Fanuc TOOL Alarm Codes

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Fanuc TOOL Alarm Codes

TOOL-001 ER_PAUSEL Tool Change is DISABLED.
Cause: When tool change was disabled on the servo tool initial setup screen, an attempt was made to
execute a tool change instruction (TOOL ATTACH or TOOL DETACH).
Remedy: Perform a Controlled start, open the servo tool initial setup screen, then set the tool change
function to ENABLE.
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TOOL-002 ER_PAUSEL Machine lock is ENABLED.
Cause: 1) A machine lock is applied to the robot axis when the TOOL ATTACH instruction or the
TOOL DETATCH instruction is executed. 2) A machine lock is applied to the servo tool axis when
the TOOL DETACH instruction is executed.
Remedy: Release the machine lock applied to the robot axis or the servo tool axis.
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TOOL-003 ER_PAUSEL Illegal assignment of Tool axis.
Cause: The tool number assignments are wrong.
Remedy: Confirm the tool number assignment.
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TOOL-004 ER_PAUSEL Tool not detached (AXISORDER).
Cause: An attempt was made to execute the TOOL ATTACH instruction when a servo tool was not
detached. System variable $AXISORDER should have been changed to 0.
Remedy: If any tool is attached, the TOOL ATTACH instruction cannot be executed.
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TOOL-005 ER_PAUSEL Tool not detached.
Cause: An attempt was made to execute the TOOL ATTACH instruction when a servo tool was not
detached. The servo tool attach confirmation signal is ON.
Remedy: If any tool is attached, the TOOL ATTACH instruction cannot be executed.
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TOOL-006 ER_PAUSEL Tool not attached.
Cause: While no servo tool was attached, an attempt was made to execute the TOOL DETACH
instruction. The servo tool attach confirmation signal is OFF.
Remedy: Unless a tool is attached, the TOOL DETACH instruction cannot be executed.
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TOOL-007 ER_PAUSEL Another process is executing.
Cause: Another program is executing a TOOL ATTACH or TOOL DETACH instruction.
Remedy: After the TOOL ATTACH or TOOL DETACH instruction being executed by the other
program is completed, rerun the program.
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TOOL-008 ER_PAUSEL Tool identify signal is OFF.
Cause: The servo tool identification signal is OFF.
Remedy: Check whether the tool number taught in the instruction and the actual tool match. Check
whether the servo tool identification signal is set correctly.
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TOOL-009 ER_PAUSEL Tool set signal is OFF.
Cause: The servo tool mount signal is OFF.
Remedy: Check whether the tool is mounted correctly. Check whether the servo tool mount signal
is set correctly.
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TOOL-010 ER_PAUSEL Tool Change canceled.
Cause: The TOOL ATTACH or TOOL DETACH instruction is canceled while executing the
instruction.
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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TOOL-011 ER_PAUSEL Tool Change timeout.
Cause: The TOOL ATTACH or TOOL DETACH instruction times out while executing the instruction.
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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TOOL-012 ER_SYSTEM Tool mastering data is lost.
Cause: Mastering data of a servo tool was lost because of an unexpected stop during mastering
of the tool.
Remedy:
1. The tool pulse values and mastering data are lost. So, first move the tool by manual feed
to cancel the &qout;SRVO-075 Pulse not established&qout; alarm. This alarm may not be
occurring. If so, skip this step and proceed to the next step.
2. Next, carry out tool 0 position mastering and calibration manually.
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TOOL-013 ER_PAUSEL Tool mastering is failed.
Cause: Tool mastering failed.
Remedy: Continue to retry mastering.
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TOOL-014 ER_PAUSEL TOOL ATTACH is failed.
Cause: The TOOL ATTACH instruction failed. Refer to the cause code for details.
Remedy: Refer to the cause code for details.
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TOOL-015 ER_PAUSEL TOOL DETACH is failed.
Cause: The TOOL DETACH instruction failed. Refer to the cause code.
Remedy: Refer to the cause code.
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TOOL-016 ER_PAUSEL Robot not mastered(Tool axis).
Cause: Mastering of the servo tool axis has not been performed.
Remedy: Perform mastering of the servo tool axis.
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TOOL-017 ER_PAUSEL Robot not calibrated(Tool axis).
Cause: The servo tool axis has not been calibrated.
Remedy: Calibrate the servo tool axis.
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TOOL-018 ER_PAUSEL Ref pos not set(Tool axis).
Cause: A reference position required for quick mastering is not set.
Remedy: Set the reference position.
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TOOL-019 ER_PAUSEL Another tool is attached.
Cause: The attached tool is not the tool specified in the TOOL ATTACH instruction.
Remedy: Check the tool number specified in the TOOL ATTACH instruction.
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TOOL-020 ER_PAUSEL Calibrate motion is failed.
Cause: The detection condition (touch torque or the detection signal) was not satisfied during
calibration.
Remedy: Check the detection condition on the Tool Change SETUP screen. REMEDY 1
1. The tool pulse values and mastering data are lost. So, move the tool by manual feed to cancel
the &qout;SRVO-075 Pulse not established&qout; alarm.
2. Carry out tool 0 position mastering and calibration manually. The tool 0 position may be
an approximate position.
3. Execute the detach instruction to temporarily detach the tool. Also, physically detach the tool
from the robot. Otherwise, the tool will not be calibrated at the next attach operation.
4. Execute the attach instruction again to attach the tool. Calibration this time is carried out at
the reference position to restore the position.
REMEDY 2
1. Directly change the system variable to detach the tool. To do this, set the following
system variable to &qout;0&qout;: $SCR_GRP[servo tool operation group No. (normally,
2)].$AXISORDER[all 1 to 9] = 0
2. Turn the controller power OFF then back ON.
3. The robot starts up with the tool in a detached state. Move the robot by manual feed to
physically attach the robot and tool.
4. Execute the attach instruction to attach the tool.
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TOOL-021 ER_PAUSEL PR[] index is not set.
Cause: For the calibration motion type 3 to 6, no position register number is set.
Remedy: Set the position register number on the Tool Change SETUP screen.
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TOOL-022 ER_PAUSEL Touch torque is not set.
Cause: For the calibration motion type 3 or 4, no touch torque is set.
Remedy: Set touch torque on the Tool Change SETUP screen.
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TOOL-023 ER_PAUSEL Detect signal is not set.
Cause: For the calibration motion type 5 or 6, no detection signal is set.
Remedy: Set the detection signal on the Tool Change SETUP screen.
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TOOL-024 ER_PAUSEL Tool does not stop.
Cause: At the calibration motion, Servo tool axis does not stop.
Remedy: After servo tool axis stops, execute calibration motion
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TOOL-025 ER_PAUSEL Illegal AXISORDER.
Cause: $SCR_GRP[].$AXISORDER[] of the tool was set to an illegal value.
Remedy: Set $SCR_GRP[].$AXISORDER[] of the tool to zero, and turn off and on the controller.
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TOOL-026 ER_PAUSEL Battery type OFF.
Cause: The battery type of the multi-axis tool was set to OFF.
Remedy: Set the battery type of the multi-axis tool to ON.