YASKAWA motoman NX100 Maintenance Manual Download

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5.1 Replacing NX100 Parts

5-7

28 29 30

08 09 10
18 19 20

Co.,Ltd.

23 24 25 26

03 04 05 06
13 14 15 16

JAPAN

07
17

DATE

Fuji

01
11

No.

POWER
CPS-NX1

Electric

02
12

SUPPLY

LAN0

COM

Front side

CN3

CN1

Bottom connector view

CPS-420

CN6

LAN1

CPU

PCI

EXT

CN1

AXIS

CN2

CN1

PCI

NIF

Back side

CN3

Option PCI Slot #CPU2

Option PCI Slot #CPU1

Option PCI Slot #AXIS

+5VSB

+5V

+24V

OTHER

FAN

PON

CN05

(+24V1)

CN04

(+24V2)

OHT

SOURCE

CN01

(AC IN)

INPUT

50/60Hz

200-240V AC

(TU)

CN03

(REMOTE)

CN02

Rotaty switch

Robot I/F unit

JZNC-NIF01

Summary of Contents for motoman NX100

Page 1: ...d prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR S MANUAL NX100 MAINTENANCE M...

Page 2: ...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 produ...

Page 3: ...hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury...

Page 4: ...y Stop 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...

Page 5: ...ssing 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 NX100 cabi n...

Page 6: ...ter Keys 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 pag...

Page 7: ...Firmly Closed 3 2 3 2 2 Checking 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 5 3 5 Enable Switch Inspections 3 5...

Page 8: ...ration 6 3 Registering All Axes at One Time 6 3 Registering Individual Axes 6 6 Changing the Absolute Data 6 7 Clearing Absolute Data 6 8 6 1 3 Manipulator Home Position 6 9 6 2 Position Deviation Che...

Page 9: ...ified Input Output Window 7 15 Modification from the Menu 7 16 7 4 System Monitoring Time Display 7 17 7 4 1 System Monitoring Time Display Window 7 17 7 4 2 Individual Window of the System Monitoring...

Page 10: ...9 1 1 System and General Operation 9 2 9 1 2 Editing 9 5 9 1 3 Job Defined Data 9 5 9 1 4 External Memory Equipment 9 9 9 1 5 Concurrent I O 9 15 9 1 6 Maintenance Mode 9 16 10 LED Indicator on Circu...

Page 11: ...rgency stop button AR22V2R 04R Major axes control circuit board SGDR AXA01A Control power supply CPS 420F Robot I F unit JZNC NIF01 Welding circuit board JANCD XEW02 CPU unit JZNC NRK01 SERVOPACK Refe...

Page 12: ...pe EA1900N SGDR HP20Y30 JZRCR NTU01 1 Breaker Model SERVOPACK Power Supply Contactor Unit HP20 Emergency stop button AR22V2R 04R Major axes control circuit board SGDR AXA01A Control power supply CPS 4...

Page 13: ...ke Power Power Brake Brake Power CNP6 CNP4 CNP6 CNP4 CNP6 CNP4 CNP4 CNP6 CNP6 Brake 24V2 24VU CN12 CND CNK CNJS CNK CNJS Three phase 200VAC 50 60Hz 220VAC 60Hz External power input External power inpu...

Page 14: ...r emergency stop signal 2XT CNP Circuit breaker CN06 CN01 Terminator Serial communications CN02 LAN1 PP I O 12 12 I O 8 8 I O 12 12 User I O CND CND CN09 CN08 CN10 24V1 Enable switch signal CN06 CNESP...

Page 15: ...rity 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 char acters Significant numbers and signs 0 to...

Page 16: ...E 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 Operatio...

Page 17: ...SHOCK SENS LEVEL Operation Management USER COORDINATE Edit Edit HOME POSITION Management Management MANIPULATOR TYPE Management ROBOT CALIBRATION Edit Edit ANALOG MONITOR Management Management OVERRU...

Page 18: ...anagement SETUP TEACHING COND Edit Edit OPERATE COND Management Management DATE TIME Management Management GRP COMBINATION Management Management RESERVE JOB NAME Edit Edit USER ID Edit Edit SET SPEED...

Page 19: ...DIAGNOSIS Operation Edit GUN PRESSURE Edit Edit PRESSURE Edit Edit I O ALLOCATION Management Management GUN CONDITION Management Management CLEARANCE SETTING Operation Management POWER SOURCE COND Ma...

Page 20: ...END IN OUT In Out SYSTEM INFO ARC WELDING VARIABLE B001 ROBOT CF FD CF Turn on servo power SETUP MONITORING TIME ALARM HISTORY I O MSG HISTORY VERSION SECURITY T Main Menu Short Cut JOB DOUT MOVE END...

Page 21: ...correct user ID is entered the security mode is changed Operation Explanation Main Menu Short Cut JOB DOUT MOVE END IN OUT In Out SYSTEM INFO ARC WELDING VARIABLE B001 ROBOT CF FD CF Input current ID...

Page 22: ...modes Operation Explanation 1 Select SETUP under the main menu The sub menu appears 2 Select USER ID The USER ID window appears Main Menu Short Cut JOB DOUT MOVE END IN OUT In Out SYSTEM INFO ARC WELD...

Page 23: ...ENTER User ID is changed Operation Explanation Main Menu Short Cut JOB DOUT MOVE END IN OUT In Out SYSTEM INFO ARC WELDING VARIABLE B001 ROBOT CF FD CF SETUP PARAMETER DISPLAY SETUP Aa DATA EDIT DISPL...

Page 24: ...nt Inspection Item Inspection Frequency Comments NX100 Controller Check that the doors are completely closed Daily Check for gaps or dam age to the sealed con struction Monthly Interior circulation fa...

Page 25: ...in power is turned OFF CW Open CCW Close Make sure push the door closed and turn the door lock with the driver When the door is closed turn the door lock until the door clicks NX100 Front View 3 2 2 C...

Page 26: ...Small capacity NX100 When the message of the Cooling fan in control box stopped is displayed it may be caused by the error occurrence at the cooling fan JZNC NZU01 inside the control power supply CPS...

