8.3 Alarm Message List
8-73
4417
PULSE LIMIT
(MAX.)
---
The manipulator exceeded its
motion limit (pulse limit) in the posi-
tive (+) direction.
Change the manipulator position in the step
(move instruction) where the alarm occurred.
4418
CUBE LIMIT
(MIN.)
---
The manipulator TCP exceeded its
motion limit (cube limit) in the nega-
tive (
−
) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4419
CUBE LIMIT
(MAX.)
---
The manipulator TCP exceeded its
motion limit (cube limit) in the posi-
tive (+) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4420
SPECIAL SOFT-
LIMIT (MIN.)
0
The manipulator exceeded its
motion limit (special software limit)
in the negative (
−
) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4421
SPECIAL SOFT-
LIMIT (MAX.)
0
The manipulator exceeded its
motion limit (special software limit)
in the positive (+) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4422
MECHANICAL
INTERFER-
ENCE (MIN.)
0
The manipulator exceeded its mini-
mum-angle motion limit. (Mechani-
cal interference)
Change the position in the step (move
instruction) where the alarm occurred.
4423
MECHANICAL
INTERFER-
ENCE (MAX.)
0
The manipulator exceeded its maxi-
mum-angle motion limit. (Mechani-
cal interference)
Change the position in the step (move
instruction) where the alarm occurred.
4424
SPECIAL
MECHANICAL
INTRF (MIN.)
0
The manipulator exceeded its mini-
mum-angle motion limit. (Special
mechanical interference)
Change the position in the step (move
instruction) where the alarm occurred.
4425
SPECIAL
MECHANICAL
INTRF (MAX.)
0
The manipulator exceeded its maxi-
mum-angle motion limit. (Special
mechanical interference)
Change the position in the step (move
instruction) where the alarm occurred.
4426
PULSE
MECHANICAL
LIMIT (MIN.)
---
The manipulator exceeded its
motion limit (mechanical limit) in the
negative (
−
) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4427
PULSE
MECHANICAL
LIMIT (MAX.)
---
The manipulator exceeded its
motion limit (mechanical limit) in the
positive (+) direction.
Change the position in the step (move
instruction) where the alarm occurred.
4428
SEGMENT CON-
TROL ERROR
An error occurred in the real-time processing
section that controls the arithmetic section.
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
1
• RT-buffer control command error
2
• Segment-receiving control com-
mand error
3
• No bank priority
4
• Answer error at MOVE simulating
5
• The value of bank_refresh_flag(x)
exceeded its limit.
6
• Bank refreshing timing error
7
• RT-buffer setting timing error
8
• RT-buffer tracking option error
9
• The segment was received
although the previous segment
had not been sent.
4429
WRONG SPECI-
FIED CONTROL
GROUP
An error occurred in the manipulator informa-
tion at job execution.
1
• Control group not designated
• Reset the alarm, and then try again.
• Turn the power OFF then back ON.
If the error occurs again, contact your
Yaskawa representative.
2
• Slave control-group error
3
• Master control-group error
4
• Master and Slave control-group
error
Alarm Message List
Alarm
Number
Message
Sub
Code
Cause
Remedy
