Page 1 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. Part Number: 155492-1CD Revision: 0 YASKAWA MANUAL NO. RE-CHO-A108...
Page 2 DX100 MANDATORY • This manual explains maintenance procedures of the DX100 system. Read this manual carefully and be sure to understand its contents before handling the DX100. • General items related to safety are listed in Section 1: Safety of the DX100 INSTRUCTIONS.
Page 3 DX100 Notes for Safe Operation Read this manual carefully before maintenance or inspection of the DX100. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or ”PROHIBITED.” Indicates a potentially hazardous WARNING situation which, if not avoided, could result in death or serious injury to personnel.
Page 4 Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: – Turning on the power for the DX100. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
Page 5 Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The MOTOMAN usually consists of the controller, the programming pendant, and supply cables.
Page 6 DX100 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programmin Character The keys which have characters g Pendant Keys printed on them are denoted with [ ]. ex. [ENTER] Symbol The keys which have a symbol printed...
Page 7 • The following warning labels are attached to DX100. Observe the precautions on the warning labels. Failure to observe this warning may result in injury or damage to equipment. Fig. : Location of Warning Labels...
Page 8 1 Equipment Configuration ........................ 1-1 1.1 Arrangement of Units and Circuit Boards ................1-1 1.1.1 Arrangement......................1-1 1.1.1.1 Small-Capacity DX100 Controller............1-1 1.1.1.2 Medium and Large-Capacity DX100 Controller........1-2 1.2 Power Flow ............................1-4 1.3 Signal Flow............................1-5 2 Security System ..........................2-1 2.1 Protection Through Security Mode Settings ..............
Page 9 5.1.6 Interior Circulation Fan ..................5-23 5.1.6.1 Replacing the Interior Circulation Fan ........... 5-23 5.1.6.2 Replacing the Backside Duct Fan ............5-25 5.2 DX100 Parts List ......................5-26 5.3 Supplied Parts List ......................5-28 5.4 Recommended Spare Parts..................... 5-29 6 Operations After Replacing Parts....................6-1 6.1 Home Position Calibration ....................
Page 10 DX100 Contents 7.2 Manipulator Model ......................7-1 7.3 Input/Output Status......................7-2 7.3.1 Universal Input ..................... 7-2 7.3.1.1 Universal Input Window................7-2 7.3.1.2 Universal Input Simple Window............... 7-2 7.3.2 Universal Output....................7-3 7.3.2.1 Universal Output Window................ 7-3 7.3.2.2 Universal Output Simple Window............7-3 7.3.2.3 Modifying the Output Status ..............
Page 11 DX100 Contents 7.7 Position Data When Power is Turned ON/OFF ............... 7-22 7.7.1 Power ON/OFF Position Window ............... 7-22 7.8 Current Position ....................... 7-23 7.8.1 Current Position Window ..................7-23 7.9 Servo Monitoring......................7-24 7.9.1 Servo Monitor Window..................7-24 7.9.1.1 Changing the Monitor Items ..............7-24 7.9.1.2 Clearing Maximum Torque Data............
Page 12 Arrangement of Units and Circuit Boards Equipment Configuration The DX100 is comprised of individual units and modules (circuit boards). Malfunctioning components can generally be easily repaired after a failure by replacing a unit or a module. This section explains the configuration of the DX100 equipment.
Page 13 Equipment Configuration DX100 Arrangement of Units and Circuit Boards 1.1.1.2 Medium and Large-Capacity DX100 Controller Fig. 1-2: Configuration of Medium Capacity DX100 -A Controller (Standard) Backside duct fan: 4715MS-22T-B50-B00 (For air inlet) Machine safety unit Interior circulation fan: Breaker JZNC-YSU01-1E...
Page 14 Equipment Configuration DX100 Arrangement of Units and Circuit Boards Fig. 1-3: Configuration of Large Capacity DX100 -A Controller (Standard) Interior circulation fan: Breaker Machine safety unit 4715MS-22T-B50-B00 JZNC-YSU01-1E NF32-SW (For air inlet) Emergency stop button: Backside duct fan: HW1B-V404R 4715MS-22T...
Page 15 Equipment Configuration DX100 Power Flow Power Flow Power contactor CN601 CN602 Three phase AC 220/200V 60Hz AC 200V 50Hz Filter AC250V CPS Unit (JZNC-YPS01-E) (10A) (10A) CN151 Interior circulation fan (2.5A) CN606 AC200V IN CN603 (2.5A) Backside duct fan +24V1/...
Page 16 Equipment Configuration DX100 Signal Flow Signal Flow Power contactor unit(JZRCR-YPU CN601 CN602 CN608 I/O Unit (JZNC-YIU CN607 CPS Unit RY1 RY2 (JZNC-YPS01-E) (Universal I/O) I O=8 8 CN306 CN300 I O=8 8 CN307 Terminal register I O I F I O=12 12...
Page 17 Security System Protection Through Security Mode Settings The DX100 modes setting are protected by a security system. The system allows operation and modification of settings according to operator clearance. Be sure operators have the correct level of training for each level to which they are granted access.
Page 18 Security System DX100 Protection Through Security Mode Settings Table 2-2: Menu & Security Mode (Sheet 1 of 4) Main Menu Sub Menu Allowed Security Mode DISPLAY EDIT Operation Edit SELECT JOB Operation Operation CREATE NEW JOB Edit Edit MASTER JOB...
Page 19 Security System DX100 Protection Through Security Mode Settings Table 2-2: Menu & Security Mode (Sheet 2 of 4) Main Menu Sub Menu Allowed Security Mode DISPLAY EDIT ROBOT CURRENT POSITION Operation COMMAND POSITION Operation SERVO MONITOR Management WORK HOME POS...
Page 20 Security System DX100 Protection Through Security Mode Settings Table 2-2: Menu & Security Mode (Sheet 3 of 4) Main Menu Sub Menu Allowed Security Mode DISPLAY EDIT PARAMETER S1CxG Management Management Management Management Management Management Management Management Management Management Management...
Page 21 Security System DX100 Protection Through Security Mode Settings Table 2-2: Menu & Security Mode (Sheet 4 of 4) Main Menu Sub Menu Allowed Security Mode DISPLAY EDIT SPOT WELDING WELD DIAGNOSIS Operation Edit (MOTOR GUN) GUN PRESSURE Edit Edit PRESSURE...
Page 22 Security System DX100 Protection Through Security Mode Settings 2.1.1.1 Changing the Security Mode 1. Select {SYSTEM INFO} under the main menu. – The sub menu appears. – Note: Icons for the main menu such as arc welding system differ depending on the system being used.
Page 23 Security System DX100 Protection Through Security Mode Settings 4. Input the user ID. – The user ID input window appears. At the factory, the following below user ID number is preset. • Editing Mode:[00000000] SUPPLE -MENT Management Mode:[99999999] 5. Press [ENTER].
Page 24 (“0 to 9”,“-” and “.”) 2.1.2.1 Changing a User ID In order to change the user ID, the DX100 must be in Editing Mode or Management Mode. Higher security modes can make changes the user ID of to lower security modes.
Page 25 Security System DX100 Protection Through Security Mode Settings 3. Select the desired ID. – The character input line appears, and the message "Input current ID no. (4 to 8 digits)" is shown. 4. Input current ID and press [ENTER]. – When the correct user ID is entered, a new ID is requested to be input.
Page 26 Failure to observe this caution may result in electric shock or injury. Carry out the following inspections. Inspection Inspection Item Inspection Comments Equipment Frequency DX100 Controller Check that the doors Daily are completely closed Check for gaps or Monthly damage to the...
Page 27 • Open the door and check that the seal around the door is undam- aged. • Check that the inside of the DX100 is not stained badly. If it is, deter- mine the cause, take measures and immediately clean it.
Page 28 DX100 Cooling Fan Inspections Cooling Fan Inspections Inspect the cooling fans as required. A defective fan can cause the DX100 to malfunction because of excessive high temperatures inside. The interior circulation fan and backside duct fan normally operate while the power is turned ON. Check if the fans are operating correctly by visual inspection and by feeling air moving into the air inlet and from the outlet.
Page 29 DX100 and the programming pendant. Before operating the manipulator, confirm that the servo power is ONFF by pressing the emergency stop button on the front door of the DX100 after the servo is ON. Enable Switch Inspections The programing pendant is equipped with a three-position enable switch.
Page 30 DX100 Battery Inspections Battery Inspections The DX100 has a battery that backs up the important program files for user data in the CMOS memory. A battery alarm indicates when a battery has expired and must be replaced. The programming pendant display and the message "Memory battery weak"...
Page 31 Inspections DX100 Open Phase Check Open Phase Check Table 3-2: Open Phase Check List Check Item Contents Lead Cable Check Confirm if the lead cable for the power supply is wired as shown in the following without any falling out, looseness or breaking from the connecting part.
Page 32 Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation.Always press the emergency stop button immediately if there are problems. Emergency stop buttons are located at the upper right corner of the front door of the DX100 and on the upper right of the programming pendant.
Page 33 – Always return the programming pendant to the hook on the DX100 cabinet after use. The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator, on the floor, or near fixtures.
Page 34 Preparation before Replacing Parts DX100 Creating a Check Program • Change in the combination of the manipulator and DX100 • Replacement of the motor or absolute encoder • Clearing stored memory (by replacement of NCP01 circuit board, weak battery, etc.) •...
Page 35 Failure to observe this caution may result in burn injuries. • After maintenance is completed, carefully check that no tools are left inside the DX100 and that the doors are securely closed. Failure to observe this caution may result in electric shock or injury.
Page 36 Replacing Parts DX100 Replacing DX100 Parts 5.1.1 Replacing Parts of the CPU Unit CPU unit (JZNC-YRK01-1E) is comprised of the rack for the various circuit boards, control circuit board (JANCD-YCP01- E) and robot I/F unit (JANCD- YIF01- E). CPS unit (JZNC-YPS01-E) is a separated unit and it is arranged to the left side of CPU unit.
Page 37 Replacing Parts DX100 Replacing DX100 Parts 5.1.1.1 Replacing the Battery Replace the battery immediately if a battery alarm occurs. Replace the battery within two hours after the breaker turns OFF. (The battery alarms appear on the programing pendant display.) Replacement Procedure 1.
Page 38 Replacing Parts DX100 Replacing DX100 Parts Control circuit board JANCD-YCP01-E (CN107) Compact flash CN159 SOURCE (ALM) P-ON +24V CN158 (+5V) CN156/157 (+24V2) CN155 POWER SUPPLY CPS-520F (+24V1/+24V2) C90AD XXXXX DATE YYYY-MM Fuji Electric Hi-Tech Corp. MADE IN JAPAN CN154 01020304050607080910...
Page 39 Replacing Parts DX100 Replacing DX100 Parts 5.1.1.3 Replacing the Control Power Supply (JZNC-YPS01-E) CAUTION • After turning OFF the power supply, wait at least 5 minutes before replacing a control power supply. Do not touch any terminals during this period. Confirm all monitor lights are turned OFF.
Page 40 • There are some versions which require maker mode operations after replacing the robot I/F circuit board. Contact your Yaskawa representative for maker mode operations. • Before removing the robot I/F circuit board (JANCD-...
Page 41 Replacing Parts DX100 Replacing DX100 Parts Robot I/F circuit board Rotary switch JANCD-YIF01- E CN159 SOURCE (ALM) P-ON +24V CN158 (+5V) CN156/157 (+24V2) CN155 POWER SUPPLY CPS-520F (+24V1/+24V2) C90AD XXXXX YYYY-MM DATE Fuji Electric Hi-Tech Corp. MADE IN JAPAN CN154...
Page 42 Replacing Parts DX100 Replacing DX100 Parts 5.1.1.5 Replacing the I/O Unit (JZNC-YIU0 -E) NOTE Turn OFF the power before replacing the I/O unit. Replacement Procedure 1. Disconnect all the cables connected to the I/O unit. (Disconnect the ground wirings screwed to the front side of the unit.) 2.
Page 43 Replacing Parts DX100 Replacing DX100 Parts 5.1.1.6 Replacing the Power Supply Contactor Unit (JZRCR-YPU01- Replacement Procedure 1. Disconnect all the cables connected to the power supply contactor unit. The following connectors are not necessarily disconnected since they are to connected inside the controller.
Page 44 Replacing Parts DX100 Replacing DX100 Parts 5.1.1.7 Replacing the Brake Board (JZRCR-YBK01- E Replacement Procedure 1. Disconnect the cable connectors connected to the brake board. Do not disconnect jumper wiring connectors at CN404 yet. (Disconnect the ground wirings screwed to the front side of the board.) 2.
Page 45 Replacing Parts DX100 Replacing DX100 Parts 5.1.1.8 Replacing the Machine Safety Unit (JZNC-YSU01-1E) Replacement Procedure 1. Disconnect all the cables connected to the machine safety unit. Do not disconnect the terminating connectors (CBL-YRC020) at CN202 yet. (Disconnect the ground wirings screwed to the front side of the unit.) 2.
Page 46 Replacing Parts DX100 Replacing DX100 Parts 5.1.2 Replacing the SERVOPACK WARNING • After turning OFF the power supply, wait at least 5 minutes before replacing a SERVOPACK. Do not touch any terminals during this period. Failure to observe this warning may result in electric shock.
Page 47 Replacing Parts DX100 Replacing DX100 Parts 9. Remove screws fixing the amplifier. *03 to 21 amplifier: Remove upper right and lower left screws (2 places). *35 to 71 amplifier: Remove IPM fixing screws (2 places) besides t upper right and lower left screws (2 places).
Page 48 Replacing Parts DX100 Replacing DX100 Parts (CN582) AMP1 Control power supply input connectors (CN584) (CN581) PWM signal connectors Output connectors for motor power (CN583) (CN584) Main circuit power supply input connectors Output connectors for motor power (CN582) (CN583) Control power supply input connectors...
Page 49 Replacing Parts DX100 Replacing DX100 Parts "Thermal sheet mounting instruction" Affix the thermal sheet to the bottom of the amplifier along the ditches. External axis amplifier SRDA-SDA03A01A-E SRDA-SDA21A01A-E Affix the thermal sheet to the bottom of the amplifier along its ditches.
Page 50 Replacing Parts DX100 Replacing DX100 Parts (4) Control power supply output connector for 6-axis amplifier (CN552A) (5) Control power supply input connector (CN551) (6) Brake control signal connector (CN513) (7) Control power supply input connector (CN509) (8) SHOCK signal input connector (CN512)
Page 51 Replacing Parts DX100 Replacing DX100 Parts Replacement Procedure (Separated Type) • How to Replace Converter 1. Turn OFF the breaker and the primary power supply and wait at least 5 minutes before replacement. Do not touch any terminals during this period.
Page 52 Replacing Parts DX100 Replacing DX100 Parts 5.1.4 Replacing the Basic Axis Control Circuit Board (SRDA-EAXA01A) Turn OFF the power before replacing the circuit board. 1. Disconnect all the cables connected to the circuit board. 2. Remove A screws. (6 places) 3.
Page 53 Replacing Parts DX100 Replacing DX100 Parts 5.1.5 Checking and Replacing Fuses 5.1.5.1 Power Supply Contactor Unit The types of fuses on power supply contactor unit (JZRCR-YPU01- ) are as follows Parts No. Fuse Name Specification 1FU, 2FU AC Control Power Supply...
Page 54 Replacing Parts DX100 Replacing DX100 Parts 5.1.5.2 I/O Unit The types of fuses on the I/O unit (JZNC-YIU01-E) are as follows. Parts No. Fuse Name Specification F1, F2 24VDC Fuse for I/O 02173.15P, 250V,3.15A, Rapid Cut Fuse (LITTEL) F1,F2 DC24V for I/O...
Page 55 Replacing Parts DX100 Replacing DX100 Parts 5.1.5.3 Machine Safety Unit The types of fuses on the machine safety unit (JZNC-YSU01-1E) are as follows. Parts No. Fuse Name Specification F1, F2 24VDC Fuse for I/O 02173.15P, 250V,3.15A, Rapid Cut Fuse (LITTEL)
Page 56 Replacing Parts DX100 Replacing DX100 Parts 5.1.5.4 Brake Board The types of fuses on the brake board (JANCD-YBK01-1E) are as follows. Parts No. Fuse Name Specification Brake Power Supply Fuse 02173.15P, 250V,3.15A, for External Axis Rapid Cut Fuse (LITTEL) F1: Brake power supply fuse...
Page 57 Replacing Parts DX100 Replacing DX100 Parts 5.1.6 Interior Circulation Fan 5.1.6.1 Replacing the Interior Circulation Fan NOTE Turn OFF the power before replacing the fan. Replacement Procedures 1. Open the F door. 2. Disconnect plug cables connected to the fan.
