Maintenance Manual-Alarm • Error List (XRC) MRS51020

March 30, 2018 | Author: Johan Zraghoz | Category: Electrical Connector, Technology, Robot, Switch, Rotation Around A Fixed Axis
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MOTOMANMOTOMAN XRC MAINTENANCE MANUAL Alarm • Error List Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN ROBOTICS EUROPE A subsidiary of YASKAWA Electric Corporation MANUAL NO. MRS51020 MOTOMAN ROBOTICS EUROPE Reference list Operator’s Manual Basic Programming Maintenance Manual Installation and Wiring Revision 990319 First release of this manual. Revision 990617 Master page updated with new company name (MOTOMAN ROBOTICS EUROPE AB) Revision 990827 New alarm is added. MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Created: 99-03-02 Revised: 99-06-17 Page: III Doc. name: MRS51020TOC.FM 1. Alarm .................................................................... 5 Outline of Alarm Alarm Message List t Alarm number 0010-0999 t Alarm number 1000-1333 t Alarm number 4000-4601 5 6 6 20 36 2. Error ................................................................... 63 Error Message List t System and General Operation t Editing t Job Defined Data t External Memory Equipment t Concurrent I/O t Maintenance mode 63 63 67 67 70 76 77 MOTOMAN ROBOTICS EUROPE Page: IV Operator’s manual MOTOMAN XRC Doc. name: MRS51020TOC.FM Created: 99-03-02 Revised: 99-06-17 To ensure safe and efficient operation at all times. The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. could result in minor. name: GENERAL_WARNING. even if not designated as “CAUTION” and “WARNING”. . if not avoided. moderate or serious injury to personnel and damage to equipment. be sure to follow all instructions. operation. INFORMATION Always be sure to follow explicitly the items listed under this heading. This manual explains the various components of the MOTOMAN XRC system and general operations. maintenance or inspection of the MOTOMAN XRC. It may also be used to alert against unsafe practices. In this manual. General items related to safety are listed in the MOTOMAN XRC Setup Manual.FM Safety NOTES FOR SAFE OPERATION Read this manual carefully before installation.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Created: 98-08-08 Revised: 00-03-31 Page: 1 Doc. To ensure correct and safe operation. the Notes for Safe Operation are classified as “WARNING” or ”INFORMATION”. Read this manual carefully and be sure to understand its contents before handling the MOTOMAN XRC. Be sure all covers and shields are replaced before operating this product. Some drawings in this manual are shown with the protective covers or shields removed for clarity. WARNING Indicates a potentially hazardous situation which. carefully read the Setup Manual before reading this manual. Be sure to tell the representative the manual number listed on the front cover. If your copy of the manual is damaged or lost. Information how to connect to the MOTOMAN XRC is described in the XRC Service Manual. EMC and LVD Directive. MOTOMAN is not responsible for incidents arising from unauthorized modification of its products. . the EMC-directive as well as the LVD-directive. see revision information. and must not be put into service until the machinery into which it is to be incorporated has been declared in conformity with the provisions of EC´s Machinery. modifications or changes in specifications. contact a MOTOMAN representative to order a new copy. The equipment is intended to be incorporated into machinery or assembled with other machinery to constitute machinery covered by this directive. If such modification is made. The representatives are listed on the back cover.MOTOMAN ROBOTICS EUROPE Page: 2 Operator’s manual MOTOMAN XRC Doc.FM Created: 98-08-08 Revised: 00-03-31 The equipment is manufactured in conformity with the EC Machinery directive. name: GENERAL_WARNING. Unauthorized modification voids your product’s warranty. MOTOMAN is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty. the manual will also be revised. MOTOMAN may modify this model without notice when necessary due to product improvements. the programming pendant and supply cables. In this manual. name: GENERAL_WARNING.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Created: 98-08-08 Revised: 00-03-31 Page: 3 Doc. When two keys are to be pressed simultaneously. page key The cursor key is an exception and a picture is not shown. ex. buttons and displays are shown as follows: Equipment Programming pendant Character keys Manual designation The keys which have characters printed on them are denoted with [ ] ex. The manipulator usually consists of the controller. Axis keys Number keys Keys pressed simultaneously “Axis keys” and “Number keys” are generic names for the keys for axis operation and number input. the equipment is designated as follows. ex. the playback panel. ex. [TEACH] on the playback panel Symbol keys Displays Playback panel Buttons . [ENTER] The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture. [SHIFT]+[COORD] The menu displayed in the programming pendant is denoted with “italic” characters. the keys are shown with a “+” sign between them. JOB Playback panel buttons are enclosed in brackets. ex. Equipment MOTOMAN XRC Controller MOTOMAN XRC Playback panel MOTOMAN XRC Programming pendant Start panel for machinery operation in PLAY-mode XRC P-Panel P-Pendant Start panel Manual designation Key operation Descriptions of the programming pendant and playback panel keys.FM Definition of terms used often in this manual The MOTOMAN manipulator is the YASKAWA industrial robot product. Moving the robot with the programming pendant. Service Perform the following inspection procedures prior to conducting robot teaching. Operator injury can occure if other person reset safety and restart robot in PLAYmode. Performing automatic operations. . The MOTOMAN XRC should not be used if the emergency stop buttons do not function. Always return the programming pendant to the hook after use. Teaching Before operating the robot.MOTOMAN ROBOTICS EUROPE Page: 4 Operator’s manual MOTOMAN XRC Doc. repair them immediately and be sure that all other necessary processing has been performed. Always set the Teach Lock before entering the robot work envelope to teach a job. name: GENERAL_WARNING. Check for damages to insulation and sheathing of external wires. Check for problems in robot movement. If problems are found. Always press an emergency stop button immediately if there are problems. Injury or damage to machinery may result if the emergency stop circuit cannot stop the robot during emergency. on the floor or near fixtures. Injury may result if anyone enters the working envelope of the robot during operation. Spare parts MOTOMAN warranty is only valid if original spare parts are used. Running check operations. the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed. The programming pendant can be damaged if it is left in the robots work area.FM Created: 98-08-08 Revised: 00-03-31 Description of the operation procedure In the explanation of the operation procedure. check that the servo power is turned off when the emergency stop buttons on the playback panel or programming pendant are pressed. Confirm that no persons are present in the robot work envelope and that you are in a safe location before: Turning on the MOTOMAN XRC power. FM Alarm • Error 1. After correcting the cause that the specific input signal for the system or user alarm request is input. Turn off the main power supply and correct the cause of the alarm. 1ooo ooo 3ooo ooo Level 1-3 (Major alarm) 4ooo ooo 8ooo ooo 9ooo ooo Level 4-8 (Minor alarm) Level 9 (Minor alarm) (User Alarm) . Alarm Code 0ooo ooo Alarm Level Level 0 (Major alarm) (Off line alarm : Initial diagnosis/ Hardware diagnosis alarm) Alarm Reset Method It is not possible to reset by [RESET] under the alarm display or the specific I/O signal(Alarm reset). it is possible to reset by [RESET] under the alarm display or the specific I/O signal(Alarm reset). After correcting the cause. Alarm 1.1 Outline of Alarm When the alarm of level 0-3(major alarm) occurs. the servo power supply is interrupted. Then turn on the main power supply again.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Outline of Alarm Created: 98-08-19 Revised: 99-08-27 Page: 5 Doc. name: MRS51020-CH1. Alarm Code classification. Turn off the main power supply and correct the cause of the alarm. Then turn on a main power supply again. It is not possible to reset by [RESET] under the alarm display or the specific I/O signal(Alarm reset). it is possible to reset by [RESET] under the alarm display or the specific I/O signal(Alarm reset). MOTOMAN ROBOTICS EUROPE Page: 6 Operator’s manual MOTOMAN XRC Doc. Careless operation may delete registered data. before performing any repairs. 0010 . s Alarm number 0010-0999 Alarm Number Message CPU BOARD INSERTION ERROR [Decimal Data] Cause Insertion of the circuit board was not completed Defective circuit board Data stands for error circuit board 10:XCP02 circuit board (#1-0) 11:XCP02 circuit board (#1-1) 12:XCP02 circuit board (#1-2) 20:XCP02 circuit board (#2-0) 21:XCP02 circuit board (#2-1) 22:XCP02 circuit board (#2-2) (Note) XCP02 circuit board (#o. name: MRS51020-CH1.2 Alarm Message List Pay special attention when performing any repairs for system control circuit board “JANCD-XCP01”. Personnel must be appropriately skilled in maintenance mode operation to carry out repairs. n :0 àXCP02 circuit board(main) 1 àSub-board1(connector CNSL side) 2 àSub-board2(connector CNET side) Remedy Check whether the circuit board is correctly inserted. JANCD-XCP01 back up very important file data for the user program with a battery.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List 1.n) o:Slot NO. consult MOTOMAN service. Replace the circuit board. If repairs for JANCD-XCP01 are necessary. Check the connection of communication cable for servopack. Replace the circuit board. The connection of terminal connector was not completed. Replace the terminal connector. The circuit board was out of order. Data stands for an error circuit board 50:WRCA01 circuit board (#1) 51:WRCA01 circuit board (#2) 52:WRCA01 circuit board (#3) 53:WRCA01 circuit board (#4) 54:WRCA01 circuit board (#5) 55:WRCA01 circuit board (#6) (Note) WRCA01 circuit board (# o ) The setting value of rotary switch on the WRCA01 circuit board is ( o -1). Replace the circuit board. The terminal connector was unusual. WRCA•CN10(#*) . (The terminal connector was equipped 1 for a system). Check the connection of the terminal connector(WRCA•CN10(#*)). .FM Alarm Number Message CPU COMMUNICATION ERROR [Decimal Data] Cause Insertion of the circuit board was not completed Defective circuit board Data stands for an error circuit board 10:XCP02 circuit board (#1-0) 11:XCP02 circuit board (#1-1) 12:XCP02 circuit board (#1-2) 20:XCP02 circuit board (#2-0) 21:XCP02 circuit board (#2-1) 22:XCP02 circuit board (#2-2) (Note) XCP02 circuit board (# o-n) o :Slot NO. The connection of communication cable for servopack was not cut.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 7 Doc. name: MRS51020-CH1. (XCP01•CN05 WRCA(#*)•CN10 cable. n :0 àXCP02 circuit board(main) 1 àSub-board1(connector CNSL side) 2 àSub-board2(connector CNET side) Remedy Check whether the circuit board is correctly inserted.WRCA CN10(#*) cable) Replace the communication connector for servopack. 0020 0021 COMMUNICATION ERROR(SERVO) [Decimal Data] The connection of communication cable for servopack was not completed. 0030 . Data stands for an error circuit board 1:XCP01 circuit board 2:XSP01 circuit board 10:XCP02 circuit board (#1-0) 11:XCP02 circuit board (#1-1) 12:XCP02 circuit board (#1-2) 20:XCP02 circuit board (#2-0) 21:XCP02 circuit board (#2-1) 22:XCP02 circuit board (#2-2) (Note) XCP02 circuit board (#o -n ) o :Slot NO.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message ROM ERROR [Decimal Data] Cause An error was found by sum check of system program. Remedy Replace the circuit board. consult MOTOMAN service.MOTOMAN ROBOTICS EUROPE Page: 8 Operator’s manual MOTOMAN XRC Doc. n :0 à XCP02 circuit board(main) 1 à Sub-board1(connector CNSL side) 2 à Sub-board2(connector CNET side) 50:WRCA01 circuit board (#1) 51:WRCA01 circuit board (#2) 52:WRCA01 circuit board (#3) 53:WRCA01 circuit board (#4) 54:WRCA01 circuit board (#5) 55:WRCA01 circuit board (#6) (Note) WRCA01 circuit board (# o ) The setting value of rotary switch on the WRCA01 circuit board is ( o -1). When the XCP01 circuit board is replaced. name: MRS51020-CH1. When the XCP01 circuit board is replaced. 0040 .MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 9 Doc.FM Alarm Number Message MEMORY ERROR (CPU BOARD RAM) [Decimal Data] Cause Memory(RAM) error Data stands for an error circuit board 1:XCP01 circuit board 2:XSP01 circuit board 10:XCP02 circuit board (#1-0) 11:XCP02 circuit board (#1-1) 12:XCP02 circuit board (#1-2) 20:XCP02 circuit board (#2-0) 21:XCP02 circuit board (#2-1) 22:XCP02 circuit board (#2-2) (Note) XCP02 circuit board (#o . consult MOTOMAN service.n) o :Slot NO. name: MRS51020-CH1. n :0 à XCP02 circuit board(main) 1 à Sub-board1(connector CNSL side) 2 à Sub-board2(connector CNET side) 50:WRCA01 circuit board (#1) 51:WRCA01 circuit board (#2) 52:WRCA01 circuit board (#3) 53:WRCA01 circuit board (#4) 54:WRCA01 circuit board (#5) 55:WRCA01 circuit board (#6) (Note) WRCA01 circuit board (# o ) The setting value of rotary switch on the WRCA01 circuit board is ( o -1) Remedy Replace the circuit board. MOTOMAN ROBOTICS EUROPE Page: 10 Operator’s manual MOTOMAN XRC Doc.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message MEMORY ERROR(PCIBUS COMMON RAM) [Decimal Data] Cause A error occured in PCI bus shared RAM of the CPU rack or shared RAM between circuit boards. Data stands for an error circuit board 10:XCP02 circuit board (#1-0) 11:XCP02 circuit board (#1-1) 12:XCP02 circuit board (#1-2) 20:XCP02 circuit board (#2-0) 21:XCP02 circuit board (#2-1) 22:XCP02 circuit board (#2-2) (Note) XCP02 circuit board (# o -n) o :Slot NO. name: MRS51020-CH1. 0050 . n :0 à XCP02 circuit board(main) 1 à Sub-board1(connector CNSL side) 2 à Sub-board2(connector CNET side) Remedy Replace the circuit board. Defective I/O module Data stands for the error I/O module. 4:SC. 6:CIO*. Initialize the parameter file damaged on maintenance mode. speed detect circuit board connected with WRCA01 circuit board(#1) 33-47:Contactor circuit board. 13:SVP*. 10:SE. 12:AMC*. 0:RC*. 1:RO*. speed detect circuit board connected with WRCA01 circuit board(#4) 81-95:Contactor circuit board. 14:MF*. Consult MOTOMAN service. 11:RMS*.XIU01•CN03 cable. 0060 0200 MEMORY ERROR (PARAMETER FILE) [Decimal Data] The parameter file was damaged. 5:SD*. 9:RS. 8:AP. Load the saved parameter file in the external memory unit.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 11 Doc. speed detect circuit board connected with WRCA01 circuit board(#6) (Note) WRCA01 circuit board (#o ) The setting value of rotary switch on the WRCA circuit board is ( o 1) Remedy Check the connection of the communication cable for I/O module. 1-15: I/O module connected with XCP01circuit board 17-31:Contactor circuit board. 2:SV. WRCA01(#*)•CN20 XIU01•CN21 cable) Replace the communication connector for I/O module. 3:SVM. speed detect circuit board connected with WRCA01 circuit board(#5) 97-111:Contactor circuit board. . 0210 MEMORY ERROR (SYSTEM CONFIGDATA) Needs investigation. speed detect circuit board connected with WRCA01 circuit board(#3) 65-79:Contactor circuit board. name: MRS51020-CH1. Data stands for the damaged parameter file. 15:PCD* *:System parameter The system configuration data information on setting system initialization was damaged.FM Alarm Number Message COMMUNICATION ERROR(I/O MODULE) [Decimal Data] Cause An error occured in communication of I/O module. (XCP01•CN01 . 7:FD*. speed detect circuit board connected with WRCA01 circuit board(#2) 49-63:Contactor circuit board. Consult MOTOMAN service. . Initialize the ladder program on maintenance mode. 0310 CMOS memory capacity on system setting was different than the current one. Load the job saved on the external memory unit. name: MRS51020-CH1.MOTOMAN ROBOTICS EUROPE Page: 12 Operator’s manual MOTOMAN XRC Doc. Needs investigation.DATA) [Decimal Data] VERIFY ERROR (CMOS MEMORY SIZE) The system parameter was modified illegally. Load the ladder program saved on the external memory unit. 0300 VERIFY ERROR (SYSTEM CONFIG. Check the connection status of CMOS memory circuit board (XMM01) for expansion. 0220 0230 MEMORY ERROR (LADDER PRG FILE) The concurrent I/O ladder program was damaged. Remedy Initialize the job on maintenance mode The whole job data is deleted.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message MEMORY ERROR (JOB MNG DATA) Cause The job control data was damaged. The sensor setting on system setting was different than SE parameter. The sensor function on system initializing was different than the function of the sensor circuit board mounted now. speed detect circuit board connected with WRCA01 circuit board(#6) (Note) WRCA01 circuit board (# o ) The setting value of rotary switch on the WRCA01 circuit board is ( o -1) Remedy Check the I/O module is same as when it was initialized or modified.FM Alarm Number Message VERIFY ERROR (I/O MODULE) [Decimal Data] Cause The status of the I/O module on initializing system or modifying was different than the current. Data stands for the I/O module. 