YASKAWA motoman NX100 Maintenance Manual

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NX100
MAINTENANCE MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMANINSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA ELECTRIC CORPORATION
MANUAL NO. RE-CHO-A104 8
MANDATORY
• This manual explains maintenance procedures of the NX100 system.
Read this manual carefully and be sure to understand its contents
before handling the NX100.
• General items related to safety are listed in Section 1: Safety of the
NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
ii
Notes for Safe Operation
Read this manual carefully before maintenance or inspection of the NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,”
“MANDATORY,” or ”PROHIBITED.”
WARNING
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe
practices.
MANDATORY
Always be sure to follow explicitly the items listed under this
heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING.”
iii
WARNING
• Before maintenance, inspection, and wiring, check that servo power is
turned OFF when the emergency stop buttons on the front door of the
NX100 and programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
• Observe the following precautions when performing teaching operations
within the P-point maximum envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
- Turning ON the NX100 power
- Moving the manipulator with the programming pendant
- Running the system in the check mode
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The emergency stop buttons are located on the right of the front door of the NX100
and the programming pendant.
iv
CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the NX100
Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows.
Equipment
Manual Designation
NX100 Controller
NX100
NX100 Programming Pendant
Programming Pendant
Cable between the manipulator and the controller
Manipulator cable
v
Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
The keys which have characters printed on them are
denoted with [ ].
ex. [ENTER]
Symbol Keys
The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
ex. page key
The cursor key is an exception, and a picture is not
shown.
Axis Keys
Numeric Keys
“Axis Keys” and “Numeric Keys” are generic names
for the keys for axis operation and number input.
Keys pressed
simultaneously
When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays
The menu displayed in the programming pendant is
denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression &quot;Select • • • &quot; means that the
cursor is moved to the object item and the SELECT key is pressed, or that the item is directly
selected by touching the screen.
vi
1
Equipment Configuration
1.1 Arrangement of Units and Circuit Boards . . . . . . . . . . 1-1
1.2 Power Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3 Signal Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
2
Security System
2.1 Protection Through Security Mode Settings . . . . . . . . 2-1
2.1.1 Security Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
Changing the Security Mode . . . . . . . . . . . . . . . . . . . . . . . . .2-6
2.1.2 User ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8
Changing a User ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8
3
Inspections
3.1 Regular Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 NX100 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.2.1 Checking if the Doors are Firmly Closed . . . . . . . . . . . . . . . . . .3-2
3.2.2 Checking for Gaps or Damage in the Sealed
Construction Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.3
3.4
3.5
3.6
3.7
3.8
4
Cooling Fan Inspections . . . . . . . . . . . . . . . . . . . . . . . . . .
Emergency Stop Button Inspections . . . . . . . . . . . . . . .
Enable Switch Inspections . . . . . . . . . . . . . . . . . . . . . . . . .
Battery Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Supply Voltage Confirmation . . . . . . . . . . . . . . .
Open Phase Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5
3-5
3-6
3-6
3-7
Preparation before Replacing Parts
4.1 Creating a Check Program
5
3-3
. . . . . . . . . . . . . . . . . . . . . . . . 4-3
Replacing Parts
5.1 Replacing NX100 Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Replacing Parts of the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . .5-2
Replacing the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
Replacing the Control Circuit Board (JANCD-NCP01) . . . . .5-3
Replacing the Control Power Supply (CPS-420F). . . . . . . . .5-4
vii
Replacing the Servo Control Circuit Board
(SGDR-AXA01A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
Replacing the Robot I/F Unit (JZNC-NIF01 ) . . . . . . . . . . . 5-6
Replacing the Robot I/F Circuit Board (JANCD-NIF01) . . . . 5-8
Replacing the I/O Circuit Board (JANCD-NIO01 ) . . . . . . . 5-9
5.1.2 Replacing the SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.1.3 Checking and Replacing Fuses . . . . . . . . . . . . . . . . . . . . . . . 5-13
Power Supply Contactor Unit . . . . . . . . . . . . . . . . . . . . . . . 5-13
Robot I/F Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.2 NX100 Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.3 Supplied Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.4 Recommended Spare Parts . . . . . . . . . . . . . . . . . . . . . . . 5-18
6
Operations after Replacing Parts
6.1 Home Position Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1 Home Position Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.2 Calibrating Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Registering All Axes at One Time. . . . . . . . . . . . . . . . . . . . . 6-3
Registering Individual Axes . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Changing the Absolute Data. . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Clearing Absolute Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.1.3 Manipulator Home Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.2 Position Deviation Check Using the Check
Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.3 Home Position Data Correction . . . . . . . . . . . . . . . . . . . . 6-11
6.4 Setting the Second Home Position (Check Point) . . 6-12
6.4.1 Purpose of Position Check Operation. . . . . . . . . . . . . . . . . . . 6-14
6.4.2 Procedure for the Second Home Position Setting
(Check Point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.4.3 Procedure after the Alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
7
System Diagnosis
7.1 System Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Manipulator Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.3 Input/Output Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3.1 Universal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Universal Input Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Universal Input Simple Window . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3.2 Universal Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Universal Output Window . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Universal Output Simple Window . . . . . . . . . . . . . . . . . . . . . 7-4
viii
7.3.3
7.3.4
7.3.5
7.3.6
7.3.7
7.3.8
Modifying the Output Status . . . . . . . . . . . . . . . . . . . . . . . . .7-5
Specific Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
Specific Input Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
Specific Input Simple Window . . . . . . . . . . . . . . . . . . . . . . . .7-6
Specific Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7
Specific Output Window . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7
Specific Output Simple Window . . . . . . . . . . . . . . . . . . . . . .7-7
RIN Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8
RIN Input Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-8
Signal Number Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-9
Direct Search on the Universal/Specified
Input/Output Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-10
Search from the Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11
Relay Number Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-12
Direct Search on the Universal/Specified
Input/Output Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-13
Search from the Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14
Modification of the Signal Name . . . . . . . . . . . . . . . . . . . . . . .7-15
Direct Modification on the Universal/Specified
Input/Output Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-15
Modification from the Menu . . . . . . . . . . . . . . . . . . . . . . . . .7-16
7.4 System Monitoring Time Display . . . . . . . . . . . . . . . . . . 7-17
7.4.1 System Monitoring Time Display Window . . . . . . . . . . . . . . . .7-17
7.4.2 Individual Window of the System Monitoring Time Display . . .7-18
7.4.3 Clearing the System Monitoring Time Display. . . . . . . . . . . . .7-19
7.5 Alarm History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
7.5.1 Alarm History Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-20
7.5.2 Clearing the Alarm History. . . . . . . . . . . . . . . . . . . . . . . . . . . .7-21
7.6 I/O Message History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.6.1 I/O Message History Window . . . . . . . . . . . . . . . . . . . . . . . . .7-22
Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-22
7.6.2 Clearing the I/O Message History . . . . . . . . . . . . . . . . . . . . . .7-23
7.7 Position Data When Power is Turned ON/OFF . . . . 7-24
7.7.1 Power ON/OFF Position Window . . . . . . . . . . . . . . . . . . . . . .7-24
7.8 Current Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.8.1 Current Position Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-25
7.9 Servo Monitoring
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-26
7.9.1 Servo Monitor Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-26
7.9.2 Changing the Monitor Items . . . . . . . . . . . . . . . . . . . . . . . . . .7-27
7.9.3 Clearing Maximum Torque Data . . . . . . . . . . . . . . . . . . . . . . .7-28
ix
8
Alarm
8.1 Outline of Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.2.1 Displaying and Releasing Alarm . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Releasing Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.2.2 Special Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Sub Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Multiple SERVOPACK System . . . . . . . . . . . . . . . . . . . . . . . 8-3
Independent Control Function (Optional) . . . . . . . . . . . . . . . 8-4
8.3 Alarm Message List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
9
Error
9.1 Error Message List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.1.1
9.1.2
9.1.3
9.1.4
9.1.5
9.1.6
10
System and General Operation . . . . . . . . . . . . . . . . . . . . . . . . 9-2
Editing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
Job Defined Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
External Memory Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
Concurrent I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15
Maintenance Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
LED Indicator on Circuit Board
10.1 LED Indicator on NCP 01 Circuit Board . . . . . . . . . . 10-1
10.2 LED Indicator on Robot I/F Unit . . . . . . . . . . . . . . . . . . 10-2
10.3 7 SEG-LED Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
7 SEG-LED Indicator Status (1-digit indication) of
Each Unit at Error Occurrence . . . . . . . . . . . . . . . . . . . . . . 10-4
7 SEG-LED Indicator Status (4 digit-indication) of
Each Unit at Error Occurrence . . . . . . . . . . . . . . . . . . . . . . 10-6
x
1.1 Arrangement of Units and Circuit Boards
1 Equipment Configuration
The NX100 is comprised of individual units and modules (circuit boards). Malfunctioning components can generally be easily repaired after a failure by replacing a unit or a module. This
section explains the configuration of the NX100 equipment.
1.1
Arrangement of Units and Circuit Boards
The arrangements of units and circuit boards in small-capacity, medium-capacity, and largecapacity NX100s are shown.
Small Capacity
A
Major axes control
circuit board:
SGDR-AXA01A
Breaker:
Refer to the
following table.
Backside duct fan:
4715MS-22T-B50-B00
(For air inlet)
Welding circuit board:
JANCD-XEW02
SERVOPACK:
Refer to the
following table.
Regenerative resistor:
MRC22-125K-220W-12.5
(220W,12.5 )
Interior circulation fan:
4715MS-22T-B50-B00
(Air flows up)
(MXT)
Robot system input
terminal block
Back View
(with removed cover)
Model
HP3
EA1400N
Emergency stop button:
AR22V2R-04R
Control power supply:
CPS-420F
CPU unit:
JZNC-NRK01
Power supply
contactor unit:
Refer to the
following table
Type
Robot I/F unit:
JZNC-NIF01
Sectional View A-A'
A'
NX100
SERVOPACK
(Converter Integrated)
Breaker
ERCR-HP3-AA00
SGDR-EA1400NY26
NF30SW 3P 5A
ERCR-EA1400N-AA00
SGDR-EA1400N
NF30SW 3P 10A
Power Supply
Contactor Unit
JZRCR-NTU01
HP6
Configuration 1 for Small-Capacity NX100
1-1
-1
1.1 Arrangement of Units and Circuit Boards
A
Robot I/F unit:
JZNC-NIF01
Major axes control
circuit board:
SGDR-AXA01A
Control power supply:
CPS-420F
CPU unit:
JZNC-NRK01
Breaker:
Refer to the
following table.
Backside duct fan:
4715MS-22T-B50-B00
(For air inlet)
Power supply
contactor unit:
Refer to the
following table
Emergency stop button:
AR22V2R-04R
Converter:
Refer to the
following table.
SERVOPACK:
Refer to the
following table.
Regenerative resistor:
MRC22-125K-220W-12.5
(220W,12.5 )
Interior circulation fan:
4715MS-22T-B50-B00
(Air flows up)
(MXT)
Robot system input
terminal block
Back View
(with removed cover)
A'
Model
Sectional View A-A'
Converter
NX100
SERVOPACK
ERCR-HP20-AA00
SGDR-HP20Y30
Type
Power Supply
Contactor Unit
Breaker
HP20
SGDR-COA080A01B NF30SW 3P 15A JZRCR-NTU01 -1
EA1900N
Configuration 2 for Small-Capacity NX100
Medium or Large Capacity
A
Robot I/F unit:
JZNC-NIF01
Major axes control
circuit board:
SGDR-AXA01A
Breaker:
Refer to the
following table
Emergency stop button:
AR22V2R-04R
Control power
supply:
CPS-420F
Backside duct fan:
5915PS-22T-B30-B00
(For air inlet)
CPU unit:
JZNC-NRK01
Power supply
contactor unit:
Refer to the
following table
Converter:
Refer to the
following table.
SERVOPACK:
Refer to the
following table.
Regenerative resistor:
RDC50N2R0JI200X3S
(1500W,6 )
Interior
circulation fan:
4715MS-22T-B50-B00
(Air flows up)
(MXT)
Robot system input
terminal block
Back View
(with removed cover)
Sectional View A-A'
A'
Model
Type
UP20MN
UP50N
NX100
SERVOPACK
ERCR-UP20MN-AA00
SGDR-EH50Y27
Breaker
Converter
NF30SW 3P 20A
ERCR-UP50N-AA00 SGDR-EH50Y24
ES165N
ERCR-ES165N-AA00
HP165
ES200N
JZRCR-NTU02
SGDR-ES165N
SGDR-COA250A01B
NF30SW 3P 30A
ERCR-ES200N-AA00
ES165RN ERCR-ES165RN-AA00
Power Supply
Contactor Unit
SGDR-ES165NY28
ES200RN ERCR-ES200RN-AA00
Configuration for Medium- or Large-Capacity NX100
1-2
-1
1.2 Power Flow
1.2
Power Flow
Power supply contactor unit (JZRCR-NTU
PE
QF1
L1(R)
Three-phase,
200VAC, 50/60Hz L2(S)
220VAC, 60Hz
L3(T)
1
2
3
4
5
6
1KM
1 2
3 4
5 6
4X
1
2
3
1FU
(5A)
CPU unit
NZNC-NRK01
JANCD-NBB01
CNP
CPS-5P2EF
CN01
(200VAC input)
4
CNP 3
2KM
1 2
3 4
5 6
1X
1
2
3
2FU
(5A)
Filter
2X
B1
B2
B1
B2
1
)
3
1Z 1
AC250V
4 10A 2
E
3X
B1 1
A1 3
QF2
2
4
6XT
Servo cooling fan
1
EV1
2
EV2
CN03
(+24V2,
+24V3 output)
CN05
(+24V1)
24VDC
24VDC
3
4
CNAS
EV3
EV4
5
6
JANCD-NTU01
A1 1KM
+24V3
B1
CN10
F1 (Contactor control) A2 2KM
(5A)
B2
CN08
(Output for brake)
JANCD-NCP01
CNAS
CN02
(+24V2,
+24V3 input) CN9 A1
(NCM) B1
Backside duct fan
24VDC (Brake)
JANCD-NIF01
CNAT3
CNC
CNAP3
CN06
CNC
CND
(+24V1)
CND
JANCD-NIO01
DC24V
X81
Programming
pendant
CN12
(External power input
+24V2/+24VU)
SGDR-AXA01A
CNK
CNK
CNJS
CNJS
1CV
(Converter)
CN101 1 2
(+24V1) CNP11
1 2 3
CNP1
CNP4
(P,N)
Manipulator
1SV
(SERVOPACK)
1AMP CNP4
CNP6
2AMP CNP4
CNP6
3AMP CNP4
CNP6
4AMP CNP4
CNP6
5AMP CNP4
CNP6
6AMP CNP4
CNP6
1-3
S-axis motor
Power
Brake
L-axis motor
Power
Brake
U-axis motor
Power
Brake
R-axis motor
Power
Brake
B-axis motor
Power
Brake
T-axis motor
Power
Brake
1.3 Signal Flow
1.3
Signal Flow
Power supply contactor unit
JZRCR-NTU
QF1
Circuit
breaker
Three-phase,
200VAC, 50/60Hz
220VAC, 60Hz
4X
1X
1KM 2KM
CPU unit
JZNC-NRK01
JANCD-NBB01 CPS-NX1
JANCD-NTU01
2XT
(External output for
emergency stop signal)
CNP
CNP
CN03/04
(Control signal of
contactor unit)
CN01
CN05
(Serial
communications) (Individual control
Terminator
signal for external axis overrun)
CN06 (Overrun, shock sensor lamp)
PBESP
Emergency stop switch
CNESP1
(Emergency stop
signal input)
MXT
(R-IN) CN02
(R-OUT)
CNM
(System I/O)
CNTU
CBLNXC001
JANCD-NCP01
CNAS
CN09
(Contactor control)
CBLNKC002
CNAS
LAN1
2XT
(External output for
emergency stop signal)
(PP)
Programming
pendant
JANCD-NIF01
CNAT3
CNAP3
CN06
CNC
CBLNXC010
CNC
CND
CND
JANCD-NIO01
CN10
CN09
CN08
CN07
CN02/
CN01
X81
(+24V1,
emergency stop signal
of the programming pendant,
Enable switch signal)
(User I/O)
I/O=12/12
I/O=12/12
I/O=8/8
I/O=8/8
CBLNXC001
SGDR-AXA01A
CN03
CNK
CNK
CNJS
CNJS
1CV
(Converter)
Terminator
CN04
CN08
CBLNXC004
CN1
CN102
(+17V3,+5V)
Manipulator
S-axis motor
PG
1SV
(SERVOPACK)
CN11
CBLNXC005-1
CN102
1AMP
CN1
CN102
2AMP
CN1
CN12
CBLNXC005-2
CN102
3AMP
CN1
CN102
4AMP
CN1
CN13
CBLNXC005-3
CN102
5AMP
CN1
CN102
6AMP
CN1
CN02
L-axis motor
PG
U-axis motor
PG
R-axis motor
PG
B-axis motor
PG
T-axis motor
PG
SGDR-FBA01A
5V(output)
24V(input)
OT
SHOCK
LAMP
1-4
Option
2.1 Protection Through Security Mode Settings
2 Security System
2.1
Protection Through Security Mode Settings
The NX100 modes setting are protected by a security system. The system allows operation
and modification of settings according to operator clearance. Be sure operators have the correct level of training for each level to which they are granted access.
2.1.1
Security Mode
There are three security modes. Editing mode and management mode require a user ID. The
user ID consists of numbers and letters, and contains no less than 4 and no more than 8 characters. (Significant numbers and signs: ”0 to 9”, “-”, “.”.
Security Mode Descriptions
Security Mode
Explanation
Operation Mode
This mode allows basic operation of the robot (stopping, starting, etc.) for people operating the robot work on the line.
Editing Mode
This mode allows the operator to teach and edit jobs and
robot settings.
Management
Mode
This mode allows those authorized to set up and maintain
robot system: parameters, system time and modifying user
IDs.
2-1
2.1 Protection Through Security Mode Settings
Menu &amp; Security Mode
Allowed Security Mode
Main Menu
JOB
Sub Menu
DISPLAY
EDIT
JOB
Operation
Edit
SELECT JOB
Operation
Operation
CREATE NEW JOB*1
MASTER JOB
Edit
Edit
Operation
Edit
JOB CAPACITY
Operation
-
Edit
Edit
*1
RES. START (JOB)
VARIABLE
IN/OUT
RES. STATUS*2
CYCLE
Operation
-
Operation
Operation
BYTE
Operation
Edit
INTEGER
Operation
Edit
DOUBLE
Operation
Edit
REAL
Operation
Edit
STRING
Operation
Edit
POSITION (ROBOT)
Operation
Edit
POSITION (BASE)
Operation
Edit
POSITION (ST)
Operation
Edit
LOCAL VARIABLE
Operation
-
EXTERNAL INPUT
Operation
-
EXTERNAL OUTPUT
Operation
-
UNIVERSAL INPUT
Operation
-
UNIVERSAL OUTPUT
Operation
-
SPECIFIC INPUT
Edit
-
SPECIFIC OUTPUT
Edit
-
RIN
Edit
-
Operation
-
REGISTER
Edit
-
AUXILIARY RELAY
Edit
-
CONTROL INPUT
Edit
-
PSEUDO INPUT SIG
Edit
Management
NETWORK INPUT
Edit
-
Operation
-
ANALOG OUTPUT
Edit
-
SV POWER STATUS
Edit
-
LADDER PROGRAM
Management
Management
I/O ALARM
Management
Management
I/O MESSAGE
Management
Management
CPRIN
NETWORK OUTPUT
*1
*2
Teach mode only
Play mode only
2-2
2.1 Protection Through Security Mode Settings
Menu &amp; Security Mode
Main Menu
ROBOT
Sub Menu
DISPLAY
EDIT
CURRENT POSITION
Operation
-
COMMAND POSITION
Operation
-
SERVO MONITOR
Management
-
WORK HOME POS
Operation
Edit
SECOND HOME POS
Operation
Edit
Management
Management
Operation
-
Edit
Edit
Management
Management
SHOCK SENS LEVEL
Operation
Management
USER COORDINATE
Edit
Edit
HOME POSITION
Management
Management
MANIPULATOR TYPE
Management
-
ROBOT CALIBRATION
Edit
Edit
Management
Management
OVERRUN&amp;S-SENSOR*1
Edit
Edit
LIMIT RELEASE*1
Edit
Management
ARM CONTROL*1
SHIFT VALUE
Management
Management
Operation
-
VERSION
Operation
-
MONITORING TIME
Operation
Management
ALARM HISTORY
Operation
Management
I/O MSG HISTORY
Operation
Management
SECURITY
Operation
Operation
LOAD
Edit
-
SAVE
Operation
-
VERIFY
Operation
-
DELETE
Operation
-
DEVICE
Operation
Operation
FOLDER
Edit
Management
DROP AMOUNT
POWER ON/OFF POS
TOOL
INTERFERENCE
ANALOG MONITOR
SYSTEM INFO
FD/CF
*1
Allowed Security Mode
Teach mode only
2-3
2.1 Protection Through Security Mode Settings
Menu &amp; Security Mode
Main Menu
Sub Menu
Allowed Security Mode
DISPLAY
EDIT
S1CxG
Management
Management
S2C
Management
Management
S3C
Management
Management
S4C
Management
Management
A1P
Management
Management
A2P
Management
Management
A3P
Management
Management
A4P
Management
Management
RS
Management
Management
S1E
Management
Management
S2E
Management
Management
S3E
Management
Management
S4E
Management
Management
TEACHING COND
Edit
Edit
OPERATE COND
Management
Management
DATE/TIME
Management
Management
GRP COMBINATION
Management
Management
RESERVE JOB NAME
Edit
Edit
USER ID
Edit
Edit
SET SPEED
Management
Management
KEY ALLOCATION*1
RES. START (CNCT)
Management
Management
Management
Management
ARC START COND.
Operation
Edit
ARC END COND.
Operation
Edit
ARC AUX COND.
Operation
Edit
POWER SOURCE COND.
Operation
Edit
ARC WELD DIAG.
Operation
Edit
WEAVING
Operation
Edit
HANDLING
HANDLING DIAGNOSIS
Operation
Edit
SPOT WELDING
WELD DIAGNOSIS
Operation
Edit
I/O ALLOCATION
Management
Management
GUN CONDITION
Management
Management
POWER SOURCE COND
Management
Management
PARAMETER
SETUP
ARC WELDING
*1
Teach mode only
2-4
2.1 Protection Through Security Mode Settings
Menu &amp; Security Mode
Main Menu
SPOT WELDING
(MOTOR GUN)
Sub Menu
DISPLAY
EDIT
Operation
Edit
GUN PRESSURE
Edit
Edit
PRESSURE
Edit
Edit
I/O ALLOCATION
Management
Management
GUN CONDITION
Management
Management
Operation
Management
Management
Management
WEAVING
Operation
Edit
GENERAL DIAG.
Operation
Edit
I/O VARIABLE CUSTOMIZE
Operation
Operation
WELD DIAGNOSIS
CLEARANCE SETTING
POWER SOURCE COND.
GENERAL
COMMON TO ALL APPLICATIONS
Allowed Security Mode
2-5
2.1 Protection Through Security Mode Settings
Changing the Security Mode
Operation
Explanation
1 Select {SYSTEM INFO} under The sub menu appears.
the main menu.
T
FD/CF
JOB
DOUT
MOVE
END
CF
SETUP
ARC WELDING
VERSION
VARIABLE
B001
MONITORING TIME
IN/OUT
In
Out
ALARM HISTORY
ROBOT
I/O MSG HISTORY
SYSTEM INFO
SECURITY
Main Menu
Turn on servo power
Short Cut
Note: Icons for the main menu such as arc welding system differ
depending on the system being used.
2 Select {SECURITY}.
The selection window of security mode appears.
DATA
EDIT
DISPLAY
DOUT
MOVE
END
UTILITY
T
SECURITY
FD/CF
JOB
CF
SETUP
ARC WELDING
VARIABLE
MODE
EDITING MODE
DISPLAY SETUP
B001
Aa
IN/OUT
In
Out
ROBOT
SYSTEM INFO
Main Menu
3 Press [SELECT] and select
&quot;SECURITY MODE.&quot;
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
Turn on servo power
Short Cut
UTILITY
T
SECURITY
CF
ARC WELDING
VARIABLE
B001
SETUP
MODE
DISPLAY SETUP
OPERATING MODE
EDITING MODE
MANAGEMENT MODE
Aa
IN/OUT
In
Out
ROBOT
SYSTEM NFO
Main Menu
2-6
Short Cut
Turn on servo power
2.1 Protection Through Security Mode Settings
Operation
4 Input the user ID.
Explanation
The user ID input window appears.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
UTILITY
T
SECURITY
CF
ARC WELDING
Password=
DISPLAY SETUP
Aa
MODE
VARIABLE
B001
IN/OUT
In
Out
ROBOT
SYSTEM INFO
Main Menu
SUPPLE
-MENT
Short Cut
Input current ID no. (4 to 8 digits)
At the factory, the following below user ID number is
preset.
• Editing Mode:[00000000]
• Management Mode:[99999999]
5 Press [ENTER].
The input user ID is compared with the user ID of the selected
security mode. When the correct user ID is entered, the security
mode is changed.
2-7
2.1 Protection Through Security Mode Settings
2.1.2
User ID
User ID is requested when Editing Mode or Management Mode is operated.
User ID must be between 4 characters and 8, and they must be numbers and symbols (“0 to
9”,“-” and “.”).
Changing a User ID
In order to change the user ID, the NX100 must be in Editing Mode or Management Mode.
Higher security modes can make changes the user ID of to lower security modes.
Operation
1 Select {SETUP} under the
main menu.
Explanation
The sub menu appears.
EDIT
DATA
UTILITY
DISPLAY
T
FD/CF
JOB
TEACHING COND
DOUT
MOVE
END
KEY ALLOCATION
CF
ARC WELDING
PARAMETER
VARIABLE
SETUP
OPERATE COND
DATE/TIME
B001
GRP COMBINATION
IN/OUT
In
DISPLAY SETUP
Aa
Out
RESERVE JOB
NAME
ROBOT
***
USER ID
SYSTEM INFO
SET SPEED
Main Menu
2 Select {USER ID}.
Short Cut
The USER ID window appears.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
T
CF
ARC WELDING
PARAMETER
VARIABLE
SETUP
B001
IN/OUT
In
UTILITY
USER ID
Out
DISPLAY SETUP
Aa
ROBOT
SYSTEM INFO
Main Menu
2-8
Short Cut
EDITING MODE
********
MANAGEMENT MODE
********
2.1 Protection Through Security Mode Settings
Operation
3 Select the desired ID.
Explanation
The character input line appears, and the message &quot;Input current
ID no. (4 to 8 digits)&quot; is shown.
DISPLAY
EDIT
DATA
DOUT
MOVE
END
T
CF
ARC WELDING
PARAMETER
VARIABLE
SETUP
Password=
EDITING MODE
MANAGEMENT MODE
B001
IN/OUT
In
UTILITY
USER ID
FD/CF
JOB
********
DISPLAY SETUP
Aa
Out
ROBOT
SYSTEM INFO
Main Menu
4 Input current ID and press
[ENTER].
Short Cut
Input current ID no. (4 to 8 digits)
When the correct user ID is entered, a new ID is requested to be
input. &quot;Input new ID no.(4 to 8 digits)&quot; appears.
DATA
EDIT
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
T
CF
ARC WELDING
PARAMETER
VARIABLE
SETUP
IN/OUT
Password=
EDITING MODE
MANAGEMENT MODE
B001
In
UTILITY
USER ID
********
DISPLAY SETUP
Aa
Out
ROBOT
SYSTEM INFO
Main Menu
5 Input new ID and press
[ENTER].
Short Cut
User ID is changed.
2-9
Input new ID no. (4 to 8 digits)
3.1 Regular Inspections
3 Inspections
3.1
Regular Inspections
CAUTION
• Do not touch the cooling fan or other equipment while the power is
turned ON.
Failure to observe this caution may result in electric shock or injury.
Carry out the following inspections.
Inspection Equipment
Inspection Item
Inspection
Frequency
Comments
Check that the doors are
completely closed.
Daily
Check for gaps or damage to the sealed construction.
Monthly
Interior circulation fan
and backside duct fan
Check operation
As required
While power ON
Emergency stop
button
Check operation
As required
While servo ON
Enable switch
Check operation
As required
In teach mode
Confirm battery alarm or
message is displayed or
not
As required
Battery
NX100 Controller
3-1
3.2 NX100 Inspections
3.2
3.2.1
NX100 Inspections
Checking if the Doors are Firmly Closed
• The NX100 has a fully sealed construction, designed to keep external air containing oil
mist out of the NX100.
Be sure to keep the NX100 doors fully closed at all times, even when the controller is not
operating.
• Open or close the two locks in each door with the screwdriver when opening or closing
the doors for maintenance after the main power is turned OFF. (CW: Open, CCW: Close)
Make sure push the door closed and turn the door lock with the driver. When the door is
closed, turn the door lock until the door clicks.
Main power switch
Door lock
Door lock
NX100 Front View
3.2.2
Checking for Gaps or Damage in the Sealed Construction Section
• Open the door and check that the seal around the door is undamaged.
• Check that the inside of the NX100 is not excessively dirty. If it is dirty, determine the
cause, take measures to correct the problem and immediately clean up the dirt.
• Fully close each door lock and check that no excessive gaps exist around the edge of the
door.
3-2
3.3 Cooling Fan Inspections
3.3
Cooling Fan Inspections
Inspect the cooling fans as required. A defective fan can cause the NX100 to malfunction
because of excessive high temperatures inside.
The interior circulation fan and backside duct fan normally operate while the power is turned
ON. Check if the fans are operating correctly by visual inspection and by feeling air moving
into the air inlet and from the outlet.
NOTE
When the message of the &quot;Cooling fan in control box stopped&quot; is displayed, it may be
caused by the error occurrence at the cooling fan (JZNC-NZU01) inside the control power
supply (CPS-420F) of the CPU unit.
The playback operation (execution of the JOB) cannot be performed when the error occurs
at the cooling fan. In this case, the alarm 4119 &quot;FAN ERROR (IN CONTROL BOX)&quot; occurs
10 hours later.
When the message of the &quot;Cooling fan in control box stopped&quot; is displayed, carry out an
inspection and the replacement of the cooling fan on the CPU rack as soon as possible.
Backside duct fan
Interior circulation fan
Air intake
Air outlet
Cooling Fan Construction (Small-capacity NX100)
3-3
3.3 Cooling Fan Inspections
Backside duct fan
Interior circulation fan
Air intake
Air outlet
Cooling Fan Construction (Medium- or large-capacity NX100)
3-4
3.4 Emergency Stop Button Inspections
3.4
Emergency Stop Button Inspections
The emergency stop buttons are located on both the front door of the NX100 and the
programming pendant. Confirm the servo power is OFF by pressing the emergency stop
button on the the front door of the NX100 after the servo ON, before the manipulator is
operated.
3.5
Enable Switch Inspections
The programing pendant is equipped with a three-position enable switch. Perform the following operation to confirm the enable switch operates.
1. Set the mode switch on the programming pendant to &quot;TEACH.&quot;
TEACH
REMOTE
PLAY
2. Press [SERVO ON READY] on the programming pendant. The [SERVO ON] lamp
blinks.
SERVO
ON
READY
Blinking
SERVO ON
3. When the enable switch is grasped lightly, the servo power is turned ON.
When the enable switch is grasped firmly or released, the servo power is turned OFF.
NOTE
If the [SERVO ON] lamp does not light in previous operation (2), check the following:
• The emergency stop button on the front door of the NX100 is pressed.
• The emergency stop button on the programming pendant is pressed.
• The emergency stop signal is input from external.
If the servo is not turned ON in a previous operation (3), check the following:
• The overrun LS is operating.
• If a major alarm is occurring.
3-5
3.6 Battery Inspections
3.6
Battery Inspections
The NX100 has a battery that backs up the important program files for user data in the CMOS
memory.
A battery alarm indicates when a battery has expired and must be replaced. The programming
pendant display and the message &quot;Memory battery weak&quot; appears at the bottom of the display.
The way to replace the battery is described in “5.1.1 Replacing Parts of the CPU Unit.”
3.7
Power Supply Voltage Confirmation
Check the voltage of 1, 3, 5 terminal of the circuit breaker (QF1) with an electric tester.
Power Supply Voltage Confirmation
Measuring Items
Terminals
Correct Value
Correlate voltage
Between 1 and 3, 3
and 5, 5 and 1
200 to 220V (+10%, -15%)
Voltage between earth
(phase-S ground)
Between 1 and E, 5
and E
200 to 220V (+10%, -15%)
Between 3 and E
About 0V
Breaker
Circuit Breaker (QF1)
3-6
3.8 Open Phase Check
3.8
Open Phase Check
Open Phase Check List
Check Item
Contents
Lead Cable Check
Confirm if the lead cable for the power supply is wired as shown
in the following. If the wiring is wrong or broken, repair it.
Input Power Supply
Check
Check the open phase voltage of input power supply with an
electric tester.
(Normal value: 200-220VAC (+10%, -15%))
Circuit Breaker (QF1)
Check
Turn ON the breaker and check the open phase voltage of “2, 4,
6” of the circuit breaker (QF1) with an electric tester. If abnormal,
replace the circuit breaker (QF1).
200/220VAC input
R S T
1
3
5
Breaker
(QF1)
2
4
6
Power supply contactor unit
4X
1
Contactor Contactor
(1KM)
(2KM)
Converter
2
1X
1
3
4
2
2
5
6
3
3
1
2
1
2
3
4
3
5
6
3-7
CNP1
1
4 Preparation before Replacing Parts
WARNING
• Before operating the manipulator, check that the SERVO ON lamp turns
OFF when the emergency stop buttons on the front door of the NX100
and the programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of
an emergency.
• Observe the following precautions when performing teaching operations
within the P-point maximum envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
- Turning ON the NX100 power.
- Moving the manipulator with the programming pendant
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation.
• Always press the emergency stop button immediately if there are problems.
Emergency stop buttons are located at the upper right corner of the front door of the
NX100 and on the upper right of the programming pendant.
4-1
CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
- Check for problems in manipulator movement.
- Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
The following flowchart shows the operations for replacing parts.
Start
Creating a check program
: Chapter 4
Replacing parts
: Chapter 5
Home position
calibration
: Chapter 6
Position deviation check
using the check program
No
OK?
Yes
End
This chapter describes how to create a check program as a preparation for replacing parts.
The check program is a program to check the position deviation. If positions are deviated,
home position calibration is required. For the calibration, this program data is used to correct
the home position data. In the following cases particularly, the home position calibration using
the check program is needed. Be sure to create a check program referring to &quot;4.1 Creating a
Check Program.&quot;
• Change in the combination of the manipulator and NX100
• Replacement of the motor or absolute encoder
• Clearing stored memory (by replacement of NCP01 circuit board, weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a workpiece, etc.
4-2
4.1 Creating a Check Program
4.1
Creating a Check Program
To check position deviation whenever necessary, create a program in which a check point is
taught (the job for the check point). In the job for the check point, teach two points; one as a
check point and the other as the point to approach the check point. This program checks for
any deviation between the tool tip position and the check point.
Enlarged View
4-3
5.1 Replacing NX100 Parts
5 Replacing Parts
5.1
Replacing NX100 Parts
WARNING
• Turn OFF the power supply before opening the NX100 doors.
Failure to observe this warning may result in electric shock.
• After turning OFF the power supply, wait at least 5 minutes before
replacing a SREVOPACK (including the converter) or control power supply unit. Do not touch any terminals during this period.
Failure to observe this warning may result in electric shock.
CAUTION
• To prevent anyone inadvertently turning ON the power supply during
maintenance, put up a warning sign such as &quot;DO NOT TURN ON THE
POWER&quot; at the primary power supply (knife switch, wiring circuit
breaker, etc.) and at the NX100 and related controllers and use
accepted lockout/tagout procedures.
Failure to observe this caution may result in electric shock or injury.
• Do not touch the regeneration resistors. They are very hot.
Failure to observe this caution may result in burn injuries.
• After maintenance is completed, carefully check that no tools are left
inside the NX100 and that the doors are securely closed.
Failure to observe this caution may result in electric shock or injury.
5-1
5.1 Replacing NX100 Parts
5.1.1
Replacing Parts of the CPU Unit
CPU unit (JZNC-NRK01) is comprised of the control power supply (CPS-420F), the rack for
the various circuit boards, control circuit board (JANCD-NCP01), servo control circuit board
(SGDR-AXA01A), and robot I/F unit (JZNC-NIF01 ).
Monitor, alarm display LED
Robot I/F unit
JZNC-NIF01
Servo control circuit board
SGDR-AXA01A
Control circuit board
JANCD-NCP01
Monitor, alarm display LED
Control power supply
CPS-420F
Monitor, alarm display LED
(F1,F2)
24V fuse for I/O
(CN05)
24VDC output connector
(CNSP1)
Emergency stop connector
(CN04)
24VDC output connector
(CNTU)
TU hotline I/O connector
(CNM)
System input connector for robot
(CN03)
24VDC output connector
(CN02)
Remote control connector
Battery
(CN01)
200VAC input connector
(CN12)
Connector for external power supply
(CN11)
24VDC output connector
(CN07)
Compact flash
Cover
Connector for encoder signal
(CN06)
PWM signal connector
(CN07,CN08,CN09,CN10)
User I/O connector
(CN05)
PWM signal connector
Front View (without Cover)
(CN04)
PWM signal connector
Front View (with Cover)
(CN06)
Hotline connector for
programming pendant
(LAN1)
Programming pendant connector
(CN03)
I/O communications connector
(CN04)
I/F connector between robots
(CN03)
I/O I/F connector
(CN02)
RIF communications connector
(CN02)
Drive I/F(2) connector
(CN01)
Converter signal connector
(CN01)
Drive I/F(1) connector
Bottom View
CPU Unit Configuration (JZNC-NRK01)
5-2
5.1 Replacing NX100 Parts
Replacing the Battery
Replace the battery immediately if a battery alarm occurs. Replace the battery within two
hours after the breaker turns OFF.
(The battery alarms appear on the programing pendant display.)
Replacement Procedure
1.
2.
3.
4.
Remove the left cover of the CPU unit.
Remove the battery connector (BAT) on the back board on the left of the CPU unit.
Remove the battery from the rack frame.
Mount a new battery on the rack frame and connect the battery connector (BAT) on the
back board.
NOTE
Although the CMOS memory is backed up by super capacitor, the battery must be
replaced as soon as the battery alarm occurs. The job data and other data may be lost if
the battery alarm occurs and the breaker is turned OFF for more than 2 hours.
Replacing the Control Circuit Board (JANCD-NCP01)
Turn OFF the power before replacing a circuit board.
NOTE
The JANCD-NCP01 circuit board contains important file data for the user programs, which
is backed up by the battery. Incorrect operations can cause this stored file data to be lost.
Replacement Procedure
1. Disconnect all cables connected to the circuit board. (Be sure to remove the connectors at the bottom of the circuit board.)
2. Remove 2 screws fixing the circuit board and rack.
3. Pull out the circuit board from the rack.
4. Remove the Compact Flash from the removed circuit board and insert the Compact
Flash into a new circuit board.
5. Mount the new circuit board to the rack.
6. Tighten upper and lower screws.
7. Connect all disconnected cables.
Cover
Control circuit board
JANCD-NCP01
Bottom connector view
CPU
PCI
AXIS
CN6
CN1
CN2
CN3
Option PCI Slot #AXIS
CN1
PCI
LAN1 LAN0 COM
PCI
EXT
CN3
CN2
CN1
Option PCI Slot #CPU1
NIF
Option PCI Slot #CPU2
Front side
CPS-420
Rear side
5-3
Compact flash
5.1 Replacing NX100 Parts
Replacing the Control Power Supply (CPS-420F)
CAUTION
• After turning OFF the power supply, wait at least 5 minutes before
replacing a control power supply. Do not touch any terminals during this
period. Confirm all monitor lights are turned OFF.
Failure to observe this caution may result in electric shock or injury.
Replacement Procedure
1. Disconnect all cables connected to the control power supply.
2. Loosen four upper and lower screws attaching the control power supply and the rack.
(two screws on each side).
3. Pull out the control power supply from the rack holding the grips which are attached at
the upper and lower side.
4. Insert the new control power supply into the slot of the rack.
5. Push the new control power supply until it is placed in the same position of other
boards.
6. Tighten upper and lower screws.
7. Connect all disconnected cables.
Control power supply
CPS-420F
POWERSUPPLY
CPS-NX1
No.
DATE
Fuji Electric Co.,Ltd. JAPAN
SOURCE
+5VSB
01 02 03 04 05 06 07 08 09 10
11 12 13 14 15 16 17 18 19 20
21 22 23 24 25 26 27 28 29 30
A B CDE F GHJ K
L MN P QR S T U V
PON
+5V
+24V
OTHER
FAN
OHT
CN05
(+24V1)
CN04
(+24V2)
Bottom connector view
CN03
(TU)
CPU
PCI
CN3
CN2
AXIS
CN02
(REMOTE)
CN6
CN1
LAN0 COM
LAN1
PCI
EXT
PCI
Option PCI Slot #AXIS
Option PCI Slot #CPU1
CN1
CN3
CN2
CN1
NIF
Option PCI Slot #CPU2
Front side
CN01
(AC IN)
INPUT
200-240V AC
50/60Hz
3A
CPS-420
Rear side
5-4
5.1 Replacing NX100 Parts
Replacing the Servo Control Circuit Board (SGDR-AXA01A)
Turn OFF the power before replacing a servo control circuit board.
Replacement Procedure
1. Disconnect all cables connected to the servo control circuit board. (Be sure to remove
the connectors at the bottom of the board.)
2. Remove 2 screws fixing the servo control circuit board and rack.
3. Pull out the servo control circuit board from the rack.
4. Insert a new board into the slot of the rack.
5. Tighten upper and lower screws.
6. Connect all disconnected cables.
7. Set the rotary switch to the same value as the removed board’s rotary switch.
Servo control circuit board
SGDR-AXA01A
Rotary switch
POWERSUPPLY
CPS-NX1
No.
DATE
Fuji Electric Co.,Ltd. JAPAN
SOURCE
01 02 03 04 05 06 07 08 09 10
11 12 13 14 15 16 17 18 19 20
21 22 23 24 25 26 27 28 29 30
+5VSB
A B CDE F GHJ K
L MN P QR S T U V
PON
+5V
+24V
OTHER
FAN
OHT
CN05
(+24V1)
CN04
(+24V2)
Bottom connector view
CN03
(TU)
CPU
PCI
CN3
CN2
AXIS
CN02
(REMOTE)
CN6
CN1
LAN1 LAN0 COM
PCI
EXT
PCI
Option PCI Slot #AXIS
Option PCI Slot #CPU1
CN1
CN3
CN2
CN1
NIF
Option PCI Slot #CPU2
Front side
CN01
(AC IN)
INPUT
200-240V AC
50/60Hz
3A
CPS-420
Back side
5-5
5.1 Replacing NX100 Parts
Replacing the Robot I/F Unit (JZNC-NIF01 )
NOTE
• Turn OFF the power before replacing the robot I/F unit (JZNC-NIF01 ).
• Be sure to back up robot data before replacing the robot I/F unit since the robot I/F unit
contains important data such as robot jobs and parameters.
• There are some versions which require maker mode operations after replacing the robot
I/F unit.
Contact your Yaskawa representative for maker mode operations.
• Before removing the robot I/F unit from the CPU rack temporarily, turn ON the system
power and charge the onboard capacitor for one hour. The CMOS data on the robot I/F
unit are kept temporarily by the onboard capacitor power. The capacitor is fully charged in
one hour, and discharged in 16 hours when the I/F unit is removed from the CPU rack.
If the capacitor is discharged, the CMOS data will be cleared and all the system settings
and user settings will be lost.
Replacement Procedure
1. Back up the robot data.
1) Insert a CF card for backup to the programming pendant, and start the system in
maintenance mode.
2) Select {TOOL} ⇒ {CompactFlash} ⇒ &quot;CMOS SAVE&quot; to save the CMOS data.
SUPPLEMENT
2.
3.
4.
5.
6.
7.
8.
9.
10.
For under NS1.8HA-00 versions, save all individual data in online mode.
However, for all versions, all individual data must be saved for safe.
Turn OFF the power after making backup.
Disconnect all cables on the I/F unit.
Remove two screws fixing the robot I/F unit and rack.
Pull out the robot I/F unit from the rack.
Insert new robot I/F unit into the slot of the rack.
Tighten upper and lower screws of the robot I/F unit.
Connect all cables disconnected in the procedure 3.
Set the rotary switch as the same value as the original I/F unit.
Start the system in maintenance mode and load the backup data.
1) Turn ON the power with pressing the [MAIN MENU] key.
2) Change the security to management mode and select {TOOL} ⇒ {CompactFlash} ⇒ &quot;CMOS LOAD&quot;
• For under the versions: NS3.10-00, NS2.30-02, NT2.40-02, NS2.0P-00,
SUPPLEMENT
NS2.0P-12, and NJ3.20-00, initialize the system in maker mode before loading the CMOS data.
• For under NS1.8HA-00 versions, start the system in online mode after loading the CMOS data, and load all the individual data EXCEPT jobs and
parameters.
5-6
5.1 Replacing NX100 Parts
Robot I/F unit
JZNC-NIF01
Rotaty switch
POWERSUPPLY
CPS-NX1
No.
DATE
Fuji Electric Co.,Ltd. JAPAN
SOURCE
01 02 03 04 05 06 07 08 09 10
11 12 13 14 15 16 17 18 19 20
21 22 23 24 25 26 27 28 29 30
+5VSB
A B CDE F GHJ K
L MN P QR S T U V
PON
+5V
+24V
OTHER
FAN
OHT
CN05
(+24V1)
CN04
(+24V2)
Bottom connector view
CPU
PCI
AXIS
Back side
5-7
CN03
(TU)
CN3
CN6
CN2
CN1
LAN1 LAN0 COM
PCI
EXT
PCI
Option PCI Slot #AXIS
Option PCI Slot #CPU1
CN1
CN3
CN2
CN1
NIF
Option PCI Slot #CPU2
Front side
CPS-420
CN02
(REMOTE)
CN01
(AC IN)
INPUT
200-240V AC
50/60Hz
3A
5.1 Replacing NX100 Parts
Replacing the Robot I/F Circuit Board (JANCD-NIF01)
NOTE
• Turn OFF the power before replacing the robot I/F circuit board (JANCD-NIF01).
• Be sure to back up robot data before replacing the robot I/F unit since the robot I/F unit
contains important data such as robot jobs and parameters.
• There are some versions which require maker mode operations after replacing the robot
I/F circuit board.
Contact your Yaskawa representative for maker mode operations.
• Before removing the robot I/F unit from the CPU rack temporarily, turn ON the system
power and charge the onboard capacitor for one hour. The CMOS data on the robot I/F
unit are kept temporarily by the onboard capacitor power. The capacitor is fully charged in
one hour, and discharged in 16 hours when the I/F unit is removed from the CPU rack.
If the capacitor is discharged, the CMOS data will be cleared and all the system settings
and user settings will be lost.
Refer to the procedure 10 of &quot; Replacing the Robot I/F Unit (JZNC-NIF01 ) &quot; to recover
data.
Replacement Procedure
1. Follow the replacement procedures 1 to 5 of &quot; Replacing the Robot I/F Unit (JZNCNIF01 ) &quot; to remove the robot I/F unit from the CPU rack.
2. Remove five screws fixing the I/O circuit board (JANCD-NIO01 ) and the robot I/F circuit board (JANCD-NIF01).
3. Disconnect the I/O circuit board and the robot I/F circuit board with due care.
4. Remove five studs fixing the robot I/F circuit board (JANCD-NIF01) on the base plate.
5. Fix new robot I/F circuit board (JANCD-NIF01) with five studs on the base plate.
6. Connect the I/O circuit board (JANCD-NIO01 ) to the new robot I/F circuit board
(JANCD-NIF01) with the onboard connector.
7. Tighten five screws to fix the I/O circuit board (JANCD-NIO01 ) and the robot I/F circuit board (JANCD-NIF01).
8. Insert the robot I/F unit into the slot of the CPU rack.
9. Tighten upper and lower screws of the robot I/F unit.
10. Connect all cables disconnected in the procedure 1.
11. Set the rotary switch as the same value as the removed board.
12. Start the system in maintenance mode and load the backup data.
1) Turn ON the power with pressing the [MAIN MENU] key.
2) Change the security to management mode and select {TOOL} ⇒ {CompactFlash} ⇒ &quot;CMOS LOAD&quot;
• For under the versions: NS3.10-00, NS2.30-02, NT2.40-02, NS2.0P-00,
SUPPLEMENT
NS2.0P-12, and NJ3.20-00, initialize the system in maker mode before loading the CMOS data.
• For under NS1.8HA-00 versions, start the system in online mode after loading the CMOS data, and load all the individual data EXCEPT jobs and
parameters.
5-8
5.1 Replacing NX100 Parts
Replacing the I/O Circuit Board (JANCD-NIO01 )
NOTE
• Turn OFF the power before replacing the I/O circuit board (JANCD-NIO01 ).
• Be sure to back up robot data before replacing the robot I/F unit since the robot I/F unit
contains important data such as robot jobs and parameters.
• Before removing the robot I/F unit from the CPU rack temporarily, turn ON the system
power and charge the onboard capacitor for one hour. The CMOS data on the robot I/F
unit are kept temporarily by the onboard capacitor power. The capacitor is fully charged in
one hour, and discharged in 16 hours when the I/F unit is removed from the CPU rack.
If the capacitor is discharged, the CMOS data will be cleared and all the system settings
and user settings will be lost.
Refer to the procedure 10 of &quot; Replacing the Robot I/F Unit (JZNC-NIF01 ) &quot; to recover
data.
Replacement Procedure
1. Follow the replacement procedures 1 to 5 of &quot; Replacing the Robot I/F Unit (JZNCNIF01 ) &quot; to remove the robot I/F unit from the CPU rack.
2. Remove five screws fixing the I/O circuit board (JANCD-NIO01 ) and the robot I/F circuit board (JANCD-NIF01).
3. Disconnect the I/O circuit board and the robot I/F circuit board with due care.
4. Connect new I/O circuit board (JANCD-NIO01 ) to the robot I/F circuit board (JANCDNIF01) with the onboard connector.
5. Tighten five screws to fix the I/O circuit board (JANCD-NIO01 ) and the robot I/F circuit board (JANCD-NIF01).
6. Insert the robot I/F unit into the slot of the CPU rack.
7. Tighten upper and lower screws of the robot I/F unit.
8. Connect all cables disconnected in the procedure 1.
5-9
5.1 Replacing NX100 Parts
5.1.2
Replacing the SERVOPACK
WARNING
• After turning OFF the power supply, wait at least 5 minutes before
replacing a SERVOPACK. Do not touch any terminals during this period.
Failure to observe this warning may result in electric shock.
There are two kinds of SERVOPACKs.
