During the operation of the OTC DAIHEN Welding Robot, if the system experiences abnormalities such as action interference prediction alarm, speed over limit, acceleration over limit, or movement amount overtravel, the teach pendant will usually display a hardware and control-level alarm in the 0659 to 0704 range. If these faults are not investigated promptly, they may cause serious operational safety hazards or damage to core components such as the reducer.
To help on-site engineers and mechanics quickly locate problems, we have organized the diagnostic terminology from the official maintenance manual to provide you with the following intuitive fault quick reference table. We recommend using the search function, entering the error code (e.g., 0659), to accurately obtain troubleshooting and processing suggestions.
I. OTC Robot Alarm Code Real-Time Quick Reference Table (0659-0704)
| Alarm Code | Fault Phenomenon | Fault Cause Analysis | Countermeasures & Solutions |
|---|---|---|---|
| 0659 | Action Interference Prediction Alarm Occurred. | This occurs when the interference prediction function is executed and its result is unqualified. It fails the check of one of the speed, acceleration, torque, or speed commands. Or it is a teaching error, interference prediction calculation error. Or the movement distance is extremely short. | 1. When the movement amount is too small for the speed and there is an unexecutable command, since the system issues a warning, it is not an exception; 2. Slightly modify the operation steps of the alarm part and reduce the speed before and after; 3. Set the [Accuracy Condition] of this step to a smaller value. After eliminating the cause of the exception, reset the exception. |
| 0660 | Command Generated Cannot Act Within Speed Limit. | A command exceeding the maximum speed of the motor was generated. The action to be performed by the robot cannot be achieved within its capacity range (mainly in terms of speed). This exception occurs when the speed command is set extremely high, or when the operation step is extremely short but the speed is extremely high. | 1. Reduce the recording speed in the step section with an extremely short movement amount (modify by about 10%); 2. Extend the operation steps before and after the section where this phenomenon occurs. After eliminating the cause of the exception, reset the exception. |
| 0661 | Command Generated Cannot Act Within Acceleration Limit. | A command exceeding the maximum acceleration of the motor was generated. The action to be performed by the robot cannot be achieved within its capacity range (mainly in terms of acceleration). This exception occurs because the axes of the robot are in an extremely severe operating state. It mostly occurs during extremely small arcs and extremely short straight-line steps, etc. | 1. Slightly extend the step movement distance (arc) of the extremely severe trajectory part; 2. If the operation trajectory cannot be extended due to jigs, etc., reduce the teaching speed of this part. After eliminating the cause of the exception, reset the exception. |
| 0662 | Command Generated Cannot Act Within Torque Limit. | A command exceeding the maximum torque of the motor was generated. The action to be performed by the robot cannot be achieved within its capacity range (mainly in terms of motor torque). This exception occurs because the axes of the robot are in an extremely severe torque operation state. | 1. Reduce the weight of the work machine. And correctly set the deviation of its weight and center of gravity in the [Constant] of the control device; 2. Reduce the speed of the operation step when this exception occurs. After eliminating the cause of the exception, reset the exception. |
| 0688 | Movement Amount is Overtravel. | This is an error that occurs when the moving range of the robot is limited to within a safety fence, etc., and overtravel occurs. | Recover from overtravel. Since it cannot move in a direction other than the exceeding direction (return direction), use manual operation to move it in the return direction to a range without overtravel. No reset operation is required. |
| 0693 | Movement Amount is Overtravel. | This is an error that occurs when the moving range of the external axis is limited to within a safety fence, etc., and overtravel occurs. | Recover from overtravel. Since it cannot move in a direction other than the exceeding direction (return direction), use manual operation to move it in the return direction to a range without overtravel. No reset operation is required. |
| 0701 | Axis 1 Ground Angle Limit Exceeded. | Axis 1 is about to exceed the ground angle limit for movement. | Use manual operation to move and control it within the ground angle limit. Exception reset. |
| 0702 | Axis 1 is Moving Towards Ground Angle Limit Exceeded Direction. | In the state where Axis 1 has exceeded the ground angle limit, it is about to continue moving towards the exceeding direction. | Use manual operation to move in the direction opposite to the exceeding direction (towards the control within the limit range). Exception reset. |
| 0703 | Axis 2 Ground Angle Limit Exceeded. | Axis 2 is about to exceed the ground angle limit for movement. | Use manual operation to move and control it within the ground angle limit. Exception reset. |
| 0704 | Axis 2 is Moving Towards Ground Angle Limit Exceeded Direction. | In the state where Axis 2 has exceeded the ground angle limit, it is about to continue moving towards the exceeding direction. | Use manual operation to move in the direction opposite to the exceeding direction (towards the control within the limit range). Exception reset. |
II. Get Professional Technical Support and Maintenance Services
When the robot frequently displays the above hardware-level alarms, and routine reset attempts are ineffective, do not forcefully pull the robot arm or repeatedly force restarts, so as not to cause secondary irreversible damage.
Contact Anhui Oujie for Technical Guidance
- System Recovery & Hardware Repair: Manager Fang
- Service Hotline (WhatsApp): 180-9663-1656
- Official Email: ahojotc@gmail.com