Page 58 Replacing Parts DX100 Replacing DX100 Parts Interior circulation fan 4715MS-22T-B50-B00 (Air inlet) F Door Inside the Controller Front View Inside View Replacement of Interior Circulation Fan 5-24...
Page 59 Replacing Parts DX100 Replacing DX100 Parts 5.1.6.2 Replacing the Backside Duct Fan NOTE Turn OFF the power before replacing the fan. Replacement Procedures 1. Remove the backboard. 2. Disconnect plug cables connected to the fan. (Remove the ground wirings screwed to the fan.) 3.
Page 60 Replacing Parts DX100 DX100 Parts List DX100 Parts List Table 5-1: DX100 Parts List Name Model Comment SERVOPACK 6 axes type CPU unit JZNC-YRK01-1E Control Circuit Board JANCD-YCP01-E Robot I/F circuit board JANCD-YIF01-1E CPS Unit JZNC-YPS01-E Power Supply Contactor Unit...
Page 61 Replacing Parts DX100 DX100 Parts List Table 5-2: SERVOPACK List Component MA1400, MH6 VA1400 MA1900, HP20D, HP20D-6 Model Model Model SERVOPACK SRDA-MH6 JZRCR-MH6-14/00 SRDA-MH20 Amplifier SRDA-SDA14 SRDA-SDA14 SRDA-SDA14 A01A-E A01A-E A01A-E SRDA-SDA14 SRDA-SDA14 SRDA-SDA21 A01A-E A01A-E A01A-E SRDA-SDA14 SRDA-SDA14 SRDA-SDA14...
Page 62 DX100 Supplied Parts List Supplied Parts List The supplied parts of DX100 is as follows. Parts No.1 to 3 are used for fuse for replacement and No.4, 5and 6 are used as a tool for connecting the I/O. Table 5-3: Supplied Parts List...
Page 63 Recommended Spare Parts It is recommended that the following parts and components be kept in stock as spare parts for the DX100. The spare parts list for the DX100 is shown below. Product performance can not be guaranteed when using spare parts from any company other than Yaskawa.
Page 64 Replacing Parts DX100 Recommended Spare Parts Table 5-4: Recommended Spare Parts List of DX100 for MH6, MA1400 Rank Parts Name Type Manufacturer Remarks Unit Battery ER6VC3N 3.6V TOSHIBA BATTERY CO., LTD. CPS Unit JZNC-YZU01-E Yaskawa Electric Cooling Fan Corporation Interior 4715MS-22T-B50-B00 Minebea Co., Ltd...
Page 65 Replacing Parts DX100 Recommended Spare Parts Table 5-5: Recommended Spare Parts List of DX100 for VA1400 Rank Parts Name Type Manufacturer Remarks Unit Battery ER6VC3N 3.6V TOSHIBA BATTERY CO., LTD. CPS Unit JZNC-YZU01-E Yaskawa Electric Cooling Fan Corporation Interior 4715MS-22T-B50-B00 Minebea Co., Ltd...
Page 66 Replacing Parts DX100 Recommended Spare Parts Table 5-6: Recommended Spare Parts List of DX100 for MA1900, HP20D, HP20D-6 Rank Parts Name Type Manufacturer Remarks Unit Battery ER6VC3N 3.6V TOSHIBA BATTERY CO., LTD. CPS Unit JZNC-YZU01-E Yaskawa Electric Cooling Fan Corporation...
Page 67 Replacing Parts DX100 Recommended Spare Parts Table 5-7: Recommended Spare Parts List of DX100 for MH50 Rank Parts Name Type Manufacturer Remarks Unit Battery ER6VC3N 3.6V TOSHIBA BATTERY CO., LTD. CPS Unit JZNC-YZU01-E Yaskawa Electric Cooling Fan Corporation Interior 4715MS-22T-B50-B00 Minebea Co., Ltd...
Page 68 Replacing Parts DX100 Recommended Spare Parts Table 5-8: Recommended Spare Parts List of DX100 for MS80 Rank Parts Name Type Manufacturer Remarks Unit Battery ER6VC3N 3.6V TOSHIBA BATTERY CO., LTD. CPS Unit JZNC-YZU01-E Yaskawa Electric Cooling Fan Corporation Interior 4715MS-22T-B50-B00 Minebea Co., Ltd...
Page 69 Replacing Parts DX100 Recommended Spare Parts Table 5-9: Recommended Spare Parts List of DX100 for VS50 Rank Parts Name Type Manufacturer Remarks Unit Battery ER6VC3N 3.6V TOSHIBA BATTERY CO., LTD. CPS Unit JZNC-YZU01-E Yaskawa Electric Cooling Fan Corporation Interior 4715MS-22T-B50-B00 Minebea Co., Ltd...
Page 70 Replacing Parts DX100 Recommended Spare Parts Table 5-10: Recommended Spare Parts List of DX100 for ES165, ES200D Rank Parts Name Type Manufacturer Remarks Unit Battery ER6VC3N 3.6V TOSHIBA BATTERY CO., LTD. CPS Unit JZNC-YZU01-E Yaskawa Electric Cooling Fan Corporation Interior 4715MS-22T-B50-B00 Minebea Co., Ltd...
Page 71 • Always press the emergency stop button immediately if there are problems. Emergency stop buttons are located at the upper right corner of the front door of the DX100 and on the upper right of the programming pendant.
Page 72 • Change in the combination of the manipulator and DX100 • Replacement of the motor or absolute encoder • Clearing stored memory (by replacement of NIF01 circuit board, weak battery, etc.)
Page 73 Operations After Replacing Parts DX100 Home Position Calibration To calibrate the home position, use the axis keys to calibrate the mark for the home position on each axis so that the manipulator can take its posture for the home position. There are two operations for home position calibration: •...
Page 74 Operations After Replacing Parts DX100 Home Position Calibration 6.1.2 Calibrating Operation 6.1.2.1 Registering All Axes at One Time 1. Select {ROBOT} under the main menu. 2. Select {HOME POSITION}. – The HOME POSITIONING window appears. 3. Select {DISPLAY} under the menu, or select "PAGE"...
Page 75 Operations After Replacing Parts DX100 Home Position Calibration 4. Select the desired control group. 5. Select {EDIT} under the menu. – The pull-down menu appears. 6. Select {SELECT ALL AXES}. – The confirmation dialog box appears. 7. Select “YES.” – Displayed position data of all axes are registered as home position.
Page 76 Operations After Replacing Parts DX100 Home Position Calibration 4. Select the axis to be registered. – The confirmation dialog box appears. 5. Select "YES". – Displayed position data of the axis are registered as home position. When “NO” is selected, the registration will be canceled.
Page 77 Operations After Replacing Parts DX100 Home Position Calibration 6.1.2.3 Changing the Absolute Data To change the absolute data of the axis when home position calibration is completed, perform the following: 1. Select {ROBOT} under the main menu. 2. Select {HOME POSITION}.
Page 78 Operations After Replacing Parts DX100 Home Position Calibration 3. Select {DATA} under the menu. – The pull-down menu appears. 4. Select {CLEAR ALL DATA}. – The confirmation dialog box appears. 5. Select "YES". – The all absolute data are cleared. When "NO" is selected, the...
Page 79 Operations After Replacing Parts DX100 Home Position Calibration 6.1.3 Manipulator Home Position With the MOTOMAN-VA1400, the home position is as follows. B-axis center line angle against U-axis center line (-0°) U-axis angle against horizontal line on the ground (-0°) L-axis angle against vertical line to the ground (-0°)
Page 80 Operations After Replacing Parts DX100 Position Deviation Check Using the Check Program Position Deviation Check Using the Check Program Use the check program to check if positions are deviated with the following procedure. 1. Call up the check program in which the check point is taught (the job for) and operate the manipulator at low speed.
Page 81 Operations After Replacing Parts DX100 Checking of the Check Program Checking of the Check Program 6.3.1 Motion of the Check Program Call up the check program in which the check point is taught (the job for avoiding the position deviation) and operate the manipulator at low speed.
Page 82 Operations After Replacing Parts DX100 Checking of the Check Program 6.3.3 Home Position Data Correction When there is a deviation from the positions, correct the home position data with the following procedure. 1. Check the values of the following pulses.
Page 83 Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the front door of DX100 and the programming pendant are pressed. Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
Page 84 – Always return the programming pendant to its hook on the DX100 cabinet after use. If the programming pendant is inadvertently left on the manipulator, a fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.
Page 85 Operations After Replacing Parts DX100 Setting the Second Home Position (Check Point) 6.4.1 Purpose of Position Check Operation If the absolute number of rotation detected at power supply ON does not match the data stored in the absolute encoder the last time the power supply was turned off, an alarm is issued when the controller power is turned ON.
Page 86 Operations After Replacing Parts DX100 Setting the Second Home Position (Check Point) 1, Position Check After the "OUT OF RANGE (ABSO DATA)" alarm occurs, move to the second home position using the axis keys and perform the position confirmation. Playback, test runs, and FWD operation will not function unless "CONFIRM POSITION"...
Page 87 Operations After Replacing Parts DX100 Setting the Second Home Position (Check Point) 6.4.2 Procedure for the Second Home Position Setting (Check Point) Apart from the "home position" of the manipulator, the second home position can be set up as a check point for absolute data. Use the following steps to set the specified point.
Page 88 Operations After Replacing Parts DX100 Setting the Second Home Position (Check Point) 6.4.3 Procedure after the Alarm WARNING • Be aware of safety hazards when performing the position confirmation of the specified point. Abnormality of the PG system may be cause for alarm. The manipulator may operate in an unexpected manner, and there is a risk of damage to equipment or injury to personnel.
Page 89 Operations After Replacing Parts DX100 Setting the Second Home Position (Check Point) GO BACK GO BACK 3. Press the page key PAGE PAGE or select "PAGE" to display the selection window for the control group. – The group axes by which the second home position is set is selected when there are two or more group axes.
Page 90 System Diagnosis DX100 System Version System Diagnosis System Version It is possible to check the system CPU version information as follows. 1. Select {SYSTEM INFO} under the main menu. 2. Select {VERSION}. – The VERSION window appears. Manipulator Model 1. Select {ROBOT} under the main menu.
Page 91 System Diagnosis DX100 Input/Output Status Input/Output Status 7.3.1 Universal Input The status of input signal which is referred to by input instruction of a job can be confirmed. 7.3.1.1 Universal Input Window 1. Select {IN/OUT} under the main menu. 2. Select {UNIVERSAL INPUT}.
Page 92 System Diagnosis DX100 Input/Output Status 7.3.2 Universal Output The status of the output signal set by the output instruction can be confirmed and modified. 7.3.2.1 Universal Output Window 1. Select {IN/OUT} under the main menu. 2. Select {UNIVERSAL OUTPUT}. – The UNIVERSAL OUTPUT window appears.
Page 93 System Diagnosis DX100 Input/Output Status 7.3.2.3 Modifying the Output Status The status of universal output signal can be changed by the operation below. 1. Select the desired output signal number. the desired output signal, “ – Select the status of ”...
Page 94 System Diagnosis DX100 Input/Output Status 7.3.3 Specific Input 7.3.3.1 Specific Input Window 1. Select {IN/OUT} under the main menu. 2. Select {SPECIFIC INPUT}. – The SPECIFIED INPUT window appears. 7.3.3.2 Specific Input Simple Window 1. Select {IN/OUT} under the main menu.
Page 95 System Diagnosis DX100 Input/Output Status 7.3.4 Specific Output 7.3.4.1 Specific Output Window 1. Select {IN/OUT} under the main menu. 2. Select {SPECIFIC OUTPUT}. – The SPECIFIED OUTPUT window appears. 7.3.4.2 Specific Output Simple Window 1. Select {IN/OUT} under the main menu.
Page 96 System Diagnosis DX100 Input/Output Status 7.3.5 RIN Input 7.3.5.1 RIN Input Window 1. Select {IN/OUT} under the main menu. 2. Select {RIN}. – The RIN window appears. 7.3.6 Signal Number Search A search can be made for a signal number of a universal input, universal output, specific input, and specific output.
Page 97 System Diagnosis DX100 Input/Output Status 7.3.6.1 Direct Search on the Universal/Specified Input/Output Window 1. Move the cursor to a signal number in the UNIVERSAL/SPECIFIED INPUT/OUTPUT window, and press [SELECT]. – Numeric values can now be entered. 2. Enter the signal number to be searched.
Page 98 System Diagnosis DX100 Input/Output Status 7.3.6.2 Search from the Menu 1. Select {EDIT} under the menu in the UNIVERSAL/SPECIFIED INPUT/ OUTPUT window. – The pull-down menu appears. 2. Select {SEARCH SIGNAL NO.}. – Numeric values can now be entered. 3. Enter the signal number to be searched.
Page 99 System Diagnosis DX100 Input/Output Status 7.3.7 Relay Number Search A search can be made for a relay number of a universal input, universal output, specific input, and specific output. Relay number A search for the relay number can be made in the following two ways.
Page 100 System Diagnosis DX100 Input/Output Status 3. Press [ENTER] to start the search. – The page where the relay number exists appears. 7.3.7.2 Search from the Menu 1. Select {EDIT} under the menu in the UNIVERSAL/SPECIFIED INPUT/ OUTPUT window. – The pull-down menu appears.
Page 101 System Diagnosis DX100 Input/Output Status 3. Enter the relay number to be searched. – Type the relay number in the number input line. 4. Press [ENTER] to start the search. – The page where the relay number exists appears. 7-12...
Page 102 System Diagnosis DX100 Input/Output Status 7.3.8 Modification of the Signal Name The name of the universal input or output signal can be modified. Signal name The name can be modified in the following two ways. • Direct modification on the UNIVERSAL/SPECIFIED INPUT/OUTPUT window.
Page 103 System Diagnosis DX100 Input/Output Status 3. Select {RENAME}. – The window for character input appears. 4. Enter the signal name. 5. Press [ENTER]. – New signal name is registered. 7-14...
Page 104 System Diagnosis DX100 System Monitoring Time Display System Monitoring Time Display 7.4.1 System Monitoring Time Display Window The status of system operation, e.g. power ON time, can be checked. 1. Select {SYSTEM INFO}. 2. Select {MONITORING TIME}. – The SYS MONITORING TIME window appears.
Page 105 System Diagnosis DX100 System Monitoring Time Display 7.4.2 Individual Window of the System Monitoring Time Display GO BACK GO BACK If the page key is pressed, or "PAGE" is selected to display the PAGE PAGE selection window for the system monitoring time display, the servo power time, playback time, moving time, and each-application operating time by each control group are individually displayed.
Page 106 System Diagnosis DX100 System Monitoring Time Display 7.4.3 Clearing the System Monitoring Time Display The moving time and operating time can be cleared and set back to 0 by following procedure. These operations can be performed in the SYS MONITORING TIME window, or in the individual windows.
Page 107 System Diagnosis DX100 Alarm History Alarm History 7.5.1 Alarm History Window The alarm history can be confirmed in the alarm history window. There are five types of alarm history windows: the "MAJOR ALARM" window, the "MINOR ALARM" window, the "USER ALARM (SYSTEM)" window, the "USER ALARM (USER)"...
Page 108 System Diagnosis DX100 Alarm History 7.5.2 Clearing the Alarm History The history of the minor alarms and the user alarms (system and user) can be cleared. 1. Display the alarm history window to be cleared. 2. Select {DATA} under the menu.
Page 109 System Diagnosis DX100 I/O Message History I/O Message History 7.6.1 I/O Message History Window The I/O message history can be confirmed in the I/O MESSAGE HISTORY window. The I/O MESSAGE HISTORY window shows the date and time, job name, line number, and step number of the I/O message that appeared on the window.
Page 110 System Diagnosis DX100 I/O Message History 7.6.2 Clearing the I/O Message History Use the following operation to clear the I/O message history. 1. Select {DATA} under the menu. 2. Select {CLEAR HISTORY}. – The confirmation dialog box appears. 3. Select “YES.”...
Page 111 System Diagnosis DX100 Position Data When Power is Turned ON/OFF Position Data When Power is Turned ON/OFF 7.7.1 Power ON/OFF Position Window The Power ON/OFF position window shows the position of the manipulator when power was turned OFF the last time, the current position of the manipulator when power was later turned ON, and the amount of difference between the two positions.
Page 112 System Diagnosis DX100 Current Position Current Position 7.8.1 Current Position Window 1. Select {ROBOT} under the main menu. 2. Select {CURRENT POSITION} under the sub menu. – The CURRENT POSITION window appears. 3. Select the types of coordinates to be displayed.