Page 27: ...3 3 Cooling Fan Inspections 3 4 Cooling Fan Construction Medium or large capacity NX100 Air intake Backside duct fan Air outlet Interior circulation fan...

Page 28: ...e switch on the programming pendant to TEACH 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 th...

Page 29: ...bottom of the dis play The way to replace the battery is described in 5 1 1 Replacing Parts of the CPU Unit 3 7 Power Supply Voltage Confirmation Check the voltage of 1 3 5 terminal of the circuit br...

Page 30: ...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...

Page 31: ...low 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 ar...

Page 32: ...ng stored memory by replacement of NCP01 circuit board weak battery etc Home position deviation caused by hitting the manipulator against a workpiece etc Perform the following inspection procedures pr...

Page 33: ...ry 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 p...

Page 34: ...ertently 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 NX100 and...

Page 35: ...r signal CN05 PWM signal connector PWM signal connector CN04 PWM signal connector Front View with Cover Control circuit board JANCD NCP01 Monitor alarm display LED F1 F2 CNSP1 Emergency stop connector...

Page 36: ...ews fixing the circuit board and rack 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...

Page 37: ...d cables After turning OFF the power supply wait at least 5 minutes before replacing a control power supply Do not touch any terminals during this period Confirm all monitor lights are turned OFF Fail...

Page 38: ...upper and lower screws 6 Connect all disconnected cables 7 Set the rotary switch to the same value as the removed board s rotary switch K J H V U T 28 29 30 08 09 10 18 19 20 G F E D C S R Q P N Co Lt...

Page 39: ...g the robot I F unit since the robot I F unit contains important data such as robot jobs and parameters There are some versions which require maker mode operations after replacing the robot I F unit C...

Page 40: ...R CPS NX1 Electric 22 02 12 SUPPLY LAN0 COM Front side CN3 CN1 Bottom connector view CPS 420 CN6 LAN1 CPU PCI PCI EXT CN1 AXIS CN2 CN2 CN1 PCI NIF Back side CN3 Option PCI Slot CPU2 Option PCI Slot CP...

Page 41: ...IN MENU key 2 Change the security to management mode and select TOOL Compact Flash CMOS LOAD Turn OFF the power before replacing the robot I F circuit board JANCD NIF01 Be sure to back up robot data b...

Page 42: ...CPU rack 7 Tighten upper and lower screws of the robot I F unit 8 Connect all cables disconnected in the procedure 1 Turn OFF the power before replacing the I O circuit board JANCD NIO01 Be sure to b...

Page 43: ...r CN101 Converter control signal connector CN1 PWM signal connectors AMP1 to AMP6 CN1 Motor power connectors AMP1 to AMP6 CNP6 4 Remove the ground wiring connected to the SERVOPACK 5 Remove the two sc...

Page 44: ...CNP4 4 Remove the ground wiring connected to the converter 5 Remove the two screws at the top on each side of the converter 6 Hold the top grip and lift it to pull out the converter 7 Install the new...

Page 45: ...PACK 6 Hold the top and bottom grips and lift them to pull out the SERVOPACK 7 Install the new PWM amplifier and reconnect the connectors in the reverse order of the removing procedure Configuration o...

Page 46: ...same type of fuse supplied Parts No Fuse Name Specification 1FU 2FU Control Power Supply Fuse 250V 10A Time Lag Fuse 326010 250V 10A Littelfuse 3FU Brake Fuse SDP50 5A 125V Daito Communication Apparat...

Page 47: ...and correct the cause of the blown fuse If the problem is uncorrected the fuse may blow again LAN0 COM Front side CN3 CN1 Bottom connector view CPS 420 CN6 LAN1 CPU PCI PCI EXT CN1 AXIS CN2 CN2 CN1 PC...

Page 48: ...ontrol power supply CPS 420F Not included in CPU unit JZNC NRK01 Robot I F unit JZNC NIF01 Not included in CPU unit JZNC NRK01 Robot I F circuit board JANCD NIF01 I O circuit board JANCD NIO01 3 Power...

Page 49: ...60A01B T SGDR SDA060A01B SGDR SDA060A01B SERVOPACK List Component HP20 EA1900N UP50N UP20MN Model Model Model SERVOPACK SGDR HP20Y30 SGDR EH50Y24 SGDR EH50Y27 Amplifier S SGDR SDA140A01B SGDR SDA710A0...

Page 50: ...L SGDR SDA710A01BY29 SGDR SDA710A01BY29 U SGDR SDA710A01B SGDR SDA710A01BY25 R SGDR SDA350A01B SGDR SDA350A01B B SGDR SDA350A01B SGDR SDA350A01B T SGDR SDA350A01B SGDR SDA350A01B Converter SGDR COA25...

Page 51: ...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 R...

Page 52: ...2 A 6 Brake Fuse SDP50 5A 125V Daito Communi cation Apparatus Co Ltd 10 1 A 7 24VDC Fuse for I O 2173 15P 3 15A 250V Littelfuse 10 2 B 8 Control Power Sup ply CPS 420F Yaskawa Electric Corporation 1 1...

Page 53: ...4VDC Fuse for I O 2173 15P 3 15A 250V Littelfuse 10 2 A 8 Welder I F board fuse 0312001 MXP 1A 250V Littelfuse 10 2 Only for arc weld ing B 9 Control Power Sup ply CPS 420F Yaskawa Electric Corporatio...

Page 54: ...15A 250V Littelfuse 10 2 A 8 Welder I F board fuse 0312001 MXP 1A 250V Littelfuse 10 2 Only for arc welding B 9 Converter SGDR COA080A01B Yaskawa Electric Corporation 1 1 B 10 Control Power Sup ply CP...

Page 55: ...V Daito Communi cation Apparatus Co Ltd 10 1 A 7 24VDC Fuse for I O 2173 15P 3 15A 250V Littelfuse 10 2 B 8 Converter SGDR COA250A01B Yaskawa Electric Corporation 1 1 B 9 Control Power Sup ply CPS 420...

Page 56: ...V Daito Communi cation Apparatus Co Ltd 10 1 A 7 24VDC Fuse for I O 2173 15P 3 15A 250V Littelfuse 10 2 B 8 Converter SGDR COA250A01B Yaskawa Electric Corporation 1 1 B 9 Control Power Sup ply CPS 420...

