Maintenance Manual-Alarm • Error List (XRC) MRS51020

March 26, 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 It may also be used to alert against unsafe practices. This manual explains the various components of the MOTOMAN XRC system and general operations. carefully read the Setup Manual before reading this manual. if not avoided. Some drawings in this manual are shown with the protective covers or shields removed for clarity. General items related to safety are listed in the MOTOMAN XRC Setup Manual. The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. even if not designated as “CAUTION” and “WARNING”. To ensure correct and safe operation. be sure to follow all instructions. Read this manual carefully and be sure to understand its contents before handling the MOTOMAN XRC.FM Safety NOTES FOR SAFE OPERATION Read this manual carefully before installation. WARNING Indicates a potentially hazardous situation which. Be sure all covers and shields are replaced before operating this product. In this manual.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Created: 98-08-08 Revised: 00-03-31 Page: 1 Doc. INFORMATION Always be sure to follow explicitly the items listed under this heading. name: GENERAL_WARNING. To ensure safe and efficient operation at all times. operation. moderate or serious injury to personnel and damage to equipment. . could result in minor. the Notes for Safe Operation are classified as “WARNING” or ”INFORMATION”. maintenance or inspection of the MOTOMAN XRC. Be sure to tell the representative the manual number listed on the front cover. EMC and LVD Directive. . If your copy of the manual is damaged or lost. MOTOMAN is not responsible for incidents arising from unauthorized modification of its products. modifications or changes in specifications. the manual will also be revised. MOTOMAN is not responsible for incidents arising from unauthorized modification of its products.MOTOMAN ROBOTICS EUROPE Page: 2 Operator’s manual MOTOMAN XRC Doc. MOTOMAN may modify this model without notice when necessary due to product improvements. 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. Information how to connect to the MOTOMAN XRC is described in the XRC Service Manual. contact a MOTOMAN representative to order a new copy. Unauthorized modification voids your product’s warranty. The equipment is intended to be incorporated into machinery or assembled with other machinery to constitute machinery covered by this directive. Unauthorized modification voids your product’s warranty. see revision information. the EMC-directive as well as the LVD-directive. If such modification is made. name: GENERAL_WARNING.FM Created: 98-08-08 Revised: 00-03-31 The equipment is manufactured in conformity with the EC Machinery directive. The representatives are listed on the back cover. name: GENERAL_WARNING. the equipment is designated as follows. the keys are shown with a “+” sign between them. 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. JOB Playback panel buttons are enclosed in brackets. ex. In this manual. When two keys are to be pressed simultaneously.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Created: 98-08-08 Revised: 00-03-31 Page: 3 Doc. ex. ex. [SHIFT]+[COORD] The menu displayed in the programming pendant is denoted with “italic” characters. page key The cursor key is an exception and a picture is not shown. [ENTER] The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture. 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 playback panel.FM Definition of terms used often in this manual The MOTOMAN manipulator is the YASKAWA industrial robot product. the programming pendant and supply cables. ex. The manipulator usually consists of the controller. [TEACH] on the playback panel Symbol keys Displays Playback panel Buttons . Axis keys Number keys Keys pressed simultaneously “Axis keys” and “Number keys” are generic names for the keys for axis operation and number input. Always press an emergency stop button immediately if there are problems. Moving the robot with the programming pendant. name: GENERAL_WARNING. Always return the programming pendant to the hook after use. The MOTOMAN XRC should not be used if the emergency stop buttons do not function. Always set the Teach Lock before entering the robot work envelope to teach a job. repair them immediately and be sure that all other necessary processing has been performed. Teaching Before operating the robot. Performing automatic operations. The programming pendant can be damaged if it is left in the robots work area. on the floor or near fixtures. 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. Service Perform the following inspection procedures prior to conducting robot teaching. Spare parts MOTOMAN warranty is only valid if original spare parts are used.MOTOMAN ROBOTICS EUROPE Page: 4 Operator’s manual MOTOMAN XRC Doc. If problems are found. Check for problems in robot movement. Running check operations. the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed. Check for damages to insulation and sheathing of external wires. Operator injury can occure if other person reset safety and restart robot in PLAYmode. check that the servo power is turned off when the emergency stop buttons on the playback panel or programming pendant are pressed.FM Created: 98-08-08 Revised: 00-03-31 Description of the operation procedure In the explanation of the operation procedure. Injury or damage to machinery may result if the emergency stop circuit cannot stop the robot during emergency. Injury may result if anyone enters the working envelope of the robot during operation. . 1 Outline of Alarm When the alarm of level 0-3(major alarm) occurs. Turn off the main power supply and correct the cause of the alarm. Then turn on a main power supply again. it is possible to reset by [RESET] under the alarm display or the specific I/O signal(Alarm reset). 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. the servo power supply is interrupted.FM Alarm • Error 1. Alarm Code classification. Alarm 1. Turn off the main power supply and correct the cause of the alarm. 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. It is not possible to reset by [RESET] under the alarm display or the specific I/O signal(Alarm reset). name: MRS51020-CH1. After correcting the cause that the specific input signal for the system or user alarm request is input. 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) . Careless operation may delete registered data. before performing any repairs.n) o:Slot NO. JANCD-XCP01 back up very important file data for the user program with a battery. Personnel must be appropriately skilled in maintenance mode operation to carry out repairs. Replace the circuit board. name: MRS51020-CH1. 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.MOTOMAN ROBOTICS EUROPE Page: 6 Operator’s manual MOTOMAN XRC Doc. If repairs for JANCD-XCP01 are necessary. 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. consult MOTOMAN service.2 Alarm Message List Pay special attention when performing any repairs for system control circuit board “JANCD-XCP01”.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List 1. Check the connection of the terminal connector(WRCA•CN10(#*)). 0020 0021 COMMUNICATION ERROR(SERVO) [Decimal Data] The connection of communication cable for servopack was not completed.WRCA CN10(#*) cable) Replace the communication connector for servopack. name: MRS51020-CH1. Replace the terminal connector. The terminal connector was unusual. (XCP01•CN05 WRCA(#*)•CN10 cable. Replace the circuit board.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 terminal connector was equipped 1 for a system). Check the connection of communication cable for servopack.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 7 Doc. The connection of terminal connector was not completed. 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). WRCA•CN10(#*) . The circuit board was out of order. . The connection of communication cable for servopack was not cut. 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. Replace the circuit board. When the XCP01 circuit board is replaced. 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). 0030 . name: MRS51020-CH1. 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. consult MOTOMAN service. Remedy Replace the circuit board.MOTOMAN ROBOTICS EUROPE Page: 8 Operator’s manual MOTOMAN XRC Doc.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. n) o :Slot NO. 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. When the XCP01 circuit board is replaced. 0040 .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 .MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 9 Doc. name: MRS51020-CH1. consult MOTOMAN service. 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. 4:SC. 6:CIO*. 1:RO*. 0:RC*.XIU01•CN03 cable. Consult MOTOMAN service. 0060 0200 MEMORY ERROR (PARAMETER FILE) [Decimal Data] The parameter file was damaged. speed detect circuit board connected with WRCA01 circuit board(#4) 81-95:Contactor circuit board. 2:SV. 8:AP. 1-15: I/O module connected with XCP01circuit board 17-31:Contactor circuit board. 0210 MEMORY ERROR (SYSTEM CONFIGDATA) Needs investigation. 14:MF*. Data stands for the damaged parameter file.FM Alarm Number Message COMMUNICATION ERROR(I/O MODULE) [Decimal Data] Cause An error occured in communication of I/O module.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. 9:RS. 12:AMC*. 11:RMS*. . 5:SD*. (XCP01•CN01 . 3:SVM. Load the saved parameter file in the external memory unit. Defective I/O module Data stands for the error I/O module. WRCA01(#*)•CN20 XIU01•CN21 cable) Replace the communication connector for I/O module. speed detect circuit board connected with WRCA01 circuit board(#5) 97-111:Contactor circuit board. speed detect circuit board connected with WRCA01 circuit board(#3) 65-79:Contactor circuit board. name: MRS51020-CH1. Initialize the parameter file damaged on maintenance mode. 15:PCD* *:System parameter The system configuration data information on setting system initialization was damaged. 7:FD*. 13:SVP*. speed detect circuit board connected with WRCA01 circuit board(#1) 33-47:Contactor circuit board. 10:SE. speed detect circuit board connected with WRCA01 circuit board(#2) 49-63:Contactor circuit board. 0310 CMOS memory capacity on system setting was different than the current one.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. Load the job saved on the external memory unit. Remedy Initialize the job on maintenance mode The whole job data is deleted. Initialize the ladder program on maintenance mode.DATA) [Decimal Data] VERIFY ERROR (CMOS MEMORY SIZE) The system parameter was modified illegally. . Consult MOTOMAN service. 0300 VERIFY ERROR (SYSTEM CONFIG. 0220 0230 MEMORY ERROR (LADDER PRG FILE) The concurrent I/O ladder program was damaged. Needs investigation.MOTOMAN ROBOTICS EUROPE Page: 12 Operator’s manual MOTOMAN XRC Doc. Load the ladder program saved on the external memory unit. name: MRS51020-CH1. Check the connection status of CMOS memory circuit board (XMM01) for expansion. 0340 . speed detect circuit board connected with WRCA01 circuit board(#4) 81-95:Contactor circuit board. Modify the I/O module on maintenance mode. 0320 0330 VERIFY ERROR (APPLICATION) VERIFY ERROR (SENSOR FUNCTION) The applicatoion on system setting was different than AP parameter. speed detect circuit board connected with WRCA01 circuit board(#2) 49-63:Contactor circuit board. The sensor function on system initializing was different than the function of the sensor circuit board mounted now. Data stands for the I/O module. 1-15: I/O module connected with XCP01 circuit board 17-31:Contactor circuit board. The sensor setting on system setting was different than SE parameter. 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. name: MRS51020-CH1.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(#1) 33-47:Contactor circuit board.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. Change SE parameter for the correct value. 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. (The terminal connector is equipped 1 for a system). Replace the circuit board. (XCP01•CN05 . The connection of terminal connector is not completed. Replace the terminal connector. 0400 . The terminal connector is unusual. WRCA•CN10(#*) WRCA•CN10(#*) cable) Replace the communication connector for servopack. The circuit board was out of order.WRCA(#*)•CN10 cable. Check the connection of the terminal connector(WRCA•CN10(#*)).MOTOMAN ROBOTICS EUROPE Page: 14 Operator’s manual MOTOMAN XRC Doc. name: MRS51020-CH1.