10021:Execution error reset

    I currently am doing a dispensing program. When I run my program it seems to be fine from part path routine to part path routine. BUT... ever now and again it will give me this error which shuts the robot off and then with a reset it will continue like nothing is wrong. And then it will do it again ever so often on a pallet.

    What I have found is that I when I slow my part to part velocity done it will not give me issues but then I can not hit my needed run at rate time.


    Any insight is greatly appreciated.

  • Fubini February 28, 2025 at 5:03 AM

    Approved the thread.

        nIndex := 0;
        MoveJ p10{nIndex}, v1000, z50, tool0;

    Alarm number 10021 is often triggered when alarm 10020 has been activated and then cleared. Please check the full event log.

    To simply trigger alarm 10020, if the "nIndex" value is 0, the system cannot reference the array, resulting in an "Execution Error" state. This returns alarm 10020. If this state is then reset by receiving a System Input assigned to the "Reset Execution Error Signal" parameter, alarm 10021 is returned, indicating that the error state has been cleared.

    ABB, FANUC, Hyundai, Kawasaki

    @ Skooter

    Robotware version

    RW6.2_1.1029.2600-80089

    Control module:

    -Options:

    709-1 DeviceNet Master/Slave

    840-3 PROFINET Anybus Device

    608-1 World Zones

    613-1 Collision Detection

    616-1 PC Interface

    617-1 FlexPendant Interface

    623-1 Multitasking

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