Fanuc APSH Alarm Codes

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Fanuc APSH Alarm Codes

APSH-000 WARN %s
Cause: General status messages.
Remedy: N/A
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APSH-001 WARN %s missing
Cause: A MACRO was called without a parameter that must be entered.
Remedy: Check the MACRO call in the TP program.
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APSH-002 WARN %s Illegal type
Cause: A MACRO was called with a parameter that is illegal. The parameter has the wrong data type.
Remedy: Check the MACRO call in the TP program.
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APSH-003 WARN %s Illegal zone number
Cause: An zone number less that 1 or greater than $IZONEIO.$NO_ZONES was used.
Remedy: Use an event number from 1 to $IZONEIO.$NO_ZONES.
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APSH-004 WARN Waiting for interf. zone %s
Cause: The robot has requested an interferance zone, but has not been given permission to enter
by the cell controller.
Remedy: If the cell controller does not give control of an interferance zone to the robot when it
should, check the cell controller’s interferance zone programming.
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APSH-005 WARN Entering interf. zone %s
Cause: The robot has received permission to enter the interferance zone.
Remedy: Used to clear the waiting for interferance zone message only.
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APSH-006 WARN PERM memory is low
Cause: This warning indictates that the amount of free memory in the CMOS memory partition has
gotten dangerously low. If the PERM memory runs out, you will experience strange MEMO errors
and possibly robot lock-ups or register dumps.
Remedy: Warning only. Delete any unneeded data. Contact your FANUC representative with this
error. You will probably have to adjust the memory configuration in your robot controller.
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APSH-007 WARN TEMP DRAM memory is low
Cause: This warning indicates that the amount of free memory in the TEMP memory partition has
gotten dangerously low. If the TEMP memory runs out, you will experience strange MEMO errors
and possibly robot lock-ups or register dumps.
Remedy: Warning only. Delete any unneeded data. Contact your FANUC representative with this
error. You will probably have to adjust the memory configuration in your robot controller.
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APSH-008 WARN FAULT must be reset
Cause: A fault has ocurred, so the operation requested cannot be performed.
Remedy: Clear the source of the fault, and press FAULT RESET.
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APSH-009 WARN Program already running
Cause: The shell detected a start signal but a program is already running.
Remedy: Re-issue start request when current program is paused or aborted.
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APSH-010 WARN %s aborted
Cause: A UOP CYCLE START or DI[Initiate Style] was detected when a non-production (i.e. test
cycle) program was paused. This paused program was aborted for safety reasons.
Remedy: None is required. The next production start signal will start the current style.
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APSH-012 WARN REMOTE switch must be on LOCAL
Cause: The robot’s REMOTE condition is TRUE, so the remote operating device (PLC) currently has
motion control over the robot.
Remedy: Disable the REMOTE condition by turning the REMOTE keyswitch on the SOP to LOCAL.
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APSH-013 WARN Place robot into REMOTE state
Cause: The REMOTE condition is currently false, so the robot is not under the control of the remote
operating device (PLC).
Remedy: Verify that the following conditions are true in order to put the robot into the REMOTE
condition: 1. UOP inputs #1 (IMSTP), #3 (SFTYSPD), and #8 (ENBL) are all HIGH. 2. SOP
REMOTE/LOCAL keyswitch is set to REMOTE. 3. Teach pendant is disabled. 4. Robot Auto/Bypass
mode input is HIGH (if so assigned). 5. Make sure a user program is not setting $RMT_MASTER = 1
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APSH-014 WARN RESET Failure
Cause: There is an active fault, which prevents the reset request from executing
Remedy: Clear the source of the fault (usually en external E-Stop) and press FAULT RESET.
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APSH-015 WARN Step mode must be disabled
Cause: Step mode is enabled, which prevents the run request from executing
Remedy: Disable step mode by pressing the STEP hardkey.
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APSH-016 WARN Robot is not under PLC control
Cause: The UOP is not the master device, which prevents the run request from executing
Remedy: Turn SOP REMOTE/LOCAL keyswitch to REMOTE. Make sure all UOP signals are
correct for execution. Set $RMT_MASTER to 0.
