Yaskawa Alarm Codes 4400 – 4499

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Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4400

NOT READY (ARITH)

The arithmetic pro- cess for motion con- trol did not complete within regulated time. No motion command was prepared.

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 arithmetic pro- cessing section is not ready for JOG opera- tion.

Software operation error occurred

The arithmetic pro- cessing section is not ready for the playback operation.

Software operation error occurred

The prereading pro- cessing in the arith- metic processing section has not com- pleted.

Software operation error occurred

The arithmetic pro- cessing section is not ready for the timer fol- low-up of the convey- or tracking function.

Software operation error occurred

The prereading pro- cessing in the arith- metic processing section has not com- pleted when specify- ing the target position.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The prereading pro- cessing in the arith- metic processing section has not com- pleted.

Software operation error occurred

4401

SEQUENCE 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

An error occurred when system number (MSS) was obtained.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

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

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The added area for in- terruption command is incorrect.

Software operation error occurred

System number (MSS) for interruption command is incor- rect.

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

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

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 exe- cution process.

Software operation error occurred

100

Main processing command is incorrect in prereading pro- cessing.

Software operation error occurred

101

SUB processing com- mand is incorrect in prereading process- ing.

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

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

4402

UNDEFINED COM- MAND (ARITH)

Software operation error
Setting error

(1) Reset the alarm, and then try again.
(2)Check the following settings.
∙the base-axis position must be registered for the system with base-axis MOVL P00001 BP00001
(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).

4403

NDEFINED IOSP- DCTRL HOME POS

SUB-Code: Control group

Setting error

(1) Check the following settings.
·Register the home position for IOSPDCTRL axis.

4404

ARITHMETIC ER- ROR

Interpolation such as linear and circular in- terpolation cannot be performed with this robot.

Setting error

(1) Check the following settings.
∙Change the step (move instruction), where the alarm occurred, to MOVJ.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The setting of the form data for Flip/No Flip is not “B-axis An- gle. “

Setting error

(1) Check the following settings.
∙Set “1” to “S2C658: Type data detail settings”.

other

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

An attempt was made to pass the B-axis zero degree position (singular area).

Setting error

(1) Check the following settings.
∙Check the teaching position of the JOB so that the robot does not pass the B-axis zero degree position (singular area).

other

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

An attempt was made to pass the B-axis zero degree position (singular area) during interpolation.

Setting error

(1) Check the following settings.
·Check the teaching position of the JOB so that the robot does not pass the B-axis zero degree position (singular area).

other

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

Wrist axis tended to rotate to the inverse with the teaching di- rection.

Setting error

(1) Check the following settings.
·Check the teaching position of the JOB so that a wrist axis does not inverse rotation.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4406

GROUP AXIS CON- TROL ERROR

Designation error for master and slave

Software operation error occurred

Slave designation er- ror

Software operation error occurred

Slave interpolation er- ror

Software operation error occurred

No designation of master axis

Software operation error occurred

Master-axis designa- tion error for JOG mo- tion

Software operation error occurred

Slave-axis designa- tion error for JOG mo- tion

Software operation error occurred

Occupation control error

Software operation error occurred

Designation error of occupation control for JOG motion

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Designation error of occupation control for Bank position

Software operation error occurred

Designation error of occupation control group for tracking mo- tion

Software operation error occurred

No master and slave designated for track- ing motion

Software operation error occurred

4407

TWO STEPS SAME POSITION (CIRC)

Setting error

(1) Check the following settings.
∙Check the settings for teaching position of circular interpolation steps so that each point is different.

other

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

4408

TWO STEPS SAME POSITION (SPLINE)

Setting error

(1) Check the following settings.
∙Check the settings for teaching position of spline interpolation step so that each point is different.

other

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

4409

TWO STEPS SAME POSITION (3 STEPS)

Setting error

(1) Check the following settings.
∙Check the settings for three taught points to create an user coor- dinate system so that each point is different.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4410

TWO STEPS SAME POSITION (WEAV)

Setting error

(1) Check the following settings.
∙Check the settings for taught points (start, end, and reference points) so that each point is different.

other

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

4411

TEACH ERROR (SPLINE)

Setting error

(1) Check the following settings.
∙Check the settings for the teaching position of spline interpolation section so that the distance between the teaching points is even.

other

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

4412

IMPOSSIBLE LIN- EAR MOTION (L/U)

Setting error

(1) Check the following settings.
∙Perform the teaching again to make the form of L- and U-axes same at start point and end point.
∙Use a MOVJ instruction again.

other

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

4413

IMPOSSIBLE LIN- EAR MOTION (S/L)

Setting error

(1) Check the following settings.
∙Perform the teaching position again to make the form of S- and L-axes same at start point and end point.
Use a MOVJ instruction again.

other

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

4414

EXCESSIVE SEG- MENT (LOW/HIGH)

SUB-Code: Control group and axis

Setting error

(1)Reduce the speed in the step where the alarm occurred.
(2)Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement changes.

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 oc- currence status (operating procedure).

4416

PULSE LIMIT (MIN./MAX.)

SUB-Code: Control group and axis

Setting error

(1) Check the following settings.
∙Perform the teaching again to correct positions for robots so that the step where the alarm occurred is within the motion range.

other

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

4418

CUBE LIMIT (MIN./MAX.)

SUB-Code: Control group and XYZ

Setting error

(1) Check the following settings.
∙Perform the teaching again to correct positions for robots so that the step where the alarm occurred is within the motion range.

other

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

4420

SPECIAL SOFT- LIMIT (MIN./MAX.)

SUB-Code: Control group and axis

Setting error

(1) Check the following settings.
∙Perform the teaching again to correct positions for robots so that the step where the alarm occurred is within the motion range.

other

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

4422

MECHANICAL IN- TERFERENCE (MIN./MAX.)