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 communication cable for servopack was not cut. 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. contact MOTOMAN service. If the error occurs again. Replace the 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 . 0900 0901 WATCHDOG TIMER ERROR (XCP02#1) [Decimal Data] An insertion error of the XCP02#1 circuit board or the circuit borad failer.FM Alarm Number Message MODE CHANGE ERROR [Decimal Data] Cause An error occurred in process of change to normal operation mode. 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. (XCP01•CN05 . Insert the circuit board in the CPU rack or the connector on the circuit board fast. 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. contact MOTOMAN service. An insertion error of the XCP01 circuit board or defective circuit board.n ) o :Slot NO. . contact MOTOMAN service. WRCA•CN10(#*) WRCA•CN10(#*) cable) Replace the communication connector for servopack. Turn the power off then back on. Replace the circuit board. name: MRS51020-CH1. Replace the circuit board.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 15 Doc. Replace the circuit board If the error occurs again. Replace the terminal connector.WRCA(#*)•CN10 cable. Check the connection of the terminal connector(WRCA•CN10(#*)). <Data :50-55> Check the connection of communication cable for servopack. Insert the circuit board in the CPU rack fast. If the error occurs again. If the error occurs again. If the error occurs again. Replace the circuit board. contact MOTOMAN service. If the error occurs again. 0912 CPU ERROR (XCP02#2) [Decimal Data] An insertion error of the XCP02#2 circuit board or defective circuit board. If the error occurs again. If the error occurs again. Insert the circuit board in the CPU rack fast. contact MOTOMAN service. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board. . Replace the circuit board.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. contact MOTOMAN service. Remedy Insert the circuit board in theCPU rack or the connector on the circuit board fast. Replace the circuit board If the error occurs again. Replace the circuit board. Replace the circuit board. contact MOTOMAN service.MOTOMAN ROBOTICS EUROPE Page: 16 Operator’s manual MOTOMAN XRC Doc. Insert the circuit board in the CPU rack or the connector on the circuit board fast. contact MOTOMAN service. If the error occurs again. 0921 BUS ERROR (XCP02#1) [Decimal Data] An insertion error of the XCP02#1 circuit board or defective circuit board. 0902 0910 CPU ERROR(XCP01) [Decimal Data] An insertion error of the XCP01 circuit board or defective circuit board. Replace the circuit board. 0911 CPU ERROR (XCP02#1) [Decimal Data] An insertion error of the XCP02#1 circuit board or defective circuit board. contact MOTOMAN service. contact MOTOMAN service. 0922 BUS ERROR (XCP02#2) [Decimal Data] An insertion error of the XCP02#2 circuit board or defective circuit board. Insert the circuit board in the CPU rack fast. 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. name: MRS51020-CH1. 0930 CPU HANG UP ERROR (XCP01) [Decimal Data] An insertion error of the XCP01 circuit board or defective circuit board. Insert the circuit board in theCPU rack fast. 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 fast. If the error occurs again. If the error occurs again. contact MOTOMAN service. Replace the circuit board. Replace the circuit board. If the error occurs again. 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. 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.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 17 Doc. 0942 WATCHDOG TIMER ERROR (WRCA#3) [Decimal Data] An insert 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. If the error occurs again. Replace the circuit board If the error occurs again. contact MOTOMAN service. If the error occurs again. 0944 WATCHDOG TIMER ERROR (WRCA#5) [Decimal Data] An insertion error of the WRCA01#5 circuit board or defective circuit board. . name: MRS51020-CH1. 0940 WATCHDOG TIMER ERROR (WRCA#1) [Decimal Data] An insertion error of theWRCA01#1 circuit board or defective circuit board. If the error occurs again. Replace the circuit board. 0941 WATCHDOG TIMER ERROR (WRCA#2) [Decimal Data] An insertion error of the WRCA01#2 circuit board or defective circuit board. Remedy Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board.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. Insert the circuit board in the CPU rack or the connector on the circuit board fast. contact MOTOMAN service. contact MOTOMAN service. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board. 0943 WATCHDOG TIMER ERROR (WRCA#4) [Decimal Data] An insertion error of the WRCA01#4 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. Replace the circuit board. If the error occurs again. 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. 0945 0950 CPU ERROR (WRCA#1) [Decimal Data] An insertion error of the WRCA01#1 circuit board or defective circuit board. 0955 CPU ERROR (WRCA#6) [Decimal Data] An insertion error of the WRCA01#6 circuit board or defective circuit board. contact MOTOMAN service. If the error occurs again. 0954 CPU ERROR (WRCA#5) [Decimal Data] An insertion error of the WRCA01#5 circuit board or defective circuit board. Replace the circuit board. If the error occurs again. Replace the circuit board. . If the error occurs again. 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. contact MOTOMAN service. 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 or the connector on the circuit board fast. If the error occurs again. If the error occurs again. 0951 CPU ERROR (WRCA#2) [Decimal Data] An insertion error of the WRCA0#21 circuit board or defective circuit board. 0952 CPU ERROR (WRCA#3) [Decimal Data] An insertion error of the WRCA01#3 circuit board or defective circuit board. contact MOTOMAN service. If the error occurs again. contact MOTOMAN service.MOTOMAN ROBOTICS EUROPE Page: 18 Operator’s manual MOTOMAN XRC Doc. contact MOTOMAN service. Replace the circuit board. Replace the circuit board. Replace the circuit board. name: MRS51020-CH1. 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. Insert the circuit board in the CPU rack or the connector on the circuit board fast. 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. 0999 NMI ERROR [Decimal Data] NMI(interruption CPU signal of unknown origin) occured because of the motion error of hardware. Remedy Insert the circuit board in the CPU rack or the connector on the circuit board fast. If the error occurs again. Insert the circuit board in the CPU rack or the connector on the circuit board fast. Replace the circuit board. Replace the circuit board. 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. Replace the circuit board. 0965 CPU HANG UP ERROR (WRCA#6) [Decimal Data] An insertion error of the WRCA01#6 circuit board or defective circuit board. . Replace the circuit board. contact MOTOMAN service. If the error occurs again.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. contact MOTOMAN service. Insert the circuit board in theCPU rack or the connector on the circuit board fast. 0963 CPU HANG UP ERROR (WRCA#4) [Decimal Data] An insertion error of the WRCA01#4 circuit board or defective circuit board. 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. contact MOTOMAN service. 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.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 19 Doc. If the error occurs again. 0960 0961 CPU HANG UP ERROR (WRCA#2) [Decimal Data] An insertion error of the WRCA01#2 circuit board or defective circuit board. If the error occurs again. circuit board and rack or control error of software. 0962 CPU HANG UP ERROR (WRCA#3) [Decimal Data] An insertion error of the WRCA01#3 circuit board or defective circuit board. If the error occurs again. contact MOTOMAN service. contact MOTOMAN service. If the error occurs again. contact MOTOMAN service. name: MRS51020-CH1. 5:SD*. Turn the power off then back on. contact MOTOMAN service. If the error occurs again. 1002 The error was found by sum check of system program for the XFC01 circuit board. 10:SE. If the error occurs again. Insert the XCP01 circuit board in CPU rack fast. 1032 The saved each file on XCP01 circuit board memory used by motion instruction was damaged. name: MRS51020-CH1. 7:FD*. The parameter file of CMOS memory was damaged. 9:RS. 0:RC*. Load the saved file from the floppy disk and restore.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. XCP02 circuit board was not completed. 12:AMC*. 2:SV. 6:CIO*. 1030 MEMORY ERROR (PARAMETER FILE) [Decimal Data] Initialize the parameter file damaged on maintenance mode. Replace the XCP01 circuit board. 13:SVP*. If the error occurs again. contact MOTOMAN service.MOTOMAN ROBOTICS EUROPE Page: 20 Operator’s manual MOTOMAN XRC Doc. Repace the XFC01 circuit board (ROM). 1031 MEMORY ERROR (MOTION1) [Decimal Data] MEMORY ERROR (MOTION2) [Decimal Data] Initialize the file damaged on maintenance mode. Data stands for the damaged parameter file. 15:PCD* *:System parameter The saved each file on CMOS memory used by motion instruction was damaged. 1: The set up of motion instruction was not completed. 8:AP. Turn the power off then back on. . Load the saved parameter from the floppy disk and restore. contact MOTOMAN service. 3:SVM. The error occured in the setup process of motion instruction when the main power was turned on. Remedy Replace the XCP01 circuit board (ROM). The set up of the WRCA01. 1000 1001 ROM ERROR(WRCA0 1) [Decimal Data] ROM ERROR(XFC01) Replace the WRCA circuit board (ROM). 1051 SETUP INITIALIZE ERROR (MOTION) [Decimal Data] Turn the power off then back on. 4:SC. 1:RO*. 11:RMS*. An insertion error of the XCP01 circuit board or the circuit borad failer. The error was found by sum check of system program for the XCP01 circuit board. 14:MF*. 1050 SET-UP PROCESS ERROR (SYSCON) [Decimal Data] The error occured in the setup process of system when the main power was turned on. 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) motor for axis where the error occurred. 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 WRCA01 and/or WRCF01 circuit board. Check the motion status of robot again and reduce the teaching speed. It may have burned the motor. replace it with the correct motor. Then confirm the reoccurrence. If the robot interferes. If the type is not correct. set the correct system configuration. If set data by system configuration is not correct. If the error occurs again. The wrong wiring.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 . 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. <Error in robot axis> Check that the type of motor is the same as the one described in the manual.a few minutes). Defective WRCA01. If set data by system configuration is correct. 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. 1309 . Check the connection of UVW wire of motor again. It interfered with an outside equipment. the breaking of the UVW wire for the motor The type of motor was not correct. replace installed motor with correct one. remove the cause. name: MRS51020-CH1. Replace the amplifier. If the type is not correct. And check the breaking of the wire. remove the cause. If the robot interferes.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 error occurs again. the breaking of the wire UVW wire for the motor The type of motor was not correct. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. <Error in external axis> Check that the type of motor set by system configuration is the same as the actual installed one. The wrong wiring.MOTOMAN ROBOTICS EUROPE Page: 26 Operator’s manual MOTOMAN XRC Doc. Check the motion status of robot again and reduce the teaching speed. If set data by system configuration is not correct. It interfered with an outside equipment. If set data by system configuration is correct. 1310 . Replace the amplifier. Then confirm the reoccurrence. Check the connection of UVW wire of motor again. replace WRCA01 and/or WRCF01 circuit board. motor for axis where the error occurred. replace it with the correct motor. It may have burned the motor. WRCF01 circuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment. Defective WRCA01. The motor was moved by external power. replace installed motor with correct one. name: MRS51020-CH1. There is a possibility the robot moves by extra load. set the correct system configuration. Then confirm the reoccurrence. It may have burned the servopack. name: MRS51020-CH1.a few minutes). If set data by system configuration is not correct. And check the breaking of the wire. If set data by system configuration is correct. remove the cause. motor for axis where the error occurred. replace WRCA01 and/or WRCF01 circuit board. If the error occurs again. The motor was moved by external power. replace it with the correct motor. WRCF01 circuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment. set the correct system configuration. Check the motion status of robot again and reduce the teaching speed. Replace the amplifier. