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YASKAWA MOTOMAN DX100 Maintenance Manual Download Page 366

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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
_
1011

CPU2 detected the 3.3V low
voltage in the CPU1.

YSU unit failure

(1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the YSU unit. Save the CMOS.BIN
before replace the YSU unit to be safe.

0000
_
0111

CPU2 detected 24V power supply
voltage error in the CPU1.

Connection failure

(1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connection of the following cables.
· Cable of the YSU unit(CN200 connector)
· Cable of the YPS unit(CN154 connector)

Loose fuse

(1)Turn the power OFF then back ON.
(2)If the alarm occurred again, check if the fuse(F1/F2) is not removed. Fuse
is located on the front of the YSU unit.

Blown fuse

(1)Turn the power OFF then back ON.
(2)If the alarm occurred again after confirmation of the fuse removal, replace
the fuse (F1/F2) of the YSU unit. Fuse is located on the front of the YSU unit.

Ground fault or a
short circuit

(1)Turn the power OFF then back ON.
(2)If the alarm occurs again after replacement the fuse, check the following
content.
· Check whether neither the short circuit nor the ground fault have happened
because of the I/O cables from the external device when other alarms that
show 24V power supply error occurred at the same time.

Alarm

Number

Alarm Name

Sub

Code

Meaning

Cause

Remedy

«
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364
365
366
367
368
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»

Summary of Contents for MOTOMAN DX100

Page 1: ...ation 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 ...

Page 2: ...ating this product The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications If such modification is made the manual number will also be revised If your copy of the manual is damaged or lost cont...

Page 3: ...a potentially hazardous situation which if not avoided could result in death or serious injury to personnel CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against unsafe practices MANDATORY Always be sure to follow explicitly the items listed under this heading PROHI...

Page 4: ...ig Release of EM TURN Observe the following precautions when performing teaching operations within the P point maximum envelope of the manipulator View the manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to retreat in case of emergency Improper or unintended manipulator operation may result in injury Confirm that no...

Page 5: ...sary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires 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 Read and understand the Explanation of Warni...

Page 6: ...The keys which have characters printed on them are denoted with ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page key The cursor key is an exception and a picture is not shown Axis Keys Numeric Keys Axis Keys and Numeric Keys are generic names for the keys for axis operation and number input Keys pressed simultane ously...

Page 7: ... equipment Fig Location of Warning Labels WARNING Do not enter robot work area WARNING Moving parts may cause injury WARNING Label B WARNING Label A Internal Breaker WARNING High Voltage Do not open the door with power ON WARNING May cause electric shock Ground the earth terminal based on local and national electric code X 8 1 PROGRAMMING PENDANT Y C E G N O T P M E E S R ON TR IPP ED RES ET OFF A...

Page 8: ...hecking for Gaps or Damage in the Sealed Construction Section 3 2 3 3 Cooling Fan Inspections 3 3 3 4 Emergency Stop Button Inspections 3 4 3 5 Enable Switch Inspections 3 4 3 6 Battery Inspections 3 5 3 7 Power Supply Voltage Confirmation 3 5 3 8 Open Phase Check 3 6 4 Preparation before Replacing Parts 4 1 4 1 Creating a Check Program 4 3 5 Replacing Parts 5 1 5 1 Replacing DX100 Parts 5 1 5 1 1...

Page 9: ...mmended Spare Parts 5 29 6 Operations After Replacing Parts 6 1 6 1 Home Position Calibration 6 2 6 1 1 Home Position Calibration 6 2 6 1 2 Calibrating Operation 6 4 6 1 2 1 Registering All Axes at One Time 6 4 6 1 2 2 Registering Individual Axes 6 5 6 1 2 3 Changing the Absolute Data 6 7 6 1 2 4 Clearing Absolute Data 6 7 6 1 3 Manipulator Home Position 6 9 6 2 Position Deviation Check Using the ...

Page 10: ...ch on the Universal Specified Input Output Window 7 8 7 3 6 2 Search from the Menu 7 9 7 3 7 Relay Number Search 7 10 7 3 7 1 Direct Search on the Universal Specified Input Output Window 7 10 7 3 7 2 Search from the Menu 7 11 7 3 8 Modification of the Signal Name 7 13 7 3 8 1 Direct Modification on the Universal Specified Input Output Window 7 13 7 3 8 2 Modification from the Menu 7 13 7 4 System ...

Page 11: ...ms 8 2 8 2 2 Special Alarm Display 8 3 8 3 Alarm Message List 8 5 9 Error 9 1 9 1 Error Message List 9 1 9 1 1 System and General Operation 9 2 9 1 2 Editing 9 6 9 1 3 Job Defined Data 9 7 9 1 4 External Memory Equipment 9 11 9 1 5 Concurrent I O 9 16 9 1 6 Maintenance Mode 9 18 10 LED Indicator on Circuit Board 10 1 10 1 LED Indicator on YCP 01 Circuit Board 10 1 10 2 LED Indicator on Robot I F C...

Page 12: ...CN210 CN211 CN212 CN213 CN214 CN200 CN201 CN202 CN203 CN204 CN205 CN206 CN207 A B 1 A B 1 FRC5 C50S52T OLS D20 A B 1 PE EXHOLD GSOUTFB2 GSOUTFB2 GSOUT2 GSOUT2 GSOUTFB1 GSOUTFB1 GSOUT1 GSOUT1 24V2 24V2 24V2 024V2 024V2 024V2 EXDSW2 EXDSW2 EXDSW1 EXHOLD EXSVON SSP EXDSW1 EXSVON SSP FST2 FST2 FST1 FST1 EXESP2 EXESP2 EXESP1 EXESP1 SYSRUN SYSRUN SAFF2 SAFF2 SAFF1 SAFF1 GSIN22 GSIN22 GSIN21 GSIN12 GSIN1...

Page 13: ... HW1B V404R Brake board JANCD YBK01 1E Machine safety unit JZNC YSU01 1E JZRCR YPU01 1 CPS Unit Power supply contactor unit MXT Robot system specified input terminal block SERVOPACK Refer to the following table Interior circulation fan 4715MS 22T B50 B00 For air inlet Backside duct fan 4715MS 22T B50 B00 For air inlet A A Section Inside View of F Door Inside the Controller Front View Back View wit...

Page 14: ...roller Back View without cover Interior circulation fan 4715MS 22T B50 B00 For air inlet I O Unit JZNC YIU01 E Converter Refer to the following table Emergency stop button HW1B V404R Brake board JANCD YBK01 1E Machine safety unit MXT Robot system specified input terminal block Regenerative registor Backside duct fan 4715MS 22T B50 B00 For air inlet Breaker Power supply contactor unit SERVOPACK Ref...

Page 15: ...ase AC 220 200V 60Hz AC 200V 50Hz PE L1 L2 L3 X81 24V1 CN209 24V3 CN400 24V2 S axis motor CN584 CN583 CN584 CN583 CN584 CN583 CN584 CN583 CN584 CN583 CN404 24VU 24V3 CN403 24V1 24V1 CN510 CN509 AMP6 AMP5 AMP4 AMP3 AMP2 CN551 CN556 CN552 CN555 CN554 AMP1 CN584 CN583 24VU 24V2 24V2 CN304 CN303 CN305 24V1 24V2 CN200 24V2 CN158 24V2 24V1 CN5 CN2 CN1 CPU UNIT BACK BOARD JANCD YBB01 BATTERY CN110 JANCD ...

Page 16: ...N602 1KM CN601 2KM CN203 CN202 P P Emergency stop signal CN209 Specified I O CN216 Lump External axis overrun Emergency stop signal Overrun CN212 CN211 CN210 CN214 CN208 MXT CN103 RS232C CN101 RS422 CN102 RS232C CN105 LAN PP LAN Ethernet CN104 CN581 CN581 CN581 CN581 CN581 CN405 CN402 PBESP S axis motor L axis motor U axis motor R axis motor B axis motor Optional SHOCK LAMP OT T axis motor SGDR FB...

Page 17: ...hree security modes Editing mode and management mode require a user ID The user ID consists of numbers and letters and contains no less than 4 and no more than 8 characters Significant numbers and signs 0 to 9 Table 2 1 Security Mode Descriptions Security Mode Explanation Operation Mode This mode allows basic operation of the robot stopping starting etc for people operating the robot work on the l...

Page 18: ... DOUBLE Operation Edit REAL Operation Edit STRING Operation Edit POSITION ROBOT Operation Edit POSITION BASE Operation Edit POSITION ST Operation Edit LOCAL VARIABLE Operation IN OUT EXTERNAL INPUT Operation EXTERNAL OUTPUT Operation UNIVERSAL INPUT Operation UNIVERSAL OUTPUT Operation SPECIFIC INPUT Edit SPECIFIC OUTPUT Edit RIN Edit CPRIN Operation REGISTER Edit AUXILIARY RELAY Edit CONTROL INPU...

Page 19: ...Management Management MANIPULATOR TYPE Management ROBOT CALIBRATION Edit Edit ANALOG MONITOR Management Management OVERRUN S SENSOR1 Edit Edit LIMIT RELEASE1 Edit Management ARM CONTROL1 Management Management SHIFT VALUE Operation SYSTEM INFO VERSION Operation MONITORING TIME Operation Management ALARM HISTORY Operation Management I O MSG HISTORY Operation Management SECURITY Operation Operation F...

Page 20: ...TIME Management Management GRP COMBINATION Management Management RESERVE JOB NAME Edit Edit USER ID Edit Edit SET SPEED Management Management KEY ALLOCATION1 Management Management RES START CNCT Management Management ARC WELDING ARC START COND Operation Edit ARC END COND Operation Edit ARC AUX COND Operation Edit POWER SOURCE COND Operation Edit ARC WELD DIAG Operation Edit WEAVING Operation Edit ...

Page 21: ...ement Management GUN CONDITION Management Management CLEARANCE SETTING Operation Management POWER SOURCE COND Management Management GENERAL WEAVING Operation Edit GENERAL DIAG Operation Edit COMMON TO ALL APPLICATIONS I O VARIABLE CUSTOMIZE Operation Operation 1 Teach mode only 2 Play mode only Table 2 2 Menu Security Mode Sheet 4 of 4 Main Menu Sub Menu Allowed Security Mode DISPLAY EDIT ...

Page 22: ...nging 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 2 Select SECURITY The selection window of security mode appears 3 Press SELECT and select SECURITY MODE ...

Page 23: ...er ID input window appears 5 Press ENTER The input user ID is compared with the user ID of the selected security mode When the correct user ID is entered the security mode is changed SUPPLE MENT At the factory the following below user ID number is preset Editing Mode 00000000 Management Mode 99999999 ...

Page 24: ...st be between 4 characters and 8 and they must be numbers and symbols 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 1 Select SETUP under the main menu The sub menu appears 2 Select USER ID The USER ID window appears ...

Page 25: ...ired 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 Input new ID no 4 to 8 digits appears 5 Input new ID and press ENTER User ID is changed ...

Page 26: ...at the doors are completely closed Daily Check for gaps or damage to the sealed construction Monthly Interior circulation fan and backside duct fan Check operation As required While power ON Emergency stop button Check operation As required While servo ON Enable switch Check operation As required In teach mode Battery Confirm battery alarm or message is displayed or not As required Power Supply Ch...

Page 27: ... main power is turned OFF CW Open CCW Close Make sure to push the door and turn the door lock with the driver to open or close the door When closing the door turn the door lock until it clicks Fig 3 1 DX100 Front View 3 2 2 Checking for Gaps or Damage in the Sealed Construction Section Open the door and check that the seal around the door is undam aged Check that the inside of the DX100 is not sta...

Page 28: ...tion Small Medium and Large capacity DX100 Air intake Air outlet Interior circulation fan Backside duct fan Air intake Air outlet Backside duct fan Interior circulation fan Cooling Fan Construction Small Capacity DX100 Cooling Fan Construction Medium and Large Capacity DX100 NOTE When the message of the Cooling fan in YPS power supply stopped Exchange fan is displayed it may be caused by the error...

Page 29: ... confirm the enable switch operates 1 Set the mode switch with key on the programming pendant to TEACH Mode switch with key 2 Press SERVO ON READY on the programming pendant The SERVO ON lamp blinks 3 When the enable switch is grasped lightly the servo power is turned ON When the enable switch is grasped firmly or released the servo power is turned OFF NOTE If the SERVO ON lamp does not light in p...

Page 30: ...bove mentioned message is NOT indicated when inspecting The way to replace the battery is described in chapter 5 1 1 1 Replacing the Battery at page 5 3 3 7 Power Supply Voltage Confirmation Check the voltage of 1 3 5 terminal of the circuit breaker QF1 with an electric tester Fig 3 2 Circuit Breaker QF1 Table 3 1 Power Supply Voltage Confirmation Measuring Items Terminals Correct Value Correlate ...

Page 31: ...t Input Power Supply Check Check the open phase voltage of input power supply with an electric tester Normal value 200 220VAC 10 15 Circuit Breaker QF1 Check Turn ON the breaker and check the open phase voltage of 2 4 6 of the circuit breaker QF1 with an electric tester If abnormal replace the circuit breaker QF1 T R 200 220VAC input S Converter 1 2 3 2KM Contactor 2 3 1 2 4 6 1 2 4 3 5 6 1KM 6 5 ...

Page 32: ...he manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to retreat in case of emergency Improper or unintended manipulator operation may result in injury Confirm that no persons are present in the P point maximum envelope of the manipulator and that you are in a safe location before Turning ON the DX100 power Moving the ...

Page 33: ...ring to chapter 4 1 Creating a Check Program at page 4 3 CAUTION Perform the following inspection procedures prior to conducting manipulator teaching If problems are found repair them immediately and be sure that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming p...

Page 34: ...sition deviation caused by hitting the manipulator against a workpiece etc 4 1 Creating a Check Program To check position deviation whenever necessary create a program in which a check point is taught the job for the check point In the job for the check point teach two points one as a check point and the other as the point to approach the check point This program checks for any deviation between t...

Page 35: ...prevent anyone inadvertently turning ON the power supply during maintenance put up a warning sign such as DO NOT TURN ON THE POWER at the primary power supply knife switch wiring circuit breaker etc and at the DX100 and related controllers and use accepted lockout tagout procedures Failure to observe this caution may result in electric shock or injury Do not touch the regeneration resistors They a...

Page 36: ...27 26 14 25 24 23 22 21 20 19 18 17 16 15 13 12 11 10 09 08 07 06 05 04 03 02 01 CN154 24V1 24V2 CN158 5V CN155 24V1 24V2 24V2 CN156 157 24V3 CN153 REMOTE CN152 SOURCE OHT INPUT FAN 24V 5V P ON 50 60Hz AC IN CN151 200 240V AC 3 4A 2 8A CN107 CN106 CN105 CN104 CN103 Ground connecting terminal 24V1 24V2 Power supply outputconnector CN154 CN155 CN152 24V2 Power supply output connector CN156 CN157 Con...

Page 37: ...JANCD YCP01 E Turn OFF the power before replacing a circuit board Replacement Procedure 1 Disconnect all cables connected to the circuit board 2 Remove screws fixing the circuit board from upper and lower side one part at each side 3 Pull out the circuit board from the rack 4 Remove the Compact Flash from the removed circuit board and insert the Compact Flash into a new circuit board 5 Mount the n...

Page 38: ...AN C90AD XXXXX 01020304050607080910 111213 151617181920 2122232425 14 2627282930 A B C D E F G H J K L M N P Q R S T U V CN107 Compact flash JANCD YCP01 E Control circuit board CN154 24V1 24V2 CN159 CN158 5V CN155 24V1 24V2 24V2 CN156 157 24V3 CN153 REMOTE CN152 ALM INPUT 50 60Hz AC IN CN151 200 240V AC 3 4A 2 8A SOURCE OHT FAN 24V 5V P ON CN103 CN104 CN105 CN106 CN107 ...

Page 39: ... control power supply Do not touch any terminals during this period Confirm all monitor lights are turned OFF Failure to observe this caution may result in electric shock or injury CN107 CN106 CN105 CN104 CN103 V U T S R Q P N M L K J H G F E D C B A 30 29 28 27 26 14 25 24 23 22 21 20 19 18 17 16 15 13 12 11 10 09 08 07 06 05 04 03 02 01 C90AD XXXXX MADE IN JAPAN Fuji Electric Hi Tech Corp DATE N...

Page 40: ...de and load the backup data Turn ON the power with pressing the MAIN MENU key Change the security to management mode and select FD PC CARD SAVE CMOS LOAD NOTE Turn OFF the power before replacing the robot I F circuit board Be sure to back up robot data before replacing the circuit board since the robot I F circuit board contains important data such as robot jobs and parameters There are some versi...

Page 41: ...APAN C90AD XXXXX 01020304050607080910 111213 151617181920 2122232425 14 2627282930 A B C D E F G H J K L M N P Q R S T U V Rotary switch JANCD YIF01 E Robot I F circuit board CN154 24V1 24V2 CN159 CN158 5V CN155 24V1 24V2 24V2 CN156 157 24V3 CN153 REMOTE CN152 ALM SOURCE OHT INPUT FAN 24V 5V P ON 50 60Hz AC IN CN151 200 240V AC 3 4A 2 8A CN103 CN104 CN105 CN106 CN107 ...

Page 42: ... side screws four places Connect the ground wirings firmly 6 Connect all the disconnected cables 7 Set the rotary switch to the same value as the removed unit s rotary switch I O Unit JZNC YIU01 E NOTE Turn OFF the power before replacing the I O unit F1 F2 CN301 CN303 CN304 CN309 Digital I O connector Digital I O connector CN300 CN302 CN305 D1 24V2IN LED CN306 CN307 Digital I O connector CN308 Dig...

Page 43: ...power supply contactor to the screws in the controller 4 places Do not hold the board only but hold it together with the unit since it may cause damages to the board or injury 5 Tighten upper and lower side screws 4 places firmly to fix the power supply contactor 6 Connect all the disconnected cables Connect the ground wirings firmly Configuration of Power Supply Contactor Unit JZRCR YPU01 1 A 0 1...

Page 44: ...g up upper and lower side cover 4 Hook the new brake board to the screws in the controller 4 places 5 Tighten upper and lower side screws 4 places to fix the brake board 6 Disconnect CN404 jumper wiring connectors from the removed brake board and connect them toCN404 on the new brake board 7 Connect all the disconnected cables in the order of CN400 CN402 CN403 AND CN405 Connect the ground wirings ...

Page 45: ...moved machine safety unit and connect them to the right side of CN202 on the new machine safety unit 7 Connect all the disconnected cables The flat cables connected to CN216 should be connected prior to connecting to CN214 CN213 CN212 and CN211 Connect the ground wirings firmly Machine Safety Unit JZNC YSU01 1E FUSE CN215 CN216 CN208 CN209 CN210 CN211 CN212 CN213 CN214 CN200 CN201 CN202 CN203 CN20...

Page 46: ...ol power supply input connector CN509 6 SHOCK signal input connector CN512 7 Ground terminal connectors EAXA base 8 Control communication connector CN515 9 I O communication connector CN517 10 Encoder signal connector CN508 4 Put the disconnected cable to the right side of the SERVOPACK 5 Unscrew two EAXA base fixing screws lower side 6 Unscrew two EAXA base fixing screws upper side 7 Open the EAX...

Page 47: ...HOCK signal input connector CN512 Control power supply output connector for converter CN510 CN513 Connector for brake control signal Main circuit power supply output connector for external axis amplifier Upper grip Ground terminal Charge lamp Monitor Alarm displaying LED Connector for control power supply input CN551 CN552A CN552B Ground terminal Lower grip CN507 Connector for converter control si...

Page 48: ...connectors Output connectors for motor power PWM signal connectors Output connectors for motor power PWM signal connectors Output connectors for motor power Output connectors for motor power Output connectors for motor power PWM signal connectors PWM signal connectors PWM signal connectors Main circuit power supply input connectors Main circuit power supply input connectors Main circuit power supp...

Page 49: ...instruction SRDA SDA71A01A E SRDA SDA21A01A E SRDA SDA35A01A E to SRDA SDA03A01A E to Thermal sheet 400 004 452 01 Thermal sheet 400 004 453 01 Dich of the IPM Details of ditch part on IPM Ditches External axis amplifier SRDA SDA35A01A E SRDA SDA71A01A E True up the edges of the IMP frame and its ditches that are at the bottom of the amplifier then affix the thermal sheet along the edge External a...