SUB-Code: Control group and axis

Setting error

(1) Check the following settings.
∙Perform the teaching again to correct positions for robots so that the step where the alarm occurred is within the motion range.

other

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

4424

SPECIAL ME- CHANICAL IN- TRF(MIN./MAX.)

SUB-Code: Control group and axis

Setting error

(1) Check the following settings.
∙Perform the teaching again to correct positions for robots so that the step where the alarm occurred is within the motion range.

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 oc- currence status (operating procedure).

4426

PULSE MECHANI- CAL LIMIT(MIN./ MAX.)

SUB-Code: Control group and axis

Setting error

(1) Check the following settings.
∙Perform the teaching again to correct positions for robots so that the step where the alarm occurred is within the motion range.

other

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

4428

SEGMENT CON- TROL ERROR

RT-buffer control command error

Software operation error occurred

Segment-receiving control command er- ror

Software operation error occurred

No bank priority

Software operation error occurred

Answer error at MOVE simulating

Software operation error occurred

The value of bank_re- fresh_flag(x) exceed- ed its limit.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

RT-buffer tracking op- tion error

Software operation error occurred

The segment was re- ceived although the previous segment had not been sent.

Software operation error occurred

4429

WRONG SPECI- FIED CONTROL GROUP

Control group not designated

Software operation error occurred

Slave control-group error

Software operation error occurred

Master control-group error

Software operation error occurred

Master and Slave control-group error

Software operation error occurred

Control-group error for a JOB file

Software operation error occurred

Control-group error for a user coordinate file

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Control-group error for a calibration file between robots

Software operation error occurred

Control-group error for a tool calibration file

Software operation error occurred

Control-group error for prereading-calcu- lation start point (for adv_st_pos)

Software operation error occurred

(1) Reset the alarm, and re-select the JOB from [select JOB] win- dow before starting the JOB 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).

Control-group error for the current-value preset position

Software operation error occurred

Control-group error for the conveyor pre- reading calculation start point

Software operation error occurred

Occupation control- group error

Software operation error occurred

Control-group error for SERVO hand

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Control-group error for the prereading cal- culation start point (for dm_st_pos)

Software operation error occurred

Control-group error for prereading calcu- lation start point (for dm_st_pos)

Software operation error occurred

Control-group error for paint gun

Software operation error occurred

4430

CPU COMMUNICA- TION ERROR

Interrupt processing error between MO- TION section and system control sec- tion

Software operation error occurred

Interrupt processing error between MO- TION section and SL#1

Software operation error occurred

Interrupt processing error between MO- TION section and SL#2

Software operation error occurred

Interrupt processing error between MO- TION section and SL#3

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Interrupt processing error between MO- TION section and SL#4

Software operation error occurred

Interrupt processing error between MO- TION section and SL#5

Software operation error occurred

Interrupt processing error between MO- TION section and SL#6

Software operation error occurred

Interrupt processing error between MO- TION section and SL#7

Software operation error occurred

Interrupt processing error between MO- TION section and SL#8

Software operation error occurred

Interrupt processing error between MO- TION section and CV#1

Software operation error occurred

Interrupt processing error between MO- TION section and CV#2

Software operation error occurred

Interrupt processing error between MO- TION section and CV#3

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Interrupt processing error between MO- TION section and CV#4

Software operation error occurred

4431

JHM ERROR

An error occurred in JMS system call when an attempt was made to open a JOB.

Software operation error occurred

No space was found in JOB handle value storage area when an attempt was made to open a JOB.

Software operation error occurred

No JOB handle was found.

Software operation error occurred

JOB control propri- etary is incorrect.

Software operation error occurred

JOB control propri- etary could not be changed.

Software operation error occurred

An error occurred in exclusive control.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4432

INSTRUCTION IN- TERPRETER ER- ROR

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

Software operation error occurred

Destination (variable) tag arrangement is in- correct.

Software operation error occurred

Tag data type is incor- rect.

Software operation error occurred

Box number is incor- rect.

Software operation error occurred

An error occurred in block separation pro- cessing of intermedi- ate code.

Software operation error occurred

Box number definition is duplicated.

Software operation error occurred

Undefined instruction was found at block separation of interme- diate code.

Software operation error occurred

IPRM is not set.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

An error occurred in tag data search pro- cess.

Software operation error occurred

An error occurred move instruction search process.

Software operation error occurred

Variable information does not exist.

Software operation error occurred

An error occurred at position file data read- ing.

Software operation error occurred

Variable data type is not defined.

Software operation error occurred

An instruction is in- cluded with incorrect intermediate code in expression instruc- tion.

Software operation error occurred

The syntax in expres- sion instruction is in- correct.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The tag data length is zero when tag data is read.

Software operation error occurred

The necessary tag data is not set.

Software operation error occurred

The object to be pro- cessed was secret variable in position file control process, so it could not be pro- cessed.

Software operation error occurred

The object to be pro- cessed was position type variable in posi- tion file control pro- cess, so it could not be processed.

Software operation error occurred

JOB argument set- tings do not match when a variable is giv- en and/or taken be- tween JOBs.

Software operation error occurred

An attempt was made to perform undefined operation at four-rule operation instruction.

Software operation error occurred

Arithmetic stack used for expression opera- tion exceeded.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Arithmetic stack used for expression opera- tion is empty.

Software operation error occurred

Operation items are lacking in expression operation and opera- tion processing can- not be performed.

Software operation error occurred

The number of exe- cuting the SUB in- struction with EXEC processing exceeded the maximum num- ber.

Software operation error occurred

An error occurred by the setting of the character-string type variable in the ARGF instruction.

Software operation error occurred

The intermediate code of IFEXPRESS instruction is incor- rect.

