Alarm and Error Codes for MRC

YASNAC MRCAlarm & Error Codes, YASNAC MRC MOTOMAN ROBOTICS AB a subsidiary of YASKAWA Electric Corporation Notes MOTOMAN ROBOTICS Alarm list AB Page: 1 1. Alarmcodes - classing ........................... 1 Caution 1 Servopack alarm indication 2 2. Alarm codes ........................................... 3 3. Error messages- classing .................... 61 Caution 61 Skapad: 98-08-12 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\AlarmliIH.fm fm . Revision 98-08-12 Alarm No. Skapad: 98-08-12 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\AlarmliIH. Alarm list MOTOMAN ROBOTICS Page: 2 AB Revision 95-11-27 First release. 7090 to 7770 plus alarms for each optional function added. 7920 to 7950 added. Revision 97-06-02 Alarm No. 6. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. The alarm codes are classified below.2 Reset of the alarm with the reset-button or an external 2 xxx serious error signal is not possible.1 Caution Observe carefulness when alarm codes for the module Variable Data (JANCD . 4 xxx Level 4 .and Error-codes are indicated on the P-box display. Alarm codes Alarm level Remedial action 0 xxx Level 0 serious error 1 xxx Level 1 . then this presume that the system is placed in maintenance mode. but serious error it´s impossible to reset with an external signal. for example 1180 to 1186. the servo power supply is cut.classing Alarm. 1.MIF01) are handled. Turn OFF the servo power supply before error-measure is made. 6 xxx 7 xxx 8 xxx 9 xxx Level 9 application error Start the troubleshooting with a replacement off the board which are indicated by the MSV-figures. If the module MIF01 have to be replaced or need a more careful examination. MOTOMAN ROBOTICS Alarm and Error list AB Alarmcodes . The module MIF01 contains the basic information involved in the software and are kept by the battery-backup. Carelessness can cause total memoryloss. a number between 0 .8 Reset of the alarm with the reset-button or an external 5 xxx minor error signal is possible. 3 xxx Level 3 Reset of the alarm with the reset-button is possible.classing Page: 1 Alarmlist 1.fm . MSV-number specification are made with the last figure in the alarm code. At alarm code level 0 . Turn the servo power supply ON. please contact your MOTOMAN representative before further measures are made.3. Reset the alarm and measure the error. Alarmcodes . Green LED correspond each axis on the servopack and lit at servo power supply ON. indicate that an error has occurred in the servo motor or in the cable bundle. Green LED Red LED Red LED Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Green LED OFF.classing AB xxx0 = MSV01 xxx1 = MSV02 xxx2 = MSV01 xxx3 = MSV02 xxx4 = MSV01 xxx5 = MSV02 xxx6 = MSV01 1: 3: 5: 0: 2: 4: 6: MSV-board 1.fm . See alarm code.2 Servopack alarm indication Red LED correspond servo power supply ON. Red LED OFF. Alarm and Error list MOTOMAN ROBOTICS Page: 2 Alarmcodes . indicate that an error has occurred in the servopack or in the cable bundle. w Replace ROM. 0120 Encoder w Communication error w Check the connection of the communication error between MSV board and cable. 0030 ROM error w ROM total check error. w Replace the Servopack. 0130 Encoder w Encoder fault. 0132 Encoder back-up error w Encoder internal data w Replace battery. w Replace the board. w Replace the board. 0050 RTC error w RTC interrupt error. w Replace the board. error. 0080 RAM error w S bus 2 port RAM read/write w Check the insertion of the (S-bus 2-port) check error. Servopack. 0020 CPU w CPU communication test w Check the insertion of the communication error board. w Replace the board. O module. w Perform zero-point positioning. 0133 Encoder checksum w Encoder internal data w Replace battery. 0100 IAMP w Communication error w Check the connection of the communication error between MSV board and cable. w Check the insertion of the board. overspeed 0131 Encoder data error w Encoder fault. w Replace the encoder. board. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 3 2. 0040 RAM error (local) w Local RAM read/write check w Check the insertion of the error. 0060 RAM error w A bus common RAM read/ w Check the insertion of the (A-bus common) write check error. error w Replace the board. w Replace the encoder. error destroyed w Perform zero-point positioning. destroyed. Alarm codes Alarm Message Cause Remedial action code 0010 CPU board w Check error of CPU board w Check the insertion of the insertion error “provided/not” board. w Replace the Servopack. board. board. 0110 IAMP param w Write-in parameter read. w Check the connection of the modification error back (verification) check cable. w Replace the encoder. w Replace the board. 0090 I/O module w Communication error w Check the insertion of the communication error between IF01 board and I/ board.fm . 0070 RAM error w D bus 2 port RAM read/write w Check the insertion of the (D-bus 2-port) check error. board. encoder. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. w Replace the board. w Execute system configuration config-data) tem configuration data again 0220 Fault (job w Job management data total w Initialize the job again management data) check error. w For maintenance alarm code. range exceeded. again 0240 Fault (Application w Turbo application program w Initialize Turbo application program) program 0250 Fault (ME-NET data) w ME-NET data error w Initialize ME-NET data (Customer maintenance) 0300 Verify error w Parameter does not match w Initialize the parameter again. contact your MOTOMAN repres. (sensor function) 0400 Parameter transmission w A fault occurred at the inter.w Turn OFF the power and then error nal control check. Alarm and Error list MOTOMAN ROBOTICS Page: 4 Alarm codes AB Alarm Message Cause Remedial action code 0134 Encoder battery error w Voltage for battery dropped w Replace battery 0135 Encoder overheat w Overheat of encoder. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 0230 Fault (CIO ladder) w CIO ladder data total check w Initialize the CIO ladder data error. 0360 Verify error w Incorrect parameter setting. 0340 Verify error w Parameter setting does not w Change the parameter. (I/O module) match the mounted I/O module. w Change the parameter. 0320 Verify error w Parameter setting does not w Change the parameter. (system config-data) system configuration. (application) 0370 Verify error w Incorrect parameter setting. (encoder type) match the mounted encoder type. (Servopack type) match the mounted servo- pack type. w Change the parameter. turn it ON again. 0310 Verify error w Parameter setting is larger w Change the parameter. (CMOS memory size) than the mounted CMOS memory capacity. 0330 Illegal parameter w Parameter setting value w Change the parameter.fm . 0350 Verify error w Parameter setting does not w Change the parameter. w Cool the encoder 0200 Fault (parameter) w Parameter file total check w Initialize the parameter again error 0210 Fault (system w Total check error of the sys. w For maintenance alarm code. w For maintenance alarm code. 0901 Watch dog timer error w Reserved w Turn OFF the power and then turn it ON again. w For maintenance alarm code. contact your MOTOMAN repres. w For maintenance alarm code. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 0904 Watch dog timer error w Reserved w Turn OFF the power and then turn it ON again. 0900 Watch dog timer error w Fault at MCP02 w Turn OFF the power and then turn it ON again. 0903 Watch dog timer error w Fault at MSL#2 w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres.fm . contact your MOTOMAN repres. 0906 Watch dog timer error w Fault at MCP01 w Turn OFF the power and then turn it ON again. w For maintenance alarm code. contact your MOTOMAN repres. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 5 Alarm Message Cause Remedial action code 0410 Mode change error w A fault occurred at the inter. 0420 Application program. w For maintenance alarm code. contact your MOTOMAN repres. contact your MOTOMAN repres. contact your MOTOMAN repres. turn it ON again. 0902 Watch dog timer error w Fault at MSL#1 w Turn OFF the power and then turn it ON again.w Turn OFF the power and then nal control check. contact your MOTOMAN repres. 0905 Watch dog timer error w Reserved w Turn OFF the power and then turn it ON again. w For maintenance alarm code. mission w For maintenance alarm code. turn it ON again. contact your MOTOMAN repres. w For maintenance alarm code. w A fault occured upon turbo w Turn OFF the power and then transmission error program application trans. contact your MOTOMAN repres. contact your MOTOMAN repres. w For maintenance alarm code. 0916 Watch dog timer error w Fault at MSV#7 w Turn OFF the power and then turn it ON again. 0917 Watch dog timer error w Reserved w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres. 0911 Watch dog timer error w Fault at MSV#2 w Turn OFF the power and then turn it ON again. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. contact your MOTOMAN repres. Alarm and Error list MOTOMAN ROBOTICS Page: 6 Alarm codes AB Alarm Message Cause Remedial action code 0907 Watch dog timer error w Fault at MIF01 w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres. w For maintenance alarm code. 0912 Watch dog timer error w Fault at MSV#3 w Turn OFF the power and then turn it ON again. w For maintenance alarm code. w For maintenance alarm code. 0910 Watch dog timer error w Fault at MSV#1 w Turn OFF the power and then turn it ON again. w For maintenance alarm code. contact your MOTOMAN repres. 0915 Watch dog timer error w Fault at MSV#6 w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres.fm . w For maintenance alarm code. w For maintenance alarm code. 0913 Watch dog timer error w Fault at MSV#4 w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres. contact your MOTOMAN repres. w For maintenance alarm code. w For maintenance alarm code. 0914 Watch dog timer error w Fault at MSV#5 w Turn OFF the power and then turn it ON again. 0933 Access error w Fault at MSL#2 w Turn OFF the power and then turn it ON again. 0936 Access error w Fault at MCP01 w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres. 0932 Access error w Fault at MSL#1 w Turn OFF the power and then turn it ON again. 0930 Access error w Fault at MIF02 w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres. w For maintenance alarm code.fm . w For maintenance alarm code. w For maintenance alarm code. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 7 Alarm Message Cause Remedial action code 0920 Watch dog timer error w Fault at MIF02 w Turn OFF the power and then turn it ON again. w For maintenance alarm code. 0934 Access error w Reserved w Turn OFF the power and then turn it ON again. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 0937 Access error w Fault at MIF01 w Turn OFF the power and then turn it ON again. w For maintenance alarm code. w For maintenance alarm code. contact your MOTOMAN repres. w For maintenance alarm code. contact your MOTOMAN repres. contact your MOTOMAN repres. contact your MOTOMAN repres. 0935 Access error w Reserved w Turn OFF the power and then turn it ON again. 0931 Access error w Reserved w Turn OFF the power and then turn it ON again. w For maintenance alarm code. w For maintenance alarm code. contact your MOTOMAN repres. contact your MOTOMAN repres. contact your MOTOMAN repres. w For maintenance alarm code. 0942 A-bus error w Fault at MSL#1 w Turn OFF the power and then turn it ON again. 0999 NMI error w MNI error occurred w Turn OFF the power and then turn it ON again. w For maintenance alarm code. 0947 A-bus error w Fault at MIF01 w Turn OFF the power and then turn it ON again. 0941 A-bus error w Reserved w Turn OFF the power and then turn it ON again. 0946 A-bus error w Fault at MCP01 w Turn OFF the power and then turn it ON again. w For maintenance alarm code. contact your MOTOMAN repres. contact your MOTOMAN repres. w For maintenance alarm code. contact your MOTOMAN repres. Alarm and Error list MOTOMAN ROBOTICS Page: 8 Alarm codes AB Alarm Message Cause Remedial action code 0940 A-bus error w Fault at MCP02 w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres. 0943 A-bus error w Fault at MSL#2 w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres. w For maintenance alarm code. w For maintenance alarm code. contact your MOTOMAN repres. contact your MOTOMAN repres. 0944 A-bus error w Reserved w Turn OFF the power and then turn it ON again. w For maintenance alarm code. contact your MOTOMAN repres. contact your MOTOMAN repres. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. w For maintenance alarm code.fm . w For maintenance alarm code. 0945 A-bus error w Reserved w Turn OFF the power and then turn it ON again. contact your MOTOMAN repres. w For maintenance alarm code. for concurrent I/O. 1070 Fault (parameter) w Parameter total check error w Turn OFF the power and then [Decimal Data] over CMOS. turn it ON again. w For maintenance alarm code. 1080 Fault (job data) w Job control block. turn it ON again. 1090 File failure (motion) w Various file total check error. contact your MOTOMAN repres. Data = Parameter types contact your MOTOMAN repres. 1022 1030 ROM-error (CIO) w Concurrent I/O section CPU w Replace ROM board (MIF01) ROM check error. w Turn OFF the power and then [Decimal Data] w Job block directory total turn it ON again. for motion. 1050 ROM error w Sensor CPU ROM check w Turn OFF the power and then 1051 (sensor) error. Alarm Message Cause Remedial Action code 1010 ROM error (Syscon) w System control section CPU w Replace ROM board (MMM02) ROM check error for system control. turn it ON again. w For maintenance alarm code. 1020 ROM error (motion) w Motion section CPU ROM w Replace ROM board (MM04) 1021 [Decimal Data] check error. contact your MOTOMAN repres. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. w For maintenance alarm code.fm . contact your MOTOMAN repres. turn it ON again. 1092 w For maintenance alarm code. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 9 Alarm Message Cause Remedial action code 1000 Non-defined error A non-defined alarm occured w For maintenance alarm code. [Decimal Data] 1060 System error (CIO) w The system is w Turn OFF the power and then [Binary Data] malfunctioning. contact your MOTOMAN repres. 1040 System error (Syscon) w The system is w Turn OFF the power and then [Decimal Data] malfunctioning. w Turn OFF the power and then 1091 [Decimal Data] turn it ON again. w Replace MIF01 board. check error. w Turn OFF the power and then [Decimal Data] nal control check. 1102 [Decimal Data] w For maintenance alarm code. w For maintenance alarm code. turn it ON again. contact your MOTOMAN repres. turn it ON again. [Decimal Data] Data 1: Motion section set w Replace MCP02 board. w For maintenance alarm code.w Turn OFF the power and then [Decimal Data] nal control check. 1160 High temperature ___________________ _____________________ (in ctrl box) 1170 Overrun limit switch w Limit switch recovery switch w Check for the limit switch recov- released operated during playback. 1140 MMM error w A fault occurred at the inter. contact your MOTOMAN repres. 1180 Servo monitor w Monitor CPU for servo w Turn OFF the power and then 1181 system error (MSV) is abnormal. 1182 [Decimal Data] w Replace MSV01 (MSV02) 1183 See the beginning board. w For maintenance alarm code. 1184 concerning MSV-number. turn it ON again. 1150 Fault w A fault occurred at the inter. w Replace MCP01 or MCP02 1185 board. 1130 MMM error w A fault occurred at the inter. turn it ON again. 1186 Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 1152 w For maintenance alarm code.w Turn OFF the power and then 1151 [Decimal Data] nal control check. turn it ON again. up incomplete. contact your MOTOMAN repres. 1121 value the system and in phase [Decimal Data] compensation file are differ- ent. turn it ON again.fm . Alarm and Error list MOTOMAN ROBOTICS Page: 10 Alarm codes AB Alarm Message Cause Remedial Action code 1100 File total checksum w Various internal data total w Turn OFF the power and then 1101 error (motion) check error. 