0340 . Change SE parameter for the correct value. 1-15: I/O module connected with XCP01 circuit board 17-31:Contactor circuit board. 0320 0330 VERIFY ERROR (APPLICATION) VERIFY ERROR (SENSOR FUNCTION) The applicatoion on system setting was different than AP parameter. name: MRS51020-CH1. speed detect circuit board connected with WRCA01 circuit board(#1) 33-47:Contactor circuit board. Change the AP parameter to the correct value. speed detect circuit board connected with WRCA01 circuit board(#3) 65-79:Contactor circuit board. Set the function of the sensor circuit board on maintenance mode again. speed detect circuit board connected with WRCA01 circuit board(#5) 97-111:Contactor circuit board. speed detect circuit board connected with WRCA01 circuit board(#4) 81-95:Contactor circuit board.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 13 Doc. speed detect circuit board connected with WRCA01 circuit board(#2) 49-63:Contactor circuit board. Modify the I/O module on maintenance mode. The connection of communication cable for servopack was not cut. The circuit board was out of order. Replace the terminal connector. Data stands for an error circuit board 50:WRCA01 circuit board (#1) 51:WRCA01 circuit board (#2) 52:WRCA01 circuit board (#3) 53:WRCA01 circuit board (#4) 54:WRCA01 circuit board (#5) 55:WRCA01 circuit board (#6) (Note) WRCA01 circuit board (#o ) The setting value of rotary switch on the WRCA01 circuit board is (o -1) Remedy Check the connection of communication cable for servopack. The terminal connector is unusual. (XCP01•CN05 . WRCA•CN10(#*) WRCA•CN10(#*) cable) Replace the communication connector for servopack. (The terminal connector is equipped 1 for a system).MOTOMAN ROBOTICS EUROPE Page: 14 Operator’s manual MOTOMAN XRC Doc.WRCA(#*)•CN10 cable. Check the connection of the terminal connector(WRCA•CN10(#*)). 0400 . Replace the circuit board.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message PARAMETER TRANSMISSION ERROR [Decimal Data] Cause The connection of communication cable for servopack was not completed. The connection of terminal connector is not completed. name: MRS51020-CH1. . Replace the circuit board. Turn the power off then back on. 0410 0500 SEGMENT PROC NOT READY WATCHDOG TIMER ERROR (XCP01) [Decimal Data] An error occured in communication between XCP01 circuit board and WRCA01 circuit board. name: MRS51020-CH1. Check the connection of the terminal connector(WRCA•CN10(#*)). Insert the circuit board in the CPU rack fast.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 15 Doc. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board. (XCP01•CN05 . 0900 0901 WATCHDOG TIMER ERROR (XCP02#1) [Decimal Data] An insertion error of the XCP02#1 circuit board or the circuit borad failer. contact MOTOMAN service. contact MOTOMAN service. An insertion error of the XCP01 circuit board or defective circuit board. Replace the circuit board If the error occurs again. Replace the circuit board. <Data :50-55> Check the connection of communication cable for servopack. n :0 à XCP02 circuit board(main) 1 à Sub-board1(connector CNSL side) 2 à Sub-board2(connector CNET side) 50:WRCA01 board (#1) 51:WRCA01 board (#2) 52:WRCA01 board (#3) 53:WRCA01 board (#4) 54:WRCA01 board (#5) 55:WRCA01 board (#6) (Note) WRCA01 circuit board (# o ) The setting value of rotary switch on WRCA01 circuit board is ( o -1) Remedy <Data :10-21> Insert the circuit board in the CPU rack fast.n ) o :Slot NO. WRCA•CN10(#*) WRCA•CN10(#*) cable) Replace the communication connector for servopack. If the error occurs again.WRCA(#*)•CN10 cable. If the error occurs again. Replace the terminal connector. Data stands for an error circuit board 10:XCP02 circuit board (#1-0) 11:XCP02 circuit board (#1-1) 12:XCP02 circuit board (#1-2) 20:XCP02 circuit board (#2-0) 21:XCP02 circuit board (#2-1) 22:XCP02 circuit board (#2-2) (Note) XCP02 circuit board (# o . contact MOTOMAN service.FM Alarm Number Message MODE CHANGE ERROR [Decimal Data] Cause An error occurred in process of change to normal operation mode. Replace the circuit board.MOTOMAN ROBOTICS EUROPE Page: 16 Operator’s manual MOTOMAN XRC Doc. 0921 BUS ERROR (XCP02#1) [Decimal Data] An insertion error of the XCP02#1 circuit board or defective circuit board. contact MOTOMAN service. Replace the circuit board. If the error occurs again. Replace the circuit board. contact MOTOMAN service. Insert the circuit board in theCPU rack fast. name: MRS51020-CH1. 0920 BUS ERROR (XCP01) [Decimal Data] An insertion error of the XCP01 circuit board or defective circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. 0930 CPU HANG UP ERROR (XCP01) [Decimal Data] An insertion error of the XCP01 circuit board or defective circuit board. Replace the circuit board. contact MOTOMAN service. contact MOTOMAN service. Insert the circuit board in the CPU rack fast. . 0912 CPU ERROR (XCP02#2) [Decimal Data] An insertion error of the XCP02#2 circuit board or defective circuit board. contact MOTOMAN service. If the error occurs again. If the error occurs again. 0922 BUS ERROR (XCP02#2) [Decimal Data] An insertion error of the XCP02#2 circuit board or defective circuit board. 0911 CPU ERROR (XCP02#1) [Decimal Data] An insertion error of the XCP02#1 circuit board or defective circuit board. Replace the circuit board. If the error occurs again. If the error occurs again. Replace the circuit board. If the error occurs again. Replace the circuit board If the error occurs again. Replace the circuit board. contact MOTOMAN service. If the error occurs again. contact MOTOMAN service. Remedy Insert the circuit board in theCPU rack or the connector on the circuit board fast. Insert the circuit board in the CPU rack fast.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message WATCHDOG TIMER ERROR (XCP02#2) [Decimal Data] Cause An insertion error of the XCP02#2 circuit board or defective circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. contact MOTOMAN service. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Insert the circuit board in the CPU rack fast. 0902 0910 CPU ERROR(XCP01) [Decimal Data] An insertion error of the XCP01 circuit board or defective circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. contact MOTOMAN service. 0940 WATCHDOG TIMER ERROR (WRCA#1) [Decimal Data] An insertion error of theWRCA01#1 circuit board or defective circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. If the error occurs again. If the error occurs again.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 17 Doc. If the error occurs again. contact MOTOMAN service. Replace the circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. contact MOTOMAN service. If the error occurs again.FM Alarm Number Message CPU HANG UP ERROR (XCP02#1) [Decimal Data] Cause An insertion error of the XCP02#1 circuit board or defective circuit board. contact MOTOMAN service. If the error occurs again. contact MOTOMAN service. contact MOTOMAN service. 0941 WATCHDOG TIMER ERROR (WRCA#2) [Decimal Data] An insertion error of the WRCA01#2 circuit board or defective circuit board. Replace the circuit board. 0944 WATCHDOG TIMER ERROR (WRCA#5) [Decimal Data] An insertion error of the WRCA01#5 circuit board or defective circuit board. contact MOTOMAN service. Insert the circuit board in the CPU rack or the connector on the circuit board fast. 0931 0932 CPU HANG UP ERROR (XCP02#2) [Decimal Data] An insertion error of the XCP02#2 circuit board or defective circuit board. Replace the circuit board. Replace the circuit board. name: MRS51020-CH1. Replace the circuit board If the error occurs again. 0943 WATCHDOG TIMER ERROR (WRCA#4) [Decimal Data] An insertion error of the WRCA01#4 circuit board or defective circuit board. If the error occurs again. Remedy Insert the circuit board in the CPU rack or the connector on the circuit board fast. Insert the circuit board in the CPU rack or the connector on the circuit board fast. . Replace the circuit board. 0942 WATCHDOG TIMER ERROR (WRCA#3) [Decimal Data] An insert error of the WRCA01#3 circuit board or defective circuit board. If the error occurs again. Replace the circuit board. name: MRS51020-CH1. 0952 CPU ERROR (WRCA#3) [Decimal Data] An insertion error of the WRCA01#3 circuit board or defective circuit board. If the error occurs again. 0945 0950 CPU ERROR (WRCA#1) [Decimal Data] An insertion error of the WRCA01#1 circuit board or defective circuit board. Replace the circuit board. contact MOTOMAN service. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board. contact MOTOMAN service. If the error occurs again. Replace the circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message WATCHDOG TIMER ERROR (WRCA#6) [Decimal Data] Cause An insertion error of the WRCA01#6 circuit board or defective circuit board. . If the error occurs again. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Insert the circuit board in the CPU rack or the connector on the circuit board fast. 0954 CPU ERROR (WRCA#5) [Decimal Data] An insertion error of the WRCA01#5 circuit board or defective circuit board. If the error occurs again. If the error occurs again. contact MOTOMAN service. contact MOTOMAN service. contact MOTOMAN service. contact MOTOMAN service. Replace the circuit board. Replace the circuit board. Replace the circuit board.MOTOMAN ROBOTICS EUROPE Page: 18 Operator’s manual MOTOMAN XRC Doc. 0951 CPU ERROR (WRCA#2) [Decimal Data] An insertion error of the WRCA0#21 circuit board or defective circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. 0953 CPU ERROR (WRCA#4) [Decimal Data] An insertion error of the WRCA01#4 circuit board or defective circuit board. If the error occurs again. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Remedy Insert the circuit board in the CPU rack or the connector on the circuit board fast. contact MOTOMAN service. 0955 CPU ERROR (WRCA#6) [Decimal Data] An insertion error of the WRCA01#6 circuit board or defective circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. 0965 CPU HANG UP ERROR (WRCA#6) [Decimal Data] An insertion error of the WRCA01#6 circuit board or defective circuit board. contact MOTOMAN service. 0999 NMI ERROR [Decimal Data] NMI(interruption CPU signal of unknown origin) occured because of the motion error of hardware. Insert the circuit board in the CPU rack or the connector on the circuit board fast. contact MOTOMAN service. If the error occurs again. Replace the circuit board. 0963 CPU HANG UP ERROR (WRCA#4) [Decimal Data] An insertion error of the WRCA01#4 circuit board or defective circuit board. contact MOTOMAN service. 0962 CPU HANG UP ERROR (WRCA#3) [Decimal Data] An insertion error of the WRCA01#3 circuit board or defective circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 19 Doc. Replace the circuit board. 0960 0961 CPU HANG UP ERROR (WRCA#2) [Decimal Data] An insertion error of the WRCA01#2 circuit board or defective circuit board. Replace the circuit board. 0964 CPU HANG UP ERROR (WRCA#5) [Decimal Data] An insertion error of the WRCA01#5 circuit board or defective circuit board. If the error occurs again. If the error occurs again. contact MOTOMAN service. contact MOTOMAN service. If the error occurs again. name: MRS51020-CH1. If the error occurs again. Replace the circuit board. If the error occurs again. circuit board and rack or control error of software. contact MOTOMAN service. Replace the circuit board. Insert the circuit board in the CPU rack or the connector on the circuit board fast.FM Alarm Number Message CPU HANG UP ERROR (WRCA#1) [Decimal Data] Cause An insertion error of the WRCA01#1 circuit board or defective circuit board. Insert the circuit board in theCPU rack or the connector on the circuit board fast. Insert the circuit board in the CPU rack or the connector on the circuit board fast. contact MOTOMAN service. Remedy Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board. . If the error occurs again. 1: The set up of motion instruction was not completed. Insert the XCP01 circuit board in CPU rack fast. 1:RO*. 1000 1001 ROM ERROR(WRCA0 1) [Decimal Data] ROM ERROR(XFC01) Replace the WRCA circuit board (ROM). . 3:SVM. Turn the power off then back on. Turn the power off then back on. The error occured in the setup process of motion instruction when the main power was turned on. Replace the XCP01 circuit board. The parameter file of CMOS memory was damaged. The error was found by sum check of system program for the XCP01 circuit board. 15:PCD* *:System parameter The saved each file on CMOS memory used by motion instruction was damaged. 8:AP. contact MOTOMAN service. name: MRS51020-CH1. 7:FD*. 13:SVP*. An insertion error of the XCP01 circuit board or the circuit borad failer. 0:RC*. If the error occurs again. Repace the XFC01 circuit board (ROM). 1031 MEMORY ERROR (MOTION1) [Decimal Data] MEMORY ERROR (MOTION2) [Decimal Data] Initialize the file damaged on maintenance mode. Remedy Replace the XCP01 circuit board (ROM). 10:SE. The set up of the WRCA01. 2:SV. 1002 The error was found by sum check of system program for the XFC01 circuit board. 12:AMC*. contact MOTOMAN service. 11:RMS*. contact MOTOMAN service. 5:SD*. 14:MF*.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List s Alarm number 1000-1333 Alarm Number Message ROM ERROR (XCP01) Cause The error was found by sum check of system program for the XCP01 circuit board. 4:SC.MOTOMAN ROBOTICS EUROPE Page: 20 Operator’s manual MOTOMAN XRC Doc. 1051 SETUP INITIALIZE ERROR (MOTION) [Decimal Data] Turn the power off then back on. 6:CIO*. Load the saved file from the floppy disk and restore. Data stands for the damaged parameter file. XCP02 circuit board was not completed. 1032 The saved each file on XCP01 circuit board memory used by motion instruction was damaged. If the error occurs again. 1030 MEMORY ERROR (PARAMETER FILE) [Decimal Data] Initialize the parameter file damaged on maintenance mode. 9:RS. 1050 SET-UP PROCESS ERROR (SYSCON) [Decimal Data] The error occured in the setup process of system when the main power was turned on. Load the saved parameter from the floppy disk and restore. If the error occurs again. MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 21 Doc. name: MRS51020-CH1.FM Alarm Number Message SYSTEM ERROR C: ¨ B: ¨ C: ¨ [Decimal Data] SYSTEM ERROR (SYSTEM1) [Decimal Data] SYSTEM ERROR (SYSTEM2) [Decimal Data] SYSTEM ERROR (EVENT) [Decimal Data] SYSTEM ERROR (CIO) [Bit Pattern] Cause The alarm of unknown origin was detected by noise and control error. Remedy Needs investigation. Consult MOTOMAN service. 1100 1101 The error occured in the control check of system. Turn the power off then back on. If the error occurs again, contact MOTOMAN service. 1102 The error occured in the control check of system. Turn the power off then back on. If the error occurs again, contact MOTOMAN service. 1103 The error occured in the event data check of system. If the error occurs again, contact MOTOMAN service. 1104 The error occured in the I/O control check of system Data stands for the cause of alarm. 0001_0000:Communication error with I/O module or seting error of I/O module Check the connector, cable for transmission path of I/O signal(XCP01I/O contactor unit , I/O module) Reset the I/O module on maintenance mode. Replace the XCP01, I/O contactor unit, I/O module. Turn the power off then back on. If the error occurs again, contact MOTOMAN service. 1105 SYSTEM ERROR (SERVO) [Decimal Data] SYSTEM ERROR (SPEED MONITOR) [Decimal Data] HIGH TEMPERATURE (IN CNTL BOX) OVERRUN LIMIT SWITCH RELEASED The error occured in control check of the WACA01/WRCF01 circuit board. 1106 The error occured in control check of the XFC01 circuit board. Turn the power off then back on. If the error occurs again, contact MOTOMAN service. 1200 The temperature in the controller raised abnormally. Check whether interior fan of controller is working or not. 1201 Overrun recovery switch was operated on playback. Don't operate the overrun recovery switch on playb\ack. It is thought that the overrun recovery switch is failed. Consult MOTOMAN service. Turn the power off then back on. If the error occurs again, contact MOTOMAN service. 1202 FAULT [Decimal Data] CPU motion impossibility caused by 0 division etc. Data stands for the factor of alarm. 1:Calculation 2:Floating point MOTOMAN ROBOTICS EUROPE Page: 22 Operator’s manual MOTOMAN XRC Doc. name: MRS51020-CH1.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message SAFETY CIRCUIT ERROR (XCI01) [Bit Pattern] Cause The error occured during processing of safety circuit for the XCI01 circuit board. 00000000_********:Defective CPU01 ********_00000000:Defective CPU02 *: 0 or 1 The communication between the XCP01 circ board and the WRCA01 circuit board was abnormal. The cable between the XCP01 circuit board and WRCA01 circuit board was defective. The connection of the terminal connector was imcomplete. Defective XCP01 circuit board Defective WRCA01 circuit board Remedy Turn the power off then back on. Check the connection of cable for IO power ON unit. If the error occurs again, contact MOTOMAN service. 