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. If the robot interferes. The wrong wiring. replace installed motor with correct one. 1311 . Defective WRCA01. If the type is not correct.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 27 Doc. It interfered with an outside equipment. Check the connection of UVW wire of motor again.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 . There is a possibility the robot moves by extra load. <Error in external axis> Check that the type of motor set by system configuration is the same as the actual installed one. the breaking of the UVW wire for the motor The type of motor was not correct. WRCF01 circuit board . replace WRCA01 and/or WRCF01 circuit board. Check the connection of UVW wire of motor again.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 . If set data by system configuration is correct. If set data by system configuration is not correct. <Error in external axis> Check that the type of motor set by system configuration is the same as the actual installed one. <Error in robot axis> Check that the type of motor is same as the one described in the manual. It interfered with an outside equipment. This error occured when the motor moved in reverse for the forward instruction. replace installed motor with correct one. If set data by system configuration is correct. If the type is not correct. If set data by system configuration is not correct. the breaking of the UVW wire for the motor The type of motor was not correct. set the correct system configuration. If the type is not correct. There is a possibility the robot moves by extra load. It may have burned the servopack. motor for axis where the error occurred. Then confirm the reoccurrence. replace it with correct motor. And check the breaking of the wire. Check the connection of UVW wire of motor again. name: MRS51020-CH1. WRCF01 circuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment. Defective WRCA01. Replace the amplifier. Incorrect wiring of the UVW wire for the motor The type of motor was not correct. Defective WRCA01. replace installed motor with correct one. If the error occurs again. <Error in external axis> Check that the type of motor set by system configuration is same as actual installed one. replace it with the correct motor. Check the motion status of robot again and reduce the teaching speed. The motor was moved by external power.MOTOMAN ROBOTICS EUROPE Page: 28 Operator’s manual MOTOMAN XRC Doc. replace WRCA01 and/or WRCF01 circuit board. If the robot interferes.a few minutes). If the error occurs again. remove the cause. set the correct system configuration. 1312 1313 MOTOR ERROR Robot/Station [Axis Data] The motor was driven recklessly. The wrong wiring. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. (But. If the type is not correct. There is a possibility the robot moves by extra load. The motor was moved by external power. remove the cause. <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. motor for axis where the error occurred. WRCF01 circuit board Down of the power supply voltage for the encoder Defective motor(encoder) . if this alarm occured simultaneously with the alarm related to the encoder. replace WRCA01 and/or WRCF01 circuit board. the breaking of the wire of UVW wire for the motor The type of motor was not correct. If set data by system configuration is correct. WRCF01 cir cuit board Defective amplifier Defective motor(encoder) Remedy Check whether the robot interferes with the outside equipment. Defective WRCA01. set the ferritecore on the encoder cable for noise measure. set the correct system configuration. If set data by system configuration is not correct. replace it with the correct motor. Replace the amplifier.) Noise of outside equipment Defective WRCA01. name: MRS51020-CH1. 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. When the errror occurred at external axis. replace WRCA01 and/or WRCF01 circuit board. Check the connection of UVW wire of motor again. Check the motion status of robot again and reduce the teaching speed. Replace the motor for axis occured the error. Check whether there is a equipment generating loud noise. replace installed motor with correct one. It interfered with an outside equipment. Then confirm the reoccurrence.FM Alarm Number Message SERVO TRACKING ERROR Robot/Station [Axis Data] Cause The servo deflection of the axis displayed by axis data became excessive. <Error in robot axis> Check that the type of motor is the same as the one described in the manual. Check the ground of controller is correct. it was thought this alarm accompanied the encoder alarm. 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: 29 Doc. the robot was shifted from instructed motion position or tracks more than tolerance and operated The wrong wiring. There is a possibility the position was shifted. And check the breaking of the wire. WRCF01 circuit board Decrease of the power supply voltage for the encoder Defective motor(encoder) Remedy Check the conduction of cable from the WRCA01.) Noise of outside equipment Defective WRCA01. If the error occurs again. Replace the motor for the axis where the error occurred. replace WRCA01 and/or WRCF01 circuit board. 1316 1317 SPEED WATCHER BOARD ERROR The error occurred in the speed detective circuit board. replace the WRCA01 circuit board and the converter. Defective converter Defective WRCA01 circuit board 1318 OVERVOLTAGE (CONVERTER) [Bit Pattern] Check the primary power supply (220V.+10%) It was too much load.(220V.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. Lower the teaching speed of the fore and aft steps for alarm occurence step about 30% and check the reoccurrence. Check the grounding of controller is correct. The primary power supply voltage was too high. the alarm related to the encoder. this alarm may accompany the position error alarm. If the error occurs again. alter the load.MOTOMAN ROBOTICS EUROPE Page: 30 Operator’s manual MOTOMAN XRC Doc. If the alarm doesn't reoccur. . Defective speed detective circuit board Defective WRCA circuit board The power supply voltage of direct current supplied to the amplifier of servopack exceeded 420V. Turn the power off then back on. WRCF circuit board to the motor(encoder). name: MRS51020-CH1. If the error occurs again. replace the speed detective circuit board and WRCA01 circuit board. +10%). Check whether there is equipment generating loud noise. There is a possibility the servopack is damaged when the servo turn-on and off is repeateduring ground fault status.W. Replace the converter for the axis where the error occurred. W-E. If the error is not caused by the lead wire. name: MRS51020-CH1. replace the WRCA01. 1319 1320 OPEN PHASE (CONVERTER) [Bit Pattern] Any of the three-phase current for primary side power supply of servopack was open-phase. WRCF01 circuit board Defective converter . motor for the axis where the error occurred. V-E. WRCF01 circuit board Defective amplifier Remedy This alarm does not occured by turning off the controlled power supply. Check that the power supply voltage is more than 170V. replace the WRCA01 and/or WRCF01 circuit board. Specify the error point and replace the lead wire. If the error occurs again. Check the connection of the primary side wiring R.V. If the wires are conducted.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 31 Doc. If the error occurs again. The wrong wiring of the primary side power supply connection.WRCF01 circuit board. it is thought to be a defective motor.E wires of motor again. In case an error is found by the above check. it is thought to be a defective lead wire.V.W wires of the motor displayed on axis data was grounded at least.W. lead wire Defective WRCA01. Remove the U. If the wires are conducted.FM Alarm Number Message GROUND FAULT Robot/Station [Axis Data] Cause One of U. Defective the motor Ground fault of the motor. Check the connection of the U.T wires of servopack. Replace the amplifier. But never fail to turn on the servo power supply after checking the motor grounding. it's abnormal. The decrease of the primary side power supply voltage(170V or less) Defective WRCA01. remove the connector of the motor side and check again.V.S.E wires of the motor from the terminal of the controller and check the conduction of U-E. (242V or more) . remove the connector of the motor side and check again. If the error occurs again. The load installed on robot was too heavy. lead wire Defective WRCA01. W-E. Replace the converter for axis occured the error. name: MRS51020-CH1.E wires of motor again.V.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.MOTOMAN ROBOTICS EUROPE Page: 32 Operator’s manual MOTOMAN XRC Doc. motor for the axis where the error occurred. Check the primary power supply(220V. Replace the amplifier. If the wires are conducted. Lower the teaching speed of the fore and aft steps for alarm occurence step about 30% and check the reoccurence.W wires of the motor displayed on the axis data was grounded at least. WRCF01 circuit board.E wires of the motor from the terminal of the controller and check the conduction of U-E. V-E.W. Check the primary power supply(220V.V. alter the load. If the error occurs again. replace the WRCA01 circuit board. Remove the U. Check the load again. the resurrection circuit board didn't work.W. In case an error is found by the above check.(242V or more) Defective converter Defective WRCA01. Specify the error point and replace the lead wire. Replace the converter for the axis where the error occurred. Defective motor Ground fault of the motor. replace the WRCA01 and/or WRCF01 circuit board. The primary side power supply voltage was too high. WRCF01 circuit board Defective amplifier Overheating of amplifier Remedy This alarm does not occured by turning off the controlled power supply.V. 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. +10%). Check the connection of the U. replace the WRCA01. it is thought to be a defective lead wire. But never fail to turn on the servo power supply after checking the motor grounding. If the error is not caused by the lead wire. WRCF01 circuit board 1323 INPUT POWER OVER VOLTAGE (CONV) [Bit Pattern] The primary side power supply voltage of servopack was too high. +10%). it is thought to be a defective motor. If the wires are conducted. 1321 1322 REGENERATIVE TROUBLE (CONVERTER) [Bit Pattern] Because the resurrection energy on reducing the motor speed was too high. it's abnormal. If the error occurs again. +10%). 1324 1325 COMMUNICATION ERROR (ENCODER) Robot/Station [Axis Data] The communication error between the encoder and 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 the WRCA01 circuit board. If the type is not correct. name: MRS51020-CH1. Turn the power off then back on. If set data by system configuration is correct. If the error occurs again. 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: 33 Doc.FM Alarm Number Message TEMPERATURE ERROR (CONVERTER) [Bit Pattern] Cause The temperature of servopack(converter) was too high. <Error in external axis> Check the type of motor set by system configuration is same as actual installed one. Replace the converter for axis occured the error. replace installed motor with correct one. Remedy Check whether the ambient temperature is too high or not. If the error occurs again. Check the ground of controller is correct. If set data by sytem configuration is not correct. <Error in robot axis> Check the type of motor is same as described one on manual. Check the primary power supply(220V. replace the WRCA01 circuit board. Check whether there is equipment generating big noise around or not. replace the motor(encoder) for the axis where the error occurred. If the error occurs again. set the correct system configuration. The wrong wiring of the encoder wire The type of motor was not correct. Check the connection of the encoder displayed on axis data. MOTOMAN ROBOTICS EUROPE Page: 34 Operator’s manual MOTOMAN XRC Doc. replace the WRCA01 circuit board for the axis where the error occurred. the read V phase current value was abnormal. this alarm occured. amplifier for the axis where the error occurred. Turn the power off then back on. If the phenomenon occurs again after repeating this operation several times.