Yaskawa Alarm Codes 4900 – 4999

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Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4900

EXCESSIVE SEG- MENT(SAFETY 2)(SV)

Setting error

(1) Reset the alarm, and then ease the velocity or check whether the posture is singular.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4901

CUBE/AXIS INTER- FERENCE

Sub Code; Group, ax- is, and interference area number

Setting error

(1) Check the following settings.
∙Perform the teaching again to correct positions for manipula- tors so that the step where the alarm occurred is out of inter- ference area.
∙Change the settings for interference area.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4902

CUBE INTERFER- ENCE (TCP)

Sub Code; Group and interference area number

Setting error

(1) Check the following settings.
∙Change the step position where the alarm occurred to the area outside the interference area.
∙Modify the interference area setting.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4903

CUBE INTERFER- ENCE (ENTIRE)

Sub Code; Group, ax- is, and interference area number

Setting error

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4904

CUBE INTERFER- ENCE AREA SET ERR

Maximum number of the cube interference area exceeds the al- lowable range.

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The number of cube interference area whose monitoring part is “whole” ex- ceeds the limit.

Setting error

Reduce the number of cube interference area whose monitor- ing part is “whole”.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Detect the cube whose interference area are extremely big or small.

Setting error

(1)Among the cube interference areas already values are en- tered, modify as follows.
1.Change the extremely big values to smaller ones.
2.Change the extremely small values to bigger ones.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Detect the cube inter- ference area whose monitoring part is set to “whole” despite the invalid status of cube arm interference check function.

Setting error

(1) Reset the alarm.
(2)If the alarm occurs just after loading the cube interference area setting function, execute the following measures.
1.Among the cube interference areas to be loaded, change the monitoring part setting from “whole” to “control point”.
2.Load the modified cube interference area.
3.Confirm the settings if the alarm occurs again after the load- ing operation.
(3) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4905

INSTRUCTION ER- ROR 1

Sub code: SKCHK mode re- lease error

Software operation error occurred

(1) Reset the alarm and decrease the motion speed in JOB.
(2) If the alarm occurs again, save the CMOS.BIN in the main- tenance mode and contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Sub code:
Robot number error

Setting error

(1) Reset the alarm and change the robot number.
(2) If the alarm occurs again, save the CMOS.BIN in the main- tenance mode and contact your YASKAWA representative about occurrence status (operating procedure).

4906

MODEL DATA UN- REGISTERED

Sub Code: model file number

Setting error

(1) Reset the alarm and register the model file or change the model file number.

4907

MULTIPLE INST EXECUTION ER- ROR

Setting error

(1) Reset the alarm and modify the JOB program.

4908

SPEED CONTROL ERROR

Control group desig- nation error.

Setting error

(1)Reset the alarm.
(2)Check the settings for the specified control group number.

Speed control axis designation error.

Setting error

(1)Reset the alarm.
(2)Check the settings for the specified speed control axis num- ber.

Maximum rotation speed over.

Setting error

(1)Reset the alarm.
(2)Set the rotation speed that does not exceed the maximum rotation speed.

4909

TEST RUN(HIGH ACCURACY) ER- ROR

Operation mistake

Select a sub menu [TEACHING CONDITION SETTING] under main menu [SETUP].
Set “TEST RUN CONTROL” to “NORMAL” to perform TEST RUN operation.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4911

SAFETY FIELDBUS NOT ESTAB- LISHED

PROFIsafe communi- cation was not estab- lished to the default time, or communica- tion was disconnect- ed after establishment.

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, please check the following.
∙SF (Group Fault) LED, BF (Bus Fault) LED of CP1616 board is lit or blinking.
∙ SF (Group Fault) LED, BF (Bus Fault) LED of safety PLC board is lit or blinking.
(3)If the above problems, there is a possibility that the connec- tion settings of the safety PLC or CP1616 is not successful. Please set again according to the manual.

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, please check the connection or insertion state of cables connected to the CP1616 board and safety PLC.

CP1616 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the CP1616 board.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

CIP Safety communi- cation was not estab- lished to the default time.(sub code is not defined)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Connection failure

(1)Reset the alarm.
(2)If the alarm occurs again, please check the following.
∙In the case of EtherNet/IP Safety, please check the connec- tion or insertion state of cables connected to the „CN104 con- nector of YCP21 board“ and safety PLC.
∙In the case of DeviceNet Safety, please check the connection or insertion state of cables connected to the SST-DN4-PCU (DeviceNet) board and safety PLC.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

CIP Safety communi- cation was not estab- lished to the default time.(CIP Safety stack is under the Self-diagnosis)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

Connection failure

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

CIP Safety communi- cation was not estab- lished to the default time.(Waiting for communication es- tablish)

Software configura- tion error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, the connection setup of EtherNet/ IP (CPU board) or safety PLC may not be performed normally. Please set up again according to a manual.

