1CD PDF

YRC1000
ALARM CODES
(MAJOR ALARMS)
• Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
• This instruction consists of “MAJOR ALARMS” version and “MINOR ALARMS” version.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
178644-1CD
1
MANUAL NO. RE-CER-A600 2

MAJOR ALARMS
DANGER
• This manual explains the ALARM CODES of the YRC1000 system.
Read this manual carefully and be sure to understand its contents
before handling the YRC1000. Any matter not described in this
manual must be regarded as “prohibited” or “improper”.
• General information related to safety are described in “Chapter 1.
Safety” of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read “Chapter 1. Safety” of the YRC1000
INSTRUCTIONS.
CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
ii
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous

WARNING situation which, if not avoided, will
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION”.
iii
DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
iv
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows.
Equipment Manual Designation
YRC1000 controller YRC1000
YRC1000 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller
v
Descriptions of the programming pendant, buttons, and displays are
shown as follows:

Programming Character Keys The keys which have characters or symbols
Pendant /Symbol Keys printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Number Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure

In the explanation of the operation procedure, the expression “Select • • •”
means that the cursor is moved to the object item and the [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
vi
Contents
(MAJOR ALARMS)
Alarm List ............................................................................................................................ Alarm List-1
Alarm Number (0000 to 0999) .................................................................................. Alarm List-1
Alarm Number (1000 to 1999) .............................................................................. Alarm List-249
(MINOR ALARMS)
vii
Alarm List
Alarm Number (0000 to 0999)
Alarm Alarm Name/ Contents Sub Contents Of Sub Code Cause Remedy
Number Message Code
ACP01 board was not able to Setting error Check the following settings.
recognize SDCA01 board Not found the ASF01 board (RSW=0).
when the control power turned ·The SDCA01 board rotary switch setting (0)
ON. ·The rotary switch setting is overlapped to the other SDCA01 board rotary
SubCode : Subcode shows the switch setting. Check the rotary switch setting.
Alarm List
error part of SDCA01 board. ·The rotary switch setting is different from the ASF01 board on the SDCA01
ACP01 board detect the
(There is possibility of board rotary switch setting. Check the rotary switch setting. Check the
CPU BOARD connection and insertion
combination of follow boards) rotary switch setting.
0010 INSERTION ERROR board error of SDCA01
0000_0001 : SDCA01#1
(SV) board when the control
0000_0010 : SDCA01#2
power turned ON.
0000_0100 : SDCA01#3
0000_1000 : SDCA01#4
0001_0000 : SDCA01#5
Alarm List-1
0010_0000 : SDCA01#6
0100_0000 : SDCA01#7
1000_0000 : SDCA01#8
Connection (1)Turn the power OFF then back ON.
failure (2)If the alarm occurs again, check the connection and insertion of the
following connector.
·CN509 cable of SDCA01 board
·The cable of SDCA01 board connector CN515/516
·The cable of AIF01 board connector CN111
·The cable of CPS unit connector CN155
SDCA01 board (1)Turn the power OFF then back ON.
SDCA01 board.
Number Message Code
ACP01 board (1)Turn the power OFF then back ON.
failure (2)If the alarm occurs again, replace the ACP01 board. Save the
CMOS.BIN before replace the board to be safe. Replace the ACP01
board, and then remove the SD card from the failure ACP01 board to insert
it into the new ACP01 board.
Other If the alarm occurs again, save the CMOS.BIN, and then contact your
YASKAWA representative about occurrence status (operating procedure).
recognize ASF01 board when Not found the ASF01 board (RSW=0).
the control power turned ON. ·The ASF01 board rotary switch setting (0)
SubCode : Subcode shows the
error part of ASF01 board.
Alarm List
ACP01 board detect the (There is possibility of

CPU BOARD connection and insertion combination of follow boards)
0011 INSERTION ERROR board error of ASF01 0000_0001 : ASF01#1
(Safety) board when the control 0000_0010 : ASF01#2
power turned ON. 0000_0100 : ASF01#3
0000_1000 : ASF01#4
0001_0000 : ASF01#5
0010_0000 : ASF01#6
Alarm List-2
0100_0000 : ASF01#7
1000_0000 : ASF01#8
·CN207 cable of ASF01 board
·CNBXconnector of SDCA01 board and ASF01 board
ASF01 board (1)Turn the power OFF then back ON.
ASF01 board.
Number Message Code
ACP01 board detect the ACP01 board was not able to Setting error Check the following settings.
CPU BOARD setting error of ASF01 recognize ASF01 board when Not found the ASF01 board (RSW=0).
0012 1
SETTING ERROR board when the control the control power turned ON. ·The ASF01 board rotary switch setting (0)
power turned ON.
Alarm List

Alarm List-3

ASF01 board.
SDCA01 board. Save the CMOS.BIN before replace the board to be safe.
Number Message Code
No response was sent from Setting error Check the following settings.
2 the ASF01 board when the Not found the ASF01 board (RSW=0).
control power turned ON. ·The ASF01 board rotary switch setting (0)
failure (2)If the alarm occurs again, replace the ASF01 board. Save the
CMOS.BIN before replace the board to be safe.
Alarm List

3 the ASF01 board when the Not found the ASF01 board (RSW=0).
control power turned ON. ·The ASF01 board rotary switch setting (0)
Alarm List-4

Number Message Code
the SDCA01 board #1 when ·Control group settings in maintenance mode
4
the control power turned ON. ·The rotary switch setting is overlapped to the other SDCA01 board rotary
switch setting. Check the rotary switch setting.
Alarm List
APU01 unit failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the APU01 unit. Save the CMOS.BIN
before replace the unit to be safe.
AIF01 board (1)Turn the power OFF then back ON.
failure (2)If the alarm occurs again, replace the AIF01 board. Save the CMOS.BIN
Alarm List-5
before replace the board to be safe. Replace the AIF01 board, and then
load the CMOS.BIN saved before alarm occurred.
5
Number Message Code
Alarm List
Alarm List-6
6
Number Message Code
Alarm List

7
Alarm List-7

Number Message Code
8
Alarm List

Alarm List-8
9
Number Message Code
Alarm List
Alarm List-9
10
Number Message Code
Alarm List

11
Alarm List-10
Number Message Code
12
Alarm List

Alarm List-11
ASF01 board. Save the CMOS.BIN before replace the board to be safe.
13
Number Message Code
Alarm List

Alarm List-12
14
Number Message Code
Alarm List

Alarm List-13
15
Number Message Code
Alarm List

Alarm List-14
16
Number Message Code
Alarm List

Alarm List-15
17
Number Message Code
Alarm List

Alarm List-16
18
Number Message Code
Alarm List

Alarm List-17
19
Number Message Code
Alarm List

Alarm List-18
ACP01 board was not able to Connection (1)Turn the power OFF then back ON.
recognize AIF01 board when failure (2)If the alarm occurs again, check the connection and insertion of the
21 the control power turned ON. following connector.
·ACP01 board
·AIF01 board
Number Message Code
recognize SDCA01#1 board ·Check the SDCA01 board rotary switch setting. Not found the SDCA01
when the control power turned board (RSW=0).
50
Alarm List
·The rotary switch setting is different from the ASF01 board on the SDCA01
board rotary switch setting. Check the rotary switch setting. Check the
rotary switch setting.
Alarm List-19
SDCA01#1 board (1)Turn the power OFF then back ON.
SDCA01#1 board.
Number Message Code
51
Alarm List

SDCA01#2 board.
Alarm List-20
52
Number Message Code
SDCA01#3 board.
Alarm List

Alarm List-21
53
SDCA01#4 board.
Number Message Code
54
Alarm List
Alarm List-22
SDCA01#5 board.
Number Message Code
55
Alarm List

SDCA01#6 board.
Alarm List-23
recognize SDCA01#7 board ·The SDCA01 board rotary switch setting
when the control power turned Not found the ASF01 board (RSW=6).
56
Number Message Code
SDCA01#7 board.
Alarm List

recognize SDCA01#8 board ·The SDCA01 board rotary switch setting
Alarm List-24
when the control power turned Not found the ASF01 board (RSW=7).
57
SDCA01#8 board.
Number Message Code
CPU The YRC1000 previously No response was sent from Software (1)Turn the power OFF then back ON.
COMMUNICATION stores the connected the ACP01 board when the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERROR CPU boards, and checks control power turned ON. occurred YASKAWA representative about occurrence status (operating procedure).
if each board properly
0020 responds on a startup. 1
Alarm List
This alarm occurs if there

is any CPU board which
does not properly respond
to the YRC1000.
failure (2)If the alarm occurs again, check the insertion of the following board.
·ACP01 board
Alarm List-25
20 the optional board #1 when the ·Optional board setting in maintenance mode
control power turned ON.
Number Message Code
·ACP02 board
failure (2)If the alarm occurs again, replace the following board. Save the
·ACP02 board
Alarm List

Alarm List-26
·ACP02 board
·ACP02 board
Number Message Code
Alarm List
·ACP02 board
·ACP02 board
Alarm List-27
·ACP02 board
Number Message Code
·ACP02 board
Alarm List

Alarm List-28
·ACP02 board
·ACP02 board
Number Message Code
·ACP02 board
Alarm List
·ACP02 board
Alarm List-29
·ACP02 board
·ACP02 board
Number Message Code
Alarm List
·ACP02 board
Alarm List-30
·ACP02 board
Number Message Code
the ASF01 board #1 when the ·Control group settings in maintenance mode
control power turned ON. ·The ASF01 board rotary switch setting (0) of the corresponding node
30
number
·The SDCA01 board rotary switch setting (0) of the corresponding node
number (SV#1)
Alarm List

Alarm List-31
31
number
number (SV#2)
Number Message Code
Alarm List
Alarm List-32
32
number
number (SV#3)
Number Message Code
Alarm List
33
number
Alarm List-33
number (SV#4)
Number Message Code
Alarm List
34
number
number (SV#5)
Alarm List-34
Number Message Code
35
number
number (SV#6)
Alarm List

Alarm List-35
Number Message Code
36
number
number (SV#7)
Alarm List

Alarm List-36
37
number
number (SV#8)
Number Message Code
Alarm List
Alarm List-37
the control power turned ON. ·The SDCA01 board rotary switch setting (0) of the corresponding node
At this time, the YRC1000 may number (SV#1)
judge it as signal input such as
50 external hold wrong. However,
it is caused by the
communication error with
SDCA01 board #1. Therefore,
execute the following
measures first of all.
Number Message Code
following cables and connectors.
failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Alarm List
51
Alarm List-38
number (SV#2)
Number Message Code
No response was sent from Setting error (1)Check the following settings.
52
number (SV#3)
Alarm List
Alarm List-39
53
number (SV#4)
Number Message Code
Alarm List

Alarm List-40
54
number (SV#5)
Number Message Code
55
Alarm List
number (SV#6)
Alarm List-41
Number Message Code
the SDCA01 board #7. ·Control group settings in maintenance mode
56
number (SV#7)
Alarm List
APU unit failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the APU unit. Save the CMOS.BIN
Alarm List-42
57
number (SV#8)
Number Message Code
Alarm List

60
control power turned ON. ·The SDCA01 board rotary switch setting (0) of the corresponding node
number (PFL#1)
Alarm List-43
- CN231/232 cable of ASF04 board
- The cable of ASF04 board connector CN239/240
- The cable of AIF01 board connector CN113
- The cable of CPS01KA unit connector CN156
Number Message Code
61
control power turned ON. ·The SDCA01 board rotary switch setting (1) of the corresponding node
number (PFL#2)
- CN231/232 cable of ASF04 board
- The cable of ASF04 board connector CN239/240
- The cable of AIF01 board connector CN113
- The cable of CPS01KA unit connector CN156
Alarm List
Alarm List-44
COMMUNICATION The YRC1000 transfers The Main CPU detected an Setting error Check the following settings.
ERROR(SERVO) special commands to communication error for the ·Control group settings in maintenance mode
operate SERVO units on SDCA01 board #1 when the ·The SDCA01 board rotary switch setting (0) of the corresponding node
its startup as well as its control power turned ON. number (SV#1)
regular operation
0021 50
process. This alarm
occurs if there is any
communication failure in
transferring the special
commands.
Number Message Code
Alarm List
The Main CPU detected an Setting error Check the following settings.
communication error for the ·Control group settings in maintenance mode
51
SDCA01 board #2 when the ·The SDCA01 board rotary switch setting (1) of the corresponding node
Alarm List-45
control power turned ON. number (SV#2)
Number Message Code
The Main CPU detected an Setting error (1)Check the following settings.
52
Alarm List
Alarm List-46
53
Number Message Code
Alarm List

Alarm List-47
54 SDCA01 board #5 when the ·The SDCA01 board rotary switch setting (4) of the corresponding node

Number Message Code
55
Alarm List
Alarm List-48
Number Message Code
56
Alarm List
Alarm List-49
57
Number Message Code
Alarm List

ROM ERROR The YRC1000 system The ACP01 system program is Software (1)Turn the power OFF then back ON.
program (ROM) runs after damaged. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
RAM expansion executed occurred YASKAWA representative about occurrence status (operating procedure).
0030 on a startup. This alarm 1
failure in the RAM
expansion.
Alarm List-50
The system program of Software (1)Turn the power OFF then back ON.
20 optional board #1 is damaged. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
occurred YASKAWA representative about occurrence status (operating procedure).
·ACP02 board
Number Message Code
·ACP02 board
Alarm List

·ACP02 board
Alarm List-51
·ACP02 board
·ACP02 board
Number Message Code
·ACP02 board
Alarm List

·ACP02 board
Alarm List-52
·ACP02 board
The system program of ASF01 Software (1)Turn the power OFF then back ON.
30 board #1 is damaged. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Alarm List
Alarm List-53
Number Message Code
Alarm List

Alarm List-54
50 SDCA01 board #1 is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
damaged. occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
Alarm List

Alarm List-55
Number Message Code
Alarm List

Alarm List-56
COMMUNICATION The YRC1000 previously The IO module board Connection (1)Turn the power OFF then back ON.
ERROR(I/O stores the connected I/O connected with 0th serial bus failure (2)If the alarm occurs again, check the connection and insertion of the
MODULE) modules, and check the exists. ASF01 board.
presence of each module
0060 0
on a startup. This alarm
module of which presence
cannot be identified.
Number Message Code
An error was detected in Setting error Check the following settings.
communications with the I/O ·The rotary switch setting which specifies slot numbers of each I/O module
1 module board connected with ·I/O module settings in maintenance mode
1st serial bus when the control Please refer to the manual of each IO module for the details of the setting.
power turned ON.
·The MII communications cable which I/O module of the corresponding
Alarm List
node number
·(In case of MII communications last station) Terminator
·24V power of the corresponding I/O module
I/O module failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the following board. Save the
Alarm List-57
2nd serial bus when the Please refer to the manual of each IO module for the details of the setting.
Number Message Code
node number
Alarm List
Alarm List-58
3rd serial bus when the control Please refer to the manual of each IO module for the details of the setting.
power turned ON.
node number
Number Message Code
4th serial bus when the control Please refer to the manual of each IO module for the details of the setting.
power turned ON.
node number
Alarm List

Alarm List-59
power turned ON.
node number
Number Message Code
Alarm List

power turned ON.
node number
Alarm List-60
power turned ON.
Number Message Code
node number
Alarm List
Alarm List-61
power turned ON.
node number
Number Message Code
power turned ON.
node number
Alarm List

Alarm List-62
10th serial bus when the Please refer to the manual of each IO module for the details of the setting.
node number
Number Message Code
Alarm List

node number
Alarm List-63
Number Message Code
node number
Alarm List
Alarm List-64
node number
Number Message Code
node number
Alarm List

Alarm List-65
node number
Number Message Code
communications with the I/O ·PCI slot number in which each PCI board is mounted
Alarm List

1st PCI connector when the Please refer to the manual of each IO module for the details of the setting.
·The PCI connector of the corresponding I/O module
Alarm List-66
·The corresponding I/O module (PCI board)
EIP board failure In the case of PCU-ETHIO (EtherNet/IP) board, please exchange with the
board which firmware version is correct.
Number Message Code
PROFINET board In the case of CP1616(PROFINET) board, please confirm the following
failure communication configuration using SIEMENS manufactured setting tool
(STEP 7). Please refer to the user manual of the CP1616 for more
information on how to set.
·When used as IO controller
- Download the project file.
·When used as IO device
- Assignment of IP address and device name. Factory reset before
performing the assignment.
Alarm List
2nd PCI when the control Please refer to the manual of each IO module for the details of the setting.
power turned ON.
Alarm List-67
EIP board failure In the case of PCU-ETHIO(EtherNet/IP) board, please exchange with the
Number Message Code
Alarm List
3rd PCI when the control Please refer to the manual of each IO module for the details of the setting.
power turned ON.
Alarm List-68
Number Message Code
Alarm List
4th PCI when the control Please refer to the manual of each IO module for the details of the setting.
power turned ON.
Alarm List-69
Number Message Code
COMMUNICATION The serial The error was detected during Setting error Check the following settings.
Alarm List
ERROR(SV#1) communications between the check of the serial ·Control group settings in maintenance mode
ACP01 board and communication watchdog ·The SDCA01 board rotary switch setting (0) of the corresponding node
SDCA01 board in the data. number (SV#1)
YRC1000 is softwarily Counter value received from
0100 monitored by each board. 1 SDCA01 board is invalid.
This alarm occurs if
ACP01detects an error in
the serial communication
Alarm List-70
between ACP01 board
and 1st SDCA01 board.
Number Message Code
Alarm List

between ACP01 board
and 2nd SDCA01 board.
Alarm List-71
Number Message Code
COMMUNICATION The serial The error was detected during Setting error (1)Check the following settings.
Alarm List

between ACP01 board
and 3rd SDCA01 board.
Alarm List-72
Number Message Code
Alarm List

between ACP01 board
and 4th SDCA01 board.
Alarm List-73
Number Message Code
Alarm List

between ACP01 board
Alarm List-74
Number Message Code
Alarm List

between ACP01 board
Alarm List-75
Number Message Code
Alarm List

between ACP01 board
Alarm List-76
Number Message Code
Alarm List

between ACP01 board
Alarm List-77
Number Message Code
ERROR (SU#1) communications between the check of the serial ·Control group settings in maintenance mode
ACP01 board and Safety communication watchdog ·The SDCA01 board rotary switch setting (0) of the corresponding node
board in the YRC1000 is data. number (SV#1)
softwarily monitored by Counter value received from
Alarm List
0110 each board. 1 SDCA01 board is invalid.

between ACP01 board
and 1st Safety board.
MEMORY The YRC1000 requires The RC parameter is Data error (1)Turn the power OFF then back ON.
ERROR(PARAMETE various types of damaged. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List-78
R FILE) parameters to operate, mode, and then load the data saved in the external memory device.
and performs a check
sum during the startup
0200 process to ensure that the 0
parameter files are
properly retained. This
alarm occurs if the
YRC1000 detects an error
in the check sum.
Number Message Code
The RO parameter is Data error (1)Turn the power OFF then back ON.
1 damaged. (2)If the alarm occurs again, initialize the appropriate data in maintenance
mode, and then load the data saved in the external memory device.
Alarm List

Alarm List-79
The SV parameter is Data error (1)Turn the power OFF then back ON.
Number Message Code
The SVM parameter is Data error (1)Turn the power OFF then back ON.
Alarm List
The SC parameter is Data error (1)Turn the power OFF then back ON.
Alarm List-80
The SD parameter is Data error (1)Turn the power OFF then back ON.
Number Message Code
Alarm List
The CIO parameter is Data error (1)Turn the power OFF then back ON.
Alarm List-81
The FD parameter is Data error (1)Turn the power OFF then back ON.
Number Message Code
The AP parameter is Data error (1)Turn the power OFF then back ON.
Alarm List

Alarm List-82
The RS parameter is Data error (1)Turn the power OFF then back ON.
Number Message Code
The SE parameter is Data error (1)Turn the power OFF then back ON.
Alarm List
The SVC parameter is Data error (1)Turn the power OFF then back ON.
Alarm List-83
The AMC parameter is Data error (1)Turn the power OFF then back ON.
Number Message Code
Alarm List
The SVP parameter is Data error (1)Turn the power OFF then back ON.
Alarm List-84
The MF parameter is Data error (1)Turn the power OFF then back ON.
Number Message Code
The SVS parameter is Data error (1)Turn the power OFF then back ON.
Alarm List

Alarm List-85
RE parameter is damaged. Data error (1)Turn the power OFF then back ON.
125 (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
FMS parameter is damaged. Data error (1)Turn the power OFF then back ON.
Alarm List
MEMORY The YRC1000 holds the The system configuration ACP01 board (1)Turn the power OFF then back ON.
ERROR(SYSTEM information to start as a information data are damaged. failure (2)If the alarm occurs again, replace the ACP01 board. Save the
CONFIG-DATA) system in the SYSTEM CMOS.BIN before replace the board to be safe. Replace the ACP01
CONFIG-DATA file, and board, and then remove the SD card from the failure ACP01 board to insert
performs a check sum it into the new ACP01 board.
Alarm List-86
0210 during the startup process
to ensure that these files
are properly retained.
This alarm occurs if the
in the check sum.
Number Message Code
MEMORY The YRC1000 holds the The management data of job Data error (1)Turn the power OFF then back ON.
ERROR(JOB MNG user program as data files files are damaged. (2)If the alarm occurs again, initialize the job file in maintenance mode, and
DATA) called JOB, and performs then load the data (job, variable data, Robot calibration data) saved in the
a check sum during the external memory device.
startup process to ensure
0220 0
that these files are
alarm occurs if the
in the check sum.
Alarm List

Alarm List-87
The job files are damaged. Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the job file in maintenance mode, and
1
then load the data (job, variable data, Robot calibration data) saved in the
external memory device.
Number Message Code
The management data of Data error (1)Turn the power OFF then back ON.
position data files are (2)If the alarm occurs again, initialize the job file in maintenance mode, and
2
damaged. then load the data (job, variable data, Robot calibration data) saved in the
Alarm List

Memory and play back file is Data error (1)Turn the power OFF then back ON.
Alarm List-88
Number Message Code
MEMORY ERROR A program software PLC The CIO ladder file is Data error (1)Turn the power OFF then back ON.
(LADDER PRG FILE) which runs in the damaged. (2)If the alarm occurs again, initialize the appropriate data in maintenance
YRC1000 is stored in the mode, and then load the data saved in the external memory device.
ladder program file. The
YRC1000 performs a
check sum during the
0230
startup process to ensure
that these files are
alarm occurs if the
in the check sum.
Alarm List

Alarm List-89
Number Message Code
MEMORY The communication The DeviceNet allocation file 1 Setting error Check the following settings.
ERROR(DEVICENET setting of the DeviceNet is damaged. [XFB01 board]
ALLOC FL) needs to be recorded ·The settings of the objective DeviceNet allocation file
when using JARCR- ·The I/O module settings of the objective DeviceNet board in maintenance
XFB01B (DeviceNet mode
board) as a ·The DeviceNet allocation of the I/O module in maintenance mode
communication
master.The file with these
records is called the
0240 0
DeviceNet allocation file.
By sum check which is
perfomed when turning
Alarm List
the power on, this

DeviceNet allocation file
is checked if it is
correct.This alarm occurs
if this file is found to be
incorrect.
Alarm List-90
The DeviceNet allocation file 2 Setting error Check the following settings.
is damaged. [XFB01 board]
·The settings of the objective DeviceNet allocation file
1
·The I/O module settings of the objective DeviceNet board in maintenance
mode
·The DeviceNet allocation of the I/O module in maintenance mode
Number Message Code
Alarm List
MEMORY ERROR(SD To operate the YRC1000 The system software version is Software (1)Turn the power OFF then back ON.
BACKUP FILE) properly, the settings of inconsistent with the version operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
each file (backup file) that when the internal storage data occurred YASKAWA representative about occurrence status (operating procedure).
is remained even after is set or the SD Card on the
turning OFF the YRC1000 ACP01 board is damaged.
power supply is needed.
Part of the backup files
are stored in the SD card
in ACP01 board. By
Alarm List-91
0270
retrieving these backup
files from the SD card
correctly when turning on
the power supply, you can
check if the backup files in
the SD card are correct.
This alarm occurs if this
file is found to be
incorrect.
Number Message Code
The YRC1000 holds the Software (1)Turn the power OFF then back ON.
information of EX IO operation error (2)If the alarm occurs again, initialize the appropriate data in maintenance
function setting in the EX occurred mode, and then set the IO module.
IO ALLOC FILE, and
performs a check sum
MEMORY ERROR(EX
0280 during the startup process
IO ALLOC FILE)
to ensure that these files
are properly retained.
in the check sum.
Alarm List
MEMORY The communication The network setting file is Data error (1)Turn the power OFF then back ON.
ERROR(NETWORK setting of the IP address damaged. (2)If the alarm occurs again, initialize the appropriate data in maintenance
SETUP) needs to be recorded mode, and then set the network again.
Alarm List-92
when using network
function for YRC1000.
The file with these
records are called the
network setting file.
0290
By sum check which is
perfomed when turning
the power on, this
network setting file is
checked if it is
correct.This alarm occurs
if this file is found to be
incorrect.
Number Message Code
VERIFY The YRC1000 holds the CIO parameter error. Setting error Check the following settings.
ERROR(SYSTEM information to start as a ·I/O module settings in maintenance mode
CONFIG-DATA) system in the data files
called "System
Configuration Data", and
0300 performs a validity check 2
on the data files if they
are properly configured.
Alarm List
in the validity check.

Alarm List-93
Axis-related parameter error. Setting error Check the following settings.
4
·Control group settings in maintenance mode
Number Message Code
Sensor-use parameter error. Setting error Check the following settings.
5
·The optional board setting in maintenance mode
Alarm List
The set optional functions are Setting error Check the following settings.
7 different from those of the ·The optional board setting in maintenance mode
mounted optional board.
Alarm List-94
IO type error (combination Setting error Check the following settings.
8
impossible to coexist). ·I/O module settings in maintenance mode
Number Message Code
Alarm List
Safety board save data error Setting error (1)Select the following menu.
10 ·{File}-{Initialize}, {Safety Board FLASH Reset} in maintenance mode.
(2)Turn the power OFF then back ON.
Alarm List-95
Ex. AXIS INDIVIDUAL Setting error Check the following settings.
11 CONTROL Parameter Setting ·[Option function] - [Ex. AXIS INDIVIDUAL CONTROL(SDA) ] settings in
error (EX.TU# out of a range ). maintenance mode
Number Message Code
Ex. AXIS INDIVIDUAL Setting error Check the following settings.
CONTROL Parameter Setting ·[Option function] - [Ex. AXIS INDIVIDUAL CONTROL(SDA) ] settings in
error (Difference in an Ex. maintenance mode
12
AXIS INDIVIDUAL CONTROL
Parameter and Physics TU#
parameter).
Alarm List
POWER REGENERATIVE Setting error Check the following settings.

14 FUNCTION ·[Option function] - [POWER REGENERATIVE FUNCTION] settings in
Parameter Setting error. maintenance mode
Alarm List-96
Parameter setting error of the Setting error Check the following settings.
robot detachment function or · [OPTION FUNCTION] - [ROBOT DETACHMENT] settings in
15 axes detachment function. maintenance mode, Reset the detachment group setting.
· [OPTION FUNCTION] - [AXES DETACHMENT] settings in maintenance
mode, Reset the detachment axis setting.
Number Message Code
The fast cycle DeviceNet Setting error Check the fast cycle DeviceNet communication setting.
communication can not be ·The Channel number for the fast cycle communication(Max channel
16 available under this setting number is 2).
·The Communication IO number for the fast cycle communication(Max IO
number is 64Byte).
Alarm List
The fast cycle DeviceNet Setting error Check the fast cycle DeviceNet communication setting.
communication can not be ·The Channel number for the fast cycle communication(Only 1channel is
17 available under this setting available).
·The Communication IO number for the fast cycle communication(Max IO
number is 16Byte).
Alarm List-97
Machine Safety board save Setting error (1)Select the following menu.
data error ·{File}-{Initialize}, {Safety Board FLASH Reset}
20 (2)Turn the power OFF then back ON.
(3)If the alarm occurs again, select the following menu.
·{File}-{Initialize}-{I/O Data}, {YSF LOGIC FILE}
Number Message Code
The data output function for Setting error Check the data output function setting for Self-Diagnosis System.
40 Self-Diagnosis System can not - The number of Servo Control Board(Only 1 board is available).
be available under this setting
Alarm List

Alarm List-98
The YRC1000 verifies if Sub Code: Control group Setting error Check the following settings.
the parameter ·Connection settings (OT) in maintenance mode
specification is the same Parameter specification and
VERIFY
as the OT signal OT signal information are
0301 ERROR(OVERRUN
information. wrong
INPUT SET)
in the verification process.
Number Message Code
The YRC1000 verifies if Sub Code: Control group Setting error Check the following settings.
the parameter ·Connection settings function safety in maintenance mode
VERIFY specification is the special Parameter specification and
0302 ERROR(ASF01 hardware setting. 0 OT signal information are
HARDWARE SET) This alarm occurs if the wrong
VERIFY The YRC1000 verifies The CMOS memory capacity ACP01 board (1)Turn the power OFF then back ON.
ERROR(CMOS that the AIF01 board type is different from its initial failure (2)If the alarm occurs again, replace the ACP01 board. Save the
MEMORY SIZE) (CMOS memory size) setting. CMOS.BIN before replace the board to be safe. Replace the ACP01
which is detected during board, and then remove the SD card from the failure ACP01 board to insert
the startup is the same as it into the new ACP01 board.
0310
Alarm List
the type set at the time of

system configuration.
Alarm List-99
VERIFY ERROR(I/O The YRC1000 verifies The I/O module connected to Setting error Check the following settings.
MODULE) that the I/O module which the PCI express bus is ·The AIO board type connected to ASF01.
is detected during the different from the function of ·The rotary switch setting which specifies slot numbers of each I/O module
startup is the same as the the set I/O module. ·I/O module settings in maintenance mode
0320 module set at the time of 0 Please refer to the manual of each IO module for the details of the setting.
system configuration.
Number Message Code
node number
Alarm List
CMOS.BIN before replace the board to be safe. Replace the ASF01 board,
and then load the CMOS.BIN saved before alarm occurred.
Alarm List-100
The I/O module connected to Setting error Check the following settings.
the serial bus #1 is different ·The rotary switch setting which specifies slot numbers of each I/O module
1
from the function of the set I/O ·I/O module settings in maintenance mode
module. Please refer to the manual of each IO module for the details of the setting.
node number
Number Message Code
2
Alarm List
node number
Alarm List-101
3
Number Message Code
node number
Alarm List
4
Alarm List-102
node number
Number Message Code
5
node number
Alarm List

Alarm List-103
6
node number
Number Message Code
7
Alarm List
node number
Alarm List-104
8
Number Message Code
node number
Alarm List
9
Alarm List-105
node number
Number Message Code
10
node number
Alarm List

Alarm List-106
11
node number
Number Message Code
12
Alarm List
node number
Alarm List-107
13
Number Message Code
node number
Alarm List
14
Alarm List-108
node number
Number Message Code
15
node number
Alarm List

Alarm List-109
the 1st PCI bus is different ·PCI slot number in which each PCI board is mounted
16
Number Message Code
the 2nd PCI bus is different ·PCI slot number in which each PCI board is mounted
17
Alarm List
Alarm List-110
the 3rd PCI bus is different ·PCI slot number in which each PCI board is mounted
18
Number Message Code
Alarm List
the 4th PCI bus is different ·PCI slot number in which each PCI board is mounted
19
Alarm List-111
Number Message Code
VERIFY The YRC1000 verifies ACP01 board (1)Turn the power OFF then back ON.
ERROR(APPLICATIO that the application failure (2)If the alarm occurs again, replace the ACP01 board. Save the
N) parameters are correctly CMOS.BIN before replace the board to be safe. Replace the ACP01
set during a startup board, and then remove the SD card from the failure ACP01 board to insert
0330
process. This alarm it into the new ACP01 board.
occurs if the YRC1000
detects an error in the
verification process.
Alarm List
The YRC1000 verifies ACP01 board (1)Turn the power OFF then back ON.
that the sensor failure (2)If the alarm occurs again, replace the ACP01 board. Save the
parameters are correctly CMOS.BIN before replace the board to be safe. Replace the ACP01
VERIFY
set during a startup board, and then remove the SD card from the failure ACP01 board to insert
0340 ERROR(SENSOR
process. This alarm it into the new ACP01 board.
FUNCTION)
occurs if the YRC1000
Alarm List-112
detects an error in the
verification process.
Number Message Code
VERIFY The communication The station No. specified by Setting error Check the following settings.
ERROR(DEVICENET setting of the DeviceNet the DeviceNet allocation file1 [XFB01 board]
ALLOC FL) needs to be recorded is incorrect (the station No. is ·The settings of the objective DeviceNet allocation file
when JARCR-XFB01B out of the allowable range, or ·The I/O module settings of the objective DeviceNet board in maintenance
(DeviceNet board) is used the specified station board is mode
as a communication not the DeviceNet master). ·The DeviceNet allocation of the I/O module in maintenance mode
0350 master.The file with these 0
records are called the
DeviceNet allocation file.
YRC1000 checks if the
file is appropriate with the
system when turning the
Alarm List
power ON.
Alarm List-113
The MAC_ID specified by the Setting error Check the following settings.
DeviceNet allocation file1 is [XFB01 board]
not consistent with the ·The settings of the objective DeviceNet allocation file
1
MAC_ID of the specified ·The I/O module settings of the objective DeviceNet board in maintenance
station board. mode
Number Message Code
Inconsistency was detected in Setting error Check the following settings.
the scan list of the DeviceNet [XFB01 board]
allocation file1. ·The settings of the objective DeviceNet allocation file
2
mode
Alarm List

Alarm List-114
The station No. specified by Setting error Check the following settings.
the DeviceNet allocation file2 [XFB01 board]
is incorrect (the station No. is ·The settings of the objective DeviceNet allocation file
10
out of the allowable range, or ·The I/O module settings of the objective DeviceNet board in maintenance
the specified station board is mode
not the DeviceNet master). ·The DeviceNet allocation of the I/O module in maintenance mode
Number Message Code
The MAC_ID specified by the Setting error Check the following settings.
DeviceNet allocation file2 is [XFB01 board]
not consistent with the ·The settings of the objective DeviceNet allocation file
11
MAC_ID of the specified ·The I/O module settings of the objective DeviceNet board in maintenance
station board. mode
Alarm List

Alarm List-115
Inconsistency was detected in Setting error Check the following settings.
the scan list of the DeviceNet [XFB01 board]
allocation file2. ·The settings of the objective DeviceNet allocation file
12
mode
Number Message Code
VERIFY The designation in the The designation in the Setting error Check the following settings.
ERROR(SPOT parameter is different parameter is different from the ·The welding timer designation
0370
WELDER I/F) from the connected connected welding timer.
welding timer.
Alarm List
Alarm List-116
VERIFY Illegal instruction cycle is Illegal instruction cycle is set. Setting error Check the following settings.
0390 ERROR(SEGMENT set. ·Instruction execution cycle
CLOCK)
Number Message Code
PARAMETER The parameters required An error occurred during the Setting error Check the following settings.
TRANSMISSION for the SDCA01 board parameter/file transfer to the ·Control group settings in maintenance mode
ERROR operation are transferred ASF01 board #1. ·The ASF01 board (#1) rotary switch setting (0)
0400 from the ACP01 board. 30 ·The SDCA01 board rotary switch setting (0) of the corresponding node
This alarm occurs if the number (SV#1)
parameters are not
successfully transferred.
Alarm List

Alarm List-117
An error occurred during the Setting error Check the following settings.
parameter/file transfer to the ·Control group settings in maintenance mode
31 ASF01 board #2. ·The ASF01 board (#2) rotary switch setting
·The SDCA01 board rotary switch setting of the corresponding node
number (SV#2)
Number Message Code
Alarm List

Alarm List-118
32 ASF01 board #3. ·The ASF01 board (#3) rotary switch setting (2)
number (SV#3)
Number Message Code
failure? (2)If the alarm occurs again, replace the AIF01 board. Save the CMOS.BIN
number (SV#4)
Alarm List