Page 57: ...50 5A 125V Daito Communi cation Apparatus Co Ltd 10 1 A 7 24VDC Fuse for I O 2173 15P 3 15A 250V Littelfuse 10 2 B 8 Converter SGDR COA250A01B Yaskawa Electric Corporation 1 1 B 9 Control Power Sup pl...

Page 58: ...5A 125V Daito Communi cation Apparatus Co Ltd 10 1 A 7 24VDC Fuse for I O 2173 15P 3 15A 250V Littelfuse 10 2 B 8 Converter SGDR COA250A01B Yaskawa Electric Corporation 1 1 B 9 Control Power Sup ply C...

Page 59: ...ow 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...

Page 60: ...n There are two operations for home position calibration All the axes can be moved at the same time Axes can be moved individually Perform the following inspection procedures prior to conducting manip...

Page 61: ...position is the position with the pulse value 0 for each axis See 6 1 3 Manipulator Home Position Operation Explanation 1 Select ROBOT under the main menu 2 Select HOME POSITION The HOME POSITIONING w...

Page 62: ...DISPLAY SETUP Aa DATA EDIT DISPLAY UTILITY T PAGE HOME POSITIONING SELECT ABSOLUTE DATA R1 S L U R B T ROBOT 1 STATION 1 Main Menu Short Cut JOB DOUT MOVE END IN OUT In Out SYSTEM INFO ARC WELDING VAR...

Page 63: ...stered as home posi tion When NO is selected the registration will be canceled Operation Explanation Main Menu Short Cut JOB DOUT MOVE END IN OUT In Out SYSTEM INFO ARC WELDING VARIABLE B001 ROBOT CF...

Page 64: ...a of the axis are registered as home posi tion When NO is selected the registration will be canceled Main Menu Short Cut JOB DOUT MOVE END IN OUT In Out SYSTEM INFO ARC WELDING VARIABLE B001 ROBOT CF...

Page 65: ...ave been described in Register ing 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 th...

Page 66: ...T MOVE END IN OUT In Out SYSTEM INFO ARC WELDING VARIABLE B001 ROBOT CF FD CF SETUP PARAMETER DISPLAY SETUP Aa DATA EDIT DISPLAY UTILITY T PAGE HOME POSITIONING SELECT ABSOLUTE DATA R1 S L U R B T 301...

Page 67: ...ition is as follows Other manipulator models have different positions Always consult the documentation for the correct manipulator model L axis angle against vertical line to the ground 0 B axis cente...

Page 68: ...r 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 6 4 Setting the Second Home Posit...

Page 69: ...e and the current position pulse The difference pulse Command position pulse Current position pulse 3 On the HOME POSITIONING window add the difference pulse value to the absolute data of the axis who...

Page 70: ...ations 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 pla...

Page 71: ...een 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 NX100 cabinet after...

Page 72: ...s started If the absolute data allowable range error alarm has occurred playback and test runs will not function and the position must be checked Position Check After the OUT OF RANGE ABSO DATA alarm...

Page 73: ...ing the erroneous axis calibrate the home position of the axis then check the position again Home position calibration of all the axes at the same time enables playback operations without having to ch...

Page 74: ...rol group The group axes by which the second home position is set is selected when there are two or more group axes 4 Press the axis keys Move the manipulator to the new second home position 5 Press M...

Page 75: ...tion of the specified point Abnormality of the PG system may be cause for alarm The manipulator may oper ate in an unexpected manner and there is a risk of damage to equipment or injury to personnel R...

Page 76: ...he 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 err...

Page 77: ...follows Operation Explanation 1 Select SYSTEM INFO under the main menu 2 Select VERSION The VERSION window appears DATA EDIT DISPLAY UTILITY Main Menu Short Cut VERSION SYSTEM ROM 3 12 3 10 00 BOOT RO...

Page 78: ...eration Explanation 1 Select ROBOT under the main menu 2 Select MANIPULATOR TYPE The ROBOT AXIS CONFIG window appears DATA EDIT DISPLAY UTILITY Main Menu Short Cut T ROBOT AXIS CONFIG AXIS CONFIGURATI...

Page 79: ...The UNIVERSAL INPUT window appears 2 Select SIMPLE from the pull down menu of DIS PLAY The UNIVERSAL INPUT simple window appears DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE UNIVERSAL INPUT G...

Page 80: ...OUTPUT window appears 3 Select SIMPLE from the pull down menu of DIS PLAY The UNIVERSAL OUTPUT simple window appears DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE UNIVERSAL OUTPUT GROUP 0G 01 3...

Page 81: ...d output signal or in the UNIVERSAL OUTPUT window 2 Press INTER LOCK SELECT The status is changed ON status OFF status The status of universal output signal can be changed only when the mode is set to...

Page 82: ...NPUT simple window appears DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE SPECIFIED INPUT GROUP 0 DEC 00 HEX SYSTEM ALM REQ SYSTEM MSG REQ USER ALM REQ USER MSG REQ ALM ERR RESET SPEED LIMIT SIN...

Page 83: ...ars DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE 0 DEC 00 HEX SPECIFIED OUTPUT GROUP SOUT 0001 50010 SOUT 0002 50011 SOUT 0003 50012 SOUT 0004 50013 SOUT 0005 50014 SOUT 0006 50015 SOUT 0007 5...

Page 84: ...Explanation 1 Select IN OUT under the main menu 2 Select RIN The RIN window appears DATA EDIT DISPLAY UTILITY Main Menu Short Cut T RIN INPUT 1 RIN 001 RIN 002 RIN 003 RIN 004 RIN 005 DIRECT IN1 SERV...

Page 85: ...for the signal number can be made in the following two ways Direct search on the UNIVERSAL SPECIFIED INPUT OUTPUT window Search from the menu IG 01 123 10 7b 16 DATA EDIT DISPLAY UTILITY Main Menu Sho...

Page 86: ...line 3 Press ENTER to start the search The page where the signal number exists appers IG 01 123 10 7b 16 DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE UNIVERSAL INPUT GROUP IG 001 0 DEC 00 HEX...