Type
Manipulator
Integrated Type
HP3, HP6, EA1400N
Separated Type
HP20, EA1900N, UP20MN,
UP50N, ES165N, HP165, ES200N,
ES165RN, ES200RN
Replacement Procedure (Integrated Type)
1. Turn OFF the breaker and the primary power supply and wait at least 5 minutes before
replacing. Do not touch any terminals during this period.
2. Verify that the SERVOPACK CHARGE lamp (red LED) is unlit.
3. Disconnect all the cables connected externally to the SERVOPACK.
Three-phase AC power supply connector (CNP1)
Regenerative resistor connector (CNP3)
AC control power supply connector (CNP11)
DC control power supply connector (CN101)
Converter control signal connector (CN1)
PWM signal connectors (AMP1 to AMP6-CN1)
Motor power connectors (AMP1 to AMP6-CNP6)
4. Remove the ground wiring connected to the SERVOPACK.
5. Remove the two screws at the top on each side of the SERVOPACK.
6. Hold the top and bottom grips and lift them to pull out the SERVOPACK.
7. Install the new SERVOPACK and reconnect the connectors in the reverse order of the
removing procedure.
5-10
5.1 Replacing NX100 Parts
Converter
Charge lamp
(CN102)
Upper grip
PWM amplifier control power
supply connector
(CN101)
DC control power supply connector
(AMP4 to AMP6-CNP6)
Output connectors for motor power
(AMP4 to AMP6-CN1)
PWM signal connectors
Monitor, alarm display LED
(CN1)
Converter control signal connector
PWM amplifiers
(6 amplifiers)
(CN101)
DC control power supply connector
(CNP11)
AC control power supply connector
(AMP1 to AMP3-CN1)
PWM signal connectors
(CNP1)
Three-phase AC power suply
connector
Gronud terminal
(AMP1 to AMP3-CNP6)
Output connectors for motor power
Lower grip
(CNP3)
Connector for regenerative resistance
Configuration of Integrated Type SERVOPACK
Replacement Procedure (Separated Type)
• How to Replace Converter
1. Turn OFF the breaker and the primary power supply and wait at least 5 minutes before
replacing. Do not touch any terminals during this period.
2. Verify that the converter CHARGE lamp (red LED) is unlit.
3. Disconnect all the cables connected externally to the converter.
Three-phase AC power supply connector (CNP1)
Regenerative resistor connector (CNP3)
AC control power supply connector (CNP11)
DC control power supply connector (CN101)
Converter control signal connector (CN1)
PWM amplifier control power supply connector (CN102)
PN power supply connector (CNP4)
4. Remove the ground wiring connected to the converter.
5. Remove the two screws at the top on each side of the converter.
6. Hold the top grip and lift it to pull out the converter.
7. Install the new converter and reconnect the connectors in the reverse order of the
removing procedure.
5-11
5.1 Replacing NX100 Parts
• How to Replace SERVOPACK
1. Turn OFF the breaker and the primary power supply and wait at least 5 minutes before
replacing. Do not touch any terminals during this period.
2. Verify that the converter CHARGE lamp (red LED) is unlit.
3. Disconnect all the cables connected externally to the SERVOPACK.
PWM signal connectors (AMP1 to AMP6-CN1)
PWM amplifier control power supply connector (CN102) (at converter side)
PN power supply connector (CNP4) (at converter side)
Motor power connectors (AMP1 to AMP6-CNP6)
4. Remove the ground wiring connected to the SERVOPACK.
5. Remove the two screws at the top on each side of the SERVOPACK.
6. Hold the top and bottom grips and lift them to pull out the SERVOPACK.
7. Install the new PWM amplifier and reconnect the connectors in the reverse order of the
removing procedure.
Converter
Charge lamp
(CN102)
PWM amplifier control power
supply connector
Upper grip
SERVOPACK
Upper grip
(AMP4 to AMP6-CNP6)
Output connectors for motor power
(AMP4 to AMP6-CN1)
PWM signal connectors
DC control power supply connector
Monitor, alarm display LED
(CN1)
Converter control signal connector
(CNP4)
PN power connector
PWM amplifiers
(6 amplifiers)
(CNP11)
AC control power supply
connector
Ground terminal
(CNP1)
Three-phase AC power
supply connector
(CNP3)
Connector for regenerative resistance
(AMP1 to AMP3-CN1)
PWM signal connectors
(AMP1 to AMP3-CNP6)
Output connectors for motor power
Ground terminal
Lower grip
Configuration of Separated Type SERVOPACK
5-12
5.1 Replacing NX100 Parts
5.1.3
Checking and Replacing Fuses
Power Supply Contactor Unit
The types of fuses on power supply contactor unit (JZRCR-NTU
) are as follows.
Parts No.
Fuse Name
Specification
1FU, 2FU
Control Power Supply Fuse
250V,10A, Time Lag Fuse
(326010, 250V, 10A (Littelfuse))
3FU
Brake Fuse
SDP50, 5A, 125V
(Daito Communication Apparatus
Co., Ltd.)
4X
F
F
E
CN07
CN06
NJ2096-
CN03
CN05
CN04
DATE
SER NO.
TYPE
YASKAWA ELECTRIC CORPORATION
2FU
10A 250V
JAPAN
E
1FU
10A 250V
US
US
(1FU) (2FU)
Fuse for AC control
power supply
3FU
5A 125V
CN08
(3FU)
Brake fuse
CN02
3X
1X
CN01
SW1
2X
Fuse Position
If a fuse appears to be blown (see &quot;8.3 Alarm Message List&quot;), remove each fuse shown
above and check the continuity with an electric tester. If the fuse is blown, replace it with the
same type of fuse (supplied).
NOTE
Determine and correct the cause of the blown fuse. If the problem is uncorrected, the fuse
may blow again.
5-13
5.1 Replacing NX100 Parts
Robot I/F Unit
The types of fuses on the robot I/F unit (JZNC-NIF01 ) are as follows.
Parts No.
F1, F2
Fuse Name
Specification
24VDC Fuse for I/O
250V, 3.15A, Rapid Cut Fuse
(2173.15P, 3.15A, 250V
(Littelfuse))
Robot I/F unit
JZNC-NIF01
(F1) (F2)
24VDC fuse for I/O
POWERSUPPLY
CPS-NX1
No.
DATE
Fuji Electric Co.,Ltd. JAPAN
SOURCE
+5VSB
01 02 03 04 05 06 07 08 09 10
11 12 13 14 15 16 17 18 19 20
21 22 23 24 25 26 27 28 29 30
A B CDE F GHJ K
L MN P QR S T U V
PON
+5V
+24V
OTHER
FAN
OHT
CN05
(+24V1)
CN04
(+24V2)
Bottom connector view
CN03
(TU)
PCI
CN3
CN2
AXIS
CN6
LAN1 LAN0 COM
CPU
CN1
PCI
EXT
PCI
Option PCI Slot #AXIS
CN1
Option PCI Slot #CPU1
CN3
CN2
CN1
NIF
Option PCI Slot #CPU2
Front side
CPS-420
CN02
(REMOTE)
CN01
(AC IN)
INPUT
200-240V AC
50/60Hz
3A
Back side
If a fuse appears to be blown (see &quot;8.3 Alarm Message List&quot;), remove each fuse shown
above and check the continuity with an electric tester. If the fuse is blown, replace it with the
same type of fuse (supplied).
NOTE
Determine and correct the cause of the blown fuse. If the problem is uncorrected, the fuse
may blow again.
5-14
5.2 NX100 Parts List
5.2
NX100 Parts List
NX100 Parts List
No.
Name
Model
1
SERVOPACK
*1
2
CPU unit
JZNC-NRK01
Comment
6 axes type
Backboard
JANCD-NBB01
Control circuit board
JANCD-NCP01
Servo control circuit board
SGDR-AXA01A
Not included in CPU unit
(JZNC-NRK01)
Control power supply
CPS-420F
Not included in CPU unit
(JZNC-NRK01)
Robot I/F unit
JZNC-NIF01
Not included in CPU unit
(JZNC-NRK01)
Robot I/F circuit board
JANCD-NIF01
I/O circuit board
JANCD-NIO01
3
Power supply contactor unit
*2
4
Interior circulation fan
4715MS-22T-B50-B00
5
Backside duct fan
4715MS-22T-B50-B00
HP3, HP6, EA1400N,
HP20, EA1900N
5915PC-22T-B30-B00
UP50N, UP20MN,
ES165N, HP165,
ES200N, ES165RN,
ES200RN
326010, 10A, 250V
Time lag fuse
SDP50, 5A, 125V
Alarm fuse
Robot I/F unit fuse
2173.15P, 3.15A, 250V
Rapid cut fuse
7
Battery
ER6VC3N 3.6V
8
Welder I/F board
JANCD-XEW02
Only for arc welding
Welder I/F board fuse
0312001.MXP, 1A, 250V
Fast-acting fuse, only for
arc welding
6
Power supply contactor unit fuse
*1
*2
The type of the SERVOPACK depends on the manipulator model. For details, see the
table &quot;SERVOPACK List.&quot;
The type of the power supply contactor unit depends on the manipulator model. For
details, see the table &quot;Power Supply Contactor Unit List.&quot;
5-15
5.2 NX100 Parts List
SERVOPACK List
HP3
HP6, EA1400N
Model
Model
Component
SERVOPACK
SGDR-EA1400NY26
SGDR-EA1400N
SGDR-COA040A01B
SGDR-COA040A01B
S
SGDR-SDA060A01B
SGDR-SDA140A01BY22
L
SGDR-SDA060A01B
SGDR-SDA140A01BY22
U
SGDR-SDA060A01B
SGDR-SDA140A01BY22
R
SGDR-SDA060A01B
SGDR-SDA060A01B
B
SGDR-SDA060A01B
SGDR-SDA060A01B
T
SGDR-SDA060A01B
SGDR-SDA060A01B
Converter
Amplifier
SERVOPACK List
HP20, EA1900N
UP50N
UP20MN
Model
Model
Model
Component
SERVOPACK
Amplifier
Converter
SGDR-HP20Y30
SGDR-EH50Y24
SGDR-EH50Y27
S
SGDR-SDA140A01B
SGDR-SDA710A01BY32
SGDR-SDA710A01B
L
SGDR-SDA350A01BY23
SGDR-SDA710A01B
SGDR-SDA710A01B
U
SGDR-SDA140A01BY22
SGDR-SDA350A01BY28
SGDR-SDA350A01B
R
SGDR-SDA060A01B
SGDR-SDA140A01B
SGDR-SDA060A01B
B
SGDR-SDA060A01BY31
SGDR-SDA140A01B
SGDR-SDA060A01B
T
SGDR-SDA060A01B
SGDR-SDA140A01B
SGDR-SDA060A01B
SGDR-COA080A01B
SGDR-COA250A01B
SGDR-COA250A01B
5-16
5.2 NX100 Parts List
SERVOPACK List
ES165N, HP165, ES200N
ES165RN, ES200RN
Model
Model
Component
SERVOPACK
Amplifier
SGDR-ES165N
SGDR-ES165NY28
S
SGDR-SDA710A01B
SGDR-SDA710A01B
L
SGDR-SDA710A01BY29
SGDR-SDA710A01BY29
U
SGDR-SDA710A01B
SGDR-SDA710A01BY25
R
SGDR-SDA350A01B
SGDR-SDA350A01B
B
SGDR-SDA350A01B
SGDR-SDA350A01B
T
SGDR-SDA350A01B
SGDR-SDA350A01B
SGDR-COA250A01B
SGDR-COA250A01B
Converter
Power Supply Contactor Unit List
Type
Manipulator Type
JZRCR-NTU01 -
HP3, HP6, EA1400N, HP20, EA1900N
JZRCR-NTU02 -
UP50N, UP20MN, ES165N, HP165,
ES200N, ES165RN, ES200RN
5-17
5.3 Supplied Parts List
5.3
Supplied Parts List
The supplied parts of NX100 is as follows.
Parts No.1 to 3 are used for fuse for replacement and No.4 and 5 are used as a tool for connecting the I/O.
No
1
2
Parts Name
Dimensions
10A
Ceramic fuse
6 dia.
3.15A
Glass-Tube fuse
6 dia.
Pcs
5A
Alarm fuse
326010
10A 250V
(Littelfuse)
JZRCR-NTU
1FU, 2FU
2
2173.15P
3.15A 250V
(Littelfuse)
JZNC-NIF01
F1, F2
2
SDP50
5A 125V
(Daito Communication Apparatus Co., Ltd.)
JZRCR-NTU
3FU
2
231-131
(WAGO Company of Japan,
Ltd.)
JZRCR-NTU
CN06, 07
CPS-420F-CN02
JZNC-NIF01 -CN12
1
210-119SB
(WAGO Company of Japan,
Ltd.)
MXT
3.0
3.0
4
WAGO
Connector wiring
tool
5
WAGO
Terminal block
wiring tool
5.4
5
18
Application
2
17
3
Model
Recommended Spare Parts
It is recommended that the following parts and components be kept in stock as spare parts for
the NX100. The spare parts list for the NX100 is shown below. Product performance can not
be guaranteed when using spare parts from any company other than Yaskawa. To buy the
spare parts which are ranked B or C, inform the manufacturing number (or order number) of
NX100 to Yaskawa representative. The spare parts are ranked as follows:
• Rank A: Expendable and frequently replaced parts
• Rank B: Parts for which replacement may be necessary as a result of frequent operation
• Rank C: Drive unit
NOTE
For replacing parts in Rank B or Rank C, contact your Yaskawa representative.
5-18
5.4 Recommended Spare Parts
Recommended Spare Parts of NX100 for HP3
Rank
Parts
No.
A
1
A
2
A
3
A
Name
Type
Manufacturer
Qty
Qty
per
Unit
Battery
ER6VC3N 3.6V
TOSHIBA BATTERY CO., LTD.
1
1
Control Power Supply Fan
JZNC-NZU01
Yaskawa Electric
Corporation
1
1
Backside Duct Fan
4715MS-22T-B50B00
Minebea Co., Ltd.
2
2
4
Interior Circulation
Fan
4715MS-22T-B50B00
Minebea Co., Ltd.
2
2
A
5
Control Power Supply Fuse
326010 10A 250V
Littelfuse
10
2
Brake Fuse
SDP50 5A 125V
1
6
Daito Communication Apparatus
Co., Ltd.
10
A
A
7
24VDC Fuse for I/O
2173.15P 3.15A
250V
Littelfuse
10
2
B
8
Control Power Supply
CPS-420F
Yaskawa Electric
Corporation
1
1
B
9
Servo Control Circuit Board
SGDR-AXA01A
Yaskawa Electric
Corporation
1
1
B
10
Control Circuit
Board
JANCD-NCP01
Yaskawa Electric
Corporation
1
1
B
11
Robot I/F Circuit
Board
JANCD-NIF01-1
Yaskawa Electric
Corporation
1
1
B
12
I/O Circuit Board
JANCD-NIO01 -1
Yaskawa Electric
Corporation
1
1
Yaskawa Electric
Corporation
1
1
13
Power-ON
Sequence Circuit
Board
JANCD-NTU01-1
B
C
14
Robot I/F Unit
JZNC-NIF01 -1
Yaskawa Electric
Corporation
1
1
C
15
SERVOPACK
SGDREA1400NY26
Yaskawa Electric
Corporation
1
1
C
16
Power Supply Contactor Unit
JZRCR-NTU01 -1
Yaskawa Electric
Corporation
1
1
C
17
CPU Unit*1
JZNC-NRK01-1
Yaskawa Electric
Corporation
1
1
C
18
Programming Pen-
JZRCR-NPP01-1
Yaskawa Electric
Corporation
1
1
*1
*2
dant*2
Remarks
With 8m cable
The CPU unit (JZNC-NRK01-1) does not include the control power supply (CPS-420F),
servo control circuit board (SGDR-AXA01A), and robot I/F unit (JZNC-NIF01 ). Must
be ordered separately if required.
Specify application (Arc, General, Spot, Handling) of key sheet when No.18 &quot;Programming Pendant&quot; is ordered.
5-19
5.4 Recommended Spare Parts
Recommended Spare Parts of NX100 for HP6 and EA1400N
Rank
Parts
No.
A
1
A
2
A
3
A
Name
Type
Manufacturer
Qty
Qty
per
Unit
Battery
ER6VC3N 3.6V
TOSHIBA BATTERY CO., LTD.
1
1
Control Power Supply Fan
JZNC-NZU01
Yaskawa Electric
Corporation
1
1
Backside Duct Fan
4715MS-22T-B50B00
Minebea Co., Ltd.
2
2
4
Interior Circulation
Fan
4715MS-22T-B50B00
Minebea Co., Ltd.
2
2
A
5
Control Power Supply Fuse
326010 10A 250V
Littelfuse
10
2
Brake Fuse
SDP50 5A 125V
1
6
Daito Communication Apparatus
Co., Ltd.
10
A
A
7
24VDC Fuse for I/O
2173.15P 3.15A
250V
Littelfuse
10
2
A
8
Welder I/F board
fuse
0312001.MXP 1A
250V
Littelfuse
10
2
B
9
Control Power Supply
CPS-420F
Yaskawa Electric
Corporation
1
1
B
10
Servo Control Circuit Board
SGDR-AXA01A
Yaskawa Electric
Corporation
1
1
B
11
Control Circuit
Board
JANCD-NCP01
Yaskawa Electric
Corporation
1
1
B
12
Robot I/F Circuit
Board
JANCD-NIF01-1
Yaskawa Electric
Corporation
1
1
B
13
I/O Circuit Board
JANCD-NIO01 -1
Yaskawa Electric
Corporation
1
1
Yaskawa Electric
Corporation
1
1
14
Power-ON
Sequence Circuit
Board
JANCD-NTU01-1
B
B
15
Welder I/F board
JANCD-XEW02
Yaskawa Electric
Corporation
1
1
C
16
Robot I/F Unit
JZNC-NIF01 -1
Yaskawa Electric
Corporation
1
1
C
17
SERVOPACK
SGDR-EA1400N
Yaskawa Electric
Corporation
1
1
C
18
Power Supply Contactor Unit
JZRCR-NTU01 -1
Yaskawa Electric
Corporation
1
1
C
19
CPU Unit*1
JZNC-NRK01-1
Yaskawa Electric
Corporation
1
1
C
20
Programming Pen-
JZRCR-NPP01-1
Yaskawa Electric
Corporation
1
1
*1
*2
dant *2
Remarks
Only for arc welding
Only for arc welding
With 8m cable
The CPU unit (JZNC-NRK01-1) does not include the control power supply (CPS-420F),
servo control circuit board (SGDR-AXA01A), and robot I/F unit (JZNC-NIF01 ). Must
be ordered separately if required.
Specify application (Arc, General, Spot, Handling) of key sheet when No.18 &quot;Programming Pendant&quot; is ordered.
5-20
5.4 Recommended Spare Parts
Recommended Spare Parts of NX100 for HP20 and EA1900N
Rank
Parts
No.
A
1
A
2
A
3
A
Name
Type
Manufacturer
Qty
Qty
per
Unit
Battery
ER6VC3N 3.6V
TOSHIBA BATTERY CO., LTD.
1
1
Control Power Supply Fan
JZNC-NZU01
Yaskawa Electric
Corporation
1
1
Backside Duct Fan
4715MS-22T-B50B00
Minebea Co., Ltd.
2
2
4
Interior Circulation
Fan
4715MS-22T-B50B00
Minebea Co., Ltd.
2
2
A
5
Control Power Supply Fuse
326010 10A 250V
Littelfuse
10
2
Brake Fuse
SDP50 5A 125V
1
6
Daito Communication Apparatus
Co., Ltd.
10
A
A
7
24VDC Fuse for I/O
2173.15P 3.15A
250V
Littelfuse
10
2
A
8
Welder I/F board
fuse
0312001.MXP 1A
250V
Littelfuse
10
2
B
9
Converter
SGDRCOA080A01B
Yaskawa Electric
Corporation
1
1
B
10
Control Power Supply
CPS-420F
Yaskawa Electric
Corporation
1
1
B
11
Servo Control Circuit Board
SGDR-AXA01A
Yaskawa Electric
Corporation
1
1
B
12
Control Circuit
Board
JANCD-NCP01
Yaskawa Electric
Corporation
1
1
B
13
Robot I/F Circuit
Board
JANCD-NIF01-1
Yaskawa Electric
Corporation
1
1
B
14
I/O Circuit Board
JANCD-NIO01 -1
Yaskawa Electric
Corporation
1
1
Yaskawa Electric
Corporation
1
1
15
Power-ON
Sequence Circuit
Board
JANCD-NTU01-1
B
B
16
Welder I/F board
JANCD-XEW02
Yaskawa Electric
Corporation
1
1
C
17
Robot I/F Unit
JZNC-NIF01 -1
Yaskawa Electric
Corporation
1
1
C
18
SERVOPACK
SGDR-HP20
Yaskawa Electric
Corporation
1
1
C
19
Power Supply Contactor Unit
JZRCR-NTU01 -1
Yaskawa Electric
Corporation
1
1
C
20
CPU Unit*1
JZNC-NRK01-1
Yaskawa Electric
Corporation
1
1
C
21
Programming Pen-
JZRCR-NPP01-1
Yaskawa Electric
Corporation
1
1
*1
*2
dant*2
Remarks
Only for arc welding
Only for arc welding
With 8m cable
The CPU unit (JZNC-NRK01-1) does not include the control power supply (CPS-420F),
servo control circuit board (SGDR-AXA01A), and robot I/F unit (JZNC-NIF01 ). Must
be ordered separately if required.
Specify application (Arc, General, Spot, Handling) of key sheet when No.18 &quot;Programming Pendant&quot; is ordered.
5-21
5.4 Recommended Spare Parts
Recommended Spare Parts of NX100 for UP20MN
Rank
Parts
No.
A
1
A
2
A
3
A
Name
Type
Manufacturer
Qty
Qty
per
Unit
Battery
ER6VC3N 3.6V
TOSHIBA BATTERY CO., LTD.
1
1
Control Power Supply Fan
JZNC-NZU01
Yaskawa Electric
Corporation
1
1
Backside Duct Fan
5915MS-22T-B50B00
Minebea Co., Ltd.
2
2
4
Interior Circulation
Fan
4715PC-22T-B30B00
Minebea Co., Ltd.
2
2
A
5
Control Power Supply Fuse
326010 10A 250V
Littelfuse
10
2
Brake Fuse
SDP50 5A 125V
1
6
Daito Communication Apparatus
Co., Ltd.
10
A
A
7
24VDC Fuse for I/O
2173.15P 3.15A
250V
Littelfuse
10
2
B
8
Converter
SGDRCOA250A01B
Yaskawa Electric
Corporation
1
1
B
9
Control Power Supply
CPS-420F
Yaskawa Electric
Corporation
1
1
B
10
Servo Control Circuit Board
SGDR-AXA01A
Yaskawa Electric
Corporation
1
1
B
11
Control Circuit
Board
JANCD-NCP01
Yaskawa Electric
Corporation
1
1
B
12
Robot I/F Circuit
Board
JANCD-NIF01-1
Yaskawa Electric
Corporation
1
1
B
13
I/O Circuit Board
JANCD-NIO01 -1
Yaskawa Electric
Corporation
1
1
Yaskawa Electric
Corporation
1
1
14
Power-ON
Sequence Circuit
Board
JANCD-NTU01-1
B
C
15
Robot I/F Unit
JZNC-NIF01 -1
Yaskawa Electric
Corporation
1
1
C
16
SERVOPACK
SGDR-EH50Y27
Yaskawa Electric
Corporation
1
1
C
17
Power Supply Contactor Unit
JZRCR-NTU02 -1
Yaskawa Electric
Corporation
1
1
C
18
CPU Unit*1
JZNC-NRK01-1
Yaskawa Electric
Corporation
1
1
C
19
Programming Pen-
JZRCR-NPP01-1
Yaskawa Electric
Corporation
1
1
*1
*2
dant*2
Remarks
With 8m cable
The CPU unit (JZNC-NRK01-1) does not include the control power supply (CPS-420F),
servo control circuit board (SGDR-AXA01A), and robot I/F unit (JZNC-NIF01 ). Must
be ordered separately if required.
Specify application (Arc, General, Spot, Handling) of key sheet when No.18 &quot;Programming Pendant&quot; is ordered.
5-22
5.4 Recommended Spare Parts
Recommended Spare Parts of NX100 for UP50N
Rank
Parts
No.
A
1
A
2
A
3
A
Name
Type
Manufacturer
Qty
Qty
per
Unit
Battery
ER6VC3N 3.6V
TOSHIBA BATTERY CO., LTD.
1
1
Control Power Supply Fan
JZNC-NZU01
Yaskawa Electric
Corporation
1
1
Backside Duct Fan
5915MS-22T-B50B00
Minebea Co., Ltd.
2
2
4
Interior Circulation
Fan
4715PC-22T-B30B00
Minebea Co., Ltd.
2
2
A
5
Control Power Supply Fuse
326010 10A 250V
Littelfuse
10
2
Brake Fuse
SDP50 5A 125V
1
6
Daito Communication Apparatus
Co., Ltd.
10
A
A
7
24VDC Fuse for I/O
2173.15P 3.15A
250V
Littelfuse
10
2
B
8
Converter
SGDRCOA250A01B
Yaskawa Electric
Corporation
1
1
B
9
Control Power Supply
CPS-420F
Yaskawa Electric
Corporation
1
1
B
10
Servo Control Circuit Board
SGDR-AXA01A
Yaskawa Electric
Corporation
1
1
B
11
Control Circuit
Board
JANCD-NCP01
Yaskawa Electric
Corporation
1
1
B
12
Robot I/F Circuit
Board
JANCD-NIF01-1
Yaskawa Electric
Corporation
1
1
B
13
I/O Circuit Board
JANCD-NIO01 -1
Yaskawa Electric
Corporation
1
1
Yaskawa Electric
Corporation
1
1
14
Power-ON
Sequence Circuit
Board
JANCD-NTU01-1
B
C
15
Robot I/F Unit
JZNC-NIF01 -1
Yaskawa Electric
Corporation
1
1
C
16
SERVOPACK
SGDR-EH50Y24
Yaskawa Electric
Corporation
1
1
C
17
Power Supply Contactor Unit
JZRCR-NTU02 -1
Yaskawa Electric
Corporation
1
1
C
18
CPU Unit*1
JZNC-NRK01-1
Yaskawa Electric
Corporation
1
1
C
19
Programming Pen-
JZRCR-NPP01-1
Yaskawa Electric
Corporation
1
1
*1
*2
dant *2
Remarks
With 8m cable
The CPU unit (JZNC-NRK01-1) does not include the control power supply (CPS-420F),
servo control circuit board (SGDR-AXA01A), and robot I/F unit (JZNC-NIF01 ). Must
be ordered separately if required.
Specify application (Arc, General, Spot, Handling) of key sheet when No.18 &quot;Programming Pendant&quot; is ordered.
5-23
5.4 Recommended Spare Parts
Recommended Spare Parts of NX100 for ES165N, HP165, and ES200N
Rank
Parts
No.
A
1
A
2
A
3
A
Name
Type
Manufacturer
Qty
Qty
per
Unit
Battery
ER6VC3N 3.6V
TOSHIBA BATTERY CO., LTD.
1
1
Control Power Supply Fan
JZNC-NZU01
Yaskawa Electric
Corporation
1
1
Backside Duct Fan
5915MS-22T-B50B00
Minebea Co., Ltd.
2
2
4
Interior Circulation
Fan
4715PC-22T-B30B00
Minebea Co., Ltd.
2
2
A
5
Control Power Supply Fuse
326010 10A 250V
Littelfuse
10
2
Brake Fuse
SDP50 5A 125V
1
6
Daito Communication Apparatus
Co., Ltd.
10
A
A
7
24VDC Fuse for I/O
2173.15P 3.15A
250V
Littelfuse
10
2
B
8
Converter
SGDRCOA250A01B
Yaskawa Electric
Corporation
1
1
B
9
Control Power Supply
CPS-420F
Yaskawa Electric
Corporation
1
1
B
10
Servo Control Circuit Board
SGDR-AXA01A
Yaskawa Electric
Corporation
1
1
B
11
Control Circuit
Board
JANCD-NCP01
Yaskawa Electric
Corporation
1
1
B
12
Robot I/F Circuit
Board
JANCD-NIF01-1
Yaskawa Electric
Corporation
1
1
B
13
I/O Circuit Board
JANCD-NIO01 -1
Yaskawa Electric
Corporation
1
1
Yaskawa Electric
Corporation
1
1
14
Power-ON
Sequence Circuit
Board
JANCD-NTU01-1
B
C
15
Robot I/F Unit
JZNC-NIF01 -1
Yaskawa Electric
Corporation
1
1
C
16
SERVOPACK
SGDR-ES165N
Yaskawa Electric
Corporation
1
1
C
17
Power Supply Contactor Unit
JZRCR-NTU02 -1
Yaskawa Electric
Corporation
1
1
C
18
CPU Unit*1
JZNC-NRK01-1
Yaskawa Electric
Corporation
1
1
C
19
Programming Pen-
JZRCR-NPP01-1
Yaskawa Electric
Corporation
1
1
*1
*2
dant*2
Remarks
With 8m cable
The CPU unit (JZNC-NRK01-1) does not include the control power supply (CPS-420F),
servo control circuit board (SGDR-AXA01A), and robot I/F unit (JZNC-NIF01 ). Must
be ordered separately if required.
Specify application (Arc, General, Spot, Handling) of key sheet when No.18 &quot;Programming Pendant&quot; is ordered.
5-24
5.4 Recommended Spare Parts
Recommended Spare Parts of NX100 for ES165RN and ES200RN
Rank
Parts
No.
A
1
A
2
A
3
A
Name
Type
Manufacturer
Qty
Qty
per
Unit
Battery
ER6VC3N 3.6V
TOSHIBA BATTERY CO., LTD.
1
1
Control Power Supply Fan
JZNC-NZU01
Yaskawa Electric
Corporation
1
1
Backside Duct Fan
5915MS-22T-B50B00
Minebea Co., Ltd.
2
2
4
Interior Circulation
Fan
4715PC-22T-B30B00
Minebea Co., Ltd.
2
2
A
5
Control Power Supply Fuse
326010 10A 250V
Littelfuse
10
2
Brake Fuse
SDP50 5A 125V
1
6
Daito Communication Apparatus
Co., Ltd.
10
A
A
7
24VDC Fuse for I/O
2173.15P 3.15A
250V
Littelfuse
10
2
B
8
Converter
SGDRCOA250A01B
Yaskawa Electric
Corporation
1
1
B
9
Control Power Supply
CPS-420F
Yaskawa Electric
Corporation
1
1
B
10
Servo Control Circuit Board
SGDR-AXA01A
Yaskawa Electric
Corporation
1
1
B
11
Control Circuit
Board
JANCD-NCP01
Yaskawa Electric
Corporation
1
1
B
12
Robot I/F Circuit
Board
JANCD-NIF01-1
Yaskawa Electric
Corporation
1
1
B
13
I/O Circuit Board
JANCD-NIO01 -1
Yaskawa Electric
Corporation
1
1
Yaskawa Electric
Corporation
1
1
14
Power-ON
Sequence Circuit
Board
JANCD-NTU01-1
B
C
15
Robot I/F Unit
JZNC-NIF01 -1
Yaskawa Electric
Corporation
1
1
C
16
SERVOPACK
SGDR-ES165NY28
Yaskawa Electric
Corporation
1
1
C
17
Power Supply Contactor Unit
JZRCR-NTU02 -1
Yaskawa Electric
Corporation
1
1
C
18
CPU Unit*1
JZNC-NRK01-1
Yaskawa Electric
Corporation
1
1
C
19
Programming Pen-
JZRCR-NPP01-1
Yaskawa Electric
Corporation
1
1
*1
*2
dant*2
Remarks
With 8m cable
The CPU unit (JZNC-NRK01-1) does not include the control power supply (CPS-420F),
servo control circuit board (SGDR-AXA01A), and robot I/F unit (JZNC-NIF01 ). Must
be ordered separately if required.
Specify application (Arc, General, Spot, Handling) of key sheet when No.18 &quot;Programming Pendant&quot; is ordered.
5-25
6 Operations after Replacing Parts
WARNING
• Before operating the manipulator, check that the SERVO ON lamp turns
OFF when the emergency stop buttons on the front door of the NX100
and the programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case of
an emergency.
• Observe the following precautions when performing teaching operations
within the P-point maximum envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
- Turning ON the NX100 power.
- Moving the manipulator with the programming pendant
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation.
• Always press the emergency stop button immediately if there are problems.
Emergency stop buttons are located at the upper right corner of the front door of the
NX100 and on the upper right of the programming pendant.
6-1
6.1 Home Position Calibration
CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
- Check for problems in manipulator movement.
- Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
6.1
6.1.1
NOTE
Home Position Calibration
Home Position Calibration
Teaching and playback are not possible before home position calibration is complete.
In a system with two or more manipulators, the home position of all the manipulators must
be calibrated before starting teaching or playback.
Set the security mode to the management mode to perform home position calibration.
Home position calibration is an operation in which the home position and absolute encoder
position coincide. Although this operation is performed prior to shipment at the factory, the following cases require this operation to be performed again.
• Change in the combination of the manipulator and NX100
• Replacement of the motor or absolute encoder
• Clearing stored memory (by replacement of NIF01 circuit board, weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the mark for the home position
on each axis so that the manipulator can take its posture for the home position. There are two
operations for home position calibration:
• All the axes can be moved at the same time
• Axes can be moved individually
6-2
6.1 Home Position Calibration
If the absolute data of the home position is already known, set the absolute data again after
completing home position registration.
Home Position
SUPPLE
-MENT
The home position is the position with the pulse value &quot;0&quot; for each axis.
See &quot;6.1.3 Manipulator Home Position.&quot;
6.1.2
Calibrating Operation
Registering All Axes at One Time
Operation
1
Select {ROBOT} under the
main menu.
2
Select {HOME POSITION}.
Explanation
The HOME POSITIONING window appears.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
UTILITY
HOME POSITIONING
SELECT
T
ABSOLUTE DATA
R1:S
ARC WELDING
PARAMETER
VARIABLE
SETUP
L
U
R
B
B001
T
IN/OUT
In
Out
DISPLAY SETUP
Aa
ROBOT
SYSTEM INFO
PAGE
Main Menu
6-3
Short Cut
6.1 Home Position Calibration
Operation
3
Select {DISPLAY} under the
menu,
or select &quot;PAGE&quot; to display
the selection window for the
control group,
or press
.
Explanation
The pull-down menu appears.
DATA
EDIT
DISPLAY
UTILITY
T
ROBOT 1 HOME POSITIONING
FD/CF
JOB
DOUT
MOVE
END
CF
STATION
SELECT
1
ABSOLUTE DATA
R1:S
ARC WELDING
PARAMETER
VARIABLE
L
U
R
SETUP
B
B001
T
IN/OUT
In
DISPLAY SETUP
Aa
Out
ROBOT
SYSTEM INFO
PAGE
Main Menu
DATA
Short Cut
EDIT
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
UTILITY
T
HOME POSITIONING
SELECT
ABSOLUTE DATA
R1:S
ARC WELDING
PARAMETER
VARIABLE
SETUP
L
U
R
B
B001
T
IN/OUT
In
DISPLAY SETUP
Aa
Out
ROBOT
R1:ROBOT
S1:STATION1
SYSTEM INFO
PAGE
Main Menu
4
Select the desired control
group.
5
Select {EDIT} under the
menu.
Short Cut
The pull-down menu appears.
EDIT
DATA
DISPLAY
SELECT ALL
FD/CF
AXIS
JOB
DOUT
MOVE
END
UTILITY
T
HOME POSITIONING
SELECT
CF
ABSOLUTE DATA
R1:S
ARC WELDING
PARAMETER
VARIABLE
SETUP
L
U
R
B
B001
T
IN/OUT
In
Out
DISPLAY SETUP
Aa
ROBOT
SYSTEM INFO
PAGE
Main Menu
6-4
Short Cut
6.1 Home Position Calibration
Operation
6
Select {SELECT ALL AXES}.
Explanation
The confirmation dialog box appears.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
UTILITY
T
HOME POSITIONING
SELECT
ABSOLUTE DATA
R1:S
ARC WELDING
VARIABLE
PARAMETER
SETUP
L
U
R
B
B001
T
IN/OUT
In
Out
DISPLAY SETUP
Aa
&iexcl;
Create
home position?
&iexcl;
YES
NO
ROBOT
SYSTEM INFO
PAGE
Main Menu
7
Select “YES.”
Short Cut
Displayed position data of all axes are registered as home position.
When “NO” is selected, the registration will be canceled.
6-5
6.1 Home Position Calibration
Registering Individual Axes
Operation
1
Select {ROBOT} under the
main menu.
2
Select {HOME POSITION}.
3
Select the desired control
group.
4
Select the axis to be registered.
Explanation
Perform steps 3 and 4 which have been described in &quot; Registering All Axes at One Time &quot; to select the desired control group.
DATA
EDIT
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
UTILITY
T
HOME POSITIONING
SELECT
ARC WELDING
PARAMETER
VARIABLE
SETUP
ABSOLUTE DATA
L
-278
30154
U
R
-217
R1:S
B
B001
T
IN/OUT
In
DISPLAY SETUP
Aa
Out
ROBOT
SYSTEM INFO
PAGE
Main Menu
Short Cut
The confirmation dialog box appears.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
UTILITY
T
HOME POSITIONING
SELECT
ARC WELDING
PARAMETER
VARIABLE
SETUP
L
U
R
B
B001
ABSOLUTE DATA
-278
30154
R1:S
-217
Create home position?
T
IN/OUT
In
Out
DISPLAY SETUP
NO
YES
Aa
ROBOT
SYSTEM INFO
PAGE
Main Menu
5
Select &quot;YES&quot;.
Short Cut
Displayed position data of the axis are registered as home position.
When “NO” is selected, the registration will be canceled.
6-6
6.1 Home Position Calibration
Changing the Absolute Data
To change the absolute data of the axis when home position calibration is completed, perform
the following:
Operation
Explanation
1
Select {ROBOT} under the
main menu.
2
Select {HOME POSITION}.
3
Select the desired control
group.
Perform steps 3 and 4 which have been described in &quot; Registering All Axes at One Time &quot; to select the desired control group.
4
Select the absolute data to
be registered.
The number can now be entered.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
UTILITY
HOME POSITIONING
SELECT
R1:S
ARC WELDING
PARAMETER
VARIABLE
SETUP
L
U
R
B
B001
T
IN/OUT
In
Out
T
ABSOLUTE DATA
-278
30154
-29912
-217
7745
15881
DISPLAY SETUP
Aa
ROBOT
SYSTEM INFO
PAGE
Main Menu
5
Enter the absolute data using
the numeric keys.
6
Press [ENTER].
Short Cut
Absolute data are modified.
6-7
6.1 Home Position Calibration
Clearing Absolute Data
Operation
Explanation
1
Select {ROBOT} under the
main menu.
2
Select {HOME POSITION}.
Perform steps 2, 3, and 4 which have been described in &quot; Registering All Axes at One Time &quot; to display the HOME POSITIONING window and select the desired control group.
3
Select {DATA} under the
menu.
The pull-down menu appears.
DATA
EDIT
CLEAR ALL DATA
DISPLAY
FD/CF
DOUT
MOVE
END
CF
UTILITY
T
HOME POSITIONING
SELECT
PARAMETER
VARIABLE
SETUP
L
U
R
B
B001
T
IN/OUT
In
ABSOLUTE DATA
-278
30154
-29912
-217
7745
15881
R1:S
ARC WELDING
DISPLAY SETUP
Aa
Out
ROBOT
SYSTEM INFO
PAGE
Main Menu
4
Select {CLEAR ALL DATA}.
Short Cut
The confirmation dialog box appears.
DATA
EDIT
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
UTILITY
T
HOME POSITIONING
SELECT
R1:S
ARC WELDING
PARAMETER
VARIABLE
SETUP
L
U
R
&iexcl;
&iexcl;
&iexcl;
B
B001
T
IN/OUT
In
YES
DISPLAY SETUP
ABSOLUTE DATA
-278
30154
-29912
-217
Clear data? 7745
15881
NO
Aa
Out
ROBOT
SYSTEM INFO
PAGE
Main Menu
5
Select &quot;YES&quot;.
Short Cut
The all absolute data are cleared.
When &quot;NO&quot; is selected, the operation will be canceled.
DATA
EDIT
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
UTILITY
T
HOME POSITIONING
SELECT
CF
ABSOLUTE DATA
R1:S
ARC WELDING
PARAMETER
VARIABLE
SETUP
L
U
R
B
B001
T
IN/OUT
In
Out
DISPLAY SETUP
Aa
ROBOT
SYSTEM INFO
PAGE
Main Menu
6-8
Short Cut
6.1 Home Position Calibration
6.1.3
Manipulator Home Position
With the MOTOMAN-HP6, the home position is as follows.
U-axis angle against horizontal
line on the ground (-0&deg;)
B-axis center line angle against
U-axis center line (-0&deg;)
L-axis angle against vertical
line to the ground (-0&deg;)
NOTE
Other manipulator models have different positions. Always consult the documentation for
the correct manipulator model.
6-9
6.2 Position Deviation Check Using the Check Program
6.2
Position Deviation Check Using the Check Program
Use the check program to check if positions are deviated with the following procedure.
1. Call up the check program in which the check point is taught (the job for the check
point) and operate the manipulator at low speed.
2. Check the tool tip position.
If it points the check point exactly as shown in the following figure, there is no deviation
from the positions. Proceed to &quot;6.4 Setting the Second Home Position (Check Point).&quot;
If not, there is a deviation. When the motor or encoder, etc. was replaced, move the
corresponding axis only, when the stored memory was cleared or the manipulator was
hit against a workpiece, move all axes, to the check point by joint motion. Then, proceed to &quot;6.3 Home Position Data Correction.&quot;
Enlarged View
6-10
6.3 Home Position Data Correction
6.3
Home Position Data Correction
When there is a deviation from the positions, correct the home position data with the following
procedure.
1. Check the values of the following pulses. (If there is no deviation, the following two values coincide.)
• Command position pulse of the check point which was taught in advance
• Current position pulse where the manipulator (tool tip) was moved to the check
point after performing the check program
Displaying the Command Position Pulse
Operation
1
Select {ROBOT} under the
main menu.
2
Select {COMMAND POSITION}.
Explanation
The command position pulse values appear.
Note the values.
Displaying the Current Position Pulse
Operation
1
Select {ROBOT} under the
main menu.
2
Select {CURRENT POSITION}.
Explanation
The current position pulse values appear.
Note the values.
2. Calculate the difference between the command position pulse and the current position
pulse.
The difference pulse = Command position pulse − Current position pulse
3. On the HOME POSITIONING window, add the difference pulse value to the absolute
data of the axis whose motor or encoder, etc. was replaced.
4. Modify the home position data by following the procedures described in &quot; 6.1.2 Calibrating Operation &quot;.
5. Confirm that the command position pulse and the current position pulse coincide.
The home position data have been corrected. Proceed to &quot;6.4 Setting the Second
Home Position (Check Point).&quot;
6-11
6.4 Setting the Second Home Position (Check Point)
6.4
Setting the Second Home Position (Check Point)
WARNING
• Be aware of safety hazards when performing the position confirmation of the second home position (check point).
Abnormality of the PG system may be a cause for alarm. The manipulator may
operate in an unexpected manner, and there is a risk of damage to equipment or
injury to personnel.
• Before operating the manipulator, check that the SERVO ON lamp
goes out when the emergency stop buttons on the front door of
NX100 and the programming pendant are pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in
case of an emergency.
• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Prior to performing the following operations, be sure that no one is
in the P-point maximum envelope of the manipulator, and be sure
that you are in a safe place when:
-
Turning ON the NX100 power
Moving the manipulator with the programming pendant
Running the system in the check mode
Performing automatic operations
Injury may result from contact with the manipulator if persons enter the P-point maximum envelope of the manipulator.
• Always press the emergency stop button immediately if there are
problems.
Emergency stop buttons are attached on the right of the front door of the NX100
and the programming pendant.
6-12
6.4 Setting the Second Home Position (Check Point)
CAUTION
• Perform the following inspection procedures prior to teaching the
manipulator. If problems are found, correct them immediately, and
be sure that all other necessary tasks have been performed.
- Check for problems in manipulator movement.
- Check for damage to the insulation and sheathing of external
wires.
- Always return the programming pendant to its hook on the NX100
cabinet after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on
the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.
6-13
6.4 Setting the Second Home Position (Check Point)
6.4.1
Purpose of Position Check Operation
If the absolute number of rotation detected at power supply ON does not match the data
stored in the absolute encoder the last time the power supply was turned off, an alarm is
issued when the controller power is turned ON.
There are two possible causes of this alarm:
• Error in the PG system
• The manipulator was moved after the power supply was turned OFF.
If there is an error with the PG system, the manipulator may stall when playback is started. If
the absolute data allowable range error alarm has occurred, playback and test runs will not
function and the position must be checked.
&quot;OUT OF RANGE (ABSO DATA)&quot; alarm occurs
Reset alarm
Turn ON servo power
Procedure After Alarm Occurs
Position confirmation
operation
Compare second home
position (check point)*
pulses with current
position pulses
NG
Alarm occurs again
OK
Correct defective axis
Replace PG system
Home position calibration
∗ Position checking point
Playback possible
Position Check
After the &quot;OUT OF RANGE (ABSO DATA)&quot; alarm occurs, move to the second home position
using the axis keys and perform the position confirmation. Playback, test runs, and FWD
operation will not function unless &quot;CONFIRM POSITION&quot; is performed.
6-14
6.4 Setting the Second Home Position (Check Point)
Pulse Difference Check
The pulse number at the second home position is compared with that at the current position. If the difference is within the allowable range, playback is enabled. If not, the alarm
occurs again.
• The allowable range pulse is the number of pulses per rotation of the motor (PPR data).
• The initial value of the second home position is the home position (where all axes are at
pulse 0). The second home position can be changed. For details, refer to &quot;6.4.2 Procedure for the Second Home Position Setting (Check Point).&quot;
Alarm Occurrence
If the alarm occurs again, there may be an error in the PG system. Check the system. After
adjusting the erroneous axis, calibrate the home position of the axis, then check the position
again.
NOTE
• Home position calibration of all the axes at the same time enables playback operations
without having to check the position.
• Sometimes in a system with a manipulator that has no brake, it is possible to enable
playback without position checking after the alarm occurs. However, as a rule,
always perform &quot;CONFIRM POSITION&quot;.
Under the above special conditions, the manipulator moves as follows:
After starting, the manipulator moves at low speed (1/10 of the maximum speed) to the
step indicated by the cursor. If it is stopped and restarted during this motion, the low
speed setting is retained until the step at cursor is reached. Regardless of cycle setting,
the manipulator stops after the cursor step is reached. Starting the manipulator again
then moves it at the programmed speed and cycle of the job.
6-15
6.4 Setting the Second Home Position (Check Point)
6.4.2
Procedure for the Second Home Position Setting
(Check Point)
Apart from the &quot;home position&quot; of the manipulator, the second home position can be set up as
a check point for absolute data. Use the following steps to set the specified point.
If two or more manipulators or stations are controlled by one controller, the second home position must be set for each manipulator or station.
Operation
Explanation
1 Select {ROBOT} under the
main menu.
2 Select {SECOND HOME
POS}.
The SECOND HOME POS window appears.
The message “Available to move to and modify specified point” is
shown.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
ARC WELDING
PARAMETER
VARIABLE
SETUP
R1:S
L
U
R
B
T
B001
IN/OUT
In
UTILITY
T
SECOND HOME POS
SPECIFIED
0
0
0
0
0
0
CURRENT
DIFFERENCE
0
0
0
0
0
0
0
0
0
0
0
0
DISPLAY SETUP
Aa
Out
ROBOT
SYSTEM INFO
PAGE
Main Menu
3
Press the page key
,
or select &quot;PAGE&quot; to display the
selection window for the control group.
Short Cut
Available to move to and modify specified point
The group axes by which the second home position is set is
selected when there are two or more group axes.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
ARC WELDING
PARAMETER
VARIABLE
SETUP
B001
IN/OUT
In
Out
UTILITY
T
SECOND HOME POS
SPECIFIED
R1:S
L
U
R
B
T
0
0
0
0
0
0
CURRENT
DIFFERENCE
0
0
0
0
0
0
0
0
0
0
0
0
DISPLAY SETUP
Aa
ROBOT
R1:ROBOT
S1:STATION1
SYSTEM INFO
PAGE
Main Menu
Short Cut
Available to move to and modify specified point
4 Press the axis keys.
Move the manipulator to the new second home position.
5 Press [MODIFY] and
[ENTER].
The second home position is changed.
6-16
6.4 Setting the Second Home Position (Check Point)
6.4.3
Procedure after the Alarm
WARNING
• Be aware of safety hazards when performing the position confirmation of the specified point.
Abnormality of the PG system may be cause for alarm. The manipulator may operate in an unexpected manner, and there is a risk of damage to equipment or injury
to personnel.
If the &quot;OUT OF RANGE (ABSO DATA)&quot; alarm occurs, perform the followings
• Reset the alarm
• Turn Servo power ON
and confirm the second home position. After the confirmation, if the PG system is found to be
the cause of the alarm, perform the necessary operation, such as replacing the PG, etc.
The robot current position data when turning main power supply OFF and ON can be confirmed in “POWER ON/OFF POS&quot; window.
SUPPLE
-MENT
Refer to &quot; 7.7 Position Data When Power is Turned ON/OFF &quot; for details on the
“POWER ON/OFF POS&quot; window.
Operation
Explanation
1 Select {ROBOT} under the
main menu.
2 Select {SECOND HOME
POS}.
The SECOND HOME POS window appears.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
ARC WELDING
PARAMETER
VARIABLE
SETUP
B001
IN/OUT
In
Out
UTILITY
T
SECOND HOME POS
SPECIFIED
R1:S
L
U
R
B
T
0
0
0
0
0
0
CURRENT
DIFFERENCE
0
0
0
0
0
0
DISPLAY SETUP
Aa
ROBOT
SYSTEM INFO
PAGE
Main Menu
6-17
Short Cut
Available to move to and modify specified point
0
0
0
0
0
0
6.4 Setting the Second Home Position (Check Point)
Operation
Explanation
3
Press the page key
,
or select &quot;PAGE&quot; to display the
selection window for the control group.
The group axes by which the second home position is set is
selected when there are two or more group axes.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
ARC WELDING
PARAMETER
VARIABLE
SETUP
B001
IN/OUT
In
Out
UTILITY
T
SECOND HOME POS
SPECIFIED
R1:S
L
U
R
B
T
0
0
0
0
0
0
CURRENT
DIFFERENCE
0
0
0
0
0
0
0
0
0
0
0
0
DISPLAY SETUP
Aa
ROBOT
R1:ROBOT
S1:STATION1
SYSTEM INFO
PAGE
Main Menu
4 Press [FWD].
Short Cut
Available to move to and modify specified point
TCP moves to the second home position. The robot moving
speed is set as selected manual speed.
5 Select {DATA} under the
menu.
6 Select {CONFIRM
POSITION}.
The message “Home position checked” is shown.
