Description
Setting error in executing force control occur.
Subcode description
Subcode: indicates the invalid condition.
D0: invalid tool-number specification
D1: invalid coordinate-system specification
D2: invalid setting for the range near a singularity
D3: invalid inertia setting
D4: invalid viscosity setting
D5: invalid stiffness setting
D6: invalid position-limit setting
D7: invalid speed-limit setting
D8: invalid angular-speed-limit setting
Causes and remedies
| Cause | Remedy |
|---|---|
| Software (incorrect setting) | 1. Reset the alarm and correct the force-sensing API setting parameters. 2. If the alarm recurs, save CMOS.BIN and report the circumstances (operating procedure, etc.) to our service department. |