Page 113 System Diagnosis DX100 Servo Monitoring Servo Monitoring 7.9.1 Servo Monitor Window The servo monitor window shows the servo-related data of each axis. Monitor Items Description FEEDBACK PULSE Feedback position (actual position) of each axis “0” at the home position ERROR PULSE...
Page 114 System Diagnosis DX100 Servo Monitoring 3. Select {SERVO MONITOR}. – The SERVO MONITOR window appears. 4. Select {DISPLAY} under the menu. – The pull-down menu appears. MONITOR ITEM 1 is the data on the left, and MONITOR ITEM 2 is the data on the right 5.
Page 115 System Diagnosis DX100 Servo Monitoring 6. Select a menu. – The type of monitor-related information is changed. 7.9.1.2 Clearing Maximum Torque Data The data for the maximum torque can be cleared when the maximum torque-related information is being displayed. 1. Select {DATA} under the menu.
Page 116 Alarm DX100 Outline of Alarm Alarm Outline of Alarm When an alarm of level 0 to 3 (major alarm) occurs, the servo power supply is turned OFF. Table 8-1: Alarm Code Classification Alarm Alarm Level Alarm Reset Method Code Level 0 (Major alarm)
Page 117 Alarm DX100 Alarm Display Alarm Display 8.2.1 Displaying and Releasing Alarm If an alarm occurs during operation, the manipulator stops immediately and the ALARM window appears on the programming pendant indicating that the machine was stopped by an alarm. Alarm...
Page 118 Alarm DX100 Alarm Display 8.2.2 Special Alarm Display (1) Sub Data Sub data such as data for the axis where the alarm occurred, may also be displayed for some alarms. • Decimal data Without signs: 0 to 65535 With signs: -32768 to 32767 •...
Page 119 Alarm DX100 Alarm Display (3) Independent Control Function (Optional) In the independent control function (multi-task job), the tasks that were being done when the alarm occurred are also displayed. TASK#0: Master-task job TASK#1: Sub-task1 job (SUB1) TASK#2: Sub-task2 job (SUB2)
Page 120 Alarm Message List Alarm Message List CAUTION • Before handling the system control circuit board “JANCD-YIF∗∗−∗” for any remedies, consult YASKAWA representative. To handle the JANCD-YIF∗∗−∗, personnel must be appropriately skilled in maintenance mode operation. JANCD-YIF ∗∗−∗ backs up very important file data for the user •...
Page 121 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, ERROR power turned ON. and then contact your Yaskawa representative about occurrence status (operating procedure). Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following connectors.
Page 122 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure (1)Turn the power OFF then back ON (YCP02 board) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. · YCP02 board YCP01 board failure (1)Turn the power OFF then back ON.
Page 123 · Control group settings in maintenance mode power turned ON. · The EAXA board rotary switch setting (0) of the corresponding node At this time, the DX100 may judge number (SV#1) it as signal input such as external hold wrong. However, it is caused by the communication error with servo baord #1.
Page 124 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 125 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 126 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 127 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 128 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 129 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 130 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 131 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 132 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 133 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 134 (1)Turn the power OFF then back ON. damaged. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The system program of optional Software operation (1)Turn the power OFF then back ON.
Page 135 (1)Turn the power OFF then back ON. board #1 is damaged. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Turn the power OFF then back ON.
Page 136 (1)Turn the power OFF then back ON. board #5 is damaged. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Turn the power OFF then back ON.
Page 137 (1)Turn the power OFF then back ON. board #8 is damaged. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Turn the power OFF then back ON.
Page 138 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure(I/O (1)Turn the power OFF then back ON. module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 139 Alarm Alarm Name Meaning Cause Remedy Number Code An error was detected in Setting error (1)Check the following settings. communications with the I/O · The rotary switch setting which specifies slot numbers of each I/O module module board connected with 3rd ·...
Page 140 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The MII communications cable which I/O module of the corresponding node number ·...
Page 141 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure(I/O (1)Turn the power OFF then back ON. module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 142 Alarm Alarm Name Meaning Cause Remedy Number Code An error was detected in Setting error (1)Check the following settings. communications with the I/O · The rotary switch setting which specifies slot numbers of each I/O module module board connected with 7th ·...
Page 143 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The MII communications cable which I/O module of the corresponding node number ·...
Page 144 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure(I/O (1)Turn the power OFF then back ON. module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 145 Alarm Alarm Name Meaning Cause Remedy Number Code An error was detected in Setting error (1)Check the following settings. communications with the I/O · The rotary switch setting which specifies slot numbers of each I/O module module board connected with 11th ·...
Page 146 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The MII communications cable which I/O module of the corresponding node number ·...
Page 147 · The rotary switch setting which specifies slot numbers of each I/O module when the control power was turned · I/O module settings in maintenance mode At this time, the DX100 may judge it as signal input such as external hold wrong. However, it is caused by the communication error with YIU .Therefore, execute the...
Page 148 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 149 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the corresponding I/O module Board failure(I/O (1)Turn the power OFF then back ON.
Page 150 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 151 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the corresponding I/O module Board failure(I/O (1)Turn the power OFF then back ON.
Page 152 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 153 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 154 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 155 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 156 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 157 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 158 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 159 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 160 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 161 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 162 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 163 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 164 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 165 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 166 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 167 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 168 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 169 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 170 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 171 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and BACKUP FILE) the internal storage data is set or then contact your Yaskawa representative about occurrence status the CompactFlash on the YCP01 (operating procedure). board is damaged.
Page 172 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 173 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 174 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 175 Alarm Alarm Name Meaning Cause Remedy Number Code 0320 VERIFY ERROR(I/ The I/O module connected to the Setting error (1)Check the following settings. O MODULE) serial bus #1 is different from the · The rotary switch setting which specifies slot numbers of each I/O module function of the set I/O module.
Page 176 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The MII communications cable which I/O module of the corresponding node number ·...
Page 177 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure(I/O (1)Turn the power OFF then back ON. module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 178 Alarm Alarm Name Meaning Cause Remedy Number Code The I/O module connected to the Setting error (1)Check the following settings. serial bus #5 is different from the · The rotary switch setting which specifies slot numbers of each I/O module function of the set I/O module.
Page 179 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The MII communications cable which I/O module of the corresponding node number ·...
Page 180 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure(I/O (1)Turn the power OFF then back ON. module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 181 Alarm Alarm Name Meaning Cause Remedy Number Code The I/O module connected to the Setting error (1)Check the following settings. serial bus #9 is different from the · The rotary switch setting which specifies slot numbers of each I/O module function of the set I/O module.
Page 182 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The MII communications cable which I/O module of the corresponding node number ·...
Page 183 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure(I/O (1)Turn the power OFF then back ON. module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 184 Alarm Alarm Name Meaning Cause Remedy Number Code The I/O module connected to the Setting error (1)Check the following settings. serial bus #13 is different from the · The rotary switch setting which specifies slot numbers of each I/O module function of the set I/O module.
Page 185 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · MII communications cable (CN114) of the YIF board ·...
Page 186 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure(I/O (1)Turn the power OFF then back ON. module) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 187 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the corresponding I/O module Board failure(I/O (1)Turn the power OFF then back ON.
Page 188 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 189 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 190 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 191 Alarm Alarm Name Meaning Cause Remedy Number Code The station No. specified by the Setting error (1)Check the following settings. DeviceNet allocation file2 is [XFB01 board] incorrect (the station No. is out of · The settings of the objective DeviceNet allocation file the allowable range, or the ·...
Page 192 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 193 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 194 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 195 Alarm Alarm Name Meaning Cause Remedy Number Code An error occurred during the Setting error (1)Check the following settings. parameter/file transfer to the 3rd · Control group settings in maintenance mode servo board. · The EAXA board rotary switch setting (2) of the corresponding node number (SV#3) Connection failure (1)Turn the power OFF then back ON.
Page 196 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 197 Alarm Alarm Name Meaning Cause Remedy Number Code An error occurred during the Setting error (1)Check the following settings. parameter/file transfer to the 6th · Control group settings in maintenance mode servo board. · The EAXA board rotary switch setting (5) of the corresponding node number (SV#6) Connection failure (1)Turn the power OFF then back ON.
Page 198 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 199 Alarm Alarm Name Meaning Cause Remedy Number Code 0410 MODE CHANGE An error occurred during startup Setting error (1)Check the following settings. ERROR sequence processing with the · Control group settings in maintenance mode servo CPU of 1st servo board, and ·...
Page 200 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 201 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 202 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 203 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 204 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · The cable of EAXA board CN509 ·...
Page 205 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 206 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 207 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 208 Alarm Alarm Name Meaning Cause Remedy Number Code 0609 MEDAR MADER timer error Refer to the instruction manual for the MEDAR function. PARAMETER ERROR 0610 MEDAR STEPPER MADER timer error Refer to the instruction manual for the MEDAR function. TRANSMIT ERROR 0710 LADDER...
Page 209 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 210 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 211 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 212 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 213 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 214 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 215 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 216 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 217 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 218 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 219 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 220 Alarm Alarm Name Meaning Cause Remedy Number Code 0802 FILE I/O ERROR YCP01 board failure (1)Turn the power OFF then back ON. (YCP01 CF) (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 221 Alarm Alarm Name Meaning Cause Remedy Number Code In the output side setting of Setting error (1)Check the following settings. allocation configuration data, the · Allocation configuration for the TOYOPUC specified R-register start No. for the TOYOPUC exceeds the R-register limit.
Page 222 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the TOYOPUC board An error was found in the type set Setting error (1)Check the following settings.
Page 223 Alarm Alarm Name Meaning Cause Remedy Number Code An error was found in the specified Setting error (1)Check the following settings. number of registers which are · Allocation configuration for the TOYOPUC used by the system data "CURR.POS. (XYZ)" of allocation configuration.
Page 224 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the TOYOPUC board An error was found in the specified Setting error (1)Check the following settings.
Page 225 Alarm Alarm Name Meaning Cause Remedy Number Code In the input side setting of Setting error (1)Check the following settings. allocation configuration data, the · Allocation configuration for the TOYOPUC set number to use the input side R- register of the TOYOPUC exceeds the R-register limit.
Page 226 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the TOYOPUC board In the output side setting of Setting error (1)Check the following settings.
Page 227 Alarm Alarm Name Meaning Cause Remedy Number Code 0900 WATCHDOG A Watchdog timeout was detected YCP01 board failure (1)Turn the power OFF then back ON. TIMER in the YIF board. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN ERROR(YIF before replace the board to be safe.
Page 228 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure (1)Turn the power OFF then back ON. (YCP02 board) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. · YCP02 board 0904 WATCHDOG A Watchdog timeout was detected...
Page 229 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure (1)Turn the power OFF then back ON. (YCP02 board) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. · YCP02 board 0908 WATCHDOG A Watchdog timeout was detected...
Page 230 Alarm Alarm Name Meaning Cause Remedy Number Code Board failure (1)Turn the power OFF then back ON. (YCP02 board) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. · YCP02 board 0913 An error was detected in the CPU.
Page 231 Alarm Alarm Name Meaning Cause Remedy Number Code 0917 An error was detected in the CPU. Setting error (1)Check the following settings. ERROR(YCP02#7) · Optional board in maintenance mode Board failure (1)Turn the power OFF then back ON. (YCP02 board) (2)If the alarm occurs again, replace the following board.
Page 232 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 233 Alarm Alarm Name Meaning Cause Remedy Number Code 0952 An error was detected in the CPU Connection failure (1)Turn the power OFF then back ON. ERROR(EAXA#3) of servo board #3. (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors.
Page 234 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.
Page 235 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Turn the power OFF then back ON.
Page 236 Software operation (1)Reset the alarm. ERROR(YCP01) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 1001 A checksum error occurred in the EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 237 Alarm Alarm Name Meaning Cause Remedy Number Code The SRDY signal did not turn ON EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back after the WRITE PROTECT ON.) command was written. (EEPROM (2)If the alarm occurs again, replace the EAXA board.
Page 238 Alarm Alarm Name Meaning Cause Remedy Number Code The written data were rejected at EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back verification. (EEPROM verify error) ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe.
Page 239 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 240 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 241 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 242 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 243 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 244 Alarm Alarm Name Meaning Cause Remedy Number Code User coordinates file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Robot calibration file Data error (1)Turn the power OFF then back ON.
Page 245 Alarm Alarm Name Meaning Cause Remedy Number Code Weaving file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Power Source condition data file Data error (1)Turn the power OFF then back ON.
Page 246 Alarm Alarm Name Meaning Cause Remedy Number Code Path correction condition file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Painting characteristics file Data error (1)Turn the power OFF then back ON.
Page 247 Alarm Alarm Name Meaning Cause Remedy Number Code Press characteristics file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Servo float condition file Data error (1)Turn the power OFF then back ON.
Page 248 Alarm Alarm Name Meaning Cause Remedy Number Code Anticipation OT# output file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Anticipation OG# output file Data error (1)Turn the power OFF then back ON.
Page 249 Alarm Alarm Name Meaning Cause Remedy Number Code Seal amount correction condition Data error (1)Turn the power OFF then back ON. file (spray) (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Seal amount correction condition Data error (1)Turn the power OFF then back ON.
Page 250 Alarm Alarm Name Meaning Cause Remedy Number Code Paint characteristics file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. EVB gun file Data error (1)Turn the power OFF then back ON.
Page 251 Alarm Alarm Name Meaning Cause Remedy Number Code Conveyor condition auxiliary file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Laser welding start condition file Data error (1)Turn the power OFF then back ON.
Page 252 (1)Turn the power OFF then back ON. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Online error YCP01 board failure (1)Turn the power OFF then back ON.
Page 253 (1)Turn the power OFF then back ON. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The position data of when the EAXA board failure (1)Turn the power OFF then back ON.
Page 254 (1)Turn the power OFF then back ON. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Unable to turn ON the PG power EAXA board failure (1)Turn the power OFF then back ON.
Page 255 (1)Turn the power OFF then back ON. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Unable to initialize ARITH YCP01 board failure (1)Turn the power OFF then back ON.
Page 256 Software operation (1)Turn the power OFF then back ON. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 1053 SYSTEM Sub Code Software operation (1)Turn the power OFF then back ON.
Page 257 (2)If the error occurs again, set the I/O module again in maintenance mode. (3)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).
Page 258 ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 259 ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 260 ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 261 2ms process although it was not (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and the execution timing. then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 262 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and was not the execution timing. then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 263 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and execution timing. then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 264 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and execution timing. then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 265 ON.) scheduling table. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 266 ON.) set on the scheduling table. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 267 ON.) set on the scheduling table. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 268 ON.) scheduling table. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 269 ON.) the scheduling table. (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 270 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 1000 The check item number of SVD Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 271 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back parameter is unmatched. error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 1004 The check item number of AMC Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 272 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back with circuit board as target. error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 3000 The parameter number of the Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 273 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back has not completed initialization. error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 3280 An error occurred in the first Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 274 Replace the YIF board, and then load the saved CMOS.BIN file. 1209 EXTERNAL WDT Sub Code Circuit board broken Replace the YIF01 board, and initialize the DX100 system configuration. BROKEN(YIF01) 0000_0001: Error detected in PLD circuit 1 0000_0010: Error detected in PLD...
Page 275 Alarm Alarm Name Meaning Cause Remedy Number Code 1220 Incorrect setting of the IP address Setting error (1)Check the following settings. COMMUNICATION which is used in the Ethernet · IP address setting of network in maintenance mode PARAMETER function. ERROR Incorrect setting of the subnet Setting error (1)Check the following settings.
Page 276 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ERROR Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 277 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 278 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and Ehternet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 279 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and Ehternet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 280 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and getting process of the Ehternet then contact your Yaskawa representative about occurrence status function. (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON.
Page 281 Ethernet function. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 282 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 283 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board.
Page 284 Alarm Alarm Name Meaning Cause Remedy Number Code An error occurred in the DNS Setting error (1)Check the following settings. resolver setting of the Ethernet ·The domain name function. · The DNS related settings · The DHCP server operation · The network status YCP01 board failure (1)Turn the power OFF then back ON.
Page 285 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 286 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and Telnet (for onboard). then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 287 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. [Robot axis] ·...
Page 288 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. YIF board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 289 Alarm Alarm Name Meaning Cause Remedy Number Code JL0101 alarm Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. ·...
Page 290 Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).
Page 291 Alarm Alarm Name Meaning Cause Remedy Number Code 1302 COMMUNICATION No interrupt from servo I/O Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ERROR(SERVO I/ communications (JL098) occurred. ON.) (Communication loop back) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors.