1203 1300 SERVO CPU SYNCHRONIZING ERROR Check the connection of communication cable for servopack. (XCP01•CN05 - WRCA(#*)•CN10 cable, WRCA•CN10(#*) WRCA•CN10(#*) cable) Replace the communication cable for servopack. Check the connection of the terminal connector(WRCA• CN10(#*)). Replace the terminal connector. Replace the XCP01 circuit board, WRCA01 circuit board. Check the connection of communication cable for servopack. (XCP01•CN05 - WRCA(#*)•CN10 cable, WRCA•CN10(#*) WRCA•CN10(#*) cable) Replace the communication cable for servopack. Check the connection of the terminal connector(WRCA• CN10(#*)). Replace the terminal conector. Replace the XCP01 circuit board, WRCA01 circuit board. If the error occurs again, contact MOTOMAN service. Check the connection for communication cable between the WRCA01 circuit board and contactor unit. (WRCA01(#*)•CN20 XIU01•CN21 cable) Replace the WRCA01 circuit board. Replace the contactor unit. If the error occurs again, contact MOTOMAN service. Needs investigation. Consult MOTOMAN service. 1301 COMMUNICATION ERROR (SERVO) [Decimal Data] The communication between the XCP01 circ board and the WRCA01 circuit board was abnormal. The cable between the XCP01 circuit board and WRCA01 circuit board was defective. The connection of the terminal connector was incomplete. Defective XCP01 circuit board Defective WRCA01 circuit board 1302 COMMUNICATION ERROR (SERVO I/O) [Decimal Data] The communication between WRCA01 circuit board and the contactor unit(for I/O, robot, external axis)was abnormal. 1303 ARITHMETIC ERROR (SERVO) [Decimal Data] The error occured on check of interior control for the WRCA circuit board. MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 23 Doc. name: MRS51020-CH1.FM Alarm Number Message EX-AXIS BOARD NOT INSTALLED Cause The system included the external axis, but the external axis circuit board (WRCF01 board) was not installed. The system did not include the external axis, but the system with external axis was set. Defective WRCF01 circuit board Defective WRCA01 circuit board Remedy <The system with external axis> Check the installation of the external axis circuit board(WRCF01 board). If the WRCF01 circuit board is installed, replace it. <The system without external axis> Check the system is not included external axis. Execute the system configuration again on system without external axis. <The system with external axis> Check the installation of the external axis circuit board(WRCF01 board). If the WRCF01 circuit board is installed, replace it. <The system without external axis> Check the system is not included external axis. Execute the system configuration again on system without external axis. Check the type of servopack displayed by axis data. <Error in robot axis> Check the type of servopack is same as described one on manual. If the type is not correct, replace it with correct servopack. <Error in external axis> Check the type of servopack set by system configuration is same as actual installed one. If set data by system configuration is correct, replace installed servopack with correct one. If set data by sytem configuration is not correct, set the correct system configuration. If the error occurs again, replace WRCA01 circuit board. 1304 1305 POWER ON UNIT NOT INSTALLED [Bit Pattern] The contactor unit was set on system configuration, but the contactor unit was not installed. The system was not installed contactor unit, but the system was set as though a contactor unit installed. Defective contactor unit Defective WRCA circuit borad 1306 AMPLIFIER TYPE MISMATCH Robot/Station [Axis Data] The type of amplifier displayed by axis data was different than the type set by system configuration. The type of amplifier was not correct. The type of amplifier was different than the type set by system configuration. Defective amplifier Defective WRCA01 circuit board MOTOMAN ROBOTICS EUROPE Page: 24 Operator’s manual MOTOMAN XRC Doc. name: MRS51020-CH1.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message ENCORDER TYPE MISMATCH Robot/Station [Axis Data] Cause The type of encoder displayed by axis data was different than the type set by system configuration. The type of encoder was not correct. The system configuration setting of encoder was not correct. Defective encoder Defective WRCA circuit board (Note) The encoder is accessories of motor, check the type of motor to check the type of encoder Remedy Check the type of motor displayed by axis data. <Error in robot axis> Check that the type of motor is same as the one described in the manual. If the type is not correct, replace it with the correct motor. <Error in external axis> Check that the type of motor set by system configuration is same as actual installed one. If the set data by system configuration is correct, replace installed motor with correct one. If set data by system configuration is not correct, set the correct system configuration. If the error occurs again, replace WRCA01 circuit board. Check the connection of motor. Check the robot motion on alarm and check whether external power is operated or not. Check the connection of UVW wire of motor again. If the error is found, alter the connection. Check the reoccurence by reducting the teaching speed on alarm.There is a possibility that R,B,T axis move at a fast speed on liner interpolation according to teaching position. In this case, alter the teaching. <Error in robot axis> Check that the type of motor is same as the one described in the manual. If the type is not correct, replace it with the correct motor. <Error in external axis> Check that the type of motor set by system configuration is same as actual installed one. If the set data by system configuration is correct, replace installed motor with correct one. If set data by system configuration is not correct, set the correct system configuration. If the error occurs again, replace WRC01 and/or WRCF01 circuit board. 1307 1308 OVER SPEED Robot/Station [Axis Data] The motor speed displayed by axis data exceeded allowable max speed. The wiring of UVW wire of motor was not correct. The type of motor was not correct. The motor was moved by external power. Defective WRCA01, WRCF01 circuit board Defective motor(encoder) replace WRCA01 and/or WRCF01 circuit board. <Error in external axis> Check that the type of motor set by system configuration is the same as the actual installed one. Replace the amplifier. The wrong wiring. It may have burned the motor. Then confirm the reoccurrence. WRCF01 circuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment.FM Alarm Number Message OVERLOAD (CONTINUE) Robot/Station [Axis Data] Cause The motor torque displayed by axis data exceeded rated torque for a long time(a few seconds . set the correct system configuration. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. If the type is not correct. And check the breaking of the wire. remove the cause. 1309 . Check the connection of UVW wire of motor again.a few minutes). If set data by system configuration is not correct. There is a possibility the robot moves by extra load.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 25 Doc. If set data by system configuration is correct. the breaking of the UVW wire for the motor The type of motor was not correct. Defective WRCA01. replace it with the correct motor. motor for axis where the error occurred. replace installed motor with correct one. If the error occurs again. If the robot interferes. It interfered with an outside equipment. The motor was moved by external power. name: MRS51020-CH1. Check the motion status of robot again and reduce the teaching speed. And check the breaking of the wire. <Error in external axis> Check that the type of motor set by system configuration is the same as the actual installed one. If the robot interferes. If set data by system configuration is correct. replace WRCA01 and/or WRCF01 circuit board. It may have burned the motor. replace it with the correct motor. Then confirm the reoccurrence. set the correct system configuration.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message OVERLOAD (MOMENT) Robot/Station [Axis Data] Cause The motor torque displayed by axis data exceeded rated torque for a long time. If the type is not correct. There is a possibility the robot moves by extra load. WRCF01 circuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment. the breaking of the wire UVW wire for the motor The type of motor was not correct. If set data by system configuration is not correct. replace installed motor with correct one. The motor was moved by external power. 1310 . Check the motion status of robot again and reduce the teaching speed. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. name: MRS51020-CH1. motor for axis where the error occurred.MOTOMAN ROBOTICS EUROPE Page: 26 Operator’s manual MOTOMAN XRC Doc. If the error occurs again. remove the cause. Replace the amplifier. Check the connection of UVW wire of motor again. It interfered with an outside equipment. The wrong wiring. Defective WRCA01. There is a possibility the robot moves by extra load. replace WRCA01 and/or WRCF01 circuit board. If set data by system configuration is correct.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 27 Doc. It may have burned the servopack. motor for axis where the error occurred. And check the breaking of the wire. The wrong wiring. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. Check the motion status of robot again and reduce the teaching speed. The motor was moved by external power. WRCF01 circuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment. Replace the amplifier. <Error in external axis> Check that the type of motor set by system configuration is the same as the actual installed one. If the error occurs again. It interfered with an outside equipment. replace it with the correct motor.FM Alarm Number Message AMPLIFIER OVERLOAD (CONTINUE) Robot/Station [Axis Data] Cause The servopack(amplifier) current displayed by axis data exceeded rated current for a long time(a few seconds . the breaking of the UVW wire for the motor The type of motor was not correct.a few minutes). set the correct system configuration. Check the connection of UVW wire of motor again. replace installed motor with correct one. Defective WRCA01. If the robot interferes. 1311 . If the type is not correct. remove the cause. Then confirm the reoccurrence. name: MRS51020-CH1. If set data by system configuration is not correct. And check the breaking of the wire. WRCF01 circuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message AMPLIFIER OVERLOAD (MOMENT) Robot/Station [Axis Data] Cause The servopack(amplifier) current displayed by axis data exceeded rated current for a long time(a few seconds . replace it with the correct motor. set the correct system configuration. replace installed motor with correct one. replace WRCA01 and/or WRCF01 circuit board. WRCF01 circuit board . If set data by system configuration is not correct. If set data by system configuration is correct. This error occured when the motor moved in reverse for the forward instruction. The wrong wiring. Check the connection of UVW wire of motor again. <Error in external axis> Check that the type of motor set by system configuration is the same as the actual installed one. <Error in external axis> Check that the type of motor set by system configuration is same as actual installed one. If set data by system configuration is correct. If set data by system configuration is not correct.a few minutes). remove the cause. If the error occurs again. Incorrect wiring of the UVW wire for the motor The type of motor was not correct. name: MRS51020-CH1. If the type is not correct. replace installed motor with correct one. It interfered with an outside equipment. Defective WRCA01. If the type is not correct. 1312 1313 MOTOR ERROR Robot/Station [Axis Data] The motor was driven recklessly. The motor was moved by external power. <Error in robot axis> Check that the type of motor is same as the one described in the manual. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. There is a possibility the robot moves by extra load. If the error occurs again. set the correct system configuration. Defective WRCA01. Check the motion status of robot again and reduce the teaching speed. replace it with correct motor. the breaking of the UVW wire for the motor The type of motor was not correct. Check the connection of UVW wire of motor again. It may have burned the servopack. Then confirm the reoccurrence. replace WRCA01 and/or WRCF01 circuit board. motor for axis where the error occurred.MOTOMAN ROBOTICS EUROPE Page: 28 Operator’s manual MOTOMAN XRC Doc. Replace the amplifier. If the robot interferes. set the correct system configuration. If set data by system configuration is correct. replace it with the correct motor. 1314 1315 POSITION ERROR Robot/Station [Axis Data] The number of pulses generated by one rotation of the motor was not a regulated pulse numbers. And check the breaking of the wire. If set data by system configuration is not correct. It interfered with an outside equipment. name: MRS51020-CH1. remove the cause. WRCF01 cir cuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment. replace installed motor with correct one. <Error in external axis> Check that the type of motor set by system configuration is the same as the actual installed one. Then confirm the reoccurrence. WRCF01 circuit board Down of the power supply voltage for the encoder Defective motor(encoder) . Check the ground of controller is correct. Check the connection of UVW wire of motor again. set the ferritecore on the encoder cable for noise measure. Replace the motor for axis occured the error. the robot was shifted from instructed motion position or tracks more than tolerance and operated The wrong wiring. Defective WRCA01. When the errror occurred at external axis. If the error occurs again. it was thought this alarm accompanied the encoder alarm. Check whether there is a equipment generating loud noise.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 29 Doc. if this alarm occured simultaneously with the alarm related to the encoder. If the error occurs again. If the robot interferes. motor for axis where the error occurred. There is a possibility the position was shifted. Replace the amplifier. There is a possibility the robot moves by extra load. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. The motor was moved by external power.) Noise of outside equipment Defective WRCA01. replace WRCA01 and/or WRCF01 circuit board.FM Alarm Number Message SERVO TRACKING ERROR Robot/Station [Axis Data] Cause The servo deflection of the axis displayed by axis data became excessive. If the type is not correct. the breaking of the wire of UVW wire for the motor The type of motor was not correct. replace WRCA01 and/or WRCF01 circuit board. (But. Check the motion status of robot again and reduce the teaching speed. WRCF01 circuit board Decrease of the power supply voltage for the encoder Defective motor(encoder) Remedy Check the conduction of cable from the WRCA01.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message BROKEN PG LINE Robot/Station [Axis Data] Cause The break of the signal wire from encoder (But. If the error occurs again. If the error occurs again. Defective speed detective circuit board Defective WRCA circuit board The power supply voltage of direct current supplied to the amplifier of servopack exceeded 420V. 1316 1317 SPEED WATCHER BOARD ERROR The error occurred in the speed detective circuit board.(220V. +10%). The primary power supply voltage was too high. replace WRCA01 and/or WRCF01 circuit board. Turn the power off then back on. alter the load.) Noise of outside equipment Defective WRCA01. name: MRS51020-CH1. Check whether there is equipment generating loud noise. If the error occurs again. Replace the motor for the axis where the error occurred. replace the speed detective circuit board and WRCA01 circuit board. replace the WRCA01 circuit board and the converter. Check the grounding of controller is correct. Defective converter Defective WRCA01 circuit board 1318 OVERVOLTAGE (CONVERTER) [Bit Pattern] Check the primary power supply (220V. WRCF circuit board to the motor(encoder). the alarm related to the encoder.MOTOMAN ROBOTICS EUROPE Page: 30 Operator’s manual MOTOMAN XRC Doc. Lower the teaching speed of the fore and aft steps for alarm occurence step about 30% and check the reoccurrence.+10%) It was too much load. If the alarm doesn't reoccur. this alarm may accompany the position error alarm. . W.FM Alarm Number Message GROUND FAULT Robot/Station [Axis Data] Cause One of U. In case an error is found by the above check. it is thought to be a defective lead wire. Specify the error point and replace the lead wire.W.V.W wires of the motor displayed on axis data was grounded at least. If the error occurs again. lead wire Defective WRCA01. The wrong wiring of the primary side power supply connection. If the error is not caused by the lead wire. it's abnormal. W-E. Check the connection of the U. name: MRS51020-CH1.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 31 Doc. remove the connector of the motor side and check again. If the wires are conducted. Remove the U. The decrease of the primary side power supply voltage(170V or less) Defective WRCA01. There is a possibility the servopack is damaged when the servo turn-on and off is repeateduring ground fault status.WRCF01 circuit board. 