1110 Set-up process error w A fault occurred in the set w Turn OFF the power and then (syscon) up process. ery switch. 1120 Wrong segment clock w Segment clock data set in w Load same system file. contact your MOTOMAN repres. contact your MOTOMAN repres. w Replace the servopack. w Replace the servopack. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 11 Alarm Message Cause Remedial Action code 1190 Servo system error w DSP for servo (MSV) is w Turn OFF the power and then 1191 [Decimal Data] abnormal. 1233 1234 See the beginning 1235 concerning MSV-number 1236 1240 Encoder transmission w Transmission error between w Turn OFF the power and then 1241 error encoder and MSV board. turn it ON again. w Check the grounding.fm . 1214 See the beginning w Check the motor grounding if 1215 concerning MSV-number alarm occurs when the servo is 1216 turned ON. 1192 w Replace MSV01 or (MSV02) 1193 See the beginning board. 1204 ule fault or overheat. 1202 feedback circuit fault. 1243 See the beginning w Replace MSV01(MSV02) 1244 concerning MSV-number board. w Turn OFF the power and then 1201 [Axis Data] w Power supply turn it ON again. 1203 w Main circuit transistor mod. 1242 [Axis Data] w Replace the encoder. 1211 Faulty machine w Main circuit thyristor/diode w Check for disconnection of 1212 [Axis Data] mixed module fault. (some certain section) w Check grounding where the 1223 alarm occurs. 1222 [Axis Data] fault. w Replace the motor. 1196 w Check the command cable. w Replace the servopack. 1194 concerning MSV-number w Replace MCP01 or MCP02 1195 board. 1221 Faulty machine w Motor power line grounding w Check the grounding. wiring lead in the servopack 1213 (when MCCB is turned ON). 1245 w Remove noise and check the 1246 wiring. w Replace the servopack. 1205 w Motor grounding w Check the wiring. 1200 Overcurrent w Control board fault. 1220 Ground fault w Servopack fault. 1224 See the beginning 1225 concerning MSV-number 1226 1230 Defective current offset w Servopack fault. turn it ON again. 1206 See the beginning concerning MSV-number 1210 MCCB tripped w Control board fault. 1231 [Axis Data] w Parameter of servopack 1232 fault. Alarm and Error list MOTOMAN ROBOTICS Page: 12 Alarm codes AB Alarm Message Cause Remedial Action code 1250 Defective encoder w Encoder internal data fault. w Cool the encoder. 1282 [Axis Data] (MSV) and the servopack. 1262 [Axis Data] 1263 See the beginning 1264 concerning MSV-number 1265 1266 1270 Encoder overheat w Encoder section overheat. board. 1261 absolute data section fault. w Replace the encoder. 1304 concerning MSV-number. w Check error of DSP pro. w Replace MSV01(MSV02) 1283 w MSV board fault. w Turn OFF the power and then 1301 sum error gram PROM for servo (SV) turn it ON again. 1300 DSP Program check. 1284 w Replace the servopack. 1285 See the beginning w Recheck the wiring and connec- 1286 concerning MSV-number. 1296 concerning MSV-number. w Perform the counter-measure against noise. 1302 w Replace MSV01 (MSV02) 1303 See the beginning board. 1290 Servo CPU w Servo (MSV) CPU is w Turn OFF the power and then 1291 synchronizing error abnormal. 1292 w Internal control clock is w Replace MSV01(MSV02) 1293 abnormal.fm . 1251 internal data w Damaged r/min data or 1252 [Axis Data] internal status data. 1272 See the beginning 1273 concerning MSV-number 1274 1275 1276 1280 Servo monitor w Transmission error between w Turn OFF the power and then 1281 transmission error the monitor CPU for servo turn it ON again. 1294 w Replace MCP01 or MCP02 1295 See the beginning board. 1271 [Axis Data] w Review the load. 1253 1254 See the beginning 1255 concerning MSV-number 1256 1260 Defective encoder w Encoder pulse detecting w Replace the encoder. 1305 1306 Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. board. turn it ON again. tors. See the beginning concerning MSV-number. w Check the motor circuit.w Replace he servopack. W. 1322 w No fault occurs with the ser. w Check the motor circuit. 1350 Overload 2 w Control board fault. 1316 1320 Servopack failure w The servopack mechanism w Turn OFF the power and then 1321 [Axis Data] malfunctioned turn it ON again. 1331 [Axis Data] w Wrong connection to abso. w Replace the servopack. turn it ON again. w Replace MSV01(MSV02) 1355 U connections. 1342 130% of rated load. 1351 [Axis Data] w Load exceeded to 105 to w Review load. 1314 See the beginning 1315 concerning MSV-number. w Correct the wirings. 1343 w Motor circuit wrongly con. 1335 w Replace MSV01 (MSV02) 1336 See the beginning board. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 13 Alarm Message Cause Remedial Action code 1310 Mon prgm total check. See the beginning concerning MSV-number. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 1353 w Motor circuit wrongly con. 1341 [Axis Data] w Load exceeded to 105 to w Review load. wrong U-V. 1356 connection or one-phase open. w Turn OFF the power and then 1332 lute encoder. V-W.fm . w Replace the servopack. 1330 Position error w Control board fault. w Check error of monitor CPU w Turn OFF the power and then 1311 sum error program PROM for servo turn it ON again. board. 1344 nected. W. n-phase board. 1333 w Malfunction of internal PG w Check the counter- 1334 pulse counter. V-W. 1323 vopack failure signal ON. w Replace MSV01(MSV02) 1345 U connections or one. measure against noise. wrong U-V. w Replace the servopack. 1312 (SV) w Replace MSV01 (MSV02) 1313 board. 1354 nected. concerning MSV-number. 1352 130% of rated load. 1324 w Replace MSV01 (MSV02) 1325 See the beginning board. w Replace the enconder. 1326 concerning MSV-number. 1340 Overload 1 w Control board fault. w Check the command cable. 1346 phase open. w Correct the wirings. w For maintenance alarm code. 1364 board. 1380 Servo tracking error w Excessive load is applied to w Check for excessive load in the 1381 [Axis Data] the faulty mechanism axis. w Replace the MSV01 (MSV02) 1365 w PG disconnection in servo. See the beginning concerning MSV-number. 1383 system. mechanical system of the faulty 1382 w A fault occurs on he servo axis. 1420 Fault (Laser File) w Laser file fault w Turn OFF the power and then [file categories] turn it ON again. w Replace the servopack.fm . w Replace the servopack. board. 1392 [Axis Data] number of PG pulses for a w Review the job where the alarm 1393 certain time increases occurs. concerning MSV-number. w For maintenance alarm code. w Review the job where the alarm occurs. mounted on the motor side and 1362 tact between the axis the cable between MSV01 are 1363 encoder and the MSV01 connected properly. w Replace MSV01(MSV02) 1371 [Axis Data] ber of PG pulses for a board. contact your MOTOMAN representative. 1370 Over speed w Abnormal speed (The num. 1390 Speed error w Abnormal speed occurs in w Replace MSV01(MSV02) 1391 (monitor) the faulty mechanism (the board. 1395 1396 See the beginning concerning MSV-number. 1385 w Check the motor power line 1386 See the beginning connection. 1430 Synchronizing error w Connection error at w Turn OFF the power and then 1431 (MSL02 CPU) MSL02or a fault occured at turn it ON again. 1372 certain time increase w Review the job where the alarm 1373 abnormally). 1366 pack. Alarm and Error list MOTOMAN ROBOTICS Page: 14 Alarm codes AB Alarm Message Cause Remedial Action code 1360 Broken PG line w Cable disconnection or w Check that the PG cable 1361 [Axis Data] imperfect connector con. 1394 abnormally). occurs. contact your MOTOMAN representative. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. (Deviation pulse w Replace MSV01(MSV02) 1384 becomes abnormal). 1374 1375 See the beginning 1376 concerning MSV-number. board. [decimal data] the internal control check. pendant line contact your MOTOMAN representative. 1590 Rom error ROM data destroyed If the control power supply is turned ON again and the alarm (Ethernet) still occurs. turn it ON again. (TURBO) contact your MOTOMAN representative. contact your MOTOMAN representative. 1470 Command error w For maintenance alarm code. 1520 Broken programming w For maintenance alarm code. 1500 Command response w For maintenance alarm code. contact your MOTOMAN representative. [decimal data] the internal control check. w ME-NET communication w Turn OFF the power and then tion CPU error CPU error. 1490 ME-NET system error 1 w Significant error at MSC02 w Turn OFF the power and then [decimal data] board during communica. please contact MOTOMAN service Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 1510 MINI-PP communica. 1450 Sytem error (TURBO) w For maintenance alarm code. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 15 Alarm Message Cause Remedial Action code 1440 System error w Connection error at w Turn OFF the power and then 1441 (MSL02 CPU) MSL02or a fault occured at turn it ON again. tion process. contact your MOTOMAN representative. w Replace MSC02 board. 1480 ME-NET communica. 1511 tion error contact your MOTOMAN representative. 1460 Interrupt error (TURBO) w For maintenance alarm code. turn it ON again. error contact your [decimal data] MOTOMAN representative. w For maintenance alarm code. [decimal data] w Replace the communication control board. w For maintenance alarm code.fm . 3034 nection. 3023 w Fault of monitor CPU for 3024 servo (MSV) 3025 3026 See the beginning concerning MSV-number. 3022 [Axis Data] well. 3005 concerning MSV-number.w Review the operating condition. see the beginning part of this booklet. 3030 Regenerative Detects a regenerative circuit w Replace the servopack. 3035 w Control board fault. 3010 Servo ON w Motor is operating at the w Review the servo ON timing. w Turn OFF he power and then 3001 system w Disconnection of command turn it ON again. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 3033 regene-rative registor discon. servo ON ing.) w Replace MSV01 (MSV02) 3014 w Fault of monitor CPU for board. Alarm and Error list MOTOMAN ROBOTICS Page: 16 Alarm codes AB Alarm Message Cause Remedial Action code 3000 Not ready for servo w Servopack fault. 3016 See the beginning concerning MSV-number. w Investigate the cause of mov- 3012 [Axis Data] (For example.fm . w Replace the servopack. 3036 w Regenerative transistor fault w Regenerative resistor disconnection. etc. 3002 [Axis Data] cable. 3013 during DB stop. 3031 trouble fault such as a regenerative w Check the regenerative resistor 3032 [Axis Data] transistor shortcircuit. (Maximum: 220V +10%) w Check LED-indication on resp. or and replace the servopack. See the beginning concerning MSV-number. w Check the brake. w Check the primary side power supply voltage. servopack. 3015 servo (MSV). 3020 Servo on w DB OFF of servopack at wTurn OFF the power and then 3021 defective DB servo ON does not work turn it ON again. w Check the wiring between the 3003 MSV01 board and the faulty 3004 See the beginning servopack. 3011 defective speed wrong speed at servo ON. w Check that the main circuit 3006 power supply is turned ON. 3050 Voltage drop Detects when the main circuit w Check the primary side power 3051 [Axis Data] power supply be-comes 150V supply voltage. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 17 Alarm Message Cause Remedial Action code 3040 Overvoltage Detects when the main circuit w Check machine side inertia in 3041 [Axis Data] power supply exceeds the motor axis conversion. 3073 circuit power supply breaks 3074 down and the fuse is blown). w Main circuit thyristor/diode mixed module fault. w Load inertia is too large w Regenerative processing circuit fault. open phase. 3072 1C is shortcircuited.5%. 3045 tion. 3052 or less in order to prevent the Minimum: 200V . 3043 insufficient regenerative pro. 3075 3076 w Motor wiring short- circuit grounding fault. See the beginning concerning MSV-number. See the beginning concerning MSV-number. w Control board fault. w Power supply voltage is too large. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 3061 [Axis Data] in the servopack overheat. 3062 3063 See the beginning 3064 concerning MSV-number. 3060 Heat sink overheat w Main circuit transistor circuit w Replace the servopack. w Check the primary side power 3044 cess or excessive regenera. the main w Replace the servopack.fm . 3046 Detection voltage: w Review the operating condition. 3065 3066 3070 Servo blown fuse Detects that power 1C is w Correct the motor main circuit 3071 [Axis Data] shortcircuited (when power wiring manually. 3054 caused by re-duction of the 3055 main circuit power supply 3056 during motor driving. 3042 allowable value because of w Replace the servopack. (Maximum: 220V +10%). 400 to 420V. supply voltage. 3053 motor from abnormal rotation w Replace the servopack. w Main circuit power supply reduction. See the beginning concerning MSV-number. 3082 servopack. change) is not completed. Alarm and Error list MOTOMAN ROBOTICS Page: 18 Alarm codes AB Alarm Message Cause Remedial Action code 3080 Broken current ref cable w Disconnection of cable w Cable check. [Decimal Data] w For maintenance alarm code. execute the prog. w Replace MCP02 board or MSV board. 4032 [Decimal Data] w For maintenance alarm code. operation again. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. operation again. 3095 3096 Alarm Message Cause Remedial Action code 4000 Not ready (Arith) w A fault occured at the inter. 4040 Home calibration error w When positioning at home w After alarm reset. 4042 where the home position is w Replace MCP02 board or MSV not registered board. contact your MOTOMAN repres. 3086 3090 Open phase w Disconnection of main cir. 4002 w For maintenance alarm code. execute the 4051 [Decimal Data] home position change home position change opera- 4052 operation (absolute data tion again. w After alarm reset. 4020 Servo power ON w A fault occured at the inter. connection 3081 [Axis Data] between MSV01 board and check. there is an axis home positioning again. execute the 4041 [Decimal Data] position. execute the 4021 sequence error nal control check. w Replace the servopack. contact your MOTOMAN repres. w After alarm reset. 4050 Abso data change error w There is an axis where the w After alarm reset. execute the 4031 sequence error nal control check. contact your MOTOMAN repres. 3083 3084 See the beginning 3085 concerning MSV-number. 4010 Cur position set w A fault occured at the inter.fm . w Cable check. contact your MOTOMAN repres. w After alarm reset. connection 3091 [Axis Data] cuit R. S and T check. 3092 3093 See the beginning 3094 concerning MSV-number. 4022 [Decimal Data] w For maintenance alarm code. execute the 4001 [Decimal Data] nal control check. w After alarm reset. operation again. error nal control check. 4030 Servo power OFF w A fault occured at the inter. operation again. 4062 [Decimal Data] w For maintenance alarm code. w After alarm reset. contact your MOTOMAN repres. 4102 w For maintenance alarm code. operation again. 4150 Group axis control error w A fault occured at the inter. contact your MOTOMAN repres. 4110 Undefined command w A fault occured at the inter. execute the 4151 [Decimal Data] nal control check. w A fault occured at the inter. w After alarm reset. 4101 [Decimal Data] nal control check.fm . contact your MOTOMAN repres. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 19 Alarm Message Cause Remedial Action code 4060 Segment data output w A fault occured at the inter. execute the 4061 error nal control check. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. w After alarm reset. operation again. operation again. execute the 4121 [Decimal Data] nal control check. 4122 w For maintenance alarm code. S2D para. execute the 4111 [Decimal Data] nal control check. w After alarm reset. operation again. w After alarm reset. w A fault occured at the inter. contact your MOTOMAN repres. contact your MOTOMAN repres. 4070 Axis parameter error w Improper S1D. 4152 w For maintenance alarm code. 4112 w For maintenance alarm code. operation again. contact your MOTOMAN repres. 4140 Select error (Parame. contact your MOTOMAN repres. w After alarm reset. 4142 [Decimal Data] w For maintenance alarm code. 4072 4080 Table parameter error w Improper S1D. meter. S2D para. 4100 Data refresh error w A fault occured at the inter. 