The robot zero point has been lost! Only the RefRobotAxis instruction is currently permitted (For ER series, version V5.0)

621

Alarm cause: When the robot has lost its zero position, the system allows only the RefRobotAxis instruction to execute.

Corrective measures: Home first before executing other instructions.

Applicable equipment

Source: Fault JSON · ESTUN_fault_codes_zh_en.json · SHA-256 e318b3bb20315d070a7f50bd7649bf7dfd7d178030a4f7c736a5aa22f48095f9 · 621

Brand	ESTUN
Updated	2026-10-27

621

Alarm cause: When the robot has lost its zero position, the system allows only the RefRobotAxis instruction to execute.

Corrective measures: Home first before executing other instructions.

Applicable equipment

Source: Fault JSON · ESTUN_fault_codes_zh_en.json · SHA-256 e318b3bb20315d070a7f50bd7649bf7dfd7d178030a4f7c736a5aa22f48095f9 · 621

Brand	ESTUN
Updated	2026-10-27