Alarm List-119
number (SV#5)
Number Message Code
Alarm List

Alarm List-120
number (SV#6)
Number Message Code
number (SV#7)
Alarm List

Alarm List-121
number (SV#8)
Number Message Code
Alarm List

Alarm List-122
50
1st servo board. ·The SDCA01 board rotary switch setting (0) of the corresponding node
number (SV#1)
Number Message Code
51
2nd servo board. ·The SDCA01 board rotary switch setting (1) of the corresponding node
number (SV#2)
Alarm List
Alarm List-123
An error occurred during the Setting error (1)Check the following settings.
52
3rd servo board. ·The SDCA01 board rotary switch setting (2) of the corresponding node
number (SV#3)
Number Message Code
Alarm List
53
4th servo board. ·The SDCA01 board rotary switch setting (3) of the corresponding node
number (SV#4)
Alarm List-124
Number Message Code
54
number (SV#5)
Alarm List

Alarm List-125
55
number (SV#6)
Number Message Code
56
Alarm List
number (SV#7)
Alarm List-126
57
number (SV#8)
Number Message Code
Alarm List
MODE CHANGE The YRC1000 changes An error occurred during Setting error Check the following settings.
ERROR its operation modes startup sequence processing ·Control group settings in maintenance mode
during a startup process with the ASF01 board #1, and ·The ASF01 board rotary switch setting (0) of the corresponding node
from the power-on the system did not startup number
Alarm List-127
operation until the startup normally. ·The SDCA01 board rotary switch setting (0) of the corresponding node
process completion. number (SV#1)
Since mode change is
required for the peripheral
0410 30
CPU boards as well as
the main CPU board, the
YRC1000 simultaneously
performs a process as the
mode change process.
mode change is not
successfully performed.
Number Message Code
Alarm List

An error occurred during Setting error Check the following settings.
startup sequence processing ·Control group settings in maintenance mode
Alarm List-128
with the ASF01 board #2, and ·The ASF01 board rotary switch setting (1) of the corresponding node
31
the system did not startup number
normally. ·The SDCA01 board rotary switch setting (1) of the corresponding node
number (SV#2)
Number Message Code
32
number (SV#3)
Alarm List

Alarm List-129
Number Message Code
33
number (SV#4)
Alarm List

Alarm List-130
34
number (SV#5)
Number Message Code
Alarm List

Alarm List-131
35
number (SV#6)
Number Message Code
36
number (SV#7)
Alarm List

Alarm List-132
Number Message Code
37
number (SV#8)
Alarm List

Alarm List-133
50 with the servo CPU of 1st ·The SDCA01 board rotary switch setting (0) of the corresponding node
servo board, and the system number (SV#1)
did not startup normally.
Number Message Code
Alarm List
51 with the servo CPU of 2nd ·The SDCA01 board rotary switch setting (1) of the corresponding node
Alarm List-134
An error occurred during Setting error (1)Check the following settings.
52 with the servo CPU of 3rd ·The SDCA01 board rotary switch setting (2) of the corresponding node
Number Message Code
Alarm List
53 with the servo CPU of 4th ·The SDCA01 board rotary switch setting (3) of the corresponding node
Alarm List-135
Number Message Code
Alarm List

Alarm List-136
Number Message Code
Alarm List
Alarm List-137
Number Message Code
Alarm List
DEVICENET ALLOC The communication The DeviceNet allocation file1 Setting error Check the following settings.
FL TRANSMIT ERR setting of the DeviceNet could not be transmitted to the [XFB01 board]
needs to be recorded specified station. ·The settings of the objective DeviceNet allocation file
when JARCR-XFB01B ·The I/O module settings of the objective DeviceNet board in maintenance
Alarm List-138
(DeviceNet board) is used mode
as a communication ·The DeviceNet allocation of the I/O module in maintenance mode
master.
0420 1
The file with the record is
called the DeviceNet
allocation file.
The DeviceNet allocation
file is transmitted when
turning on the power
supply.
XFB01B board (1)Turn the power OFF then back ON.
·XFB01B board
Number Message Code
Alarm List
The DeviceNet allocation file2 Setting error Check the following settings.
could not be transmitted to the [XFB01 board]
specified station. ·The settings of the objective DeviceNet allocation file
2
mode
XFB01B board (1)Turn the power OFF then back ON.
Alarm List-139
·XFB01B board
Number Message Code
SEGMENT PROC To properly operate the Setting error Check the following settings.
NOT READY manipulator, it is required ·Instruction execution cycle
to complete the
processing of operation
instructions within the
0500
specified time. This alarm
occurs if the processing of
operation instructions is
not completed within the
specified time.
Alarm List

Alarm List-140
SOFTWARE The combination of the 1st option board's interface ACP01 board (1)Turn the power OFF then back ON.
VERSION UNMATCH ACP01 board program version is not corresponding to failure (2)If the alarm occurs again, replace the ACP01 board. Save the
0510 and the SDCA01/Option 20 ACP01. CMOS.BIN before replace the board to be safe. Replace the ACP01
board program is board, and then remove the SD card from the failure ACP01 board to insert
incorrect. it into the new ACP01 board.
Number Message Code
2nd option board's interface ACP01 board (1)Turn the power OFF then back ON.
version is not corresponding to failure (2)If the alarm occurs again, replace the ACP01 board. Save the
21 ACP01. CMOS.BIN before replace the board to be safe. Replace the ACP01
Alarm List
ASF01 board connected to the Software error (1)Turn the power OFF then back ON.
1st servo boad's software (2)If the alarm occurs again, check the ASF01 board version and then
30
version is not corresponding to consult your YASKAWA representative.
ACP01.
Alarm List-141
2nd servo boad's software (2)If the alarm occurs again, check the ASF01 board version and then
31
ACP01.
Number Message Code
3rd servo board's software (2)If the alarm occurs again, check the ASF01 board version and then
32
ACP01.
Alarm List
Alarm List-142
4th servo board's software (2)If the alarm occurs again, check the ASF01 board version and then
33
ACP01.
Number Message Code
34
ACP01.
Alarm List

35
Alarm List-143
ACP01.
Number Message Code
36
ACP01.
Alarm List

37
ACP01.
Alarm List-144
1st servo board's interface Software error (1)Turn the power OFF then back ON.
50 version is not corresponding to (2)If the alarm occurs again, check the SDCA01 board version and then
ACP01. consult your YASKAWA representative.
Number Message Code
Alarm List
2nd servo board's interface Software error (1)Turn the power OFF then back ON.
Alarm List-145
3rd servo board's interface Software error (1)Turn the power OFF then back ON.
Number Message Code
4th servo board's interface Software error (1)Turn the power OFF then back ON.
Alarm List

Alarm List-146
Number Message Code
Alarm List
v consult your YASKAWA representative.
Alarm List-147
Number Message Code
Alarm List
AXIS LIMIT OVER The number of axes Setting error Check the following settings.
0520 exceeds the permissible 0 ·Control group settings in maintenance mode
value.
Alarm List-148
MEDAR STATUS An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0600
ERROR MADER timer. error
MEDAR DIAGNOSIS An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0601
Number Message Code
MEDAR VERSION An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0602
MEDAR REVISION An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0603
MEDAR MODE An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0604
CHANGE ERROR MADER timer. error
Alarm List

MEDAR SCHEDULE An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0605
TRANSMIT ERROR MADER timer. error
MEDAR ERROR 1 An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0606
MADER timer. error
Alarm List-149
MEDAR ERROR 2 An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0607
MADER timer. error
MEDAR WELDER An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0608
TYPE MISMATCH MADER timer. error
MEDAR PARAMETER An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0609
Number Message Code
MEDAR STEPPER An error occurred at the MADER timer Refer to the instruction manual for the MEDAR function.
0610
TRANSMIT ERROR MADER timer. error
The YRC1000 verifies Data error (1)Turn the power OFF then back ON.
that the EX IO file are (2)If the alarm occurs again, initialize the appropriate data in maintenance
correctly set during a mode, and then load the data saved in the external memory device.
VERIFY ERROR(EX
0700 startup process. This
IO ALLOC FILE)
alarm occurs if the
Alarm List

board, and then remove the SD Card from the failure ACP01 board to insert
Alarm List-150
LADDER INITIALIZE The ladder program could Data error (1)Turn the power OFF then back ON.
0710 ERROR not be initialized (2)If the alarm occurs again, initialize the appropriate data in maintenance
successfully. mode, and then load the data saved in the external memory device.
Number Message Code
LADDER PROGRAM This alarm occurs if the An error was found in the relay Data error (1)Turn the power OFF then back ON.
ERROR relay number of ladder No. specification. (2)If the alarm occurs again, initialize the appropriate data in maintenance
0720 1
program specification is mode, and then load the data saved in the external memory device.
wrong.
Alarm List

An error was found in the Data error (1)Turn the power OFF then back ON.
2 register No. specification. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List-151
An incorrect instruction was Data error (1)Turn the power OFF then back ON.
3 set. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
Alarm List
Output register is used Data error (1)Turn the power OFF then back ON.
4 redundantly. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List-152
Output relay is used Data error (1)Turn the power OFF then back ON.
5 redundantly. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
Unconnected relay exists. Data error (1)Turn the power OFF then back ON.
Alarm List

Alarm List-153
The STR instructions are Data error (1)Turn the power OFF then back ON.
7 overused. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
The AND-STR instructions are Data error (1)Turn the power OFF then back ON.
8 overused. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List
A syntax error was found in the Data error (1)Turn the power OFF then back ON.
9 CNT instruction. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List-154
The head of the block starts Data error (1)Turn the power OFF then back ON.
10 with an instruction other than (2)If the alarm occurs again, initialize the appropriate data in maintenance
the STR instruction. mode, and then load the data saved in the external memory device.
Number Message Code
Alarm List
Excessive machine codes Data error (1)Turn the power OFF then back ON.
Alarm List-155
The last instruction is not the Data error (1)Turn the power OFF then back ON.
12 END instruction. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
13 PART instruction. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List

Alarm List-156
14 GOUT instruction. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
The No. of operand is Data error (1)Turn the power OFF then back ON.
15 incorrect. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List
The constant value is Data error (1)Turn the power OFF then back ON.
16 incorrect. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List-157
The step capacity exceeds the Data error (1)Turn the power OFF then back ON.
17 memory capacity. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
Alarm List
The number of operation Data error (1)Turn the power OFF then back ON.
18 instructions exceed the (2)If the alarm occurs again, initialize the appropriate data in maintenance
permissible value. mode, and then load the data saved in the external memory device.
Alarm List-158
19 CNT instruction or TMR (2)If the alarm occurs again, initialize the appropriate data in maintenance
instruction. mode, and then load the data saved in the external memory device.
Number Message Code
20 JMP-LABEL instructions. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Alarm List

Alarm List-159
The label of JMP destination Data error (1)Turn the power OFF then back ON.
21 does not exist. (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
Welder power serial I/F task ACP01 board (1)Turn the power OFF then back ON.
An error occurred when
COMMUNICATION cannot be created. failure (2)If the alarm occurs again, replace the ACP01 board. Save the
performing serial
0730 ERROR (SKS- 0 CMOS.BIN before replace the board to be safe. Replace the ACP01
communication with SKS
SERIAL) board, and then remove the SD card from the failure ACP01 board to insert
welder.
Incorrect values are set for the Setting error Check the following setting.
1 communication frame number ·The number of communication frames for Welder power serial
with the welder power. communication (RS262)
Alarm List
number of the sending bytes ·The number of the sending bytes for Welder power serial communication
Alarm List-160
per frame with the welder (RS260)
power.
number of the receiving bytes ·The number of the receiving bytes for Welder power serial communication
3
per frame with the welder (RS261)
power.
Number Message Code
The binary semaphore to start ACP01 board (1)Turn the power OFF then back ON.
up event for Welder power failure (2)If the alarm occurs again, replace the ACP01 board. Save the
10 serial I/F task cannot be CMOS.BIN before replace the board to be safe. Replace the ACP01
created. board, and then remove the SD card from the failure ACP01 board to insert
Alarm List
The event resource for Welder ACP01 board (1)Turn the power OFF then back ON.
power serial I/F task cannot be failure (2)If the alarm occurs again, replace the ACP01 board. Save the
11 created CMOS.BIN before replace the board to be safe. Replace the ACP01
Alarm List-161
The completion notification ACP01 board (1)Turn the power OFF then back ON.
mail of Welder power serial I/F failure (2)If the alarm occurs again, replace the ACP01 board. Save the
12 task cannot be created. CMOS.BIN before replace the board to be safe. Replace the ACP01
Welder power serial I/F task ACP01 board (1)Turn the power OFF then back ON.
cannot be created. failure (2)If the alarm occurs again, replace the ACP01 board. Save the
13 CMOS.BIN before replace the board to be safe. Replace the ACP01
Number Message Code
Safety slave and standard Setting error Check the following settings.
Setting of the Safety
SAFETY FIELDBUS master are used ·Select [SYSTEM] - [SETUP] - [OPTION BOARD] settings in maintenance
0770 Fieldbus function is 1
SET ERR(ACP01) simultaneously in one channel mode. Display the slot(channel) that is configured with DeviceNet Safety,
incorrect.
of the DeviceNet board. set to slave mode.
Board that can not be used Setting error Check the following settings.
with DeviceNet Safety is set. · Insert the SST-DN4-PCU board to the PCI slot to be used in the
2
DeviceNet Safety. Select [SYSTEM] - [SETUP] - [OPTION BOARD]
settings in maintenance mode, set the DeviceNet Safety.
SST-DN4-PCU (1)Turn the power OFF then back ON.
Alarm List
board failure (2)If the alarm occurs again, replace the SST-DN4-PCU board. Save the
CMOS.BIN before replace the board to be safe. Replace the SST-DN4-
PCU board, and then load the CMOS.BIN saved before alarm occurred.
The error was detected by the SST-DN4-PCU In the case of DeviceNet Safety, please check the following.
safety fieldbus proccess board failure (1)Turn the power OFF then back ON.
SAFETY FIELDBUS An error occurred in the
0771 10000 (ACP01). Subcode shows the (2)If the alarm occurs again, replace the SST-DN4-PCU board. Save the
SYS ERR(ACP01) Safety Fieldbus function.
Alarm List-162
error part of software. CMOS.BIN before replace the board to be safe. Replace the SST-DN4-
PCU board, and then load the CMOS.BIN saved before alarm occurred.
Safety reset request was Operation failure Turn the power OFF then back ON.
DeviceNet Safety
0772 received from the safety PLC
RESET REQUEST
in communication.
Number Message Code
MEMORY BATTERY The AIF01 battery is Connection Check if the battery is correctly connected to CN110/BAT on the AIF01
0790
WEAK exhausted. failure board.
Battery failure Refer to Chapter 5.1.1.1 Replacing the Battery in YRC1000 Maintenance
manual (RE-CHO-A108) and replace the battery.
FILE BACKUP The YRC1000 saves a The management area (FAT) ACP01 board (1)Turn the power OFF then back ON.
ERROR (ACP01 SD) part of data needed for of SD Card in ACP01 board is failure (2)If the alarm occurs again, replace the ACP01 board. Save the
system operations on the damaged. CMOS.BIN before replace the board to be safe. Replace the ACP01
Alarm List
SD Card in the ACP01 board, and then remove the SD card from the failure ACP01 board to insert
board. it into the new ACP01 board.
When the data is
changed, the new data is
0800 written on the SD Card.
data writing cannot be
done correctly.
Since this alarm occurs
Alarm List-163
due to SD Card access
failure, it is not recorded
in the alarm history.
Number Message Code
FILE LOAD ERROR The YRC1000 saves a ACP01 board (1)Turn the power OFF then back ON.
(ACP01 SD) part of data needed for failure (2)If the alarm occurs again, replace the ACP01 board. Save the
system operations on the CMOS.BIN before replace the board to be safe. Replace the ACP01
board. it into the new ACP01 board.
The data is read out when
the controller power is
0801 turned ON.
data reading cannot be
done correctly.
Alarm List

Alarm List-164
PANELBOX.LOG file broken DATA failure (1)Turn the power OFF then back ON.
3000 (2)If the alarm occurs again, select the following menu.
·{SYSTEM}-{DATA REBUILD}
SD card failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the SD card. Save the CMOS.BIN
before replace the board to be safe. Replace the SD card , and then load
the CMOS.BIN saved before alarm occurred.
Number Message Code
FILE I/O ERROR The YRC1000 saves a ACP01 board (1)Turn the power OFF then back ON.
(ACP01 SD) part of data needed for failure (2)If the alarm occurs again, replace the ACP01 board. Save the
system operations on the CMOS.BIN before replace the board to be safe. Replace the ACP01
board. This alarm occurs it into the new ACP01 board.
if it cannot access to the
ACP01correctly.
0802
Usually, this alarm occurs
accAL-0800 and AL-0801
occurs simultaneously.
Alarm List

Alarm List-165
FILE ERROR The YRC1000 software An error occurred during the ACP01 board (1)Turn the power OFF then back ON.
controls the detailed data parameter of Manipulator failure (2)If the alarm occurs again, replace the ACP01 board. Save the
of robot or motor at the Model (mecha.rom) loading. CMOS.BIN before replace the board to be safe. Replace the ACP01
0803 extra file called board, and then remove the SD card from the failure ACP01 board to insert
[MECHA.ROM]. This it into the new ACP01 board.
alarm occurs if this file
cannot be read correctly.
TOYOPUC ALLOC The TOYOPUC board An error was found in the Setting error Check the following settings.
0810 DEF ERROR cannot be identified. 1 input/output direction data of ·Allocation configuration for the TOYOPUC
allocation configuration.
Number Message Code
·The PCI connector of the TOYOPUC board
In the output side setting of Setting error Check the following settings.
allocation configuration data, ·Allocation configuration for the TOYOPUC
the specified
3
R-register start No. for the
TOYOPUC exceeds the R-
register limit.
Alarm List

Alarm List-166
the set number to use the input
4
side R-register of the
register limit.
5 the set number to use the M-
register of concurrent I/O
exceeds the M-register limit.
Number Message Code
An error was found in the type Setting error Check the following settings.
8 set for output direction of ·Allocation configuration for the TOYOPUC
allocation configuration data.
Alarm List
9 set for input direction of ·Allocation configuration for the TOYOPUC
Alarm List-167
10 specified for system data of ·Allocation configuration for the TOYOPUC
Number Message Code
An error was found in the Setting error Check the following settings.
specified number of registers ·Allocation configuration for the TOYOPUC
12 which are used by the system
data "CURR.POS. (PULSE)"
of allocation configuration.
Alarm List
data "CURR.POS. (XYZ)" of
Alarm List-168
data "WELDING INFO." of
Number Message Code
data "TASK INFO." of
Alarm List
which are used by the system
20
data "EXECUTE PROGRAM
INFO." of allocation
configuration.
Alarm List-169
data "INST. MESSAGE" of
Number Message Code
23 for "Alarm/Error/Message" in
the system data of Allocation
setting information.
Alarm List
In the input side setting of Setting error Check the following settings.
30 the specified R-register start
No. for the TOYOPUC
exceeds the R-register limit.
Alarm List-170
the set number to use the input
31
side R-register of the
register limit.
Number Message Code
32 the set number to use the M-
register of concurrent I/O
exceeds the M-register limit.
Alarm List
which are used by the system
34
data "standard time setting
data" of allocation
configuration.
Alarm List-171
41 some of the TOYOPUC’s R-
registers are specified
redundantly.
Number Message Code
42 some of the M-registers of
concurrent I/O are specified
redundantly.
Alarm List
44 some of the TOYOPUC’s R-
registers are specified
redundantly.
Alarm List-172
45 some of the M-registers of
concurrent I/O are specified
redundantly.
Number Message Code
FORCE SENSOR Communication error of Sub Code: Hardware failure (1)After checking the following two items, turn the power OFF then back
COMMUNICATION the force sensor board 1000 ON.
ERROR happen. ?channel×100 ·the connection status
?factor: ·the sensor type
0 send complete error (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode,
1 receive time out and then contact your YASKAWA representative about occurrence status
2 receive break letter (operating procedure)
3 framing error
0831
4 parity error
5 over run error
6 receive length error
7 no STX control letter
Alarm List
8 no ETB control letter

9 BCC error
10 sequence number error
11 sensor detection error
WATCHDOG TIMER The YRC1000 can safely A Watchdog timeout was ACP01 board (1)Turn the power OFF then back ON.
ERROR(AIF01 board) stop the system with a detected in the AIF01 board. failure (2)If the alarm occurs again, replace the ACP01 board. Save the
watchdog function when CMOS.BIN before replace the board to be safe. Replace the ACP01
an error occurred. This board, and then remove the SD card from the failure ACP01 board to insert
0900
alarm occurs if a it into the new ACP01 board.
Alarm List-173
watchdog timeout is
detected in the AIF01
board.
Number Message Code
WATCHDOG TIMER The YRC1000 can safely A Watchdog timeout was Setting error Check the following settings.
ERROR(ACP02#1) stop the system with a detected in the ACP02 #1 ·Optional board in maintenance mode
watchdog function when board.
an error occurred. This
0901
alarm occurs if a
watchdog timeout is
detected in the ACP02#1
board.
·ACP02 board
Alarm List

Alarm List-174
0902
alarm occurs if a
watchdog timeout is
board.
·ACP02 board
Number Message Code
0903
alarm occurs if a
watchdog timeout is
board.
Alarm List

·ACP02 board
Alarm List-175
0904
alarm occurs if a
watchdog timeout is
board.
·ACP02 board
Number Message Code
0905
alarm occurs if a
Alarm List
watchdog timeout is
board.
·ACP02 board
Alarm List-176
0906
alarm occurs if a
watchdog timeout is
board.
Number Message Code
·ACP02 board
Alarm List
0907
alarm occurs if a
watchdog timeout is
board.
Alarm List-177
·ACP02 board
Number Message Code
0908
alarm occurs if a
watchdog timeout is
board.
·ACP02 board
Alarm List

CPU ERROR(ACP01) An unexpected error was An error was detected in the ACP01 board (1)Turn the power OFF then back ON.
Alarm List-178
detected in ACP01 (main CPU. failure (2)If the alarm occurs again, replace the ACP01 board. Save the
CPU board). 0-255: error code detected by CMOS.BIN before replace the board to be safe. Replace the ACP01
0910
ACP01 board, and then remove the SD card from the failure ACP01 board to insert
1000-: internal error of it into the new ACP01 board.
software
Software If the alarm occurs again, save the CMOS.BIN, and then contact your
operation error YASKAWA representative about occurrence status (operating procedure).
occurred
Number Message Code
CPU An error was detected in An error was detected in the Setting error Check the following settings.
0911 ERROR(ACP02#1) the CPU of the optional CPU. ·Optional board in maintenance mode
ACP02 #1.
·ACP02 board
Alarm List
ACP02 #2.
Alarm List-179
·ACP02 board
ACP02 #3.
·ACP02 board
Number Message Code
ACP02 #4.
Alarm List
·ACP02 board
Alarm List-180
ACP02 #5.
·ACP02 board
Number Message Code
ACP02 #6.
·ACP02 board
Alarm List
ACP02 #7.
Alarm List-181
·ACP02 board
ACP02 #8.
·ACP02 board
Number Message Code
WATCHDOG TIMER The YRC1000 can safely A Watchdog timeout was ASF01 board (1)Turn the power OFF then back ON.
ERROR(MSF#1) stop the system with a detected in the ASF01#1 failure (2)If the alarm occurs again, replace the ASF01 board. Save the
watchdog function when board (CPU1). CMOS.BIN before replace the board to be safe.
0920 0
alarm occurs if a
Alarm List
watchdog timeout is
detected in the ASF01#1
board.
Alarm List-182
remove the SD card from the failure AIF01 board to insert it into the new
AIF01 board.
A Watchdog timeout was ASF01 board (1)Turn the power OFF then back ON.
1 detected in the ASF01#1 failure (2)If the alarm occurs again, replace the ASF01 board. Save the
board (CPU2). CMOS.BIN before replace the board to be safe.
Number Message Code
Alarm List
AIF01 board.
0921 0
alarm occurs if a
Alarm List-183
watchdog timeout is
board.
Number Message Code
AIF01 board.
Alarm List
Alarm List-184
AIF01 board.
0922 0
alarm occurs if a
watchdog timeout is
board.
Number Message Code
Alarm List
AIF01 board.
Alarm List-185
AIF01 board.
Number Message Code
0923 0
alarm occurs if a
watchdog timeout is
board.
Alarm List
Alarm List-186
AIF01 board.
Number Message Code
AIF01 board.
0924 0
alarm occurs if a
Alarm List
watchdog timeout is
board.
Alarm List-187
AIF01 board.
Number Message Code
Alarm List
AIF01 board.
0925 0
alarm occurs if a
Alarm List-188
watchdog timeout is
board.
Number Message Code
AIF01 board.
Alarm List
Alarm List-189
AIF01 board.
0926 0
alarm occurs if a
watchdog timeout is
board.
Number Message Code
Alarm List
AIF01 board.
Alarm List-190
AIF01 board.
Number Message Code
0927 0
alarm occurs if a
watchdog timeout is
board.
Alarm List
Alarm List-191
AIF01 board.
Number Message Code
AIF01 board.
An error was detected in An error was detected in the Setting error Check the following settings.
CPU HANG UP
0931 the CPU of the optional CPU. ·Optional board in maintenance mode
ERROR(ACP02#1)
ACP02 #1.
Alarm List
·ACP02 board
Alarm List-192
Software (1)Turn the power OFF then back ON.
operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
CPU HANG UP
ERROR(ACP02#2)
ACP02 #2.
·ACP02 board
Number Message Code
CPU HANG UP
Alarm List
ERROR(ACP02#3)
ACP02 #3.
·ACP02 board
Alarm List-193
CPU HANG UP
ERROR(ACP02#4)
ACP02 #4.
·ACP02 board
Number Message Code
CPU HANG UP
Alarm List
ERROR(ACP02#5)
ACP02 #5.
·ACP02 board
Alarm List-194
CPU HANG UP
ERROR(ACP02#6)
ACP02 #6.
·ACP02 board
Number Message Code
CPU HANG UP
Alarm List
ERROR(ACP02#7)
ACP02 #7.
·ACP02 board
Alarm List-195
CPU HANG UP
ERROR(ACP02#8)
ACP02 #8.
·ACP02 board
Number Message Code
The YRC1000 can safely A Watchdog timeout was SDCA01 board (1)Turn the power OFF then back ON.
Alarm List
stop the system with a detected in the SDCA01#1 failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
watchdog function when board. CMOS.BIN before replace the board to be safe.
WATCHDOG TIMER an error occurred. This
0940
ERROR(SV#1) alarm occurs if a
watchdog timeout is
detected in the
SDCA01#1 board.
Alarm List-196
Number Message Code
0941
watchdog timeout is
detected in the
SDCA01#2 board.
Alarm List

Alarm List-197
0942
watchdog timeout is
detected in the
SDCA01#3 board.
Number Message Code
0943
watchdog timeout is
detected in the
SDCA01#4 board.
Alarm List

Alarm List-198
0944
watchdog timeout is
detected in the
SDCA01#5 board.
Number Message Code
0945
watchdog timeout is
Alarm List
detected in the
SDCA01#6 board.
Alarm List-199
0946
watchdog timeout is
detected in the
SDCA01#7 board.
Number Message Code
Alarm List
0947
watchdog timeout is
detected in the
SDCA01#8 board.
Alarm List-200
Number Message Code
CPU ERROR(SV#1) The YRC1000 can safely An error was detected in the Connection (1)Turn the power OFF then back ON.
stop the system even CPU of servo board #1. failure (2)If the alarm occurs again, check the connection and insertion of the
when an unexpected following cables and connectors.
processing occurs on ·The cable of SDCA01 board CN509
0950
each board. This alarm ·The cable of SDCA01 board connector CN515/516
occurs if an unexpected ·The cable of AIF01 board connector CN111
error occurs in SDCA01 ·The cable of CPS unit connector CN155
#1.
Alarm List
Alarm List-201
0951
#2.
Number Message Code
Alarm List
0952
#3.
Alarm List-202
Number Message Code
0953
#4.
Alarm List
Alarm List-203
0954
#5.
Number Message Code
Alarm List
0955
#6.
Alarm List-204
Number Message Code
0956
#7.
Alarm List
Alarm List-205
0957
#8.
Number Message Code
Alarm List
CPU ERROR(MSF#1) The YRC1000 can safely An error was detected in the Connection (1)Turn the power OFF then back ON.
stop the system even CPU of ASF01 board #1 failure (2)If the alarm occurs again, check the connection and insertion of the
when an unexpected (CPU1). following connector.
processing occurs on ·CN207 cable of ASF01 board
0960 each board. This alarm 0 ·CN509 cable of SDCA01 board
occurs if an unexpected ·The cable of SDCA01 board connector CN515/516
error occurs in ASF01 #1. ·CNBXconnector of SDCA01 board and ASF01 board
Alarm List-206
Number Message Code
AIF01 board.
An error was detected in the Connection (1)Turn the power OFF then back ON.
CPU of ASF01 board #1 failure (2)If the alarm occurs again, check the connection and insertion of the
(CPU2). following connector.
1 ·CN509 cable of SDCA01 board
Alarm List

Alarm List-207
AIF01 board.
Number Message Code
Alarm List

Alarm List-208
AIF01 board.
Number Message Code
Alarm List

AIF01 board.
Alarm List-209
Number Message Code
AIF01 board.
Alarm List
Alarm List-210
Number Message Code
AIF01 board.
Alarm List

Alarm List-211
AIF01 board.
Number Message Code
Alarm List

Alarm List-212
AIF01 board.
Number Message Code
Alarm List

AIF01 board.
Alarm List-213
Number Message Code
AIF01 board.
Alarm List
Alarm List-214
Number Message Code
AIF01 board.
Alarm List

Alarm List-215
AIF01 board.
Number Message Code
Alarm List

Alarm List-216
AIF01 board.
Number Message Code
Alarm List

AIF01 board.
Alarm List-217
Number Message Code
AIF01 board.
Alarm List
Alarm List-218
Number Message Code
AIF01 board.
The YRC1000 can safely
stop the system even
when an unexpected
CPU processing occurs on
0970 0 ·CN509 cable of SDCA01 board
Alarm List
ERROR(FSF01#1) each board. This alarm

occurs if an unexpected
error occurs in ASF01#1
board.
Alarm List-219
Number Message Code
Alarm List

Alarm List-220
when an unexpected
board.
Number Message Code
Alarm List

Alarm List-221
Number Message Code
Alarm List
when an unexpected
board.
Alarm List-222
Number Message Code
Alarm List
Alarm List-223
Number Message Code
when an unexpected
board.
Alarm List

Alarm List-224
Number Message Code
Alarm List

Alarm List-225
when an unexpected
board.
Number Message Code
Alarm List
Alarm List-226
Number Message Code
when an unexpected
board.
Alarm List
Alarm List-227
Number Message Code
Alarm List

Alarm List-228
when an unexpected
board.
Number Message Code
Alarm List

Alarm List-229
Number Message Code
Alarm List
when an unexpected
board.
Alarm List-230
Number Message Code
Alarm List
Alarm List-231
Number Message Code
The YRC1000 can safely A Watchdog timeout was ASF01 board (1)Turn the power OFF then back ON.
stop the system with a detected in the Safety board failure (2)If the alarm occurs again, replace the ASF01 board. Save the
watchdog function when #1 (CPU1). CMOS.BIN before replace the board to be safe.
0980 0
ERROR(FSF01#1) alarm occurs if a
watchdog timeout is
board.
Alarm List
Alarm List-232
1 detected in the Safety board failure (2)If the alarm occurs again, replace the ASF01 board. Save the
#1 (CPU2). CMOS.BIN before replace the board to be safe.
Number Message Code
0981 0
watchdog timeout is
Alarm List

board.
Alarm List-233
Number Message Code
Alarm List
0982 0
watchdog timeout is
board.
Alarm List-234
Number Message Code
Alarm List

Alarm List-235
0983 0
watchdog timeout is
board.
Number Message Code
Alarm List

Alarm List-236
0984 0
watchdog timeout is
board.
Number Message Code
Alarm List
Alarm List-237
Number Message Code
0985 0
watchdog timeout is
board.
Alarm List
Alarm List-238
Number Message Code
0986 0
watchdog timeout is
Alarm List

board.
Alarm List-239
Number Message Code
Alarm List
0987 0
watchdog timeout is
board.
Alarm List-240
Number Message Code
Alarm List

ACP01board detect the Execute condition Turn the power OFF after the online window appears on the programming
Controller power off signal failure pendant.
Alarm List-241
(Power lost signal) of AIF01
This alarm occurs if an board when the control power
SYSTEM
0990 unexpected error occurs 1 turned ON. This alarm may
ERROR(ACP01)
in AIF01 board. occur, when the control power
turned OFF before an online
screen is displayed by a
programming pendant,
Number Message Code
ACP01board detect the AIF01 board (1)Turn the power OFF then back ON.
WATCHDOG TIMER ERROR failure (2)If the alarm occurs again, replace the AIF01 board. Save the CMOS.BIN
2
of AIF01 board when the before replace the board to be safe. Replace the AIF01 board, and then
control power turned ON. load the CMOS.BIN saved before alarm occurred.
Alarm List

·ACP02 board
Alarm List-242
ACP01board detect the Servo AIF01 board (1)Turn the power OFF then back ON.
IF Initialize error of AIF01 failure (2)If the alarm occurs again, replace the AIF01 board. Save the CMOS.BIN
3
board when the control power before replace the board to be safe. Replace the AIF01 board, and then
turned ON. load the CMOS.BIN saved before alarm occurred.
Number Message Code
·ACP02 board
ACP01board detect the IO IF AIF01 board (1)Turn the power OFF then back ON.
Initialize error of AIF01 board failure (2)If the alarm occurs again, replace the AIF01 board. Save the CMOS.BIN
4
Alarm List
when the control power turned before replace the board to be safe. Replace the AIF01 board, and then
ON. load the CMOS.BIN saved before alarm occurred.
Alarm List-243
·ACP02 board
Processing time error of the IO AIF01 board (1)Turn the power OFF then back ON.
processing failure (2)If the alarm occurs again, replace the AIF01 board. Save the CMOS.BIN
5
Number Message Code
·ACP02 board
Alarm List
Processing time error of the AIF01 board (1)Turn the power OFF then back ON.
SV communication, failure (2)If the alarm occurs again, replace the AIF01 board. Save the CMOS.BIN
6
Alarm List-244
·ACP02 board
Number Message Code
It was detected that AC power Connection (1)Turn the power OFF then back ON.
supply became less than the failure (2)If the alarm occurs again, check the connection and insertion of the
specified voltage. following cables and connectors.
7
·The cable of CPS01 unit connector CN158/159
·The CN5 connector of the ABB01 back board.
·Cable replace between the CPS01 unit and the ABB01 back board.
Alarm List
An error was detected in An error was detected in the ACP02 board (1)Turn the power OFF then back ON.
SYSTEM the CPU of the optional CPU of the optional ACP02 #1. failure (2)If the alarm occurs again, replace the following board. Save the
0991 1
ERROR(ACP02#1) ACP02 #1. CMOS.BIN before replace the board to be safe.
·ACP02 board
Alarm List-245
0992 1
·ACP02 board
Number Message Code
0993 1
·ACP02 board
Alarm List
Alarm List-246
0994 1
·ACP02 board
Number Message Code
0995 1
·ACP02 board
Alarm List

0996 1
Alarm List-247
·ACP02 board
Number Message Code
0997 1
·ACP02 board
Alarm List

0998 1
·ACP02 board
Alarm List-248
Alarm List
Number Message Code
ROM ERROR(ACP01) A checksum error Software (1)Turn the power OFF then back ON.
occurred in the ROM of operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
1000
ACP01 (main CPU occurred CMOS.BIN before replace the board to be safe.
board).
Alarm List