Pulse data of the second home position and current pulse data
are compared. If the compared error is in allowed range, playback
operation can be done.
If the error is beyond the allowed range, the alarm occurs again.
6-18
7.1 System Version
7 System Diagnosis
7.1
System Version
It is possible to check the system CPU version information as follows.
Operation
1
Select {SYSTEM INFO}
under the main menu.
2
Select {VERSION}.
Explanation
The VERSION window appears.
DATA
EDIT
DISPLAY
UTILITY
VERSION
SYSTEM
PARAM
MODEL
APPLI
LANG
NS3.12.00A(US)-00
1.92
EA1400N-A0*
ARC WELD
3.12-00-00 / 3.12-00-00
CPU
NCP01
NPP01
AX*#0
SYSTEM ROM
3.12
3.10-00
********
Main Menu
7-1
Short Cut
BOOT ROM
-------1.58
********
T
7.2 Manipulator Model
7.2
Manipulator Model
Operation
1
Select {ROBOT} under the
main menu.
2
Select {MANIPULATOR
TYPE}.
Explanation
The ROBOT AXIS CONFIG window appears.
DATA
DISPLAY
EDIT
UTILITY
T
ROBOT AXIS CONFIG
AXIS CONFIGURATION
R1: EA1400-A0*
S1: TURN-1
0011-1111
0000-0001
PAGE
Main Menu
7-2
Short Cut
7.3 Input/Output Status
7.3
Input/Output Status
7.3.1
Universal Input
The status of input signal which is referred to by input instruction of a job can be confirmed.
Universal Input Window
Operation
1
Select {IN/OUT} under the
main menu.
2
Select {UNIVERSAL INPUT}.
Explanation
The UNIVERSAL INPUT window appears.
DATA
DISPLAY
EDIT
UNIVERSAL INPUT
GROUP
IG#001
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
UTILITY
T
0:DEC. 00:HEX.
#00010
#00011
#00012
#00013
#00014
#00015
#00016
#00017
PAGE
Main Menu
Short Cut
Universal Input Simple Window
Operation
Explanation
1
Select {IN/OUT} under the
main menu.
2
Select {UNIVERSAL INPUT}.
The UNIVERSAL INPUT window appears.
2
Select {SIMPLE} from the
pull-down menu of {DISPLAY}.
The UNIVERSAL INPUT simple window appears.
DATA
DISPLAY
EDIT
UNIVERSAL INPUT
NO.
7654_3210
#0001X
#0002X
#0003X
#0004X
#0005X
#0006X
#0007X
#0008X
#0009X
#0010X
#0011X
#0012X
#0013X
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
Main Menu
7-3
Short Cut
UTILITY
T
7.3 Input/Output Status
7.3.2
Universal Output
The status of the output signal set by the output instruction can be confirmed and modified.
Universal Output Window
Operation
1
Select {IN/OUT} under the
main menu.
2
Select {UNIVERSAL OUTPUT}.
Explanation
The UNIVERSAL OUTPUT window appears.
DATA
EDIT
UNIVERSAL OUTPUT
GROUP
0G#01
OUT#0001
OUT#0002
OUT#0003
OUT#0004
OUT#0005
OUT#0006
OUT#0007
OUT#0008
UTILITY
DISPLAY
3:DEC.
T
03:HEX.
#10010
#10011
#10012
#10013
#10014
#10015
#10016
#10017
PAGE
Main Menu
Short Cut
Universal Output Simple Window
Operation
Explanation
1
Select {IN/OUT} under the
main menu.
2
Select {UNIVERSAL OUTPUT}.
The UNIVERSAL OUTPUT window appears.
3
Select {SIMPLE} from the
pull-down menu of {DISPLAY}.
The UNIVERSAL OUTPUT simple window appears.
DATA
UNIVERSAL OUTPUT
NO.
#1001X
#1002X
#1003X
#1004X
#1005X
#1006X
#1007X
#1008X
#1009X
#1010X
#1011X
#1012X
#1013X
Main Menu
7-4
DISPLAY
EDIT
7654_3210
0000_0011
0000_0010
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
Short Cut
UTILITY
T
7.3 Input/Output Status
Modifying the Output Status
The status of universal output signal can be changed by the operation below.
Operation
Explanation
1
Select the desired output signal number.
Select the status of the desired output signal, “
the UNIVERSAL OUTPUT window.
2
Press [INTER LOCK] +
[SELECT].
The status is changed. (
DATA
EDIT
UNIVERSAL OUTPUT
GROUP
OUT#0001
OUT#0002
OUT#0003
OUT#0004
OUT#0005
OUT#0006
OUT#0007
OUT#0008
:ON status,
DISPLAY
UTILITY
3:DEC.
” or “
,” in
:OFF status)
T
03:HEX.
#10010
#10011
#10012
#10013
#10014
#10015
#10016
#10017
PAGE
Main Menu
NOTE
ShortCut
The status of universal output signal can be changed only when the mode is set to the
teach mode.
7-5
7.3 Input/Output Status
7.3.3
Specific Input
Specific Input Window
Operation
1
Select {IN/OUT} under the
main menu.
2
Select {SPECIFIC INPUT}.
Explanation
The SPECIFIED INPUT window appears.
DATA
DISPLAY
EDIT
SPECIFIED INPUT
GROUP
SIN#0001
SIN#0002
SIN#0003
SIN#0004
SIN#0005
SIN#0006
SIN#0007
SIN#0008
UTILITY
0:DEC.
#40010
#40011
#40012
#40013
#40014
#40015
#40016
#40017
T
00:HEX.
SYSTEM ALM REQ
SYSTEM MSG REQ
USER ALM REQ
USER MSG REQ
ALM/ERR RESET
SPEED LIMIT
PAGE
Main Menu
Short Cut
Specific Input Simple Window
Operation
Explanation
1
Select {IN/OUT} under the
main menu.
2
Select {SPECIFIC INPUT}.
The SPECIFIED INPUT window appears.
2
Select {SIMPLE} from the
pull-down menu of {DISPLAY}.
The SPECIFIED INPUT simple window appears.
DATA
EDIT
DISPLAY
SPECIFIED INPUT
NO.
7654_3210
#4001X
#4002X
#4003X
#4004X
#4005X
#4006X
#4007X
#4008X
#4009X
#4010X
#4011X
#4012X
#4013X
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
1000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
Main Menu
7-6
Short Cut
UTILITY
T
7.3 Input/Output Status
7.3.4
Specific Output
Specific Output Window
Operation
1
Select {IN/OUT} under the
main menu.
2
Select {SPECIFIC OUTPUT}.
Explanation
The SPECIFIED OUTPUT window appears.
DATA
EDIT
SPECIFIED OUTPUT
GROUP
SOUT#0001
SOUT#0002
SOUT#0003
SOUT#0004
SOUT#0005
SOUT#0006
SOUT#0007
SOUT#0008
UTILITY
DISPLAY
0:DEC.
#50010
#50011
#50012
#50013
#50014
#50015
#50016
#50017
T
00:HEX.
MAJOR ALM OCCUR
MINOR ALM OCCUR
SYSTEM ALM OCCUR
USER ALM OCCUR
ERROR OCCUR
MEMORY BTRY WEAK
ENCDR BTRY WEAK
COOLING FAN ERR
PAGE
Main Menu
Short Cut
Specific Output Simple Window
Operation
Explanation
1
Select {IN/OUT} under the
main menu.
2
Select {SPECIFIC OUTPUT}.
The SPECIFIED OUTPUT window appears.
2
Select {SIMPLE} from the
pull-down menu of {DISPLAY}.
The SPECIFIED OUTPUT simple window appears.
DATA
EDIT
SPECIFIED OUTPUT
NO.
#5001X
#5002X
#5003X
#5004X
#5005X
#5006X
#5007X
#5008X
#5009X
#5010X
#5011X
#5012X
#5013X
Main Menu
7-7
DISPLAY
7654_3210
0000_0000
0000_0000
0000_0000
0000_0000
0000_1010
0000_0000
0000_0000
0000_0110
0000_0000
0000_0000
0000_0000
0000_0000
0000_0000
Short Cut
UTILITY
T
7.3 Input/Output Status
7.3.5
RIN Input
RIN Input Window
Operation
1
Select {IN/OUT} under the
main menu.
2
Select {RIN}.
Explanation
The RIN window appears.
DATA
EDIT
DISPLAY
UTILITY
RIN INPUT 1
RIN#001
RIN#002
RIN#003
RIN#004
RIN#005
Main Menu
7-8
DIRECT IN1 (SERVO)
DIRECT IN2 (SERVO)
DIRECT IN3 (SERVO)
DIRECT IN4 (SERVO)
DIRECT IN5 (SERVO)
Short Cut
T
7.3 Input/Output Status
7.3.6
Signal Number Search
A search can be made for a signal number of a universal input, universal output, specific
input, and specific output.
DATA
EDIT
DISPLAY
UNIVERSAL INPUT
IG#001 IG#01
GROUP
Signal No.
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
UTILITY
T
123 :00:HEX.
10
0:DEC.
7b : 16
#00010
#00011
#00012
#00013
#00014
#00015
#00016
#00017
PAGE
Main Menu
Short Cut
A search for the signal number can be made in the following two ways.
• Direct search on the UNIVERSAL/SPECIFIED INPUT/OUTPUT window
• Search from the menu
7-9
7.3 Input/Output Status
Direct Search on the Universal/Specified Input/Output Window
Operation
1
Move the cursor to a signal
number in the UNIVERSAL/
SPECIFIED INPUT/OUTPUT window, and press
[SELECT].
Explanation
Numeric values can now be entered.
EDIT
DATA
DISPLAY
UTILITY
T
UNIVERSAL INPUT
IG#001IG#01 0:DEC.
123 00:HEX.
: 10
7b : 16
GROUP
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
#00010
#00011
#00012
#00013
#00014
#00015
#00016
#00017
PAGE
Short Cut
Main Menu
2
Enter the signal number to be
searched.
Type the signal number in the number input line.
3
Press [ENTER] to start the
search.
The page where the signal number exists appers.
EDIT
DATA
DISPLAY
UTILITY
T
UNIVERSAL INPUT
12300:HEX.
: 10
7b : 16
GROUP
IG#006IG#01 0:DEC.
IN#0041
IN#0042
IN#0043
IN#0044
IN#0045
IN#0046
IN#0047
IN#0048
#00060
#00061
#00062
#00063
#00064
#00065
#00066
#00067
PAGE
Main Menu
7-10
Short Cut
7.3 Input/Output Status
Search from the Menu
Operation
1
Select {EDIT} under the
menu in the UNIVERSAL/
SPECIFIED INPUT/OUTPUT window.
Explanation
The pull-down menu appears.
EDI
EDIT
DATA
DISPLAY
UTILITY
T
SEARCH SIGNAL
UNIVERSALNO.
INPUT
GROUP
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
SEARCHIG#001
RELAY IG#01
NO.
12300:HEX.
: 10
7b : 16
0:DEC.
#00010
RENAME
#00011
SELECT ALL SIM
#00012
#00013
SELECT ALL PHY
#00014
#00015
#00016
#00017
PAGE
Main Menu
2
Select {SEARCH SIGNAL
NO.}.
Short Cut
Numeric values can now be entered.
EDIT
DATA
DISPLAY
UNIVERSAL INPUT
IG#001
GROUP
IG#01
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
UTILITY
T
123 : 00:HEX.
10
7b : 16
0:DEC.
#00010
#00011
#00012
#00013
#00014
#00015
#00016
#00017
PAGE
Main Menu
Short Cut
3
Enter the signal number to be
searched.
Type the signal number in the number input line.
4
Press [ENTER] to start the
search.
The page where the signal number exists appears.
7-11
7.3 Input/Output Status
7.3.7
Relay Number Search
A search can be made for a relay number of a universal input, universal output, specific input,
and specific output.
DATA
EDIT
DISPLAY
UNIVERSAL INPUT
GROUP
IG#01
IG#001
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
UTILITY
T
123 : 00:HEX.
10
7b : 16
0:DEC.
#00010
#00011
#00012
#00013
#00014
#00015
#00016
#00017
Relay No.
PAGE
Main Menu
Short Cut
A search for the relay number can be made in the following two ways.
• Direct search on the UNIVERSAL/SPECIFIED INPUT/OUTPUT window
• Search from the menu
7-12
7.3 Input/Output Status
Direct Search on the Universal/Specified Input/Output Window
Operation
1
Move the cursor to a relay
number in the UNIVERSAL/
SPECIFIED INPUT/OUTPUT window, and press
[SELECT].
Explanation
Numeric values can now be entered.
DATA
EDIT
DISPLAY
UTILITY
T
UNIVERSAL INPUT
123 00:HEX.
: 10
7b : 16
GROUP
IG#001IG#01 0:DEC.
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
#00011
#00012
#00013
#00014
#00015
#00016
#00017
PAGE
Short Cut
Main Menu
2
Enter the relay number to be
searched.
Type the relay number in the number input line.
3
Press [ENTER] to start the
search.
The page where the relay number exists appers.
EDIT
DATA
DISPLAY
UTILITY
T
UNIVERSAL INPUT
12300:HEX.
: 10
7b : 16
GROUP
IG#01 0:DEC.
IG#005
IN#0033
IN#0034
IN#0035
IN#0036
IN#0037
IN#0038
IN#0039
IN#0040
#00050
#00051
#00052
#00053
#00054
#00055
#00056
#00057
PAGE
Main Menu
7-13
Short Cut
7.3 Input/Output Status
Search from the Menu
Operation
1
Select {EDIT} under the
menu in the UNIVERSAL/
SPECIFIED INPUT/OUTPUT window.
Explanation
The pull-down menu appears.
EDIT
DATA
DISPLAY
UTILITY
T
SEARCH SIGNAL
UNIVERSALNO.
INPUT
GROUP
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
SEARCHIG#001
RELAY IG#01
NO.
12300:HEX.
: 10
0:DEC.
7b : 16
#00010
RENAME
#00011
SELECT ALL SIM
#00012
#00013
SELECT ALL PHY
#00014
#00015
#00016
#00017
PAGE
Short Cut
Main Menu
2
Select {SEARCH RELAY
SIGNAL NO.}.
Numeric values can now be entered.
DATA
EDIT
DISPLAY
UTILITY
T
UNIVERSAL INPUT
12300:HEX.
: 10
7b : 16
GROUP
IG#01 0:DEC.
IG#001
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
#00011
#00012
#00013
#00014
#00015
#00016
#00017
PAGE
Main Menu
Short Cut
3
Enter the relay number to be
searched.
Type the relay number in the number input line.
4
Press [ENTER] to start the
search.
The page where the relay number exists appears.
7-14
7.3 Input/Output Status
7.3.8
Modification of the Signal Name
The name of the universal input or output signal can be modified.
DATA
EDIT
DISPLAY
UTILITY
T
UNIVERSAL INPUT
12300:HEX.
: 10
7b : 16
GROUP
IG#01 0:DEC.
IG#001
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
#00010
#00011
#00012
#00013
#00014
#00015
#00016
#00017
Signal name
PAGE
Main Menu
ShortCut
The name can be modified in the following two ways.
• Direct modification on the UNIVERSAL/SPECIFIED INPUT/OUTPUT window.
• Modification from the menu
Direct Modification on the Universal/Specified Input/Output Window
Operation
1
Move the cursor to the signal
name to be modified in the
UNIVERSAL/SPECIFIED
INPUT/OUTPUT window,
and press [SELECT].
2
Enter the signal name.
3
Press [ENTER].
Explanation
The window for character input appears.
New signal name is registered.
EDIT
DATA
DISPLAY
UTILITY
T
UNIVERSAL INPUT
12300:HEX.
: 10
7b : 16
GROUP
IG#01 0:DEC.
IG#001
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
#00010
#00011
#00012
#00013
#00014
#00015
#00016
#00017
TEST SIGNAL
PAGE
Main Menu
7-15
Short Cut
7.3 Input/Output Status
Modification from the Menu
Operation
1
Move the cursor to the signal
name to be modified in the
UNIVERSAL/SPECIFIED
INPUT/OUTPUT window.
2
Select {EDIT} under the
menu.
Explanation
The pull-down menu appears.
EDIT
DATA
DISPLAY
UTILITY
T
SEARCH SIGNAL
UNIVERSALNO.INPUT
GROUP
SEARCHIG#001
RELAY IG#01
NO.
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
#00010
RENAME
#00011
SELECT ALL SIM
#00012
#00013
SELECT ALL PHY
#00014
#00015
#00016
#00017
12300:HEX.
: 10
0:DEC.
7b : 16
TEST SIGNAL
PAGE
Main Menu
3
Select {RENAME}.
4
Enter the signal name.
5
Press [ENTER].
Short Cut
The window for character input appears.
New signal name is registered.
EDIT
DATA
DISPLAY
UTILITY
T
UNIVERSAL INPUT
12300:HEX.
: 10
7b : 16
GROUP
IG#01 0:DEC.
IG#001
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
#00010
#00011
#00012
#00013
#00014
#00015
#00016
#00017
TEST SIGNAL
PAGE
Main Menu
7-16
Short Cut
7.4 System Monitoring Time Display
7.4
7.4.1
System Monitoring Time Display
System Monitoring Time Display Window
The status of system operation, e.g. power ON time, can be checked.
Operation
1
Select {SYSTEM INFO}.
2
Select {MONITORING
TIME}.
Explanation
The SYS MONITORING TIME window appears.
DATA
EDIT
DISPLAY
UTILITY
T
SYS MONITORING TIME
11
2
3
4
5
CONTROL POWER TIME
49:40’13
SERVO POWER TIME
43:51’25
PLAYBACK TIME
43:47’19
MOVING TIME
40:12’47
OPERATING TIME
25:28’49
(2005/07/23 14:58
)
(2005/07/23 14:58
)
(2005/07/23 14:58
)
(2005/07/23 14:58
)
(2005/07/23 14:58
)
PAGE
Main Menu
Short Cut
CONTROL POWER TIME
Displays the cumulative time that the main power supply
has been ON.
SERVO POWER TIME
Displays the cumulative time that the servo power supply has been ON.
PLAYBACK TIME
Displays the cumulative time during which playback was
executed.
MOVING TIME
Displays the cumulative time that the manipulator was in
motion.
OPERATING TIME
Displays the cumulative time spent in operation. For
example, if the manipulator is used for spot welding, it
displays the amount of time spent in spot welding; if the
manipulator is used for handling, it displays the time
spent in handling.
7-17
7.4 System Monitoring Time Display
7.4.2
Individual Window of the System Monitoring Time Display
If the page key
is pressed, or &quot;PAGE&quot; is selected to display the selection window for the
system monitoring time display, the servo power time, playback time, moving time, and eachapplication operating time by each control group are individually displayed.
DATA
EDIT
DISPLAY
UTILITY
T
SERVO POWER TIME
ROBOT1
(2005/07/23 14:58
43:51’25
(2005/07/23 14:58
43:51’25
STATION1
DATA
EDIT
DISPLAY
)
)
UTILITY
T
PLAYBACK TIME
ROBOT1
(2005/07/23 14:58
43:47’17
(2005/07/23 14:58
43:47’17
STATION1
DATA
EDIT
DISPLAY
)
)
UTILITY
T
MOVING TIME
ROBOT1
(2005/07/23 14:58
40:12’17
(2005/07/23 14:58
40:12’17
STATION1
DATA
EDIT
DISPLAY
)
)
UTILITY
T
OPERATING TIME
APPLI1
NOTE
(2005/07/23 14:58
25:28’49
)
The total time of each control group here is not always the same as the time in the SYS
MONITORING TIME window because these windows show time as seen from the individual control group.
7-18
7.4 System Monitoring Time Display
7.4.3
Clearing the System Monitoring Time Display
The moving time and operating time can be cleared and set back to 0 by following procedure.
These operations can be performed in the SYS MONITORING TIME window, or in the individual windows.
Operation
1
Select the time to be cleared.
Explanation
The confirmation dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
T
SYS MONITORING TIME
CONTROL POWER TIME
(2005/07/23 14:58 )
49:40’13
SERVO POWER TIME
(2005/07/23 14:58 )
43:51’25
PLAYBACK TTIME
(2005/07/23 14:58 )
Initialize?
43:47’19
MOVING
TIME
MOVING TIME
(2005/07/23
14:58
)
40:12’47
OPERATING TIME YES
(2005/07/23 14:58NO
)
25:28’49
PAGE
Main Menu
2
Select “YES.”
Short Cut
The cumulative time value at the cursor line is reset to 0, and a
new time measurement begins.
DATA
EDIT
DISPLAY
UTILITY
T
SYS MONITORING TIME
CONTROL POWER TIME
49:40’13
SERVO POWER TIME
43:51’25
PALYBACK TIME
43:47’19
MOVING TIME
0: 0’ 0
OPERATING TIME
25:28’49
(2005/07/23 14:58
)
(2005/07/23 14:58
)
(2005/07/23 14:58
)
(2005/07/23 14:58
)
(2005/07/23 14:58
)
PAGE
Main Time
7-19
Short Cut
7.5 Alarm History
7.5
7.5.1
Alarm History
Alarm History Window
The alarm history can be confirmed in the alarm history window. There are five types of alarm
history windows: the &quot;MAJOR ALARM&quot; window, the &quot;MINOR ALARM&quot; window, the &quot;USER
ALARM (SYSTEM)&quot; window, the &quot;USER ALARM (USER)&quot; window, and the &quot;OFF-LINE
ALARM&quot; window. Each window shows the alarm code and the date and time.
Operation
1
Select {SYSTEM INFO}
under the main menu.
2
Select {ALARM HISTORY}.
Explanation
The alarm history window appears.
MINOR ALARM
CODE
001
DISPLAY
EDIT
DATA
DATE
4109
2005/07/23
UTILITY
T
CLOCK
15:01
DC 24V POWER SUPPLY FAILURE(I/O)
[0000_0001]
JOB ******** LINE **** STEP ***
PAGE
Main Menu
Short Cut
3
Press the page key
to
change the window, or select
&quot;PAGE&quot; to display the selection window for the alarm
windows.
Each time the page key
is pressed, the window changes
&quot;MAJOR ALARM&quot; &quot;MINOR ALARM&quot; &quot;USER ALARM(SYSTEM)” &quot;USER ALARM(USER)&quot; &quot;OFF-LINE ALARM.&quot;
DATA
MINOR ALARM
CODE
001
DISPLAY
EDIT
4109
DATA
2005/07/23
UTILITY
T
CLOCK
15:01
MAJOR ALARM
MINOR ALARM
DC 24V POWER SUPPLY FAILURE(I/O)
USER ALARM (SYSTEM)
[0000_0001]
USER ALRM (USER)
***
JOB ******** LINE **** STEP OFF-LINE
ALARM
PAGE
Main Menu
7-20
Short Cut
7.5 Alarm History
7.5.2
Clearing the Alarm History
The history of the minor alarms and the user alarms (system and user) can be cleared.
Operation
1
Display the alarm history window to be cleared.
2
Select {DATA} under the
menu.
Explanation
The pull-down menu &quot;CLEAR HISTORY&quot; appears.
DATA
DISPLAY
EDIT
UTILITY
T
CLEAR HISTORY
MINOR ALARM
CODE
001
4109
DATE
2005/07/23
CLOCK
15:01
DC 24V POWER SUPPLY FAILURE(I/O)
[0000_0001]
JOB ******** LINE **** STEP ***
PAGE
Main Menu
3
Select {CLEAR HISTORY}.
Short Cut
The confirmation dialog box appears.
DATA
MINOR ALARM
CODE
001
DISPLAY
EDIT
4109
DATE
2005/07/23
UTILITY
T
CLOCK
15:01
Initialize?
NO
YES
DC 24V POWER SUPPLY FAILURE(I/O)
[0000_0001]
JOB ******** LINE **** STEP ***
PAGE
Main Menu
4
Select “YES.”
Short Cut
The alarm history displayed is reset.
7-21
7.6 I/O Message History
7.6
I/O Message History
7.6.1
I/O Message History Window
The I/O message history can be confirmed in the I/O MESSAGE HISTORY window.
The I/O MESSAGE HISTORY window shows the date and time, job name, line number, and
step number of the I/O message that appeared on the window.
Operation
1
Select {SYSTEM INFO}
under the main menu.
2
Select {I/O MSG HISTORY}.
Explanation
The I/O MESSAGE HISTORY window appears.
DATA
EDIT
DISPLAY
UTILITY
I/O MESSAGE HISTORY
0001
0002
0003
0004
0005
0006
0007
GAS SHORTAGE
WIRE SHORTAGE
DATE:1999/06/16 12:00
JOB NAME: ARCON LINE: 0006 STEP: 004
Main Menu
Short Cut
Press [SELECT], and numeric values can now be entered.
Input the history number, and press [ENTER]. The search for the
input history number begins, and the I/O message that
appeared on the window is displayed.
Search
Use the following operation to search for the I/O message history.
Operation
1
Select {EDIT} under the
menu.
2
Select {SEARCH}.
3
Enter the history No.
4
Press [ENTER].
Explanation
The character input line appears.
The search for the input history number begins, and the I/O
message is displayed.
7-22
7.6 I/O Message History
7.6.2
Clearing the I/O Message History
Use the following operation to clear the I/O message history.
Operation
1
Select {DATA} under the
menu.
2
Select {CLEAR HISTORY}.
Explanation
The confirmation dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
I/O MESSAGE HISTORY
0001
0002
0003
0004
0005
0006
0007
GAS SHORTAGE
WIRE SHORTAGE
Initialize?
YES
NO
DATE:1999/06/16 12:00
JOB NAME: ARCON LINE: 0006 STEP: 004
Main Menu
3
Select “YES.”
Short Cut
The displayed I/O message history is cleared.
7-23
7.7 Position Data When Power is Turned ON/OFF
7.7
7.7.1
Position Data When Power is Turned ON/OFF
Power ON/OFF Position Window
The Power ON/OFF position window shows the position of the manipulator when power was
turned OFF the last time, the current position of the manipulator when power was later turned
ON, and the amount of difference between the two positions. When alarm 4107, &quot;OUT OF
RANGE (ABSO DATA)&quot; occurs, the error value of the faulty axes can be verified in this window.
Operation
1
Select {ROBOT} under the
main menu.
2
Select {POWER ON/OFF
POS}.
Explanation
The POWER ON/OFF POSITION window appears.
DATA
DISPLAY
EDIT
UTILITY
POWER ON/OFF POSITION
OFF POS ON POS DIFFERENCE
R1: S
L
U
R
B
T
4775
8225
960
-336
-202
-10
4120
8225
960
-336
-203
-11
665
0
0
0
1
1
PAGE
Main Menu
7-24
Short Cut
7.8 Current Position
7.8
7.8.1
Current Position
Current Position Window
Operation
1
Select {ROBOT} under the
main menu.
2
Select {CURRENT POSITION} under the sub menu.
Explanation
The CURRENT POSITION window appears.
DATA
EDIT
UTILITY
DISPLAY
CURRENT POSITION
COORDINATE
PULSE TOOL 00
0
0
0
0
0
0
R1: S
L
U
R
B
T
PAGE
Main Menu
3
Select the types of coordinates to be displayed.
Short Cut
The pull-down menu appears.
DATA
UTILITY
DISPLAY
EDIT
CURRENT POSITION
COORDINATE: PULSE TOOL
R1: S
L
U
R
B
T
00
PULSE0
BASE 0
0
ROBOT
USER 0
0
0
PAGE
Main Menu
4
Select the desired coordinate
system.
Short Cut
The type of coordinates being displayed is changed.
DATA
CURRENT POSITION
COORDINATE: BASE
R1: X
Y
Z
DISPLAY
EDIT
TOOL
915.00 mm
0.000 mm
765.000 mm
UTILITY
00
Rx
Ry
Rz
180.00 deg.
0.00 deg.
0.00 deg.
&lt;ROBOT TYPE&gt;
FRONT
S&lt; 180
UP
R&lt; 180
FLIP
T&lt; 180
PAGE
Main Menu
7-25
Short Cut
7.9 Servo Monitoring
7.9
7.9.1
Servo Monitoring
Servo Monitor Window
The servo monitor window shows the servo-related data of each axis.
Monitor Items
Description
FEEDBACK PULSE
Feedback position (actual position) of each axis
“0” at the home position
ERROR PULSE
Difference between the command position and
the feedback position of each axis
SPEED DEVIATION
Difference between the command speed and the
feedback speed of each axis
SPEED INST
Speed reference of each axis
FEEDBACK SPEED
Feedback speed (actual speed) of each axis
TORQUE SPEC
Torque reference of each axis
MAX. TORQUE
Keeps the maximum value of the torque reference of each axis.
“0” when the maximum torque is cleared or the
control power supply is turned ON or OFF
ENCODER ROTATE SUM
Accumulated number of encoder rotation when
the control power supply of each axis is turned
ON
IN 1 TURN POSITION
Position after one rotation of the encoder when
the control power supply of each axis is turned
ON
MOTOR ABSOLUTE
Absolute value of the motor is calculated by adding the position in one rotation to the sum of the
accumulated rotations when the control power
supply of each axis is turned ON.
7-26
7.9 Servo Monitoring
7.9.2
Changing the Monitor Items
Operation
1
Set the security mode to the
management mode.
2
Select {ROBOT} under the
main menu.
3
Select {SERVO MONITOR}.
Explanation
The SERVO MONITOR window appears.
DATA
DISPLAY
EDIT
UTILITY
T
SERVO MONITOR
FEEDBACK PULSE
R1: S
L
U
R
B
T
4
Select {DISPLAY} under the
menu.
ERROR PULSE
300
0
0
0
0
0
1805
234
995
123
237
2432
The pull-down menu appears.
MONITOR ITEM 1 is the data on the left, and MONITOR ITEM 2
is the data on the right.
EDIT
DATA
SERVO MONITOR
DISPLAY
UTILITY
T
MONITOR ITEM1&gt;
FEEDBACK PULSE
MONITOR ITEM2&gt; ERROR PULSE
R1: S
L
U
R
B
T
5
Select MONITOR ITEM 1 or
2, and view the sub-menu
choices by the cursor key.
300
0
0
0
0
0
1805
234
995
123
237
2432
The sub-menu choices appear.
EDIT
DATA
SERVO MONITOR
DISPLAY
UTILITY
FEEDBACK PULSE
1 &gt;
IN 1 TURN
POSITION
T
FEEDBACK PULSE
ERROR PULSE
2 &gt; MOTOR ABSOLUTE
SPEED
1805
1805
DEVIATION
S
R1:R1:S
L
U
R
B
T
300
0
0
0
0
0
234
234
SPEED INST
995
995
123
123SPEED
FEEDBACK
237
237
TORQUE SPEC
2432
2432
MAX TORQUE
ENCODER ROTATE SUM
6
Select a menu.
The type of monitor-related information is changed.
DATA
EDIT
DISPLAY
UTILITY
T
SERVO MONITOR
SPEED INST
R1: S
L
U
R
B
T
7-27
4000
0
0
0
0
0
ERROR PULSE
300
0
0
0
0
0
7.9 Servo Monitoring
7.9.3
Clearing Maximum Torque Data
The data for the maximum torque can be cleared when the maximum torque-related information is being displayed.
Operation
1
Select {DATA} under the
menu.
Explanation
The clear max torque window appears.
DATA
DISPLAY
EDIT
UTILITY
CLEAR MAX. TORQUE
R1: S
L
U
R
B
T
2
Select {MAX. TORQUE}.
MAX TORQUE
ERROR PULSE
30
70
80
20
40
30
0
0
0
0
0
0
The maximum torque data is cleared.
DATA
EDIT
DISPLAY
UTILITY
SERVO MONITOR
R1: S
L
U
R
B
T
7-28
MAX TORQUE
FEEDBACK PULSE
0
0
0
0
0
0
0
0
0
0
0
0
8.1 Outline of Alarm
8 Alarm
8.1
Outline of Alarm
When an alarm of level 0 to 3 (major alarm) occurs, the servo power supply is turned OFF.
Alarm Code Classification
Alarm Code
0
Alarm Level
Alarm Reset Method
Level 0 (Major alarm)
(Off line alarm : Initial diagnosis/
Hardware diagnosis alarm)
It is not possible to reset by &quot;RESET&quot; under
the ALARM window or the system input signal
(Alarm reset). Turn OFF the main power supply and correct the cause of the alarm. Then
turn ON the main power supply again.
Level 1 to 3 (Major alarm)
It is not possible to reset by &quot;RESET&quot; under
the ALARM window or the system input signal
(Alarm reset). Turn OFF the main power supply and correct the cause of the alarm. Then
turn ON the main power supply again.
Level 4 to 8 (Minor alarm)
After correcting the cause, it is possible to
reset by &quot;RESET&quot; under the ALARM window
or the system input signal (Alarm reset).
Level 9 (Minor alarm)
(I/O alarm)
After correcting the cause for which the system input signal for the system or user alarm
request turns ON, it is possible to reset by
&quot;RESET&quot; under the ALARM window or the
system input signal (Alarm reset).
1
to
3
4
to
8
9
8-1
8.2 Alarm Display
8.2
Alarm Display
8.2.1
Displaying and Releasing Alarm
If an alarm occurs during operation, the manipulator stops immediately and the ALARM window appears on the programming pendant indicating that the machine was stopped by an
alarm.
DATA
EDIT
DISPLAY
UTILITY
ALARM
Alarm No.
ALARM
ALARM
Alarm
message
ALARM
Sub-data
4100
1
OVERRUN
(ROBOT)
SLURBT
4321
OVERLOAD
(MOMENT)
SLURBT
4315
COLLISION DETECT
OCCUR TIMES: 1
RESET
Main Menu
Short Cut
If more than one alarm occurs simultaneously, all the alarms are displayed. Scroll the viewing
area with the cursor key to view the alarm that is not currently displayed on the viewing area.
The following operations are available in the alarm status: window change, mode change,
alarm reset, and emergency stop. If the window is changed to another window during alarm
occurrence, the ALARM window can be shown again by selecting {SYSTEM INFO} under the
main menu and then selecting {ALARM}.
Releasing Alarms
Alarms are classified by minor and major alarms.
• Minor Alarms
Select &quot;RESET&quot; on the ALARM window to release alarms.
Or, turn ON the specific signal &quot;ALARM RESET&quot; when using an external input signal
(specific input).
• Major Alarms
If a severe alarm such as hardware failure occurs, servo power is automatically shut OFF
and the manipulator stops. Turn OFF the main power supply, remove the cause of the
alarm, and then turn ON the power supply again.
8-2
8.2 Alarm Display
8.2.2
Special Alarm Display
Sub Data
Sub data such as data for the axis where the alarm occurred, may also be displayed for
some alarms.
• Decimal data
Without signs: 0 to 65535
With signs: -32768 to 32767
• Binary data
The alarm occurrence data becomes “1.”
With 8 bits: 0000_0001
With 16 bits: 00000001_00000001
• Axis data
The axis where the alarm occurred is highlighted.
With robot axis: Robots 1 to 4
[SLURBT]
With base axis: Robots 1 to 4
[123]
With station axis: Stations 1 to 12 [ 1 2 3 ]
• XYZ coordinate data
The coordinates where the alarm occurred are highlighted.
[XYZ]
[ X Y Z Tx Ty Tz ]
• 123 data
The data for which the alarm occurred is highlighted.
[123]
• Control group data
The control group where the alarm occurred is highlighted.
[ R1 R2 S1 S2 S3 ]
Multiple SERVOPACK System
In a system using more than one SERVOPACK, the number of the SERVOPACK where
the alarm occurred is also displayed. The S1 switch of the AXA01 circuit board shows the
SERVOPACK number.
SV#1: SERVOPACK 1 (AXA01 circuit board S1 switch: 0)
SV#2: SERVOPACK 2 (AXA01 circuit board S1 switch: 1)
SV#3: SERVOPACK 3 (AXA01 circuit board S1 switch: 2)
SV#4: SERVOPACK 4 (AXA01 circuit board S1 switch: 3)
8-3
8.2 Alarm Display
Independent Control Function (Optional)
In the independent control function (multi-task job), the tasks that were being done when
the alarm occurred are also displayed.
TASK#0: Master-task job
TASK#1: Sub-task1 job (SUB1)
TASK#2: Sub-task2 job (SUB2)
TASK#3: Sub-task3 job (SUB3)
TASK#4: Sub-task4 job (SUB4)
TASK#5: Sub-task5 job (SUB5)
TASK#6: Sub-task6 job (SUB6)
TASK#7: Sub-task7 job (SUB7)
8-4
8.3 Alarm Message List
8.3
Alarm Message List
CAUTION
Before handling the system control circuit board “JANCD-NIF∗∗−∗” for any remedies, consult YASKAWA representative. To handle the JANCD-NIF∗∗−∗, personnel must be appropriately skilled in maintenance mode operation.
JANCD-NIF∗∗−∗ backs up very important file data for the user program with a battery.
Careless operation may delete registered data.
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred in communications
between boards when the control power
turned ON.
0020
0021
CPU COMMUNICATION ERROR
COMMUNICATION ERROR
(SERVO)
10
• No response was sent from the
optional board #1.
20
• No response was sent from the
optional board #2.
50
• No response was sent from the
servo board #1.
51
• No response was sent from the
servo board #2.
52
• No response was sent from the
servo board #3.
53
• No response was sent from the
servo board #4.
50
An error occurred in communications with the servo board #1.
• The communications CPU for the
servo board #1 detected an error
when the control power turned
ON.
51
An error occurred in communications with the servo board #2.
• The communications CPU for the
servo board #2 detected an error
when the control power turned
ON.
52
An error occurred in communications with the servo board #3.
• The communications CPU for the
servo board #3 detected an error
when the control power turned
ON.
53
An error occurred in communications with the servo board #4.
• The communications CPU for the
servo board #4 detected an error
when the control power turned
ON.
8-5
• Turn the power OFF then back ON.
• Check that the optional board is correctly
inserted.
• If the error occurs again, contact your
Yaskawa representative.
• Turn the power OFF then back ON.
• Check the connections of communications
cable, terminator terminal, and the station
number settings.
If the error occurs again, contact your
Yaskawa representative.
• Turn the power OFF then back ON.
• Check the connections of communications
cable, terminator terminal, and the station
number settings.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
The system program file is damaged.
0030
0060
0100
0101
ROM ERROR
COMMUNICATION ERROR
(I/O MODULE)
COMMUNICATION ERROR
(AXA#1)
COMMUNICATION ERROR
(AXA#2)
0102
COMMUNICATION ERROR
(AXA#3)
0103
COMMUNICATION ERROR
(AXA#4)
1
• The NCP01 system program is
damaged.
10
• The system program of optional
board #1 is damaged.
20
• The system program of optional
board #2 is damaged.
50
• The system program of servo
board #1 is damaged.
51
• The system program of servo
board #2 is damaged.
52
• The system program of servo
board #3 is damaged.
53
• The system program of servo
board #4 is damaged.
1 to
15
An error was detected in communications with an I/O module board
when the control power turned ON.
1
An error occurred in communications with the servo board #1.
• The error was detected during the
check of the CERF communication watchdog data.
2
An error occurred in communications with the servo board #1.
• The error was detected during the
check of the number of the CERF
communications.
1
An error occurred in communications with the servo board #2.
• The error was detected during the
check of the CERF communication watchdog data.
2
An error occurred in communications with the servo board #2.
• The error was detected during the
check of the number of the CERF
communications.
1
An error occurred in communications with the servo board #3.
• The error was detected during the
check of the CERF communication watchdog data.
2
An error occurred in communications with the servo board #3.
• The error was detected during the
check of the number of the CERF
communications.
1
An error occurred in communications with the servo board #4.
• The error was detected during the
check of the CERF communication watchdog data.
8-6
If the error occurs again, contact your
Yaskawa representative.
• Turn the power OFF then back ON.
• Check the connections of communications
cable, terminator terminal, and the station
number settings.
If the error occurs again, contact your
Yaskawa representative.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
2
0103
Cause
An error occurred in communications with the servo board #4.
• The error was detected during the
check of the number of the CERF
communications.
COMMUNICATION ERROR
(AXA#4)
Remedy
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
The parameter file is damaged.
0
0200
MEMORY
ERROR
(PARAMETER
FILE)
1
RO parameter
2
SV parameter
3
SVM parameter
4
SC parameter
5
SD parameter
6
CIO parameter
7
FD parameter
8
AP parameter
9
RS parameter
10
SE parameter
11
SVC parameter
12
AMC parameter
13
SVP parameter
14
MF parameter
15
0210
0220
MEMORY
ERROR
(SYSTEM CONFIG-DATA)
MEMORY
ERROR
(JOB MNG DATA)
RC parameter
• Initialize the corresponding parameter file in
the maintenance mode.
If the error occurs again, contact your
Yaskawa representative.
SVS parameter
0
The system configuration information data are damaged.
• Initialize the system.
If the error occurs again, contact your
Yaskawa representative.
0
The management data of job files
are damaged.
1
The job files are damaged.
2
The management data of position
data files are damaged.
3
The memory play file is damaged.
• Initialize the memory play file.
If the error occurs again, contact your
Yaskawa representative.
• Initialize the job files in the maintenance
mode.
If the error occurs again, contact your
Yaskawa representative.
0230
MEMORY
ERROR
(LADDER PRG
FILE)
0
The concurrent I/O ladder program
is damaged.
• Initialize the concurrent I/O ladder program.
If the error occurs again, contact your
Yaskawa representative.
0240
MEMORRY
ERROR
(DEVICENET
ALLOC FL)
0
The DeviceNet allocation file1 is
damaged.
1
The DeviceNet allocation file2 is
damaged.
• Use the IO module setting screen in the
maintenance mode to initialize the
DeviceNet allocation file.
If the error occurs again, contact your
Yaskawa representative.
0270
MEMORY
ERROR
(CF BACKUP
FILE)
---
The system software version is
inconsistent with the version when
the internal storage data is set or
the CompactFlash on the NCP01
board is damaged.
• Perform &quot;DATA REBUILD&quot; in the maintenance mode.
• If the error occurs again after execution of
&quot;DATA REBUILD,&quot; replace the CompactFlash on the NCP01 board.
If the error occurs again, contact your
Yaskawa representative.
0290
MEMORY
ERROR
(NETWORK
SETUP)
---
The network setting file is damaged.
• Specify network settings again in maintenance mode.
If the error occurs again, contact your
Yaskawa representative.
8-7
8.3 Alarm Message List
Alarm Message List
Alarm
Number
0300
Message
VERIFY ERROR
(SYSTEM CONFIG-DATA)
Sub
Code
Cause
2
The setting of concurrent I/O
parameter is incorrect.
Set a correct module for the concurrent I/O
parameter in the maintenance mode.
3
An invalid value is set for the segment clock.
Set a correct value for the segment clock.
4
Inconsistency was detected in axisrelated parameters.
Correctly set the axis-related parameters.
5
Inconsistency was detected in sensor parameters.
Correctly set the sensor parameters.
6
System configuration data is inconsistent.
• Reset the I/O module in maintenance mode.
If the error occurs again, contact your
Yaskawa representative.
The parameter is inconsistent.
0310
0320
VERIFY ERROR
(CMOS MEMORY SIZE)
VERIFY ERROR
(I/O MODULE)
Remedy
7
The set optional functions are different from those of the mounted
optional board.
Use the functions of the mounted optional
board.
8
The function designation for the
concurrent I/O parameter is incorrect.
Set the correct module for the concurrent
I/O parameter in the maintenance mode.
0
The CMOS memory capacity is different from its initial setting.
Initialize the system or use a NIF board with
correct CMOS capacity.
1 to
15
The connected I/O module is different from the function of the set I/O
module.
16
The I/O module connected to the
PCI bus is different from the function of the set I/O module.
17
Connect a correct I/O module.
VERIFY ERROR
(APPLICATION
SETTING)
0
0330
Inconsistency was detected in the
application setting parameters.
Correctly set the application setting parameters.
VERIFY ERROR
(SENSOR FUNCTION)
0
Inconsistency was detected in the
sensor parameters.
Correctly set the sensor function.
0340
0
The station No. specified by the
DeviceNet allocation file1 is incorrect (the station No. is out of the
allowable range, or the specified
station board is not the DeviceNet
master).
1
The MAC_ID specified by the
DeviceNet allocation file1 is not
consistent with the MAC_ID of the
specified station board.
2
Inconsistency was detected in the
scan list of the DeviceNet allocation
file1.
10
The station No. specified by the
DeviceNet allocation file2 is incorrect (the station No. is out of the
allowable range, or the specified
board is not the DeviceNet master).
11
The MAC_ID specified by the
DeviceNet allocation file2 is not
consistent with the MAC_ID of the
specified station board.
12
Inconsistency was found in the
scan list of the DeviceNet allocation
file2.
0350
VERIFY ERROR
(DEVICENET
ALLOC FL)
8-8
• Use the IO module setting screen in the
maintenance mode to initialize the
DeviceNet allocation file.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
0370
Message
VERIFY ERROR
(SPOT POWER
SOURCE I/F)
0390
VERIFY ERROR
(SEGMENT
CLOCK)
0400
PARAMETER
TRANSMISSION
ERROR
0410
MODE CHANGE
ERROR
Sub
Code
Cause
Remedy
0
The designation in the parameter is
different from the connected welding timer.
Set a correct value for the welding timer designation.
1
The segment clock value which is
out of allowable range is set.
• Set a correct value for the segment clock.
If the error occurs again, contact your
Yaskawa representative.
2
The set value of segment clock is
insufficient for communication with
the servo board. Communication
cannot be performed with the servo
board
• Set a correct value, which is larger than the
current value, for the segment clock.
If the error occurs again, contact your
Yaskawa representative.
50 to
53
An error occurred during the
parameter/file transfer to the servo
board.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred during startup
sequence processing with the
servo CPU, and the system did not
startup normally.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
0
The DeviceNet allocation file1
could not be transmitted to the
specified station.
1
The DeviceNet allocation file2
could not be transmitted to the
specified station.
• Verify the connection state of the DeviceNet
board specified by the DeviceNet allocation file.
• Use the IO module setting screen in the
maintenance mode to initialize the
DeviceNet allocation file.
If the error occurs again, contact your
Yaskawa representative.
0420
DEVICENET
ALLOC FL
TRANSMIT ERR
SEGMENT
PROC NOT
READY
---
0500
Motion command processing was
not completed within the specified
time.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
SOFTWARE
VERSION
UNMATCH
---
The combination of the main system program and the servo system
program is incorrect.
Correct the combination.
0510
0
0520
AXIS LIMIT
OVER
More axes than the set value are
used.
• Set the control group in the maintenance
mode with the connectable number of axes.
If the error occurs again, contact your
Yaskawa representative.
0600
MEDAR STATUS
ERROR
---
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
0601
MEDAR DIAGNOSIS ERROR
---
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
0602
MEDAR VERSION ERROR
---
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
0603
MEDAR REVISION ERROR
---
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
MEDAR MODE
CHANGE
ERROR
---
0604
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
MEDAR SCHEDULE TRANSMIT
ERROR
---
0605
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
0606
MEDAR
ERROR1
---
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
0607
MEDAR
ERROR2
---
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
MEDAR
WELDER TYPE
MISMATCH
---
0608
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
8-9
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
0609
MEDER PARAMETER ERROR
---
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
MEDAR STEPPER TRANSMIT
ERROR
---
0610
Refer to the instruction manual for
the MEDAR function.
Refer to the instruction manual for the
MEDAR function.
0710
LADDER INITIALIZE ERROR
---
The ladder could not be initialized
successfully.
Refer to the instruction manual for the
MEDAR function.
1
An error was found in the relay No.
specification.
2
An error was found in the register
No. specification.
3
An incorrect instruction was
entered.
4
Output register is used redundantly.
5
Output relay is used redundantly.
6
Unconnected relay exists.
7
The STR instructions are overused.
8
The AND-STR instructions are
overused.
9
A syntax error was found in the
CNT instruction.
10
The head of the block starts with an
instruction other than the STR
instruction.
11
The memory capacity is exceeded
due to excessive machine codes.
12
The last instruction is not the END
instruction.
13
An error was found in the PART
instruction.
14
An error was found in the GOUT
instruction.
15
The No. of operand is incorrect.
0720
LADDER PROGRAM ERROR
0800
FILE BACKUP
ERROR (NCP01
CF)
0801
FILE LOAD
ERROR
(NCP01 CF)
0802
FILE LOAD
ERROR
(NCP01 CF)
• Use a correct ladder program.
If the error occurs again, contact your
Yaskawa representative.
16
The constant value is incorrect.
17
The step capacity exceeds the
memory capacity.
18
The operation instructions are overused.
19
A syntax error was found in the
CNT instruction or TMR instruction.
20
A syntax error was found in the
JMP-LABEL instructions.
21
The label of JMP destination does
not exist.
---
The management area (FAT) of
Compact Flash in NCP01 board is
damaged.
Replace the CompactFlash in NCP01 board.
File
No.
The file in the NCP01 CF could not
be retrieved correctly.
• Perform &quot;DATA REBUILD&quot; in the maintenance mode.
If the error occurs again, contact your
Yaskawa representative.
Error
code
An error occurred in access to the
NCP01 CF.
• Perform &quot;DATA REBUILD&quot; in the maintenance mode.
If the error occurs again, contact your
Yaskawa representative.
8-10
8.3 Alarm Message List
Alarm Message List
Alarm
Number
0803
0810
Message
Sub
Code
Remedy
---
An error occurred during the
parameter of Manipulator Model
(mecha.rom) loading.
Upgrade to the same version and rewrite the
parameter.
0
The TOYOPUC board cannot be
identified
Verify that the TOYOPUC board is normally
installed.
1
An error was found in the input/output direction data of allocation configuration.
3
In the output side setting of allocation configuration data, the specified R-register start No. for the
TOYOPUC exceeds the R-register
limit.
4
In the output side setting of allocation configuration data, the set
number to use the input side R-register of the TOYOPUC exceeds the
R-register limit.
5
In the output side setting of allocation configuration data, the set
number to use the M-register of
concurrent I/O exceeds the M-register limit.
8
An error was found in the type set
for output direction of allocation
configuration data.
9
An error was found in the type set
for input direction of allocation configuration data.
10
An error was found in the type
specified for system data of allocation configuration data.
FILE ERROR
TOYOPUC
ALLOC DEF
ERROR
Cause
12
An error was found in the specified
number of registers which are used
by the system data &quot;CURR.POS.
(PULSE)&quot; of allocation configuration.
14
An error was found in the specified
number of registers which are used
by the system data &quot;CURR.POS.
(XYZ)&quot; of allocation configuration.
16
An error was found in the specified
number of registers which are used
by the system data &quot;WELDING
INFO.&quot; of allocation configuration.
18
An error was found in the specified
number of registers which are used
by the system data &quot;TASK INFO.&quot;
of allocation configuration.
20
An error was found in the specified
number of registers which are used
by the system data &quot;EXECUTE
PROGRAM INFO.&quot; of allocation
configuration.
22
An error was found in the specified
number of registers which are used
by the system data &quot;INST. MESSAGE&quot; of allocation configuration.
8-11
Verify and modify the allocation configuration
data for the TOYOPUC.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
0810
Message
Sub
Code
Cause
23
An error was found in the specified
number of registers which are used
by the system data.