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

Connection failure

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

CIP Safety communi- cation was not estab- lished to the default time.(Exception gen- erating under CIP Safety stack self-di- agnosis)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

Connection failure

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

CIP Safety communi- cation was not estab- lished to the default time.(Abort of CIP Safety stack process- ing)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Connection failure

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

CIP Safety communi- cation was not estab- lished to the default time.(Waiting for TUNID configuration)

Software configura- tion error occurred

(1)Reset the alarm.
(2)If the alarm occurs again, please carry out the following ac- cording to a manual.
– In the case of EtherNet/IP Safety, set up TUNID (combination data of an IP address and Safety Network Number) using RS- NetWorx for EtherNet/IP (setting tool by Rockwell).
– In the case of DeviceNet Safety, set up TUNID (combination data of a MAC ID and Safety Network Number) using RSLogix5000 (setting tool by Rockwell).

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Connection failure

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4912

SAFETY FIELDBUS COMM ERROR

Value of F_Dest_Add do not match.

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, please check the following F-Pa- rameter settings.
∙The value of F_Dest_Add that is set to the safety PLC and the CP1616 board are the same.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Value of F_Dest_Add is out of range.

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, please check the following F-Pa- rameter settings.
∙The value of F_Dest_Add that is set to the safety PLC and the CP1616 board is in the range of 1-65534.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Value of F_Src_Add is out of range.

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, please check the following F-Pa- rameter settings.
∙The value of F_Src_Add that is set to the safety PLC is in the range of 1-65534.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Value of F_WD_Time is 0.

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, please check the following F-Pa- rameter settings.
∙The value of F_WD_Time that is set to the safety PLC is 1 or more.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Value of F_SIL is in- valid.

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, please check the following.
∙ When setting up the safety the PLC, whether imported into SIEMENS manufactured configuration tool(STEP 7) GSD file of CP1616 board we offer.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Value of F_Par_Ver- sion is invalid.

Setting error

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Value of F_CRC do not match.

Setting error

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Setting the value of the F-Parameter is in- valid.

Setting error

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Size of F_CRC is in- valid.

Setting error

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Processing of safety field bus does not start.

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please turn the power OFF then back ON.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Communication error of safety field bus oc- curred.

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, please check the connection or insertion state of cables connected to the CP1616 board and safety PLC.

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Watchdog time error of safety field bus oc- curred.

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, please check the connection or insertion state of cables connected to the CP1616 board and safety PLC.

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, please re-power on the safety PLC and the robot controller.

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Passivated state.

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, you need to release the passiv- ated state. Please release the passivated state by operating the safety program from SIEMENS manufactured configura- tion tool(STEP 7).

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

20000

A communication er- ror (CH1) occurred at connection with the CIP safety.
A SUB-Code shows the internal status of a CIP Safety stack.

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, please check the following.
∙In the case of EtherNet/IP Safety, please check the connec- tion or insertion state of cables connected to the „CN104 con- nector of YCP21 board“ and safety PLC.
∙In the case of DeviceNet Safety, please check the connection or insertion state of cables connected to the SST-DN4-PCU (DeviceNet) board and safety PLC.

Software operation error occurred

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

30000

A communication er- ror (CH2) occurred at connection with the CIP safety.
A SUB-Code shows the internal status of a CIP Safety stack.

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, please check the following.
∙In the case of EtherNet/IP Safety, please check the connec- tion or insertion state of cables connected to the „CN104 con- nector of YCP21 board“ and safety PLC.
∙In the case of DeviceNet Safety, please check the connection or insertion state of cables connected to the SST-DN4-PCU (DeviceNet) board and safety PLC.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Software operation error occurred

YSF21 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YSF21 board.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4913

SUB SEQUENCE TASK CONTR ER- ROR

Unused A_BANK does not exist in the prereading process- ing of move instruc- tion.

Software operation error occurred

(1) Reset the alarm, and then try again.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Unused bank priority does not exist in the prereading process- ing of move instruc- tion.

Software operation error occurred

A_BANK pointer is not set.

Software operation error occurred

A_BANK conversion could not be per- formed.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The specified A_BANK number does not exist.

Software operation error occurred

An error occurred when system num- ber(MSS) was ob- tained.

Software operation error occurred

An error occurred in RMS960 system call.

Software operation error occurred

Undefined interrupt command was re- ceived.

Software operation error occurred

JOB start condition is not defined.

Software operation error occurred

An error occurred in instruction prefetch queue operation.

Software operation error occurred

Intermediate code is not defined.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Instruction prereading processing has not been completed nor- mally.

Software operation error occurred

An error occurred in JOB data change.

Software operation error occurred

The specified se- quence number at job execution start is in- correct.

Software operation error occurred

The added area for in- terruption command is incorrect.