ROM This alarm is caused by A checksum error occurred in SDCA01 board (1)Turn the power OFF then back ON.
1001 ERROR(SDCA01) faulty data in ROM of 11 the board or the EEPROM.(*: failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
SDCA01 board. axis No.) CMOS.BIN before replace the board to be safe.
A checksum error occurred in SDCA01 board (1)Turn the power OFF then back ON.
Alarm List-249
12 the board or the EEPROM.(*: failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
axis No.) CMOS.BIN before replace the board to be safe.
Number Message Code
Alarm List
Alarm List-250
The SRDY signal did not turn SDCA01 board (1)Turn the power OFF then back ON.
ON after the WRITE ENABLE failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
20 command was written. CMOS.BIN before replace the board to be safe.
(EEPROM WRITE ENABLE
error)
Number Message Code
ON after the WRITE failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
21 PROTECT command was CMOS.BIN before replace the board to be safe.
written. (EEPROM WRITE
PROTECT error)
ON after the ERASE command failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
22
was written. (EEPROM CMOS.BIN before replace the board to be safe.
ERASE error)
Alarm List
ON after the CLEAR command failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
23
was written. (EEPROM CMOS.BIN before replace the board to be safe.
CLEAR error)
Alarm List-251
24 ON after data were written. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
(EEPROM writing error) CMOS.BIN before replace the board to be safe.
25 ON after data were read. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
(EEPROM reading error) CMOS.BIN before replace the board to be safe.
The written data were rejected SDCA01 board (1)Turn the power OFF then back ON.
26 at verification. (EEPROM failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
verify error) CMOS.BIN before replace the board to be safe.
Number Message Code
MotoPlus Num of the Application files on Setting error Delete unnecessary application files "*.out" by MotoPlus menu in the
Failed at loading
1020 (APPLICATION LOAD 1 the ACP01 board SD card is maintenance mode in order not to exceed the file number limitation.
MotoPlus application.
ERROR) over the limit.
Insufficient memory space. Setting error Under current system configuration and option function combination, there
At the loading time, remaining is not enough memory to run MotoPlus application. If the alarm occurs
CPU memory is less than again, save the CMOS.BIN, and then contact your YASKAWA
2
2MByte (Stipulated memory representative about occurrence status (operating procedure).
size for MotoPro) . It may be necessary to replace the ACP01 board with the one with larger
memory.
Alarm List
MotoPlus application folder "/ Setting error (1)Turn the power OFF then back ON.
Application"cannot be found. (2)If the alarm occurs again, replace the ACP01 board. Save the
Memory size (Code area + Setting error (1) Check the static memory definition of the application program.
Alarm List-252
static variable area) required (2) Redesign the application program in order not to exceed the memory
4
by MotoPlus Application is size limitation.
over the limit(2Mbyte).
Undefined symbols are Setting error Check that the application program doesn't include any undefined symbols
included in the application. The such as function and constant that are not provided by the system.
5 Symbols are not included in
the MotoPlusAPI library or
standard function library.
Number Message Code
Load failure (The application Setting error (1)Check if the static variables are correctly defined in the MotoPlus
cannot be loaded since the application.
memory (program area + static (2)Review the MotoPlus application program so that the memory used for it
6 variable area) that the doesn't exceed the specified value.
MotoPlus application requires (3)Check if the object files are correctly created by MotoPlusIDE.
exceeds the specified value
(2MByte) .)
API library initialization failure Setting error Under current system configuration and the combination of optional
because of functions, the ACP01 board (Main CPU board) doesn't have enough
Insufficient system memory to memory to run MotoPlus application. If the alarm occurs again, save the
Alarm List
7
load MotoPlusAPI library CMOS.BIN, and then contact your YASKAWA representative about
occurrence status (operating procedure). It may be necessary to change
the ACP01 board to the one with a large-capacity memory.
User root task "mpUsrRoot()" Setting error Check if mpUsrRoot() is described in the application program.
8
not included in the application
Alarm List-253
User root task generation Setting error Under current system configuration and the combination of optional
failure functions, the ACP01 board (Main CPU board) doesn't have enough
memory to run MotoPlus application. If the alarm occurs again, save the
9
CMOS.BIN, and then contact your YASKAWA representative about
RAM-Disk generation failure Setting error Under current system configuration and the combination of optional
functions, the ACP01 board (Main CPU board) doesn't have enough
memory to run MotoPlus application. If the alarm occurs again, save the
10
Same name application files Setting error Delete the same name application file.
16
exist.
Number Message Code
MEMORY This alarm occurs when RCD, RCxG parameter error Data error (1)Turn the power OFF then back ON.
ERROR(PARAMETE an error is detected (2)If the alarm occurs again, initialize the appropriate parameter file in
1030 0
R FILE) during total check of maintenance mode, and then load the parameter file saved in the external
parameters. memory device.
board, and then remove the SD from the failure ACP01 board to insert it
into the new ACP01 board.
Alarm List
ROxG parameter error Data error (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, initialize the appropriate parameter file in
1
maintenance mode, and then load the parameter file saved in the external
memory device.
Alarm List-254
SVD, SVxG parameter error Data error (1)Turn the power OFF then back ON.
2
memory device.
Number Message Code
SVMxG parameter error Data error (1)Turn the power OFF then back ON.
3
memory device.
Alarm List
S1CxG, S2C, S3C, S4C Data error (1)Turn the power OFF then back ON.
parameter error (2)If the alarm occurs again, initialize the appropriate parameter file in
4
memory device.
Alarm List-255
S1D, S2D, S3D, S4D Data error (1)Turn the power OFF then back ON.
parameter error (2)If the alarm occurs again, initialize the appropriate parameter file in
5
memory device.
Number Message Code
CIO parameter error Data error (1)Turn the power OFF then back ON.
6
memory device.
Alarm List
FD parameter error Data error (1)Turn the power OFF then back ON.
7
memory device.
Alarm List-256
A1P, A2P, …, A8P parameter Data error (1)Turn the power OFF then back ON.
error (2)If the alarm occurs again, initialize the appropriate parameter file in
8
memory device.
Number Message Code
RS parameter error Data error (1)Turn the power OFF then back ON.
9
memory device.
Alarm List
S1E, S2E, …, S8E parameter Data error (1)Turn the power OFF then back ON.
error (2)If the alarm occurs again, initialize the appropriate parameter file in
10
memory device.
Alarm List-257
SVCxB parameter error Data error (1)Turn the power OFF then back ON.
11
memory device.
Number Message Code
AMCxG parameter error Data error (1)Turn the power OFF then back ON.
12
memory device.
Alarm List
SVPxG parameter error Data error (1)Turn the power OFF then back ON.
13
memory device.
Alarm List-258
MFxG parameter error Data error (1)Turn the power OFF then back ON.
14
memory device.
Number Message Code
SVSxB parameter error Data error (1)Turn the power OFF then back ON.
15
memory device.
Alarm List
RExG parameter error Data error (1)Turn the power OFF then back ON.
16
memory device.
Alarm List-259
FMSxB parameter error Data error (1)Turn the power OFF then back ON.
17
memory device.
Number Message Code
MEMORY Data error occurred in the "GET FILE" instruction, "SET Data error (1)Turn the power OFF then back ON.
1031 ERROR(MOTION1) file data used by MOTION 0 FILE" instruction execution (2)If the alarm occurs again, initialize the appropriate data in maintenance
section. target file mode, and then load the data saved in the external memory device.
Home position calibration file Data error (1)Turn the power OFF then back ON.
Tool file Data error (1)Turn the power OFF then back ON.
Alarm List
User coordinates file Data error (1)Turn the power OFF then back ON.
Alarm List-260
Robot calibration file Data error (1)Turn the power OFF then back ON.
Tool calibration file Data error (1)Turn the power OFF then back ON.
Weaving amplitude condition Data error (1)Turn the power OFF then back ON.
6 file (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
Home position correction data Data error (1)Turn the power OFF then back ON.
Conveyor calibration file Data error (1)Turn the power OFF then back ON.
Alarm List

Arm and tool interference Data error (1)Turn the power OFF then back ON.
9 prevention file (2)If the alarm occurs again, initialize the appropriate data in maintenance
Weaving file Data error (1)Turn the power OFF then back ON.
Alarm List-261
Power Source condition data Data error (1)Turn the power OFF then back ON.
Welding condition auxiliary file Data error (1)Turn the power OFF then back ON.
Number Message Code
Arc start condition file Data error (1)Turn the power OFF then back ON.
Arc end condition file Data error (1)Turn the power OFF then back ON.
COMARC condition file Data error (1)Turn the power OFF then back ON.
Alarm List
COMARC data file Data error (1)Turn the power OFF then back ON.
Alarm List-262
Path correction condition file Data error (1)Turn the power OFF then back ON.
Painting characteristics file Data error (1)Turn the power OFF then back ON.
Painting condition file Data error (1)Turn the power OFF then back ON.
Number Message Code
Multi-layer index file Data error (1)Turn the power OFF then back ON.
Multi-layer condition file Data error (1)Turn the power OFF then back ON.
Alarm List

Sensor monitoring condition Data error (1)Turn the power OFF then back ON.
Conveyor condition file Data error (1)Turn the power OFF then back ON.
Alarm List-263
Press characteristics file Data error (1)Turn the power OFF then back ON.
Servo float condition file Data error (1)Turn the power OFF then back ON.
Number Message Code
Spot welding Power Source Data error (1)Turn the power OFF then back ON.
37 condition data file (2)If the alarm occurs again, initialize the appropriate data in maintenance
Air-gun condition file Data error (1)Turn the power OFF then back ON.
Motor-gun condition file Data error (1)Turn the power OFF then back ON.
Alarm List
Gun pressure file Data error (1)Turn the power OFF then back ON.
Alarm List-264
Gun pressure file Data error (1)Turn the power OFF then back ON.
Anticipation OT# output file Data error (1)Turn the power OFF then back ON.
Anticipation OG# output file Data error (1)Turn the power OFF then back ON.
Number Message Code
Handling condition file Data error (1)Turn the power OFF then back ON.
Form cut file Data error (1)Turn the power OFF then back ON.
Alarm List

Spot (user) I/O allocation file Data error (1)Turn the power OFF then back ON.
Linear servo float condition file Data error (1)Turn the power OFF then back ON.
Alarm List-265
Macro definition file Data error (1)Turn the power OFF then back ON.
Seal amount correction Data error (1)Turn the power OFF then back ON.
49 condition file (spray) (2)If the alarm occurs again, initialize the appropriate data in maintenance
Number Message Code
Seal amount correction Data error (1)Turn the power OFF then back ON.
50 condition file (undercoat) (2)If the alarm occurs again, initialize the appropriate data in maintenance
Arc monitor file Data error (1)Turn the power OFF then back ON.
Job registration table Data error (1)Turn the power OFF then back ON.
Alarm List
Painting device condition file Data error (1)Turn the power OFF then back ON.
Alarm List-266
Painting system file Data error (1)Turn the power OFF then back ON.
Painting condition file Data error (1)Turn the power OFF then back ON.
Paint characteristics file Data error (1)Turn the power OFF then back ON.
Number Message Code
EVB gun file Data error (1)Turn the power OFF then back ON.
Paint filling file Data error (1)Turn the power OFF then back ON.
Alarm List

Welding pulse condition file Data error (1)Turn the power OFF then back ON.
Clearance file Data error (1)Turn the power OFF then back ON.
Alarm List-267
Conveyor condition auxiliary Data error (1)Turn the power OFF then back ON.
Laser welding start condition Data error (1)Turn the power OFF then back ON.
Number Message Code
Laser welding end condition Data error (1)Turn the power OFF then back ON.
Palletizing condition file Data error (1)Turn the power OFF then back ON.
Air-gun pressure file Data error (1)Turn the power OFF then back ON.
Alarm List
Mastering registration position Data error (1)Turn the power OFF then back ON.
Alarm List-268
Paint system config file Data error (1)Turn the power OFF then back ON.
Paint special file Data error (1)Turn the power OFF then back ON.
Paint caliblation config file Data error (1)Turn the power OFF then back ON.
Number Message Code
Paint data config file Data error (1)Turn the power OFF then back ON.
Svclamp file Data error (1)Turn the power OFF then back ON.
Alarm List
Yaskawa representative about occurrence status (operating procedure).

MEMORY The model data file is Sub;Model file number Data error (1)Turn the power OFF then back ON.
1033 ERROR(MODEL abnormal (2)If the alarm occurs again, initialize the appropriate data, and then load
DATA FILE) the data saved in the external memory device.
MEMORY ERROR(F- The force condition file is Sub;force condition file Data error (1)Turn the power OFF then back ON.
1034 CONDITION FILE) abnormal number (2)If the alarm occurs again, initialize the appropriate data, and then load
the data saved in the external memory device.
Alarm List-269
Number Message Code
SET-UP PROCESS The system software Motion instruction setup ACP01 board (1)Turn the power OFF then back ON.
ERROR(SYSCON) monitors if the setup of incomplete. failure (2)If the alarm occurs again, replace the ACP01 board. Save the
MOTION section software CMOS.BIN before replace the board to be safe. Replace the ACP01
is properly completed board, and then remove the SD from the failure ACP01 board to insert it
when the power turned into the new ACP01 board.
ON. This alarm occurs if
the MOTION section
software fails to properly
complete the setup.
Note that the alarm AL-
1050 1051 (SET-UP 1
PROCESS ERROR)
Alarm List
occurs in conjunction with

this alarm. (For details,
refer to AL-1051.)
The error and message of
interior temperature error
and interior fan error
might be complicated
because it doesn't starting
up normally in this state.
Alarm List-270
Online error ACP01 board (1)Turn the power OFF then back ON.
Number Message Code
SPOT management file setup ACP01 board (1)Turn the power OFF then back ON.
incomplete. failure (2)If the alarm occurs again, replace the ACP01 board. Save the
Welder I/F board (1)Turn the power OFF then back ON.
failure (2)If the alarm occurs again, replace the Welder I/F board. Save the
Alarm List
SET-UP PROCESS Setup process of Unable to properly activate the SDCA01 board (1)Turn the power OFF then back ON.
ERROR(MOTION) MOTION section was not servo control failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
1051 1
properly completed when CMOS.BIN before replace the board to be safe.
the power turned ON.
Alarm List-271
The position data of when the SDCA01 board (1)Turn the power OFF then back ON.
power supply was turned OFF failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
2
cannot be transmitted to the CMOS.BIN before replace the board to be safe.
servo control section
The servo control section SDCA01 board (1)Turn the power OFF then back ON.
cannot receive the position failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
3
data of when the power supply CMOS.BIN before replace the board to be safe.
was turned OFF
Number Message Code
Unable to send a request to SDCA01 board (1)Turn the power OFF then back ON.
5 turn ON the PG power supply failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
for the mounted (PICK) axis CMOS.BIN before replace the board to be safe.
Unable to turn ON the PG SDCA01 board (1)Turn the power OFF then back ON.
6 power supply for the mounted failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
(PICK) axis CMOS.BIN before replace the board to be safe.
Alarm List

Unable to send a request to SDCA01 board (1)Turn the power OFF then back ON.
7 prepare a feedback pulse failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Unable to prepare a feedback SDCA01 board (1)Turn the power OFF then back ON.
Alarm List-272
8 pulse failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Unable to send a request to ACP01 board (1)Turn the power OFF then back ON.
initialize the arithmetic section failure (2)If the alarm occurs again, replace the ACP01 board. Save the
9 (ARITH) CMOS.BIN before replace the board to be safe. Replace the ACP01
Number Message Code
Unable to initialize ARITH ACP01 board (1)Turn the power OFF then back ON.
Unable to send a request to ACP01 board (1)Turn the power OFF then back ON.
prepare the current position failure (2)If the alarm occurs again, replace the ACP01 board. Save the
Alarm List

Unable to prepare the current ACP01 board (1)Turn the power OFF then back ON.
position failure (2)If the alarm occurs again, replace the ACP01 board. Save the
Alarm List-273
Sub Code Software (1)Turn the power OFF then back ON.
An unknown alarm was
1100 SYSTEM ERROR C, B, F : Subcode of unknown operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
detected.
alarm occurred YASKAWA representative about occurrence status (operating procedure).
RAM software (1)Turn the power OFF then back ON.
data error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
SYSTEM An error occurred during Sub Code Software (1)Turn the power OFF then back ON.
1101 ERROR(MAN- the system control check. 0 to 19: Internal control error in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
MACHINE MECHA) software occurred YASKAWA representative about occurrence status (operating procedure).
1102 ERROR(MAN- the system control check. 0 to 16383: Internal control operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
MACHINE APPLI) error in software occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
1103 ERROR(EVENT) the system event data 1 to 8: Internal control error in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
control check. software occurred YASKAWA representative about occurrence status (operating procedure).
SYSTEM An error occurred during Sub Code Connection (1)Turn the power OFF then back ON.
ERROR(CIO) the system I/O control 1000_0000: I/O module setting failure (2)If the alarm occurs again, check the connection and inserting state of the
check. error following cables and connectors.
1104
·CN300 communications connector of YIU unit
Alarm List-274
·CN304 power supply connector
·Cable of the YIU unit and the expanded I/O board
Setting error (1)Turn the power OFF then back ON.
(2)If the error occurs again, set the I/O module again in maintenance mode.
(3)If the error occurs again though the previous measures were executed,
save the CMOS.BIN, and then contact your YASKAWA representative
about occurrence status (operating procedure).
Number Message Code
SYSTEM An error occurred during No processing corresponds to SDCA01 board (1)Turn the power OFF then back ON.
1105 ERROR(SERVO) the SDCA01 board 0 the command code sent from failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
control check. MOTION section. CMOS.BIN before replace the board to be safe.
load the CMOS.BIN.
Alarm List

A communication cycle with SDCA01 board (1)Turn the power OFF then back ON.
15 MOTION section is incorrect. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Alarm List-275
A task request was sent to an SDCA01 board (1)Turn the power OFF then back ON.
21 axis in the alarm status. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
The linear servo float function Software (1)Turn the power OFF then back ON.
or gun arm bend operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
30 compensation function does occurred YASKAWA representative about occurrence status (operating procedure).
not support the manipulator
type.
Number Message Code
The Motor gun press XYZ Setting error Check the parameter setting value.
position monitoring function If S1CxG170 is set to the number other than 0 (gun axis), change the
31 cannot be applied for the setting to 0.
manipulator type specified in
the RC parameter.
The parameter related to Setting error Check the parameter setting value.
32 motor gun application is
wrong.
Alarm List

The manipulator (B-axis) Setting error Correct the job so that the manipulator (B-axis) does not pass the singular
passed the singular point while point while the linear servo float or gun arm bend compensation function is
37 the linear servo float or gun running.
arm bend compensation
function is running.
Alarm List-276
The wrist axes correction Setting error (1)Correct the teaching point where this alarm occurs.
angle surpassed its limit while (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
38 the linear servo float or gun YASKAWA representative about occurrence status (operating procedure).
arm bend compensation
function is running.
The alarm number is illegal. Software (1)Turn the power OFF then back ON.
47 operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Parameter was changed Software (1)Turn the power OFF then back ON.
49 during execution of servo float operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
function. occurred YASKAWA representative about occurrence status (operating procedure).
An error occurred when gun SDCA01 board (1)Turn the power OFF then back ON.
52 control command is executed. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Number Message Code
The axis endless function is Setting error Disable the corresponding axis endless function.
60
set enabled for motor guns.
The ASF01 board doesn't ASF01 board Replace the ASF01 board which supports for the external axis individual
support the external axis failure control by the secondary contactor.
70
individual control by the
secondary contactor.
Alarm List

DIN signal No. 5 is used SDCA01 board (1)Turn the power OFF then back ON.
80 although DIN signal extension failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
is not valid. CMOS.BIN before replace the board to be safe.
DIN signal No. 6 is used SDCA01 board (1)Turn the power OFF then back ON.
Alarm List-277
is not valid. CMOS.BIN before replace the board to be safe.
AXIN signal No. 1 is used SDCA01 board (1)Turn the power OFF then back ON.
is valid. CMOS.BIN before replace the board to be safe.
AXIN signal No. 2 is used SDCA01 board (1)Turn the power OFF then back ON.
is valid. CMOS.BIN before replace the board to be safe.
Number Message Code
The sequence was untimely SDCA01 board (1)Turn the power OFF then back ON.
executed in the general- failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
100 purpose 12ms process CMOS.BIN before replace the board to be safe.
although it was not the
execution timing.
executed in the SV_M data failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
101
sub process although it was CMOS.BIN before replace the board to be safe.
not the execution timing.
Alarm List

103
purpose 2ms process although CMOS.BIN before replace the board to be safe.
it was not the execution timing.
Alarm List-278
104
purpose 4ms process although CMOS.BIN before replace the board to be safe.
it was not the execution timing.
executed in the dynamics failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
105
calculation process although it CMOS.BIN before replace the board to be safe.
was not the execution timing.
Number Message Code
executed in the dynamics failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
106 compensation process CMOS.BIN before replace the board to be safe.
execution timing.
Alarm List
executed in the MCPU sending failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
108 and receiving process CMOS.BIN before replace the board to be safe.
execution timing.
Alarm List-279
executed in the SV_M data failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
109
process although it was not the CMOS.BIN before replace the board to be safe.
execution timing.
The universal three clock SDCA01 board (1)Turn the power OFF then back ON.
process executing sequence failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
110 error process was executed CMOS.BIN before replace the board to be safe.
according to unexpected
timing.
Number Message Code
112 purpose_OPT1 process CMOS.BIN before replace the board to be safe.
execution timing.
113 purpose_OPT2 process CMOS.BIN before replace the board to be safe.
Alarm List
execution timing.
A general-purpose 12ms SDCA01 board (1)Turn the power OFF then back ON.
process did not complete failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
120
within the time set on the CMOS.BIN before replace the board to be safe.
scheduling table.
Alarm List-280
The SV_M data sub process SDCA01 board (1)Turn the power OFF then back ON.
did not complete within the failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
121
time set on the scheduling CMOS.BIN before replace the board to be safe.
table.
The general-purpose 2ms SDCA01 board (1)Turn the power OFF then back ON.
123
scheduling table.
Number Message Code
The general-purpose 4ms SDCA01 board (1)Turn the power OFF then back ON.
124
scheduling table.
The dynamics calculation SDCA01 board (1)Turn the power OFF then back ON.
Alarm List
125
scheduling table.
The dynamics compensation SDCA01 board (1)Turn the power OFF then back ON.
126
Alarm List-281
scheduling table.
The dynamics calculation SDCA01 board (1)Turn the power OFF then back ON.
128
scheduling table.
The MCPU sending and SDCA01 board (1)Turn the power OFF then back ON.
receiving process did not failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
129
complete within the time set on CMOS.BIN before replace the board to be safe.
the scheduling table.
Number Message Code
The SV_M data process did SDCA01 board (1)Turn the power OFF then back ON.
130 not complete within the time failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
set on the scheduling table. CMOS.BIN before replace the board to be safe.
The universal three clock SDCA01 board (1)Turn the power OFF then back ON.
131
Alarm List
scheduling table.
The general-purpose_OPT1 SDCA01 board (1)Turn the power OFF then back ON.
132
Alarm List-282
scheduling table.
The general-purpose_OPT2 SDCA01 board (1)Turn the power OFF then back ON.
133
scheduling table.
The averaging time is not an Software (1)Turn the power OFF then back ON.
151 even number. (times) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
The micro program interface SDCA01 board (1)Turn the power OFF then back ON.
did not complete within the failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
160
time set on the scheduling CMOS.BIN before replace the board to be safe.
table.
The parameter MFxG162 is Setting error Check the parameter setting value.
170 not valid although the collision If MFxG162 is set to the number other than 1 (gun axis), change the setting
detection level data exists. to 1.
Alarm List

The notch filter doesn't Software (1)Turn the power OFF then back ON.
200 become effective after shifting operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
to PLAY mode. occurred YASKAWA representative about occurrence status (operating procedure).
The difference between the Software (1)Turn the power OFF then back ON.
base torque and the target operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
303 torque exceeded the threshold occurred YASKAWA representative about occurrence status (operating procedure).
in the jig robot bending
Alarm List-283
correction.
A base block ON signal is SDCA01 board (1)Turn the power OFF then back ON.
304 outputted when the base block failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
should be released. CMOS.BIN before replace the board to be safe.
A base block release signal is SDCA01 board (1)Turn the power OFF then back ON.
305 outputted when the base block failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
should be turned ON . CMOS.BIN before replace the board to be safe.
Number Message Code
The specific flag of blake line Software (1)Turn the power OFF then back ON.
306 check execution axis is not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
turned off at previous check. occurred YASKAWA representative about occurrence status (operating procedure).
Data inconsistent status Software (1)Turn the power OFF then back ON, and then try again.
occurred at the start of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
700
measurement in the Pendant occurred YASKAWA representative about occurrence status (operating procedure).
Oscilloscope Function.
Data inconsistent status Software (1)Turn the power OFF then back ON, and then try again.
occurred during the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
701
measurement in the Pendant occurred YASKAWA representative about occurrence status (operating procedure).
Oscilloscope Function.
Alarm List
The check item number of Software (1)Turn the power OFF then back ON.
1000 SVD parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The check item number of SV Software (1)Turn the power OFF then back ON.
1001 parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
1002 SVM parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-284
1003 SVP parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
1004 AMC parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
1005 MFG parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
1006 MFA parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
1007 SVC parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The check item number of SE Software (1)Turn the power OFF then back ON.
1008 parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
1009 SVC parameter is unmatched. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The motioning software is not Software (1)Turn the power OFF then back ON.
2100 used with circuit board as operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
target. occurred YASKAWA representative about occurrence status (operating procedure).

The JL077 in which the each Connection (1)Turn the power OFF then back ON.
fault signal is recognized but failure (2)If the alarm occurs again, check the connection and insertion of the
no notification is sent from the following cables and connectors.
converter. ·SDCA01-CN507, CPS01-CN154
2500 ·SDCA01-CN531, CN532, CN533
·Converter-CN557, CN561
·SDB (External axis servo pack)-CN591,592
(3)If the alarm repeatedly occurs, check if all the cables above are correctly
Alarm List-285
connected.
Execution of motion command Software (1)Turn the power OFF then back ON.
did not complete within a operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4001
certain time period. (***: occurred YASKAWA representative about occurrence status (operating procedure).
command code No.)
4002
command code No.)
4003
command code No.)
Number Message Code
4004
command code No.)
4005
command code No.)
4006
command code No.)
Alarm List
4007
command code No.)
4008
command code No.)
Alarm List-286
4009
command code No.)
4010
command code No.)
4011
command code No.)
Number Message Code
4012
command code No.)
4013
command code No.)
4014
command code No.)
Alarm List
4015
command code No.)
4016
command code No.)
Alarm List-287
4017
command code No.)
4018
command code No.)
4019
command code No.)
Number Message Code
4020
command code No.)
4021
command code No.)
4022
command code No.)
Alarm List
4023
command code No.)
4024
command code No.)
Alarm List-288
4025
command code No.)
4026
command code No.)
4027
command code No.)
Number Message Code
4028
command code No.)
4029
command code No.)
4030
command code No.)
Alarm List
4031
command code No.)
4032
command code No.)
Alarm List-289
4033
command code No.)
4034
command code No.)
4035
command code No.)
Number Message Code
4036
command code No.)
4037
command code No.)
4038
command code No.)
Alarm List
4039
command code No.)
4040
command code No.)
Alarm List-290
4041
command code No.)
4042
command code No.)
4043
command code No.)
Number Message Code
4044
command code No.)
4045
command code No.)
4046
command code No.)
Alarm List
4047
command code No.)
4048
command code No.)
Alarm List-291
4049
command code No.)
4050
command code No.)
4051
command code No.)
Number Message Code
4052
command code No.)
4053
command code No.)
4054
command code No.)
Alarm List
4055
command code No.)
4056
command code No.)
Alarm List-292
4057
command code No.)
4058
command code No.)
4059
command code No.)
Number Message Code
4060
command code No.)
4061
command code No.)
4062
command code No.)
Alarm List
4063
command code No.)
4064
command code No.)
Alarm List-293
4065
command code No.)
4066
command code No.)
4067
command code No.)
Number Message Code
4068
command code No.)
4069
command code No.)
4070
command code No.)
Alarm List
4071
command code No.)
4072
command code No.)
Alarm List-294
4073
command code No.)
4074
command code No.)
4075
command code No.)
Number Message Code
4076
command code No.)
4077
command code No.)
4078
command code No.)
Alarm List
4079
command code No.)
4080
command code No.)
Alarm List-295
4081
command code No.)
4082
command code No.)
4083
command code No.)
Number Message Code
4084
command code No.)
4085
command code No.)
4086
command code No.)
Alarm List
4087
command code No.)
4088
command code No.)
Alarm List-296
4089
command code No.)
4090
command code No.)
4091
command code No.)
Number Message Code
4092
command code No.)
4093
command code No.)
4094
command code No.)
Alarm List
4095
command code No.)
4096
command code No.)
Alarm List-297
4097
command code No.)
4098
command code No.)
4099
command code No.)
Number Message Code
4100
command code No.)
4101
command code No.)
4102
command code No.)
Alarm List
4103
command code No.)
4104
command code No.)
Alarm List-298
4105
command code No.)
4106
command code No.)
4107
command code No.)
Number Message Code
4108
command code No.)
4109
command code No.)
4110
command code No.)
Alarm List
4111
command code No.)
4112
command code No.)
Alarm List-299
4113
command code No.)
4114
command code No.)
4115
command code No.)
Number Message Code
4116
command code No.)
4117
command code No.)
4118
command code No.)
Alarm List
4119
command code No.)
4120
command code No.)
Alarm List-300
4121
command code No.)
4122
command code No.)
4123
command code No.)
Number Message Code
4124
command code No.)
4125
command code No.)
4126
command code No.)
Alarm List
4127
command code No.)
4128
command code No.)
Alarm List-301
4129
command code No.)
4130
command code No.)
4131
command code No.)
Number Message Code
4132
command code No.)
4133
command code No.)
4134
command code No.)
Alarm List
4135
command code No.)
4136
command code No.)
Alarm List-302
4137
command code No.)
4138
command code No.)
4139
command code No.)
Number Message Code
4140
command code No.)
4141
command code No.)
4142
command code No.)
Alarm List
4143
command code No.)
4144
command code No.)
Alarm List-303
4145
command code No.)
4146
command code No.)
4147
command code No.)
Number Message Code
4148
command code No.)
4149
command code No.)
4150
command code No.)
Alarm List
4151
command code No.)
4152
command code No.)
Alarm List-304
4153
command code No.)
4154
command code No.)
4155
command code No.)
Number Message Code
4156
command code No.)
4157
command code No.)
4158
command code No.)
Alarm List
4159
command code No.)
The received alarm code is Software (1)Turn the power OFF then back ON.
4501 invalid. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-305
The axis number assigned as Setting error (1)Turn the power OFF then back ON.
4600 external mecha brake is (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
already used. YASKAWA representative about occurrence status (operating procedure).
The value set for A1P36 Setting error The value set for A1P36 exceeds the permissible value.
6036
exceeds the permissible value.
The value set for A1P92 Setting error The value set for A1P92 exceeds the permissible value.
6092
exceeds the permissible value.
Interpolation cycle is shorter Software (1)Turn the power OFF then back ON.
7201 than the set value. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Alarm List

Alarm List-306
The speed ratio is invalid. Software (1)Turn the power OFF then back ON.
Number Message Code
Alarm List

Direct-in number setting error Setting error Three or more direct-in numbers are set for NSRCH instruction.
Alarm List-307
7500
(NSRCH) Check the direct-in number setting.
The setting value for touch Setting error The value set for Touch press (proportion to the 1st pressure) in the gun
7600 pressure is not appropriate. detail setting file is over 100%. Change the setting value to less than
100%.
A certain time passed when Software (1)Turn the power OFF then back ON.
9006 WDT error is detected. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
A certain time passed when Software (1)Turn the power OFF then back ON.
9007 WDT error is detected. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
The size of variable-define Setting error (1)Turn the power OFF then back ON.
9010 data is mismatched. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
PV initializing sequence Software (1)Turn the power OFF then back ON.
9020 timeout was detected. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Common-parameter writing Software (1)Turn the power OFF then back ON.
9021 timeout was detected. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
JL086-parameter writing Software (1)Turn the power OFF then back ON.
9022 timeout for each axis was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
detected. occurred YASKAWA representative about occurrence status (operating procedure).
Parameter writing timeout for Software (1)Turn the power OFF then back ON.
Alarm List-308
9023 each axis was detected. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Parameter writing timeout for Software (1)Turn the power OFF then back ON.
9024 each axis was detected. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Encoder-parameter writing Software (1)Turn the power OFF then back ON.
9025 timeout for each axis was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
detected. occurred YASKAWA representative about occurrence status (operating procedure).
Command execution of Software (1)Turn the power OFF then back ON.
9030 address setting failed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Encoder-setting error was Setting error (1)Turn the power OFF then back ON.
9031 detected. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Initial-position designation Setting error (1)Turn the power OFF then back ON.
9034 error occurred when PG power (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
supply was turned ON. YASKAWA representative about occurrence status (operating procedure).
The number of brake-release Setting error (1)Turn the power OFF then back ON.
9035 axis is not appropriate. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Some errors occurred at the Software (1)Turn the power OFF then back ON.
Alarm List-309
9040 interface between SDCA01 operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
and ASF01. occurred YASKAWA representative about occurrence status (operating procedure).
Communication WDG. from Software (1)Turn the power OFF then back ON.
9050 the other CPU is not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
appropriate (core 0). occurred YASKAWA representative about occurrence status (operating procedure).
Communication WDG. from Software (1)Turn the power OFF then back ON.
9051 the other CPU is not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
appropriate (core 1). occurred YASKAWA representative about occurrence status (operating procedure).
REQ. flag from the other CPU Software (1)Turn the power OFF then back ON.
9052 is not appropriate (core 1). operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
PCI-interface information error Software (1)Turn the power OFF then back ON.
9100 occurred. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Alarm List

Alarm List-310
Number Message Code
Alarm List

Alarm List-311
The combination of the Setting error Please try the software update.
software version and the In order to know the correct software version, check the SDCA01 board
9124
SDCA01 board revision is revision, and then contact your Yaskawa representative.
incorrect.
Number Message Code
SYSTEM Software (1)Turn the power OFF then back ON.
1109 ERROR(CONVEYOR) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
HIGH Temperature sensor The temperature If the LED (OHT) on the CPS01 unit lights up, wait until the inside of the
TEMPERATURE(IN inside the controller (the rises in the controller has got cool and then turn the power OFF then back ON.
1200 CNTL BOX) CPS01 unit) is activated, controller
and then error was
detected.
YPS21 unit failure (1)Turn the power OFF then back ON.
Alarm List
(2)If the alarm occurs again, replace the following unit.