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APSH-017 WARN Running with process disabled
Cause: This is a warning to notify the user that a production job is running with the sealant disabled.
Remedy: None needed.
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APSH-018 WARN WARNING – Machine lock is on
Cause: This is a warning to notify the user that a production job is running with machine lock on.
Remedy: None needed.
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APSH-019 WARN Job queue is full
Cause: The job queue cannot accept the next job because it is full.
Remedy: Manually edit the job queue to delete any unneeded jobs or increase queue size.
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APSH-020 WARN Job queue is empty
Cause: A request to run the next job in the queue came in, but the queue is empty.
Remedy: Check the external device to make sure that a job number was correctly sent to the
controller, or manually edit the job queue to CREATE a job.
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APSH-021 WARN Raise UOP ENBL input
Cause: Robot motion and/or program execution cannot occur unless UOP input 8 is ON.
Remedy: Check UOP I/O setup. UOP input 8 (ENBL) must be ON.
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APSH-022 WARN Safety fence is open
Cause: The safety fence input is LOW.
Remedy: The safety fence input must be ON to resume normal robot operation. Raise the safety
fence input.
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APSH-024 WARN Program %s not loaded
Cause: The program name that the shell was requested to run is not loaded on the controller.
Remedy: Check PLC->Robot style communication. Verify that specified JOB name was requested
by PLC. Load or create the specified JOB program.
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APSH-025 WARN WARNING – Running at < 100%%
Cause: This is a warning to notify the user that a production job is running at less than 100%
speed. override.
Remedy: None needed. Dispensetool can increase the override speed to 100% if you require it. Go
to the Cell Setup menu to access this option.
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APSH-027 WARN Press FAULT RESET button
Cause: In order to resume normal production operation, Dispensetool requires that you perform
this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal
operation.
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APSH-028 WARN Increasing speed to 100%%
Cause: This is a warning to notify the user that Dispensetool in increasing the genoverride (speed
override) to 100%.
Remedy: None needed. To disable this feature, you may change this option on the Cell Setup menu.
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APSH-029 WARN Robot must be at home
Cause: The robot must be at the HOME position in order to perform the requested operation. This
error is usually posted when the PLC sends a cycle start and the robot is not at home.
Remedy: Move the robot to the home position.
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APSH-030 WARN Style code %s is invalid
Cause: The GIN[style_in] is set to an invalid number.
Remedy: Check the GIN[style_in] value as well as the Group input configuration.
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APSH-031 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Check the GIN[style_in] value as well as the Group input configuration.
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APSH-032 WARN Robot Servos Disabled
Cause: Dispensetool has detected that the robot servos have been disabled manually.
Remedy: This is a status message to make sure the user is aware that the robot cannot move. The
servos must be re-enabled to resume normal production operations.
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APSH-033 WARN PLC comm error – timeout
Cause: A communication sequence took too long to complete.
Remedy: Increase communication timeout value in PNS Cell Communication setup menu or disable
communication timeout checking.
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APSH-034 WARN No UOP output defined
Cause: The User Operator Panel output group has not been defined.
Remedy: Set up the UOP Outputs in the UOP I/O menu and restart the robot controller.
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APSH-035 WARN Robot is in Bypass mode
Cause: The MODE input is low, forcing the robot into BYPASS mode. The robot will now ignore all
PLC style initiation.
Remedy: Set the MODE switch to ON. The robot will then re-enter AUTOMATIC mode and again
accept PLC signals.
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APSH-036 WARN User JOB has been paused
Cause: The current JOB has been paused. This often happens if the HOLD input is turned ON or
the UOP ENBL signal is set to OFF.
Remedy: If the REMOTE condition is TRUE, the fault recovery menu will appear and give the user
the appropriate recovery options. If the REMOTE condition is not TRUE, recovery is up to the user.
If all else fails, select FCTN (Function hardkey) then ABORT ALL.
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APSH-037 WARN No UOP input defined
Cause: The User Operator Panel input group has not been defined.
Remedy: Set up the UOP Inputs in the UOP I/O menu.
