YASKAWA Motoman UP6 Instructions Manual page 429

Alarm Message
Number
4315 COLLISION DETECT
Robot/Statio
[Axis Data]
4316 PRESSURE DATA
LIMIT
4400 NOT READY (ARITH)
[Decimal Data]
4401 SEQUENCE TASK
CONTR ERROR
[Decimal Data]
4402 UNDEFINED COM
MAND(ARITH)
4404 ARITHMETIC
ERROR
[Decimal Data]
4405 SELECT ERROR
(PARAMETER)
[Decimal Data]
4406 GROUP AXIS CON-
TROL ERROR
[Decimal Data]
4407 TWO STEPS SAME
POSITION
(CIRC)
4408 TWO STEPS SAME
POSITION
(SPLIN
Alarm Message List
Cause
• A collision from interference between robot
and peripheral device etc. was detected.
• The collision was mis-detected by the nor-
mal movement of the robot, because the
detection level was small.
The value of pressure in the "GUN PRES-
SURE" file or the "PRESSURE" file exceeds
the maximum pressure in the "GUN CONDI-
TION" file.
The operation process of motion control
does not end in regulated time.
Data (1-5) stands for the alarm factor.
The error has occurred in job exec state-
ment part.
Data (1-255) stands for the alarm factor.
The instruction not defined was demanded
of the path operation process.
The control error occurred in the path opera-
tion process.
Data (1-8) stands for alarm factor.
The control error occurred in the path opera-
tion process.
When operating cooperative control, the
control error occurred in the path operation
process.
Data (1-12) stands for the alarm factor.
Among three taught points, there was the
same point of two points or more.
Among three taught points, there was the
same point of two points or more.
10-39
10.3 Alarm Message List
Remedy
• Remove the object after resetting the
alarm or move the robot to the safety
position.
• When the alarm cannot be reset
because the robot comes in contact with
the object, invalidate this function in the
collision detection level set file or enlarge
the detection level and move the robot to
the safety position.
• Enlarge the detection level so as not to
mis-detect the collision detection by the
normal movement of the robot. More-
over, set accurate information of the
weight of the tool.
Change the value of pressure in the
"GUN PRESSURE" file or the "PRES-
SURE" file below the maximum pressure.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact you
YASKAWA representative.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact you
YASKAWA representative.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact you
YASKAWA representative.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact you
YASKAWA representative.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact you
YASKAWA representative.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact you
YASKAWA representative.
Reset the alarm. Teach the different 3
points again.
Reset the alarm. Teach the different 3
points again.