Software operation error occurred

System num- ber(MSS) for interrup- tion command is incorrect.

Software operation error occurred

An error occurred at start of twin synchro- nous operation.

Software operation error occurred

An error occurred when SYNC specifi- cation was reset.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

An error occurred in occupation control group setting in MO- TION section.

Software operation error occurred

An error occurred in path/trace control.

Software operation error occurred

An error occurred when waiting for a completion of main system task (JOB) in SYNC specification.

Software operation error occurred

An attempt was made to execute an instruc- tion that could not be executed at line se- quence execution.

Software operation error occurred

An error occurred while obtaining the in- struction information.

Software operation error occurred

An exceptional error occurred in job execu- tion process.

Software operation error occurred

100

Main processing command is incorrect in prereading pro- cessing.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

101

SUP-processing command is incorrect in prereading pro- cessing.

Software operation error occurred

102

Prereading process- ing has not been com- pleted at JOB execution.

Software operation error occurred

103

A_BANK conversion has not been com- pleted.

Software operation error occurred

104

System num- ber(MSS) is incorrect in prereading pro- cessing.

Software operation error occurred

105

An error occurred in instruction prefetch queue operation in prereading process- ing.

Software operation error occurred

106

An error occurred at IES switching in pre- reading processing.

Software operation error occurred

108

An error occurred in prereading operation process.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

200

The specified se- quence number is in- correct.

Software operation error occurred

201

An attempt was made to execute an instruc- tion that could not be executed in P-PLC program.

Software operation error occurred

4914

SUB SE- QUENCE(H) TASK CONTR ERROR

Unused A_BANK does not exist in the prereading process- ing of move instruc- tion.

Software operation error occurred

Unused bank priority does not exist in the prereading process- ing of move instruc- tion.

Software operation error occurred

A_BANK pointer is not set.

Software operation error occurred

A_BANK conversion could not be per- formed.

Software operation error occurred

The specified A_BANK number does not exist.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

An error occurred when system num- ber(MSS) was ob- tained.

Software operation error occurred

An error occurred in RMS960 system call.

Software operation error occurred

Undefined interrupt command was re- ceived.

Software operation error occurred

Job start condition is not defined.

Software operation error occurred

An error occurred in instruction prefetch queue operation.

Software operation error occurred

Intermediate code is not defined.

Software operation error occurred

Instruction prereading processing has not been completed nor- mally.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

An error occurred in JOB data change.

Software operation error occurred

The specified se- quence number at JOB execution start is incorrect.

Software operation error occurred

The added area for in- terruption command is incorrect.

Software operation error occurred

System num- ber(MSS) for interrup- tion command is incorrect.

Software operation error occurred

An error occurred at start of twin synchro- nous operation.

Software operation error occurred

An error occurred when SYNC specifi- cation was reset.

Software operation error occurred

An error occurred in occupation control group setting in MO- TION section.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

An error occurred in path/trace control.

Software operation error occurred

An error occurred when waiting for a completion of main system task (JOB) in SYNC specification.

Software operation error occurred

An attempt was made to execute an instruc- tion that could not be executed at line se- quence execution.

Software operation error occurred

An error occurred while obtaining the in- struction information.

Software operation error occurred

An exceptional error occurred in job execu- tion process.

Software operation error occurred

100

Main processing command is incorrect in prereading pro- cessing.

Software operation error occurred

101

Subprocessing com- mand is incorrect in prereading process- ing.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

102

Prereading process- ing has not been com- pleted at JOB execution.

Software operation error occurred

103

A_BANK conversion has not been com- pleted.

Software operation error occurred

104

System number (MSS) is incorrect in prereading process- ing.

Software operation error occurred

105

An error occurred in instruction prefetch queue operation in prereading process- ing.

Software operation error occurred

106

An error occurred at IES switching in pre- reading processing.

Software operation error occurred

210

An attempt was made to execute an instruc- tion that could not be executed in SUB se- quence (H) task

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4915

PathSwitch CON- TROL ERROR

When PSTRIG in- struction was execut- ed, there was not PLCSTPON instruc- tion or PLCSTPOF in- struction.

Setting error

(1) Reset the alarm.
(2) Check whether PLCSTPON instruction and PLCSTPOF in- struction is registered. When unregistered, register PLCST- PON instruction and PLCSTPOF instruction.

When PSTRIG in- struction was execut- ed, P-PLC instruction had not been execut- ed.

Setting error

(1) Reset the alarm.
(2) Check whether P-PLC instruction is registered. When un- registered, register P-PLC instruction.
(3) When PSTRIG instruction is executed, check P-PLC in- struction is whether it has been executed.If it is not running, please run PSTRIG instruction after P-PLC instruction execu- tion.

The number of PSTRIG instruction exceeds the limit in the PointPLC pro- gram.

