YASKAWA Motoman UP6 Instructions Manual page 438

10.3 Alarm Message List
Alarm Message
Number
4508 PECIFIED ERROR
(COORDINATE)
[Decimal Data]
4509 MFRAME ERROR
[Decimal Data]
4510 CANNOT EXECUTE
INSTRUCTION
(SQRT)
[Decimal Data]
4511 OUT OF RANGE
(DROP-VALUE)
[Control Group]
4512 TWO STEPS SAME
LINE(3 STEPS)
4513 EXCESSIVE
SEGMENT
(SAFETY 1): LOW
Robot/Station
[Axis Data]
4514 EXCESSIVE
SEGMENT
(SAFETY 1): HIGH
Robot/Station [Axis
Data]
4515 EXCESSIVE
SEGMENT
(SAFETY 2): LOW
Robot/Station
[Axis Data]
4516 EXCESSIVE
SEGMENT
(SAFETY 2): HIGH
Robot/Station
[Axis Data]
4517 SEARCH MONITOR
SET ERROR
(SERVO)
[Decimal Data]
4518 SEARCH MON
RELEASE ERROR
(SERVO)
[Decimal Data]
Alarm Message List
Cause
Position confirmation was not possible
because the position variable (P) desig-
nates coordinates as tool coordinates, mas-
ter tool coordinates.
Data stands for the alarm factor.
0:No coordinates
1:Designation error for master tool coordi-
nates system
2:Designation error for tool coordinates sys-
tem
Impossible to create user coordinates
8:No position file registered.
The attempt was made to calculate the root
of a negative number
(Second argument is a negative.)
When turning on servo, the difference in
robot position pulse at servo ON and the
previous servo OFF exceeded the permitte
range.
(Permitted pulse is normally 100pulse.
The three points for creating the user coodi-
nates or three or more taught points for
robot calibration lie on the same line.
The specified speed exceeded the safe
speed.
The specified speed exceeded the safe
speed.
The specified speed exceeded the safe
speed.
The specified speed exceeded the safe
speed.
The error occurred in the interface with
servo on feedback ratch mode.
The error occurred in the interface with
servo on feedback ratch mode.
10-48
Remedy
Reset the alarm and change the coordi-
nates.
Register the position file (variable).
Correct the job.
Reset the alarm and repeat the operation.
Teach again such that the three points do
not lie on the straight line.
After resetting the alarm, reduce the
speed of the step where the alarm
occurred (move instruction) or change the
robot posture.
After resetting the alarm, reduce the
speed of the step where the alarm
occurred (move instruction) or change the
robot posture.
After resetting the alarm, reduce the
speed of the step where the alarm
occurred (move instruction) or change the
robot posture.
After resetting the alarm, reduce the
speed of the step where the alarm
occurred (move instruction) or change the
robot posture.
Check the system version of the XCP01,
WRCA circuit board.
Check the system version of the XCP01,
WRCA circuit board.