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APSH-038 WARN No style input group defined
Cause: The group which carry the style code in to the controller has not been defined.
Remedy: Set up a STYLE SELECT group in the Cell I/O and GROUP I/O input menus and restart
the robot.
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APSH-039 WARN No style ack strobe defined
Cause: The style acknowlege strobe, which is needed with the current communication configuration,
has not been defined.
Remedy: Set up a Style Ack Strobe in the Cell Output I/O menu and restart the robot.
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APSH-040 WARN No backup input group defined
Cause: The backup input group, which is needed with the current communication configuration,
has not been defined.
Remedy: Set up a Backup Style Select group in the Cell output I/O and GROUP I/O menus and
restart the robot.
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APSH-041 WARN No style input strobe defined
Cause: The style strobe, which is needed with the current communication configuration (queue
enabled), has not been defined.
Remedy: Set up a PNS Strobe in the Cell Input I/O menu and restart the robot.
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APSH-042 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Set up a PNS Strobe in the Cell Input I/O menu and restart the robot.
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APSH-043 WARN No style ack group defined
Cause: The style acknowlege group, which is needed with the current communication configuration,
has not been defined.
Remedy: Set up a Style Ack Group in the Cell output I/O and GROUP I/O menus and restart the robot.
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APSH-044 WARN A user program is HELD
Cause: The current job has been held by pressing the HOLD button or setting the UOP HOLD
input LOW.
Remedy: Release the HOLD button and raise the UOP HOLD input.
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APSH-045 WARN No program setup for style %s
Cause: No program number has been set up for this RSR input.
Remedy: Enter a program number for this RSR input in the RSR Cell Setup menu.
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APSH-046 WARN Robot is in Automatic mode
Cause: This is a notice that the robot is leaving BYPASS mode and entering AUTOMATIC mode,
where it can respond to PLC inputs
Remedy: None needed.
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APSH-047 WARN Shell will not run without UOPs
Cause: This is a warning, telling the user that the UOPs have not yet been set up, so the shell will
wait for the UOPs to be defined before resuming.
Remedy: The shell requires the UOPs to run. Once the UOPs have been set up, the shell will
continue its initialization sequence.
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APSH-048 WARN PLC comm error – invert check
Cause: The backup style group is not the 1’s complement (inverse) of the style input group.
Remedy: Verify that the PLC is sending the correct invert style to the correct group. Disable invert
checking in the PNS Cell Setup menu.
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APSH-049 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Verify that the PLC is sending the correct invert style to the correct group. Disable invert
checking in the PNS Cell Setup menu.
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APSH-050 WARN Cell IO setup is invalid
Cause: Signals which are required for this cell IO configuration have not been configured.
Remedy: Check the messages posted previous to the in the error log for the names of the incorrect
signals. Fix the IO setup of these signals and cold start the controller.
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APSH-051 WARN Connect or deassign UOP inputs
Cause: The robot cannot move while the UOP inputs are in this state.
Remedy: You must either wire UOP inputs #1, #2, #3, and #8 high or deassign the UOP inputs and
restart the controller.
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APSH-052 WARN Critical UOP inputs are LOW
Cause: UOP inputs #1 (IMSTP), #2 (HOLD), #3(SFTYFNC), #8 (ENBL) are all LOW. These must
all be HIGH for normal production operation.
Remedy: See remedy for APSH-051, Connect or deassign UOP inputs.
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APSH-054 PAUSE Release SOP E-STOP
Cause: In order to resume normal production operation, Dispensetool requires that you perform
this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal
operation.
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APSH-055 PAUSE Raise UOP IMSTP input
Cause: In order to resume normal production operation, Dispensetool requires that you perform
this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal
operation.
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APSH-056 PAUSE Release SOP E-STOP
Cause: In order to resume normal production operation, Dispensetool requires that you perform
this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal
operation.
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APSH-057 PAUSE Release TP E-STOP
Cause: In order to resume normal production operation, Dispensetool requires that you perform
this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal
operation.
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APSH-058 PAUSE Pause forced by shell
Cause: This error is posted to simulate a PAUSE error.