30
In the input side setting of allocation
configuration data, the specified Rregister start No. for the TOYOPUC
exceeds the R-register limit.
31
In the input side setting of allocation
configuration data, the set number
to use the input side R-register of
the TOYOPUC exceeds the R-register limit.
32
In the input side setting of allocation
configuration data, the set number
to use the M-register of concurrent
I/O exceeds the M-register limit.
34
An error was found in the specified
number of registers which are used
by the system data &quot;standard time
setting data&quot; of allocation configuration.
TOYOPUC
ALLOC DEF
ERROR
Remedy
Verify and modify the allocation configuration
data for the TOYOPUC.
41
In the output side setting of allocation configuration data, some of the
TOYOPUC’s R-registers are specified redundantly.
42
In the output side setting of allocation configuration data, some of the
M-registers of concurrent I/O are
specified redundantly.
44
In the input side setting of allocation
configuration data, some of the
TOYOPUC’s R-registers are specified redundantly.
45
In the input side setting of allocation
configuration data, some of the Mregisters of concurrent I/O are
specified redundantly.
---
A system operation error occurred.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
Vector
No.
An error was detected in the CPU.
Replace the NCP01 board.
0900
WATCHDOG
TIMER ERROR
(NIF BOARD)
0910
CPU ERROR
(NCP01)
0911
CPU ERROR
(NCP02#1)
100
An error was detected in the CPU
of the optional board#1.
Replace the corresponding optional board.
0912
CPU ERROR
(NCP02#2)
100
An error was detected in the CPU
of the optional board#2.
Replace the corresponding optional board.
0920
BUS ERROR
(NCP01)
1
The JL chip does not operate normally.
Replace the NCP01 board.
0
Power lost is detected
0930
CPU HANG UP
ERROR (NCP01)
• Verify the state of primary power supply.
• Verify the CPS power supply.
If the error occurs again, contact your
Yaskawa representative.
0950
CPU ERROR
(AXA#1)
100
An error was detected in the CPU
of servo board #1.
0951
CPU ERROR
(AXA#2)
100
An error was detected in the CPU
of servo board #2.
8-12
Replace the corresponding servo board.
Replace the corresponding servo board.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
0952
CPU ERROR
(AXA#3)
100
An error was detected in the CPU
of servo board #3.
Replace the corresponding servo board.
0953
CPU ERROR
(AXA#4)
100
An error was detected in the CPU
of servo board #4.
Replace the corresponding servo board.
1
1000
ROM ERROR
(NCP01)
An error occurred in the board or
system software (ROM).
• A checksum error occurred in the
main ROM.
1001
ROM ERROR
(AXA01)
1∗
A checksum error occurred in the
board or the EEPROM.
(∗: axis No.)
20
The SRDY signal did not turn ON
after the WRITE ENABLE command was written. (EEPROM
WRITE ENABLE error)
21
The SRDY signal did not turn ON
after the WRITE PROTECT command was written. (EEPROM
WRITE PROTECT error)
22
The SRDY signal did not turn ON
after the ERASE command was
written. (EEPROM ERASE error)
23
The SRDY signal did not turn ON
after the CLEAR command was
written. (EEPROM CLEAR error)
24
The SRDY signal did not turn ON
after data were written. (EEPROM
writing error)
25
The SRDY signal did not turn ON
after data were read. (EEPROM
reading error)
26
The written data were rejected at
verification. (EEPROM verify error)
Replace the NCP01 board.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error was detected at memory check.
1030
MEMORY
ERROR
(PARAMETER
FILE)
0
• The memory for RC parameter file
is damaged.
1
• The memory for RO parameter file
is damaged.
2
• The memory for SV parameter file
is damaged.
3
• The memory for SVM parameter
file is damaged.
4
• The memory for SC parameter file
is damaged.
5
• The memory for SD parameter file
is damaged.
6
• The memory for CIO parameter
file is damaged.
7
• The memory for FD parameter file
is damaged.
8
• The memory for AP parameter file
is damaged.
9
• The memory for RS parameter file
is damaged.
10
• The memory for SE parameter file
is damaged.
8-13
Initialize the appropriate parameter file in the
maintenance mode, and then load the appropriate parameter file saved in the external
memory device.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
1030
Message
MEMORY
ERROR
(PARAMETER
FILE)
Sub
Code
Cause
11
• The memory for SVC parameter
file is damaged.
12
• The memory for AMC parameter
file is damaged.
13
• The memory for SVP parameter
file is damaged.
14
• The memory for MF parameter file
is damaged.
15
• The memory for SVS parameter
file is damaged.
Remedy
Initialize the appropriate parameter file in the
maintenance mode, and then load the appropriate parameter file saved in the external
memory device.
The file data used by MOTION are damaged.
1031
MEMORY
ERROR
(MOTION1)
1
• The home position calibration file
is damaged.
2
• The tool file is damaged.
3
• The user coordinates file is damaged.
4
• The robot calibration file is damaged.
5
• The tool calibration file is damaged.
6
• The weaving amplitude condition
file is damaged.
7
• The home position correction data
file is damaged.
8
• The conveyor calibration file is
damaged.
9
• The arm and tool interference prevention file is damaged.
20
• The weaving file is damaged.
21
• The Power Source condition data
file is damaged.
22
• The welding condition auxiliary file
is damaged.
23
• The arc start condition file is damaged.
24
• The arc end condition file is damaged.
25
• The COMARC condition file is
damaged.
26
• The COMARC data file is damaged.
27
• The path correction condition file
is damaged.
28
• The painting characteristics file is
damaged.
29
• The painting condition file is damaged.
30
• The multi-layer index file is damaged.
31
• The multi-layer condition file is
damaged.
32
• The sensor monitoring condition
file is damaged.
8-14
Initialize the damaged file in the maintenance
mode.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
The file data used by MOTION are damaged.
1031
MEMORY
ERROR
(MOTION1)
33
• The name position file is damaged.
34
• The conveyor condition file is
damaged.
35
• The Press characteristics file is
damaged.
36
• The servo float condition file is
damaged.
37
• The spot welding Power Source
condition data file is damaged.
38
• The air-gun condition file is damaged.
39
• The motor-gun condition file is
damaged.
40
• The gun pressure file is damaged.
41
• The dry-spotting gun pressure file
is damaged.
42
• The anticipation OT# output file is
damaged.
43
• The anticipation OG# output file is
damaged.
44
• The handling condition file is damaged.
45
• The form cut file is damaged.
46
• The spot (user) I/O allocation file
is damaged.
47
• The linear servo float condition file
is damaged.
48
• The macro definition file is damaged.
49
• The seal amount correction condition file (spray) is damaged.
50
• The seal amount correction condition file (undercoating) is damaged.
51
• The arc monitor file is damaged.
52
• The motor-gun condition auxiliary
file is damaged.
53
• The job registration table is damaged.
54
• The painting device condition file
is damaged.
55
• The painting system file is damaged.
56
• The painting condition file is damaged.
57
• The paint characteristics file is
damaged.
58
• The EVB gun file is damaged.
59
• The paint filling file is damaged.
60
• The welding pulse condition file is
damaged.
61
• The clearance file is damaged.
8-15
Initialize the damaged file in the maintenance
mode.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
The file data used by MOTION are damaged.
1031
1050
MEMORY
ERROR
(MOTION1)
62
• The linear scale condition file is
damaged.
63
• The gauging sensor file is damaged.
64
• The conveyor condition auxiliary
file is damaged.
1
An error occurred in the setup processing of the system when the
control power turned ON (Setup
error).
The motion instruction did not start
up. (motion instruction setup incomplete.)
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred in the setup processing of the system when the
control power turned ON (Processing timeout).
The motion instruction did not start
up. (Setup of the servo control circuit board and NCP02 circuit board
incomplete, parameter setting value
error)
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
SET-UP
PROCESS
ERROR
(SYSCON)
2
1050
SET-UP
PROCESS
ERROR
(SYSCON)
Initialize the damaged file in the maintenance
mode.
An error occurred in the setup process of
MOTION when the control power turned ON.
1051
SET-UP PROCESS ERROR
(MOTION)
1
• The servo control section was not
started up.
2
• The position data of when the
power supply had turned OFF
could not be transmitted to the
servo control section.
3
• The servo control section could
not receive the position data of
when the power supply had
turned OFF.
5
• The request to turn ON the PG
power supply for the mounted
axis could not be sent.
6
• The PG power supply for the
mounted axis could not turn ON.
7
• The request to prepare a feedback pulse could not be sent.
8
• The feedback pulse could not be
prepared.
9
• The request to initialize the arithmetic section could not be sent.
10
• The arithmetic section could not
be initialized.
11
• The request to prepare the current
value could not be sent.
12
• The current value could not be
prepared.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
1100
SYSTEM
ERROR
---
An unknown alarm was detected
because of noise or control error.
Contact your Yaskawa representative.
SYSTEM
ERROR
(SYSTEM 1)
---
1101
An error occurred during the system control check.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8-16
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
SYSTEM
ERROR
(SYSTEM 2)
---
1102
An error occurred during the system control check.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
SYSTEM
ERROR
(EVENT)
---
1103
An error occurred during the system event data control check.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
SYSTEM
ERROR
(CIO)
---
An error occurred during the system I/O control check. (I/O circuit
board communications error, C I/O
parameter setting value error etc.)
• Check the I/O signal line connectors and
cables.
• Reset the I/O module in maintenance mode.
• Replace the NIF circuit board, I/O contactor
unit, and/or I/O module.
0
No processing corresponds to the
command code sent from MOTION.
1
Illegal command data (parameter)
is received from MOTION.
2
An error occurred in the file transfer
sequence at execution of motion
command.
3
The data size for the file transfer
was over housing size at executing
a motion command.
4
An optional function was commanded to be executed while
another optional function was in
execution.
5
The request to change standardization time was sent without permission.
6
The motor instruction standardization time is out of the allowable
range.
7
The KP parameter input value is
out of the allowable range.
8
The KP parameter input value for
two degrees of freedom control is
out of the allowable range.
9
No processing corresponds to the
command code sent from MOTION.
10
An uncontrollable axis was designated.
11
An attempt was made to apply the
brake to the motor while the power
was being supplied.
12
An attempt was made to supply
power to the motor while the brake
was applied to the motor.
14
An error occurred in the encoder
power supply control process.
15
The segment clock was not the
specified value.
17
An attempt was made to turn ON
the servo while the encoder was
not ready.
18
The request to turn ON the servo
power supply again was sent to an
axis where the servo’s power was
already ON.
1104
1105
SYSTEM
ERROR
(SERVO)
8-17
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
1105
Message
Sub
Code
Cause
Remedy
30
The linear servo float does not support the manipulator type specified
in the RC parameter at calculation
for servo-float-related parameters.
Contact your Yaskawa representative.
37
The manipulator (B-axis) passed
the singular point while the linear
servo float was ON.
Correct the job so that the manipulator (Baxis) does not pass the singular point while
the linear servo float is ON.
40
The axes for which the servo were
attempted to be turned ON were
not connected to the contactor.
• Check the wiring to the contactor.
If the error occurs again, contact your
Yaskawa representative.
43
The servo ON command was executed while the encoder was in
alarm status.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
47
The alarm number is illegal.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
60
The axis endless function is set
enabled for motor guns.
Disable the axis endless function of motor
guns axis.
61
The axis endless function is set
enabled for the encoder for which
this function cannot be used.
The axis endless function cannot
be used for the encoders manufactured by Tamagawa Seiki Co., Ltd.
Disable the axis endless function for the
encoder.
63
An error occurred while the axis
endless function was being used.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
68
The home position detecting function was used for the axis for which
the axis endless function was
enabled.
Disable either the axis endless function or the
home position detection function.
69
The servo float function was used
for the axis for which the axis endless function was enabled.
Disable the axis endless function, or do not
use the servo float function.
80
An axis number that is not for gun
change was specified.
81
An axis number that is not for gun
change was specified.
82
The PG power supply of the axis for
gun change is ON.
83
The servo power supply of the axis
for gun change is ON.
90
The gun number allocated to the
specified physical axis is different
from the specified gun condition file
number.
SYSTEM
ERROR
(SERVO)
91
The gun pressure file number is
incorrect.
92
The axis specified for gun pressure
is not a gun axis.
100
The sequence was untimely executed in the general-purpose 10ms
process although it was not the
execution timing.
101
The sequence was untimely executed in the segment_G process
although it was not the execution
timing.
8-18
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
1105
Message
SYSTEM
ERROR
(SERVO)
Sub
Code
Cause
103
The sequence was untimely executed in the general-purpose 2ms
process although it was not the
execution timing.
104
The sequence was untimely executed in the general-purpose 4ms
process although it was not the
execution timing.
105
The sequence was untimely executed in the dynamics calculation
process although it was not the
execution timing.
106
The sequence was untimely executed in the dynamics compensation process although it was not the
execution timing.
107
The sequence was untimely executed in the servo communications
CERF sending process although it
was not the execution timing.
108
The sequence was untimely executed in the servo communications
CERF receiving process although it
was not the execution timing.
109
The sequence was untimely executed in the segment_R process
although it was not the execution
timing.
111
The sequence was untimely executed in the segment_E process
although it was not the execution
timing.
112
The sequence was untimely executed in the segment_OPT1 process although it was not the
execution timing.
113
The sequence was untimely executed in the segment_OPT2 process although it was not the
execution timing.
114
The sequence was untimely executed in the segment_OPT3 process although it was not the
execution timing.
120
A general-purpose 10ms process
did not complete within the time set
on the scheduling table.
121
The segment_G process did not
complete within the time set on the
scheduling table.
122
The general-purpose 4ms process
did not complete within the time set
on the scheduling table. (Emergency stop detected.)
123
The general-purpose 2ms process
did not complete within the time set
on the scheduling table.
8-19
Remedy
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
1105
Message
SYSTEM
ERROR
(SERVO)
Sub
Code
Cause
124
The general-purpose 4ms process
did not complete within the time set
on the scheduling table.
125
The dynamics calculation process
did not complete within the time set
on the scheduling table.
126
The dynamics compensation process did not complete within the
time set on the scheduling table.
127
The CERF transmission process
did not complete within the time set
on the scheduling table.
128
The dynamics calculation process
did not complete within the time set
on the scheduling table.
129
The CERF receiving process did
not complete within the time set on
the scheduling table.
130
The segment_R process did not
complete within the time set on the
scheduling table.
131
The segment_E process did not
complete within the time set on the
scheduling table.
132
The segment_OPT1 process did
not complete within the time set on
the scheduling table.
133
The segment_OPT2 process did
not complete within the time set on
the scheduling table.
134
The segment_OPT3 process did
not complete within the time set on
the scheduling table.
150
The segment clock in the ROM for
spot welding is different from the
specified value.
151
The averaging time is not an even
number. (times)
152
An attempt to use a function that is
not allowed in the current ROM was
made.
154
An error occurred in real-time data
transmission of SVSPOT Executing
bit sent from MOTION.
16∗
The illegal data are stored in the
averaging buffer. (∗: axis No.)
17∗
The sum value in the averaging
buffer is incorrect. (∗: axis No.)
18∗
The “empty” status of averaging
buffer is incorrect. (∗: axis No.)
201
The transfer of servo float condition
file was not successfully completed.
202
The transfer of gun condition file
was not successfully completed.
203
The transfer of gun pressure file
was not successfully completed.
8-20
Remedy
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
1105
Message
SYSTEM
ERROR
(SERVO)
Sub
Code
Cause
204
The transfer of dry-spotting gun
pressure file was not successfully
completed.
205
The transfer of servo hand characteristics file was not successfully
completed.
206
The transfer of collision detecting
sensitivity setting file was not successfully completed.
207
The tool file transfer was not successfully completed.
208
The transfer of linear servo float
condition file was not successfully
completed.
209
The transfer of gun condition auxiliary file was not successfully completed.
300
A logical error occurred in the
parameter for modification of resolution which was calculated by the
parameter specified by CMOS.
302
A logical error occurred in the
parameter.
500
Inconsistency of FP register.
600
An uncontrolled axis was specified
when the instruction for group
change was executed.
602
The PG power supply of the axis for
group change is ON.
603
The servo power supply of the axis
for group change is ON.
700
An error occurred in motor control
mode switching process.
800
The observer and collision detection function are set disabled
although the broken belt detection
function is set enabled.
90∗
Vibration was detected in the serial
encoder. (∗: axis No.)
1000
The check item number of SVD
parameter is unmatched.
1001
The check item number of SV
parameter is unmatched.
1002
The check item number of SVM
parameter is unmatched.
1003
The check item number of SVP
parameter is unmatched.
1004
The check item number of AMC
parameter is unmatched.
1005
The check item number of MFG
parameter is unmatched.
1006
The check item number of MFA
parameter is unmatched.
1007
The check item number of SVC
parameter is unmatched.
8-21
Remedy
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
SYSTEM
ERROR
(SERVO)
Sub
Code
Cause
1008
The check item number of SVS
parameter is unmatched.
200∗
The status setting to base block is
different from that of base block signal reading from JL056.
(∗: axis No.)
201∗
The status setting to base block is
different from that of base block signal writing to JL056.
(∗: axis No.)
202∗
The status setting to base block is
different from that of base block signal reading from micro program.
(∗: axis No.)
Remedy
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
203∗
The mechanical brake remains
locked although the base block is
released.
(∗: axis No.)
204∗
The mechanical brake is not locked
although the base block turns ON.
(∗: axis No.)
2100
The operating software is not used
in the targeted board.
2101
The requested function cannot be
performed.
32807
An error occurred in the first
encoder communications.
• Confirm the communication data line and
motor specification.
If the error occurs again, contact your
Yaskawa representative.
---
Temperature sensor in the CPS
power unit is activated. The internal
temperature of the controller is
abnormally increased.
• Check for temperature rise in the controller,
and check if in-panel cooling fan is rotating.
Cycle the power when the power supply unit
is cooled off.
0000_
0000_
0000_
0001
Communications and power supply
error occurred in the I/O circuit
board. (standard I/O of NIF unit)
• Check the noise source and take countermeasures to reduce the noise.
• Reset the I/O module in maintenance mode.
• Replace the NIF circuit board.
COMMUNICATION ERROR (IO
MODULE)
****_
****_
****_
***0
Communications and power supply
error occurred in the I/O circuit
board. (standard I/O of NIF unit)
∗: 0 is correct. 1 is incorrect. Bit
position of 1 shows the station
number of incorrect I/O circuit
board.
• Check the I/O signal line (NIF-I/O circuit
board) connectors and cables.
• Check the connection of the I/O circuit
board and the external device.
• Check the noise source and take countermeasures to reduce the noise.
• Reset the I/O module in maintenance mode.
• Replace the NIF circuit board.
1205
CONTROLNET
ERROR
---
A communication error or power
supply error occurred on the CONTROLNET board.
• Check the noise source and take countermeasures to reduce the noise.
• Reset the I/O module in maintenance mode.
• Replace the CONTROLNET board,
1207
BROKEN B_ON
RELAY FUSE
(NIF01)
---
The brake relay fuse was blown.
Replace the NIF circuit board.
1208
BROKEN S_ON
RELAY FUSE
(NIF01)
---
The servo-ON relay fuse was
blown.
Replace the NIF circuit board.
1105
1200
1204
HIGH
TEMPERATURE
8-22
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1209
EXTERNAL WDT
BROKEN
(NIF01)
0000_
00∗∗
Defective watchdog timer circuit
that checks the safety circuit
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD1) error
Replace the NIF circuit board.
1210
SERIAL COMMUNICATION
TOGGLE CHECK
ERROR (NIF01)
0000_
00∗∗
Checking error of toggle that
switches double checking safety
circuits in cycle of 1 ms
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD1) error
Replace the NIF circuit board.
****_
****_
****_
****_
The signal does not have a match
signal as a result the mutual check
of a dual signal.
0000_0000_0000_0001: Panel signal emergency stop signal
(PBESP) unmatched error
0000_0000_0000_0010: Programming pendant emergency stop signal (PPESP) unmatched error
0000_0000_0000_0100: External
emergency stop signal (EXESP)
unmatched error
0000_0000_0000_1000: System
CPU error (ERRCPU) unmatched
error
0000_0000_0001_0000: Servo ON
condition signal (SYSRDY)
unmatched error
0000_0000_0010_0000: Safety
plug signal (SAF) unmatched error
0000_0000_0100_0000: Servo ON
signal (SVON) unmatched error
0000_0000_1000_0000: External
servo ON signal (EXSVON)
unmatched error
0000_0001_0000_0000: Unused
0000_0010_0000_0000: Maintenance signal (MAINTE) unmatched
error
0000_0100_0000_0001: Enable
switch signal (DSW) unmatched
error
0000_1000_0000_0001: Unused
0001_0000_0000_0000: External
enable switch (EXDSW)
unmatched error
0010_0000_0000_0000: Unused
0100_0000_0000_0000: Safety
speed mode selection (SSP)
unmatched error
1000_0000_0000_0000: Full speed
test (FST) unmatched error
1211
INPUT
COMPARISON
ERROR
(NIF)
Check the signal.
1212
PLD MUTUAL
MONITOR
ERROR
(NIF01)
0000_
00∗∗
The input comparison error
occurred.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
Check the one of PPESP, PBESP, EXESP,
and SAF signals.
1213
MUTUAL WDT
ERROR
(NIF01)
0000_
00∗∗
The input comparison error
occurred.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
Check the one of PPESP, PBESP, EXESP,
and SAF signals.
8-23
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1214
PBESP RELAY
STICKING
0000_
00∗∗
The emergency stop button PBESP
of the NX100 front door is melted
and stuck.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
• Confirm that the cable is not short-circuited.
• Replace if necessary.
1215
PPESP RELAY
STICKING
0000_
00∗∗
The emergency stop button of programming pendant PPESP is
melted and stuck.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
• Confirm that the cable is not short-circuited.
• Replace if necessary.
1216
EXESP RELAY
STICKING
0000_
00∗∗
The external emergency stop button EXESP is melted and stuck.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
• Confirm that the cable is not short-circuited.
• Replace if necessary.
1217
S_ON RELAY
STICKING
0000_
00∗∗
The servo-ON relay is melted and
stuck.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
Replace the servo-ON relay.
1218
B_ON RELAY
STICKING
0000_
00∗∗
The brake relay is melted and
stuck.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
Replace the brake relay.
1219
ANOTHER PLD
EXT WDT
ERROR (NIF
BOARD)
0000_
00∗∗
The watchdog timer checking the
safety circuit is incorrect.
• Turn the power OFF then back ON.
If the error occurs again, replace the NIF unit.
1
Incorrect setting of the IP address
which is used in the Ethernet function.
Set the correct IP address.
2
Incorrect setting of the subnet mask
which is used in the Ethernet function.
Set the correct subnet mask.
3
Incorrect setting of the default gateway which is used in the Ethernet
function.
Set the correct default gateway.
4
Incorrect setting of the host address
which is used in the Ethernet function.
Set the correct host address.
30
Incorrect setting of the parameter
which is used for the SNTP of the
Ethernet function.
Set the network SNTP in maintenance mode.
31
Incorrect setting of the IP address
of the SNTP server which is used in
the Ethernet function of the SNTP.
Set the correct network SNTP server address
in maintenance mode.
32
Incorrect setting of the host name
of the SNTP server which is used in
the Ethernet function of the SNTP.
Set the correct network SNTP server host
name in maintenance mode.
33
Incorrect setting of the parameter of
the DFCP which is used in the
Ethernet function of the SNTP.
Set the network SNTP in maintenance mode.
70
Incorrect setting of the host name
which is used in the Ethernet function.
Set the correct network SNTP server host
name.
71
Incorrect setting of the IP address
of the DNS server which is used in
the Ethernet function of the DNS.
Set the correct DNS server IP address.
73
Incorrect setting of the parameter of
the DHCP which is used in the
Ethernet function of the DNS.
Set the network DNS in maintenance mode.
1220
LAN COMMUNICATION PARAMETER ERROR
74
8-24
8.3 Alarm Message List
Alarm Message List
Alarm
Number
1220
1221
1221
Message
LAN COMMUNICATION PARAMETER ERROR
ETHERNET
RESET ERROR
ETHERNET
RESET ERROR
Sub
Code
Cause
75
Incorrect setting of the domain
which is used in the Ethernet function.
1
An error occurred in the device initialization process of the Ethernet
function.
2
An error occurred in the IP address
setting process of the Ethernet
function.
3
An error occurred in the subnet
mask setting process of the Ethernet function.
4
An error occurred in the default
gateway setting process of the
Ehternet function.
5
An error occurred in the host name
setting process of the Ehternet
function.
6
An error occurred in the MAC
address acquisition process of the
Ehternet function.
20
An error occurred in the Web server
task creating process of the Ehternet function.
21
An error occurred in the FTP server
task creating process of the Ehternet function.
22
An error occurred in the FTP client
task creating process of the Ehternet function.
30
An error occurred in the semaphore
generation process for access
exclusion of the Ethernet function.
50
An error occurred in the Web server
task management ID getting process of the Ehternet function.
51
An error occurred in the FTP server
task management ID getting process of the Ehternet function.
59
An error occurred in the DHCP
acquisition item setting process of
the Ethernet function.
60
An error occurred in the DHCP initialization process of the Ethernet
function.
61
An error occurred in the DHCP
interface of the Ethernet function.
62
The data acquisition process from
the server did not complete within
regulated time.
63
The data acquired from the server
were found illegal in the DHCP of
the Ethernet function.
64
An error occurred in the subnet
mask acquisition process in the
DHCP of the Ethernet function.
8-25
Remedy
Set the correct domain.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
Verify the DHCP server operation and the
network status.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
1221
Message
Sub
Code
Cause
65
An error occurred in the DNS
server address acquisition process
in the DHCP of the Ethernet function.
66
An error occurred in the Ethernet
function DNS domain acquisition
process in the DHCP of the Ethernet function.
67
An error occurred in the SNTP
server address acquisition process
in the DHCP of the Ethernet function.
68
An error occurred in the IP address
acquisition process in the DHCP of
the Ethernet function.
69
An error occurred in the DHCP
Interface structure mapping process of the Ethernet function.
70
An error occurred in the DNS
resolver initialization process of the
Ethernet function.
71
An error occurred in the DNS
resolver setting of the Ethernet
function.
ETHERNET
RESET ERROR
72
The parameter setting error
occurred in the DNS resolver setting of the Ethernet function.
73
The mode error occurred in the
DNS resolver setting of the Ethernet function.
80
An error occurred in the basic
library initialization process of the
Ethernet function.
81
An error occurred in the initialization process other than basic library
of the Ethernet function.
100
An error occurred in the IP address
acquisition process in the DHCP of
the Ethernet function.
240
An error occurred in the start process of the Ethernet function Telnet
(for onboard).
241
An error occurred in the start process of the Ethernet function Telnet
(for expand).
Remedy
• Verify the DHCP server operation and the
network status.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
• Verify the domain name and the DNSrelated settings.
• When the DHCP is used, verify the DHCP
server operation and the network status.
• Verify the domain name and the DNSrelated settings.
• When the DHCP is used, verify the DHCP
server operation and the network status.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
1222
IP ADDRESS
SET FAIL(DHCP)
----
The IP address acquired by the
DHCP of Ethernet function is
invalid.
• Verify the DHCP server oparation and the
network status.
1223
PLD MONITOR1
ERROR (HIF01)
0000_
00∗∗
The watchdog timer circuit which
checks the safety circuit is damaged.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
• Replace the NIF circuit board.
1224
PLD MONITOR2
ERROR (HIF01)
0000_
00∗∗
An error occurred in the watchdog
timer which checks the safety circuit.
• Turn the power OFF then back ON.
If the error occurs again, replace the NIF unit.
8-26
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
1225
PLD MONITOR3
ERROR (HIF01)
0000_
00∗∗
An error occurred due to the occurrence of input comparison error.
0000_0001: 1 signal (PLD1) error
0000_0010: 2 signal (PLD2) error
Check the one of PPESP, PBESP, EXESP,
and SAF signals.
1300
SERVO CPU
SYNCHRONIZING ERROR
---
A synchronization error occurred
between CPUs.
• Erroneous communications
occurred between the main CPU
board and the servo control circuit
board due to:
- Defective board
- Incorrect connection
• Correct the cable connection or replace the
cable.
• Replace the main CPU board and/or servo
control board.
Cause
Erroneous communications occurred
between main CPU board and servo control
circuit board due to the defective board or
the incorrect connection.
1301
COMMUNICATION ERROR
(SERVO)
0
Communication status error
1
Watchdog timer error
2
JL040 alarm
3
Communication status error
4
Data consistency error
Remedy
• Correct the cable connection or replace the
cable.
• Replace the main CPU board and/or servo
control board.
Erroneous communications occurred
between the contactor unit (for I/Os, manipulators, and external axes) and servo control
circuit board due to the defective board or
the incorrect connection.
1302
1302
COMMUNICATION ERROR
(SERVO I/O)
COMMUNICATION ERROR
(SERVO I/O)
1
No interrupt from servo I/O communications (JL080) occurred.
(Communication loop back)
2
The servo I/O communications
(JL080) received status is incorrect.
(No interrupt)
4
The servo I/O communications
(JL080) buffer switch status is
incorrect.
(Watchdog timer error)
5
The servo I/O communications
(JL080) receiving status is incorrect.
(Command timeout)
∗∗10
The communications loop back
value of servo I/O communications
(JL080) is incorrect.
(Communication loop back)
(∗∗: station number of the connected unit)
∗∗11
The received address of JL080 is
unmatched with the sent address.
(∗∗: station number of the connected unit)
∗∗12
The received buffer of JL080 is
incorrect.
(∗∗: station number of the connected unit)
8-27
• Correct the cable connection or replace the
cable.
• Replace the contactor unit and/or servo
control circuit board.
• Turn the power OFF then back ON after
cooling the power supply unit.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1303
ARITHMETIC
ERROR
(SERVO)
XYYY
Z
An error occurred in control arithmetic process or parameter arithmetic process.
] indicates the genThe data [X
eration process.
10000: Observer control
20000: High-precision path
control
30000: Dynamics
40000: Disturbance observer
control
The data [ YYY ] indicates the
alarm contents.
Z] indicates the
The data [
physical axis number.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
1304
EX-AXIS BOARD
NOT INSTALLED
---
• The external board is not mounted
although an external axis is specified.
• &quot;With external axes&quot; is specified
for the system without external
axes.
Mount an external board or correct the external axis selection parameter.
1306
AMPLIFIER
TYPE MISMATCH
Physical
axis
bit
The amplifier type setting is incorrect.
Set the installed amplifier type in the system
configuration.
1307
ENCODER TYPE
MISMATCH
Physical
axis
bit
The encoder type (motor model)
setting is incorrect.
Set the installed motor type in the system
configuration.
1308
CONVERTER
TYPE
MISMATCH
---
The converter model set in the system configuration is different from
that of the one mounted.
Set the mounted converter model in system
configuration.
1309
HARDWARE
ERROR
(CONVERTER)
---
Converter hardware is incorrect.
• Turn the power OFF then back ON.
If the error occurs again, replace the converter.
1310
CHARGE
ERROR
(CONVERTER)
---
Charge error is sent from the converter.
• Turn the power OFF then back ON.
If the error occurs again, replace the converter.
1311
A/D DETECTION
ERROR
(CONVERTER)
---
A/D detection error is sent from the
converter.
• Turn the power OFF then back ON.
If the error occurs again, replace the converter.
1312
ID ERROR
(CONVERTER)
---
ID error is sent from the converter.
• Turn the power OFF then back ON.
If the error occurs again, replace the converter.
1316
BROKEN PG
LINE
---
This error occurs in the motor that
is not a serial encoder (motor gun
axis).
There might be a failure on the
AXB01 board, the AXI01 board, the
connection cable between them,
and the XIU unit.
• Turn the power OFF then back ON.
If the error occurs again, replace the board,
connection cable and unit.
1321
BRAKE BOARD
ERROR
---
Brake signal is incorrect.
• Check the wiring around the brake circuit
board.
If the error occurs again, replace the brake
circuit board.
1322
BRAKE BOARD
STICKING
---
The cutout relay for the brake board
main circuit is melted and stuck.
• Check and replace the cutout relay for the
brake board main circuit.
8-28
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1325
COMMUNICATION ERROR
(ENCODER)
---
Communication error occurred
between the encoder and the servo
control circuit board due to:
- Misconnection of encoder
- Noise from external devices
- Incorrect motor type
- Defective servo control circuit
board or encoder
• Correct the encoder connection.
• Check for noise.
• Confirm the motor type.
If the error occurs again, replace the servo
control circuit board.
1326
DEFECTIVE
ENCODER
ABSOLUTE
DATA
---
An error occurred in the encoder
position detecting circuit.
• Turn the power OFF then back ON.
If the error occurs again, replace the motor of
the corresponding axis.
1327
ENCODER
OVER SPEED
---
The control power supply turned
ON while the encoder was rotating
• Stop the manipulator motion and then turn
ON the control power supply to check if the
error occurs.
If the error occurs, the encoder is defective.
Replace the motor for the axis.
(at more than 400min-1).
- The axis was in free-fall state.
- Defective encoder
1328
DEFECTIVE
SERIAL
ENCODER
---
Internal parameter error of the
serial encoder
• The encoder fault may be the
cause.
• Turn the power OFF then back ON.
If the error occurs again, replace the motor of
the corresponding axis.
1329
DEFECTIVE
SERIAL
ENCODER COMMAND
---
No response of encoder reset completion at the occurrence of
encoder backup error.
The encoder fault may be the
cause.
• Turn the power OFF then back ON.
If the error occurs again, replace the motor
(encoder) of the corresponding axis.
1330
MICRO PROGRAM TRANSMIT ERROR
---
Defective servo control circuit
board (Occurred only when the
control power supply turned ON.)
• Turn the power OFF then back ON.
If the error occurs again, replace the servo
control circuit board.
1331
CONVERTER
CHARGE
ERR(CONVERTER)
---
Charge error is sent from the converter.
• Turn the power OFF then back ON.
If the error occurs again, replace the converter.
1332
POSITION
ERROR
---
The number of pulses generated by
one motor rotation does not agree
with the specified value due to:
- Noise from external devices
- Defective board
- Motor failure
• Check for the external noise.
• Provide noise protection such as installing a
ferrite core if required.
If the error occurs again, replace the servo
control circuit board, external axis servo control circuit board, and/or motor.
1333
POSITION
ERROR (SERIAL
ENCODER)
---
The number of pulses generated by
one motor rotation does not agree
with the specified value due to:
- Noise from external devices
- Defective board
- Motor failure
• Check for the external noise.
• Provide noise protection such as installing a
ferrite core if required.
If the error occurs again, replace the servo
control circuit board, external servo control
circuit board, and/or motor.
1335
INCOMPLETE
ENCODER
RESET
---
The encoder resetting did not complete. No battery may be connected.
• Connect a battery to the encoder.
If the error still occurs after having connected
a battery, the encoder fault may be the
cause.
No response from the converter.
1343
COMMUNICATION ERROR
(CONVERTER)
∗01
Communications status error
(∗: converter No.)
∗02
Command timeout
(∗: converter No.)
∗03
Sent buffer FULL
(∗: converter No.)
8-29
• Turn the power OFF then back ON after
cooling the power supply unit.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
No response from the converter.
1343
1345
COMMUNICATION ERROR
(CONVERTER)
SAFETY CIRCUIT SIGNAL
UNMATCH
(SERVO)
∗04
CRC-16 error
(∗: converter No.)
∗05
Error code received
(∗: converter No.)
∗06
Received command error
(∗: converter No.)
XYY
Unmatched signal was detected in
the double-check of the receive
data to the power-ON unit.
• Turn the power OFF then back ON after
cooling the power supply unit.
If the error occurs again, contact your
Yaskawa representative.
• Check the wiring of the unmatched signal.
• Replace the power-ON unit circuit board.
• Replace the servo circuit board.
The data show the No. of powerON unit and the unmatched signal.
X Power-ON unit
0: Power-ON unit1 (TU#1)
1: Power-ON unit2 (TU#2)
2: Power-ON unit3 (TU#3)
3: Power-ON unit4 (TU#4)
4: Power-ON unit5 (TU#5)
5: Power-ON unit6 (TU#6)
YY Unmatched signal
01: KMMA signal unmatched error
02: SVMAIN signal unmatched error
03: SVMAIN1 2 signal unmatched error
04: IORDY signal unmatched error
05: ONEN signal unmatched error
06: FUCUT signal unmatched error
07: SHOCK1 signal unmatched error
08: EXOT signal unmatched error
09: OT signal unmatched error
10: TUSONER signal unmatched error
11: SVCMPER signal unmatched error
12: TCER signal unmatched error
13: SON_OUT signal unmatched error
14: BRRVER signal unmatched error
60: Error due to unmatched output
signal for servo board failure
61: Error due to unmatched signal
for the main contactor state
(closed contact)
62: Error due to unmatched signal
for the main contactor state
(open contact)
63: Error due to unmatched input
signal for the main contractor
control relay
64: Error due to unmatched input
signal for the OT recovery
65: Error due to unmatched input
signal for the external WDT
66: Error due to unmatched 1FB
input signal: the brake release
control signal
E.g.)
Sub Code: 208
EXOT signal of the Power-ON unit2
(TU#2) is unmatched.
1349
POWER LOST
DETECTION
---
The power to the motor became
unstable.
8-30
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1350
CONTACTOR
UNIT TYPE
UNMATCH
---
The mounted board type is
unmatched. The safety settings
have been set for a controller that
does not meet the specifications
outlined in the safety standards.
Check the board type and replace if necessary.
1352
SERIAL CORRECTION
FAILED
---
An error was detected in bit shifting
compensation.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
1355
SERIAL ENC
MULTITURN
LIMIT ERR
---
Encoder multi-turn limit quantity
error
• Turn the power OFF then back ON.
If the error occurs again, replace the motor
(encode) for axis.
1356
INVALID AXIS
SPECIFICATION
ERROR
---
A task request was sent to an axis
of the group that was disabled by
the group separation function.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
1357
PRESS ERROR
---
The position or speed value
exceeded the limit value during
pressuring after gun electrode hit
the welded target. The motion after
gun electrode hits the welded target
is incorrect.
Check the job.
1360
PA NOT
INSTALLED
---
The prealigner is not mounted
although use of the prealigner has
been selected.
Check the prealigner connection.
1500
PLD INTERNAL
MUTUAL MONITOR ERROR
(SERVO I/O)
---
PLD internal mutual monitoring
error is sent from the TU circuit
board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1501
SVMX RELAY
STICKING
(SERVO I/O)
---
SVMX relay sticking is sent from
the TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1502
TACTOR
STICKING
(SERVO I/O)
---
Contactor sticking is sent from the
TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1503
INPUT COMPARISON ERROR
(SERVO I/O)
---
Input comparison error is sent from
the TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1504
TUSON RELAY
STICKING
(SERVO I/O)
---
TUSON relay breakdown is sent
from the TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1505
B_ON RELAY
FUSE BREAKDOWN (SERVO
I/O)
---
B_ON relay fuse breakdown is sent
from the TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1506
MAIN TACTOR
RELAY FUSE
BREAKDOWN
(SERVO I/O)
---
Main contactor relay fuse breakdown is sent from the TU circuit
board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1507
S_ON RELAY
FUSE BREAKDOWN (SERVO
I/O)
---
S_ON relay fuse breakdown is sent
from the TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1508
MUTUAL WDT
ERROR
(SERVO I/O)
---
Mutual WDT error is sent from the
TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1509
EXTERNAL WDT
OVER
(SERVO I/O)
---
PLD internal mutual monitoring
error is sent from the TU circuit
board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
8-31
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1510
EXTERNAL WDT
BREAKDOWN
(SERVO I/O)
---
External WDT breakdown is sent
from the TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1511
SERIAL COMMUNICATION
TOGGLE CHECK
ERROR
(SERVO I/O)
---
Serial communication toggle check
error is sent from the TU circuit
board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1512
POWER SUPPLY FAN ALARM
(SERVO)
---
The rotation speed of in-panel cooling fan decreased.
• Check if in-panel cooling fan is rotating.
If the fan is not working, verify its wiring.
Should the error persist, replace the in-panel
cooling fan (CPS power unit).
1513
POWER
SUPPLY
OVERHEAT
(SERVO)
---
Temperature sensor in the CPS
power unit is activated. The internal
temperature of the controller is
abnormally increased.
• Check for temperature rise in the controller,
and check if in-panel cooling fan is rotating.
Cycle the power when the power supply unit
is cooled off.
1514
OVERHEAT
(AMPLIFIER)
---
Amplifier overheated.
• Turn the power OFF then back ON after
cooling the amplifier.
If the error occurs again, contact your
Yaskawa representative.
1515
SON_OUT
RELAY STICKING
(SERVO)
---
SON_OUT relay sticking is sent
from the TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU
board.
1516
BRRCER RELAY
STICKING
(SERVO I/O)
---
BRRCER relay sticking is sent form
the TU circuit board.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU
board.
1530
ABSOLUTE
DATA
ERROR(SERVO
2)
---
Absolute data cannot be received
from the encoder or the received
absolute data is incorrect.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Replace the motor and SERVOPACK.
1531
GATE ARRAY 1
ERROR (SERVO
1)
---
Reading error of command input.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1532
GATE ARRAY 2
ERROR (SERVO
2)
---
Reading error of command input.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1533
ABSOLUTE
ENCODER
ERROR
(SERVO2)
---
The number of pulses per rotation
of the absolute encoder is incorrect.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Check for noise.
• Replace the SERVOPACK.
1534
EARTH FAULT
(SERVO2)
---
A ground fault along the motor
power line, motor error, or SERVOPACK error is suspected.
• Turn the power OFF then back ON.
• Check if a ground fault or interphase shortcircuiting has not occurred in the U-, V-, and
W-phases of motor power line.
• Replace the motor and SERVOPACK.
1535
WATCHDOG
DETECTOR
ERROR
(SERVO2)
---
The SERVOPACK watch dog is
incorrect.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1536
CURRENT FB
ERROR(U
PHASE)
(SERVO2)
---
Disconnection of motor power line
or the SERVOPACK U-phase current detection circuit error is suspected.
• Turn the power OFF then back ON.
• Check for motor power line.
• Replace the SERVOPACK.
1537
CURRENT FB
ERROR(V
PHASE)
(SERVO2)
---
Disconnection of motor power line
or the SERVOPACK V-phase current detection circuit error is suspected.
• Turn the power OFF then back ON.
• Check for motor power line.
• Replace the SERVOPACK.
8-32
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1538
INCR ENCODER
INIT PULSE ERR
(SV2)
---
Initial pulse of incremental encoders is incorrect.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Check for noise.
• Replace the SERVOPACK.
1539
SERVO ON
COMMAND
INVALID
---
The servo on command was input
when the servo on command
invalid alarm was output.
• Turn the power OFF then back ON.
1540
VIBRATION
DETECT(SERVO
2)
---
An abnormal vibration was
detected during motor rotation.
• Turn the power OFF then back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
1541
FULL CLOSE
SERIAL
ENCODER SUM
CHECK ERROR
(SV2)
---
The check sum result of the
encoder memory is incorrect.
• Turn the power OFF then back ON.
• Replace the serial conversion unit.
• Replace the SERVOPACK.
1542
FULL CLOSE
SERIAL
ENCODER DATA
ALARM
(SERVO2)
---
Serial encoder internal parameter
error occurred.
• Turn the power OFF then back ON.
• Replace the serial conversion unit.
• Replace the SERVOPACK.
1544
FULL CLOSE
SERIAL
ENCODER
SCALE ERROR
(SERVO2)
---
The linear encoder or the serial
converter unit is damaged.
• Turn the power OFF then back ON.
• Replace the serial conversion unit.
• Replace the linear encoder.
1545
FULL CLOSE
SERIAL CONVERTER UNIT
COMMUNICATION ERROR
---
Full close serial converter unit communication error occurred.
• Turn the power OFF then back ON.
• Check the wiring around the cable between
the serial conversion unit and SERVOPACK.
• Check for noise.
• Review the cable between the serial conversion unit and SERVOPACK.
• Replace the serial conversion unit.
• Replace the SERVOPACK.
1546
COMMUNICATION SET
ERR(ML2)
---
An error was found in the MECHATROLINK communication transmission frequency.
• Turn the power OFF then back ON.
• Set an appropriate MECHATROLINK transmission frequency.
1547
CURRENT FB
ERROR
---
The motor current value displayed
on the axis data is incorrect (*:
axis).
• Check if a short-circuiting or ground fault
has not occurred in the power cables (U-,
V-, and W-phases) or motor.
1550
PALAMETER
DAMAGED
(SERVO2)
---
The SERVOPACK EEPROM data
is incorrect.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1551
PRIMARY CIRCUIT DETECT
ERR (SERVO2)
---
The various detection data of the
power circuit in the SERVOPACK is
incorrect.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
•
1552
PALAMETER
SETTING
ERROR
(SERVO2)
---
The parameter setting error or a
failure of SERVOPACK EEPROM
or peripheral circuit is suspected.
• Turn the power OFF then back ON.
• Correct the parameter settings.
• Replace the SERVOPACK.
1553
COMBINATION
SETTEING
ERROR
(SERVO2)
---
The SERVOPACK and motor
capacity match or the SERVOPACK board is damaged.
• Turn the power OFF then back ON.
• Correct the SERVOPACK and motor capacities.
• Replace the SERVOPACK.
8-33
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1554
OVER CURRENT (SERVO2)
---
A ground fault along the motor
power line, interphase short-circuiting, motor error, or SERVOPACK
error is suspected.
• Turn the power OFF then back ON.
• Check if a ground fault has not occurred in
the U-, V-, and W-phase of motor power
line, or short circuit has not occurred
between these phases.
• Turn the power off and naturally cool down
the manipulator. If the error does not occur
again after natural cooling, review the
manipulator motion conditions (such as
influence by external force and load condition) and ambient operating temperature.
• Replace the motor and SERVOPACK.
1555
ENCODER
BACK-UP
ERROR
(SERVO2)
---
The voltage drop of encoder
backup battery is suspected.
• Turn the power OFF then back ON.
• Check the connection and voltage of the
encoder backup battery.
• Correct the encoder connection.
• Replace the motor and SERVOPACK.
1556
ENCODER
INTERNAL DATA
ERROR
(SERVO2)
---
Serial encoder memory error
occurred.
• Turn the power OFF then back ON.
• Replace the motor and SERVOPACK.
1557
ENCODER
ABSOLUTE
ERROR
(SERVO2)
---
Serial encoder internal parameter
error occurred.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Replace the motor and SERVOPACK.
1558
ENCODER
SPEED ERROR
(SERVO2)
---
When the power turned ON, the
motor speed may have exceeded
the threshold speed.
• Turn the power OFF then back ON.
• Replace the motor and SERVOPACK.
1559
COMMUNICATION GATE
ARRAY ERROR
(SERVO2)
---
The MECHATROLINK communication ASIC error occurred.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1560
SYSTEM
ERROR
(SERVO2)
---
The internal program error occurred
in the SERVOPACK.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1561
BROKEN PG
LINE(A-, BPHASE)
(SERVO2)
---
The A-phase or B-phase of encoder
is disconnected.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Check for noise.
• Replace the motor and SERVOPACK.
1562
BROKEN PG
LINE(C-PHASE)
(SERVO2)
---
The C-phase of encoder is disconnected.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Check for noise.
• Replace the motor and SERVOPACK.
1563
ENCODER
MULTI-RETURN
LIMIT SETTING
ERROR
(SERVO2)
---
A clearance or setup of the absolute encoder multi-turn quantity
could not be performed correctly.
• Turn the power OFF then back ON.
• Replace the motor and SERVOPACK.
1564
COMMUNICATION ERROR
(ENCODER)
(SERVO2)
---
A communication error occurred
between encoder and SERVOPACK.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Check for noise.
• Replace the motor and SERVOPACK.
1565
ENCODER
PARAMETER
ERROR
(SERVO2)
---
The encoder parameter error
occurred.
• Turn the power OFF then back ON.
• Replace the motor and SERVOPACK.
8-34
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1566
ENCODER
ECHO BACK
ERROR
(SERVO2)
---
Communication with the encoder is
incorrect.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Check for noise.
• Check for FG.
• Replace the motor and SERVOPACK.
1567
ENCODER
MULTI-RETURN
LIMIT UNMATCH
(SERVO2)
---
The multi-turn limit value is different
between the encorder and the
SERVOPACK.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1568
NO OPTION
(SERVO2)
---
A COMl error occurred in the SERVOPACK.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1571
COMMUNICATION WATCH
DOG ERROR
(SERVO2)
---
WDT data updates is incorrect.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1572
COMMUNICATION ERROR
(SERVO2)
---
The MECHATROLINK communication error occurred.
• Turn the power OFF then back ON.
• Check the wiring around the MECHATROLINK communication cable.
• Take some action against noises from the
MECHATROLINK communication cable.
• Replace the SERVOPACK.
1573
SERVO PACK
FAILURE
(SERVO2)
---
A failure of the SERVOPACK.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1576
COMMAND EXECUTE NOT
READY
(SERVO2)
---
A error occurred in the SERVOPACK.
• Turn the power OFF then back ON.
• Replace the SERVOPACK.
1578
MOTOR LINE
DISCONNECTION ALARM
(SERVO2)
---
The motor power line disconnection
may be the cause.
• Turn the power OFF then back ON.
• Check for motor power line.
• Replace the motor and SERVOPACK.
1579
MOTOR LINE
DISCONNECTION ALARM
(SERVO2)
---
The motor power line disconnected
may be the cause.
• Turn the power OFF then back ON.
• Check for motor power line.
• Replace the motor and SERVOPACK.
1582
CURRENT
DETECTOR
ERROR
(SERVO2)
---
The motor power cable is disconnected. Or the current detector of
the SERVOPACK error.
• Turn the power OFF then back ON.
• Check for motor power line.
• Replace the motor and SERVOPACK.
1583
PHASE DETECTION ERROR
(SERVO2)
---
The encoder's A, B, C phase output
phases are incorrect.
• Turn the power OFF then back ON.
• Correct the encoder connection.
• Check for noise.
• Replace the motor and SERVOPACK.
1585
MOTOR LOAD
POSITION
ERROR(SV2)
---
The motor load position deviation
exceeded the limit.
• Turn the power OFF then back ON.
• Check the connection of mechanical combination.
1590
MC POWER
SUPPLY WIRING ERR(SV2)
---
The method of the power supply to
a main circuit is incorrect.
• Turn the power OFF then back ON.
• Check the connection of power supply of
AC/DC.
• Check the regenerative resistor.
• Replace the SERVOPACK.
1592
MONITOR PLD
ERROR 1
(SERVO I/O)
---
External WDT failure was detected
in TU.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
1593
MONITOR PLD
ERROR 2
(SERVO I/O)
---
External WDT timeout was detected
in TU.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
8-35
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
1594
MONITOR PLD
ERROR 3
(SERVO I/O)
---
Error between WDTs was detected
in TU.
• Turn the power OFF then back ON.
If the error occurs again, replace the TU circuit board.
