YASKAWA FS100 Maintenance Manual page 293

Alarm Alarm Name Sub
Number Code
4615 I/O AXIS OPERATING
4619 UNDEFINED JOB
ENTRY TABLE
4620 ARM (TOOL)
INTERFERENCE
4622 SELF-INTERFERENCE
4623 WRONG EXECUTION 1
OF GETPOS INST
Meaning Cause
An attempt was made to Setting error
command a job whose control
group was in I/O axis motion.
Sub Code:Designated registration Setting error
number
Sub Code: Interfering control Setting error
group and axis & interfered
control group and axis.
Sub Code:Control group & Setting error
interfering axis number &
interfered axis number.
An attempt was made to obtain Setting error
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)
Remedy
(1)Check the following settings.
·Does not the I/O axis motion executed for the control group that executing the
job?
·Does not the job executed for the control group that operating by the I/O axis
motion?
The control group where the I/O axis is operating
(1)Check the following settings.
·Check the settings for the job registration table.
(1)Check the following settings.
·Modify the teaching so that the robots indicated by the sub code would not
interfere each other.
·Confirm the tool mode (tool interference file) of the robots indicated by the sub
code would not interfere each other.
·Confirm the calibration between the robots is set correctly.
(1)Check the following settings.
·Modify the teaching so that the robots indicated by the sub code would not
interfere each other
·Confirm the tool mode (tool interference file) of the robots indicated by the sub
code would not interfere each other
(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 self 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 SELF INTERFERENCE RELEASE from "INVALID" to
"VALID" by [SELECT] key
- Move each part out of the interference area
- Change the setting for SELF INTERFERENCE 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.
·Check the settings for the GETPOS instruction.
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