This fault is generated by a controlling device, such as a PLC, sending an Immediate Stop Signal to the robot on the UOP Input. To temporarily disable this signal and all UOP signals, disable the UOP inputs.

Go to system -> config and disable UOPs

If your robot does not have a config menu then do the following.

1) Hit menu -> 0 Next -> System

2) Hit F1 and select Variables

3) scroll down to $OPWORK -> hit enter

4) scroll to $UOP_DISABLE

5) change value to 1 and hit enter
** the robot will no longer run in an automatic mode with UOP control until the value is changed back to Zero.

This error occurs if one or more axis had moved while the controller power was off.




Press F1, [TYPE]

Select Master/Cal – If “Master/Cal” is not in the list – select “Variables” – scroll to variable “MASTER_ENB” and set to “1”. Now press F1 and select “Master/Cal”

Press F3, [RES_PCA]

Select menus->system

Press F1[TYPE] Select variables

Cursor down to $DMR_GRP

Hit enter twice

Cursor to $master_done and set it to true

Press F1[TYPE] Select master/cal

Hit calibrate – You should see numbers generated on lower part of screen showing that the calibration worked. There should be no faults at the top of the screen. Verify that your positions are now good before running program

Replace the batteries in base of robot with the controller power on.

Press [MENU] button

Choose “SYSTEM”

Found on 2nd page of full menus

Press [F1] “TYPE”


If “MASTER/CAL” not listed perform the following

  • Choose “VARIABLES”
  • Scroll to the variable “MASTER_ENB”
  • Change the variable to “1”
  • Press [F1] “TYPE”
  • Choose “MASTER/CAL”

Press [F3] “RESET PCA”

Press [F4] “YES”

Recycle power on robot

Master Robot