4092 [Decimal Data] w For maintenance alarm code. execute the 4141 ter) nal control check. 4130 Arithmetic error w A fault occured at the inter. operation again. execute the 4131 [Decimal Data] nal control check. operation again. w After alarm reset. w After alarm reset. 4132 w For maintenance alarm code. 4120 System error (Arith) w A fault occured at the inter. contact your MOTOMAN repres. execute the operation again. 4082 [Decimal Data] 4090 Sequence task contr. w Check S1D and S2D para- 4081 for atcl axis meter setting. w Check S1D and S2D para- 4071 [Decimal Data] meter setting. execute the 4091 error nal control check. meter. ) w The minimum pulse soft w Release the alarm and give 4251 [Axis Data] limit was exceeded. program in 4161 tion instructed points are the three different points. another instruction. distance between the instruc- 4202 tion points will be correct. mand) where the alarm [Axis Data] occured or change the robot position. 4252 4260 Pulse limit (max. 4220 Impossible linear w Operation disabled if the w Set the forms of axes S and L 4221 motion forms of axes S and L differ and provide a new instruction. three different points. 4210 Impossible linear w Operation disabled if the w Set the forms of axes L and U 4211 motion forms of axes L and U differ and provide a new instruction. decrease the 4231 segment exceeds the motor rated speed of the step (move com- 4232 (Low Speed) r/min.fm . another instruction. 4230 Excessive w The specified speed w After alarm reset. 4180 Two steps same posi. 4240 Excessive w The specified speed w After alarm reset.) w The maximum pulse soft w Release the alarm and give 4261 [Axis Data] limit was exceeded. Alarm and Error list MOTOMAN ROBOTICS Page: 20 Alarm codes AB Alarm Message Cause Remedial Action code 4160 Two steps same posi. w Weaving reference point w After alarm reset. 4170 Two steps same posi. w Two or more of the three w After alarm reset. program in 4171 tion instructed points are the three different points. 4250 Pulse limit (min. decrease the 4241 segment exceeds the motor rated speed of the step (move com- 4242 (High Speed) r/min. 4162 (CIRC) same. mand) where the alarm Axis Data] occured or change the robot position. 4182 (3 STEPS) same. 4212 (L/U) at the starting and ending points in interpolation (except MOVJ). 4192 (WEAV) 4200 Teach error w Distance between instructed w Provide instructions so that the 4201 (SPLINE) points is not correct. 4172 (SPLINE) same. 4222 (S/L) at the starting and ending points in interpolation (except MOVJ). w Two or more of the three w After alarm reset. (Data such as calibration between user coordinate and robot). 4262 Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. w Two or more of the three w After alarm reset. program in 4191 tion and wall point are same. program in 4181 tion instructed points are the three different points. 4190 Two steps same posi. provide 4341 intrf. 4340 Special mechanical w The axes of the machine w After alarm reset. provide 4331 intrf. 4392 [Decimal Data] w For maintenance alarm code. another instruction. 4330 Special mechanical w The axes of the machine w After alarm reset. (max.) soft limit. operation again. another instruction. 4372 [Decimal Data] w For maintenance alarm code. 4390 Sub-segment control w An error occurred at the w After alarm reset.) (displayed reversely) inter. provide 4311 interference (min. 4322 [Axis Data] fere with each other. (min. 4352 [Axis Data] 4360 Pulse mechanical limit w The machine exceeds pulse w After alarm reset. execute the 4391 error internal control check.) (displayed reversely) inter.) w The minimum special soft w Release the alarm and give 4291 [Axis Data] limit was exceeded. another instruction. 4332 [Axis Data] fere with each other. 4272 4280 Cube limit (max. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 21 Alarm Message Cause Remedial Action code 4270 Cube limit (min. 4342 [Axis Data] fere with each other. 4292 4300 Special softlimit (max. provide 4361 (max. execute the 4371 error internal control check. another instruction. another instruction. 4380 Segment control error w An error occurred at the w After alarm reset.) w The minimum cubic soft limit w Release the alarm and give 4281 [XYZ] was exceeded. operation again. provide 4321 interference (max. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. operation again. 4362 [Axis Data] 4370 Station axis data input w An error occurred at the w After alarm reset. another instruction. another instruction.) w The minimum cubic soft limit w Release the alarm and give 4271 [XYZ] was exceeded. another instruction.fm .) w The maximum special soft w Release the alarm and give 4301 [Axis Data] limit was exceeded.) (displayed reversely) inter. execute the 4381 [Decimal Data] internal control check. another instruction. contact your MOTOMAN repres.) soft limit. 4320 Mechanical w The axes of the machine w After alarm reset. 4282 4290 Special softlimit (min. 4312 [Axis Data] fere with each other. contact your MOTOMAN repres. provide 4351 (min. another instruction. 4382 w For maintenance alarm code.) (displayed reversely) inter. 4302 4310 Mechanical w The axes of the machine w After alarm reset. contact your MOTOMAN repres. 4350 Pulse mechanical limit w The machine exceeds pulse w After alarm reset. execute the 4411 error internal control check. 4442 [Decimal Data] to an axis. the value was w Turn OFF the power supply and not changed as indicated. 4432 [Decimal Data] aging times to an axis. provide 4421 level overspeed level at an axis. operation again. contact your MOTOMAN repres. 4420 Failed to select over SP w An attempt to change the w After alarm reset. contact your MOTOMAN repres. w An error occurred at the w After alarm reset. 4410 CPU communication w An error occurred at the w After alarm reset. Data: 1 Change permission status fault Data: 2 During axis pro- cessing Data: 3 Axis process not completed. operation again. Data: 1 Change w Replace the MSV01 (MSV02) permission status fault board. 4453 contact your MOTOMAN repres. Data: 2 During axis pro- cessing Data: 3 Axis process not completed. Alarm and Error list MOTOMAN ROBOTICS Page: 22 Alarm codes AB Alarm Message Cause Remedial Action code 4400 Wrong specified con. 4430 Averaging number w An attempt was made to w After alarm reset. turn it ON again. execute the 4441 error torque limit value was made operation again. operation again. permission status fault Data: 2 During axis pro- cessing Data: 3 Axis process not completed. 4422 [Decimal Data] the level was not changed as indicated. 4440 Torque limit change w An attempt to change the w After alarm reset. w Replace the MSV01 (MSV02) Data: 1 Change board. execute the 4431 change error change the number of aver. operation again. execute the 4451 [Decimal Data] internal control check.fm . Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 4450 JMS-Error w An error occurred at the w After alarm reset. the w Turn OFF the power supply and number was not changed then turn i ON again. 4412 [Decimal Data] w For maintenance alarm code. 4452 w For maintenance alarm code. execute the 4401 trol group internal control check. another instruction. as indicated. 4402 [Decimal Data] w For maintenance alarm code. 4480 Undefined global vari. turn i ON again. 4562 [Decimal Data] Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 4520 Less than 3 steps w Less than three spline steps w Reteach three or more steps 4521 (Spline) are provided continuously. Or delete the JUMP or 4542 CALL instruction where the alarm occurs. provide an 4511 (Circular) steps are provided instruction so that more than 4512 [Decimal Data] continuously. label. execute the 4491 error internal control check. w The global variable range is w After setting the parameter 4481 able not defined (SID parame. w After alarm reset. turn i ON again. 4550 Undefined return job w There is no return in job call/ w After alarm reset. Or delete the 4552 RET instruction. 4490 Var-scoreboard control w An error occurred at the w After alarm reset. 4492 [Decimal Data] w For maintenance alarm code. 4540 Undefined label w There is no label in the job w After alarm reset. 4472 [Decimal Data] w For maintenance alarm code. register the 4541 [Decimal Data] under execution. the master job. operation again. 4462 w For maintenance alarm code.fm . contact your MOTOMAN repres. 4500 Undefined local. execute from 4551 [Decimal Data] stack. 4502 [Decimal Data] 4510 Less than 3 steps w Less than three circular w After alarm reset. turn OFF the power 4482 [Decimal Data] ter). 4530 Undefined job w Job is not registered. Or delete the JUMP or 4532 CALL instruction where the alarm occurs. variable. continuously for spline interpo- 4522 lation. w Local-variable is not w Set the local-variable to the job 4501 variable defined. contact your MOTOMAN repres. supply and turn it ON again. again. register the 4531 [Decimal Data] job. three steps can be provided continuously. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 23 Alarm Message Cause Remedial Action code 4460 JMH-Error w An error occurred at the w Turn OFF the power and then 4461 [Decimal Data] internal control check. header. 4470 Instruction interpreter w An error occurred at the w Turn OFF the power and then 4471 error internal control check. contact your MOTOMAN repres. 4560 Lack of local-variable w Local variable in the job has w Decrease the use of the local 4561 area been used excessively. operation again. 4590 Feedback pulse making w An error occurred at the w After alarm reset. 4640 Over variable limit w Exceeds the numerical w Select the variable so as not to 4641 [Decimal Data] value range of the variables exceed the 4642 in the place where the data numerical value range. 4630 Variable data type error w An error occurred at the w After alarm reset. execute the 4631 [Decimal Data] internal control check. contact your MOTOMAN repres. operation again. w Replace MSV01 (MSV02) board. operation again. another instruction. provide 4651 (CIRC) cular points is linear. execute the 4591 error internal control check. operation again. 4650 Defective taught point w A line connecting three cir. 4582 w For maintenance alarm code. contact your MOTOMAN repres. contact your MOTOMAN repres. 4620 Data preset error w An error occurred at the w After alarm reset. execute the 4571 error internal control check. contact your MOTOMAN repres. 4612 [Decimal Data] w For maintenance alarm code. 4602 [Decimal Data] w Turn OFF the power supply and turn it ON again. 4610 Pending block-end w An error occurred at the w After alarm reset. execute the 4611 error internal control check. execute the 4601 posioning board. 4652 Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. contact your MOTOMAN repres. Alarm and Error list MOTOMAN ROBOTICS Page: 24 Alarm codes AB Alarm Message Cause Remedial Action code 4570 Local-variable control w An error occurred at the w After alarm reset. execute the 4581 [Decimal Data] internal control check. contact your MOTOMAN repres. 4580 Job call stack error w An error occurred at the w After alarm reset. 4622 w For maintenance alarm code. w After alarm reset. is stored. operation again. execute the 4621 [Decimal Data] internal control check. contact your MOTOMAN repres. 4572 [Decimal Data] w For maintenance alarm code.fm . operation again. 4592 [Decimal Data] w For maintenance alarm code. w For maintenance alarm code. 4632 w For maintenance alarm code. 4600 Unsuccessful fine w Interface fault with axis w After alarm reset. operation again. at overrun. 4710 Fault (Weaving file) w Total check error of weaving w After alarm reset. 4720 Fault (Home posn. CMOS. 4700 Fault w Total check error of signal w After alarm reset. operation again. w For maintenance alarm code. contact your MOTOMAN repres. contact your MOTOMAN repres. w For maintenance alarm code. on CMOS. 4680 Fault (Tool file) w Total check error of tool file w After alarm reset. file data read-out w A fault occurred at the inter. w Total check error of home w After alarm reset. execute the 4661 [Decimal Data] internal control check. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Data=File No.] w For maintenance alarm code. contact your MOTOMAN repres. operation again. execute the (Servo mon signal file) file for servo monitor on operation again.w After alarm reset. contact your MOTOMAN repres. execute the 4741 error nal control check. 4662 w For maintenance alarm code.] w For maintenance alarm code. contact your MOTOMAN repres. 4690 Fault (User frame file) w Total check error of user file w After alarm reset. execute the file on CMOS. 4671 Overrun in external axis w Either station overrun limit w Refer to the releasing method switch operates. operation again. w For maintenance alarm code. CMOS. at overrun. contact your MOTOMAN repres. [File No. contact your MOTOMAN repres.] on CMOS. contact your MOTOMAN repres. Data=File No. execute the on CMOS. execute the [File No.fm . w For maintenance alarm code. 4742 [Decimal Data] w For maintenance alarm code. 4670 Overrun in robot axis w Either robot overrun limit w Refer to the releasing method switch operates. [File No. execute the (Specified-point data) home position file on operation again. 4740 Posn. operation again. Data=File No. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 25 Alarm Message Cause Remedial Action code 4660 Weaving control error w An error occurred at the w After alarm reset. execute the ABS-data file) position absolute data file operation again. operation again. 4730 Fault w Total check error of second w After alarm reset. operation again. 4780 Stack more than 8 w Stack for job call exceeded. 4852 [Decimal Data] 4860 Wrong welder selection w Welding voltage reference w Match the welding voltage ref- 4861 unit and welding machine erence unit. 4862 power supply type do not match. contact your MOTOMAN repres. execute the 4821 management error internal check. operation again. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. file istic file is not set. Alarm and Error list MOTOMAN ROBOTICS Page: 26 Alarm codes AB Alarm Message Cause Remedial Action code 4750 Unmatched posn. 4760 File no. 4792 [Decimal Data] w For maintenance alarm code. execute the 4791 request error nal control check. 4811 limit.fm . 4812 4820 Position data w An error occurred at the w After alarm reset.w After alarm reset. w Variable NO. 4762 w For maintenance alarm code. w After alarm reset. 4770 Undefined reference w Reference point is not regis. 4823 contact your MOTOMAN repres.w Complete the setting of welding 4851 cond. contact your MOTOMAN repres. 4830 Undefined welder con. operation again.w Complete the setting of welding 4831 dition file istic file is not set. 4810 Over variable no. 4782 4790 Arithmetic section w A error occurred at the inter. file istic file is not set. execute the 4761 [Decimal Data] nal control check.w After alarm reset.w Register the reference point. machine characteristic file. w Welding machine character. 4822 [Decimal Data] w For maintenance alarm code. execute the 4801 [Decimal Data] nal control check. Or insufficient refer- 4772 [Binary Data] ence points are registered. 4771 point tered. end condition file. 4800 Request-to-send error w A error occurred at the inter. 4842 [Decimal Data] 4850 Undefined arc end w Welding machine character. start condition file. contact your MOTOMAN repres. error w A fault occurred at the inter. operation again.w After alarm reset. 4752 [Binary data] is different from the type of the data to be stored. change the 4781 (Job Call) job to reduce job call nesting. 4802 w For maintenance alarm code. exceeds the w Change the job. var w The type of the data in data w Use the same data type (pulse/ 4751 data type storage (pulse/orthogonal) orthogonal).w Complete the setting of welding 4841 cond. 4832 [Decimal Data] 4840 Undefined arc start w Welding machine character. 4940 Fault (Correction condi. execute the tion file) correction condition file on operation again. contact your MOTOMAN repres. