Fanuc RTCP Alarm Codes

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Fanuc RTCP Alarm Codes

RTCP-001 PAUSE Wrist Joint is not allow
Cause: Wrist joint orient type resume is not allow in RTCP motion.
Remedy: Change $MCR_GRP[*].$RSM_ORIENT to 1 (OR_RS_WORLD).
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RTCP-002 PAUSE VRTCP not calibrated
Cause: Invalid UTool for VRTCP.
Remedy: Change UTool No. for VRTCP.
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RTCP-003 STOP VRTCP Invalid UTool No.
Cause: Some VRTCPs have same Leader GP No.
Remedy: Use different Leader GP No.
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RTCP-004 PAUSE VRTCP overlapped Leader Group
Cause: Some VRTCPs have same Remote TCP No.
Remedy: Use different Remote TCP No.
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RTCP-005 PAUSE VRTCP overlapped RTCP No.
Cause: Conversion failure from pulse to angle.
Remedy: Do COLD start.
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RTCP-006 SYSTEM VRTCP pulse to angle conv.
Cause: A conversion failure occurred from pulse to angle.
Remedy: Perform a Cold start.
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RTCP-007 STOP DRTCP use FINE for transition
Cause: DRTCP use FINE as term type for a DRTCP transition.
Remedy: Change the termination type to FINE for the transition line.
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RTCP-008 STOP DRTCP Joint pos not allow
Cause: Data recorded can not be a joint represenation type for a DRTCP line. That includes the
transition line.
Remedy: Re-Record the position with Cartisian type.
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RTCP-009 STOP DRTCP Joint move not allow
Cause: DRTCP coordinate jog does not allow joint jog.
Remedy: Use a Cartesian move instead.
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RTCP-010 STOP DRTCP INC move not allow
Cause: DRTCP does not allow incremental instruction
Remedy: Use absolute recording position
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RTCP-011 STOP DRTCP Internal Error 1
Cause: DRTCP internal error 1.
Remedy: Perform a Cold start:
1. Turn off the robot.
2. On the teach pendant, press and hold the SHIFT and RESET keys.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
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RTCP-012 STOP DRTCP Internal Error 2
Cause: DRTCP internal error 2
Remedy: Perform a Cold start:
1. Turn off the robot.
2. On the teach pendant, press and hold the SHIFT and RESET keys.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
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RTCP-013 STOP DRTCP Internal Error 3
Cause: DRTCP internal error 3
Remedy: Perform a Cold start:
1. Turn off the robot.
2. On the teach pendant, press and hold the SHIFT and RESET keys.
3. While still pressing the SHIFT and RESET keys, turn on the robot. If the error is not cleared,
document the events that led to the error and call your FANUC Robotics technical representative.
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RTCP-014 STOP RTCP not supported with COORD
Cause: Program with RTCP option was executed while COORD option is loaded on controller.
RTCP cannot be used when COORD is loaded.
Remedy: Remove RTCP option from TP program.