Setting error

(1) Reset the alarm.
(2) Please reduce the number that can be set PSTRIG instruc- tion.

Delay control was not completed.

Setting error

(1) Reset the alarm.
(2) Please change the teaching to be able to delay control.

PSTRIG instruction execution result is err.

Software operation error occurred

PSTRIG instruction execution result is err.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

PSTRIG instruction execution result is err.

Software operation error occurred

4916

WRONG JOB EXEC OF DETACHED AXIS

Sub Code: Control group

Setting error

(1) Check the following settings.
∙ [OPTION FUNCTION] – [AXES DETACHMENT] settings in
maintenance mode. Cancel the detachment axis setting of the JOB control group.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4917

WRONG JOB EXEC OF DETACHED AXIS

Sub Code: Control group

Setting error

(1) Check the following settings.
∙ [OPTION FUNCTION] – [AXES DETACHMENT] settings in
maintenance mode. Cancel the detachment axis setting of the JOB control group.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4918

PROFINET SET- TING ERROR

Device name or IP address has not been set to CP1616 board connected with 1st PCI connector.

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, please carry out the following ac- cording to a manual.
∙Set the device name and IP address to CP1616 board by us- ing STEP 7 (setting tool by SIEMENS).

CP1616 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the CP1616 board

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Device name or IP address has not been set to CP1616 board connected with 2nd PCI connector.

Setting error

CP1616 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the CP1616 board

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

116

Firmware version of CP1616 board con- nected with 1st PCI connector and driver software version does not match

CP1616 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the CP1616 board

CP1616 board ver- sion failure

(1)Reset the alarm.
(2) If the alarm occurs again, please request the update of CP1616 board firmware to your YASKAWA representative.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

117

Firmware version of CP1616 board con- nected with 2nd PCI connector and driver software version does not match.

CP1616 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the CP1616 board

CP1616 board ver- sion failure

(1)Reset the alarm.
(2) If the alarm occurs again, please request the update of CP1616 board firmware to your YASKAWA representative.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4919

SYSTEM JOB(CY- CLIC) EXEC. ER- ROR

Task ID error

Software operation error occurred

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

MSS ID error

Software operation error occurred

JOB handle error

Software operation error occurred

RMS error

Software operation error occurred

Job type is not SYS- TEM JOB(CYCLIC/ HIGH).

Setting error

(1)Check the following settings.
∙Change the JOB type to „SYSTEM JOB (CYCLIC/HIGH)“.

The intermediate code of the instruction that is to be executed is incorrect.

Software operation error occurred

The instruction can- not be executed in the SYSTEM JOB(CY- CLIC/HIGH).

Setting error

(1) Check the following settings.
∙Delete the instruction in which alarm occurred, because the instruction cannot be executed in the SYSTEM JOB (CYCLIC/ HIGH).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The reinterpretation of the instruction was ordered when execut- ing the instruction.

Software operation error occurred

The SYSTEM JOB (CYCLIC/HIGH) was
going to branch to the other JOB.

Setting error

(1) Check the following settings.
∙Delete the instruction in which alarm occurred, because the SYSTEM JOB (CYCLIC/HIGH) cannot branch to the other JOB.

The execution num- ber of SYSTEM JOB (CYCLIC/HIGH) ex-
ceeded a limitation.

Setting error

(1) Check the following settings.
∙Correct the JOB under the current limitation of execution number, because SYSTEM JOB(CYCLIC/HIGH) can no lon- ger be executed.

The execution of SYSTEM JOB (CY-
CLIC/HIGH) was not finished within a time limit.

Setting error

(1) Check the following settings.
∙Reduce the number of items in the SYSTEM JOB(CYCLIC/ HIGH).

The SYSTEM JOB (CYCLIC/HIGH) was
executed in the sys- tem being executed already.

Software operation error occurred

(1) Reset the alarm, and then try again.
(2)If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

The execution num- ber of items in the SYSTEM JOB (CY-
CLIC/HIGH) exceed- ed a limitation.

Setting error

(1)Check the following settings.
∙Reduce the number of items in the SYSTEM JOB(CYCLIC/ HIGH) within the limit number (Initial setting is 300).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4920

M-SAF CONTAC- TOR SELF CHECK ERR

The meaning of each SUB-Code is as fol- lows:
CPU1 1:SFRON1 CPU1 2:SFRON2 CPU1 3:SFRON3 CPU1 4:SFRON4 CPU2 1:SFRON1 CPU2 2:SFRON2 CPU2 3:SFRON3 CPU2 4:SFRON4

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, check the connection and insert- ing state of the following cables and connectors.
∙YSF22-CN217
∙YPU-CN607
∙Cable continuity between YSF22 board and YPU unit.

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

YPU unit failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YPU unit.
In a system where a plurality of YPU units are connected, re- place the unit, which is connected to the unit on which the alarm occurred.