Remedy: This error is posted by Dispensetool during normal operation, but should not be visible to
the user. If you see this error, report it to you FANUC representative.
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APSH-059 PAUSE Abort forced by shell
Cause: This error is posted to simulate a ABORT error.
Remedy: This error is posted by Dispensetool during normal operation, but should not be visible to
the user. If you see this error, report it to you FANUC representative.
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APSH-060 WARN Cycle start ignored-not in AUTO
Cause: This is not a fault. This error is posted when the robot is sent a cycle start from the cell
controller, but the robot is either in BYPASS mode (set from Soft Panel menu) or in MANUAL mode,
but no manual cycle start has been initiated. Is is also possible that the robot is in the MANUAL
mode and a MANUAL CYCLE was requested, but the style sent by the PLC does not match the
one specified on the SOFT PANEL.
Remedy: In most cases, this fault can be ignored. This fault was put in to assist in debugging problems
with the soft panel in Dispensetool. If you are trying to initiate a MANUAL CYCLE, make sure the
MANUAL CYCLE STYLE inputted into the Soft Panel menu is the same as what the PLC is sending.
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APSH-061 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: In most cases, this fault can be ignored. This fault was put in to assist in debugging problems
with the soft panel in Dispensetool. If you are trying to initiate a MANUAL CYCLE, make sure the
MANUAL CYCLE STYLE inputted into the Soft Panel menu is the same as what the PLC is sending.
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APSH-062 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: In most cases, this fault can be ignored. This fault was put in to assist in debugging problems
with the soft panel in Dispensetool. If you are trying to initiate a MANUAL CYCLE, make sure the
MANUAL CYCLE STYLE inputted into the Soft Panel menu is the same as what the PLC is sending.
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APSH-063 PAUSE A HOLD input is active
Cause: The current job has been paused by pressing the HOLD button or setting the UOP HOLD
input LOW.
Remedy: Release the HOLD button and raise the UOP HOLD input.
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APSH-064 PAUSE %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Release the HOLD button and raise the UOP HOLD input.
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APSH-065 PAUSE %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Release the HOLD button and raise the UOP HOLD input.
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APSH-066 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Release the HOLD button and raise the UOP HOLD input.
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APSH-070 PAUSE Failed to continue %s
Cause: The error handler was unable to continue the task named when the user requested that all
tasks be continued This is probably due to one of the E-Stops or HOLD buttons being active.
Remedy: Disable all E-Stops and release HOLD buttons. If it is not desired that the task named
be continued, abort it.
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APSH-071 PAUSE Failed to pause robot task
Cause: A Karel PAUSE_TASK() command failed to pause a task which the error handler believes
should be paused.
Remedy: The task which the error handler tried to pause was probably a system utility, and is not
allowed to be paused. You can probably ignore this fault without any problems.
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APSH-072 PAUSE Failed to abort robot task
Cause: A Karel ABORT_TASK() command failed.
Remedy: Cold start the robot controller, then manually restore production status.
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APSH-073 WARN Servos Locked-out, enable servos
Cause: Robot servos are locked out.
Remedy: Enable robot servos.
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APSH-074 WARN Disable Teach Pendant
Cause: In order to resume normal production operation, Dispensetool requires that you perform
this action.
Remedy: Perform the action stated in the error message when you are ready to resume normal
operation.
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APSH-075 WARN Error in accessing TPE:%s
Cause: The following error occured when a the data associated with a TPE program was accessed.
Remedy: Verify that this TPE program exists. Go into the DETAIL pages under the SELECT menu
and hit NEXT key until robot allows this mode to END.
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APSH-076 WARN Shell could not run:%s
Cause: The shell tried to execute a program, but was stopped by the operating system.
Remedy: Make sure the program exists and it is not already running or paused. Use the PROGRAM
STATUS display to make sure you have not exceeded the maximum number of tasks. Abort all
programs which do not need to be running.
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APSH-077 WARN No positions in %s
Cause: This TPE did not contain a position to represent HOME, SERVICE, or PURGE.