Page 292 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. The servo I/O communications Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 293 Alarm Alarm Name Meaning Cause Remedy Number Code YIF board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN.
Page 294 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. 1303 ARITHMETIC The data [X____] indicates the...
Page 295 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. 1306 AMPLIFIER TYPE Sub Code: Signifies the axis in...
Page 296 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 1308 CONVERTER...
Page 297 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 1309 HARDWARE Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 298 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back TIMEOUT(SERVO) error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 1318 CANNOT Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 299 Alarm Alarm Name Meaning Cause Remedy Number Code 1319 SERIAL Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ENCODER failure(encoder) ON.) MODULE ERROR (2)If the alarm occurs again, replace the encoder. 1320 SERIAL Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ENCODER failure(encoder)
Page 300 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. External (1)Check the following settings.
Page 301 Alarm Alarm Name Meaning Cause Remedy Number Code 1328 DEFECTIVE Sub Code: Signifies the axis in Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ENCODER which the alarm occurred ON.) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors.
Page 302 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. 1330 MICRO PROGRAM Sub Code: Signifies the axis in...
Page 303 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. [Robot axis] ·...
Page 304 Alarm Alarm Name Meaning Cause Remedy Number Code 1335 ENCODER NOT Sub Code: Signifies the axis in Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back RESET which the alarm occurred ON.) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors.
Page 305 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. 1339 OVER SPEED Setting error...
Page 306 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Sent buffer FULL (The first digit Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 307 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). CRC-16 error (The first digit shows Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 308 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Error code received (The first digit Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 309 (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Software operation (1)Reset the alarm. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).
Page 310 Alarm Alarm Name Meaning Cause Remedy Number Code 1345 SAFE CIRCUIT Sub Code: XYY (Signifies the Connection failure Check if the unmatched two double-checked signals are in agreement. SIGNAL NOT power-ON unit No. and unmatched SAME(SV) signal No.) X: Power-ON unit 0: Power-ON unit1 (TU#1) 1: Power-ON unit2 (TU#2) 2: Power-ON unit3 (TU#3)
Page 311 Alarm Alarm Name Meaning Cause Remedy Number Code 1349 POWER LOST Instant power failure Check if the primary power supply voltage is dropping. DETECTION(EAXA 01/02) 1350 POWER ON UNIT TYPE MISMATCH 1352 SERIAL Sub Code: Signifies the axis in Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ENCODER which the alarm occurred...
Page 312 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. 1355 SERIAL ENC Sub Code: Signifies the axis in...
Page 313 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. 1356 SPECIFIED AXIS Setting error...
Page 314 Alarm Alarm Name Meaning Cause Remedy Number Code 1420 SYSTEM ERROR(BENDING 1421 ENCODER ERROR(LNR SCALE) 1422 CANNOT CHANGE ENCODER INPUT 1430 PRESS ENCODER ERROR 1431 PRESS DATA RECEIVING ERROR 1432 PRESS ENCODER DATA ERROR 1500 SAFETY CIRCUIT Circuit board (1)Reset the alarm. FAULT(SERVO I/O) failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit.
Page 315 Alarm Alarm Name Meaning Cause Remedy Number Code 1504 TUSON RELAY Circuit board (1)Reset the alarm. STICKING(SERVO failure(YPU unit) (2)If the alarm occurs again, replace the YPU unit. Save the CMOS.BIN I/O) before replace the board to be safe. 1506 BROKEN Circuit board (1)Reset the alarm.
Page 316 Alarm Alarm Name Meaning Cause Remedy Number Code Install failure Check that the air inlet or outlet is not blocked. 1513 POWER SUPPLY The temperature Turn the power OFF then back ON after cooling the controller. OVERHEAT(SERV rises in the controller Connection failure Check the power supply cable of the cooling fan in the CPS power unit.
Page 317 Alarm Alarm Name Meaning Cause Remedy Number Code 1532 GATE ARRAY 2 Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ERROR(SERVO2) failure(SERVOPACK ON.) (2)If the alarm occurs again, replace the SERVOPACK 1533 ABSOLUTE Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ENCODER ON.)
Page 318 Alarm Alarm Name Meaning Cause Remedy Number Code 1535 WATCHDOG Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back DETECTOR failure(SERVOPACK ON.) ERROR(SERVO2) (2)If the alarm occurs again, replace the SERVOPACK. 1536 CURRENT FB Connection failure Check the connection of motor power line.
Page 319 Alarm Alarm Name Meaning Cause Remedy Number Code Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(SERVOPACK ON.) (2)If the alarm occurs again, replace the SERVOPACK. 1539 SERVO ON Setting error Replace the SERVOPACK. COMMAND INVALID(SERVO2) 1540...
Page 320 Alarm Alarm Name Meaning Cause Remedy Number Code Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(SERVOPACK ON.) (2)If the alarm occurs again, replace the SERVOPACK. 1543 MODULE Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ERROR(SERVO2) failure(SERVOPACK ON.)
Page 321 Alarm Alarm Name Meaning Cause Remedy Number Code Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(amplifier) ON.) (2)If the alarm occurs again, replace the amplifier. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(motor) ON.) (2)If the alarm occurs again, replace the motor.
Page 322 Alarm Alarm Name Meaning Cause Remedy Number Code Setting error Check the settings for manipulator motion condition (influence by external force, load condition). Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(motor) ON.) (2)If the alarm occurs again, replace the motor. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(SERVOPACK...
Page 323 Alarm Alarm Name Meaning Cause Remedy Number Code 1557 DEFECTIVE Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ENCODER ABSO ON.) DATA(SV2) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors.
Page 324 Alarm Alarm Name Meaning Cause Remedy Number Code 1561 BROKEN PG Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back LINE(A/B ON.) PHASE)(SV2) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors.
Page 325 Alarm Alarm Name Meaning Cause Remedy Number Code Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(motor) ON.) (2)If the alarm occurs again, replace the motor. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(SERVOPACK ON.) (2)If the alarm occurs again, replace the SERVOPACK.
Page 326 Alarm Alarm Name Meaning Cause Remedy Number Code 1565 PARAMETER Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ERROR(ENCODE failure(motor) ON.) R)(SERVO2) (2)If the alarm occurs again, replace the motor. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(SERVOPACK ON.) (2)If the alarm occurs again, replace the SERVOPACK.
Page 327 Alarm Alarm Name Meaning Cause Remedy Number Code 1569 OPTION Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back TIMEOUT(SERVO failure(SERVOPACK ON.) (2)If the alarm occurs again, replace the SERVOPACK. 1570 OPTION WDC ERROR(SERVO2) 1571 COMMUNICATION Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 328 Alarm Alarm Name Meaning Cause Remedy Number Code 1577 MAIN CIRCUIT Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ANSWER failure(SERVOPACK ON.) ERROR(SV2) (2)If the alarm occurs again, replace the SERVOPACK. 1578 SERVO MOTOR Connection failure Check the connection of motor power line.
Page 329 Alarm Alarm Name Meaning Cause Remedy Number Code 1582 CURRENT Connection failure Check the connection of motor power line. DETECTION ERROR(SERVO2) Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(motor) ON.) (2)If the alarm occurs again, replace the motor. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(SERVOPACK...
Page 330 Alarm Alarm Name Meaning Cause Remedy Number Code 1587 SCALE PITCH Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back SETTING failure(SERVOPACK ON.) ERROR(SV2) (2)If the alarm occurs again, replace the SERVOPACK. 1588 DIVIDING RATIO Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back SETTING...
Page 331 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and execution of motion command. then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Turn the power OFF then back ON.
Page 332 Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).
Page 333 Setting error Check the JOB. INFO NOT (1)Turn the power OFF then back ON. GENERATED(SV) (2)If the error occurs again, contact your Yaskawa representative. 1657 AXIS ENDLESS The home position detecting Setting error Disable either the axis endless function or the home position detection SPECIFIC.
Page 334 Alarm Alarm Name Meaning Cause Remedy Number Code The servo float function was used Setting error Disable either the axis endless function or the servo float function of for the axis for which the axis corresponding axis. endless function was enabled. The servo float function cannot be used for the axis which the axis endless function was enabled.
Page 335 Alarm Alarm Name Meaning Cause Remedy Number Code The specified axis speed control Setting error Check the JOB. function was executed for the axis which the deceleration stop function was enabled. Specified axis speed control function cannot be used for the axis which the deceleration stop function was enabled.
Page 336 Alarm Alarm Name Meaning Cause Remedy Number Code 1665 MICRO PROGRAM EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back SYNC. ERROR ON.) (SV) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe.
Page 337 Alarm Alarm Name Meaning Cause Remedy Number Code 1670 GENERAL SERVO EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back SETTING ERROR ON.) (SV) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe.
Page 338 Alarm Alarm Name Meaning Cause Remedy Number Code 1676 BASE BLOCK EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back WRITE SIGNAL ON.) ERR (SV) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe.
Page 339 Alarm Alarm Name Meaning Cause Remedy Number Code 1684 INSTANT POWER The instant power failure occurred Voltage failure Check if the primary power supply voltage is dropping. FAILURE(TRQ)(SV and then the torque was saturated. Power failure Check if the instant power failure has occurred. 1685 INSTANT POWER The instant power failure occurred...
Page 340 Alarm Alarm Name Meaning Cause Remedy Number Code Information of the connected the YSU unit failure (1)Turn the power OFF then back ON. EAXA board is different between (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN the CPU1 and the CPU2 of the before replace the YSU unit to be safe.
Page 341 Alarm Alarm Name Meaning Cause Remedy Number Code 1804 M-SAFETY SELF When the controller power turned YSU unit failure (1)Turn the power OFF then back ON. CHECK ON, CPU1 detected an error in the (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN ERROR(CPU1) watchdog detection circuit.
Page 342 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 343 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 344 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 345 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 346 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 347 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 348 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 349 Alarm Alarm Name Meaning Cause Remedy Number Code The communication control IC of YSU unit failure (1)Turn the power OFF then back ON. YSU unit detected the error. (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN before replace the YSU unit to be safe.
Page 350 Alarm Alarm Name Meaning Cause Remedy Number Code 1807 M-SAFETY SLAVE There is the EAXA board for Connection failure (1)Turn the power OFF then back ON. TIME OUT(CPU1) display of the 7 segment (2)If the alarm occurs again, check the connection of the following LED(DS1) of EAXA board is not communication cables.
Page 351 Alarm Alarm Name Meaning Cause Remedy Number Code There is the EAXA board for Connection failure (1)Turn the power OFF then back ON. display of the 7 segment (2)If the alarm occurs again, check the connection of the following LED(DS1) of EAXA board is not communication cables.
Page 352 Alarm Alarm Name Meaning Cause Remedy Number Code YSU unit failure (1)Turn the power OFF then back ON. (2)After replacement the fuse, and then if the alarm occurred again, replace the YSU unit. Save the CMOS.BIN before replace the YSU unit to be safe. 0000 CPU1 detected the 3.3V low YSU unit failure...
Page 353 Alarm Alarm Name Meaning Cause Remedy Number Code 1810 M-SAFETY UNIT The unconnection with other YSU Connection failure (1)Turn the power OFF then back ON. LINK units was detected. (2)If the alarm occurs again, check the followings. ERROR(CPU1) ·Check the connection of cable connected with other YSU unit. (3)After confirmation of the connection, and then if the alarm occurred again, replace the communication cable.
Page 354 Alarm Alarm Name Meaning Cause Remedy Number Code 1812 SV M-SAFETY The communication between the Connection failure (1)Turn the power OFF then back ON. BROKEN EAXA board and the YSU unit are (2)If the alarm occurs again, check the connection of the following LINE(CPU2) disconnected.
Page 355 Alarm Alarm Name Meaning Cause Remedy Number Code 1816 SV M-SAFETY NO The communication error (loop Connection failure (1)Turn the power OFF then back ON. COMMUNICATE(C back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following PU2) board of rotary switch was set to communication cables.
Page 356 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 357 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 358 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 359 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 360 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 361 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 362 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error (loop Connection failure (1)Turn the power OFF then back ON. back error) occurred in the EAXA (2)If the alarm occurs again, check the connection of the following board of rotary switch was set to communication cables.
Page 363 Alarm Alarm Name Meaning Cause Remedy Number Code The communication error occurred YSU unit failure (1)Turn the power OFF then back ON. between the EAXA board and the (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN YSU unit.
Page 364 Alarm Alarm Name Meaning Cause Remedy Number Code 1818 M-SAFETY SLAVE There is the EAXA board for Connection failure (1)Turn the power OFF then back ON. TIME OUT(CPU2) display of the 7 segment (2)If the alarm occurs again, check the connection of the following LED(DS1) of EAXA board is not communication cables.
Page 365 Alarm Alarm Name Meaning Cause Remedy Number Code There is the EAXA board for Connection failure (1)Turn the power OFF then back ON. display of the 7 segment (2)If the alarm occurs again, check the connection of the following LED(DS1) of EAXA board is not communication cables.
Page 366 Alarm Alarm Name Meaning Cause Remedy Number Code YSU unit failure (1)Turn the power OFF then back ON. (2)After replacement the fuse, and then if the alarm occurred again, replace the YSU unit. Save the CMOS.BIN before replace the YSU unit to be safe. 0000 CPU2 detected the 3.3V low YSU unit failure...
Page 367 Alarm Alarm Name Meaning Cause Remedy Number Code 0000 CPU2 detected the 5V low voltage YSU unit failure (1)Turn the power OFF then back ON. in the CPU1. (2)After replacement the fuse, and then if the alarm occurred again, replace 1110 the YSU unit.
Page 368 Alarm Alarm Name Meaning Cause Remedy Number Code 4001 MEMORY Sub Code: User coordinate Data error (1)Reset the alarm. ERROR(USER number (2)If the alarm occurs again, initialize the user coordinates file in COORD FILE) maintenance mode, and then load the user coordinates file saved in the external memory device.
Page 369 Alarm Alarm Name Meaning Cause Remedy Number Code 4003 MEMORY Sub Code: Page number Data error (1)Reset the alarm. ERROR(WEAVING (2)If the alarm occurs again, initialize the weaving condition file in FILE) maintenance mode, and then load the weaving condition file saved in the external memory device.
Page 370 Alarm Alarm Name Meaning Cause Remedy Number Code 4005 MEMORY Data error (1)Reset the alarm. ERROR(SECOND (2)If the alarm occurs again, initialize the second home positioning file in HOME POS) maintenance mode, and then load the second home positioning file saved in the external memory device.
Page 371 Alarm Alarm Name Meaning Cause Remedy Number Code 4007 MEMORY Sub Code: Page number Data error (1)Reset the alarm. ERR(ARC START (2)If the alarm occurs again, initialize the arc start condition file in COND FILE) maintenance mode, and then load the arc start condition file saved in the external memory device.
Page 372 Alarm Alarm Name Meaning Cause Remedy Number Code 4009 MEMORY Sub Code: Page number Data error (1)Reset the alarm. ERROR(ARC AUX (2)If the alarm occurs again, initialize the arc auxiliary condition file in COND FILE) maintenance mode, and then load the arc auxiliary condition file saved in the external memory device.
Page 373 Alarm Alarm Name Meaning Cause Remedy Number Code 4012 MEMORY Sub Code: Condition file number Data error (1)Reset the alarm. ERROR(LINK (2)If the alarm occurs again, initialize the link servo float condition file in SERVOFLOAT) maintenance mode, and then load the link servo float condition file saved in the external memory device.
Page 374 Alarm Alarm Name Meaning Cause Remedy Number Code 4014 MEMORY Sub Code: Page number Data error (1)Reset the alarm. ERROR(ROBOT (2)If the alarm occurs again, initialize the file for calibration between CALIB FILE) manipulators in maintenance mode, and then load the file for calibration between manipulators saved in the external memory device.
Page 375 Alarm Alarm Name Meaning Cause Remedy Number Code 4018 MEMORY Data error (1)Reset the alarm. ERR(LADDER (2)If the alarm occurs again, initialize the ladder program file in maintenance PRG FILE) mode, and then load the ladder program file saved in the external memory device.
Page 376 Alarm Alarm Name Meaning Cause Remedy Number Code 4020 MEMORY Data error (1)Reset the alarm. ERROR(OPERATI (2)If the alarm occurs again, initialize the work home position file in ON ORIGIN) maintenance mode, and then load the work home position file saved in the external memory device.
Page 377 Alarm Alarm Name Meaning Cause Remedy Number Code 4022 MEMORY Sub Code: Page number Data error (1)Reset the alarm. ERROR(PAINT (2)If the alarm occurs again, initialize the paint special file in maintenance SPECIAL FILE) mode, and then load the paint special file saved in the external memory device.
