YASKAWA FS100 Maintenance Manual page 282

Alarm Alarm Name Sub
Number Code
4534 TORQUE
INTERFERENCE
4535 TARGET VARIABLE 0
TYPE UNMATCHED
1
2
3
4
4538 ROBOT AXIS TRACKING 0
INVALID
4539 CORNER R CONTROL 1
ERROR
2
3
4
Meaning Cause
Setting error
An attempt was made to obtain Setting error
the byte type system variable by
the other type variable.
An attempt was made to obtain Setting error
the integer type system variable
by the other type variable.
An attempt was made to obtain Setting error
the double-precision integer-type
system variable by the other type
variable.
An attempt was made to obtain Setting error
the real-number type system
variable by the other type
variable.
An attempt was made to obtain Setting error
the character-string type system
variable by the other type
variable.
"SYMOVJ" instruction is executed Setting error
at robot-axis tracking.
The Corner-R motion cannot be Setting error
used for coordinated motion.
An attempt was made to execute Setting error
the Corner-R motion for the same
point.
The Corner-R zone is taught on a Setting error
straight line.
The start position or end position Setting error
for the Corner-R motion could not
be calculated inside the start zone
or the end zone.
Remedy
(1)Check the following settings.
·Correctly set the weight information in the tool file. ( Are the weight: W and the
number set to the load value of either Xg, Yg or Zg)
·Reduce the speed in the step where the alarm occurred.
(1)Check the following settings.
·Obtain as the byte type variable.
(1)Check the following settings.
·Obtain as the integer type variable.
(1)Check the following settings.
·Obtain as the double-precision integer-type variable.
(1)Check the following settings.
·Obtain as the real-number type variable.
(1)Check the following settings.
·Obtain as the character-string type variable.
(1)Check the following settings.
·Do not use "SYMOVJ" instruction in robot axis tracking.
(1)Check the following settings.
·Do not use the Corner-R motion for coordinated motion.
(1)Check the following settings.
·Check the settings for the teaching so that the start step and end step are not
on the same point.
(1)Check the following settings.
·Check the settings for teaching so that the Corner-R zone is not on a strait line.
(1)Check the following settings.
·Make the setting for the Corner-R radius small.
·Make the moving amount of the Corner-R start step long.
·Make the moving amount of the Corner-R start end long.
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