Remedy: If you need to use the AT PERCH, AT PURGE, or AT SERVICE outputs, teach the positons
you need in the appropriate TPEs. If you do not need these outputs to be updated ignore this warning.
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APSH-078 WARN Shell could not run program
Cause: The shell tried to execute a program, but was stopped by the operating system.
Remedy: Make sure the program exists and it is not already running or paused. Use the PROGRAM
STATUS display to make sure you have not exceeded the maximum number of tasks. Abort all
programs which do not need to be running.
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APSH-079 WARN No DIN for Auto/Bypass
Cause: No Auto/Bypass input has been defined, but one was expected.
Remedy: Set a Auto/Bypass input in the Cell I/O Input menu and restart the robot.
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APSH-080 WARN Waiting for Cancel/Continue
Cause: The robot is currently waiting for Cancel or continue (Wet or Dry) or a HOME input from the
PLC.
Remedy: This is a warning to inform the person at the teach pendant that the PLC has been given
exclusive control over how the robot will recover from the current error.
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APSH-081 WARN Waiting for Cancel
Cause: The robot is currently waiting for a cancel input from the PLC. The current JOB has had a
fault so severe that it cannt recover and must be aborted or recieve the HOME UOP input
Remedy: This is a warning to inform the person at the teach pendant that the PLC has been given
exclusive control over how the robot will recover from the current error.
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APSH-082 WARN No $ERROR_PROG defined
Cause: No $ERROR_PROG has been defined for this JOB. This fault will only appear if the Karel
variable [SLERROR]POST_NO_ERRP is set to TRUE (deault = FALSE).
Remedy: Use the TPE ERROR_PROG command, under Program Control, to set up a Error Program
for this JOB. This will allow the robot to move out of the work area when an error occurs.
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APSH-083 WARN No $RESUME_PROG defined
Cause: No $RESUME_PROG has been defined for this JOB.
Remedy: Use the TPE RESUME_PROG command, under Program Control, to set up a Resume
Program for this JOB. This will allow the JOB to resume the interrupted program.
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APSH-084 WARN WARNING – simulated I/O
Cause: The robot is running a style program with one or more I/O ports simulated. Unexpected
motions and actions may occur.
Remedy: Verify that all simulated I/O points should be simulated. Un-simulate all I/O ports which
should not be simulated.
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APSH-090 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Verify that all simulated I/O points should be simulated. Un-simulate all I/O ports which
should not be simulated.
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APSH-091 WARN %s
Cause: Place holder error, used to keep documentaion for errors from Drastically changing.
Remedy: Verify that all simulated I/O points should be simulated. Un-simulate all I/O ports which
should not be simulated.
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APSH-092 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-093 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-094 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-095 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-096 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-097 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-098 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-099 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-100 WARN %s
Cause: Site-specific alarm caused by changes made for customer
Remedy: Please consult FANUC regarding specific changes made for your site.
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APSH-110 WARN READ IO parm %s missing
Cause: The READ IO MACRO was called without a parameter that must be entered. READ
IO(signal name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-111 WARN READ IO parm %s is wrong type
Cause: The READ IO MACRO was called with illegal parameters. READ IO(signal name string,
integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-112 WARN signal %s does not exist
Cause: The READ IO MACRO was called but the signal could not be found. READ IO(signal
name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-113 WARN can’t fetch signal type
Cause: The READ IO MACRO was called but the signal could not be found. READ IO(signal
name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-114 WARN can’t fetch signal number
Cause: The READ IO MACRO was called but the signal could not be found. READ IO(signal
name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-115 WARN can’t read signal %s
Cause: The READ IO MACRO was called but the signal could not be found. READ IO(signal
name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-116 WARN Reg %s could not be set
Cause: Register operation failed
Remedy: Check if the register is defined, if it is between 1-64 and if it has the right value. Must
ABORT ALL and retry
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APSH-117 WARN Register not defined %s
Cause: This is just a debug message
Remedy: N/A
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APSH-118 WARN WRITE IO parm %s missing
Cause: The WRITE IO MACRO was called without a parameter that must be entered. WRITE
IO(signal name string, integer value to write)
Remedy: Check the MACRO call in the TP program.