Page 378 Alarm Alarm Name Meaning Cause Remedy Number Code 4024 MEMORY Data error (1)Reset the alarm. ERR(WRIST WEAV (2)If the alarm occurs again, initialize the wrist weaving amplitude file in AMP FILE) maintenance mode, and then load the wrist weaving amplitude file saved in the external memory device.
Page 379 Alarm Alarm Name Meaning Cause Remedy Number Code 4028 MEMORY Data error (1)Reset the alarm. ERR(SENSOR (2)If the alarm occurs again, initialize the sensor monitoring condition file in MON COND FILE) maintenance mode, and then load the sensor monitoring condition file saved in the external memory device.
Page 380 Alarm Alarm Name Meaning Cause Remedy Number Code 4031 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(SPOT (2)If the alarm occurs again, initialize the gun condition file in maintenance GUN COND FILE) mode, and then load the gun condition file saved in the external memory device.
Page 381 Alarm Alarm Name Meaning Cause Remedy Number Code 4033 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(GUN (2)If the alarm occurs again, initialize the gun pressure file in maintenance PRESSURE FILE) mode, and then load the gun pressure file saved in the external memory device.
Page 382 Alarm Alarm Name Meaning Cause Remedy Number Code 4035 MEMORY Data error (1)Reset the alarm. ERR(ANTICIPATIO (2)If the alarm occurs again, initialize the anticipation outputs file in N OG FILE) maintenance mode, and then load the anticipation outputs file saved in the external memory device.
Page 383 Alarm Alarm Name Meaning Cause Remedy Number Code 4037 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(STROKE (2)If the alarm occurs again, initialize the FULL/SHORT OPEN position POSITION) setting file in maintenance mode, and then load the FULL/SHORT OPEN position setting file saved in the external memory device.
Page 384 Alarm Alarm Name Meaning Cause Remedy Number Code 4039 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(FORM (2)If the alarm occurs again, initialize the form cut file in maintenance mode, CUT FILE) and then load the form cut file saved in the external memory device. YCP01 board failure (1)Reset the alarm.
Page 385 Alarm Alarm Name Meaning Cause Remedy Number Code 4041 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(SPOT IO (2)If the alarm occurs again, initialize the spot I/O allocation file in ALLOCTE FL) maintenance mode, and then load the spot I/O allocation file saved in the external memory device.
Page 386 Alarm Alarm Name Meaning Cause Remedy Number Code 4043 MEMORY Sub Code: Page number Data error (1)Reset the alarm. ERROR(VISION (2)If the alarm occurs again, initialize the vision calibration file in CALIBRATION) maintenance mode, and then load the vision calibration file saved in the external memory device.
Page 387 Alarm Alarm Name Meaning Cause Remedy Number Code 4045 MEMORY Data error (1)Reset the alarm. ERROR(WELD (2)If the alarm occurs again, initialize the welding pulse selection file in PULSE SELECT) maintenance mode, and then load the welding pulse selection file saved in the external memory device.
Page 388 Alarm Alarm Name Meaning Cause Remedy Number Code 4048 MEMORY Data error (1)Reset the alarm. ERROR(SERVO S- (2)If the alarm occurs again, initialize the sealer gun characteristics file in GUN FILE) maintenance mode, and then load the sealer gun characteristics file saved in the external memory device.
Page 389 Alarm Alarm Name Meaning Cause Remedy Number Code 4050 MEMORY Data error (1)Reset the alarm. ERR(AXIS I/O (2)If the alarm occurs again, initialize the axis motion I/O allocation file in ALLOC FILE) maintenance mode, and then load the axis motion I/O allocation file saved in the external memory device.
Page 390 Alarm Alarm Name Meaning Cause Remedy Number Code 4052 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(TOOL (2)If the alarm occurs again, initialize the tool interference file in maintenance INTERFERENCE) mode, and then load the tool interference file saved in the external memory device.
Page 391 Alarm Alarm Name Meaning Cause Remedy Number Code 4054 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(PAINTING (2)If the alarm occurs again, initialize the painting device characteristics file SPECIAL) in maintenance mode, and then load the painting device characteristics file saved in the external memory device.
Page 392 Alarm Alarm Name Meaning Cause Remedy Number Code 4056 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(PLUG (2)If the alarm occurs again, initialize the painting filling file in maintenance VOLUME FILE) mode, and then load the painting filling file saved in the external memory device.
Page 393 Alarm Alarm Name Meaning Cause Remedy Number Code 4058 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(EVB (2)If the alarm occurs again, initialize the EVB turbine condition file in TURBIN COND) maintenance mode, and then load the EVB turbine condition file saved in the external memory device.
Page 394 Alarm Alarm Name Meaning Cause Remedy Number Code 4060 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(CLEARAN (2)If the alarm occurs again, initialize the clearance file in maintenance CE FILE) mode, and then load the clearance file saved in the external memory device. YCP01 board failure (1)Reset the alarm.
Page 395 Alarm Alarm Name Meaning Cause Remedy Number Code 4062 MEMORY Sub Code: File number Data error (1)Reset the alarm. ERROR(LNR (2)If the alarm occurs again, initialize the linear scale condition file in SCALE FILE) maintenance mode, and then load the linear scale condition file saved in the external memory device.
Page 396 Alarm Alarm Name Meaning Cause Remedy Number Code 4064 MEMORY Data error (1)Reset the alarm. ERR(WEAV SYNC (2)If the alarm occurs again, initialize the weaving synchronizing welding WELD FILE) condition file in maintenance mode, and then load the weaving synchronizing welding condition file saved in the external memory device.
Page 397 Alarm Alarm Name Meaning Cause Remedy Number Code 4069 MEMORY Data error (1)Reset the alarm. ERR(PALLETIZE (2)If the alarm occurs again, initialize the palletize condition file in COND FILE) maintenance mode, and then load the palletize condition file saved in the external memory device.
Page 398 Alarm Alarm Name Meaning Cause Remedy Number Code 4071 MEMORY Data error (1)Reset the alarm. ERROR(LASER (2)If the alarm occurs again, initialize the laser tracking welding end file in TRACKING END maintenance mode, and then load the laser tracking welding end file saved FILE) in the external memory device.
Page 399 Alarm Alarm Name Meaning Cause Remedy Number Code 4073 MEMORY Data error (1)Reset the alarm. ERROR(LASER (2)If the alarm occurs again, initialize the laser tracking welding set file in TRACKING SET maintenance mode, and then load the laser tracking welding set file saved in FILE) the external memory device.
Page 400 Alarm Alarm Name Meaning Cause Remedy Number Code 4075 MEMORY Data error (1)Reset the alarm. ERROR(CONDITI (2)If the alarm occurs again, initialize the condition file of corresponding to ON FILE OF laser tracking gap in maintenance mode, and then load the condition file of CORRESPONDIN corresponding to laser tracking gap saved in the external memory device.
Page 401 Alarm Alarm Name Meaning Cause Remedy Number Code 4099 DC 24V POWER YPS power supply Replace the YPS unit. SUPPLY failure FAILURE(YPS) 4100 OVERRUN IN Power-ON unit Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ROBOT AXIS ON.) (2)If the alarm occurs again, check the connection and inserting state of the...
Page 402 Alarm Alarm Name Meaning Cause Remedy Number Code YPU unit board (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure ON.) (2)If the alarm occurs again, replace the YPU unit. Save the CMOS.BIN before replacing the board to be safe. EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 403 Alarm Alarm Name Meaning Cause Remedy Number Code Synchronization instruction error: Setting error (1)Check the following settings. When restarted by PSTART, ·The job to be started synchronization instruction status ·The execution timing for start command of the sub task under interruption was different from the status to restart.
Page 404 Alarm Alarm Name Meaning Cause Remedy Number Code PWAIT instruction is the old Setting error (1)Check the following settings. specification. ·The specifications of PWAIT instruction Register the PWAIT instruction as new specification. 4104 WRONG Sub Code1 to 245: Signifies the Setting error * Refer to the instruction manual for Data Transmission Function for details.
Page 405 Alarm Alarm Name Meaning Cause Remedy Number Code 4110 SHOCK SENSOR Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ACTION ON.) (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
Page 406 Alarm Alarm Name Meaning Cause Remedy Number Code Reception timeout (timer B) Communication (1)Reset the alarm. error (2)If the alarm occurs again, check the communication setting and communication wiring is correct. Heading length is too short. Communication (1)Reset the alarm. error (2)If the alarm occurs again, check the setting of communication or transmission side data is correctly set.
Page 407 Alarm Alarm Name Meaning Cause Remedy Number Code Transmission timeout (timer A) Communication (1)Reset the alarm. error (2)If the alarm occurs again, check the communication setting and communication wiring is correct. Transmission timeout (timer B) Communication (1)Reset the alarm. error (2)If the alarm occurs again, check the communication setting and communication wiring is correct.
Page 408 Alarm Alarm Name Meaning Cause Remedy Number Code 4121 COOLING FAN1 Sub Code Cooling fan failure Replace the cooling fan of manipulator. ERROR X······Servo board Check the wiring from a manipulator to a servo board. 1: Servo board1 (SV#1) * Move the manipulator to the safe position in the teach mode. 2: Servo board2 (SV#2) 3: Servo board3 (SV#3) 4: Servo board4 (SV#4)
Page 409 Alarm Alarm Name Meaning Cause Remedy Number Code 4123 COOLING FAN3 Sub Code Cooling fan failure Replace the cooling fan of manipulator. □□□ ERROR Servo board Check the wiring from a manipulator to a servo board. 1: Servo board1 (SV#1) * Move the manipulator to the safe position in the teach mode.
Page 410 Number Code Connection failure (1)Reset the alarm. (2)If the alarm occurs again, check the connection of the following cables. ·Cable between vision system and DX100 system Time-out occurred during data Setting error (1)Check the following settings. reception. ·The communication setting of vision system Connection failure (1)Reset the alarm.
Page 411 Software operation (1)Reset the alarm, and then try again. command is incorrect. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4125 TRANS File access error Communication (1)Reset the alarm.
Page 412 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Measurement item setting error Communication (1)Reset the alarm.
Page 413 In that case, delete the unused jobs. (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The source job is not exist.
Page 414 APPLICATION notification of the APP task re- error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and PROCESS ERROR initialization was processed in the then contact your Yaskawa representative about occurrence status Ethernet function. (operating procedure).
Page 415 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and received in the Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 416 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 417 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and process of the Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 418 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and of the Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 419 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 420 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and received in the Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 421 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 422 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 423 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and a socket. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 424 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and UDP process of the Ethernet then contact your Yaskawa representative about occurrence status function. (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON.
Page 425 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and process of the Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 426 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and UDP process of the Ethernet then contact your Yaskawa representative about occurrence status function. (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON.
Page 427 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and process of the Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 428 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and the Ethernet function. then contact your Yaskawa representative about occurrence status (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 429 Alarm Alarm Name Meaning Cause Remedy Number Code Task specification error Setting error (1)Check the following settings. ·Task specification Specify the task in the range 0 to 4 (7 at expansion). Motion mode specification error Setting error (1)Check the following settings. ·Motion mode specification Set the motion mode to 0 or 1.
Page 430 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and SNTP process of the Ethernet then contact your Yaskawa representative about occurrence status function. (operating procedure). YCP01 board failure (1)Turn the power OFF then back ON.
Page 431 Alarm Alarm Name Meaning Cause Remedy Number Code The IP address error occurred in Setting error (1)Check the following settings. the SNTP process of the Ethernet ·The IP address of the SNTP server function. ·The DHCP server operation (If the DHCP is used) ·The network status (If the DHCP is used) YCP01 board failure (1)Turn the power OFF then back ON.
Page 432 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then insert the CF card which inserted original YCP01 board into the new YCP01 board.
Page 433 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and specifications. then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 434 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 435 (1)Reset the alarm, and then try again. for a job name. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 436 (1)Reset the alarm, and then try again. memory was specified. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 437 (1)Reset the alarm, and then try again. control system. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 438 (1)Reset the alarm, and then try again. of the accessed job. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 439 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and inconsistency of the system then contact your Yaskawa representative about occurrence status software. (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 440 (1)Reset the alarm, and then try again. expanded. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 441 (1)Reset the alarm, and then try again. acquired. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 442 (1)Reset the alarm, and then try again. information. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 443 (1)Reset the alarm, and then try again. damaged. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 444 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).
Page 445 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The access to a job could not be Software operation (1)Reset the alarm.
Page 446 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). A job was newly created with the Software operation (1)Reset the alarm.
Page 447 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An attempt was made to change Setting error (1)Check the following settings.
Page 448 (5)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred in job data Software operation (1)Reset the alarm.
Page 449 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred in step number Software operation (1)Reset the alarm.
Page 450 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). There was an instruction that did Software operation (1)Reset the alarm.
Page 451 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The number of instructions added Setting error (1)Check the following settings.
Page 452 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). A job was newly created with the Software operation (1)Reset the alarm.
Page 453 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The accessed job was not opened. Software operation (1)Reset the alarm.
Page 454 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred when reading Software operation (1)Reset the alarm.
Page 455 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The configuration information for Software operation (1)Reset the alarm.
Page 456 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). A job data was destroyed.
Page 457 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4203...
Page 458 (1)Reset the alarm, and then try again. data is zero. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 459 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and memory size at the initialization of then contact your Yaskawa representative about occurrence status the position data control process. (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 460 (1)Reset the alarm, and then try again. exist. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 461 (1)Reset the alarm, and then try again. destroyed. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 462 (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 463 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and control group. then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 464 (1)Reset the alarm, and then try again. groups exceeded the limit. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 465 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and control process. then contact your Yaskawa representative about occurrence status (operating procedure). YIF board failure (1)Reset the alarm, and then try again.
Page 466 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).
Page 467 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The number of axes for position Software operation (1)Reset the alarm.
Page 468 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The memory size of the position Software operation (1)Reset the alarm.
Page 469 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Unused position data file does not Setting error (1)Check the following settings.
Page 470 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Position data control information is Software operation (1)Reset the alarm.
Page 471 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Position data is not registered.
Page 472 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An attempt was made to access Software operation (1)Reset the alarm.
Page 473 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The number of axes for the control Software operation (1)Reset the alarm.
Page 474 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred in exceptional Software operation (1)Reset the alarm.
Page 475 (4)If the error occurs again though the previous measures were executed, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4206...
Page 476 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and system control section. then contact your Yaskawa representative about occurrence status (operating procedure). An undefined command was Software operation (1)Reset the alarm, and then try again.
Page 477 (1)Reset the alarm, and then try again. generated. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). RMS receiving data error Software operation (1)Reset the alarm, and then try again.
Page 478 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Stack area overflow Software operation (1)Reset the alarm, and then try again.
Page 479 (1)Reset the alarm, and then try again. error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Offline HA processing timeout Software operation (1)Reset the alarm, and then try again.
Page 480 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Segment task polling command Software operation (1)Reset the alarm, and then try again.
Page 481 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). AXIS command request FULL Software operation (1)Reset the alarm, and then try again.
Page 482 Power Source command <-> EW error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and command not prepared then contact your Yaskawa representative about occurrence status (operating procedure). Duplicated request error during Software operation (1)Reset the alarm, and then try again.
Page 483 (1)Reset the alarm, and then try again. general-purpose sensor error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Interrupt main status set Software operation (1)Reset the alarm, and then try again.
Page 484 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Instruction queue and instruction Software operation (1)Reset the alarm, and then try again.
Page 485 AXIS section feedback latch data error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and not established then contact your Yaskawa representative about occurrence status (operating procedure). File C1 through C3 for calibration Software operation (1)Reset the alarm, and then try again.
Page 486 (1)Reset the alarm, and then try again. (pr_atinf_pos_make()) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Control-group axis configuration Software operation (1)Reset the alarm, and then try again.
Page 487 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Designation error of the fetched Software operation (1)Reset the alarm, and then try again.
Page 488 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and (undefined operation) then contact your Yaskawa representative about occurrence status (operating procedure). Queue operation error for variable Software operation (1)Reset the alarm, and then try again.
Page 489 (1)Reset the alarm, and then try again. instruction execution (at DEQUE) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Queue operation error for Software operation (1)Reset the alarm, and then try again.
Page 490 IN/OUT checking conveyor (at error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ENQUE) then contact your Yaskawa representative about occurrence status (operating procedure). Queue operation error for WORK Software operation (1)Reset the alarm, and then try again.
Page 491 LOCK error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and instruction (data length too long) then contact your Yaskawa representative about occurrence status (operating procedure). Transfer data overflow in offline Software operation (1)Reset the alarm, and then try again.