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4921

M-SAF STO SELF CHECK ERR

The meaning of each sub code is as fol- lows:
CPU1 1:STO1 CPU1 2:STO2 CPU1 3:STO3 CPU1 4:STO4 CPU2 1:STO1 CPU2 2:STO2 CPU2 3:STO3 CPU2 4:STO4

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, check the connection and insert- ing state of the following cables and connectors.
∙YSF22-CN217
∙Cable continuity between YSF22 board and EAXA21 board.

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

EAXA21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the EAXA21 board.

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4922

M-SAF GENERAL OUT SELF CHECK ERR

The meaning of each sub code is as fol- lows:
CPU1 1:GSOUT1 CPU1 2:GSOUT2 CPU2 1:GSOUT1 CPU2 2:GSOUT2

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, check the connection and insert- ing state of the following cables and connectors.
∙YFC22
∙Cable continuity between YSF22 board and YFC22 board.

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board, which is connected to the GSIN signal on which the alarm occurred.

YFC22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YFC22 board.
In a system where a plurality of YFC22 boards are connected, replace the board on which the alarm occurred.

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4923

YSF24 GENERAL OUT SELF CHECK ERR

The meaning of each sub code is as fol- lows:
CPU1 1:XOUT1 CPU1 2:XOUT2 CPU1 3:XOUT3 CPU1 4:XOUT4 CPU1 5:XOUT5 CPU1 6:XOUT6 CPU1 7:XOUT7 CPU1 8:XOUT8 CPU2 1:XOUT1 CPU2 2:XOUT2 CPU2 3:XOUT3 CPU2 4:XOUT4 CPU2 5:XOUT5 CPU2 6:XOUT6 CPU2 7:XOUT7 CPU2 8:XOUT8

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, check the connection and insert- ing state of the following cables and connectors.
∙YSF24
∙Cable continuity between YSF22 board and YSF24 board.

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

YSF24 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF24 board.
In a system where a plurality of YSF24 boards are connected, replace the board on which the alarm occurred.

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4924

M-SAF CONTAC- TOR UNMATCH

The meaning of each sub code is as fol- lows:
CPU1 1:SFRON1 CPU1 2:SFRON2 CPU1 3:SFRON3 CPU1 4:SFRON4
CPU2 1:SFRON1 CPU2 2:SFRON2 CPU2 3:SFRON3 CPU2 4:SFRON4

Connection failure

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

YPU unit failure

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4925

M-SAF STO UN- MATCH

The meaning of each sub code is as fol- lows:
CPU1 1:STO1 CPU1 2:STO2 CPU1 3:STO3 CPU1 4:STO4 CPU2 1:STO1 CPU2 2:STO2 CPU2 3:STO3 CPU2 4:STO4

Connection failure

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

EAXA21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the EAXA21 board.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4926

M-SAF GENERAL OUTPUT UN- MATCH

The meaning of each sub code is as fol- lows:
CPU1 1:GSOUT1 CPU1 2:GSOUT2 CPU2 1:GSOUT1 CPU2 2:GSOUT2

Connection failure

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

YFC22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YFC22 board.
In a system where a plurality of YFC22 boards are connected, replace the board on which the alarm occurred.

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4927

YSF24 GENERAL OUTPUT UN- MATCH

Connection failure

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

YSF24 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF24 board.
In a system where a plurality of YSF24 boards are connected, replace the board on which the alarm occurred.

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4928

M-SAF OUTPUT SIG. SELF CHECK ERR

SUB-Code is the out- put signal number that detected error.

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, check the connection and insert- ing state of the following cables and connectors.
∙YSF22
∙Cable continuity between YSF21 board and YSF22 board.

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4929

M-SAF INPUT SIG. SELF CHECK ERR

SUB-Code is the in- put signal number that detected error.

Connection failure

YSF21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF21 board.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

YSF22 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the YSF22 board.
In a system where a plurality of YSF22 boards are connected, replace the board on which the alarm occurred.

Other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4932

REFERENCE USER FRAME ER- ROR

reference user frame not set

Setting error

(1) Reset the alarm.
(2) Check the following settings.
∙Reference user frame

multiple reference user frame

Setting error

(1) Reset the alarm.
(2) Check the following settings.
∙reference user frame

Incorrect control group designation

Setting error

(1) Reset the alarm.
(2) Check the following settings.
∙reference user frame

4934

MotoPlus APP. RE- SPONSE ERROR

The message which was sent the last time has not been re- ceived.

Setting error

(1) Turn the power OFF then back ON.

The message which was sent when the NEXT/BACK/TEST
operation was exe- cuted.

Setting error

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, check the following settings.
∙The MotoPlus application has been running.
∙The MotoPlus API mpSendEventAck() that responds to sys- tem software is called in the MotoPlus application.