Page 50: ...s firmly Integrated SERVOPACK Connector for connecting regenerative resistor EAXA base fixing screw upper Connector for converter control signal Connector for grounding detection input Ground terminal Connector for main circuit power supply input EAXA base fixing screw upper SHOCK signal input connector Connector for control power supply input Connector for encoder signal I O communication connect...

Page 51: ...nd wiring connected to the converter 5 Remove the screws fixing the converter 4 places 6 Hold the top grip and lift it to pull out the converter 7 Install the new converter and reconnect the connectors in the reverse order of the removing procedure Connect the ground wirings firmly Separated Type Converter Converter CN551 CN552A CN552B CN556 CN558 CN557 CN555 CN554 CN553 Connector for control powe...

Page 52: ...rs 6 places fixing A screws 5 Remove B screws 8 places 6 Remove the control circuit board from the SERVOPACK 7 Install the new circuit board to the SERVOPACK in the reverse order of the removing procedure 8 Set the rotary switch to the same value as the removed circuit board s rotary switch 9 Reinstall the EAXA cover 10 Connect all the disconnected cables in the step 1 Basic Axis Control Circuit B...

Page 53: ...arts Parts No Fuse Name Specification 1FU 2FU AC Control Power Supply Fuse 0218010P 250V 10A Time Lag Fuse LITTEL 3FU 4FU AC Cooling Fan Fuse GP25 2 5A 250V Daito Communication Apparatus Co Ltd A 0 1 2FU FU A 0 1 1 CN601 CN610 CN611 CN607 SVMX2 SVMX1 CN601 CN606 CN612 CN608 CN602 CN603 CN604 CN605 SVMX2 SVMX1 3FU 2 5A 4FU 2 5A GP25 2 5A 250V 4FU 3FU 0218010P 10A 250V Fuse for AC control power supp...

Page 54: ...s on the I O unit JZNC YIU01 E are as follows Replacement Fuse of I O Unit JZNC YIU01 E If the fuse is blown replace it with the same type of fuse supplied or spare parts 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: ...e of Machine Safety Unit If the fuse is blown replace it with the same type of fuse supplied or spare parts Parts No Fuse Name Specification F1 F2 24VDC Fuse for I O 02173 15P 250V 3 15A Rapid Cut Fuse LITTEL FUSE CN215 CN216 CN208 CN209 CN210 CN211 CN212 CN213 CN214 CN200 CN201 CN202 CN203 CN205 CN206 CN207 A B 1 A B 1 A B 1 F1 F2 DC24V Fuse for I O FRC5 C50S52T OLS D20 s ...

Page 56: ... YBK01 1E are as follows Replacement Fuse of Brake Board JANCD YBK01 1E If the fuse is blown replace it with the same type of fuse supplied or spare parts Parts No Fuse Name Specification F1 Brake Power Supply Fuse for External Axis 02173 15P 250V 3 15A Rapid Cut Fuse LITTEL F1 Brake power supply fuse for external axis ...

Page 57: ...door 2 Disconnect plug cables connected to the fan Remove the ground wirings screwed to the fan 3 Remove the screws 2 places fixing the fan 4 Uninstall the fan from the controller 5 Install the new fan to the controller 6 Tighten the screws 2 places to fix the fan 7 Connect all the disconnected cables 8 Close the F door NOTE Turn OFF the power before replacing the fan ...

Page 58: ...5 Replacing Parts DX100 5 1 Replacing DX100 Parts 5 24 Replacement of Interior Circulation Fan Air inlet Interior circulation fan 4715MS 22T B50 B00 F Door Inside View Inside the Controller Front View ...

Page 59: ...s screwed to the fan 3 Remove the screws 2 places fixing the fan 4 Uninstall the fan from the controller 5 Install the new fan to the controller 6 Tighten the screws 2 places to fix the fan 7 Connect all the disconnected cables 8 Mount the backboard Replacement of Backside Duct Fan NOTE Turn OFF the power before replacing the fan Back board Air inlet without cover Back View 4715MS 22T B50 B00 Back...

Page 60: ...t JZNC YSU01 1E 7 I O Unit JZNC YIU01 E 8 Brake board JANCD YBK01 1E 9 Interior Circulation Fan 4715MS 22T B50 B00 10 Backside duct fan 4715MS 22T B50 B00 11 Power supply contactor unit fuse 0218010P 10A 250V Time lag fuse GP25 2 5A 250V Alarm Fuse I O Unit Fuse 02173 15P 3 15A 250V Rapid cut fuse Machine Safety Unit Fuse 02173 15P 3 15A 250V Rapid cut fuse Brake board Fuse 02173 15P 3 15A 250V Ra...

Page 61: ...14 A01A E Converter SRDA COA12A01A E SRDA COA12A01A E SRDA COA12A01A E Component MH50 MS80 VS50 ES165D ES200D Model Model Model Model SERVOPACK SRDA MH50 SDA MS80 JZRCR MS80 71 00 SRDA MS165 Amplifier S SRDA SDA71 A01A E SRDA SDA71 A01A E SRDA SDA71 A01A E SRDA SDA71 A01A E L SRDA SDA71 A01A E SRDA SDA71 A01A E SRDA SDA71 A01A E SRDA SDA71 A01A E U SRDA SDA35 A01A E SRDA SDA71 A01A E SRDA SDA71 A0...

Page 62: ... fuse 2 0218010P 10A 250V LITTEL JZRCR YPU01 1FU 2FU 2 3 15A Glass Tube fuse 3 02173 15P 3 15A 250V LITTEL JZNC YSU01 E1 F1 F2 JANCD YBK01 E F1 JZNC YIU0 E F1 F2 3 2 5A Alarm fuse 2 GP25 2 5A 2 5A 250V Daito Communication Apparatus Co Ltd JZRCR YPU01 3FU 4FU 4 WAGO Connector wiring tool 2 231 131 WAGO Company of Japan Ltd JZNC YPS01 E CN152 5 WAGO Connector wiring tool 1 734 230 WAGO Company of Ja...

Page 63: ... guaranteed when using spare parts from any company other than Yaskawa To buy the spare parts which are ranked B or C inform the manufacturing number or order number of DX100 to Yaskawa representative The spare parts are ranked as follows Rank A Expendable and frequently replaced parts Rank B Parts for which replacement may be necessary as a result of frequent operation Rank C Drive unit NOTE For ...

Page 64: ...2 3 SRDA SDA14A01A E Yaskawa Electric Corporation 3 3 B 10 Servo Amplifier 4 5 6 SRDA SDA06A01A E Yaskawa Electric Corporation 3 3 B 11 Basic Axis Control Circuit Board SRDA EAXA01A Yaskawa Electric Corporation 1 1 C 12 CPU Unit JZNC YRK01 1E Yaskawa Electric Corporation 1 1 1 B 13 Robot I F circuit board JANCD YIF01 1E Yaskawa Electric Corporation 1 1 C 14 Power Supply Contactor Unit JZRCR YPU01 ...

Page 65: ...poration 3 4 B 10 Servo Amplifier 4 5 6 SRDA SDA06A01A E Yaskawa Electric Corporation 3 3 B 11 Basic Axis Control Circuit Board SRDA EAXA01A Yaskawa Electric Corporation 1 1 B 12 External Axis Control Circuit Board SRDA EAXB01A Yaskawa Electric Corporation 1 1 C 13 CPU Unit JZNC YRK01 1E Yaskawa Electric Corporation 1 1 1 B 14 Robot I F circuit board JANCD YIF01 1E Yaskawa Electric Corporation 1 1...

Page 66: ...ctric Corporation 2 2 B 10 Servo Amplifier 2 SRDA SDA21A01A E Yaskawa Electric Corporation 1 1 B 11 Servo Amplifier 4 5 6 SRDA SDA06A01A E Yaskawa Electric Corporation 3 3 B 12 Basic Axis Control Circuit Board SRDA EAXA01A Yaskawa Electric Corporation 1 1 C 13 CPU Unit JZNC YRK01 1E Yaskawa Electric Corporation 1 1 1 B 14 Robot I F circuit board JANCD YIF01 1E Yaskawa Electric Corporation 1 1 C 15...

Page 67: ...OPAC SRDA MH50 B 10 Servo Amplifier 3 SRDA SDA35A01A E Yaskawa Electric Corporation 1 1 B 11 Servo Amplifier 4 5 6 SRDA SDA14A01A E Yaskawa Electric Corporation 3 3 B 12 Basic Axis Control Circuit Board SRDA EAXA01A Yaskawa Electric Corporation 1 1 C 13 CPU Unit JZNC YRK01 1E Yaskawa Electric Corporation 1 1 1 B 14 Robot I F circuit board JANCD YIF01 1E Yaskawa Electric Corporation 1 1 C 15 Power ...

Page 68: ...Yaskawa Electric Corporation 3 3 SERVOPAC SRDA MS80 B 10 Servo Amplifier 4 5 6 SRDA SDA14A01A E Yaskawa Electric Corporation 3 3 B 11 Basic Axis Control Circuit Board SRDA EAXA01A Yaskawa Electric Corporation 1 1 C 12 CPU Unit JZNC YRK01 1E Yaskawa Electric Corporation 1 1 1 B 13 Robot I F circuit board JANCD YIF01 1E Yaskawa Electric Corporation 1 1 C 14 Power Supply Contactor Unit JZRCR YPU01 1 ...

Page 69: ...R MS80 71 00 B 10 Servo Amplifier 4 5 6 SRDA SDA14A01A E Yaskawa Electric Corporation 3 3 B 11 Basic Axis Control Circuit Board SRDA EAXA01A Yaskawa Electric Corporation 1 1 B 12 External Axis Control Circuit Board SRDA EAXB01A Yaskawa Electric Corporation 1 1 C 13 CPU Unit JZNC YRK01 1E Yaskawa Electric Corporation 1 1 B 14 Robot I F circuit board JANCD YIF01 1E Yaskawa Electric Corporation 1 1 1...

Page 70: ... SERVOPAC SRDA MS165 B 10 Servo Amplifier 4 SRDA SDA35A01A E Yaskawa Electric Corporation 1 1 B 11 Servo Amplifier 5 6 SRDA SDA21A01A E Yaskawa Electric Corporation 2 2 B 12 Basic Axis Control Circuit Board SRDA EAXA01A Yaskawa Electric Corporation 1 1 C 13 CPU Unit JZNC YRK01 1E Yaskawa Electric Corporation 1 1 1 B 14 Robot I F circuit board JANCD YIF01 1E Yaskawa Electric Corporation 1 1 C 15 Po...

Page 71: ... whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to retreat in case of emergency Improper or unintended manipulator operation may result in injury Confirm that no persons are present in the P point maximum envelope of the manipulator and that you are in a safe location before Turning ON the DX100 power Moving the manipulator with the programm...

Page 72: ... CAUTION Perform the following inspection procedures prior to conducting manipulator teaching If problems are found repair them immediately and be sure that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the hook on the DX100 cabinet after use The pr...

Page 73: ... the home position There are two operations for home position calibration All the axes can be moved at the same time Axes can be moved individually If the absolute data of the home position is already known set the absolute data again after completing home position registration SUPPLE MENT Home Position The home position is the position with the pulse value 0 for each axis See chapter 6 1 3 Manipu...

Page 74: ...ion 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 to display the selection window for the control group or press The pull down menu appears PAGE GO BACK PAGE GO BACK ...

Page 75: ...ion dialog box appears 7 Select YES Displayed position data of all axes are registered as home position When NO is selected the registration will be canceled 6 1 2 2 Registering Individual Axes 1 Select ROBOT under the main menu 2 Select HOME POSITION 3 Select the desired control group Perform steps 3 and 4 which have been described in Registering All Axes at One Time to select the desired control...

Page 76: ...0 6 1 Home Position Calibration 6 6 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: ...s 3 and 4 which have been described in Registering All Axes at One Time to select the desired control group 4 Select the absolute data to be registered The number can now be entered 5 Enter the absolute data using the numeric keys 6 Press ENTER Absolute data are modified 6 1 2 4 Clearing Absolute Data 1 Select ROBOT under the main menu 2 Select HOME POSITION Perform steps 2 3 and 4 which have been...

Page 78: ...1 Home Position Calibration 6 8 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 operation will be canceled ...

Page 79: ...MAN VA1400 the home position is as follows NOTE Other manipulator models have different positions Always consult the documentation for the correct manipulator model U axis angle against horizontal line on the ground 0 L axis angle against vertical line to the ground 0 B axis center line angle against U axis center line 0 ...

Page 80: ...at low speed 2 Check the tool tip position If it points the check point exactly as shown in the following figure there is no deviation from the positions Proceed to chapter 6 4 Setting the Second Home Position Check Point at page 6 13 If not there is a deviation When the motor or encoder etc was replaced move the corresponding axis only when the stored memory was cleared or the manipulator was hit...

Page 81: ...for avoiding the position deviation and operate the manipulator at low speed 6 3 2 Checking of the Check Program Check the deviation in to the check point If the tool tip position is deviated there is a deviation When the motor or encoder etc was replaced move the corresponding axis only when the stored memory was cleared or the manipulator was hit against a workpiece move all axes to the check po...

Page 82: ...nt position pulse where the manipulator tool tip was moved to the check point after performing the check program Displaying the Current Position Pulse I Select ROBOT under the main menu II Select CURRENT POSITION 2 Calculate the difference between the command position pulse and the current position pulse The difference pulse Command position pulse Current position pulse 3 On the HOME POSITIONING w...

Page 83: ... when performing teaching operations within the P point maximum envelope of the manipulator View the manipulator from the front whenever possible Always follow the predetermined operating procedure Ensure that you have a safe place to retreat in case of emergency Improper or unintended manipulator operation may result in injury Prior to performing the following operations be sure that no one is in...

Page 84: ...l other necessary tasks have been performed Check for problems in manipulator movement Check for damage to the insulation and sheathing of external wires 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 move...

Page 85: ...manipulator was moved after the power supply was turned OFF If there is an error with the PG system the manipulator may stall when playback is started If the absolute data allowable range error alarm has occurred playback and test runs will not function and the position must be checked OUT OF RANGE ABSO DATA alarm occurs Reset alarm Turn ON servo power Alarm occurs again 3 Correct defective axis R...

Page 86: ...e Position Setting Check Point at page 6 17 3 Alarm Occurrence If the alarm occurs again there may be an error in the PG system Check the system After adjusting the erroneous axis calibrate the home position of the axis then check the position again NOTE Home position calibration of all the axes at the same time enables playback operations without having to check the position Sometimes in a system...

Page 87: ...ntroller the second home position must be set for each manipulator or station 1 Select ROBOT under the main menu 2 Select SECOND HOME POS The SECOND HOME POS window appears The message Available to move to and modify specified point is shown 3 Press the page key 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 ...

Page 88: ... robot current position data when turning main power supply OFF and ON can be confirmed in POWER ON OFF POS window 1 Select ROBOT under the main menu 2 Select SECOND HOME POS The SECOND HOME POS window appears 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 unex...

Page 89: ...re two or more group axes 4 Press FWD TCP moves to the second home position The robot moving speed is set as selected manual speed 5 Select DATA under the menu 6 Select CONFIRM POSITION The message Home position checked is shown Pulse data of the second home position and current pulse data are compared If the compared error is in allowed range playback operation can be done If the error is beyond ...

Page 90: ...ersion 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 7 2 Manipulator Model 1 Select ROBOT under the main menu 2 Select MANIPULATOR TYPE The ROBOT AXIS CONFIG window appears ...

Page 91: ...job can be confirmed 7 3 1 1 Universal Input Window 1 Select IN OUT under the main menu 2 Select UNIVERSAL INPUT The UNIVERSAL INPUT window appears 7 3 1 2 Universal Input Simple Window 1 Select IN OUT under the main menu 2 Select UNIVERSAL INPUT The UNIVERSAL INPUT window appears 3 Select SIMPLE from the pull down menu of DISPLAY The UNIVERSAL INPUT simple window appears ...

Page 92: ...fied 7 3 2 1 Universal Output Window 1 Select IN OUT under the main menu 2 Select UNIVERSAL OUTPUT The UNIVERSAL OUTPUT window appears 7 3 2 2 Universal Output Simple Window 1 Select IN OUT under the main menu 2 Select UNIVERSAL OUTPUT The UNIVERSAL OUTPUT window appears 3 Select SIMPLE from the pull down menu of DISPLAY The UNIVERSAL OUTPUT simple window appears ...

Page 93: ...an be changed by the operation below 1 Select the desired output signal number Select the status of the desired output signal or in the UNIVERSAL OUTPUT window 2 Press INTER LOCK SELECT The status is changed ON status OFF status NOTE The status of universal output signal can be changed only when the mode is set to the teach mode ...

Page 94: ...t 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 2 Select SPECIFIC INPUT The SPECIFIED INPUT window appears 3 Select SIMPLE from the pull down menu of DISPLAY The SPECIFIED INPUT simple window appears ...

Page 95: ...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 2 Select SPECIFIC OUTPUT The SPECIFIED OUTPUT window appears 3 Select SIMPLE from the pull down menu of DISPLAY The SPECIFIED OUTPUT simple window appears ...

Page 96: ...ect 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 A search for the signal number can be made in the following two ways Direct search on the UNIVERSAL SPECIFIED INPUT OUTPUT win dow Search from the menu Signal number ...

Page 97: ...t 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 Type the signal number in the number input line 3 Press ENTER to start the search The page where the signal number exists appears ...

Page 98: ...enu 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 Type the signal number in the number input line 4 Press ENTER to start the search The page where the signal number exists appears ...

Page 99: ... can be made in the following two ways Direct search on the UNIVERSAL SPECIFIED INPUT OUTPUT win dow Search from the menu 7 3 7 1 Direct Search on the Universal Specified Input Output Window 1 Move the cursor to a relay number in the UNIVERSAL SPECIFIED INPUT OUTPUT window and press SELECT Numeric values can now be entered 2 Enter the relay number to be searched Type the relay number in the number...

Page 100: ...ER 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 2 Select SEARCH RELAY SIGNAL NO Numeric values can now be entered ...

Page 101: ...iagnosis DX100 7 3 Input Output Status 7 12 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 ...

Page 102: ...u 7 3 8 1 Direct Modification on the Universal Specified Input Output Window 1 Move the cursor to the signal name to be modified in the UNIVERSAL SPECIFIED INPUT OUTPUT window and press SELECT The window for character input appears 2 Enter the signal name 3 Press ENTER New signal name is registered 7 3 8 2 Modification from the Menu 1 Move the cursor to the signal name to be modified in the UNIVER...

Page 103: ...7 System Diagnosis DX100 7 3 Input Output Status 7 14 3 Select RENAME The window for character input appears 4 Enter the signal name 5 Press ENTER New signal name is registered 0 ...

Page 104: ...at the main power supply has been ON 2 SERVO POWER TIME Displays the cumulative time that the servo power supply has been ON 3 PLAYBACK TIME Displays the cumulative time during which playback was exe cuted 4 MOVING TIME Displays the cumulative time that the manipulator was in motion 5 OPERATING TIME Displays the cumulative time spent in operation For example if the manipulator is used for spot wel...

Page 105: ...on 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 NOTE The total time of each control group here is not always the same as the time in the SYS MONITORING TIME window because these windows show time as seen from the individ ual control group PAGE GO BACK PAGE GO BACK ...

Page 106: ...erating 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 1 Select the time to be cleared The confirmation dialog box appears 2 Select YES The cumulative time value at the cursor line is reset to 0 and a new time measurement begins ...

Page 107: ...ALARM USER window and the OFF LINE ALARM window Each window shows the alarm code and the date and time 1 Select SYSTEM INFO under the main menu 2 Select ALARM HISTORY The alarm history window appears 3 Press the page key to change the window or select PAGE to display the selection window for the alarm windows Each time the page key is pressed the window changes MAJOR ALARM MINOR ALARM USER ALARM S...

Page 108: ... 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 The pull down menu CLEAR HISTORY appears 3 Select CLEAR HISTORY The confirmation dialog box appears 4 Select YES The alarm history displayed is reset ...

Page 109: ...the main menu 2 Select I O MSG HISTORY The I O MESSAGE HISTORY window appears Press SELECT and numeric values can now be entered Input the history number and press ENTER The search for the input history number begins and the I O message that appeared on the window is displayed 7 6 1 1 Search Use the following operation to search for the I O message history 1 Select EDIT under the menu 2 Select SEA...

