During the operation of the OTC DAIHEN Welding Robot, if the system experiences problems such as shift input signal exception, joint angle mismatch, or position deviation, the teach pendant will usually display a hardware and control-level alarm in the 6500 to 9021 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., 6500), to accurately obtain troubleshooting and processing suggestions.
I. OTC Robot Alarm Code Real-Time Quick Reference Table (6500-9021)
| Alarm Code | Fault Phenomenon | Fault Cause Analysis | Countermeasures & Solutions |
|---|---|---|---|
| 6500 | Parity Check Exception in Shift Input Signal | The shift input signal value is not ready. | Please normally input the parity bit of the shift input signal, or confirm whether there is noise in the signal. |
| 7000 | User Exception | User exception. | Perform an exception reset. |
| 9001 | Robot Joint Angles Before and After Record Point Inconsistent | The robot joint angle at the start point of the current step is inconsistent with the angle at the target point of the current step. | Please contact the maintenance service department, back up the files to an external CF memory card, and perform an exception reset. |
| 9002 | Step Movement Amount Exception | The result of adding the step movement amount to the joint angle at the starting point is inconsistent with the angle at the target point. | Please contact the maintenance service department, back up the files to an external CF memory card, and perform an exception reset. |
| 9003 | Speed Command Exception, Should Correct Abnormal Axis Action | Abnormal speed command data was calculated. | Modify the action of the abnormal axis to minimize it; if the axis action is not too large, please contact the maintenance department. |
| 9005 | Position Deviation Exception | The deviation between the command and the encoder data position exceeds the set allowable deviation. | Confirm whether the robot is subject to interference or the load exceeds the standard. If the fault persists, please contact the service department. |
| 9011 | Robot Joint Angles Before and After Record Point Inconsistent | The robot joint angle at the start point of the current step is inconsistent with the angle at the target point of the current step. | Please contact the maintenance service department, back up the files to an external CF memory card, and turn on the power again. |
| 9012 | Step Movement Amount Exception | The result of adding the step movement amount to the joint angle at the starting point is inconsistent with the angle at the target point. | Please contact the maintenance service department, back up the files to an external CF memory card, and turn on the power again. |
| 9020 | Interpolation Stop Error | An interpolation stop timeout error was detected in the action control section. | Please contact the maintenance service department, back up the files to an external CF memory card, and perform an exception reset. |
| 9021 | Waiting to Reach Target Position Error | The robot did not reach the target position. | Please contact the maintenance service department, back up the files to an external CF memory card, and perform an 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
If you do not know how to handle such underlying alarms on-site, please take a picture of the error screen on the teach pendant and the on-site status, and send it to us via WhatsApp. As an OTC Designated Authorized Distributor, our professional maintenance engineers will provide you with a free technical assessment and troubleshooting solution!