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 27 Alarm Message Cause Remedial Action code 4870 Fault (Welder w Total check error of welding w After alarm reset. [Decimal Data] CMOS. MOTOMAN represe. [Decimal Data] CMOS. [Decimal Data] CMOS. execute the supp. Data=File No. MOTOMAN repres. operation again.w Total check error of Com. w After alarm reset. contact your Data=File No. execute the condition file) end condition file on CMOS. 4920 Fault (Com-Arc 3 condi. MOTOMAN repres. execute the 4911 area error is abnormal. [Decimal Data] CMOS. execute the condition file) machine characteristic file operation again. contact your MOTOMAN repres. execute the tion file) Arc 3 condition file on operation again. contact your Data=File No. 4950 Fault (Phase offset data w Total check error of phase w After alarm reset. execute the tion file) start condition file on operation again. operation again. contact your MOTOMAN repres. execute the file) Arc 3 data file on CMOS. [Decimal Data] w For maintenance alarm code. w For maintenance alarm code. file) condition auxiliary file on operation again. w After alarm reset. w Total check error of welding w After alarm reset. 4900 Fault (Arc condition w Total check error of welding w After alarm reset. contact your Data=File No. w For maintenance alarm code. execute the file) offset value data file on operation again. [Decimal Data] CMOS. 4890 Fault (Arc end w Total check error of welding w After alarm reset. contact your MOTOMAN repres. w For maintenance alarm code.fm . 4930 Fault (Com-Arc 3 data w Total check error of Com. 4910 AX-CPU Command w AXIS-CPU command area w After alarm reset. 4912 [Decimal Data] w For maintenance alarm code. Data=File No. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. contact your Data=File No. w For maintenance alarm code. w For maintenance alarm code. [Decimal Data] on CMOS. w For maintenance alarm code. [Decimal Data] w For maintenance alarm code. 4880 Fault (Arc start condi. MOTOMAN repres.w Total check error of tracking w After alarm reset. Data=File No. contact your Data=File No. operation again. MOTOMAN repres. 4981 equation long. contact your MOTOMAN repres. 4980 Excessive instruction w The equation is excessively w Make it shorter by dividing it. and the power supply ON. w Replace the battery.w After alarm reset. execute the error nal control check.fm . [Decimal Data] w For maintenance alarm code. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 4982 [Decimal Data] 4990 Encoder battery error w Battery voltage drop. 4970 Equation exception w A fault occurred at the inter. etc. operation again. Alarm and Error list MOTOMAN ROBOTICS Page: 28 Alarm codes AB Alarm Message Cause Remedial Action code 4960 System change w Data (parameter) affecting w Turn OFF the power supply and [Decimal Data] the system has changed turn it ON again. Data=Changing parameter. 5090 DC 24V power supply w External 24V power supply w Check the external 24V power failure does not output. cute the operation again. the faulty displayed axis PG system is defective. MFC04) and execute the oper- ation again. 5021 rence 5022 [Decimal Data] 5030 Global-variable area w The total of the global vari. supply system. turn OFF the power supply and turn it ON again. 5040 Out of range w The difference between the w Perform axis operation of the (Abso data) position at power OFF and faulty machine and move it to [Axis Data] ON of either machine the position of current position exceeds the allowable “0”: check the home position range. w Check the shock sensor operating factor. 5072 [Decimal Data] ARCON. w Division is performed with 0. If they do not match. w Do not perform division with 0. w Set the parameter again so that 5031 param error able range exceeds the the global variable range will 5032 allowable range (SID be within the allowable range [Decimal Data] parameter value fault). w For maintenance alarm code. 5100 Shock sensor action w Shock sensor operates. 5080 Overspeed limit w Overspeed detection oper. 5060 Undefined auto-weld w Arc auxiliary file welding w Set the number again and exe- 5061 release cond release condition time is 0.fm . contact your MOTOMAN repres. 5122 Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 5010 Illegal parameter w Improper parameter setting. 5120 Parity error w Universal I/O group has par. w Cool the encoder.w Examine some actions to pre- 5121 ity error. 5062 [Decimal Data] 5070 Undefined position for w Arc retry is set and there is w Set a move instruction after 5071 arc retry no move instruction after ARCON. w Replace the fuse. w After changing the parameter. w Check the setting for speed 5081 ates at speed checking checking board (JANCD- 5082 board. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 29 Alarm Message Cause Remedial Action code 5000 Encoder overheat w Encoder overheat. mark (arrow). in total. vent a parity error. 5020 Zero deviced occur. 5110 Brake fuse blown w Brake fuse is blown. 5142 value exceeded 127 w Release parity check (Decimal): it was attempted setting. execute the 5201 (motion) internal control check. 5180 Robot calibration frame w An error occurred at the w After alarm reset.fm . contact your MOTOMAN repres. w Set the data gain so as not to 5141 (Parity check) manded and the variable exceed the range. execute the 5151 mand (Arith) internal control check. 5160 Offline system error w An error occurred at the w After alarm reset. 5192 [Decimal Data] w For maintenance alarm code. contact your MOTOMAN repres. w An error occurred at the w After alarm reset. 5132 exceeds the maximum w Review the data specification value in BCD range (binary/BCD) and parity check [99 (Decimal) for no specification. 5182 w For maintenance alarm code. 5150 Offline undefined com. operation again. operation again. contact your MOTOMAN repres. contact your MOTOMAN repres. execute the 5161 (Arith) internal control check. parity. contact your MOTOMAN repres. operation again. to be output as an universal output. 5140 Over binary range w The parity check is com. execute the 5181 error internal control check. operation again. operation again. execute the 5191 error internal control check. 5190 Arithmetic section init w An error occurred at the w After alarm reset. 5152 w For maintenance alarm code. 5202 [Decimal Data] w For maintenance alarm code. 5162 w For maintenance alarm code. 5170 Robot calibration data w An error occurred at the w After alarm reset. operation again. 5172 w For maintenance alarm code. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. execute the 5171 error internal control check. 79 (Decimal) for par- ity] Or attemped to read unrep- resentable data in BCD range (exceeded nine at four bits at hypostasis or epistasis). Alarm and Error list MOTOMAN ROBOTICS Page: 30 Alarm codes AB Alarm Message Cause Remedial Action code 5130 Over BCD range w The variable value w Set the data again so as not to 5131 attempted to be output exceed the range. 5200 Set-up process error w An error occurred at the w After alarm reset. contact your MOTOMAN repres. 5220 Servo ready w An error occurred at the w After alarm reset.fm . 5280 Fault w File total check error of w After alarm reset. contact your MOTOMAN repres. 5212 w For maintenance alarm code. file) guide on CMOS. contact your MOTOMAN repres. 5270 Fault w File total check error of w After alarm reset. 5242 [Decimal Data] w For maintenance alarm code. w After alarm reset. contact your MOTOMAN Data=File No. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 5222 [Decimal Data] w For maintenance alarm code. execute the (Welder user-defined welder characteristic initial operation again. 5230 Calibration data error w An error occurred at the w After alarm reset. contact your MOTOMAN repres. 5232 w For maintenance alarm code. execute the (Arc start cond guide welding start condition operation again. 5240 Tool calibration data w An error occurred at the w After alarm reset. execute the 5241 error internal control check. contact your MOTOMAN repres. file) on CMOS. operation again. repres. execute the 5221 monitoring error internal control check. operation again. contact your MOTOMAN Data=File No. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 31 Alarm Message Cause Remedial Action code 5210 System error (Motion) w An error occurred at the w After alarm reset. w For maintenance alarm code. operation again. w For maintenance alarm code. [Decimal Data] CMOS. w After alarm reset. contact your MOTOMAN repres. file) guide on CMOS. repres. 5260 Fault w File total check error of cali. contact your MOTOMAN repres. execute the (Arc end cond guide welding end condition guide operation again. execute the (Tool calibration file) bration of tool on CMOS. w For maintenance alarm code. execute the 5211 [Decimal Data] internal control check. 5290 Fault w File total check error of w After alarm reset. w For maintenance alarm code. w For maintenance alarm code. operation again. operation again. execute the (Robot calibration file) bration between robots on operation again. contact your MOTOMAN repres. execute the 5231 [Decimal Data] internal control check. 5250 Fault w File total check error of cali. w After alarm reset. operation again. execute the 5311 error internal control check. 5380 Braking release reply w Brake is not turned OFF. 5310 Arithmetic alarm reset w An error occurred at the w After alarm reset. 5372 [Decimal Data] w Replace the RY board. contact your MOTOMAN repres. WVON. contact your MOTOMAN repres. execute the 5371 error operation again. 5352 [Decimal Data] not arrive in the main factor. factor. 5330 Cannot execute job (No w Robot is not included in the w Add a robot to the job control 5331 robot) regulated control group of group. 5362 [Decimal Data] did not arrive in the main w Replace the RY board. w Replace the servopack. w For maintenance alarm code. w Replace the RY board. execute the file) der program on CMOS. 5332 [Decimal Data] the job at execution of an instruction such as ARLON. operation again. execute the 5341 error internal control check. 5360 Main contactor OFF w At servo OFF. Alarm and Error list MOTOMAN ROBOTICS Page: 32 Alarm codes AB Alarm Message Cause Remedial Action code 5300 Fault (Ladder program w File total check error of lad. etc. controller. w Check that the power line to the motor is not grounded. control group to be called. 5382 [Decimal Data] w Replace the RY board. 5350 Main contactor ON w At servo ON. execute the 5351 reply error that the servo was ON did operation again. execute the 5381 error operation again. 5340 Sensing data request w An error occurred at the w After alarm reset. 5370 Braking lock replay w Brake is not turned ON. 5390 Servo-ready ON error w At servo ON. execute the 5361 reply error tion that the servo was OFF operation again. the informa. w After alarm reset. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm . operation again. the information w After alarm reset. 5320 Wrong control group w A jump call was made to a w Call job to the control group 5321 axis job which is different from which is same or includes the 5322 [Decimal Data] the control group. contact your MOTOMAN repres. w After alarm reset. 5312 [Decimal Data] w For maintenance alarm code. 5342 [Decimal Data] w For maintenance alarm code. w After alarm reset. input signal w Check the connection cable 5391 [Decimal Data] servo READY from the between each servopack and 5392 servo is not turned ON. 5442 [Binary Data] w Replace the MSV01 (MSV02) board. execute the 5441 error OFF. 5410 Base-block ON error w Baseblock is not turned ON w After alarm reset. 5420 Base-block OFF error w Baseblock is not turned w After alarm reset. execute the 5431 error ON. 5501 (Sensor 1) match. operation again. 5432 [Binary Data] w Replace the MSV01 (MSV02) board. execute the 5421 [Binary Data] OFF at the servo OFF. 5472 [Decimal Data] 5480 Select error w System setting does not w For maintenance alarm code. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 33 Alarm Message Cause Remedial Action code 5400 Servo-ready OFF error w At the external servo OFF. w Check the connection cable 5401 [Decimal Data] input signal servo READY between each servopack and 5402 from the servo is not turned controller. 5471 job) editing lock job was made. 5460 Unused (OFF) w An error occurred at the w After alarm reset. 5490 Select error w System setting does not w For maintenance alarm code. contact your MOTOMAN repres. 5500 Select error w System setting does not w For maintenance alarm code. ON after the servotacter w Replace the servopack. 5481 (Application 1) match. w Check that the power line to the motor is not grounded. operation again. 5430 Dynamic brake ON w Dynamic brake is not turned w After alarm reset. operation again. contact your MOTOMAN 5482 [Decimal Data] repres. operation again. contact your MOTOMAN 5492 [Decimal Data] repres. contact your MOTOMAN 5502 [Decimal Data] repres. contact your MOTOMAN repres. operation again. 5470 Cannot edit (Edit lock w An attempt to override an w Replace edit lock setting. operation again. 5452 w For maintenance alarm code. 5450 Unused (ON) w An error occurred at the w After alarm reset. has been turned OFF. execute the 5411 [Binary Data] at the servo OFF. 5412 w Replace the MSV01 (MSV02) board. execute the 5461 [Decimal Data] internal control check. 5462 w For maintenance alarm code. 5422 w Replace the MSV01 (MSV02) board. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 5440 Dynamic brake OFF w Dynamic brake is not turned w After alarm reset. execute the 5451 [Decimal Data] internal control check.fm . 5491 (Application 2) match. execute the 5561 [Decimal Data] internal control check. contact your MOTOMAN repres. 5592 [Decimal Data] w For maintenance alarm code. 5572 [Decimal Data] w For maintenance alarm code. contact your MOTOMAN 5522 [Decimal Data] repres. contact your MOTOMAN repres. 5550 Wrong mech parame. (Analog w System setting does not w For maintenance alarm code. contact your MOTOMAN 5512 [Decimal Data] repres. 5582 [Decimal Data] w For maintenance alarm code. 5562 w For maintenance alarm code. w An error occurred at the w After alarm reset. execute the 5591 error internal control check. 5580 Defective taught point w An error occurred at the w After alarm reset. contact your MOTOMAN repres. contact your MOTOMAN repres. 5570 Defective taught point w An error occurred at the w After alarm reset. operation again. 5511 (Sensor 2) match. 5541 (Sensor) match. operation again. 5552 [Decimal Data] w For maintenance alarm code. 5560 Imcompleted PT frame w An error occurred at the w After alarm reset. 5530 Pass over w The path exceeded the set w Release the factor of path-over. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 5600 Position correction w An error occurred at the w After alarm reset. 5602 w For maintenance alarm code. operation again. operation again.fm . execute the 5581 (Endless) internal control check. 5540 Wrong selection w System setting does not w For maintenance alarm code. 5521 output) match. execute the 5551 ter file internal control check. 5590 Correctional direction w An error occurred at the w After alarm reset. operation again. 5531 [Decimal Data] path-over monitoring area. execute the 5571 (Cutting) internal control check. contact your MOTOMAN repres. w Set the path-over radius again 5532 so that it will be within the allowable range. 5520 Wrong port no. contact your MOTOMAN repres. execute the 5601 error internal control check. operation again. contact your MOTOMAN 5542 [Decimal Data] repres. Alarm and Error list MOTOMAN ROBOTICS Page: 34 Alarm codes AB Alarm Message Cause Remedial Action code 5510 Select error w System setting does not w For maintenance alarm code. 5662 w For maintenance alarm code. 5640 Parameter error w Zero-division is performed w Set the parameter again. execute the 5611 [Decimal Data] internal control check. 5622 5630 Undefined robot cali. 5682 w For maintenance alarm code. 5702 w For maintenance alarm code. w Calibration between robots w Perform calibration between 5631 bration was not performed at exe. 5670 Cannot execute job (No w An attempt to execute a dis.w Register the instruction by a job 5671 GRP axis) abled instruction was made with group axis. ter again. operation again. 