·YPS21 unit
COMMUNICATION Communication error The communication error slot Connection Check the insertion and connection of the followings.
ERROR(I/O occurred in the I/O (Serial-bus-connected I/O failure ·The M? communications cable which I/O module of the corresponding sub
1204 MODULE) module. module communication station code
No.) is displayed by the bit. ·(In case of M? communications last station) Terminator
Alarm List-312
0: correct / 1: incorrect ·24V power of the corresponding I/O module
IO module failure Replace the I/O module of the corresponding station number.
Power supply Replace the 24V power supply supplied to the I/O module of the
broken corresponding station number.
AIF01 board Save the CMOS.BIN file.
broken Replace the AIF01 board, and then load the saved CMOS.BIN file.
ENABLE SW Sticking of enable sw was Programming (1)Turn the power OFF then back ON.
1219 STICKING detected. pendant failure
(2)If the alarm occurs again, replace the programming pendant.
Number Message Code
LAN An error occurred in Incorrect setting of the IP Setting error Check the following settings.
COMMUNICATION parameter which is used address which is used in the ·IP address setting of LAN interface in maintenance mode
1220 1
PARAMETER ERROR in the Ethernet function. Ethernet function.(LAN
interface 2)
Incorrect setting of the subnet Setting error Check the following settings.
mask which is used in the ·Subnet mask of LAN interface in maintenance mode
2
Ethernet function.(LAN
interface 2)
Alarm List

Incorrect setting of the default Setting error Check the following settings.
3 gateway which is used in the ·Default gateway of LAN interface in maintenance mode
Ethernet function.
Incorrect setting of the host Setting error Check the following settings.
4 address which is used in the ·Server (host) of LAN interface in maintenance mode
Alarm List-313
Ethernet function.
Incorrect setting of the static Setting error Check the following settings.
route which is used in the ·Static route of LAN interface in maintenance mode
5
interface 2 route 1)
Incorrect setting of the Setting error Check the following settings.
parameter which is used for ·SNTP setting of LAN interface in maintenance mode
30
the SNTP of the Ethernet
function.
Number Message Code
Incorrect setting of the IP Setting error Check the following settings.
address of the SNTP server ·SNTP setting of LAN interface in maintenance mode
31
which is used in the Ethernet
function of the SNTP.
address of the SNTP server ·SNTP setting of LAN interface in maintenance mode
32
function of the SNTP.
Alarm List

Incorrect setting of the DHCP Setting error Check the following settings.
33 parameter which is used in the ·SNTP setting of LAN interface in maintenance mode
Ethernet function of the SNTP.
Incorrect setting of the host Setting error Check the following settings.
70 name which is used in the ·Host name of LAN interface in maintenance mode
Alarm List-314
Ethernet function.
address of the DNS server ·DNS setting of LAN interface in maintenance mode
71
function of the DNS.
Incorrect setting of the Setting error Check the following settings.
parameter which is used in the ·DNS setting of LAN interface in maintenance mode
73
Ethernet function of the DNS
and the domain.
Number Message Code
Incorrect setting of the DHCP Setting error Check the following settings.
parameter which is used in the ·DNS setting of LAN interface in maintenance mode
74
Ethernet function of the DNS
and the domain.
Incorrect setting of the domain Setting error Check the following settings.
75 which is used in the Ethernet ·Domain name of LAN interface in maintenance mode
function.
Alarm List
105
Check the following settings. Setting error Check the following settings.
1001 ·IP address setting of LAN ·IP address setting of LAN interface in maintenance mode
Alarm List-315
interface in maintenance mode
Incorrect setting of the subnet Setting error Check the following settings.
mask which is used in the ·Subnet mask of LAN interface in maintenance mode
1002
interface 3)
1005
Number Message Code
1105
ETHERNET INITIAL An error occurred in the An error occurred in the device Software (1)Turn the power OFF then back ON.
PROCESS ERROR initialization of the initialization process of the operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
1221 Ethernet function. 1 Ethernet function.(LAN occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
interface 2) board, and then remove the SD CARD from the failure ACP01 board to
insert it into the new ACP01 board.
Alarm List

failure (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
An error occurred in the IP Setting error Check the following settings.
2 address setting process of the ·IP address setting of LAN interface in maintenance mode"
Ethernet function.
operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
Alarm List-316
occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
board, and then remove the SD CARD from the failure ACP01 board to
An error occurred in the subnet Setting error Check the following settings.
3 mask setting process of the ·Subnet mask of LAN interface in maintenance mode
Ethernet function.
Number Message Code
An error occurred in the default Setting error Check the following settings.
4 gateway setting process of the ·Default gateway of LAN interface in maintenance mode
Ethernet function.
Alarm List

An error occurred in the host Setting error Check the following settings.
5 name setting process of the ·Server (host) of LAN interface in maintenance mode
Ethernet function.
Alarm List-317
An error occurred in the MAC Software (1)Turn the power OFF then back ON.
address getting process of the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
6
Ethernet function.(LAN occurred YASKAWA representative about occurrence status (operating procedure).
interface 2)
An error occurred in the stop Setting error (1)Turn the power OFF then back ON.
10 process of the Gratuitous (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ARP.(LAN interface 2) YASKAWA representative about occurrence status (operating procedure).
Number Message Code
Other (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, save the CMOS.BIN, and then contact your
IP address duplication was Setting error Check the following settings.
12 detected. ·IP address setting of LAN interface in maintenance mode
·IP addresses of other devices in the network.
Alarm List

Alarm List-318
The Ethernet function is Setting error Check the following settings.
17 enabled in the LAN interface 2 ·LAN interface in maintenance mode
is invalid state.
Number Message Code
An error occurred in the Web Software (1)Turn the power OFF then back ON.
server task creating process of operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
20 the Ethernet function. occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
An error occurred in the FTP Software (1)Turn the power OFF then back ON.
server task creating process of operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
Alarm List

client task creating process of operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
Alarm List-319
An error occurred in the Setting error (1)Turn the power OFF then back ON.
network task generation (2)If the alarm occurs again, replace the ACP01 board. Save the
29 process. CMOS.BIN before replace the board to be safe. Replace the ACP01
Number Message Code
An error occurred in the Software (1)Turn the power OFF then back ON.
semaphore generation operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
30 process for access exclusion occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
of the Ethernet function. board, and then remove the SD CARD from the failure ACP01 board to
server task management ID operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
50 getting process of the Ethernet occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
function. board, and then remove the SD CARD from the failure ACP01 board to
Alarm List

server task management ID operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
51 getting process of the Ethernet occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
function. board, and then remove the SD CARD from the failure ACP01 board to
Alarm List-320
An error occurred in the DHCP Software (1)Turn the power OFF then back ON.
acquisition item setting operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
59 process of the Ethernet occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
function.(LAN interface 2) board, and then remove the SD CARD from the failure ACP01 board to
Number Message Code
initialization process of the operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
60 Ethernet function.(LAN occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
interface of the Ethernet operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
61 function. occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
Alarm List

The data acquisition process Setting error Check the following settings.
from the server did not ·The DHCP server operation
62
complete within regulated ·The network status
time.
Alarm List-321
The data acquired from the Setting error Check the following settings.
63 server were found illegal in the ·The DHCP server operation
DHCP of the Ethernet function. ·The network status
Number Message Code
An error occurred in the subnet Setting error Check the following settings.
mask acquisition process in ·The DHCP server operation
64
the DHCP of the Ethernet ·The network status
function.(LAN interface 2)
Alarm List
An error occurred in the DNS Setting error Check the following settings.
server address acquisition ·The DHCP server operation
65
process in the DHCP of the ·The network status
Ethernet function.
Alarm List-322
An error occurred in the Setting error Check the following settings.
Ethernet function DNS domain ·The DHCP server operation
66
getting process in the DHCP of ·The network status
the Ethernet function.
Number Message Code
An error occurred in the SNTP Setting error Check the following settings.
server address acquisition ·The DHCP server operation
67
process in the DHCP of the ·The network status
Ethernet function.
Alarm List
An error occurred in the IP Setting error Check the following settings.

address acquisition process in ·The DHCP server operation
68
the DHCP of the Ethernet ·The network status
Alarm List-323
An error occurred in the DHCP Setting error Check the following settings.
interface structure object ·The DHCP server operation
69 mapping process of the ·The network status
interface 2)
Number Message Code
resolver initialization process ·The domain name
70 of the Ethernet function. ·The DNS related settings
·The DHCP server operation
·The network status
Alarm List
resolver setting of the Ethernet ·The domain name
71 function. ·The DNS related settings
Alarm List-324
The parameter setting error Setting error Check the following settings.
occurred in the DNS resolver ·The domain name
72 setting of the Ethernet ·The DNS related settings
function. ·The DHCP server operation
Number Message Code
The mode error occurred in the Setting error Check the following settings.
DNS resolver setting of the ·The domain name
73 Ethernet function. ·The DNS related settings
Alarm List
An error occurred in the basic Software (1)Turn the power OFF then back ON.
80 library initialization process of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
the Ethernet function. occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-325
initialization process other than operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
81
basic library of the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
function.
An error occurred in the IP Software (1)Turn the power OFF then back ON.
address acquisition process in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
100
the DHCP of the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
An error occurred in the start Software (1)Turn the power OFF then back ON.
240 process of the Ethernet operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
function Telnet (for onboard). occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List

An error occurred in the start Software (1)Turn the power OFF then back ON.
241 process of the Ethernet operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
function Telnet (for expand). occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-326
An error occurred in the device Software (1)Turn the power OFF then back ON.
1001 Ethernet function.(LAN occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
ACP01 board If the alarm occurs again, save the CMOS.BIN, and then contact your
failure YASKAWA representative about occurrence status (operating procedure).
1006 An error occurred in the MAC Software (1)Turn the power OFF then back ON.
address getting process of the operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
Ethernet function.(LAN occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
Number Message Code
1010 An error occurred in the stop Software (1)Turn the power OFF then back ON.
process of the Gratuitous operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
ARP.(LAN interface 3) occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
1014 An error occurred in the Software (1)Turn the power OFF then back ON.
initializing process of the IP operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
address duplication check occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
settting.(LAN interface 3) board, and then remove the SD CARD from the failure ACP01 board to
Alarm List

1016 Failed in IP address and Software Check the following settings.

subnet mask setting.(LAN operation error ·IP address and subnet mask settings of LAN interface in maintenance
interface 3) occurred mode
Alarm List-327
1059 An error occurred in the DHCP Software (1)Turn the power OFF then back ON.
acquisition item setting operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
process of the Ethernet occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
1060 An error occurred in the DHCP Software (1)Turn the power OFF then back ON.
Ethernet function.(LAN occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
Number Message Code
1064 An error occurred in the subnet Software Check the following settings.
mask acquisition process in operation error ·The DHCP server operation
the DHCP of the Ethernet occurred ·The network status
1068 An error occurred in the IP Software Check the following settings.

address acquisition process in operation error ·The DHCP server operation
the DHCP of the Ethernet occurred ·The network status
Alarm List
1069 An error occurred in the DHCP Software Check the following settings.
interface structure object operation error ·The DHCP server operation
mapping process of the occurred ·The network status
interface 3)
1100 An error occurred in the IP Software (1)Turn the power OFF then back ON.
address acquisition process in operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
Alarm List-328
the DHCP of the Ethernet occurred CMOS.BIN before replace the board to be safe. Replace the ACP01
IP ADDRESS SET The IP address acquired IP address could not be Setting error Check the following settings.
FAIL(DHCP) in the DHCP of the obtained at DHCP. ·The DHCP server operation
1222
Ethernet function is not ·The network status
enabled.
Number Message Code
ENABLE SW In the programming Programing (1) Turn on the main power supply again with the enable switch released.
DIAGNOSIS ERROR pendant, signal judgment pendant failure (2)If the alarm occurs again, replace the programming pendant.
and safety diagnosis of
two Enable Switches are
1227
carried out. An error
occurred during enable
switch operation or safety
diagnosis.
Machine Safety doesn't Data error (1)Turn the power OFF then back ON.
An error occurred in
correctly read the value of the (2)If the alarm occurs again, save the following parameter file in online
Alarm List
SAFETY FIELDBUS parameter which is used

1240 1 processing start wait time. mode. Initialize the following parameter file in maintenance mode, and then
SETTING ERROR in the Safety Fieldbus
load the parameter file saved in the external memory device.
function.
·SD.PRM
insert it into the new ACP01.
Alarm List-329
failure (2)If the alarm occurs again, replace the ASF01 board.
SAFETY FIELDBUS An error occurred in the The error was detected by the ASF01 board (1)Turn the power OFF then back ON.
1241 1
SYSTEM ERROR Safety Fieldbus function. PROFIsafe stack. failure (2)If the alarm occurs again, replace the ASF01 board.
The error was detected by the ASF01 board (1)Turn the power OFF then back ON.
CIP Safety stack (CH1). failure (2)If the alarm occurs again, replace the ASF01 board.
2
Subcode shows the error part
of software.
Number Message Code
The error was detected by the ASF01 board (1)Turn the power OFF then back ON.
CIP Safety stack (CH2). failure (2)If the alarm occurs again, replace the ASF01 board.
3
Subcode shows the error part
of software.
Processing of safety field bus ASF01 board (1)Turn the power OFF then back ON.
10 was not completed to the failure (2)If the alarm occurs again, replace the ASF01 board.
default time.
Alarm List
The error was detected with ASF01 board (1)Turn the power OFF then back ON.
11 the status check of safety field failure (2)If the alarm occurs again, replace the ASF01 board.
bus communication.
Invalid processing was ASF01 board (1)Turn the power OFF then back ON.
12 detected by the safety field failure (2)If the alarm occurs again, replace the ASF01 board.
bus.
Alarm List-330
Invalid processing was ASF01 board (1)Turn the power OFF then back ON.
13 detected by the safety field failure (2)If the alarm occurs again, replace the ASF01 board.
bus.
Virtual communication mode Software Set the following item in maintenance mode.
was switched to virtual from operation error ·In the case of PROFIsafe, please set the virtual communication to "safety"
safety during the occurred in the CP1616 board setting screen.
15 communication of safety field ·In the case of EtherNet/IP Safety, please set the virtual communication to
bus. "safety" in the EtherNet/IP (CPU board) setting screen.
·In the case of DeviceNet Safety, please set the virtual communication to
"safety" in the DN4 board setting screen.
Number Message Code
insert it into the new ACP01.
the communication status failure (2)If the alarm occurs again, replace the ASF01 board.
100
Alarm List
check processing of safety

field bus (PROFIsafe).
the communication status failure (2)If the alarm occurs again, replace the ASF01 board.
101
check processing of safety
Alarm List-331
Invalid processing status was ASF01 board (1)Turn the power OFF then back ON.
102 detected by the safety field bus failure (2)If the alarm occurs again, replace the ASF01 board.
(PROFIsafe).
103 the initializing processing of failure (2)If the alarm occurs again, replace the ASF01 board.
safety field bus (PROFIsafe).
Invalid processing status was ASF01 board (1)Turn the power OFF then back ON.
104 detected by the safety field bus failure (2)If the alarm occurs again, replace the ASF01 board.
(PROFIsafe).
Number Message Code
the F_Dest_Add acquisition failure (2)If the alarm occurs again, replace the ASF01 board.
105
processing of safety field bus
(PROFIsafe).
the F-Parameter check failure (2)If the alarm occurs again, replace the ASF01 board.
106
Alarm List
(PROFIsafe).
107 the Config processing of safety failure (2)If the alarm occurs again, replace the ASF01 board.
Alarm List-332
the cyclic execution failure (2)If the alarm occurs again, replace the ASF01 board.
108
(PROFIsafe).
the Output data reception failure (2)If the alarm occurs again, replace the ASF01 board.
109
(PROFIsafe).
Number Message Code
the Output data acquisition failure (2)If the alarm occurs again, replace the ASF01 board.
110
(PROFIsafe).
the Input data setting failure (2)If the alarm occurs again, replace the ASF01 board.
111
(PROFIsafe).
Alarm List

the Input data transmission failure (2)If the alarm occurs again, replace the ASF01 board.
112
(PROFIsafe).
Alarm List-333
113 the cyclic stop processing of failure (2)If the alarm occurs again, replace the ASF01 board.
safety field bus (PROFIsafe).
SERVO CPU The YRC1000 system Connection (1)Turn the power OFF then back ON.
SYNCHRONIZING performs serial failure (2)If the alarm occurs again, check the connection and insertion of the
ERROR communications between following cables and connectors.
the ACP01 board and ·SDCA01-CN515
SDCA01 board, checking ·AIF01-CN113
the synchronization of the
1300
servo regular process and
the communication
process. This alarm
occurs if any
synchronization error is
detected.
Number Message Code
COMMUNICATION This alarm occurs if there Communication status error Connection (1)Turn the power OFF then back ON.
ERROR(SERVO) is a communication error failure (2)If the alarm occurs again, check the connection and insertion of the
1301 between AIF01 board and 0 following cables and connectors.
the SDCA01 board. ·SDCA01-CN515
·AIF01-CN113
CPS01KA unit (1)Turn the power OFF then back ON.
Alarm List
failure (2) If the alarm occurs again, check the LED of the CPS01KA unit: If any of
the following red LED indications; +12V, +24V, FAN or OHT has lighten up,
replace the CPS01KA unit.
Alarm List-334
load the CMOS.BIN.
Watchdog timer error Connection (1)Turn the power OFF then back ON.
1 following cables and connectors.
·SDCA01-CN515
·AIF01-CN113
Number Message Code
load the CMOS.BIN.
Communication status error Connection (1)Turn the power OFF then back ON.
·SDCA01-CN515
·AIF01-CN113
Alarm List

Alarm List-335
load the CMOS.BIN.
Data consistency error Connection (1)Turn the power OFF then back ON.
·SDCA01-CN515
·AIF01-CN113
Number Message Code
load the CMOS.BIN.
ARITHMETIC An error occurred in The data [X____] indicates the Tool file setting Check the tool file setting.
ERROR(SERVO) control arithmetic process generation process. error (Check the units of mass and center of gravity, positive/negative signs.)
Alarm List
or parameter arithmetic 10000: Observer control

process in SDCA01 20000: High-precision path
board. control
This alarm occurs if a 30000: Dynamics
1303
control-related parameter 40000: Disturbance observer
calculated from the input control
parameter (tool file) is not The data [_YYY_] indicates the
within the specified range. alarm contents.
The data [____Z] indicates the
Alarm List-336
physical axis number.
Motor load error Check the followings.
Overload is applied to the manipulator. Correct the tools, the work pieces,
and the drive condition.
Number Message Code
AMPLIFIER TYPE When the controller Sub Code: Signifies the axis in Setting error Check the following settings.
MISMATCH power turned ON, the which the alarm occurred ·Check the current capacity of the amplifier before/after replacement by the
YRC1000 system checks model described in board.
the current capacity of the ·When the external axis is mounted, check if there is no difference between
SERVOPACK amplifier in the amplifier selected at configuration and the amplifier that is actually
1306 the servo control circuit mounted.
board. This alarm occurs Reference parameter: after SVPxG290
if there is a difference in
the capacity between the
set value and the
mounted amplifier.
Alarm List
·SDCA01-CN501
·SDCA01-CN531, CN532, CN533
·Inverter board-CN571
·SDB (External axis servo pack)-CN591
·SGDM (Large Capacity)-CN1
Module failure (1)Turn the power OFF then back ON.
Alarm List-337
(amplifier) (2)If the alarm occurs again, replace the amplifier.
ENCODER TYPE When the controller Sub Code: Signifies the axis in Setting error Check the following settings.
MISMATCH power turned ON, the which the alarm occurred ·Check the motor type before and after the replacement.
YRC1000 system checks ·When the external axis is mounted, check if there is no difference between
the encoder type of the the motor selected at configuration and the motor that is actually mounted.
1307 manipulator. This alarm
occurs if there is a
difference between the
set value and the
mounted encoder.
Number Message Code
·SDCA01-CN508
·SDCA01-CN534, CN535, CN536
(encoder) (2)If the alarm occurs again, replace the encoder.
Alarm List
CONVERTER TYPE When the controller Sub Code: Signifies the Setting error Check the following settings.
MISMATCH power turned ON, the converter in which the alarm ·Check the current capacity of the amplifier before/after replacement by the
YRC1000 system checks occurred model described in board.
the converter type. This ·When the external axis is mounted, check if there is no difference between
1308
alarm occurs if there is a the converter selected at configuration and the converter that is actually
difference between the mounted.
set value and the Reference parameter: after SVCxB060
Alarm List-338
mounted converter type.
·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
(converter) (2)If the alarm occurs again, replace the converter.
Number Message Code
HARDWARE Converter hardware is Module failure (1)Turn the power OFF then back ON.
1309 ERROR(CONVERTE incorrect. (converter) (2)If the alarm occurs again, replace the converter.
R)
CHARGE Converter charge error Module failure (1)Turn the power OFF then back ON.
1310 ERROR(CONVERTE (converter) (2)If the alarm occurs again, replace the converter.
R)
Alarm List
Primary power Check if the primary power supply voltage does not drop with a tester, etc.
failure
A/D DETECTION Converter A/D detection Module failure (1)Turn the power OFF then back ON.
1311 ERROR(CONVERTE is incorrect. (converter) (2)If the alarm occurs again, replace the converter.
R)
Alarm List-339
ID Converter ID is incorrect. Sub Code: Signifies the Module failure (1)Turn the power OFF then back ON.
ERROR(CONVERTE The YRC1000 system converter in which the alarm (converter) (2)If the alarm occurs again, replace the converter.
R) checks internal state of occurred
1312 converter in the converter
board. This alarm occurs
if any malfunction is
found.
SERIAL ENCODER An error occurred in the Module failure (1)Turn the power OFF then back ON.
1320
SENSOR ERROR encoder. (encoder) (2)If the alarm occurs again, replace the encoder.
Number Message Code
SERVO BOARD Brake signal is incorrect. Connection (1)Turn the power OFF then back ON.
ERROR(BRAKE failure (2)If the alarm occurs again, check the connection and insertion of the
SIGNAL) following cables and connectors.
1321
·SDCA01-CNBX
·ASF01-CNBX, CN207(AXDIN,AXIN)
(3)Check the connection of wiring around the brake circuit board.
COMMUNICATION The YRC1000 system Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
ERROR(ENCODER) performs serial which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
communications between following cables and connectors.
controller and encoder. [Robot axis]
Alarm List
This alarm occurs if the - Cable between encoders

system fails to establish - SDCA01-CN508
1325
the communications. [External axis]
- Cable between encoders
- SDCA01-CN534, CN535, CN536
[Using external force monitoring board ASF04]
- ASF04 board-CN231,CN232,CN235,CN236,CN237,CN238
- CPS01KA Unit-CN156
Alarm List-340
ASF04 board If ASF04 board is used, need to confirm the following.
failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the ASF04 board. Save the
Number Message Code
DEFECTIVE When the controller Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
ENCODER power turned ON, the which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
ABSOLUTE DATA YRC1000 system checks following cables and connectors.
the encoder data. This [Robot axis]
1326 alarm occurs if there is an ·Cable between encoders
error in the encoder data . ·SDCA01-CN508
[External axis]
·Cable between encoders
·SDCA01-CN534, CN535, CN536
Alarm List
failure (2)If the alarm occurs again, replace the SDCA01 board and the EAXB
board. Save the CMOS.BIN before replace the board to be safe.
ENCODER OVER When the controller Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
SPEED power turned ON, the which the alarm occurred failure (2) Before turning the servo power OFF, change the manipulator posture so
YRC1000 system checks that any axes won't drop when the servo power is turned ON.
the encoder data. This (3) If the alarm occurs again in combination with encoder backup error,
Alarm List-341
alarm occurs if any axis replace the battery of the appropriate axis.
moves (i.e. falls by its own (4) If the alarm occurs again, check the connection and insertion of the
1327 weight), or an encoder following cables and connectors.
rotation speed of 400 rpm [Robot axis]
or more is detected during ·Cable between encoders
the power-ON process. ·SDCA01-CN508
[External axis]
·SDCA01-CN534, CN535, CN536
Encoder failure Replace the defective motor (encoder).
SDCA01 board Check whether to find error in the brake slip and the brake control relay.
failure
Number Message Code
DEFECTIVE The YRC1000 system Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
ENCODER performs serial which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
communications between following cables and connectors.
1328 This alarm occurs if there ·Cable between encoders
is an error in the internal ·SDCA01-CN508
data of the encoder. [External axis]
·SDCA01-CN534, CN535, CN536
Alarm List
DEFECTIVE The YRC1000 system Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
ENCODER performs serial which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
COMMAND communications between following cables and connectors.
Alarm List-342
1329 This alarm occurs if the ·Cable between encoders
operation in response to ·SDCA01-CN508
the encoder command is [External axis]
a malfunction. ·Cable between encoders
·SDCA01-CN534, CN535, CN536
Number Message Code
POSITION ERROR The number of pulses SDCA01 board (1)Turn the power OFF then back ON.
generated by one motor failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
1332
rotation does not agree CMOS.BIN before replace the board to be safe.
with the specified value. ·Check the position after the alarm.
[Robot axis]
·SDCA01-CN508
[External axis]
Alarm List
·SDCA01-CN534, CN535, CN536

Noise Check the following settings.
interference ·Check the grounding condition of Manipulator.
·Install a ferrite core to the motor power line.
POSITION The number of pulses SDCA01 board (1)Turn the power OFF then back ON.
ERROR(SERIAL generated by one motor failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Alarm List-343
1333
ENCODER) rotation does not agree CMOS.BIN before replace the board to be safe.
with the specified value.
[Robot axis]
·SDCA01-CN508
[External axis]
·SDCA01-CN534, CN535, CN536
Noise Check the following settings.
interference ·Check the grounding condition of Manipulator.
·Install a ferrite core to the motor power line.
Number Message Code
ENCODER NOT This alarm occurs when Sub Code: Signifies the axis in Battery failure Replace the battery.
RESET reset operation to recover which the alarm occurred
1335
from the encoder backup
error did not complete.
Alarm List
OVER SPEED LIMIT The speed is exceeding Setting error Check the JOB.
1339
the limit.
SERVO OVERRUN Overrun signal occurred. Motion range Check if the overrun limit switch is activated by the manipulator.
1341
Alarm List-344
ERROR error
Connection Check the overrun line.
failure
COMMUNICATION The YRC1000 system Communication status error Connection (1)Turn the power OFF then back ON.
ERROR(CONVERTE performs serial (The first digit shows the failure (2)If the alarm occurs again, check the connection and insertion of the
R) communications between converter No.) following cables and connectors.
the SDCA01 board and ·SDCA01-CN507, CN531, CN532, CN533
1343 101
the converter. ·CPS01-CN154
This alarm occurs if there ·Converter-CN557, CN561
is an error in the serial ·SDB (External axis servo pack)-CN591,592
communications.
Number Message Code
Command timeout (The first Connection (1)Turn the power OFF then back ON.
digit shows the converter No.) failure (2)If the alarm occurs again, check the connection and insertion of the
102 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List

Alarm List-345
Transmission buffer FULL Connection (1)Turn the power OFF then back ON.
(The first digit shows the failure (2)If the alarm occurs again, check the connection and insertion of the
converter No.) following cables and connectors.
103 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
CRC-16 failure (The first digit Connection (1)Turn the power OFF then back ON.
shows the converter No.) failure (2)If the alarm occurs again, check the connection and insertion of the
104 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List
Error code received (The first Connection (1)Turn the power OFF then back ON.
105 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List-346
Receive command error (The Connection (1)Turn the power OFF then back ON.
first digit shows the converter failure (2)If the alarm occurs again, check the connection and insertion of the
No.) following cables and connectors.
106 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
201 ·SDCA01-CN507, CN531, CN532, CN533
Alarm List
·CPS01-CN154
Alarm List-347
202 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
203 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List

Alarm List-348
204 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
205 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List
206 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List-349
301 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
302 ·SDCA01-CN507, CN531, CN532, CN533
Alarm List
·CPS01-CN154
Alarm List-350
303 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
304 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List

Alarm List-351
305 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
306 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List
401 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List-352
402 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
403 ·SDCA01-CN507, CN531, CN532, CN533
Alarm List
·CPS01-CN154
Alarm List-353
404 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
405 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List

Alarm List-354
406 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
501 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List
502 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List-355
503 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
504 ·SDCA01-CN507, CN531, CN532, CN533
Alarm List
·CPS01-CN154
Alarm List-356
505 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
506 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List

Alarm List-357
601 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
602 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List
603 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Alarm List-358
604 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
605 ·SDCA01-CN507, CN531, CN532, CN533
Alarm List
·CPS01-CN154
Alarm List-359
606 ·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
Number Message Code
POWER LOST POWER LOST signal was Instant power Check if the primary power supply voltage is dropping.
1349 DETECTION(SDCA01 detected. failure
board)
ENCODER The YRC1000 system Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
CORRECTION controls the manipulator which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
ERROR based on the position following cables and connectors.
data from encoder. If a [Robot axis]
Alarm List
communication error ·Cable between encoders

occurs in a control cycle, ·SDCA01-CN508
the system controls the [External axis]
1352 manipulator in ·Cable between encoders
accordance with the ·SDCA01-CN534, CN535, CN536
previous position data
checking the
compensation data. This
alarm occurs if the
Alarm List-360
compensation data is not
within the specified value.
Number Message Code
ENCODER When the controller Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
MULTITURN LIMIT power turned ON, the which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
ERR YRC1000 system checks following cables and connectors.
the encoder multi-turn [Robot axis]
1355 quantity. This alarm ·Cable between encoders
occurs if the multi-turn ·SDCA01-CN508
quantity data is not within [External axis]
the normal range. ·Cable between encoders
·SDCA01-CN534, CN535, CN536
Alarm List
SPECIFIED AXIS A task request was sent Setting error (1)Check the job setting.
ERROR to an axis of the group (2)Turn the power OFF then back ON.
1356
that was disabled by the
group separation function.
Alarm List-361
PRESS ERROR The position or speed Setting error (1)Check the job setting.
value exceeded the limit (2)Turn the power OFF then back ON.
value during pressuring
1357 after gun tip hit the
welded target. The motion
after gun tip hits the
welded target is incorrect.
Number Message Code
GROUND FAULT This alarm occurs if there Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
is a ground fault in any which the alarm occurred. failure (2)If the alarm occurs again, check the connection and inserting state of the
motor power line (If the alarm occured at an axis following cables and connectors.
connected to converter. which is driven by a common ·Inverter board-CN573-579
The axis cannot be converter all the subject axes ·SDB (External axis SERVO PACK)-CN594
specified because of are indicated.)
1365 detection with the
converter, but the axis
can be specified if "4337
over current (amplifier)"
has been occurred at the
same time or it remains in
Alarm List
the history.
failure (2)If the alarm occurs again, replace the following cables.
Check the axis in which earth fault occurs in the alarm history screen.
If both robot axes and external axes use the same type converter, the earth
fault may occur on the external axis not the robot axis. (There is also a
possibility that it is stained by water)
(1) External axis cables (Power wire)
Alarm List-362
(2) Traveling axis cable (Power wire)
(3) Power supply cable (Robot axis, external axis) (Power wire)
(4) Internal cables (Robot axis, external axis) (Power wire)
Module failure Check if there is no ground fault in the regeneration resistors.
(Regenerative
resistor)
GND wiring (1)Turn the power OFF then back ON.
failure (2) If the alarm repeats, check the voltage of the primary power and GND. If
the voltage amount on each RST varies more than 100V, review the GND
setting.
(motor) (2)If the alarm occurs again, replace the motor.
(amplifier) (2)If the alarm occurs again, replace the Inverter board.
Number Message Code
CMOS.BIN before replacing the board to be safe.
before replacing the YPU unit to be safe.
OVERVOLTAGE(CON The DC voltage supplied Sub Code: Signifies the Connection (1)Turn the power OFF then back ON.
Alarm List
VERTER) from the converter to the physical No. of converter in failure (2)If the alarm occurs again, check the connection and inserting state of the
SERVO PACK exceeded which the alarm occurred following cables and connectors.
Stipulated voltage (420V). ·SDCA01-CN507, CN531, CN532, CN533
This alarm occurs if the ·CPS01-CN154
regenerative energy ·Converter-CN557, CN561
1367
during the motor ·SDB (External axis SERVO PACK)-CN591,592
deceleration is too much
that it cannot be
processed in the
Alarm List-363
regenerative circuit of
SERVO PACK.
Setting error Check the load mounted on the manipulator.
Voltage failure Modify the primary breaker voltage to the specified voltage 200V(+10% to
15%).
Module failure (1)Disconnect the converter-CN552 to check if there is no cable
(Regenerative disconnection.
resistor) (2)If disconnected, replace the regenerative resistor.
Number Message Code
REGENERATIVE This alarm occurs if the Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
TROUBLE(CONVERT converter regenerative which the alarm occurred failure (2)If the alarm occurs again, check the connection and inserting state of the
ER) resistor cable is following cables and connectors.
disconnected or short- ·SDCA01-CN507, CN531, CN532, CN533
circuited. ·CPS01-CN154
The regenerative energy ·Converter-CN557, CN561
at motor deceleration ·SDB (External axis SERVO PACK)-CN591,592
1368 exceeded the allowable
limit.
The regenerative energy
Alarm List
at motor deceleration is
too large.
The primary power supply
voltage is too high (above
242V)
Module failure Replace the regenerative resistor.
(Regenerative
resistor)
Alarm List-364
Overloading Check that the load does not exceed the allowable limit.
INPUT POWER OVER This alarm occurs if the Sub Code: Signifies the Voltage failure Modify the primary breaker voltage to the specified voltage 200V(+10% to
VOLTAGE(CONV) input voltage monitored physical No. of converter in 15%).
1369
by the YRC1000 exceeds which the alarm occurred
420 V.
Number Message Code
failure (2)If the alarm occurs again, check the connection and inserting state of the
·SDCA01-CN507, CN531, CN532, CN533
·CPS01-CN154
·SDB (External axis SERVO PACK)-CN591,592
Alarm List
MICRO PROGRAM Micro program error SDCA01 board (1)Turn the power OFF then back ON.
1370 ERROR (SV) occurred. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Alarm List-365
SERVO PROGRAM Micro program error SDCA01 board (1)Turn the power OFF then back ON.
1371 SYNC. ERROR (SV) occurred. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
PARAMETER ERROR Parameter error occurred Sub Code: Signifies the axis in Module failure (1)Turn the power OFF then back ON.
1372
(CONVERTER) in converter. which the alarm occurred. (converter) (2)If the alarm occurs again, replace the converter.
OVERCURRENT(CO Overcurrent is detected in Sub Code: Signifies the axis in Module failure (1)Turn the power OFF then back ON.
1373
NVERTER) converter. which the alarm occurred. (converter) (2)If the alarm occurs again, replace the converter.
Number Message Code
ENCODER MIXED Encoder-axis allocation is Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
1374 ALLOCATION mismatched. which the alarm occurred. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
ERROR CMOS.BIN before replacing the board to be safe.
Setting error Check the parameter setting value.
Alarm List

ENCODER Encoder-axis allocation is SDCA01 board (1)Turn the power OFF then back ON.
1375 ALLOCATION mismatched. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
RANGE ERROR CMOS.BIN before replacing the board to be safe.
Alarm List-366
ENCODER SET AXES Encoder-axis allocation is SDCA01 board (1)Turn the power OFF then back ON.
1376 NUMBER OVER mismatched. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Number Message Code
ENCODER CABLE Encoder-axis allocation is Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
DISCONNECTION mismatched. which the alarm occurred. failure (2)The multi-drop encoders are addressed in order of near side by the
(SV) SDCA01 board, and only 1 axis which is not able to address is alarmed.
And the encoders are addressed successfully before the alarm axis.
Therefore, check the connection and insertion of the cable and connector
before the alarm axis, or the encoder of the alarm axis.
(3)If the alarm occurs again, check the connection and insertion of the
1377
[Robot axis]
- SDCA01-CN508
[External axis]
Alarm List