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APSH-119 WARN WRITE IO parm %s is wrong type
Cause: The WRITE IO MACRO was called with illegal parameters. WRITE IO(signal name string,
integer value to write)
Remedy: Check the MACRO call in the TP program.
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APSH-120 WARN signal %s does not exist
Cause: The WRITE IO MACRO was called but the signal could not be found. WRITE IO(signal
name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-121 WARN can’t write signal %s
Cause: The WRITE IO MACRO was called but the signal could not be found. WRITE IO(signal
name string, integer register number)
Remedy: Check the MACRO call in the TP program.
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APSH-122 WARN GET IO PORT parm %s missing
Cause: The GET IO MACRO was called without a parameter that must be entered. GET IO(signal
name string, integer port number)
Remedy: Check the MACRO call in the TP program.
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APSH-123 WARN GET IO PORT parm %s is wrong type
Cause: The GET IO MACRO was called with illegal parameters. GET IO(signal name string,
integer port number)
Remedy: Check the MACRO call in the TP program.
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APSH-124 WARN signal %s does not exist
Cause: The GET IO MACRO was called but the signal could not be found. GET IO(signal name
string, integer port number)
Remedy: Check the MACRO call in the TP program.
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APSH-125 WARN Forcing Process Enabled
Cause: It was detected that the Process was DISABLED at the start of this production program. A
choice (or setup selection) has indicated that the Process should be FORCED to the enabled state.
Remedy: – Don’t choose to FORCE the process enable. – Change Prog Select-Production Check
Process ready setup to NOT Force Condition. – Ensure that Process Enabled input is on at the start
of the next production cycle.
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APSH-126 PAUSE %s
Cause: Robot is paused
Remedy: Status message
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APSH-127 WARN Repower to activate change.
Cause: The joint velocity limit has changed. This parameter change requires you to cycle controller
power in order to take effect.
Remedy: Turn off the controller, then turn it on again.
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APSH-128 WARN Tryout mode enabled
Cause: Tryout mode state has CHANGED from disabled to enabled. This is only a status message,
it is not a fault. Note: tryout mode is a test function – part thickness value is ignored, when tryout
mode is enabled.
Remedy: Disable tryout mode, if desired.
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APSH-129 WARN Tryout mode disabled
Cause: Tryout mode state has CHANGED from enabled to disabled. This is only a status message,
it is not a fault. Note: tryout mode is a test function – part thickness value is ignored, when tryout
mode is enabled.
Remedy: Enable tryout mode, if desired.
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APSH-130 WARN Cannot access FR: %s *.DT files
Cause: Error occurred while accessing the FR: device. No .dt files found.
Remedy: .DT files must exist on the FR: device.
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APSH-131 WARN I/O data error: %s
Cause: I/O port defined wrong: Illegal type, Default data is used.
Remedy: .DT file on the FR: device must be corrected.
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APSH-132 WARN Selected Prog %s not loaded
Cause: The program name that the shell was requested to run is not loaded on the controller.
Remedy: Check PLC->Robot style communication. Verify that specified Program name was
requested by PLC. Load or create the specified Program program.
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APSH-133 WARN Not in safe starting position
Cause: The robot has been jogged away from the position where the teach pendant was enabled.
Remedy: Move the robot back to the position where the teach pendant was enabled, abort the
program, or continue (in linear motion) from position where the robot is currently positioned.
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APSH-141 PAUSE %s
Cause: The robot has been jogged away from the position where the teach pendant was enabled.
Remedy: Move the robot back to the position where the teach pendant was enabled, abort the
program, or continue (in linear motion) from position where the robot is currently positioned.
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APSH-142 WARN WARNING – System is in dry run
Cause: This is a warning to notify you that a production job is running with the process disabled.
Remedy: None is required.
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APSH-143 WARN Robot motion is not enabled
Cause: Robot motion and/or program execution cannot occur unless UOP input 8 is ON.
Remedy: Check UOP I/O setup. UOP input 8 must be ON.
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APSH-144 WARN WARNING – Process Complete manually turned on at end of %s
Cause: A ‘Force Process Complete’ was performed from the Soft Panel
Remedy: This is just a warning to let the operator know that Process Complete was manually
turned on.