Software operation error occurred

The syntax of IFEX- PRESS instruction is incorrect.

Software operation error occurred

The number of com- ponents of the IFEX- PRESS instruction exceeded.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The stack used for ex- ecuting the IFEX- PRESS instruction overflowed.

Software operation error occurred

The stack used for ex- ecuting the IFEX- PRESS instruction did underflow.

Software operation error occurred

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

Software operation error occurred

Tag data (box num- ber) of the instruction that is to be executed is not supported.

Software operation error occurred

254

Access mechanism for old parameters is used.

Software operation error occurred

255

An exceptional error occurred.

Software operation error occurred

4433

UNDEFINED GLOBAL VARI- ABLE

The set data for byte type variable area is incorrect.

Software operation error occurred

The set data for inte- ger type variable area is incorrect.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The set data for dou- ble-precision integer- type variable area is incorrect.

Software operation error occurred

The set data for real type variable area is incorrect.

Software operation error occurred

The set data for char- acter-string type vari- able area is incorrect.

Software operation error occurred

The set data for robot- axis position-type variable area is incor- rect.

Software operation error occurred

The set data for base- axis position-type variable (S1D param- eter) area is incorrect.

Software operation error occurred

The set data for sta- tion-axis position-type variable (S1D param- eter) area is incorrect.

Software operation error occurred

4435

UNDEFINED LO- CAL-VARIABLE

The byte type variable is not defined.

Setting error

(1) Check the following settings.
∙Set the number of local variables to be used in the JOB header.

other

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

The integer type vari- able is not defined.

Setting error

(1) Check the following settings.
∙Set the number of local variables to be used in the JOB header.

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 oc- currence status (operating procedure).

The double-precision integer-type variable is not defined.

Setting error

(1) Check the following settings.
∙Set the number of local variables to be used in the JOB header.

other

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

The real-number type variable is not de- fined.

Setting error

(1) Check the following settings.
∙Set the number of local variables to be used in the JOB header.

other

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

The character-string type variable is not defined.

Setting error

(1) Check the following settings.
∙Set the number of local variables to be used in the JOB header.

other

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

The robot-axis posi- tion-type variable is not defined.

Setting error

(1) Check the following settings.
∙Set the number of local variables to be used in the JOB header.

other

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

The base-axis posi- tion-type variable is not defined.

Setting error

(1) Check the following settings.
∙Set the number of local variables to be used in the JOB header.

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 oc- currence status (operating procedure).

The station-axis posi- tion-type variable is not defined.

Setting error

(1) Check the following settings.
∙Set the number of local variables to be used in the JOB header.

other

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

4436

LESS THAN 3 STEPS (CIRCU- LAR)

Setting error

(1) Check the following settings.
∙Perform teaching so that circulation interpolation steps are con- tinuous three points or more.

other

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

4437

LESS THAN 3 STEPS (SPLINE)

Setting error

(1) Check the following settings.
∙Perform teaching so that spline interpolation steps are continu- ous three points or more.

other

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

4438

UNDEFINED JOB

Setting error

(1) Check the following settings.
∙Check if the CALL/JUMP destination JOB is registered. If the JOB is not registered, delete the JUMP instruction where an alarm occurred.

other

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

4439

UNDEFINED LA- BEL

Setting error

(1) Check the following settings.
∙Check if the JUMP destination label is registered. If the label is not registered, delete the JUMP instruction where 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 oc- currence status (operating procedure).

4440

UNDEFINED RE- TURN JOB

Setting error

(1) Check the following settings.
∙If there is an illegal RET instruction in the start JOB, delete the RET instruction.
∙Check if RET instruction is not executed under the condition that there is no JOB in the JOB call stack. In that case, execute it from master (start) JOB.

other

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

4441

LACK OF LOCAL- VARIABLE AREA

Setting error

(1) Check the following settings.
∙Reduce the number of local variables to be used.

other

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

4444

UNSUCCESSFUL FINE POSITION- ING

SUB-Code:The low- est eight bits → Bit specification of axis where error occurred.
The highest eight bits
→ Bit specification of control group num- ber(0-31) where error occurred.

Effect of external force

(1) Check the following settings.
∙Move the robot by the axis operation, etc. to remove the external force of axis where alarm occurred.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4445

DATA PRESET ER- ROR

The token for pre- reading processing could not be obtained.

Software operation error occurred

The prereading pro- cessing has not been completed within the time, and the waiting time for completion exceeded the limit.

Software operation error occurred

The prereading oper- ation processing has not been completed within the time, and the waiting time for completion exceeded the limit.

Software operation error occurred

An error occurred in prereading operation process.

Software operation error occurred

A_BANK conversion has not been com- pleted.

Software operation error occurred

(1) Reset the alarm, and then try again.
(2) If the alarm occurs again, turn the main power of controller off and then turn it on. Re-select the JOB from [select JOB] window before starting the JOB again.
(3) If the alarm occurs again even though you do above (2), save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

255

An exceptional error occurred in JOB exe- cution process.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4446

OVER VARIABLE LIMIT

The variable value ex- ceeded the limit.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

The value for the bi- nary (0/1) data type variable exceeded the limit.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

The value for the signed 1-byte data type variable is less than the minimum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

The value for the un- signed 1-byte data type variable is less than the minimum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The value for the signed 2-byte data type variable is less than the minimum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

The value for the un- signed 2-byte data type variable is less than the minimum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

The value for the signed 4-byte data type variable is less than the minimum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

The value for the un- signed 4-byte data type variable is less than the minimum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The value for the real- number 4-byte data type variable is less than the minimum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

The value for the character-string type variable is less than the minimum value.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

3277
0

The value for the signed 1-byte data type variable exceed- ed the maximum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

3277
1

The value for the un- signed 1-byte data type variable exceed- ed the maximum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

3277
2

The value for the signed 2-byte data type variable exceed- ed the maximum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

3277
3

The value for the un- signed 2-byte data type variable exceed- ed the maximum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

3277
4

The value for the signed 4-byte data type variable exceed- ed the maximum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

3277
5

The value for the un- signed 4-byte data type variable exceed- ed the maximum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

3277
6

The value for the real- number 4-byte data type variable exceed- ed the maximum val- ue.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

3278
2

The value for the character-string type variable exceeded the maximum value.