Page 110: ...7 21 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 The displayed I O message history is cleared ...

Page 111: ...ition 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 When alarm 4107 OUT OF RANGE ABSO DATA occurs the error value of the faulty axes can be verified in this window 1 Select ROBOT under the main menu 2 Select POWER ON OFF POS The POWER ON OFF POSITION window app...

Page 112: ...ion 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 The pull down menu appears 4 Select the desired coordinate system The type of coordinates being displayed is changed ...

Page 113: ... feedback speed of each axis SPEED INST Speed reference of each axis FEEDBACK SPEED Feedback speed actual speed of each axis TORQUE SPEC Torque reference of each axis MAX TORQUE Keeps the maximum value of the torque reference of each axis 0 when the maximum torque is cleared or the control power supply is turned ON or OFF ENCODER ROTATE SUM Accumulated number of encoder rotation when the control p...

Page 114: ...e 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 Select MONITOR ITEM 1 or 2 and view the sub menu choices by the cursor key The sub menu choices appear ...

Page 115: ...ted 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 The clear max torque window appears 2 Select MAX TORQUE The maximum torque data is cleared ...

Page 116: ...alarm Then turn ON the main power supply again 1 to 3 Level 1 to 3 Major alarm It is not possible to reset by RESET under the ALARM win dow or the system input signal Alarm reset Turn OFF the main power supply and correct the cause of the alarm Then turn ON the main power supply again 4 to 8 Level 4 to 8 Minor alarm After correcting the cause it is possible to reset by RESET under the ALARM window...

Page 117: ...ndow is changed to another window during alarm occurrence the ALARM window can be shown again by selecting SYSTEM INFO under the main menu and then selecting ALARM 8 2 1 1 Releasing Alarms Alarms are classified by minor and major alarms Minor Alarms Select RESET on the ALARM window to release alarms Or turn ON the specific signal ALARM RESET when using an external input signal specific input Major...

Page 118: ... XYZ coordinate data The coordinates where the alarm occurred are highlighted 123 data The data for which the alarm occurred is highlighted Control group data The control group where the alarm occurred is highlighted 2 Multiple SERVOPACK System In a system using more than one SERVOPACK the number of the SERVOPACK where the alarm occurred is also displayed The S1 switch of the EAXA01 circuit board ...

Page 119: ...task job TASK 1 Sub task1 job SUB1 TASK 2 Sub task2 job SUB2 TASK 3 Sub task3 job SUB3 TASK 4 Sub task4 job SUB4 TASK 5 Sub task5 job SUB5 TASK 6 Sub task6 job SUB6 TASK 7 Sub task7 job SUB7 TASK 8 Sub task8 job SUB8 TASK 9 Sub task9 job SUB9 TASK 10 Sub task10 job SUB10 TASK 11 Sub task11 job SUB11 TASK 12 Sub task12 job SUB12 TASK 13 Sub task13 job SUB13 TASK 14 Sub task14 job SUB14 TASK 15 Sub ...

Page 120: ... 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 program with a battery Careless operation may delete registered data ...

Page 121: ...rd 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 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 replac...

Page 122: ...rm 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 21 No response was sent from the optional board 2 when the control power turned ON Setting error 1 Check the following settings The optional board setting in maintenance mode Connection failure 1 Turn the power OFF then back ON...

Page 123: ... may judge it as signal input such as external hold wrong However it is caused by the communication error with servo baord 1 Therefore execute the following measures first of all Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 0 of the corresponding node number SV 1 Connection failure 1 Turn the power OFF then back ON 2 I...

Page 124: ...es and connectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs ...

Page 125: ... to be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 53 No response was sent from the servo board 4 when the control power turned ON Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 3 of the corresponding node number SV 4 Connection failure 1 Turn the power OFF then back ON 2 If the al...

Page 126: ...les and connectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs...

Page 127: ...replace the board to be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 56 No response was sent from the servo board 7 Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 6 of the corresponding node number SV 7 Connection failure 1 Turn the power OFF then back ON 2 If the alarm occurs again...

Page 128: ...ble of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs again replace the YIF01 ...

Page 129: ...fe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 51 The communications CPU for the servo board 2 detected an error when the control power turned ON Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 1 of the corresponding node number SV 2 Connection failure 1 Turn the power OFF then back ON 2...

Page 130: ...les and connectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs...

Page 131: ...fe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 54 The communications CPU for the servo board 5 detected an error when the control power turned ON Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 4 of the corresponding node number SV 5 Connection failure 1 Turn the power OFF then back ON 2...

Page 132: ...les and connectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs...

Page 133: ...fe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 57 The communications CPU for the servo board 8 detected an error when the control power turned ON Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 7 of the corresponding node number SV 8 Connection failure 1 Turn the power OFF then back ON 2...

Page 134: ...F then back 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 Board failure YCP02 board 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the following board Save the CMOS BIN before replace the board to be safe YCP02 board 20 The system program of optional board 2 is dam...

Page 135: ...ating procedure 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 52 The system program of servo board 3 is damaged Software operation error occurred 1 Turn the power OFF then back ON 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representati...

Page 136: ... damaged Software operation error occurred 1 Turn the power OFF then back 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 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 56 The sys...

Page 137: ...ut occurrence status operating procedure 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 1 An error was detected in communications with the I O module board connected with 1st serial bus when the control power t...

Page 138: ...es slot numbers of each I O module I O module settings in maintenance mode 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 In case of MII communications last station Terminator 24V power of the corresponding I O mo...

Page 139: ...ion Terminator 24V power of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe Replace the YIF0...

Page 140: ...ace 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 5 An error was detected in communications with the I O module board connected with 5th serial bus when the control power turned ON Setting error 1 Check the following settings The rotary switch setting which specifies slot numbers of each I O modu...

Page 141: ...es slot numbers of each I O module I O module settings in maintenance mode 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 In case of MII communications last station Terminator 24V power of the corresponding I O mo...

Page 142: ...ion Terminator 24V power of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe Replace the YIF0...

Page 143: ...ace 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 9 An error was detected in communications with the I O module board connected with 9th serial bus when the control power turned ON Setting error 1 Check the following settings The rotary switch setting which specifies slot numbers of each I O modu...

Page 144: ...ies slot numbers of each I O module I O module settings in maintenance mode 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 In case of MII communications last station Terminator 24V power of the corresponding I O m...

Page 145: ...ion Terminator 24V power of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe Replace the YIF0...

Page 146: ...ce 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 13 An error was detected in communications with the I O module board connected with 13th serial bus when the control power turned ON Setting error 1 Check the following settings The rotary switch setting which specifies slot numbers of each I O mod...

Page 147: ...t such as external hold wrong However it is caused by the communication error with YIU Therefore execute the following measures first of all Setting error 1 Check the following settings The rotary switch setting which specifies slot numbers of each I O module I O module settings in maintenance mode Connection failure 1 Turn the power OFF then back ON 2 If the alarm occurs again check the connectio...

Page 148: ...connectors The MII communications cable which I O module of the corresponding node number In case of MII communications last station Terminator 24V power of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 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 b...

Page 149: ...afe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 17 An error was detected in communications with the I O module board connected with 2nd PCI when the control power turned ON Setting error 1 Check the following settings PCI slot number in which each PCI board is mounted I O module settings in maintenance mode Connection failure 1 Turn the power OFF then back ON 2 I...

Page 150: ... insertion of the following connector The PCI connector of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the following board Save the CMOS BIN before replace the board to be safe The corresponding I O module PCI board YIF board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the YIF01 board ...

Page 151: ...e alarm occurred 0100 COMMUNICATION ERROR EAXA 1 1 The error was detected during the check of the serial communication watchdog data Counter value received from EAXA board is invalid Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 0 of the corresponding node number SV 1 Connection failure 1 Turn the power OFF then back ON...

Page 152: ...nectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs again repl...

Page 153: ...ard and then load the CMOS BIN saved before alarm occurred 2 The error was detected during the check of the number of the serial communications Counter value received from EAXA board is off by one cycle Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 1 of the corresponding node number SV 2 Connection failure 1 Turn the po...

Page 154: ...llowing cables and connectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the a...

Page 155: ...n load the CMOS BIN saved before alarm occurred 0103 COMMUNICATION ERROR EAXA 4 1 The error was detected during the check of the serial communication watchdog data Counter value received from EAXA board is invalid Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 3 of the corresponding node number SV 4 Connection failure 1 ...

Page 156: ...nectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs again repl...

Page 157: ...ard and then load the CMOS BIN saved before alarm occurred 2 The error was detected during the check of the number of the serial communications Counter value received from EAXA board is off by one cycle Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 4 of the corresponding node number SV 5 Connection failure 1 Turn the po...

Page 158: ...llowing cables and connectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the a...

Page 159: ...n load the CMOS BIN saved before alarm occurred 0106 COMMUNICATION ERROR EAXA 7 1 The error was detected during the check of the serial communication watchdog data Counter value received from EAXA board is invalid Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 6 of the corresponding node number SV 7 Connection failure 1 ...

Page 160: ...nectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs again repl...

Page 161: ...ard and then load the CMOS BIN saved before alarm occurred 2 The error was detected during the check of the number of the serial communications Counter value received from EAXA board is off by one cycle Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 7 of the corresponding node number SV 8 Connection failure 1 Turn the po...

Page 162: ...CMOS BIN before replace the board to be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 1 The RO parameter is damaged 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 YIF board failure 1 Turn the power OFF then back ON 2 If the a...

Page 163: ...eplace the board to be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 4 The SC parameter is damaged 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 YIF board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again...

Page 164: ...eplace the board to be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 7 The FD parameter is damaged 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 YIF board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again...

Page 165: ...lace the board to be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 10 The SE parameter is damaged 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 YIF board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again ...

Page 166: ...place the board to be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 13 The SVP parameter is damaged 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 YIF board failure 1 Turn the power OFF then back ON 2 If the alarm occurs agai...

Page 167: ...ORY ERROR SYSTEM CONFIG DATA The system configuration information data are damaged 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 YIF board failure 1 Turn the power OFF then...

Page 168: ...ata job variable data Robot calibration data saved in the external memory device 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 YIF board failure 1 Turn the power OFF then b...

Page 169: ...ta in maintenance mode and then load the data saved in the external memory device 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 YIF board failure 1 Turn the power OFF then ...

Page 170: ...s damaged Setting error 1 Check the following settings XFB01 board The settings of the objective DeviceNet allocation file The I O module settings of the objective DeviceNet board in maintenance mode The DeviceNet allocation of the I O module in maintenance mode 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 replac...

Page 171: ...IF01 board and then load the CMOS BIN saved before alarm occurred 0270 MEMORY ERROR CF BACKUP FILE The system software version is inconsistent with the version when the internal storage data is set or the CompactFlash on the YCP01 board is damaged Software operation error occurred 1 Turn the power OFF then back ON 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact y...

Page 172: ...e the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 4 Axis related parameter error Setting error 1 Check th...

Page 173: ... from the failure YCP01 board to insert it into the new YCP01 board 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 7 The set optional functions are different from those of the mounted optional board Setting err...

Page 174: ...oard 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 0310 VERIFY ERROR CMOS MEMORY SIZE The CMOS memory capacity is different from its initial setting YCP01 board failure 1 Turn the power OFF then back ON 2 If the alarm o...

Page 175: ...tions last station Terminator 24V power of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe R...

Page 176: ...ccurs 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 3 The I O module connected to the serial bus 3 is different from the function of the set I O module Setting error 1 Check the following settings The rotary switch setting which specifies slot numbers of each I O module I O module s...

Page 177: ... of each I O module I O module settings in maintenance mode 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 In case of MII communications last station Terminator 24V power of the corresponding I O module Board fail...

Page 178: ...ion Terminator 24V power of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe Replace the YIF0...

Page 179: ...ccurs 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 7 The I O module connected to the serial bus 7 is different from the function of the set I O module Setting error 1 Check the following settings The rotary switch setting which specifies slot numbers of each I O module I O module s...

Page 180: ... of each I O module I O module settings in maintenance mode 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 In case of MII communications last station Terminator 24V power of the corresponding I O module Board fail...

Page 181: ...on Terminator 24V power of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe Replace the YIF01...

Page 182: ...curs 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 11 The I O module connected to the serial bus 11 is different from the function of the set I O module Setting error 1 Check the following settings The rotary switch setting which specifies slot numbers of each I O module I O module ...

Page 183: ...s of each I O module I O module settings in maintenance mode 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 In case of MII communications last station Terminator 24V power of the corresponding I O module Board fai...

Page 184: ...ion Terminator 24V power of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe Replace the YIF0...

Page 185: ...1 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 15 The I O module connected to the serial bus 15 is different from the function of the set I O module Setting error 1 Check the following settings The rotary switch setting which specifies slot numbers of each I O module I O module settings in maintenance mod...

Page 186: ...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 module 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the following board Save the CMOS BIN before replace the board to be safe The corresponding I O module PCI board YIF board failure 1 ...

Page 187: ...board to be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred 18 The I O module connected to the 3rd PCI bus is different from the function of the set I O module Setting error 1 Check the following settings PCI slot number in which each PCI board is mounted I O module settings in maintenance mode Connection failure 1 Turn the power OFF then back ON 2 If the alarm ...

Page 188: ...or The PCI connector of the corresponding I O module Board failure I O module 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the following board Save the CMOS BIN before replace the board to be safe The corresponding I O module PCI board 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 th...

Page 189: ...mode 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 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...

Page 190: ...on file1 Setting error 1 Check the following settings XFB01 board The settings of the objective DeviceNet allocation file The I O module settings of the objective DeviceNet board in maintenance mode The DeviceNet allocation of the I O module in maintenance mode 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...

Page 191: ...oard 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 11 The MAC_ID specified by the DeviceNet allocation file2 is not consistent with the MAC_ID of the specified station board Setting error 1 Check the following...

Page 192: ...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 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 occu...

Page 193: ...P01 board 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 0400 PARAMETER TRANSMISSION ERROR 50 An error occurred during the parameter file transfer to the 1st servo board Setting error 1 Check the following sett...

Page 194: ...rd rotary switch setting 1 of the corresponding node number SV 2 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 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 EAXA board failure 1 Turn the ...

Page 195: ...d Save the CMOS BIN before replace the board to be safe 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 53 An error occurred during the parameter file transfer to the 4th servo board Setting error 1 Check the fo...

Page 196: ...rd rotary switch setting 4 of the corresponding node number SV 5 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 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 EAXA board failure 1 Turn the ...

Page 197: ...d Save the CMOS BIN before replace the board to be safe 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 56 An error occurred during the parameter file transfer to the 7th servo board Setting error 1 Check the fo...

Page 198: ...rd rotary switch setting 7 of the corresponding node number SV 8 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 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 EAXA board failure 1 Turn the ...

Page 199: ...tor of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe Replace the YIF01 boar...

Page 200: ...01 board and then load the CMOS BIN saved before alarm occurred 52 An error occurred during startup sequence processing with the servo CPU of 3rd servo board and the system did not startup normally Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 2 of the corresponding node number SV 3 Connection failure 1 Turn the power O...

Page 201: ...les and connectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs...

Page 202: ...01 board and then load the CMOS BIN saved before alarm occurred 55 An error occurred during startup sequence processing with the servo CPU of 6th servo board and the system did not startup normally Setting error 1 Check the following settings Control group settings in maintenance mode The EAXA board rotary switch setting 5 of the corresponding node number SV 6 Connection failure 1 Turn the power O...

Page 203: ...les and connectors The cable of EAXA board CN509 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 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 2 If the alarm occurs...

Page 204: ...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 0420 DEVICENET ALLOC FL TRANSMIT ERR 1 The DeviceNet allocation file1 could not be transmitted to the specified station Setting error 1 Check the following settings XFB01 board The settings of the objective DeviceNet allocation fi...

Page 205: ...be transmitted to the specified station Setting error 1 Check the following settings XFB01 board The settings of the objective DeviceNet allocation file The I O module settings of the objective DeviceNet board in maintenance mode The DeviceNet allocation of the I O module in maintenance mode Board failure XFB01B 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the following bo...

Page 206: ...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 0510 SOFTWARE VERSION UNMATCH 0 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 YCP...

Page 207: ... 0601 MEDAR DIAGNOSIS ERROR MADER timer error Refer to the instruction manual for the MEDAR function 0602 MEDAR VERSION ERROR MADER timer error Refer to the instruction manual for the MEDAR function 0603 MEDAR REVISION ERROR MADER timer error Refer to the instruction manual for the MEDAR function 0604 MEDAR MODE CHANGE ERROR MADER timer error Refer to the instruction manual for the MEDAR function ...

Page 208: ...ilure YCP01 board to insert it into the new YCP01 board 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 0720 LADDER PROGRAM ERROR 1 An error was found in the relay No specification Data error 1 Turn the power OF...

Page 209: ...he YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 3 An incorrect instruction was set Data error 1 Turn the p...

Page 210: ... board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 5 Output relay is used redundantly Data error 1 Turn the power OFF...

Page 211: ... and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 7 The STR instructions are overused Data error 1 Turn the power OFF then...

Page 212: ...and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 9 A syntax error was found in the CNT instruction Data error 1 Turn the p...

Page 213: ... be safe Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 11 Excessive machine codes Data error 1 ...

Page 214: ...1 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 13 An error was found in the PART instruction Data error 1 Turn t...

Page 215: ...YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 15 The No of operand is incorrect Data error 1 Turn the power...

Page 216: ...nd then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 17 The step capacity exceeds the memory capacity Data error 1 Turn the pow...

Page 217: ...oard and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 19 A syntax error was found in the CNT instruction or TMR instructio...

Page 218: ...CP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 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 21 The label of JMP destination does not exist Data error 1 Tu...

Page 219: ...YCP01 board 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 0801 FILE LOAD ERROR YCP01 CF YCP01 board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the YCP01 board Save the CMOS B...

Page 220: ...wer 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 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 R...

Page 221: ...ion configuration for the TOYOPUC 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 5 In the output side setting of allocation configuration data the set number to use the M register of concurrent I O exceeds the M register limit Setting error 1 Check the following se...

Page 222: ...ound in the type specified for system data of allocation configuration data Setting error 1 Check the following settings Allocation configuration for the TOYOPUC 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 12 An error was found in the specified number of registe...

Page 223: ...C 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 18 An error was found in the specified number of registers which are used by the system data TASK INFO of allocation configuration Setting error 1 Check the following settings Allocation configuration for the TOYOPUC...

Page 224: ...nd in the specified number of registers for Alarm Error Message in the system data of Allocation setting information Setting error 1 Check the following settings Allocation configuration for the TOYOPUC 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 30 In the input...

Page 225: ...on for the TOYOPUC 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 34 An error was found in the specified number of registers which are used by the system data standard time setting data of allocation configuration Setting error 1 Check the following settings Alloca...

Page 226: ...e input side setting of allocation configuration data some of the TOYOPUC s R registers are specified redundantly Setting error 1 Check the following settings Allocation configuration for the TOYOPUC 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 45 In the input si...

Page 227: ...atchdog timeout was detected in the CP02 1 board Setting error 1 Check the following settings Optional board in maintenance mode Board failure YCP02 board 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the following board Save the CMOS BIN before replace the board to be safe YCP02 board 0902 WATCHDOG TIMER ERROR YCP02 2 A Watchdog timeout was detected in the CP02 2 board Set...

Page 228: ...he CP02 5 board Setting error 1 Check the following settings Optional board in maintenance mode Board failure YCP02 board 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the following board Save the CMOS BIN before replace the board to be safe YCP02 board 0906 WATCHDOG TIMER ERROR YCP02 6 A Watchdog timeout was detected in the CP02 6 board Setting error 1 Check the following ...

Page 229: ...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 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 befor...

Page 230: ...mode Board failure YCP02 board 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the following board Save the CMOS BIN before replace the board to be safe YCP02 board 0915 CPU ERROR YCP02 5 An error was detected in the CPU Setting error 1 Check the following settings Optional board in maintenance mode Board failure YCP02 board 1 Turn the power OFF then back ON 2 If the alarm oc...

Page 231: ...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 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 befo...

Page 232: ...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 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 EAXA board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the EAXA board Save the CMO...