1319 1320 OPEN PHASE (CONVERTER) [Bit Pattern] Any of the three-phase current for primary side power supply of servopack was open-phase.E wires of motor again. V-E. Defective the motor Ground fault of the motor. replace the WRCA01.V. WRCF01 circuit board Defective amplifier Remedy This alarm does not occured by turning off the controlled power supply.V. motor for the axis where the error occurred. replace the WRCA01 and/or WRCF01 circuit board. it is thought to be a defective motor. Replace the amplifier.S. WRCF01 circuit board Defective converter . Check that the power supply voltage is more than 170V. But never fail to turn on the servo power supply after checking the motor grounding. If the error occurs again. Replace the converter for the axis where the error occurred. If the wires are conducted.T wires of servopack. Check the connection of the primary side wiring R.E wires of the motor from the terminal of the controller and check the conduction of U-E. V-E. Defective motor Ground fault of the motor. W-E.V. lead wire Defective WRCA01. The load installed on robot was too heavy. The primary side power supply voltage was too high.(242V or more) Defective converter Defective WRCA01. it's abnormal. +10%). In case an error is found by the above check.E wires of motor again.E wires of the motor from the terminal of the controller and check the conduction of U-E. the resurrection circuit board didn't work. Check the load again. Check the primary power supply(220V. Remove the U. replace the WRCA01. If the wires are conducted. it is thought to be a defective motor.W. replace the WRCA01 and/or WRCF01 circuit board. replace the WRCA01 circuit board. name: MRS51020-CH1. WRCF01 circuit board 1323 INPUT POWER OVER VOLTAGE (CONV) [Bit Pattern] The primary side power supply voltage of servopack was too high. WRCF01 circuit board.(242V or more) . Specify the error point and replace the lead wire.V. Lower the teaching speed of the fore and aft steps for alarm occurence step about 30% and check the reoccurence. WRCF01 circuit board Defective amplifier Overheating of amplifier Remedy This alarm does not occured by turning off the controlled power supply. remove the connector of the motor side and check again.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message OVERCURRENT (AMP) Robot/Station [Axis Data] Cause One of the U. 1321 1322 REGENERATIVE TROUBLE (CONVERTER) [Bit Pattern] Because the resurrection energy on reducing the motor speed was too high. it is thought to be a defective lead wire. If the error occurs again. motor for the axis where the error occurred. alter the load. Replace the converter for the axis where the error occurred. +10%). But never fail to turn on the servo power supply after checking the motor grounding. Replace the converter for axis occured the error. If the error is not caused by the lead wire. If the error occurs again.MOTOMAN ROBOTICS EUROPE Page: 32 Operator’s manual MOTOMAN XRC Doc. Check the connection of the U. Check the primary power supply(220V. If the wires are conducted. If the alarm doesn't reoccur. There is a possibility the servopack is damaged when the servo turn-on and off is repeateduring ground fault status. Replace the amplifier.V.W wires of the motor displayed on the axis data was grounded at least.W. If the error occurs again. FM Alarm Number Message TEMPERATURE ERROR (CONVERTER) [Bit Pattern] Cause The temperature of servopack(converter) was too high. name: MRS51020-CH1. The wrong wiring of the encoder wire The type of motor was not correct. <Error in robot axis> Check the type of motor is same as described one on manual. If the error occurs again. Check the primary power supply(220V. If set data by sytem configuration is not correct. Check whether there is equipment generating big noise around or not. replace installed motor with correct one. If set data by system configuration is correct. If the type is not correct. +10%). replace the motor(encoder) for the axis where the error occurred. Check the connection of the encoder displayed on axis data.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 33 Doc. 1324 1325 COMMUNICATION ERROR (ENCODER) Robot/Station [Axis Data] The communication error between the encoder and the WRCA01 circuit board. replace the WRCA01 circuit board. Defective WRCA01 circuit board Defective encoder 1326 DEFECTIVE ENCODER ABSOLUTE DATA Robot/Station [Axis Data] The error occured in the position detect circuit board of encoder. replace it with correct motor. <Error in external axis> Check the type of motor set by system configuration is same as actual installed one. If the error occurs again. Turn the power off then back on. If the error occurs again. replace the WRCA01 circuit board. . Remedy Check whether the ambient temperature is too high or not. set the correct system configuration. Check the ground of controller is correct. Replace the converter for axis occured the error. 1327 1328 DEFECTIVE SERIAL ENCODER Robot/Station [Axis Data] Turn the power off then back on.T axis for SK6. name: MRS51020-CH1. The internal parameter of the serial encoder became abnormal. amplifier for the axis where the error occurred. But.MOTOMAN ROBOTICS EUROPE Page: 34 Operator’s manual MOTOMAN XRC Doc. this was the case there was no response of the reset completion from the encoder. When the power supply was turned back on this status. Defective WRCA01 circuit board 1330 MICRO PROGRAM TRANSMIT ERROR Robot/Station [Axis Data] Turn the power off then back on. R. replace the WRCA01 circuit board. the read V phase current value was abnormal. replace the WRCA01 circuit board. replace the WRCA01 circuit board for the axis where the error occurred. freely fell when the servo power supply was turned off by emergency stop. 1329 DEFECTIVE SERIAL ENCODER COMMAND Robot/Station [Axis Data] When the encoder backup error occurred. If the phenomenon occurs again after repeating this operation several times. Turn the power off then back on. Turn the power off then back on. The no brake axes. this alarm occured. Turn the power off then back on. If the phenomenon occurs again after repeating this operation several times. If the phenomenon occurs again after repeating this operation several times. 1331 CURRENT FEEDBACK ERROR (U PHASE) Robot/Station [Axis Data] CURRENT FEEDBACK ERROR (V PHASE) Robot/Station [Axis Data] When the phase balance of the motor current was automatically adjusted. amplifier for axis the the error occurred. If the phenomenon occurs again after repeating this operation several times. replace the motor(encoder) for the axis where the error occurred. Defective WRCA01 circuit board Defective amplifier 1332 . it is thought that the encoder caused the error. Turning on the control power supply can not be done when the motor is rotating. If the error occurs when the control power supply is turned in a stopped state. replace the motor(encoder) displayed on axis data. It is thought that the encoder was abnormal. In case this alarm occuredin a stop state. It is thought to be an error of the encoder.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message ENCODER OVER SPEED Robot/Station [Axis Data] Cause The control power supply was turned on when the encoder was rotating(400rpm or more). If the phenomenon occurs again after repeating this operation several times.B. normally the controller automatically resets the data of the encoder. Remedy Check the timing of turning on the control power supply. Defective WRCA01 circuit board Defective amplifier When the phase balance of the motor current was automatically adjusted. the read U phase current value was abnormal. replace the motor(encoder) for the axis where the error occurred. If the error occurs again. 1339 SPEED MONITOR LEVEL ERR (XFC01) The error occured on speed monitor level signal. Defective the XFC01 circuit board. Check the cable connection between the power ON unit and the XFC01 circuit board. 1337 SPEED MONITOR LEVEL NOT SAME Check the cable connection for the power ON unit. Replace power ON unit and/or XFC01 circuit board. Replace the WRCA01 circuit board. Defective power ON unit. contact MOTOMAN service. Contact MOTOMAN service because the breakedown of the encoder is thought when the alarm occurs again even if the battery is connected. Cable disconnection between the power ON unit and the XFC01 circuit board. The error occured on speed monitor level signal (double signal check). 1338 SPEED MONITOR LEVEL ERROR The error occured on speed monitor level signal (signal error). 1335 1336 XFC01 NOT INSTALLED Speed monitor board (XFC01) was not installed even though the board was specified as “valid”. Check the cable connection for the power ON unit. . It may be possible that the battery is not connected with the encoder. Cable disconnection between the power ON unit and the XCI01 circuit board. Check the cable connection for the power ON unit. Cable disconnection between the power ON unit and the XCI01 circuit board. Check the cable connection between the power ON unit and the XCI01 circuit board. Check the cable connection between the power ON unit and the XCI01 circuit board. Disconnection of speed monitor cable.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 35 Doc. Replace power ON unit and/or XFC01 circuit board. Defective power ON unit. Replace the WRCA01 circuit board. Install the speed monitor board (XFC01). contact MOTOMAN service. Replace the WRCA01 circuit board.FM Alarm Number Message ENCODER NOT RESET Robot/Station [Axis Data] Cause Reset was not completed though encoder backup error reset was requested. Remedy Connect the battery with the encoder. 1340 BROKEN SPEED MONITOR LINE 1341 BROKEN SPEED MONITOR LINE (XFC01) The error occured on speed monitor level signal. name: MRS51020-CH1. Check the cable connection between the power ON unit and the XFC01 circuit board. If the error occurs again. Cable disconnection between the power ON unit and the XFC01 circuit board. MOTOMAN ROBOTICS EUROPE Page: 36 Operator’s manual MOTOMAN XRC Doc. 1342 1343 COMMUNICATION ERROR (XFC01) Robot/Station [Axis Data] The communication error between the XFC01 circuit board and the WRCA01 circuit board. The type of motor was not correct. If the error occurs again. T axis move at a fast speed on liner interpolation according to teaching position. If set data by system configuration is not correct. contact MOTOMAN service. Replace power ON unit and/or XFC01 circuit board. alter the teaching.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message OVER SPEED (XFC01) Robot/Station [Axis Data] Cause The motor speed displayed by axis data exceeded allowable max speed. Check the robot motion on alarm and check whether external power is operated or not. If the set data by system configuration is correct. replace XFC01 circuit board. name: MRS51020-CH1. In this case. replace installed motor with correct one. . alter the connection. Defective XFC01 circuit board. The connection of the WRCA01 circuit board and the XFC01 circuit board. Check the cable connection between the power ON unit and the XFC01 circuit board. The motor was moved by external power. B. replace it with the correct motor. Check the reoccurence by reducting the teaching speed on alarm. <Error in external axis> Check that the type of the motor set by system configuration is same as actual installed one. Remedy Check the connection of motor. Defective XFC01 circuit board. If the error is found. <Error in robot axis> Check that the type of motor is same as the one described in the manual. There is a posibility that R. If the type is not correct. set the correct system configuration. The wiring of UVW wire of motor was not correct. Check the connection of UVW wire of motor again. Defective WRCA01 circuit board. Defective motor (encoder). If the error occurs again. Defective encoder. name: MRS51020-CH1. replace it with correct motor.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 37 Doc. If the type is not correct. Check the ground of controller is correct. replace installed motor with correct one. Remedy Check the connection of the encoder displayed on axis data. If the error occurs again.FM Alarm Number Message COMMUNICATION ERROR (ENCODER) (XFC01) Robot/Station [Axis Data] Cause The communication error between the encoder and the XFC01 circuit board. If set data by system configuration is not correct. Defective XFC01 circuit board. The type of motor was not correct. 1344 . <Error in robot axis> Check the type of motor is same as described one on manual. set the correct system configuration. Check whether there is equipment generating big noise around or not. <Error in external axis> Check the type of motor set by system configuration is same as actual installed one. If set data by system configuration is correct. The wrong wiring of the encoder wire. replace the XFC01 circuit board. The data stands for the file No. Load the saved tool file in the external memory unit and restore. 4008 MEMORY ERROR (ARC END COND FILE) [Decimal Data] The arc end condition file of CMOS memory was damaged. The data stands for the file No. name: MRS51020-CH1. 4002 MEMORY ERROR (SV MON SIGNAL FILE) The servo monitor signal file of CMOS memory was damaged. Load the home position calibration file (absolute data)in the external memory unit and restore. Initialize the user coordinates file in the maintenance mode. 4006 The welder condition data file of CMOS memory was damaged. Load the saved servo monitor signal file in the external memory unit and restore.MOTOMAN ROBOTICS EUROPE Page: 38 Operator’s manual MOTOMAN XRC Doc. 4004 MEMORY ERROR(HOME POS FILE) The home position calibration file of CMOS memory was damaged. Initialize the servo monitor signal file in the maintenance mode. 4005 MEMORY ERROR (SPEC POINT DATA) MEMORY ERROR (WELDER COND FILE) [Decimal Data] MEMORY ERR (ARC START COND FILE) [Decimal Data] The specified point file of CMOS memory was damaged. Load the saved welder condition data file in the external memory unit and restore. Load the saved weaving condition file in the external memory unit and restore. The data stands for the file No. Reset the home position calibration (absolute data) after reset the alarm.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List s Alarm number 4000-4601 Alarm Number Message MEMORY ERROR (TOOL FILE) [Decimal Data] MEMORY ERROR (USER COORD FILE) Cause The tool file of CMOS memory was damaged. Remedy Initialize the tool file in the maintenance mode. Initialize the welder condition data file in the maintenance mode. The data stands for the file No. 4003 MEMORY ERROR (WEAVING FILE) The weaving condition file of CMOS memory was damaged. 4007 The arc start condition file of CMOS memory was damaged. 4000 4001 The user coordinates file of CMOS memory was damaged. Load the saved arc start condition file in the external memory unit and restore. Initialize the arc start condition file in the maintenance mode. Initialize the arc end condition file in the maintenance mode. Load the specified point file in the external memory unit and restore. . Load the saved user coordinates file in the external memory unit and restore. Load the saved arc end condition file in the external memory unit and restore. The data stands for the file No. Initialize the weaving condition file in the maintenance mode. Load the saved wearing file in the external memory unit and restore. The data stands for the file No. The data stands for the file No. . 4036 The wearing file of CMOS memory was damaged. Load the saved welding condition assistance file in the external memory unit and restore. Initialize the spot welder condition data file in the maintenance mode. The data stands for the file No. The data stands for the file No. Initialize the cutting condition file in the maintenance mode. Load the saved servo gun pressure file in the external memory unit and restore. Initialize the operation origin file in the maintenance mode. Initialize the servo gun pressure file in the maintenance mode. The data stands for the file No. 4032 The spot welder condition data file of CMOS memory was damaged. name: MRS51020-CH1. Remedy Initialize the welding condition assistance file in the maintenance mode.FM Alarm Number Message MEMORY ERROR (ARC AUX COND FILE) [Decimal Data] Cause The welding condition assistance file of CMOS memory was damaged. 4033 MEMORY ERROR (GUN PRESSURE FILE) [Decimal Data] MEMORY ERROR (WEARING FILE) [Decimal Data] The servo gun pressure file of CMOS memory was damaged. The data stands for the file No. 4031 The spot gun condition data file of CMOS memory was damaged. 4019 The cutting condition file of CMOS memory was damaged.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 39 Doc. Load the saved robot calibration file in the external memory unit and restore. Load the saved spot welder condition data file in the external memory unit and restore. Load the saved ladder program file in the external memory unit and restore. 4020 The operation origin file of CMOS memory was damaged. 