YASKAWA FS100 Maintenance Manual page 298

Alarm Alarm Name Sub
Number Code
4696 TURN TABLE 1
CALIBRATION ERROR
2
3
4697 OFFLINE ARM BEND 1
POS CONVERT ERROR
3
4
5
6
7
8
9
Meaning Cause
There was the same point in three Setting error
points where the calibration had
been executed.
The three points where the Setting error
calibration had been executed lie
in a straight line.
The three points where the Setting error
calibration had been executed lie
in a straight line.
Incorrect information of standard Software operation error
position data for offline arm bend occurred
position data conversion
Incorrect reference-point data Software operation error
offline arm bend position data occurred
conversion
The position data could not be Setting error
converted correctly/conversely for
the standard position data at the
offline arm bend position data
conversion.
Incorrect pulse incremental value Setting error
for offline arm bend position data
conversion
The position data could not be Setting error
converted correctly for the pulse
incremental value at the offline
arm bend position data
conversion.
Incorrect Cartesian incremental Setting error
value for offline arm bend position
data conversion
The position data could not be Setting error
converted correctly for the
Cartesian incremental value at the
offline arm bend position data
conversion.
The position conversion could not Setting error
be done in the conversion data for
offline arm bend position data
conversion.
Remedy
(1)Check the following settings.
·Correct the calibration position so that each point is different.
(1)Check the following settings.
·Check the calibration position so that the three taught points are not aligned in
a straight line.
(1)Check the following settings.
·Check the calibration position so that the three taught points are not aligned in
a straight line.
(1)Reset the alarm, and then try again.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
(1)Reset the alarm, and then try again.
(2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and
then contact your YASKAWA representative about occurrence status (operating
procedure).
(1)Check the following settings.
·The variable position may be out of the robot motion range. Check if the
variable position is within the robot motion range.
(1)Check the following settings.
·The variable position may be out of the robot motion range. Check if the
variable position is within the robot motion range.
(1)Check the following settings.
·The variable position may be out of the robot motion range. Check if the
variable position is within the robot motion range.
(1)Check the following settings.
·The variable position may be out of the robot motion range. Check if the
variable position is within the robot motion range.
(1)Check the following settings.
·The variable position may be out of the robot motion range. Check if the
variable position is within the robot motion range.
(1)Check the following settings.
·The variable position may be out of the robot motion range. Check if the
variable position is within the robot motion range.
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