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APSH-150 WARN Gun operation is NOSTROKE
Cause: A production job is running with the gun set to NOSTROKE.
Remedy: None.
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APSH-151 WARN Weld operation is NOWELD
Cause: A production job is running with weld set to NOWELD.
Remedy: None.
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APSH-152 WARN Robot mode must be AUTO
Cause: The robot must be in full automatic mode with the PLC before production operation can occur.
Remedy: Go to the SOFT PANEL menu and set Robot mode=AUTO.
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APSH-153 WARN Must press SHIFT key too
Cause: The shift key must be pressed when accessing this teach pendant hardkey.
Remedy: Press the shift key.
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APSH-154 WARN Only one gun defined
Cause: Because the system is currently configured for one equipment with a single gun, there is no
need to set the equiopment that that GUN and BACKUP hardkeys will operate on; they will always
operate on the one gun.
Remedy: None is required
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APSH-155 WARN HOME position not recorded
Cause: The HOME position has not been recorded yet. The HOME position is contained in
Reference Position menu.
Remedy:
1. Go to the SETUP menu.
2. Select Reference Position from the [TYPE] menu.
3. Jog the robot to the HOME position.
4. Record your reference position, and then verify that it is a valid home position.
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APSH-156 WARN Specify Home in Ref Pos Menu
Cause: The HOME position has not been recorded yet. The HOME position is contained in
Reference Position menu.
Remedy: Go to the SETUP menu, select Reference Position from the [TYPE] menu. Jog the robot to
the HOME position. Record your reference position, then specify it is a valid HOME position.
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APSH-157 WARN Teach pendant must be enabled
Cause: The teach pendant must be enabled when accessing this teach pendant hardkey.
Remedy: Enable the teach pendant.
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APSH-158 WARN No group output for weld sched
Cause: The group output that contains the weld schedule has not been configured yet.
Remedy: Go to the Weld Intface Output menu, and edit the index of the Weld Schedule I/O point.
Make sure the group output has been properly configured from the Group Output menu. You must
cold start the controller when changing this index, or redefining the group output.
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APSH-159 WARN Servos are not ready
Cause: The servos are not ready, so operation requested cannot be performed.
Remedy: When resetting a fault, wait for the servos to click on before attempting to execute a
program.
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APSH-160 WARN Robot not at POUNCE position
Cause: The robot is not at the POUNCE position, so the operation requested cannot be performed.
Remedy: Re-issue this request when the robot is AT POUNCE.
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APSH-161 WARN No production program is running
Cause: The robot is not currently running a production style, so the operation requested cannot be
performed.
Remedy: Re-issue the request when the robot is running a production style.
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APSH-162 WARN No group output for multi-pressure
Cause: The group output that contains the setting for the multi-pressure valving has not been
configured yet.
Remedy: Go to the Spot Equipment Intface Output menu, and edit the index of the Valve pressure I/O
point. Make sure the group output has been properly configured from the Group Output menu. You
must cold start the controller when changing this index, or redefining the group output.
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APSH-163 WARN No motion allowed–gun closed
Cause: No motion can occur because the gun is closed. This prevents the user from jogging or
running a program while the gun is closed, and damaging parts and/or tooling.
Remedy: Open the gun.
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APSH-164 WARN Home I/O program %s not loaded
Cause: The HOME I/O program as specified from the Cell Setup menu does not exist and was not run.
Remedy: Go to the Cell Setup menu and either check the name of the HOME I/O macro name menu
item. Make sure the file specified exists on the controller. Either create a program by that name or
change this menu item to a program that already exists on the controller.
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APSH-165 WARN Invalid Studgun Selection
Cause: There I/O configuration for the proper studwelding gun has not been initialized.