Setting error

(1) Check the following settings.
∙Check the settings for variable, and then correct the JOB to fall within the input range of the tag.

other

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

4447

DEFECTIVE TAUGHT POINT (CIRC)

Starting point and destination point are the same position.

Setting error

Change the teaching points so that circular interpolation points do not to same.

Any points of the cir- cular interpolation are the same position.

Setting error

Change the teaching points so that circular interpolation points do not to same.

Any points of the cir- cular interpolation are the same position as the center position.

Setting error

Change the teaching points so that circular interpolation points do not to same as the center point of circular path.

The three points taught for the circular interpolation points line in a straight line.

Setting error

Change the teaching points so that circular interpolation points do not line in a straight line.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The starting point and destination point taught for the circular interpolation points line in a straight line.

Setting error

Change the teaching points so that circular interpolation points do not line in a straight line.

Rotation angle of cir- cular interpolation is out of range.

Setting error

Change the rotation angle of circular interpolation.

-1

Failed to calculate the circular path.

Setting error

-2

Circular interpolation different ways in mul- tiple robots are speci- fied.

Setting error

Specify the same circular interpolation method to all robots.

4448

WEAVING CON- TROL ERROR

Weaving control- group designation er- ror

Software operation error occurred

When the speed is specified by weaving time in the weaving file, zero or the nega- tive value is set for the weaving time.

Setting error

(1) Check the following settings.
∙Reset the value 0.1 seconds or more.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

When the speed is specified by frequen- cy in the weaving file, zero or the negative value is set for the fre- quency.

Setting error

(1) Check the following settings.
∙Reset the value 0.1 Hz or more.

other

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

When the timer mode is specified in the weaving file, a nega- tive value is set for the timer value.

Setting error

(1) Check the following settings.
∙Set a positive value for the timer value.

other

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

For triangle or L-type weaving, zero is set for the vertical or hori- zontal distance.

Setting error

(1) Check the following settings.
∙Set a positive value for the vertical and horizontal distance.

other

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

The coordinate con- trol axis designation for the reference point is different from actual control axis.

Setting error

(1) Check the following settings.
∙Match the control group designation of the wall point and weav- ing execution.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The distance be- tween the point P and the TCP could not be calculated in wrist weaving.

Setting error

(1) Check the following settings.
∙Set the correct dimensions in the tool data.

other

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

The distance be- tween the point P and the TCP could not be calculated in circular wrist weaving.

Setting error

(1) Check the following settings.
∙Set the correct dimensions in the tool data.

other

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

The Y-direction ele- ment of circular coor- dinate system for circular wrist weaving could not be calculat- ed.

Setting error

(1) Check the following settings.
∙Check the settings for wall and horizontal direction.

other

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

The X-direction ele- ment of circular coor- dinate system for circular wrist weaving could not be calculat- ed.

Setting error

(1) Check the following settings.
∙Check the settings for wall and horizontal direction.

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 oc- currence status (operating procedure).

Weaving basic-orien- tation calculation er- ror

Software operation error occurred

Calculation error of horizontal- and wall- direction vector for weaving

Software operation error occurred

Weaving synchroni- zation file number se- lection range error

Setting error

(1) Check the following settings.
∙Check the number of the weaving synchronizing file for use.

other

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

4449

UNMATCHED POSN VAR DATA TYPE

Setting error

(1) Check the following settings.
∙Match the data type of position type variable.

other

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

4450

FILE NO. ERROR

An error occurred in tool file number check.

Setting error

(1) Check the following settings.
∙Confirm that the specified tool file number is 0 to 63.

other

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

An error occurred in user coordinate file number check.

Setting error

(1) Check the following settings.
∙Confirm that the specified user coordinate file number is 1 to 63.

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 oc- currence status (operating procedure).

An error occurred in calibration file num- ber check between the robots.

Setting error

(1) Check the following settings.
∙Confirm that the specified robot calibration file number is 1 to 32.

other

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

An error occurred in tool calibration file number check.

Setting error

(1) Check the following settings.
∙Confirm that the specified tool file number is 0 to 63.

other

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

An error occurred in reference point num- ber check.

Setting error

(1) Check the following settings.
∙Confirm that the specified robot calibration file number is 1 to 8.

other

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

An error occurred in check for welding start condition file number.

Setting error

(1) Check the following settings.
∙Confirm that the specified welding condition start file number is 1 to 48.

other

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

An error occurred in check for welding end condition file number.

Setting error

(1) Check the following settings.
∙Confirm that the specified welding condition end file number is 1 to 48.

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 oc- currence status (operating procedure).

An error occurred in conveyor characteris- tic file number check.

Setting error

(1) Check the following settings.
∙Confirm that the specified conveyor condition file number is 1 to 6.

other

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

An error occurred in press characteristic file number check.

Setting error

(1) Check the following settings.
∙Confirm that the specified press characteristic file number is 0 to 3.

other

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

An error occurred in conveyor calibration file number check.

Setting error

(1) Check the following settings.
∙Confirm that the specified conveyor calibration file number is 1 to 6.

other

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

An error occurred in argument number check.

