active\n
when system not purged OK:\n
1. Pressure too low.\n
2. Pressure too high.\n
3. High flow on.\n
\t\n
1. Check other error messages for\n
primary fault reason.\n
2. If no other error messages, check\n
purge unit and air supply, and search\n
for leaks in the purge system.
505:
Delayed stop open\n
\t\n

506:
Test Stop open\n
\t\n

511:
Soft-start relay open\n
The Soft-start relay (KM3) should be\n
closed when the motor relays (KM1/KM2)\n
are closed.\n
\t\n
Check relay KM3.
521:
Test Stop conflict\n
Status conflict\n
for the Test Stop chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
522:
Purge relay conflict\n
Status conflict\n
for the purge relay.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
523:
HwMotorOn relay conflict\n
Status conflict\n
for the HW motor on relay.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
524:
SwMotorOn relay conflict\n
Status conflict\n
for the SW motor on relay.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
525:
ES panel conflict\n
Status conflict\n
for the Emergency Stop panel chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
526:
ES pendant conflict\n
Status conflict\n
for the Emergency Stop pendant chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
527:
ES ext.cat.0 conflict\n
Status conflict\n
for the Emergency Stop ext.cat.0 chain.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
528:
Safety Switch conflict\n
Status conflict\n
for the paint safety switch.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
529:
Cabin Interlock conflict\n
Status conflict\n
for the cabin interlock circuit.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
530:
ES relay conflict\n
Status conflict\n
for the Emergercy Stop relay feedback.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
531:
Delayed Stop conflict\n
Status conflict\n
for the delayed stop circuit.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
532:
Run chain cur. conflict\n
Status conflict\n
for the run chain current balance\n
monitoring.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
533:
ES chain cur. conflict\n
Status conflict\n
for the Emergency Stop current balance.\n
monitoring.\n
\t\n
Please check the two channel safety\n
guard that caused the status conflict.
551:
Run Chain circuit fault\n
Status active\n
when Current Balance Monitoring on run\n
chain detects fault.\n
\t\n
Check run chain.
552:
ES circuit fault\n
Status active\n
when Current Balance Monitoring on\n
emergency stop chain detects fault.\n
\t\n
Check emergency stop.
553:
AEXB board not OK\n
Status active\n
when serial communication towards AEXB\n
is down.\n
\t\n
1. Check cables towards AEXB board.\n
2. Replace AEXB board.\n
3. Replace ACCB board.
554:
Collision sensor active\n
Status active\n
when digital collision sensor on ACCB\n
is active.\n
\t\n
Check the collision sensors connected\n
to ACCB.
555:
ACA SW module not OK\n
Status active\n
when ACA software module is not OK, or\n
communication with AMA is down.\n
\t\n
1. Check that the ACA SW is running.\n
2. Check the communication towards AMA.\n
3. Check that the AMA SW is running.
556:
Enable 2 AXC 1 open\n
Status active when\n
enable from Axis Computer 1 open.\n
\t\n
1. Check other error messages for\n
primary fault reason.\n
2. If no other error messages,\n
please check line voltage for\n
one phase missing.
557:
Enable 2 AXC 2 open\n
Status active when\n
enable from Axis Computer 2 open.\n
\t\n
1. Check other error messages for\n
primary fault reason.\n
2. If no other error messages,\n
please check line voltage for\n
one phase missing.
558:
Manipulator fault\n
Status active\n
when power to manipulator is lost, or\n
manipulator's enable chain conditions\n
is not OK.\n
\t\n
1. Check the power to the manipulator.\n
2. Check that MCOB SW is running OK.\n
3. Check enable chain on MCOB.\n
4. Check cabling for signal MAN_ENA.           
559:
Collision sensor active\n
Status active\n
when digital collision sensor on MCOB\n
is active.\n
\t\n
Check the collision sensors connected\n
to MCOB.
560:
Axis limit on MCOB\n
Status active\n
when limit sensor on MCOB is active.\n
\t\n
Check the limit sensors connected to\n
MCOB.
561:
AMA SW not OK\n
Status active\n
when AMA software has opened the enable\n
chain on MCOB.\n
\t\n
Check the AMA SW.
562:
Reset ES fault\n
Status active\n
when Reset Emergency Stop input is\n
blocked for more than 3 seconds.\n
\t\n
Check the connection of external reset\n
of Emergency Stop.
563:
Servo disconnect open\n
Status active\n
when Servo disconnect switch is off.\n
\t\n
If Servo disconnect switch is not\n
installed, check the disable link on\n
Relay unit (ACRB) connector X13.
564:
Brake rel. on axes 1 & 7\n
Status active\n
when manual brake release on axes 1 and\n
7 enabled.\n
\t\n
Check switch for manual brake release\n
of axes 1 and 7.
565:
External enable 1 open\n
Status active\n
when external enable 1 on MCOB is open\n
\t\n
Check connection on MCCB X25.
566:
External enable 2 open\n
Status active\n
when external enable 1 on MCOB is open\n
\t\n
Check connection on MCCB X43.
567:
Power low on MCOB\n
Status active\n
when power below 16V on MCOB.\n
\t\n
Check power on MCOB.
568:
HW enable open on MCOB\n
Status active\n
when FW on MCOB has opened the enable\n
chain.\n
\t\n

569:
Watchdog fault on MCOB\n
Status active\n
when watchdog on MCOB fails.\n
\t\n

571:
Safety Switch open\n
Paint System Safety Switch has opened\n
the Cabin Interlock chain.\n
\t\n
Check manual switch for disconnecting\n
of the paint control system.
572:
Cabin Interlock open\n
Cabin Interlock Signal has opened the\n
Cabin Interlock chain.\n
\t\n
Check cabin ventilation and other cabin\n
safety functions.
590:
Brake parameter not set\n
The brake open circuit mask on MCOB is\n
not set, hence the supervision of open\n
circuit on the brakes is disabled.\n
\t\n
See "Unit Discription" manual on how to\n
set the brake parameter.