- SDCA01-CN534, CN535, CN536
- ASF04 board-CN235,CN236,CN237,CN238
Alarm List-367
MICRO PROGRAM Micro program error SDCA01 board (1)Turn the power OFF then back ON.
1378 INIT. SEQ. ERR(SV) occurred. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
CHOPPER Chopper overcurrent is Sub Code: Signifies the axis in Module failure (1)Turn the power OFF then back ON.
1379 OVERCURRENT(CO detected in converter. which the alarm occurred. (converter) (2)If the alarm occurs again, replace the converter.
NVERTER)
Number Message Code
ENCODER ADDRESS Encoder-address verify Sub Code: Signifies the axis in Setting error Check the parameter setting value.
1380
VERIFY ERROR error is detected. which the alarm occurred.
INPUT PRIMARY The voltage of the primary Sub Code: Signifies the axis in Voltage failure Check the primary breaker voltage to the specified voltage
POWER SUPPLY power supply (200V or which the alarm occurred.
1381
Alarm List
MISMATCH 400V) differs from the

converter specification.
Connection Check the power supply cable of the cooling fan in the CPS01KA unit.
failure
CPS01KA unit Replace the CPS01KA unit.
Alarm List-368
failure
Safety Signal Timing The STO is abnormal. STO 1 is abnormal. SDCA01 board (1)Turn the power OFF then back ON.
1382 Error(SV) 1 failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
STO 2 is abnormal. SDCA01 board (1)Turn the power OFF then back ON.
2 failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Number Message Code
Alarm List
Alarm List-369
Gate Drive Error1(SV) The STO is abnormal. STO 1 is abnormal. SDCA01 board (1)Turn the power OFF then back ON.
1383 1 failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Number Message Code
Alarm List
Alarm List-370
Number Message Code
Alarm List
Alarm List-371
Number Message Code
Alarm List
Alarm List-372
STO Sequence The STO is abnormal. STO 1 is abnormal. SDCA01 board (1)Turn the power OFF then back ON.
1386 monitor Error(SV) 1 failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Number Message Code
Alarm List
failure
Alarm List-373
ENCODER Conveyor encoder 1 is Connection Replace the cable of the conveyor encoder 1 or encoder.
1400 ERROR(CONVEYOR) The encoder is abnormal. 1 abnormal. failure, Module
failure (encoder)
Conveyor encoder 2 is Connection Replace the cable of the conveyor encoder 2 or encoder.
2 abnormal. failure, Module
failure (encoder)
Number Message Code
Conveyor encoder 3 is Connection Replace the cable of the conveyor encoder 3 or encoder.
3 abnormal. failure, Module
failure (encoder)
CANNOT CHANGE The encoder mode Input error Do not switch "Encoder / Virtual encoder" with the general signal while
CONVEYOR MODE "Encoder / Virtual performing the conveyor synchronized function.
encoder" was switched by
1401
the general input while
performing conveyor
synchronized function.
Alarm List
WORK IN/NOT DATA An arithmetic error Work status error Check the work in/not shift data and actual the work status within the shift
CNT. LMT. OVER occurred for the current area.
1402
position pulse of Work IN/
NOT Shift Data.
Alarm List-374
WORK IN/NOT SHIFT An arithmetic error Work status error Check the work in/not shift data and actual the work status within the shift
DATA POS LMT. occurred for the current area.
1403
travel length of Work IN/
NOT Shift Data.
WORK ID. DATA An arithmetic error Work status error Check the work in/not shift data and actual the work status within the shift
CNT. LMT. OVER occurred for the current area.
1404
position pulse of Work ID
Shift Data.
Number Message Code
WORK ID. SHIFT An arithmetic error Work status error Check the work in/not shift data and actual the work status within the shift
DATA POS LMT. occurred for the current area.
1405
travel length of Work ID
Shift Data.
START SHIFT DATA An arithmetic error Work status error Check the start shift data and actual the work status within the shift area.
CNT. LMT. OVER occurred for the current
1406
position pulse of Start
Shift Data.
Alarm List

START SHIFT DATA An arithmetic error Work status error Check the start shift data and actual the work status within the shift area.
POS LMT. occurred for the current
1407
travel length of Start Shift
Data.
PORT OPEN ERROR Failed to open the Software (1)Turn the power OFF then back ON.
Alarm List-375
1437 communication port. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
POWER SUPPLY The rotation speed of in- Connection Check the power supply cable of the cooling fan in the CPS power unit.
1512 FAN ERROR(SERVO) panel cooling fan failure
decreased.
CPS01KA unit Check the cooling fan in the CPS01KA unit is working.
failure Replace the CPS01KA unit.
Install failure Check that the air inlet or outlet is not blocked.
Number Message Code
POWER SUPPLY Temperature sensor in The temperature Turn the power OFF then back ON after cooling the controller.
OVERHEAT(SERVO) the CPS01KA unit is rises in the
activated. The internal controller
1513
temperature of the
controller is abnormally
increased.
Connection Check the power supply cable of the cooling fan in the CPS01KA unit.
failure
CPS01KA unit Replace the CPS01KA unit.
failure
Alarm List

OVERHEAT(AMPLIFI Amplifier overheated. The temperature Turn the power OFF then back ON after cooling the amplifier.
1514 ER) rises in the
amplifier
·SDCA01-CN501
Alarm List-376
·SDCA01-CN531, CN532, CN533
Number Message Code
CURRENT This alarm occurs if an The data [XXX__] indicates Ground fault Check if a ground fault has not occurred in the U-, V-, and W-phase of
FEEDBACK ERROR excessive current is the alarm contents. motor power line, or short circuit has not occurred between these phases.
applied for motor. 200:The motor current value is
1547 abnormal.
The data [_______Y] indicates

the physical axis number.
·SDCA01-CN501, CN531, CN532, CN533
·Inverter board-CN571,CN573-579
Alarm List
·CPS01 unit-CN157
·SDB(External axis servo pack)-CN591,594
·Moter power line
Setting error (1)Check the load mounted on the manipulator.
(2)Check the JOB.
Alarm List-377
OVERCURRENT(SER Overcurrent was Ground fault Check if a ground fault has not occurred in the U-, V-, and W-phase of
1554
VO2) detected. motor power line, or short circuit has not occurred between these phases.
The temperature Turn the power OFF then back ON after cooling the controller.
rises in the
controller
Setting error Check the settings for manipulator motion condition (influence by external
force, load condition).
Number Message Code
(SERVOPACK) (2)If the alarm occurs again, replace the SERVOPACK.
SYSTEM The internal program Connection (1)Turn the power OFF then back ON.
ERROR(SERVO2) error occurred in the failure (2)If the alarm occurs again, check the connection and insertion of the
1560 SERVOPACK. following cables and connectors.
·SDCA01-CN534, CN535, CN536
·SGDM (Large Capacity)-CN1
Alarm List

(SERVOPACK) (2)If the alarm occurs again, replace the SERVOPACK.
The CPU timer and the Connection (1)Turn the power OFF then back ON.
communication failure (2)If the alarm occurs again, check the connection and insertion of the
interruption timing are following cables and connectors.
checked by the function ·SDCA01 Board -CN515
Alarm List-378
safety board when ·AIF01 Board-CN113
F-SAFE CPU
1610 performing the serial ·SDCA01 Board And ASF01 - CNBX
SYNCHRO ERROR
communication between
ACP01 (main CPU board)
and ASF01 board. This
alarm occurs if the timing
becomes off.
Number Message Code
The CPU timer and the Communication status error Connection (1)Turn the power OFF then back ON.
communication failure (2)If the alarm occurs again, check the connection and insertion of the
interruption timing are following cables and connectors.
checked by the function ·SDCA01 Board -CN515
F-SAFE safety board when ·AIF01 Board-CN113
1612 COMMUNICATION performing the serial 0 ·SDCA01 Board And ASF01 - CNBX
ERROR communication between
ACP01 (main CPU board)
and ASF01 board. This
alarm occurs if the timing
becomes off.
Alarm List
Alarm List-379
Watchdog timer error Connection (1)Turn the power OFF then back ON.
1
·SDCA01 Board -CN515
·AIF01 Board-CN113
·SDCA01 Board And ASF01 - CNBX
Number Message Code
JL0101 alarm Connection (1)Turn the power OFF then back ON.
2
·AIF01 Board-CN113
Alarm List

3
·AIF01 Board-CN113
Alarm List-380
Number Message Code
Data consistency error Connection (1)Turn the power OFF then back ON.
4
·AIF01 Board-CN113
Alarm List

CRC error Connection (1)Turn the power OFF then back ON.
Alarm List-381
5
·AIF01 Board-CN113
Number Message Code
CRC error ASF01 board (1)Turn the power OFF then back ON.
6 failure (2)If the alarm occurs again, replace the ASF01 board. Save the
CRC error ASF01 board (1)Turn the power OFF then back ON.
Alarm List
Alarm List-382
Communication error Sub Code: Signifies the axis in Blown fuse If AL1962 "SDCA01 board failure" occurred simultaneously with this alarm,
F-SAFE ENCODER occurred between the which the alarm occurred Replace the fuse(F1) in the SDCA01 board.
1613
COMM. ERR 1 encoder and the ASF01
board.
[Robot axis]
·SDCA01 Board - CN508
[External axis]
·SDCA01 Board - CN534, 535, 536
Number Message Code
Communication error SDCA01 board If AL1962 "SDCA01 board failure" occurred simultaneously with this alarm,
F-SAFE ENCODER occurred between the (Blown fuse) Replace the fuse(F1) in the SDCA01 board.
1614
COMM. ERR 2 encoder for all axes and
the ASF01 board.
Alarm List

[Robot axis]
- SDCA01 Board - CN508
- SDCA01 Board And ASF01 - CNBX connector
[External axis]
- SDCA01 Board - CN534, 535, 536
- SDCA01 Board And ASF01 - CNBX connector
Alarm List-383
- CPS01KA unit-CN156
Number Message Code
failure (2)If the alarm occurs again, confirm the following connector's connection
and insertion.
[Robot axis]
F-SAFE SYSTEM System error occurred in
1615 - SDCA01-CN508
ERROR the ASF01 board.
[External axis]
- SDCA01-CN534, CN535, CN536
Alarm List
Alarm List-384
F-SAFE SYSTEM System error occurred in
ERROR 1 the ASF01 board.
F-SAFE ARITHMETIC Arithmetic error occurred
ERROR in the ASF01 board.
Number Message Code
Parameter setting value ASF01 board (1)Turn the power OFF then back ON.
F-SAFE PARAMETER
1619 error occurred in the failure (2)If the alarm occurs again, replace the ASF01 board. Save the
ERROR
ASF01 board. CMOS.BIN before replace the board to be safe.
Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
[Robot axis]
The ASF01 board has
F-SAFE DEFECTIVE detected a malfunction of
1622 ·SDCA01 Board - CN508
ENCODER the encoder diagnostic
Alarm List
data.
[External axis]
·SDCA01 Board - CN534, 535, 536
Alarm List-385
The ASF01 board Sub Code: Signifies the axis in Connection (1)Turn the power OFF then back ON.
monitors position which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
information sent from the following cables and connectors.
encoder. If [Robot axis]
communication error ·Cable between encoders
F-SAFE ENCODER occurs during a control ·SDCA01 Board - CN508
1623
CORR. NUM OVER cycle, it monitors based ·SDCA01 Board And ASF01 - CNBX
on the last position data. [External axis]
At that time, if the ·Cable between encoders
correction data exceeds ·SDCA01 Board - CN534, 535, 536
the specified value, this ·SDCA01 Board And ASF01 - CNBX
alarm occurs.
Number Message Code
This alarm is caused if the Connection (1)Turn the power OFF then back ON.
SAFETY BOARD NOT ASF01 board which has failure (2)If the alarm occurs again, check the connection and insertion of the
1626
INSTALLED not been installed is SDCA01-CNBX-ASF01 connectors.
assigned.
Alarm List

Alarm List-386
The communication error Connection (1)Turn the power OFF then back ON.
SAFETY BOARD
occurred failure (2)If the alarm occurs again, check the connection and insertion of the
1627 COMM
between the ASF01 board SDCA01-CNBX-ASF01 connectors.
ERROR(SERVO)
and the SDCA01 board.
Number Message Code
The ASF01 board is ASF01 board (1)Turn the power OFF then back ON.
configured by duplicated failure (2)If the alarm occurs again, replace the ASF01 board. Save the
systems to check CMOS.BIN before replace the board to be safe.
F-SAFE MUTUAL operations each other.
1630
DIAG. ERR(WDT) Either of the duplicated
systems operates
abnormally, watchdog
check failed.
The ASF01 board is Setting error Confirm that the rotary switch on the ASF01[#1-8] board is set to [0-7].
configured by duplicated
Alarm List
systems to check
F-SAFE MUTUAL operations each other.
1631
DIAG. ERR(HW SET) Either of the duplicated
systems has detected
hardware setting error of
the other system
Alarm List-387
The ASF01 board is ASF01 board (1)Turn the power OFF then back ON.
configured by duplicated failure (2)If the alarm occurs again, replace the ASF01 board. Save the
F-SAFE MUTUAL systems to check CMOS.BIN before replace the board to be safe.
1632 DIAG. operations each other. A
ERR(MONITOR) safety monitoring error
occurred in either of the
duplicated systems.
Number Message Code
The ASF01 board is Low voltage error detected in ASF01 board (1)Turn the power OFF then back ON.
configured by duplicated the 1.0V supply line. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
F-SAFE LOW operations each other.
1635 1
VOLTAGE Either of the duplicated
abnormal voltage of the
other system
Low voltage error detected in ASF01 board (1)Turn the power OFF then back ON.
2 the 1.5V supply line. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
Alarm List

Alarm List-388
Number Message Code
The ASF01 board is Over voltage error detected in ASF01 board (1)Turn the power OFF then back ON.
configured by duplicated the 1.0V supply line. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
F-SAFE OVER operations each other.
1636 1
VOLTAGE Either of the duplicated
abnormal voltage of the
other system
Alarm List
Over voltage error detected in ASF01 board (1)Turn the power OFF then back ON.
Alarm List-389
Number Message Code
The ASF01 board has ASF01 board (1)Turn the power OFF then back ON.
F-SAFE RAM
1637 detected RAM diagnosis failure (2)If the alarm occurs again, replace the ASF01 board. Save the
DIAGNOSIS ERROR
error. CMOS.BIN before replace the board to be safe.
F-SAFE ROM
Alarm List
1638 detected ROM diagnosis failure (2)If the alarm occurs again, replace the ASF01 board. Save the
DIAGNOSIS ERROR
F-SAFE RAM AREA detected processing error failure (2)If the alarm occurs again, replace the ASF01 board. Save the
1639
CONVERSION ERR of mirror area used for CMOS.BIN before replace the board to be safe.
RAM diagnosis.
Alarm List-390
F-SAFE REAL TIME
1640 detected processing error failure (2)If the alarm occurs again, replace the ASF01 board. Save the
MONITOR ERROR
of real time monitor. CMOS.BIN before replace the board to be safe.
F-SAFE WATCHDOG
1642 detected watchdog signal failure (2)If the alarm occurs again, replace the ASF01 board. Save the
SIGNAL ERROR
Number Message Code
Sub Code: Data error If the alarm occurs again, check the configuration of condition file
Code ?X _ _ _ ? indicates the abnormality occurs.
abnormal content.
1000: Input/output signal
number in conditionfile is
abnormal.
2000: Functional safety
general input signal that is not
available is set in condition file.
3000: Functional safety
general output signal that is
not available is set in condition
Alarm List
file.
4000: Safety fieldbus input
signal that is not available is
set in condition file.
5000: Safety fieldbus output
Safety signal
signal that is not available is
configuration data of
F-SAFE SAFETY set in condition file.
1643 safety monitoring
SIGNAL SET ERROR 6000: File valid condition data
conditions file is
is abnormal.
abnormal.
Alarm List-391
Code ? _ Y _ _ ? indicates the
type of condition file
abnormality occurs.
100: Axis range limit function
200: Axis speed monitor
function
300: Speed limit function
400: Robot range limit function
500: Tool angle monitor
function
600: Tool change monitor
function
Code ? _ _ Z Z? indicates the

number of condition file
abnormality occurs.
Number Message Code
An error has been Sub Code: Signifies the file ASF01 board (1)Turn the power OFF then back ON.
detected in the kind in which the alarm failure (2)If the alarm occurs again, replace the ASF01 board. Save the
1645 F-SAFE CRC ERROR
Communication data from occurred. CMOS.BIN before replace the board to be safe.
YCP21 to ASF01.
Alarm List
F-SAFE The rotary switch setting Sub Code: The rotary switch Setting error (1)Select the following menu.
1646 COMM.SETTING on the ASF01 board has number recorded in the ASF01 ·{File}-{Initialize}, {Safety Board FLASH Reset} in maintenance mode.
ERROR an error. board is shown. (2)Turn the power OFF then back ON.
Setting error Confirm that the rotary switch on the ASF01[#1-8] board is set to [0-7].
Alarm List-392
FILE TRANSFER An error occurred in the An error occurred when the AIF01 board (1)Turn the power OFF then back ON.
DATA ERROR (SV) file transfer sequence at last data was not received failure (2)If the error occurs again, save the CMOS.BIN, replace the AIF01 board.
1650 execution of motion 1 during the first data and then load the CMOS.BIN previously saved in maintenance mode.
command. communication at execution of
motion command.
failure (2)If the error occurs again, save the CMOS.BIN, replace the SDCA01
board.
Number Message Code
ACP01 board Turn the power OFF then back ON.
failure If the error occurs again, save the CMOS.BIN, and then replace the ACP01
board. In this case, use the original SD card of the ACP01 board.
An error occurred when the SDCA01 board (1)Reset the alarm.(In case of major alarm, turn the power OFF then back
first data was not received failure ON.)
2 during on the way data (2)If the alarm occurs again, replace the SDCA01 board. Save the
communication at execution of CMOS.BIN before replace the board to be safe.
motion command.
Alarm List

An error occurred when the SDCA01 board (1)Reset the alarm.(In case of major alarm, turn the power OFF then back
first data was not received failure ON.)
3 during the last data (2)If the alarm occurs again, replace the SDCA01 board. Save the
communication at execution of CMOS.BIN before replace the board to be safe.
motion command.
Alarm List-393
FILE TRANSFER The data size for the file The data size for the file SDCA01 board (1)Turn the power OFF then back ON.
DATA SIZE ERR (SV) transfer was over housing transfer does not agree with failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
1651 1
size at executing a motion the received buffer size. CMOS.BIN before replace the board to be safe.
command.
Buffer size over SDCA01 board (1)Turn the power OFF then back ON.
Number Message Code
DB ON ERROR An attempt was made to Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
(SERVO) turn ON the DB although which the alarm occurred failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
1652
the base block is CMOS.BIN before replace the board to be safe.
released.
BASE BLOCK An attempt was made to Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
SIGNAL release the base block which the alarm occurred failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
1653
ERROR(SERVO) although the DB is turned CMOS.BIN before replace the board to be safe.
ON.
Alarm List

PG POWER ON The request to turn ON Setting error Check if the PICK instruction was executed again for the axis where
MULTIPLE REQ (SV) the PG power supply executed the PICK instruction in the gun change system.
1654 again was sent to an axis
where the PG power was
Alarm List-394
already ON.
CONVERTER The source data size Module failure (1)Turn the power OFF then back ON.
COMMAND ERROR does not agree with the (converter) (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
(SV) destination data size YASKAWA representative about occurrence status (operating procedure).
1655
during converter
communication control
data transmission.
AXIS ENDLESS INFO An error occurred while Setting error (1)Check the JOB.
1656 NOT the axis endless function (2)Turn the power OFF then back ON.
GENERATED(SV) was being used.
Number Message Code
AXIS ENDLESS An unusable function was The home position detecting Setting error Disable either the axis endless function or the home position detection
SPECIFIC. ERR(SV) executed for the axis function was used for the axis function of corresponding axis.
which the deceleration for which the axis endless
stop alarm function was function was enabled.
1657 1
enabled. The home position detecting
function cannot be used for the
axis which the axis endless
function was enabled.
The servo float function was Setting error Disable either the axis endless function or the servo float function of
used for the axis for which the corresponding axis.
Alarm List
axis endless function was

enabled.
2
The servo float function cannot
be used for the axis which the
axis endless function was
enabled.
Alarm List-395
REDUCTION STOP An unusable function was The servo float function was Setting error (1)Check the JOB.
SPECIFIC. ERR(SV) executed for the axis for used for the axis for which the (2)Turn the power OFF then back ON.
which the deceleration deceleration stop function was
stop alarm function was enabled.
1658 1
enabled. The servo float function cannot
be used for the axis which the
deceleration stop function was
enabled.
Number Message Code
The specified axis speed Setting error (1)Check the JOB.
control function was executed (2)Turn the power OFF then back ON.
for the axis which the
deceleration stop function was
2 enabled.
Specified axis speed control
function cannot be used for the
axis which the deceleration
stop function was enabled.
MOTOR GUN The PG power supply of Setting error (1)Check if the PICK instruction was executed again for the axis where
Alarm List
1659 CHANGE PG PWR the axis for gun change is executed the PICK instruction in the gun change system.
ON ERR(SV) already ON. (2)Turn the power OFF then back ON.
MOTOR GUN The servo power supply Setting error (1)Check if the PICK instruction was executed again for the axis where
1660 CHANGE SV ON of the axis for gun change executed the PICK instruction in the gun change system.
ERR(SV) is already ON. (2)Turn the power OFF then back ON.
Alarm List-396
MOTOR GUN COND. The gun number allocated File setting error (1)Check the gun condition file.
FILE NO. ERR(SV) to the specified physical (2)Turn the power OFF then back ON.
1661 axis is different from the
specified gun condition
file number.
MOTOR GUN PRESS The gun pressure file Setting error (1)Check the JOB.
1662
FILE NO. ERR(SV) number is incorrect. (2)Turn the power OFF then back ON.
Number Message Code
WRONG MOTOR The axis specified for gun File setting error (1)Check the gun condition file.
1663 GUN PRESS AXIS pressure is not a gun axis. (2)Turn the power OFF then back ON.
(SV)
MICRO PROGRAM The counts of the micro Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
1665 SYNC. ERROR (SV) program executed on the which the alarm occurred failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
ASIC is incorrect. CMOS.BIN before replace the board to be safe.
FILE RECEIVE An attempt was made to Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
Alarm List
INCOMPLETE execute a function which which the alarm occurred failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
1666 (SERVO) use the file, the transfer CMOS.BIN before replace the board to be safe.
file was not successfully
completed.
RESOLUTION A logical error occurred in SDCA01 board (1)Turn the power OFF then back ON.
CONVERSE CONST the parameter for failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Alarm List-397
ERR(SV) modification of resolution CMOS.BIN before replace the board to be safe.
1667
which was calculated by
the parameter specified
by CMOS.BIN.
GRP CHANGE PG The PG power supply of Sub Code: Signifies the axis in Setting error (1)Check the JOB.
1672 POWER ON ERR the axis for group change which the alarm occurred (2)Turn the power OFF then back ON.
(SV) is already ON.
GRP CHANGE The PG power supply of Sub Code: Signifies the axis in Setting error (1)Check the JOB.
1673 SERVO ON ERROR the axis for change is which the alarm occurred (2)Turn the power OFF then back ON.
(SV) already ON.
Number Message Code
ARM CONTROL An error occurred in the Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
1674 SEQUENCE ERR motor control mode which the alarm occurred failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
(SV) switching process. CMOS.BIN before replace the board to be safe.
BASE BLOCK READ The status setting to base Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
SIGNAL ERR (SV) block is different from that which the alarm occurred failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
of base block signal CMOS.BIN before replace the board to be safe.
1675
reading from JL056. (The
Alarm List
lowest digit shows the

axis No.)
BASE BLOCK WRITE The status setting to base Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
SIGNAL ERR (SV) block is different from that which the alarm occurred failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
of base block signal CMOS.BIN before replace the board to be safe.
1676
writing to JL056. (The
Alarm List-398
lowest digit shows the
axis No.)
MOTOR CMD The motor command Sub Code: Signifies the axis in SDCA01 board (1)Turn the power OFF then back ON.
1678 POSITION ERROR position is incorrect. which the alarm occurred failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
(SV) CMOS.BIN before replace the board to be safe.
BRAKE POWER The fuse is blown in brake Fuse failure Replace the SDCA01 fuse.
1679
ERROR(12V) unit.
YBK21 board (1)Turn the power OFF then back ON.
failure (2)If the alarm occurs again, replace the YBK21 board.
Number Message Code
·SDCA01-CN543, CN544
·CPS01KA-CN153(+26V3)
·Power supply for brake unit
GENERAL I/O FUSE The fuse is blown in SDCA01 board (1)Turn the power OFF then back ON.
1680 BROWN(SV) SDCA01. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
Alarm List
BRAKE POWER An error occurred in the Connection (1)Turn the power OFF then back ON.
ERROR power supply in the brake failure (2)If the alarm occurs again, check the connection and insertion of the
unit. following cables and connectors.
1681
·CPS01KA-CN153(+26V3)
Alarm List-399
Short circuit or (1)Turn the power OFF then back ON.
ground fault (2)If the alarm occurs again, check the connection and inserting state of the
Check the insertion, connection, Short circuit or ground fault of the
followings.
·IM-YE250/5-80P-CN220(61,62,70,71,77,78 : 24VAX)
·IM-YE250/5-80P-CN220(63,64,72,73 : 024V2)
·AIO-CN306,CN307,CN308,CN309
Number Message Code
EXTERNAL BRAKE An error occurred in the Connection (1)Turn the power OFF then back ON.
POWER ERROR external axis brake power failure (2)If the alarm occurs again, check the connection and insertion of the
supply for brake unit. following cables and connectors.
1682
·CPS01KA-CN153(+26V3)
ground fault (2)If the alarm occurs again, check the connection and inserting state of the
Check the insertion, connection, Short circuit or ground fault of the
followings.
·IM-YE250/5-80P-CN220(61,62,70,71,77,78 : 24VAX)
Alarm List
·IM-YE250/5-80P-CN220(63,64,72,73 : 024V2)
·AIO-CN306,CN307,CN308,CN309
DC 24V POWER An error was detected in Short circuit or (1)Turn the power OFF then back ON.
Alarm List-400
1683 SUPPLY failure (SV) the voltage value of the ground fault (2)If the alarm occurs again, check the brake connection if there is a ground
CPS01KA unit. fault or short circuit.
failure (2)If the alarm occurs again, replace the CPS01KA unit.
INSTANT POWER The instant power failure The instant power failure Voltage failure (1)Check if the primary power supply voltage is dropping.
1684 failure (TRQ)(SV) occurred and then the occurred and then the torque (2)Turn the power OFF then back ON.
torque was saturated. was saturated.
INSTANT POWER The instant power failure The instant power failure Voltage failure (1)Check if the primary power supply voltage is dropping.
1685 failure (TIME)(SV) occurred for longer than occurred for longer than the (2)Turn the power OFF then back ON.
the certain time period. certain time period.
Number Message Code
POS.DEVITATION The deviation of the Setting error Check the settings for manipulator motion condition (influence by external
1686 SATURATING position reaches the soft force, load condition).
ERR(SV) limit position.
Connection Check if a ground fault has not occurred in the U-, V-, and W-phase of
failure motor power line, or short circuit has not occurred between these phases.
·SDCA01-CN501
Alarm List
·SDCA01-CN531, CN532, CN533

·SDB (External axis servo pack)-CN591
Alarm List-401
COORDINATED The function parameter is Setting error (1)Turn the power OFF then back ON.
STOP FUNC. specified for the system (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
DISABLE for which it cannot be YASKAWA representative about occurrence status (operating procedure).
applied.
1687
This function is applicable
only for the system with
two manipulators (with
two SDCA01 boards).
MEMORY DATA FILE The model file is not Storage file number is Software (1)Turn the power OFF then back ON.
1688 STORAGE ERROR saved normally. 1 inconsistent operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Start index is inconsistent Software (1)Turn the power OFF then back ON.
PCI BOARD NOT AD board connection AD board failure (1)Turn the power OFF then back ON.
1690 DETECTED error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
FORCE SENSOR force sensor board is not Force sensor (1)Turn the power OFF then back ON.
1691 BOARD mounted (could not be board failure (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
UNMOUNTED found) YASKAWA representative about occurrence status (operating procedure).
UNDEFINED MOTOR The spot high speed Sub Code: Signifies the control Setting error The spot high speed function is enabled despite the invalid status of GUN
GUN ARM CONTROL function is enabled group in which the alarm ARM CONTROL function.
Alarm List
despite the invalid status occurred Please complete the setting of GUN ARM CONTROL as the following
of GUN ARM CONTROL operations.
function. 1. start the system in maintenance mode.
1693 2. change the security to management mode.
3. select [SYSTEM] ->[SETUP] ->[OPTION FUNCTION] ->[GUN ARM
CONTROL].
4. change the mode to PLAYBACK, then push [EXECUTE].
5. set the [INERTIA] and [FREQ].
6. select [ENABLE] , after the setting the [INERTIA] and [FREQ].
Alarm List-402
GROUND The brake connection is a Sub Code: Signifies the axis in Short circuit or (1)Turn the power OFF then back ON.
1694 FAULT(BRAKE LINE) ground fault or short which the alarm occurred ground fault (2)If the alarm occurs again, check the brake connection if there is a ground
circuit. fault or short circuit.
DC 24V POWER An error was detected in CPS01KA unit (1)Turn the power OFF then back ON.
1695 SUPPLY failure (SV) the voltage value of the failure (2)If the alarm occurs again, replace the CPS01KA unit.
CPS01KA unit.
Number Message Code
F-SAFE ENCODER The ASF01 board has Connection (1)Turn the power OFF then back ON.
DIAG.EROOR detected the encoder failure (2)If the alarm occurs again, check the connection and insertion of the
diagnosis error. following cables and connectors.
[Robot axis]
- SDCA01-CN508
1696
[External axis]
- SDCA01-CN534, CN535, CN536
Alarm List

Alarm List-403

The communication error Connection Check the connection and insertion of the following boards.
M-SAFETY There was no response from
occurred between the failure ·ACP01 board
1860 COMMUNICATE 0 ASF01 board within the time
ACP01 and the ASF01 ·AIF01 board
ERROR limit.
board. ·ASF01 board
Number Message Code
failure (2)If the alarm occurs again, replace the ACP01 board.
After replacing the board, remove the CF card that has been inserted into
the ACP01to be removed, insert it the new ACP01.
before replace the board. Replace the AIF01 board, and then load the
CMOS.BIN saved before 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 List
Connection Check the connection and insertion of the following boards.

The reset of Machine-Safety
failure ·ACP01 board
1 alarm was not properly
·AIF01 board
completed.
·ASF01 board
Alarm List-404
the ACP01 to be removed, insert it the new ACP01.
Connection Check the connection and insertion of the following boards.
Calculation results do not failure ·ACP01 board
2
match the receive data. ·AIF01 board
·ASF01 board
Number Message Code
the ACP01to be removed, insert it the new ACP01.
Alarm List
An error occurred in a Sub code indicates where the ASF01 board (1)Turn the power OFF then back ON.
M-SAF SYSTEM
1861 process of Machine- error occurred. failure (2)If the alarm occurs again, replace the ASF01 board.
ERROR
Safety system.
An error is detected in the An error is detected in the Hardware failure Please try the software update again.
M-SAF VERSION UP
1862 update process of update process of Machine-
ERROR
Machine-Safety software. Safety software.
Alarm List-405
The parameter setting do The parameter setting is Setting error Please re-configure the setting of the control group in maintenance mode.
M-SAF SETUP
1863 not match to system 1 incorrect.
ERROR
configuration setting.
Parameter setting does not Setting error In maintenance mode, check that the control group setting is appropriate
2 match the number of ASF01 for the system.
boards.
Number Message Code
The parameter setting is Setting error In the control group setting window of maintenance mode, check that the
incorrect. following items are appropriate for the system configuration.
(1)In case of STO connection:
-Servo board which connects to each control group
-The number of axis which connects to connector of each servo board
-Contactor unit which connects the brake
-Converter which connects the axis
-ON_ENABLE signal (or TU) which connects to each control group
Alarm List
3
-The setting of overrun signal
(2)In case of Contactor connection:
-Servo board which connects to each control group.
-The number of axis which connects to connector of each servo board
-Axis number to be connected to the connector of the servo board
-Converter which connects the axis
-Contactor unit which connects the brake
-The setting of overrun signal
Alarm List-406
The CRC data which Setting error If the alarm occurs again, Select the following menu.
calculated do not accord with ·Start up maintenance mode.
CRC data saved away by ·Change to the safety mode security.
10
Flash Rom. ·Select {Safety Board FLASH Reset} by going to {Initialize} form {File} in
the main menu.
·Turn the power OFF then back ON.
Number Message Code
The CRC data which Setting error If the alarm occurs again, Select the following menu.
calculated do not accord with ·Start up maintenance mode.
CRC data saved in a ·Change to the safety mode security.
11
parameter. ·Select {Safety Board FLASH Reset} by going to {Initialize} form {File} in
the main menu.
·Turn the power OFF then back ON.
The calculated CRC data are Setting error If the alarm occurs again, Select the following menu.
Alarm List
not accord with the CRC data ·Start up maintenance mode.

that is saved in FlashRom. In ·Change to the safety mode security.
12
addition, both the CRC data ·Select {Safety Board FLASH Reset} by going to {Initialize} form {File} in
that is saved in the parameter the main menu.
does not match. ·Turn the power OFF then back ON.
Alarm List-407
The ASF01 board revision is ASF01 board (1)Turn the power OFF then back ON.
1000
not correct. failure (2)If the alarm occurs again, replace the ASF01 board(#1).
1001
1002
1003
Number Message Code
1004
1005
Alarm List
1006
1007
Alarm List-408
The firmware of ASF01 is not ASF01 board (1)Turn the power OFF then back ON.
1010
correct. failure (2)If the alarm occurs again, replace the ASF01 board(#1).
1011
1012
1013
Number Message Code
1014
1015
Alarm List
1016
1017
Alarm List-409
The error of rotary switch Setting error (1)Select the following menu.
2000 setting is detected in ASF01. - [File]-[Initialize],[Safety Board FLASH Reset]
Setting error Check the rotary switch of ASF01(#1-8)

The communication error There was no response from Connection Check the connection and insertion of the following boards.
M-SAF CPU BOARD occurred between the ASF01 board within the time failure ·ACP01 board
1864 1
COMM ERRO Machine-Safety and the limit. ·AIF01 board
ASF01 board. ·ASF01 board
Number Message Code
After replacing the board, remove the SD CARD that has been inserted into
Calculation results do not Connection Check the connection and insertion of the following boards.
Alarm List
match the receive data. failure ·ACP01 board

2
·AIF01 board
·ASF01 board
Alarm List-410
Calculation results do not Connection Check the connection and insertion of the following boards.
match the receive data on a failure ·ACP01 board
3
logical circuit. ·AIF01 board
·ASF01 board
Number Message Code
Here was no response from Connection Check the connection and insertion of the following boards.
Alarm List
ACP01 board within the time failure ·ACP01 board

4
limit. ·AIF01 board
·ASF01 board
Alarm List-411
The communication error Incorrect data was detected on Connection Check the connection between ASF01 boards.(CN201/CN202)
M-SAF CPU COMM
1865 was detected at Machine 1 communication between failure
ERROR
Safety Software. ASF01s.
Number Message Code
Communication error was Connection Check the connection between ASF01 boards.(CN201/CN202)
2
detected (ASF01 - ASF01). failure
3
Alarm List

4
Alarm List-412
5
6
Number Message Code
Incorrect data was detected on Connection Check the connection and insertion of the following boards.
communication between failure - ASF01(CN239/240) and cable.
10
ASF01 and ASF04. - SDCA01(CN515/516) and cable.
- AIF01(CN111) and cable.
Alarm List

Communication error was Connection Check the connection and insertion of the following boards.
Alarm List-413
detected (ASF01 - ASF04). failure - ASF01(CN239/240) and cable.
11
- SDCA01(CN515/516) and cable.
Number Message Code
12
Alarm List
Alarm List-414
13
Number Message Code
detected (ASF01 - ASF04). failure - ASF04 board connector : CN231/232 cable
14 - ASF04 board connector : CN239/240 cable
- AIF01 board connector : CN113 cable
- CPS01KA unit connector : CN156 cable
Alarm List

Alarm List-415
detected (ASF01 - ASF04). failure - ASF01(CN239/240) and cable.
15
- SDCA01(CN515/516) and cable.
Number Message Code
Communication error was ASF01 board (1)Turn the power OFF then back ON.
101
Alarm List
detected (ASF01 - SDCA01). failure (2)If the alarm occurs again, replace the ASF01 board.
failure (2)If the alarm occurs again, replace the SDCA01 board.
Incorrect data was detected on ASF01 board (1)Turn the power OFF then back ON.
102 communication between failure (2)If the alarm occurs again, replace the ASF01 board.
ASF01 and ACP01.
Alarm List-416
Incorrect data was detected on ASF01 board (1)Turn the power OFF then back ON.
103 communication between failure (2)If the alarm occurs again, replace the ASF01 board.
ASF01 and ACP01.
Number Message Code
CPU1 of ASF01 detected bit Connection (1)Turn the power OFF then back ON.
failure in a communication IC. failure (2)If the alarm occurs again, check the connection and insertion of the
112 following boards.
Check the connection of the MIII cable between ASF01 board (CN201/
CN202) and ASF01 board(CN211/CN212).
CPU1 of ASF01 detected Connection (1)Turn the power OFF then back ON.
status failure in a failure (2)If the alarm occurs again, check the connection and insertion of the
Alarm List
113 communication IC. following boards.