Setting error

(1) Check the following settings.
∙Confirm that the argument number is 1 to 16.

other

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

An error occurred in check for motor gun characteristic file number.

Setting error

(1) Check the following settings.
∙Confirm that the specified SERVO gun characteristic file number is 1 to 24.

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 oc- currence status (operating procedure).

4451

UNDEFINED REF- ERENCE POINT

SUB-Code: Refer- ence point number in binary

Setting error

(1) Check the following settings.
∙Set the reference point.

other

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

4452

STACK MORE THAN 10 (JOB CALL)

Setting error

(1) Check the following settings.
∙Change the JOB configuration so that the number of nests for CALL instruction is twelve or less.

other

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

4453

OVER VARIABLE NO.

The variable number is out of range.
SUB-Code: The vari- able number which an attempt was made to use

Setting error

(1) Check the following settings.
∙Correct the JOB using the variable number within the range.

other

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

4454

UNDEFINED POW- ER SOURCE COND.

Setting error

(1) Check the following settings.
∙Complete the settings for the arc welding characteristic file.

other

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

4455

UNDEFINED ARC START COND FILE

Setting error

(1) Check the following settings.
∙Complete the settings for the welding start condition file.

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 oc- currence status (operating procedure).

4456

UNDEFINED ARC END COND FILE

Setting error

(1) Check the following settings.
∙Complete the settings for the welding end condition file.

other

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

4457

WRONG WELDER SELECTION

Setting error

(1) Check the following settings.
∙Check the settings for the reference unit of the welding voltage.

other

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

4459

EXCESSIVE IN- STRUCTION EQUATION

Setting error

(1) Check the following settings.
∙Separate the operation expression, shorten the expression, and then check the settings for the JOB.

other

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

4460

ZERO DIVIDED OCCURRENCE

Setting error

(1) Check the following settings.
∙Do not divide by zero.

other

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

4461

UNDEFINED AUTO-WELD RE- LEASE COND

Setting error

(1) Check the following settings.
∙Check the settings for the number of times of welding release condition.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4462

UNDEFINED POSI- TION FOR ARC RE- TRY

Setting error

(1) Check the following settings.
∙Check the settings for the move instruction following ARCON in- struction.

other

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

4463

PARITY ERROR

Setting error

(1) Check the following settings.
∙Check the settings for the parity data of the user I/O group.

other

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

4464

OVER BCD RANGE

Setting error

(1) Check the following settings.
∙Correct the BCD data so that it is within the limit.

other

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

4465

OVER BINARY RANGE
(PARITY CHECK)

Setting error

(1) Check the following settings.
∙Correct the binary data so that it is within the limit.

other

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

4466

OFFLINE UNDE- FINED COMMAND (ARITH)

An undefined com- mand was issued to the offline position- data preparation sec- tion.

Software operation error occurred

4467

USER COORD STEP NOT ENOUGH

Setting error

(1) Check the following settings.
∙Correct the JOB that the number of steps will be three or more.

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 oc- currence status (operating procedure).

4468

ROBOT CALIBRA- TION DATA ERROR

The calibration be- tween robots cannot be executed for this model.

Setting error

(1) Check the following settings.
∙Do not use a coordinated motion with this robot.

other

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

The master group and the slave group are set to the same group.

Software operation error occurred

Incorrect designation of the control group for master group

Software operation error occurred

Incorrect designation of the control group for slave group

Software operation error occurred

Incorrect designation of the occupation con- trol group for calibra- tion data

Software operation error occurred

Incorrect designation of the enabling control group for calibration data

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Among three points in the master-group’s calibration data, two or three points are on the same point.

Setting error

(1) Check the following settings.
∙Teach the data for calibration so that each point is different.

other

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

Among three points in the slave-group’s cali- bration data, two or three points are on the same point.

Setting error

(1) Check the following settings.
∙Teach the data for calibration so that each point is different.

other

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

The number of the teaching points for calibration data is in- sufficient.

Software operation error occurred

4469

ROBOT CALIBRA- TION FRAME ER- ROR

The calibration be- tween robots cannot be executed for this model.

Setting error

(1) Check the following settings.
∙The calibration function between robots cannot be used for this model.

other

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

The master group and the slave group are set to the same group.

Setting error

(1) Check the following settings.
∙Set the different groups for the master group and the slave group.

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 oc- currence status (operating procedure).

Incorrect designation of the control group for master group

Software operation error occurred

Incorrect designation of the control group for slave group

Software operation error occurred

Calibration data set- ting error

Software operation error occurred

4470

ROBOT CARIB STEP NOT ENOUGH

Setting error

(1) Check the following settings.
∙Check the settings for number of the JOB steps

other

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

4471

ROBOT CALIBRA- TION DATA ERROR

Incorrect number of teaching points for tool calibration

Software operation error occurred

Incorrect designation of the occupation con- trol group for calibra- tion data

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Incorrect designation of the enabling control group for calibration data

Software operation error occurred

Incorrect designation of the control group for calibration data

Software operation error occurred

4472

ARITHMETIC ERR (COMPACT RMT WELD)

The reference point is not set.

Setting error

(1) Check the following settings.
∙Set the reference point.

other

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

The start point and end point are on the same point.

Setting error

(1) Check the following settings.
∙Change the teaching positions so that the start point and end point are different.

other

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

The straight line which connects the start point and an end point, and the angle which the Z direction of a tool makes are less than 10°.