Page 233: ...n 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 0953 CPU ERROR EAXA 4 An error was detected in the CPU of servo board 4 Connection failure 1 Turn the power OFF then back ON 2 If the alarm occurs again check the connection and insertio...

Page 234: ... connector CN113 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 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 ala...

Page 235: ...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 The cable of EAXA board connector CN515 516 The PCI connector of the YIF01 board The cable of YIF board connector CN113 EAXA board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the EAXA board Save the CMO...

Page 236: ...lace the YIF01 board and then load the CMOS BIN saved before alarm occurred 1000 ROM ERROR YCP01 Software operation error occurred 1 Reset the alarm 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 ROM ERROR EAXA01 10 A checksum error occurred in the board or the EEPROM axis No EAXA board...

Page 237: ...urn ON after the CLEAR command was written EEPROM CLEAR error 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 24 The SRDY signal did not turn ON after data were written EEPROM writing error EAXA board failure 1 Reset the alarm In case of major alarm t...

Page 238: ...IN 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 1 ROxG parameter error 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 YCP01 board failure 1 Turn the power OFF...

Page 239: ...afe Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 4 S1CxG S2C S3C S4C parameter error 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 YCP01 board failure 1 Turn the power OFF then back ON 2 If the...

Page 240: ...oard 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 7 FD parameter error 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 YCP01 board failure 1 Turn the power OFF then back ON 2 If the al...

Page 241: ...rd 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 10 S1E parameter error 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 YCP01 board failure 1 Turn the power OFF then back ON 2 If the al...

Page 242: ...ard 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 13 SVPxG parameter error 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 YCP01 board failure 1 Turn the power OFF then back ON 2 If the...

Page 243: ...ard 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 1031 MEMORY ERROR MOTION1 0 GET FILE instruction SET FILE instruction execution target 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 de...

Page 244: ...le 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 7 Home position correction data 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...

Page 245: ... Arc start 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 24 Arc end 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 ext...

Page 246: ...layer index 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 31 Multi layer 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...

Page 247: ...ry device 38 Air gun 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 39 Motor gun 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 save...

Page 248: ...cut 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 46 Spot user I O allocation 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 memo...

Page 249: ...device 53 Job registration table 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 54 Painting device 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 s...

Page 250: ...ndition 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 61 Clearance 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 6...

Page 251: ...alize the appropriate data in maintenance mode and then load the data saved in the external memory device 67 Palletizing 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 68 Air gun pressure file Data error 1 Turn the power OFF then back ON 2 If the a...

Page 252: ... 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 Software operation error occurred 1 Turn the power OFF then back 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 3 SPOT management file setup inco...

Page 253: ...ation error occurred 1 Turn the power OFF then back 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 3 The servo control section cannot receive the position data of when the power supply was turned OFF EAXA board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace ...

Page 254: ...ure 7 Unable to send a request to prepare a feedback pulse 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 Software operation error occurred 1 Turn the power OFF then back ON 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative abou...

Page 255: ...place 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 Software operation error occurred 1 Turn the power OFF then back 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 11 Unable to send a request to prepa...

Page 256: ... and then contact your Yaskawa representative about occurrence status operating procedure 1101 SYSTEM ERROR MAN MACHINE MECHA Sub Code 1 to 6 Internal control error in software Software operation error occurred 1 Turn the power OFF then back 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 257: ...ing 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 Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 1105 SYSTEM ERROR SERVO 0 No processing corresponds to the command code sent from MOTION section Software operat...

Page 258: ...Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 2 If the alarm occurs again replace the EAXA b...

Page 259: ...at does not support the manipulator type specified in the RC parameter at calculation for servo float related parameters Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 37 The manipulato...

Page 260: ... the general purpose 10ms process although it was not the execution timing Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 tur...

Page 261: ...A 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 105 The sequence was untimely executed in the dynamics calculation process although it was not the execution timing Software operation error occurred 1 Reset the alarm In case of major alarm turn the power ...

Page 262: ... the execution timing Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 2 If the alarm occurs ag...

Page 263: ...rd 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 110 The universal three clock process executing sequence error process was executed according to unexpected timing Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF th...

Page 264: ...not the execution timing Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 2 If the alarm occurs...

Page 265: ...rd 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 123 The general purpose 2ms process did not complete within the time set on the scheduling table Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If th...

Page 266: ...cheduling table Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 2 If the alarm occurs again re...

Page 267: ...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 129 The CERF receiving process did not complete within the time set on the scheduling table Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If...

Page 268: ... table Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 2 If the alarm occurs again replace the...

Page 269: ... then back ON 2 If the alarm occurs again replace the EAXA board Save the CMOS BIN before replace the board to be safe 151 The averaging time is not an even number times Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurr...

Page 270: ... the power OFF then back 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 1001 The check item number of SV parameter is unmatched Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again save the CMOS BIN in maint...

Page 271: ...e operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 1006 The check item number of MFA parameter is unmatched Software operation error occurred 1 Reset the alarm In case of major alarm turn the powe...

Page 272: ...thin a certain time period Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 7100 The override ratio is invalid Software operation error occurred 1 Reset the alarm In case of major alarm t...

Page 273: ...ATURE I N CNTL BOX The temperature rises in the controller Turn the power OFF then back ON after cooling the controller Connection failure 1 Turn the power OFF then back ON 2 If the alarm occurs again check the connection of the following cable CN159 power supply cable of the cooling fan in the YPS unit YPS unit failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the foll...

Page 274: ...IF01 board and initialize the DX100 system configuration 1213 SAFETY CIRCUIT WDT ERROR YIF01 Sub Code 0000_0001 Error detected in PLD circuit 1 0000_0010 Error detected in PLD circuit 2 0000_0011 Error detected in PLD circuits 1 and 2 Setting error Check the one of PPESP PBESP EXESP and SAF signals Circuit board failure Replace the YIF01 board and initialize the DX100 system configuration 1219 ANO...

Page 275: ... 1 Check the following settings SNTP setting of network in maintenance mode 31 Incorrect setting of the IP address of the SNTP server which is used in the Ethernet function of the SNTP Setting error 1 Check the following settings SNTP setting of network in maintenance mode 32 Incorrect setting of the IP address of the SNTP server which is used in the Ethernet function of the SNTP Setting error 1 C...

Page 276: ...ntenance 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 Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 2 An error occurred in ...

Page 277: ...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 Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 5 An error oc...

Page 278: ... 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 Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 21 An error occu...

Page 279: ...S 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 Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 50 An error...

Page 280: ...ve 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 Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 6...

Page 281: ... status 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 63 The data acquired from the server were found illegal in the DHCP of the Ethernet function Setting error 1 Check the...

Page 282: ... 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 66 An error occurred in the Ethernet function DNS domain getting process in the DHCP of the Ethernet function Setting error 1 Check the following settings The DHCP server operation The network status YCP01 board failure 1 Turn the power OFF then back ON 2 If the alarm...

Page 283: ...red in the DHCP interface structure object mapping process of the Ethernet function Setting error 1 Check the following settings The DHCP server operation The network status 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 YC...

Page 284: ...e DNS related settings The DHCP server operation The network status 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 73 The mode error occurred in the DNS resolver setting of ...

Page 285: ...MOS 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 Replace the YCP01 board and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board 100 An er...

Page 286: ... Turn the power OFF then back 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 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 ...

Page 287: ...ck ON 2 If the alarm occurs again check the connection and insertion of the following cables and connectors EAXA01 CN515 YIF01 CN113 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 1301 COMMUNICATION ERROR SERVO 0 Communication status error Connection...

Page 288: ...nnection 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 EAXA01 CN515 YIF01 CN113 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 boa...

Page 289: ... 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 3 Communication status error 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 ...

Page 290: ...ailure 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be safe Replace the YIF01 ...

Page 291: ...eived status is incorrect No interrupt 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 EAXA01 CN517 YSU01 CN202 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 292: ... 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 0010 The communications loop back value of servo I O communications JL098 is incorrect Communication loop back First two digits show the station number of the connected unit Connection failure 1 Reset the alarm In case of major alarm turn the power O...

Page 293: ...01 CN202 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 2 If the alarm occurs again replace the YIF01 board Save the CMOS BIN before replace the board to be sa...

Page 294: ...mber Tool file setting error 1 Check the following settings Reexamine the tool file setting Check the units of mass and center of gravity positive negative signs Motor load error 1 Check the followings Overload is applied to the manipulator Correct the tools the work pieces and the drive condition 1304 EX AXIS BOARD NOT INSTALLED Setting error 1 Check the following settings Check the parameter set...

Page 295: ...tween the amplifier selected at configuration and the amplifier that is actually mounted Reference parameter after SVPxG232 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 EAXA01 CN517 YSU01 CN202 Module failure amplifier 1 Reset the alarm In case of maj...

Page 296: ...hen contact your Yaskawa representative about occurrence status operating procedure 1308 CONVERTER TYPE MISMATCH Sub Code Signifies the converter in which the alarm occurred Setting error 1 Check the following settings Check the current capacity of the amplifier before after replacement by the model described in board When the external axis is mounted check if there is no difference between the co...

Page 297: ...ROR CONVER TER Module failure converter 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1312 ID ERROR CONVER TER Sub Code Signifies the converter in which the alarm occurred Module failure converter 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 131...

Page 298: ...ilure 1 Reset the alarm 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 1317 COMMAND TIMEOUT SERVO Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs ...

Page 299: ...on 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 Cable between encoders EAXA CN508 External axis Cable between encoders EAXB CN0534 535 536 Module failure encoder 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm o...

Page 300: ...ter the alarm 1327 ENCODER OVER SPEED Sub Code Signifies the axis in which the alarm occurred 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 Cable between encoders EAXA CN508 External axis Cable between encoders EAXB CN0534 535 536 Encoder fa...

Page 301: ... 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 1329 DEFECTIVE SERIAL ENCODER COMMAND Sub Code Signifies the axis in which the alarm occurred Connection failure 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again...

Page 302: ...e failure converter 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK Primary power failure Check if the primary power supply voltage does not drop 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 ...

Page 303: ...SERIAL 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 Save the CMOS BIN before replace the board to be safe 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 conne...

Page 304: ...Battery failure Robot axis Replace the battery inside the manipulator External axis Check the voltage of external axis 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 insertion of the following cables and connectors Robot axis Cable between encoders EAXA CN508 External axis Cable between encode...

Page 305: ...n status error The first digit shows the converter No 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 EAXA01 CN507 510 EAXB01 CN08 Converter CN551 553 Module failure converter 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If ...

Page 306: ...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 Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 0...

Page 307: ...us operating procedure 004 CRC 16 error The first digit shows the converter No 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 EAXA01 CN507 510 EAXB01 CN08 Converter CN551 553 Module failure converter 1 Reset the alarm In case of major alarm turn the pow...

Page 308: ...n and insertion of the following cables and connectors EAXA01 CN507 510 EAXB01 CN08 Converter CN551 553 Module failure converter 1 Reset the alarm In case of major alarm turn the power OFF then back 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 Save ...

Page 309: ... Reset the alarm In case of major alarm turn the power OFF then back 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 Save the CMOS BIN before replace the board to be safe Software operation error occurred 1 Reset the alarm 2 If the alarm occurs again s...

Page 310: ...matched error 08 EXOT signal unmatched error 09 OT signal unmatched error 10 TUSONER signal unmatched error 11 SVCMPER signal unmatched error 12 TCER signal unmatched error 13 SON_OUT signal unmatched error 14 BRRVER signal unmatched error 60 Error due to unmatched output signal for servo board failure 61 Error due to unmatched signal for the main contactor state closed contact 62 Error due to unm...

Page 311: ...n of the following cables and connectors Robot axis Cable between encoders EAXA CN508 External axis Cable between encoders EAXB CN0534 535 536 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 Cable between encoders EAXA CN508 External axis Cabl...

Page 312: ...e connection and insertion of the following cables and connectors Robot axis Cable between encoders EAXA CN508 External axis Cable between encoders EAXB CN0534 535 536 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 Cable between encoders EAXA...

Page 313: ...r Check the job setting 1357 PRESS ERROR Setting error Check the job setting 1360 PA NOT INSTALLED Connection failure Check the inserting and connection of prealigner 1400 ENCODER ERROR CONVEY OR 1401 CANNOTCHANGE CONVEYOR MODE 1402 WORK IN NOT DATA CNT LMT OVER 1403 WORK IN NOT SHIFT DATA POS LMT 1404 WORK ID DATA CNT LMT OVER 1405 WORK ID SHIFT DATA POS LMT 1406 START SHIFT DATA CNT LMT OVER 140...

Page 314: ... SVMX RELAY STICKING SERVO I O Circuit board failure YPU unit 1 Reset the alarm 2 If the alarm occurs again replace the YPU unit Save the CMOS BIN before replace the board to be safe 1502 CONTACTOR STICKING SERVO I O Circuit board failure YPU unit 1 Reset the alarm 2 If the alarm occurs again replace the YPU unit Save the CMOS BIN before replace the board to be safe 1503 SAFETY CIRCUIT IN FAULT SV...

Page 315: ...n replace the YPU unit Save the CMOS BIN before replace the board to be safe 1509 EXTERNAL WDT OVER SERVO I O Circuit board failure YPU unit 1 Reset the alarm 2 If the alarm occurs again replace the YPU unit Save the CMOS BIN before replace the board to be safe 1510 EXTERNAL WDT BROKEN SERVO I O Circuit board failure YPU unit 1 Reset the alarm 2 If the alarm occurs again replace the YPU unit Save ...

Page 316: ...16 BRRCER RELAY STICKING SERVO I O Circuit board failure YPU unit 1 Reset the alarm 2 If the alarm occurs again replace the YPU unit Save the CMOS BIN before replace the board to be safe 1530 ABSOLUTE DATA ERROR SERVO2 Circuit board failure YPU unit 1 Reset the alarm 2 If the alarm occurs again replace the YPU unit Save the CMOS BIN before replace the board to be safe Module failure motor 1 Reset ...

Page 317: ...e power OFF then back ON 2 If the alarm occurs again replace the encoder Noise interference Check the noise source and take countermeasures to reduce the noise Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1534 GROUND FAULT SERVO2 Ground fault Check if a ground fault has not occurred in the U V an...

Page 318: ...Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1538 INCR ENCODER INIT PULSE ERR SV2 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 Cable betw...

Page 319: ... CMOS BIN before replace the board to be safe 1541 FC SERIAL ENCODER SUM ERROR SV2 Module failure serial conversion unit Replace the serial conversion unit Module failure encoder 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the encoder Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 ...

Page 320: ...V2 Connection failure Check the insertion and connection of the followings Serial conversion unit Cable between SERVOPACKs Noise interference Check the noise source and take countermeasures to reduce the noise Module failure serial conversion unit Replace the serial conversion unit Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occu...

Page 321: ...ERVOPACK 1552 PARAMETER ERROR SERVO2 Setting error Check the parameter settings Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1553 COMBINATION ERROR SERVO2 Setting error Compare the rated current of the SERVOPACK and the motor referring to each model and check whether it is possible to apply by sp...

Page 322: ...ck the insertion and connection of the followings Encoder backup battery Between encoders Module failure encoder 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the encoder Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1556 DEFECTIVE ENC...

Page 323: ...ower OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1558 ENCODER OVER SPEED SERVO2 Module failure encoder 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the encoder Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1559 ...

Page 324: ...of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the motor Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1562 BROKEN PG LINE C PHASE SV2 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 t...

Page 325: ...If the alarm occurs again replace the SERVOPACK 1564 COMMUNICATION ERR ENCODER S V2 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 Cable between encoders EAXA CN508 External axis Cable between encoders EAXB CN0534 535 536 Noise interference C...

Page 326: ...rnal axis Cable between encoders EAXB CN0534 535 536 Noise interference Check the noise source and take countermeasures to reduce the noise Module failure motor 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the motor Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs ...

Page 327: ... case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1573 SERVOPACK BROKEN SERVO2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1574 INITIAL ACCESS ERROR SERVO2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF th...

Page 328: ...e SERVOPACK 1579 SERVO MOTOR DISCONNECTION 2 SV2 Connection failure Check the connection of motor power line Module failure motor 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the motor Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 158...

Page 329: ...oise Module failure motor 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the motor Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1584 POLE DETECTION ERROR SERVO2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the...

Page 330: ...y of AC DC Regenerative resistor failure Replace the regenerative resistor Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1591 LINEAR MOTOR MAX SPEED SET SV2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SER...

Page 331: ...k ON 2 If the error occurs again save the CMOS BIN in maintenance mode replace the following board EAXA board YCP01 board failure 1 Turn the power OFF then back ON If the error occurs again save the CMOS BIN in maintenance mode and then replace the YCP01 board In this case use the original CF card of the YCP01 board YIF board failure 1 Turn the power OFF then back ON 2 If the error occurs again sa...

Page 332: ...EAXA board Save the CMOS BIN before replace the board to be safe 2 Buffer size over 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 1652 DB ON ERROR SERVO EAXA board failure 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If...

Page 333: ...REQ SV Setting error Check if the PICK instruction was executed again for the axis where executed the PICK instruction in the gun change system 1655 CONVERTER COMMAND ERROR SV Module failure converter 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 1656 AXIS ENDLESS INFO NOT GENERATED SV Setting error Check the JOB 1 Turn t...

Page 334: ... cannot be used for the axis which the axis endless function was enabled Setting error Disable the corresponding axis endless function 4 The general servo function was used for the axis for which the axis endless function was enabled The general servo function cannot be used for the axis which the axis endless function was enabled Setting error Disable the corresponding axis endless function 1658 ...

Page 335: ...if the PICK instruction was executed again for the axis where executed the PICK instruction in the gun change system 1661 MOTOR GUN COND FILE NO ERR SV Setting error Check the JOB File setting error Check the gun condition file 1662 MOTOR GUN PRESS FILE NO ERR SV Setting error Check the JOB File setting error Check the gun condition file 1663 WRONG MOTOR GUN PRESS AXIS SV Setting error Check the J...

Page 336: ... CONST ERR SV 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 1668 CANNOT GENERATE GENERAL CMD SV 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 C...

Page 337: ...R ON ERR SV Sub Code Signifies the axis in which the alarm occurred Setting error Check the JOB 1673 GRP CHANGE SERVO ON ERROR SV Sub Code Signifies the axis in which the alarm occurred Setting error Check the JOB 1674 CTRL LAW SWITCHING ORDER ERR SV 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 t...

Page 338: ...or 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 1679 EXTERNAL BRAKE FUSE BROWN SV YBK board failure Replace the YBK01 fuse 1680 GENERAL I O FUSE BROWN SV 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 ...

Page 339: ... the manipulator Connection failure Check the connection of motor power line 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 Module failure amplifier 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again ...

Page 340: ...N518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe 1802 M SAFETY INITIALIZE ERROR CPU1 0 Failed to initialize the CPU1 when the control power turned ON YSU unit failure 1 Turn the power OFF then ba...

Page 341: ...nication cables The communication cable between EAXA board CN518 connector and YSU unit CN202 connector 3 After confirmation of the communication cable connection and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the...

Page 342: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 343: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 344: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 345: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 346: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 347: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 348: ...he YSU unit to be safe EAXA board failure 1 Turn the power OFF then back ON 2 After replacement the YSU unit and then if the alarm occurred again replace the EAXA board Save the CMOS BIN before replace the EAXA board to be safe 11 The communication error occurred between the EAXA board and the YSU unit YSU unit failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the YSU u...

Page 349: ...t CN202 connector 3 After confirmation of the communication cable connection and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save th...

Page 350: ... cable connection and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA boar...

Page 351: ... the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn the power OFF then back ON 2 After replacement the YSU unit and then if the alarm occurred again replace the EAXA board Save the CMOS BIN before replace the EAXA board to be safe 1808 M S...

Page 352: ...ng cables Cable of the YSU unit CN200 connector Cable of the YPS unit CN154 connector Loose fuse 1 Turn the power OFF then back ON 2 If the alarm occurred again check if the fuse F1 F2 is not removed Fuse is located on the front of the YSU unit Blown fuse 1 Turn the power OFF then back ON 2 If the alarm occurred again after confirmation of the fuse removal replace the fuse F1 F2 of the YSU unit Fu...

Page 353: ...ble connected with other YSU unit 3 After confirmation of the connection and then if the alarm occurred again replace the communication cable 1811 M SAFETY SYSTEM ERROR CPU2 13 Information of the connected the EAXA board is different between the CPU1 and the CPU2 of the YSU unit YSU unit failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN be...