Page 87: ...page where the signal number exists appears EDI IG 01 123 10 7b 16 DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE UNIVERSAL INPUT GROUP IG 001 0 DEC 00 HEX IN 0001 00010 IN 0002 00011 IN 0003 0...

Page 88: ...the relay number can be made in the following two ways Direct search on the UNIVERSAL SPECIFIED INPUT OUTPUT window Search from the menu IG 01 123 10 7b 16 DATA EDIT DISPLAY UTILITY Main Menu Short Cu...

Page 89: ...ine 3 Press ENTER to start the search The page where the relay number exists appers IG 01 123 10 7b 16 DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE UNIVERSAL INPUT GROUP IG 001 0 DEC 00 HEX IN...

Page 90: ...The page where the relay number exists appears IG 01 123 10 7b 16 DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE UNIVERSAL INPUT GROUP IG 001 0 DEC 00 HEX IN 0001 00010 IN 0002 00011 IN 0003 000...

Page 91: ...CIFIED 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 IG 01 123 10 7b 16 DATA EDIT DISPLAY UTILITY Main...

Page 92: ...ered IG 01 123 10 7b 16 DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE UNIVERSAL INPUT GROUP IG 001 0 DEC 00 HEX IN 0001 00010 IN 0002 00011 IN 0003 00012 IN 0004 00013 IN 0005 00014 IN 0006 000...

Page 93: ...ys the cumulative time during which playback was executed MOVING TIME Displays the cumulative time that the manipulator was in motion OPERATING TIME Displays the cumulative time spent in operation For...

Page 94: ...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 DATA EDIT DISPLAY UTILITY T SERVO POW...

Page 95: ...eset to 0 and a new time measurement begins DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE SYS MONITORING TIME CONTROL POWER TIME 2005 07 23 14 58 49 40 13 SERVO POWER TIME 2005 07 23 14 58 43 5...

Page 96: ...history window appears 3 Press the page key to change the window or select PAGE to display the selec tion window for the alarm windows Each time the page key is pressed the window changes MAJOR ALARM...

Page 97: ...ppears 3 Select CLEAR HISTORY The confirmation dialog box appears 4 Select YES The alarm history displayed is reset DATA EDIT DISPLAY UTILITY Main Menu Short Cut T PAGE MINOR ALARM CODE DATE CLOCK 001...

Page 98: ...SG 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...

Page 99: ...n 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 EDIT DISPLAY UTILITY Main Menu Short Cut I O MESSAGE...

Page 100: ...r 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 win dow Operation...

Page 101: ...tem The type of coordinates being displayed is changed EDIT DISPLAY UTILITY Main Menu Short Cut CURRENT POSITION TOOL 00 R1 COORDINATE PULSE DATA PAGE S L U R B T 0 0 0 0 0 0 EDIT DISPLAY UTILITY Main...

Page 102: ...BACK SPEED Feedback speed actual speed of each axis TORQUE SPEC Torque reference of each axis MAX TORQUE Keeps the maximum value of the torque refer ence of each axis 0 when the maximum torque is clea...

Page 103: ...mation is changed DATA EDIT DISPLAY UTILITY T SERVO MONITOR FEEDBACK PULSE ERROR PULSE S 1805 L 234 U 995 R 123 B 237 T 2432 300 0 0 0 0 0 R1 DATA EDIT DISPLAY UTILITY T SERVO MONITOR FEEDBACK PULSE E...

Page 104: ...played Operation Explanation 1 Select DATA under the menu The clear max torque window appears 2 Select MAX TORQUE The maximum torque data is cleared DATA EDIT DISPLAY UTILITY CLEAR MAX TORQUE MAX TORQ...

Page 105: ...rn 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 window or the system input signal Alarm reset Turn OFF the main power sup ply and...

Page 106: ...her window during alarm occurrence the ALARM window can be shown again by selecting SYSTEM INFO under the main menu and then selecting ALARM Releasing Alarms Alarms are classified by minor and major a...

Page 107: ...oordinate 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 h...

Page 108: ...multi task job the tasks that were being done when the alarm occurred are also displayed TASK 0 Master task job TASK 1 Sub task1 job SUB1 TASK 2 Sub task2 job SUB2 TASK 3 Sub task3 job SUB3 TASK 4 Su...

Page 109: ...e terminator terminal and the station number settings If the error occurs again contact your Yaskawa representative 51 No response was sent from the servo board 2 52 No response was sent from the serv...

Page 110: ...error occurred in communica tions with the servo board 1 The error was detected during the check of the number of the CERF communications 0101 COMMUNICA TION ERROR AXA 2 1 An error occurred in communi...

Page 111: ...files are damaged 2 The management data of position data files are damaged 3 The memory play file is damaged Initialize the memory play file If the error occurs again contact your Yaskawa representat...

Page 112: ...Connect a correct I O module 16 The I O module connected to the PCI bus is different from the func tion of the set I O module 17 0330 VERIFY ERROR APPLICATION SETTING 0 Inconsistency was detected in...

Page 113: ...NOT READY Motion command processing was not completed within the specified time Turn the power OFF then back ON If the error occurs again contact your Yaskawa representative 0510 SOFTWARE VERSION UNMA...

Page 114: ...tion other than the STR instruction 11 The memory capacity is exceeded due to excessive machine codes 12 The last instruction is not the END instruction 13 An error was found in the PART instruction 1...

Page 115: ...e type set for output direction of allocation configuration data 9 An error was found in the type set for input direction of allocation con figuration data 10 An error was found in the type specified...

Page 116: ...ting of allocation configuration data some of the TOYOPUC s R registers are speci fied redundantly 45 In the input side setting of allocation configuration data some of the M registers of concurrent I...

Page 117: ...nal did not turn ON after the CLEAR command was written EEPROM CLEAR error 24 The SRDY signal did not turn ON after data were written EEPROM writing error 25 The SRDY signal did not turn ON after data...

Page 118: ...tion file is dam aged 5 The tool calibration file is dam aged 6 The weaving amplitude condition file is damaged 7 The home position correction data file is damaged 8 The conveyor calibration file is d...

