YASKAWA Motoman UP6 Instructions Manual page 433

Alarm Message
Number
4444 UNSUCCESSFUL
FINE POSITIONING
[Binary Data]
4445 DATA PRESET
ERROR
[Decimal Data]
4446 OVER VARIABLE
LIMIT
[Decimal Data]
4447 DEFECTIVE TAUGHT
POINT
(CIRC)
4448 WEAVING CON-
TROL ERROR
[Decimal Data]
4449 UNMATCHED POSN
VAR DATA TYPE
[Bit Pattern]
4450 FILE NO. ERROR
[Decimal Data]
4451 UNDEFINED REFER-
ENCE POINT
[Bit Pattern]
4452 STACK MORE THAN
8 (JOB CALL
[Decimal Data]
4453 OVER VARIABLE
NO.
[Bit Pattern]
Alarm Message List
Cause
• When executing PL=0 or interrupting
external servo, the servo deflection was
not put within time.
• Excessive external force
• The servopack, the motor were abnormal.
When the interpretation process section of
job annulled the content of interpretation
and started to interpret again, various kinds
of data were attempted to be initialized. At
the time, a disagreement of data occurred.
Data (1-255) stands for the alarm factor.
The range of the numerical value of the vari-
able for storage destination was exceeded.
A straight line linked the three points.
When executing the weaving motion control,
the control error occurred in the path opera-
tion process.
Data stands for the alarm factor.
4:Weaving speed instruction was moving
time instruction, moving time was less
than 0.
5:Weaving speed instruction was frequency
instruction, frequency was less than 0.
6.Weaving stopping time was negative
7:Vertical direction distance at or horizontal
direction distance was 0 in triangular
wave, L type weaving.
9:Distance between P point and control
point was less than 0 in the wrist weaving
Except above: Control error
The data types (pulse, Cartesian) of the
stored data and the storage destination are
different.
The error occurred during file No. check.
Data stands for the alarm factor.
No reference point was registered or insuffi-
cient reference points were registered.
The job call stack overflowed.
A variable number was out-of-range.
10-43
10.3 Alarm Message List
Remedy
• Reset the alarm. In case an external
force is affecting the robot, move the
robot to remove the external force and
repeat the operation.
• In case the phenomenon occurs again
without any external force, try to insert
the XCP01 circuit board again.
• If the error occurs again, contact you
YASKAWA representative.
• Reset the alarm. Select the job and
repeat the operation.
• If the error occurs again, contact you
YASKAWA representative.
Increase the variable range at the storage
destination or rewrite the job to bring the
number of variables in range.
Reset the alarm and teach again.
• 4:Set 0.1 seconds or more in the moving
time of weaving file.
• 5:Set 0.1 hertz or more in the frequency
of weaving file.
• 6:Set a positive value in the stopping
time of weaving file.
• 7:Set 1mm or more in the vertical direc-
tion, horizontal direction distance of
weaving file.
• If the error occurs again, contact you
YASKAWA representative.
Match the data types (pulse, Cartesian) of
the stored data and the storage destina
tion.
• Reset the alarm. Select the job and
repeat the operation.
• If the error occurs again, contact you
YASKAWA representative.
Correctly register reference points.
Reset the alarm and modify the job to
reduce the jobs in the job call stack.
Modify the job by using the permitted vari-
able number.