Page 492 (1)Reset the alarm, and then try again. for execution of instructions error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Instruction execution scheduling Software operation (1)Reset the alarm, and then try again.
Page 493 (1)Reset the alarm, and then try again. conveyor queue (empty queue) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Marking error for WORK IN/OUT Software operation (1)Reset the alarm, and then try again.
Page 494 (1)Reset the alarm, and then try again. source (cv_sync_intr ( )) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). No control group for motor gun for Software operation (1)Reset the alarm, and then try again.
Page 495 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and setting) then contact your Yaskawa representative about occurrence status (operating procedure). Segment data missing (seg_t_req Software operation (1)Reset the alarm, and then try again.
Page 496 (1)Reset the alarm, and then try again. parameter error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Arithmetic answer is not set at Software operation (1)Reset the alarm, and then try again.
Page 497 (1)Reset the alarm, and then try again. error(HDAS_get_alias_name()) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). SL undefined interrupt command Software operation (1)Reset the alarm, and then try again.
Page 498 Software operation (1)Reset the alarm, and then try again. error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 1002 VxWorks primitive error Software operation (1)Reset the alarm, and then try again.
Page 499 (1)Reset the alarm, and then try again. ERROR(ARITH) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The averaging buffer in the Software operation (1)Reset the alarm, and then try again.
Page 500 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and completed. then contact your Yaskawa representative about occurrence status (operating procedure). A manipulator designation error Software operation (1)Reset the alarm, and then try again.
Page 501 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and system then contact your Yaskawa representative about occurrence status (operating procedure). Dynamic model arithmetic error Software operation (1)Reset the alarm, and then try again.
Page 502 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Arm interference check error Software operation (1)Reset the alarm, and then try again.
Page 503 (1)Reset the alarm, and then try again. designation error) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). A coordinated motion was Setting error (1)Check the following settings.
Page 504 (1)Reset the alarm, and then try again. error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Play path control: continue Software operation (1)Reset the alarm, and then try again.
Page 505 ERROR(ARITH) bank error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Data setting error in offline answer Software operation (1)Reset the alarm, and then try again.
Page 506 (1)Reset the alarm, and then try again. control error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). OFF_CV_CALIB_POS occupation Software operation (1)Reset the alarm, and then try again.
Page 507 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and created. then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred in exclusive Software operation (1)Reset the alarm, and then try again.
Page 508 (1)Reset the alarm, and then try again. area. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred in exclusive Software operation (1)Reset the alarm, and then try again.
Page 509 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and system. then contact your Yaskawa representative about occurrence status (operating procedure). The fixed control information is Software operation (1)Reset the alarm, and then try again.
Page 510 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Data in control process for Software operation (1)Reset the alarm, and then try again.
Page 511 Alarm Alarm Name Meaning Cause Remedy Number Code Unit failure (1)Reset the alarm. (2)If the alarm occurs again, replace the following unit. ·The motor YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe.
Page 512 *The factor 3:Just turn the power OFF and then ON again. (2)If it would not restore, select "RE CHECK" from the pull-down menu. (3)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4229...
Page 513 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then insert the CF card which inserted original YCP01 board into the new YCP01 board.
Page 514 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then insert the CF card which inserted original YCP01 board into the new YCP01 board.
Page 515 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then insert the CF card which inserted original YCP01 board into the new YCP01 board.
Page 516 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then insert the CF card which inserted original YCP01 board into the new YCP01 board.
Page 517 Alarm Alarm Name Meaning Cause Remedy Number Code YCP01 board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then insert the CF card which inserted original YCP01 board into the new YCP01 board.
Page 518 ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
Page 519 Alarm Alarm Name Meaning Cause Remedy Number Code 4303 CONVERTER Sub Code: Signifies the physical Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back READY SIGNAL No. of converter in which the alarm ON.) ERROR occurred (2)If the alarm occurs again, check the connection and inserting state of the...
Page 520 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors. ·EAXA01-CN507,510 ·EAXB01-CN08 ·Converter CN551,553...
Page 521 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replacing the board to be safe. 4307 SERVO ON Sub Code: Signifies the axis in...
Page 522 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4310 ENCODER Sub Code: Signifies the axis in Overheated encoder Turn OFF the NX100 power for approx.
Page 523 Alarm Alarm Name Meaning Cause Remedy Number Code Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(encoder) ON.) (2)If the alarm occurs again, replace the encoder. EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board.
Page 524 Alarm Alarm Name Meaning Cause Remedy Number Code 4312 ENCODER Module Replace the battery. BATTERY ERROR failure(encoder battery) Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
Page 525 Alarm Alarm Name Meaning Cause Remedy Number Code Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(motor) ON.) (2)If the alarm occurs again, replace the motor. Maintenance failure Measure the density of grease iron powder in the speed reducer and do the maintenance.
Page 526 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replacing the board to be safe. 4320 OVERLOAD(CONT Sub Code: Signifies the axis in...
Page 527 Alarm Alarm Name Meaning Cause Remedy Number Code Module Check the brake voltage. failure(brake) Check that the brake is not locked by malfunction of contactor. 4321 OVERLOAD(MOM Sub Code: Signifies the axis in Setting error Check the following settings. ENT) which the alarm occurred ·The tools or the mass of the workpieces ·Reduction in the moments...
Page 528 Alarm Alarm Name Meaning Cause Remedy Number Code 4322 AMPLIFIER Sub Code: Signifies the axis in Setting error Check the following settings. OVERLOAD(CONT which the alarm occurred ·The tools or the mass of the workpieces INUE) ·Reduction in the moments ·Reduction in the motion speed Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 529 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the following cables. ·The wire harness in the robot. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(motor) ON.)
Page 530 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replacing the board to be safe. Motor gun Setting ·Short-open the strike of the motor gun in which the alarm occurred error...
Page 531 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replacing the board to be safe. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(amplifier)
Page 532 Alarm Alarm Name Meaning Cause Remedy Number Code XEI01 board failure 1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors. ·XEI01 board COV03 board failure 1)Turn the power OFF then back ON. (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
Page 533 Alarm Alarm Name Meaning Cause Remedy Number Code 4332 POSITION Noise error Eliminate the noise or take a countermeasure against the noise. ERROR(SERIAL ENCODER) Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
Page 534 Alarm Alarm Name Meaning Cause Remedy Number Code Module Replace the regenerative resistor. failure(Regenerative resistor) Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(converter) ON.) (2)If the alarm occurs again, replace the SERVOPACK. EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board.
Page 535 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replacing the board to be safe. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(contactor)
Page 536 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replacing the board to be safe. 4337 OVERCURRENT(A Sub Code: Signifies the axis in...
Page 537 Alarm Alarm Name Meaning Cause Remedy Number Code 4338 REGENERATIVE Sub Code: Signifies the axis in Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back TROUBLE(CONVE which the alarm occurred ON.) RTER) (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
Page 538 Alarm Alarm Name Meaning Cause Remedy Number Code Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(converter) ON.) (2)If the alarm occurs again, replace the SERVOPACK. EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board.
Page 539 Alarm Alarm Name Meaning Cause Remedy Number Code 4344 LINEAR Setting error Check the settings for jobs. SERVOFLOAT TRACKING ERROR 4345 Setting error Check the settings for jobs. SERVOFLOAT EXECUTE ERROR 4346 Setting error Check the limit torque of the link servo float condition file. SERVOFLOAT TRQ LIMIT ERROR 4347...
Page 540 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replacing the board to be safe. 4354 FILE NO.
Page 541 Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure).
Page 542 (1)Reset the alarm.(In case of major alarm, turn the power OFF then back error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4364 GUN SOFTLIMIT...
Page 543 Alarm Alarm Name Meaning Cause Remedy Number Code 4365 TOUCH DETECT Setting error Check the following settings. DATA OVER ·Home position of gun axis ·"The motion limit for which the fixed (movable) gun electrode hits the welded target" in the gun condition file ·"The pulse-stroke converter"...
Page 544 Alarm Alarm Name Meaning Cause Remedy Number Code 4381 M-SAFETY Inconsistency of enable signal was Enable signal (1)Reset the alarm. ENABLE SW detected for a certain time period unmatched error (2)Check the followings. ERROR(CPU1) in the programming pendant. ·There are two point of contact enable switch, and only one might be turned on by how to squeeze.
Page 545 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Reset the alarm. (2)If the alarm occurs again, check the followings. ·Confirmation of wiring for pin numbers A3, A4, B3, and B4 of YSU unit (CN209 connector) and connector of programming pendant Hardware failure (1)Reset the alarm.
Page 546 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency Connection failure (1)Reset the alarm. of emergency stop signal in robot (2)If the alarm occurs again, check the followings. controller. ·Confirmation of wiring for pin numbers A1, A2, B1, and B2 of YSU unit (CN208 connector) and emergency stop SW of robot controller Hardware failure (1)Reset the alarm.
Page 547 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency Connection failure (1)Reset the alarm. of full speed test signal. (2)If the alarm occurs again, check the followings. ·Wiring confirmation of YSU unit (CN216 connector) and pin numbers 23, 24, 25, and 26 of MXT terminal block CPU1 detected an inconsistency Connection failure...
Page 548 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency Connection failure (1)Reset the alarm. of mode 1 signal in the (2)If the alarm occurs again, check the followings. programming pendant. ·Connected confirmation of wiring for pin numbers A6 of YSU unit (CN209 connector) and programming pendant Hardware failure (1)Reset the alarm.
Page 549 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency YSU unit failure (1)Reset the alarm. of servo ON 2 signal (SFRDY2). (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN before replacing the YSU unit to be safe. CPU1 detected an inconsistency Connection failure (1)Reset the alarm.
Page 550 Alarm Alarm Name Meaning Cause Remedy Number Code YSU Unit or (1)Reset the alarm. connection cable (2)If the alarm occurs again after replacement the contactor or relay that failure drives contactor, execute the following contents. Save the CMOS.BIN before replacing the YSU unit to be safe. ·Replacement of YSU unit ·Replacement of connection cable CPU1 detected an inconsistency...
Page 551 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency Connection failure (1)Reset the alarm. of contactor 2 enable signal. (2)If the alarm occurs again, check the followings. ·Wiring confirmation of pin numbers 5, 6, 7, and 8 of YSU unit (CN211 connector) CPU1 detected an inconsistency Connection failure...
Page 552 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency Connection failure (1)Reset the alarm. of fun alarm 3 signal. (2)If the alarm occurs again, check the followings. ·Wiring confirmation of pin numbers A3 and B3 of YSU unit (CN212 connector) CPU1 detected an inconsistency Connection failure...
Page 553 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency Connection failure (1)Reset the alarm. of enable switch signal between (2)If the alarm occurs again, check the followings. YSU unit. ·Wiring confirmation of pin numbers 12, 14, 37, and 39 of YSU unit (CN205 connector) and pin numbers 11, 13, 36, and 38 of YSU unit (CN206 connector) YSU Unit or...
Page 554 Alarm Alarm Name Meaning Cause Remedy Number Code YSU Unit or (1)Reset the alarm. connection cable (2)If the alarm occurs again after confirming the wiring, execute the following failure contents. Save the CMOS.BIN before replacing the YSU unit to be safe. ·Replacement of YSU unit ·Replacement of connection cable CPU1 detected an inconsistency...
Page 555 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency Connection failure (1)Reset the alarm. of speed mode 1 feedback signal (2)If the alarm occurs again, execute the following contents. between YSU unit. ·Wiring confirmation of pin numbers 23, 25, 48, and 50 of YSU unit (CN205 connector) and pin numbers 22, 24, 47, and 49 of YSU unit (CN206 connector) YSU Unit or...
Page 556 Alarm Alarm Name Meaning Cause Remedy Number Code YSU Unit or (1)Reset the alarm. connection cable (2)If the alarm occurs again after confirming the connection, execute the failure following contents. Save the CMOS.BIN before replacing the YSU unit to be safe.
Page 557 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an inconsistency YSU unit failure (1)Reset the alarm. of speed mode 1 feedback ready (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN signal between function safety before replacing the YSU unit to be safe.
Page 558 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an error of YSU unit failure (1)Reset the alarm. emergency stop signal in robot (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN controller by the self-diagnostic before replacing the YSU unit to be safe.
Page 559 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an error of YSU unit failure (1)Reset the alarm. contactor 1 enable signal by the (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN self-diagnostic check. before replacing the YSU unit to be safe. CPU1 detected an error of YSU unit failure (1)Reset the alarm.
Page 560 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected an error of enable YSU unit failure (1)Reset the alarm. switch signal between YSU unit by (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN the self-diagnostic check. before replacing the YSU unit to be safe.
Page 561 Alarm Alarm Name Meaning Cause Remedy Number Code YSU unit failure (1)Reset the alarm. (2)If the alarm occurs again after confirming the rotary switch(S1), replace the YSU unit. Save the CMOS.BIN before replacing the YSU unit to be safe. CPU1 detected no change of the Connection failure (1)Reset the alarm.
Page 562 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected no change of the Connection failure (1)Reset the alarm. feedback signal within a certain (2)If the alarm occurs again, check the followings. time period in speed mode 1 signal ·Connector connection confirmation of YSU unit (CN205/CN206) between YSU units.
Page 563 Alarm Alarm Name Meaning Cause Remedy Number Code 4387 M-SAFETY CPU1 detected feedback value Connection failure (1)Reset the alarm. CONTACTOR (KMMB) did not turn ON/OFF (2)If the alarm occurs again, execute the following contents. STICK(CPU1)(2) within a certain time period from ·Connection confirmation between YSU unit (CN214 connector) and the contactor 1 SERVO ON/OFF, or contactor...
Page 564 Alarm Alarm Name Meaning Cause Remedy Number Code CPU1 detected feedback value Connection failure (1)Reset the alarm. (KMMB) did not turn ON/OFF (2)If the alarm occurs again, check the followings. within a certain time period from ·Connected confirmation of YSU unit (CN215 connector) and contactor contactor 3 SERVO ON/OFF, or CPU1 detected poor connection between YSU unit and contactor.
Page 565 Alarm Alarm Name Meaning Cause Remedy Number Code 4388 M-SAFETY SERVO CPU1 detected feedback value YSU unit failure (1)Reset the alarm. ON ERROR(CPU1) (SFRDY) did not turn ON/OFF (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN within a certain time period from before replacing the YSU unit to be safe.
Page 566 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency Connection failure (1)Reset the alarm. of emergency stop signal in robot (2)If the alarm occurs again, check the followings. controller. ·Confirmation of wiring for pin numbers A1, A2, B1, and B2 of YSU unit (CN208 connector) and emergency stop SW of robot controller Hardware failure (1)Reset the alarm.
Page 567 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency Connection failure (1)Reset the alarm. of full speed test signal. (2)If the alarm occurs again, check the followings. ·Wiring confirmation of YSU unit (CN216 connector) and pin numbers 23, 24, 25, and 26 of MXT terminal block CPU2 detected an inconsistency Connection failure...
Page 568 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency Connection failure (1)Reset the alarm. of mode 1 signal in the (2)If the alarm occurs again, check the followings. programming pendant. ·Connected confirmation of wiring for pin numbers A6 of YSU unit (CN209 connector) and programming pendant YSU unit or (1)Reset the alarm.
Page 569 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency YSU unit failure (1)Reset the alarm. of servo ON 2 signal (SFRDY2). (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN before replacing the YSU unit to be safe. CPU2 detected an inconsistency Connection failure (1)Reset the alarm.
Page 570 Alarm Alarm Name Meaning Cause Remedy Number Code YSU Unit or (1)Reset the alarm. connection cable (2)If the alarm occurs again after replacement the contactor or relay that failure drives contactor, execute the following contents. Save the CMOS.BIN before replacing the YSU unit to be safe. ·Replacement of YSU unit ·Replacement of connection cable CPU2 detected an inconsistency...
Page 571 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency Connection failure (1)Reset the alarm. of contactor 2 enable signal. (2)If the alarm occurs again, check the followings. ·Wiring confirmation of pin numbers 5, 6, 7, and 8 of YSU unit (CN211 connector) CPU2 detected an inconsistency Connection failure...
Page 572 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency Connection failure (1)Reset the alarm. of fun alarm 3 signal. (2)If the alarm occurs again, check the followings. ·Wiring confirmation of pin numbers A3 and B3 of YSU unit (CN212 connector) CPU2 detected an inconsistency Connection failure...
Page 573 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency Connection failure (1)Reset the alarm. of enable switch signal between (2)If the alarm occurs again, check the followings. YSU unit. ·Wiring confirmation of pin numbers 12, 14, 37, and 39 of YSU unit (CN205 connector) and pin numbers 11, 13, 36, and 38 of YSU unit (CN206 connector) YSU Unit or...