Check the connection of the MIII cable between ASF01 board (CN201/
CPU2 of ASF01 board did not Connection Check the connection of the MIII cable between ASF01 board (CN201/
Alarm List-417
201 detect a response from ASF01 failure CN202) and ASF01 board(CN211/CN212). And check if a
board within a time limit. terminator(CN211/CN212) is connected.
Incorrect communication data ASF01 board (1)Turn the power OFF then back ON.
202
was detected on ASF01. failure (2)If the alarm occurs again, replace the ASF01 board.
203
Number Message Code
204
205
detected (ASF01). failure (2)If the alarm occurs again, replace the ASF01 board.
206
Alarm List

207
300
Alarm List-418
301
302
303
Number Message Code
304
305
306
Alarm List

307
310
Alarm List-419
311
312
313
Number Message Code
314
315
316
Alarm List

317
Alarm List-420
Check the connection of the MIII cable between ASF01 board(CN201/
Check the connection of the MIII cable between ASF01 board(CN201/
Number Message Code
The communication error Function Safety did not come ASF01 board (1)Turn the power OFF then back ON.
M-SAF F-SAFETY
1866 is detected between the 1 by an online mode. failure (2)If the alarm occurs again, replace the ASF01 board.
COMM ERROR
M-SAF and the F-SAF.
Machine Safety received an ASF01 board (1)Turn the power OFF then back ON.
2
offline command. failure (2)If the alarm occurs again, replace the ASF01 board.
Alarm List
There was no response from ASF01 board (1)Turn the power OFF then back ON.
3 Function Safety with in the failure (2)If the alarm occurs again, replace the ASF01 board.
time limit.
Machine Safety was not able ASF01 board (1)Turn the power OFF then back ON.
4 to detect the first of the failure (2)If the alarm occurs again, replace the ASF01 board.
Alarm List-421
sequential number.
Machine Safety detected CRC ASF01 board (1)Turn the power OFF then back ON.
5
error. failure (2)If the alarm occurs again, replace the ASF01 board.
Machine Safety detected ASF01 board (1)Turn the power OFF then back ON.
6
sequential number error. failure (2)If the alarm occurs again, replace the ASF01 board.
Machine Safety was not able ASF01 board (1)Turn the power OFF then back ON.
7 to connect with Function failure (2)If the alarm occurs again, replace the ASF01 board.
Safety in start up process.
Number Message Code
Here was no response from ASF01 board (1)Turn the power OFF then back ON.
8 Function Safety board within failure (2)If the alarm occurs again, replace the ASF01 board.
the time limit.
Here was no response from ASF01 board (1)Turn the power OFF then back ON.
9 (Function Safety board within failure (2)If the alarm occurs again, replace the ASF01 board.
the time limit.
Alarm List

An error is detected in the An error is detected in the ASF01 board (1)Turn the power OFF then back ON.
M-SAF ROM DIAG.
1867 ROM diagnosis function 0 ROM diagnosis function of failure (2)If the alarm occurs again, replace the ASF01 board.
ERROR
of Machine Safety. Machine Safety.
ROM diagnosis function of ASF01 board (1)Turn the power OFF then back ON.
Alarm List-422
Machine Safety detected Flash failure (2)If the alarm occurs again, replace the ASF01 board.
1
ROM failure in start up
process.
ROM diagnosis function of ASF01 board (1)Turn the power OFF then back ON.
2 Machine Safety detected RAM failure (2)If the alarm occurs again, replace the ASF01 board.
area failure in start up process.
Machine Safety software ASF01 board (1)Turn the power OFF then back ON.
An error is detected in the
M-SAF RAM DIAG. detected failure with RAM failure (2)If the alarm occurs again, replace the ASF01 board.
1868 RAM diagnosis function of
ERROR diagnosis function of Machine
Machine Safety.
Safety.
Number Message Code
M-SAF STACK DIAG.
1869 stack diagnosis function 1 stack diagnosis function of failure (2)If the alarm occurs again, replace the ASF01 board.
ERROR
of Machine Safety. Machine Safety.
An error is detected in the ASF01 board (1)Turn the power OFF then back ON.
2 stack diagnosis function of failure (2)If the alarm occurs again, replace the ASF01 board.
Machine Safety.
Alarm List
Machine Safety.
Machine Safety.
Alarm List-423
Machine Safety.
Machine Safety.
Machine Safety.
Number Message Code
Machine Safety.
Machine Safety.
Alarm List

Machine Safety.
Stack diagnosis function of ASF01 board (1)Turn the power OFF then back ON.
Alarm List-424
1006 Machine Safety detected a failure (2)If the alarm occurs again, replace the ASF01 board.
failure in start up process.
Stack diagnosis function of ASF01 board (1)Turn the power OFF then back ON.
1007 Machine Safety detected a failure (2)If the alarm occurs again, replace the ASF01 board.
failure in start up process.
M-SAF REGISTER register diagnosis register diagnosis function of failure (2)If the alarm occurs again, replace the ASF01 board.
1870 1000
DIAG. ERROR function of Machine- Machine Safety.
Safety.
Number Message Code
Sequence diagnosis Subcode means error data. ASF01 board (1)Turn the power OFF then back ON.
M-SAF SEQUENCE function of Machine failure (2)If the alarm occurs again, replace the ASF01 board.
1871
WATCH ERROR Safety board detected a
failure.
An error is detected in the CPU1of ASF01 detected an ASF01 board (1)Turn the power OFF then back ON.
M-SAF WATCHDOG
1872 watch dog check of 101 error in start up process. failure (2)If the alarm occurs again, replace the ASF01 board.
ERROR
Machine Safety.
Alarm List
CPU1of ASF01 detected an ASF01 board (1)Turn the power OFF then back ON.
102
error of itself. failure (2)If the alarm occurs again, replace the ASF01 board.
103
error of CPU2. failure (2)If the alarm occurs again, replace the ASF01 board.
Alarm List-425
104 error of CPU2 in start up failure (2)If the alarm occurs again, replace the ASF01 board.
process.
201
error in start up process. failure (2)If the alarm occurs again, replace the ASF01 board.
202
Number Message Code
203
204 error of CPU1 in start up failure (2)If the alarm occurs again, replace the ASF01 board.
process.
M-SAF OFFLINE The parameter setting Setting error Please re-configure the setting of the control group in maintenance mode.
1873 MODE SETUP error is detected in offline
Alarm List
ERROR mode of Machine Safety.

The CPU1 of ASF01 board ASF01 board (1)Turn the power OFF then back ON.
has detected an illegal voltage failure (2)If the alarm occurs again, replace the ASF01 board.
Alarm List-426
of the CPU2.
An error is detected in
The number indicates as CPU
M-SAF VOLTAGE process to check the
1874 which detected error,
WATCH ERROR voltage of the ASF01
surveillance voltage, and 0001
board.
or 0002 value.
0001:Over voltage
0002:Low voltage
Number Message Code
subcode: Fuse failure (1)Turn the power OFF then back ON.
CPU1 1:CPU1 detected a 5V (2)If the alarm occurs again, check the connection of the fuse of ASF01
low voltage board and then turn the power ON again.
CPU1 2:CPU1 detected a 5V
high voltage
low voltage
high voltage
CPU1 5:CPU1 detected a
An error is detected in
voltage error in 24V power of
M-SAF I/O BOARD process to check the
1875 the board.
VOLTAGE ERROR voltage of the ASF01
Alarm List

board.
low voltage
high voltage
low voltage
high voltage
CPU2 5:CPU2 detected a
Alarm List-427
voltage error in 24V power of
the board.
Watchdog error is An error was detected in ASF01 board (1)Turn the power OFF then back ON.
M-SAF I/O BOARD
1876 detected in the ASF01 101 startup process by CPU1 of failure (2)If the alarm occurs again, replace the ASF01 board.
WATCHDOG ERROR
board. ASF01 board.
An error in CPU1 of ASF01 ASF01 board (1)Turn the power OFF then back ON.
102 board was detected by CPU1 failure (2)If the alarm occurs again, replace the ASF01 board.
of ASF01 board.
Number Message Code
of ASF01 board.
board was detected for a failure (2)If the alarm occurs again, replace the ASF01 board.
104
definite period of time by
CPU1 of ASF01 board.
Alarm List
An error of ASF01 board was ASF01 board (1)Turn the power OFF then back ON.
201 detected in startup process by failure (2)If the alarm occurs again, replace the ASF01 board.
Alarm List-428
of ASF01 board.
of ASF01 board.
board was detected for a failure (2)If the alarm occurs again, replace the ASF01 board.
204
definite period of time by
Number Message Code
failure (2)If the alarm occurs again, confirm the following cable's connection and
ASF02 board or ASU03
F-SAF I/O BOARD insertion.
1877 unit was not able to be
NOT INSTALLED - ASF01 board connector : CN208 cable
detected.
- ASF02 board connector : CN221 cable
- ASU03 unit connector : CN221 cable
ASU03 unit failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again, replace the ASU03 unit.
Alarm List

subcode: ASF01 board (1)Turn the power OFF then back ON.
cause of alarm failure (2)If the alarm occurs again, replace the ASF01 board.
(cause)
0.75 V out of range.
An error is detected in 1.1 V out of range.
M-SAF VOLTAGE process to check the 1.5 V out of range.
1878
WATCH ERROR2 voltage of the ASF01 1.8 V out of range.
board. 2.5 V out of range.
Alarm List-429
3.3 V out of range.
2.048V out of range.
24V1 out of range.
24V2 out of range.
M-SAF OPECODE
1879 detected OPCODE failure (2)If the alarm occurs again, replace the ASF01 board. Save the
ERROR
diagnosis error. CMOS.BIN before replace the board to be safe.
F-SAFE RAM DIAG.
ERROR(RD ADDR)
Number Message Code
F-SAFE RAM DIAG.
ERROR(WT ADDR)
F-SAFE OPCODE
1889 detected OPCODE failure (2)If the alarm occurs again, replace the ASF01 board. Save the
DIAG. ERROR
Alarm List

The communication error Machine safety did not come Setting error Confirm that the rotary switch on the ASF01[#1-8] board is set to [0-7].
F-SAFE M-SAFETY occurred between the by an online mode.
1890 1
COMM ERROR ASF01 and the ASF01
board.
Alarm List-430
Functional safety received an ASF01 board (1)Turn the power OFF then back ON.
2 offline command. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
There was no response from ASF01 board (1)Turn the power OFF then back ON.
3 machine safety board with in failure (2)If the alarm occurs again, replace the ASF01 board. Save the
the time limit. CMOS.BIN before replace the board to be safe.
Functional safety board was ASF01 board (1)Turn the power OFF then back ON.
4 not able to detect the first of failure (2)If the alarm occurs again, replace the ASF01 board. Save the
the sequential number. CMOS.BIN before replace the board to be safe.
Number Message Code
Functional safety board ASF01 board (1)Turn the power OFF then back ON.
6 detected sequential number failure (2)If the alarm occurs again, replace the ASF01 board. Save the
Interrupt signal does not occur ASF01 board (1)Turn the power OFF then back ON.
7 from the machine safety board. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
Alarm List

Communication data error of ASF01 board (1)Turn the power OFF then back ON.
8 Machine Safety was detected. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
(Running number over) CMOS.BIN before replace the board to be safe.
Communication data error of ASF01 board (1)Turn the power OFF then back ON.
Alarm List-431
Machine Safety was detected. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
9
(Running number don't CMOS.BIN before replace the board to be safe.
change)
Communication data of CPU1 ASF01 board (1)Turn the power OFF then back ON.
10 and CPU2 is mismatch. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
Allocation requests of safety ASF01 board (1)Turn the power OFF then back ON.
11 field bus signal is abnormal. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
Number Message Code
The error of JL098 ASF01 board (1)Turn the power OFF then back ON.
12 communication data was failure (2)If the alarm occurs again, replace the ASF01 board. Save the
detected. CMOS.BIN before replace the board to be safe.
The communication error is ASF01 board (1)Turn the power OFF then back ON.
14 detected in the ASF01 board. failure (2)If the alarm occurs again, replace the ASF01 board. Save the
F-SAFE OUTPUT Output data from CPU1
Alarm List
SIGNAL UNMATCH and CPU2 is mismatch.
Sub Code: Indicates the type Setting error Check condition file that is indicated in the sub code is set correctly.
of condition file abnormality
occurs.
0: Axis range limit function
Alarm List-432
The ASF01 board has
F-SAFE COND FILE 1: Axis speed monitor function
1892 detected the condition file
SETTING ERR 2: Speed limit function
abnormality.
3: Robot range limit function
4: Tool angle monitor function
5: Tool change monitor
function
F-SAFE STACK DIAG.
1894 detected stack diagnosis failure (2)If the alarm occurs again, replace the ASF01 board. Save the
ERROR
Number Message Code
F-SAFE REGISTER
1895 detected register failure (2)If the alarm occurs again, replace the ASF01 board. Save the
DIAG. ERROR
F-SAFE SEQUENCE
1896 detected seaquence failure (2)If the alarm occurs again, replace the ASF01 board. Save the
WATCH ERROR
monitor error. CMOS.BIN before replace the board to be safe.
Alarm List

F-SAFE WATCHDOG
1897 detected watchdog failure (2)If the alarm occurs again, replace the ASF01 board. Save the
ERROR
monitor error. CMOS.BIN before replace the board to be safe.
The Change of encoder Sub Code: Signifies the axis in ASF01 board (1)Turn the power OFF then back ON.
Alarm List-433
F-SAFE ENCODER communication of which the alarm occurred failure (2)If the alarm occurs again, replace the ASF01 board. Save the
1898
SELECT ERROR Function Safety ERROR CMOS.BIN before replace the board to be safe.
was detected.
The diagnosis processing Setting error Reduce the condition file.
F-SAFE MONITOR
of Function Safety was
1899 EXECUTE TIME
not completed in the
OVER
definite time.
Number Message Code
Connection error (1)Turn the power OFF then back ON.
Process is not performed
SYSTEM (2)If the alarm occurs again, check the connection and insertion of the
1920 properly on the ASF04
ERROR(PFL) following cables and connectors.
board.
ASF04 board CPU is ASF04 board (1)Turn the power OFF then back ON.
duplex. And, hardware failure (2)If the alarm occurs again, replace the ASF04 board. Save the
Alarm List
VOLTAGE OUT OF voltage is checked each CMOS.BIN before replace the board to be safe.
1921
RANGE(PFL) other. And, one of the
duplex system detects
abnormal voltage.
(2)If the alarm occurs again, check the insertion, connection, short circuit or
ground fault of the following cables and connectors.
- ASF04 board connector : CN231,CN232 cable
Alarm List-434
Communication error is Connection error Confirm the connection and insertion of following boards.
CPU
happened between - ACP01 board
1922 COMMUNICATION
ACP01 board and ASF04 - ASF04 board
ERROR(PFL)
board.
Number Message Code
Difference of Calculated Sub Code: Signifies the axis in ASF01 board (1)Turn the power OFF then back ON.
external force torque which the alarm occurred failure (2)If the alarm occurs again, replace the ASF04 board. Save the
TORQUE MUTUAL
1923 result exceeds the CMOS.BIN before replace the board to be safe.
DIAG. ERR(PFL)
threshold on ASF04
board's duplex CPU.
Torque sensor (1)Turn the power OFF then back ON.
Difference of calculated Sub Code: Signifies the ASF04 board (1)Turn the power OFF then back ON.
Alarm List
external force result direction in which the alarm failure (2)If the alarm occurs again, replace the ASF04 board. Save the
FORCE MUTUAL
1924 exceeds threshold on occurred CMOS.BIN before replace the board to be safe.
DIAG. ERR(PFL)
ASF04 board's duplex
CPU.
Alarm List-435
Abnormal is happened on Sub Code: Signifies the axis in ASF04 board (1)Turn the power OFF then back ON.
TRQ SENSOR
1925 the torque sensor which the alarm occurred failure (2)If the alarm occurs again, replace the ASF04 board. Save the
SENDING ERROR
communication CMOS.BIN before replace the board to be safe.
Sub Code: Signifies the axis in Connection error (1)Turn the power OFF then back ON.
which the alarm occurred (2)If the alarm occurs again, check the connection and insertion of the
TRQ SENSOR
1926 - ASF04 board-CN231,CN232,CN233,CN234
RECEIVING ERROR
- Torque sensor cable between controller robots
- Torque sensor cable which is stored in the robot
Number Message Code
Fuse failure (1)Turn the power OFF then back ON.
(2)If the alarm occurs again and fuse melting is occurred on the ASF04
board-CN232 cable, remove the abnormal causes and replace the fuse.
After that, turn the power OFF then back ON.
Power board (1)Turn the power OFF then back ON.
failure (2)If the alarm occurs again, replace the power board of torque sensor.
Alarm List

Sub Code: Signifies the axis in Torque sensor (1)Turn the power OFF then back ON.
TRQ SENSOR AXIS
1927 which the alarm occurred failure (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
NUMBER ERROR
TRQ SENSOR Sub Code: Signifies the axis in Torque sensor (1)Turn the power OFF then back ON.
1928 SEQ.NUMBER which the alarm occurred failure (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-436
ERROR Yaskawa representative about occurrence status (operating procedure).
Sub Code: Signifies the axis in Torque sensor (1)Turn the power OFF then back ON.
TRQ SENSOR CRC
1929 which the alarm occurred failure (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERROR
Process is not performed ASF04 board (1)Turn the power OFF then back ON.
SYSTEM
1930 properly on the ASF04 failure (2)If the alarm occurs again, replace the ASF04 board. Save the
ERROR2(PFL)
board. CMOS.BIN before replace the board to be safe.
Process is not performed ASF04 board (1)Turn the power OFF then back ON.
ARITHMETIC
1931 properly on the ASF04 failure (2)If the alarm occurs again, replace the ASF04 board. Save the
ERROR(PFL)
board. CMOS.BIN before replace the board to be safe.
ENCODER COMM. (2)If the alarm occurs again, check the connection and insertion of the
1932
ERR(PFL) following cables and connectors.
Number Message Code
ASF04 board If ASF04 board is used, confirm the following.
ASF04 board monitors Sub Code: Signifies the axis in Connection error (1)Turn the power OFF then back ON.
position information of which the alarm occurred (2)If the alarm occurs again, check the connection and insertion of the
encoder. If following cables and connectors.
communication error is - ASF04 board-CN235,CN236,CN237,CN238
occurred at any control
ENCODER CORR. period, monitor it which is
Alarm List
1933
NUM OVER(PFL) based on the previous
position data. And then,
calibration data is
checked, and if threshold
is exceeded, alarm is
happened.
Encoder (1)Turn the power OFF then back ON.
(Abnormal) (2)If the alarm occurs again, replace the encoder.
Alarm List-437
ASF04 board's ROM ROM diagnostics function ASF04 board (1)Turn the power OFF then back ON.
ROM DIAGNOSIS detects error. failure
1934 diagnostics function 1 (2)If the alarm occurs again, replace the ASF04 board. Save the
ERROR(PFL)
detects error. CMOS.BIN before replace the board to be safe.
ROM diagnostics function ASF04 board (1)Turn the power OFF then back ON.
2 detects error. failure
Number Message Code
Alarm List
ASF04 board's RAM ASF04 board (1)Turn the power OFF then back ON.
RAM DIAGNOSIS failure
1935 diagnostics function (2)If the alarm occurs again, replace the ASF04 board. Save the
ERROR(PFL)
Alarm List-438
RAM DIAG. READ failure
ERROR(PFL)
RAM DIAG. WRITE failure
ERROR(PFL)
ASF04 board's Register ASF04 board (1)Turn the power OFF then back ON.
REGISTER DIAG. failure
ERROR(PFL)
Number Message Code
ASF04 board's Stack ASF04 board (1)Turn the power OFF then back ON.
STACK DIAG failure
ERR(PFL)
ASF04 board's Sequence ASF04 board (1)Turn the power OFF then back ON.
SEQUENCE DIAG. failure
ERROR(PFL)
Alarm List
ASF04 board's Watch- ASF04 board (1)Turn the power OFF then back ON.
WATCHDOG failure
1941 dog monitoring function (2)If the alarm occurs again, replace the ASF04 board. Save the
ERROR(PFL)
Alarm List-439
ASF04 board's voltage ASF04 board (1)Turn the power OFF then back ON.
VOLTAGE WATCH failure
1942 monitoring function (2)If the alarm occurs again, replace the ASF04 board. Save the
ERR(PFL)
ASF04 board's Opcode ASF04 board (1)Turn the power OFF then back ON.
OPECODE DIAG. failure
ERROR(PFL)
Number Message Code
Tool change monitoring Sub Code:Setting file number ASF01 board (1)Turn the power OFF then back ON.
TOOL NUMBER function's tool number failure
1944 (2)If the alarm occurs again, replace the ASF01 board. Save the
ERROR(PFL) and PFL board's tool
number is not same.
failure
Subcode means error cause. Torque sensor (1)Turn the power OFF then back ON.
TRQ SENSOR Detect torque sensor failure
1945 (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERROR error
Alarm List
Alarm List-440
YRC1000
ALARM CODES
(MAJOR ALARMS)
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Europe GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10
YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741
Specifications are subject to change without notice

for ongoing product modifications and improvements.

C Printed in Japan November 2017 16-09
MAJOR ALARMS
YRC1000
ALARM CODES
(MINOR ALARMS)
• Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
• This instruction consists of “MAJOR ALARMS” version and “MINOR ALARMS” version.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.

MINOR ALARMS
DANGER
• This manual explains the ALARM CODES of the YRC1000 system.
Read this manual carefully and be sure to understand its contents
before handling the YRC1000. Any matter not described in this
manual must be regarded as “prohibited” or “improper”.
• General information related to safety are described in “Chapter 1.
Safety” of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read “Chapter 1. Safety” of the YRC1000
INSTRUCTIONS.
CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
ii
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Indicates an imminently hazardous

DANGER situation which, if not avoided, will
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous

WARNING situation which, if not avoided, will
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION”.
iii
DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
iv
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows.
YRC1000 controller YRC1000
YRC1000 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller
v
Descriptions of the programming pendant, buttons, and displays are
shown as follows:

Programming Character Keys The keys which have characters or symbols
Pendant /Symbol Keys printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure

In the explanation of the operation procedure, the expression “Select • • •”
means that the cursor is moved to the object item and the [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
vi
Contents
(MAJOR ALARMS)
Alarm List ............................................................................................................................ Alarm List-1
Alarm Number (0000 to 0999) .................................................................................. Alarm List-1
(MINOR ALARMS)
vii
Alarm List
Number Message Code
MEMORY An error was detected at Sub Code: Tool number Data error (1)Reset the alarm.
ERROR(TOOL FILE) memory check. (2)If the alarm occurs again, initialize the tool file in maintenance mode, and
4000
The memory for the tool then load the tool file saved in the external memory device.
file is damaged.
ACP01 board (1)Reset the alarm.
Alarm List
CMOS.BIN before replace the board to be safe. Replace the ACP01 board,
and then insert the SD card which inserted original ACP01 board into the
new ACP01 board.
AIF01 board (1)Reset the alarm.
Alarm List-441
MEMORY An error was detected at Sub Code: User coordinate Data error (1)Reset the alarm.
ERROR(USER memory check. number (2)If the alarm occurs again, initialize the user coordinates file in
4001 COORD FILE) The memory for the user maintenance mode, and then load the user coordinates file saved in the
coordinates file is external memory device.
damaged.
new ACP01 board.
Number Message Code
MEMORY ERROR(SV An error was detected at Data error (1)Reset the alarm.
MON SIGNAL FILE) memory check. (2)If the alarm occurs again, initialize the servo monitor signal file in
4002 The memory for the servo maintenance mode, and then load the servo monitor signal file saved in the
monitor signal file is external memory device.
damaged.
new ACP01 board.
Alarm List

MEMORY An error was detected at Sub Code: Page number Data error (1)Reset the alarm.
Alarm List-442
ERROR(WEAVING memory check. (2)If the alarm occurs again, initialize the weaving condition file in
4003 FILE) The memory for the maintenance mode, and then load the weaving condition file saved in the
weaving condition file is external memory device.
damaged.
new ACP01 board.
Number Message Code
MEMORY An error was detected at Data error (1)Reset the alarm.
ERROR(HOME POS memory check. (2)If the alarm occurs again, initialize the home positioning file in
4004 FILE) The memory for the home maintenance mode, and then load the home positioning file saved in the
positioning file is external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(SECOND memory check. (2)If the alarm occurs again, initialize the second home positioning file in
4005 HOME POS) The memory for the maintenance mode, and then load the second home positioning file saved
second home position file in the external memory device.
Alarm List-443
is damaged.
new ACP01 board.
Number Message Code
ERROR(POWER memory check. (2)If the alarm occurs again, initialize the arc welding Power Source
4006 SOURCE COND) The memory for the arc condition file in maintenance mode, and then load the arc welding Power
welding Power Source Source condition file saved in the external memory device.
condition file is damaged.
new ACP01 board.
Alarm List
MEMORY ERR(ARC An error was detected at Sub Code: Page number Data error (1)Reset the alarm.
START COND FILE) memory check. (2)If the alarm occurs again, initialize the arc start condition file in
4007 The memory for the arc maintenance mode, and then load the arc start condition file saved in the
start condition file is external memory device.
Alarm List-444
damaged.
new ACP01 board.
Number Message Code
ERROR(ARC END memory check. (2)If the alarm occurs again, initialize the arc end condition file in
4008 COND FILE) The memory for the arc maintenance mode, and then load the arc end condition file saved in the
end condition file is external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(ARC AUX memory check. (2)If the alarm occurs again, initialize the arc auxiliary condition file in
4009 COND FILE) The memory for the arc maintenance mode, and then load the arc auxiliary condition file saved in
auxiliary condition file is the external memory device.
Alarm List-445
damaged.
new ACP01 board.
Number Message Code
ERROR(COM-ARC memory check. (2)If the alarm occurs again, initialize the COM-ARC condition file in
4010 COND FILE) The memory for the maintenance mode, and then load the COM-ARC condition file saved in the
COM-ARC condition file is external memory device.
damaged.
new ACP01 board.
Alarm List
MEMORY An error was detected at The memory for the gun detail Data error (1)Reset the alarm.
ERROR(FILE DATA) memory check. setting file is damaged. (2)If the alarm occurs again, initialize the gun detail setting file in
4011 230
maintenance mode, and then load the gun detail setting file saved in the
Alarm List-446
new ACP01 board.
The memory for the spot Data error (1)Reset the alarm.
management file is damaged. (2)If the alarm occurs again, initialize the spot management file in
231
maintenance mode, and then load the spot management file saved in the
Number Message Code
new ACP01 board.
Alarm List
The memory for the spot Data error (1)Reset the alarm.
welder I/F file is damaged. (2)If the alarm occurs again, initialize the spot welder I/F file in maintenance
232
mode, and then load the spot welder I/F file saved in the external memory
device.
new ACP01 board.
Alarm List-447
The memory for the manual Data error (1)Reset the alarm.
press condition file is (2)If the alarm occurs again, initialize the manual press condition file in
233
damaged. maintenance mode, and then load the manual press condition file saved in
the external memory device.
new ACP01 board.
Number Message Code
The memory for the wear Data error (1)Reset the alarm.
detection base position file is (2)If the alarm occurs again, initialize the wear detection base position file
240
damaged. in maintenance mode, and then load the wear detection base position file
saved in the external memory device.
Alarm List
new ACP01 board.
Alarm List-448
The memory for the learning Data error (1)Reset the alarm.
control I/O allocation file is (2)If the alarm occurs again, initialize the learning control I/O allocation file
243
damaged. in maintenance mode, and then load the learning control I/O allocation file
saved in the external memory device.
new ACP01 board.
Number Message Code
The memory for the Data error (1)Reset the alarm.
IOSPDCTRL setup file is (2)If the alarm occurs again, initialize the IOSPDCTRL setup file in
261
damaged. maintenance mode, and then load the IOSPDCTRL setup file saved in the
new ACP01 board.
Alarm List

The memory for the SETTM Data error (1)Reset the alarm.
SETUP file is damaged. (2)If the alarm occurs again, initialize the SETTM SETUP in maintenance
262
Alarm List-449
mode, and then load the SETTM SETUP saved in the external memory
device.
new ACP01 board.
Number Message Code
The memory for the TIMER Data error (1)Reset the alarm.
VARIABLE NAME file is (2)If the alarm occurs again, initialize the TIMER VARIABLE NAME file in
263
damaged. maintenance mode, and then load the TIMER VARIABLE NAME file saved
in the external memory device.
new ACP01 board.
Alarm List

The memory for the USER Data error (1)Reset the alarm.
GROUP INPUT file is (2)If the alarm occurs again, initialize the USER GROUP INPUT file in
265
damaged. maintenance mode, and then load the USER GROUP INPUT file saved in
Alarm List-450
new ACP01 board.
GROUP OUTPUT file is (2)If the alarm occurs again, initialize the USER GROUP OUTPUT file in
266
damaged. maintenance mode, and then load the USER GROUP OUTPUT file saved
Number Message Code
new ACP01 board.
Alarm List
The memory for the SENSPS Data error (1)Reset the alarm.
SETTING DATA is damaged. (2)If the alarm occurs again, initialize the SENSPS SETTING DATA in
267
maintenance mode, and then load the SENSPS SETTING DATA saved in
new ACP01 board.
Alarm List-451
ANALOG INPUT file is (2)If the alarm occurs again, initialize the USER ANALOG INPUT file in
268
damaged. maintenance mode, and then load the USER ANALOG INPUT file saved in
new ACP01 board.
Number Message Code
ANALOG OUTPUT file is (2)If the alarm occurs again, initialize the USER ANALOG OUTPUT file in
269
damaged. maintenance mode, and then load the USER ANALOG OUTPUT file saved
Alarm List
new ACP01 board.
Alarm List-452
The memory for the F- Data error (1)Reset the alarm.
SAFETY SIGNAL ALLOC file (2)If the alarm occurs again, initialize the USER ANALOG OUTPUT file in
270
is damaged. maintenance mode, and then load the USER ANALOG OUTPUT file saved
new ACP01 board.
Number Message Code
The memory for the SLC EXT. Data error (1)Reset the alarm.
271 SIGNAL ALLOC file is (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
damaged. and then load the ysf logic file saved in the external memory device.
new ACP01 board.
Alarm List
The memory for the ysf logic Data error (1)Reset the alarm.
272 comment file is damaged. (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
and then load the ysf logic file saved in the external memory device.
Alarm List-453
new ACP01 board.
The memory for the timer set Data error (1)Reset the alarm.
273 file is damaged. (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
Number Message Code
new ACP01 board.
Alarm List
The memory for the timer set Data error (1)Reset the alarm.
new ACP01 board.
Alarm List-454
The memory for the PAINT Data error (1)Reset the alarm.
RECOVERY file is damaged. (2)If the alarm occurs again, initialize the PAINT RECOVERY file in
275
maintenance mode, and then load the PAINT RECOVERY file saved in the
new ACP01 board.
Number Message Code
The memory for the reducer Data error (1)Reset the alarm.
remain time file is damaged. (2)If the alarm occurs again, initialize the reducer remain time file in
277
maintenance mode, and then load the reducer remain time file saved in the
Alarm List
new ACP01 board.
Alarm List-455
278 signal display setup file is (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
new ACP01 board.
Number Message Code
The memory for the F- Data error (1)Reset the alarm.
284 SAFETY SIGNAL ALLOC file (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
is damaged. and then load the ysf logic file saved in the external memory device.
new ACP01 board.
Alarm List
The memory for the SPECIFIC Data error (1)Reset the alarm.
285 INPUT COMMENT SET file is (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
Alarm List-456
new ACP01 board.
The memory for the operating Data error (1)Reset the alarm.
time database is damaged. (2)If the alarm occurs again, initialize the operating time database in
286
maintenance mode, and then load the operating time database saved in the
Number Message Code
new ACP01 board.
Alarm List
287
new ACP01 board.
Alarm List-457
288
new ACP01 board.
Number Message Code
The memory for the STEP Data error (1)Reset the alarm.
DIAGNOSIS file is damaged. (2)If the alarm occurs again, initialize the STEP DIAGNOSIS file in
290
maintenance mode, and then load the STEP DIAGNOSIS saved in the
Alarm List
new ACP01 board.
Alarm List-458
The memory for the ROBOT Data error (1)Reset the alarm.
MONITOR file is damaged. (2)If the alarm occurs again, initialize the ROBOT MONITOR in
291
maintenance mode, and then load the ROBOT MONITOR file saved in the
new ACP01 board.
Number Message Code
ARRANGEMENT SETUP file (2)If the alarm occurs again, initialize the ROBOT ARRANGEMENT
292
is damaged. SETUP in maintenance mode, and then load the ROBOT ARRANGEMENT
SETUP file saved in the external memory device.
new ACP01 board.
Alarm List

295 RANGE DISP DATA is (2)If the alarm occurs again, initialize the ROBOT RANGE DISP DATA in
Alarm List-459
damaged. maintenance mode, and then set the ROBOT RANGE DISP DATA.
new ACP01 board.
The memory for the servo Data error (1)Reset the alarm.
power time is damaged. (2)If the alarm occurs again, initialize the servo power time database in
298
maintenance mode, and then load the servo power time database saved in
Number Message Code
new ACP01 board.
Alarm List
The memory for the Data error (1)Reset the alarm.