Page 354: ... CPU2 Failed to initialize the CPU2 when the control power turned ON YSU unit failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe 1814 M SAFETY CPU ERROR CPU2 0 Watch dog time out occurred in the CPU2 of the YSU unit YSU unit failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace ...

Page 355: ...n cable connection and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA boa...

Page 356: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 357: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 358: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 359: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 360: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 361: ...and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn t...

Page 362: ... the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn the power OFF then back ON 2 After replacement the YSU unit and then if the alarm occurred again replace the EAXA board Save the CMOS BIN before replace the EAXA board to be safe 11 The communication error occurred between the EAXA bo...

Page 363: ...nnection of the following communication cables The communication cable between EAXA board CN518 connector and YSU unit CN202 connector 3 After confirmation of the communication cable connection and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then ...

Page 364: ... cable connection and then if the alarm occurred again replace the communication cable below The communication cable between EAXA board CN518 connector and YSU unit CN202 connector YSU unit failure 1 Turn the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA boar...

Page 365: ... the power OFF then back ON 2 After replacement the communication cable and then if the alarm occurred again replace the YSU unit Save the CMOS BIN before replace the YSU unit to be safe EAXA board failure 1 Turn the power OFF then back ON 2 After replacement the YSU unit and then if the alarm occurred again replace the EAXA board Save the CMOS BIN before replace the EAXA board to be safe 1819 M S...

Page 366: ...ables Cable of the YSU unit CN200 connector Cable of the YPS unit CN154 connector Loose fuse 1 Turn the power OFF then back ON 2 If the alarm occurred again check if the fuse F1 F2 is not removed Fuse is located on the front of the YSU unit Blown fuse 1 Turn the power OFF then back ON 2 If the alarm occurred again after confirmation of the fuse removal replace the fuse F1 F2 of the YSU unit Fuse i...

Page 367: ... 2 If the alarm occurs again check the followings 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 4000 MEMORY ERROR TOOL FILE Sub Code Tool number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the tool file in maintenance mode and then load the tool file sav...

Page 368: ...replace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4002 MEMORY ERROR SV MON SIGNAL FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the servo monitor signal file in maintenance mode and then load the servo monitor signal file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs...

Page 369: ... replace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4004 MEMORY ERROR HOME POS FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the home positioning file in maintenance mode and then load the home positioning file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs again repla...

Page 370: ...ace the YIF board and then load the CMOS BIN saved before alarm occurred 4006 MEMORY ERROR POWER SOURCE COND Sub Code Page number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the arc welding Power Source condition file in maintenance mode and then load the arc welding Power Source condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If t...

Page 371: ...the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4008 MEMORY ERROR ARC END COND FILE Sub Code Page number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the arc end condition file in maintenance mode and then load the arc end condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm ...

Page 372: ...ce the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4010 MEMORY ERROR COM ARC3 COND FILE Sub Code Page number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the COM ARC condition file in maintenance mode and then load the COM ARC condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the al...

Page 373: ...oard to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4013 MEMORY ERROR LINEAR SERVOFLOAT Sub Code Condition file number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the linear servo float condition file in maintenance mode and then load the linear servo float condition file saved in the external memory device YCP01 board failure 1 Rese...

Page 374: ...before replace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4017 MEMORY ERROR POWER SRC USER DEF Data error 1 Reset the alarm 2 If the alarm occurs again initialize the Power Source user definition file in maintenance mode and then load the Power Source user definition file saved in the external memory device YCP01 board failure 1 Reset the alar...

Page 375: ...fe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4019 MEMORY ERROR CUTTING COND FILE Sub Code Page number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the cutting condition file in maintenance mode and then load the cutting condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs again repla...

Page 376: ... board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4021 MEMORY ERROR CONVEY OR COND FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the conveyor condition file in maintenance mode and then load the conveyor condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs again replace...

Page 377: ... board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4023 MEMORY ERROR PAINT COND FILE Sub Code Page number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the paint condition file in maintenance mode and then load the paint condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs ag...

Page 378: ...eplace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4025 MEMORY ERROR INTERRU PT JOB FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the interrupt job file in maintenance mode and then load the interrupt job file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs again replace...

Page 379: ...he board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4030 MEMORY ERR PRESS COND DATA FILE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the press condition file in maintenance mode and then load the press condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occu...

Page 380: ...e safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4032 MEMORY ERROR SPOT WELDER COND Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the spot welding gun condition file in maintenance mode and then load the spot welding gun condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the ala...

Page 381: ...he board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4034 MEMORY ERR ANTICIPATIO N OT FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the anticipation outputs file in maintenance mode and then load the anticipation outputs file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs again r...

Page 382: ...the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4036 MEMORY ERROR WEARING FILE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the wear amount file in maintenance mode and then load the wear amount file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs again repl...

Page 383: ... replace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4038 MEMORY ERROR PRESSUR E FILE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the dry spotting pressure file in maintenance mode and then load the dry spotting pressure file saved in the external memory device YCP01 board failure 1 Reset the alarm 2...

Page 384: ...rd to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4040 MEMORY ERROR SHOCK LEVEL FILE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the shock level file in maintenance mode and then load the shock level file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs again replace...

Page 385: ...ace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4042 MEMORY ERROR VISION FILE Sub Code Page number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the vision condition file in maintenance mode and then load the vision condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occu...

Page 386: ...ard to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4044 MEMORY ERROR WELD PULSE COND Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the welding pulse condition file in maintenance mode and then load the welding pulse condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the al...

Page 387: ...to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4046 MEMORY ERR CONVEYOR CALIB FILE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the conveyor calibration file in maintenance mode and then load the conveyor calibration file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occu...

Page 388: ... board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4049 MEMORY ERROR PASTE QUAN COMP FL Data error 1 Reset the alarm 2 If the alarm occurs again initialize the painting amount correction file in maintenance mode and then load the painting amount correction file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occur...

Page 389: ... safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4051 MEMORY ERR GUN COND AUX FILE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the gun characteristics auxiliary file in maintenance mode and then load the gun characteristics auxiliary file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the...

Page 390: ...d to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4053 MEMORY ERROR PAINT SYS CONFIG Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the painting system setting file in maintenance mode and then load the painting system setting file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the ala...

Page 391: ...N before replace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4055 MEMORY ERROR CCV PAINT TABLE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the painting CCV file in maintenance mode and then load the painting CCV file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the a...

Page 392: ...he board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4057 MEMORY ERROR EVB GUN COND Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the EVB gun condition file in maintenance mode and then load the EVB gun condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs...

Page 393: ...the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4059 MEMORY ERROR EVB PAINT COND Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the EVB paint condition file in maintenance mode and then load the EVB paint condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm...

Page 394: ...fe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4061 MEMORY ERROR GAUGE SENSOR FILE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the gauging sensor condition file in maintenance mode and then load the gauging sensor condition file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occu...

Page 395: ... to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4063 MEMORY ERR CONVEYOR COND SUPP Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the conveyor condition auxiliary file in maintenance mode and then load the conveyor condition auxiliary file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 I...

Page 396: ... the CMOS BIN before replace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4065 MEMORY ERROR I F PANEL FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the I F panel file in maintenance mode and then load the I F panel file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs agai...

Page 397: ... safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4070 MEMORY ERROR LASER TRACKING START FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the laser tracking welding start file in maintenance mode and then load the laser tracking welding start file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs...

Page 398: ...ard to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4072 MEMORY ERROR LASER TRACKING TRACK START FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the laser tracking track start file in maintenance mode and then load the laser tracking track start file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the a...

Page 399: ... board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4074 MEMORY ERROR LASER TRACKING TRACK SET FILE Data error 1 Reset the alarm 2 If the alarm occurs again initialize the laser tracking track set file in maintenance mode and then load the laser tracking track set file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alar...

Page 400: ...S BIN before replace the board to be safe Replace the YIF board and then load the CMOS BIN saved before alarm occurred 4076 MEMORY ERROR MEMORY PLAY FILE FOR LASER TRACKING DC Data error 1 Reset the alarm 2 If the alarm occurs again initialize the memory play file for laser tracking DC in maintenance mode and then load the memory play file for laser tracking DC saved in the external memory device ...

Page 401: ...alarm occurs again replace the YPU unit Save the CMOS BIN before replacing the board to be safe Overrun limit switch released Check that the overrun limit switch is not activating 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 4101 OVERRUN IN EXTER...

Page 402: ...hough a job is being executed by instructed sub task an attempt was made to execute another job by the sub task Setting error 1 Check the following settings The subtask is completed by the PWAIT instruction 2 Group axis being used The job operated by another sub task uses the same group axis Setting error 1 Check the following settings The job to be started The execution timing for start command 3...

Page 403: ...uction Setting error 1 Check the following settings Synchronization task specification of SYNC instruction 9 I O jog being executed Setting error 1 Check the following settings I O jog executing status Complete the I O jog executing status and then restart 10 Separate group axis being used Setting error 1 Check the following settings Usage status of separation use axis Complete the use of separati...

Page 404: ...nction for details 4107 OUT OF RANGE ABSO DATA Setting error 1 Check the following settings Move the manipulator or station to the zero position by the axis operation and check the home position alignment marks the arrow 4109 DC 24V POWER SUPPLY FAILURE I O 0000_0001 Fuse blown YIU unit 0000_0011 External 24V power supply error Connection failure 1 Reset the alarm 2 If the alarm occurs again check...

Page 405: ...EAXA board Save the CMOS BIN before replacing the board to be safe 4112 DATA SENDING ERROR 1 Retry over of NAK Communication error 1 Reset the alarm 2 If the alarm occurs again check the communication setting and communication wiring is correct 2 Retry over for timeout in timer A Communication error 1 Reset the alarm 2 If the alarm occurs again check the communication setting and communication wir...

Page 406: ...e alarm occurs again check the setting of communication or transmission side data is correctly set 6 The text length exceeded 256 characters Communication error 1 Reset the alarm 2 If the alarm occurs again check the setting of communication or transmission side data is correctly set 4114 TRANSMISSION HARDWARE ERROR 1 Overrun error Communication error 1 Reset the alarm 2 If the alarm occurs again ...

Page 407: ... set 3 Received EOT before last block reception Communication error 1 Reset the alarm 2 If the alarm occurs again check the setting of communication or transmission side data is correctly set 4 Received codes other than EOT after last block reception Communication error 1 Reset the alarm 2 If the alarm occurs again check the setting of communication or transmission side data is correctly set 4116 ...

Page 408: ...from a manipulator to a servo board Move the manipulator to the safe position in the teach mode 4122 COOLING FAN2 ERROR Sub Code X Servo board 1 Servo board1 SV 1 2 Servo board2 SV 2 3 Servo board3 SV 3 4 Servo board4 SV 4 Y Power ON unit 1 Power ON unit1 TU 1 2 Power ON unit2 TU 2 3 Power ON unit3 TU 3 4 Power ON unit4 TU 4 5 Power ON unit5 TU 5 6 Power ON unit6 TU 6 Cooling fan failure Replace t...

Page 409: ...ber 2 The specified file set value is incorrect Setting error 1 Check the following settings File set value Specify the set value 3 Calibration could not be executed Setting error 1 Check the following settings The robot coordinate data or the pixel coordinate data used for the calibration The user variable number in the calibration file Set the robot coordinate data and the pixel coordinate data ...

Page 410: ...of the following cables Cable between vision system and DX100 system 8 The pixel coordinates value was not able to be converted into the robot coordinates Setting error 1 Check the following settings The communication setting of vision system Calibration file for use 9 Failed to read or write the position type variable P variable Setting error 1 Check the following settings Usage status of the spe...

Page 411: ...e setting of communication or transmission side data is correctly set 4 YCP01 port initialize error Communication error 1 Reset the alarm 2 If the alarm occurs again check the setting of communication or YCP01 port is correctly set 5 Time out occurred during data transmission Communication error 1 Reset the alarm 2 If the alarm occurs again check the communication setting and communication wiring ...

Page 412: ...If the alarm occurs again check the setting of communication or transmission side data is correctly set 48 Wait status table FULL Communication error 1 Reset the alarm 2 If the alarm occurs again check the setting of communication or transmission side data is correctly set 4126 CANNOT EXECUTE AUTO PMT 1 System error Software operation error occurred 1 Reset the alarm and then try again 2 If the al...

Page 413: ...ct your Yaskawa representative about occurrence status operating procedure 6 The source job is not exist Setting error 1 Check the following settings Presence of the specified source job The job which does not exist cannot be set to the source job 7 The memory area for position data of the job is insufficient Software operation error occurred 1 Reset the alarm 2 when the error occurs again if ther...

Page 414: ... 11 The number of samplings exceeds the set value Setting error 1 Check the following settings The number of samplings The number of sampling is too much Confirm the monitor ON OFF status 4129 TWIN DRIVE OUT OF RANGE START Sub Code Corresponding master axes and slave axes are displayed by the bit Setting error 1 Check the following settings Pulse error of the master axes and the slave axes Switch ...

Page 415: ... CF card which inserted original YCP01 board into the new YCP01 board 3 The incomplete task of re initialization was unsuccessfully completed in the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP01 boar...

Page 416: ...d which inserted original YCP01 board into the new YCP01 board 6 An error occurred in the exclusive process of the storage area control table of the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP01 boar...

Page 417: ...card which inserted original YCP01 board into the new YCP01 board 9 Receiving data size error occurred in the re initialization response receiving process of the Ethernet function Software operation error occurred 1 Turn the power OFF then back ON 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedu...

Page 418: ...sert the CF card which inserted original YCP01 board into the new YCP01 board 32 An error occurred in the FTP client task mail receiving process of the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP01 b...

Page 419: ...n insert the CF card which inserted original YCP01 board into the new YCP01 board 42 Illegal e mail data were received in the FTP client task of the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP01 boar...

Page 420: ...and then insert the CF card which inserted original YCP01 board into the new YCP01 board 52 The request of the undefined transmission was received in the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP01...

Page 421: ...sert the CF card which inserted original YCP01 board into the new YCP01 board 55 The transmission request of illegal data length was received in the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP01 boar...

Page 422: ...rd which inserted original YCP01 board into the new YCP01 board 100 An error occurred in storing process of memory which is used in the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP01 board failure 1 T...

Page 423: ... inserted original YCP01 board into the new YCP01 board 201 An error occurred in the semaphore of socket control table of the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP01 board failure 1 Turn the po...

Page 424: ...YCP01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 3 Illegal data were received in the UDP process of the Ethernet function Software operation error occurred 1 Turn the power OFF then back 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 YCP...

Page 425: ...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 100 The re initialization notification of illegal data length was received in the UDP process of the Ethernet function Software operation error occurred 1 Turn the power OFF then back ON 2 If the alarm occurs again check the connection an...

Page 426: ... 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 Replace the YCP01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 103 ...

Page 427: ...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 Replace the YCP01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 ...

Page 428: ...n back 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 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...

Page 429: ...n2 ON 4139 WRONG EXECUTION OF PRINT INST Setting error 1 Check the following settings The setting of the PRINT output conversion spec character string specification If there is no problem in the setting delete the corresponding PRINT instruction and register again 4140 WRONG EXECUTION OF DIALOG INST 1 DIALOG instruction control error Setting error 1 Check the following settings The tag setting of ...

Page 430: ...ve 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 Replace the YCP01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 3 ...

Page 431: ...d 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 6 The server time is not synchronized in the SNTP process of the Ethernet function Setting error 1 Check the following settings The SNTP ...

Page 432: ...thernet function was not successfully completed Setting error 1 Check the following settings SNTP setting 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 10 The name resolutio...

Page 433: ... board to be safe Replace the YCP01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 4200 SYSTEM ERROR FILE DATA Sub code 01 to 50 Signifies the internal software error Data error 1 Reset the alarm 2 If the alarm occurs again initialize the appropriate data in maintenance mode and then load the data saved in the external memory device 4201 SYSTEM ERROR...

Page 434: ...o be safe Replace the YIF01 board and then load the CMOS BIN saved before alarm occurred YCP01 board failure 1 Reset the alarm and then try again 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 3 The access to a job could not be ...

Page 435: ...lace the YIF01 board and then load the CMOS BIN saved before alarm occurred YCP01 board failure 1 Reset the alarm and then try again 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 5 A job was newly created with the same name of ...

Page 436: ...try again 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 YCP01 board failure 1 Reset the alarm and then try again 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 th...

Page 437: ... and then contact your Yaskawa representative about occurrence status operating procedure YIF board failure 1 Reset the alarm and then try again 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 YCP01 board failure 1 Reset the alarm and then try again 2 If the alar...

Page 438: ...ode and then contact your Yaskawa representative about occurrence status operating procedure YIF board failure 1 Reset the alarm and then try again 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 YCP01 board failure 1 Reset the alarm and then try again 2 If the a...

Page 439: ...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 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 YCP01 board failure 1 Reset the alarm and then ...

Page 440: ...o a job exceeded 999 Setting error 1 Check the following settings Delete unnecessary steps and add new steps again 22 Job information was not able to be expanded Software operation error occurred 1 Reset the alarm and then try again 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 fa...

Page 441: ...P01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 24 An error occurred in cluster control Software operation error occurred 1 Reset the alarm and then try again 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...

Page 442: ...P01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 26 Heap area could not be obtained Software operation error occurred 1 Reset the alarm and then try again 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 ...

Page 443: ...YCP01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 91 The FAT area is damaged Software operation error occurred 1 Reset the alarm and then try again 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 t...

Page 444: ...m 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 4202 SYSTEM ERROR JOB 1 An error occurred in parameter specifications for the access to a job Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where...

Page 445: ...and then contact your Yaskawa representative about occurrence status operating procedure 3 The access to a job could not be performed with the specified job name Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode ...

Page 446: ...arm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then load the saved job file 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 6 The allowable job registration area ...

Page 447: ...ting of EDIT LOCK in JOB header screen If the job is protected from editing release the prohibition Software operation error occurred 1 Reset the alarm 2 If you edit this job release the prohibition 3 If the error occurs again delete the job where the alarm occurred 4 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then load t...

Page 448: ...ed save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 10 An error occurred in job data control system Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the m...

Page 449: ...nce mode and then contact your Yaskawa representative about occurrence status operating procedure 12 An error occurred in step number of the accessed job Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then...

Page 450: ...id not exist in a job because of inconsistency of the system software Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then load the saved job file 4 If the error occurs again though the previous measures we...

Page 451: ...owing settings The number of steps in job Delete unnecessary instructions in job and add new instructions Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then load the saved job file 4 If the error occurs a...

Page 452: ...e about occurrence status operating procedure 20 A job was newly created with the same name of the undefined job already specified in the memory Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then load the...

Page 453: ... in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 23 The accessed job was not opened Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then load the...

Page 454: ...ode and then contact your Yaskawa representative about occurrence status operating procedure 25 An error occurred when reading the cluster information of the accessed job Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintena...

Page 455: ...nance mode and then contact your Yaskawa representative about occurrence status operating procedure 90 The configuration information for job data control is damaged Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mo...

Page 456: ...aintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 92 A job data was destroyed Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then load the saved job f...

Page 457: ...aintenance mode and then contact your Yaskawa representative about occurrence status operating procedure YIF board failure 1 Reset the alarm and then try again 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 YCP01 board failure 1 Reset the alarm and then try agai...

Page 458: ...esentative about occurrence status operating procedure YIF board failure 1 Reset the alarm and then try again 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 YCP01 board failure 1 Reset the alarm and then try again 2 If the alarm occurs again replace the YCP01 bo...

Page 459: ... 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 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 YCP01 board failure...

Page 460: ...nance mode and then contact your Yaskawa representative about occurrence status operating procedure YIF board failure 1 Reset the alarm and then try again 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 YCP01 board failure 1 Reset the alarm and then try again 2 I...

Page 461: ...ode and then contact your Yaskawa representative about occurrence status operating procedure YIF board failure 1 Reset the alarm and then try again 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 YCP01 board failure 1 Reset the alarm and then try again 2 If the a...

Page 462: ...en contact your Yaskawa representative about occurrence status operating procedure YIF board failure 1 Reset the alarm and then try again 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 YCP01 board failure 1 Reset the alarm and then try again 2 If the alarm occur...

Page 463: ...S 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 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 YCP01 board failure 1 Reset the alarm and the...