4009 4014 MEMORY ERROR (ROBOT CALIB FILE) [Decimal Data] MEMORY ERR (LADDER PRG FILE) [Decimal Data] MEMORY ERROR (CUTTING DATA FILE) [Decimal Data] MEMORY ERROR (OPERATION ORIGIN FILE) [Decimal Data] MEMORY ERROR (SPOT GUN COND FILE) [Decimal Data] MEM ERROR (SPOT WELDER COND FILE) [Decimal Data] The robot calibration file of CMOS memory was damaged. Initialize the wearing file in the maintenance mode. Initialize the robot calibration file in the maintenance mode. Initialize the ladder program file in the maintenance mode. Load the saved cutting condition file in the external memory unit and restore. 4018 The ladder program file of CMOS memory was damaged. The data stands for the file No. The data stands for the file No. Load the saved spot gun condition data file in the external memory unit and restore. Initialize the spot gun condition data file in the maintenance mode. Initialize the pressure file in the maintenance mode. Load the saved stroke position file in the external memory unit and restore. 4102 An attempt was made to change data which exerted the influence on the system and turned on the servo power supply. The data stands for the alarm factor. The data stands for the file No. The data stands for the file No. 4100 OVERRUN IN ROBOT AXIS [Bit Pattern] OVERRUN IN EXTERNAL AXIS [Bit Pattern] SYSTEM DATA CHANGING [Decimal Data] One of the robot axis overrun limit switches was operated. Reset the overrun. name: MRS51020-CH1. Initialize the form cut file in the maintenance mode. . Remedy Initialize the stroke position file in the maintenance mode. Reset the overrun. 4037 4038 The pressure file of CMOS memory was damaged. Load the saved formcut file in the external memory unit and restore. Load the saved pressure file in the external memory unit and restore. 1:System parameter change Turn off the power once and back on. The data stands for the file No. The data stands for the file No. Initialize the spot IO allocate file in the maintenance mode. 4040 The shock level file of the CMOS memory is damage. Load the saved spot IO allocate file in the external memory unit and restore. Load the saved shock level file in the external memory unit and restore. Initialize the shock level file in the maintenance mode. 4041 The spot IO allocate file of the CMOS memory is damaged. 4039 The form cut file of the CMOS memory is damaged. 4101 One of the external axis overrun limit switches was operated.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message MEMORY ERROR (STROKE POSITION) [Decimal Data] MEMORY ERROR (PRESSURE FILE) [Decimal Data] MEMORY ERROR (FORM CUT FILE) [Decimal Data] MEMORY ERROR (SHOCK LEVEL FILE) [Decimal Data] MEMORY ERROR (SPOT IO ALLOCTE FL) [Decimal Data] Cause The stroke position file of CMOS memory was damaged.MOTOMAN ROBOTICS EUROPE Page: 40 Operator’s manual MOTOMAN XRC Doc. the error occured in DCI function. 4103 4104 WRONG EXECUTION OF LOAD INST [Decimal Data] Correct the error according to the data of the alarm factor after reset the alarm.FM Alarm Number Message PARALLEL START INSTRUCTION ERROR [Decimal Data] Cause The error occured in the independent control start operation. 6:The alarm is stopping The attempt was made to start sub task under stop by alarm. 4:Register the master job for sub task. 3:Check that the job started and the timing of execution for start comand again. The data stands for the alarm factor. The attempt was made to execute PSTART SUB(job name omitted) 5:Synchronization instruction error When restarted by PSTART. When the installation was executed. 2:Check that the job started and the timing of execution for start comand again. The data stands for the alarm factor.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 41 Doc. an error occured in DCI function. 4106 WRONG EXECUTION OF DELETE INST [Decimal Data] Correct the error according to the data of the alarm factor after resetting the alarm. Refer to the data transmission function manual for details. . name: MRS51020-CH1. 4:Master job unregistration Though master job was not registered. The data stands for alarm factor. Refer to the data transmission functionmanual for details. 2:The group axis is being used The job operated by other sub task used same group axis. 6:Start after reset the alarm. the error occured in DCI function. Refer to the data transmission function manual for details. 4105 WRONG EXECUTION OF SAVE INST [Decimal Data] Correct the error according to the data of the alarm factor after resetting the alarm. When the installation was executed. The data stands for the alarm factor. The job was executed by instructed sub task. 1:The sub task is being executed. synchroniza tion instruction status of sub task under interruption was different than the status to restart. 5:Check that the job started and the timing of execution for start comand again. When the installation was executed. but another job was being started in the sub task. 3:Multiple start of same job The job tried to start was executed by other sub task. Remedy 1:Complete the sub task by PWAIT comand. FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message OUT OF RANGE (ABSO DATA) Robot/Station [Axis Data] Cause The difference between the position of the power supply off and the power supply on exceeded tolerance for the robot / station. 4110 SHOCK SENSOR ACTION [Bit Pattern] BRAKE FUSE BLOWN [Bit Pattern] DATA SENDING ERROR [Decimal Data] The shock sensor was operated. Check whether fuse for I/O contactor unit is cut or not. 6:The text length exceeds 256 characters. 4107 4109 DC 24V POWER SUPPLY FAILURE The external 24V power supply was not output. 4113 DATA RECEIVING ERROR [Decimal Data] Correct the error according to the data of the alarm factor after resetting the alarm. the error occurred. name: MRS51020-CH1. the error occurred. 4:Heading length is long. contact MOTOMAN service. Correct the error according to the data of the alarm factor after resetting the alarm. 4111 The brake fuse was melted. Check the connection of communication cable for I/O module. Replace the fuse. The data stands for the alarm factor. 5:The heading No. Check the factor of shock sensor operation. The data stands for the alarm factor. Remedy Operate axis for robot /station to set the current value 0 position and check the original mark (arrow). there is an error of PG system for the axis where the error occurred. 1:Retryover of NAK 2:Retryover of timeout in timer A 3:Retryover of mutual response error When the data transmission function was used. (XCP01•CN01Å|XIU01•CN03 cable) If the error occurs again. 1:Reception timeout (timer A) 2:Reception timeout (timer B) 3:Heading length is short. Check the external 24V power supply. error. 4112 When the data transmission function was used. If not matched.MOTOMAN ROBOTICS EUROPE Page: 42 Operator’s manual MOTOMAN XRC Doc. . Please check. Need to replace the cooling fan for resurrection resistance. It is thought that the CPU rack. Turn the power off then back on. 4119 FAN ERROR (IN CONTROL BOX) SYSTEM ERROR (FILE DATA) [Decimal Data] The axis was instructed to turn servo on and off separately. The data stands for the alarm factor. the error occured. 1:Received EOT when waiting ACK. Operation of external memory unit) . the error occurred. This error is mainly caused by PC breached the rule or abnormal communication. contact MOTOMAN service. there is a reception that irrationality is caused in system. Make the condition so as to be able to turn servo on and off after resetting the alarm. Consult MOTOMAN service. 1:Overrun error 2:Parity error 3:Flaming error 4:Transmission timeout (timer A) 5:Transmission timeout (timer B) When the data transmission function was used. 2:Received EOT when waiting ENQ. Reset the alarm and repeat the operation. Move the manipulator to a safe position on teach mode after resetting the alarm.) The data stands for the alarm factor. 4118 FAN ERROR (REGENERATIVE RESISTOR) [Decimal Data] The rotating speed of the cooling fan for the resurrection resistance was decreased. (File edition.FM Alarm Number Message TRANSMISSION SYSTEM BLOCK [Decimal Data] Cause When the data transmission function was used. circuit board was abnormal. 4117 SERVO POWER INPUT SIGNAL ERROR Check whether the setting is the same as the system or not(robot and external axis) If the error occurs again. 4200 When acess to the file data was executed. name: MRS51020-CH1. contact MOTOMAN service. If the error occurs again. (Though the transmission procedure is correct. Remedy Correct the error according to the data of the alarm factor after resetting the alarm.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 43 Doc. the error occurred. 4114 4116 TRANSMISSION SYSTEM ERROR [Decimal Data] Correct the error according to the data of the alarm factor after resetting the alarm. 3:Received EOT before last block reception 4:Received codes for except EOT after last block reception. If the error occurs again. the error occured. Turn the power off then back on. Turn the power off then back on. the error occured. Operation of external memory unit) 4206 When the data transmission function was used. Needs investigation. Turn the power off then back on. 4201 4202 SYSTEM ERROR(JOB) [Decimal Data] When acess to the job was executed. If the error occurs again. If the error occurs again. Turn the power off then back on. If the error occurs again. Reset the alarm and repeat the operation. 4209 OFFLINE SYSTEM ERROR (ARITH) [Decimal Data] The system error occured in ARITH offline. contact MOTOMAN service. the error occured. . If the error occurs again. If the error occurs again. Turn the power off then back on. (During playback and operation) 4203 SYSTEM ERROR (POSITION DATA) [Bit Pattern] SYSTEM ERROR (POSITION DATA) [Decimal Data] SYSTEM ERROR (TRANSMISSION) [Decimal Data] SYSTEM ERROR(MOTIO N) [Decimal Data] 4204 When access to the position data was executed. 4207 The system error occured in MOTION. the error occured. contact MOTOMAN service. (Job edition. Reset the alarm and repeat the operation. (During robot is being playback and operation) Remedy Reset the alarm and repeat the operation. Intercept the servo power supply once and turn on the servo power supply to the group axis to be operated. the error occured. contact MOTOMAN service. 4208 SYSTEM ERROR (ARITH) [Decimal Data] The system error occured in ARITH. Consult MOTOMAN service. contact MOTOMAN service. Reset the alarm and repeat the operation. Turn the power off then back on. contact MOTOMAN service. If the error occurs again. Reset the alarm and repeat the operation. The error of internal procedure for transmission system. Reset the alarm and repeat the operation.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message SYSTEM ERROR(JOB) [Decimal Data] Cause When access to the job was executed. 4220 SERVO POWER OFF FOR JOB [Control Group] The servo power supply was not turned on for the job group axis which was to be operated. Reset the alarm and repeat the operation.MOTOMAN ROBOTICS EUROPE Page: 44 Operator’s manual MOTOMAN XRC Doc. Operation of external memory unit) When acess to the position data was executed. contact MOTOMAN service. (Job/position variable edition. name: MRS51020-CH1. contact MOTOMAN service. Turn the power off then back on. the signal from the contactor was intercepted . While turning servo OFF(at emergency stop). While turning servo ON.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 45 Doc. Reasons are as follows: Defective contactor unit Defective WRCA01 circuit board Turn servo ON again after resetting the alarm. name: MRS51020-CH1. Check the connection of safety circuit signal cable for the poer ON unit. the contactor signal was turned ON. 4223 4300 4301 The contactor of the contactor unit was not turned ON at servo ON. Consult MOTOMAN service.FM Alarm Number Message SERVO POWER OFF FOR JOB [Control Group] Cause The servo power supply was not turned on for the job group axis which was to be operated. Replace power ON unit. If the error occurs again. (WRCA01 board double signal check) The error occured on safety circuit signal (power ON unit). Reasons are as follows: Defective contactor unit Defective WRCA01 circuit board The brake relay signal unit was not turned ON at servo ON. Remedy Intercept the servo power supply once and trun on the servo power supply to the group axis to be operated. 4302 BRAKE CIRCUIT ERROR [Bit Pattern] Reset the alarm and turn servo ON again. The contactor signal was not intercepted at servo OFF(at emergency stop). If the error occurs again. While turning servo ON. replace the contactor unit. While turning servo OFF(at emergency stop). Replace power ON unit. WRCA01 circuit board. 4221 4222 SAFE CIRCUIT SIG NOT SAME (XCI01) [Bit Pattern] SAFE CIRCUIT SIGNAL NOT SAME (SV) [Decimal Data] VERIFY ERROR (SERVO PARAMETER) [Decimal Data]] CONTACTOR ERROR [Bit Pattern] The error occured on safety circuit signal (power ON unit). . replace the contactor unit. The brake relay signal was not intercepted at servo OFF(at emergency stop). the brake relay signal was turned ON. (WRCA01 board double signal check) A mistake was found in the parameter related to servo control. Check the connection of safety circuit signal cable for the poer ON unit. WRCA01 circuit board. the brake relay signal was intercepted . Needs investigation. Reasons are as follows: Primary side power supply voltage was too low. the voltage drop occurred at servo ON.S.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message CONVERTER READY SIGNAL ERROR [Bit Pattern] Cause There was no response(servo ready signal) of charge completion from convertor at servo ON. While turning servo OFF(at emergency stop). WRCF01 circuit board. Reasons are as follows: Mistaken wiring of connection for primary side power supply. The drop of primary side power supply (less than170V). Defective WRCA01. While turning servo OFF(at emergency stop).WRCF01 circuit board Defective converter There was no response(ready 1 signal) of primary power supply input from convertor at servo ON. the converter. the ready 1 signal was turned ON . wire. The ready 1 signal was not intercepted at servo OFF(at emergency stop). name: MRS51020-CH1. If the error occurs again. replace the WRCA01 circuit board. the servo ready signal was turned ON. Defective WRCA01. the servo ready signal was intercepted .T. 4303 4304 CONVERTER INPUT POWER ERROR [Bit Pattern] Check the connection for primary side wiring R. Check the primary power supply voltage (220V+10%). the voltage drop occurred at servo ON. The servo ready signal was not intercepted at servo OFF(at emergency stop).MOTOMAN ROBOTICS EUROPE Page: 46 Operator’s manual MOTOMAN XRC Doc. Check that the power supply voltage is more than 170V. Because the power supply cable of primary side was too fine or its cable was too long. While turning servo ON. the converter. replace the WRCA01 circuit board. the ready 1 signal was intercepted . If the error occurs again. . While turning servo ON. Because the power supply cable of primary side was too fine or its cable was too long.WRCF01 circuit board Defective converter Remedy Reset the alarm and turn servo ON again. WRCF01 circuit board Defective converter Defective amplifier(There is a possibility that power circuit was shortcircuited internally. Because the power supply cable of primary side was too fine or its cable was too long. While turning servo ON.FM Alarm Number Message CONVERTER CIRCUIT CHARGE ERROR [Bit Pattern] Cause There was no response(ready 2 signal) of charge completed from convertor at servo ON. the converter. The amp ready signal was not intercepted at servo OFF(at emergency stop). replace the WRCA01 circuit board. Defective WRCA01. name: MRS51020-CH1. WRCF01 circuit board. If the error occurs again. The drop of primary side power supply (less than170V).MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 47 Doc. the ready 2 signal was turned ON . While turning servo ON. The ready 2 signal was not intercepted at servo OFF(at emergency stop). Reasons are as follows: Defective WRCA01. replace the WRCA01 circuit board. the amp ready signal was intercepted. the amp ready signal was turned ON. .) Remedy Check that primary power supply is more than 170V.) There was no response(amp ready signal) of energizing completed from amplifier at servo ON. Replace the amplifier. While turning servo OFF(at emergency stop). If the error occurs again. the ready 2 signal was intercepted . WRCF01 circuit board. the voltage drop occured at servo ON. While turning servo OFF(at emergency stop). the converter.WRCF01 circuit board Defective converter Defective amplifier(There is a possibility that power circuit was shortcircuited internally. Reasons are as follows: Mistaken wiring of connection for primary side power supply. 4305 4306 AMPLIFIER READY SIGNAL ERROR [Bit Pattern] Reset the alarm and turn servo ON again. Defective converter Defective WRCA01circuit board The internal parameter error for serial encoder. replace the WRCA01. this alarm occured. If the error occurs again. Reset the alarm. the encoder. If the error occurs again. replace the encoder. When the servo control power supply was turned back on this status.8V) Replace the battery. Reason is follows: Primary power supply voltage was too low. Whenever a new motor was used. Check that power supply voltage is more than 170V. replace the motor(encoder) for axis occured the error. position data of the encoder disappered. Check the load again. Check the battery voltage for encoder. the servo power supply was turned on. Direct current power supply voltage supplyed to amplifier for servopack has become less than143V.6V). 