SYNCHRO WELDING (2)If the alarm occurs again, initialize the SYNCHRO WELDING
299
PARAMETER is damaged. PARAMETER in maintenance mode, and then load the SYNCHRO
WELDING PARAMETER saved in the external memory device.
new ACP01 board.
Alarm List-460
new ACP01 board.
Number Message Code
301 comment file is damaged. (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
Alarm List
new ACP01 board.
Alarm List-461
MEMORY An error was detected at Sub Code: Condition file Data error (1)Reset the alarm.
ERROR(LINK memory check. number (2)If the alarm occurs again, initialize the link servo float condition file in
4012 SERVOFLOAT) The memory for the link maintenance mode, and then load the link servo float condition file saved in
servo float condition file is the external memory device.
damaged.
new ACP01 board.
Number Message Code
MEMORY An error was detected at Sub Code: Condition file Data error (1)Reset the alarm.
ERROR(LINEAR memory check. number (2)If the alarm occurs again, initialize the linear servo float condition file in
4013 SERVOFLOAT) The memory for the linear maintenance mode, and then load the linear servo float condition file saved
servo float condition file is in the external memory device.
damaged.
new ACP01 board.
Alarm List

Alarm List-462
ERROR(ROBOT memory check. (2)If the alarm occurs again, initialize the file for calibration between
4014 CALIB FILE) The memory for the file manipulators in maintenance mode, and then load the file for calibration
for calibration between between manipulators saved in the external memory device.
manipulators is damaged.
new ACP01 board.
Number Message Code
ERROR(POWER SRC memory check. (2)If the alarm occurs again, initialize the Power Source user definition file
4017 USER-DEF) The memory for the in maintenance mode, and then load the Power Source user definition file
Power Source user saved in the external memory device.
definition file is damaged.
new ACP01 board.
Alarm List
ERR(LADDER PRG memory check. (2)If the alarm occurs again, initialize the ladder program file in
4018 FILE) The memory for the maintenance mode, and then load the ladder program file saved in the
ladder program file is external memory device.
Alarm List-463
damaged.
new ACP01 board.
Number Message Code
ERROR(CUTTING memory check. (2)If the alarm occurs again, initialize the cutting condition file in
4019 COND FILE) The memory for the user maintenance mode, and then load the cutting condition file saved in the
coordinates file is external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(OPERATION memory check. (2)If the alarm occurs again, initialize the work home position file in
4020 ORIGIN) The memory for the work maintenance mode, and then load the work home position file saved in the
home position file is external memory device.
Alarm List-464
damaged.
new ACP01 board.
Number Message Code
ERROR(CONVEYOR memory check. (2)If the alarm occurs again, initialize the conveyor condition file in
4021 COND FILE) The memory for the maintenance mode, and then load the conveyor condition file saved in the
conveyor condition file is external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(PAINT memory check. (2)If the alarm occurs again, initialize the paint special file in maintenance
4022
SPECIAL FILE) The memory for the paint mode, and then load the paint special file saved in the external memory
special file is damaged. device.
Alarm List-465
new ACP01 board.
ERROR(PAINT COND memory check. (2)If the alarm occurs again, initialize the paint condition file in maintenance
4023
FILE) The memory for the paint mode, and then load the paint condition file saved in the external memory
condition file is damaged. device.
Number Message Code
new ACP01 board.
Alarm List

ERR(WRIST WEAV memory check. (2)If the alarm occurs again, initialize the wrist weaving amplitude file in
4024 AMP FILE) The memory for the wrist maintenance mode, and then load the wrist weaving amplitude file saved in
weaving amplitude file is the external memory device.
damaged.
Alarm List-466
new ACP01 board.
ERROR(INTERRUPT memory check. (2)If the alarm occurs again, initialize the interrupt job file in maintenance
4025 JOB FILE) The memory for the mode, and then load the interrupt job file saved in the external memory
interrupt job file is device.
damaged.
Number Message Code
new ACP01 board.
Alarm List

ERR(SENSOR MON memory check. (2)If the alarm occurs again, initialize the sensor monitoring condition file in
4028 COND FILE) The memory for the maintenance mode, and then load the sensor monitoring condition file
sensor monitoring saved in the external memory device.
Alarm List-467
new ACP01 board.
MEMORY An error was detected at Sub Code: File number Data error (1)Reset the alarm.
ERR(PRESS COND memory check. (2)If the alarm occurs again, initialize the press condition file in
4030
DATA FILE) The memory for the press maintenance mode, and then load the press condition file saved in the
condition file is damaged. external memory device.
Number Message Code
new ACP01 board.
Alarm List
ERROR(SPOT GUN memory check. (2)If the alarm occurs again, initialize the gun condition file in maintenance
4031 COND FILE) The memory for the spot mode, and then load the gun condition file saved in the external memory
welding gun condition file device.
is damaged.
Alarm List-468
new ACP01 board.
ERROR(SPOT memory check. (2)If the alarm occurs again, initialize the spot welding gun condition file in
4032 WELDER COND) The memory for the spot maintenance mode, and then load the spot welding gun condition file saved
welding Power Source in the external memory device.
Number Message Code
new ACP01 board.
Alarm List
ERROR(GUN memory check. (2)If the alarm occurs again, initialize the gun pressure file in maintenance
4033
PRESSURE FILE) The memory for the gun mode, and then load the gun pressure file saved in the external memory
pressure file is damaged. device.
new ACP01 board.
Alarm List-469
ERR(ANTICIPATION memory check. (2)If the alarm occurs again, initialize the anticipation output (OT) file in
4034 OT FILE) The memory for the maintenance mode, and then load the anticipation output (OT) file saved in
anticipation outputs (OT) the external memory device.
file is damaged.
Number Message Code
new ACP01 board.
Alarm List

ERR(ANTICIPATION memory check. (2)If the alarm occurs again, initialize the anticipation output (OG) file in
4035 OG FILE) The memory for the maintenance mode, and then load the anticipation output (OG) file saved in
anticipation outputs (OG) the external memory device.
file is damaged.
Alarm List-470
new ACP01 board.
ERROR(WEARING memory check. (2)If the alarm occurs again, initialize the wear amount file in maintenance
4036
FILE) The memory for the wear mode, and then load the wear amount file saved in the external memory
amount file is damaged. device.
Number Message Code
new ACP01 board.
Alarm List
ERROR(STROKE memory check. (2)If the alarm occurs again, initialize the FULL/SHORT OPEN position
POSITION) The memory for the setting file in maintenance mode, and then load the FULL/SHORT OPEN
4037
FULL/SHORT OPEN position setting file saved in the external memory device.
position setting file is
damaged.
Alarm List-471
new ACP01 board.
ERROR(PRESSURE memory check. (2)If the alarm occurs again, initialize the dry-spotting pressure file in
4038 FILE) The memory for the dry- maintenance mode, and then load the dry-spotting pressure file saved in
spotting pressure file is the external memory device.
damaged.
Number Message Code
new ACP01 board.
Alarm List
ERROR(FORM CUT memory check. (2)If the alarm occurs again, initialize the form cut file in maintenance mode,
4039
FILE) The memory for the form and then load the form cut file saved in the external memory device.
cut file is damaged.
new ACP01 board.
Alarm List-472
ERROR(SHOCK memory check. (2)If the alarm occurs again, initialize the shock level file in maintenance
4040
LEVEL FILE) The memory for the shock mode, and then load the shock level file saved in the external memory
level file is damaged. device.
new ACP01 board.
Number Message Code
ERROR(SPOT IO memory check. (2)If the alarm occurs again, initialize the spot I/O allocation file in
4041 ALLOCTE FL) The memory for the spot maintenance mode, and then load the spot I/O allocation file saved in the
I/O allocation file is external memory device.
damaged.
Alarm List

new ACP01 board.
Alarm List-473
ERROR(VISION FILE) memory check. (2)If the alarm occurs again, initialize the vision condition file in
4042
The memory for the vision maintenance mode, and then load the vision condition file saved in the
condition file is damaged. external memory device.
new ACP01 board.
Number Message Code
ERROR(VISION memory check. (2)If the alarm occurs again, initialize the vision calibration file in
4043 CALIBRATION) The memory for the vision maintenance mode, and then load the vision calibration file saved in the
calibration file is external memory device.
damaged.
new ACP01 board.
Alarm List

Alarm List-474
ERROR(WELD memory check. (2)If the alarm occurs again, initialize the welding pulse condition file in
4044 PULSE COND) The memory for the maintenance mode, and then load the welding pulse condition file saved in
welding pulse condition the external memory device.
file is damaged.
new ACP01 board.
Number Message Code
ERROR(WELD memory check. (2)If the alarm occurs again, initialize the welding pulse selection file in
4045 PULSE SELECT) The memory for the maintenance mode, and then load the welding pulse selection file saved in
welding pulse selection the external memory device.
file is damaged.
new ACP01 board.
Alarm List
ERR(CONVEYOR memory check. (2)If the alarm occurs again, initialize the conveyor calibration file in
4046 CALIB FILE) The memory for the maintenance mode, and then load the conveyor calibration file saved in the
conveyor calibration file is external memory device.
Alarm List-475
damaged.
new ACP01 board.
Number Message Code
An error was detected at Data error (1)Reset the alarm.
MEMORY memory check. (2)If the alarm occurs again, initialize the macro definition file in
4047 ERROR(MACRO The memory for the maintenance mode, and then load the macro definition file saved in the
DEFINITION FILE) macro definition file is external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(SERVO S- memory check. (2)If the alarm occurs again, initialize the sealer gun characteristics file in
4048 GUN FILE) The memory for the maintenance mode, and then load the sealer gun characteristics file saved
sealer gun characteristics in the external memory device.
Alarm List-476
file is damaged.
new ACP01 board.
Number Message Code
ERROR(PASTE memory check. (2)If the alarm occurs again, initialize the painting amount correction file in
QUAN.COMP FL) The memory for the maintenance mode, and then load the painting amount correction file saved
4049
painting amount in the external memory device.
correction file is
damaged.
new ACP01 board.
Alarm List
MEMORY ERR(AXIS An error was detected at Data error (1)Reset the alarm.
I/O ALLOC FILE) memory check. (2)If the alarm occurs again, initialize the axis motion I/O allocation file in
4050 The memory for the axis maintenance mode, and then load the axis motion I/O allocation file saved
Alarm List-477
motion I/O allocation file in the external memory device.
is damaged.
new ACP01 board.
Number Message Code
MEMORY ERR(GUN An error was detected at Sub Code: File number Data error (1)Reset the alarm.
COND. AUX. FILE) memory check. (2)If the alarm occurs again, initialize the gun characteristics auxiliary file in
4051 The memory for the gun maintenance mode, and then load the gun characteristics auxiliary file
characteristics auxiliary saved in the external memory device.
file is damaged.
new ACP01 board.
Alarm List
ERROR(TOOL memory check. (2)If the alarm occurs again, initialize the tool interference file in
4052 INTERFERENCE) The memory for the tool maintenance mode, and then load the tool interference file saved in the
interference file is external memory device.
Alarm List-478
damaged.
new ACP01 board.
Number Message Code
ERROR(PAINT SYS memory check. (2)If the alarm occurs again, initialize the painting system setting file in
4053 CONFIG.) The memory for the maintenance mode, and then load the painting system setting file saved in
painting system setting the external memory device.
file is damaged.
new ACP01 board.
Alarm List
ERROR(PAINTING memory check. (2)If the alarm occurs again, initialize the painting device characteristics file
SPECIAL) The memory for the in maintenance mode, and then load the painting device characteristics file
4054
painting device saved in the external memory device.
Alarm List-479
characteristics file is
damaged.
new ACP01 board.
Number Message Code
ERROR(CCV-PAINT memory check. (2)If the alarm occurs again, initialize the painting CCV file in maintenance
4055 TABLE) The memory for the mode, and then load the painting CCV file saved in the external memory
painting CCV file is device.
damaged.
new ACP01 board.
Alarm List
ERROR(PLUG memory check. (2)If the alarm occurs again, initialize the painting filling file in maintenance
4056
VOLUME FILE) The memory for the paint mode, and then load the painting filling file saved in the external memory
filling file is damaged. device.
Alarm List-480
new ACP01 board.
Number Message Code
ERROR(EVB GUN memory check. (2)If the alarm occurs again, initialize the EVB gun condition file in
4057 COND) The memory for the EVB maintenance mode, and then load the EVB gun condition file saved in the
gun condition file is external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(EVB TURBIN memory check. (2)If the alarm occurs again, initialize the EVB turbine condition file in
4058 COND) The memory for the EVB maintenance mode, and then load the EVB turbine condition file saved in
turbine condition file is the external memory device.
Alarm List-481
damaged.
new ACP01 board.
Number Message Code
ERROR(EVB PAINT memory check. (2)If the alarm occurs again, initialize the EVB paint condition file in
4059 COND) The memory for the EVB maintenance mode, and then load the EVB paint condition file saved in the
paint condition file is external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(CLEARANCE memory check. (2)If the alarm occurs again, initialize the clearance file in maintenance
4060
FILE) The memory for the mode, and then load the clearance file saved in the external memory
clearance file is damaged. device.
Alarm List-482
new ACP01 board.
Number Message Code
ERROR(GAUGE memory check. (2)If the alarm occurs again, initialize the gauging sensor condition file in
4061 SENSOR FILE) The memory for the maintenance mode, and then load the gauging sensor condition file saved
gauging sensor file is in the external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(LNR SCALE memory check. (2)If the alarm occurs again, initialize the linear scale condition file in
4062 FILE) The memory for the linear maintenance mode, and then load the linear scale condition file saved in
scale condition file is the external memory device.
Alarm List-483
damaged.
new ACP01 board.
Number Message Code
ERR(CONVEYOR memory check. (2)If the alarm occurs again, initialize the conveyor condition auxiliary file in
4063 COND SUPP.) The memory for the maintenance mode, and then load the conveyor condition auxiliary file
conveyor condition saved in the external memory device.
auxiliary file is damaged.
new ACP01 board.
Alarm List
ERR(WEAV SYNC memory check. (2)If the alarm occurs again, initialize the weaving synchronizing welding
WELD FILE) The memory for the condition file in maintenance mode, and then load the weaving
4064
weaving synchronizing synchronizing welding condition file saved in the external memory device.
Alarm List-484
welding condition file is
damaged.
new ACP01 board.
Number Message Code
MEMORY ERROR(I/F An error was detected at Data error (1)Reset the alarm.
PANEL FILE) memory check. (2)If the alarm occurs again, initialize the I/F panel file in maintenance
4065
The memory for the I/F mode, and then load the I/F panel file saved in the external memory device.
panel file is damaged.
new ACP01 board.
Alarm List

ERR(PALLETIZE memory check. (2)If the alarm occurs again, initialize the palletize condition file in
4069 COND FILE) The memory for the maintenance mode, and then load the palletize condition file saved in the
palletizing condition file is external memory device.
damaged.
Alarm List-485
new ACP01 board.
Number Message Code
ERROR(LASER memory check. (2)If the alarm occurs again, initialize the laser tracking welding start file in
4070 TRACKING START The memory for the laser maintenance mode, and then load the laser tracking welding start file saved
FILE) tracking welding start file in the external memory device.
is damaged.
new ACP01 board.
Alarm List
ERROR(LASER memory check. (2)If the alarm occurs again, initialize the laser tracking welding end file in
4071 TRACKING END The memory for the laser maintenance mode, and then load the laser tracking welding end file saved
FILE) tracking welding end file in the external memory device.
Alarm List-486
is damaged.
new ACP01 board.
Number Message Code
ERROR(LASER memory check. (2)If the alarm occurs again, initialize the laser tracking track start file in
4072 TRACKING TRACK The memory for the laser maintenance mode, and then load the laser tracking track start file saved in
START FILE) tracking track start file is the external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(LASER memory check. (2)If the alarm occurs again, initialize the laser tracking welding set file in
4073 TRACKING SET FILE) The memory for the laser maintenance mode, and then load the laser tracking welding set file saved
tracking welding set file is in the external memory device.
Alarm List-487
damaged.
new ACP01 board.
Number Message Code
ERROR(LASER memory check. (2)If the alarm occurs again, initialize the laser tracking track set file in
4074 TRACKING TRACK The memory for the laser maintenance mode, and then load the laser tracking track set file saved in
SET FILE) tracking track set file is the external memory device.
damaged.
new ACP01 board.
Alarm List
ERROR(CONDITION memory check. (2)If the alarm occurs again, initialize the condition file of corresponding to
FILE OF The memory for the laser tracking gap in maintenance mode, and then load the condition file of
4075
CORRESPONDING condition file of corresponding to laser tracking gap saved in the external memory device.
Alarm List-488
TO LASER corresponding to laser
TRACKING GAP) tracking gap is damaged.
new ACP01 board.
Number Message Code
ERR(MUTUAL WAIT memory check. (2)If the alarm occurs again, initialize the mutual wait set file in maintenance
4080 SET FILE) The memory for the mode, and then load the mutual wait set file saved in the external memory
mutual wait set file is device.
damaged.
new ACP01 board.
Alarm List
ERR(INTERF. memory check. (2)If the alarm occurs again, initialize the mutual wait set file in maintenance
4081 PREDICT FILE) The memory for the mode, and then load the interference predict file saved in the external
interference predict file is memory device.
Alarm List-489
damaged.
new ACP01 board.
Number Message Code
INTERF. PREDICT YRC1000 has detected Operation (1)Reset the alarm.
DETECT the possibility of mistake or (2)Pull the manipulators away each other.
4082
interference between teaching mistake (3)If this alarm occurred during test run or playback operation, change the
manipulators. teaching points.
INTERF. PREDICT SubCode Connection (1)Reset the alarm.
COMM ERROR 0000_0000_0000_0010:YRC1 failure (2)Check the connection between interference predict server and
000 received an error YRC1000.
response from the interference
predict server.
0001_0000_0000_0001:No
Alarm List
response for the interference

check start request was
A communication error returned from the interference
has been detected in the predict server.
4083
interference predict 0001_0000_0000_0010:No
function. response for the current
position acquisition request
was returned from the
Alarm List-490
interference predict server.
0001_0000_0000_0011:YRC1
000 received an error
response for the interference
check start request from the
interference predict server.
Setting error (1)Reset the alarm.
(2)Check each network setting for the robot controller and the interference
predict server.
Number Message Code
ROBOT SYNC. SubCode Connection SubCode
ERROR 0000_0000_0000_0001:No failure 0000_0000_0000_0001
response was returned from 0000_0000_0000_0010
the mutual wait target.
0000_0000_0000_0011
0000_0000_0000_0010:An
0000_0000_0000_0100
error occurred in the
communication with the mutual 0000_0000_0000_0101
wait target during the 0000_0000_0011_0000
execution of RSYNC(FN591). 0000_0000_0100_0000
0000_0000_0000_0011:An (1)Reset the alarm.
error occurred in the (2)Check the communication connection with the mutual wait target.
communication with the mutual
wait target during the
execution of RSYNC(FN591).
Alarm List
0000_0000_0000_0100:RSYN
C(FN591) execution cancel
was received even though
RSYNC(FN591) execution
notice hadn't been received
An error was detected in
4084 from the mutual wait target.
the mutual wait function. 0000_0000_0000_0101:RSYN
C(FN591) execution cancel
error from the mutual wait
Alarm List-491
target was received.
0000_0000_0001_0000:The
mutual wait manipulator No. of
the RSYNC(FN591) is
abnormal.
0000_0000_0010_0000:RSYN
C(FN591) was doubly
executed.
0000_0000_0011_0000:RSYN
C(FN591) execution notice
from the mutual wait target
was received doubly.
0000_0000_0100_0000:RSYN
C(FN591) execution notice
error from the mutual wait
target was received.
Number Message Code
HUB failure SubCode
0000_0000_0000_0001
0000_0000_0000_0010
0000_0000_0000_0011
0000_0000_0000_0100
0000_0000_0000_0101
0000_0000_0011_0000
0000_0000_0100_0000
(1)Reset the alarm.
(2)Check the communication connection with the mutual wait target.
Setting error SubCode
0000_0000_0000_0001
Alarm List
(1)Reset the alarm.

(2)Check the contents of the mutual wait setting file.
(3)Check the network setting of the mutual wait target.
Operation SubCode
mistake 0000_0000_0000_0100
0000_0000_0000_0101
(1)Reset the alarm.
(2)Check if FN591execution is aborted when FN591 execution has been
Alarm List-492
mutually established. In this case, this alarm may occur due to
communication time lag.
Setting error SubCode
0000_0000_0001_0000
(1)Reset the alarm.
(2)Check the mutual wait manipulator No. of the FN591.
Software SubCode
operation error 0000_0000_0010_0000
occurred 0000_0000_0011_0000
0000_0000_0100_0000
(1)Reset the alarm.
Number Message Code
ERR(INTERF. memory check. (2)If the alarm occurs again, initialize the mutual wait set file in maintenance
4085 HISTORY FILE) The memory for the mode, and then load the interference history file saved in the external
interference history file is memory device.
damaged.
new ACP01 board.
Alarm List
Other (1)Reset the alarm.
(2)If the alarm occurs again, replace the AIF01 board. Save the CMOS.BIN
ERROR(YSF SET memory check. (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
Alarm List-493
4086
FILE) The memory for the ysf and then load the ysf logic file saved in the external memory device.
set file is damaged.
new ACP01 board.
Number Message Code
ERROR(YSF TMR memory check. (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
4087
timer file is damaged.
new ACP01 board.
Alarm List

ERROR(YSF LOGIC memory check. (2)If the alarm occurs again, initialize the ysf logic file in maintenance mode,
4088
logic file is damaged.
Alarm List-494
new ACP01 board.
DC 24V POWER An error was detected in YPS21 unit failure (1)Reset the alarm.
SUPPLY failure (CPS) the voltage value of the (2)If the alarm occurs again, turn the power OFF then back ON.
4099
CPS power, (3)If the alarm occurs again, replace the following unit.
·CPS01 unit
Number Message Code
SYSTEM DATA HAS The system parameters System data (1)Reset the alarm.
BEEN CHANGED are modified. changed (2)Turn the power OFF then back ON before turning ON the servo power
An attempt was made to supply.
4102 turn ON the servo power
supply after having
modified the system
parameters.
Alarm List
PARALLEL START An error occurred in the Sub task being executed: Setting error (1)Reset the alarm.
INSTRUCTION independent control Although a job is being (2)Check if other JOB has been already executed in the same task which is
ERROR startup operation. executed by instructed sub used in the PSTART. If same task need to be executed in series, add
4103 1
task, an attempt was made to PWAIT to confirm if the previous task end.
execute another job by the sub
task.
Alarm List-495
Group axis being used: Setting error (1)Reset the alarm.
The job operated by another (2)Check if the control group of the JOB which is used in the PSTART has
2
sub task uses the same group been already executed in other task. If the same group need to be executed
axis. in series, add PWAIT to confirm if the other task end.
Multiple start of same job: Setting error (1)Reset the alarm.
The job that was tried to be (2)Check if the JOB which is used in the PSTART has been already
3
started was executed by executed in other task. If the same job need to be executed in series, add
another sub task. PWAIT to confirm if the other task end.
Number Message Code
Unregistered master job: Setting error (1)Reset the alarm.
Although the master job was (2)Check the following settings.
4 not registered, an attempt was ·The master job of the subtask is registered
made to execute PSTART
SUB (job name omitted).
Synchronization instruction Setting error (1)Reset the alarm.
error: (2)Check the following settings.
When restarted by PSTART, ·The job to be started
5 synchronization instruction ·The execution timing for start command
status of the sub task under
Alarm List
interruption was different from

the status to restart.
Stopped by an alarm: Setting error Check the following settings.
An attempt was made to start ·Alarm occurrence status
6
the sub task which is stopped
by an alarm.
Alarm List-496
Synchronization task Setting error (1)Reset the alarm.
7 specification of SYNC (2)Check the following setting.
instruction omit error ·Synchronization task specification of SYNC instruction
The task is specified by Setting error (1)Reset the alarm.
synchronization task of SYNC (2)Check the following setting.
8 instruction. ·Synchronization task specification of SYNC instruction
It is not possible to set the same task to the SYNC as the sub task of
PSTART instruction.
Number Message Code
I/O jog being executed Setting error (1)Reset the alarm.
(2)Check the following setting.
9
·I/O jog executing status
Complete the I/O jog execution, and then restart.
Separate group axis being Setting error (1)Reset the alarm.
used (2)Check the following setting.
10
·I/O jog executing status
Complete the I/O jog executing status, and then restart.
Alarm List

The servo power supply is Setting error (1)Reset the alarm.
OFF. (2)Check the following setting.
11
·Servo power
Turn ON servo power.
Twin synchronous task ID Setting error (1)Reset the alarm.
Alarm List-497
12 error (2)Check the following setting.
·Twin synchronous task specification of SYNC instruction
PSTART instruction is the old Setting error (1)Reset the alarm.
specification. (2)Check the following settings.
16
·The specifications of PSTART instruction
Register the PSTART instruction as new specification.
PWAIT instruction is the old Setting error (1)Reset the alarm.
specification. (2)Check the following settings.
17
·The specifications of PWAIT instruction
Register the PWAIT instruction as new specification.
Number Message Code
Sub task to be set PSTART Setting error (1)Reset the alarm.
has been already executed. (2)Check the following settings.
18
·The subtask is completed by the PWAIT instruction.
·The execution timing for start command
An attempt was made to start Setting error (1)Reset the alarm.
up the control group where IO (2)Check the status of IOSPDCTRL operation setting. The control group of
19 speed control is activated by a which setting status is "VALID" cannot be started up by a job.
Alarm List
job. (3)Modify the job so as not to start up the control group in which IO speed
control is activated.
MotoPlus is operating Setting error (1)Reset the alarm.
20
·MotoPlus operating status
Complete the MotoPlus operation, and then restart.
Alarm List-498
WRONG EXECUTION An error occurred when Sub Code1 to 245: Signifies Setting error (1)Reset the alarm.
OF LOAD INST an instruction was the data transmission error. (2)Refer to the instruction manual for Data Transmission Function for
4104 executed by the data details.
transmission DCI
function.
OF SAVE INST an instruction was the data transmission error. (2)Refer to the instruction manual for Data Transmission Function for
transmission DCI
function.
Number Message Code
OF DELETE INST an instruction was the data transmission error. (2)Refer to the instruction manual for Data Transmission Function for
transmission DCI
function.
OUT OF The position difference Sub Code: Signifies the axis in Setting error (1)Reset the alarm.
RANGE(ABSO DATA) between when the power which the alarm occurred (2)Check the following settings.
Alarm List
was turned OFF and ·Move the manipulator or station to the zero position by the axis operation
when the power was and check the home position alignment marks (the arrow).
4107
turned ON again
exceeded the tolerance
for the manipulator or a
station.
Blown fuse If AL1962 "SDCA01 board failure" occurred simultaneously with this alarm,
Replace the fuse(F1) in the SDCA01 board.
Alarm List-499
SHOCK SENSOR This alarm occurs if the Shock sensor Shock sensor is activated. Select "OVERRUN&SHOCK SENSOR" under
4110 ACTION shock sensor signal is activated sub menu "ROBOT" to reset the sensor. After that, perform avoidance
detected. movement by jog operation.
Fuse failure (1)Reset the alarm.
(2)If the alarm occurs again, check the connection of the fuse of ASF01
board and then turn the power ON again.
Connection (1)Reset the alarm.
·ASF01-CN204
·SDCA01-CNBX-ASF01
ASF01 board (1)Reset the alarm.
Number Message Code
SDCA01 board (1)Reset the alarm.
DATA SENDING A sending error occurred Retry over of NAK Communication (1)Reset the alarm.
4112 ERROR during data transmission. 1 error (2)If the alarm occurs again, check the communication setting and
communication wiring is correct.
Retry over for timeout in timer Communication (1)Reset the alarm.
Alarm List
2 A error (2)If the alarm occurs again, check the communication setting and
Retry over for mutual response Communication (1)Reset the alarm.
3 error error (2)If the alarm occurs again, check the communication setting and
Alarm List-500
DATA RECEIVING A receiving error occurred Reception timeout (timer A) Communication (1)Reset the alarm.
4113 ERROR during data transmission. 1 error (2)If the alarm occurs again, check the communication setting and
Reception timeout (timer B) Communication (1)Reset the alarm.
2 error (2)If the alarm occurs again, check the communication setting and
Heading length is too short. Setting error (1)Reset the alarm.
(2)If the alarm occurs again, send EOT code to release the data link and
3
then check that the sending side data is correctly set.
(3)Check that the communication setting is correct.
Number Message Code
Heading length is too long. Setting error (1)Reset the alarm.
4
The header No. error Setting error (1)Reset the alarm.
5
Alarm List

The text length exceeded 256 Setting error (1)Reset the alarm.
characters. (2)If the alarm occurs again, send EOT code to release the data link and
6
Alarm List-501
Illegal data received Setting error (1)Reset the alarm.
7
TRANSMISSION An error occurred during Overrun error Communication (1)Reset the alarm.
4114 HARDWARE ERROR data transmission. 1 error (2)If the alarm occurs again, check the communication setting and
Parity error Communication (1)Reset the alarm.
Number Message Code
Framing error Communication (1)Reset the alarm.
Transmission timeout (timer A) Communication (1)Reset the alarm.
Alarm List

Transmission timeout (timer B) Communication (1)Reset the alarm.
TRANSMISSION An error occurred during Received EOT while waiting Communication (1)Reset the alarm.
Alarm List-502
SYSTEM BLOCK data transmission. (This ACK. error (2)If the alarm occurs again, check the setting of communication or
alarm occurs when transmission side data is correctly set.
received data cause
inconsistency on the
system although the
4115 1
transmission protocol is
correct. Mainly, this alarm
occurs due to an illegal
transmission or erroneous
report at the data sending
side.)
Received EOT while waiting Communication (1)Reset the alarm.
2 ENQ. error (2)If the alarm occurs again, check the setting of communication or
transmission side data is correctly set.
Number Message Code
Received EOT before last Communication (1)Reset the alarm.
3 block reception. error (2)If the alarm occurs again, check the setting of communication or
Received codes other than Communication (1)Reset the alarm.
4 EOT after last block reception. error (2)If the alarm occurs again, check the setting of communication or
Alarm List

TRANSMISSION An error occurred in data Transmission data contents Communication (1)Reset the alarm.
4116 SYSTEM ERROR transmission. 1 error error (2)If the alarm occurs again, check the setting of communication or
Trans error or protocol error Communication (1)Reset the alarm.
100
Alarm List-503
error (2)If the alarm occurs again, check the setting of communication or
The SDCA01 board # Connection (1)Reset the alarm.
BRAKE POWER Brake power supply unit
4117 1 1generates an alarm. failure (2)If the alarm occurs again, check the brake connection if there is a ground
ERROR (SDCA) has been blown.
fault or short circuit.
(2)If the alarm occurs again, check the brake connection and then replace
the fuse.
The SDCA01 board # 2 Connection (1)Reset the alarm.
2 generates an alarm. failure (2)If the alarm occurs again, check the brake connection if there is a ground
Number Message Code
the fuse.
the fuse.
Alarm List
the fuse.
Alarm List-504
the fuse.
6 6generates an alarm. failure (2)If the alarm occurs again, check the brake connection if there is a ground
Number Message Code
the fuse.
the fuse.
Alarm List
the fuse.
Alarm List-505
FAN CIRCUIT The circuit protector of the The SDCA01 board # Connection (1)Reset the alarm.
PROTECTOR in-panel cooling fan is 1generates an alarm. failure (2)If the alarm occurs again, check fan power line if there is a ground fault
TRIPPED tripped or turned OFF. or short circuit.
4118 1
(This alarm will be
displayed one minutes
after detection.)
(2)Check the following settings.
·(After cancellation of the short-circuit and ground fault) Turn ON the circuit
protector.
Number Message Code
Cooling fan failure (1)Reset the alarm.
(2)Replace the in-panel cooling fan.
Check the connection between manipulator and servo board.
* Move the manipulator to safety place in teach mode.
2 generates an alarm. failure (2)If the alarm occurs again, check fan power line if there is a ground fault
or short circuit.
Alarm List
protector.
Alarm List-506
or short circuit.
protector.
Number Message Code
or short circuit.
protector.
Alarm List
or short circuit.
Alarm List-507
protector.
or short circuit.
protector.
Number Message Code
or short circuit.
Alarm List
protector.
Alarm List-508
or short circuit.
protector.
Number Message Code
FAN ERROR(IN The rotation speed of the Sub Code 1 to 8: Signifies the Cooling fan failure Replace the CPS01KA unit.
CONTROL BOX) cooling fan 1 with alarm ASF01 board No. in which the
4119 sensor connected to the alarm occurred
CPS01KA unit
decreased.
COOLING FAN1 The rotation speed of the Sub Code 1to 8: Signifies the Cooling fan failure (1)Reset the alarm.
ERROR cooling fan 1 with alarm SDCA01 board No. in which (2)Replace the cooling fan of manipulator.
4121
sensor connected to the the alarm occurred Check the wiring from a manipulator to a servo board.
contactor unit decreased. * Move the manipulator to the safe position in the teach mode.
Alarm List
4122
contactor unit decreased. * Move the manipulator to the safe position in the teach mode.
Alarm List-509
COOLING FAN3 The rotation speed of the Sub Code 1to 8: Signifies the Cooling fan failure Replace the cooling fan of manipulator.
ERROR cooling fan 3 with alarm SDCA01 board No. in which Check the wiring from a manipulator to a servo board.
4123
sensor connected to the the alarm occurred * Move the manipulator to the safe position in the teach mode.
contactor unit decreased.
WRONG EXECUTION The specified file number is Setting error (1)Reset the alarm.
OF VISION INST incorrect. (2)Check the following settings.
4124 1
·File No.
Specify the correct file number.
The specified file set value is Setting error Check the following settings.
2 incorrect. ·File set value
Specify the set value.
Number Message Code
Calibration could not be Setting error (1)Reset the alarm.
executed. (2)Check the following settings.
·The robot coordinate data or the pixel coordinate data used for the
calibration
3
·The user variable number in the calibration file
Set the robot coordinate data and the pixel coordinate data used for the
calibration to the user variable.
Correctly set the user variable number in the calibration file.
Alarm List
The communication port for Setting error (1)Reset the alarm.

the vision system could not be (2)Check the following settings.
4
initialized. ·The Parameter for vision communication port.
(3)Set the correct parameters for the communication port.
Time-out occurred during data Setting error (1)Reset the alarm.
Alarm List-510
5 transmission. (2)Check the following settings.
·The communication setting of vision system
(1)Reset the alarm. Connection (1)Reset the alarm.
(2)Check the following failure (2)If the alarm occurs again, check the connection of the following cables.
settings. ·Cable between vision system and YRC1000 system
·The communication
setting of vision system
Time-out occurred during data Setting error (1)Reset the alarm.
6 reception. (2)Check the following settings.
failure (2)If the alarm occurs again, check the connection of the following cables.
·Cable between vision system and YRC1000 system
Number Message Code
The data received from the Setting error (1)Reset the alarm.
vision system is incorrect. (2)Check the following settings.
7
·The detection setting of vision system
failure (2)If the alarm occurs again, check the connection of the following cables.
·Cable between vision system and YRC1000 system
Alarm List
The pixel coordinates value Setting error (1)Reset the alarm.

was not able to be converted (2)Check the following settings.
8
into the robot coordinates. ·The communication setting of vision system
·Calibration file for use
Failed to read or write the Setting error (1)Reset the alarm.
position type variable (P (2)Check the following settings.
Alarm List-511
9 variable). ·Usage status of the specified position type variable
Don't use the specified positional type variable at the same time in other
jobs.
Use memory is lacking and the Software (1)Reset the alarm, and then try again.
10 area could not be obtained. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The setting value of Setting error (1)Reset the alarm.
11 measurement item (FT) is (2)Correct the setting value of a measurement item.
incorrect.
Number Message Code
The data for the vision Software (1)Reset the alarm, and then try again.
12 execution command is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
incorrect. occurred YASKAWA representative about occurrence status (operating procedure).
The number of waiting Software (1)Reset the alarm, and then try again.
commands sent by Vision operation error (2)Check the command sent by Vision sensor
48
sensor exceeded the limit. occurred (3)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
TRANS An error occurred in the File access error Communication (1)Reset the alarm.
4125 ERROR(WELD welding pulse condition 1 error (2)If the alarm occurs again, check the communication setting and
PULSE COND) transmission. communication wiring is correct.
File data error Communication (1)Reset the alarm.
2 error (2)If the alarm occurs again, check the setting of communication or file data
is correctly set.
Alarm List-512
Calibration execution error Communication (1)Reset the alarm.
3 error (2)If the alarm occurs again, check the setting of communication or
ACP01 port initialize error Communication (1)Reset the alarm.
4 error (2)If the alarm occurs again, check the setting of communication or ACP01
port is correctly set.
Time-out occurred during data Communication (1)Reset the alarm.
5 transmission. error (2)If the alarm occurs again, check the communication setting and
Number Message Code
Time-out occurred during data Communication (1)Reset the alarm.
6 reception. error (2)If the alarm occurs again, check the communication setting and
Receive data error Communication (1)Reset the alarm.
Alarm List

Coordinate conversion error Communication (1)Reset the alarm.
Position type variable access Communication (1)Reset the alarm.
Alarm List-513
error error (2)If the alarm occurs again, check the setting of communication or
Failed to store the area. Software (1)Reset the alarm, and then try again.
Measurement item setting Communication (1)Reset the alarm.
11 error error (2)If the alarm occurs again, check the setting of communication or
Number Message Code
Tag setting error Communication (1)Reset the alarm.
Wait status table FULL Communication (1)Reset the alarm.
CANNOT EXECUTE An error occurred when System error Software (1)Reset the alarm, and then try again.
Alarm List
4126 AUTO PMT execution of auto PMT. 1 operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
PBOX cannot be edited. Setting error (1)Reset the alarm.
2
·I/O status of the edit prohibit signal
The edit prohibit signal cannot input.
Alarm List-514
The source job cannot be Setting error (1)Reset the alarm.
edited. (2)Check the following setting.
3
·The prohibit status of source job
If the source job is protected from editing, it cannot be edited.
The converted job cannot be Setting error (1)Reset the alarm.
edited. (2)Check the following settings.
4
·The prohibit status of converted job
If the converted job is protected from editing, it cannot be edited.
Number Message Code
The memory area for job area Software (1)Reset the alarm.
is insufficient. operation error (2)If the error occurs again, delete unused jobs.
occurred (3)If the error occurs again after the previous measures were executed,
initialize the job file in the maintenance mode, and then load the saved job
5
file. In that case, delete the unused jobs.
The source job is not exist. Setting error Check the following settings.
6 ·Presence of the specified source job
Alarm List
The job which does not exist cannot be set to the source job.
The memory area for position Software (1)Reset the alarm.
data of the job is insufficient. operation error (2)when the error occurs again, if there is an unnecessary teaching
occurred position, delete it.
(3)If the error occurs again after the previous measures were executed,
7 initialize the job file in the maintenance mode, and then load the saved job
Alarm List-515
The job under execution is Setting error (1)Reset the alarm.
specified as the conversion (2)Check the following settings.
job. ·Execution status of the source job
8
·Execution status of the converted job
The job under execution is specified for the source / converted job. Execute
conversion operation after ending the job execution.
Number Message Code
ARC MONITOR An error occurred when Monitor ON was executed in Setting error (1)Reset the alarm.
ERROR arc monitor was in Monitor ON. (2)Check the following settings.
4128 1
execution. ·Arc monitor ON status
Arc monitor ON cannot be executed during arc monitor ON.
Analog CH specification or Setting error (1)Reset the alarm.
register specification is not (2)Check the following settings.
10 exist. ·Analog CH specification
·Register specification
Analog CH specification or register specification is required.
Alarm List
The number of samplings Setting error (1)Reset the alarm.
exceeds the set value. (2)Check the following settings.
11
·The number of samplings
The number of sampling is too much. Confirm the monitor ON/OFF status.
Alarm List-516
TWIN DRIVE OUT OF When the twin drive Sub Code: Corresponding Setting error (1)Reset the alarm.
RANGE(START) started, the error value of master-axes and slave-axes (2)Check the following settings.
the pulse between the are displayed by the bit. ·Pulse error of the master-axes and the slave-axes
4129
master-axes and the Switch to independent movement mode so that the pulse error of the
slave-axes exceeded the master-axes and the slave-axes is settled within allowable range.
allowable range.
NETWORK An error occurred when An error occurred when the Software (1)Turn the power OFF then back ON.
APPLICATION the Ethernet function was notification of the APP task re- operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4130 1
PROCESS ERROR used. initialization was processed in occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
new ACP01 board.
An error occurred when the re- Software (1)Turn the power OFF then back ON.
initialization response was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2
received in the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
function.
Alarm List
new ACP01 board.
The incomplete task of re- Software (1)Turn the power OFF then back ON.
initialization was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
3
unsuccessfully completed in occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-517
new ACP01 board.
An error occurred when the Software (1)Turn the power OFF then back ON.
semaphore for re-initialization operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4
was received in the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
function.
new ACP01 board.
An error occurred when the re- Software (1)Turn the power OFF then back ON.
5 initialization mail was sent in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
new ACP01 board.
exclusive process of the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
6
storage area control table of occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
new ACP01 board.
Time-out occurred in the re- Software (1)Turn the power OFF then back ON.
initialization response operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
7
receiving process of the occurred YASKAWA representative about occurrence status (operating procedure).
Ethernet function.
Alarm List-518
new ACP01 board.
An error occurred in the re- Software (1)Turn the power OFF then back ON.
initialization response operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
8
receiving process of the occurred YASKAWA representative about occurrence status (operating procedure).
Ethernet function.
new ACP01 board.
Number Message Code
Receiving data size error Software (1)Turn the power OFF then back ON.
occurred in the re-initialization operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
9
response receiving process of occurred YASKAWA representative about occurrence status (operating procedure).
new ACP01 board.
server task mail receiving operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
30
process of the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
function.
new ACP01 board.
server task mail receiving operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-519
31
function.
new ACP01 board.
client task mail receiving operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
32
function.
Number Message Code
new ACP01 board.
Illegal e-mail data were Software (1)Turn the power OFF then back ON.
40 received in the Web server operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
task of the Ethernet function. occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
new ACP01 board.