4000
MEMORY
ERROR
(TOOL FILE)
---
An error was detected at memory
check.
• The memory for the tool file is
damaged.
Initialize the tool file in maintenance mode,
and then load the tool file saved in the external memory device.
4001
MEMORY
ERROR
(USER COORD
FILE)
---
An error was detected at memory
check.
• The memory for the user coordinates file is damaged.
Initialize the user coordinates file in maintenance mode, and then load the user coordinates file saved in the external memory
device.
4002
MEMORY
ERROR
(SV MON
SIGNAL FILE)
---
An error was detected at memory
check.
• The memory for the servo monitor signal file is damaged.
Initialize the servo monitor signal file in maintenance mode, and then load the servo monitor signal file saved in the external memory
device.
4003
MEMORY
ERROR
(WEAVING FILE)
---
An error was detected at memory
check.
• The memory for the weaving condition file is damaged.
Initialize the weaving condition file in maintenance mode, and then load the weaving condition file saved in the external memory
device.
4004
MEMORY
ERROR
(HOME POS
FILE)
---
An error was detected at memory
check.
• The memory for the home positioning file is damaged.
• Reset the alarm, and set the home positioning data (absolute data) again.
• Load the home positioning file saved in the
external memory device.
4005
MEMORY
ERROR
(SECOND HOME
POS)
---
An error was detected at memory
check.
• The memory for the second home
position file is damaged.
Load the second home position file saved in
the external memory device.
4006
MEMORY
ERROR
(POWER
SOURCE COND)
---
An error was detected at memory
check.
• The memory for the arc welding
Power Source condition file is
damaged.
Initialize the arc welding Power Source condition file in the maintenance mode, and then
load the arc welding Power Source condition
file saved in the external memory device.
4007
MEMORY
ERROR
(ARC START
COND FILE)
---
An error was detected at memory
check.
• The memory for the arc start condition file is damaged.
Initialize the arc start condition file in the
maintenance mode, and then load the arc
start condition file saved in the external memory device.
4008
MEMORY
ERROR
(ARC END
COND FILE)
---
An error was detected at memory
check.
• The memory for the arc end condition file is damaged.
Initialize the arc end condition file in the maintenance mode, and then load the arc end
condition file saved in the external memory
device.
4009
MEMORY
ERROR
(ARC AUX COND
FILE)
---
An error was detected at memory
check.
• The memory for the arc auxiliary
condition file is damaged.
Initialize the arc auxiliary condition file in the
maintenance mode, and then load the arc
auxiliary condition file saved in the external
memory device.
4010
MEMORY
ERROR
(COM-ARC
COND FILE)
---
An error was detected at memory
check.
• The memory for the COM-ARC
condition file is damaged.
Initialize the COM-ARC condition file in the
maintenance mode, and then load the COMARC condition file saved in the external
memory device.
4012
MEMORY
ERROR
(LINK
SERVOFLOAT)
---
An error was detected at memory
check.
• The memory for the link servo
float condition file is damaged.
Initialize the link servo float condition file in
the maintenance mode, and then load the
link servo float condition file saved in the
external memory device.
4013
MEMORY
ERROR
(LINEAR
SERVOFLOAT)
---
An error was detected at memory
check.
• The memory for the linear servo
float condition file is damaged.
Initialize the linear servo float condition file in
the maintenance mode, and then load the linear servo float condition file saved in the
external memory device.
8-36
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4014
MEMORY
ERROR (ROBOT
CARIB FILE)
---
An error was detected at memory
check.
• The memory for the file for calibration between manipulators is
damaged.
Initialize the file for calibration between
manipulators in the maintenance mode, and
then load the file for calibration between
manipulators saved in the external memory
device.
4017
MEMORY
ERROR
(POWER SRC
USER DEF)
---
An error was detected at memory
check.
• The memory for the Power Source
characteristics user definition file
is damaged.
Initialize the Power Source characteristics
user definition file in the maintenance mode,
and then load the Power Source characteristics user definition file saved in the external
memory device.
4018
MEMORY
ERROR
(LADDER PRG
FILE)
---
An error was detected at memory
check.
• The memory for the ladder program file is damaged.
Initialize the ladder program file in the maintenance mode, and then load the ladder program file saved in the external memory
device.
4019
MEMORY
ERROR
(CUTTING
COND FILE)
---
An error was detected at memory
check.
• The memory for the user coordinates file is damaged.
Initialize the user coordinates file in the maintenance mode, and then load the user coordinates file saved in the external memory
device.
4020
MEMORY
ERROR
(WORK HOME
POS FILE)
---
An error was detected at memory
check.
• The memory for the work home
position file is damaged.
Initialize the work home position file.
4021
MEMORY
ERROR
(CONVEYOR
COND FILE)
---
An error was detected at memory
check.
• The memory for the conveyor condition file is damaged.
Initialize the conveyor condition file in the
maintenance mode, and then load the conveyor condition file saved in the external
memory device.
4024
MEMORY
ERROR (WRIST
WEAV AMP FILE
IS DAMAGED)
---
The error was detected at the memory check.
• The erist weav amp file is damaged.
Initialize the wrist weaving amplitude interruption job file in maintenance mode, and
then load the wrist weaving amplitude file
saved in the external memory device.
4025
MEMORY
ERROR
(INTERRUPT
JOB FILE)
---
An error was detected at memory
check.
• The memory for the interrupt job
file is damaged.
Initialize the interrupt job file in the maintenance mode, and then load the interrupt job
file saved in the external memory device.
4028
MEMORY
ERROR
(SENSOR MON
COND FILE)
---
An error was detected at memory
check.
• The memory for the sensor monitoring condition file is damaged.
Initialize the sensor monitoring condition file
in the maintenance mode, and then load the
sensor monitoring condition file saved in the
external memory device.
4031
MEMORY
ERROR
(GUN COND
FILE)
---
An error was detected at memory
check.
• The memory for the spot welding
gun condition file is damaged.
Initialize the spot welding gun condition file in
the maintenance mode, and then load the
spot welding gun condition file saved in the
external memory device.
4032
MEMORY
ERROR
(SPOT WELD
COND)
---
An error was detected at memory
check.
• The memory for the spot welding
Power Source condition file is
damaged.
Initialize the spot welding SPOT WELD condition file in the maintenance mode, and then
load the spot welding Power Source condition file saved in the external memory device.
4033
MEMORY
ERROR
(GUN PRESSURE FILE)
---
An error was detected at memory
check.
• The memory for the gun pressure
file is damaged.
Initialize the gun pressure file in the maintenance mode, and then load the gun pressure
file saved in the external memory device.
4034
MEMORY
ERROR
(ANTICIPATION
OT FILE)
---
An error was detected at memory
check.
• The memory for the anticipation
outputs (OT) file is damaged.
Initialize the anticipation outputs file in the
maintenance mode, and then load the anticipation outputs file saved in the external memory device.
4035
MEMORY
ERROR
(ANTICIPATION
OG FILE)
---
An error was detected at memory
check.
• The memory for the anticipation
outputs (OG) file is damaged.
Initialize the anticipation outputs file in the
maintenance mode, and then load the anticipation outputs file saved in the external memory device.
8-37
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4036
MEMORY
ERROR
(WEARING FILE)
---
An error was detected at memory
check.
• The memory for the wear amount
file is damaged.
Initialize the wear amount file in the maintenance mode, and then load the wear amount
file saved in the external memory device.
4037
MEMORY
ERROR
(STROKE
POSITION)
---
An error was detected at memory
check.
• The memory for the FULL/SHORT
OPEN position setting file is damaged.
Initialize the FULL/SHORT OPEN position
setting file in the maintenance mode, and
then load the FULL/SHORT OPEN position
setting file saved in the external memory
device.
4038
MEMORY
ERROR
(PRESSURE
FILE)
---
An error was detected at memory
check.
• The memory for the dry-spotting
pressure file is damaged.
Initialize the dry-spotting pressure file in the
maintenance mode, and then load the dryspotting pressure file saved in the external
memory device.
4039
MEMORY
ERROR
(FORM CUT
FILE)
---
An error was detected at memory
check.
• The memory for the form cut file is
damaged.
Initialize the form cut file in the maintenance
mode, and then load the form cut file saved in
the external memory device.
4040
MEMORY
ERROR (SHOCK
LEVEL FILE)
---
An error was detected at memory
check.
• The memory for the shock level
file is damaged.
Initialize the shock level file in the maintenance mode, and then load the shock level
file saved in the external memory device.
4041
MEMORY
ERROR
(SPOT IO
ALLOCATE FL)
---
An error was detected at memory
check.
• The memory for the spot I/O allocation file is damaged.
Initialize the spot I/O allocation file in the
maintenance mode, and then load the spot
I/O allocation file saved in the external memory device.
4042
MEMORY
ERROR
(VISION FILE)
---
An error was detected at memory
check.
• The memory for the vision condition file is damaged.
Initialize the vision condition file in the maintenance mode, and then load the vision condition file saved in the external memory
device.
4043
MEMORY
ERROR
(VISION
CALIBRATION)
---
An error was detected at memory
check.
• The memory for the vision calibration file is damaged.
Initialize the vision calibration file in the maintenance mode, and then load the vision calibration file saved in the external memory
device.
4044
MEMORY
ERROR
(WELDING
PULSE COND
FILE)
---
An error was detected at memory
check.
• The memory for the welding pulse
condition file is damaged.
Initialize the welding pulse condition file in the
maintenance mode, and then load the welding pulse condition file saved in the external
memory device.
4045
MEMORY
ERROR
(WELDING
PULSE
SELECTION
FILE)
---
An error was detected at memory
check.
• The memory for the welding pulse
selection file is damaged.
Initialize the welding pulse selection file in the
maintenance mode, and then load the welding pulse selection file saved in the external
memory device.
4046
MEMORY
ERROR
(CONVEYOR
CALIBRATION)
---
An error was detected at memory
check.
• The memory for the conveyor calibration file is damaged.
Initialize the conveyor calibration file in the
maintenance mode, and then load the conveyor calibration file saved in the external
memory device.
4047
MEMORY
ERROR (MACRO
DEFINITION
FILE)
---
An error was detected at memory
check.
• The memory for the macro definition file is damaged.
Initialize the macro definition file in the maintenance mode, and then load the macro definition file saved in the external memory
device.
4048
MEMORY
ERROR
(SERVO S-GUN
FILE)
---
An error was detected at memory
check.
• The memory for the sealer gun
characteristics file is damaged.
Initialize the sealer gun characteristics file in
the maintenance mode, and then load the
sealer gun characteristics file saved in the
external memory device.
8-38
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4049
MEMORY
ERROR
(PASTE QUAN
COMPENSATION FILE)
---
An error was detected at memory
check.
• The memory for the painting
amount correction file is damaged.
Initialize the painting amount correction file in
the maintenance mode, and then load the
painting amount correction file saved in the
external memory device.
4050
MEMORY
ERROR
(AXIS I/O ALLOCATION FILE)
---
An error was detected at memory
check.
• The memory for the axis motion I/
O allocation file is damaged.
Initialize the axis motion I/O allocation file in
the maintenance mode, and then load the
axis motion I/O allocation file saved in the
external memory device.
4051
MEMORY
ERROR
(GUN COND
AUX FILE)
---
An error was detected at memory
check.
• The memory for the gun characteristics auxiliary file is damaged.
Initialize the gun characteristics auxiliary file
in the maintenance mode, and then load the
gun characteristics auxiliary file saved in the
external memory device.
4052
MEMORY
ERROR
(TOOL INTERFERENCE FILE)
---
An error was detected at memory
check.
• The memory for the tool interference file is damaged.
Initialize the tool interference file in the maintenance mode, and then load the tool interference file saved in the external memory
device.
4053
MEMORY
ERROR
(PAINTING SYSTEM CONFIGURATION)
---
An error was detected at memory
check.
• The memory for the painting system setting file is damaged.
Initialize the painting system setting file in the
maintenance mode, and then load the painting system setting file saved in the external
memory device.
4054
MEMORY
ERROR
(PAINTING
SPECIAL)
---
An error was detected at memory
check.
• The memory for the painting
device characteristics file is damaged.
Initialize the painting device characteristics
file in the maintenance mode, and then load
the painting device characteristics file saved
in the external memory device.
4055
MEMORY
ERROR
(CCV-PAINT
TABLE)
---
An error was detected at memory
check.
• The memory for the painting CCV
file is damaged.
Initialize the painting CCV file in the maintenance mode, and then load the painting CCV
file saved in the external memory device.
4056
MEMORY
ERROR
(PLUG VOLUME
FILE)
---
An error was detected at memory
check.
• The memory for the paint filling file
is damaged.
Initialize the paint filling file in the maintenance mode, and then load the paint filling
file saved in the external memory device.
4057
MEMORY
ERROR
(EVB GUN
COND)
---
An error was detected at memory
check.
• The memory for the EVB gun file
is damaged.
Initialize the EVB gun file in the maintenance
mode, and then load the EVB gun file saved
in the external memory device.
4058
MEMORY
ERROR
(EVB TURBINE
COND)
---
An error was detected at memory
check.
• The memory for the EVB turbine
file is damaged.
Initialize the EVB turbine file in the maintenance mode, and then load the EVB turbine
file saved in the external memory device.
4059
MEMORY
ERROR
(EVB PAINT
COND)
---
An error was detected at memory
check.
• The memory for the EVB paint file
is damaged.
Initialize the EVB paint file in the maintenance mode, and then load the EVB paint file
saved in the external memory device.
4060
MEMORY
ERROR (CLEARANCE FILE)
---
An error was detected at memory
check.
• The memory for the clearance file
is damaged.
Initialize the clearance file in the maintenance
mode, and then load the clearance file saved
in the external memory device.
4061
MEMORY
ERROR
(GAGING SENSOR FILE)
---
An error was detected at memory
check.
• The memory for the gaging sensor
file is damaged.
Initialize the gaging sensor file in the maintenance mode, and then load the gaging sensor file saved in the external memory device.
4062
MEMORY
ERROR
(LINEAR SCALE
FILE)
---
An error was detected at memory
check.
• The memory for the linear scale
condition file is damaged.
Initialize the linear scale condition file in the
maintenance mode, and then load the linear
scale condition file saved in the external
memory device.
8-39
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4063
MEMORY
ERROR
(CONVEYOR
COND SUPP.)
---
An error was detected at memory
check.
• The memory for the conveyor condition auxiliary file is damaged.
Initialize the conveyor condition auxiliary file
in the maintenance mode, and then load the
conveyor condition auxiliary file saved in the
external memory device.
4064
MEMORY
ERROR
(WEAVING SYNCHRONIZING
WELD FILE)
---
An error was detected at memory
check.
• The memory for the weaving synchronizing welding condition file is
damaged.
Initialize the weaving synchronizing welding
condition file in the maintenance mode, and
then load the weaving synchronizing welding
condition file saved in the external memory
device.
4065
MEMORY
ERROR
(I/F PANEL FILE)
---
An error was detected at memory
check.
• The memory for the I/F panel file
is damaged.
Initialize the I/F panel file in the maintenance
mode, and then load the I/F panel file saved
in the external memory device.
4069
MEMORY
ERROR
(PALLETIZING
COND FILE)
---
An error was detected at memory
check.
• The memory for the palletizing
condition file is damaged.
Initialize the palletizing condition file in the
maintenance mode, and then load the palletizing condition file saved in the external
memory device.
4100
OVERRUN
(ROBOT AXIS)
---
One of the manipulator overrun limit
switches activated.
Move back the manipulator out of the overrun
limit switch range. (Refer to the INSTRUCTIONS.)
4101
OVERRUN
(EXTERNAL
AXIS)
---
One of the external-axis overrun
limit switches activated.
Move back the external axis out of the overrun limit switch range. (Refer to the
INSTRUCTIONS.)
4102
SYSTEM DATA
HAS BEEN
CHANGED
1
The system parameters are modified.
• An attempt was made to turn ON
the servo power supply after having modified the system parameters.
The data indicates the cause of
alarm.
1: System parameter modified
Turn the power OFF then back ON.
An error occurred in the independent control
startup operation.
4103
PARALLEL
START
INSTRUCTION
ERROR
1
• Sub task being executed:
Although a job is being executed
by instructed sub task, an attempt
was made to execute another job
by the sub task.
2
• Group axis being used:
The job operated by another sub
task uses the same group axis.
3
• Multiple start of same job:
The job that was tried to be
started was executed by another
sub task.
4
• Unregistered master job:
Although the master job was not
registered, an attempt was made
to execute PSTART SUB (job
name omitted).
Register the master job for sub task.
5
• Synchronization instruction error:
When restarted by PSTART, synchronization instruction status of
the sub task under interruption
was different from the status to
restart.
Check the job to be started and the execution
timing for start command again.
8-40
Complete the sub task by PWAIT command.
Check the job to be started and the execution
timing for start command again.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4103
Message
PARALLEL
START
INSTRUCTION
ERROR
Sub
Code
Cause
Remedy
An error occurred in the independent control
startup operation.
6
• Stopped by an alarm:
An attempt was made to start the
sub task which is stopped by an
alarm.
Reset the alarm, and then start the sub task.
4104
WRONG
EXECUTION OF
LOAD INST
---
An error occurred when an instruction was executed by the data
transmission DCI function. The
data indicates the cause of alarm.
(Refer to the manual for Data
Transmission Function for details.)
Reset the alarm, and then remove the cause
according to the alarm data.
4105
WRONG
EXECUTION OF
SAVE INST
---
An error occurred when an instruction was executed by the data
transmission DCI function. The
data indicates the cause of alarm.
(Refer to the manual for Data
Transmission Function for details.)
Reset the alarm, and then remove the cause
according to the alarm data.
4106
WRONG
EXECUTION OF
DELETE INST
---
An error occurred when an instruction was executed by the data
transmission DCI function. The
data indicates the cause of alarm.
(Refer to the manual for Data
Transmission Function for details.)
Reset the alarm, and then remove the cause
according to the alarm data.
4107
OUT OF RANGE
(ABSO DATA)
---
The position difference between
when the power was turned OFF
and when the power was turned
ON again exceeded the tolerance
for the manipulator or a station.
• Move the manipulator or station to the zero
position by the axis operation and check the
home position alignment marks (the arrow).
• If the zero position does not match the
home position, check if there is no error in
the PG system of the axis for which the
alarm occurred.
4109
DC24V POWER
SUPPLY
FAILURE (I/O)
0000_
00∗∗
The external 24V power for I/Os is
not output.
0000_0001: Fuse blown (NIF01
unit)
0000_0011: External 24 V power
supply error
• Check if the fuse of robot I/F unit (NIF) is not
blown.
• Check the 24V external power supply.
• Check the communications cable for the I/O
module
If the error occurs again, contact your
Yaskawa representative.
4110
SHOCK SENSOR ACTIVATION
---
The shock sensor activated.
Remove the cause of shock sensor activation.
4111
BRAKE FUSE
BREAKDOWN
---
The brake fuse blew out.
Replace the fuse.
An error occurred during data transmission.
4112
DATA SENDING
ERROR
1
• Retry over of NAK
2
• Retry over for timeout in timer A
3
• Retry over for mutual response
error
Reset the alarm, and then remove the cause.
An error occurred during data transmission.
4113
DATA RECEIVING ERROR
1
• Reception timeout (timer A)
2
• Reception timeout (timer B)
3
• Heading length is too short.
4
• Heading length is too long.
5
• The header No. error
6
• The text length exceeded 256
characters.
8-41
Reset the alarm, and then remove the cause.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4113
Message
DATA RECEIVING ERROR
Sub
Code
Cause
Remedy
An error occurred during data transmission.
7
• An unexpected control code was
received.
Reset the alarm, and then remove the cause.
An error occurred during data transmission.
4114
4115
TRANSMISSION
HARDWARE
ERROR
TRANSMISSION
SYSTEM BLOCK
1
• Overrun error
2
• Parity error
3
• Framing error
4
• Transmission timeout (timer A)
5
• Transmission timeout (timer B)
Reset the alarm, and then remove the cause.
An error occurred during data transmission.
(This alarm occurs when received data
cause inconsistency on the system although
the transmission protocol is correct. Mainly,
this alarm occurs due to an illegal transmission or erroneous report at the data sending
side.)
1
• Received EOT while waiting ACK.
2
• Received EOT while waiting ENQ.
3
• Received EOT before last block
reception.
4
• Received codes other than EOT
after last block reception.
Reset the alarm, and then remove the cause.
4116
TRANSMISSION
SYSTEM
ERROR
---
An error occurred during data transmission.
If the error occurs again, contact your
Yaskawa representative.
4117
BRAKE POWER
ERROR
---
The power for brake is not output.
An error occurred due to ground
fault or short circuit of the brake wiring. Or the fuse of optional unit
(NBP
) or brake release unit
(NBU
) is blown.
• Verify the brake wiring. If the fuse is blown,
check the wiring, then replace the fuse.
If the error occurs again, contact your
Yaskawa representative.
4118
TRIPPED CIRCUIT PROTECTOR OF INPANEL FAN
XY
The circuit protector of the in-panel
cooling fan is tripped due to ground
fault or short circuit or the in-panel
cooling fan, or defective fan.
Note: This alarm is displayed
approximately one minute
after the detection.
X Servo board
1: Servo board1 (SV#1)
2: Servo board2 (SV#2)
3: Servo board3 (SV#3)
4: Servo board4 (SV#4)
Y Power-ON unit
1: Power-ON unit1 (TU#1)
2: Power-ON unit2 (TU#2)
3: Power-ON unit3 (TU#3)
4: Power-ON unit4 (TU#4)
5: Power-ON unit5 (TU#5)
6: Power-ON unit6 (TU#6)
• Verify the wiring of in-panel cooling fan.
If there is no defect in the wiring, replace the
cooling fan since the fan may be defective.
4119
FAN ERROR
(IN CONTROL
BOX)
X
The rotation speed of in-panel cooling fan decreased.
X CPS unit number
1: CPS unit 1(Detected with SV#1)
2: CPS unit 2(Detected with SV#2)
3: CPS unit 3(Detected with SV#3)
4: CPS unit 4(Detected with SV#4)
• Reset the alarm, and then move the manipulator to the safe position in the teach
mode.
• Check if in-panel cooling fan is rotating.
If the fan is not working, verify its wiring.
Should the error persist, replace the in-panel
cooling fan (CPS power unit).
8-42
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4121
COOLING FAN 1
ERROR
XY
The rotation speed of the cooling
fan 1 with alarm sensor connected
to the contactor unit decreased.
X Servo board
1: Servo board1 (SV#1)
2: Servo board2 (SV#2)
3: Servo board3 (SV#3)
4: Servo board4 (SV#4)
Y Power-ON unit
1: Power-ON unit1 (TU#1)
2: Power-ON unit2 (TU#2)
3: Power-ON unit3 (TU#3)
4: Power-ON unit4 (TU#4)
5: Power-ON unit5 (TU#5)
6: Power-ON unit6 (TU#6)
• Reset the alarm, and then move the manipulator to the safe position in the teach
mode.
• The cooling fan 1 needs to be replaced.
Contact your Yaskawa representative.
4122
COOLING FAN 2
ERROR
XY
The rotation speed of the cooling
fan 2 with alarm sensor connected
to the contactor unit decreased.
X Servo board
1: Servo board1 (SV#1)
2: Servo board2 (SV#2)
3: Servo board3 (SV#3)
4: Servo board4 (SV#4)
Y Power-ON unit
1: Power-ON unit1 (TU#1)
2: Power-ON unit2 (TU#2)
3: Power-ON unit3 (TU#3)
4: Power-ON unit4 (TU#4)
5: Power-ON unit5 (TU#5)
6: Power-ON unit6 (TU#6)
• Reset the alarm, and then move the manipulator to the safe position in the teach
mode.
• The cooling fan 2 needs to be replaced.
Contact your Yaskawa representative.
4123
COOLING FAN 3
ERROR
XY
The rotation speed of the cooling
fan 3 with alarm sensor connected
to the contactor unit decreased.
X Servo board
1: Servo board1 (SV#1)
2: Servo board2 (SV#2)
3: Servo board3 (SV#3)
4: Servo board4 (SV#4)
Y Power-ON unit
1: Power-ON unit1 (TU#1)
2: Power-ON unit2 (TU#2)
3: Power-ON unit3 (TU#3)
4: Power-ON unit4 (TU#4)
5: Power-ON unit5 (TU#5)
6: Power-ON unit6 (TU#6)
• Reset the alarm, and then move the manipulator to the safe position in the teach
mode.
• The cooling fan 3 needs to be replaced.
Contact your Yaskawa representative.
1
An error occurred when the notification of the APP task re-initialization
was processed in the Ethernet
function.
2
An error occurred when the re-initialization response was received in
the Ethernet function.
3
The incomplete task of re-initialization was unsuccessfully completed
in the Ethernet function.
4
An error occurred when the semaphore for re-initialization was
received in the Ethernet function.
5
An error occurred when the re-initialization mail was sent in the
Ethernet function.
4130
NETWORK
APPLICATION
ERROR
8-43
• Rotate the mode selector switch on the programming pendant to release the mode setting which has been set to &quot;REMOTE&quot;, then
rotate the switch again to set back to
&quot;REMOTE&quot;.
• If the error occurs again after releasing the
mode setting of the switch and setting back
to &quot;REMOTE&quot;, turn the power OFF then
back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4130
Message
NETWORK
APPLICATION
ERROR
Sub
Code
Cause
6
An error occurred in the exclusive
process of the storage area control
table of the Ethernet function.
7
Time-out occurred in the re-initialization response receiving process
of the Ethernet function.
8
An error occurred in the re-initialization response receiving process of
the Ethernet function.
9
Receiving data size error occurred
in the re-initialization response
receiving process of the Ethernet
function.
30
An error occurred in the Web server
task mail receiving process of the
Ethernet function.
31
An error occurred in the FTP server
task mail receiving process of the
Ethernet function.
32
An error occurred in the FTP client
task mail receiving process of the
Ethernet function.
40
Illegal e-mail data were received in
the Web server task of the Ethernet
function.
41
Illegal e-mail data were received in
the FTP server task of the Ethernet
function.
42
Illegal e-mail data were received in
the FTP client task of the Ethernet
function.
50
An error occurred in the data size
written to PCI of the Ethernet funciton.
51
An error occurred when the request
to write PCI data was received in
the Ethernet function.
52
The request of the undefined transmission was received in the Ethernet function.
53
An error occurred in the transmission request of the Ethernet function.
54
The transmission request without
data was received in the Ethernet
function.
55
The transmission request of illegal
data length was received in the
Ethernet function.
60
Illegal mail data ware received in
the DNS task of the Ethernet function.
61
Illegal mail data was transmitted in
the DNS task of the Ethernet function.
100
An error occurred in storing process
of memory which is used in the
Ethernet function.
8-44
Remedy
• Rotate the mode selector switch on the programming pendant to release the mode setting which has been set to &quot;REMOTE&quot;, then
rotate the switch again to set back to
&quot;REMOTE&quot;.
• If the error occurs again after releasing the
mode setting of the switch and setting back
to &quot;REMOTE&quot;, turn the power OFF then
back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4130
4131
4132
Message
NETWORK
APPLICATION
ERROR
UDP COMMUNICATION ERROR
TCP COMMUNICATION ERROR
Sub
Code
Cause
Remedy
101
An error occurred in the buffer for
request to write PCI getting process
of the Ethernet function.
200
The socket of the Ethernet function
was full and was not able to create
a socket.
201
An error occurred in the semaphore
of socket control table of the Ethernet function.
• Rotate the mode selector switch on the programming pendant to release the mode setting which has been set to &quot;REMOTE&quot;, then
rotate the switch again to set back to
&quot;REMOTE&quot;.
• If the error occurs again after releasing the
mode setting of the switch and setting back
to &quot;REMOTE&quot;, turn the power OFF then
back ON.
If the error occurs again, contact your
Yaskawa representative.
1
An error occurred in the creation of
receiving socket during the UDP
process of the Ethernet function.
2
An error occurred in the creation of
transmission socket during the
UDP process of the Ethernet function.
3
Illegal data were received in the
UDP process of the Ethernet function.
4
Transmission error occurred in the
UDP process of the Ethernet function.
5
The SELECT operation was not
successfully completed in the UDP
process of the Ethernet function.
100
The re-initialization notification of
illegal data length was received in
the UDP process of the Ethernet
function.
101
The re-initialization notification of
illegal data was received in the
UDP process of the Ethernet function.
102
The PCI write process was not successfully completed in the UDP process of the Ethernet function.
103
The transmission request of illegal
data length was received in the
UDP process of the Ethernet function.
104
The transmission request of illegal
data was received in the UDP process of the Ethernet function.
1
The socket table was not successfully created in the TCP process of
the Ethernet function.
2
An error occurred in the process of
the TCP server initialization of the
Ethernet function.
3
An error occurred in connection
detecting process of TCP server of
the Ethernet function.
4
An error occurred in the connection
detection checking process of TCP
server of the Ethernet function.
8-45
• Rotate the mode selector switch on the programming pendant to release the mode setting which has been set to &quot;REMOTE&quot;, then
rotate the switch again to set back to
&quot;REMOTE&quot;.
• If the error occurs again after releasing the
mode setting of the switch and setting back
to &quot;REMOTE&quot;, turn the power OFF then
back ON.
If the error occurs again, contact your
Yaskawa representative.
• Rotate the mode selector switch on the programming pendant to release the mode setting which has been set to &quot;REMOTE&quot;, then
rotate the switch again to set back to
&quot;REMOTE&quot;.
• If the error occurs again after releasing the
mode setting of the switch and setting back
to &quot;REMOTE&quot;, turn the power OFF then
back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4135
4136
4137
Message
TOYOPUC RUN
STOP
TOYOPUC
MAJOR ERROR
SETUALM
ERROR
4138
SVON ERROR
4139
PRINT ERROR
Sub
Code
Cause
Remedy
0
TOYOPUC is in stopped state.
Use the PCwin, etc. to run the TOYOPUC,
then reset the alarm for the NX100, or turn
ON the power supply again.
0
The PCI bus state of the TOYOPUC turns to &quot;ER&quot;.
An error occurred in the processing
on the TOYOPUC side.
1
INTRB time-out error
An error occurred in the PCI bus
communication processing of the
TOYOPUC.
2
The INTPC does not turn to &quot;1&quot; five
seconds after the PCI command is
issued.
An error occurred in the PCI bus
communication processing of the
TOYOPUC.
3
Error in the state of interrupt
register1
An error occurred in the PCI bus
communication processing of the
TOYOPUC
1
An error occurred at SETUALM
instruction execution.
Alarm code specification error
Specify the alarm in the range 8000 to 8999.
2
An error occurred at SETUALM
instruction execution.
Task specification error
Specify the task in the range 0 to 4 (7 at
expansion).
3
An error occurred at SETUALM
instruction execution.
Motion mode specification error
Set the motion mode to 0 or 1.
---
An error occurred at SVON instruction execution.
SVON is disabled.
• Verify that the external servo ON (EXSVON)
is short-circuited.
• Verify that the concurrent I/O signal #80031
(servo ON condition1) and #80033 (servo
ON condition2) are turned ON.
---
An error occurred at PRINT instruction execution.
PRINT output conversion spec
(character string specification) error
Review the PRINT output conversion spec
(character string specification).
• Rotate the mode selector switch on the programming pendant to release the mode setting which has been set to &quot;REMOTE&quot;, then
rotate the switch again to set back to
&quot;REMOTE&quot;.
• If the error occurs again after releasing the
mode setting of the switch and setting back
to &quot;REMOTE&quot;, turn the power OFF then
back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred at execution of the DIALOG instruction.
4140
4141
DIALOG ERROR
1
DIALOG instruction control error
2
Messages and buttons are not registere.
3
Buttons are not registered.
4
The length of character string was
exceeded.
1
The error on setting of time difference value occurred in the SNTP
process of the Ethernet function.
2
The error on setting of time-out
value occurred in the SNTP process of the Ethernet function.
3
The error on setting of reference
interval value occurred in the SNTP
process of the Ethernet function.
SNTP ERROR
8-46
• Reset the alarm, and then try again.
• Turn the power OFF and back ON.
Review DIALOG instruction.
• Turn the power OFF and back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4141
4200
Message
Sub
Code
Remedy
4
The IP address error occurred in
the SNTP process of the Ethernet
function.
• Correctly set the IP address of the SNTP
server.
• If the DHCP is used, verify the DHCP server
operation and the network status.
5
Time-out occurred in the SNTP process of the Ethernet function.
Verify the SNTP server operation and the
network status.
6
The server time is not synchronized
in the SNTP process of the Ethernet function.
Verify the SNTP server operation.
7
The SNTP process of the Ethernet
function is not compliant with the
version that the server sent.
Use the server compliant with the SNTP version 3.
8
Illegal parameters were found in the
SNTP process of the Ethernet function.
SNTP ERROR
SYSTEM
ERROR
(FILE DATA)
Cause
• Verify the SNTP related settings.
If the error occurs again, contact your
Yaskawa representative.
9
The SNTP process of the Ethernet
function was not successfully completed.
10
The name resolution error occurred
in the SNTP process of the Ethernet function.
11
The error on getting of server
address occurred in the SNTP process of the Ethernet function.
• When the DHCP is used, verify the DHCP
server operation.
12
The server setting is incorrect in the
SNTP process of the Ethernet function.
• Set a correct IP address for the SNTP
server.
---
An error occurred during the access
to file data (during file edition or
external memory device operation).
• Set a correct IP address for the SNTP
server.
• When the DHCP is used, verify the DHCP
server operation and the network status.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred when accessing to job
data.
4201
SYSTEM
ERROR (JOB)
-1
• An error occurred in parameter
specification.
-2
• Access time exceeded the limit.
-3
• The access to a job could not be
performed with the specified job
name.
-4
• The character not allowed was
used as a job name.
-5
• A job was newly created with the
same name of the job already
specified in the memory.
-6
• The allowable job registration
area (memory) was exceeded.
Delete unused jobs and/or expand CMOS.
-7
• A job that did not exist in the
memory was specified.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
-8
• An attempt was made to change
the contents for the job prohibited
from being edited.
Release the prohibition and change it.
-9
• An error occurred in handle value.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8-47
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4201
Message
SYSTEM
ERROR (JOB)
Sub
Code
Cause
Remedy
-10
• An error occurred in job data control system.
-11
• An error occurred in sequence
number of the accessed job.
-12
• An error occurred in step number
of the accessed job.
-13
• A job specified at job search did
not exist in the memory.
-14
• There was an instruction that did
not exist in a job because of
inconsistency of the system software.
Check the NCP01 and NCP02 software versions before/after updating.
-16
• Unused handles were lacking
when an attempt was made to
open a job.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
-18
• The number of instructions added
to a job exceeded 9999.
Delete unnecessary instructions and add
new instructions.
-19
• The number of steps added to a
job exceeded 9999.
Delete unnecessary steps and add new
steps.
-20
• A job was newly created with the
same name of the undefined job
already specified in the memory.
-99
• A job data in the memory was
destroyed.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred when accessing to job
data.
4202
SYSTEM
ERROR
(JOB)
1
• An error occurred in parameter
specification.
2
• Access time exceeded the limit.
3
• The access to a job could not be
performed with the specified job
name.
4
• The character not allowed was
used as a job name.
5
• A job was newly created with the
same name of the job already
specified in the memory.
6
• The allowable job registration
area (memory) was exceeded.
Delete unused jobs and/or expand CMOS.
7
• A job that did not exist in the
memory was specified.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8
• An attempt was made to change
the contents for the job prohibited
from being edited.
Release the prohibition and change it.
9
• An error occurred in handle value.
10
• An error occurred in job data control system.
11
• An error occurred in sequence
number of the accessed job.
8-48
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4202
Message
Sub
Code
Cause
Remedy
12
• An error occurred in step number
of the accessed job.
13
• A job specified at job search did
not exist in the memory.
14
• There was an instruction that did
not exist in a job because of
inconsistency of the system software.
Check the NCP01 and NCP02 software versions before/after updating.
16
• Unused handles were lacking
when an attempt was made to
open a job.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
18
• The number of instructions added
to a job exceeded 9999.
Delete unnecessary instructions and add
new instructions.
19
• The number of steps added to a
job exceeded 9999.
Delete unnecessary steps and add new
steps.
20
• A job was newly created with the
same name of the undefined job
already specified in the memory.
99
• A job data in the memory was
destroyed.
SYSTEM
ERROR
(JOB)
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred in position data control
process.
-1
4203
SYSTEM
ERROR (POSITION DATA)
• The memory area for position data
is lacking at the initialization of the
position data control process.
-2
• The number of axes for all the
control groups is zero at the initialization of the position data control process
-3
• The number of axes for position
data is zero.
-4
• The number of stored position
data exceeded the maximum
stored data at the initialization of
the position data control process.
-5
• The memory size of the position
data exceeded the maximum
memory size at the initialization of
the position data control process.
-6
• Unused position data file is
destroyed.
-7
• Unused position data file does not
exist.
-8
• Position data file is destroyed.
-9
• Position data control information is
destroyed.
-10
• An error occurred in specified
position data number.
8-49
Initialize the job in the maintenance mode.
• When the data is loaded from the external
memory, the control axis for external memory is different from that for system. Initialize the job.
• When a point is added, the job is not initialized after the control axis for system was
changed to a different control group by system configuration. Initialize the job.
Initialize the job in the maintenance mode.
Delete unnecessary steps (position data) and
add position data.
Initialize the job in the maintenance mode.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4203
Message
SYSTEM
ERROR (POSITION DATA)
Sub
Code
Cause
-11
• Position data is not registered.
-12
• An attempt was made to access
the undefined position data.
-13
• An attempt was made to access
the position data for the undefined
control group.
-14
• Position data control is not initialized.
-15
• The number of axes for the control
groups exceeded the limit.
-16
• An error occurred in exclusive
control.
-17
• An error occurred in exceptional
control.
Remedy
If the error occurs again, contact your
Yaskawa representative.
An error occurred in position data control
process.
4204
SYSTEM
ERROR (POSITION DATA)
1
• The memory area for position data
is lacking at the initialization of the
position data control process.
2
• The number of axes for all the
control groups is zero at the initialization of the position data control process
3
• The number of axes for position
data is zero.
4
• The number of stored position
data exceeded the maximum
stored data at the initialization of
the position data control process.
5
• The memory size of the position
data exceeded the maximum
memory size at the initialization of
the position data control process.
6
• Unused position data file is
destroyed.
7
• Unused position data file does not
exist.
8
• Position data file is destroyed.
9
• Position data control information is
destroyed.
10
• An error occurred in specified
position data number.
11
• Position data is not registered.
12
• An attempt was made to access
the undefined position data.
8-50
Initialize the job in the maintenance mode.
• When the data is loaded from the external
memory, the control axis for external memory is different from that for system. Initialize the job.
• When a point is added, the job is not initialized after the control axis for system was
changed to a different control group by system configuration. Initialize the job.
Initialize the job in the maintenance mode.
Delete unnecessary steps (position data) and
add position data.
Initialize the job in the maintenance mode.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4204
4206
Message
SYSTEM
ERROR (POSITION DATA)
SYSTEM
ERROR
(TRANSMISSION)
Sub
Code
Cause
13
• An attempt was made to access
the position data for the undefined
control group.
14
• Position data control is not initialized.
15
• The number of axes for the control
groups exceeded the limit.
16
• An error occurred in exclusive
control.
17
• An error occurred in exceptional
control.
---
An error occurred in data transmission.
Remedy
If the error occurs again, contact your
Yaskawa representative.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
A system error occurred in MOTION.
4207
SYSTEM
ERROR
(MOTION)
1
• An interrupt undefined in the main
command from the system control
section occurred.
2
• An interrupt undefined in the sub
command from the system control
section occurred.
3
• The interrupt command that was
sent previously from the system
control section is being processed.
4
• An error was detected in the interrupt command data from the system control section.
5
• An undefined command was
detected in the sub segment task
of MOTION.
6
• An undefined command was
detected in the servo-related processing of MOTION.
7
• An undefined command was
detected in the offline processing
task of MOTION.
8
• An undefined command was
detected in the utility task of
MOTION.
10
• Task Token is not generated.
11
• Mail-box Token is not generated.
12
• Semaphore Token is not generated.
13
• Memory-pool Token is not generated.
14
• RMS receiving data error
15
• RMS sending data error
16
• RMS receiving unit error
17
• RMS sending unit error
18
• Task generation error
19
• Mail-box generation error
20
• Semaphore generation error
8-51
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
A system error occurred in MOTION.
4207
SYSTEM
ERROR
(MOTION)
21
• Token pointer error
22
• TCB area overflow
23
• Stack area overflow
24
• Mail-box area overflow
25
• Semaphore area overflow
30
• Main command error
31
• MSS system - ID number error
32
• HA-MSS system number error
33
• Incorrect control group designation
34
• Offline bank semaphore reception
error
35
• m_gen_area semaphore reception error
36
• Offline HA processing timeout
37
• DM_BANK flag error (DM_BANK
conversion processing)
38
• S → M offline processing command type error
39
• SL data transmission request
function error
40
• Error in designation of application
in the request of general-purpose
data preset for each application.
41
• Error in the parameter to prepare
the speed data table
42
• Error in the parameter to prepare
the global-variable control table
43
• Error in the parameter to prepare
the axis control table
44
• Error in the parameter to prepare
the online servo-constant modification table
45
• Mail-box of sequence task is not
ready.
46
• Control-group usage undefined
47
• Segment task polling command
error
48
• Physical axis number error
49
• The control group impossible to
release the brake
50
• Sub-segment request FULL
51
• Sub-segment process timeout
52
• Data latch request FULL
53
• Data latch process timeout
54
• AXIS command request FULL
55
• AXIS command process timeout
56
• Positioning monitor request FULL
8-52
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
A system error occurred in MOTION.
4207
SYSTEM
ERROR
(MOTION)
57
• Positioning monitor process timeout
58
• Failed AXIS servo OFF command
request during emergency stop
60
• Memory pool area overflow
61
• Conversion primary expression for
Power Source command ↔ EW
command not prepared
62
• Duplicated request error during
master control-group tracking
63
• GVM shared resource semaphore error
64
• Job queue DEQUE error
65
• Conversion primary expression for
painting device command ↔ EW
command not prepared
66
• Execution system decision table
not set
67
• Unknown mode data (Without
TEACH/PLAY mode data)
68
• Shift-value output timeout of the
general-purpose sensor
69
• Interrupt main status set
71
• System number error at the master side in twin synchronous system
72
• No data link added to the command
73
• Setting status error of the user
coordinates file
75
• Previous path data reference error
76
• Target position preparation error in
arc-retry shift motion mode
77
• Request to compensate position
error of the axis that is not endless axis
79
• Inner track zone status error
80
• Instruction queue and instruction
system data area overflow
81
• Offline answer bank flag error
82
• Path and trace queue ENQUE
BANK error
83
• Pending and block end request
FULL
84
• Base axis file type error
85
• Output buffer SYSCON for automatic test data in use
86
• Conversion completion status for
AXIS section feedback latch data
not established
87
• Sensor number (SL#) error
88
• File C1 through C3 for calibration
between manipulators not set
8-53
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
A system error occurred in MOTION.
4207
SYSTEM
ERROR
(MOTION)
89
• File C1 through C3 for conveyor
calibration not set
90
• HA function error
(conv_pos_data())
91
• HA function error
(conv_shift_data())
92
• HA function error
(trans_angle_to_pulse())
93
• HA function error
(trans_pulse_to_angle())
94
• HA function error
(conv_pulse_to_angle())
95
• HA function error
(pr_atinf_pos_make())
96
• HA function error
(make_pos_data())
100
• Control-group axis configuration
information parameter error
101
• Error in the parameter for the table
for physical axes
102
• Error in the parameter for the table
for physical TU
103
• Excessive number of control
group axes in use
104
• JOG and PLAY maximum speed
setting parameter error
120
• Job argument over
121
• Job argument stack overflow
122
• Job argument stack underflow
123
• Designation error of the fetched
feedback pulse area at preparation of current value
128
• Timeout for waiting permission to
modify the number of averaging
times
129
• Object undefined for CLEAR
instruction
130
• No space in RT_BANK setting
area for correction-amount data
131
• Queue operation error for variable write-in history at prereading
(at ENQUE)
132
• Queue operation error for variable write-in history at prereading
(at DEQUE)
133
• Queue operation error for variable write-in history at prereading
(undefined operation)
134
• Queue operation error for variable write-in history at prereading
(data length too long)
8-54
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
A system error occurred in MOTION.
4207
SYSTEM
ERROR
(MOTION)
135
• Queue operation error for scoreboard setting history (at ENQUE)
136
• Queue operation error for scoreboard setting history (at DEQUE)
137
• Queue operation error for scoreboard setting history (undefined
operation)
138
• Queue operation error for scoreboard setting history (data length
too long)
139
• Queue operation error for instruction execution (at ENQUE)
140
• Queue operation error for instruction execution (at DEQUE)
141
• Queue operation error for instruction execution (undefined operation)
142
• Queue operation error for instruction execution (data length too
long)
143
• Queue operation error for WORK
ID conveyor (at ENQUE)
144
• Queue operation error for WORK
ID conveyor (at DEQUE)
145
• Queue operation error for WORK
ID conveyor (undefined operation)
146
• Queue operation error for WORK
ID conveyor (data length too long)
147
• Queue operation error for WORK
IN/OUT checking conveyor (at
ENQUE)
148
• Queue operation error for WORK
IN/OUT checking conveyor (at
DEQUE)
149
• Queue operation error for WORK
IN/OUT checking conveyor
(undefined operation)
150
• Queue operation error for WORK
IN/OUT checking conveyor (data
length too long)
151
• Queue operation error for waiting
for semaphore for LOCK instruction (at ENQUE)
152
• Queue operation error for waiting
for semaphore for LOCK instruction (at DEQUE)
153
• Queue operation error for waiting
for semaphore for LOCK instruction (undefined operation)
154
• Queue operation error for waiting
for semaphore for LOCK instruction (data length too long)
222
• Impossible to execute system
exclusive for system job
8-55
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
A system error occurred in MOTION.
4207
SYSTEM
ERROR
(MOTION)
223
• Event queue number range
exceeded
224
• No motor-gun control group for
ESRCH instruction
225
• The number of WORK ID data and
the MAX. WORK FIND COUNT
unmatched (MOTION ≠ CV)
226
• The number of WORK IN/OUT
data and the MAX. WORK FIND
COUNT unmatched (MOTION ≠
CV)
227
• Excessive number of schedulings
for execution of instructions
228
• Instruction execution scheduling
impossible
229
• Illegal 1st-line move instruction at
execution of +SMOV instruction
230
• Impossible to execute the slave
circular interpolation and the master circular interpolation at the
same time
231
• Impossible to execute the slave
spline interpolation and the master spline interpolation at the
same time
232
• Illegal index value for a +MOVx
instruction
233
• No xth-line move instruction exists
where the master control group
belongs.
234
• Marking error for WORK ID conveyor queue (empty queue)
235
• Marking error for WORK IN/OUT
conveyor queue (empty queue)
236
• Data error 1 at restarting after an
emergency stop (actual status
and the data status unmatched)
237
• Data error 2 at restarting after an
emergency stop (actual status
and the data status unmatched)
238
• Data error 3 at restarting after an
emergency stop (actual status
and the data status unmatched)
239
• Timeout for receiving segment
data output request
240
• The number which designates the
setting area of correction amount
in RT_BANK exceeded the limit
value.
241
• Task error of the function calling
source (cv_sync_intr ( ))
242
• No control group for motor gun for
clearance move instruction
8-56
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
A system error occurred in MOTION.
4207
SYSTEM
ERROR
(MOTION)
243
• Motor gun condition file number
error (including gun pressure file)
244
• GETTOOLW manipulator designation error
245
• Overflow of entry number for
instruction execution
246
• Data latch processing (function
number overflow)
247
• Data latch processing (real-time
status number overflow)
248
• Failed to set a timer unit. (No allocation space for timer unit setting)
249
• Segment data missing (seg_t_req
was not received in time.)
250
• GETS instruction internal error
251
• SETFILE undefined file
252
• GETFILE undefined file
253
• The parameter was destroyed
when a GETPRM instruction was
executed.
254
• Null pointer assignment detected
255
• Function or other processing
parameter error
1000
• System clock (RTC) setting error
1001
• System task priority arrangement
error
1002
• VxWorks primitive error
(msgQCreate)
1003
• VxWorks primitive error
(msgQSend)
1004
• VxWorks primitive error
(msgQReceive)
1005
• VxWorks primitive error
(semBCreate)
1006
• VxWorks primitive error
(semGive)
1007
• VxWorks primitive error
(semTake)
2000
• Failed system job environment
configuration
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
A system error occurred in the path control
section.
4208
SYSTEM
ERROR (ARITH)
1
• Prereading task is not completed.
2
• The answer bank flag is already
set.
3
• Inner path motion is impossible.
4
• Error in the number of position
data
5
• The averaging buffer in the arithmetic section is destroyed.
6
• No previous bank exists.
7
• The answer bank flag is ON.
8-57
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
A system error occurred in the path control
section.
4208
SYSTEM
ERROR (ARITH)
8
• An error occurred in preparation of
current position.
9
• Mails could not correctly be
received in the current task.
10
• Spline-curve path designation
error
11
• The previous bank’s prereading
conversion could not correctly be
completed.
12
• A manipulator designation error
occurred at JOG operation using
the external reference point.
13
• Designation error of cubic interference coordinates
14
• Path control position data error of
prereading bank
15
• Weaving control position data
error of prereading bank
16
• Station/base axis motion command error
18
• User coordinates number error
19
• Processing error in re-preparation
of segment control data
20
• Prereading task not completed at
master in twin synchronous system
21
• Zero division occurred at observer
operation.
22
• Processing error in optimized
acceleration/deceleration control
23
• Dynamic model arithmetic error
24
• Speed limit control error (excessive moment of gravity)
25
• Square root of a negative number
26
• The system number is not set at
master in twin synchronous system.
27
• Designation error of control group
for servo sealer gun
28
• Designation error of control condition for servo sealer gun
29
• FORMCUT internal control error
30
• Arm interference check error
(radius data referencing mistake)
31
• Arm interference check error (miscalculation using direct kinematics)
32
• Arm interference check error (Laxis expansion flag setting error)
33
• Arm interference check error
(check-point re-setting error)
34
• Impossible to edit the averaging
buffer (zero division)
8-58
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
A system error occurred in the path control
section.
4208
SYSTEM
ERROR (ARITH)
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
35
• No master-group is designated at
preparation of master-tool user
coordinates.
37
• Gauging function error (command
designation error)
38
• A coordinated motion was
attempted using the Following
function.
The coordinated motion cannot be performed
by the Following function. Change the setting so that only the manipulator moves.
39
• Zero or a negative value is set for
the bending speed of the Following function.
Set a positive value for the bending speed.
40
• Zero or a negative value is set for
the bending stroke of the Following function.
Set a positive value for the bending stroke.
41
• Pulse linked JOG function error
42
• Special JOG operation error
43
• Following function error (The used
manipulator model does not support 7-axis Following Control.)