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). amplifier for axis the the error occurred. it is thought that the encoder caused the error. replace the motor(encoder) for the axis where the error occurred. replace the WRCA01 circuit board. normally the controller automatically resets the data of the encoder. 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. If the error occurs when the control power supply is turned in a stopped state. In case this alarm occuredin a stop state. Defective WRCA01 circuit board 1330 MICRO PROGRAM TRANSMIT ERROR Robot/Station [Axis Data] Turn the power off then back on. freely fell when the servo power supply was turned off by emergency stop. 1327 1328 DEFECTIVE SERIAL ENCODER Robot/Station [Axis Data] Turn the power off then back on. this was the case there was no response of the reset completion from the encoder. Remedy Check the timing of turning on the control power supply.B. If the phenomenon occurs again after repeating this operation several times. The no brake axes. replace the motor(encoder) displayed on axis data. It is thought that the encoder was abnormal.T axis for SK6. The internal parameter of the serial encoder became abnormal. Defective WRCA01 circuit board Defective amplifier 1332 . 1329 DEFECTIVE SERIAL ENCODER COMMAND Robot/Station [Axis Data] When the encoder backup error occurred. replace the WRCA01 circuit board. When the power supply was turned back on this status. Defective WRCA01 circuit board Defective amplifier When the phase balance of the motor current was automatically adjusted. replace the motor(encoder) for the axis where the error occurred. name: MRS51020-CH1. Turning on the control power supply can not be done when the motor is rotating. It is thought to be an error of the encoder. the read U phase current value was abnormal. R. If the phenomenon occurs again after repeating this operation several times. If the phenomenon occurs again after repeating this operation several times. Turn the power off then back on. But. Turn the power off then back on. If the phenomenon occurs again after repeating this operation several times. Cable disconnection between the power ON unit and the XFC01 circuit board. Contact MOTOMAN service because the breakedown of the encoder is thought when the alarm occurs again even if the battery is connected. Replace the WRCA01 circuit board. Disconnection of speed monitor cable. contact MOTOMAN service. Cable disconnection between the power ON unit and the XFC01 circuit board. Cable disconnection between the power ON unit and the XCI01 circuit board. Check the cable connection between the power ON unit and the XFC01 circuit board. Check the cable connection for the power ON unit.FM Alarm Number Message ENCODER NOT RESET Robot/Station [Axis Data] Cause Reset was not completed though encoder backup error reset was requested. 1339 SPEED MONITOR LEVEL ERR (XFC01) The error occured on speed monitor level signal. Check the cable connection for the power ON unit. Install the speed monitor board (XFC01). Check the cable connection between the power ON unit and the XFC01 circuit board. contact MOTOMAN service. 1337 SPEED MONITOR LEVEL NOT SAME Check the cable connection for the power ON unit. Replace the WRCA01 circuit board. name: MRS51020-CH1. 1335 1336 XFC01 NOT INSTALLED Speed monitor board (XFC01) was not installed even though the board was specified as “valid”. Defective power ON unit. 1340 BROKEN SPEED MONITOR LINE 1341 BROKEN SPEED MONITOR LINE (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 XCI01 circuit board. Replace power ON unit and/or XFC01 circuit board. Defective power ON unit. It may be possible that the battery is not connected with the encoder.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 35 Doc. Check the cable connection between the power ON unit and the XCI01 circuit board. Replace the WRCA01 circuit board. 1338 SPEED MONITOR LEVEL ERROR The error occured on speed monitor level signal (signal error). Remedy Connect the battery with the encoder. If the error occurs again. The error occured on speed monitor level signal (double signal check). Replace power ON unit and/or XFC01 circuit board. If the error occurs again. Cable disconnection between the power ON unit and the XCI01 circuit board. 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. If the error occurs again. The motor was moved by external power. replace installed motor with correct one. replace it with the correct motor. If the error is found. Defective XFC01 circuit board. <Error in external axis> Check that the type of the motor set by system configuration is same as actual installed one. set the correct system configuration. If set data by system configuration is not correct. name: MRS51020-CH1. Remedy Check the connection of motor. The type of motor was not correct. The wiring of UVW wire of motor was not correct. T axis move at a fast speed on liner interpolation according to teaching position. . replace XFC01 circuit board. Check the connection of UVW wire of motor again. Defective WRCA01 circuit board. Check the reoccurence by reducting the teaching speed on alarm. There is a posibility that R. alter the connection. <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. Check the robot motion on alarm and check whether external power is operated or not. Defective motor (encoder). Defective XFC01 circuit board. B. If the error occurs again. In this case. Check the cable connection between the power ON unit and the XFC01 circuit board. Replace power ON unit and/or XFC01 circuit board. alter the teaching. contact MOTOMAN service. 1342 1343 COMMUNICATION ERROR (XFC01) Robot/Station [Axis Data] The communication error between the XFC01 circuit board and the WRCA01 circuit board. If the set data by system configuration is correct. The connection of the WRCA01 circuit board and the XFC01 circuit board.MOTOMAN ROBOTICS EUROPE Page: 36 Operator’s manual MOTOMAN XRC Doc. 1344 .MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 37 Doc. The type of motor was not correct. If set data by system configuration is not correct. <Error in robot axis> Check the type of motor is same as described one on manual. replace installed motor with correct one. If set data by system configuration is correct. name: MRS51020-CH1. If the error occurs again. The wrong wiring of the encoder wire. Check whether there is equipment generating big noise around or not. If the type is not correct. replace the XFC01 circuit board.FM Alarm Number Message COMMUNICATION ERROR (ENCODER) (XFC01) Robot/Station [Axis Data] Cause The communication error between the encoder and the XFC01 circuit board. Defective XFC01 circuit board. replace it with correct motor. set the correct system configuration. <Error in external axis> Check the type of motor set by system configuration is same as actual installed one. Defective encoder. Remedy Check the connection of the encoder displayed on axis data. Check the ground of controller is correct. The data stands for the file No. The data stands for the file No. 4008 MEMORY ERROR (ARC END COND FILE) [Decimal Data] The arc end condition file of CMOS memory was damaged. 4007 The arc start condition file of CMOS memory was damaged. Load the saved welder condition data file in the external memory unit and restore. Reset the home position calibration (absolute data) after reset the alarm. Initialize the user coordinates file in the maintenance mode. 4002 MEMORY ERROR (SV MON SIGNAL FILE) The servo monitor signal file of CMOS memory was damaged.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. Initialize the welder condition data file in the maintenance mode. Load the saved arc start condition file in the external memory unit and restore. Load the specified point file in the external memory unit and restore. 4003 MEMORY ERROR (WEAVING FILE) The weaving condition file of CMOS memory was damaged. Remedy Initialize the tool file in the maintenance mode. 4006 The welder condition data file of CMOS memory was damaged. name: MRS51020-CH1. 4004 MEMORY ERROR(HOME POS FILE) The home position calibration file of CMOS memory was damaged. . Initialize the arc end condition file in the maintenance mode. Load the saved arc end condition file in the external memory unit and restore.MOTOMAN ROBOTICS EUROPE Page: 38 Operator’s manual MOTOMAN XRC Doc. Load the saved user coordinates file in the external memory unit and restore. Initialize the arc start condition file in the maintenance mode. The data stands for the file No. 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 servo monitor signal 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 tool file in the external memory unit and restore. Load the saved weaving condition file in the external memory unit and restore. Load the home position calibration file (absolute data)in the external memory unit and restore. 4000 4001 The user coordinates file of CMOS memory was damaged. The data stands for the file No. Initialize the servo monitor signal file in the maintenance mode. 4036 The wearing file of CMOS memory was damaged. Remedy Initialize the welding condition assistance file in the maintenance mode. 4033 MEMORY ERROR (GUN PRESSURE FILE) [Decimal Data] MEMORY ERROR (WEARING FILE) [Decimal Data] The servo gun pressure file of CMOS memory was damaged. Load the saved robot calibration file in the external memory unit and restore. Load the saved cutting condition file in the external memory unit and restore. 4020 The operation origin file of CMOS memory was damaged. Initialize the cutting condition file in the maintenance mode. Initialize the spot gun condition data file in the maintenance mode. The data stands for the file No. Load the saved wearing file in the external memory unit and restore. Initialize the robot calibration file in the maintenance mode. 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. Initialize the wearing file in the maintenance mode. . The data stands for the file No. 4018 The ladder program file of CMOS memory was damaged. name: MRS51020-CH1. Initialize the servo gun pressure file in the maintenance mode. 4032 The spot welder condition data file of CMOS memory was damaged.FM Alarm Number Message MEMORY ERROR (ARC AUX COND FILE) [Decimal Data] Cause The welding condition assistance file of CMOS memory was damaged. The data stands for the file No. Load the saved spot welder condition data file in the external memory unit and restore. Initialize the operation origin file in the maintenance mode. Load the saved welding condition assistance file in the external memory unit and restore. Initialize the ladder program file in the maintenance mode. Load the saved ladder program file in the external memory unit and restore. The data stands for the file No. The data stands for the file No. The data stands for the file No. The data stands for the file No. 4031 The spot gun condition data file of CMOS memory was damaged. The data stands for the file No. Load the saved spot gun condition data file in the external memory unit and restore. Load the saved servo gun pressure file in the external memory unit and restore. 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 spot welder condition data file in the maintenance mode. 4037 4038 The pressure file of CMOS memory was damaged. Initialize the pressure file in the maintenance mode. Initialize the shock level file in the maintenance mode. Load the saved formcut file in the external memory unit and restore. The data stands for the file No. Load the saved pressure file in the external memory unit and restore. . name: MRS51020-CH1. 4101 One of the external axis overrun limit switches was operated. Initialize the form cut file in the maintenance mode. Load the saved spot IO allocate file in the external memory unit and restore.MOTOMAN ROBOTICS EUROPE Page: 40 Operator’s manual MOTOMAN XRC Doc. 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. 4102 An attempt was made to change data which exerted the influence on the system and turned on the servo power supply. 4041 The spot IO allocate file of the CMOS memory is damaged. The data stands for the alarm factor. The data stands for the file No. Initialize the spot IO allocate file in the maintenance mode. Load the saved shock level file in the external memory unit and restore. Load the saved stroke position file in the external memory unit and restore. Remedy Initialize the stroke position file in the maintenance mode. 4039 The form cut file of the CMOS memory is damaged. Reset the overrun. 