Page 464: ... then contact your Yaskawa representative about occurrence status operating procedure YIF board failure 1 Reset the alarm and then try again 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 YCP01 board failure 1 Reset the alarm and then try again 2 If the alarm oc...

Page 465: ...ave 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 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 YCP01 board failure 1 Reset the al...

Page 466: ...original YCP01 board into the new YCP01 board 4204 SYSTEM ERROR POSITION DATA 1 The number of axes for all the control groups is zero at the initialization of the position data control process Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the jo...

Page 467: ...ed save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 3 The number of axes for position data is zero Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the ma...

Page 468: ... mode and then contact your Yaskawa representative about occurrence status operating procedure 5 The memory size of the position data exceeded the maximum memory size at the initialization of the position data control process Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measure...

Page 469: ...perating procedure 7 Unused position data file does not exist Setting error 1 Check the following settings The number of steps in job position data Delete unnecessary position data in job and add new position data Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were execu...

Page 470: ...nd then contact your Yaskawa representative about occurrence status operating procedure 9 Position data control information is destroyed Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then load the saved j...

Page 471: ...ve about occurrence status operating procedure 11 Position data is not registered Setting error 1 Check the following settings Teaching of alarm occurred point Teaching the point where alarm occurred Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize...

Page 472: ...then contact your Yaskawa representative about occurrence status operating procedure 13 An attempt was made to access the position data for the undefined control group Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance...

Page 473: ... then contact your Yaskawa representative about occurrence status operating procedure 15 The number of axes for the control groups exceeded the limit Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the maintenance mode and then loa...

Page 474: ... mode and then contact your Yaskawa representative about occurrence status operating procedure 17 An error occurred in exceptional control during the position data control process Software operation error occurred 1 Reset the alarm 2 If the error occurs again delete the job where the alarm occurred 3 If the error occurs again after the previous measures were executed initialize the job file in the...

Page 475: ...atus operating procedure 4207 SYSTEM ERROR MOTION 1 An interrupt undefined in the main command from the system control section occurred Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 2 An interrupt undefined in the sub co...

Page 476: ...undefined command was detected in the offline processing task of MOTION section Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 8 An undefined command was detected in the utility task of MOTION section Software operation e...

Page 477: ...Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 18 Task generation error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then con...

Page 478: ...occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 30 Interrupt main command error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa ...

Page 479: ... alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 39 Function specification error in the data transmission to the sensor board Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and t...

Page 480: ...elease the brake Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 50 Sub segment request FULL Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenan...

Page 481: ... and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 57 Positioning monitor process timeout Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative abou...

Page 482: ...oftware operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 65 Conversion primary expression for painting device command EW command not prepared Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occu...

Page 483: ... Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 73 Setting status error of the user coordinates file Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in ...

Page 484: ... error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 83 Pending and block end request FULL Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenan...

Page 485: ...ode and then contact your Yaskawa representative about occurrence status operating procedure 90 HA function error conv_pos_data Setting error 1 Check the following settings Correct the job so that the target position data is within the motion range 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating proced...

Page 486: ...e table for physical TU Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 103 Excessive number of control group axes in use Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again s...

Page 487: ... operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 130 No space in RT_BANK setting area for correction amount data Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN i...

Page 488: ...board setting history at DEQUE Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 137 Queue operation error for score board setting history undefined operation Software operation error occurred 1 Reset the alarm and then try ...

Page 489: ...conveyor at ENQUE Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 144 Queue operation error for WORK ID conveyor at DEQUE Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again s...

Page 490: ...ong Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 151 Queue operation error for waiting for semaphore for LOCK instruction at ENQUE Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm oc...

Page 491: ...re operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 224 No motor gun control group for ESRCH instruction Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in mainten...

Page 492: ...the same time Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 231 Impossible to execute the slave spline interpolation and the master spline interpolation at the same time Software operation error occurred 1 Reset the alar...

Page 493: ... unmatched Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 238 Data error 3 at restarting after an emergency stop actual status and the data status unmatched Software operation error occurred 1 Reset the alarm and then try...

Page 494: ... designation error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 245 Overflow of entry number for instruction execution Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again s...

Page 495: ...ndefined file Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 252 GETFILE undefined file Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance m...

Page 496: ...BANK Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 263 Heap area obtainment failure Instruction queue Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN i...

Page 497: ...ing Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 503 SL interrupt command data error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mo...

Page 498: ...ware operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 1007 VxWorks primitive error semTake Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and ...

Page 499: ...re operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 8 An error occurred in preparation of current position Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maint...

Page 500: ... 14 Path control position data error of prereading bank Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 16 Station base axis motion command error Software operation error occurred 1 Reset the alarm and then try again 2 If ...

Page 501: ...the gravity moment Set the gravity value of the tool within payload of the manipulator Teach the manipulator orientation that does not become the overload for each axes of the manipulator 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 25 Square root of a negative number Software operation er...

Page 502: ...r Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 33 Arm interference check error check point re setting error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMO...

Page 503: ...for the bending stroke 41 Pulse linked JOG function error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 42 Special JOG operation error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm...

Page 504: ...xecution process error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 54 Approximation model internal control error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save t...

Page 505: ... valid control error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 104 Mail receiving error of offline task Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS...

Page 506: ...n error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 112 No manipulator is designated for offline conveyor tracking turntable function Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the C...

Page 507: ...tware operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 7 An error occurred when memory area for local variable was released Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the ...

Page 508: ...rating procedure 4220 SERVO POWER OFF FOR JOB Sub Code Control group Setting error 1 Check the following settings Turn OFF the servo power supply and then turn ON the servo power supply for the group axis to be operated 4221 SERVO POWER OFF FOR JOB Sub Code Control group The servo power is not supplied Turn OFF the servo power supply and then turn ON the servo power supply for the group axis to be...

Page 509: ...ecking written sampling data when the data was written to CMOS Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 7 An attempt was made to access an unused memory play file data Software operation error occurred 1 Reset the a...

Page 510: ...tus operating procedure 13 The memory play file system is not initialized Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 14 The offset value is out of range at sampling data scanning Software operation error occurred 1 Re...

Page 511: ...tion Setting error 1 Check the following settings Setting of the RS transmission parameter 100 The communication port is already opened Setting error 1 Check the following settings The serial port setting 101 The communication port is not opened Setting error 1 Check the following settings The serial port setting 102 No space was found in data sent buffer Setting error 1 Check the following settin...

Page 512: ...kawa representative about occurrence status operating procedure 4229 ETHERNET PROCESS ERROR 1 An error occurred in the acquisition process of the IP address during the IP address monitoring process of the Ethernet function Setting error 1 Check the following settings 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 b...

Page 513: ...ard and then insert the CF card which inserted original YCP01 board into the new YCP01 board 4 An error occurred in the conversion process of gateway address during the network service data creation process of the Ethernet function Setting error 1 Check the following settings The DHCP server operation If the DHCP is used The network status If the DHCP is used YCP01 board failure 1 Turn the power O...

Page 514: ...01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 7 An error occurred in the acquisition process of SNTP server during the network service data creation process of the Ethernet function Setting error 1 Check the following settings The DHCP server operation If the DHCP is used The network status If the DHCP is used YCP01 board failure 1 Turn the power...

Page 515: ...eplace the YCP01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 10 An error occurred in the setting process to update DNS information in the DNS process of the Ethernet function Setting error 1 Check the following settings 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 the...

Page 516: ...to be safe Replace the YCP01 board and then insert the CF card which inserted original YCP01 board into the new YCP01 board 21 Subnet mask update error occurred in the DHCP information update process of the Ethernet function Setting error 1 Check the following settings 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...

Page 517: ... the DHCP is used The network status If the DHCP is used 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 4300 VERIFY ERROR SERVO PARAMETER Setting error Check whether the sett...

Page 518: ... followings YSU CN214 YPU CN607 CN 611 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 4302 BRAKE CIRCUIT ERROR Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again sa...

Page 519: ...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 failure converter 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 4304 CONVERTER INPUT POWER ERROR Sub Code Signifies the physical No of converter in which the alarm occurred Modu...

Page 520: ...arm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK Module failure Regenerative resistor Check if there is no ground fault in the regeneration resistors 4306 AMPLIFIER READY SIGNAL ERROR Sub Code Signifies the axis in which the alarm occurred Connection failure 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again che...

Page 521: ...curs again check the connection and inserting state of the following cables and connectors The SERVOPACK motor power line connector The power cable connection of the manipulator cable 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 Mechanical failur...

Page 522: ... BIN before replacing the board to be safe Voltage failure Check if the primary power supply voltage is dropping 4309 DEFECTIVE ENCODER INTERNAL DATA Sub Code Signifies the axis in which the alarm occurred Module failure encoder 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the encoder Software operation error occurred 1 Reset the alar...

Page 523: ...is in which the error occurred 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 Robot axis Cable between encoders EAXA CN508 External axis Cable between encoders EAXB CN0534 535 536 Module failure encoder 1 Reset the alarm In case of major alarm tur...

Page 524: ...on detection level JOB Work The speed of JOB The acceleration deceleration speed of ACC and DEC Length of the power cables Diameter of the power cables Interference error Remove the following interferences The interferences to the jigs of Robot The interferences to the jigs of workpieces Connection failure 1 Reset the alarm 2 If the alarm occurs again check the connection and inserting state of th...

Page 525: ...ngs The gun pressure file The dry spotting pressure file Reset the pressure value in the gun pressure file below the maximum pressure value 4317 PRELOAD ERROR Setting error Adjust the gun opening 4318 SERIAL ENCODER CORRECTION LIMIT Sub Code Signifies the axis in which the alarm occurred Connection failure 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occu...

Page 526: ...he following cables The wire harness in the robot Module failure motor 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the motor 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 YPU unit bo...

Page 527: ...ajor alarm turn the power OFF then back ON 2 If the alarm occurs again replace the motor 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 YPU unit board failure 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm o...

Page 528: ...er 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 YPU unit 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 YPU unit Save the CMOS BIN before replacing the board to be safe Interference error Remove interference with the workpiece and peripheral...

Page 529: ...wer OFF then back ON 2 If the alarm occurs again replace the YPU unit Save the CMOS BIN before replacing the board to be safe Interference error Remove interference with the workpiece and peripheral device Setting error Correct the job whether load late does not exceed 100 Module failure brake Check the brake voltage Check that the brake is not locked by malfunction of contactor 4324 CONVERTER OVE...

Page 530: ...axis in which the alarm occurred 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 4328 SERVO TRACKING ERROR Sub Code Signifies the axis in which the alarm occurred Interference error Remove the interference of r...

Page 531: ...or 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 wiring of phase U V and W is correct Module failure brake Check the brake voltage Check that the brake is not locked by malfunction of contactor 4329 POSITION ERROR Noise error Eliminate the noise or take a countermeasure against the noise Connection failure 1 Reset ...

Page 532: ...replacing the board to be safe 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 Cable between the EAXB01 board and XEI01 board 4330 BROKEN SPEED MONITOR LINE 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 a...

Page 533: ... 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 4334 OVERVOLTAGE C ONVERTER Sub Code Signifies the physical No of converter in which the alarm occurred 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 s...

Page 534: ... limit 4335 GROUND FAULT Sub Code Signifies the physical No of converter in which the alarm occurred 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 Connection failure 1 Reset the alarm In case of ma...

Page 535: ... physical No of converter in which the alarm occurred 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 Voltage failure Modify the primary breaker voltage to the specified voltage 200V 10 to 15 Module ...

Page 536: ...mplifier CN581 582 Converter CN551 552A 552B 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 Manipulator cable Supply cable Module failure amplifier 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the amplifier Module failure motor 1 Rese...

Page 537: ...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 Save the CMOS BIN before replacing the board to be safe Overloading Check that the load does not exceed the allowable limit 4339 INPUT POWER OVER VOLTAGE CONV Sub Code Signifies the physical No of converter in which the al...

Page 538: ...5 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 Module failure converter 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK E...

Page 539: ...ar servo float 4349 LNR SERVOFLOAT TOOL POSE ERROR Setting error Check the setting file of the job and the linear servo float 4350 LNR SERVOFLOAT EXECUTE ERROR Setting error Check the settings for jobs 4351 DRIVE BELT SNAP DETECT Sub Code Signifies the axis in which the alarm occurred Connection failure Check that the driving belt is not broken Driving belt failure Check the driving belt 4352 TWIN...

Page 540: ...s for jobs 4357 IMPOSSIBLE SRCH EQUALIZE TEACH Setting error Check the settings for jobs 4358 DUPLICATED PRESS ERROR Setting error End the current pressuring operation and then execute the pressuring instruction 4359 CONVERTER ERROR Sub Code Signifies the physical No of converter in which the alarm occurred Connection failure 1 Reset the alarm In case of major alarm turn the power OFF then back ON...

Page 541: ...n check the connection and inserting state of the following cables and connectors EAXA CN501 to 506 CN510 EAXB CN531 532 533 Amplifier CN581 582 Converter CN551 552A 552B 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 Software operation error occur...

Page 542: ... CMOS BIN before replacing the board to be safe Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 Sub Code Signifies the axis in which the alarm occurred Setting error C...

Page 543: ...he brake unit supports independent brake control 4372 SERVO ON SIGNAL ERROR Connection failure Check the connections between TU board and EAXA board Replace the TU board 4373 MAGNETIC POLE DETECTING ERROR Module failure motor 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the linear encoder 4374 PHASE DATA UNMATCH Module failure motor 1...

Page 544: ...alarm 2 If the alarm occurs again after confirming the connection execute the following contents Save the CMOS BIN before replacing the YSU unit to be safe Replacement of programming pendant Replacement of programming pendant Replacement of YSU unit 4382 M SAFETY PROCESS ERROR CPU2 YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacin...

Page 545: ...L ERROR CPU1 0 CPU1 detected an inconsistency of emergency stop signal in the programming pendant 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 2 If the alarm occurs again after confirming the connection e...

Page 546: ... controller and the cable that connects to the YSU unit 3 CPU1 detected an inconsistency of external emergency stop signal Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of YSU unit CN216 connector and pin numbers 19 20 21 and 22 of MXT terminal block 4 CPU1 detected an inconsistency of external enable switch signal Connection failure 1 Re...

Page 547: ...r and pin numbers 1 2 3 and 4 of MXT terminal block 10 CPU1 detected an inconsistency of universal input 1 signal Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of YSU unit CN216 connector and pin numbers 5 6 7 and 8 of MXT terminal block 14 CPU1 detected an inconsistency of mode zero signal in the programming pendant Connection failure 1 ...

Page 548: ... alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 17 CPU1 detected an inconsistency of contactor 1 signal KMMB1 Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connected confirmation of wiring for pin numbers A5 A6 B5 and B6 of YSU unit CN214 connector and contactor 1 Contactor failure 1 Reset the alarm 2 If th...

Page 549: ... alarm 2 If the alarm occurs again after replacement the contactor or relay that 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 20 CPU1 detected an inconsistency of servo ON 3 signal SFRDY3 YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the C...

Page 550: ...in check the followings Wiring confirmation of pin numbers 27 28 29 and 30 of YSU unit CN215 connector Contactor failure 1 Reset the alarm 2 If the alarm occurs again after confirming the connection execute the following contents Replacement the connected contactor or relay that drives contactor YSU Unit or connection cable failure 1 Reset the alarm 2 If the alarm occurs again after replacement th...

Page 551: ...again check the followings Wiring confirmation of pin numbers 13 14 15 and 16 of YSU unit CN215 connector 29 CPU1 detected an inconsistency of contactor 4 enable signal Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of pin numbers 31 32 33 and 34 of YSU unit CN215 connector 30 CPU1 detected an inconsistency of external overrun 4 signal Con...

Page 552: ...f the alarm occurs again after confirming the wiring execute the following contents Save the CMOS BIN before replacing the YSU unit to be safe Replacement of YSU unit Replacement of connection cable 49 CPU1 detected an inconsistency of link feedback signal between YSU unit Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of pin numbers 6 8 3...

Page 553: ...l between YSU unit Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings 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 connection cable failure 1 Reset the alarm 2 If the alarm occurs again after confirming the wiring execute the following contents Save the CMOS ...

Page 554: ...e failure 1 Reset the alarm 2 If the alarm occurs again after confirming the wiring execute the following contents Save the CMOS BIN before replacing the YSU unit to be safe Replacement of YSU unit Replacement of connection cable 54 CPU1 detected an inconsistency of speed mode 1 signal between YSU unit Connection failure 1 Reset the alarm 2 If the alarm occurs again execute the following contents ...

Page 555: ...58 CPU1 detected an inconsistency of error signal between YSU unit Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connection confirmation of pin No 1 2 14 and 15 wiring of YSU unit and YSU unit YSU Unit or connection cable failure 1 Reset the alarm 2 If the alarm occurs again after confirming the connection execute the following contents Save the CMOS BIN bef...

Page 556: ...before replacing the YSU unit to be safe Replacement of YSU unit Replacement of connection cable 61 CPU1 detected an inconsistency of speed mode zero feedback ready signal between function safety unit YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 62 CPU1 detected an inconsistency of speed mode 1 feedba...

Page 557: ...EAXA board Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of pin numbers A3 A5 B3 and B5 of YSU unit CN210 connector Unit or connection cable failure 1 Reset the alarm 2 If the alarm occurs again after confirming the connection execute the following contents Save the CMOS BIN before replacing the YSU unit to be safe Replacement of YSU unit...

Page 558: ...rm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 6 CPU1 detected an error of full speed test signal by the self diagnostic check YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 8 CPU1 detected an error of overrun signal by the self diagnostic ...

Page 559: ... occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 28 CPU1 detected an error of external overrun 3 signal by the self diagnostic check YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 29 CPU1 detected an error of contactor 4 enable signal by the self diagnostic c...

Page 560: ...lacing the YSU unit to be safe 60 CPU1 detected an error of speed mode zero feedback ready signal between function safety unit by the self diagnostic check YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 62 CPU1 detected an error of speed mode 1 feedback ready signal between function safety unit by the s...

Page 561: ...t 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 53 CPU1 detected no change of the feedback signal within a certain time period in speed mode zero signal between YSU units Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Conne...

Page 562: ...rotary switch replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 57 CPU1 detected no change of the feedback signal within a certain time period in category 1 stop signal between YSU units Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connector connection confirmation of YSU unit CN205 CN206 Rotary switch setting error 1 Reset the...

Page 563: ...he contactor or relay that drives contactor replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 2 CPU1 detected feedback value KMMB did not turn ON OFF within a certain time period from contactor 2 SERVO ON OFF or CPU1 detected poor connection between YSU unit and contactor Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connected c...

Page 564: ...rives contactor replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 4 CPU1 detected feedback value KMMB did not turn ON OFF within a certain time period from contactor 4 SERVO ON OFF or CPU1 detected poor connection between YSU unit and contactor Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connected confirmation of YSU unit CN21...

Page 565: ...nit to be safe 4 CPU1 detected feedback value SFRDY did not turn ON OFF within a certain time period from contactor 4 SERVO ON OFF YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 4389 M SAFETY SIGNAL ERR CPU2 0 CPU2 detected an inconsistency of emergency stop signal in the programming pendant Connection ...

Page 566: ... controller and the cable that connects to the YSU unit 3 CPU2 detected an inconsistency of external emergency stop signal Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of YSU unit CN216 connector and pin numbers 19 20 21 and 22 of MXT terminal block 4 CPU2 detected an inconsistency of external enable switch signal Connection failure 1 Re...

Page 567: ...r and pin numbers 1 2 3 and 4 of MXT terminal block 10 CPU2 detected an inconsistency of universal input 1 signal Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of YSU unit CN216 connector and pin numbers 5 6 7 and 8 of MXT terminal block 14 CPU2 detected an inconsistency of mode zero signal in the programming pendant Connection failure 1 ...

Page 568: ...m 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 17 CPU2 detected an inconsistency of contactor 1 signal KMMB1 Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connected confirmation of wiring for pin numbers A5 A6 B5 and B6 of YSU unit CN214 connector and contactor 1 Contactor failure 1 Reset the ala...

Page 569: ... alarm 2 If the alarm occurs again after replacement the contactor or relay that 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 20 CPU2 detected an inconsistency of servo ON 3 signal SFRDY3 YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the C...

Page 570: ...in check the followings Wiring confirmation of pin numbers 27 28 29 and 30 of YSU unit CN215 connector Contactor failure 1 Reset the alarm 2 If the alarm occurs again after confirming the connection execute the following contents Replacement the connected contactor or relay that drives contactor YSU Unit or connection cable failure 1 Reset the alarm 2 If the alarm occurs again after replacement th...