4307 4308 VOLTAGE DROP (CONVERTER) [Bit Pattern] Check the connection for primary side wiring R. Remedy Check the timing of turning on servo power supply again. 4310 ENCODER OVERHEAT Robot/Station [Axis Data] The encoder has overheated to 100 degrees.MOTOMAN ROBOTICS EUROPE Page: 48 Operator’s manual MOTOMAN XRC Doc.B. name: MRS51020-CH1.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message SERVO ON DEFECTIVE SPEED Robot/Station [Axis Data] Cause While encoder was rotating. (more than 2. If the error occurs again. WRCF01 circuit board. If the error occurs again. Because it is charged the backup condenser. . 4311 ENCODER BACK-UP ERROR Robot/Station [Axis Data] Because backup power supply voltage for encoder decreased(less than 2. wire. the converter. Check that the ambient temperature is not too high. R. Chech the primary power supply voltage (220V+10%). It is thought the encoder was abnormal. Impossible to turn on control power supply in the rotation The no brake axes.T. replace the WRCA01 circuit board. Adjust the home position again. don't turn off power supply for a few minutes.S. 4309 DEFECTIVE ENCODER INTERNAL DATA Robot/Station [Axis Data] Turn the power off then back on. If a phenomenon occurs again after repeating this operation several times. freely fell when the servo power supply was turned off by emergency stop. There was open phase.T axis for SK6. this error occurred. consult with MOTOMAN service. Data (1-255) stands for the alarm factor. contact MOTOMAN service. If the error occurs again.8V)(In case leaving this voltage as it is. Check the primary power supply voltage (220V+10%). Check the load again. The operation process of motion control does not end in regulated time.(less than 2. If the error occurs again. If the error occurs again.) A collision was detected in the teach mode.8V) Replace the battery. The instruction not defined was demanded of the path operation process. 4402 4404 ARITHMETIC ERROR [Decimal Data] The control error occured in the path operation process. Reset the alarm and repeat the operation.(less than 2.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 49 Doc. Change the value of pressure in the “GUN PRESSURE” file or the “PRESSURE” file below the maximum pressure. 4312 4313 SERIAL ENCODER OVER HEAT Robot/Station [Axis Data] Check that the ambient temperature is not too high. Data (1-8) stands for alarm factor. 4401 SEQUENCE TASK CONTR ERROR [Decimal Data] UNDEFINED COMMAND(ARITH) Reset the alarm and repeat the operation. Remedy Check the battery voltage for encoder.8V) (In case leaving this voltage as it is. Check the battery voltage for encoder. replace the WRCA01 circuit board. Reset the alarm and repeat the operation. name: MRS51020-CH1. the backup error occurs and position data disappears. 4316 The value of pressure in the “GUN PRESSURE” file or the “PRESSURE” file exceeds the maximum pressure in the “GUN CONDITION” file.8V) Replace the battery. (more than 2. Data (1-5) stands for the alarm factor. If the error occurs again. the backup error occurs and position data disappears.FM Alarm Number Message ENCODER BATTERY ERROR Robot/Station [Axis Data] Cause Voltage of backup battery for encoder has decreased. . the encoder.) The encoder has overheated to 100 degrees. 4315 Restore the robot from the state of the collision. contact MOTOMAN service. 4314 SERIAL ENCODER BATTERY ERROR Robot/Station [Axis Data] COLLISION DETECT (TEACH MODE) Robot/Station [Axis Data] PRESSURE DATA LIMIT Voltage of backup battery for encoder has decreased. 4400 NOT READY (ARITH) [Decimal Data] Reset the alarm and repeat the operation. (more than 2. If the error occurs again. contact MOTOMAN service. contact MOTOMAN service. The error has occured in job exec statement part. Reset the alarm and repeat the operation. 4412 4413 IMPOSSIBLE LINEAR MOTION (S/L) Make the form of S. Among three taught points. 4414 EXCESSIVE SEGMENT (LOW SPEED) Robot/Station [Axis Data] EXCESSIVE SEGMENT (HIGH SPEED) Robot/Station [Axis Data] Reset the alarm. 4408 Reset the alarm. Teach the different 3 points again.) The weaving base point was the same as the wall point. Data (1-12) stands for the alarm factor. Teach the different 3 points again. contact MOTOMAN service. L axis the same and teach again. etc. Among three taught points. Teach again to be an even distance between teaching point Make the form of L.U axis same and teach again. 4407 TWO STEPS SAME POSITION (CIRC) TWO STEPS SAME POSITION (SPLINE) TWO STEPS SAME POSITION (3 POINTS) Reset the alarm. Remedy Reset the alarm and repeat the operation. name: MRS51020-CH1.U axis for start point and end point were different in interpolation motion except MOJV. it was not possible to operate. Reset the alarm. Among three taught points.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message SELECT ERROR (PARAMETER) [Decimal Data] Cause The control error occured in the path operation process. In case the form of S. If the error occurs again. Teach the different 3 points again. .MOTOMAN ROBOTICS EUROPE Page: 50 Operator’s manual MOTOMAN XRC Doc. 4410 TWO STEPS SAME POSITION (WEAV) TEACH ERROR (SPLINE) IMPOSSIBLE LINEAR MOTION (L/U) Reset the alarm. there was the same point of two points or more. Teach the different 3 points again. 4409 Reset the alarm. robots calibration. there was the same point of two points or more. L axis for start point and end point were different in interpolation motion except MOJV. 4415 It exceeded rated speed of the motor at a specified speed. the control error occured in the path operation process. 4411 It was not an equidistant distance between teaching points. If the error occurs again. Reduce the speed of step (Move instruction) occurred the alarm or change the robot pose. It exceeded rated speed of the motor at a specified speed. contact MOTOMAN service. Reduce the speed of the step (Move instruction) occurred the alarm or change the robot pose. it was not possible to operate. In case the form of L. 4405 4406 GROUP AXIS CONTROL ERROR [Decimal Data] When operating cooperative control. (User coordinates. there was the same point of two points or more. Release the alarm and teach again according to the release method when software limit range is exceeded. name: MRS51020-CH1. Release the interference and teach again . 4423 An abnormal (reverse) axis interfered mutually.) Robot/Station [Axis Data] SPECIAL SOFTLIMIT (MAX. Reset the alarm. 4418 The tool control point exceeded cube software limit. Release the interference and teach again.) Robot/Station [Axis Data] MECHANICAL INTERFERENCE (MAX. Reset the alarm. 4419 The tool control point exceeded cube software limit. 4416 4417 It exceeded pulse software limit.) Robot/Station [Axis Data] PULSE LIMIT (MAX. 4424 An abnormal (reverse) axis interfered mutually. Release the alarm and teach again according to the release method when software limit range is exceeded. Release the alarm and teach again according to the release method when software limit range is exceeded. Release the alarm and teach again according to the release method when software limit range is exceeded.) Robot/Station [Axis Data] MECHANICAL INTERFERENCE (MIN. 4421 It exceeded pulse software limit.) Robot/Station [Axis Data] SPECIAL MECHANICAL INTRF (MIN.) Robot/Station [XYZ] CUBE LIMIT (MAX.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 51 Doc. 4420 It exceeded pulse software limit.FM Alarm Number Message PULSE LIMIT (MIN. Reset the alarm. 4422 An abnormal (reverse) axis interfered mutually. Remedy Release the alarm and teach again according to the release method when software limit range is exceeded. Release the alarm and teach again according to the release method when software limit range is exceeded. Release the interference and teach again.) Robot/Station [Axis Data] Cause It exceeded pulse software limit.) Robot/Station [Axis Data] CUBE LIMIT (MIN.) Robot/Station [XYZ] SPECIAL SOFTLIMIT (MIN. Remedy Reset the alarm. interrupted boards were not prepared or didn't respond. When interrupting various circuit board from the XCP01 circuit board. If the error occurs again. The error occurs in information on the robot which uses for the job interpretation and the motion control.) Robot/Station [Axis Data] PULSE MECHANICAL LIMIT (MIN. contact MOTOMAN service. contact MOTOMAN service. . Reset the alarm. Data (1-128) stands for the alarm factor. If the error occurs again. Release the alarm and teach again according to the release method when software limit range is exceeded.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message SPECIAL MECHANICAL INTRF (MAX. name: MRS51020-CH1.) Robot/Station [Axis Data] PULSE MECHANICAL LIMIT (MAX. Select job and repeat the operation. operate by the following procedure: • Delete the command that caused the alarm and register again and start execution. If the error occurs again.MOTOMAN ROBOTICS EUROPE Page: 52 Operator’s manual MOTOMAN XRC Doc. Reset the alarm and repeat the operation. 4428 The error occurred in data and the timing of the processing part where the operation part was controlled. 4427 It exceeded pulse software limit. If the error occurs again. 4429 WRONG SPECIFIED CONTROL GROUP [Decimal Data] Reset the alarm and repeat the operation If the error occurs again. Data (1-9) stands for the alarm factor. Reset the alarm and repeat the operation. contact MOTOMAN service. The data was abnormal in the job control process. 4431 JHM ERROR [Decimal Data] 4432 INSTRUCTION INTERPRETER ERROR [Decimal Data] The error occurred in the job interpretation exec statement part. contact MOTOMAN service. If the error occurs again. Release the alarm and teach again according to the release method when software limit range is exceeded. Data (1-7) stands for the alarm factor. contact MOTOMAN service. Release the interference and teach again.) Robot/Station [Axis Data] SEGMENT CONTROL ERROR [Decimal Data] Cause An abnormal (reverse) axis interfered mutually. 4425 4426 It exceeded pulse software limit. ‚ Delete the job that cause the alarm and register again and start execution. 4430 CPU COMMUNICATION ERROR [Decimal Data] Reset the alarm and repeat the operation. Reset the alarm and register job. . 4437 A spline interpolation designation step didn't contain a minimum of 3 consecutive points. Reset the alarm. Select job and repeat the operation. 4440 The job call stack contained no return. Job was not registered. Reset the alarm. Reset the alarm and reduce the use number of the local variables 4438 UNDEFINED JOB [Decimal Data] UNDEFINED LABEL [Decimal Data] UNDEFINED RETURN JOB [Decimal Data] LACK OF LOCAL-VARIABLE AREA [Decimal Data] 4439 No labels existed in the currently executing job.FM Alarm Number Message UNDEFINED GLOBAL VARIABLE [Decimal Data] VAR-SCOREBOARD CONTROL ERROR [Decimal Data] Cause The global variable range was undefined. Or Delete CALL. Reset the alarm. Or Delete CALL. name: MRS51020-CH1. JUMP instruction occured the alarm. Reset the alarm and register job . 4436 A circle step didn't contain a minimum of 3 consecutive points. 4433 4434 The error occurred in variable scoreboard control. If the error occurs again. If the error occurs again. operate by the following procedure: • Delete the command that caused the alarm and register again and start execution.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 53 Doc. ‚ Delete the job that cause the alarm and register again and start execution. Set the local variable used for sub header of job. Teach at least 3 consecutive points for the circle step. Teach at least 3 onsecutive points for the spline interpolation designation step. Reset the alarm and start execution from the master job. 4441 Too many local variables used in the job. 4435 UNDEFINED LOCAL-VARIABLE [Bit Pattern] LESS THAN 3 STEPS(CIRCULAR) [Decimal Data] LESS THAN 3 STEPS(SPLINE) The local variable was undefined. Remedy Needs investigation at MOTOMAN service. Or delete RET instruction. contact MOTOMAN service. JUMP instruction caused the alarm. Select the job again and repeat the operation. Select the job and repeat the operation. Reset the alarm. Select job and repeat the operation. contact MOTOMAN service. Reset the alarm. move the robot to remove the external force and repeat the operation. In case the phenomenon occurs again without any external force. END instruction. internal control data of inside was abnomal. Data (1-255) stands for the alarm factor. If the error occurs again. various kinds of data were attempted to be initialized. In case an external force is affecting the robot. try to insert the XCP01 circuit board again. when operating the job call stack. 4444 UNSUCCESSFUL FINE POSITIONING [Decimal Data] Reset the alarm. If the error occurs again. 4447 DEFECTIVE TAUGHT POINT (CIRC) A straight line linked the three points. Reset the alarm and teach again.MOTOMAN ROBOTICS EUROPE Page: 54 Operator’s manual MOTOMAN XRC Doc.a disagreement of data occured. contact MOTOMAN service. . 4442 4443 JOB CALL STACK ERROR [Decimal Data] At the job CALL. Data (1-2) stands for the alarm factor. operate by following procedure: • Delete the command that caused the alarm and register again and start execution. the error occurred in control process of local variable. Data (1-4) stands for the alarm factor. 4446 OVER VARIABLE LIMIT [Decimal Data] Increase the variable range at the storage destination or rewrite the job to bring the number of variables in range. At the time. Remedy Reset the alarm. If the error occurs again. ‚ Delete the job that caused the alarm and register again and start execution. If the error occurs again. contact MOTOMAN service. the motor were abnormal. RET. name: MRS51020-CH1.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message LOCAL-VARIABLE CONTROL ERROR [Decimal Data] Cause When job was executed. When executing PL=0 or interrupting external servo. The range of the numerical value of the variable for storage destination was exceeded. 4445 DATA PRESET ERROR [Decimal Data] When the interpretation process section of job annuled the content of interpretation and started to interpret again. the servo deflection was not put within time. Excessive external force The servopack. 4455 The arc start condition file was not set. Data stands for the alarm factor. Reset the alarm and modify the job to reduce the jobs in the job call stack. Cartesian) of the stored data and the storage destination are different. If the error occurs again. L type weaving. Remedy 4:Set 0. the control error occurred in the path operation process.Weaving stopping time was negative 7:Vertical direction distance at or horizontal direction distance was 0 in triangular wave. Modify the job by using the permitted variable number. [Bit Pattern] UNDEFINED WELDER CONDITION FILE [Decimal Data] UNDEFINED ARC START COND FILE [Decimal Data] No reference point was registered or insufficient reference points were registered. . Set the welder condition data file. 4:Weaving speed instruction was moving time instruction. 9:Distance between P point and control point was less than 0 in the wrist weaving Except above:Control error The data types(pulse. check. 6:Set a positive value in the stopping time of weaving file. name: MRS51020-CH1. contact MOTOMAN service. Reset the alarm. 4452 The job call stack overflowed. frequency was less than 0. ERROR [Decimal Data] Match the data types(pulse. 6. 4454 The welder condition data file was not set. If the error occurs again.FM Alarm Number Message WEAVING CONTROL ERROR [Decimal Data] Cause When executing the weaving motion control. Correctly register reference points. moving time was less than 0. contact MOTOMAN service. Data stands for the alarm factor. horizontal direction distance of weaving file. Cartesian) of the stored data and the storage destination.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 55 Doc.1 hertz or more in the frequency of weaving file. 7:Set 1mm or more in the vertical direc tion. 4453 A variable number was out-ofrange. 4450 The error occured during file No. Select the job and repeat the operation. Set the arc start condition file.1 seconds or more in the moving time of weaving file. 5:Weaving speed instruction was frequency instruction. 4451 UNDEFINED REFERENCE POINT [Bit Pattern] STACK MORE THAN 8 (JOB CALL) [Decimal Data] OVER VARIABLE NO. 5:Set 0. 4448 4449 UNMATCHED POSN VAR DATA TYPE [Bit Pattern] FILE NO. Divide up the equation to reduce its length. Remedy Set the arc end condition file. Set the number of automatic sticking release attempts and repeat the operation. operate the following procdure: • Delete the command that caused the alarm and register again. 4456 4457 The arc voltage command units didn't match the welder power supply (individual. An attempt was made to output a value which exceeded the maximum BCD value limit of 99 (decimal) without parity or 79 (decimal) with parity. 4460 A division by zero was attempted. 4463 4464 General I/O group parity error. .FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message UNDEFINED ARC END COND FILE [Decimal Data] WRONG WELDER SELECTION [Decimal Data] EQUATION EXCEPTION ERROR [Decimal Data] Cause The arc end condition file was not set.MOTOMAN ROBOTICS EUROPE Page: 56 Operator’s manual MOTOMAN XRC Doc. Match the arc voltage command units.unified) . An attempt was made to read data which couldn't be represented as BCD (most-or least-significant 4 bits are 9 or above) to a variable. 