Remedy: Proceed to the Spot Equipment I/O setup screen and configure the digital inputs Gun
Present = On/Off, Gun in Nest = On/Off for the 2 stud guns. Proper configuration if gun 1 is on the
robot is for Gun 1 (Gun Present = ON, Gun in Nest = OFF and for Gun 2 (Gun Present = OFF, Gun in
Nest = ON. Proper configuration if gun 2 is on the robot is for Gun 1 (Gun Present = OFF, Gun in
Nest = ON and for Gun 2 (Gun Present = ON, Gun in Nest = OFF.
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APSH-166 WARN Studgun Change Unsuccessful
Cause: The robot was aborted or interrupted during the studgun change sequence.
Remedy: Manually change the stud guns and move the robot to the home position. Press cycle
start to run production.
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APSH-167 WARN Move robot home & cycle start
Cause: The stud gun change program was interrupted.
Remedy: To resume production the robot must be manually returned home and cycle start must be
pressed to continue.
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APSH-168 WARN No GO for EQP pressure
Cause: The group output that contains the setting for the equalization pressure has not been
configured yet.
Remedy: Go to the Spot Equipment Intface Output menu, and edit the index of the Equal pressure I/O
point. Make sure the group output has been properly configured from the Group Output menu. You
must cold start the controller when changing this index, or redefining the group output.
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APSH-169 WARN Uninitialized Stud Macros
Cause: A macro program to dropoff or pickup studgun 1 or 2 has not been initialized.
Remedy: Proceed to Spot Equipment Menu under MENUS-SETUP and initialize the studwelding
macros which will only appear if STUD BACKUP is ENABLED at CONTROLLED START.
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APSH-170 WARN Check Nest/Changer Inputs
Cause: The inputs on the studwelder nest do not appear to be set up correctly.
Remedy: Verify on the Spot Equip I/O menu that the Head in Nest inputs are set up correctly.
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APSH-174 WARN SCR overtemp detected
Cause: An SCR overtemp signal has been received.
Remedy: Check the SCR for overheating.
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APSH-175 WARN Req. Press. Not mapped for WC:%s
Cause: The Request Pressure digital input is not mapped.
Remedy: Map request pressure input on Weld Interface Menu.
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APSH-176 WARN GIN For Weld Press. Not mapped for WC:%s
Cause: The GIN for Weld Pressure is not mapped.
Remedy: Map Weld Pressure pressure input on Weld Interface Menu.
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APSH-177 WARN Read Press. Not mapped for WC:%s
Cause: Read pressure input is not mapped on weld interface Menu.
Remedy: Map read pressure input on Weld Interface Menu.
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APSH-178 WARN Map I/O in Weld Interface Menu
Cause: There is not cause, this is a help code
Remedy: No rememdy required.
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APSH-179 WARN Upd. Press. timeout WC:%s
Cause: The weld controler did not set Read Pressure input in time.
Remedy: Check if weld controler is functioning correctly, or increase Weld Pres time-out at CTRL
start menu.
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APSH-180 WARN Could not communicate to WC.
Cause: Could not read any I/O from the Weld controller. Device may be offline.
Remedy: Check if weld controler is functioning correctly, or powered on.
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APSH-201 WARN Automatic Collision Recovery
Cause: Automatic Collision recovery is beginning.
Remedy: None.
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APSH-202 WARN Recovery Program not found
Cause: Automatic Collision recovery was attempting to run the recovery program.
Remedy: Make sure the program is loaded, and retry the operation.
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APSH-203 WARN Error running %s
Cause: The task could not run or continue.
Remedy: Check the associated error message for the task error and follow the recovery procedure.
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APSH-204 WARN Running recovery prog %s
Cause: Automatic Collision recovery is about to run the recovery program.
Remedy: None.
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APSH-205 WARN Running original prog %s
Cause: Automatic Collision recovery is about to run the original program.
Remedy: None.
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APSH-206 WARN Invalid Group Specified
Cause: The group specified to get_home does not exist.
Remedy: Verify the specified group number exists, and retry the operation.
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APSH-207 WARN Invalid Ref Pos Specified
Cause: The reference position specified to get_home.
Remedy: Verify specified Reference position exists.
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APSH-208 WARN Failed to check %s
Cause: This error is related to production setup check screen. This item should not be checked
on the present configuration.
Remedy: Press F6,REDO and cycle power to update items