The message that was sent when the job was started.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The message which was sent from the pendant application.

Setting error

4935

PointPLC EXE- CUTE ERROR

TAG could not be ex- ecuted on JUMP in- struction in the PointPLC program.

Setting error

(1) Reset the alarm.
(2) Delete the TAG of the JUMP instruction which cannot be executed in the PointPLC program.

JUMP instruction or LABEL is wrong in the PointPLC program.

Setting error

(1) Reset the alarm.
(2) Modify the JUMP instruction or LABEL in the PointPLC pro- gram.
JUMP destination in the PointPLC program will need to be set in the PointPLC program.
JUMP destination outside of PointPLC program will need to be set outside PointPLC program.

TAG could not be ex- ecuted on CLEAR in- struction in the PointPLC program.

Setting error

(1) Reset the alarm.
(2) Delete the TAG of the CLEAR instruction which cannot be executed in the PointPLC program.

TAG could not be ex- ecuted on CALL in- struction in the PointPLC program.

Setting error

(1) Reset the alarm.
(2) Delete the TAG of the CALL instruction which cannot be executed in the PointPLC program.

4936

LOCAL VARIABLE CONTROL ERROR

Local variable is used in the PointPLC pro- gram.

Setting error

(1)Reset the alarm.
(2) Modify the instruction that uses Local variable in the Point- PLC program.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4937

TIMING ADJUST- MENT SETTING ERROR

Adjustment setting is exceeds the control area of the advance or delay control.

Setting error

Correct the job so that adjustment setting is within the control area.

Timing advance con- trol was impossible.

Setting error

Correct the job so that it does not across the instructions that can not be advance control.

Timing delay control was inpossible.

Setting error

Correct the job so that it does not across the instructions that can not be delay control.

4940

MOTION COM- MAND CODE ER- ROR (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4941

CANNOT EXE- CUTE MOTION CMD (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4942

AVERAGING TIME CHANGE ERR (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4943

AVERAGING TIME ERROR (SERVO)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4944

POSITION LOOP GAIN ERROR (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4945

MOTION COM- MAND DATA ER- ROR (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4946

PG POWER ON IN- COMPLETE (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4947

SERVO ON MULTI- PLE REQUEST (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4948

ENCODER ALARM (SERVO)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4949

GUN BEND MULTI CORRECT ERR (SV)

Sub Code: Signifies the axis in which the alarm occurred

Setting error

Check the settings for JOBs.

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4950

MOTOR GUN POS. DIFF. OVER (SV)

Sub Code: Signifies the axis in which the alarm occurred

Setting error

(1) Check the settings for JOBs.
(2) If this alarm occurs after the SERVO power cycling during work handling process
under the condition where the Handling motion continue func- tion is activated (S2C691=1),
review the threshold value (S1CxG624 -) as necessary.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4951

WRONG MOTOR GUN CHANGE AXIS (SV)

Sub Code: Signifies the axis in which the alarm occurred

Setting error

Check the settings for JOBs.

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4952

WRONG MOTOR GUN FILE NO. (SERVO)

Sub Code: Signifies the axis in which the alarm occurred

Setting error

Check the settings for JOBs.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4953

ENCODER COUNTER DIFF. ERR (SV)

Connection failure

(1) Reset the alarm
(2) If the alarm occurs again, check the connection and insert- ing state of the following cables and connectors.
{Robot axis}
∙Cables between encoders
∙EAXA21-CN508
{External axis}
∙Cables between encoders
∙EAXB21-CN534,535,536

EAXA21 board failure

(1) Reset the alarm.
(2) If the alarm occurs again, replace the EAXA21 board. Save the CMOS.BIN before replacing the board to be safe.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4954

REALTIME STATUS S/R ERROR (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4955

AVERAGING DATA ERROR (SERVO)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4956

AVERAGING SUM ERROR (SERVO)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4957

AVERAGING STA- TUS ERR (SERVO)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4958

HIGH RESOLU- TION PRM UNDE- FINED (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4959

WRONG GRP CHANGE AXIS (SERVO)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4960

BELT SNAP DE- TECT PRM ERROR (SV)

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4961

SERIAL ENC OS- CILL DETECTED (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4962

BRAKE LOCK ER- ROR (SERVO)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4963

BRAKE RELEASE ERROR (SERVO)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4964

CONST.SPD MEA- SURE MULTI REQ (SV)

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4965

DIN SIGNAL SPE- CIFIC. ERROR (SV)

Sub Code: Signifies the axis in which the alarm occurred

Setting error

Check the settings for JOBs.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4966

DB RESIST NOT INSTALLED (SV)

Connection failure

(1) Reset the alarm.
(2) If the alarm occurs again, check the connection and insert- ing state of the following cables and connectors.
∙DB resist of CN585 amplifier
∙Short-circuit connector CN585 amplifier
∙Amplifier-CN583
∙Converter-CN556,CN558

DB resist board fail- ure

(1) Reset the alarm.
(2) The DB resist may be fired. Replace the DB resist.