4458 When executing equation of SET instruction. 4462 Arc retry was set but no move instruction exists after ARCON. 4461 Number of automatic sticking release attempts was set to zero in the arc auxiliary file. Set a move instruction after ARCON. name: MRS51020-CH1. Stop parity error from occuring. If the error occurs again. Check the designated data (BCD/ binary) and parity check. Reset the data in the permitted range. ‚ Delete the job that caused the alarm and register again. 4459 EXCESSIVE INSTRUCTION EQUATION [Decimal Data] ZERO DIVIDED OCCURRENCE [Decimal Data] UNDEFINED AUTO-WELD RELEASE COND [Decimal Data] UNDEFINED POSITION FOR ARC RETRY [Decimal Data] PARITY ERROR OVER BCD RANGE An equation was too long. Reset the alarm and repeat the operation. Set not to divide by zero. the item of the equation which couldn't be executed was attempted. If the error occurs again. If the error occurs again.FM Alarm Number Message OVER BINARY RANGE (PARITY CHECK) OFFLINE UNDEFINED COMMAND(ARITH) [Decimal Data] Cause An attempt was made to output a value exceeding 127(decimal) while the parity check was designated. 4476 An attempt was made to overwrite an edit-locked job. 4474 An instruction such as a job call (CALL) or job jump (JUMP) was used for a call or jump to a job in a group outside the currently used job control group. 4465 4466 Reset the alarm and repeat the operation. The error occured in the process of making robot calibration data. Remedy Reset the data in the permitted range. MCP02 circuit board or the contact was defective.The control of software was abnormal. Reset the alarm and repeat the operation. Undefined instruction was required for software for off-line path arithmetic of the XCP01 circuit board. contact MOTOMAN service. contact MOTOMAN service. Reset the alarm and repeat the operation. Reset the alarm and repeat the operation. contact MOTOMAN service. If the error occurs again. Cancel the edit lock.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 57 Doc. 4473 System data didn't corrspond with reset process after the alarm occurred in arithmetic section. contact MOTOMAN service. 4475 CANNOT EXECUTE JOB(NO ROBOT) [Decimal Data] CANNOT EDIT (EDIT LOCK JOB) [Decimal Data] Add a robot to the job control group. contact MOTOMAN service. name: MRS51020-CH1. Reset the alarm and repeat the operation. contact MOTOMAN service. . If the error occurs again. If the error occurs again. Review the parity check. When executing ARCON. the robot was not in the prescribed job control group. If the error occurs again. Include the call source job control group in the control group used by the current call destination job. 4468 ROBOT CALIBRATION DATA ERROR [Decimal Data] ROBOT CALIBRATION FRAME ERROR [Decimal Data] CALIBRATION DATA ERROR [Decimal Data] Reset the alarm and repeat the operation. 4472 TOOL CALIBRATION DATA ERROR [Decimal Data] ARITHMETIC ALARM RESET ERROR [Decimal Data] WRONG CONTROL GROUP AXIS [Bit Pattern] The error occured in the process of making calibration data. WVON instruction. 4469 The error occured in frame conversion process of robot calibration data 4471 The error occured in the process of making calibration data. 4485 When executing sensor instruction. robot designation(system parameter) uses sensor application and robot designation(system parameter) uses application was not corresponded. 2:Set the radius zero(0) or more. The path went outside the designated pass-over monitoring area. 4488 Path arithmetic process section control error. 4489 DEFECTIVE TAUGHT POINT(CUTTING) [Decimal Data] Impossible to execute cutting motion. Remedy Needs investigation.W axis position of cutting start position zero(0). Set the pass-over radius inside the permitted range. contact MOTOMAN service. Reset the alarm and repeat the operation. Consult MOTOMAN service. Consult MOTOMAN service.W axis position on cutting start is not zero(0) pulse. When executing sensor instruction. Consult MOTOMAN service. 2:Cutting(edge) radius 0 Cutting(edge) radius is zero(0). . Reset the alarm and repeat the operation.MOTOMAN ROBOTICS EUROPE Page: 58 Operator’s manual MOTOMAN XRC Doc. contact MOTOMAN service. 4487 WRONG MECH PARAMETER FILE [Decimal Data] INCOMPLETE PT FRAME [Decimal Data] Path arithmetic process section control error. 4477 4480 SELECT ERROR(SENSOR ) [Decimal Data] Needs investigation. Parameter(AxP010) showed the head of analog port used for arc. the selection parameter(parameter specified for maker) for first sensor application and sensor parameter(SE) is not adjusted. name: MRS51020-CH1. Needs investigation. 1:CW axis CUT pulse error C. If the error occurs again. sealing was incorrect. If the error occurs again. 4486 PASS OVER [Decimal Data] Correct the cause of the passover. 4484 WRONG PORT NO. Data stands for the alarm factor. 1:Set C. the selection parameter(parameter specified for maker) for first application and application parameter(AP) was not adjusted. (ANALOG OUTPUT) [Decimal Data] WRONG SELECTION (SENSOR) [Decimal Data] Change the parameter to a normal value.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message SELECT ERROR (APPLICATION ) [Decimal Data] Cause When executing operation instruction. contact MOTOMAN service. the position of weaving start point and end point was the same point or the position of weaving start point and referrence point is the same point. If the error occurs again. This error occurred as follows. If the error occurs again. MOVC instruction. set the MRESET instruction before executing the MOVL. The error occurred in the tool file control process.W axis position of cutting start position zero(0). Reset the alarm and repeat the operation. end point and referrence point. reset the alarm and execute the MRESET operation.147.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 59 Doc. contact MOTOMAN service. [Decimal Data] Reset the alarm and repeat the operation. the position of the weaving start point and referrence point is the same point. When correcting a motion. 4493 4494 DEFECTIVE TAUGHT POINT(WEAV) [Decimal Data] 1:Weaving start point and end point were the same. Set C. the error occured in the process of making a correction in the direction for path arithmetic. Teach again. 4:Referrence points were the same. 4490 4491 CORRECTIONAL DIRECTION ERROR [Decimal Data] Teach reference points again. If the error occurs again. When correcting a motion. Check the position of the start point. contact MOTOMAN service. Data stands for the alarm factor 1:Interpolation motion impropriety of endless function.483. 4:Instruction position of step has permitted pulse over cursor for endless axis exceeded 2.FM Alarm Number Message DEFECTIVE TAUGHT POINT(ENDLESS) [Decimal Data] Cause Impossible to execute endless motion. Remedy 1:In case this alarm occurs when operating programing pendant. 4492 POSITION CORRECTION ERROR [Decimal Data] OVER TOOL FILE NO. name: MRS51020-CH1. Robot calibration was incomplete when a coordinated move instruction was executed. though continuous rotaion was completed. 4495 UNDEFINED ROBOT CALIBRATION [Bit pattern] Conduct robot calibration. 4:Check the teaching position again. In case there was no instruction of stop weaving. In case this alarm occurs when operating playback. In case there is instruction to stop weaving.647 pulse. the error occured in making process of making a correction in the volume for path arithmetic. MRESET instruction was not executed but linear interpolation was executed. Linear motion inpropriety. When operating playback panel and programming pendant. . No restart-return step existed in the job when a restart was attemted. Consult MOTOMAN service.MOTOMAN ROBOTICS EUROPE Page: 60 Operator’s manual MOTOMAN XRC Doc. Define the user coordinates. 4506 Reset the alarm and correct the job.(Eg. If the error occurs again. 4499 Undefined position data was used. Remedy Needs investigation. 4498 An illegal instruction was executed in a job with no control group.) The distance between the search start point and aimed point was too short to determine the search direction. When executing the measure instruction. 4502 When turning on power supply. the error occured. name: MRS51020-CH1. 2:MEASON instruction 3:MEASOF instruction Retry was possible with ARC RETRY execution only if a step existed before the ARCON instruction. Define the position data. detected in the XCP01 circuit board that the XCP02 didn't normally work.. 4496 4497 There was a problem with the taught points. contact MOTOMAN service. contact MOTOMAN service. 4504 MEASURE INST EXECUTE ERROR [Decimal Data] 4505 UNDEFINED POSITION FOR ARC ON [Decimal Data] UNDEFINED POS FOR RESTART RETURN [Decimal Data] REFP POS ERROR (SEARCH MOTION) Register a step in front of the ARCON instruction. If the error occurs again.a retry request was received during 1-step execution of CALL destination job. Teach the points again. . Reset the alarm and repeat the operation. Register the instruction in a job with control axis. 4507 Reset the alarm and increase the distance between the search start point and aimed point. 4500 Undefined user coordinates were used.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message PARAMETER ERROR [Decimal Data] DEFECTIVE TAUGHT POINT(CALIB) [Decimal Data] CANNOT EXECUTE JOB(NO GRP AXIS) [Decimal Data] UNDEFINED POSITION VARIABLE [Bit Pattern] UNDEFINED USER FRAME [Decimal Data] OUT OF RANGE(PARALLEL PROCESS) [Decimal Data] SL BOARD ONLINE ERROR Cause Parameter settings caused division by zero. If the error occurs again. 4501 The error occured in task control process of independent control function. Insert the XCP02 circuit board again. Data stands for the alarm factor. Reset the alarm and repeat the operation. contact MOTOMAN service. 4519 Robot calibration was not executed. 4518 The error occured in the interface with servo on feedback ratch mode.) Remedy Reset the alarm and change the coordinates. Execute robot calibration. 0:No coordinates 1:Designation error for master tool coordinates system 2:Designation error for tool coordinates system Impossible to create user coordinates 8:No position file registered. WRCA circuit board. . (Permitted pulse is normally 100pulse. master tool coordinates. 4510 Correct the job. WRCA circuit board. Data stands for the alarm factor. 4512 TWO STEPS SAME LINE(3 STEPS) Teach again such that the three points do not lie on the straight line. The attempt was made to caluculate the root of a negative number (Second argument is a negative.) The three points for creating the user coodinates or three or more taught points for robot calibration lie on the same line. 4511 When turning on servo.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 61 Doc. the difference in robot position pulse at servo ON and the previous servo OFF exceeded the permitted range. The error occurred in the interface with servo on feedback ratch mode. Reset the alarm and repeat the operation. name: MRS51020-CH1. Check the system version of the XCP01. 4517 SEARCH MONITOR SET ERROR (SERVO) [Decimal Data] SEARCH MON RELEASE ERROR (SERVO) [Decimal Data] SPHERE INTRF ERR(ROBOT) [Decimal Data] Check the system version of the XCP01.FM Alarm Number Message PECIFIED ERROR (COORDINATE) [Decimal Data] Cause Position confirmation was not possible because the position variable (P) designates coordinates as tool coordinates. 4508 4509 MFRAME ERROR [Decimal Data] CANNOT EXECUTE INSTRUCTION (SQRT) [Decimal Data] OUT OF RANGE (DROP-VALUE) [Control Group] Register the position file(variable). 4540 JOB QUE EMPTY ERROR 4543 STACK LESS THAN 0 (JOB CALL) [Decimal Data] Reset the alarm and repeat the operation. Check the starting job. If the error occurs again.) which couldn't be executed in a concurrent job. Needs investigation. 4528 Internal data was abnormal in instruction. turn on the general input signal set in the parameter. (System function unmatch) During operation at the designated speed. name: MRS51020-CH1. 4520 4521 WRONG JOB TYPE [Bit Pattern] 0000_0001:Robot job was started from concurrent job by CALL or JUMP instruction. Remedy Reset the alarm and repeat the operation. Internal data of equation inst was abnormal. 4524 A concurrent job contained an instruction (MOV. Consult MOTOMAN service. 4526 SYNTAX ERROR IN EQUATION INST [Decimal Data] UNDEFINED PORT NO. Reduce the step (for moving instruction) speed that caused the alarm or change pose of robot.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message AXIS BLOCKING [Control Group] Cause Operation was instructed to group axis out of axis blocking on play mode. Needs investigation. 0000_0001:Concurrent job was started from robot job by CALL or JUMP instruction. Correct the job.etc. contact MOTOMAN service. (AOUT) [Decimal Data] SYNTAX ERROR [Decimal Data] Needs investigation. In case operating robot after reset the alarm. 4522 TAG DATA CHANGE PROCESS ERROR [Decimal Data] ONLY CONCURRENT JOB POSSIBLE CANNOT EXECUTE INST (CONCUR JOB) Correct the job. 4523 An attempt was made to operate robot job by all task. Check the starting job. 4527 Designation of port No. Consult MOTOMAN service. The error occurred in internal data when returning job. [QUE] was called by CALL instruction and JUMP instruction when all job queue was not used. The error occured when welding conditions were changed in a job or file. 4534 TORQUE INTERFERENCE Reset the alarm.for job was abnormal.MOTOMAN ROBOTICS EUROPE Page: 62 Operator’s manual MOTOMAN XRC Doc. Set data in the job queue and call [QUE]. there is axis that the robot axis or motor load torque exceeded the permitted torque. Consult MOTOMAN service. . and repeat the operation. Needs investigation. lengthen set time. search function for general sensor(ASRCH). MOVS when operating ARC retry. The error occurred in control process of servogun. Set not to operate ARC retry. the process error occured. defective LS etc. 4577 The error occurred in control process of servogun. and repeat the operation. MOVC. restart. no turning on power supply of timer conductor etc. If the error occurs again. If the error occurs again.. 4564 4565 SOFTWARE UNMATCH [Decimal Data] CANNOT MONITOR DISTANCE Need the investigation. restart or. contact MOTOMAN service.FM Alarm Number Message INTERNAL STATUS ERR (SEARCH HALT) [Decimal Data] Cause When execution of start point detecting function(SRCH). In case that it takes time to response from the timer. Operating function didn't correspond to system. 4583 Set gun was set by operation mode of control impossible. 4572 UNDEFINED SERVO GUN CONTROL GRP SPOT WELD COMPLETE TIME LIMIT There was no group setting controlled as servogun. 4574 Welding completed signal from timer conductor or welding error signal doesn't enter even if waiting set time. Correct the factor. change the instruction(interpolation) to MOVL.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 63 Doc. Remedy Reset the alarm and repeat the operation. 4576 Needs investigation. 4584 Confirmation signal designated by stroke switch confirmation instruction doesn't enter even if waiting set time. Configulate again on customer maintenance mode. welding timing was set [After first pressure]. Set the second pressure or. set the servogun axis correctly. Consult MOTOMAN service. Consult MOTOMAN service. Change to the mode applied to the gun. Consult MOTOMAN service. name: MRS51020-CH1. 4578 The error occurred in timer conductor of system designated by data. 4567 The attempt was made to execute MOVJ. 4575 ERROR IN WELD START TIMING SET ERR IN SERVO GUN CONT MODE ERR IN SERVO GUN MODE RLSE SPOT WELD ERROR [Decimal Data] CANNOT EXECUTE GUN TYPE STRWAIT TIME LIMIT When there was no set of second pressure at servogun. change the start timing.. contact MOTOMAN service. force detecting function(TSRCH) was completed. Reset the timer conductor that caused the welding error and repeat the operation. . Correct the factor. 1: Welder 1 2: Welder 2 3: Welder 3 4: Welder 4 Determine the sticking factor of the welder. various standard position was not registered. name: MRS51020-CH1. When using abrasion correction function at servogun. [Contact Teaching]. Remedy Set the correction direction of fix side chip to apply the gun. 4603 The skicking was detected by the welder.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message COMPENSATION DIRECTION UNSETTING Cause When correction direction of fix side chip for gun condition data file was except 1.MOTOMAN ROBOTICS EUROPE Page: 64 Operator’s manual MOTOMAN XRC Doc. 4601 UNDEFINED GUN COND FILE [Decimal Data] WIRE STICKING [Decimal Data] Set the gun condition data file completely. . 2. 4588 4589 ABRASION BASIS POS UNSETTING [Decimal Data] Register a required standard position.[Abrasion Correction] etc. was intended to used. 1:Standard position A 2:Standard position B 3:Standard position C Gun condition data file was not set. XY) Not registered user coordinates basic 3 points(ORG. etc. 70 - Program and current tool different 80 90 100 - Same position in the 3 points Set robot exactly to taught position On overrun recovery status . name: MRS51020-CH2. XX. When an error occurs. s System and General Operation Error NO. release it after the confirmation of the content of the error. XX. PLC.FM 2. To release the error perform following the operation. Error 2.