YASKAWA DX100 Maintenance Manual page 677

Alarm Alarm Name Sub
Number Code
4677 IMPOSSIBLE
LINEAR MOTION
4680 SAFETY UNIT
COMMAND
ERROR
4681 CUBE ARM
INTERFERENCE
4682 MOTION RANGE
LIMIT
INTERFERENCE
4683 AXIS MOTION
RANGE LIMIT
OVER(MIN./MAX.)
4684 INTERPOLATION
INVALID
4685 WRITE
ERROR(SAFETY)
4686 DATA SETTING
ERROR(SAFETY)
Meaning Cause
Sub Code: Control group and axis Setting error
Sub Code: Interference cubic area Setting error
number
Sub Code: Manipulator number Setting error
Sub Code: Control group and axis Setting error
Sub Code: Control group Setting error
Remedy
(1)Check the following settings.
·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.
·If the sub code display is S- and L-axes, perform the teaching again to make
the form (arm folded direction) of S- and L-axes same at start point and end
point.
·Change the teaching move instruction to MOVJ instruction.
* Be careful to the peripheral interference since its movement changes.
(1)Check the following settings.
·Check the teaching position setting of manipulators.
(1)Check the following settings.
·Check the teaching position setting of manipulators.
(1)Check the following settings.
·Check the teaching position setting of manipulators.
(1)Check the following settings.
·At the cartesian jog operation, switch to each-axes jog operations, and then
change the orientation of manipulator.
·Change the teaching position and orientation.