YASKAWA FS100 Maintenance Manual page 250

Alarm Alarm Name Sub
Number Code
4414 EXCESSIVE SEGMENT
(LOW/HIGH)
4416 PULSE LIMIT
(MIN./MAX.)
4418 CUBE LIMIT
(MIN./MAX.)
4420 SPECIAL SOFTLIMIT
(MIN./MAX.)
4422 MECHANICAL
INTERFERENCE
(MIN./MAX.)
4424 SPECIAL MECHANICAL
INTRF(MIN./MAX.)
4426 PULSE MECHANICAL
LIMIT(MIN./MAX.)
Meaning Cause
Sub Code: Control group and axis Setting error
Sub Code: Control group and axis Setting error
Sub Code: Control group and Setting error
XYZ
Sub Code: Control group and axis Setting error
Sub Code: Control group and axis Setting error
Sub Code: Control group and axis Setting error
Sub Code: Control group and axis Setting error
Remedy
(1)Reduce the speed in the step where the alarm occurred.
(2)Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement changes.
(1)Check the following settings.
·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
(1)Check the following settings.
·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
(1)Check the following settings.
·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
(1)Check the following settings.
·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
(1)Check the following settings.
·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
(2) If the manipulator is stopped near the interference area by servo OFF,
it may interfere with the interference area.
In this case, execute the following operations to disable the special mechanical
interference check
and move each part out of the interference area.
- Change the mode to "TEACH"
- To display LIMIT RELEASE window, select the main menu [ROBOT] and then
[LIMIT RELEASE]
- Change the setting for ALL LIMIT RELEASE from "INVALID" to "VALID" by
[SELECT] key
- Move each part out of the interference area
- Change the setting for ALL LIMIT RELEASE from "VALID" to "INVALID" by
[SELECT] key
NOTE) Be sure to check the operation direction since the above operations
enable
manipulator's parts to interfere with each other.
(1)Check the following settings.
·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
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