Module failure (con- verter)

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the converter.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4967

RATED CURRENT AND MAXIMUM CURRENT HIGH RESOLUTION PRM UNDEFINED (SER- VO)

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, contact your YASKAWA repre- sentative about occurrence status (operating procedure).

4969

CONVTR POWER ERR (FREQUEN- CY) (SV)

Sub Code: Signifies the axis in which the alarm occurred

Primary power supply failure

Confirm that appropriate primary voltage is applied to the breaker.
Prescribed voltage: 200V (+10% to 15%)

Connection failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, check the connection and inser- tion of the following cables and connectors.
∙EAXA21-CN507,510
∙EAXB21-CN531,532,533
∙Converter-CN551,553
∙EX1SV(External axis servo pack)-CN591,592

Module failure (con- verter)

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the converter.

EAXA21 board failure

(1) Reset the alarm.(In case of major alarm, turn the power OFF then back ON.)
(2) If the alarm occurs again, replace the EAXA21 and EAXB21 boards. Save the CMOS.BIN before replacing the board to be safe.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4970

CONVTR POWER ERR
(PHASE SEQ.)(SV)

Sub Code: Signifies the axis in which the alarm occurred

Primary power supply failure

Confirm that appropriate primary voltage is applied to the breaker.
Prescribed voltage: 200V (+10% to 15%)

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Connection failure

Module failure (con- verter)

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the converter.

EAXA21 board failure

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4971

CONVTR POWER ERR (PEAK) (SV)

Primary power supply failure

Confirm that appropriate primary voltage is applied to the breaker.
Prescribed voltage: 200V (+10% to 15%)

Connection failure

Module failure (con- verter)

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the converter.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

EAXA21 board failure

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4972

CONVTR REGEN- ERATE OVERLOAD (SV)

Primary power supply failure

Check the primary voltage for the converter.

Setting error

Check the following settings;
∙Tool data
∙JOB
∙Workpiece
∙JOB speed
∙Acceleration and deceleration (ACC, DEC)

Connection failure

Module failure (Re- generative resistor)

(1) Disconnect the converter CN557 to check if there is no ca- ble disconnection.
(2) If disconnected, replace the regenerative resistor.

Module failure (con- verter)

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the converter.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

EAXA21 board failure

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4973

POSITION ERROR (COLLISION DE- TECT)

Sub Code: Signifies the axis in which the alarm occurred

Setting error

Confirm the following settings;
∙Tool information
∙Workpiece

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4974

POSITION ERROR (START LIFT)

Sub Code: Signifies the axis in which the alarm occurred

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4975

WRONG START LIFT AXIS (SERVO)

Sub Code: Signifies the axis in which the alarm occurred

Software operation error occurred

(1) Reset the alarm.
(2) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4976

GUN SEARCH DE- TECT RANGE OVER

Sub Code: Signifies the axis in which the alarm occurred

Setting error

Check the following settings.
∙Home position of gun axis.
∙”The pulse-stroke converter” in the gun condition file.
∙The value of the wear correction.

Effect of external force

(1) Check that no objects exist between workpiece and gun.
(2) Check the lost tip.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4977

GUN SEARCH POS ERROR

Sub Code: Signifies the axis in which the alarm occurred

Setting error

Check the following settings.
∙Home position of gun axis.
∙”The pulse-stroke converter” in the gun condition file.
∙The value of the wear correction for movable gun tip.

Effect of external force

(1)Check the amount of the gap between workpiece position and the teaching position.
(2) Check the lost tip for movable gun.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4978

UNIV.IN/OUT SIG- NAL BROKEN (SERVO)

Universal input/output 1 between EAXA21 boards is broken.

Connection failure

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Universal output 1for SV#1 (SV#2) is incon- sistent with Universal input 1 for SV#2(SV#1).

Setting error

(1) Reset the alarm.
(2) If the alarm occurs again, check the connection and insert- ing state of the following cables and connectors.
∙EAXA21-CN514
(3) If the alarm occurs again, save the CMOS.BIN in mainte- nance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Universal output 1for SV#1 (SV#2) is incon- sistent with Universal input 1 for SV#2(SV#1).

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Universal input/output 2 between EAXA21 boards is broken or its connector (CN514) is disconnected.

Connection failure

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

Universal output 2 for SV#1 (SV#2) is incon- sistent with Universal input 2 for SV#2(SV#1).

Setting error

Universal output 2 for SV#1 (SV#2) is incon- sistent with Universal input 2 for SV#2(SV#1).