5651 (Calib. contact your MOTOMAN repres. 5692 w For maintenance alarm code. w An error occurred at the w After alarm reset. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 35 Alarm Message Cause Remedial Action code 5610 Over tool file no. 5650 Defective taught point w Teaching point failure w Perform teaching again.) 5652 5660 DM-Bank transmission w An error occurred at the w After alarm reset. contact your MOTOMAN repres. 5612 w For maintenance alarm code. execute the 5691 internal control check. contact your MOTOMAN repres. 5680 Univ data present w An error occurred at the w After alarm reset. execute the 5661 error internal control check. 5672 by a job without a group axis. 5712 Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. contact your MOTOMAN repres. operation again. execute the 5681 request error internal control check.fm . contact your MOTOMAN repres. 5632 cution of coordination instruction. again. operation again. 5710 Illegal SV parameter w Servo constant parameter w Set the servo constant parame- 5711 (Online) setting fault. 5700 Process error w An error occurred at the w After alarm reset. 5690 Braking sequence error w An error occurred at the w After alarm reset. operation again. robots. execute the 5701 (Syscon ->axis) internal control check. 5641 for internal data according 5642 to the parameter. operation again. 5620 Defective taught point w Weaving reference point w Teach the reference point 5621 (Weave) teaching error. 5752 5760 Undefined user frame w User coordinate which was w Set the user coordinate. operation again. execute the 5811 (Sensor) internal control check. operation again. [Decimal Data] w For maintenance alarm code. 5782 w For maintenance alarm code. execute the 5721 error axis section. contact your MOTOMAN repres. 5740 Illegal max speed w Max speed parameter set. contact your MOTOMAN repres. operation again. execute the 5801 range internal control check. 5762 5770 Out of range w An error occurred at the w After alarm reset. 5790 Interrupt error (Sensor) w An error occurred at the w After alarm reset. execute the 5791 internal control check. w Set the parameter again. operation again. operation again. operation again. contact your MOTOMAN repres. contact your MOTOMAN repres. 5780 SL board on-line error w An error occurred at the w After alarm reset. operation again. execute the 5731 (Online) axis section. 5751 able was not set was used. contact your MOTOMAN repres. 5741 parameter ting error. 5732 w Replace the MSV01 (MSV02) board. 5792 w For maintenance alarm code. Alarm and Error list MOTOMAN ROBOTICS Page: 36 Alarm codes AB Alarm Message Cause Remedial Action code 5720 KP change process w Improper response from w After alarm reset. 5810 Command error w An error occurred at the w After alarm reset. 5802 w For maintenance alarm code.w Position type variable which w Set the position type variable. 5722 w Replace the MSV01 (MSV02) board. execute the 5771 (parallel process) internal control check. 5742 5750 Undefined position vari. 5730 SV param change error w Improper response from w After alarm reset. 5772 [Decimal Data] w For maintenance alarm code. 5800 Out of current detector w An error occurred at the w After alarm reset. 5761 not set was used. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm . execute the 5781 internal control check. operation again. 5840 Cannot execute job w Activation of the job (group w After alarm reset. 4: register the master job in the sub task. 3: Multiple activation of the 1: Complete the sub task by the same job. execute the 5861 tion error internal control check. execute the 5851 error internal control check. contact your MOTOMAN repres. contact your MOTOMAN repres. 4: Master jjob was not regis. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 37 Alarm Message Cause Remedial Action code 5820 Process error (Sensor) w An error occurred at the w After alarm reset. execute the 5821 [Decimal Data] internal control check. 5862 w For maintenance alarm code. instruction timing.fm . instruction timing. 5830 Parallel start instruc. 5882 [Decimal Data] before ARCON instruction. review 1: Execution of sub task. 5842 IOSTART instruction. review IOSTART. 5880 Undefined position for w ARC retry cannot be per. execute the tion error could not be executed operation again. w For maintenance alarm code. etc. 5852 [Decimal Data] w For maintenance alarm code. w Load cutting data file saved on floppy and recover it. 5850 Measure inst execute w An error occurred at the w After alarm reset. PWAIT instruction. w After alarm reset. 6: After resetting tha alarm. contact your MOTOMAN repres. 3: check the job to be activated. IOSTART. tions. 2: Check the job to be activated. PSTART instruc- 2: Same group axes. execute the 5841 (Group axis) axis) was attempted by operation again. etc. operation again. w Register a step before ARCON 5881 ARC ON formed because of no step instruction. [Decimal Data] Alarm data: w After alarm reset. 5870 Fault Cutting data file w A fault occured in the cutting w Initialize cutting data file (Cus- data file tomer Maintenance Mode). acti- vate the sub task. 6: Stopping by alarm. w Parallel start instruction w After alarm reset. PSTART instruc- tions. w An error occurred at the w After alarm reset. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. operation again. tered. 5860 Coordinate transforma. executing instruction with error by using alarm data. Data: See the transmission function manual 5930 Wrong execution of w An error occurred during w After alarm reset. execute the 5891 restart return performed because of no operation again. extend the 5901 (Search motion) specified because of lack of distance between search start- 5902 distance between search ing and target points. 5970 Cannot execute instruc. w For maintenance alarm code. (ex: Retry is commanded during performing the called job). starting and target points. clear the save inst. Data: See the transmission function manual 5950 File type error (Base w An error occurred at the w After alarm reset. 5961 [Decimal Data] registered. [Decimal Data] DCI function. execute the 5951 axis) internal control check. Data: See the transmission function manual 5940 Wrong execution of w An error occurred during w After alarm reset. [Decimal Data] DCI function. 5900 Reep pos error w Search direction cannot be w After alarm reset.fm . Data: 0 TF Data: 1 MTF 5920 Wrong execution of w An error occurred during w After alarm reset. 5892 restart return step in the w Change the job. clear the delete inst executing instruction with error by using alarm data. clear the load inst. 5912 [Decimal Data] TF and MTF specified at the coordinate with position-variable (P). 5952 [Decimal Data] w For maintenance alarm code. 5972 [Decimal Data] Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. executing instruction with error by using alarm data. contact your MOTOMAN repres. 5962 contact your MOTOMAN repres. current job.w The second argument is w Check the job. 5960 MFRAME error w Data: 8 Position file is not w Register the position file. [Decimal Data] DCI function. 5971 tion (sqrt) negative. change the 5911 (Coordinate) be performed because of coordinate. operation again. 5910 Specified error w Confirming position cannot w After alarm reset. Alarm and Error list MOTOMAN ROBOTICS Page: 38 Alarm codes AB Alarm Message Cause Remedial Action code 5890 Undefined position for w Restart cannot be w After alarm reset. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 39 Alarm Message Cause Remedial Action code 5980 Out of range w Pulse difference of motor w After alarm reset. turn ON the 5981 (drop-value) between servos ON and servo. 5991 (3 Steps) at the user coordinate. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 5982 [Decimal Data] OFF is larger than that specified by parameter 5990 Two steps same line w The position of three points w Program three different points.fm . or 5992 more than three instructed points at the calibration between robots are on the same line. 6010 DMS error w An error occurred at the inter. repres. w For maintenance alarm code. 4: VCO start incomplete. contact your MOTOMAN 5: VCO manual start. contact your MOTOMAN repres. 6050 Excessive segment w The specified speed exceeds w After alarm reset. w Check job/data file. [Decimal Data] w For maintenance alarm code. w For maintenance alarm code. w For maintenance alarm code. operation again. speed of the step (Move 6062 [Axis Data] instruction) where the alarm occurred or change the robot attitude. speed of the step (Move 6042 [Axis Data] instruction) where the alarm occurred or change the robot attitude. 6080 Wrong execution of 1: Instruct execution error. 6040 Excessive segment w The specified speed exceeds w After alarm reset. decrease the 6051 (Safety 2): Low the safe speed.w After alarm reset. speed of the step (Move 6052 [Axis Data] instruction) where the alarm occurred or change the robot attitude. w For maintenance alarm code. repres. operation again. contact your MOTOMAN repres. operation again. 6060 Excessive segment w The specified speed exceeds w After alarm reset. 5: VCO manual start. 6071 error 2: Ultra pierce data error. decrease the 6061 (Safety 2): High the safe speed. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. decrease the 6031 (Safety 1): Low the safe speed. w Check system condition. execute the error nal control check.w After alarm reset. execute the [Decimal Data] nal control check.fm .w After alarm reset. speed of the step (Move 6032 [Axis Data] instruction) where the alarm occurred or change the robot attitude. 6020 Major transmission w An error occurred at the inter. execute the [Decimal Data] nal control check. 6070 Observe data output 1: Instruct execution error. [decimal data] 3: Shutter open/close error. contact your MOTOMAN repres. decrease the 6041 (Safety 1): High the safe speed. 4: VCO start incomplete. 6030 Excessive segment w The specified speed exceeds w After alarm reset. contact your MOTOMAN 6072 [decimal data] 3: Shutter open/close error. Alarm and Error list MOTOMAN ROBOTICS Page: 40 Alarm codes AB Alarm- Message Cause Remedial Action code 6000 EMS error w An error occurred at the inter. laser process 2: Ultra pierce data error. 6112 [Decimal Data] w For maintenance alarm code. 6160 SV param CHG proc w An error occurred at the inter. 6120 Search monitor release w An error occurred at the inter. 6190 Axis blocking w Data: Control group to be w Release the block for axis oper- 6191 [Control group] operated.fm . execute the 6161 error nal control check. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 41 Alarm- Message Cause Remedial Action code 6090 Poor laser condition 1: Data file number beyond w Set the correct value. contact your MOTOMAN repres. ation again. 6211 cess error changing the welding condi- 6212 tion. setting range. contact your MOTOMAN repres. 6180 Sphere intrf err (Robot) w Data: 1 Calibration not per. execute the 6121 error (Axis) nal control check. 6122 [Decimal Data] w For maintenance alarm code. operation again. 6100 Operation error (Laser w Operation error during sam. contact your MOTOMAN repres. error w An error occurred at the inter. 6162 [Decimal Data] w For maintenance alarm code. w Perform calibration between 6181 [Decimal Data] formed. robots.w After alarm reset. execute the 6111 error (Axis) nal control check.w After alarm reset. 6130 Conv. 6192 6200 Wrong job type w Occurred by performing dif. execute the 6131 (F/B Pulse-> Cur Pos) nal control check. operation again. contact your MOTOMAN repres. ation. operation again. 6182 w For maintenance alarm code. [decimal data] 6110 Search monitor set w An error occurred at the inter.w After alarm reset. 6132 [Decimal Data] w For maintenance alarm code. w Check the job.w After alarm reset. contact your MOTOMAN repres. operation again. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. w After alarm reset. w An error occurred at the w Check job or file. [decimal data] 2: Gap amount data beyond category. 6201 [Binary Data] ferent job types 6202 ex: robot job<->concurrent job robot job<->vision job vision job<->concurrent job 6210 Tag data change pro. execute oper- process) pling or upon VCO stop. w After alarm reset. Alarm and Error list MOTOMAN ROBOTICS Page: 42 Alarm codes AB Alarm- Message Cause Remedial Action code 6220 Only concurrent job w The starting job at the third w Check the job. nal control check. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. w An error occurred at the inter. w Turn power OFF and ON again. 6252 [Decimal Data] w For maintenance alarm code. w Turn power OFF and ON again. atoin again. 6320 Vision system error 5 w An error occured at vision w after alarm reset. operation again. atoin again. 6231 (Concur job) cannot be executed in the 6232 concurrent job. atoin again. 6260 Undefined port no. w Turn power OFF and ON again. execute the 6261 (AOUT) nal control check. execute oper- 6291 [decimal data] system.fm . execute oper- 6321 [decimal data] system. 6330 Vision system error 6 w An error occured at vision w after alarm reset. 6230 Cannot execute inst. execute the 6251 inst. 6290 Vision system error 2 w An error occured at vision w after alarm reset. w Turn power OFF and ON again. atoin again. execute oper- 6281 [decimal data] system. atoin again. w Execute the robot job with IO w Check the job. w There is a instruction which w Check the job. 6240 Cannot execute speci. 6270 Syntax error w An error occurred at the inter.w After alarm reset. 6310 Vision system error 4 w An error occured at vision w after alarm reset. operation again. atoin again. execute the 6271 [Decimal Data] nal control check. execute oper- 6341 [decimal data] system. 6280 Vision system error 1 w An error occured at vision w after alarm reset. 6221 possible series is not the concurrent 6222 job. 6300 Vision system error 3 w An error occured at vision w after alarm reset. 6242 6250 Syntax error in equation w An error occurred at the inter. contact your MOTOMAN repres. w Turn power OFF and ON again. contact your MOTOMAN repres. 6241 fied job START instruction. execute oper- 6311 [decimal data] system. w Turn power OFF and ON again.w After alarm reset. 6340 Vision system error 7 w An error occured at vision w after alarm reset. operation again. execute oper- 6331 [decimal data] system. w Turn power OFF and ON again. 6262 w For maintenance alarm code. atoin again. 6272 w For maintenance alarm code. contact your MOTOMAN repres. execute oper- 6301 [decimal data] system. floppy disk and recover it. 6370 Vision system error 10 w An error occured at vision w after alarm reset. w Turn power OFF and ON again. execute 6371 [Decimal Data] system. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. operation again. 21: Vision user variable num- ber error. 10: Job call stack over. 6390 Vision job execution Alarm data. 6400 Vision execution error 2 w For maintenance alarm code. 30: Selected vision job doesn´t exist. operation again. and then load file saved on w Ten plate fault. 6360 Vision system error 9 Vision system fault data. 3: Label to be jumps is not specified.fm . 40: Instruction structure error. w Initialize either file or template 6361 [Decimal Data] w File fault. 2: Additional items interpreta- tion error. w Turn power OFF and ON again. w Clear alarms according to 9391 error 1 1: Instruction interpretation alarm data. 6: Calling place is not speci- fied. error. execute 6351 [Decimal Data] system. 5: Job to be called is not speci- fied. w Turn power OFF and ON again. 20: Local variable number error. operation again. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 43 Alarm- Message Cause Remedial Action code 6350 Vision system error 8 w An error occured at vision w After alarm reset. 4: Job to be jumped is not specified. 7: Job other than vision job was executed by VSTART command. 50: VPI is not executed. 6380 Vision system error 11 w An error occured at vision w after alarm reset. execute 6381 [Decimal Data] system. 