Setting error

(1) Check the following settings.
∙Correct the teaching positions so that the angle that the Z direc- tion of the tool and the straight line which connects the start point with the end point make becomes 10 degrees or more.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4473

ARITHMETIC ALARM RESET ER- ROR

Software operation error occurred

4474

WRONG CON- TROL GROUP AXIS

SUB-Code: The relat- ed control-group

Setting error

(1) Check the following settings.
∙Make the setting in advance so that the control group of the CALL/JUMP designation JOB is included in that of the CALL/ JUMP source JOB.
∙Don’t start the JOB which including control group under already operation by “PSTART” instruction.

other

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

4475

CANNOT EXE- CUTE JOB (NO RO- BOT)

Setting error

(1) Check the following settings.
∙Add the robot axis to the control-group of the JOB.
∙When MotoPlus function (option) is used, a robot which executed SKILLSND is not defined as using MotoPlus sensor related API. Check the combination of the robot and MotoPlus application. If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4476

CANNOT EDIT (EDIT LOCK JOB)

An attempt was made to change the tag da- ta.

Setting error

(1) Check the following settings.
∙Release the prohibition.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

An attempt was made to change the speed tag data.

Setting error

(1) Check the following settings.
∙Release the prohibition.

other

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

An attempt was made to change the board thickness tag data.

Setting error

(1) Check the following settings.
∙Release the prohibition.

other

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

An attempt was made to change the MARK- ER JOB.

Setting error

(1) Check the following settings.
·Release the prohibition.

other

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

4477

SELECT ERROR (APPLICATION)

SUB-Code: Applica- tion number

Setting error

(1) Check the following settings.
∙Set the application to a specified robot by the application selec- tion of MAINTENANCE mode.
∙A robot which executed SKILLSND is not defined as using Mo- toPlus sensor related API. Check the combination of the robot and MotoPlus application. If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YAS- KAWA representative about occurrence status (operating proce- dure).

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4478

MotoPlus MM task no response

Software operation error occurred

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YCP21 board. Save the CMOS.BIN before replacing the board to be safe. After replace- ment, insert the CF card that has been used for the old YCP21 board to the new one.
(3) If the alarm occurs again, save the CMOS.BIN in MAINTE- NANCE mode, and then contact your YASKAWA representative

4479

MotoPlus MM Task watch dog error

Software operation error occurred

Check if there is high priority task of MotoPlus application running long time. Especially, check if there may be the process which waits for a special condition without executing mpTaskDelay in loop process. If such process exists, suitable remedy should be done like putting mpTaskDelay in the loop process.

other

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

4480

SELECT ERROR (SENSOR 1)

SUB-Code: Sensor number

Setting error

(1) Check the following settings.
∙Select the option function for the specified robot in the option function selection of MAINTENANCE mode.

other

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

4482

MotoFit COMMAND FAULT1

Setting error

(1) Reset the alarm, and make the robot speed of the instruction down.
(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).

4484

WRONG PORT NO. ( ANALOG OUT- PUT)

SUB-Code: Applica- tion number

Setting error

(1) Check the following settings.
∙Set following value to the AxP010 parameter. For arc: 1
Arc + arc: 3 Three arc: 5
Four arc: 7

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 oc- currence status (operating procedure).

4485

WRONG SELEC- TION (SENSOR)

Software operation error occurred

4486

PATH OVER

Setting error

(1) Check the following settings.
∙Set the path over radius within the allowable range.

other

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

4487

WRONG MECH PA- RAMETER FILE

Software operation error occurred

4489

DEFECTIVE TAUGHT POINT (CUTTING)

The C- and W-axis position at the cutting start position is not zero pulse.

Setting error

(1) Check the following settings.
∙Check the settings for the cutting start position (zero pulse).

other

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

Zero is set for the cut- ting radius.

Setting error

(1) Check the following settings.
∙Check the settings for radius (a value bigger than zero).

other

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

The cutting machine axis is not mounted.

Setting error

(1) Check the following settings.
∙The CUT instruction can be used for the robot with small-circle cutting axis only.

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 oc- currence status (operating procedure).

This robot cannot per- form a hexagonal cut- ting motion.

Setting error

(1) Check the following settings.
∙Select an other cutting form.

other

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

4490

DEFECTIVE TAUGHT POINT (ENDLESS)

After the Endless ro- tation completed, an attempt was made to execute an interpola- tion instruction such as MOVL and MOVC before executing an MRESET instruction.

Setting error

(1) Check the following settings.
∙To perform an interpolation motion such as MOVL and MOVC af- ter an Endless rotation, execute an MRESET instruction before- hand.

other

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

The base axis is set as an Endless rota- tion axis. The Endless function cannot be used with the base axis.

Setting error

(1) Check the following settings.
∙Check the parameter setting that designates the Endless rotation axis.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

An attempt was made to execute the End- less function although the endless axis was not designated.

Setting error

(1) Check the following settings.
∙Check the parameter setting that designates the Endless rotation axis.

other

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

The Endless axis ex- ceeded the maximum pulse value
(+-536870911).

Setting error

(1) Check the following settings.
∙Set the rotation amount so that the Endless axis does not exceed the maximum pulse value.

other

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

4491

CORRECTIONAL DIRECTION ER- ROR

Control-group desig- nation error for cor- recting-direction preparation

Software operation error occurred

Designation error for the correcting-direc- tion coordinates

Software operation error occurred

When “any direction” is set for the correct- ing direction, the cor- rection coordinates is not prepared.

Setting error

(1) Check the following settings.
∙Check the settings for the correcting direction with the reference point (REFP).

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

When “any direction” is set for the correct- ing direction, the ref- erence points (REFP) are taught on the same point.

Setting error

(1) Check the following settings.
∙Check the settings for the reference points (REFP) so that each point is different.

other

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

Designation error for the coordinated mo- tion control axis at the reference point

Setting error

(1) Check the following settings.
∙Match the control group designation of the wall point and weav- ing execution.

other

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

4492

POSITION COR- RECTION ERROR

Data unmatched be- tween the correction amount data and the JOB data:
The information about the control groups designated for the se- ries of JOBs, which is added to the correc- tion amount data, does not include the valid control-group for the JOB.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Data unmatched be- tween the correction amount data and the JOB data:
The valid control- group information that is added to the cor- rection amount data disagrees with the valid control-group for the JOB.

