YASKAWA FS100 Maintenance Manual page 297

Alarm Alarm Name Sub
Number Code
4670 INSUFFICIENT NUM OF
SAMPLE DATA
4671 SAMPLE BUFFER OVER
FLOW
4672 BASIC SPEED
UNREACHED
4673 MAX TRQ
UNDETECTED
4676 BROKEN FAN FUSE
4677 IMPOSSIBLE LINEAR
MOTION
4681 OVER SPEED
(MainCPU)
4682 MOTION RANGE LIMIT
INTERFERENCE
4683 AXIS MOTION RANGE
LIMIT OVER(MIN./MAX.)
4684 INTERPOLATION
INVALID
Meaning Cause
Sub Code: Signifies the axis in Setting error
which the alarm occurred
Sub Code: Signifies the axis in Setting error
which the alarm occurred
Sub Code: Signifies the axis in Setting error
which the alarm occurred
Sub Code: Signifies the axis in Setting error
which the alarm occurred
Sub Code: Signifies the YSU unit Connection failure
number in which the alarm
occurred
Fuse failure
Sub Code: Control group and axis Setting error
Sub Code: Control group and axis Setting error
Sub Code: Manipulator number Setting error
Sub Code: Control group and axis Setting error
Sub Code: Control group Setting error
Remedy
Lengthen the measurement section.
Shorten the measurement section.
Increase the speed specification value of a measurement job or set a small
value for BASICV.
Or set a small value for BASICT, or lengthen the measurement section.
Set a large value for the BASICT, and then check again.
(1)Reset the alarm.
(2)If the alarm occurs again, check if there is a ground fault or short circuit in the
fan power line.
(After cancellation of the short-circuit and ground fault) Replace the fuse.
(1)Check the following settings.
·If the sub code display is L- and U-axes, perform the teaching again to make
the form (arm folded direction) of L- and U-axes same at start point and end
point.
·If the sub code display is S- and L-axes, perform the teaching again to make
the form (arm folded direction) of S- and L-axes same at start point and end
point.
·Change the teaching move instruction to MOVJ instruction. *Be carefull to the
interefernces with peripheral environment, because the robot changes its
motion.
(1)Check the following settings.
·Reduce the speed of the step where the alarm occurred.
·Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement changes.
(1)Check the following settings.
·Modify the teaching position or widen the operation area so that the robot
would not interfere with the operation area.
·Confirm the setting of the robot tool mode (tool interference file) which the
control group is indicated.
(1)Check the following settings.
·Modify the teaching position or widen the operation area so that the robot
would not interfere with the operation area.
·Confirm the setting of the operation area which the control group is indicated
by the sub code.
(1)Check the following settings.
·At the cartesian jog operation, switch to each-axes jog operations, and then
change the orientation of manipulator.
·Change the teaching position and orientation.
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