Page 574 Alarm Alarm Name Meaning Cause Remedy Number Code YSU Unit or (1)Reset the alarm. connection cable (2)If the alarm occurs again after confirming the wiring, execute the following failure contents. Save the CMOS.BIN before replacing the YSU unit to be safe. ·Replacement of YSU unit ·Replacement of connection cable CPU1 detected an inconsistency...
Page 575 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency Connection failure (1)Reset the alarm. of speed mode 1 feedback signal (2)If the alarm occurs again, check the followings. between YSU unit. ·Wiring confirmation of pin numbers 23, 25, 48, and 50 of YSU unit (CN205 connector) and pin numbers 22, 24, 47, and 49 of YSU unit (CN206 connector) YSU Unit or...
Page 576 Alarm Alarm Name Meaning Cause Remedy Number Code YSU Unit or (1)Reset the alarm. connection cable (2)If the alarm occurs again after confirming the connection, execute the failure following contents. Save the CMOS.BIN before replacing the YSU unit to be safe.
Page 577 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an inconsistency YSU unit failure (1)Reset the alarm. of speed mode 1 feedback ready (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN signal between function safety before replacing the YSU unit to be safe.
Page 578 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an error of YSU unit failure (1)Reset the alarm. emergency stop signal in robot (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN controller by the self-diagnostic before replacing the YSU unit to be safe.
Page 579 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an error of YSU unit failure (1)Reset the alarm. contactor 1 enable signal by the (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN self-diagnostic check. before replacing the YSU unit to be safe. CPU2 detected an error of YSU unit failure (1)Reset the alarm.
Page 580 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected an error of enable YSU unit failure (1)Reset the alarm. switch signal between YSU unit by (2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN the self-diagnostic check. before replacing the YSU unit to be safe.
Page 581 Alarm Alarm Name Meaning Cause Remedy Number Code YSU unit failure (1)Reset the alarm. (2)If the alarm occurs again after confirming the confirming the rotary switch, replace the YSU unit. Save the CMOS.BIN before replacing the YSU unit to be safe. CPU2 detected no change of the Connection failure (1)Reset the alarm.
Page 582 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected no change of the Connection failure (1)Reset the alarm. feedback signal within a certain (2)If the alarm occurs again, check the followings. time period in speed mode 1 signal ·Connector connection confirmation of YSU unit (CN205/CN206) between YSU units.
Page 583 Alarm Alarm Name Meaning Cause Remedy Number Code 4394 M-SAFETY CPU2 detected feedback value Connection failure (1)Reset the alarm. CONTACTOR (KMMB) did not turn ON/OFF (2)If the alarm occurs again, execute the following contents. STICK(CPU2) within a certain time period from ·Connection confirmation between YSU unit (CN214 connector) and the contactor 1 SERVO ON/OFF, or contactor...
Page 584 Alarm Alarm Name Meaning Cause Remedy Number Code CPU2 detected feedback value Connection failure (1)Reset the alarm. (KMMB) did not turn ON/OFF (2)If the alarm occurs again, check the followings. within a certain time period from ·Connected confirmation of YSU unit (CN215 connector) and contactor contactor 3 SERVO ON/OFF, or CPU2 detected poor connection between YSU unit and contactor.
Page 585 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and regulated time. No motion then contact your Yaskawa representative about occurrence status command was prepared. (operating procedure). The arithmetic processing section Software operation (1)Reset the alarm, and then try again.
Page 586 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and not completed. then contact your Yaskawa representative about occurrence status (operating procedure). The arithmetic processing section Software operation (1)Reset the alarm, and then try again.
Page 587 (1)Reset the alarm, and then try again. does not exist. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred when system Software operation (1)Reset the alarm, and then try again.
Page 588 (1)Reset the alarm, and then try again. has not been completed normally. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred in job data Software operation (1)Reset the alarm, and then try again.
Page 589 MOTION error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and section. then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred in path/trace Software operation (1)Reset the alarm, and then try again.
Page 590 (1)Reset the alarm, and then try again. incorrect in prereading processing. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Prereading processing has not Software operation (1)Reset the alarm, and then try again.
Page 591 (1)Reset the alarm, and then try again. CONTROL ERROR slave error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Slave designation error Software operation (1)Reset the alarm, and then try again.
Page 592 (1)Reset the alarm, and then try again. JOG motion error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Occupation control error Software operation (1)Reset the alarm, and then try again.
Page 593 Alarm Alarm Name Meaning Cause Remedy Number Code 4408 TWO STEPS Setting error (1)Check the following settings. SAME ·Check the settings for teaching position of spline interpolation step so that POSITION(SPLINE each point is different. 4409 TWO STEPS Setting error (1)Check the following settings.
Page 594 (1)Reset the alarm, and then try again. CONTROL ERROR error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Segment-receiving control Software operation (1)Reset the alarm, and then try again.
Page 595 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The value of bank_refresh_flag(x) Software operation (1)Reset the alarm, and then try again.
Page 596 (1)Reset the alarm, and then try again. error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Control-group error for a job file Software operation (1)Reset the alarm, and then try again.
Page 597 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and start point then contact your Yaskawa representative about occurrence status (operating procedure). Occupation control-group error Software operation (1)Reset the alarm, and then try again.
Page 598 (1)Reset the alarm, and then try again. MOTION section and SL#2 error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Interrupt processing error between Software operation (1)Reset the alarm, and then try again.
Page 599 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and open a job. then contact your Yaskawa representative about occurrence status (operating procedure). No space was found in job handle Software operation (1)Reset the alarm, and then try again.
Page 600 (1)Reset the alarm, and then try again. arrangement is incorrect. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Tag data type is incorrect. Software operation (1)Reset the alarm, and then try again.
Page 601 (1)Reset the alarm, and then try again. search process. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An error occurred move instruction Software operation (1)Reset the alarm, and then try again.
Page 602 (1)Reset the alarm, and then try again. tag data is read. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The necessary tag data is not set. Software operation (1)Reset the alarm, and then try again.
Page 603 (1)Reset the alarm, and then try again. expression operation is empty. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Operation items are lacking in Software operation (1)Reset the alarm, and then try again.
Page 604 (1)Reset the alarm, and then try again. area is incorrect. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The set data for character-string Software operation (1)Reset the alarm, and then try again.
Page 605 Alarm Alarm Name Meaning Cause Remedy Number Code The real-number type variable is Setting error (1)Check the following settings. not defined. ·Set the number of local variables to be used in the job header. The character-string type variable Setting error (1)Check the following settings.
Page 606 ERROR processing could not be obtained. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The prereading processing has not Software operation (1)Reset the alarm, and then try again.
Page 607 (1)Reset the alarm, and then try again. completed. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). An exceptional error occurred in Software operation (1)Reset the alarm, and then try again.
Page 608 Alarm Alarm Name Meaning Cause Remedy Number Code The value for the signed 4-byte Setting error (1)Check the following settings. data type variable is less than the ·Check the settings for variable, and then correct the job to fall within the minimum value.
Page 609 (1)Reset the alarm, and then try again. CONTROL ERROR error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). When the speed is specified by Setting error (1)Check the following settings.
Page 610 (1)Reset the alarm, and then try again. calculation error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Calculation error of horizontal- and Software operation (1)Reset the alarm, and then try again.
Page 611 Alarm Alarm Name Meaning Cause Remedy Number Code Weaving synchronization file Setting error (1)Check the following settings. number selection range error ·Check the number of the weaving synchronizing file for use. 4449 UNMATCHED Setting error (1)Check the following settings. POSN VAR DATA ·Match the data type of position type variable.
Page 612 Alarm Alarm Name Meaning Cause Remedy Number Code An error occurred in conveyor Setting error (1)Check the following settings. calibration file number check. ·Confirm that the specified conveyor calibration file number is 1 to 6. An error occurred in argument Setting error (1)Check the following settings.
Page 613 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and COMMAND(ARITH preparation section. then contact your Yaskawa representative about occurrence status (operating procedure). 4467 USER COORD Setting error (1)Check the following settings.
Page 614 (1)Reset the alarm, and then try again. group are set to the same group. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Incorrect designation of the control Software operation (1)Reset the alarm, and then try again.
Page 615 (1)Reset the alarm, and then try again. for calibration data is insufficient. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4469 ROBOT The calibration between Setting error (1)Check the following settings.
Page 616 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and calibration data then contact your Yaskawa representative about occurrence status (operating procedure). Incorrect designation of the Software operation (1)Reset the alarm, and then try again.
Page 617 Four arc: 7 4485 WRONG Software operation (1)Reset the alarm, and then try again. SELECTION error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and (SENSOR) then contact your Yaskawa representative about occurrence status (operating procedure).
Page 618 (1)Reset the alarm, and then try again. PARAMETER FILE error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4489 DEFECTIVE The C- and W-axis position at the Setting error (1)Check the following settings.
Page 619 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ERROR then contact your Yaskawa representative about occurrence status (operating procedure). Designation error for the Software operation (1)Reset the alarm, and then try again.
Page 620 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and data: then contact your Yaskawa representative about occurrence status The valid control-group information (operating procedure). that is added to the correction amount data disagrees with the valid control-group for the job.
Page 621 (1)Reset the alarm, and then try again. parameter. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The setting of L-axis ball-screw Software operation (1)Reset the alarm, and then try again.
Page 622 An undefined error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and type is designated. then contact your Yaskawa representative about occurrence status (operating procedure). The incorrect coordinate system is Software operation (1)Reset the alarm, and then try again.
Page 623 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The setting of allowable torque for Software operation (1)Reset the alarm, and then try again.
Page 624 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Two-degree-of-freedom system Kp Software operation (1)Reset the alarm, and then try again.
Page 625 (1)Reset the alarm, and then try again. when the PV loop is 1 ms. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Non-robot axis observer selection Software operation (1)Reset the alarm, and then try again.
Page 626 (1)Reset the alarm, and then try again. error error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The setting in the optimized Software operation (1)Reset the alarm, and then try again.
Page 627 (1)Reset the alarm, and then try again. the speed limit function is not set. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The setting in the mode Software operation (1)Reset the alarm, and then try again.
Page 628 "a3" for the SKR error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and manipulator. then contact your Yaskawa representative about occurrence status (operating procedure). The setting of sealer-gun control- Software operation (1)Reset the alarm, and then try again.
Page 629 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and check point. then contact your Yaskawa representative about occurrence status (operating procedure). Zero or a negative value is set for Software operation (1)Reset the alarm, and then try again.
Page 630 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and designation is incorrect. then contact your Yaskawa representative about occurrence status (operating procedure). The setting of the deceleration Software operation (1)Reset the alarm, and then try again.
Page 631 Alarm Alarm Name Meaning Cause Remedy Number Code 4497 DEFECTIVE Some of the teaching points for Setting error (1)Check the following settings. TAUGHT master-group are on the same ·Perform the teaching again so that the teaching points are different from one POINT(CALIB) point.
Page 632 (1)Reset the alarm, and then try again. RANGE(PARALLE error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and L PROCESS) then contact your Yaskawa representative about occurrence status (operating procedure). 4502 SL BOARD ON- The option board was detected not Software operation (1)Reset the alarm, and then try again.
Page 633 Alarm Alarm Name Meaning Cause Remedy Number Code 4508 SPECIFIED The specified coordinate system Setting error (1)Check the following settings. ERROR(COORDIN does not exist. ·Check the settings for the coordinate system which can be used. ATE) Designation error of the master Setting error (1)Check the following settings.
Page 634 Alarm Alarm Name Meaning Cause Remedy Number Code Designation error of the coordinate Setting error (1)Check the following settings. system for the external reference ·Check the settings for the coordinate system which can be used. point. This coordinate system cannot be used. Designation error of the coordinate Setting error (1)Check the following settings.
Page 635 (1)Reset the alarm, and then try again. MONITOR SET group error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ERROR(SERVO) then contact your Yaskawa representative about occurrence status (operating procedure). 4518 SEARCH MON Sub Code: The related control- Software operation (1)Reset the alarm, and then try again.
Page 636 (1)Reset the alarm, and then try again. read-in. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The tag is not registered. Software operation (1)Reset the alarm, and then try again.
Page 637 Software operation (1)Reset the alarm, and then try again. change. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4524 CANNOT Setting error (1)Check the following settings.
Page 638 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and was sent. then contact your Yaskawa representative about occurrence status (operating procedure). At full synchronization, the Software operation (1)Reset the alarm, and then try again.
Page 639 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and processing. then contact your Yaskawa representative about occurrence status (operating procedure). No base axis in the job for arc Setting error (1)Check the following settings.
Page 640 Alarm Alarm Name Meaning Cause Remedy Number Code 4534 TORQUE Setting error (1)Check the following settings. INTERFERENCE ·Correctly set the weight information in the tool file. ( Are the weight: W and the number set to the load value of either Xg, Yg or Zg· ) ·Reduce the speed in the step where the alarm occurred.
Page 641 Alarm Alarm Name Meaning Cause Remedy Number Code The start position or end position Setting error (1)Check the following settings. for the Corner-R motion could not ·Make the setting for the Corner-R radius small. be calculated inside the start zone ·Make the moving amount of the Corner-R start step long.
Page 642 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and CALL) call stack or to stack a data in the then contact your Yaskawa representative about occurrence status job call stack that is full. (operating procedure). 4544...
Page 643 UNMATCH not used. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The observer function is not used. Software operation (1)Reset the alarm, and then try again.
Page 644 (1)Reset the alarm, and then try again. used. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The layer motion function is not Software operation (1)Reset the alarm, and then try again.
Page 645 (1)Reset the alarm, and then try again. handling application) is not used. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The laser cutting function (for form Software operation (1)Reset the alarm, and then try again.
Page 646 (1)Reset the alarm, and then try again. MAKING ERROR error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). The teaching points for user- Setting error (1)Check the following settings.
Page 647 Software operation (1)Reset the alarm, and then try again. MODE RELEASE error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4572 NO SERVO GUN Setting error (1)Check the following settings.
Page 648 Software operation (1)Reset the alarm, and then try again. the maximum length. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4580 ANTICIPATION Setting error (1)Check the following settings.
Page 649 Alarm Alarm Name Meaning Cause Remedy Number Code 4587 MOTOR GUN A GUNCHG instruction was Setting error (1)Check the following settings. CHANGE ERROR executed in the system ·Validate the gun change parameter. configuration that did not allow the gun change function. A GUNCHG/PICK instruction was Setting error (1)Check the following settings.
Page 650 (1)Reset the alarm, and then try again. MODE SET error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ERR(SERVO) then contact your Yaskawa representative about occurrence status (operating procedure). 4592 SPEED CTRL Software operation (1)Reset the alarm, and then try again.
Page 651 (1)Reset the alarm, and then try again. MODE CANCEL error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ERR(SV) then contact your Yaskawa representative about occurrence status (operating procedure). 4595 CAN'T DO FIXED The setting for radius is incorrect.
Page 652 Alarm Alarm Name Meaning Cause Remedy Number Code The setting for overlap is incorrect. Setting error (1)Check the following settings. (1) For a rectangle, it is incorrectly ·Setting of the overlap data set as overlap > width/2. (2) For a circle, it is incorrectly set as overlap >...
Page 653 (1)Reset the alarm, and then try again. POSITION DATA position data for offline position error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and CONVERT ERR data conversion then contact your Yaskawa representative about occurrence status (operating procedure).
Page 654 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and position data for offline position then contact your Yaskawa representative about occurrence status data conversion (operating procedure). Incorrect reference-point data for Software operation (1)Reset the alarm, and then try again.
Page 655 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and coordinate system at the offline then contact your Yaskawa representative about occurrence status position data conversion. (operating procedure). Incorrect incremental value of Software operation (1)Reset the alarm, and then try again.
Page 656 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and position data conversion. then contact your Yaskawa representative about occurrence status (operating procedure). The shift value could not correctly Software operation (1)Reset the alarm, and then try again.
Page 657 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ERROR processing has not completed. then contact your Yaskawa representative about occurrence status Sub Code: Servo CPU bit number (operating procedure). 4603 WIRE STICKING...
Page 658 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and execution of macro instruction was then contact your Yaskawa representative about occurrence status cancelled. (operating procedure). Incorrect macro number Software operation (1)Reset the alarm, and then try again.
Page 659 (1)Reset the alarm, and then try again. sampling data. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Failed to seek the memory play Software operation (1)Reset the alarm, and then try again.
Page 660 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Memoplay debug error Software operation (1)Reset the alarm, and then try again.