Page 571: ...again check the followings Wiring confirmation of pin numbers 13 14 15 and 16 of YSU unit CN215 connector 29 CPU2 detected an inconsistency of contactor 4 enable signal Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of pin numbers 31 32 33 and 34 of YSU unit CN215 connector 30 CPU2 detected an inconsistency of external overrun 4 signal Con...

Page 572: ...f the alarm occurs again after confirming the wiring execute the following contents Save the CMOS BIN before replacing the YSU unit to be safe Replacement of YSU unit Replacement of connection cable 49 CPU2 detected an inconsistency of link feedback signal between YSU unit Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Wiring confirmation of pin numbers 6 8 3...

Page 573: ...signal between YSU unit Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings 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 connection cable failure 1 Reset the alarm 2 If the alarm occurs again after confirming the wiring execute the following contents Save the ...

Page 574: ...lure 1 Reset the alarm 2 If the alarm occurs again after confirming the wiring execute the following contents Save the CMOS BIN before replacing the YSU unit to be safe Replacement of YSU unit Replacement of connection cable 54 CPU2 detected an inconsistency of speed mode 1 signal between YSU unit Connection failure 1 Reset the alarm 2 If the alarm occurs again execute the following contents Wirin...

Page 575: ...U2 detected an inconsistency of error signal between YSU unit Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connection confirmation of pin No 1 2 14 and 15 wiring of YSU unit and YSU unit YSU Unit or connection cable failure 1 Reset the alarm 2 If the alarm occurs again after confirming the connection execute the following contents Save the CMOS BIN before r...

Page 576: ...S BIN before replacing the YSU unit to be safe Replacement of YSU unit Replacement of connection cable 61 CPU2 detected an inconsistency of speed mode zero feedback ready signal between YSU unit YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 62 CPU2 detected an inconsistency of speed mode 1 feedback sig...

Page 577: ... the alarm 2 If the alarm occurs again check the followings Wiring confirmation of pin numbers A3 A5 B3 and B5 of YSU unit CN210 connector Unit or connection cable failure 1 Reset the alarm 2 If the alarm occurs again after confirming the connection execute the following contents Save the CMOS BIN before replacing the YSU unit to be safe Replacement of YSU unit Replacement of EAXA board Replacemen...

Page 578: ...rm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 6 CPU2 detected an error of full speed test signal by the self diagnostic check YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 8 CPU2 detected an error of overrun signal by the self diagnostic ...

Page 579: ... occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 28 CPU2 detected an error of external overrun 3 signal by the self diagnostic check YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 29 CPU2 detected an error of contactor 4 enable signal by the self diagnostic c...

Page 580: ...lacing the YSU unit to be safe 60 CPU2 detected an error of speed mode zero feedback ready signal between function safety unit by the self diagnostic check YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 62 CPU2 detected an error of speed mode 1 feedback ready signal between function safety unit by the s...

Page 581: ...U 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 53 CPU2 detected no change of the feedback signal within a certain time period in speed mode zero signal between YSU units Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings ...

Page 582: ...rotary switch replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 57 CPU2 detected no change of the feedback signal within a certain time period in category 1 stop signal between YSU units Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connector connection confirmation of YSU unit CN205 CN206 Rotary switch setting error 1 Reset the...

Page 583: ...e contactor or relay that drives contactor replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 2 CPU2 detected feedback value KMMB did not turn ON OFF within a certain time period from contactor 2 SERVO ON OFF or CPU2 detected poor connection between YSU unit and contactor Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connected co...

Page 584: ...rives contactor replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 4 CPU2 detected feedback value KMMB did not turn ON OFF within a certain time period from contactor 4 SERVO ON OFF or CPU2 detected poor connection between YSU unit and contactor Connection failure 1 Reset the alarm 2 If the alarm occurs again check the followings Connected confirmation of YSU unit CN21...

Page 585: ...O ON OFF YSU unit failure 1 Reset the alarm 2 If the alarm occurs again replace the YSU unit Save the CMOS BIN before replacing the YSU unit to be safe 4400 NOT READY ARITH 1 The arithmetic process for motion control did not complete within regulated time No motion command was prepared Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS ...

Page 586: ...re 4401 SEQUENCE TASK CONTR ERROR 1 Unused A_BANK does not exist in the prereading processing of move instruction Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 2 Unused bank priority does not exist in the prereading proc...

Page 587: ... received Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 23 Job start condition is not defined Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in mainte...

Page 588: ...is incorrect Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 33 System number MSS for interruption command is incorrect Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again sav...

Page 589: ...to execute an instruction that could not be executed at line sequence execution Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs a...

Page 590: ...rocessing Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 105 An error occurred in instruction prefetch queue operation in prereading processing Software operation error occurred 1 Reset the alarm and then try again 2 If t...

Page 591: ...bout occurrence status operating procedure 2 Slave designation error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 3 Slave interpolation error Software operation error occurred 1 Reset the alarm and then try again 2 If t...

Page 592: ... occupation control for Bank position Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 11 Designation error of occupation control group for tracking motion Software operation error occurred 1 Reset the alarm and then try ag...

Page 593: ...ing points is even 4412 IMPOSSIBLE LINEAR MOTION L U Setting error 1 Check the following settings Perform the teaching again to make the form of L and U axes same at start point and end point Use a MOVJ instruction again 4413 IMPOSSIBLE LINEAR MOTION S L Setting error 1 Check the following settings Perform the teaching position again to make the form of S and L axes same at start point and end poi...

Page 594: ...e step where the alarm occurred is within the motion range 4426 PULSE MECHANICAL LIMIT MIN MAX Sub Code Control group and axis Setting error 1 Check the following settings Perform the teaching again to correct positions for manipulators so that the step where the alarm occurred is within the motion range 4428 SEGMENT CONTROL ERROR 1 RT buffer control command error Software operation error occurred...

Page 595: ...t had not been sent Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 4429 WRONG SPECIFIED CONTROL GROUP 1 Control group not designated Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm oc...

Page 596: ...on error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 8 Control group error for a tool calibration file Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and...

Page 597: ...ccurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 19 Control group error for prereading calculation start point for dm_st_pos Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in main...

Page 598: ...ion and CV 1 Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 7 Interrupt processing error between MOTION section and CV 2 Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again s...

Page 599: ...orrect Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 5 Job control proprietary could not be changed Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in ...

Page 600: ... code Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 8 Box number definition is duplicated Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenanc...

Page 601: ...eration error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 17 Variable data type is not defined Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then co...

Page 602: ...t could not be processed Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 24 Job argument settings do not match when a variable is given and or taken between jobs Software operation error occurred 1 Reset the alarm and then...

Page 603: ... operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 4433 UNDEFINED GLOBAL VARIABLE 0 The set data for byte type variable area is incorrect Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs ag...

Page 604: ... position type variable S1D parameter area is incorrect Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 7 The set data for station axis position type variable S1D parameter area is incorrect Software operation error occurr...

Page 605: ...pe variable is not defined Setting error 1 Check the following settings Set the number of local variables to be used in the job header 4436 LESS THAN 3 STEPS CIRCULAR Setting error 1 Check the following settings Perform teaching so that circulation interpolation steps are continuous three points or more 4437 LESS THAN 3 STEPS SPLINE Setting error 1 Check the following settings Perform teaching so ...

Page 606: ...ance mode and then contact your Yaskawa representative about occurrence status operating procedure 2 The prereading processing has not been completed within the time and the waiting time for completion exceeded the limit Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representati...

Page 607: ...eck the following settings Check the settings for variable and then correct the job to fall within the input range of the tag 2 The value for the signed 1 byte data type variable is less than the minimum value Setting error 1 Check the following settings Check the settings for variable and then correct the job to fall within the input range of the tag 3 The value for the unsigned 1 byte data type ...

Page 608: ...k the settings for variable and then correct the job to fall within the input range of the tag 3277 0 The value for the signed 1 byte data type variable exceeded the maximum value Setting error 1 Check the following settings Check the settings for variable and then correct the job to fall within the input range of the tag 3277 1 The value for the unsigned 1 byte data type variable exceeded the max...

Page 609: ...ollowing settings Check the settings for variable and then correct the job to fall within the input range of the tag 4447 DEFECTIVE TAUGHT POINT CIRC Setting error 1 Check the following settings Check the settings for three teaching points so that circular interpolation steps do not lie in a straight line 4448 WEAVING CONTROL ERROR 1 Weaving control group designation error Software operation error...

Page 610: ...tting error 1 Check the following settings Set the correct dimensions in the tool data 11 The Y direction element of circular coordinate system for circular wrist weaving could not be calculated Setting error 1 Check the following settings Check the settings for wall and horizontal direction 12 The X direction element of circular coordinate system for circular wrist weaving could not be calculated...

Page 611: ... tool calibration file number check Setting error 1 Check the following settings Confirm that the specified tool file number is 0 to 63 5 An error occurred in reference point number check Setting error 1 Check the following settings Confirm that the specified robot calibration file number is 1 to 8 7 An error occurred in check for welding start condition file number Setting error 1 Check the follo...

Page 612: ...he following settings Change the job configuration so that the number of nests for CALL instruction is twelve or less 4453 OVER VARIABLE NO The variable number is out of range Sub Code The variable number which an attempt was made to use Setting error 1 Check the following settings Correct the job using the variable number within the range 4454 UNDEFINED POWER SOURCE COND Setting error 1 Check the...

Page 613: ...ting error 1 Check the following settings Correct the BCD data so that it is within the limit 4465 OVER BINARY RANGE PARITY CHECK Setting error 1 Check the following settings Correct the binary data so that it is within the limit 4466 OFFLINE UNDEFINED COMMAND ARITH 0 An undefined command was issued to the offline position data preparation section Software operation error occurred 1 Reset the alar...

Page 614: ...rating procedure 5 Incorrect designation of the occupation control group for calibration data Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 6 Incorrect designation of the enabling control group for calibration data Softw...

Page 615: ...ce mode and then contact your Yaskawa representative about occurrence status operating procedure 4 Incorrect designation of the control group for slave group Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 5 Calibration da...

Page 616: ...ur Yaskawa representative about occurrence status operating procedure 4472 ARITHMETIC ERR COMPACT RMT WELD 1 The reference point is not set Setting error 1 Check the following settings Set the reference point 2 The start point and end point are on the same point Setting error 1 Check the following settings Change the teaching positions so that the start point and end point are different 3 The stra...

Page 617: ...to change the board thickness tag data Setting error 1 Check the following settings Release the prohibition 4477 SELECT ERROR APPLICAT ION Sub Code Application number Setting error 1 Check the following settings Set the application to a specified robot by the application selection of maintenance mode 4480 SELECT ERROR SENSOR 1 Sub Code Sensor number Setting error 1 Check the following settings Sel...

Page 618: ...struction can be used for the manipulator with small circle cutting axis only 4 This manipulator cannot perform a hexagonal cutting motion Setting error 1 Check the following settings Select an other cutting form 4490 DEFECTIVE TAUGHT POINT ENDLESS 1 After the Endless rotation completed an attempt was made to execute an interpolation instruction such as MOVL and MOVC before executing an MRESET ins...

Page 619: ...ates is not prepared Setting error 1 Check the following settings Check the settings for the correcting direction with the reference point REFP 4 When any direction is set for the correcting direction the reference points REFP are taught on the same point Setting error 1 Check the following settings Check the settings for the reference points REFP so that each point is different 5 Designation erro...

Page 620: ...oint and end point are different 2 Among the weaving start point end point and reference point two or three points are on the same point Setting error 1 Check the following settings Check the settings for the positions so that the weaving start point end point and reference point are different 4495 UNDEFINED ROBOT CALIBRATION Sub Code Control group which calibration is not completed Setting error ...

Page 621: ... occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 7 Zero or a negative value is set for the maximum acceleration speed Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenan...

Page 622: ...tus operating procedure 13 The reduction ratio 0 is output Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 14 Zero or a negative value is set for the spring constant Software operation error occurred 1 Reset the alarm and ...

Page 623: ...deceleration Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 21 Zero or a negative value is set for the balancer Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the C...

Page 624: ... setting error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 28 The inertia value error for the shift value calculation Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again s...

Page 625: ...ncy data error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 35 Zero is set for the averaging time constant Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS...

Page 626: ...ation is invalid Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 42 Zero is set for the inertia of dynamics fixed model Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again sav...

Page 627: ...s operating procedure 48 Zero or a negative value is set in the speed adjustment ratio parameter for the speed limit function Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 49 Zero or a negative value is set in the torque...

Page 628: ...data is incorrect Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 55 The setting for the Dual arm manipulator is incorrect Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again ...

Page 629: ...set to zero Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 71 All of X Y and Z value of the expanded check point 2 for the arm interference check are set to zero Software operation error occurred 1 Reset the alarm and the...

Page 630: ... operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 95 The real time bending correction function is enabled for a control group other than robot axis Software operation error occurred 1 Reset the alarm and then try again 2 If the alar...

Page 631: ... the same Setting error 1 Check the following settings Perform the teaching again so that the teaching positions are different from one another 6 The 1st axis rotation direction of C3 C4 and C5 of station axes are not the same Setting error 1 Check the following settings Perform the teaching again so that the 1staxis rotation direction of C3 C4 and C5 of station axes are the same 7 The 1st axis el...

Page 632: ...operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure YCP02 board failure 1 Turn the power OFF then back ON 2 If the alarm occurs again replace the YCP02 board Save the CMOS BIN before replacing the board to be safe 4505 UNDEFINED POSITI...

Page 633: ... error 1 Check the following settings Check the settings for the coordinate system which can be used 5 Designation error of the approximation tool coordinate system for a shared function This coordinate system cannot be used Setting error 1 Check the following settings Check the settings for the coordinate system which can be used 6 Designation error of the conveyor coordinate system This coordina...

Page 634: ...can be used 15 Designation error of the coordinate system at IMOV for 3D shifting This coordinate system cannot be used Setting error 1 Check the following settings Check the settings for the coordinate system which can be used 16 Designation error of the H LINK type cylindrical coordinate system This coordinate system cannot be used Setting error 1 Check the following settings Check the settings ...

Page 635: ...educe the speed of the step where the alarm occurred Change the move instruction to joint interpolation MOVJ Be careful to the peripheral interference since its movement changes 4517 SEARCH MONITOR SET ERROR SERVO Sub Code The related control group Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then conta...

Page 636: ... error 1 Check the following settings Release the prohibition 2 An error occurred at instruction read in Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 3 The tag is not registered Software operation error occurred 1 Reset...

Page 637: ...n contact your Yaskawa representative about occurrence status operating procedure 4529 TWIN COORDINATED ERROR 1 A job without control group was started by SYNC instruction Setting error 1 Check the following settings Check the control group setting of the job to be started by SYNC 2 A job only with robot axes was started by SYNC instruction Setting error 1 Check the following settings Check the co...

Page 638: ...ocedure 8 An attempt was made to execute triple synchronization when specified Sub master for the master was different Setting error 1 Check the following settings Match the system number specification of the master between the job to be started by SYNC 4530 CONVEYOR TRACKING ERROR 1 The base axis specification is other than 1 or 2 for conveyor characteristic file Setting error 1 Check the followi...

Page 639: ...n error of the conveyor tracking control group Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 2 Designation error of the user coordinates for the conveyor tracking Software operation error occurred 1 Reset the alarm and t...

Page 640: ...double precision integer type variable 3 An attempt was made to obtain the real number type system variable by the other type variable Setting error 1 Check the following settings Obtain as the real number type variable 4 An attempt was made to obtain the character string type system variable by the other type variable Setting error 1 Check the following settings Obtain as the character string typ...

Page 641: ... using the Corner R motion 8 Different tool numbers are set in a Corner R zone for the Corner R middle step and end step Setting error 1 Check the following settings Use the same tool number in a Corner R zone 9 The Corner R motion is disabled when the higher order acceleration deceleration is specified Setting error 1 Check the following settings Disable the higher order acceleration deceleration...

Page 642: ...ollowing settings Check the settings for the data of the character string to be extracted 4546 CANNOT EXCUTE SYSTEM JOB Sub Code System number Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 4547 PRIMITIVE ERROR Sub Code E...

Page 643: ...n try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 3 The TURBO function is not used Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence s...

Page 644: ...rred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 10 The laser cutting function with small circle cutter is not used Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode...

Page 645: ...e 16 The motion extension function is not used Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 17 The bending function is not used Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occur...

Page 646: ...ive about occurrence status operating procedure 5 Position data error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 6 Setting error of the slave group for user coordinate conversion Software operation error occurred 1 Re...

Page 647: ...ic file 4574 SPOT WELD COMPLETE TIME LIMIT Sub Code Welder number Setting error 1 Check the following settings Turn ON the timer contactor power If the response from the timer takes too long time due to the system layout increase the timeout time 4575 ERROR IN WELD START TIMING SET Setting error 1 Check the following settings Check the settings for the WST tag Check the settings for the pressure f...

Page 648: ...heck the following settings Operate the manipulator to the start position of the step where the alarm occurred and then re execute 4581 DEFECTIVE ANTICIPATION OT FILE 1 Incorrect setting of OT output number for anticipation output file Setting error 1 Check the following settings Check the setting value of OT output number 2 Incorrect setting of OG output number for anticipation output file Settin...

Page 649: ...hen executing a GUNCHG PICK instruction Connection failure 1 Reset the alarm and then try again 2 If the alarm occurs again check the connection and inserting state of the following cables and connectors The encoder cable of motor gun 6 The encoder power supply could not be turned OFF when executing a GUNCHG PLACE instruction Connection failure 1 Reset the alarm and then try again 2 If the alarm o...

Page 650: ... 1 Check the following settings Set the servo hand axis in the control group setting of maintenance mode 4591 SPEED CTRL MODE SET ERR SERVO Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 4592 SPEED CTRL MODE CANCEL ERR SV...

Page 651: ... settings Setting of the radius data 2 The setting for width is incorrect 1 For a rectangle it is incorrectly set as width 1 0 width sqrt maximum diameter2 height2 or width maximum diameter 2 It is incorrectly set as width 0 width maximum diameter 2 radius Setting error 1 Check the following settings Setting of the width data 3 The setting for height is incorrect 1 For a rectangle it is incorrectl...

Page 652: ...of the minimum diameter parameter S1CxG063 for the Form Cutting motion 9 Zero or a negative value is set in the maximum diameter parameter S1CxG064 for the Form Cutting motion Setting error 1 Check the following settings The setting of the maximum diameter parameter S1CxG063 for the Form Cutting motion 10 Although PLACEMENT or AUTO is set for the start point designation on the FORM CUT SETTING win...

Page 653: ... points at special circular interpolation motion the arc center coordinates could not be calculated Incorrect teaching of the reference point 2 may be the cause Setting error 1 Check the following settings Setting of the reference point 2 100 The arc center position is not set for the special circular interpolation motion Setting error 1 Check the following settings Check the settings for the refe...

Page 654: ... Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 6 The position data could not correctly be added by the pulse incremental value at the offline position data conversion Software operation error occurred 1 Reset the alarm a...

Page 655: ...ated at the offline position data conversion Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 13 The reverse shift value for 3D shifting could not correctly be added at the offline position data conversion Software operatio...

Page 656: ...ted at the offline position data conversion Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 20 The positions could not correctly be converted for the mirror shift function at the offline position data conversion Setting er...

Page 657: ...n the current tool constant and a new set value exceeded the allowable range parameter set value Setting error 1 Check the following settings Correct the job so that the setting value of tag is allowable value Set the allowance amount of the tool data automatic setting function maximum deviation S3C900 to large value 4606 LACK OF GLOBAL VARIABLE AREA Software operation error occurred 1 Reset the a...

Page 658: ...jobs 3 The data types of job argument disagreed Setting error 1 Check the following settings Check the settings for jobs 4609 MEMOPLAY ERROR 2 The memory play file was being used in another system Setting error 1 Check the following settings Check the setting of the used memory play file number 5 The control group in the memory play file did not agree with the control group of execution job Settin...

Page 659: ...erating procedure 5 Incorrect mode setting at memory play sampling Setting error 1 Check the following settings Check the settings for the memory play mode 6 Incorrect designation of the control group at memory play sampling Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa represen...

Page 660: ...eset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 14 Memoplay debug error C_BANK func_ctrl initial Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yas...