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
A system error occurred in the offline position-data preparation section.
4209
OFFLINE
SYSTEM
ERROR (ARITH)
100
• Data setting error in offline data
bank
101
• Data setting error in offline answer
bank
102
• OFF_USER_POS occupation
control error
103
• OFF_USER_POS valid control
error
104
• Mail-receiving error of offline task
105
• Offline occupation control error
106
• Designation error for offline cubic
interference coordinates
107
• OFF_USER_ROT_POS occupation control error
108
• OFF_USER_ROT_POS valid
control error
109
• OFF_CV_CALIB_POS occupation
control error
110
• OFF_CV_CALIB_POS valid control error
111
• Incorrect teaching for offline conveyor tracking turntable function
112
• No manipulator is designated for
offline conveyor tracking turntable function.
8-59
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred in local variable control
process.
4210
SYSTEM
ERROR
(Local variable)
-1
• Local variable is not used.
-2
• Memory area for local variable
could not be obtained.
-3
• No unused handle value exists
when local variable area is created.
-4
• An error occurred in exclusive
control.
-5
• Handle value is invalid for specified local variable.
-6
• Handle value is incorrect for specified local variable.
-7
• An error occurred when memory
area for local variable was
released.
-8
• An error occurred when memory
area for local variable was registered.
-9
• Local variable control process is
not initialized.
-10
• Local variable area shared heap
area.
-11
• An error occurred in exclusive
control.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
4215
SYSTEM
ERROR (API)
---
An error occurred during API processing.
• Reset the alarm, and then try again.
• Turn the power OFF and back ON.
If the error occurs again, contact your
Yaskawa representative.
4220
SERVO POWER
OFF FOR JOB
---
The servo power is not supplied to
the job control group axis (control
group for subcode) to be operated.
Turn OFF the servo power supply, and then
turn ON the servo power supply for the group
axis to be operated.
4221
SERVO POWER
OFF FOR JOB
---
The servo power is not supplied to
the job control group axis (control
group for subcode) to be operated.
Turn OFF the servo power supply, and then
turn ON the servo power supply for the group
axis to be operated.
4222
INPUT
COMPARISON
ERROR
(DSW)
0000_
00**
A dual signal is mutually checking
with the result that Enable switch
(DSW and EXDSW) I/O signal does
not have a match signal as a result
the mutual check of a dual signal.
0000_0001: DSW
0000_0010: EXDSW
Check the enable switch (DSW and EXDSW)
I/O signal.
1
A safety circuit signal error
occurred in I/O unit.
2
A safety circuit signal error
occurred in I/O unit.
3
A safety circuit signal error
occurred in I/O unit.
4223
SAFE CIRCUIT
SIGNAL DISAGREEMENT
(SERVO)
8-60
Check the wiring of the safety circuit signal
cables connected to the I/O contactor unit.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred in memory play file.
4224
MEMORY PLAY
FILE ERROR
-1
• An error occurred in control process.
-2
• The arrangement address information is destroyed for memory
play file system.
-3
• The fixed control information is
destroyed for memory play file
system.
-4
• The memory play file number is
incorrect.
-5
• An attempt was made to newly
register the memory play file
under use.
-6
• An error occurred in checking written sampling data when the data
was written to CMOS.
-7
• An attempt was made to access
an unused memory play file data.
-8
• The memory play file is destroyed.
-9
• The memory area for sampling
data is full.
-10
• The sampling data is destroyed.
-11
• Data in control process is incorrect.
-12
• The sampling data is scanned
only at top or end position.
-13
• The memory play file system is
not initialized.
-14
• The offset value is out of range at
sampling data scanning.
Needs investigation. Contact your Yaskawa
representative.
4225
SPEED ERROR
(NCP01)
---
The speed exceeded the limit. Suspected causes include:
- Motor cable disconnection
- Incorrect motor type
- Motor failure
- Defective board due to an external
force applied to manipulator
Check the motor, board, manipulator motion
(influence by external force), and taught orientation.
4228
WRONG DATA
---
Chain inconsistency between the
Job instruction file and position file
due to following factors:
Overlapped chain with the same
position data
Unregistered position data is
chained with the Job instructio
file.
Registered position data is not
chained.
• Reset the alarm, and then select WORNG
DATA LOG under SETUP in maintenance
mode to check the factor of the inconsistency.
• Select RESTORE under the pull-down
menu UTILITY to restore the system. If it
succeeds in restoration, the indication in
the screen changes from &quot;OCCURRED
ON&quot; to &quot;RESTORED ON&quot;. Then, turn the
control power ON.
For the factor , check the position of the
corresponding file, then correct the position.
For the factor , register the position of the
corresponding file again.
• If it fails in restoration, refer to &quot;NX100
OPTIONS INSTRUCTIONS FOR JOB
DATA SIMPLIFIED RESTORATION FUNCTION (HW0483260)&quot;, and restore the file
system.
For details, refer to &quot;NX100
OPTIONS INSTRUCTIONS FOR
JOB DATA SIMPLIFIED RESTORATION FUNCTION
(HW0483260)&quot;.
8-61
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4229
4229
Message
ETHERNET
ERROR
ETHERNET
ERROR
Sub
Code
Cause
1
An error occurred in the acquisition
process of the IP address during
the IP address monitoring process
of the Ethernet function.
2
An error occurred in the acquisition
process of subnet mask during the
network service data creation process of the Ethernet function.
3
An error occurred in the acquisition
process of gateway during the network service data creation process
of the Ethernet function.
4
An error occurred in the conversion
process of gateway address during
the network service data creation
process of the Ethernet function.
5
An error occurred in the conversion
process of DNS server address
during the network service data creation process of the Ethernet function.
6
An error occurred in the acquisition
process of domain during the network service data creation process
of the Ethernet function.
7
An error occurred in the acquisition
process of SNTP server during the
network service data creation process of the Ethernet function.
8
An error occurred in the acquisition
process of host name during the
network service data creation process of the Ethernet function.
9
An error occurred in the newest
DNS information getting process
from DHCP server in the DNS process of the Ethernet function.
10
An error occurred in the setting process to update DNS information in
the DNS process of the Ethernet
function.
11
An error occurred in the setting
clearing process to update DNS
information in the DNS process of
the Ethernet function.
20
The subnet mask was not able to
be acquired in the DHCP information update process of the Ethernet
function.
21
Subnet mask update error occurred
in the DHCP information update
process of the Ethernet function.
25
Gateway update error occurred in
the DHCP information update process of the Ethernet function.
26
Gateway clear error occurred in the
DHCP information update process
of the Ethernet function.
8-62
Remedy
• When the DHCP is used, verify the DHCP
server operation and the network status.
If the error occurs again, contact your
Yaskawa representative.
• When the DHCP is used, verify the DHCP
server operation and the network status.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4230
REDUCER MONITOR OVER
---
Failed to stop the operation under
the HOLD STOP command.
• Reset the alarm, and then turn ON the
servo again.
• Check the HOLD STOP.
If the error occurs again, replace the servo
control circuit board.
4300
SERVO PARAMETER ERROR
---
The parameter input value is out of
the allowable range.
Reset the value within the allowable range.
4301
CONTACTOR
ERROR
---
An error occurred in the contactor
due to a defective contactor unit or
circuit board.
• The contactor of contactor unit did
not turn ON at servo ON.
• The signal from the contactor
turned OFF while the servo was
ON.
• The signal from the contactor
remains ON when the servo
turned OFF at emergency stop.
• The contactor turned ON while the
servo was OFF for emergency
stop.
• Reset the alarm, and then turn ON the
servo again.
• Check the 24-V power supply for I/O.
If the error occurs again, replace the contactor unit or servo control circuit board or both.
4302
BRAKE CIRCUIT
ERROR
---
• The brake relay signal did not turn
ON when the servo turned ON.
• The brake relay signal turned OFF
while the servo was ON.
• The brake signal remains ON
when the servo turned OFF at
emergency stop.
• The brake signal turned ON while
the servo was OFF for emergency
stop.
• Reset the alarm, and then turn ON the
servo again.
If the error occurs again, replace the contactor unit and/or servo control circuit board.
4303
CONVERTER
READY SIGNAL
ERROR
---
• No response of charge completion
was sent from the converter when
the servo turned ON.
• The SERVO READY signal turned
OFF while the servo was ON.
• The SERVO READY signal
remains ON when the servo
turned OFF at emergency stop.
• The SERVO READY signal turned
ON while the servo was OFF for
emergency stop.
• The primary power supply voltage
is too low.
• The voltage dropped.
• Defective servo control and/or
converter
• Reset the alarm, and then turn ON the
servo again.
• Check the primary power supply voltage.
If the error occurs again, replace the servo
control circuit board and/or converter.
4304
CONVERTER
INPUT POWER
ERROR
---
• No response of primary power
supply input was sent from the
converter when the servo turned
ON.
• The READY 1 signal remains ON
when the servo turned OFF at
emergency stop.
• The READY 1 signal turned ON
while the servo was OFF for
emergency stop.
• Incorrect wiring or voltage drop of
primary power supply
• Defective servo control and/or
converter
• Check the wiring for the primary power supply of the SERVOPACK.
• Confirm that the power supply voltage is
170V or more.
If the error occurs again, replace the servo
control circuit board and/or converter.
8-63
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4305
CONVERTER
CIRCUIT
CHARGE
ERROR
---
• No response (READY 2 signal) of
charge completion was sent from
the converter when the servo
turned ON.
• The READY 2 signal turned OFF
while the servo was ON.
• The READY 2 signal remains ON
when the servo turned OFF at
emergency stop.
• The READY 2 signal turned ON
while the servo was OFF for
emergency stop.
• Incorrect wiring and/or voltage
drop of primary power supply
• Defective servo control circuit
board, converter, and/or amplifier
• Check the wiring for the primary power supply of the SERVOPACK.
• Confirm that the power supply voltage is
170V or more.
If the error occurs again, replace the servo
control circuit board and/or converter.
4306
AMPLIFIER
READY SIGNAL
ERROR
---
• No response &quot;Power ON&quot; was
sent from the amplifier when the
servo turned ON.
• The amplifier READY signal
turned OFF while the servo was
ON.
• The amplifier READY signal
remains ON when the servo
turned OFF at emergency stop.
• The amplifier READY signal
turned ON while the servo was
OFF for emergency stop.
• Defective servo control circuit
board, converter, and/or amplifier
• Check the wiring for the primary power supply of the SERVOPACK.
• Confirm that the power supply voltage is
170V or more.
If the error occurs again, replace the
WRCA01 circuit board, servo control circuit
board, converter, and/or amplifier.
4307
SERVO ON
SPEED ERROR
---
The motion speed of the encoder
before the dynamic brake turns
OFF in servo ON sequence
exceeded the threshold for a certain period.
• The servo power supply turned
ON while the manipulator (motor
and encoder) was moving.
The control power supply cannot be turned
ON while the manipulator is moving.
Stop the manipulator motion, and then turn
ON the servo power supply.
4308
VOLTAGE DROP
(CONVERTER)
---
The DC power voltage supplied to
the SERVOPACK amplifier dropped
below 143V due to:
- Low voltage of the primary
power supply
- Open phase
- Defective converter
- Defective servo control
circuit board
• Check the wiring for the primary power supply of the SERVOPACK.
• Confirm that the power supply voltage is
170V or more.
If the error occurs again, replace the servo
control circuit board, servo control circuit
board, and/or converter.
4309
DEFECTIVE
ENCODER
INTERNAL DATA
---
Serial encoder internal parameter
error occurred.
• Reset the alarm, and then perform the
home positioning again. Turn the power
OFF then back ON.
If the error occurs again, replace the motor of
the corresponding axis.
4310
ENCODER
OVERHEAT
---
The temperature of the encoder
exceeded 100 &deg;C.
• Encoder thermistor failure
• Review the load condition and ambient
operating temperature.
• Confirm that the primary power supply voltage is 200V + 10%.
If the error occurs again, replace the servo
control circuit board or the motor.
8-64
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4311
ENCODER
BACK-UP
ERROR
---
• Encoder resetting (initialization)
not completed
• The position data in the encoder
was lost due to the voltage drop
of encoder backup battery.
• Reset the alarm, and then perform the
home positioning again. Confirm that the
encoder backup battery voltage is 2.8V or
more.
If the error occurs again, replace the encoder
(motor).
4312
ENCODER BATTERY ERROR
---
Encoder backup battery voltage is
too low.
• The voltage of the encoder
backup battery is below 2.8V.
The position data may be lost.
Confirm that the encoder backup battery voltage is 2.8V or more. If not, replace the battery.
4313
SERIAL
ENCODER
OVER HEAT
---
The temperature of the encoder
exceeded 100 &deg;C.
• Encoder thermistor failure
• Review the load condition and ambient
operating temperature.
• Confirm that the primary power supply voltage is 200V + 10%.
If the error occurs again, replace the servo
control circuit board or the motor.
4314
SERIAL
ENCODER
BATTERY
ERROR
---
Encoder backup battery voltage is
too low.
• The voltage of the encoder
backup battery is below 2.8V.
The position data may be lost.
Confirm that the encoder backup battery voltage is 2.8V or more. If not, replace the battery.
4315
COLLISION
DETECT
---
• A collision was detected because
of the interference between the
manipulator and a peripheral
device.
• The external force applied to the
robot exceeded the threshold.
• Reset the alarm, and then remove the
object or move the manipulator back to a
safe position.
If the alarm cannot be reset, invalidate the
collision detection level setting file or set the
detection level higher.
4316
PRESSURE
DATA LIMIT
---
The pressure set in the gun pressure file or dry spotting pressure file
exceeded the maximum pressure
set in the gun condition file.
Reset the pressure value in the gun pressure
file or dry spotting pressure file below the
maximum pressure value.
4317
PRE-LOAD
ERROR
---
The motor does not operate in the
pre-load process.
Adjust the gun opening.
4318
SERIAL
ENCODER CORRECT LIMITATION OVER
---
The speed feedback value of the
serial encoder exceeded the allowable limit.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
4320
OVER LOAD
(CONTINUE)
---
The motor torque continuously
exceeded the rated torque for a
certain period due to:
- Motor cable disconnection
- Incorrect motor type
- Motor failure
- Defective board
- External force applied to manipulator, etc.
Check the motor, board, manipulator motion
(influence by external force), and taught orientation.
4321
OVER LOAD
(INSTANT)
---
The torque a several times as much
as the rated torque has been
applied to the motor due to:
- Motor cable disconnection
- Incorrect motor type
- Motor failure
- Defective board
- External force applied to manipulator, etc.
Check the motor, board, manipulator motion
(influence by external force), and taught orientation.
4322
AMPLIFIER
OVER LOAD
(CONTINUE)
---
The current a several times as
much as the rated current has continuously flown in the amplifier for a
certain period.
• Check the wiring and connection for the
motor power line, board, cable disconnection, motor type, manipulator interferences,
SERVOPACK, and board, etc.
Replace if necessary.
8-65
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4323
AMPLIFIER
OVER LOAD
(INSTANT)
---
The torque a several times as much
as the motor rated torque has continuously been applied for a certain
period.
• Check the wiring and connection for the
motor power line, motor type, manipulator
interference, SERVOPACK, and circuit
boards.
Replace if necessary.
4324
CONVERTER
OVER LOAD
---
The total load value of all the
motors connected to the converter
exceeded the converter rating.
Review the manipulator operating condition
such as reducing the teaching speed, etc.
4326
SPEED ERROR
---
The speed exceeded the limit due
to:
- Motor cable disconnection
- Incorrect motor type
- Motor failure
- Defective board
- External force applied to manipulator, etc.
Check the motor, board, manipulator motion
(influence by external force), and taught orientation.
4327
MOTOR ROTATION ERROR
---
While the motor is accelerating, the
direction of the torque and the
speed was detected as being the
opposite of what it was supposed to
be.
Check the wiring and connection for the
encoder and the motor power line.
4328
SERVO TRACKING ERROR
---
The axis deviated from the specified position and motion path
beyond the allowable range.
• Check the manipulator interferences and
motor power line.
If the error occurs again, replace the servo
control circuit board, and/or the amplifier or
motor of the corresponding axis.
4329
POSITION
ERROR
---
The number of pulses generated by
one motor rotation does not agree
with the specified value due to:
- Noise from external devices
- Defective board
- Motor failure
• Check for the external noise.
• Provide noise protection such as installing a
ferrite core if required.
If the error occurs again, replace the servo
control circuit board, external axis servo control circuit board, and/or motor.
4330
SPEED MONITORING
INSTRUCTION
CABLE DISCONNECTION
---
The read speed monitoring level
signal is disconnected.
Check the connection cables for speed monitoring unit.
4331
SPEED MONITORING LEVEL
ERROR
---
Illegal speed monitoring level
• Turn the power OFF and back ON.
If the error occurs again, replace the AXA01
circuit board.
4332
POSITION
ERROR (SERIAL
ENCODER)
---
The number of pulses generated by
one motor rotation does not agree
with the specified value due to:
- Noise from external devices
- Defective board
- Motor failure
• Check for the external noise.
• Provide noise protection such as installing a
ferrite core if required.
If the error occurs again, replace the servo
control circuit board, external servo control
circuit board, and/or motor.
4334
OVER VOLTAGE
(CONVERTER)
---
The DC voltage supplied to the
amplifier exceeded 420V due to:
- Overloaded
- Converter failure
- Defective servo control circuit
board
• Check the primary power supply voltage.
• Reduce the teaching speed and check if the
error occurs. If the error does not occur with
the reduced speed, review the load condition.
If the error occurs again, replace the servo
control circuit board and/or the converter.
8-66
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4335
EARTH FAULT
---
Ground fault of the motor power
line occurred due to:
- Motor failure
- Ground fault of motor line or lead
cables
- Defective servo control circuit
board
- Defective SERVOPACK
• Check the motion connection.
• Remove the motor connector to check the
conduction.
If there is conduction, replace the lead cable;
if there is no conduction, replace the servo
control circuit board.
4336
OPEN PHASE
(Converter)
---
The SERVOPACK primary power
supply is open-phase due to:
- Misconnection of primary power
supply
- Lowered primary power supply
voltage
- Defective servo control circuit
board
- Defective converter
• Correct the SERVOPACK primary power
supply connection,
• Confirm that the power supply voltage is
more than 170V.
If the error occurs again, replace the servo
control circuit board.
4337
OVER
CURRENT
(AMPLIFIER)
---
Ground fault of the motor power
line occurred due to:
- Motor failure
- Ground fault of motor line or lead
cables
- Defective servo control circuit
board
- Defective amplifier
• Check the motion connection.
• Remove the motor connector to check the
conduction. If there is conduction, replace
the lead cable; if there is no conduction,
replace the servo control circuit board.
• If no fault is found, turn OFF the power supply to cool down the motor. If this natural
cooling solves the problem, the load condition and ambient operating temperature
must be reviewed and corrected.
4338
REGENERATION ERROR
(CONVERTER)
---
The regenerative energy at motor
deceleration is too large.
- The primary power supply voltage
is too high (above 242V)
- Converter failure
- Defective servo control circuit
board
• Review the load condition and teaching
speed.
• Confirm that the power supply voltage is
220V &plusmn;10%.
If the error occurs again, replace the servo
control circuit board.
4339
INPUT POWER
OVER VOLTAGE
(CONV)
---
The SERVOPACK primary power
supply voltage exceeded 242V.
• Confirm that the power supply voltage is
220V &plusmn;10%.
If the error occurs again, replace the servo
control circuit board or the converter.
4340
TEMPERATURE
ERROR
(CONVERTER)
---
SERVOPACK (converter) overheat
• Confirm that the power supply voltage is
220V &plusmn;10%.
If the error occurs again, replace the servo
control circuit board or the converter.
4344
LINEAR SERVO
FLOAT TRACKING ERROR
---
The deviation of X, Y, and Z-axis
exceeded the allowable limit while
the linear servo float was in execution.
Check the job.
4345
LINK SERVO
FLOAT ERROR
---
The link servo float can not be executed while the linear servo float is
in execution.
Check the job.
4346
LINK SERVO
FLOAT LIMITATION TORQUE
RANGE ERROR
---
The limit torque of the link servo
float condition file is outside the
specified range.
Set the limit torque of the link servo float condition file again.
4347
LINEAR SERVO
FLOAT LIMITATION TORQUE
RANGE ERROR
---
The limit torque of the linear servo
float condition file is outside the
specified range.
Set the limit torque of the linear servo float
condition file again.
4348
LINEAR SERVO
FLOAT COORDINATES TYPE
UNMATCH
---
While the linear servo float was in
execution, another request of linear
servo float execution was sent with
a different coordinates specified.
Check the job.
8-67
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4349
LINEAR SERVO
FLOAT TOOL
POSE CONTROL
SPECIFICATION
ERROR
---
A logical error occurred in the designation for tool orientation control
of the linear servo float.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
4350
LINEAR SERVO
FLOAT EXECUTION ERROR
---
While the servo float was in execution, the linear servo float can not
be executed.
Check the job.
4351
BELT DISCONNECTION
DETECTION
---
The driving belt may be disconnected because the torque
decreased below the normal value.
Check the belt, and replace it if necessary.
4352
TWIN DRIVE
OVER
DEVIATION
---
The deviation of the position error
pulse from the twin drive axis
exceeded the allowable limit with
twin drive function.
Check the load.
4353
DEFECTIVE
TAUGHT POINT
(ENDLESS)
---
Endless motion impossible
• The feedback pulse value
exceeded the maximum value
(maximum number of pulses &plusmn;
536870912)
Reset the alarm.
4354
FILE NO.
ERROR
(SHOCK LEVEL)
---
The collision detection file for exclusive use for the SVSPOT is used
with the SHCKSET instruction.
Do not use the collision detection file for
exclusive use for the SVSPOT with the
SHCKSET instruction.
4355
EXTERNAL
PRES DETECT
(SERVOFLOAT)
---
An external force above the threshold was detected on the servo-float
executing axis.
Check the job.
4356
ARM CTRL
PARAMETER
ERR
(OBSERVER)
---
The search of motor-gun equalizing
function cannot be executed
because no observer (including collision detection) is specified.
If the error occurs again, contact your
Yaskawa representative.
4357
IMPOSSIBLE
SRCH
(EQUALIZE
TEACH)
---
The manipulator orientation at the
execution of search of the motorgun equalizing function is the orientation for the singular point.
Check the job.
4358
DUPLICATE
PRESS ERROR
---
The pressuring instruction was executed with manual pressurization
during pressuring.
Do not execute the pressuring instruction
with manual pressurization during pressuring.
4359
CONVERTER
ERROR
---
An error occurred in the converter.
• Turn the power OFF then back ON.
If the error occurs again, replace the servo
control circuit board or the converter.
4360
WAFER ALIGNMENT ERROR
(SERVO)
Decimal
data
An error occurred in communications with the prealigner.
Check the connection of prealigner.
4364
GUN SOFT LIMIT
---
The gun axis exceeded the software limit during pressuring operation.
• The error could occur due to the tip
removed or the tip mis-installation. Verify
the pressuring status.
• Set the pulse software limit again considering the wearing of chip and the deflection of
gun arm.
If the error occurs again, contact your
Yaskawa representative.
4365
EXCESSIVE
DETECTION
RANGE
(GUN ELECTRODE HIT
POINT)
Physical
axis
bit
In comparison to the position,
where the gun electrode hits the
welded target, at the previous wear
detection, the position during pressuring exceeded the allowable limit
which had been set in the motion
limit for which the fixed (movable)
gun electrode hits the welded target.
• The error could occur due to the tip
removed or the tip mis-installation. Verify
the pressuring status.
• Adjust the set value of the gun condition file.
8-68
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4366
GUN BENDING
CORRECTION
ERROR
Cntrl
grp bit
designation
The function of gun bending correction was performed to the model
which was not supported for the
function.
• Invalidate the bending correction function.
• Contact your Yaskawa representative.
4367
ROBOT POSITION ERROR
Cntrl
grp bit
designation
The manipulator orientation at pressuring is the orientation for the singular point.
Check the job.
4371
SYSTEM
ERROR
(SERVO)
Decimal
data
The independent brake control was
performed in TU which was not
supported for the control.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
4372
SERVO ON SIGNAL ERROR
---
The servo OFF status is sent from
TU.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
The arithmetic process for motion control did
not complete within regulated time.
4400
NOT READY
(ARITH)
1
• No motion command was prepared.
2
• The arithmetic processing section
is not ready for JOG operation.
3
• The arithmetic processing section
is not ready for the playback operation.
4
• The prereading processing in the
arithmetic processing section has
not completed.
5
• The arithmetic processing section
is not ready for the timer follow-up
of the conveyor tracking function.
6
• The prereading processing in the
arithmetic processing section has
not completed when specifying
the target position.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred in job execution process.
4401
SEQUENCE
TASK CONTROL
ERROR
1
• Unused A_BANK does not exist in
the prereading processing of
move instruction.
2
• Unused bank priority does not
exist in the prereading processing of move instruction.
5
• A_BANK pointer is not set.
6
• A_BANK conversion could not be
performed.
7
• The specified A_BANK number
does not exist.
20
• An error occurred when system
number (MSS) was obtained.
21
• An error occurred in RMS960 system call.
22
• Undefined interrupt command was
received.
23
• Job start condition is not defined.
24
• An error occurred in instruction
prefetch queue operation.
8-69
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred in job execution process.
4401
4402
SEQUENCE
TASK CONTROL
ERROR
UNDEFINED
COMMAND
(ARITH)
26
• Intermediate code is not defined.
29
• Instruction prereading processing
has not been completed normally.
30
• An error occurred in job data
change.
31
• The specified sequence number
at job execution start is incorrect.
32
• The added area for interruption
command is incorrect.
33
• System number (MSS) for interruption command is incorrect.
38
• An error occurred at start of twin
synchronous operation.
39
• An error occurred when SYNC
specification was reset.
41
• An error occurred in occupation
control group setting in MOTION.
45
• An error occurred in path/trace
control.
47
• An error occurred when waiting for
a completion of main system task
(job) in SYNC specification.
48
• An attempt was made to execute
an instruction that could not be
executed at line sequence execution.
80
• An exceptional error occurred in
job execution process.
100
• Main processing command is
incorrect in prereading processing.
101
• Subprocessing command is incorrect in prereading processing.
102
• Prereading processing has not
been completed at job execution.
103
• A_BANK conversion has not been
completed.
104
• System number (MSS) is incorrect
in prereading processing.
105
• An error occurred in instruction
prefetch queue operation in prereading processing.
106
• An error occurred at IES switching
in prereading processing.
An undefined command was issued
to the path control section.
8-70
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
An error occurred in the arithmetic process
for coordinates.
4404
4405
1
• The S-arm and L-arm of a scalar
type manipulator are aligned in a
straight line. Interpolation such
as linear and circular interpolation is impossible in such orientation.
2
• When a vertically-articulated
manipulator was moved by a special linear interpolation, the R-axis
angle could not correctly be calculated.
3
• When a vertically-articulated
manipulator was moved by a special linear interpolation, the L-axis
angle could not correctly be calculated.
4
• The L-arm and U-arm of a vertically-articulated manipulator are
aligned in a straight line. Interpolation such as linear and circular
interpolation is impossible in such
orientation.
ARITHMETIC
ERROR
SELECT ERROR
(PARAMETER)
Remedy
• Change the positions so that two arms are
not aligned in a straight line.
• Change the step (move instruction), where
the alarm occurred, to MOVJ.
Change the position in the step (move
instruction) where the alarm occurred.
• Change the positions so that two arms are
not aligned in a straight line.
• Change the step (move instruction), where
the alarm occurred, to MOVJ.
6
• The L-arm and U-arm of a vertically-articulated manipulator are
aligned in a straight line. Interpolation such as linear and circular
interpolation is impossible in such
orientation.
7
• The TCP of the manipulator is out
of working envelope.
• Perform the teaching again so that the TCP
of the manipulator is always within the
working envelope.
• Change the shift value so that the TCP of
the manipulator is always within the working envelope.
8
• Interpolation such as linear and
circular interpolation cannot be
performed with this manipulator.
Change the step (move instruction), where
the alarm occurred, to MOVJ.
9
• Specified motion cannot be performed with this manipulator.
Correct the taught point.
1
A parameter error occurred in the
path control section.
• Selection error of motion system
parameter
• Reset the alarm, and turn the power OFF
then back ON.
If the error occurs again, contact your
Yaskawa representative.
An internal control error occurred in a coordinated motion.
4406
GROUP AXIS
CONTROL
ERROR
1
• Designation error for master and
slave
2
• Slave designation error
3
• Slave interpolation error
4
• No designation of master axis
5
• No designation of slave axis
6
• Master-axis designation error for
JOG motion
7
• Slave-axis designation error for
JOG motion
8
• Occupation control error
8-71
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An internal control error occurred in a coordinated motion.
4406
GROUP AXIS
CONTROL
ERROR
9
• Designation error of occupation
control for JOG motion
10
• Designation error of occupation
control for Bank position
11
• Designation error of occupation
control group for tracking motion
12
• No master and slave designated
for tracking motion
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4407
TWO STEPS
SAME POSITION (CIRC)
---
Among three taught points in a circular interpolation step, two or three
points are on the same point.
Teach the different 3 points again.
4408
TWO STEPS
SAME POSITION (SPLINE)
---
Among three taught points in a
spline interpolation step, two or
three points are on the same point.
Teach the different 3 points again.
4409
TWO STEPS
SAME POSITION (3 POINTS)
---
Among three taught points to create
an user coordinate system, two or
three points are on the same point.
Teach the different 3 points again.
4410
TWO STEPS
SAME POSITION (WEAV)
---
Among three taught points (start,
end, and reference points) to create
a weaving coordinate system, two
or three points are on the same
point.
Teach the different 3 points again.
4411
TEACH ERROR
(SPLINE)
---
The spline interpolation could not
correctly be performed.
• The distance between the teaching points in the spline interpolation section is not equidistant.
Teach the positions so that the distance
between the teaching points is even.
4412
IMPOSSIBLE
LINEAR MOTION
(L/U)
---
Interpolation motion could not be
performed because of different
form of L- and U-axes.
• In case the form (folded direction)
of L- and U-axes at start point and
end point are different except for
MOVJ instructions, the manipulator cannot move.
• Perform the teaching again to make the
form of L- and U-axes same at start point
and end point.
• Use a MOVJ instruction.
4413
IMPOSSIBLE
LINEAR MOTION
(S/L)
---
Interpolation motion could not be
performed because of different
form of S- and L-axes.
• In case the form (folded direction)
of S- and L-axes at start point and
end point are different except for
MOVJ instructions, the manipulator cannot move.
• Perform the teaching again to make the
form of S- and L-axes same at start point
and end point.
• Use a MOVJ instruction.
4414
EXCESSIVE
SEGMENT
(LOW SPEED)
---
The manipulator motion speed
exceeded the limit (LOW level).
• Reduce the speed in the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4415
EXCESSIVE
SEGMENT
(HIGH SPEED)
---
The manipulator motion speed
exceeded the limit (HIGH level).
• Reduce the speed in the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4416
PULSE LIMIT
(MIN.)
---
The manipulator exceeded its
motion limit (pulse limit) in the negative (−) direction.
Change the manipulator position in the step
(move instruction) where the alarm occurred.
8-72
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4417
PULSE LIMIT
(MAX.)
---
The manipulator exceeded its
motion limit (pulse limit) in the positive (+) direction.
Change the manipulator position in the step
(move instruction) where the alarm occurred.
4418
CUBE LIMIT
(MIN.)
---
The manipulator TCP exceeded its
motion limit (cube limit) in the negative (−) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4419
CUBE LIMIT
(MAX.)
---
The manipulator TCP exceeded its
motion limit (cube limit) in the positive (+) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4420
SPECIAL SOFTLIMIT (MIN.)
0
The manipulator exceeded its
motion limit (special software limit)
in the negative (−) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4421
SPECIAL SOFTLIMIT (MAX.)
0
The manipulator exceeded its
motion limit (special software limit)
in the positive (+) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4422
MECHANICAL
INTERFERENCE (MIN.)
0
The manipulator exceeded its minimum-angle motion limit. (Mechanical interference)
Change the position in the step (move
instruction) where the alarm occurred.
4423
MECHANICAL
INTERFERENCE (MAX.)
0
The manipulator exceeded its maximum-angle motion limit. (Mechanical interference)
Change the position in the step (move
instruction) where the alarm occurred.
4424
SPECIAL
MECHANICAL
INTRF (MIN.)
0
The manipulator exceeded its minimum-angle motion limit. (Special
mechanical interference)
Change the position in the step (move
instruction) where the alarm occurred.
4425
SPECIAL
MECHANICAL
INTRF (MAX.)
0
The manipulator exceeded its maximum-angle motion limit. (Special
mechanical interference)
Change the position in the step (move
instruction) where the alarm occurred.
4426
PULSE
MECHANICAL
LIMIT (MIN.)
---
The manipulator exceeded its
motion limit (mechanical limit) in the
negative (−) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4427
PULSE
MECHANICAL
LIMIT (MAX.)
---
The manipulator exceeded its
motion limit (mechanical limit) in the
positive (+) direction.
Change the position in the step (move
instruction) where the alarm occurred.
An error occurred in the real-time processing
section that controls the arithmetic section.
4428
SEGMENT CONTROL ERROR
1
• RT-buffer control command error
2
• Segment-receiving control command error
3
• No bank priority
4
• Answer error at MOVE simulating
5
• The value of bank_refresh_flag(x)
exceeded its limit.
6
• Bank refreshing timing error
7
• RT-buffer setting timing error
8
• RT-buffer tracking option error
9
• The segment was received
although the previous segment
had not been sent.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred in the manipulator information at job execution.
4429
WRONG SPECIFIED CONTROL
GROUP
1
• Control group not designated
2
• Slave control-group error
3
• Master control-group error
4
• Master and Slave control-group
error
8-73
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred in the manipulator information at job execution.
4429
WRONG SPECIFIED CONTROL
GROUP
5
• Control-group error for a job file
6
• Control-group error for a user
coordinate file
7
• Control-group error for a calibration file between manipulators
8
• Control-group error for a tool calibration file
9
• Control-group error for a reference point
10
• Control-group error for prereading-calculation start point (for
adv_st_pos)
11
• Control-group error for the current-value preset position
12
• Control-group error for the conveyor prereading-calculation start
point
13
• Occupation control-group error
14
• Control-group error for multi-layer
sampling
15
• Control-group error for servo hand
16
• MRESET control-group error
17
• Control-group error for generalpurpose area of path correction
amount
18
• Control-group error for a conveyor calibration file
19
• Control-group error for the prereading-calculation start point (for
dm_st_pos)
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred in interrupt process
between CPUs.
4430
CPU COMMUNICATION ERROR
1
• Interrupt processing error
between MOTION and system
control section
2
• Interrupt processing error
between MOTION and SL#1
3
• Interrupt processing error
between MOTION and SL#2
4
• Interrupt processing error
between MOTION and SL#3
5
• Interrupt processing error
between MOTION and SL#4
6
• Interrupt processing error
between MOTION and CV#1
7
• Interrupt processing error
between MOTION and CV#2
8
• Interrupt processing error
between MOTION and PS#1
9
• Interrupt processing error
between MOTION and PS#2
8-74
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
Data error occurred in job control process.
4431
JHM ERROR
1
• An error occurred in JMS system
call when an attempt was made to
open a job.
2
• No space was found in job handle
value storage area when an
attempt was made to open a job.
3
• No job handle was found.
4
• Job control proprietary is incorrect.
5
• Job control proprietary could not
be changed.
6
• An error occurred in exclusive
control.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred in instruction interpretation/execution process.
4432
INSTRUCTION
INTERPRETER
ERROR
1
• The intermediate code of the
instruction that is to be executed
is incorrect.
3
• Destination (variable) tag arrangement is incorrect.
4
• Tag data type is incorrect.
5
• Box number is incorrect.
6
• An error occurred in block separation processing of intermediate
code.
8
• Box number definition is duplicated.
9
• Undefined instruction was found
at block separation of intermediate code.
10
• IPRM is not set.
11
• An error occurred in tag data
search process.
12
• An error occurred move instruction search process.
13
• An error occurred reference point
search process.
14
• Variable information does not
exist.
16
• An error occurred at position file
data reading.
17
• Variable data type is not defined.
18
• An instruction is included with
incorrect intermediate code in
expression instruction.
19
• The syntax in expression instruction is incorrect.
20
• The tag data length is zero when
tag data is read.
21
• The necessary tag data is not set.
22
• The object to be processed was
secret variable in position file control process, so it could not be
processed.
8-75
• Reset the alarm, reselect the job, and then
try again.
• Delete the instruction where an alarm
occurred, and then reregister and execute
the instruction.
• Delete the job where an alarm occurred,
and then reregister and execute the job.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred in instruction interpretation/execution process.
4432
INSTRUCTION
INTERPRETER
ERROR
23
• The object to be processed was
position type variable in position
file control process, so it could not
be processed.
24
• Job argument settings do not
match when a variable is given
and/or taken between jobs.
25
• An attempt was made to perform
undefined operation at four-rule
operation instruction.
26
• Arithmetic stack used for expression operation exceeded.
27
• Arithmetic stack used for expression operation is empty.
28
• Operation items are lacking in
expression operation and operation processing cannot be performed.
254
• Access mechanism for old parameters is used.
255
• An exceptional error occurred.
• Reset the alarm, reselect the job, and then
try again.
• Delete the instruction where an alarm
occurred, and then reregister and execute
the instruction.
• Delete the job where an alarm occurred,
and then reregister and execute the job.
If the error occurs again, contact your
Yaskawa representative.
The global variable is not defined.
4433
UNDEFINED
GLOBAL
VARIABLE
0
• The set data for byte type variable (S1D parameter) area is
incorrect.
1
• The set data for integer type variable (S1D parameter) area is
incorrect.
2
• The set data for double-precision
integer-type variable (S1D parameter) area is incorrect.
3
• The set data for real type variable
(S1D parameter) area is incorrect.
4
• The set data for character-string
type variable (S1D parameter)
area is incorrect.
5
• The set data for robot-axis position-type variable (S1D parameter) area is incorrect.
6
• The set data for base-axis position-type variable (S1D parameter) area is incorrect.
7
• The set data for station-axis position-type variable (S1D parameter) area is incorrect.
Needs investigation. Contact your Yaskawa
representative.
The local variable is not defined.
4435
UNDEFINED
LOCAL
VARIABLE
0
• The byte type variable is not
defined.
1
• The integer type variable is not
defined.
2
• The double-precision integer-type
variable is not defined.
3
• The real-number type variable is
not defined.
8-76
Set the number of local variables to be used
in the job header.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
The local variable is not defined.
4435
UNDEFINED
LOCAL
VARIABLE
4
• The character-string type variable
is not defined.
5
• The robot-axis position-type variable is not defined.
6
• The base-axis position-type variable is not defined.
7
• The station-axis position-type variable is not defined.
Set the number of local variables to be used
in the job header.
4436
LESS THAN 3
STEP
(CIRCULAR)
---
An error occurred in circular interpolation instruction execution.
• There is no continuous three
points or more for circular interpolation step.
Reset the alarm, and then perform teaching
so that circulation interpolation steps are continuous three points or more.
4437
LESS THAN 3
STEP (SPLINE)
---
An error occurred in spline interpolation instruction execution.
• There is no continuous three
points or more for spline interpolation step.
Reset the alarm, and then perform teaching
so that spline interpolation steps are continuous three points or more.
4438
UNDEFINED
JOB
---
The job to be executed is not registered in the memory.
• Reset the alarm, and then register the job.
• Delete the CALL/JUMP instruction where
an alarm occurred.
4439
UNDEFINED
LAVEL
---
An error occurred in label jump execution.
• The label for jump destination
does not exist in the job.
• Reset the alarm, and then register the label.
• Delete the JUMP instruction where an alarm
occurred.
4440
UNDEFINED
RETURN JOB
---
Call source job does not exist in the
job call stack.
• Reset the alarm, and then execute the master (start) job.
• Delete the RET instruction.
4441
LACK OF LOCAL
VARIABLE AREA
---
An error occurred when memory
area for local variable was
obtained.
• Memory area is lacking because
too many local variables in the job
are used.
Reset the alarm, and then reduce the number
of local variables to be used.
4444
UNSUCCESSFUL FINE POSITIONING
---
When PL = 0 or an external servo
turned OFF, the number of the
servo error pulses did not fall in the
limit range that had been set in a
parameter, within the specified
time.
• Reset the alarm, and then check if external
force is applied to the manipulator. If external force is applied to the manipulator,
move the manipulator by the axis operation,
etc. to remove the external force. Then, try
again.
• If the error occurs again although no external force is applied to the manipulator, reinsert the system CPU board correctly.
If the error occurs again, contact your
Yaskawa representative.
Data error occurred at job prereading reinterpretation.
4445
1
• The token for prereading processing could not be obtained.
2
• The prereading processing has
not been completed within the
time, and the waiting time for
completion exceeded the limit.
3
• The prereading operation processing has not been completed
within the time, and the waiting
time for completion exceeded the
limit.
DATA PRESET
ERROR
8-77
• Reset the alarm, reselect the job, and then
try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
Data error occurred at job prereading reinterpretation.
4445
DATA PRESET
ERROR
4
• An error occurred in prereading
operation process.
5
• A_BANK conversion has not been
completed.
255
• An exceptional error occurred in
job execution process.
• Reset the alarm, reselect the job, and then
try again.
If the error occurs again, contact your
Yaskawa representative.
The variable value exceeded the limit.
4446
OVER VARIABLE LIMIT
0
The variable value exceeded the
limit.
1
The value for the binary (0/1) data
type variable exceeded the limit.
2
The value for the signed 1-byte
data type variable is less than the
minimum value.
4
The value for the signed 2-byte
data type variable is less than the
minimum value.
6
The value for the signed 4-byte
data type variable is less than the
minimum value.
8
The value for the real-number 4byte data type variable is less than
the minimum value.
32770
The value for the signed 1-byte
data type variable exceeded the
maximum value.
32771
The value for the unsigned 1-byte
data type variable exceeded the
maximum value.
32772
The value for the signed 2-byte
data type variable exceeded the
maximum value.
32773
The value for the unsigned 2-byte
data type variable exceeded the
maximum value.
32774
The value for the signed 4-byte
data type variable exceeded the
maximum value.
32775
The value for the unsigned 4-byte
data type variable exceeded the
maximum value.
32776
The value for the real-number 4byte data type variable exceeded
the maximum value.
32780
The value for the label-name type
variable exceeded the maximum
value.
32781
The value for the job-name type
variable exceeded the maximum
value.
32782
The value for the character-string
type variable exceeded the maximum value.
8-78
Change the variable data type for storage or
correct the job, so that the variable value is
within the limit.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4446
4447
Message
OVER VARIABLE LIMIT
DEFECTIVE
TAUGHT POINT
(CIRC)
Sub
Code
Cause
The variable value exceeded the limit.
32783
The value for comment type variable exceeded the maximum value.
0
Incorrect teaching of circular interpolation steps
• The three points taught for the circular interpolation step lie in a
straight line.
An error occurred in weaving control.
4448
4449
Change the variable data type for storage or
correct the job, so that the variable value is
within the limit.
Teach the 3 points again so that they do not
lie in a straight line.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
1
• Weaving control-group designation error
4
• When the speed is specified by
weaving time in the weaving file,
zero or the negative value is set
for the weaving time.
Reset the value 0.1 seconds or more.
5
• When the speed is specified by
frequency in the weaving file, zero
or the negative value is set for the
frequency.
Reset the value 0.1 Hz or more.
6
• When the timer mode is specified
in the weaving file, a negative
value is set for the timer value.
Set a positive value for the timer value.
7
• For triangle or L-type weaving,
zero is set for the vertical or horizontal distance.
Set a positive value for the vertical and horizontal distance.
8
• The coordinate control axis designation for the reference point is
different from actual control axis.
Internal control error. If the error occurs
again, contact your Yaskawa representative.
9
• The distance between the point P
and the TCP could not be calculated in wrist weaving.
10
• The distance between the point P
and the TCP could not be calculated in circular wrist weaving.
11
• The Y-direction element of circular coordinate system for circular
wrist weaving could not be calculated.
12
• The X-direction element of circular
coordinate system for circular
wrist weaving could not be calculated.
14
• Weaving basic-orientation calculation error
15
• Calculation error of horizontaland wall-direction vector for
weaving
---
The storage destination data
(pulse/Cartesian) is different from
the storage source data.
WEAVING CONTROL ERROR
UNMATCHED
POSNVAR DATA
ERROR
Remedy
Set the correct dimensions in the tool data.
Contact your Yaskawa representative.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
Match the position type variable data type for
the storage source/destination.
An error occurred in tool file number check.
4450
FILE NO.
ERROR
1
An error occurred in tool file number check.
8-79
• Reset the alarm, reselect the job, and then
try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred in tool file number check.
4450
FILE NO.
ERROR
2
An error occurred in user coordinate file number check.
3
An error occurred in calibration file
number check between the manipulators.
4
An error occurred in tool calibration
file number check.
5
An error occurred in reference point
number check.
6
An error occurred in weaving file
number check.
7
An error occurred in check for welding start condition file number.
8
An error occurred in check for welding end condition file number.
9
An error occurred in conveyor characteristic file number check.
10
An error occurred in press characteristic file number check.
11
An error occurred in gun characteristic file number check.
12
An error occurred in conveyor calibration file number check.
13
An error occurred in argument number check.
14
An error occurred in check for
motor gun characteristic file number.
• Reset the alarm, reselect the job, and then
try again.
If the error occurs again, contact your
Yaskawa representative.
4451
UNDEFINED
REFERENCE
---
The reference point (reference
point number in binary for subcode)
is not registered or is insufficient.
Register the reference point.
4452
STACK MORE
THAN 8 (JOB
CALL)
---
An attempt was made to add more
than eight stacks in the job call
stack.
Reset the alarm, and then correct the job so
that the number of nests for CALL instruction
is eight or less.
4453
OVER VARIABLE NO.
---
The variable number (the variable
number which an attempt was
made to use for subcode) is out of
range.
Correct the job using the variable number
within the range.
4454
UNDEFINED
WELDER CONDITION FILE
---
The arc welding characteristic file
cannot be accessed.
• The arc welding characteristic file
is not set.
Complete the settings for the arc welding
characteristic file.
4455
UNDEFINED
ARC START
COND FILE
---
The welding start condition file cannot be accessed.
• The welding start condition file is
not set.
Complete the settings for the welding start
condition file.
4456
UNDEFINED
ARC END COND
FILE
---
The welding end condition file cannot be accessed.
• The welding end condition file is
not set.
Complete the settings for the welding end
condition file.
8-80
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4457
WRONG
WELDER
SELECTION
---
An error occurred in welder type
check.
• The reference unit for the welding
voltage and the welder type (independent/unified) do not match.
Correct the reference unit for the welding
voltage.
4459
EXCESSIVE
INSTRUCTION
EQUATION
---
An error occurred in expression
operation.
• The operation is impossible
because the expression is too
long.
Separate the operation expression, shorten
the expression, and then register it to a job.
4460
ZERO DEVIDED
OCCURRENCE
---
An error occurred in operation
instruction.
• Zero division occurred.
Do not divide by zero.
4461
UNDEFINED
AUTO WELD
RELEASE COND
---
An error occurred in automatic
welding release conditions.
• The number of welding release
condition is zero for arc auxiliary
file.
Set the number of times of welding release
condition, and then try again.
4462
UNDEFINED
POSITION FOR
ARC RETRY
---
An error occurred at arc retry execution.
• The arc retry has been set, but no
move instruction exists following
ARCON instruction.
Set the move instruction following ARCON
instruction.
4463
PARITY ERROR
---
An error occurred in data for user I/
O group.
• The parity check for user I/O
group detected the data error.
Check the parity data of the user I/O group.
4464
OVER BCD
RANGE
---
The BCD value exceeded the limit.
• An attempt was made to output a
value above the maximum value
that can be expressed in Binary
Coded Decimal: 99 (decimal)
when no parity check is specified,
and 79 (decimal) when parity
check is specified.
• An attempt was made to read a
data that cannot be expressed in
Binary Coded Decimal (a data
whose lower or upper 4 bits
exceeded 9 in decimal) in the
variable.
• Correct the data.
• Correct the data designation (Binary or
BCD) or parity check designation (with or
without.)
4465
OVER BINARY
RANGE
(PARITY)
---
The binary data exceeded the limit.
• An attempt was made to output a
value that exceeded 127 (decimal) to the user I/O when parity
check was specified.
• Correct the data.
4466
OFFLINE
UNDEFINED
COMMAND
(ARITH)
0
An undefined command was issued
to the offline position-data preparation section.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4467
USER COORDINATES GENERATION STEP
SHORTAGE
0
An error occurred at user coordinate creation by a job.
• The number of steps was lacking
for a job for user coordinate creation.
Be sure that the number of steps will be three
or more.
4468
ROBOT
CALIBRATION
DATA ERROR
• Correct the parity check designation.
The calibration data between manipulators
could not correctly be prepared.
1
• The calibration between manipulators cannot be executed for this
model.
8-81
The calibration function between manipulators cannot be used for this model.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
The calibration data between manipulators
could not correctly be prepared.
4468
ROBOT
CALIBRATION
DATA ERROR
2
• The master group and the slave
group are set to the same group.
3
• Incorrect designation of the control group for master group
4
• Incorrect designation of the control group for slave group
5
• Incorrect designation of the occupation control group for calibration
data
6
• Incorrect designation of the
enabling control group for calibration data
7
• Among three points in the mastergroup’s calibration data, two or
three points are on the same
point.
8
• Among three points in the slavegroup’s calibration data, two or
three points are on the same
point.
9
• The number of the teaching points
for calibration data is insufficient.
The conversion coordinates for calibration
between manipulators could not be prepared.
4469
4470
4471
ROBOT
CALIBRATION
FRAME ERROR
ROBOT CALIBRATION STEP
SHORTAGE
CALIBRATION
DATA ERROR
Remedy
Set the different groups for the master group
and the slave group.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
Teach the different 3 points again.
Teach the specified number of points for the
calibration data.
The calibration function between manipulators cannot be used for this model.
1
• The calibration between manipulators cannot be executed for this
model.
2
• The master group and the slave
group are in the same group.
3
• Incorrect designation of the control group for master group
4
• Incorrect designation of the control group for slave group
5
• Calibration data setting error
0
An error occurred at calibration
data creation between manipulators.
• The number of steps was lacking
for a job for calibration data creation between manipulators.
Correct the number of steps for a job.
The tool calibration data could not correctly
be prepared.
Teach the specified number of points.
1
• Incorrect number of teaching
points for tool calibration
2
• Incorrect designation of the occupation control group for calibration
data
3
• Incorrect designation of the
enabling control group for calibration data
4
• Incorrect designation of the control group for calibration data
10
Calibration could not be executed.
8-82
Separate the master group and slave group.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4472
TOOL
CALIBRATION
DATA ERROR
0
The tool calibration data could not
correctly be prepared.