Software operation error occurred

4493

OVER TOOL FILE NO.

Software operation error occurred

4494

DEFECTIVE TAUGHT POINT (WEAV)

The weaving start point and end point are on the same point.

Setting error

(1) Check the following settings.
∙Check the settings for the positions so that the weaving start point and end point are different.

other

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

Among the weaving start point, end point, and reference point, two or three points are on the same point.

Setting error

(1) Check the following settings.
∙Check the settings for the positions so that the weaving start point, end point, and reference point are different.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4495

UNDEFINED RO- BOT CALIBRATION

SUB-Code: Control group which calibra- tion is not completed

Setting error

(1) Check the following settings.
∙Before using the coordinated motion, execute the calibration be- tween robots.

other

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

4496

PARAMETER ER- ROR

The setting of the ro- bot number is incor- rect.

Setting error

Zero is set for the res- olution.

Setting error

Zero is set in the feed- back pulse parame- ter.

Setting error

The setting of L-axis ball-screw data is in- correct.

Setting error

The setting of U-axis ball-screw data is in- correct.

Setting error

Zero or a negative value is set for MAXPPS.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Zero or a negative value is set for the maximum accelera- tion speed.

Setting error

Zero or a negative value is set for the maximum decelera- tion speed.

Setting error

Zero or a negative value is set for the play-mode SERVO averaging time.

Setting error

The setting of the ro- bot number is incor- rect. An undefined type is designated.

Setting error

The incorrect coordi- nate system is desig- nated for the cubic interference. An un- defined coordinate system is set.

Setting error

The designation of the user coordinates number is incorrect. A number out of the set- ting range is set.

Setting error

The reduction ratio <= 0 is output.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Zero or a negative value is set for the spring constant.

Setting error

Zero or a negative value is set for the motor inertia.

Setting error

Zero or a negative value is set for the speed calculation constant.

Setting error

Dividing number set- ting error

Setting error

The setting of allow- able torque for the speed reducer is in- correct.

Setting error

The setting of allow- able torque for the motor is incorrect.

Setting error

The robot type is not applicable for torque acceleration/deceler- ation.

Setting error

Zero or a negative value is set for the balancer.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The angle of hexagon set for the CUT in- struction is out of the range “0 degree < an- gle < 60 degrees.”

Setting error

Encoder type desig- nation error

Setting error

Observer sampling time error

Setting error

Two-degree-of-free- dom system Kp value error

Setting error

The setting of torque acceleration/deceler- ation designation pa- rameter is incorrect.

Setting error

Observer polarity set- ting error

Setting error

The inertia value error for the shift value cal- culation

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Observer attenuation constant error

Setting error

Torque estimation pa- rameter error

Setting error

The segment clock error occurred when the PV loop is 1 ms.

Setting error

Non-robot axis ob- server selection error

Setting error

Zero is set for the re- sponse time constant.

Setting error

Efficiency data error

Setting error

Zero is set for the av- eraging time con- stant.

Setting error

Torque limit ratio data error

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Coulomb friction data error

Setting error

Kinematic friction co- efficient data error

Setting error

The setting in the op- timized acceleration/ deceleration designa- tion parameter is in- correct.

Setting error

An uninstalled func- tion is designated.

Setting error

The dynamics-model calculation at the opti- mized acceleration/ deceleration is inval- id.

Setting error

Zero is set for the in- ertia of dynamics fixed model.

Setting error

Designation error for dynamics-model cal- culation type

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The optimized accel- eration/deceleration control of speed limit function is disabled.

Setting error

The axis designation parameter for the speed limit function is not set.

Setting error

The setting in the mode designation pa- rameter for the speed limit function is incor- rect.

Setting error

Zero or negative val- ue is set in the allow- able braking torque parameter for the speed limit function.

Setting error

Zero or a negative value is set in the speed adjustment ra- tio parameter for the speed limit function.

Setting error

Zero or a negative value is set in the torque limit adjust- ment ratio parameter for the acceleration/ deceleration tuning.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Zero or a negative value is set in the pa- rameter that sets the shortest acceleration/ deceleration time for when the excessive torque is applied at the optimized accel- eration/deceleration.

Setting error

Zero is set for the di- mension information “a3” for the SKR ro- bot.

Setting error

The setting of sealer- gun control-group pa- rameter for the SER- VO sealer control is incorrect.

Setting error

The parameter set- ting for the Cartesian robot X-axis data is incorrect.

Setting error

The parameter set- ting for the Cartesian robot Y-axis data is in- correct.

Setting error

The setting for the Dual-arm robot is in- correct.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Zero or a negative value is set in the FORMCUT maximum acceleration/deceler- ation time parameter.

Setting error

The setting of ex- panded check-point designating bits for the arm interference check is incorrect.

Setting error

Zero or a negative value is set for the sphere at the arm in- terference check point.

Setting error

Zero or a negative value is set for the cyl- inder at the arm inter- ference check point.

Setting error

The number of desig- nated check points for the arm interference check is insufficient.

Setting error

All of X, Y, and Z value of the expanded check-point 1 for the arm interference check are set to zero.

Setting error

All of X, Y, and Z value of the expanded check-point 2 for the arm interference check are set to zero.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The setting of wrist axis angle for tube-in- corporated wrist type robots or three-roll wrist type robots is in- correct.

Setting error

The special link JOG operation cannot be used with this robot.

Setting error

The setting in the pa- rameter for special angle limit check des- ignation is incorrect.

Setting error

The setting of the de- celeration speed for the path-priority con- trol is less than zero.