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 63 Doc. Out of specified mode operation Parameter setting error Limit of variables name is 64 10 20 30 31 - 40 - Position type variable cannot be used 50 60 - Depress MODIFY Undefined points (ORG. Input alarm/error reset signal (specific input).)accesses. Data - Message Turn off servo power and perform corrective action Depress TEACH Illegal setting for number of variables Illegal setting for number of variables name Undefined robot position variables Contents It cannot be operated on servo power supply.1 Error Message List Error warns the operator not to advance to the next operation caused by a wrong operation and the access method when programing pendant operation or an external equipment(computor. XY) The tool number registered with teaching position data didn't match the the tool number. Press [CANCEL] on programming pendant.selected at the programing pendant. Note! An error is different than an alarm because it does not stop the robot even if it occurred while the robot was operated (during playback). MOTOMAN ROBOTICS EUROPE Page: 64 Operator’s manual MOTOMAN XRC Doc. name: MRS51020-CH2.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error NO. Data - Message Turn ON servo power Set to PLAY mode No start using external signal No start using P. Undefined user frame Cannot register Master JOB Cannot operate CHECK-RUN Cannot operate MACHINE LOCK Cannot operate Master JOB Cannot initialize Teach point not specified No SYNCHRO operatrion Position not checked Contents 110 120 130 140 150 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 370 380 Second home position was not checked 390 400 - Can specify servo off by safety relay Wrong specification of measure interval Wrong specification of measure interval for TRT function.BOX TEACH-LOCK mode Servo off signal ON TEACH mode select signal ON Defined group axis Undefined coordinated robots Cannot register between stations Taught by other robot While releasing soft limit Undefined robot Defined condition No. . Undefined file Condition file not selected Lack of number of I/O points Cannot set same No. 410 420 430 440 - Register start reserved JOB Clear data to teach at the tool because other tool is set Wrong JOB for measuring Excess time for measuring Calibration at another file Calibration at another robot combination Cannot calibrate at this combination Undefined robot calibration data Undefined axis Cannot select two coorditated combination Start reservation mode Not start reservation mode Start reserved JOB change prohibit is set Cannot teach position while soft limit released Turn on all contactor's servo power Connect group axis to one contactor Register group axis combination [SYNCHRO] key for coordinated job which was not registered as group was pressed. name: MRS51020-CH2. Data - Message Time could not be measured Incorrect number of taught points Contents Time could not be measured Taught points for tool calibration were incorrect.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 65 Doc. 450 460 470 480 490 500 510 520 - 530 540 550 - 560 - 570 580 590 - 600 610 620 630 640 650 660 - Out of setting data range Cannot use the user coordinate Select JOB (robot) Not completed to load original tool file Not specified tool file Incorrect measured data Wrong data type of position variable .FM Error NO. Cannot register them once Relay No. Illegal path number Wrong CMOS memory board type Enter path number Defined file name Undefined Name Position file This name cannot be defined Undefined Name Position Error in start condition set During robot operation Quit operation by mini operation pendant FWD/BWD don’t work in the handle operation The gun of designation is not connected Servo power supply is limited Modification range over Can’t move while modifying speed Unregistered key Cannot register instruction Please release key registration mode This key cannot be allocated Same relay cannot be set This key has already been registered.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error NO. name: MRS51020-CH2.MOTOMAN ROBOTICS EUROPE Page: 66 Operator’s manual MOTOMAN XRC Doc. not set Cannot be registered because job control group not same Contents 670 680 690 700 710 720 730 740 750 760 770 780 790 - 800 810 820 830 840 850 860 870 880 890 - 900 910 - . Data XXX Message Enter path number Defined data File No. MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 67 Doc. Enter correct date Enter correct clock Enter a number in 8 figures Contents s Job Defined Data Error No. 2010 2020 2030 2040 2050 2060 2070 2080 2090 2100 2110 2120 2130 2150 2160 2170 Data Error Message Incorrect character Name not entered Undefined JOB name Defined JOB name Address not found Select master Set robot exactly to taught position Press INSERT or MODIFY Only modifying move instruction possible JOB cannot be edited. name: MRS51020-CH2. Over soft limit Cannot insert/alter/delete with servo off Only modifying move instruction possible Inserting is not possible from this point Cannot modify or delete this position Press INSERT to record same step as previous step Error Contents . 1010 1020 1030 1040 1050 1060 1070 Data Message EDIT LOCK mode Enter correct value Unauthorized ID No.FM s Editing Error No. FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No. 2180 2190 2200 2210 2220 2230 2240 2250 2260 2270 Data * 1 2 Error Message Cannot insert data Cannot delete data Cannot modify data Illegal data setting Display edit instruction Illegal instruction equation Excessive instruction equation Unmatched number of parentheses in equation Wrong group axis selection Cannot insert any more instruction in JOB JOB memory is full Error Contents Lack of position file memories Lack of JOB registering memories Lack of instruction file memories Lack of memory pool Lack of pass condition file for multilayer Undefined master JOB Undefined SUB master JOB SUB master 1 SUB master 2 SUB master 3 SUB master 4 SUB master 5 Undefined MASTER START JOB 2280 3 4 5 2290 * 1 2 2291 3 4 5 2292 - . name: MRS51020-CH2.MOTOMAN ROBOTICS EUROPE Page: 68 Operator’s manual MOTOMAN XRC Doc. name: MRS51020-CH2. Calibration not complete 2420 2430 2440 2450 2460 2470 2480 2490 2500 - . perform a line-edit When variable is used for teach setting.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 69 Doc.FM Error No. perform a line-edit Reverse data not found Move C-and W-axis to basic position Relative JOB not permitted Specified JOB is already converted Wrong JOB type Wrong JOB coordinates setting Execute NEXT/BACK operation once Cannot convert the JOB Lazer cutting Line No. Data * 1 2 Error Message Undefined SUB START JOB Error Contents SUB master 1 SUB master 2 SUB master 3 SUB master 4 SUB master 5 Cannot teach JOB without group-axis specification Same label exists 2293 3 4 5 2300 * 2310 XXX 2320 2330 2340 2350 2360 2370 2380 2390 2400 2410 Cannot creat coordinated JOB Cannot edit coordinated instruction Pasted data not found Editing data not found Cannot create editing area Cannot cut/copy NOP and END instructions Wiring JOB selection Wrong group axis selection Cannot move in cut & paste editing When variable is used for speed setting. MOTOMAN ROBOTICS EUROPE Page: 70 Operator’s manual MOTOMAN XRC Doc. after circular block Undefined target JOB Wrong designation of welding section Defined same kind JOB Press position not reset Relative job can’t be shifted with pulse type Cannot correct position variables Error Contents s External Memory Equipment Error No. name: MRS51020-CH2. 2510 2520 2530 2540 2550 2560 2570 2580 2590 2600 2610 2620 2630 2640 2650 2660 2670 2680 2690 2700 2710 2720 Data - Error Message Cannot correct position in the JOB Enter JOB name Illegal step number Enter step number Duplicated step number Cannot correct steps of position variables and REFP The step does not contain speed The step dose not contain PL/CONT Soft limit range over Cannot teach position in concurrent JOB Wrong JOB kind Cannot correct play speed in the JOB Conveyor position not reset Incorrect JOB name Defined JOB name Register MOVL inst. 3010 3020 Data Message Floppy disk cable not connected Floppy disk not inserted into floppy disk drive Contents .FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No. FM Error No. name: MRS51020-CH2.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 71 Doc. 3030 3040 3050 3060 3070 3080 Data * 1 2 3 Message Floppy disk protection is ON File not saved on floppy disk File saved on floppy disk Out of memory on floppy disk Number of files on floppy disk I/O error on floppy disk Transmission error with floppy disk drive Contents Framing error Overrun error Parity error Data code error Data read error Dat write error Data time out Serial I/O error Error other than described above Total checksum error Syntax error HEX code error Specification error of data record Specification error of FEO record Record type error Total check error of record Verify error Wrong pseudo instruction 3090 4 5 6 7 8 9 3100 3110 * 1 3120 2 3 4 3130 3140 - . Specification error of relay No. is omitted Specified tool No. is omitted User file is not registered Concurrent I/O data transmission error 3150 4 5 6 7 3160 * 1 3170 2 3 4 3180 - .FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No. name: MRS51020-CH2.MOTOMAN ROBOTICS EUROPE Page: 72 Operator’s manual MOTOMAN XRC Doc. Cannot load illegal system data Condition file data error Format error Specified file No. Data * 1 2 3 Message Concurrent I/O record error Format error Contents Ladder program is too long Exceed the range of the data Specification error of channel No. Timer value error Specification error of timer No. MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 73 Doc.FM Error No. name: MRS51020-CH2. storage area not found Syntax error in instruction data Interior control error Undefined instruction/tag Instruction/tag shortage Disuse instruction/tag Sub instruction Non instruction 2 3 4 5 6 7 3190 8 9 10 11 12 13 3200 3210 * 2 3 3220 4 5 6 7 . Data * 1 Message Error in JOB data record Contents The number of position data (NPOS) record wrong for the format Record on the user coordinate No. is wrong for the format Tool record is wrong for the format Record on the position data section is wrong for the format Robot type of XYZ data (RCONF) record is wrong for the format Date record is wrong for the format Comment record is wrong for the format JOB attribute data (ATTR) record is wrong for the format Control group (GROUP)record is wrong for the format Local variable (LVARS)record is wrong for the format JOB argument (JARGS) record is wrong for the format Teaching coordinates for relative JOB (FRAME) record is wrong for the format Position data corrdinates do not match relative job coordinates NOP or END instruction not found Position No. FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No. name: MRS51020-CH2.MOTOMAN ROBOTICS EUROPE Page: 74 Operator’s manual MOTOMAN XRC Doc. Data 8 9 10 11 12 13 14 15 Message Contents Invalid instruction Invalid tag Invalid character Undefined intermediate code Intermediate code shortage Syntax stack overflow Syntax stack underflow Array type tag incompleted Tag [ARRAY] Element type tag incompleted Tag [ELEMENT] Macro JOB unregistered Input format error Date size over MIN value over MAX value over Operation expression error JOB call argument setting error Macro JOB call argument setting error Position vector setting error System error Soft key designate error Numerical input buffer overflow Real type data precision error Element format error [BOOL TYPE] data error [CHAR] data error [BYTETYPE] [BINARY] / HEXADECIMAL BYTE TYPE] data error [INTEGER TYPE] [DECIMAL EORD TYPE] data error 16 17 18 19 20 3220 21 22 23 24 25 26 27 28 29 30 35 36 37 38 . MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 75 Doc. name: MRS51020-CH2. Data 39 Message Contents [BINARY/HEXADECIMAL WORD TYPE] data error [DOUBLE PRECISION TYPE] [DECIMAL DWORD TYPE] data error [BINARY/HEXADECIMAL WORD TYPE] data error [REAL TYPE] data error [LADDER SPECIAL TYPE] data error JCL text Invalid text [LABEL NAME] data error [JOB NAME] data error [STRING] data error [COMMENT] data error Invalid instruction/tag detection 40 41 42 43 3220 44 45 46 47 48 49 58 3230 3240 3250 3260 3270 3280 3290 3300 3310 3320 3330 3340 3350 3360 3370 Syntax not matched Undefined application Cannot load this file Excess input data Cannot verify this file Wrong welding condition (STANDARD/ ENHANCED) Serial port not defined Serial port being used Protocol being used Wrong GUN type Undefined multilayer data Illegal number of multilayer data Not enough memory Invalid directory Incorrect directory name .FM Error No. name: MRS51020-CH2.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No. The relay is not used Relay]No. Enter STR [-NOT] at head of block Line No. Data * 4010 XXX * 4020 XXX * 4030 XXX * 4040 XXX * 4050 XXX * 4060 XXX * 4070 XXX * 4080 XXX * 4090 XXX Line No. Illegal instruction Line No. Plural output are instructed to the relay Line No. Illegal block No. Excess STR-[-NOT] instructions Line No. duplicated in OUT or GOUT instruction Line No.MOTOMAN ROBOTICS EUROPE Page: 76 Operator’s manual MOTOMAN XRC Doc. Excess AND [OR] STR instructions Line No. Illegal relay No. Need STR [-NOT] Syntax error in CNT instructions Line No. Message Contents . Line No. 3380 3390 3400 3410 3420 3430 3440 Data - Message Drive not ready File not found File already exists on the media Out of memory on the media Max number of files has been reached I/O error on the drive Wrong media type Contents s Concurrent I/O Error No. MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 77 Doc. name: MRS51020-CH2. Data * Message Relay No. duplicated in TMR and CNT Contents Timer and counter are used twice Line No. * 4150 XXX 4160 4170 4180 4190 4200 4210 - Wrong use of GSTR. 4100 XXX 4110 4120 4130 4140 Excessive ladder scan-time Concurrent I/O memory is full END instruction not found Wrong ladder program Ladder scan time is too long Exceeds memory capacity END instruction not found Position and number of PART instruction are wrong GSTR and GOUT is not used together Line No.FM Error No. GOUT commands Cannot edit system section Cannot modify/delete Press INSERT/MODIFY/DELETE soft keys Ladder program not found Cannot specify system variables ($) Cannot edit line s Maintenance mode Error No. 8010 8020 Data Message PC CARD not ready Designated file does not exist Contents . name: MRS51020-CH2.MOTOMAN ROBOTICS EUROPE Page: 78 Operator’s manual MOTOMAN XRC Doc.FM Created: 98-08-19 Revised: 99-08-27 Error Message List . Notes . Headquarters: Sweden MOTOMAN Robotics Europe AB Box 504. DK-7100 Vejle. Fax: +30-1-9567289 REHM Hegesztéstechnika Kft. Fax: +972-03535943 ROBIA ASA Industriveien 1.A. Switzerland Tel: +41-18471717. Czech Republic Tel: +420-361-254571. ZA-Bertsham 2013. Venda Nova. IL-Kfar Azar 55905. DE-85391 Allershausen. Banbury. Denmark Tel: +45-79428000. Jászberényi út 4. Sweden Tel: +46-480-444600. Netherlands Tel: +31-76-5424278. Fax: +33-40754147 MOTOMAN Robotec GmbH Kammerfeldstraße 1. FI-20380 Turku. England Tel: +44-1295-272755. SI-1310 Ribnica. DE-61476 Kronberg/Taunus. Rua Vice-Almirante Azevedo Coutinho 4. Germany Tel: +49-8166-90-0. Fax: +39-059-280602 MOTOMAN benelux B. France Tel: +33-2-40131919. Portugal Tel: +351-21-4968160. ES-08830 St. NL-4823 AC Breda. Fax: +31-76-5429246 RISTRO d.A. Fax: +358-22145660 Kouvalias Industrial Robots 25.o. Fax: +351-21-4990319 Robotic Systems S. Hungary Tel: +36-30-9510065. Venizelou Ave. Lepovce 23. CZ-39002 Tábor. Italy Tel: +39-059-280496.. Boi de Llobregat (Barcelona). Fax: +36-1-2562012 KNT Engineering Ltd. Tápiószele. NO-3300 Hokksund. H-2766. Trebízského 1870. South Africa Tel: +27-11-4943604. GR-17671 Kallithea. Avenida Marina 56. PTY Ltd P. Fax: +49-8166-90-103 MOTOMAN Robotec GmbH Im Katzenforst 2. Fax: +386-61-861227 MOTOMAN Robotics España S. SE-385 25 Torsås. Sweden Tel: +46-486-48800. Fax: +45-79428001 Robia Suomi OY Messinkikatu 2. PT-2700 Amadora. Fax: +47-32252840 Electro-Arco S. Fax: +41-18442432 Group companies: France Germany Germany Great Britain Italy Netherlands Slovenia Spain Sweden Distributors: Czech Republic Denmark Finland Greece Hungary Israel Norway Portugal South Africa Switzerland MOTOMAN ROBOTICS EUROPE AB a subsidiary of YASKAWA Electric Corporation . +46-486-41410 MOTOMAN Robotics SARL Rue Nungesser et Coli. SE-390 04 Kalmar. Spain Tel: +34-93-6303478. Fax: +44-1295-267127 MOTOMAN Robotics Italia SRL Via Emilia 1420/16. F-44860 Saint-Aignan-de-Grand-Lieu. D2A Nantes-Atlantique. Fax: +34-93-6543459 MOTOMAN Mecatron Robotic Systems AB Box 4004. Fax: +420-361-256038 Robia A/S Hjulmagervej 4. 9 Hapalmach Street. El. Finland Tel: +358-22145600.o. Israel Tel: +972-35351945. CH-8108 Dällikon. Germany Tel: +49-6173-60-77-30. OXON OX16 8DJ. Greece Tel: +30-1-9589243-6. Slovenia Tel: +386-61-861113.r. Parcela 90.V Zinkstraat 70.o.O Box 90741. Fax: +27-11-4942320 Messer SAG Langweisenstrasse 12.A. IT-41100 Modena.. Fax: +46-444699 MGM Spol s. Norway Tel: +47-32252820. Fax: +49-6173-60-77-39 MOTOMAN Robotics UK (Ltd) 1 Swan Industrial Estate.
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