Calibration could not be executed.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4473
ARITHMETIC
ALARM RESET
ERROR
0
The alarm occurred in the calculation section could not be reset.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4474
WRONG CONTROL GROUP
AXIS
---
The CALL/JUMP destination job
could not be executed.
• An attempt was made to call or
jump to a job whose control group
cannot be controlled. (Sub code:
The related control-group)
• Make the setting in advance so that the control group of the CALL/JUMP designation
job is included in that of the CALL/JUMP
source job.
• Use a PSTART instruction when the independent control function is used.
4475
CANNOT EXECUTE JOB
(NO ROBOT)
0
An attempt was made to execute a
job without robot axis.
• The robot axis is not designated
for the control-group of the job at
execution of a work instruction
that uses a manipulator.
Add the robot axis to the control-group of the
job.
An attempt was made to change the data for
the job prohibited from being edited.
4476
CANNOT EDIT
(EDIT LOCKJOB)
0
• An attempt was made to change
the tag data.
1
• An attempt was made to change
the speed tag data.
2
• An attempt was made to change
the board thickness tag data.
Release the prohibition.
4477
SELECT ERROR
(APPLICATION)
---
Incorrect selection of application
• When executing a work instruction, the application selection
parameter (parameter exclusive
for manufacturer) is inconsistent
with the application parameter
(AP parameter). (Subcode: Application number)
Needs investigation. Contact your Yaskawa
representative.
4480
SELECT ERROR
(SENSOR)
---
Incorrect selection of sensor function
• When executing a work instruction, the sensor application selection parameter (parameter
exclusive for manufacturer) is
inconsistent with the sensor
parameter (SE parameter). (Subcode: Sensor number)
Needs investigation. Contact your Yaskawa
representative.
4484
WRONG PORT
NO. (ANALOG
OUTPUT)
---
Incorrect analog output port selection parameter
• The value of the parameter
AxP010 indicating the leading
number of analog output port
used for arc welding or sealing
application was incorrect. (Subcode: Application number)
Correct the parameter value.
4485
WRONG SELECTION (SENSOR)
---
When executing a sensor instruction, the robot specified to use the
sensor (system parameter) and the
robot specified to use the application (system parameter) are
unmatched.
Needs investigation. Contact your Yaskawa
representative.
4486
PASS OVER
---
When executing COM-ARC function, the path was beyond the specified path-over monitor zone.
• Remove the cause of the path-over.
• Set the path over radius within the allowable
range.
8-83
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4487
WRONG MECH
PARAMETER
FILE
0
An error occurred in mechanical
parameter for the path control section.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4488
PT frame not
completed
---
PT frame not completed
• This alarm does not occur (No alarm data is
used).
The CUT instruction could not be executed.
Set zero pulse for the C-and W-axis position
at the cutting start position.
1
4489
DEFECTIVE
TAUGHT POINT
(CUTTING)
• The C- and W-axis position at the
cutting start position is not zero
pulse.
2
• Zero is set for the cutting radius.
Set a value bigger than 0 for the radius.
3
• The cutting machine axis is not
mounted.
The CUT instruction can be used for the
manipulator with small-circle cutting axis only.
4
• This manipulator cannot perform a
hexagonal cutting motion.
This robot cannot perform a hexagonal cutting motion. Select an other cutting form.
The Endless motion could not be performed.
4490
DEFECTIVE
TAUGHT POINT
(ENDLESS)
1
• After the Endless rotation completed, an attempt was made to
execute an interpolation instruction such as MOVL and MOVC
before executing an MRESET
instruction.
2
• The base axis is set as an Endless rotation axis. The Endless
function cannot be used with the
base axis.
3
• An attempt was made to execute
the Endless function although the
endless axis was not designated.
4
• The Endless axis exceeded the
maximum pulse value
(&plusmn;536870911).
To perform an interpolation motion such as
MOVL and MOVC after an Endless rotation,
execute an MRESET instruction beforehand.
Change the parameter setting that designates the Endless rotation axis.
Correct the rotation amount so that the Endless axis does not exceed the maximum
pulse value.
An error occurred in the calculation section
for the correcting direction at path correcting
motion.
4491
CORRECTIONAL DIRECTION ERROR
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
1
• Control-group designation error
for correcting-direction preparation
2
• Designation error for the correcting-direction coordinates
3
• When “any direction” is set for the
correcting direction, the correction
coordinates is not prepared.
Teach the correcting direction with the reference point (REFP).
4
• When “any direction” is set for the
correcting direction, the reference points (REFP) are taught on
the same point.
Teach the reference points (REFP) so that
each point is different.
5
• Designation error for the coordinated motion control axis at the
reference point
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8-84
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred in the calculation section
for the correcting direction at path correcting
motion.
1
4492
POSITION
CORRECTION
ERROR
• Data unmatched between the correction amount data and the job
data:
The information about the control
groups designated for the series
of jobs, which is added to the correction amount data, does not
include the valid control-group for
the job.
2
• Data unmatched between the correction amount data and the job
data:
The valid control-group information that is added to the correction
amount data disagrees with the
valid control-group for the job.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4493
OVER TOOL
FILE NO.
---
The tool file number exceeded the
limit value.
• The tool number for internal control is 25 or more.
• Reset the alarm, and turn the power OFF
then back ON.
If the error occurs again, contact your
Yaskawa representative.
4494
DEFECTIVE
TAUGHT POINT
(WEAV)
1
Incorrect teaching of weaving
motion positions
• The weaving start point and end
point are on the same point.
Change the positions so that the weaving
start point and end point are different.
4494
DEFECTIVE
TAUGHT POINT
(WEAV)
2
Incorrect teaching of weaving
motion positions
• Among the weaving start point,
end point, and reference point,
two or three points are on the
same point.
Change the positions so that the weaving
start point, end point, and reference point are
different.
4495
UNDEFINED
ROBOT
CALIBRATION
---
Calibration between manipulators
has not executed.
• A coordinated motion is impossible because no calibration
between manipulators has been
made.
Before using the coordinated motion, execute
the calibration between manipulators.
Setting error of motion control parameter
4496
PARAMETER
ERROR
1
• The setting of the manipulator
number is incorrect.
2
• Zero is set for the resolution.
3
• Zero is set in the feedback pulse
parameter.
4
• The setting of L-axis ball-screw
data is incorrect.
5
• The setting of U-axis ball-screw
data is incorrect.
6
• Zero or a negative value is set for
MAXPPS.
7
• Zero or a negative value is set for
the maximum acceleration speed.
8
• Zero or a negative value is set for
the maximum deceleration speed.
9
• Zero or a negative value is set for
the play-mode servo averaging
time.
8-85
• Set a correct value.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
Setting error of motion control parameter
4496
PARAMETER
ERROR
10
• The setting of the manipulator
number is incorrect. An undefined type is designated.
11
• The incorrect coordinate system is
designated for the cubic interference. An undefined coordinate
system is set.
12
• The designation of the user coordinates number is incorrect. A
number out of the setting range is
set.
13
The reduction ratio ≤ 0 is output.
• Set a correct value for the resolution.
If the error occurs again, contact your
Yaskawa representative.
14
• Zero or a negative value is set for
the spring constant.
• Set a correct value for the spring constant.
If the error occurs again, contact your
Yaskawa representative.
15
• Zero or a negative value is set for
the motor inertia.
• Set a correct value for the motor inertia.
If the error occurs again, contact your
Yaskawa representative.
16
• Zero or a negative value is set for
the speed calculation constant.
• Set a correct value for the speed calculation
constant.
If the error occurs again, contact your
Yaskawa representative.
17
• Dividing number setting error
If the error occurs again, contact your
Yaskawa representative.
18
• The setting of allowable torque for
the speed reducer is incorrect.
19
• The setting of allowable torque for
the motor is incorrect.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
20
• The manipulator type is not applicable for torque acceleration/
deceleration.
Do not use the torque acceleration/deceleration with this manipulator.
21
• Zero or a negative value is set for
the balancer.
• Set a correct value for the balancer.
If the error occurs again, contact your
Yaskawa representative.
22
• The angle of hexagon set for the
CUT instruction is out of the range
&quot;0 degree &lt; angle &lt; 60 degrees.&quot;
• Set a correct value for the angle of hexagon.
If the error occurs again, contact your
Yaskawa representative.
23
• Encoder type designation error
24
• Observer sampling time error
25
• Two-degree-of-freedom system
Kp value error
26
• The setting of torque acceleration/
deceleration designation parameter is incorrect.
27
• Observer polarity setting error
28
• The inertia value error for the shift
value calculation
29
• Observer attenuation constant
error
30
• Torque estimation parameter error
31
• The segment clock error occurred
when the PV loop is 1 ms.
8-86
• Set a correct value.
If the error occurs again, contact your
Yaskawa representative.
If the error occurs again, contact your
Yaskawa representative.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Setting error of motion control parameter
4496
PARAMETER
ERROR
Remedy
If the error occurs again, contact your
Yaskawa representative.
32
• Non-robot axis observer selection
error
33
• Zero is set for the response time
constant.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
34
• Efficiency data error
If the error occurs again, contact your
Yaskawa representative.
35
• Zero is set for the averaging time
constant.
• The averaging time constant must be set for
the optimized acceleration/deceleration
control.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
36
• Torque limit ratio data error
37
• Coulomb friction data error
38
• Kinematic friction coefficient data
error
39
• The setting in the optimized acceleration/deceleration designation
parameter is incorrect.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
40
• An uninstalled function is designated.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
41
• The dynamics-model calculation
at the optimized acceleration/
deceleration is invalid.
If the error occurs again, contact your
Yaskawa representative.
42
• Zero is set for the inertia of
dynamics fixed model.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
43
• Designation error for dynamicsmodel calculation type
44
• The optimized acceleration/deceleration control of speed limit function is disabled.
45
• The axis designation parameter
for the speed limit function is not
set.
46
• The setting in the mode designation parameter for the speed limit
function is incorrect.
47
• Zero or negative value is set in the
allowable braking torque parameter for the speed limit function.
48
• Zero or a negative value is set in
the speed adjustment ratio
parameter for the speed limit
function.
49
• Zero or a negative value is set in
the torque limit adjustment ratio
parameter for the acceleration/
deceleration tuning.
50
• Zero or a negative value is set in
the parameter that sets the shortest acceleration/deceleration time
for when the excessive torque is
applied at the optimized acceleration/deceleration.
8-87
If the error occurs again, contact your
Yaskawa representative.
If the error occurs again, contact your
Yaskawa representative.
• Correct the parameter setting.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
Setting error of motion control parameter
4496
PARAMETER
ERROR
51
• Zero is set for the dimension information &quot;a3&quot; for the SKR manipulator.
52
• The setting of sealer-gun controlgroup parameter for the servo
sealer control is incorrect.
Correct the parameter setting.
53
• The parameter setting for the Cartesian manipulator X-axis data is
incorrect.
54
• The parameter setting for the Cartesian manipulator Y-axis data is
incorrect.
55
• The setting for the Dual-arm
manipulator is incorrect.
If the error occurs again, contact your
Yaskawa representative.
56
• Zero or a negative value is set in
the FORMCUT maximum acceleration/deceleration time parameter.
Correct the parameter setting.
57
• The setting of expanded checkpoint designating bits for the arm
interference check is incorrect.
If the error occurs again, contact your
Yaskawa representative.
60
• Zero or a negative value is set for
the sphere at the arm interference
check point.
61
• Zero or a negative value is set for
the cylinder at the arm interference check point.
62
• The number of designated check
points for the arm interference
check is insufficient.
70
• All of X, Y, and Z value of the
expanded check-point 1 for the
arm interference check are set to
zero.
Correct the parameter setting.
71
• All of X, Y, and Z value of the
expanded check-point 2 for the
arm interference check are set to
zero.
85
• The setting of wrist axis angle for
tube-incorporated wrist type
manipulators or three-roll wrist
type manipulators is incorrect.
86
• The special link JOG operation
cannot be used with this manipulator.
Change the parameter setting to disable the
special link JOG operation for this manipulator.
87
• The setting in the parameter for
special angle limit check designation is incorrect.
Correct the parameter setting.
91
• The setting of the deceleration
speed for the path-priority control
is less than zero.
If the error occurs again, contact your
Yaskawa representative.
92
• A negative value is set in the
roundness parameter for the
path-priority control.
93
• The link parameter for the cutting
device is not set.
8-88
Correct the parameter setting.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Setting error of motion control parameter
4496
PARAMETER
ERROR
95
• The real-time bending correction
function is enabled for a controlgroup other than robot axis.
96
• Zero is set for the dimension information &quot;a2&quot; for the Arc Cell Torch
Arm type manipulators.
97
• Zero is set for the deceleration
ratio for double T-axis unit of the
V-shaped double T-axis manipulator.
Remedy
This function cannot be used for control
groups other than the robot axis. Correct the
parameter setting.
Correct the parameter setting.
Correct the parameter setting.
Incorrect teaching points for calibration
between manipulators
1
4497
DEFECTIVE
TAUGHT POINT
(CALIB)
• Some of the teaching points for
master-group are on the same
point.
Perform the teaching again so that the teaching points are different from one another.
2
• Some of the teaching points for
slave-group are on the same
point.
3
• The 2nd-axis positions of C3, C4,
and C5 of station axes are not the
same.
Perform the teaching again so that the 2ndaxis positions of C3, C4, and C5 of the station axes are the same.
4
• The 1st-axis positions of C1, C2,
and C3 of station axes are not the
same.
Perform the teaching again so that the 1staxis positions of C1, C2, and C3 of station
axes are the same.
5
• The 2nd-axis positions of C1, C2,
and C3 of station axes are the
same.
Perform the teaching again so that the 2ndaxis positions of C1, C2, and C3 of station
axes are not the same.
6
• The 1st-axis rotation direction of
C3, C4, and C5 of station axes
are not the same.
Perform the teaching again so that the 1staxis rotation direction of C3, C4, and C5 of
station axes are the same.
7
• The 1st-axis (elevation axis) positions of C1, C2, and C3 of station
axes are not the same.
Perform the teaching again so that the 1staxis (elevation axis) positions of C1, C2, and
C3 of station axes are the same.
8
• The 1st-axis (elevation axis) positions of C3, C4, and C5 of station
axes are not the same.
Perform the teaching again so that the 1staxis (elevation axis) positions of C3, C4, and
C5 of station axes are the same.
4498
CANNOT
EXECUTE JOB
(NO GRP AXIS)
---
An error occurred in a job without
control group.
• An attempt was made to execute
an instruction that could not be
executed in a job without control
group.
Register the instruction in a job with control
group.
4499
UNDEFINED
POSITION
VARIABLE
---
The position type variable is not
registered.
• An attempt was made to use the
position type variable that was not
set. (Subcode: The variable number)
Set the position type variable.
4500
UNDEFINED
USER FRAME
---
The user coordinate is not registered.
• An attempt was made to use the
user coordinate that was not set.
(Subcode: User coordinate number)
Set the user coordinate.
8-89
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4501
OUT OF RANGE
(PARALLEL
PROCESS)
---
The number of tasks exceeded the
limit.
• An error occurred in the multi-task
control process for the independent control function. (Sub code:
Task number)
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4502
SL BOARD ONLINE ERROR
---
An error occurred in option board at
power ON. The option board was
detected not to operate normally at
power ON.
• Remove the option board, and insert it properly again.
If the error occurs again, contact your
Yaskawa representative.
4505
UNDEFINED
POSITION FOR
ARC ON
---
Arc retry could not be executed
because there was no step before
the ARCON instruction.
Register a step before the ARCON instruction.
4506
UNDEFINED
POS FOR
RESTART
RETURN
---
Arc-restart-return could not be executed because there was no
restart-return step in the job.
(Example: A retry request was
made while executing a step of the
called job.)
Reset the alarm, and then re-program the
job.
4507
REFP POS
ERROR
(SEARCH
MOTION)
---
Incorrect teaching point for search
detection
• The search start point and the
motion target point are the same,
or the distance between the two
points is too short.
• Perform the teaching again so that the
search start point and the motion target
point are not the same.
• Increase the distance between the search
start point and the motion target point.
An invalid coordinate system was specified.
4508
SPECIFIED
ERROR
(COORDINATE)
0
• The specified coordinate system
does not exist.
1
• Designation error of the master
tool coordinate system. This coordinate system cannot be used.
2
• Designation error of the tool coordinate system. This coordinate
system cannot be used.
6
• Designation error of the conveyor
coordinate system. This coordinate system cannot be used.
7
• Designation error of the weaving
coordinate system. This coordinate system cannot be used.
8
• Designation error of the COMARC
coordinate system. This coordinate system cannot be used.
10
• Designation error of the cylindrical coordinate system. This coordinate system cannot be used.
11
• Designation error of the coordinate system for the external reference point. This coordinate
system cannot be used.
12
• Designation error of the coordinate system for 3D shifting. This
coordinate system cannot be
used.
15
• Designation error of the coordinate system at IMOV for 3D shifting. This coordinate system
cannot be used.
8-90
Reset the alarm, and then specify a valid
coordinate system.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An invalid coordinate system was specified.
SPECIFIED
ERROR
(COORDINATE)
16
• Designation error of the H-LINK
type cylindrical coordinate system. This coordinate system cannot be used.
Reset the alarm, and then specify a valid
coordinate system.
4509
MFRAME
ERROR
1
An error occurred at MFRAME execution.
The master or slave control group is incorrect
when the master tool user coordinate is specified.
4510
CANNOT EXECUTE INSTRUCTION (SQRT)
---
The SQRT instruction could not be
executed.
• An attempt was made to calculate
the square root of negative value.
(The second argument was negative.)
Correct the job.
4511
OUT OF RANGE
(DROP-VALUE)
---
Incorrect robot position when the
servo was turned ON
The pulse difference of the robot
position exceeded the allowable
value between when the servo was
OFF previously and when the servo
was ON this time.
The standard allowable number of
pulses is 100. (Subcode: Control
group exceeding the allowable
value.)
Reset the alarm, and then try again.
4512
TWO STEPS
SAME LINE
(3 STEPS)
---
The teaching points are aligned in a
straight line.
• In the user coordinates for calibration between manipulators, three
or more teaching points are
aligned in a straight line.
Perform the teaching again so that the teaching points are not aligned in a straight line.
4513
EXCESSIVE
SEGMENT
(SAFETY: 1)
: LOW
---
At the safety speed 1, the manipulator motion speed exceeded the
speed limit value (LOW level).
• Reduce the speed of the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4514
EXCESSIVE
SEGMENT
(SAFETY: 1)
: HIGH
---
At the safety speed 1, the manipulator motion speed exceeded the
speed limit value (HIGH level).
• Reduce the speed of the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4515
EXCESSIVE
SEGMENT
(SAFETY: 2)
: LOW
---
At the safety speed 2, the manipulator motion speed exceeded the
speed limit value (LOW level).
• Reduce the speed of the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4516
EXCESSIVE
SEGMENT
(SAFETY: 2)
: HIGH
---
At the safety speed 2, the manipulator motion speed exceeded the
speed limit value (HIGH level).
• Reduce the speed of the step (move
instruction) where the alarm occurred.
• The manipulator may be near the singular
point. Change the position and orientation
of the manipulator.
4517
SEARCH
MONITOR SET
ERROR
(SERVO)
---
An error occurred in search/monitoring mode settings in servo section.
• An error occurred in interface with
servo section at search/monitoring mode. (Subcode: The related
control-group)
Check the system versions for XCP01 and
AXA01.
4508
8-91
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4518
SEARCH MON
RELEASE
ERROR
---
An error occurred in search/monitoring mode releasing in servo section.
• An error occurred in interface with
servo section at search/monitoring mode. (Subcode: The related
control-group)
Check the system versions for XCP01 and
AXA01.
4519
SPHERE INTRF
ERR (ROBOT)
CALCULATION
1
An error occurred in sphere interference between manipulators.
• No calibration between manipulators has been made.
Perform the calibration between manipulators.
4520
AXIS BLOCKING
---
A motion was commanded for the
group axis during axis block at play
mode. (Subcode: The related control-group)
Reset the alarm, and then try again. Turn ON
the general-purpose input signal set in the
parameter.
Job type is inconsistent.
4521
WRONG JOB
TYPE
0000_
0001
• A robot job was started from the
concurrent job at CALL/JUMP
instruction execution.
0000_
1001
• A concurrent job was started from
the robot job at CALL/JUMP
instruction execution.
1000_
0001
• A system job was started from the
robot job at CALL/JUMP instruction execution.
Check that what type of job will be started
before starting.
An error occurred at tag data change.
4522
TAG DATA
CHANGE PROCESS ERROR
2
• An error occurred at instruction
read-in.
3
• The tag is not registered.
7
An error occurred at tag data
change.
• Correct the job file.
If the error occurs again, contact your
Yaskawa representative.
4524
CANNOT EXECUTE INST
(CONCUR JOB)
---
An error occurred at concurrent job
execution.
• There was an unexecutable
instruction such as move instruction in the concurrent job.
Correct the job.
4525
SPECIFIED JOB
EXECUTION
IMPOSSIBILITY
---
An error occurred at startup of
multi-system job.
• The specified job could not be
executed.
Needs investigation. Contact your Yaskawa
representative.
4527
UNDEFINED
PORT NO.
(AOUT)
---
Incorrect analog output port number
• The specified analog output port
number was not allowed.
Correct the specified analog output port number.
4528
SYNTAX ERROR
---
An error occurred in the instruction
syntax.
• The function and the corresponding instruction data is inconsistent in the system software.
(Subcode: Box number)
• Needs investigation. Contact your Yaskawa
representative.
• If replacement of the system software is
necessary, follow the instructions for
replacement. After replacement, delete the
corresponding instructions, and then reregister them.
An error occurred at twin synchronization
execution.
4529
TWIN COORDINATED ERROR
1
• A job without control group was
started by SYNC instruction.
2
• A job only with robot axes was
started by SYNC instruction.
8-92
Specify a R□ +S□job for the job started by
SYNC instruction.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
An error occurred at twin synchronization
execution.
4529
3
• A job only with master control
group axes was started by SYNC
instruction.
4
• At full synchronization, the completion timings of move instructions for the master and the slave
disagreed.
TWIN COORDINATED ERROR
5
• At full synchronization, no operation request from the master was
sent.
6
• At full synchronization, the execution timings of move instructions
for the master and the slave disagreed.
Remedy
Specify a R □ +S □ job for the job started by
SYNC instruction.
• Correct the job.
If the error occurs again, contact your
Yaskawa representative.
• Correct the job.
If the error occurs again, contact your
Yaskawa representative.
An error occurred in conveyor synchronization execution.
4530
CONVEYOR
SYNCHRONIZING ERROR
1
• The base axis specification is
other than 1 or 2 for conveyor
characteristic file.
2
• No robot axis in the job for robot
axis tracking
3
• No base axis in the job for base
axis tracking
4
• The conveyor board number and
conveyor characteristic file number used are incorrect.
5
• There was no conveyor start position data at prereading processing.
10
• No base axis in the job for arc
tracking
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4531
CONVEYOR
CHARACTERISTIC FILE UNSET
---
Conveyor characteristic file is not
set.
• &quot;Use state&quot; of the conveyor characteristic file set for the job is not
set to &quot;1: Use.&quot; (Subcode: Conveyor characteristic file number)
Set &quot;Use state&quot; of conveyor characteristic file
set for the job to &quot;1: Use.&quot;
4532
CONVEYOR
SPEED DOWN
---
The conveyor speed decreased
below the &quot;Conveyor Lowest
Speed&quot; set in the conveyor characteristic file. (conveyor number for
subcode.)
Correct the &quot;Conveyor Lowest Speed&quot; set in
the conveyor characteristic file.
An internal control error occurred at conveyor tracking motion.
4533
CONVEYOR
TRACKING
CALCULATION
ERROR
1
• Designation error of the conveyor
tracking control-group
2
• Designation error of the user coordinates for the conveyor tracking
3
• An attempt was made to use the
conveyor tracking function with
the slave manipulator at coordinate motion.
4
• Zero is set for the resolution for
the turn-table synchronization.
8-93
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
Set a correct value for the resolution.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4534
Message
TORQUE
INTERFERENCE
Sub
Code
---
Cause
Excessive interference torque
• The load torque of an axis motor
exceeded the allowable value
when the manipulator is operating at the specified speed.
Remedy
• Check if the weight information in the tool
file is correctly set.
• Reduce the speed in the step where the
alarm occurred.
• Change the position and orientation in the
step where the alarm occurred.
An error occurred at PSEND instruction execution.
4535
PSEND ERROR
1
• An attempt was made to send a
mail to its own task.
3
• The mail box number is incorrect.
Check the destination address.
An error occurred at PRECV instruction execution.
4536
PRECV ERROR
1
• An attempt was made to receive a
mail from its own task.
2
• The mail data type is inconsistent.
3
• The mail box number is incorrect.
Check the destination address.
An error occurred in mail box control in the
offline processing section.
4537
4538
OFFLINEMAIL
BOX PROCESSING ERROR
ROBOT AXIS
TRACKING
IMPOSIBILITY
1
• Mail box number error
2
• Undefined command for mail box
operation
3
• OFF_MB_IFS pointer is incorrect.
---
The robot axis tracking could not be
executed.
• An attempt was made to execute
the SYMOVJ instruction at robot
tracking.
An internal control error occurred at the Corner-R motion.
4539
CORNER R
CONTROL
ERROR
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
Correct the job.
Do not use the Corner-R motion for coordinated motion.
1
• The Corner-R motion cannot be
used for coordinated motion.
2
• An attempt was made to execute
the Corner-R motion for the same
point.
Perform the teaching again so that the start
step and end step are not on the same point.
3
• The Corner-R zone is taught on a
straight line.
Perform the teaching again so that the Corner-R zone is not on a strait line.
4
• The start position or end position
for the Corner-R motion could not
be calculated inside the start zone
or the end zone.
• Change the setting for the Corner-R radius.
• Perform the teaching again for the start step
or end step for Corner-R.
5
• The Corner-R motion cannot be
used for coordinated motion (with
master manipulators).
Do not use the Corner-R motion for master
manipulators at coordinated motion.
6
• The Corner-R motion cannot be
used for MOVC, MOVS, and
EIMOVC instructions.
Use a MOVL instruction when using the Corner-R motion.
7
• The Corner-R motion is disabled
during weaving.
Do not perform weaving when using the Corner-R motion.
8
• Different tool numbers are set in a
Corner-R zone (for the Corner-R
middle step and end step).
Use the same tool number in a Corner-R
zone.
9
• The Corner-R motion is disabled
when the higher-order acceleration/deceleration is specified.
Disable the higher-order acceleration/deceleration when using the Corner-R motion.
8-94
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4539
Message
CORNER R
CONTROL
ERROR
Sub
Code
Cause
An internal control error occurred at the Corner-R motion.
17
• The Corner-R motion is disabled
during conveyor tracking.
Remedy
Do not perform the conveyor tracking when
using the Corner-R motion.
4540
JOB QUE
EMPTY ERROR
---
No job queue data
• &quot;QUE&quot; is used in CALL or JUMP
instruction under the condition
that no job queue is used.
Set a data to a job queue, and then call
&quot;QUE.&quot;
4541
INVALID INPUT
STRING (VAL)
---
An error occurred at VAL instruction
execution.
• An attempt was made to convert a
character string that could not be
converted to a numerical value.
Check the data of character string of conversion source.
4542
MRESET
ERROR
1
An error occurred at MRESET
instruction execution.
• An MRESET instruction was executed while no endless axis was
designated.
• Reset the alarm, and then try again.
JOB CALL
STACK ERROR
---
An error occurred at job return.
• At job return, an attempt was
made to fetch a data from an
empty job call stack or to stack a
data in the job call stack that is
full.
• Reset the alarm, and then try again.
4543
An error occurred at MID$ instruction execution.
4544
4545
4546
4547
4548
4549
If the error occurs again, contact your
Yaskawa representative.
If the error occurs again, contact your
Yaskawa representative.
Check the data of the character string to be
extracted.
1
• The first character of character
string to be extracted is null at
MID$ instruction execution.
2
• The extraction start position
exceeds the character string
length at MID$ instruction execution.
Check the extraction start position or the data
of the character string to be extracted.
COMMUNICATION SERVICE
ERROR
---
An error occurred at OPEN/CLOSE
instruction execution.
• An error occurred in the communication service at OPEN/CLOSE
instruction execution.
• Reset the alarm, and then try again.
CANNOT
EXECUTE
SYSTEM JOB
---
The system job could not be executed.
• An error in the system number of
system job. (Subcode: System
number)
• Reset the alarm, and then try again.
PRIMITIVE
ERROR
---
A primitive error occurred in the
system software. (Subcode: Error
code)
• Reset the alarm, and then try again.
CANNOT
OPERATE
SPECIFIED
EVENT QUE
---
An error occurred at INIEVNT
instruction execution.
• The specified event could not be
operated at INIEVNT instruction
execution.
• Reset the alarm, and then try again.
INIEVNT NOT
EXECUTED
---
An error occurred at INIEVNT
instruction execution.
• INIEVNT instruction was not executed before having executed the
event related process. (Subcode:
System number)
Execute an INIEVNT instruction.
MID$ ERROR
8-95
If the error occurs again, contact your
Yaskawa representative.
If the error occurs again, contact your
Yaskawa representative.
If the error occurs again, contact your
Yaskawa representative.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4550
CANNOT EXECUTE INST
(USER JOB)
---
The specified instruction in the user
job could not be executed. (Subcode: System number)
Correct the job.
4551
CANNOT MEASURE TIP
INSTALL COEF
---
The electrode installation correction
value could not be measured on the
moving side because that on the
fixed side was not measured during
execution of &quot;SVGUNCL
TWC=BE.&quot;
Execute &quot;SVGUNCL TWC-AE&quot; before executing &quot;SVGUNCL TWC=BE.&quot;
The used function and the system are inconsistent.
1
4565
4566
SOFTWARE
UNMATCH
USER
COORDINATES
GENERATION
ERROR
• The multi-layer welding function is
not used.
2
• The observer function is not used.
3
• The TURBO function is not used.
4
• The COMARC function is not
used.
5
• The conveyor/press synchronization function is not used.
6
• The shared motion function is not
used.
7
• The layer motion function is not
used.
8
• The general sensor function is not
used.
9
• The servo float function is not
used.
10
• The laser cutting function (with
small circle cutter) is not used.
11
• The motor gun function (for spot
welding application) is not used.
12
• The speed control function
(VCON/VCOF) is not used.
13
• The servo hand function (for handling application) is not used.
14
• The laser cutting function (for form
cutting operation) is not used.
15
• The series communication function between the systems
(PSEND/PRECV) is not used.
16
• The motion extension function is
not used.
17
• The bending function is not used.
18
• The ME-NET function is not used.
255
• An attempt was made to execute
an undefined instruction.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
An internal control error occurred at preparation of a user coordinates.
1
• The teaching points are incorrect.
2
• The teaching points for user-coordinate turning are incorrect.
8-96
Perform the teaching again for the user coordinates.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
3
4566
USER
COORDINATES
GENERATION
ERROR
Cause
An internal control error occurred at
preparation of a user coordinates.
• The robot axis is not specified for
the control group of the job to prepare the user coordinates.
5
• Position data error
6
• Setting error of the slave group for
user coordinate conversion
Remedy
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4567
CANNOT MONITOR DISTANCE
---
The distance could not be monitored when executing a move
instruction.
• An attempt was made to execute
MOVJ/MOVS instruction in arc
retry or restart operation.
Do not perform the arc retry or restart operation, or change the interpolation instruction to
MOVL/MOVC.
4568
UNDEFINED
PRESS CHARACTERISTIC
FILE
---
No press characteristic file is set.
• An attempt was made to use the
unused press characteristic file in
a job. (Subcode: Press characteristic file number)
Set the status of press characteristic file to be
used in the job to &quot;Used State.&quot;
4569
PRESS RESOLUTION DATA
UNSET
---
No press resolution data is set.
• The status of press resolution
data to be used in the job was set
to &quot;Incomplete.&quot; (Subcode: Press
characteristic file)
Set the data, and then press &quot;Data Set&quot; button to set the status to &quot;Completed.&quot;
4571
SERVO FLOAT
MODE RELEASE
ERROR
---
The servo float mode could not be
reset when executing a FLOATOF
instruction.
• Check the ROM version of servo board.
4572
UNDEFINED
MOTOR GUN
CONTROL GRP
---
The control group for the motor gun
is not set.
Restart the setting of configuration in maintenance mode, and correct the setting of motor
gun axis.
4573
SPOT WELDER
NUMBER
ERROR
---
Incorrect spot welder number
• The welder number set in the gun
characteristic file is incorrect.
(Subcode: Welder number)
Correct the welder number set in the gun
characteristic file.
4574
SPOT WELD
COMPLETE
TIME LIMIT
---
The spot welding did not complete
within the specified time.
• Neither the welding completion
signal nor the welding error signal was received from the timer
conductor within the set time.
(Subcode: Welder number)
• Remove the cause such as disconnection of
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
power supply to the timer conductor, and
then try again.
• If the response from the timer takes too long
time due to the system layout, increase the
set time.
4575
ERROR IN
WELD START
TIMING SET
---
Incorrect setting of spot welding
start timing
• For motor gun, the welding timing
was set to &quot;After First Pressure&quot;
while no 2nd pressure was set.
Set the 2nd pressure, or change the start timing.
4576
ERR IN MOTOR
GUN CONT
MODE
---
An error occurred when setting the
motor gun control mode.
• Though a motor gun control mode
setting command was sent to the
servo section, no response was
received.
• Check the ROM version of servo board.
ERR IN MOTOR
GUN MODE
RLSE
---
An error occurred when resetting
the motor gun control mode.
• Though a motor gun control mode
resetting command was sent to
the servo section, no response
was received.
• Check the ROM version of servo board.
4577
8-97
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4578
Message
SPOT WELD
ERROR
Sub
Code
---
Cause
Remedy
An error occurred when executing
spot welding.
• An error occurred when executing
welding using the specified system timer conductor. (Subcode:
Welder number)
Reset the timer conductor where the welding
error occurred, and then try again.
An error occurred in the anticipation control
processing.
4579
4580
ANTICIPATION
CONTROL
ERROR
ANTICIPATION
DISTANCE
SHORTAGE
1
• No availability in anticipation control
2
• The anticipation data exceeded
the maximum length.
---
Anticipation could not be executed
at re-painting.
• No return step in re-painting function after emergency stop
Register a move instruction between work
instructions.
• Reset the alarm, and then try again.
• Refer to Painting System Additional Function Manual for details.
An error occurred in the anticipation output
file.
4581
DEFECTIVE
ANTICIPATION
FILE
1
• Incorrect setting of OT output
number for anticipation output file
2
• Incorrect setting of OG output
number for anticipation output file
Reset the alarm, and then correct the set
number.
4583
CANNOT EXECUTE GUN
TYPE
---
An invalid gun type is set.
• The mode impossible to control is
set for the gun.
Change the motion mode set to the gun.
4584
STRWAIT TIME
OUT
---
An error occurred when executing a
STRWAIT instruction.
• No confirmation signal specified in
the stroke change confirmation
instruction was input within the
set time.
• Remove the cause such as defective limit
The PG power supply could not be
turned ON.
• The encoder power supply could
not be turned ON when turning
ON the control power supply.
Check the cable connection of motor gun
encoder.
4585
SERVO PART
PG POWER ON
ERROR
---
An error occurred when changing the gun.
4587
MOTOR GUN
CHANGE
ERROR
1
• A GUNCHG instruction was executed in the system configuration
that did not allow the gun change
function.
2
• A GUNCHG/PICK instruction was
executed while the motor gun
motor was servo ON.
3
• A GUNCHG/PICK instruction was
executed while the ATC was in
unchuck status.
4
• A GUNCHG/PLACE instruction
was executed while the ATC was
in unchuck status.
5
• The encoder power supply could
not be turned ON when executing
a GUNCHG/PICK instruction.
6
• The encoder power supply could
not be turned OFF when executing a GUNCHG/PLACE instruction.
8-98
switch, and then try again.
It the error occurs again, contact your
Yaskawa representative.
Check the cable connection of motor gun
encoder.
Execute GUNCHG/PICK instruction when the
motor gun motor is servo OFF.
Execute GUNCHG/PICK instruction when the
ATC is in chuck status.
Check the cable connection of motor gun
encoder.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4587
Message
MOTOR GUN
CHANGE
ERROR
Sub
Code
Cause
Remedy
7
• The gun number specified by the
GUNCHG instruction did not
agree with the gun identification
signal.
• Check the gun characteristic file number
specified by GUNCHG instruction.
• Check the status of gun identification signal.
8
• The 1st gun axis selection signal
is not set when executing the
twin-wrist gun change.
Check the 1st gun axis selection signal setting.
An error occurred when changing the gun.
Check the setting for the gun axis selection
signal.
MOTOR GUN
CHANGE
ERROR
9
• The right and left gun axis selection signals were duplicated when
executing the twin-wrist gun
change.
4591
SERVO PART
SPEED CONTROL MODE
SETTING
ERROR
---
An error occurred at speed control
mode setting.
• Though a speed control mode setting command was sent to the
servo section, but no response
was received.
• Check the ROM version of servo board.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4592
SERVO PART
SPEED CONTROL MODE
RELEASE
ERROR
---
An error occurred at speed control
mode release.
• Though a speed control mode
release command was sent to the
servo section, but no response
was received.
• Check the ROM version of servo board.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4593
SERVO HAND
CONTROL
MODE SETTING
ERROR
---
An error occurred at servo hand
control mode setting.
• Though a servo hand control
mode setting command was sent
to the servo section, but no
response was received.
• Check the ROM version of servo board.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4594
SERVO HAND
CONTROL
MODE RELEASE
ERROR
---
An error occurred at servo hand
control mode setting.
• Though a servo hand control
mode release command was sent
to the servo section, but no
response was received.
• Check the ROM version of servo board.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4587
An internal control error occurred in the Form
Cutting motion.
4595
1
The setting for radius is incorrect.
• For a circle, it is incorrectly set as:
radius ≤ 0, radius &lt; minimum
radius value, or radius &gt; maximum radius value.
• For an ellipse, it is incorrectly set
as: radius ≤ 0, radius &lt; minimum
radius value/2, or radius &gt; (maximum radius/2 − width/2).
2
The setting for width is incorrect.
• For a rectangle, it is incorrectly set
as: width &lt; 1.0, width &gt; sqrt (maxi-
FORM CUTTING
MOTION IMPOSSIBILITY
mum diameter2 − height2), or
width &gt; maximum diameter.
• It is incorrectly set as: width &lt; 0,
width &gt; maximum diameter −2 &times;
radius.
8-99
Correct the radius data.
Correct the width data.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
An internal control error occurred in the Form
Cutting motion.
3
Remedy
Correct the height data.
The setting for height is incorrect.
• For a rectangle, it is incorrectly set
as: height &gt; maximum diameter,
height &lt; minimum diameter/2, or
height &gt; sqrt (maximum diameter2
− width2).
4595
FORM CUTTING
MOTION IMPOSSIBILITY
4
The setting for the corner radius is
incorrect.
• For a rectangle, it is incorrectly set
as: corner radius &gt; width/2 or corner radius &gt; height/2.
Correct the corner radius data.
5
The setting for overlap is incorrect.
• For a rectangle, it is incorrectly set
as overlap &gt; width/2.
• For a circle, it is incorrectly set as
overlap &gt; ABS (2π &times; radius).
• For an ellipse, it is incorrectly set
as overlap &gt; π &times; radius +ABS
(width/2).
Correct the overlap data.
6
The setting for the cutting speed is
incorrect. It is set as the cutting
speed &gt; maximum linear speed.
Correct the cutting speed data.
7
• Coordinated motion cannot be
used with the Form Cutting
motion.
Do not use the coordinated motion.
8
• Zero or a negative value is set in
the minimum diameter parameter
(S1CxG063) for the Form Cutting
motion.
Correct the setting of the minimum diameter
parameter (S1CxG063) for the Form Cutting
motion.
9
• Zero or a negative value is set in
the maximum diameter parameter (S1CxG064) for the Form Cutting motion.
Correct the setting of the maximum diameter
parameter (S1CxG064) for the Form Cutting
motion.
10
• Although &quot;PLACEMENT&quot; or
&quot;AUTO&quot; is set for the start point
designation on the FORM CUT
SETTING window, the FORMAPR instruction was not executed.
Execute the FORMAPR instruction.
11
• The Cut file setting of the FORMAPR instruction is different from
that of the FORMCUT instruction.
The Cut file settings of FORMAPR and
FORMCUT instructions must be same.
12
• A FORMAPR instruction was
used for the conventional FORMCUT instruction.
The FORMAPR instruction cannot be used
for the conventional FORMCUT instruction.
• Change the instruction.
• Needs to validate the new FORMCUT
instruction. Contact your Yaskawa representative.
13
• A form other than a circle, rectangle, and ellipse was designated
for the conventional FORMCUT
instruction.
A form other than a circle, rectangle, and
ellipse cannot be designated for the conventional FORMCUT instruction.
• Designate a circle, rectangle, or ellipse.
• Needs to validate the new FORMCUT
instruction. Contact your Yaskawa representative.
8-100
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
An internal control error occurred in the Form
Cutting motion.
4595
4596
FORM CUTTING
MOTION IMPOSSIBILITY
Remedy
• Correct the radius data.
90
• The radius data setting for special
circular interpolation is incorrect.
It is incorrectly set as the radius ≤
0.
91
• The arc center coordinates could
not be calculated at special circular interpolation. Incorrect teaching may be the cause.
92
• The arc center coordinates could
not be calculated at special circular interpolation. Incorrect teaching may be the cause.
93
• The averaging time at special circular interpolation motion is too
short.
• Perform the teaching again so that the moving distance becomes longer.
• Reduce the motion speed.
94
• Because the designated plane
included reference points at special circular interpolation motion,
the arc center coordinates could
not be calculated. Incorrect teaching of the reference point 2 may
be the cause.
Perform the teaching again for the reference
point 2.
100
• The arc center position is not set
for the special circular interpolation motion.
Perform the teaching for the reference point 1
as the arc center position.
1
An error occurred at FORMCUT
instruction execution.
An attempt was made to re-execute
the FORMCUT instruction after
interrupting it.
FORMCUT
ERROR
Perform the teaching again.
• Perform the teaching for the reference point
1 as the arc center position.
An internal control error occurred at offline
position data conversion.
4597
OFFLINE
POSITION DATA
CONVERSION
ERROR
1
• Incorrect information of reference
position data for offline position
data conversion
2
• Incorrect user-coordinate number
designation in the standard position data for offline position data
conversion
3
• Incorrect reference-point data for
offline position data conversion
4
• The standard position data for
offline position data conversion
could not correctly be calculated.
5
• Incorrect pulse incremental value
for offline position data conversion
6
• The position data could not correctly be added by the pulse
incremental value at the offline
position data conversion.
7
• Incorrect Cartesian incremental
value for offline position data conversion
8-101
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An internal control error occurred at offline
position data conversion.
4597
OFFLINE
POSITION DATA
CONVERSION
ERROR
8
• The position data could not correctly be added by the Cartesian
incremental value at the offline
position data conversion.
9
• The position conversion could not
be done in the designated coordinate system at the offline position
data conversion.
10
• Incorrect incremental value of
angle for offline position data conversion
11
• The position data could not correctly be added by the incremental value of angle at the offline
position data conversion.
12
• The reverse shift value for 3D
shifting could not correctly be calculated at the offline position data
conversion.
13
• The reverse shift value for 3D
shifting could not correctly be
added at the offline position data
conversion.
14
• The reverse shift value could not
correctly be calculated at the
offline position data conversion.
15
• The reverse shift value could not
correctly be calculated at the
offline position data conversion.
16
• The 3D shifting value could not
correctly be added at the offline
position data conversion.
17
• The shift value could not correctly
be added at the offline position
data conversion.
18
• No reference point is specified for
the offline position data conversion.
19
• The positions for the mirror shift
function could not correctly be
calculated at the offline position
data conversion.
20
• The positions could not correctly
be converted for the mirror shift
function at the offline position data
conversion.
21
• The expansion positions for the
mirror shift function could not correctly be converted at the offline
position data conversion.
22
• Incorrect designation of coordinates for a new mirror-shift conversion function at the offline
position data conversion
8-102
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4599
SERVO
COMMAND
ERROR
0
An abnormal response was
returned from the servo control section.
The servo control processing has
not completed.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
4601
UNDEFINED
GUN COND FILE
---
The motor gun characteristic file is
not set. (Subcode: Motor gun characteristic file number)
Complete the settings for the motor gun characteristic file.
4603
WIRE STICKING
---
Wire stick occurred at spot welding.
• Wire stick was detected at the
welder. (Subcode: Welder number)
Remove the cause of wire stick.
4604
DESIGNATED
AXIS HOME
POSITION CORRECTION DATA
NON-EXISTING
---
No home position correction data of
specified axis
• Reset the alarm, and then try again.
SETTOOL
ERROR
---
An error occurred when executing a
SETTOOL instruction.
• The difference between the current tool constant and a new set
value exceeded the allowable
range (parameter set value).
• Check if the tag set value is correct.
GLOBAL VARIABLE AREA
OVERFLOW
---
The memory area of global variable
exceeded the limit value.
• An error occurred in the value of
parameter that defines the number of global (user) variables.
Correct the number of global (user) variables
to be used, or correct the parameter value.
4605
4606
If the error occurs again, contact your
Yaskawa representative.
• Check if the parameter is set correctly.
An error occurred when executing a macro
instruction.
4607
MACRO COMMAND EXECUTION ERROR
1
• The execution macro job is not
set.
2
• The interrupt macro job is not set.
3
• An attempt was made to start the
job that could not be started by
the macro instruction.
5
• An error occurred in the operation
process of job call stack when the
execution of macro instruction
was cancelled.
6
• Incorrect macro number
Correct the registration of interrupt macro job.
Correct the macro job.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
An error occurred when executing a
GETARG instruction.
4608
JOB ARGUMENT
GET ERROR
1
• The job argument is not set.
2
• No number of the specified job
argument
3
• The data types of job argument
disagreed.
8-103
Correct the job.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred when executing the memo
play operation.
4609
MEMORY PLAY
FILE ERROR
2
• The memory play file was being
used in another system.
5
• The control group in the memory
play file did not agree with the
control group of execution job.
6
Correct the job.
• An attempt was made to clear the
memory play file by a CLEAR
instruction before having executed a MEMOF instruction.
An internal control error occurred at memory
play sampling.
4610
MEMORY PLAY
SAMPLING
ERROR
1
• Failed to read the memory play
sampling data.
2
• Failed to write the memory play
sampling data.
3
• Failed to seek the memory play
sampling data.
4
• Incorrect mode setting at memory
play sampling
Correctly set the memory play mode.
5
• Incorrect designation of the control group at memory play sampling
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
An internal control error occurred at memory
play sampling.
4610
MEMORY PLAY
SAMPLING
ERROR
6
• K/N &lt; 0 in the memory play sampling section
7
• The memory play sampling data
back-play mode could not be
detected.
8
• The memory play sampling data
could not be initialized.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4611
OPTON
INSTRUCTION
EXECUTION
NUMBER OVER
---
An error occurred when executing a
OPTON instruction.
• The number of times that the
OPTON instruction was executed
exceeded the limit value.
Correct the OPTON instruction.
4612
TSYNC ERROR
---
An error occurred at the execution
of the TSYNC instruction.
• The number of synchronizations
(SNUM) specified by the TSYNC
instruction disagreed. (Sub code:
the number of synchronizations of
the first executed TSYNC)
Set the same number of synchronizations of
the TSYNC instruction.
8-104
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
An internal control error occurred in the
servo sealer gun motion.
4613
SERVO SEALER
GUN CONTROL
ERROR
1
• The function designation parameter is not set.
2
• No sealer gun axis exists at the
job for which the sealer gun control was attempted to be executed.
Remedy
• Set the function designation parameter.
If the error occurs again, contact your
Yaskawa representative.
• Correct the job.
If the error occurs again, contact your
Yaskawa representative.
3
• No robot axis exists at the job at
which an attempt was made to
execute sealer gun control.
4
• Incorrect designation of the control method for sealer gun control
Set either &quot;1&quot; or &quot;2&quot; for PRM1 control method
designation of the OPTON instruction.
5
• Incorrect designation of the needle position for sealer gun control
If &quot;1&quot; is set for PRM1 of the OPTON instruction, set the PRM2 needle position designation to a value between 0 and 100.
6
• Incorrect designation of the sealing width for sealer gun control
If &quot;2&quot; is set for PRM1 of the OPTON instruction, set PRM2 sealing width designation to a
value between 0 and 30.
4614
SEALER GUN
CHARACTERISTIC FILE UNSET
0
The servo sealer gun condition file
is not set.
Set the servo sealer gun condition file.
4615
I/O AXIS
MOTION IMPOSSIBILITY (during
playback)
0
I/O axis motion could not be performed. (in playback)
• An attempt was made to command a job whose control group
was in I/O axis motion.
• Stop the I/O axis motion.
• Correct the job.
4616
AXIS SHIFT
ERROR
An internal control error occurred when shifting the axis.
1
• The file could not be switched
because of incorrect start point
designation.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
An internal control error occurred when shifting the axis.
2
4616
AXIS SHIFT
ERROR
• The control group with which the
axis shifting is performed disagrees with the control group set
for the axis shifting function in the
calibration file.
3
• The calibration file number for axis
shifting function is out of the applicable range.
4
• There is no &quot;selected&quot; file corresponding to the calibration file
number for the axis shift function.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
SU-axes cannot move with the current Land R-axes position.
4617
SU AXIS
MOTION DISABLED
(LR AXIS POSITION ERROR)
1
2
• For the CSL15D manipulator, the
motion speed of S- and U-axes
exceeded the upper limit.
• For the CSL15D manipulator, Sand U-axes were going to move
regardless of the limit speed &quot;0&quot;
when the positions of L- and Raxes exceeded the upper limit.
8-105
• Reduce the speed of S- and U-axes.
• Teach the positions of L- and R-axes again
so that S- and U-axes can move.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4618
SHIFT INSTRUCTION EXECUTION ERROR
1
An internal control error occurred at
execution of the SHIFT instruction.
• For the tool shift with Euler angle
&plusmn;90 degrees, the shift value for
axes other than Y-axis is set.
Set the shift value for Y-axis only.
4619
UNDEFINED
JOB ENTRY
TABLE
---
An error occurred in job registration
table.
• The job registration table is not
set. (Subcode: Designated registration number)
Set the job registration table.
4620
ARM (TOOL)
INTERFERENCE
0
Arms or tools interfere between
manipulators.
• The arm interference check
between manipulators detected
that manipulator’s arms or tools
are interfered.
Perform the teaching again to correct positions for manipulators.
4621
WELD COMPLETE SIGNAL
ERROR
---
An error occurred in welding completion signal.
• The welding completion signal
was ON when starting the spot
welding instruction execution.
(Subcode: Welder number)
Check the settings for welding completion
signal.
4622
SELF INTERFERENCE
0
The manipulator’s arm interferes
with a tool.
• The manipulator’s self interference check detected that the
manipulator’s arm interferes with
a tool.
Perform the teaching again to correct positions for manipulators.
