YASKAWA Motoman UP6 Instructions Manual page 430

10.3 Alarm Message List
Alarm Message
Number
4409 TWO STEPS SAME
POSITION
(3 POINTS)
4410 TWO STEPS SAME
POSITION
(WEAV)
4411 TEACH ERRO
(SPLINE)
4412 IMPOSSIBLE LINEAR
MOTION
(L/U)
4413 IMPOSSIBLE LINEAR
MOTION
(S/L)
4414 EXCESSIVE SEG-
MENT
(LOW SPEED
Robot/Station
[Axis Data]
4415 EXCESSIVE SEG-
MENT
(HIGH SPEED)
Robot/Station
[Axis Data]
4416 PULSE LIMIT (MIN.)
Robot/Station
[Axis Data]
4417 PULSE LIMIT (MAX.)
Robot/Station
[Axis Data]
4418 CUBE LIMIT (MIN.)
Robot/Station
[XYZ]
4419 CUBE LIMIT (MAX.)
Robot/Station
[XYZ]
4420 SPECIAL SOFTLIMIT
(MIN.)
Robot/Station
[Axis Data]
4421 SPECIAL SOFTLIMIT
(MAX.)
Robot/Station
[Axis Data]
4422 MECHANICAL
INTERFERENCE
(MIN.)
Robot/Station
[Axis Data]
Alarm Message List
Cause
Among three taught points, there was the
same point of two points or more. (User
coordinates, robots calibration, etc.)
The weaving base point was the same as
the wall point.
It was not an equidistant distance betwee
teaching points.
In case the form of L,U axis for start point
and end point were different in interpolatio
motion except MOJV, it was not possible to
operate.
In case the form of S, L axis for start point
and end point were different in interpolatio
motion except MOJV, it was not possible to
operate.
It exceeded rated speed of the motor at
specified speed.
It exceeded rated speed of the motor at
specified speed.
It exceeded pulse software limit.
It exceeded pulse software limit.
The tool control point exceeded cube soft
ware limit.
The tool control point exceeded cube soft
ware limit.
It exceeded pulse software limit.
It exceeded pulse software limit.
An abnormal (reverse) axis interfered mutu
ally.
10-40
Remedy
Reset the alarm. Teach the different 3
points again.
Reset the alarm. Teach the different 3
points again.
Teach again to be an even distance
between teaching point
Make the form of L,U axis same and teach
again.
Make the form of S, L axis the same and
teach again.
Reset the alarm. Reduce the speed of the
step (Move instruction) occurred the alarm
or change the robot pose.
Reset the alarm. Reduce the speed of
step (Move instruction) occurred the alarm
or change the robot pose.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
Release the alarm and teach again
according to the release method when
software limit range is exceeded.
Reset the alarm. Release the interference
and teach again.