6401 [Decimal Data] contact your MOTOMAN repres. alarm data. fied. 6470 Vision inst error 2 w For maintenance alarm code. 6450 Vision execution control w For maintenance alarm code. [Decimal Data] 2: Situation data fault. error. 2: Specify vision user axis again.fm . 6440 Vision user file error Alarm data: w Clear alarms according to 6441 [Decimal Data] 1: Vision user axis is not speci. 4: Real variable overflow.Clear alarms according to 6421 error 1: Situation is not specified. 6461 [Decimal Data] contact your MOTOMAN repres. alarm data. overflow. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. alarm data. error Alarm data: w . 6420 Vision situation file Alarm data: w . 6471 [Decimal Data] contact your MOTOMAN repres. 7: Byte variable underflow. 1: Check vision user axis num- 2: Vision user axis fault. 6480 Vision Template Match. 3: Situation is not selected. ber. 13: SQRT arithm. 30: Vision user variable unmatched. 3: Mask number is beyond cor- rect category. alarm data. 6451 error contact your MOTOMAN [Decimal Data] repres. cuted before VTMATCH command is executed.Alarm data: w Clear alarms according to 6481 ing error 1: VTMPOS command is exe. 6460 Vision inst error 1 w For maintenance alarm code. 2: Byte variable overflow 1-13: check if correct variables is 3: Integral number variable used. 30: Match variables. 4: Specified matching point doesn´t exist. 2: Template is not specified. 4: Situation data is full. 5: Integral number variable underflow.Clear alarms according to 6411 [Decimal Data] 1: Divided by =0. Alarm and Error list MOTOMAN ROBOTICS Page: 44 Alarm codes AB Alarm- Message Cause Remedial Action code 6410 Vision Arithm. 6: Real variable underflow. ing synchronization. operation again. tion. 3: Super pulse effect reply error 4: Specified matching point doesn´t exist. 2: VCO operation preparation contact your MOTOMAN complete reply error. encoder. 6510 Twin coordinated error Alarm data. [Decimal Data] 2: Parity check w Turn OFF power and turn ON 3: Overrun error. 6500 Laser Control Panel Alarm data: w After alarm reset. 6530 Port number error (123) w Port number set in conveyor w Check conveyor/press file set- 6531 or/and press file doesn´t ting. w For maintenance alarm code. exe- conveyor file number. w Data is alarm occurrence conveyor number. 4: No other stepend during w Uniform jobs of robot and sta- synchronization. 6550 Conveyor position limit w Conveyor position counter w Check conveyor position. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. when data is taken from con. execute transmission error 1: Flaming error. cute the operation again. specify 6511 [Decimal Data] 1: No effective control group. cute the operation at the posi- tion where rhe alarm occurred. contact your MOTOMAN repres. CH3 port is speci- fied in case of MSL01-2. 5: No other segmentdata dur. 6540 MSL02 CPU parame. w Data alarm occurrence con- veyor number or press file number. contact your MOTOMAN repres. 6551 over (123) pulse overflow occured. w For maintenance alarm code. w Since conveyor position is not w Data is alarm occurrence reset after error happens. 6520 Conveyor encoder error w Encoder cable line cut or w Check encoder cabel or 6521 (123) encoder fault. 6491 1: VCO start/finish reply error. w For maintenance alarm code.fm . [Decimal Data] veyor press file. press file is set correctly. w For Data 1 and 2. job and station and then exe- 3: No slave control group. exist on board. w Parameter arithmetic error w Check if data from conveyor or 6541 ter error. again. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 45 Alarm- Message Cause Remedial Action code 6490 Laser VCO reply error Alarm data: w Start over laser. This error happens when CH2/3 ports are specified in case of MSL01-0. repres. SYNC correctly on the robot 6512 2: No master control group. 6582 When conveyor file base axis is specified other than 1. 2: Robot group doesn´t exist during robot axis tracking. w Define the conveyor file 6591 [Decimal Data] ´1: USE.fm . Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 6: Conveyor position latch error during reading ahead. data after the alarm reset. 9: Conveyor correction amount reading error. tomer maintenance). 6590 Undefined conveyor file w Conveyor file is not defined. w Data corresponds to the file w Load conveyor file from floppy number. 3: Base group doesn´t exist during robot axis tracking. error Alarm data: w Clear errors according to alarm 6581 [Decimal Data] 1: Driving axis direction error. 4: CV select <-> CVF# unmatched. 6602 [Decimal Data] w Data corresponds to alarm w Turn power OFF and check the number. 7: Sync. 2 or 3. 6592 6600 Conveyor speed w An error occurred at the inter. w For maintenance alarm code. contact your MOTOMAN repres. disk and recover it. start signal doesn´t come on.w Turn power OFF and then ON 6601 decrease nal control check. 6580 Conveyor sync. w Since the conveyor position is not reset after this error hap- pens. counter pulse (conveyor reso- w Data is alarm occurrence lution). conveyor file number. 6570 Conveyor file fault w CMOS memory conveyor file w Initialize conveyor file (cus- [File Number] fault occurred. again. execute the operation at the position where the alarm occurred. 5: No data for conveyor starting point during reading ahead. Alarm and Error list MOTOMAN ROBOTICS Page: 46 Alarm codes AB Alarm- Message Cause Remedial Action code 6560 Conveyor counter limit w Conveyor position counter w Check conveyor position 6561 over (123) pulse overflow occurred. control board. 8: Conveyor position reset is not allowed. control control board. 6662 [Decimal Data] w For maintenance alarm code. nal control check. coordinatd slave error. decrease the 6621 speed. 6680 Cannot use SMOVJ w Performed robot follow-up by w Change the instruction. 6640 PSEND error Data: 1 Performed the PSEND w Change the job. 3: Conveyor sync. the system with base axis. tion. user axis contact your MOTOMAN specifying error. again. 6682 [Decimal Data] specify base axis follow-up. w For maintenance alarm code. Data: 3 Retry for mutual response error exceeded. 6650 PRECV error Data: 1 Performed the PRECV w Change the job. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 47 Alarm- Message Cause Remedial Action code 6610 Conveyor sync. Data: 1 Retry for NAK instruc- tion exceeded. Data: 2 Retry for timer A timeup exceeded. 6651 [Decimal Data] instruction to own 6652 task. occurred or change the robot attitude. ON again for the group axis to operate. w An error occurred at the inter. contact your MOTOMAN repres. 6690 Data sending error w An error occurred while using w After alarm reset. 6641 [Decimal Data] instruction to own 6642 task. load torque of the speed of the step (Move 6622 robot axis and the motor instruction) where the alarm exceeds allowance. repres. 6620 Torque interference w At operating in specified w After alarm reset. clear the [Decimal Data] the data transmission func. error by using alarm data. execute the 6661 cessing err nal control check. 6612 [Decimal Data] Alarm data: w Turn power OFF and check the 1: Conveyor sync. arith.fm . group error. 6630 Servo power OFF for w The servo power supply is w Turn OFF the servo power and 6631 job OFF for the group axis of the turn the servo power supply 6632 [Control Group] operated job. or for 6681 during tracking SMOVJ instruction. 2: Conveyor sync.w After alarm reset. An error occurred at the inter. w Turn power OFF and then ON 6611 metic error. 6660 OFF-line mailbox pro. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. operation again. tion. contact your MOTOMAN repres. Data: 4 The heading lenght is long. [Decimal Data] tion. [Decimal Data] Transmission procedure was correct except for receiving (mainly a violation or abnorma- rity) which causes error in the system.fm . Data: 1 Excess error Data: 2 Parity error Data: 3 Flaming error Data: 4 Sending timeup (timer A) Data: 5 Sending timeup (timer B) 6720 Transmission system An error occurred at using the w After alarm reset. error by using alarm data. Data: 1 Receiving EOT while waiting ACK. Data: 3 Receiving EOT before receiving the last block. operation again. error by using alarm data. Data: 5 Header number fault Data: 6 Text length exceeds 256 characters. Data: 2 Receiving EOT while waiting ENQ. clear the [Decimal Data] the data transmission func. 6730 Transmission system w An error occurred at using w After alarm reset. clear the block data transmission function. Data: 2 Receiving timeup (timer B). Alarm and Error list MOTOMAN ROBOTICS Page: 48 Alarm codes AB Alarm- Message Cause Remedial Action code 6700 Data receiving error w An error occurred while using w After alarm reset. clear the ware error the data transmission func. Data: 3 The heading lenght is short. w An error occurred at using w After alarm reset. error by using alarm data. execute the error the data transmission func. [Decimal Data] tion. Data: 1 Receiving timeup (timer A). w For maintenance alarm code. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 6710 Transmission hard. Data: 4 Receiving codes other than EOT after receiving the last block. w Initialize the wrist weaving amplitude characteristic file by maintenance mode. 6772 ation. contact your MOTOMAN repres. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. coordinated operation. contact your MOTOMAN repres. w Give another instruction. w No reference point. 2: Corner R pass reference point. 6802 w For maintenance alarm code. 6790 Undefined paint w The painting characteristic w Set completely the painting 6791 characteristics file file is not set. 3: Corner R pass angle error. 1: Corner R coordination con- trol slave specifying error. &: Corner R master command error. 6770 Corner R control error w Corner R is not allowed to w Do not use Corner R during 6771 [Decimal Data] use during coordinated oper. Data:File number contact your MOTOMAN repres. execute the 6801 [Decimal Data] nal control check. from FC 1/2.fm .w After alarm reset. 4: Corner R operation radius data error. [File No. 6760 Fault (wrist weave w Wrist weaving amplitude w Load the storage wrist weaving amplitude file) characteristic file total check amplitude characteristic file error on CMOS. 5: Corner R operation group. w Adjust the value for Corner R w Excessive angle. w Impossible to track internally touched arch with specified radius. w For maintenance alarm code. 6792 6800 Mreset error w An error occurred at the inter.] w Initialize the painting character- istic file by maintenance mode. operation again. w For maintenance alarm code. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 49 Alarm- Message Cause Remedial Action code 6740 Fault (paint w Painting characteristic file w Load the storage painting char- 6750 characteristic file) total check error on CMOS acteristic file from FC 1/2. characteristic. 6780 Job QUE empty error w Performed CALL QUE and w Check the job. operation. 6781 JUMP QUE with no JOB 6782 QUE. vice.w Data shows channel number w Check the cable between the 6831 age) bit: outside position correction [Binary Data] 0000-0001:CH1 device and MSL board. w For maintenance alarm code. Alarm and Error list MOTOMAN ROBOTICS Page: 50 Alarm codes AB Alarm- Message Cause Remedial Action code 6810 Servo averaging buffer w An error occurred at the inter. [Binary Data] 0000-0001:CH1 w In case of re-occurrence. execute the 6811 error nal control check. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. contact your MOTOMAN repres. 6850 Parameter error w Wrong setting for parameter w Set the parameter correctly. execute the 6881 call) nal control check.w After alarm reset. maintenance mode.fm . 6870 Fault (Multi Layer The multi-layer condition file w Please contact MOTOMAN ser- Condtion File) data was destroyed. 6860 Fault (Multi Layer File) The multi-layer file data was w Please contact MOTOMAN ser- destroyed. 6830 Out of range (input volt. check 0000-0010:CH2 the input voltage of channel 0000-0100:CH3 which causes error and then 0000-1000:CH4 adjust the set voltage of “off- 0001-0000:CH5 set voltage” and “initial volt- 0010-0000:CH6 age”. contact your MOTOMAN repres. 6820 Fault (Int job table file) w Interruption job table file total w Initialize the job table file by check error on CMOS. 6851 (sensor) (sensor) (S1E/S2E parame- ter). operation again. 6880 Stack less than 0 (Job w An error occurred at the inter. 0000-0100:CH3 0000-1000:CH4 0001-0000:CH5 0010-0000:CH6 6840 Out of range (initial w Data shows channel number w Set the outside position correc- 6841 voltage) bit: tion device and MSL board. contact your MOTOMAN repres. 6882 [Decimal Data] w For maintenance alarm code. vice. operation again.w After alarm reset. 0000-0010:CH2 w Check parameter set value. 6812 [Decimal Data] w For maintenance alarm code. 6960 Steps not same weld The number of move instruc. forward job specified by MLTSMPL has reverse attribute. welding w Register welding section for 6951 (MULT) section (SENSON COMARC to each job. specified by MLTSMPL. 6932 sponded to specified jobs are not the same. 6912 6920 Number of refp not The number of reference w Provide the same number of 6921 same (MULT) points are not same between reference points between 6922 specified jobs. w Provide the same number of 6961 sect.fm . SENSON SCOMARC to SENSOF SCO- MARC. 6952 SENSOF COMARC. move instruction between jobs. 6940 Teaching tool not same The tool file of move instruction w Use the same tool file for move 6941 (MULT) correspond to specified jobs instruction between jobs. the same. w Use the same attribute for jobs w The 1st-layer job or sampling specified by MLTSCAL. w The attributes of the sam- pling job and Nth path job specified by MLTSCAL are not the same. same control group. (MULT) tiones in welding section move instructions in welding 6962 between specified jobs are not section between specified jobs. 6950 Undifined weld sect. steps between specified jobs. 6942 are not the same. not have reverse attribute. In the specified job. ARCON to ARCOF) is registered. 6930 Coordinate not same The coordinate of position data w Use the same coordinate for 6931 (MULT) for move instruction corre. 6902 6910 Number of steps not The number of all steps are not w Provide the same number of 6911 same (MULT) same between specified jobs. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 51 Alarm- Message Cause Remedial Action code 6890 Job attribute not same Job attribute (reverse attribute) w Check the attribute of jobs 6891 (MULT) is not proper. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 6892 w The sampling reverse job w Check that sampling reverse specified by MLTSMPL does job is created. specified jobs. 6900 Job control group not The control group is not same w Select the jobs which are in the 6901 same (MULT) between specified jobs. Do not regis- ter SENSON and ARCON in these sections. file. sections within 10. ARCON and ARCOF as a pair. the w Provide the same welding sec- 7011 (MULT) number of welding section tion number. w Check the specified multi-layer 6991 file layer file was not completed. underflowed at execution of MLTSMPL. 7030 Over 10 weld sections The number of welding sec. so that two MLTSMPL will not 6982 be executed at the same time. ARCON to ARCOF) are not the same. 7012 (SENSON COMARC to SEN- SOF COMARC. 6980 Duplicate execution of MLTSMPL was executed dur. 6990 Undefined MULT Layer The setting of specified multi. w Provide the number of welding 7031 (MULT) tions in the job exceeds 10. 7010 Weld sections not same Between the specified jobs.fm . SENSON and ARCON exist in w Register SENSON COMARC 7021 tions (MULT) the welding section for the and SENSOF COMARC. Alarm and Error list MOTOMAN ROBOTICS Page: 52 Alarm codes AB Alarm- Message Cause Remedial Action code 6970 Error of MULT Layer DATA:1 w Please contact MOTOMAN ser- 6971 Function Internal queue of sampling vice. 7032 Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. SON SCOMARC and SENSOF SCOMARC. SEN- 7022 specified job. 6992 Alarm- Message Cause Remedial Action code 7000 Undefined MULT Layer Unused multi-layer condition w Check the path number of multi- 7001 cond. 6972 underflowed at execution of MLTSMPL. file file was specified layer file that condition file No. Job name for internal queue of w Please contact MOTOMAN ser- sampling was not registered at vice. DATA:2 w Please contact MOTOMAN ser- Internal queue of sampling vice. execution of MLTSMPL. SENSON SCOMARC to SENSOF SCO- MARC. w Check and change the content 6981 MLTSMPL ing executing MLTSMPL. 