YASKAWA Motoman UP6 Instructions Manual page 422

10.3 Alarm Message List
Alarm Message
Number
4102 SYSTEM DATA
CHANGING
[Decimal Data]
4103 PARALLEL START
INSTRUCTION
ERROR
[Decimal Data]
4104 WRONG EXECU
TION OF LOAD INST
[Decimal Data]
4105 WRONG EXECU
TION OF SAVE INST
[Decimal Data]
4106 WRONG EXECU
TION OF DELETE
INST
[Decimal Data]
4107 OUT OF RANGE
(ABSO DATA)
Robot/Station
[Axis Data]
4109 DC 24V POWER
SUPPLY FAILURE
Alarm Message List
Cause
An attempt was made to change data which
exerted the influence on the system and
turned on the servo power supply.
The data stands for the alarm factor.
1:System parameter change
The error occurred in the independent
control start operation.
The data stands for alarm factor.
1:The sub task is being executed.
The job was executed by instructed sub
task, but another job was being started in
the sub task.
2:The group axis is being used
The job operated by other sub task used
same group axis.
3:Multiple start of same job
The job tried to start was executed by
other sub task.
4:Master job unregistration
Though master job was not registered,
The attempt was made to execute
PSTART SUB (job name omitted)
5:Synchronization instruction error
When restarted by PSTART, synchroniza-
tion instruction status of sub task under
interruption was different than the status
to restart.
6:The alarm is stopping
The attempt was made to start sub task
under stop by alarm.
When the installation was executed, the
error occurred in DCI function.
The data stands for the alarm factor.
Refer to the data transmission function
manual for details.
When the installation was executed, an
error occurred in DCI function.
The data stands for the alarm factor.
Refer to the data transmission function
manual for details.
When the installation was executed, the
error occurred in DCI function.
The data stands for the alarm factor.
Refer to the data transmission function
manual for details.
The difference between the position of th
power supply off and the power supply on
exceeded tolerance for the robot / station.
The external 24V power supply was not out-
put.
10-32
Remedy
Turn off the power once and back on.
1:Complete the sub task by PWAIT com-
mand.
2:Check that the job started and the timing
of execution for start command again.
3:Check that the job started and the timing
of execution for start command again.
4:Register the master job for sub task.
5:Check that the job started and the timing
of execution for start command again.
6:Start after reset the alarm.
Correct the error according to the data of
the alarm factor after reset the alarm.
Correct the error according to the data of
the alarm factor after resetting the alarm.
Correct the error according to the data of
the alarm factor after resetting the alarm.
Operate axis for robot /station to set the
current value 0 position and check the
original mark (arrow).
If not matched, there is an error of PG
system for the axis where the erro
occurred. Please check.
• Check whether fuse for I/O contactor unit
is cut or not.
• Check the external 24V power supply.
• Check the connection of communication
cable for I/O module. (XCP0 (CN01-
XIU01(CN03 cable
• If the error occurs again, contact your
YASKAWA representative.