Denso Comprehensive Guide to Robot Error Codes

3.5.3.4Error Read (0100)

(1)Function

This command outputs the existing error number to the status area.

This command is output to the status area only when the strobe signal remains ON.

Caution: This command will not be output if a minor error occurs, such as a program selection error, caused by the operation of the teach pendant or the operating panel.

(2)Format

Command area (4 bits, input) 0100

Data area 1 (8 bits, input) Nothing will be input. Data area 2 (16 bits, input) Nothing will be input. Status area (16 bits, output)

The existing error code will be output.

(3)Hexadecimal codes

Refer to the figure given below.

⋅⋅⋅⋅	→		0	⋅ ¡⋅ ¡ →		5	¡⋅ ¡⋅ →		A
⋅⋅⋅	¡	→	1	⋅ ¡¡⋅ →		6	¡⋅ ¡¡ →		B
⋅⋅	¡⋅	→	2	⋅ ¡¡¡ →		7	¡¡⋅⋅	→	C
⋅⋅	¡¡	→	3	¡⋅⋅⋅	→	8	¡¡⋅	¡ →	D
⋅ ¡⋅⋅ →			4	¡⋅⋅	¡ →	8	¡¡¡⋅ →		E	¡⋅⋅⋅ON
							¡¡¡¡ →		F	⋅⋅⋅⋅⋅ OFF

The following figure shows an example of error number output when

ERROR6174 (overload error with the fourth axis) occurs.

Thousands		of	error	Hundreds of error No.			Tens of error No.		Units of error No.
32 31 30		29		28 27 26 25			24	23 22 21	20 19 18 17
⋅	¡ ¡ ⋅			⋅ ⋅	⋅	¡	⋅	¡ ¡ ¡	⋅	¡ ⋅	⋅
Terminal No.
(Connector CN10)
ERROR	6				1			7		4

Example of Error Number Output

(4)Description

If a command is executed when a robot failure or the robot warning signal is output, the error number, which caused the robot failure or robot warning signal to be output, will be output to the status area.

If no error exists after an error has been cleared, 0 will be output to the status area. Also, when there is an error that does not output any robot failure or robot warning signal, 0 will be outputted.

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