4040 The shock level file of the CMOS memory is damage. 1:System parameter change Turn off the power once and back on.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. Reset the overrun. The data stands for the file No. Refer to the data transmission function manual for details. 3:Check that the job started and the timing of execution for start comand again. name: MRS51020-CH1. 5:Check that the job started and the timing of execution for start comand again. the error occured in DCI function. .MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 41 Doc. Refer to the data transmission functionmanual for details. The attempt was made to execute PSTART SUB(job name omitted) 5:Synchronization instruction error When restarted by PSTART. 4106 WRONG EXECUTION OF DELETE INST [Decimal Data] Correct the error according to the data of the alarm factor after resetting the alarm. an error occured in DCI function. 6:Start after reset the alarm. The job was executed by instructed sub task. but another job was being started in the sub task. The data stands for the alarm factor.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. When the installation was executed. Refer to the data transmission function manual for details. When the installation was executed. The data stands for alarm factor. The data stands for the alarm factor. The data stands for the alarm factor. 4:Register the master job for sub task. 2:Check that the job started and the timing of execution for start comand again. 3:Multiple start of same job The job tried to start was executed by other sub task. 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. 4105 WRONG EXECUTION OF SAVE INST [Decimal Data] Correct the error according to the data of the alarm factor after resetting the alarm. 2:The group axis is being used The job operated by other sub task used same group axis. Remedy 1:Complete the sub task by PWAIT comand. 1:The sub task is being executed. When the installation was executed. synchroniza tion instruction status of sub task under interruption was different than the status to restart. 4:Master job unregistration Though master job was not registered. the error occurred. name: MRS51020-CH1. 1:Reception timeout (timer A) 2:Reception timeout (timer B) 3:Heading length is short. 4112 When the data transmission function was used. Remedy Operate axis for robot /station to set the current value 0 position and check the original mark (arrow). 4111 The brake fuse was melted. Check the external 24V power supply. Check the factor of shock sensor operation. 4107 4109 DC 24V POWER SUPPLY FAILURE The external 24V power supply was not output. Correct the error according to the data of the alarm factor after resetting the alarm. contact MOTOMAN service. there is an error of PG system for the axis where the error occurred. Please check. Check the connection of communication cable for I/O module. . The data stands for the alarm factor. error. Check whether fuse for I/O contactor unit is cut or not. 1:Retryover of NAK 2:Retryover of timeout in timer A 3:Retryover of mutual response error When the data transmission function was used. 6:The text length exceeds 256 characters. the error occurred.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. 5:The heading No. The data stands for the alarm factor. If not matched. 4110 SHOCK SENSOR ACTION [Bit Pattern] BRAKE FUSE BLOWN [Bit Pattern] DATA SENDING ERROR [Decimal Data] The shock sensor was operated. Replace the fuse. 4113 DATA RECEIVING ERROR [Decimal Data] Correct the error according to the data of the alarm factor after resetting the alarm. 4:Heading length is long.MOTOMAN ROBOTICS EUROPE Page: 42 Operator’s manual MOTOMAN XRC Doc. (XCP01•CN01Å|XIU01•CN03 cable) If the error occurs again. 3:Received EOT before last block reception 4:Received codes for except EOT after last block reception. circuit board was abnormal. Operation of external memory unit) .) The data stands for the alarm factor. the error occurred. name: MRS51020-CH1. 4200 When acess to the file data was executed.FM Alarm Number Message TRANSMISSION SYSTEM BLOCK [Decimal Data] Cause When the data transmission function was used. If the error occurs again. (File edition. contact 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. 4119 FAN ERROR (IN CONTROL BOX) SYSTEM ERROR (FILE DATA) [Decimal Data] The axis was instructed to turn servo on and off separately. Turn the power off then back on. 4114 4116 TRANSMISSION SYSTEM ERROR [Decimal Data] Correct the error according to the data of the alarm factor after resetting the alarm. This error is mainly caused by PC breached the rule or abnormal communication. Need to replace the cooling fan for resurrection resistance.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 43 Doc. Remedy Correct the error according to the data of the alarm factor after resetting the alarm. It is thought that the CPU rack. 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. Make the condition so as to be able to turn servo on and off after resetting the alarm. 4118 FAN ERROR (REGENERATIVE RESISTOR) [Decimal Data] The rotating speed of the cooling fan for the resurrection resistance was decreased. The data stands for the alarm factor. 1:Received EOT when waiting ACK. (Though the transmission procedure is correct. the error occurred. Reset the alarm and repeat the operation. contact MOTOMAN service. the error occured. there is a reception that irrationality is caused in system. 2:Received EOT when waiting ENQ. Move the manipulator to a safe position on teach mode after resetting the alarm. Consult MOTOMAN service. If the error occurs again. 4208 SYSTEM ERROR (ARITH) [Decimal Data] The system error occured in ARITH. Intercept the servo power supply once and turn on the servo power supply to the group axis to be operated. contact MOTOMAN service. If the error occurs again. 4201 4202 SYSTEM ERROR(JOB) [Decimal Data] When acess to the job was executed.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. . (Job edition. Reset the alarm and repeat the operation. Turn the power off then back on. 4209 OFFLINE SYSTEM ERROR (ARITH) [Decimal Data] The system error occured in ARITH offline. If the error occurs again. contact MOTOMAN service.MOTOMAN ROBOTICS EUROPE Page: 44 Operator’s manual MOTOMAN XRC Doc. 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. Consult MOTOMAN service. If the error occurs again. Reset the alarm and repeat the operation. the error occured. Needs investigation. Turn the power off then back on. Turn the power off then back on. the error occured. name: MRS51020-CH1. (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. Operation of external memory unit) 4206 When the data transmission function was used. the error occured. contact MOTOMAN service. contact MOTOMAN service. If the error occurs again. Turn the power off then back on. contact MOTOMAN service. If the error occurs again. (During robot is being playback and operation) Remedy Reset the alarm and repeat the operation. Reset the alarm and repeat the operation. contact MOTOMAN service. Reset the alarm and repeat the operation. The error of internal procedure for transmission system. (Job/position variable edition. Turn the power off then back on. Turn the power off then back on. the error occured. Turn the power off then back on. If the error occurs again. 4207 The system error occured in MOTION. Reset the alarm and repeat the operation. the error occured. contact MOTOMAN service. Operation of external memory unit) When acess to the position data was executed. WRCA01 circuit board. Remedy Intercept the servo power supply once and trun on the servo power supply to the group axis to be operated. Check the connection of safety circuit signal cable for the poer ON unit. The brake relay signal was not intercepted at servo OFF(at emergency stop). Reasons are as follows: Defective contactor unit Defective WRCA01 circuit board The brake relay signal unit was not turned ON at servo ON. Replace power ON unit. If the error occurs again. The contactor signal was not intercepted at servo OFF(at emergency stop). the contactor signal was turned ON.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. the brake relay signal was turned ON. WRCA01 circuit board. While turning servo OFF(at emergency stop). name: MRS51020-CH1. While turning servo ON. Check the connection of safety circuit signal cable for the poer ON unit.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. the signal from the contactor was intercepted . replace the contactor unit. While turning servo OFF(at emergency stop). replace the contactor unit. 4223 4300 4301 The contactor of the contactor unit was not turned ON at servo ON. 4302 BRAKE CIRCUIT ERROR [Bit Pattern] Reset the alarm and turn servo ON again. While turning servo ON. Consult MOTOMAN service. 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). If the error occurs again. . Replace power ON unit. (WRCA01 board double signal check) The error occured on safety circuit signal (power ON unit). the brake relay signal was intercepted . Needs investigation. (WRCA01 board double signal check) A mistake was found in the parameter related to servo control. Defective WRCA01. Because the power supply cable of primary side was too fine or its cable was too long. the converter. Check the primary power supply voltage (220V+10%). If the error occurs again. Because the power supply cable of primary side was too fine or its cable was too long. While turning servo ON. replace the WRCA01 circuit board. While turning servo OFF(at emergency stop). name: MRS51020-CH1. 4303 4304 CONVERTER INPUT POWER ERROR [Bit Pattern] Check the connection for primary side wiring R. the servo ready signal was intercepted .S. While turning servo ON. the voltage drop occurred at servo ON. the servo ready signal was turned ON. Reasons are as follows: Primary side power supply voltage was too low. WRCF01 circuit board. The ready 1 signal was not intercepted at servo OFF(at emergency stop). The drop of primary side power supply (less than170V). The servo ready signal was not intercepted at servo OFF(at emergency stop). While turning servo OFF(at emergency stop). the voltage drop occurred at servo ON. Reasons are as follows: Mistaken wiring of connection for primary side power supply.WRCF01 circuit board Defective converter There was no response(ready 1 signal) of primary power supply input from convertor at servo ON. .T. wire. the ready 1 signal was turned ON .WRCF01 circuit board Defective converter Remedy Reset the alarm and turn servo ON again. replace the WRCA01 circuit board. Defective WRCA01. the converter.MOTOMAN ROBOTICS EUROPE Page: 46 Operator’s manual MOTOMAN XRC Doc. If the error occurs again.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. the ready 1 signal was intercepted . Check that the power supply voltage is more than 170V. the ready 2 signal was intercepted . The drop of primary side power supply (less than170V). the ready 2 signal was turned ON . Reasons are as follows: Mistaken wiring of connection for primary side power supply.) Remedy Check that primary power supply is more than 170V. WRCF01 circuit board. Defective WRCA01. While turning servo OFF(at emergency stop). The ready 2 signal was not intercepted at servo OFF(at emergency stop). While turning servo ON. replace the WRCA01 circuit board. the converter. If the error occurs again. If the error occurs again. Because the power supply cable of primary side was too fine or its cable was too long. the voltage drop occured at servo ON. 4305 4306 AMPLIFIER READY SIGNAL ERROR [Bit Pattern] Reset the alarm and turn servo ON again. name: MRS51020-CH1. replace the WRCA01 circuit board. . While turning servo OFF(at emergency stop). the amp ready signal was intercepted. While turning servo ON.) There was no response(amp ready signal) of energizing completed from amplifier at servo ON. WRCF01 circuit board.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. Replace the amplifier.WRCF01 circuit board Defective converter Defective amplifier(There is a possibility that power circuit was shortcircuited internally. the converter. The amp ready signal was not intercepted at servo OFF(at emergency stop).MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 47 Doc. Reasons are as follows: Defective WRCA01.WRCF01 circuit board Defective converter Defective amplifier(There is a possibility that power circuit was shortcircuited internally. the amp ready signal was turned ON. replace the WRCA01 circuit board.S. If the error occurs again. 