Setting error

A negative value is set in the roundness parameter for the path-priority control.

Setting error

The link parameter for the cutting device is not set.

Setting error

The real-time bending correction function is enabled for a control- group other than ro- bot axis.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Zero is set for the di- mension information “a2” for the Arc Cell Torch Arm type ro- bots.

Setting error

Zero is set for the de- celeration ratio for double T-axis unit of the V-shaped double T-axis robot.

Setting error

103

“α” is replaced with “0” in SKR1-5 type ro- bot.

Setting error

118

Wrong value in set for backlash correction function.

Setting error

121

Incorrect parameter setting to inertia speed control func- tion.

Setting error

122

Incorrect accelera- tion/deceleration time setting at tool mass acceleration/deceler- ation speed correc- tion function.

Setting error

123

Incorrect coefficient/ item settings at tool mass acceleration/ deceleration speed correction function.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

124

No tool mas as the minimum accelera- tion/deceleration time at tool mass accelera- tion/deceleration speed correction function.

Setting error

125

Incorrect speed set- ting at tool mass ac- celeration/ deceleration speed correction function.

Setting error

126

Incorrect coefficient/ item settings at tool mass acceleration/ deceleration speed control function.

Setting error

127

No tool mass as the maximum accelera- tion/deceleration time at tool mass accelera- tion/deceleration speed control func- tion.

Setting error

129

An error in the stan- dard arithmetical axis number setting for ap- proximation model.

Setting error

130

An error in the stan- dard expanding point number setting for ap- proximation model.

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

131

An error in the radius setting for approxima- tion model.

Setting error

132

setting error of arith- metical axis number in D-H method.

Setting error

133

setting error of choos- ing no / wrong con- nection base arithmetical axis num- ber in D-H method.

Setting error

134

The higher-order ac- celeration/decelera- tion is prohibited when using operation acceleration / decel- eration

Setting error

135

Base axis control point → Robot coordi- nate system off set setting prohibited

Setting error

136

Pulse linked JOG function specification error

Setting error

137

Dual drive control specification error

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

138

Notch filter supported acceleration and de- celeration tuning: Notch filter function setting error

Setting error

139

Notch filter supported acceleration and de- celeration tuning: Notch filter (z2) set- ting error

Setting error

147

NON ACTIVATION of
SERVO Simulation function error

Setting error

(1) Check the following settings.
∙Enable SERVO Simulation Function.

other

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

149

The setting error of vi- bration suppression filter for SVSPOT- MOV

Setting error

(1) Check the following settings.
∙Confirm that the threshold value for the vibration suppression fil- ter should be larger than the one in previous table.

other

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

150

the setting error of time constant for the vibration suppression filter for SVSPOT- MOV

Setting error

(1) Check the following settings.
Confirm that the time constant for vibration suppression filter for SVSPOTMOV must be the different value of Kp.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

152

the setting error of the number for vibration suppression filter for SVSPOTMOV

Setting error

(1) Check the following settings.
Confirm that the number of the tables activated for vibration filter is less than 5.

other

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

154

The setting in the pa- rameter for special mechanical interfer- ence is incorrect.

Setting error

(1) Check the following settings.
Correct the setting value of the parameter for special mechanical interference.

other

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

157

Endless function en- coder err

Setting error

(1) Save the CMOS.BIN in MAINTENANCE mode, and then con- tact your YASKAWA representative about occurrence status (op- erating procedure).

other

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

158

Incorrect parameter setting at tool mass acceleration/deceler- ation speed control function.

Setting error

159

Setting error

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

160

Incorrect parameter setting at tool mass acceleration/deceler- ation speed limit func- tion.

Setting error

161

Incorrect parameter setting at gun speed limit function.

Setting error

162

Timing delay control function was invalid

Setting error

(1) Check the following settings.
·Enable timing delay control function.

163

Setting error

164

Setting error

165

Incorrect parameter setting at TCP speed acceleration/deceler- ation speed limit func- tion.

Setting error

4497

DEFECTIVE TAUGHT POINT (CALIB)

Some of the teaching points for master- group are on the same point.

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the teaching points are differ- ent from one another.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Some of the teaching points for slave-group are on the same point.

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the teaching points are differ- ent from one another.

other

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

The 2nd-axis posi- tions of C3, C4, and C5 of station axes are not the same.

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the 2ndaxis positions of C3, C4, and C5 of the station axes are the same.

other

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

The 1st-axis positions of C1, C2, and C3 of station axes are not the same.

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the 1staxis positions of C1, C2, and C3 of station axes are the same.

other

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

The 2nd-axis posi- tions of C1, C2, and C3 of station axes are the same.

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the teaching positions are dif- ferent from one another.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The 1st-axis rotation direction of C3, C4, and C5 of station axes are not the same.

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the 1staxis rotation direction of C3, C4, and C5 of station axes are the same.

other

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

The 1st-axis (eleva- tion axis) positions of C1, C2, and C3 of sta- tion axes are not the same.

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the 1staxis (elevation axis) positions of C1, C2, and C3 of station axes are the same.

other

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

The 1st-axis (eleva- tion axis) positions of C3, C4, and C5 of sta- tion axes are not the same.

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the 1staxis (elevation axis) positions of C3, C4, and C5 of station axes are the same.

other

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

4498

CANNOT EXE- CUTE JOB (NO GRP AXIS)

An attempt was made to execute an instruc- tion that could not be executed in a JOB without control group.

Setting error

(1) Check the following settings.
∙Check the settings for the JOB instruction with control group.

other

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

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4499

UNDEFINED POSI- TION VARIABLE

SUB-Code: The vari- able number

Setting error

(1) Check the following settings.
∙Check the settings for the position type variable.

other

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