YASKAWA Motoman UP6 Instructions Manual page 436

10.3 Alarm Message List
Alarm Message
Number
4485 WRONG SELEC-
TION (SENSOR)
[Decimal Data]
4486 PASS OVER
[Decimal Data]
4487 WRONG MECH
PARAMETER FILE
[Decimal Data]
4488 INCOMPLETE PT
FRAME
[Decimal Data]
4489 DEFECTIVE TAUGHT
POINT(CUTTING)
[Decimal Data]
4490 DEFECTIVE TAUGHT
POINT(ENDLESS
[Decimal Data]
4491 CORRECTIONAL
DIRECTION ERROR
[Decimal Data]
4492 POSITION CORREC-
TION ERROR
[Decimal Data]
4493 OVER TOOL FILE
NO.
[Decimal Data]
Alarm Message List
Cause
When executing sensor instruction, robot
designation (system parameter) uses sen-
sor application and robot designation (sys
tem parameter) uses application was not
corresponded.
The path went outside the designated pass
over monitoring area.
Path arithmetic process section control
error.
Path arithmetic process section control
error.
Impossible to execute cutting motion.
Data stands for the alarm factor.
1:CW axis CUT pulse error
C,W axis position on cutting start is not
zero(0) pulse.
2:Cutting(edge) radius 0
Cutting (edge) radius is zero(0).
Impossible to execute endless motion.
Data stands for the alarm factor
1:Interpolation motion impropriety of end
less function.
Linear motion impropriety. This error
occurred as follows. When operating play-
back panel and programming pendant,
though continuous rotation was com-
pleted, MRESET instruction was not exe
cuted but linear interpolation was
executed.
4:Instruction position of step has permitted
pulse over cursor for endless axis
exceeded 2,147,483,647 pulse.
When correcting a motion, the error
occurred in the process of making a correc-
tion in the direction for path arithmetic.
4:Referrence points were the same.
When correcting a motion, the error
occurred in making process of making a cor-
rection in the volume for path arithmetic.
The error occurred in the tool file control
process.
10-46
Remedy
Needs investigation.
Consult a YASKAWA representative.
• Correct the cause of the pass-over.
• Set the pass-over radius inside the per
mitted range.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact your
YASKAWA representative.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact your
YASKAWA representative.
1:Set C,W axis position of cutting start
position zero(0).
2:Set the radius zero(0) or more.
1:In case this alarm occurs when operat
ing programing pendant, reset the alar
and execute the MRESET operation.
In case this alarm occurs when operat-
ing playback, set the MRESET instruc-
tion before executing the MOVL, MOVC
instruction
4:Check the teaching position again. Set
C,W axis position of cutting start posi-
tion zero(0).
• Teach reference points again.
• If the error occurs again, contact your
YASKAWA representative.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact your
YASKAWA representative.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact your
YASKAWA representative.