7002 will not exceed the welding path No. 7020 Duplicate weld sec. 3: Data from sensor has error 3: Check data from sensor. 7061 (REFP) the same in the scaling shift 7062 section. 7140 Undefined application w Undefined application started w Either change name of program with APSTART command. doesn´t exist. 7090 Line matching error Alarm data: Clear errors according to alarm 7091 (Vision) 1: VLMPOS command was data. 5: VLMPOS command is not 6: Register line file again. (BCC check result error). executed.fm . 4: Set correct sort number. 3: Specified line number 3: Set correct line number. 6: Line file fault. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 7110 Transmission error Alarm data: Clear errors according to alarm 7111 (sensor) 1: Parity error or overrun error data. 7060 Same point error Two or more REFP points are w Reteach the points. 7081 tion 1: Internal transaction error 1. 1: Check whether or not transmis- 2: Answer was not given within sion method between controller 3 seconds from sensor dur. (Customer maintenance). w Initialize cutting condition file condition file) dition file fault. 2: Line file is not defiend. 7080 Error of scaling calcula. first. 2: Check line file number. [Decimal Data] w Data indicates file number. and sensor is matched. contact your MOTOMAN 7082 [Decimal Data] 2: Internal transaction error 2. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 53 Alarm- Message Cause Remedial Action code 7040 Move instruction not The type of move instruction w Use the same move instruction 7041 same (MULT) corresponded to specified jobs type between jobs. 7120 Fault (Sensor monitor w CMOS memory cutting con. 7050 Same point error Three registered points for w Reteach the points so that max 7051 (MOVL 3 POINT) MOVL are the same in the two points will be the same 7052 scaling shift section. 2: Check line connection. [Decimal Data] or flaming error occurred. 3: Arithmetic error (MLTSCAL). point. END) scaling shift section are the 7072 same.Alarm data: w For maintenance alarm code. 4: Sort number is wrong. repres. ing transmission. 7092 [Decimal Data] executed before VLMATCH 1: Execute VLMATCH command command is executed. starting error during application program [Decimal Data] execution. 7071 (START. 7070 Same point error The start and end points for w Reteach the points. 5: Execute VLMPOS command. w Load the file saved on a floppy disk and recover it. 7130 Application program w Another application started w Check job after resetting alarm. APSTART command or load [Decimal Data] application program. 7042 are not the same. 7211 tion file is under discontinuation. func- tion. Alarm and Error list MOTOMAN ROBOTICS Page: 54 Alarm codes AB Alarm- Message Cause Remedial Action code 7150 8086 Emulator starting . 7181 [Decimal Data] 1: MULT layer weld function. w Application program exe. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 7160 Zero divided occur. contact your MOTOMAN 7202 [Decimal Data] repres. 7: Weight movement function 8: General purpose function. 4: COMARC function. contact your MOTOMAN repres. 9: Servofloat function. w Correct application program. w Position name development is under discontinuation. 7201 tem error is under discontinuation. contact your MOTOMAN 7212 repres. 7170 Request error (SL) w Request cannot go through w Turn OFF power and then ON 7171 [Decimal Data] from motion area to sensor again. 5: Conveyor/Press sync. 7210 Undefined name posi. 3: TURBO function. 11: Servo gun function (for spot welding). 7200 Name position file sys. 7180 Software unmatch Alarm data: w For maintenance alarm code. error contact your MOTOMAN [Decimal Data] repres. repres. 6: Shared movement function. w Position name development w For maintenance alarm code. 7172 area. w Position name development w For maintenance alarm code. 10: Laser cutting function. w For maintenance alarm code.fm . w Turn OFF power and check insetion of the MSL board. file) tion file fault. 7190 Fault (name position w CMOS memory name posi. repres. w For maintenance alarm code. w For maintenance alarm code. rence (TURBO) cuted zero divided (emula- [Decimal Data] tion mode). contact your MOTOMAN 7182 2: Observe data. contact your MOTOMAN [File Number] w Data idicates file number. contact your MOTOMAN 7222 [Decimal Data] 1: User frame making position repres. then reset alarm. station and then reset alarm. 7240 ME-NET system Error 2 MSC02 board error during w Check other station´s data. 5: Name position data position tag error. 4: Name position data user frame number error. 7250 ME-NET Comm Moni. 7260 ME-NET Stat Monitor Communication monitor flag 1 w Restart programming at error Flag Error 1 is zero at alarm set station. MOVS were going to w Either change command names tance be executed under arc-retry. [Decimal Data] 1-63: Error stations (mother station is not included). This error occurs only at alarm set station. execute arc-retry or restart function. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 55 Alarm- Message Cause Remedial Action code 7220 User frame making w Position name development w For maintenance alarm code.fm . This error occurs only at alarm set station. station and then reset alarm. w MOVJ. 7230 Cannot monitor dis. 2: User frame rotation position teaching error. 7270 ME-NET Stat Monitor Communication monitor flag 2 w Clear errors at error station and Flag Error 2 is zero at alarm set station. teaching error. [Decimal Data] 1-64: error stations (64 indi- cates mother station). 3: Robot doesn´t exist in rotat- ing position occupation group. Communication monitor flag is w Restart communication at errer tor Flag Error zero at alarm set station. This error occurs only at alarm set station. MOVC or do not restart operation. [Decimal Data] 1-64: error stations (64 indi- cates mother station). to MOVL . [Decimal Data] communication. Value of type 1 receiving frame NI (relay link sending size) and NY (register link sending size) doesn´t match that of data link parame- ter. 7221 error is under discontinuation. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 13: Total amount of all stations registersending size on data parameter link exceeds 2048. Alarm and Error list MOTOMAN ROBOTICS Page: 56 Alarm codes AB Alarm- Message Cause Remedial Action code 7280 Data Link Parameter Alarm Data: w Correct data link allocation of Error 10: Number of stations error self-station or mother station [Decimal Data] (not 2 number of stations. 12: Total amount of all stations relay sending size on data link parameter exceeds 256. (Block whose total amount of off-set and byte length is bigger than other station relay area size on data link parameter exists.) 24: Station number specified with data link allocation is not included in number of stations on data link parameter. data link parameter. 14: Relay off-set exceeds mother station relay area size on data link parameter. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 15: Register off-set exceeds mother station relay area size on data link parameter.) 22: Block specified with data link allocation exceeds other station relay area size specifie with data link parameter.) 23: Block specified with data link allocation exceeds other station register area size speci- fied with data link parameter. 64). 20: Block specified with data link allocation exceeds self-sta- tion relay area size specified with data link parameter. 7290 Waiting Data Link Waiting for data link parameter w Restart communication with Parameter from mother station. 11: Total amount of relay and register sending size per sta- tion on data link parameter exceeds 1024. (Block whose total amount of off-set and byte length is bigger than self-station relay area size on data link parameter exists. mother station and then reset the alarm. (Block whose total amount of off-set and byte length is bigger than other station register area size on data link parameter exists.fm . board was inserted. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. 7380 Press Encoder Error Encoder cable is cut or w Check encoder cable and 7381 (123) encoder itself is broken. 7362 7370 SV Float Mode Release .w Initialize spot gun cond. data file w Select “use” for specified cond. pleted” 7342 [Decimal Data] 7350 SL-CPU Data Initializa. CMOS memory press cond. w Please contact MOTOMAN- service. 7332 [Decimal Data] 7340 Undefined Press Reso. data file. Encoder cable is cut or w Check encoder cable and 7421 tion Position Error (123) encoder itself is broken. w Since this is a system data file Data) gin data fault. Specified press resolution data w Define data the select “com- 7341 lution Data file is not defined. Request (to initialize) cannot w Turn OFF power and then ON 7351 tion Error go through from motion area to again. pulse (press resolution). Data indicates error press number. 7420 Press Encoder Posi. w Please contact MOTOMAN- service. [File Number] Data indicates file number.CMOS memory servofloat con. Data indicates file number. file dition File) dition file fault. 7320 Fault (Press Cond. 7390 Press Position Limit Press position exceeds limit w Check press stroke. 7400 Press Counter Limit Press position counter pulse w Check press position counter 7401 (123) owerflow. encoder. tomer maintenance). 7360 SV Float Mode Set .fm . 7352 sensor area. Specified press cond. problem. Wrong w Check board insertion. 7310 Fault (Servo Float Con. Data indicates error press number. w Lad the file saved on a floppy disk and recover it. Data indicates error press number. 7330 Undefined Press Cond. pleace contact MOTOMAN-service. (customer maintenance). w Turn OFF power and check the insertion of the MSL board. file (cus- Data File) fault. encoder. 7410 CPU Rack Servo Error CPU rack/board error. w Please contact MOTOMAN- 7361 Error (axis) service. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 57 Alarm- Message Cause Remedial Action code 7300 Fault (Operation Origin CMOS memory operation ori. w Please contact MOTOMAN- 7371 Error (axis) service. 7331 Data File in job is not defined. w Check MSV board connector/ short pin. file w Initialize press cond. 7391 (123) (21m). 7442 [Decimal Data] 7450 Servopack Power ON 1: Main power is OFF w Please contact MOTOMAN- 7451 Error 2: SRDY is ON service. w Please contact MOTOMAN- 7511 Spot Weld Complete service. file fault. [File Number] Data indicates file number. file Cond. 7452 [Decimal Data] 7460 Fault (Spot Gun cond. w Load the file saved on a floppy disk and recover it.fm . file sure File) pressure cond. w Load the file saved on a floppy disk and recover it. CMOS memory spot gun cond. 7512 7520 Spot Weld . 7490 Fan Error (Regenera. file fault. w Please contact MOTOMAN- 7531 ing service. 7552 Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. CMOS memory servo gun w Initialize spot gun cond. File) cond. service.. 7470 Fault (Spot Welder CMOS memory spot welder w Initialize spot gun cond. file fault. file File). [Decimal Data] w Fan needs to be replaced. 7502 7510 Undefined Signal for . w Load the file saved on a floppy disk and recover it. robot to save location. Fan (regenerative resistor) rev. 7522 7530 Error in Weld Start Tim. w Please contact MOTOMAN- 7551 Release Error (axis) service. w Initialize spot gun cond. 7532 7540 Servo Gun Cont. w Please contact MOTOMAN- 7441 Error 2: SRDY is OFF. (customer maintenance). Alarm and Error list MOTOMAN ROBOTICS Page: 58 Alarm codes AB Alarm- Message Cause Remedial Action code 7430 Internal Clock Change . 7500 Undefined Servo Gun . w Please contact MOTOMAN- 7541 Set Error (axis) service. [File Number] Data indicatesfile number.w After resetting alarm. Mode . w Please contact MOTOMAN- 7501 control Group service. w Please contact MOTOMAN- 7521 Complete Time Limit service. (customer maintenance). move tive Resistor) olution decreased. 7542 7550 Servo Gun Cont. w Please contact MOTOMAN- 7431 Error (123) service. [File Number] Data indicates file number. Mode . 7480 Fault (Servo gun Pres. w Please contact MOTOMAN- service. 7440 Servopack Power OFF 1: Main power is ON. (customer maintenance). 7572 7580 Fault (Anticipation OT CMOS memory aticipation OT w Initialize anticipation OT file File) file fault. 7660 MPCT Function NOT MPTC function is used without w Set “conveyor queue use per- 7661 Specified setting “conveyor queue use mission” (“1”) and then use 7662 permission” in conveyor cond. 2: OG output number error. operation. [File Number] Data idicates file number. 7590 Fault (Anticipation OG CMOS memory aticipation OG w Initialize anticipation OG file File) file fault. 7562 [Decimal Data] 7570 Spot Weld Error . 7612 7620 Defective Anticipation OT file is set “-. command and/or conveyor veyor queues. 7622 [File Number]. queues. data file.”. 7630 Impossible to Discon. (customer maintenance). w Check LS (chattering). MPCT function. w Conveyor queue clear signal was sent. w Please contact MOTOMAN- 7561 Error service. execute oper- 7611 NOT enough function after emergent stop. PAINTOF MOVL 7602 [Decimal Data] MAINTOF MOVL 7610 Anticipation Distance No return step upon re-paint w After alarm reset. w Load the file saved on a floppy disk and recover it. ation again. w After alarm reset. do the correct nect Servo connect is specified. w In addition to piece under sync. [File Number] Data idicates file number. w Change the timing for CVQUE 7651 Data cuted without using all con. 7640 Conveyor Queue Over. queue clear signal. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Conveyor origin SL wnt on w Check pieces and keep number flow without using all 6 conveyor of them at 6 or less. 7650 No Conveyor Queue w CVQUE command was exe. w Load the file saved on a floppy disk and recover it. number. MOTOMAN ROBOTICS Alarm and Error list AB Alarm codes Page: 59 Alarm- Message Cause Remedial Action code 7560 KD Change Process . (customer maintenance). set correct 7621 OT File 1: OT output number error. w Please contact MOTOMAN- 7571 [Decimal Error] service.fm . w Conveyot origin LS worked improperly. 7600 Anticipation Control Many operation commands are PAINTON PAINTON 7601 Error set continously. w After alarm reset. The axis that makes servo dis. pieces passed con- veyor origin LS add up to more then 6. 7930 Parameter Error Sub Net-Mask is w Check the set value again and (Sub Net-Mask) set to (0.0. w Please contact MOTOMAN- 7731 service.255) the system configuration. w Please contact MOTOMAN- 7761 Error service. w Please contact MOTOMAN- 7691 service. 7752 7760 Servo Gun Installation .255.0. please contact MOTOMAN service Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Alarm and Error list MOTOMAN ROBOTICS Page: 60 Alarm codes AB Alarm- Message Cause Remedial Action code 7670 CONVSFT Error Arithmetic error occurred upon w Please contact MOTOMAN- 7671 [Decimal Data] CONVSFT command execu. address in the network speci- fied by sub net mask in the sys- tem configuration. 7950 System Error Improper intialization of MIF06 w If the control power supply is (Ethernet) board turned ON again and the error still occurs. 7692 7700 Sensor Initial Data .255. w Please contact MOTOMAN- 7741 service. w Please contact MOTOMAN- 7751 Error service. 7940 Parameter Error Set value of gateway IP w Check the set value again and (Gateway) address does not exist in the change it to the gateway IP same network as self-station. 7682 7690 STARWAIT Time Limit . 7680 Cannot Execute Gun .255. 7672 tion. w Please contact MOTOMAN- 7681 Type service.fm . 7762 7770 Fault (Servo Gun . 7730 PG ON Error (axis) . w Please contact MOTOMAN- 7701 Beyond Range service. service.0.0.0) or change it to the proper value in (255. [Binary Data] 7720 Cannot execute Cali. 7732 7740 PG OFF Error (axis) .0) or change it to the proper value in (255. 