Page 661: ...settings Check the settings for the OPTON instruction OPTON instruction can use only the function to five simultaneously 4612 TSYNC ERROR Sub code the number of synchronizations of the first executed TSYNC Setting error 1 Check the following settings Check the settings for the number of synchronizations of the TSYNC instruction 4613 SERVO SEALER GUN CONTROL ERROR 1 The function designation paramet...

Page 662: ...ol group where the I O axis is operating cannot execute the job Moreover the I O axis motion cannot perform for the control group where the job is executing 4616 AXIS SHIFT ERROR 1 The file could not be switched because of incorrect start point designation Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and th...

Page 663: ...g for Y axis only 4619 UNDEFINED JOB ENTRY TABLE Sub Code Designated registration number Setting error 1 Check the following settings Check the settings for the job registration table 4620 ARM TOOL INTERFERENCE Sub Code Bit specification of interfered axis Setting error 1 Check the following settings Check the teaching position setting of manipulators 4621 WELD COMPLETE SIGNAL ERROR Sub Code Welde...

Page 664: ...n maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 2 No directory Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 4 There was no directory entry after this point Sof...

Page 665: ...ll Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 6 I O error Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your ...

Page 666: ...ed Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 14 The door is open Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then conta...

Page 667: ...ation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 35 No specified partition number Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact ...

Page 668: ...ftware operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 43 Card not applicable for ATA Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then...

Page 669: ...XIS MOV IN SPHERE Setting error 1 Check the following settings Check the settings for the limit distance for S axis rotation center motion S1CG067 4627 GUN RECOGNITION SIGNAL OFF Sub Code Gun number Setting error 1 Check the following settings Check the settings for the gun identification signal 4628 WRITE VARIABLE NO MULTI SETTING Sub Code Duplicated variable number Setting error 1 Check the foll...

Page 670: ...ings for group identification signal 4630 DUPLICATED GUN NUMBER Sub Code The overlapped gun number Setting error 1 Check the following settings Check the settings for gun numbers 4631 DEFECTIVE OPERATION VELOCITY Sub Code Control group and axis Setting error 1 Check the following settings Check if the speed is hold down by the speed override and special operations etc 4632 UNDEFINED LNR SCALE FILE...

Page 671: ...eyor moving amount for the SYMOVJ motion 3 An error occurred in the preparation process of the manipulator motion start position for the SYMOVJ motion Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 4 An error occurred in ...

Page 672: ... 9 Welding current error at welding is completed successfully Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 10 Abnormal code error at welding is completed successfully Software operation error occurred 1 Reset the alarm ...

Page 673: ... file in the user output signal point of contact number 5 During the palletize start instruction execution the palletize start instruction is executed again double execution Setting error 1 Check the following settings Delete the palletize start instruction in the palletize section 6 The value of the palletizing number present value output register or I variable is more than the total number outpu...

Page 674: ...n attempt was made to acquire the value of the register not existing Software operation error occurred 1 Reset the alarm and then try again 2 If the alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 4656 WRONG EXECUTION OF SETPRM INST 1 An attempt was made to change a parameter other than the cube relat...

Page 675: ...our Yaskawa representative about occurrence status operating procedure 4661 MEMORY ERROR PRESS COND FILE Sub Code File number Data error 1 Reset the alarm 2 If the alarm occurs again initialize the press characteristic file in maintenance mode and then load the press characteristic file saved in the external memory device YCP01 board failure 1 Reset the alarm 2 If the alarm occurs again replace th...

Page 676: ...all value for BASICV Or set a small value for BASICT or lengthen the measurement section 4673 MAX TRQ UNDETECTED Sub Code Signifies the axis in which the alarm occurred Setting error Set a large value for the BASICT and then check again 4676 BROKEN FAN FUSE Connection failure 1 Reset the alarm 2 If the alarm occurs again check if there is a ground fault or short circuit in the fan power line Fuse ...

Page 677: ...ERENCE Sub Code Interference cubic area number Setting error 1 Check the following settings Check the teaching position setting of manipulators 4682 MOTION RANGE LIMIT INTERFERENCE Sub Code Manipulator number Setting error 1 Check the following settings Check the teaching position setting of manipulators 4683 AXIS MOTION RANGE LIMIT OVER MIN MAX Sub Code Control group and axis Setting error 1 Chec...

Page 678: ...TOR ERROR 2 SAFETY 4696 TURN TABLE CALIBRATION ERROR 1 There was the same point in three points where the calibration had been executed Setting error 1 Check the following settings Correct the calibration position so that each point is different 2 The three points where the calibration had been executed lie in a straight line Setting error 1 Check the following settings Check the calibration posit...

Page 679: ...e alarm occurs again save the CMOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 4 The position data could not be converted correctly conversely for the standard position data at the offline arm bend position data conversion Setting error 1 Check the following settings The variable position may be out of the robot motion range Chec...

Page 680: ... angle at the offline arm bend position data conversion Setting error 1 Check the following settings The variable position may be out of the robot motion range Check if the variable position is within the robot motion range 12 The gravity moment for offline arm bend position data conversion could not be calculated Setting error 1 Check the following settings The variable position may be out of the...

Page 681: ...MOS BIN in maintenance mode and then contact your Yaskawa representative about occurrence status operating procedure 5 User coordinates number on the specified tag side error Software operation error occurred 1 Reset the alarm and then try again 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 682: ...the following settings Manipulator motion condition influence by external force load condition Regenerative resistor capacity Overloading Check that the load does not exceed the allowable limit 4852 OVERVOLTAGE S ERVO2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK Voltage failure Check the SERVOPA...

Page 683: ...e and take countermeasures to reduce the noise 4855 OVERLOAD MOM ENT SERVO2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 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 th...

Page 684: ...tion influence by external force load condition 4858 RESIST OVERLOAD SERV O2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK Setting error Reduce the frequency of the main circuit power supply ON OFF 4859 HEAT SINK OVERHEAT SERV O2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm tu...

Page 685: ... force load condition Module failure motor 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the motor 4862 SPEED A D ERROR SERVO2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 4863 TORQUE A D ERROR SERVO2 Module failure SERVOPACK 1 Reset ...

Page 686: ...he SERVOPACK 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 The SERVOPACK motor power line connector The power cable connection of the man...

Page 687: ... safe 4867 OVERLOAD WARNING SERVO 2 Module failure SERVOPACK 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 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 ...

Page 688: ... replace the SERVOPACK 4870 MECHATROLINK COMMAND WARNING 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 MECHATROLINK communication cable 4871 MECHATROLINK2 COMMAND WARNING Connection failure 1 Reset the alarm In case of major alarm turn the power ...

Page 689: ...et the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again replace the SERVOPACK 4875 INCOMPLETE FINE POSITIONING SV2 Connection failure Correct the primary power supply 4876 POSITION ERROR WARNING SERVO 2 Setting error Check the settings for manipulator motion condition influence by external force load condition 4877 MAGNETIC POLE DETECT ERROR SV2 Setting erro...

Page 690: ...n error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 4943 AVERAGING TIME ERROR SERVO Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm o...

Page 691: ...set the alarm In case of major alarm turn the power OFF then back 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 4948 ENCODER ALARM SERVO Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again save the CMOS BI...

Page 692: ... 1 Reset the alarm In case of major alarm turn the power OFF then back 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 4956 AVERAGING SUM ERROR SERVO Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back ON 2 If the alarm occurs again save ...

Page 693: ...IAL ENC OSCILL DETECTED SV Software operation error occurred 1 Reset the alarm In case of major alarm turn the power OFF then back 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 4962 BRAKE LOCK ERROR SERVO Software operation error occurred 1 Reset the alarm In case of major alarm turn the...

Page 694: ... NOT INSTALLED SV 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 DB resist of CN585 amplifier Short circuit connector CN585 amplifier DB resist board failure The DB resist may be fired Replace the DB resist Module failure SERVOPACK 1 Reset the ala...

Page 695: ...R COLLISIO N DETECT Setting error Check the deceleration time parameter 4980 DESTINATION PULSE LIMIT Setting error 1 Check the following settings Check the position setting for the step move instruction where the alarm occurred 4981 DEST PULSE MECHANICAL LIMIT Setting error 1 Check the following settings Check the position setting for the step move instruction where the alarm occurred 4982 DEST ME...

Page 696: ...em input When two or more errors occur appears in the message display area Activate the message display area and press SELECT to view the list of current errors 1 To view details of the selected error contents select HELP 2 To close the error list select CLOSE 3 To release all the errors press CANCEL NOTE An error is different from an alarm because it does not stop the robot even if it occurred wh...

Page 697: ...ser coordinates basic 3 points ORG XX XY 70 Program and current tool different The tool number registered with teaching position data does not match the tool number selected at the programing pendant 80 Same position in the 3 points 90 Set robot exactly to taught position 100 On overrun recovery status 110 Turn ON servo power 120 Set to PLAY mode 130 No start using external signal 140 No start usi...

Page 698: ...ward operation 390 Can specify servo off by safety relay 400 Wrong specification of measure interval 410 Time could not be measured Time could not be measured for TRT function 420 Incorrect number of taught points The number of the taught points for tool calibration is incorrect 430 Register start reserved JOB 440 Clear data to teach at the tool because other tool is set 450 Wrong JOB for measurin...

Page 699: ... robot 630 Not completed to load original tool file 640 Not specified Tool File 650 Incorrect measured data 660 Wrong data type of position variable 670 Enter path number 680 Defined data XXX File no 690 Illegal path number 700 Wrong CMOS memory board type 710 Canceled pelletizing shift value 720 Defined name 721 It is already registered for IN OUT signal name 722 It is already registered for Vari...

Page 700: ...gistered key 850 Cannot register instruction 860 Please release key registration mode 870 This key cannot be allocated 880 Same relay cannot be set 890 This key has already been registered Cannot register them once 900 Relay No not set 910 Cannot be registered because job control group not same 920 Cannot modify this setting 930 Undefined conveyor calibration data 940 Dry spot input signal is ON 9...

Page 701: ...o 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 1090 Enter correct value START END signal no ...

Page 702: ... Over soft limit Adjust center position or pulse width 2120 Cannot insert alter delete with servo off 2130 Only modifying move instruction possible 2140 Must press ENABLE to modify 2150 Inserting is not possible from this point 2160 Cannot modify or delete this position 2170 Press INSERT to record same step as previous step 2180 Cannot insert data 2190 Cannot delete data 2200 Cannot modify data 22...

Page 703: ...5 Sub master 5 6 Sub master 6 7 Sub master 7 8 Sub master 8 2292 Undefined MASTER START JOB 2293 Undefined SUB START JOB 1 Sub master 1 2 Sub master 2 3 Sub master 3 4 Sub master 4 5 Sub master 5 6 Sub master 6 7 Sub master 7 8 Sub master 8 2300 Cannot teach JOB without group axis specification 2310 Same label exists XXX Line no 2320 Cannot create coordinated JOB 2330 Cannot edit coordinated instr...

Page 704: ...setting 2490 Execute FWD BWD operation once 2500 Cannot convert the JOB 2501 Cannot convert positions as macro arguments 2510 Cannot correct position in the JOB 2520 Enter JOB name 2530 Illegal step number 2540 Enter step number 2550 Duplicated step number 2551 Duplicated line number 2560 Cannot correct steps of position variables and REFP 2570 The step does not contain speed 2580 The step dose no...

Page 705: ... 2720 Cannot correct position variables 2730 Cannot use robot macro JOB 2740 Cannot use concurrent macro JOB 2750 Cannot use JOB with group axis specification 2760 Cannot insert modify delete for group axis detachment 2761 Cannot insert modify delet for axis detachment 2770 The job includes instructions that cannot execute reverse paste 2771 Cannot reverse data of SPOTMOV instruction 2780 Arithmet...

Page 706: ...he media 3060 Out of memory on the media 3070 Number of files on the media 3080 I O error on the media 3090 Transmission error with the media 1 Framing error 2 Overrun error 3 Parity error 4 Data code error 5 Data read error 6 Data write error 7 Data time out 8 Serial I O error 9 Error other than described above 3100 Total checksum error 3110 Syntax error 3120 HEX code error 1 Specification error ...

Page 707: ... USER is wrong for the format 3 Record on the tool No TOOL is wrong for the format 4 Record on the position data section is wrong for the format 5 Record on the robot type of XYZ data RCONF is wrong for the format 6 Date DATE record is wrong for the format 7 Comment COMM record is wrong for the format 8 Record on the JOB attribute data ATTR is wrong for the format 9 Control group GROUP record is w...

Page 708: ...rror 19 Data size over 20 MIN value over 21 MAX value over 22 Operation expression error 23 Job call argument setting error 24 Macro job call argument setting error 25 Position vector setting error 26 System error 27 Soft key designate error 28 Numerical input buffer overflow 29 Real type data precision error 30 Element format error 35 BOOL TYPE data error 36 CHAR data error 37 BYTETYPE BINARY HEX...

Page 709: ...defined multilayer data 3340 Illegal number of multilayer data 3350 Not enough memory 3360 Invalid folder 3370 Incorrect folder name 3380 Drive not ready 3390 File not found 3400 File already exists on the media 3410 Out of memory on the media 3420 Max number of files has been reached 3430 I O error on the drive 3440 Wrong media type 3450 Cannot load macro JOB at current security mode Load in mana...

Page 710: ...e backup is completed 3551 Under automatic backup operation Operate SORT FILE after the backup is completed 3560 Failed in sorting backup file 3570 Actuator data transmission error 3580 Under backup file access Operate after the access is completed 3581 Under backup file access Operate SORT FILE after the access is completed 3600 system configuration data not matched 3610 Excessive path 3620 Exces...

Page 711: ...ND OR STR instructions XXX Line no 4080 Syntax error in CRT instructions XXX Line no 4090 Enter STR NOT at head of block Need STR NOT XXX Line no 4100 Relay No duplicated in TMR and CNT 4110 Excessive ladder scan time 4120 Concurrent I O memory is full Exceeds memory capacity 10000 steps 4130 END instruction not found END instruction not found 4140 Wrong ladder program Position and number of PART ...

Page 712: ...17 4200 Cannot specify system variables 4210 Cannot edit line 4220 Excess TMR CNT or arithmetic instructions More than 100 TMR CNT or arithmetic instruction used 4230 Syntax error in TMR CNT instructions Error No Data Error Message Contents ...

Page 713: ...nels 8035 Invalid configuration 8040 Memory error ControlNet output condition 8041 Memory error UNIWIRE CONNECT DAT 8042 Memory error IP Network Configuration data 8050 Robot model is not registered 8051 Select model 8060 Cannot get UNIWIRE connection data 8070 DHCP is already set to use for another item 8071 DNS is already set to use for another item 8072 DHCP is not set to use 8073 DNS is not se...

Page 714: ... 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 conflict 8213 Check EXTERNAL IO setup Error No Data Error Message Contents ...

Page 715: ...t board show the statuses as in the following table The LED indicators show the operating statuses for the single YCP01 circuit board LED0 KED1 Status OFF OFF The power is not turned ON ON OFF Searches the connecting device OFF BLINK Before the BIOS starts Searches the booting device ON BLINK Booting device ready ON ON The BIOS initialization has been completed OS boot starts CN104 CN105 CN106 LED...

Page 716: ...ment LED indicator and battery alarm LED lamp are located on the robot I F circuit board JANCD YIF01 See chapter 10 3 7 SEG LED Indicator for details displayed by the 7 segment LED indicator The battery alarm LED lamp is lit when the battery runs out See chapter 5 1 1 Replacing Parts of the CPU Unit Battery alarm LED lamp 7 segment LED indicator ...

Page 717: ...mally d blink every one second Status DX100 YIF01 EAXA01 YCP02 Alarms occurrence in the Main CPU and servo CPU communication system d blink every one second The error cause is indicated by 7 SEG LED See the indication spec 1 d blink every one second Normal alarms other than alarms described above d blink every one second Fatal alarms occurrence The error cause and the address where the error has o...

Page 718: ...s started Starts up the initialization task D Processes the DX100 setup completion Servo ON enabled E Alarm occurs at the DX100 setup F The maintenance system is starting up P Communications interrupted between NCP01 and the programming pendant U Updating system software through network EAXA01 All Lit The power has been turned ON 0 The booting program has started ROM RAM FP register check 1 Starts...

Page 719: ...ed Starts up hardware initializations of various kinds 5 Starts the system Completes initializations of various kinds 6 Starts the CMOS data transmission 7 Receives the CMOS mapping Waits for pre online 8 Starts the optional system Starts the process of various initializations 9 A B C D Completes the DX100 setup process YNIF01 0000 Arithmetic error 0001 Debug 0002 NMI 0003 Breakpoint 0004 Overflow...

Page 720: ...10 LED Indicator on Circuit Board DX100 10 3 7 SEG LED Indicator 10 6 0013 SIMD floating point exception 0014 0015 0016 0017 0018 0019 001A 001B 001C 001D 001E 001F 0900 WDT error YNIF01 ...

Page 721: ...ption 1000 Instruction conversion error exception 1100 Data load conversion error exception 1200 Data store conversion error exception 1300 Instruction brakepoint exception 1400 System management interruption 1500 Undefined exception 1600 Undefined exception 1700 Undefined exception 1800 Undefined exception 1900 Undefined exception 1A00 Undefined exception 1B00 Undefined exception 1C00 Undefined e...

Page 722: ... YCP02 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 0300 Data access error 0400 Instruction access exception 0500 0600 Alignment exception 0700 Program exception 0800 Unavailable floating point exception 0900 0A00 Undefined exception 0B00 Undefined exception 0C00 S...

Page 723: ...on 2200 Undefined exception 2300 Undefined exception 2400 Undefined exception 2500 Undefined exception 2600 Undefined exception 2700 Undefined exception 2800 Undefined exception 2900 Undefined exception 2A00 Undefined exception 2B00 Undefined exception 2C00 Undefined exception 2D00 Undefined exception 2E00 Undefined exception 2F00 Undefined exception 3010 Receiving data size error 3020 Receiving d...

Page 724: ...ons 3 5 binary data 8 3 Brake Power Supply Fuse for External Axis 5 22 C Changing the Absolute Data 6 7 changing the monitor items 7 24 Checking and Replacing Fuses 5 19 Circuit Breaker QF1 Check 3 6 Clearing Absolute Data 6 7 clearing the alarm history 7 19 clearing the I O message history 7 21 Clearing the System Monitoring Time Display 7 17 compact flash 5 2 connector for encoder signal 5 2 5 1...

Page 725: ...tions 3 4 ENCODER ROTATE SUM 7 24 error message list 9 1 ERROR PULSE 7 24 F FEEDBACK PULSE 7 24 FEEDBACK SPEED 7 24 G ground wirings 5 8 5 9 5 10 5 11 5 16 H home position 6 3 home position calibration 6 2 how to replace converter 5 17 I I O message history 7 20 I O message history window 7 20 I O Unit 5 26 IN 1 TURN POSITION 7 24 independent control function optional 8 4 Individual Window of the ...

Page 726: ...ing the check program 6 10 power flow 1 4 power ON OFF position window 7 22 power supply contactor unit 5 19 5 26 power supply contactor unit fuse 5 26 power supply voltage confirmation 3 5 PWM signal connector 5 2 5 13 R recommended spare parts 5 29 Regeneration register connecting connector 5 17 regenerative resistor connector 5 13 regular inspections 3 1 remote control connector 5 2 replacing p...

Page 727: ...imple Window 7 6 Specific Output Window 7 6 SPEED DEVIATION 7 24 SPEED INST 7 24 supplied parts list 5 28 system diagnosis 7 1 System Monitoring Time Display 7 15 System Monitoring Time Display Window 7 15 system version 7 1 T TORQUE SPEC 7 24 U Universal Input 7 2 Universal Input Simple Window 7 2 Universal Input Window 7 2 Universal Output Simple Window 7 3 Universal Output Window 7 3 user ID 2 ...

Page 728: ...DX100 Index Index v X XYZ coordinate data 8 3 ...

Page 729: ...0 417800 MOTOMAN ROBOTEC GmbH Kammerfeld strasse 1 85391 Allershausen Germany Phone 49 8166 90 100 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang Bldg 89 1 Shinchun dong Donk Ku Daegu Korea Phone 82 53 382 7844 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Phone 65 6282 3003 YASKAWA ELECTRIC MALAYSIA SDN BHD Unit 47 1 and 2 Jalan PJU 5 9 Dataran Sunway Kot...

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