Page 119: ...ing condition file is dam aged 45 The form cut file is damaged 46 The spot user I O allocation file is damaged 47 The linear servo float condition file is damaged 48 The macro definition file is dam a...

Page 120: ...up process of MOTION when the control power turned ON Turn the power OFF then back ON If the error occurs again contact your Yaskawa representative 1 The servo control section was not started up 2 The...

Page 121: ...execution of motion command 3 The data size for the file transfer was over housing size at executing a motion command 4 An optional function was com manded to be executed while another optional funct...

Page 122: ...Seiki Co Ltd Disable the axis endless function for the encoder 63 An error occurred while the axis endless function was being used Turn the power OFF then back ON If the error occurs again contact yo...

Page 123: ...gh it was not the execution timing 109 The sequence was untimely exe cuted in the segment_R process although it was not the execution timing 111 The sequence was untimely exe cuted in the segment_E pr...

Page 124: ...t on the scheduling table 132 The segment_OPT1 process did not complete within the time set on the scheduling table 133 The segment_OPT2 process did not complete within the time set on the scheduling...

Page 125: ...eter 500 Inconsistency of FP register 600 An uncontrolled axis was specified when the instruction for group change was executed 602 The PG power supply of the axis for group change is ON 603 The servo...

Page 126: ...and check if in panel cooling fan is rotating Cycle the power when the power supply unit is cooled off 1204 COMMUNICA TION ERROR IO MODULE 0000_ 0000_ 0000_ 0001 Communications and power supply error...

Page 127: ..._0001_0000 Servo ON condition signal SYSRDY unmatched error 0000_0000_0010_0000 Safety plug signal SAF unmatched error 0000_0000_0100_0000 Servo ON signal SVON unmatched error 0000_0000_1000_0000 Exte...

Page 128: ...address which is used in the Ethernet func tion Set the correct IP address 2 Incorrect setting of the subnet mask which is used in the Ethernet func tion Set the correct subnet mask 3 Incorrect setti...

Page 129: ...task creating process of the Ehter net function 22 An error occurred in the FTP client task creating process of the Ehter net function 30 An error occurred in the semaphore generation process for acc...

Page 130: ...DNS resolver setting of the Ether net function Verify the domain name and the DNS related settings When the DHCP is used verify the DHCP server operation and the network status 80 An error occurred in...

Page 131: ...O Erroneous communications occurred between the contactor unit for I Os manipu lators and external axes and servo control circuit board due to the defective board or the incorrect connection Correct t...

Page 132: ...mounted Set the mounted converter model in system configuration 1309 HARDWARE ERROR CONVERTER Converter hardware is incorrect Turn the power OFF then back ON If the error occurs again replace the con...

Page 133: ...red only when the control power supply turned ON Turn the power OFF then back ON If the error occurs again replace the servo control circuit board 1331 CONVERTER CHARGE ERR CON VERTER Charge error is...

Page 134: ...ror 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...

Page 135: ...om the TU circuit board Turn the power OFF then back ON If the error occurs again replace the TU cir cuit board 1502 TACTOR STICKING SERVO I O Contactor sticking is sent from the TU circuit board Turn...

Page 136: ...ON If the error occurs again replace the TU board 1530 ABSOLUTE DATA ERROR SERVO 2 Absolute data cannot be received from the encoder or the received absolute data is incorrect Turn the power OFF then...

Page 137: ...nication error occurred Turn the power OFF then back ON Check the wiring around the cable between the serial conversion unit and SERVO PACK Check for noise Review the cable between the serial con vers...

Page 138: ...ower turned ON the motor speed may have exceeded the threshold speed Turn the power OFF then back ON Replace the motor and SERVOPACK 1559 COMMUNICA TION GATE ARRAY ERROR SERVO2 The MECHATROLINK commun...

Page 139: ...e power OFF then back ON Check for motor power line Replace the motor and SERVOPACK 1579 MOTOR LINE DISCONNEC TION ALARM SERVO2 The motor power line disconnected may be the cause Turn the power OFF th...

Page 140: ...ng Power Source condition file is damaged Initialize the arc welding Power Source condi tion file in the maintenance mode and then load the arc welding Power Source condition file saved in the externa...

Page 141: ...eaving amplitude file saved in the external memory device 4025 MEMORY ERROR INTERRUPT JOB FILE An error was detected at memory check The memory for the interrupt job file is damaged Initialize the int...

Page 142: ...file is damaged Initialize the vision condition file in the main tenance mode and then load the vision con dition file saved in the external memory device 4043 MEMORY ERROR VISION CALIBRATION An erro...

Page 143: ...PAINT TABLE An error was detected at memory check The memory for the painting CCV file is damaged Initialize the painting CCV file in the mainte nance mode and then load the painting CCV file saved i...

Page 144: ...rrun limit switch range Refer to the INSTRUC TIONS 4101 OVERRUN EXTERNAL AXIS One of the external axis overrun limit switches activated Move back the external axis out of the over run limit switch ran...

Page 145: ...n the power was turned ON again exceeded the tolerance for the manipulator or a station Move the manipulator or station to the zero position by the axis operation and check the home position alignment...

Page 146: ...fuse of optional unit NBP or brake release unit NBU is blown Verify the brake wiring If the fuse is blown check the wiring then replace the fuse If the error occurs again contact your Yaskawa represen...

Page 147: ...to the contactor unit decreased 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 uni...

Page 148: ...rocess of the Ethernet function 32 An error occurred in the FTP client task mail receiving process of the Ethernet function 40 Illegal e mail data were received in the Web server task of the Ethernet...

Page 149: ...func tion 4 Transmission error occurred in the UDP process of the Ethernet func tion 5 The SELECT operation was not successfully completed in the UDP process of the Ethernet function 100 The re initia...

Page 150: ...Task specification error Specify the task in the range 0 to 4 7 at expansion 3 An error occurred at SETUALM instruction execution Motion mode specification error Set the motion mode to 0 or 1 4138 SVO...

Page 151: ...t in the SNTP process of the Ethernet func tion Set a correct IP address for the SNTP server 4200 SYSTEM ERROR FILE DATA An error occurred during the access to file data during file edition or externa...