7742 7750 Servo Gun Change .255) the system configuration.255. w Please contact MOTOMAN- 7721 bration service. [Decimal Data] 7920 Parameter Error Self-station or server IP w Check the set value again and (IP-address) address is set to (0. w Please contact MOTOMAN- Stroke Fike) service. . A four- digit error code and a message appears at the bottom of the display. w Parameter setting value error. MOTOMAN ROBOTICS Alarm and Error list AB Error messages. current I/O program “compile” executed. 1 xxx All editing errors. 3 xxx External memory unit operation 4xxx Concurrent I/O editing 5xxx --- 6xxx --- 7xxx --- 8xxx --- 9xxx System (software) error Error Data Message Cause code 0010 . 0020 . Error messages.fm .classing Error-messages are indicated on the P-box display. 0050 . 2 xxx All job registration errors. 3. Error messages occur when simple mistakes have been made. 0040 . - Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Error messages turn of the ENABLE key. Illegal setting for number of vari. Turn OFF Servo power and perform w Servo power turned ON when con- corrective action. Depress TEACH w Operation in mode other than specified. 0030 . w Position variable can not be used. Note! Alarm and Error codes can begin with the same numbers but have totaly different meaning. Undefined robot position variable.1 Caution Error codes Remedial action 0 xxx System / General Operation. these errors are cleared by pressing CANCEL key on the Teachbox. such as pressing the START button while the robot is not in PLAY-mode. Depress MODIFY.classing Page: 61 3. ables. The error codes are classified below. w Operation in other than specified mode. Set to PLAY mode. Defined Condition No. 0090 . ENABLE LED ON - 0170 . - 0100 . - 0200 . Undefined points (ORG. - 0150 . Defined Group axis - 0210 . w Servo power is not turned ON. Undefined Coordinated robots - 0211 . No start using external signal. XX. Cannot set same No. Turn ON servo power. Welding condition file not selected - 0280 . Set robot exactly to taught point. - Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Undefined robot - 0250 . Taught by other Robot - 0230 . Lack of number of I/O points. While releasing softlimit - 0240 . Undefined File - 0270 .fm . XX. XX. On Overrun recovery status. No start using P-Box. TEACH mode select signal ON - 0190 . Same position in the 3 points. Servo-OFF signal ON - 0180 .classing AB Error Data Message Cause code 0060 . TEACH-LOCK mode ON - 0160 . - 0260 . Undefined Coordinated stations - 0220 . - 0140 . Alarm and Error list MOTOMAN ROBOTICS Page: 62 Error messages. Set variable No. 0130 . w When a MOV-instruction is deleted (or modified) the tool number sekected at the programming pen- dant does not match the regis- tered tool. XY). Program and current Tool different. - 0290 . 0080 . w ORG. XY) of the user coordinates. XY points in the user coordinates have not been regis- tered. w The same position is registered for the three basic points (ORG. 0070 . 0120 . - 0110 . Calibrated at another file - 0480 . Undefined User Frame. Incorrect number of taught points. Excess time for measuring - 0470 . - 0370 . Can specify SERVO OFF by safety - relay 0400 . 0420 . MOTOMAN ROBOTICS Alarm and Error list AB Error messages. 0390 . Not start reservation mode - Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Wrong specification of Measure w Incorrect specification of time Interval measurement interval for TRT function. w Time could not be measured for TRT function. Cannot calibrate at this combination - 0500 . Register start reserved JOB - 0440 . 0410 . Cannot Initialize - 0360 . 0450 . Position NOT Checked w 2nd home positon operation not confirmed. 0430 . 0310 . Cannot register Master Job. Clear data to teach at the tool - because other tool is set. - binations 0530 . Cannot operate MasterJob - 0350 . w The user coordinate system required for conversion was nor registered.- tion 0490 . Calibrated at another robot combina. Teach point not specified. Wrong JOB for measuring - 0460 . Undefined robot calibration data - 0510 . Cannot operate MACHINE-LOCK - 0340 . Incorrect number of points taught for tool calibration.classing Page: 63 Error Data Message Cause code 0300 . No SYNCRO operation - 0380 . Cannot operate CHECK-RUN - 0330 .fm . Time could not be measured. Cannot select two coordinated com. - 0320 . Undefined axis - 0520 . Start reservation mode - 0540 . Enter correct clock - 1070 . Register group axis combination [SYNCRO] key for coordinated job which was not registered as a group was pressed.fm . Not completed to load original tool file 0640 . Enter correct data - 1060 . Cannot teach position while softlimit - released 0570 . Cannot use the user coordinate 0620 . Turn on all of contactor´s servo - power 0580 . Undefined JOB name No specified job. 0610 . - hibited is set 0560 . Name not entered - 2030 . Not specified tool file Error Data Message Cause code 1010 . . Enter a number in 8 figures - Error Data Message Cause code 2010 . Unauthorized ID No. 2050 .classing AB Error Data Message Cause code 0550 . Defined JOB name Same job name already registered. EDIT LOCK mode Editing prohibited 1020 . Start reserved JOB change pro. Select JOB (robot) 0630 . Alarm and Error list MOTOMAN ROBOTICS Page: 64 Error messages. Connect group-axis combination - 0590 . 0600 . User ID is different 1040 . - 1050 . Out of setting data range Cubic interference zone is set. Enter Correct value Input data incorrect 1030 . Address not find - Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Incorrect character - 2020 . 2040 . Cannot insert any more instruction in w Step No. Unmatched number of paranthesis - in equation 2260 . Cannot Insert/Alter/Delete with servo - OFF 2130 . Select Master - 2070 . Cannot insert data - 2190 . Over softlimit - 2120 . 2090 . Set robot exactly to taught position w When MOV-instruction is deleted. Illegal data setting - 2220 .classing Page: 65 Error Data Message Cause code 2060 . Depress INSERT or MODIFY w [INSERT] or [MODIFY] key was not pressed. do not coincide. w Insuficient instruction file memory. overflow. 2280 2 . JOB * Job memory full - 1 . Cannot modify data - 2210 . Display edit instruction w Sequence Nos. 3 . Excessive instruction equation - 2250 . Wrong group axis selection - 2270 . 2110 . Must press ENABLE to modify - 2150 . w Insufficient job registering memory. Inserting is not possible from this - position 2160 . 2180 . Depress INSERT to record same - step as previous step. w Insufficient position file memory. Illegal instruction equation - 2240 . Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. current manipulator position and teaching postio do not coincide. Only modifying MOV-instruction pos. 2230 .- sible 2100 .fm . 2080 . Only modifying MOV-instruction pos. Cannot delete data - 2200 . JOB cannot be edited w Job block editing prohibited. MOTOMAN ROBOTICS Alarm and Error list AB Error messages. Cannot modify or delete instruction - 2170 .- sible 2140 . Relative Job not permitted. Enter JOB name - 2530 . Cannot create coordinated JOB w Calibration not completed 2330 . Enter step number - Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Undefined SUB master job. 2310 . Illegal step number - 2540 . Cannot convert the JOB - 2510 . - 2460 .- ting. Cannot cut/copy NOP and END - instruction 2380 . - ting.fm .and W-axis to basic posi. Same lable exists w Data: line No. Specified JOB not permit - 2470 . Wrong group axis selection - 2400 . Reserved data not found - 2440 . Cannot edit coordinated instruction w Calibration not completed 2340 Pasted data not found - 2350 . Move C. Wrong JOB type - 2480 . Editing area not found - 2360 . w Data: 1 = submaster 1 2 = submaster 2 2300 . Alarm and Error list MOTOMAN ROBOTICS Page: 66 Error messages. Cannot correct position in the JOB - 2520 . Wrong JOB coordinates setting - 2490 . 2320 . perform a line-edit 2430 . When variable is used for teach set. When variable is used for speed set. Cannot create editing area - 2370 . - tion 2450 . perform a line-edit 2420 . Execute NEXT/BACK operation - again 2500 . Wrong JOB selection - 2390 . 2291 . Undefined Master job w Master job is not registered.classing AB Error Data Message Cause code 2290 . Cannot move in cut & paste editing - 2410 . Cannot teach job without group axis - specification. classing Page: 67 Error Data Message Cause code 2550 . MOTOMAN ROBOTICS Alarm and Error list AB Error messages. I/O error on floppy disk w Number of allowable retransmis- sions exceeded. Out of memory on floppy disk. Wrong JOB kind - 2620 . Floppy disk protection is ON w The floppy disk is set to write prohibit. Cannot correct play speed in the - JOB 2630 . File not saved on floppy disk - 3050 . Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. The step does not contain speed - 2580 . 3070 . w Faulty cable connection to floppy nected disk drive or power not supplied. Softlimit range over - 2600 . w No free space in floppy disk memory area. 3040 . The step does not contain PL/CONT - 2590 .fm . Number of files on floppy disk is full - 3080 . Duplicated step number - 2560 . Cannot correct play speed in the - JOB 2610 . - ables and REEP 2570 . Cannot correct step of position vari. File saved on floppy disk - 3060 . w No response from floppy disk drive. 3020 . Floppy Disk Drive cable not con. Floppy disk not inserted into Floppy - Disk Drive 3030 . Conveyor position not reset - Error Data Message Cause code 3010 . Verify error w Verification error 3140 .fm . Alarm and Error list MOTOMAN ROBOTICS Page: 68 Error messages. Syntax error w Instruction syntax error * HEX code error 1 w Incorrect data record specification 2 w Incorrect specification of EOF 3120 record 3 w Incorrect record format 4 w Record tootal check error 3130 .classing AB Error Data Message Cause code * Transmission error with floppy disk drive 1 w Framing error 2 w Overrun error 3 w Parity error 3090 4 w Data code error 5 w Data read error 6 w Data write error 7 w Data timeout 8 w Serial I/O error 9 w Error other than above 3100 . Concurrent I/O data transmission - error Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. specification 3160 . Wrong pseudo instruction - * Concurrent I/O record error 1 w Format error 2 w Ladder program is too long 3 w Data range exceeded 3150 4 w Incorrect channel No. specification 5 w Incorrect relay No. Total checksum error w Instruction syntax error 3110 . specification 6 w Incorrect timer value 7 w Incorrect timer No. MOTOMAN ROBOTICS Alarm and Error list AB Error messages- classing Page: 69 Error Data Message Cause code * Error in job data record 1 w NPOS record does not match the format. 2 w User coordinate No. (USER) record does no t match the format. 3 w Tool No. (TOOL) record does not match the format. 4 w Record of position data part does not match the format. 5 w RCONF record does not match the format. 6 w Date ( DATE) record does not match the format. 3190 7 w Comment (COMM) record does not match the format. 8 w ATTR record does not match the format. 9 w GROUP record does not match the format. 10 w Local variable (LVARS) record does not match the format. 11 w Job argument (JARGS) record does not match the format. 12 w FRAME record does not match the format. 13 w Coordinates of position data do not match relative job coordinates. 3200 - NOP or END instruction not found - 3210 - Position No. storage area not found - * Syntax error in instruction data 2 w Program bug 3 w Undefined instruction / tag 4 w Insufficient instructions / tags 3220 5 w Unwanted instruction / tag 6 w Sub-instruction 7 w No instruction 8 w Invalid instruction Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm Alarm and Error list MOTOMAN ROBOTICS Page: 70 Error messages- classing AB Error Data Message Cause code 9 w Invalid tag. 10 w Invalid character. 11 w Undefined intermediate code. 12 w Insufficient intermediate codes. 14 w Syntax stack underflow. 15 w [%] not completed. 16 w (%) not completed. 17 w No marco job registered. 18 w Input format error. 19 w Data size excessive. 20 w MIN value excessive. 21 w Max value excessive. 22 w Incorrect arithemetic expression. 23 w Incorrect job call argument setting. 24 w Incorrect marco job call argument 3220 setting. (cont....) 25 w Incorrect position vector setting. 26 w System error. 27 w Soft key specification error. 28 w Numerical input buffer overflow. 29 Real type data precision error. 35 BOOL type data error. 36 CHAR data error. 37 w Byte type, Bin/Hex byte type data error. 38 w Iteger type, decimal WORD type data error. 39 w Bin/Hex word type data error. 40 w Double-precision type, decimal DWORD type data error. 41 w Bin/Hex WORD typedata error. 42 w Integer type data error. Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm MOTOMAN ROBOTICS Alarm and Error list AB Error messages- classing Page: 71 Error Data Message Cause code 43 w Ladder characteristic type data error. 44 w JCL text. 45 w Invalid text. 3220 (cont....) 46 w [Lable name] data error. 47 w [Job name] data error. 48 w [String]data error. 49 w [Comment] data error. 3230 - System not matched - 3240 - Undefined application - 3250 - Cannot load this file - 3260 - Excess input data - 3270 - Cannot verify this file - 3280 - Wrong welding condition file (STAN- - DARD / ENHANCED) Error Data Message Cause code * Illegal Relay No. 4010 XXX w Step No. display * Illegal block No. 4020 XXX w Step No. display * Illegal instruction 4030 XXX w Step No. display * Relay No. duplicated in OUT or w Multiple outputs to same relay 4040 GOUT instruction XXX w Step No. display * The relay is not used. 4050 XXX w Line No. display * Excess STR-(NOT) instruction 4060 XXX w Step No. display * Excess AND(OR)-STR instruction 4070 w Step No. display Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli.fm w The order from the head of the line 4150 mands is not GSTR. Depress INSERT / MODIFY / - DELETE soft keys 4190 . counter 4100 CNT XXX w Step No.fm . Wrong ladder program w Position or number of PART instruction is incorrect.classing AB Error Data Message Cause code * Syntax error in CNT instruction 4080 XXX w Step No. XXX w Step No. display 4160 . display * Enter STR (-NOT) at Head of Block w No STR (-NOT) at head of line. 4090 XXX w Step No. GOUT. END instruction not found - 4140 . Cannot Modify / Delete - 4180 . duplicate in TMR and w Duplicate use of timer. Ladder program not found - 4200 . Alarm and Error list MOTOMAN ROBOTICS Page: 72 Error messages. Cannot specify system variables ($) - 4210 . Excessive ladder scan-time w Ladder scan time is too long 4120 . Concurrent I/O memory is full w Memory overflow 4130 . display * Relay No. Cannot edit line - Skapad: 95-11-27 Ändrad: 99-06-04 Filnamn: T:\OP-MANU\ENG\Alarmli. Cannot edit system section - 4170 . * Wrong use of GSTR. GOUT com. display 4110 . Notes . Headquarters: MOTOMAN ROBOTICS AB Box 504 l 385 25 Torsås l Sweden Tel: +46-486-48800l Fax: +46-486-41410 Subsidiary: MOTOMAN ROBOTICS UK LTD 1 Swan Industrial Estate l Banbury l OXON OX16 8DJ l England Tel: +44-1295-272755 l Fax: +44-1295-267127 MOTOMAN ROBOTICS ITALIA SRL Via Emilia 1420/16 l I-41100 Modena l ITALY Tel: +39-59280496 l Fax: +39-59280602 MOTOMAN ROBOTICS FRANCE S.a. Ctra.A.L. 4 l Venda Nova l PT-2700 Amadora l Portugal Tel: +351-14968160 l Fax: +351-14990696 HN AUTOMATIC A/S Hjulmagervej 4 l DK-7100 Vejle l Denmark Tel: +45-79428000 l Fax: +45-79428001 LINCOLN-KD S. Via S. Rua Vice Almirante Azevedo Coutinho.A.p.A. Laureà Miró 396-398 l E-08980 Sant Feliu de Llobregat l Spain Tel: +34-36859600 l Fax: +34-36859633 MOTOMAN ROBOTIT OY Kärsämäentie 8 l SF-20300 Turku l Finland Tel: +358-22145600 l Fax: +358-22145660 ROBOT-TEKNIKK AS Øvre Eikervei 177 l N-3048 Drammen l Norway Tel: +47-32217830 l Fax: +47-32217840 SIAD S. Boi de Llobregat l Spain Tel: +34-36303478 l Fax: +34-36543459 Distributors: ELECTRO-ARCO S. Bernardino. 92 l I-24126 Bergamo l Italy Tel: +39-35-328111 l Fax: +39-35-320183 MOTOMAN ROBOTICS AB a subsidiary of YASKAWA Electric Corporation . Avenida Marina 56 l Parcela 90 l ES-08830 ST. Rue Nungesser et Coli l D2A Nantes-Atlantique l F-44860 Saint-Aignan-de-Grand-Lieu l France Tel: +33-2-40131919 l Fax: +33-40754147 MOTOMAN ROBOTICS ESPAÑA S.