Nachi RMU20-20 Instruction Manual page 179

Error code
Error
Top: Controller
Bottom: RMU
Stop monitoring E1109
error E08
Assist code
SUB1
16-23 Axis No. (Encoder value)
(16 is the 1st axis)
32-39 Axis No. (Magnet pole position)
(32 is the 1st axis)
48 TCP position moved
Error code
Error
Top: Controller
Bottom: RMU
Tool monitoring E1114
error E12
Assist code
SUB1
Tool No. of the Tool No. from the tool
program
Assist code
SUB1 SUB2 SUB3
16 to 23 -
Axis No,
(Encoder
value)
32 to 39 -
Axis No.
(Magnet pole
pos.)
48 -
TCP position
moved
Item
The axis that has moved is displayed.
(The detection triger : Encoder value)
The axis that has moved is displayed.
(The detection triger : Magnet pole position)
This is displayed when the TCP has moved in the stop monitoring.
Assist code
1 2
Tool 1 Tool 2
Program Signal
tool No. from the
tool
Assist code
SUB2
The "Tool No. recorded in the program" and the "Tool No. from the
tool" is not the same. Mount the correct tool or correct the tool No.
recorded in the program.
Description of trouble
- This error occurs if the robot
has moved when the stop
monitoring input has been
OFF.
-
In order to monitor stop, set
the signal to OFF. In order
not to monitor stop, set it to
ON.
-
Description
Description of trouble
3
- This error occur when the
tool number is unmatch and
the tool center point moves
too far from the setting value
of "Distance of tool watch".
Description
7.2Troubleshooting
Remedy
The RMU may be to
broken if there is no
operation under the
conditions described on
the left.
Remedy
Make the tool number
signal from the actual tool
device and the number
recorded in the teaching
program the same.
If the robot must make big
shelter motion make the
value of "Distance of tool
match" larger.
7-11