Page 152: ...en back ON If the error occurs again contact your Yaskawa representative 99 A job data in the memory was destroyed 4202 SYSTEM ERROR JOB An error occurred when accessing to job data Reset the alarm an...

Page 153: ...ON DATA An error occurred in position data control process Initialize the job in the maintenance mode 1 The memory area for position data is lacking at the initialization of the position data control...

Page 154: ...external memory the control axis for external mem ory is different from that for system Initial ize the job When a point is added the job is not initial ized after the control axis for system was cha...

Page 155: ...rom the system control section occurred 2 An interrupt undefined in the sub command from the system control section occurred 3 The interrupt command that was sent previously from the system control se...

Page 156: ...ransmission request function error 40 Error in designation of application in the request of general purpose data preset for each application 41 Error in the parameter to prepare the speed data table 4...

Page 157: ...output timeout of the general purpose sensor 69 Interrupt main status set 71 System number error at the mas ter side in twin synchronous sys tem 72 No data link added to the com mand 73 Setting status...

Page 158: ...the table for physical TU 103 Excessive number of control group axes in use 104 JOG and PLAY maximum speed setting parameter error 120 Job argument over 121 Job argument stack overflow 122 Job argume...

Page 159: ...rror for WORK ID conveyor at ENQUE 144 Queue operation error for WORK ID conveyor at DEQUE 145 Queue operation error for WORK ID conveyor undefined opera tion 146 Queue operation error for WORK ID con...

Page 160: ...to execute the slave spline interpolation and the mas ter spline interpolation at the same time 232 Illegal index value for a MOVx instruction 233 No xth line move instruction exists where the master...

Page 161: ...truction was executed 254 Null pointer assignment detected 255 Function or other processing parameter error 1000 System clock RTC setting error 1001 System task priority arrangement error 1002 VxWorks...

Page 162: ...essing error in re preparation of segment control data 20 Prereading task not completed at master in twin synchronous sys tem 21 Zero division occurred at observer operation 22 Processing error in opt...

Page 163: ...contact your Yaskawa representative 42 Special JOG operation error 43 Following function error The used manipulator model does not sup port 7 axis Following Control 4209 OFFLINE SYSTEM ERROR ARITH A...

Page 164: ...ccurs again contact your Yaskawa representative 4220 SERVO POWER OFF FOR JOB The servo power is not supplied to the job control group axis control group for subcode to be operated Turn OFF the servo p...

Page 165: ...correct motor type Motor failure Defective board due to an external force applied to manipulator Check the motor board manipulator motion influence by external force and taught ori entation 4228 WRONG...

Page 166: ...isition process of SNTP server during the network service data creation pro cess of the Ethernet function 8 An error occurred in the acquisition process of host name during the network service data cr...

Page 167: ...FF for emergency stop Reset the alarm and then turn ON the servo again If the error occurs again replace the contac tor unit and or servo control circuit board 4303 CONVERTER READY SIGNAL ERROR No res...

Page 168: ...ircuit board converter and or amplifier 4307 SERVO ON SPEED ERROR The motion speed of the encoder before the dynamic brake turns OFF in servo ON sequence exceeded the threshold for a cer tain period T...

Page 169: ...the collision detection level setting file or set the detection level higher 4316 PRESSURE DATA LIMIT The pressure set in the gun pres sure file or dry spotting pressure file exceeded the maximum pre...

Page 170: ...nerated by one motor rotation does not agree with the specified value due to Noise from external devices Defective board Motor failure Check for the external noise Provide noise protection such as ins...

Page 171: ...ge The primary power supply voltage is too high above 242V Converter failure Defective servo control circuit board Review the load condition and teaching speed Confirm that the power supply voltage is...

Page 172: ...specified If the error occurs again contact your Yaskawa representative 4357 IMPOSSIBLE SRCH EQUALIZE TEACH The manipulator orientation at the execution of search of the motor gun equalizing function...

Page 173: ...epresentative 2 The arithmetic processing section is not ready for JOG operation 3 The arithmetic processing section is not ready for the playback oper ation 4 The prereading processing in the arithme...

Page 174: ...race control 47 An error occurred when waiting for a completion of main system task job in SYNC specification 48 An attempt was made to execute an instruction that could not be executed at line sequen...

Page 175: ...a straight line Interpo lation such as linear and circular interpolation is impossible in such orientation 7 The TCP of the manipulator is out of working envelope Perform the teaching again so that th...

Page 176: ...stance between the teaching points is even 4412 IMPOSSIBLE LINEAR MOTION L U Interpolation motion could not be performed because of different form of L and U axes In case the form folded direction of...

Page 177: ...e 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...

Page 178: ...or for servo hand 16 MRESET control group error 17 Control group error for general purpose area of path correction amount 18 Control group error for a con veyor calibration file 19 Control group error...

Page 179: ...Yaskawa representative 1 The intermediate code of the instruction that is to be executed is incorrect 3 Destination variable tag arrange ment is incorrect 4 Tag data type is incorrect 5 Box number is...

Page 180: ...255 An exceptional error occurred 4433 UNDEFINED GLOBAL VARIABLE The global variable is not defined Needs investigation Contact your Yaskawa representative 0 The set data for byte type vari able S1D...

Page 181: ...Call source job does not exist in the job call stack Reset the alarm and then execute the mas ter start job Delete the RET instruction 4441 LACK OF LOCAL VARIABLE AREA An error occurred when memory a...

Page 182: ...igned 4 byte data type variable is less than the minimum value 8 The value for the real number 4 byte data type variable is less than the minimum value 32770 The value for the signed 1 byte data type...

Page 183: ...Set a positive value for the vertical and hori zontal distance 8 The coordinate control axis desig nation for the reference point is different from actual control axis Internal control error If the er...

Page 184: ...file num ber 4451 UNDEFINED REFERENCE The reference point reference point number in binary for subcode is not registered or is insufficient Register the reference point 4452 STACK MORE THAN 8 JOB CALL...

Page 185: ...An attempt was made to output a value above the maximum value that can be expressed in Binary Coded Decimal 99 decimal when no parity check is specified and 79 decimal when parity check is specified...

Page 186: ...alibration function between manipula tors cannot be used for this model 1 The calibration between manipu lators cannot be executed for this model 2 The master group and the slave group are in the same...

