YASKAWA Motoman UP6 Instructions Manual page 437

Alarm Message
Number
4494 DEFECTIVE TAUGHT
POINT(WEAV)
[Decimal Data]
4495 UNDEFINED ROBOT
CALIBRATION
[Bit pattern]
4496 PARAMETER
ERROR
[Decimal Data]
4497 DEFECTIVE TAUGHT
POINT(CALIB)
[Decimal Data]
4498 CANNOT EXECUTE
JOB(NO GRP AXIS)
[Decimal Data]
4499 UNDEFINED POSI-
TION VARIABLE
[Bit Pattern]
4500 UNDEFINED USER
FRAME
[Decimal Data]
4501 OUT OF
RANGE(PARALLEL
PROCESS)
[Decimal Data]
4502 SL BOARD ON-LINE
ERROR
4504 MEASURE INST
EXECUTE ERROR
[Decimal Data]
4505 UNDEFINED POSI-
TION FOR ARC ON
[Decimal Data]
4506 UNDEFINED POS
FOR RESTART
RETURN
[Decimal Data]
4507 REFP POS ERROR
(SEARCH MOTION)
Alarm Message List
Cause
1:Weaving start point and end point were
the same.
• In case there was no instruction of sto
weaving, the position of weaving start point
and end point was the same point or the
position of weaving start point and refer
ence point is the same point.
• In case there is instruction to stop weav-
ing, the position of the weaving start point
and reference point is the same point.
Robot calibration was incomplete when a
coordinated move instruction was executed.
Parameter settings caused division by zero.
There was a problem with the taught points.
An illegal instruction was executed in a job
with no control group.
Undefined position data was used.
Undefined user coordinates were used.
The error occurred in task control process of
independent control function.
When turning on power supply, detected in
the XCP01 circuit board that the XCP02
didn't normally work.
When executing the measure instruction,
the error occurred.
Data stands for the alarm factor.
2:MEASON instruction
3:MEASOF instruction
Retry was possible with ARC RETRY exe
cution only if a step existed before the
ARCON instruction.
No restart-return step existed in the job
when a restart was attemted.(Eg.,a retry
request was received during 1-step execu
tion of CALL destination job.
The distance between the search start point
and aimed point was too short to determine
the search direction.
10-47
10.3 Alarm Message List
Remedy
Check the position of the start point, end
point and reference point. Teach again.
Conduct robot calibration.
Needs investigation.
Consult a YASKAWA representative.
Teach the points again.
Register the instruction in a job with con-
trol axis.
Define the position data.
Define the user coordinates.
• Reset the alarm and repeat the opera-
tion.
• If the error occurs again, contact you
YASKAWA representative.
• Insert the XCP02 circuit board again.
• 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.
Register a step in front of the ARCON
instruction.
Reset the alarm and correct the job.
Reset the alarm and increase the distance
between the search start point and aimed
point.