YASKAWA Motoman UP6 Instructions Manual page 439

Alarm Message
Number
4519 SPHERE INTRF
ERR(ROBOT)
[Decimal Data]
4520 AXIS BLOCKING
[Control Group]
4521 WRONG JOB TYPE
[Bit Pattern]
4522 TAG DATA CHANGE
PROCESS ERROR
[Decimal Data]
4524 CANNOT EXECUTE
INST
(CONCUR JOB)
4526 SYNTAX ERROR IN
EQUATION INST
[Decimal Data]
4527 UNDEFINED PORT
NO.
(AOUT)
[Decimal Data]
4528 SYNTAX ERROR
[Decimal Data]
4529 TWIN COORDI-
NATED ERROR
[Decimal Data]
4534 TORQUE INTERFER-
ENCE
4540 JOB QUE EMPTY
ERROR
4543 STACK LESS THAN 0
(JOB CALL)
[Decimal Data]
4564 INTERNAL STATUS
ERR
(SEARCH HALT)
[Decimal Data]
4565 SOFTWARE
UNMATCH
[Decimal Data]
Alarm Message List
Cause
Robot calibration was not executed.
Operation was instructed to group axis out
of axis blocking on play mode.
0000_0001:Robot job was started from con-
current job by CALL or JUMP instruction.
0000_0001:Concurrent job was started from
robot job by CALL or JUMP instruction.
The error occurred when welding conditions
were changed in a job or file.
A concurrent job contained an instructio
(MOV, etc.) which couldn't be executed in a
concurrent job.
Internal data of equation inst was abnormal.
Designation of port No.for job was abnor-
mal.
Internal data was abnormal in instruction.
(System function unmatch
1: The job started by SYNC was a job with-
out any robot axes (job with station axes
only, or concurrent job, etc.).
2: The job started by SYNC was a job with
robot axes only.
During operation at the designated speed,
there is axis that the robot axis or motor load
torque exceeded the permitted torque.
[QUE] was called by CALL instruction and
JUMP instruction when all job queue was
not used.
The error occurred in internal data when
returning job.
When execution of start point detecting
function (SRCH), search function for gen-
eral sensor (ASRCH), force detecting func
tion (TSRCH) was completed, the process
error occurred.
Operating function didn't correspond to sys-
tem.
10-49
10.3 Alarm Message List
Remedy
Execute robot calibration.
• Reset the alarm and repeat the opera-
tion.
• In case operating robot after reset the
alarm, turn on the general input signal
set in the parameter.
Check the starting job.
Correct the job.
Correct the job.
Needs investigation.
Consult a YASKAWA representative.
Needs investigation.
Consult a YASKAWA representative.
Needs investigation.
Consult a YASKAWA representative.
Set the R.+S. job to the job that is
started by SYNC.
Reset the alarm. Reduce the step (for
moving instruction) speed that caused
the alarm or change pose of robot.
Set data in the job queue and call [QUE].
• Reset the alarm and repeat the opera-
tion.
• 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.
Need the investigation.
Consult YASKAWA representative.