Page 661 (1)Reset the alarm, and then try again. MOVC (continue) error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Memoplay debug error Same Software operation (1)Reset the alarm, and then try again.
Page 662 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and designation. then contact your Yaskawa representative about occurrence status (operating procedure). The control group with which the Software operation (1)Reset the alarm, and then try again.
Page 663 Alarm Alarm Name Meaning Cause Remedy Number Code 4617 S/U IMPOSSIBLE For the CSL15D manipulator, the Setting error (1)Check the following settings. MOVE (L/R POS) motion speed of S- and U-axes ·Reduce the teaching speed of S- and U-axes. exceeded the upper limit. ·Teach the positions of L- and R-axes again so that S- and U-axes can move.
Page 664 (1)Reset the alarm, and then try again. EXECUTION OF error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and LOADDB INST then contact your Yaskawa representative about occurrence status (operating procedure). No directory Software operation (1)Reset the alarm, and then try again.
Page 665 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Incorrect file name Software operation (1)Reset the alarm, and then try again.
Page 666 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). File attribute error Software operation (1)Reset the alarm, and then try again.
Page 667 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Card drive information readout Software operation (1)Reset the alarm, and then try again.
Page 668 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Card not applicable for I/O Software operation (1)Reset the alarm, and then try again.
Page 669 Software operation (1)Reset the alarm, and then try again. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Sector read command error Software operation (1)Reset the alarm, and then try again.
Page 670 Alarm Alarm Name Meaning Cause Remedy Number Code The group identification signal was Setting error (1)Check the following settings. not received. ·Check the settings for group identification signal. The specified control group Setting error (1)Check the following settings. number and the group ·Check the settings for the specified control group number.
Page 671 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and manipulator motion start position then contact your Yaskawa representative about occurrence status for the SYMOVJ motion. (operating procedure). An error occurred in the Software operation (1)Reset the alarm, and then try again.
Page 672 (1)Reset the alarm, and then try again. completed successfully. error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Abnormal code error at welding is Software operation (1)Reset the alarm, and then try again.
Page 673 Software operation (1)Reset the alarm, and then try again. ERROR error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4651 PALLETIZING The setting of the palletizing Setting error (1)Check the following settings.
Page 674 (1)Reset the alarm, and then try again. MODE SET error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ERR(SV) then contact your Yaskawa representative about occurrence status (operating procedure). 4653 TRQ MEASURE Software operation (1)Reset the alarm, and then try again.
Page 675 (1)Reset the alarm, and then try again. WATCH CANCEL error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and ERROR then contact your Yaskawa representative about occurrence status (operating procedure). 4661 MEMORY Sub Code: File number Data error (1)Reset the alarm.
Page 676 Alarm Alarm Name Meaning Cause Remedy Number Code 4666 UNDEFINED WELD LENGTH CHECK FILE 4670 INSUFFICIENT Sub Code: Signifies the axis in Setting error Lengthen the measurement section. NUM OF SAMPLE which the alarm occurred DATA 4671 SAMPLE BUFFER Sub Code: Signifies the axis in Setting error Shorten the measurement section.
Page 677 Alarm Alarm Name Meaning Cause Remedy Number Code 4677 IMPOSSIBLE Sub Code: Control group and axis Setting error (1)Check the following settings. LINEAR MOTION ·If the sub code display is L- and U-axes, perform the teaching again to make the form (arm folded direction) of L- and U-axes same at start point and end point.
Page 678 Alarm Alarm Name Meaning Cause Remedy Number Code 4687 OPERATION AREA MON. ERR 2(AXIS) 4688 OPERATION MODE ERROR(AXIS) 4689 OPERATION AREA MON. ERR 2(ROBOT) 4690 OPERATION MODE ERROR(ROBOT) 4691 OPERATION AREA ERR(SAFETY) 4692 ENCODER BACKUP ERROR(SAFETY) 4693 READBACK PROC. ERROR(SAFETY) 4694 SPEED MONITOR ERROR...
Page 679 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and CONVERT ERR position data conversion then contact your Yaskawa representative about occurrence status (operating procedure). Incorrect user-coordinate number Software operation (1)Reset the alarm, and then try again.
Page 680 Reference position and target Software operation (1)Reset the alarm, and then try again. MAKING ERROR position occupation control-group error occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and error then contact your Yaskawa representative about occurrence status (operating procedure).
Page 681 (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and error then contact your Yaskawa representative about occurrence status (operating procedure). The position data type is not Software operation (1)Reset the alarm, and then try again.
Page 682 Alarm Alarm Name Meaning Cause Remedy Number Code EAXA board failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replacing the board to be safe. 4850 REGENERATIVE Connection failure...
Page 683 Alarm Alarm Name Meaning Cause Remedy Number Code Setting error Check the settings for manipulator motion condition (influence by external force, load condition). 4854 OVER Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back SPEED(SERVO2) failure(SERVOPACK ON.) (2)If the alarm occurs again, replace the SERVOPACK.
Page 684 Alarm Alarm Name Meaning Cause Remedy Number Code Setting error Check the settings for manipulator motion condition (influence by external force, load condition). Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
Page 685 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure Check the connection of encoder backup battery. Voltage failure Check the voltage. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(motor) ON.) (2)If the alarm occurs again, replace the motor. 4861 ENCODER Module...
Page 686 Alarm Alarm Name Meaning Cause Remedy Number Code Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors. ·The motor power line ·The encoder line Module...
Page 687 Alarm Alarm Name Meaning Cause Remedy Number Code Voltage failure Modify the primary breaker voltage to the specified voltage 200V(+10% to 15%). Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(contactor) ON.) (2)If the alarm occurs again, replace the contactor. Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back failure(converter)
Page 688 Alarm Alarm Name Meaning Cause Remedy Number Code Setting error Check the following settings. ·Manipulator motion condition (influence by external force, load condition) ·Regenerative resistor capacity Connection failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back ON.) (2)If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
Page 689 Alarm Alarm Name Meaning Cause Remedy Number Code Noise interference Check the noise source of the MECHATROLINK communication cable and take countermeasures to reduce the noise. 4872 VOLTAGE DROP Module (1)Reset the alarm.(In case of major alarm, turn the power OFF then back WARING(SERVO2) failure(SERVOPACK ON.)
Page 690 COMMAND CODE error occurred ON.) ERROR (SV) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4941 CANNOT Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 691 COMMAND DATA error occurred ON.) ERROR (SV) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4946 PG POWER ON Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 692 STATUS S/R error occurred ON.) ERROR (SV) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4955 AVERAGING DATA Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 693 RESOLUTION error occurred ON.) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and UNDEFINED(SV) then contact your Yaskawa representative about occurrence status (operating procedure). 4959 WRONG GRP Software operation (1)Reset the alarm.(In case of major alarm, turn the power OFF then back...
Page 694 MEASURE MULTI error occurred ON.) REQ (SV) (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). 4965 DIN SIGNAL Sub Code: Signifies the axis in Setting error Check the settings for jobs.
Page 695 Alarm Alarm Name Meaning Cause Remedy Number Code 4969 CONVTR POWER Board or software Reset the alarm, and then execute the job. ERR(FREQUENCY failure If the error occurs again, replace the YSV01 board and the YCP01 board, (SV) and then execute the job. Or replace the YIF01 board, and then initialize the job.
Page 696 Error DX100 Error Message List Error Error Message List Error warns the operator not to advance to the next operation caused by a wrong operation or the access method when using the programming pendant or an external equipment (computer, PLC, etc.).
Page 697 Error DX100 Error Message List 9.1.1 System and General Operation Error No. Data Error Message Contents Turn off servo power and perform It cannot be operated while servo power supply corrective action is ON. Depress TEACH Out of specified operation mode...
Page 698 Error DX100 Error Message List Error No. Data Error Message Contents Undefined file Undefined gun condition file Lack of number of I/O points Cannot set same No. Undefined user frame Cannot register Master JOB Cannot operate CHECK-RUN Cannot operate MACHINE LOCK...
Page 699 Error DX100 Error Message List Error No. Data Error Message Contents Start reservation mode Not start reservation mode Start reserved JOB change prohibit is Cannot teach position while soft limit released Turn on all of contactor's servo power Connect group-axis to one contactor...
Page 700 Error DX100 Error Message List Error No. Data Error Message Contents During robot or station operation Quittance operation by mini operation pendant FWD/BWD don't work in the handle operation The gun of designation is not connected The group axis of designation is not...
Page 701 Error DX100 Error Message List 9.1.2 Editing Error No. Data Error Message Contents 1010 EDIT LOCK mode 1020 Enter correct value 1030 Unauthorized ID No. 1050 Enter correct date 1060 Enter correct clock 1070 Enter an ID number in 4-8 figures 1080 Negative value can’t be set...
Page 702 Error DX100 Error Message List 9.1.3 Job Defined Data Error No. Data Error Message Contents 2010 Incorrect character 2020 Name not entered 2030 Undefined JOB name 2040 Defined JOB name 2050 Address not found 2060 Select master 2070 Set robot exactly to taught position...
Page 703 Error DX100 Error Message List Error No. Data Error Message Contents 2270 Cannot insert any more instruction in 2280 JOB memory is full Lack of position file memories Lack of JOB registering memories Lack of instruction file memories Lack of memory pool...
Page 704 Error DX100 Error Message List Error No. Data Error Message Contents 2390 Wrong group axis selection 2400 Cannot move in cut & paste editing 2410 When variable is used for speed setting, perform a line-edit 2420 When variable is used for teach...
Page 705 Error DX100 Error Message List Error No. Data Error Message Contents 2650 Defined JOB name 2660 Register MOVL after circular block 2670 Undefined target JOB 2680 Wrong designation of welding section 2690 Defined same kind JOB 2700 Press position not reset 2710 Relative job can’t be shifted with pulse...
Page 706 Error DX100 Error Message List 9.1.4 External Memory Equipment Error No. Data Error Message Contents 3010 Floppy disk drive cable not connected 3020 Floppy disk not inserted into floppy disk drive 3021 CompactFlash not inserted into CompactFlash slot(PP) 3022 USB media not inserted...
Page 707 Error DX100 Error Message List Error No. Data Error Message Contents Format error Raddar program is too long Exceed the range of the data Specification error of channel No. Specification error of relay No. Timer value error Specification error of timer No...
Page 708 Error DX100 Error Message List Error No. Data Error Message Contents 3220 Syntax error in instruction data Interior control error Undefined instruction/tag Instruction/tag shortage Disuse instruction/tag Sub instruction No instruction Invalid instruction Invalid tag Invalid character Undefined intermediate code Intermediate code shortage...
Page 709 Error DX100 Error Message List Error No. Data Error Message Contents JCL text Invalid text LABEL NAME data error JOB NAME data error STRING data error COMMENT data error Invalid instruction/tag detection 3230 Syntax not matched 3240 Undefined application 3250...
Page 710 Error DX100 Error Message List Error No. Data Error Message Contents 3510 Cannot delete folder. Check attribute and inside file 3520 Same folder exists 3530 Cannot load at current security mode 3540 CMOS not compatible 3550 Under automatic backup operation.
Page 711 Error DX100 Error Message List 9.1.5 Concurrent I/O Error No. Data Error Message Contents 4010 Illegal relay No. Line no. 4020 Illegal block No. 4030 Illegal instruction Line no. 4040 Relay/register No. duplicated in OUT/ Multiple outputs are instructed to the relay or GOUT or arithmetic instruction register.
Page 712 Error DX100 Error Message List Error No. Data Error Message Contents 4200 Cannot specify system variables($) 4210 Cannot edit line 4220 Excess TMR/CNT or arithmetic More than 100 TMR, CNT or arithmetic instructions instruction used 4230 Syntax error in TMR/CNT instructions...
Page 713 Error DX100 Error Message List 9.1.6 Maintenance Mode Error No. Data Error Message Contents 8010 Too many axes 8011 Choose the input of overrun 8012 Equipment data file reading error 8020 Too many I/O points 8021 YIU Unit not found...
Page 714 Error DX100 Error Message List Error No. Data Error Message Contents 8205 ENABLE Unit over 8206 FLASH access error 8210 IO module configuration is not modified 8211 OPTION, BOARD or MODULE SETUP is not completed. 8212 Cannot change setting (Function...
Page 715 LED Indicator on Circuit Board DX100 10.1 LED Indicator on YCP 01 Circuit Board LED Indicator on Circuit Board 10.1 LED Indicator on YCP 01 Circuit Board The LED indicators: LED1/LED2 on the YCP01 circuit board show the statuses as in the following table. The LED indicators show the operating statuses for the single YCP01 circuit board.
Page 716 LED Indicator on Circuit Board DX100 10.2 LED Indicator on Robot I/F Circuit Board 10.2 LED Indicator on Robot I/F Circuit Board The 7-segment LED indicator and battery alarm LED lamp are located on the robot I/F circuit board (JANCD-YIF01 ).
Page 717 LED Indicator on Circuit Board DX100 10.3 7 SEG-LED Indicator 10.3 7 SEG-LED Indicator The following tables show the operating statues for JANCD-YIF01/SRDA- EAXA01/JANCD-YCP02. The operating statuses are indicated by 7 SEG- LED. [Normal Indication] Status DX100 YIF01 EAXA01 YCP02 Right after All 7-SEG indicators light up.
Page 718 Waits for CERF communication synchronization. Sends the start-up request of on-line system. The on-line system has started. (Starts up the initialization task.) Processes the DX100 setup completion. (Servo ON enabled) Alarm occurs at the DX100 setup. The maintenance system is starting up.
Page 719 Starts the CMOS data transmission. Receives the CMOS mapping. (Waits for pre-online) Starts the optional system. (Starts the process of various initializations.) Completes the DX100 setup process. 10.3.0.2 7 SEG-LED Indicator Status (4 digit-indication) of Each Unit at Error Occurrence YNIF01...
Page 720 LED Indicator on Circuit Board DX100 10.3 7 SEG-LED Indicator YNIF01 0013 SIMD floating point exception 0014 0015 0016 0017 0018 0019 001A 001B 001C 001D 001E 001F 0900 WDT error 10-6...
Page 721 LED Indicator on Circuit Board DX100 10.3 7 SEG-LED Indicator EAXA01 0010 ROM error in the boot section 0020 RAM error 0030 FP register error 0040 On-line communications command error 0100 Reset exception 0200 Machine check exception 0210 WDT error...
Page 722 LED Indicator on Circuit Board DX100 10.3 7 SEG-LED Indicator EAXA01 2B00 Undefined exception 2C00 Undefined exception 2D00 Undefined exception 2E00 Undefined exception 2F00 Undefined exception 3010 Receiving data size error 3020 Receiving data sum error 3030 Receiving data write address error...
Page 723 LED Indicator on Circuit Board DX100 10.3 7 SEG-LED Indicator YCP02 1900 Undefined exception 1A00 Undefined exception 1B00 Undefined exception 1C00 Undefined exception 1D00 Undefined exception 1E00 Undefined exception 1F00 Undefined exception 2000 Undefined exception 2100 Undefined exception 2200 Undefined exception...
Page 724 ............... control power supply fuse ............Converter control signal connector 5-17 .................... cooling fan ..Cooling Fan Construction (Small-, Medium- and Large-capacity DX100) ..................correlate voltage ..................... CPU unit 5-26 ..............CPU unit (JZNC-YRK01-1E) ..............Creating a Check Program ...................
Page 725 ..................decimal data ..............displaying and releasing alarm ....................door lock ................. Drive I/F connector ..................DX100 controller ................... DX100 parts list 5-26 ..................editing mode ................emergency stop button ............emergency stop button inspections ..................Enable switch ............... Enable switch inspections ..............
Page 726 DX100 Index ..................lead cable check ................Machine Safety Unit 5-26 ................. main power switch ................... major alarm ................managememt mode ..............manipulator home position ................. manipulator model ................... MAX. TORQUE 7-24 ................... minor alarm ..................mode switch ............Modification of the Signal Name 7-13 ..............
Page 727 DX100 Index ................... RIN input window ..................security mode ..................security system ................servo monitor window 7-24 .................. servo monitoring 7-24 ................... SERVO ON ................SERVO ON READY ................SERVOPACK 5-12, 5-26 ..................... signal flow ..................Specific Input ..............Specific Input Simple Window ................
Page 728 DX100 Index ................XYZ coordinate data Index-v...
Page 729 Fax +49-8166-90-103 YASKAWA ELECTRIC KOREA CORPORATION 1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Phone +82-53-382-7844 Fax +82-53-382-7845 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741 Phone +65-6282-3003 Fax +65-6289-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.

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