Page 187: ...was made to change the speed tag data 2 An attempt was made to change the board thickness tag data 4477 SELECT ERROR APPLICATION Incorrect selection of application When executing a work instruc tion t...

Page 188: ...d MOVC before executing an MRESET instruction 2 The base axis is set as an End less rotation axis The Endless function cannot be used with the base axis Change the parameter setting that desig nates t...

Page 189: ...so that the weaving start point and end point are different 4494 DEFECTIVE TAUGHT POINT WEAV 2 Incorrect teaching of weaving motion positions Among the weaving start point end point and reference poin...

Page 190: ...etting of allowable torque for the speed reducer is incorrect Correct the parameter setting If the error occurs again contact your Yaskawa representative 19 The setting of allowable torque for the mot...

Page 191: ...The dynamics model calculation at the optimized acceleration deceleration is invalid If the error occurs again contact your Yaskawa representative 42 Zero is set for the inertia of dynamics fixed mode...

Page 192: ...61 Zero or a negative value is set for the cylinder at the arm interfer ence check point 62 The number of designated check points for the arm interference check is insufficient 70 All of X Y and Z val...

Page 193: ...of C1 C2 and C3 of station axes are the same Perform the teaching again so that the 2nd axis positions of C1 C2 and C3 of station axes are not the same 6 The 1st axis rotation direction of C3 C4 and C...

Page 194: ...en the two points is too short Perform the teaching again so that the search start point and the motion target point are not the same Increase the distance between the search start point and the motio...

Page 195: ...SAFETY 1 LOW At the safety speed 1 the manipu lator motion speed exceeded the speed limit value LOW level Reduce the speed of the step move instruction where the alarm occurred The manipulator may be...

Page 196: ...contact your Yaskawa representative 2 An error occurred at instruction read in 3 The tag is not registered 7 An error occurred at tag data change 4524 CANNOT EXE CUTE INST CONCUR JOB An error occurre...

Page 197: ...and conveyor characteristic file num ber used are incorrect 5 There was no conveyor start posi tion data at prereading process ing 10 No base axis in the job for arc tracking 4531 CONVEYOR CHARACTERIS...

Page 198: ...ORNER R CONTROL ERROR An internal control error occurred at the Cor ner R motion Do not use the Corner R motion for coordi nated motion 1 The Corner R motion cannot be used for coordinated motion 2 An...

Page 199: ...rst character of character string to be extracted is null at MID instruction execution 2 The extraction start position exceeds the character string length at MID instruction execu tion Check the extra...

Page 200: ...s not used 7 The layer motion function is not used 8 The general sensor function is not used 9 The servo float function is not used 10 The laser cutting function with small circle cutter is not used 1...

Page 201: ...ontrol group for the motor gun is not set Restart the setting of configuration in mainte nance mode and correct the setting of motor gun axis 4573 SPOT WELDER NUMBER ERROR Incorrect spot welder number...

Page 202: ...UT An error occurred when executing a STRWAIT instruction No confirmation signal specified in the stroke change confirmation instruction was input within the set time Remove the cause such as defectiv...

Page 203: ...n try again If the error occurs again contact your Yaskawa representative 4593 SERVO HAND CONTROL MODE SETTING ERROR An error occurred at servo hand control mode setting Though a servo hand control mo...

Page 204: ...tting of the minimum diameter parameter S1CxG063 for the Form Cutting motion 9 Zero or a negative value is set in the maximum diameter parame ter S1CxG064 for the Form Cut ting motion Correct the sett...

Page 205: ...lar interpola tion motion Perform the teaching for the reference point 1 as the arc center position 4596 FORMCUT ERROR 1 An error occurred at FORMCUT instruction execution An attempt was made to re ex...

Page 206: ...y be added at the offline position data conversion 14 The reverse shift value could not correctly be calculated at the offline position data conversion 15 The reverse shift value could not correctly b...

Page 207: ...lue Check if the tag set value is correct Check if the parameter is set correctly 4606 GLOBAL VARI ABLE AREA OVERFLOW The memory area of global variable exceeded the limit value An error occurred in t...

Page 208: ...l group at memory play sam pling Reset the alarm and then try again If the error occurs again contact your Yaskawa representative 4610 MEMORY PLAY SAMPLING ERROR An internal control error occurred at...

Page 209: ...motion could not be per formed in playback An attempt was made to com mand a job whose control group was in I O axis motion Stop the I O axis motion Correct the job 4616 AXIS SHIFT ERROR An internal...

Page 210: ...Welder number Check the settings for welding completion signal 4622 SELF INTER FERENCE 0 The manipulator s arm interferes with a tool The manipulator s self interfer ence check detected that the mani...

Page 211: ...ied partition number 36 Cluster size error 37 Incorrect number of sectors 38 Sector byte error 40 Card not applicable for I O 41 Nonsupported version 42 The setting register did not exist 43 Card not...

Page 212: ...D GUN NUMBER The gun numbers were overlapped when executing a SVSPOT instruc tion Subcode The overlapped gun number Check the gun numbers 4632 UNDEFINED LNR SCALE FILE The linear scale characteristic...

Page 213: ...de to discon nect a control group other than the occupation control group dur ing prereading processing 3 An attempt was made to discon nect a control group other than the occupation control group whe...

Page 214: ...unit If the error occurs again contact your Yaskawa representative 4850 REGENERA TIVE TROUBLE SERVO2 Disconnection of SERVOPACK regenerative resistor or failure of regenerative transistor is sus pecte...

Page 215: ...ng temperature Replace the SERVOPACK 4857 DB OVERLOAD SEVO2 Energy exceeds the capacity of dynamic brake DB resistor when it stops Turn the power OFF and back ON Check the settings for manipulator mot...

Page 216: ...OFF and back ON Contact your Yaskawa representative 4871 MECHATROLINK 2 COMMAND WARNING SV2 The MECHATROLINK communica tion is incorrect Turn the power OFF and back ON Check the wiring around the MECH...

Page 217: ...tep move instruction where the alarm occurred Check the interference region 4909 CUBE AXIS INTERFER ENCE 9 The manipulator has moved into the specified cube area 9 or the maximum or minimum value of t...