4310 ENCODER OVERHEAT Robot/Station [Axis Data] The encoder has overheated to 100 degrees. Reset the alarm. wire. this error occurred. Reason is follows: Primary power supply voltage was too low.8V) Replace the battery. If a phenomenon occurs again after repeating this operation several times. position data of the encoder disappered. If the error occurs again. Defective converter Defective WRCA01circuit board The internal parameter error for serial encoder. name: MRS51020-CH1. There was open phase.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. Direct current power supply voltage supplyed to amplifier for servopack has become less than143V. don't turn off power supply for a few minutes. WRCF01 circuit board. R. 4309 DEFECTIVE ENCODER INTERNAL DATA Robot/Station [Axis Data] Turn the power off then back on. Check that the ambient temperature is not too high. 4307 4308 VOLTAGE DROP (CONVERTER) [Bit Pattern] Check the connection for primary side wiring R. consult with MOTOMAN service.T axis for SK6. Because it is charged the backup condenser. the converter. When the servo control power supply was turned back on this status. replace the encoder. If the error occurs again. Whenever a new motor was used. the servo power supply was turned on. Remedy Check the timing of turning on servo power supply again.B. Impossible to turn on control power supply in the rotation The no brake axes. this alarm occured. If the error occurs again. replace the WRCA01. replace the motor(encoder) for axis occured the error. It is thought the encoder was abnormal. 4311 ENCODER BACK-UP ERROR Robot/Station [Axis Data] Because backup power supply voltage for encoder decreased(less than 2.T. (more than 2.6V). Check the battery voltage for encoder. the encoder. Check that power supply voltage is more than 170V. Adjust the home position again. . freely fell when the servo power supply was turned off by emergency stop.MOTOMAN ROBOTICS EUROPE Page: 48 Operator’s manual MOTOMAN XRC Doc. Check the load again. Chech the primary power supply voltage (220V+10%). ) A collision was detected in the teach mode. 4402 4404 ARITHMETIC ERROR [Decimal Data] The control error occured in the path operation process. contact MOTOMAN service. Data (1-5) stands for the alarm factor. . Check the primary power supply voltage (220V+10%). If the error occurs again. the backup error occurs and position data disappears. Change the value of pressure in the “GUN PRESSURE” file or the “PRESSURE” file below the maximum pressure. The operation process of motion control does not end in regulated time. If the error occurs again.(less than 2. If the error occurs again. Remedy Check the battery voltage for encoder. 4312 4313 SERIAL ENCODER OVER HEAT Robot/Station [Axis Data] Check that the ambient temperature is not too high. If the error occurs again. 4315 Restore the robot from the state of the collision.8V) Replace the battery. Reset the alarm and repeat the operation. The error has occured in job exec statement part. The instruction not defined was demanded of the path operation process.) The encoder has overheated to 100 degrees.8V)(In case leaving this voltage as it is. the backup error occurs and position data disappears. Reset the alarm and repeat the operation.FM Alarm Number Message ENCODER BATTERY ERROR Robot/Station [Axis Data] Cause Voltage of backup battery for encoder has decreased. contact MOTOMAN service. 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: 49 Doc. 4400 NOT READY (ARITH) [Decimal Data] Reset the alarm and repeat the operation.(less than 2. the encoder. 4401 SEQUENCE TASK CONTR ERROR [Decimal Data] UNDEFINED COMMAND(ARITH) Reset the alarm and repeat the operation. (more than 2. 4316 The value of pressure in the “GUN PRESSURE” file or the “PRESSURE” file exceeds the maximum pressure in the “GUN CONDITION” file. name: MRS51020-CH1. replace the WRCA01 circuit board. (more than 2.8V) Replace the battery. contact MOTOMAN service.8V) (In case leaving this voltage as it is. contact MOTOMAN service. Data (1-8) stands for alarm factor. 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. Data (1-255) stands for the alarm factor. Check the battery voltage for encoder. Check the load again. contact MOTOMAN service. name: MRS51020-CH1. 4414 EXCESSIVE SEGMENT (LOW SPEED) Robot/Station [Axis Data] EXCESSIVE SEGMENT (HIGH SPEED) Robot/Station [Axis Data] Reset the alarm. . It exceeded rated speed of the motor at a specified speed. 4407 TWO STEPS SAME POSITION (CIRC) TWO STEPS SAME POSITION (SPLINE) TWO STEPS SAME POSITION (3 POINTS) Reset the alarm. Reduce the speed of the step (Move instruction) occurred the alarm or change the robot pose. 4415 It exceeded rated speed of the motor at a specified speed. L axis for start point and end point were different in interpolation motion except MOJV.U axis same and teach again. Among three taught points. 4410 TWO STEPS SAME POSITION (WEAV) TEACH ERROR (SPLINE) IMPOSSIBLE LINEAR MOTION (L/U) Reset the alarm.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 L. (User coordinates. Teach the different 3 points again. there was the same point of two points or more. the control error occured in the path operation process. If the error occurs again. it was not possible to operate. etc.) The weaving base point was the same as the wall point. Teach again to be an even distance between teaching point Make the form of L. Reset the alarm and repeat the operation. If the error occurs again. Remedy Reset the alarm and repeat the operation. Teach the different 3 points again.MOTOMAN ROBOTICS EUROPE Page: 50 Operator’s manual MOTOMAN XRC Doc. L axis the same and teach again. 4409 Reset the alarm. there was the same point of two points or more. Reduce the speed of step (Move instruction) occurred the alarm or change the robot pose. Among three taught points. 4408 Reset the alarm. it was not possible to operate. 4411 It was not an equidistant distance between teaching points. robots calibration.U axis for start point and end point were different in interpolation motion except MOJV. Teach the different 3 points again. Teach the different 3 points again. In case the form of S. there was the same point of two points or more. 4412 4413 IMPOSSIBLE LINEAR MOTION (S/L) Make the form of S. 4405 4406 GROUP AXIS CONTROL ERROR [Decimal Data] When operating cooperative control. Reset the alarm. contact MOTOMAN service. Among three taught points. Data (1-12) stands for the alarm factor. ) Robot/Station [Axis Data] MECHANICAL INTERFERENCE (MAX.FM Alarm Number Message PULSE LIMIT (MIN.) Robot/Station [Axis Data] SPECIAL MECHANICAL INTRF (MIN. Release the alarm and teach again according to the release method when software limit range is exceeded.) Robot/Station [XYZ] SPECIAL SOFTLIMIT (MIN. Reset the alarm. 4418 The tool control point exceeded cube software limit. Release the alarm and teach again according to the release method when software limit range is exceeded. 4422 An abnormal (reverse) axis interfered mutually.) Robot/Station [XYZ] CUBE LIMIT (MAX.) Robot/Station [Axis Data] CUBE LIMIT (MIN.) Robot/Station [Axis Data] SPECIAL SOFTLIMIT (MAX. Reset the alarm. Release the alarm and teach again according to the release method when software limit range is exceeded. Release the interference and teach again . 4423 An abnormal (reverse) axis interfered mutually. 4424 An abnormal (reverse) axis interfered mutually. Reset the alarm. 4420 It exceeded pulse software limit. 4416 4417 It exceeded pulse software limit. Release the alarm and teach again according to the release method when software limit range is exceeded. name: MRS51020-CH1.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 51 Doc. 4419 The tool control point exceeded cube software limit. 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.) Robot/Station [Axis Data] PULSE LIMIT (MAX.) Robot/Station [Axis Data] Cause It exceeded pulse software limit. 4421 It exceeded pulse software limit. Release the interference and teach again. Release the interference and teach again.) Robot/Station [Axis Data] MECHANICAL INTERFERENCE (MIN. ) Robot/Station [Axis Data] PULSE MECHANICAL LIMIT (MAX. interrupted boards were not prepared or didn't respond. contact MOTOMAN service. ‚ Delete the job that cause the alarm and register again and start execution.FM Created: 98-08-19 Revised: 99-08-27 Alarm Message List Alarm Number Message SPECIAL MECHANICAL INTRF (MAX. 4429 WRONG SPECIFIED CONTROL GROUP [Decimal Data] Reset the alarm and repeat the operation If the error occurs again. The data was abnormal in the job control process. 4425 4426 It exceeded pulse software limit. Data (1-128) stands for the alarm factor. contact MOTOMAN service. 4427 It exceeded pulse software limit. . 4430 CPU COMMUNICATION ERROR [Decimal Data] Reset the alarm and repeat the operation. Release the interference and teach again. If the error occurs again. 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. Data (1-9) stands for the alarm factor.) Robot/Station [Axis Data] PULSE MECHANICAL LIMIT (MIN. contact MOTOMAN service. name: MRS51020-CH1. operate by the following procedure: • Delete the command that caused the alarm and register again and start execution. If the error occurs again. Remedy Reset the alarm. Release the alarm and teach again according to the release method when software limit range is exceeded. 4431 JHM ERROR [Decimal Data] 4432 INSTRUCTION INTERPRETER ERROR [Decimal Data] The error occurred in the job interpretation exec statement part. Reset the alarm and repeat the operation. contact MOTOMAN service. The error occurs in information on the robot which uses for the job interpretation and the motion control. Reset the alarm. Data (1-7) stands for the alarm factor. When interrupting various circuit board from the XCP01 circuit board. contact MOTOMAN service. Release the alarm and teach again according to the release method when software limit range is exceeded.) Robot/Station [Axis Data] SEGMENT CONTROL ERROR [Decimal Data] Cause An abnormal (reverse) axis interfered mutually. If the error occurs again. If the error occurs again. Select job and repeat the operation. If the error occurs again.MOTOMAN ROBOTICS EUROPE Page: 52 Operator’s manual MOTOMAN XRC Doc. Reset the alarm and register job . Remedy Needs investigation at MOTOMAN service. operate by the following procedure: • Delete the command that caused the alarm and register again and start execution. Teach at least 3 onsecutive points for the spline interpolation designation step. Reset the alarm. Reset the alarm and start execution from the master job. 4436 A circle step didn't contain a minimum of 3 consecutive points. Select job and repeat the operation. 4437 A spline interpolation designation step didn't contain a minimum of 3 consecutive points. 4440 The job call stack contained no return. 4433 4434 The error occurred in variable scoreboard control. Reset the alarm. If the error occurs again. 4441 Too many local variables used in the job. Teach at least 3 consecutive points for the circle step. Reset the alarm. . JUMP instruction caused the alarm. contact MOTOMAN service. Or delete RET instruction.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. Or Delete CALL. 4435 UNDEFINED LOCAL-VARIABLE [Bit Pattern] LESS THAN 3 STEPS(CIRCULAR) [Decimal Data] LESS THAN 3 STEPS(SPLINE) The local variable was undefined. name: MRS51020-CH1. If the error occurs again. ‚ Delete the job that cause the alarm and register again and start execution. Job was not registered. Set the local variable used for sub header of job.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 53 Doc. 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. JUMP instruction occured the alarm. Reset the alarm and register job. In case the phenomenon occurs again without any external force. when operating the job call stack. If the error occurs again. If the error occurs again. The range of the numerical value of the variable for storage destination was exceeded. name: MRS51020-CH1. the error occurred in control process of local variable.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.MOTOMAN ROBOTICS EUROPE Page: 54 Operator’s manual MOTOMAN XRC Doc. 4444 UNSUCCESSFUL FINE POSITIONING [Decimal Data] Reset the alarm. When executing PL=0 or interrupting external servo. RET. . Remedy Reset the alarm. the motor were abnormal. operate by following procedure: • Delete the command that caused the alarm and register again and start execution.a disagreement of data occured. internal control data of inside was abnomal. the servo deflection was not put within time. contact MOTOMAN service. Excessive external force The servopack. END instruction. contact MOTOMAN service. Data (1-255) stands for the alarm factor. In case an external force is affecting the robot. Select job and repeat the operation. If the error occurs again. Reset the alarm. 