An error occurred when executing a GETPOS instruction.
4623
GETPOS
COMMAND
ERROR
1
• An attempt was made to obtain
the step that used a local position
type variable. (The step with local
position type variable cannot be
fetched. Example: MOVJ LP000
VJ=25.00)
Correct the GETPOS instruction.
An error occurred when executing a GETPOS instruction.
2
4623
4624
GETPOS
COMMAND
ERROR
PLUG VOLUME
SETTING
ERROR
• An attempt was made to obtain
the step that used an array position type variable. (The step with
array position type variable cannot be fetched. Example: MOVJ
P[0] VJ=25.00)
3
• The specified step did not exist.
---
Incorrect setting of amount of fillings
8-106
Correct the GETPOS instruction.
Review the setting for the amount of fillings.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
An error occurred when executing a
LOADDB instruction.
1
4625
4625
WRONG
EXECUTION OF
LOADDB INST
WRONG
EXECUTION OF
LOADDB INST
• No file
2
• No directory
4
• There was no directory entry after
this point.
-1
• No file name
-2
• File presence error
-3
• Incorrect file name
-4
• The disk is full.
-5
• The directory is full.
-6
• I/O error
-7
• Invalid handle
-8
• Handle overflow
-9
• File has already been opened.
-10
• File attribute error
-11
• Open mode error
-12
• The hardware disk with large
capacity is used.
-14
• The door is open.
-15
• The disk is write-protected.
-30
• Card controller access error
-31
• No card
-32
• Card drive information readout
error
-33
• Partition table error
-34
• No drive number
-35
• No specified partition number
-36
• Cluster size error
-37
• Incorrect number of sectors
-38
• Sector/byte error
-40
• Card not applicable for I/O
-41
• Nonsupported version
-42
• The setting register did not exist.
-43
• Card not applicable for ATA
-44
• Double chain error
-45
• Media error (not fixed disk)
-50
• Media error (not fixed disk)
An error occurred when executing a
LOADDB instruction.
-51
• Sector read command error
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
-52
• Sector write command error
4626
IMPOSSIBLE SAXIS MOV
(IN SPHERE)
---
An error occurred at S-axis highspeed rotation.
• The S-axis rotation radius was
below the lower limit.
Correct the limit distance for S-axis rotation
center motion (S1CG067).
4627
GUN RECOGNITION SINGLE
OFF
---
The gun identification signal was
not received. (Subcode: Gun number)
Check the gun identification signal.
8-107
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4628
Message
WRITE
VARIABLE NO.
MULTI SETTING
Sub
Code
---
Cause
Remedy
An error in the variable number setting.
• Duplicated usage of the written
destination variable numbers.
(Subcode: Duplicated variable
number)
Correct the written destination variable numbers.
An error occurred when executing the group
change function.
4629
GROUP
CHANGE
ERROR
Validate the group change parameter.
1
• The group change parameter was
invalid.
2
• The GRPCHG instruction was
executed while the external axis
motor was servo ON.
Execute the GRPCHG instruction when the
external axis motor was servo OFF.
3
• The GRPCHG instruction was
executed in unchuck status.
Execute the GRPCHG instruction in chuck
status.
4
• The group identification signal
was not received.
Check the group identification signal.
5
• The specified control group number and the group identification
number were unmatched.
Check the specified control group number.
6
• The encoder PG power supply
was OFF when the GRPCHG was
ON.
Turn ON the encoder PG power supply when
GRPCHG is ON.
7
• The encoder PG power supply
was ON when the GRPCHG was
OFF.
8
• The control group that corresponded to the received group
identification signal did not exist.
Check the group identification signal.
Turn OFF the encoder PG power supply
when GRPCHG is OFF.
4630
DUPLICATED
GUN NUMBER
---
The gun numbers were overlapped
when executing a SVSPOT instruction. (Subcode: The overlapped
gun number)
Check the gun numbers.
4632
UNDEFINED
LNR SCALE FILE
---
The linear scale characteristic file is
not set. (Subcode: Linear scale
characteristic file number)
Set the linear scale characteristic file.
4633
FOLLOWING
ERROR
1
An error occurred when executing a
FOLLOW instruction.
• An attempt was made to re-execute the FOLLOW instruction
after interrupting it.
Re-execute the move instruction executed
before the FOLLOW instruction, and then reexecute the FOLLOW instruction.
4634
FOLLOWING
SPEED OVER
0
The manipulator motion speed
exceeded the limit during the Following motion.
• With the specified bending speed,
the manipulator motion speed
exceeds the maximum speed.
• Reduce the bending speed.
• Perform the teaching again so that the
manipulator moving distance becomes
shorter.
4635
CANNOT
EXECUTE
COMMON JOB
---
The called job could not be executed because the specified control
group was shared with the called
job. (Subcode: The related controlgroup)
Correct the control group specified by the
CALL instruction.
4636
THICKNESS
ERROR
---
Incorrect workpiece thickness
(Sub code: Gun number)
4637
TRACK CHG
WORK IN/NOT
NOT FOUND
---
No workpiece presence/absence
data at switching the synchronization section. (Subcode: Conveyor
characteristic file number)
8-108
Check the workpiece presence/absence data
for the synchronization section.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4638
Message
TRACKING CHG
WORK ID NOT
FOUND
Sub
Code
---
Cause
No workpiece type data at switching the synchronization section.
(Subcode: Conveyor characteristic
file number)
An internal control error occurred during the
SYMOVJ motion.
4639
SYMOVJ INST
EXECUTE
ERROR
Remedy
Check the workpiece type data for the synchronization section.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
1
• The moving amount in the orientation at the SYMOVJ motion position could not correctly be
calculated.
2
• The conveyor moving amount is
not specified for the SYMOVJ
motion.
Set the conveyor moving amount for the
SYMOVJ motion.
3
• An error occurred in the preparation process of the manipulator
motion start position for the
SYMOVJ motion.
• Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
4
• An error occurred in the preparation process of the manipulator
motion end position for the
SYMOVJ motion.
Reset the alarm, and then try again.
If the error occurs again, contact your
Yaskawa representative.
An error occurred when executing a PSTART
instruction.
4640
4641
1
• No axis data of control group to be
disconnected
2
• An attempt was made to disconnect a control group other than
the occupation control group during prereading processing.
WRONG
EXECUTION OF
PSTART INST
CANNOT
EXECUTE JOB
(SEPARATE
GROUP)
3
• An attempt was made to disconnect a control group other than
the occupation control group
when executing a PSTART
instruction.
---
The disconnected control group
could not be moved.
• The control group disconnected
by itself was used for its own
move instruction. (Subcode: The
disconnected control group used
by a move instruction)
Correct the PSTART instruction.
Do not use the control group disconnected by
itself for its own move instruction.
An error occurred between the controller and
spot welder.
4644
4645
1
• The controller could not access
the welder.
2
• The controller could not send an
instruction to the welder because
the welder was busy in processing.
3
• The welder could not receive the
instruction sent from the controller.
102
• The specified welder number
(system) could not be found.
Check the specified welder number (system),
and specify the correct welder number.
---
Hover weaving could not be executed.
• The hover weaving is disabled in
coordinated motion.
• Correct the job.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
SPOT WELDER
I/F ERROR
(ASW)
NOT PERMIT
FIXED-WEAV ON
SWVON
8-109
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
8.3 Alarm Message List
Alarm Message List
Alarm
Number
4651
Message
PALLETIZING
EXECUTE
ERROR
Sub
Code
Cause
Remedy
1
The setting of the palletizing condition configuration file is incomplete.
• Set the palletizing condition setting file to
&quot;Completed.&quot;
4
Palletize completion universal output number range exceeds the limit.
• Change the palletize completion universal
output signal number of the palletizing condition setting file in the user output signal
point of contact number.
5
During the palletize start instruction
execution, the palletize start
instruction is executed again (double execution).
• Delete the palletize start instruction in the
palletize section.
6
The value of the palletizing number
present value output register (or I
variable) is more than the total
number output register (or I variable).
• Check if the palletizing number of current
position output register (or I variable) and
total number of output register (or I variable) is not changed by another function.
7
Palletize completion universal output signal is turned ON at palletize
start instruction execution.
• Reset the palletize completion universal
output signal.
8
Palletize end instruction is not registered.
• Register the palletizing end instruction.
4800
WDT ERROR
(CONVERTER)
---
Watchdog timer error in the converter.
No response from the converter.
• Turn the power OFF then back ON after
cooling the power supply unit.
If the error occurs again, contact your
Yaskawa representative.
4850
REGENERATIVE TROUBLE
(SERVO2)
---
Disconnection of SERVOPACK
regenerative resistor or failure of
regenerative transistor is suspected.
• Turn the power OFF and back ON.
• Check the connection of regenerative resistor cable.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Replace the SERVOPACK.
4851
REGENERATIVE OVERLOAD (SERVO2)
---
Regeneration energy exceeds the
tolerance when the motor decelerates.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Check the regenerative resistor capacity.
• Replace the SERVOPACK.
4852
OVERVOLTAGE
(SERVO2)
---
The main circuit DC voltage of
SERVOPACK is incorrect.
• Turn the power OFF and back ON.
• Check the SERVOPACK Primary supply
voltage.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Replace the SERVOPACK.
4853
VOLTAGE DROP
(SERVO2)
---
The main circuit DC voltage of
SERVOPACK is incorrect.
• Turn the power OFF and back ON.
• Check the SERVOPACK Primary supply
voltage.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Replace the SERVOPACK.
4854
OVER SPEED
(SERVO2)
---
The rotation speed of the servo
motor is incorrect.
• Turn the power OFF and back ON.
• Check the connections of a motor power
line and an encoder line.
• Check a circumference noise.
• Replace the SERVOPACK.
8-110
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4855
OVERLOAD
(MOMENT)
(SERVO2)
---
The motor is overloaded.
The motor torque has significantly
exceeded the rated torque.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Check the connections of a motor power
line and an encoder line.
• Replace the SERVOPACK.
4856
OVERLOAD
(CONTINUE)
(SERVO2)
---
The motor has continued to be
overloaded for a certain time.
The motor has exceeded the rated
torque for a long period of time.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Check the connections of a motor power
line and an encoder line.
• Replace the SERVOPACK.
*In the case of a large capacity
amplifier (The servo pack in use
when the alarm is emitted is
AC-NX1.)
SGDMThe temperature of SERVOPACK
heatsink has exceeded 100&deg;C.
Frequent ON/OFF switching of the
servo was detected.
Because there is a capacitor in the
power supply section of the large
capacity amplifier, a large charging
current flows when the servo is
switched ON. Consequently, if the
servo is switched ON/OFF frequently, the main circuit devices in
the servo pack will deteriorate.
*In the case of a large capacity amplifier
(The servo pack in use when the alarm is
AC-NX1.)
emitted is SGDM• Turn the power OFF and back ON.
• Set the servo ON/OFF switching frequency
to no more than 5 switching operations per
minute.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Review the ambient operating temperature.
• Replace the SERVOPACK.
4857
DB OVERLOAD
(SEVO2)
---
Energy exceeds the capacity of
dynamic brake (DB) resistor when it
stops.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Replace the SERVOPACK.
4858
RESIST OVERLOAD (SERVO2)
---
The main circuit could have been
repeatedly turned on and off.
• Turn the power OFF and back ON.
• Reduce the frequency of the main circuit
power supply ON/OFF.
• Replace the SERVOPACK.
4859
HEAT SINK
OVERHEAT
(SERVO2)
---
The temperature of SERVOPACK
heatsink has exceeded 100&deg;C.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Replace the SERVOPACK.
4860
ENCODER BATTERY ERROR
(SERVO2)
---
The voltage drop of encoder
backup battery is suspected.
• Turn the power OFF and back ON.
• Check the connection of encoder backup
battery and the voltage.
• Replace the MOTOR and SERVOPACK.
4861
ENCODER
OVERHEAT
(SERVO2)
---
The temperature in the encoder is
abnormal.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Replace the MOTOR and SERVOPACK.
4862
SPEED A/D
ERROR
(SERVO2)
---
The A/D converter for the speed
command input or converted data is
incorrect.
• Turn the power OFF and back ON.
• Replace the SERVOPACK.
4863
TORQUE A/D
ERROR
(SERVO2)
---
The A/D converter for the torque
command input is incorrect.
• Turn the power OFF and back ON.
• Replace the SERVOPACK.
4864
WRONG MOTOR
ROTATION
(SERVO2)
---
The detected direction of torque is
opposite to that of speed.
• Turn the power OFF and back ON.
• Check the connections of a motor power
line and an encoder line.
• Replace the MOTOR and SERVOPACK.
8-111
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4865
POSITION
ERROR
(SERVO2)
---
The position deviation pulse has
exceeded the threshold.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Check the connections of a motor power
line and an encoder line.
• Replace the SERVOPACK.
4866
OPEN PHASE
(SERVO2)
---
The voltage of one of three-phase
input power supplies to SERVOPACK has dropped.
• Turn the power OFF and back ON.
• Check the connection of a three-phase
power supply to SERVOPACK.
• Replace the SERVOPACK.
4867
OVERLOAD
WARNING
(SERVO2)
---
The motor is overloaded.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Check the connections of a motor power
line and an encoder line.
• Replace the SERVOPACK.
4868
REGENERATIVE OVERLOAD
WARN(SV2)
---
Regeneration energy exceeds the
tolerance when the motor decelerates.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Check the regenerative resistor capacity.
4869
MECHATROLINK DATA
SET WARNING(SV2)
---
The MECHATROLINK communication data setting error.
• Turn the power OFF and back ON.
• Contact your Yaskawa representative.
4870
MECHATROLINK COMMAND
WARNING(SV2)
---
The MECHATROLINK communication command is incorrect.
• Turn the power OFF and back ON.
• Contact your Yaskawa representative.
4871
MECHATROLINK
2 COMMAND
WARNING(SV2)
---
The MECHATROLINK communication is incorrect.
• Turn the power OFF and back ON.
• Check the wiring around the MECHATROLINK communication cable.
• Take some action against noises from the
MECHATROLINK communication cable.
• Replace the SERVOPACK.
4873
BATTERY
WARNING
(SERVO2)
---
Warning display indicating the voltage drop of the absolute encoder
battery.
• Turn the power OFF and back ON.
• Check the battery connection.
• Replace the battery.
• Replace the SERVOPACK.
4876
POSITION
ERROR WARNING (SERVO2)
---
The position deviation pulse has
exceeded the tolerance.
• Turn the power OFF and back ON.
• Check the settings for manipulator motion
condition (influence by external force, load
condition).
• Check the connections of a motor power
line .
• Replace the SERVOPACK.
4901
CUBE/AXIS
INTERFERENCE 1
---
The manipulator has moved into
the specified cube area 1 or the
maximum or minimum value of the
axis interference 1 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4902
CUBE/AXIS
INTERFERENCE 2
---
The manipulator has moved into
the specified cube area 2 or the
maximum or minimum value of the
axis interference 2 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
8-112
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4903
CUBE/AXIS
INTERFERENCE 3
---
The manipulator has moved into
the specified cube area 3 or the
maximum or minimum value of the
axis interference 3 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4904
CUBE/AXIS
INTERFERENCE 4
---
The manipulator has moved into
the specified cube area 4 or the
maximum or minimum value of the
axis interference 4 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4905
CUBE/AXIS
INTERFERENCE 5
---
The manipulator has moved into
the specified cube area 5 or the
maximum or minimum value of the
axis interference 5 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4906
CUBE/AXIS
INTERFERENCE 6
---
The manipulator has moved into
the specified cube area 6 or the
maximum or minimum value of the
axis interference 6 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4907
CUBE/AXIS
INTERFERENCE 7
---
The manipulator has moved into
the specified cube area 7 or the
maximum or minimum value of the
axis interference 7 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4908
CUBE/AXIS
INTERFERENCE 8
---
The manipulator has moved into
the specified cube area 8 or the
maximum or minimum value of the
axis interference 8 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4909
CUBE/AXIS
INTERFERENCE 9
---
The manipulator has moved into
the specified cube area 9 or the
maximum or minimum value of the
axis interference 9 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4910
CUBE/AXIS
INTERFERENCE 10
---
The manipulator has moved into
the specified cube area 10 or the
maximum or minimum value of the
axis interference 10 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4911
CUBE/AXIS
INTERFERENCE 11
---
The manipulator has moved into
the specified cube area 11 or the
maximum or minimum value of the
axis interference 11 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4912
CUBE/AXIS
INTERFERENCE 12
---
The manipulator has moved into
the specified cube area 12 or the
maximum or minimum value of the
axis interference 12 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4913
CUBE/AXIS
INTERFERENCE 13
---
The manipulator has moved into
the specified cube area 13 or the
maximum or minimum value of the
axis interference 13 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4914
CUBE/AXIS
INTERFERENCE 14
---
The manipulator has moved into
the specified cube area 14 or the
maximum or minimum value of the
axis interference 14 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
8-113
8.3 Alarm Message List
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
4915
CUBE/AXIS
INTERFERENCE 15
---
The manipulator has moved into
the specified cube area 15 or the
maximum or minimum value of the
axis interference 15 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4916
CUBE/AXIS
INTERFERENCE 16
---
The manipulator has moved into
the specified cube area 16 or the
maximum or minimum value of the
axis interference 16 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4917
CUBE/AXIS
INTERFERENCE 17
---
The manipulator has moved into
the specified cube area 17 or the
maximum or minimum value of the
axis interference 17 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4918
CUBE/AXIS
INTERFERENCE 18
---
The manipulator has moved into
the specified cube area 18 or the
maximum or minimum value of the
axis interference 18 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4919
CUBE/AXIS
INTERFERENCE 19
---
The manipulator has moved into
the specified cube area 19 or the
maximum or minimum value of the
axis interference 19 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4920
CUBE/AXIS
INTERFERENCE 20
---
The manipulator has moved into
the specified cube area 20 or the
maximum or minimum value of the
axis interference 20 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4921
CUBE/AXIS
INTERFERENCE 21
---
The manipulator has moved into
the specified cube area 21 or the
maximum or minimum value of the
axis interference 21 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4922
CUBE/AXIS
INTERFERENCE 22
---
The manipulator has moved into
the specified cube area 22 or the
maximum or minimum value of the
axis interference 22 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4923
CUBE/AXIS
INTERFERENCE 23
---
The manipulator has moved into
the specified cube area 23 or the
maximum or minimum value of the
axis interference 23 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
4924
CUBE/AXIS
INTERFERENCE 24
---
The manipulator has moved into
the specified cube area 24 or the
maximum or minimum value of the
axis interference 24 was exceeded.
• Check the position in the step (move
instruction) where the alarm occurred.
• Change the position in the step (move
instruction) where the alarm occurred.
• Check the interference region.
8-114
9.1 Error Message List
9
Error
9.1
Error Message List
Error warns the operator not to advance to the next operation caused by a wrong operation or
the access method when using the programming pendant or an external equipment (computer, PLC, etc.).
When an error occurs, confirm the content of the error then release the error.
To release the error, perform either of the following operations:
• Press [CANCEL] on programming pendant.
• Input alarm/error reset signal (system input).
NOTE
An error is different from an alarm because it does not stop the robot even if it occurred
while the robot was operated (during playback).
Main Menu
ShortCut
Cannot insert/modify/delete for axis detachment
When two or more errors occur,
appears in the message display area. Activate the message display area and press [SELECT] to view the list of current errors.
5/9
Cannot load macro job at current security mode
Cannot insert/modify/delete for group axis detachment
Cannot insert/modify/delete for axis detachment
HELP
CLOSE
To view details of the selected error contents, select &quot;HELP.&quot; To close the error list, select
&quot;CLOSE.&quot; To release all the errors, press [CANCEL].
9-1
9.1 Error Message List
9.1.1
System and General Operation
Error No.
Data
Error Message
10
-
Turn off servo power and perform corrective action
It cannot be operated while servo
power supply is ON.
20
-
Depress TEACH
Out of specified operation mode
30
-
Illegal setting for number of variables
Parameter setting error
40
-
Undefined robot position variables
Position variable cannot be used.
60
-
Undefined points (ORG, XX, XY)
Not registered user coordinates
basic 3 points (ORG, XX, XY)
Program and current tool different
The tool number registered with
teaching position data does not
match the tool number selected at
the programing pendant.
70
-
80
-
Same position in the 3 points
100
-
On overrun recovery status
110
-
Turn ON servo power
120
-
Set to PLAY mode
130
-
No start using external signal
140
-
No start using P.P.
180
-
TEACH mode select signal ON
190
-
Set variable number
200
-
Defined group axis
210
-
Undefined coordinated robots
212
Cannot register group combination
230
-
While releasing soft limit
240
-
Undefined robot
270
-
Undefined gun condition file
280
-
Lack of number of I/O points
290
-
Cannot set same No.
300
-
Undefined user frame
310
-
Cannot register Master JOB
320
-
Cannot operate CHECK-RUN
330
-
Cannot operate MACHINE LOCK
9-2
Contents
9.1 Error Message List
Error No.
Data
Error Message
340
-
Cannot operate Master JOB
350
-
Cannot initialize
380
-
390
-
410
-
420
-
430
-
Register start reserved JOB
460
-
Excess time for measuring
500
-
Undefined robot calibration data
510
-
Undefined axis
520
-
Cannot select two coordinated combination
530
-
Start reservation mode
550
-
Start reserved JOB change prohibit is
set
560
-
Cannot teach position while soft limit
released
590
-
600
-
Out of setting data range
610
-
Cannot use the user coordinate
620
-
Select JOB (robot)
650
-
Incorrect measured data
660
-
Wrong data type of position variable
-
Defined data
Position not checked
Contents
Second home position was not
checked.
Can specify servo off by safety relay
Time could not be measured
Time could not be measured for
TRT function.
Incorrect number of taught points
The number of the taught points
for tool calibration is incorrect.
Register group axis combination
[SYNCHRO] was pressed for
coordinated job which was not
registered as group.
680
XXX
File No.
700
-
Wrong CMOS memory board type
760
-
Error in start condition set
770
-
During robot operation
800
-
The gun of designation is not connected
9-3
9.1 Error Message List
Error No.
Data
Error Message
801
-
The group axis of designation is not connection
810
-
Servo power supply is limited
820
-
Modification range over
930
-
Undefined conveyor calibration data
940
-
Forced pressure signal ON
950
-
Negative correction distance
960
-
I/O axis mode requesting
970
-
ERRSVCPU signal error
971
-
ERRCPU signal error
9-4
Contents
9.1 Error Message List
9.1.2
Editing
Error No.
Data
1010
-
EDIT LOCK mode
1020
-
Enter correct value
1030
-
Unauthorized ID No.
1050
-
Enter correct date
1060
-
Enter correct clock
1070
-
Enter an ID number in 4-8 figures
1080
-
Negative value can’t be set
9.1.3
Error Message
Contents
Job Defined Data
Error No.
Data
Error Message
2010
-
Incorrect character
2020
-
Name not entered
2030
-
Undefined JOB name
2040
-
Defined JOB name
2050
-
Address not found
2070
-
Set robot exactly to taught position
2080
-
Press INSERT or MODIFY
2090
-
Only modifying move instruction possible
2100
-
JOB cannot be edited.
2110
-
Over soft limit
2120
-
Cannot insert/alter/delete with servo off
2150
-
Inserting is not possible from this point
2160
-
Cannot modify or delete this position
2170
-
Press INSERT to record same step as
previous step
2180
-
Cannot insert data
2210
-
Illegal data setting
2220
-
Display edit instruction
2240
-
Excessive instruction equation
9-5
Contents
9.1 Error Message List
Error No.
Data
Error Message
2250
-
Unmatched number of parentheses in
equation
2260
-
Wrong group axis selection
2270
-
Cannot insert any more instruction in
JOB
∗
JOB memory is full
2280
2290
2291
2292
2293
Contents
1
Lack of position file memories
2
Lack of JOB registering memories
3
Lack of instruction file memories
4
Lack of memory pool
5
Lack of pass condition file for multilayer
-
Undefined master JOB
∗
Undefined SUB Master JOB
1
Sub-master 1
2
Sub-master 2
3
Sub-master 3
4
Sub-master 4
5
Sub-master 5
6
Sub-master 6
7
Sub-master 7
8
Sub-master 8
-
Undefined MASTER START JOB
∗
Undefined SUB START JOB
1
Sub-master 1
2
Sub-master 2
3
Sub-master 3
4
Sub-master 4
5
Sub-master 5
6
Sub-master 6
7
Sub-master 7
8
Sub-master 8
9-6
9.1 Error Message List
Error No.
Data
Error Message
2300
-
Cannot teach JOB without group-axis
specification
∗
Same label exists
Contents
2310
XXX
Line No.
2340
-
Pasted data not found
2360
-
Cannot create editing area
2370
-
Cannot cut/copy NOP and END
instructions
2390
-
Wrong group axis selection
2400
-
Cannot move in cut &amp; paste editing
2430
-
Reverse data not found
2440
-
Move C-and W-axis to basic position
2450
-
Relative JOB not permitted
2470
-
Wrong JOB type
2480
-
Wrong JOB coordinates setting
2500
-
Cannot convert the JOB
2510
-
Cannot correct position in the JOB
2520
-
Enter JOB name
2530
-
Illegal step number
2540
-
Enter step number
2550
-
Duplicated step number
2551
-
Duplicated line number
2560
-
Cannot correct steps of position variables and REFP
2570
-
The step does not contain speed
2580
-
The step dose not contain PL/CONT
2590
-
Soft limit range over
2600
-
Cannot teach position in concurrent
JOB
2610
-
Wrong JOB kind
2620
-
Cannot correct play speed in the JOB
2630
-
Conveyor position not reset
9-7
Lazer cutting
9.1 Error Message List
Error No.
Data
Error Message
2640
-
Incorrect JOB name
2670
-
Undefined target JOB
2710
-
Relative job can’t be shifted with pulse
type
2730
-
Cannot use robot macro JOB
2740
-
Cannot use concurrent macro JOB
2750
-
Cannot use JOB with group-axis specification
2760
-
Cannot insert/modify/delete for group
axis detachment
2761
-
Axis is separated.
Cannot add, modify, or delete.
2770
-
Cannot reverse data of SVSPOTMOV
instruction
2780
-
Arithmetic error
9-8
Contents
9.1 Error Message List
9.1.4
External Memory Equipment
Error No.
Data
Error Message
3010
-
Floppy disk drive cable not connected
3020
-
Floppy disk not inserted into floppy
disk drive
3030
-
Floppy disk protection is ON
3040
-
File not saved on floppy disk or Compact Flash
3050
-
File saved on floppy disk or Compact
Flash
3060
-
Out of memory on floppy disk or Compact Flash
3070
-
Number of files on floppy disk or Compact Flash is full
3080
-
I/O error on floppy disk or Compact
Flash
∗
Transmission error with floppy disk or
Compact Flash
3090
3110
3120
3130
Contents
1
Framing error
2
Overrun error
3
Parity error
4
Data code error
5
Data read error
6
Data write error
7
Data time out
8
Serial I/O error
9
Error other than described above
-
Syntax error
∗
HEX code error
1
Specification error of data decode
2
Specification error of EOF record
3
Record type error
4
Total check error of record
-
Verify error
9-9
9.1 Error Message List
Error No.
Data
Error Message
3140
-
Wrong pseudo instruction
∗
Concurrent I/O record error
Contents
1
Format error
2
Ladder program is too long.
3
Exceed the range of the data
4
Specification error of channel No.
5
Specification error of relay No.
6
Timer value error
7
Specification error of timer No.
3150
3160
3170
-
Cannot load illegal system data
∗
Condition file data error
1
Format error
2
Specified file No. is omitted.
3
Specified tool No. is omitted.
4
User file is not registered.
9-10
9.1 Error Message List
Error No.
Data
∗
Error Message
Contents
Error in JOB data record
1
Record on the number of position
data (NPOS) is wrong for the format.
2
Record on the user coordinate No.
(USER) is wrong for the format.
3
Record on the tool No. (TOOL) is
wrong for the format.
4
Record on the position data section
is wrong for the format.
5
Record on the robot type of XYZ
data (RCONF) is wrong for the format.
6
Date (DATE) record is wrong for the
format.
7
Comment (COMM) record is wrong
for the format.
8
Record on the JOB attribute data
(ATTR) is wrong for the format.
9
Control group (GROUP) record is
wrong for the format.
10
Local variable (LVARS) record is
wrong for the format.
11
JOB argument (JARGS) record is
wrong for the format.
12
Record on the teaching coordinates
for relative job (FRAME) is wrong
for the format.
13
Position data coordinates do not
match relative job coordinates.
3190
3200
-
NOP or END instruction not found
3210
-
Position No. storage area not found
∗
Syntax error in instruction data
2
Interior control error
3
Undefined instruction/tag
4
Instruction/tag shortage
5
Disuse instruction/tag
6
Sub instruction
3220
9-11
9.1 Error Message List
Error No.
3220
Data
Error Message
Contents
7
No instruction
8
Invalid instruction
9
Invalid tag
10
Invalid character
11
Undefined intermediate code
12
Intermediate code shortage
13
Syntax stack overflow
14
Syntax stack underflow
15
Array type tag uncompleted
Tag [ARRAY]
16
Element type tag uncompleted
Tag [ELEMENT]
17
Macro JOB unregistered
18
Input format error
19
Data size over
20
MIN value over
21
MAX value over
22
Operation expression error
23
Job call argument setting error
24
Macro job call argument setting
error
25
Position vector setting error
26
System error
27
Soft key designate error
28
Numerical input buffer overflow
29
Real type data precision error
30
Element format error
35
BOOL TYPE data error
36
CHAR data error
37
BYTETYPE, BINARY / HEXADECIMAL BYTE TYPE data error
38
INTEGER TYPE, DECIMAL WORD
TYPE data error
9-12
9.1 Error Message List
Error No.
3220
Data
Error Message
Contents
39
BINARY/HEXADECIMAL WORD
TYPE data error
40
DOUBLE PRECISION INTEGER
TYPE, DECIMAL DWORD TYPE
data error
41
BINARY/HEXADECIMAL WORD
TYPE data error
42
REAL TYPE data error
43
LADDER SPECIAL TYPE data
error
44
JCL text
45
Invalid text
46
LABEL NAME data error
47
JOB NAME data error
48
STRING data error
49
COMMENT data error
58
Invalid instruction/tag detection
3230
-
Syntax not matched
3240
-
Undefined application
3250
-
Cannot load this file
3260
-
Excess input data
3270
-
Cannot verify this file
3280
-
Wrong welding condition (STANDARD/
ENHANCED)
3290
-
Serial port not defined
3300
-
Serial port being used
3310
-
Protocol being used
3350
-
Not enough memory
3360
-
Invalid folder
3370
-
Incorrect folder name
3450
-
Cannot load macro JOB at current
security mode
9-13
Load in management mode.
9.1 Error Message List
Error No.
Data
∗
3460
Error Message
Contents
Cannot backup Compact Flash
1
Insufficient Compact Flash memory.
2
Not accessible to Compact Flash.
3470
-
Database not found
3480
-
Database access error
3490
-
Same database exists
3500
-
Check Compact Flash insertion
3510
-
Cannot delete folder. Check attribute
and inside file
3520
-
Same folder exists
3530
-
Cannot load at current security mode
9-14
9.1 Error Message List
9.1.5
Error No.
Concurrent I/O
Data
∗
Error Message
Contents
Illegal relay No.
4010
XXX
∗
Line No.
Illegal instruction
4030
XXX
∗
4040
Line No.
Relay/register No. duplicated in OUT/
GOUT or arithmetic instruction
XXX
∗
Multiple outputs are instructed to
the relay or register.
Line No.
The relay is not used
4050
XXX
∗
Line No.
Excess STR-[-NOT] instructions
4060
XXX
∗
Line No.
Excess AND [OR] STR instructions
4070
XXX
∗
Line No.
Syntax error in CNT instructions
4080
XXX
∗
Line No.
Enter STR [-NOT] at head of block
Need STR [-NOT]
4090
XXX
4120
-
4130
-
4140
∗
Line No.
Concurrent I/O memory is full
Exceeds memory capacity
(10000 steps)
END instruction not found
END instruction not found
Wrong ladder program
Position and number of PART
instruction are wrong.
Wrong use of GSTR, GOUT commands
GSTR and GOUT is not used
together.
4150
XXX
Line No.
4220
-
Excess TMR/CNT or arithmetic instructions
4230
-
Syntax error in TMR/CNT instructions
9-15
More than 100 TMR, CNT or
arithmetic instruction used
9.1 Error Message List
9.1.6
Maintenance Mode
Error No.
Data
Error Message
8010
-
Too many axes
8020
-
Too many I/O points
8030
-
Too many boards (XFB01B (MASTER))
8031
-
Too many boards (MSC01B)
8040
-
Memory error (ControlNet output condition)
8041
-
Memory error (UNIWIRE CONNECT DAT
8050
-
Robot model is not registered
8060
-
Cannot get UNIWIRE connection data
9-16
Contents
10.1 LED Indicator on NCP 01 Circuit Board
10 LED Indicator on Circuit Board
10.1 LED Indicator on NCP 01 Circuit Board
The LED indicators: LED0/LED1 on the NCP01 circuit board show the statuses as in the following table. The LED indicators show the operating statuses for the single NCP01 circuit
board.
LED0
KED1
Status
OFF
OFF
The power is not turned ON.
ON
OFF
Before the BIOS starts
OFF
ON
The BIOS starts.
ON
ON
The BIOS initialization has been completed./
OS boot starts.
CPU
TYPE JANCD-NCP01
DATE
REV
LED0 / LED1
LED
0 1
VIDEO
10-1
10.2 LED Indicator on Robot I/F Unit
10.2 LED Indicator on Robot I/F Unit
The 7-segment LED indicator and battery alarm LED lamp are located on the robot I/F unit
(JZNC-NIF01 ).
See &quot; 10.3 7 SEG-LED Indicator &quot; for details displayed by the 7-segment LED indicator.
The battery alarm LED lamp is lit when the battery runs out. See &quot; 5.1.1 Replacing Parts of
the CPU Unit &quot; to replace the battery.
JZNCNIF 01 -1
Battery alarm
LED lamp
PEV.
DS1
7-segment
LED indicator
CN12
F2
F1
S1
10-2
10.3 7 SEG-LED Indicator
10.3 7 SEG-LED Indicator
The following tables show the operating statues for JANCD-NIF01/SGDR-AXA01/SGDRAXA02/JANCD-NCP02. The operating statuses are indicated by 7 SEG-LED.
[Normal Indication]
NX100
Status
NIF Circuit Board
AXA Circuit Board
Right after applying
the power
All 7-SEG indicators light up.
(‘8’, ‘+’, ‘.’ light up.)
During the start-up
process
Counts up from ‘O’ toward ‘d’.
After starting up normally
NCP02 Circuit Board
‘d’, ‘+’, ‘.’ blink every one second.
[Error Indication]
NX100
Status
NIF Circuit Board
Alarms occurrence in
the Main CPU and
servo CPU communication system
‘d’, ‘+’, ‘.’ blink every
one second.
AXA Circuit Board
NCP02 Circuit Board
The error cause is
indicated by 7 SEGLED.
(See the indication
spec .)
‘d’, ‘+’, ‘.’ blink every
one second.
Normal alarms other
than alarms described
above
Fatal alarms occurrence
SUPPLEMENT
‘d’, ‘+’, ‘.’ blink every
one second.
The error cause and the address where the error has occurred are indicated by 7 SEG-LED.
(See the indication spec .)
Indication Spec
E.g.)
The cycle: [F]
[0]
[0]
[3]
Indication Spec
E.g.)
[-]
[0]
[2]
[0]
[0]
The cycle: [,]
[-]
[0] [0]
[F]
[0]
[4] is repeated.
[.] is repeated.
[0]
[0]
10-3
[F]
: Error cause
: Error cause
: Address where the error occurred
10.3 7 SEG-LED Indicator
7 SEG-LED Indicator Status (1-digit indication) of Each Unit
at Error Occurrence
NIF01
All Lit
The power has been turned ON.
0
The booting program has started.
1
The system program has started. (Starts up initializations of various kinds.)
2
Starts verifying the existence of other circuit boards. (Verifies the start-up of the booting
program.)
3
Starts the system program transmission.
4
Sends the request of the system program start-up.
5
Starts verifying the existence of other circuit boards. (Verifies the start-up of the system
program.)
6
Acquires hardware information, etc. of other circuit boards. (Verifies the IO board status,
servo IF, and so on.)
7
Starts the CMOS data transmission.
8
Sends the pre-online request.
9
Waits for CERF communication synchronization.
A
B
Sends the start-up request of on-line system.
C
The on-line system has started. (Starts up the initialization task.)
D
Processes the NX100 setup completion. (Servo ON enabled)
E
Alarm occurs at the NX100 setup.
F
The maintenance system is starting up.
P
Communications interrupted between NCP01 and the programming pendant.
U
Updating system software through network.
10-4
10.3 7 SEG-LED Indicator
AXA01/AXA02
All Lit
The power has been turned ON.
0
The booting program has started. (ROM/RAM/FP register check)
1
Starts the booting system. (Completes initializations of various kinds.)
2
Completes the preparation for receiving the system program.
3
The system program has been received. (Waits for the request of system change.)
4
The system program has started. (Starts up hardware initializations of various kinds.)
5
Starts the system. (Completes initializations of various kinds.)
6
Starts the CMOS data transmission.
7
Receives the CERF mapping. (Waits for pre-online)
8
Starts the servo system. (Starts the process of various initializations.)
9
Waits for CERF communication synchronization. (Completes the process of various initializations.)
A
B
Waits for the start-up of on-line system.
C
D
Completes the NX setup process. (Servo ON enabled)
NCP02
All Lit
The power has been turned ON.
0
The booting program has started. (ROM/RAM/FP register check)
1
Starts the booting system. (Completes initializations of various kinds.)
2
Completes the preparation for receiving the system program.
3
The system program has been received. (Waits for the request of system change.)
4
The system program has started. (Starts up hardware initializations of various kinds.)
5
Starts the system. (Completes initializations of various kinds.)
6
Starts the CMOS data transmission.
7
Receives the CERF mapping. (Waits for pre-online)
8
Starts the optional system. (Starts the process of various initializations.)
9
A
B
C
D
Completes the NX setup process.
10-5
10.3 7 SEG-LED Indicator
7 SEG-LED Indicator Status (4 digit-indication) of Each Unit
at Error Occurrence
NIF01
0000
Arithmetic error
0001
Debug
0002
NMI
0003
Breakpoint
0004
Overflow
0005
Out of BOUND
0006
Invalid operation code
0007
Device disabled
0008
Double fault
0009
Coprocessor segment overrun
000A
Invalid TSS
000B
Segment absence
000C
Stack segment fault
000D
General protection exception
000E
Page fault
000F
0010
Floating point error
0011
Alignment check
0012
Machine check
0013
SIMD floating point exception
0014
0015
0016
0017
0018
0019
001A
001B
001C
001D
001E
001F
0900
WDT error
10-6
10.3 7 SEG-LED Indicator
AXA01/AXA02
0010
ROM error in the boot section
0020
RAM error
0030
FP register error
0040
On-line communications command error
0100
Reset exception
0200
Machine check exception
0210
WDT error
0300
Data access error
0400
Instruction access exception
0500
0600
Alignment exception
0700
Program exception
0800
Unavailable floating point exception
0900
0A00
Undefined exception
0B00
Undefined exception
0C00
System call exception
0D00
Trace exception
0E00
Undefined exception
0F00
Undefined exception
1000
Instruction conversion error exception
1100
Data load conversion error exception
1200
Data store conversion error exception
1300
Instruction breakpoint exception
1400
System management interruption
1500
Undefined exception
1600
Undefined exception
1700
Undefined exception
1800
Undefined exception
1900
Undefined exception
1A00
Undefined exception
1B00
Undefined exception
1C00
Undefined exception
1D00
Undefined exception
1E00
Undefined exception
1F00
Undefined exception
2000
Undefined exception
2100
Undefined exception
2200
Undefined exception
2300
Undefined exception
2400
Undefined exception
2500
Undefined exception
2600
Undefined exception
2700
Undefined exception
10-7
10.3 7 SEG-LED Indicator
AXA01/AXA02
2800
Undefined exception
2900
Undefined exception
2A00
Undefined exception
2B00
Undefined exception
2C00
Undefined exception
2D00
Undefined exception
2E00
Undefined exception
2F00
Undefined exception
3010
Receiving data size error
3020
Receiving data sum error
3030
Receiving data write address error
3040
All receiving data sum error
F001
Communication error with NIF01 (Send incompletion)
F002
Communication error with NIF01 (Receive incompletion)
F003
Communication error with NIF01 (Receive WDT)
F004
Communication error with NIF01 (Receive WDT inconsistency)
F010
Communication error with NIF01 (CERF status)
NCP02
0010
ROM error in the boot section
0020
RAM error
0030
FP register error
0040
On-line communications command error
0100
Reset exception
0200
Machine check exception
0210
WDT error
0300
Data access error
0400
Instruction access exception
0500
0600
Alignment exception
0700
Program exception
0800
Unavailable floating point exception
0900
0A00
Undefined exception
0B00
Undefined exception
0C00
System call exception
0D00
Trace exception
0E00
Undefined exception
0F00
Undefined exception
1000
Instruction conversion error exception
1100
Data load conversion error exception
1200
Data store conversion error exception
1300
Instruction breakpoint exception
1400
System management interruption
10-8
10.3 7 SEG-LED Indicator
NCP02
1500
Undefined exception
1600
Undefined exception
1700
Undefined exception
1800
Undefined exception
1900
Undefined exception
1A00
Undefined exception
1B00
Undefined exception
1C00
Undefined exception
1D00
Undefined exception
1E00
Undefined exception
1F00
Undefined exception
2000
Undefined exception
2100
Undefined exception
2200
Undefined exception
2300
Undefined exception
2400
Undefined exception
2500
Undefined exception
2600
Undefined exception
2700
Undefined exception
2800
Undefined exception
2900
Undefined exception
2A00
Undefined exception
2B00
Undefined exception
2C00
Undefined exception
2D00
Undefined exception
2E00
Undefined exception
2F00
Undefined exception
3010
Receiving data size error
3020
Receiving data sum error
3030
Receiving data write address error
3040
All receiving data sum error
10-9
Numerics
cooling fan construction (small-capacity
NX100) ........................................................ 3-3
correlate voltage ........................................... 3-6
CPU unit (JZNC-NRK01) ....................... 5-2, 5-15
creating a check program ............................... 4-3
current position ........................................... 7-25
current position window ............................... 7-25
10A ceramic fuse ........................................ 5-18
200VAC input connector ................................ 5-2
24V fuse for I/O ............................................. 5-2
24VDC fuse for I/O ...................................... 5-14
24VDC output connector ................................ 5-2
3A glass-tube fuse ....................................... 5-18
5A alarm fuse.............................................. 5-18
D
A
absolute data allowable range alarm occurs ... 6-14
AC control power supply connector ....... 5-10, 5-11
alarm............................................................ 8-1
alarm history ............................................... 7-20
alarm history window ................................... 7-20
alarm level .................................................... 8-1
amplifier ..................................................... 5-16
axis data ....................................................... 8-3
DC control power supply connector ....... 5-10, 5-11
decimal data ................................................. 8-3
displaying and releasing alarm ....................... 8-2
door lock ...................................................... 3-2
drive I/F(1) connector .................................... 5-2
drive I/F(2) connector .................................... 5-2
E
editing mode ................................................. 2-1
emergency stop button .................................. 3-1
emergency stop button inspections ................. 3-5
emergency stop connector ............................. 5-2
Enable switch ............................................... 3-1
Enable switch inspections .............................. 3-5
ENCODER ROTATE SUM ............................... 7-26
error message list.......................................... 9-1
ERROR PULSE .......................................... 7-26
B
backboard .................................................. 5-15
backside duct fan ........................... 3-1, 3-3, 5-15
battery .................................................. 3-1, 5-15
battery inspections ........................................ 3-6
binary data.................................................... 8-3
brake fuse .................................................. 5-13
F
C
changing the absolute data ............................ 6-7
changing the monitor items .......................... 7-27
checking and replacing fuses........................ 5-13
circuit breaker (QF1) check ............................ 3-7
clearing absolute data .................................... 6-8
clearing the alarm history ............................. 7-21
Clearing the I/O message history .................. 7-23
Clearing the System Monitoring Time
Display ....................................................... 7-19
Compact Flash .............................................. 5-2
connector for encoder signal .......................... 5-2
connector for external power supply ................ 5-2
control circuit board (JANCD-NCP01)...... 5-2, 5-15
control group data ......................................... 8-3
control power supply (CPS-420F) .... 3-3, 5-2, 5-15
control power supply fuse ............................. 5-13
converter .................................................... 5-16
converter control signal connector ......... 5-10, 5-11
converter signal connector ............................. 5-2
cooling fan (JZNC-NZU01) ............................. 3-3
cooling fan construction (medium- or
large-capacity NX100) ................................... 3-4
FEEDBACK PULSE .................................... 7-26
FEEDBACK SPEED .................................... 7-26
G
ground wiring .............................................. 5-10
H
Index-1
home position ............................................... 6-3
home position calibration ............................... 6-2
hotline connector for programming pendant ..... 5-2
how to replace converter .............................. 5-11
I
P
I/F connector between robots ......................... 5-2
I/O circuit board .......................................... 5-15
I/O communications connector ....................... 5-2
I/O I/F connector ........................................... 5-2
I/O message history .................................... 7-22
I/O message history window ........................ 7-22
IN 1 TURN POSITION ................................. 7-26
independent control function (optional) ............ 8-4
individual window of the system monitoring
time display ................................................ 7-18
in-panel fan .......................................... 3-1, 5-13
in-panel ventilation fan ................................... 3-3
input power supply check ............................... 3-7
input/output status ......................................... 7-3
Interior circulation fan........................................5-15
PN power supply connector ................. 5-11, 5-12
position data when power is turned ON/OFF .. 7-24
position deviation check using the check
program ...................................................... 6-10
power flow.................................................... 1-3
power ON/OFF position window .................... 7-24
power supply contactor unit ................. 5-11, 5-15
power supply contactor unit fuse ................... 5-15
power supply voltage confirmation .................. 3-6
PWM amplifier control power supply
connector ........................................... 5-11, 5-12
PWM signal connector................. 5-10, 5-11, 5-12
R
rack for the various circuit boards ................... 5-2
recommended spare parts ............................ 5-18
regenerative resistor connector ............ 5-10, 5-11
regular inspections ........................................ 3-1
remote control connector ............................... 5-2
replacing parts .............................................. 5-1
replacing parts of the CPU unit ....................... 5-2
replacing the base-axis control circuit board
(SGDR-AXA01A) .......................................... 5-5
replacing the control circuit board
(JANCD-NCP01)........................................... 5-3
replacing the control power supply
(CPS-420F) .................................................. 5-4
replacing the I/O circuit board
(JANCD-NIO01 ) ......................................... 5-9
replacing the robot I/F circuit board
(JANCD-NIF01) ............................................ 5-8
replacing the robot I/F unit (JZNC-NIF01 ) ..... 5-6
replacing the SERVOPACK .......................... 5-10
RIF communications connector ...................... 5-2
RIN input...................................................... 7-8
RIN input window .......................................... 7-8
robot I/F circuit board ................................... 5-15
robot I/F unit (JZNC-NIF01 ) ................ 5-2, 5-15
robot I/F unit fuse ......................................... 5-15
L
lead cable check ........................................... 3-7
M
main power switch ........................................ 3-2
major alarm .................................................. 8-1
management mode ....................................... 2-1
manipulator home position ............................. 6-9
manipulator model ........................................ 7-2
MAX. TORQUE........................................... 7-26
minor alarm .................................................. 8-1
mode switch ................................................. 3-5
modification of the signal name .................... 7-15
modifying the output status ............................ 7-5
MOTOR ABSOLUTE ................................... 7-26
motor power connector ........................ 5-10, 5-12
multiple SERVOPACK system........................ 8-3
N
NX100 controller ........................................... 3-1
NX100 parts list .......................................... 5-13
S
O
open phase check ......................................... 3-7
operation mode ............................................. 2-1
outline of alarm ............................................. 8-1
Index-2
security mode ............................................... 2-1
security system ............................................. 2-1
servo control circuit board
(SGDR-AXA01A) .................................. 5-2, 5-13
servo monitor window ................................... 7-26
servo monitoring .......................................... 7-26
SERVO ON .................................................. 3-5
SERVO ON READY ...................................... 3-5
SERVOPACK ............................. 5-10, 5-15, 5-16
SERVOPACK list ......................................... 5-14
signal flow .................................................... 1-4
SPECIFIC OUTPUT simple window................ 7-7
SPECIFIC OUTPUT window .......................... 7-7
Specific Input ................................................ 7-6
SPECIFIC INPUT simple window .................... 7-6
SPECIFIC INPUT window .............................. 7-6
Specific Output.............................................. 7-7
SPECIFIC OUTPUT simple window ................ 7-7
SPECIFIC OUTPUT window .......................... 7-7
SPEED DEVIATION .................................... 7-26
SPEED INST .............................................. 7-26
supplied parts list ........................................ 5-18
System ....................................................... 7-17
system diagnosis ........................................... 7-1
system input connector for robot ..................... 5-2
system monitoring time display ..................... 7-17
System Monitoring Time Display Window ...... 7-17
system version .............................................. 7-1
T
three-phase AC power supply
connector ........................................... 5-10, 5-11
TORQUE SPEC .......................................... 7-26
TU hotline I/O connector ................................ 5-2
U
universal input ...............................................
UNIVERSAL INPUT simple window ................
UNIVERSAL INPUT window ...........................
UNIVERSAL OUTPUT simple window .............
UNIVERSAL OUTPUT window .......................
user I/O connector .........................................
user ID .........................................................
universal output .............................................
7-3
7-3
7-3
7-4
7-4
5-2
2-7
7-4
V
voltage between earth (phase-S ground) ......... 3-6
W
WAGO connector wiring tool ........................ 5-18
WAGO terminal block wiring tool ................... 5-18
X
XYZ coordinate data ...................................... 8-3
Index-3
NX100
MAINTENANCE MANUAL
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu, Fukuoka, 806-0004, Japan
Phone +81-93-645-7745
Fax +81-93-645-7746
YASKAWA America Inc. MOTOMAN Robotics Division
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
YASKAWA Nordic AB
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone +46-480-417800
Fax +46-480-417999
YASKAWA Europe GmbH Robotics Division
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Electric Korea Co., Ltd.
7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone +82-2-784-7844
Fax +82-2-784-8495
YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 Thailand
Phone +66-2-693-2200
Fax +66-2-693-4200
Shougang MOTOMAN Robot Co. Ltd.
No.7, Yongchang-North Road, Beijing E&amp;T Development Area, China 100176
Phone +86-10-6788-2858
Fax +86-10-6788-2878
MOTOMAN Motherson Robotics Ltd.
Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Phone +91-124-475-8500
Fax +91-124-414-8016
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C
YASKAWA ELECTRIC CORPORATION
MANUAL NO. RE-CHO-A104 8
Printed in Japan June 2010 03-11
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