Page 218: ...in the step move instruction where the alarm occurred Check the interference region 4920 CUBE AXIS INTERFER ENCE 20 The manipulator has moved into the specified cube area 20 or the maximum or minimum...

Page 219: ...put When two or more errors occur appears in the message display area Activate the mes sage display area and press SELECT to view the list of current errors To view details of the selected error conte...

Page 220: ...l 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 100 On overrun recovery status 110...

Page 221: ...510 Undefined axis 520 Cannot select two coordinated combina tion 530 Start reservation mode 550 Start reserved JOB change prohibit is set 560 Cannot teach position while soft limit released 590 Regi...

Page 222: ...810 Servo power supply is limited 820 Modification range over 930 Undefined conveyor calibration data 940 Forced pressure signal ON 950 Negative correction distance 960 I O axis mode requesting 970 ER...

Page 223: ...Name not entered 2030 Undefined JOB name 2040 Defined JOB name 2050 Address not found 2070 Set robot exactly to taught position 2080 Press INSERT or MODIFY 2090 Only modifying move instruction possi b...

Page 224: ...e memories 4 Lack of memory pool 5 Lack of pass condition file for multi layer 2290 Undefined master JOB 2291 Undefined SUB Master JOB 1 Sub master 1 2 Sub master 2 3 Sub master 3 4 Sub master 4 5 Sub...

Page 225: ...permitted 2470 Wrong JOB type 2480 Wrong JOB coordinates setting 2500 Cannot convert the JOB 2510 Cannot correct position in the JOB 2520 Enter JOB name 2530 Illegal step number 2540 Enter step numbe...

Page 226: ...Cannot use robot macro JOB 2740 Cannot use concurrent macro JOB 2750 Cannot use JOB with group axis speci fication 2760 Cannot insert modify delete for group axis detachment 2761 Axis is separated Can...

Page 227: ...floppy disk or Com pact Flash 3070 Number of files on floppy disk or Com pact Flash is full 3080 I O error on floppy disk or Compact Flash 3090 Transmission error with floppy disk or Compact Flash 1...

Page 228: ...ge of the data 4 Specification error of channel No 5 Specification error of relay No 6 Timer value error 7 Specification error of timer No 3160 Cannot load illegal system data 3170 Condition file data...

Page 229: ...format 8 Record on the JOB attribute data ATTR is wrong for the format 9 Control group GROUP record is wrong for the format 10 Local variable LVARS record is wrong for the format 11 JOB argument JARGS...

Page 230: ...18 Input format error 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...

Page 231: ...STRING data error 49 COMMENT data error 58 Invalid instruction tag detection 3230 Syntax not matched 3240 Undefined application 3250 Cannot load this file 3260 Excess input data 3270 Cannot verify thi...

Page 232: ...accessible to Compact Flash 3470 Database not found 3480 Database access error 3490 Same database exists 3500 Check Compact Flash insertion 3510 Cannot delete folder Check attribute and inside file 3...

Page 233: ...Excess AND OR STR instructions XXX Line No 4080 Syntax error in CNT instructions XXX Line No 4090 Enter STR NOT at head of block Need STR NOT XXX Line No 4120 Concurrent I O memory is full Exceeds me...

Page 234: ...e Contents 8010 Too many axes 8020 Too many I O points 8030 Too many boards XFB01B MASTER 8031 Too many boards MSC01B 8040 Memory error ControlNet output condi tion 8041 Memory error UNIWIRE CONNECT D...

Page 235: ...1 circuit board show the statuses as in the fol lowing table The LED indicators show the operating statuses for the single NCP01 circuit board LED0 KED1 Status OFF OFF The power is not turned ON ON OF...

Page 236: ...are located on the robot I F unit JZNC NIF01 See 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 5 1 1 Rep...

Page 237: ...every one second Status NX100 NIF Circuit Board AXA Circuit Board NCP02 Circuit Board Alarms occurrence in the Main CPU and servo CPU communi cation system d blink every one second The error cause is...

Page 238: ...fying the existence of other circuit boards Verifies the start up of the system program 6 Acquires hardware information etc of other circuit boards Verifies the IO board status servo IF and so on 7 St...

Page 239: ...Waits for CERF communication synchronization Completes the process of various ini tializations A B Waits for the start up of on line system C D Completes the NX setup process Servo ON enabled NCP02 A...

Page 240: ...BOUND 0006 Invalid operation code 0007 Device disabled 0008 Double fault 0009 Coprocessor segment overrun 000A Invalid TSS 000B Segment absence 000C Stack segment fault 000D General protection excepti...

Page 241: ...0F00 Undefined exception 1000 Instruction conversion error exception 1100 Data load conversion error exception 1200 Data store conversion error exception 1300 Instruction breakpoint exception 1400 Sys...

Page 242: ...T inconsistency F010 Communication error with NIF01 CERF status NCP02 0010 ROM error in the boot section 0020 RAM error 0030 FP register error 0040 On line communications command error 0100 Reset exce...

Page 243: ...eption 2100 Undefined exception 2200 Undefined exception 2300 Undefined exception 2400 Undefined exception 2500 Undefined exception 2600 Undefined exception 2700 Undefined exception 2800 Undefined exc...

Page 244: ...circuit board JANCD NCP01 5 2 5 15 control group data 8 3 control power supply CPS 420F 3 3 5 2 5 15 control power supply fuse 5 13 converter 5 16 converter control signal connector 5 10 5 11 convert...

Page 245: ...low 1 3 power ON OFF position window 7 24 power supply contactor unit 5 11 5 15 power supply contactor unit fuse 5 15 power supply voltage confirmation 3 6 PWM amplifier control power supply connector...

Page 246: ...m monitoring time display 7 17 System Monitoring Time Display Window 7 17 system version 7 1 T three phase AC power supply connector 5 10 5 11 TORQUE SPEC 7 26 TU hotline I O connector 5 2 U universal...

Page 247: ...Allershausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 YASKAWA Europe GmbH Robotics Division 7F Doore Bldg 24 Yeoido Dong Youngdungpo ku Seoul KOREA Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA...

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