4447 DEFECTIVE TAUGHT POINT (CIRC) A straight line linked the three points. move the robot to remove the external force and repeat the operation. contact MOTOMAN service. 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. 4445 DATA PRESET ERROR [Decimal Data] When the interpretation process section of job annuled the content of interpretation and started to interpret again. try to insert the XCP01 circuit board again. 4442 4443 JOB CALL STACK ERROR [Decimal Data] At the job CALL. At the time. Data (1-4) stands for the alarm factor. various kinds of data were attempted to be initialized. Reset the alarm. Reset the alarm and teach again. Select the job and repeat the operation. If the error occurs again. Select the job again and repeat the operation. ‚ Delete the job that caused the alarm and register again and start execution. Data (1-2) stands for the alarm factor. name: MRS51020-CH1. Set the welder condition data file. 9:Distance between P point and control point was less than 0 in the wrist weaving Except above:Control error The data types(pulse. Select the job and repeat the operation. frequency was less than 0. 4452 The job call stack overflowed. 4454 The welder condition data file was not set. 4455 The arc start condition file was not set. 4:Weaving speed instruction was moving time instruction. Reset the alarm and modify the job to reduce the jobs in the job call stack. 6:Set a positive value in the stopping time of weaving file. Cartesian) of the stored data and the storage destination are different. L type weaving. 4453 A variable number was out-ofrange. check.Weaving stopping time was negative 7:Vertical direction distance at or horizontal direction distance was 0 in triangular wave. ERROR [Decimal Data] Match the data types(pulse. 5:Weaving speed instruction was frequency instruction. contact MOTOMAN service. Remedy 4:Set 0. Cartesian) of the stored data and the storage destination. Reset the alarm. If the error occurs again. moving time was less than 0. [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. 6. Data stands for the alarm factor.FM Alarm Number Message WEAVING CONTROL ERROR [Decimal Data] Cause When executing the weaving motion control. 4451 UNDEFINED REFERENCE POINT [Bit Pattern] STACK MORE THAN 8 (JOB CALL) [Decimal Data] OVER VARIABLE NO. 4450 The error occured during file No. . horizontal direction distance of weaving file. Modify the job by using the permitted variable number. 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: 55 Doc. Set the arc start condition file. 4448 4449 UNMATCHED POSN VAR DATA TYPE [Bit Pattern] FILE NO.1 hertz or more in the frequency of weaving file. If the error occurs again.1 seconds or more in the moving time of weaving file. 7:Set 1mm or more in the vertical direc tion. Correctly register reference points. 5:Set 0. the control error occurred in the path operation process. contact MOTOMAN service. 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. Set a move instruction after ARCON. the item of the equation which couldn't be executed was attempted. 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. Set the number of automatic sticking release attempts and repeat the operation. 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. Reset the data in the permitted range. Reset the alarm and repeat the operation. Set not to divide by zero. ‚ Delete the job that caused the alarm and register again. name: MRS51020-CH1. Check the designated data (BCD/ binary) and parity check. Stop parity error from occuring. 4456 4457 The arc voltage command units didn't match the welder power supply (individual.unified) . operate the following procdure: • Delete the command that caused the alarm and register again. 4463 4464 General I/O group parity error. Divide up the equation to reduce its length. . Remedy Set the arc end condition file. If the error occurs again. Match the arc voltage command units. 4460 A division by zero was attempted.MOTOMAN ROBOTICS EUROPE Page: 56 Operator’s manual MOTOMAN XRC Doc.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. 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. 4458 When executing equation of SET instruction. 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. the robot was not in the prescribed job control group. name: MRS51020-CH1. 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. 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. Reset the alarm and repeat the operation. Include the call source job control group in the control group used by the current call destination job.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 57 Doc. Reset the alarm and repeat the operation. The error occured in the process of making robot calibration data. Undefined instruction was required for software for off-line path arithmetic of the XCP01 circuit board. Remedy Reset the data in the permitted range. If the error occurs again. 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. When executing ARCON.The control of software was abnormal. . If the error occurs again. WVON instruction. Cancel the edit lock. Review the parity check. contact MOTOMAN service. 4465 4466 Reset the alarm and repeat the operation. 4476 An attempt was made to overwrite an edit-locked job. If the error occurs again. If the error occurs again. Reset the alarm and repeat the operation. 4469 The error occured in frame conversion process of robot calibration data 4471 The error occured in the process of making calibration data. If the error occurs again. Reset the alarm and repeat the operation. 4473 System data didn't corrspond with reset process after the alarm occurred in arithmetic section. contact MOTOMAN service. If the error occurs again. 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. MCP02 circuit board or the contact was defective. contact MOTOMAN service. contact MOTOMAN service. W axis position of cutting start position zero(0). contact MOTOMAN service. Reset the alarm and repeat the operation. 4485 When executing sensor instruction. 1:CW axis CUT pulse error C. the selection parameter(parameter specified for maker) for first application and application parameter(AP) was not adjusted. Consult MOTOMAN service. 4489 DEFECTIVE TAUGHT POINT(CUTTING) [Decimal Data] Impossible to execute cutting motion. When executing sensor instruction. Consult MOTOMAN service. Remedy Needs investigation. 4488 Path arithmetic process section control error. Parameter(AxP010) showed the head of analog port used for arc. The path went outside the designated pass-over monitoring area. (ANALOG OUTPUT) [Decimal Data] WRONG SELECTION (SENSOR) [Decimal Data] Change the parameter to a normal value. contact MOTOMAN service. If the error occurs again. sealing was incorrect. name: MRS51020-CH1. robot designation(system parameter) uses sensor application and robot designation(system parameter) uses application was not corresponded.W axis position on cutting start is not zero(0) pulse. Set the pass-over radius inside the permitted range. If the error occurs again. the selection parameter(parameter specified for maker) for first sensor application and sensor parameter(SE) is not adjusted. Consult MOTOMAN service. Data stands for the alarm factor. 4477 4480 SELECT ERROR(SENSOR ) [Decimal Data] Needs investigation.MOTOMAN ROBOTICS EUROPE Page: 58 Operator’s manual MOTOMAN XRC Doc. 1:Set C. 4487 WRONG MECH PARAMETER FILE [Decimal Data] INCOMPLETE PT FRAME [Decimal Data] Path arithmetic process section control error. 2:Set the radius zero(0) or more. 2:Cutting(edge) radius 0 Cutting(edge) radius is zero(0). . 4486 PASS OVER [Decimal Data] Correct the cause of the passover. Needs investigation.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. Reset the alarm and repeat the operation. 4484 WRONG PORT NO. 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.FM Alarm Number Message DEFECTIVE TAUGHT POINT(ENDLESS) [Decimal Data] Cause Impossible to execute endless motion. Robot calibration was incomplete when a coordinated move instruction was executed. set the MRESET instruction before executing the MOVL. 4492 POSITION CORRECTION ERROR [Decimal Data] OVER TOOL FILE NO. Linear motion inpropriety.647 pulse. MOVC instruction.483. . The error occurred in the tool file control process. the error occured in making process of making a correction in the volume for path arithmetic. If the error occurs again. 4490 4491 CORRECTIONAL DIRECTION ERROR [Decimal Data] Teach reference points again. Check the position of the start point. contact MOTOMAN service. This error occurred as follows. When correcting a motion. 4495 UNDEFINED ROBOT CALIBRATION [Bit pattern] Conduct robot calibration. Set C. Remedy 1:In case this alarm occurs when operating programing pendant. name: MRS51020-CH1. 4493 4494 DEFECTIVE TAUGHT POINT(WEAV) [Decimal Data] 1:Weaving start point and end point were the same. 4:Check the teaching position again. When correcting a motion. 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. though continuous rotaion was completed. When operating playback panel and programming pendant. If the error occurs again. [Decimal Data] Reset the alarm and repeat the operation. In case there is instruction to stop weaving. end point and referrence point. 4:Referrence points were the same. In case this alarm occurs when operating playback. Teach again. Data stands for the alarm factor 1:Interpolation motion impropriety of endless function. reset the alarm and execute the MRESET operation. MRESET instruction was not executed but linear interpolation was executed. Reset the alarm and repeat the operation.W axis position of cutting start position zero(0). the position of the weaving start point and referrence point is the same point. contact MOTOMAN service. If the error occurs again. the error occured in the process of making a correction in the direction for path arithmetic. In case there was no instruction of stop weaving. 4:Instruction position of step has permitted pulse over cursor for endless axis exceeded 2.147. (Eg. 4502 When turning on power supply. If the error occurs again. Insert the XCP02 circuit board again. Define the user coordinates. Reset the alarm and repeat the operation. Teach the points again. 4498 An illegal instruction was executed in a job with no control group. contact MOTOMAN service. 2:MEASON instruction 3:MEASOF instruction Retry was possible with ARC RETRY execution only if a step existed before the ARCON instruction. Data stands for the alarm factor. 4501 The error occured in task control process of independent control function. If the error occurs again. 4496 4497 There was a problem with the taught points. Consult MOTOMAN service. Remedy Needs investigation. detected in the XCP01 circuit board that the XCP02 didn't normally work. 4506 Reset the alarm and correct the job. No restart-return step existed in the job when a restart was attemted.a retry request was received during 1-step execution of CALL destination job. When executing the measure instruction. name: MRS51020-CH1. If the error occurs again. 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. contact MOTOMAN service. 4499 Undefined position data was used. Reset the alarm and repeat the operation. 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. contact MOTOMAN service.) The distance between the search start point and aimed point was too short to determine the search direction. Register the instruction in a job with control axis. Define the position data. 4507 Reset the alarm and increase the distance between the search start point and aimed point.MOTOMAN ROBOTICS EUROPE Page: 60 Operator’s manual MOTOMAN XRC Doc. the error occured. .. 4519 Robot calibration was not executed. the difference in robot position pulse at servo ON and the previous servo OFF exceeded the permitted range. 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. Execute robot calibration. 4518 The error occured in the interface with servo on feedback ratch mode. name: MRS51020-CH1.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. . 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.) 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. 4512 TWO STEPS SAME LINE(3 STEPS) Teach again such that the three points do not lie on the straight line.) Remedy Reset the alarm and change the coordinates. 4510 Correct the job. Check the system version of the XCP01. master tool coordinates.