Setting error

4980

DESTINATION PULSE LIMIT

Setting error

(1) Check the following settings.
∙Check the position setting for the step (move instruction) where the alarm occurred.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4981

DEST PULSE ME- CHANICAL LIMIT

Setting error

(1) Check the following settings.
∙Check the position setting for the step (move instruction) where the alarm occurred.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4982

DEST MECHANI- CAL INTRF

Setting error

(1) Check the following settings.
∙Check the position setting for the step (move instruction) where the alarm occurred.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4983

DEST MECHANI- CAL INTRF

Setting error

(1) Check the following settings.
∙Check the position setting for the step (move instruction) where the alarm occurred.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4984

DESTINATION SELF-INTERFER- ENCE

Setting error

(1) Check the following settings.
∙Check the position setting for the step (move instruction) where the alarm occurred.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4985

TEACH LINE CORD JOG MOVE DIS- ABLE

Setting error

Correct the attitude of the tool and the ground are out of verti- cal, and execute teach line cord jog move.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4986

TEACH LINE CORD JOG MOVC DIS- ABLE

Setting error

Execute FWD/BWD/TEST RUN operation, and execute teach line cord jog move.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4987

WELD LINE CORD SHIFT MOV DIS- ABLE

IMPOSSIBLE MO-
TION(Y direction)

Setting error

(1) Check the following settings.
∙Correct the teaching positions so that the attitude of the tool and the ground are out of vertical.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

IMPOSSIBLE MO-
TION(Y direction)

Setting error

(1) Check the following settings.
∙The robot can not move to the target shift position. Change shift volume or modify the teaching position.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4988

WELD LINE CO- ORD SHIFT DIS- ABLE

PREFLOW not exe- cuted

Setting error

(1) When executing weld line coordinate shift operation, start the JOB with one step before ARCON instruction.
(2) When teaching the JOB for weld line coordinate shift oper- ation, set the ARCON instruction in the JOB in which the weld line coordinate shift operation is to be performed. (Don’t set ARCON instruction in the JOB which is target for CALL instruc- tion without setting any weld start teaching point.)
To use ARCON instruction without weld start point in the CALL destination JOB, disable the weld line coordinated shift func- tion in the weld start condition file.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4989

DEFECTIVE OPER- ATION VELOCITY

Sub Code: Control group

Setting error

(1) Check the following settings.
∙Please do not take effect safety of the speed limit by the func- tional safety during the interval of ARCON.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4990

MOTION ERROR (SINGULAR POS- TURE)

Sub Code: Control group

Setting error

(1) Check the following settings.
∙Change the teaching orientation. [Tube built-in wrist type models]
When a flange is parallel to a XY plane of the robot coordinat- ed system, teach the flange so that it is inclined more than 0.01 degrees.

other

If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4991

IO MODULE PROC OVERTIME

The procedure of the accessing to I/O mod- ule which is connect- ed with 1st PCI connector did not fin- ish in the defined peri- od.

Setting error

(1)Check the following settings.
∙When SST-DN4 is used; maximum waiting time for accessible to PCI board
∙PCI slot number in which each PCI board is mounted
∙I/O module settings in maintenance mode

Connection failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, check the connection and inser- tion of the following connector.
∙The PCI connector of the corresponding I/O module

Board failure (I/O module)

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe.
∙The corresponding I/O module (PCI board)

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

YIF board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.

The procedure of the accessing to I/O mod- ule which is connect- ed with 2nd PCI connector did not fin- ish in the defined peri- od.

Setting error

(1) Check the following settings.
∙When SST-DN4 is used; maximum waiting time for accessible to PCI board
∙PCI slot number in which each PCI board is mounted
∙I/O module settings in maintenance mode

Connection failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, check the connection and inser- tion of the following connector.
∙The PCI connector of the corresponding I/O module

Board failure (I/O module)

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe.
∙The corresponding I/O module (PCI board)

YIF board failure

(1)Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The procedure of the accessing to I/O mod- ule which is connect- ed with 3rd PCI connector did not fin- ish in the defined peri- od.

Setting error

(1) Check the following settings.
∙When SST-DN4 is used; maximum waiting time for accessible to PCI board
∙PCI slot number in which each PCI board is mounted
∙I/O module settings in maintenance mode

Connection failure

(1)Turn the power OFF then back ON.
(2)If the alarm occurs again, check the connection and inser- tion of the following connector.
∙The PCI connector of the corresponding I/O module

Board failure (I/O module)

(1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe.
∙The corresponding I/O module(PCI board)

YIF board failure

(1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred.

The procedure of the accessing to I/O mod- ule which is connect- ed with 4th PCI connector did not fin- ish in the defined peri- od.

Setting error

Connection failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, check the connection and inser- tion of the following connector.
∙The PCI connector of the corresponding I/O module

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Board failure(I/O module)

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe.
∙The corresponding I/O module (PCI board)

YIF board failure