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 61 Doc. The attempt was made to caluculate the root of a negative number (Second argument is a negative. 4508 4509 MFRAME ERROR [Decimal Data] CANNOT EXECUTE INSTRUCTION (SQRT) [Decimal Data] OUT OF RANGE (DROP-VALUE) [Control Group] Register the position file(variable). Data stands for the alarm factor. WRCA circuit board. WRCA circuit board. Reset the alarm and repeat the operation. (Permitted pulse is normally 100pulse. The error occurred in the interface with servo on feedback ratch mode. Consult MOTOMAN service. Needs investigation. . (System function unmatch) During operation at the designated speed. Consult MOTOMAN service. Correct the job. If the error occurs again. In case operating robot after reset the alarm.) which couldn't be executed in a concurrent job. 4527 Designation of port No. Set data in the job queue and call [QUE]. 0000_0001:Concurrent job was started from robot job by CALL or JUMP instruction. Consult MOTOMAN service. Reduce the step (for moving instruction) speed that caused the alarm or change pose of robot. 4534 TORQUE INTERFERENCE Reset the alarm. there is axis that the robot axis or motor load torque exceeded the permitted torque.MOTOMAN ROBOTICS EUROPE Page: 62 Operator’s manual MOTOMAN XRC Doc. 4523 An attempt was made to operate robot job by all task. Internal data of equation inst was abnormal. [QUE] was called by CALL instruction and JUMP instruction when all job queue was not used. (AOUT) [Decimal Data] SYNTAX ERROR [Decimal Data] Needs investigation. Needs investigation.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. contact MOTOMAN service. turn on the general input signal set in the parameter. 4524 A concurrent job contained an instruction (MOV. Check the starting job. 4522 TAG DATA CHANGE PROCESS ERROR [Decimal Data] ONLY CONCURRENT JOB POSSIBLE CANNOT EXECUTE INST (CONCUR JOB) Correct the job. Check the starting job.for job was abnormal.etc. 4528 Internal data was abnormal in instruction. The error occurred in internal data when returning job. name: MRS51020-CH1. 4520 4521 WRONG JOB TYPE [Bit Pattern] 0000_0001:Robot job was started from concurrent job by CALL or JUMP instruction. 4540 JOB QUE EMPTY ERROR 4543 STACK LESS THAN 0 (JOB CALL) [Decimal Data] Reset the alarm and repeat the operation. Remedy Reset the alarm and repeat the operation. 4526 SYNTAX ERROR IN EQUATION INST [Decimal Data] UNDEFINED PORT NO. The error occured when welding conditions were changed in a job or file. 4572 UNDEFINED SERVO GUN CONTROL GRP SPOT WELD COMPLETE TIME LIMIT There was no group setting controlled as servogun. Consult MOTOMAN service. MOVS when operating ARC retry. contact MOTOMAN service. Operating function didn't correspond to system.. lengthen set time. contact MOTOMAN service. Consult MOTOMAN service. change the instruction(interpolation) to MOVL. 4577 The error occurred in control process of servogun. 4578 The error occurred in timer conductor of system designated by data. welding timing was set [After first pressure]. change the start timing. . Remedy Reset the alarm and repeat the operation. In case that it takes time to response from the timer. 4583 Set gun was set by operation mode of control impossible. Change to the mode applied to the gun. Reset the timer conductor that caused the welding error and repeat the operation. search function for general sensor(ASRCH). 4564 4565 SOFTWARE UNMATCH [Decimal Data] CANNOT MONITOR DISTANCE Need the investigation. The error occurred in control process of servogun. 4567 The attempt was made to execute MOVJ. Configulate again on customer maintenance mode. name: MRS51020-CH1. force detecting function(TSRCH) was completed. restart or. MOVC. no turning on power supply of timer conductor etc. set the servogun axis correctly. defective LS etc. If the error occurs again. the process error occured.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Alarm Message List Created: 98-08-19 Revised: 99-08-27 Page: 63 Doc. 4584 Confirmation signal designated by stroke switch confirmation instruction doesn't enter even if waiting set time. 4574 Welding completed signal from timer conductor or welding error signal doesn't enter even if waiting set time. and repeat the operation. Set the second pressure or. restart. Needs investigation. 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. 4576 Needs investigation.FM Alarm Number Message INTERNAL STATUS ERR (SEARCH HALT) [Decimal Data] Cause When execution of start point detecting function(SRCH). Set not to operate ARC retry. If the error occurs again. Correct the factor. Correct the factor. Consult MOTOMAN service.. and repeat the operation. was intended to used. various standard position was not registered. 2.MOTOMAN ROBOTICS EUROPE Page: 64 Operator’s manual MOTOMAN XRC Doc.[Abrasion Correction] etc. 4603 The skicking was detected by the welder. . Remedy Set the correction direction of fix side chip to apply the gun. When using abrasion correction function at servogun. 1: Welder 1 2: Welder 2 3: Welder 3 4: Welder 4 Determine the sticking factor of the welder. 4588 4589 ABRASION BASIS POS UNSETTING [Decimal Data] Register a required standard position. 1:Standard position A 2:Standard position B 3:Standard position C Gun condition data file was not set. [Contact Teaching]. 4601 UNDEFINED GUN COND FILE [Decimal Data] WIRE STICKING [Decimal Data] Set the gun condition data file completely. name: MRS51020-CH1.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. To release the error perform following the operation. etc. XY) The tool number registered with teaching position data didn't match the the tool number.selected at the programing pendant. name: MRS51020-CH2. PLC. XY) Not registered user coordinates basic 3 points(ORG. release it after the confirmation of the content of the error.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 63 Doc.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.)accesses. XX. 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).FM 2. s System and General Operation Error NO. Press [CANCEL] on programming pendant. 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. Error 2. 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 . 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). When an error occurs. XX. 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. Data - Message Turn ON servo power Set to PLAY mode No start using external signal No start using P. .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.MOTOMAN ROBOTICS EUROPE Page: 64 Operator’s manual MOTOMAN XRC Doc.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error NO. name: MRS51020-CH2. 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. 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.FM Error NO. 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 .MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 65 Doc. name: MRS51020-CH2. name: MRS51020-CH2. 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 - . 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. Data XXX Message Enter path number Defined data File No.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error NO. Cannot register them once Relay No.MOTOMAN ROBOTICS EUROPE Page: 66 Operator’s manual MOTOMAN XRC Doc. 1010 1020 1030 1040 1050 1060 1070 Data Message EDIT LOCK mode Enter correct value Unauthorized ID No. 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 . 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.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 67 Doc.FM s Editing Error No. Enter correct date Enter correct clock Enter a number in 8 figures Contents s Job Defined Data Error No. FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No. name: MRS51020-CH2.MOTOMAN ROBOTICS EUROPE Page: 68 Operator’s manual MOTOMAN XRC Doc. 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 - . 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. Calibration not complete 2420 2430 2440 2450 2460 2470 2480 2490 2500 - . perform a line-edit When variable is used for teach setting. 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. name: MRS51020-CH2. name: MRS51020-CH2. 3010 3020 Data Message Floppy disk cable not connected Floppy disk not inserted into floppy disk drive Contents . 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.MOTOMAN ROBOTICS EUROPE Page: 70 Operator’s manual MOTOMAN XRC Doc.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No. 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. 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 - .FM Error No.MOTOMAN ROBOTICS EUROPE Operator’s manual MOTOMAN XRC Error Message List Created: 98-08-19 Revised: 99-08-27 Page: 71 Doc. Timer value error Specification error of timer No.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No.MOTOMAN ROBOTICS EUROPE Page: 72 Operator’s manual MOTOMAN XRC Doc. Specification error of relay 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 - . is omitted Specified tool 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. name: MRS51020-CH2. Cannot load illegal system data Condition file data error Format error Specified file 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. 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. name: MRS51020-CH2. 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. 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 . name: MRS51020-CH2.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No.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 . 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: 75 Doc. 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 . Plural output are instructed to the relay Line No. Illegal block No. duplicated in OUT or GOUT instruction Line No. Data * 4010 XXX * 4020 XXX * 4030 XXX * 4040 XXX * 4050 XXX * 4060 XXX * 4070 XXX * 4080 XXX * 4090 XXX Line No. Message Contents . Illegal relay No. Excess AND [OR] STR instructions Line No. The relay is not used Relay]No. Enter STR [-NOT] at head of block 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. Excess STR-[-NOT] instructions Line No.MOTOMAN ROBOTICS EUROPE Page: 76 Operator’s manual MOTOMAN XRC Doc. Line No.FM Created: 98-08-19 Revised: 99-08-27 Error Message List Error No. Illegal instruction Line No. Need STR [-NOT] Syntax error in CNT instructions Line No. name: MRS51020-CH2. 8010 8020 Data Message PC CARD not ready Designated file does not exist Contents . 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. Data * Message Relay No.FM 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. 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. * 4150 XXX 4160 4170 4180 4190 4200 4210 - Wrong use of GSTR. duplicated in TMR and CNT Contents Timer and counter are used twice Line No. FM Created: 98-08-19 Revised: 99-08-27 Error Message List . name: MRS51020-CH2.MOTOMAN ROBOTICS EUROPE Page: 78 Operator’s manual MOTOMAN XRC Doc. Notes . Italy Tel: +39-059-280496. IT-41100 Modena. DE-61476 Kronberg/Taunus. Switzerland Tel: +41-18471717. Norway Tel: +47-32252820. Fax: +386-61-861227 MOTOMAN Robotics España S.A. Jászberényi út 4. Fax: +27-11-4942320 Messer SAG Langweisenstrasse 12. IL-Kfar Azar 55905. Fax: +972-03535943 ROBIA ASA Industriveien 1.o. Fax: +30-1-9567289 REHM Hegesztéstechnika Kft.Headquarters: Sweden MOTOMAN Robotics Europe AB Box 504. Fax: +45-79428001 Robia Suomi OY Messinkikatu 2. Sweden Tel: +46-486-48800. South Africa Tel: +27-11-4943604.. Czech Republic Tel: +420-361-254571. NL-4823 AC Breda. Fax: +46-444699 MGM Spol s. ES-08830 St. Spain Tel: +34-93-6303478. +46-486-41410 MOTOMAN Robotics SARL Rue Nungesser et Coli. Germany Tel: +49-6173-60-77-30.V Zinkstraat 70. Denmark Tel: +45-79428000.o. DE-85391 Allershausen. PT-2700 Amadora. Trebízského 1870. SE-385 25 Torsås. D2A Nantes-Atlantique. DK-7100 Vejle. Fax: +358-22145660 Kouvalias Industrial Robots 25. Greece Tel: +30-1-9589243-6. Fax: +420-361-256038 Robia A/S Hjulmagervej 4. Avenida Marina 56.O Box 90741. Finland Tel: +358-22145600. Venizelou Ave. Sweden Tel: +46-480-444600. Fax: +34-93-6543459 MOTOMAN Mecatron Robotic Systems AB Box 4004. ZA-Bertsham 2013. Portugal Tel: +351-21-4968160. Venda Nova.r. Banbury. Fax: +33-40754147 MOTOMAN Robotec GmbH Kammerfeldstraße 1. Slovenia Tel: +386-61-861113. CZ-39002 Tábor. England Tel: +44-1295-272755. CH-8108 Dällikon.A. NO-3300 Hokksund. Lepovce 23. Fax: +49-8166-90-103 MOTOMAN Robotec GmbH Im Katzenforst 2. 9 Hapalmach Street. Tápiószele. Rua Vice-Almirante Azevedo Coutinho 4. Fax: +44-1295-267127 MOTOMAN Robotics Italia SRL Via Emilia 1420/16. Fax: +351-21-4990319 Robotic Systems S. SI-1310 Ribnica. H-2766. 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