41 received in the FTP server operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
task of the Ethernet function. occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-520
new ACP01 board.
42 received in the FTP client task operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
of the Ethernet function. occurred YASKAWA representative about occurrence status (operating procedure).
new ACP01 board.
An error occurred in the data Software (1)Turn the power OFF then back ON.
50 size written to PCI of the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Ethernet function. occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
new ACP01 board.
An error occurred when the Software (1)Turn the power OFF then back ON.
request to write PCI data was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
51
function.
Alarm List
new ACP01 board.
The request of the undefined Software (1)Turn the power OFF then back ON.
52 transmission was received in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-521
new ACP01 board.
53 transmission request of the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
new ACP01 board.
The transmission request Software (1)Turn the power OFF then back ON.
54 without data was received in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
new ACP01 board.
The transmission request of Software (1)Turn the power OFF then back ON.
illegal data length was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
55
function.
Alarm List
new ACP01 board.
Illegal mail data ware received Software (1)Turn the power OFF then back ON.
60 in the DNS task of the Ethernet operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
function. occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-522
new ACP01 board.
Illegal mail data was Software (1)Turn the power OFF then back ON.
61 transmitted in the DNS task of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
new ACP01 board.
An error occurred in storing Software (1)Turn the power OFF then back ON.
100 process of memory which is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
used in the Ethernet function. occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
new ACP01 board.
An error occurred in the buffer Software (1)Turn the power OFF then back ON.
for request to write PCI getting operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
101
function.
Alarm List
new ACP01 board.
The socket of the Ethernet Software (1)Turn the power OFF then back ON.
200 function was full and was not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
able to create a socket. occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-523
new ACP01 board.
201 semaphore of socket control operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
table of the Ethernet function. occurred YASKAWA representative about occurrence status (operating procedure).
new ACP01 board.
UDP PROCESS An error occurred in the An error occurred in the Software (1)Turn the power OFF then back ON.
ERROR UDP process of the creation of receiving socket operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4131 1
Ethernet function. during the UDP process of the occurred YASKAWA representative about occurrence status (operating procedure).
Ethernet function.
Number Message Code
new ACP01 board.
creation of transmission socket operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2
during the UDP process of the occurred YASKAWA representative about occurrence status (operating procedure).
Ethernet function.
Alarm List
new ACP01 board.
Illegal data were received in Software (1)Turn the power OFF then back ON.
3 the UDP process of the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-524
new ACP01 board.
Transmission error occurred in Software (1)Turn the power OFF then back ON.
4 the UDP process of the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
new ACP01 board.
The SELECT operation was Software (1)Turn the power OFF then back ON.
not successfully completed in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
5
the UDP process of the occurred YASKAWA representative about occurrence status (operating procedure).
Ethernet function.
Number Message Code
new ACP01 board.
The re-initialization notification Software (1)Turn the power OFF then back ON.
of illegal data length was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
100
received in the UDP process of occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
new ACP01 board.
The re-initialization notification Software (1)Turn the power OFF then back ON.
of illegal data was received in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
101
the UDP process of the occurred YASKAWA representative about occurrence status (operating procedure).
Ethernet function.
Alarm List-525
new ACP01 board.
The PCI write process was not Software (1)Turn the power OFF then back ON.
successfully completed in the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
102
UDP process of the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
function.
new ACP01 board.
Number Message Code
illegal data length was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
103
received in the UDP process of occurred YASKAWA representative about occurrence status (operating procedure).
new ACP01 board.
illegal data was received in the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
104
UDP process of the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
function.
new ACP01 board.
TCP PROCESS An error occurred in the The socket table was not Software (1)Turn the power OFF then back ON.
ERROR TCP process of the successfully created in the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-526
4132 1
Ethernet function. TCP process of the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
function.
new ACP01 board.
process of the TCP server operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2
initialization of the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
function.
Number Message Code
new ACP01 board.
An error occurred in Software (1)Turn the power OFF then back ON.
connection detecting process operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
3
of TCP server of the Ethernet occurred YASKAWA representative about occurrence status (operating procedure).
function.
Alarm List
new ACP01 board.
connection detection checking operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4
process of TCP server of the occurred YASKAWA representative about occurrence status (operating procedure).
Ethernet function.
Alarm List-527
new ACP01 board.
COOLING FAN SET Cooling fan setting Setting error (1)Reset the alarm.
ABNORMAL parameter disabled (2)Check the following settings.
4134 0
·Confirm parameter SVS and S2C for the cooling fan.
·Open the front panel to refer to the parameter list on the back.
TOYOPUC RUN TOYOPUC is in stopped Setting error (1)Reset the alarm.
4135 STOP state. 0 (2)Check the following settings.
·Use the PCwin, etc. to run the TOYOPUC.
Number Message Code
TOYOPUC MAJOR An error occurred in the The PCI bus state of the Setting error (1)Reset the alarm.
ERROR PCI bus communication TOYOPUC turns to "ER". (2)Check the following settings.
4136 processing of the 0 ·OFF/ON status of the remote
TOYOPUC. ·OFF/ON status of the power supply
Turn OFF and back ON the remote or power supply.
WRONG EXECUTION An error occurred at Alarm code specification error Setting error (1)Reset the alarm.
OF SETUALM INST SETUALM instruction (2)Check the following settings.
4137 1
execution. ·Alarm code
Specify the alarm in the range 8000 to 8999.
Alarm List
Task specification error Setting error (1)Reset the alarm.
2
·Task specification
Specify the task in the range 0 to 15.
Alarm List-528
Motion mode specification Setting error (1)Reset the alarm.
error (2)Check the following settings.
3
·Motion mode specification
Set the motion mode to 0 or 1.
Alarm num error Software (1)Turn the power OFF then back ON.
WRONG EXECUTION An error occurred at Connection (1)Reset the alarm.
4138 OF SVON INST SVON instruction failure (2)Check the following settings.
execution. ·Short-circuit the external servo ON (EXSVON) of MXT terminal block.
Number Message Code
·The concurrent I/O signal #80031 (servo ON condition1) ON
·The concurrent I/O signal #80033 (servo ON condition2) ON
WRONG EXECUTION An error occurred at Setting error (1)Reset the alarm.
OF PRINT INST PRINT instruction (2)Check the following settings.
execution. ·The setting of the PRINT output conversion spec (character string
4139
specification)
If there is no problem in the setting, delete the corresponding PRINT
instruction and register again.
Alarm List
WRONG EXECUTION An error occurred at DIALOG instruction control Setting error (1)Reset the alarm.
OF DIALOG INST DIALOG instruction error (2)Check the following settings.
4140 execution. 1 ·The tag setting of DIALOG instruction
If no fault is found, delete corresponding DIALOG instruction, and then
register again.
Alarm List-529
Messages and buttons are not Setting error (1)Reset the alarm.
2 registered. (2)Check the following settings.
·The information of DIALOG instruction message and button
Buttons are not registered. Setting error (1)Reset the alarm.
3 (2)Check the following settings.
·The information of DIALOG instruction button
Number Message Code
SNTP ERROR An error occurred in the The error on setting of time Software (1)Turn the power OFF then back ON.
SNTP process of the difference value occurred in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4141 1
Ethernet function. the SNTP process of the occurred YASKAWA representative about occurrence status (operating procedure).
Ethernet function.
new ACP01 board.
The error on setting of time-out Software (1)Turn the power OFF then back ON.
value occurred in the SNTP operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2
Alarm List
function.
new ACP01 board.
The error on setting of Software (1)Turn the power OFF then back ON.
reference interval value operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-530
3
occurred in the SNTP process occurred YASKAWA representative about occurrence status (operating procedure).
of the Ethernet function.
new ACP01 board.
The IP address error occurred Setting error Check the following settings.
in the SNTP process of the ·The IP address of the SNTP server
4
Ethernet function. ·The DHCP server operation (If the DHCP is used)
·The network status (If the DHCP is used)
Number Message Code
new ACP01 board.
Time-out occurred in the SNTP Setting error Check the following settings.
5 process ·The SNTP server operation
of the Ethernet function. ·The network status
Alarm List
new ACP01 board.
The server time is not Setting error Check the following settings.
synchronized in the SNTP ·The SNTP server operation
Alarm List-531
process of the Ethernet ·The network status
function.
new ACP01 board.
The SNTP process of the Setting error Use the server compliant with the SNTP version 3.
Ethernet function is not
7
compliant with the version that
the server sent.
Number Message Code
new ACP01 board.
Illegal parameters were found Setting error Check the following settings.
8 in the SNTP process of the ·SNTP setting
Ethernet function.
Alarm List
new ACP01 board.
The SNTP process of the Setting error Check the following settings.
9 Ethernet function was not ·SNTP setting
Alarm List-532
successfully completed.
new ACP01 board.
The name resolution error Setting error Check the following settings.
occurred in the SNTP process ·The IP address of the SNTP server
10
of the Ethernet function. ·The DHCP server operation ?If the DHCP is used
·The network status ?If the DHCP is used
Number Message Code
new ACP01 board.
The error on getting of server Setting error Check the following settings.
address occurred in the SNTP ·The DHCP server operation
11
process of the Ethernet ·The network status
function.
Alarm List

new ACP01 board.
The server setting is incorrect Setting error Check the following settings.
Alarm List-533
in the SNTP process of the ·SNTP setting
12
Ethernet function (for future
use).
new ACP01 board.
RELAY NO. The relay number which There is invalid relay number Setting error Save the CMOS.BIN, and then contact your YASKAWA representative
ERROR(LADDER was detected in the in the SYSTEM LADDER. about occurrence status (operating procedure).
4145 0
PROGRAM) ladder program was out of
range.
Number Message Code
There is invalid relay number Setting error Set the security to management mode and compile the ladder program. If
in the USER LADDER. any error occurs, modify the invalid relay number to complete the
compiling.
Valid range
General Input:00010 to 05127
General Output:10010 to 15127
External Input:20010 to 25127
External Output:30010 to 35127
1
Specific Input:40010 to 41607
Specific Output:50010 to 53007
I/F Panel Input:60010 to 60647
Auxiliary Relay:70010 to 79997
Alarm List
Control Input:80010 to 85127

Pseudo Input:87010 to 87207
Network Input:27010 to 29567
Network output:37010 to 39567
ENCDR PWR An error was detected in Sub Code 1to 8: Signifies the Incorrect setting Check the following settings.
4146 CIRCUIT the encoder power circuit 1 SDCA01 board No. in which ·Turn ON the circuit protector.
Alarm List-534
PROTECTOR TRIP protector. the alarm occurred
ground fault (2)If the alarm occurs again even after turning ON the circuit protector,
check encoder power line if there is a ground fault or short circuit.
Unit failure Replace the motor or encoder to which the power is supplied.
Parts failure Replace the circuit protector.
Sub Code 1to 8: Signifies the Incorrect setting Check the following settings.
2 SDCA01 board No. in which ·Turn ON the circuit protector.
the alarm occurred
Number Message Code
Alarm List
the alarm occurred


Alarm List-535
the alarm occurred
Number Message Code
the alarm occurred
Alarm List

the alarm occurred
Alarm List-536
the alarm occurred
Number Message Code
the alarm occurred
Alarm List
An error occurred during Data error (1)Reset the alarm.
USER COORD EDIT the editing operation of (2)If the alarm occurs again, initialize the user coordinates file in
4147
ERROR the user coordinates file. maintenance mode, and then load the user coordinates file saved in the
Alarm List-537
An error occurred during Trace level value is abnormal. Software (1)Turn the power OFF then back ON.
4148 TRACELV ERROR the execution of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
TRACELV instruction. occurred YASKAWA representative about occurrence status (operating procedure).
An error occurred during Trace data is abnormal. Software (1)Turn the power OFF then back ON.
4149 TRACE ERROR the execution of TRACE 0 operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
instruction. occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
Time stamp value is abnormal. Software (1)Turn the power OFF then back ON.
Trace level value is abnormal. Software (1)Turn the power OFF then back ON.
Abnormal variable is specified. Setting error Check the following setting;
3
Alarm List
·TRACE instruction.
Exceeded the maximum trace Trace error Execute TRACESAVE or TRACERST.
4
number.
Alarm List-538
TIMING BELT The timing belt of The SDCA01 board # 1 Manipulator Move the manipulator in teach mode to the position where there is no
BLOWN manipulator is blown. generates an alarm. timing belt is torque on the driving belt.
4152 1 blown. (1) Check the timing belt tension.
(2) Check the wiring between manipulator and the machine safety unit
(ASF01 board).
The SDCA01 board # 2 Manipulator Move the manipulator in teach mode to the position where there is no
generates an alarm. timing belt is torque on the driving belt.
2 blown. (1) Check the timing belt tension.
(ASF01 board).
Number Message Code
(ASF01 board).
(ASF01 board).
Alarm List
(ASF01 board).
Alarm List-539
(ASF01 board).
(ASF01 board).
Number Message Code
(ASF01 board).
COOLING UNIT An error was detected in The SDCA01 board # 1 Unit failure Refer to the instruction manuals for the cooling unit in use.
4153 1
ERROR the cooling unit. generates an alarm.
Alarm List
The SDCA01 board # 2 Unit failure Refer to the instruction manuals for the cooling unit in use.
2
generates an alarm.
3
generates an alarm.
Alarm List-540
4
generates an alarm.
5
generates an alarm.
6
generates an alarm.
7
generates an alarm.
Number Message Code
8
generates an alarm.
COOLING FAN An error occurred in the The SDCA01 board # 1 Connection (1)Reset the alarm.
4154 ERROR (DOOR) cooling fan on the front 1 generates an alarm. failure (2)Check the connection and insertion of the cable and connector for the
door. cooling fan.
Power voltage (1)Reset the alarm.
drop (2)Check if the primary power voltage is normal.
Alarm List
Dirt (1)Reset the alarm.

(2)Clean the cooling fan and the fan duct.
Unit failure (1)Reset the alarm.
(2)Replace the malfunctioning cooling fan with a new one.
Alarm List-541
2 generates an alarm. failure (2)Check the connection and insertion of the cable and connector for the
cooling fan.
cooling fan.
Number Message Code
cooling fan.
Alarm List

Alarm List-542
cooling fan.
cooling fan.
Number Message Code
cooling fan.
Alarm List

Alarm List-543
cooling fan.
COOLING FAN An error occurred in the The SDCA01 board # 1 Connection (1)Reset the alarm.
4155 ERROR (BACKSIDE) backside cooling fan. 1 generates an alarm. failure (2)Check the connection and insertion of the cable and connector for the
cooling fan.
Number Message Code
drop (2)Check the connection and insertion of the cable and connector for the
cooling fan.
Alarm List
cooling fan.
drop (2)Check the connection and insertion of the cable and connector for the
cooling fan.
Alarm List-544
cooling fan.
Number Message Code
cooling fan.
Alarm List

cooling fan.
Alarm List-545
cooling fan.
Number Message Code
cooling fan.
Alarm List

cooling fan.
Alarm List-546
4156
YIU unit decreased. * Move the manipulator to the safe position in the teach mode.
An error occurred during TRACE file generation error Connection (1)Reset the alarm.
4192 TRACE FILE ERROR the access to a TRACE 0 failure (2)Check the connection status of the USB in the YRC1000 controller and
file data its available memory.
Number Message Code
TRACE file open error Software (1)Turn the power OFF then back ON.
TRACE file writing error Software (1)Turn the power OFF then back ON.
TRACE file close error Software (1)Turn the power OFF then back ON.
Alarm List
TRACE file number error Trace error Delete the trace files generated today from the USB on the YRC1000
4
controller.
Alarm List-547
TRACE file index error Trace error Review the name of the trace files generated today in the USB on the
5
YRC1000 controller.
DATABASE ACCESS An error occurred while The specified database Setting error Check the setting of the following item;
4193 0
ERROR(PAINT) accessing the database. doesn't exist. ·Database number
Cannot access the specified Database error Delete the database file in the USB installed to the YRC1000 controller.
1
database.
Number Message Code
An error occurred in the There is not enough space for Setting error Adjust the parameter: 3D trace sampling cycle: S3C1325.
3D TRACE BUFFER
4194 tracing function of 3D 3D trace buffer.
OVERFLOW
graphic function.
An error occurred in the Subcode means the number of Setting error (1)Check the safety logic circuit setting.
INCORRECT SAFETY
4197 safety logic circuit incorrect circuit. (2)Check the safety functions setting in maintenance mode.
LOGIC CIRCUIT
function.
SYSTEM An error occurred during Sub code 01 to 50: Signifies Data error (1)Reset the alarm.
Alarm List
ERROR(FILE DATA) the access to file data the internal software error (2)If the alarm occurs again, turn the controller power OFF and then ON to
4200 (during file edition or check the operation.
external memory device (3)If the alarm occurs again, initialize the appropriate data in maintenance
operation). mode, and then load the data saved in the external memory device.
SYSTEM An error occurred when An error occurred during the Software Reset the alarm, and then try again.
4201 ERROR(JOB) accessing the job data of -1 access a job in parameter operation error
Alarm List-548
MOTION section. specifications. occurred
AIF01 board (1)Reset the alarm, and then try again.
ACP01 board (1)Reset the alarm, and then try again.
new ACP01 board.
Access time exceeded the limit Software Reset the alarm, and then try again.
-2 during the access to a job. operation error
occurred
Number Message Code
new ACP01 board.
Alarm List
The access to a job could not Software Reset the alarm, and then try again.
-3 be performed with the operation error
specified job name. occurred
Alarm List-549
new ACP01 board.
A job was newly created with Software Reset the alarm, and then try again.
the same name of the job operation error
-4
already specified in the occurred
memory.
Number Message Code
new ACP01 board.
A job was newly created with Software Reset the alarm, and then try again.
the same name of the job operation error
-5
already specified in the occurred
memory.
Alarm List

new ACP01 board.
Alarm List-550
The allowable job registration Setting error Delete unused jobs.
-6
area (memory) was exceeded.
A job that did not exist in the Software Reset the alarm, and then try again.
-7 memory was specified. operation error
occurred
Number Message Code
new ACP01 board.
An attempt was made to Setting error Release the prohibition.
-8 change the contents for the job
prohibited from being edited.
Alarm List

An error occurred during the Software Reset the alarm, and then try again.
-9 access to a job in handle operation error
value. occurred
Alarm List-551
new ACP01 board.
An error occurred in job data Software Reset the alarm, and then try again.
-10 control system. operation error
occurred
Number Message Code
new ACP01 board.
An error occurred in sequence Software Reset the alarm, and then try again.
-11 number of the accessed job. operation error
occurred
Alarm List
new ACP01 board.
Alarm List-552
An error occurred in step Software Reset the alarm, and then try again.
-12 number of the accessed job. operation error
occurred
new ACP01 board.
Number Message Code
A job specified at job search Software Reset the alarm, and then try again.
-13 did not exist in the memory. operation error
occurred
new ACP01 board.
Alarm List
There was an instruction that Software Reset the alarm, and then try again.
did not exist in a job because operation error
-14
of inconsistency of the system occurred
software.
Alarm List-553
new ACP01 board.
Unused handles were lacking Software Reset the alarm, and then try again.
-16 when an attempt was made to operation error
open a job. occurred
Number Message Code
new ACP01 board.
Alarm List
The number of instructions Setting error Delete unnecessary instructions and add new instructions again.
-18
added to a job exceeded 9999.
The number of steps added to Setting error Delete unnecessary steps and add new steps again.
-19
a job exceeded 9999.
Alarm List-554
Job information was not able Software Reset the alarm, and then try again.
-22 to be expanded. operation error
occurred
new ACP01 board.
Number Message Code
Job information was not able Software Reset the alarm, and then try again.
-23 to be acquired. operation error
occurred
new ACP01 board.
Alarm List
An error occurred in cluster Software Reset the alarm, and then try again.
-24 control. operation error
occurred
Alarm List-555
new ACP01 board.
Failed to read the cluster Software Reset the alarm, and then try again.
-25 information. operation error
occurred
Number Message Code
new ACP01 board.
Heap area could not be Software Reset the alarm, and then try again.
-26 obtained. operation error
occurred
Alarm List
new ACP01 board.
Alarm List-556
The target for change is the Software (1)Reset the alarm, and then try again.
-27 line where editing is prohibited operation error (2)If the alarm occurs again, deactivate the prohibit setting for the target
or the comment-out line. occurred line or delete the comment-out line.
new ACP01 board.
Number Message Code
The marker job was incorrectly Software Reset the alarm, and then try again.
-28 changed. operation error
occurred
new ACP01 board.
Alarm List
The configuration data is Software Reset the alarm, and then try again.
-90 damaged. operation error
occurred
Alarm List-557
new ACP01 board.
The FAT area is damaged. Software Reset the alarm, and then try again.
-91 operation error
occurred
Number Message Code
new ACP01 board.
A job data in the memory was Software Reset the alarm, and then try again.
-92 destroyed. operation error
occurred
Alarm List
new ACP01 board.
Alarm List-558
SYSTEM This alarm occurs if An error occurred in parameter Software (1)Reset the alarm.
ERROR(JOB) abnormal internal data is specifications for the access to operation error (2)If the error occurs again, delete the job where the alarm occurred.
detected during the a job . occurred (3)If the error occurs again after the previous measures were executed,
4202 1
access to the job data of initialize the job file in the maintenance mode, and then load the saved job
operating/editing file.
software.
Access time exceeded the limit Software (1)Reset the alarm.
during the access to a job. operation error (2)If the error occurs again, delete the job where the alarm occurred.
2 occurred (3)If the error occurs again after the previous measures were executed,
file.
Number Message Code
Unapproved characters are Software (1)Reset the alarm.
used for a job name. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
A job was newly created with Software (1)Reset the alarm.
the same name of the job operation error (2)If the error occurs again, delete the job where the alarm occurred.
4
Alarm List
already specified in the occurred (3)If the error occurs again after the previous measures were executed,
memory. initialize the job file in the maintenance mode, and then load the saved job
file.
the same name of the job operation error (2)If the error occurs again, delete the job where the alarm occurred.
5 already specified in the occurred (3)If the error occurs again after the previous measures were executed,
Alarm List-559
memory. initialize the job file in the maintenance mode, and then load the saved job
file.
The allowable job registration Software (1)Reset the alarm.
area (memory) was exceeded. operation error (2)If the error occurs again, delete unused jobs.
A job that did not exist in the Software (1)Reset the alarm.
memory was specified. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Number Message Code
An attempt was made to Setting error Check the following settings.
8 change the contents for the job ·Setting of EDIT LOCK in JOB header screen
prohibited from being edited. If the job is protected from editing, release the prohibition.
Software (1)Reset the alarm.
operation error (2)If you edit this job, release the prohibition.
occurred (3)If the error occurs again, delete the job where the alarm occurred.
file.
Alarm List
An attempt was made to Setting error Check the following settings.
9 change the contents for the job ·Setting of EDIT LOCK in JOB header screen
prohibited from being edited. If the job is protected from editing, release the prohibition.
operation error (2)If you edit this job, release the prohibition.
occurred (3)If the error occurs again, delete the job where the alarm occurred.
Alarm List-560
file.
An error occurred in job data Software (1)Reset the alarm.
control system. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Number Message Code
An error occurred in sequence Software (1)Reset the alarm.
number of the accessed job. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
An error occurred in step Software (1)Reset the alarm.
number of the accessed job. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Alarm List
A job specified at job search Software (1)Reset the alarm.
did not exist in the memory. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Alarm List-561
There was an instruction that Software (1)Reset the alarm.
did not exist in a job because operation error (2)If the error occurs again, delete the job where the alarm occurred.
14 of inconsistency of the system occurred (3)If the error occurs again after the previous measures were executed,
software. initialize the job file in the maintenance mode, and then load the saved job
file.
Unused handles were lacking Setting error Check the following settings.
16 when an attempt was made to ·The number of call job stacks
open a job. Set the job configuration that decreases the number of call job stacks.
Number Message Code
operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
The number of instructions Setting error Check the following settings.
18 added to a job exceeded 9999. ·The number of steps in job
Delete unnecessary instructions in job and add new instructions.
Alarm List
file.
The number of steps added to Setting error Check the following settings.
19 a job exceeded 9999. ·The number of steps in job
Alarm List-562
Delete unnecessary steps in job and add new steps.
file.
the same name of the operation error (2)If the error occurs again, delete the job where the alarm occurred.
20 undefined job already occurred (3)If the error occurs again after the previous measures were executed,
specified in the memory. initialize the job file in the maintenance mode, and then load the saved job
file.
Number Message Code
Failed to expand job Software (1)Reset the alarm.
information during the access operation error (2)If the error occurs again, delete the job where the alarm occurred.
22 to a job. occurred (3)If the error occurs again after the previous measures were executed,
file.
The accessed job was not Software (1)Reset the alarm.
opened. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Alarm List
An error occurred in the cluster Software (1)Reset the alarm.
control process of the operation error (2)If the error occurs again, delete the job where the alarm occurred.
24 accessed job. occurred (3)If the error occurs again after the previous measures were executed,
file.
Alarm List-563
An error occurred when Software (1)Reset the alarm.
reading the cluster information operation error (2)If the error occurs again, delete the job where the alarm occurred.
25 of the accessed job. occurred (3)If the error occurs again after the previous measures were executed,
file.
Failed to acquire the Software (1)Reset the alarm.
necessary memory area operation error (2)If the error occurs again, delete the job where the alarm occurred.
26 during the access to a job. occurred (3)If the error occurs again after the previous measures were executed,
file.
Number Message Code
An attempt was made to Setting error (1)Reset the alarm.
change the contents for the (2)Cancel the LINE EDIT LOCK/COMMENT OUT settings of target lines in
27 line prohibited from being JOB CONTENTS screen.
edited or the commented-out
line.
operation error (2)Cancel the LINE EDIT LOCK/COMMENT OUT settings of target lines in
occurred JOB CONTENTS screen.
(3)If the error occurs again, delete the line where the alarm occurred.
file.
Alarm List
The marker job was incorrectly Software (1)Reset the alarm.
changed. operation error (2)If the error occurs again after the previous measures were executed,
28
occurred initialize the job file in the maintenance mode, and then load the saved job
file.
Alarm List-564
The configuration information Software (1)Reset the alarm.
for job data control is operation error (2)If the error occurs again, delete the job where the alarm occurred.
90 damaged. occurred (3)If the error occurs again after the previous measures were executed,
file.
The FAT information for job Software (1)Reset the alarm.
data is damaged. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Number Message Code
A job data was destroyed. Software (1)Reset the alarm.
file.
A job data in the memory was Software (1)Reset the alarm.
destroyed. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Alarm List
SYSTEM An data error occurred The memory area for position Software Reset the alarm, and then try again.
ERROR(POSITION during the access to data is lacking at the operation error
4203 -1
DATA) position data of MOTION initialization of the position occurred
section. data control process.
Alarm List-565
new ACP01 board.
The number of axes for all the Software Reset the alarm, and then try again.
control groups is zero at the operation error
-2
initialization of the position occurred
data control process.
Number Message Code
new ACP01 board.
Alarm List
The number of axes for Software Reset the alarm, and then try again.
-3 position data is zero. operation error
occurred
Alarm List-566
new ACP01 board.
The number of stored position Software Reset the alarm, and then try again.
data exceeded the maximum operation error
-4 stored data at the initialization occurred
of the position data control
process.
Number Message Code
new ACP01 board.
The memory size of the Software Reset the alarm, and then try again.
position data exceeded the operation error
-5 maximum memory size at the occurred
initialization of the position
data control process.
Alarm List

Alarm List-567
new ACP01 board.
Unused position data file is Software Reset the alarm, and then try again.
-6 destroyed. operation error
occurred
new ACP01 board.
Number Message Code
Unused position data file does Software Reset the alarm, and then try again.
-7 not exist. operation error
occurred
Alarm List
new ACP01 board.
Position data file is destroyed. Software Reset the alarm, and then try again.
-8 operation error
occurred
Alarm List-568
new ACP01 board.
Position data control Software Reset the alarm, and then try again.
-9 information is destroyed. operation error
occurred
Number Message Code
new ACP01 board.
Alarm List
An error occurred in specified Software Reset the alarm, and then try again.
-10 position data number. operation error
occurred
Alarm List-569
new ACP01 board.
Position data is not registered. Software Reset the alarm, and then try again.
-11 operation error
occurred
Number Message Code
new ACP01 board.
An attempt was made to Software Reset the alarm, and then try again.
-12 access the undefined position operation error
data. occurred
Alarm List
new ACP01 board.
Alarm List-570
An attempt was made to Software Reset the alarm, and then try again.
-13 access the position data for operation error
the undefined control group. occurred
new ACP01 board.
Number Message Code
Position data control is not Software Reset the alarm, and then try again.
-14 initialized. operation error
occurred
new ACP01 board.
Alarm List
The number of axes for the Software Reset the alarm, and then try again.
-15 control groups exceeded the operation error
limit. occurred
Alarm List-571
new ACP01 board.
An error occurred in exclusive Software Reset the alarm, and then try again.
-16 control during the position data operation error
control process. occurred
Number Message Code
new ACP01 board.
An error occurred in Software Reset the alarm, and then try again.
-17 exceptional control during the operation error
position data control process. occurred
Alarm List
new ACP01 board.
Alarm List-572
Inconsistency of data. Software Reset the alarm, and then try again.
-20 operation error
occurred
new ACP01 board.
Number Message Code
SYSTEM This alarm occurs if The number of axes for all the Software (1)Reset the alarm.
ERROR(POSITION abnormal internal data is control groups is zero at the operation error (2)If the error occurs again, delete the job where the alarm occurred.
4204 DATA) detected during the 1 initialization of the position occurred (3)If the error occurs again after the previous measures were executed,
access to position data. data control process initialize the job file in the maintenance mode, and then load the saved job
file.
The number of axes for all the Software (1)Reset the alarm.
control groups is zero at the operation error (2)If the error occurs again, delete the job where the alarm occurred.
2 initialization of the position occurred (3)If the error occurs again after the previous measures were executed,
data control process initialize the job file in the maintenance mode, and then load the saved job
file.
Alarm List
The number of axes for Software (1)Reset the alarm.
position data is zero. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Alarm List-573
The number of stored position Software (1)Reset the alarm.
data exceeded the maximum operation error (2)If the error occurs again, delete the job where the alarm occurred.
4 stored data at the initialization occurred (3)If the error occurs again after the previous measures were executed,
of the position data control initialize the job file in the maintenance mode, and then load the saved job
process. file.
The memory size of the Software (1)Reset the alarm.
position data exceeded the operation error (2)If the error occurs again, delete the job where the alarm occurred.
5 maximum memory size at the occurred (3)If the error occurs again after the previous measures were executed,
initialization of the position initialize the job file in the maintenance mode, and then load the saved job
data control process. file.
Number Message Code
Unused position data file is Software (1)Reset the alarm.
destroyed. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Unused position data file does Setting error Check the following settings.
7 not exist. ·The number of steps in job (position data)
Delete unnecessary position data in job and add new position data.
Alarm List
file.
Position data file is destroyed. Software (1)Reset the alarm.
Alarm List-574
file.
Position data control Software (1)Reset the alarm.
information is destroyed. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Number Message Code
An error occurred in specified Software (1)Reset the alarm.
position data number. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
Position data is not registered. Setting error Check the following settings.
11 ·Teaching of alarm occurred point
Teaching the point where alarm occurred.
Alarm List
file.
An attempt was made to Software (1)Reset the alarm.
access the undefined position operation error (2)If the error occurs again, delete the job where the alarm occurred.
Alarm List-575
12 data. occurred (3)If the error occurs again after the previous measures were executed,
file.
An attempt was made to Software (1)Reset the alarm.
access the position data for operation error (2)If the error occurs again, delete the job where the alarm occurred.
13 the undefined control group. occurred (3)If the error occurs again after the previous measures were executed,
file.
Number Message Code
Position data control is not Software (1)Reset the alarm.
initialized. operation error (2)If the error occurs again, delete the job where the alarm occurred.
file.
The number of axes for the Software (1)Reset the alarm.
control groups exceeded the operation error (2)If the error occurs again, delete the job where the alarm occurred.
15 limit. occurred (3)If the error occurs again after the previous measures were executed,
file.
Alarm List
An error occurred in exclusive Software (1)Reset the alarm.
control during the position data operation error (2)If the error occurs again, delete the job where the alarm occurred.
16 control process. occurred (3)If the error occurs again after the previous measures were executed,
file.
Alarm List-576
An error occurred in Software (1)Reset the alarm.
exceptional control during the operation error (2)If the error occurs again, delete the job where the alarm occurred.
17 position data control process. occurred (3)If the error occurs again after the previous measures were executed,
file.
Undefined position exists. Software (1)Reset the alarm.
file.
Number Message Code
SYSTEM An error occurred in data Sub Code 1 to 4: Signifies the Software (1)Turn the power OFF then back ON.
4206 ERROR(TRANSMISSI transmission. internal software error during operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ON) data transmission. occurred YASKAWA representative about occurrence status (operating procedure).
SYSTEM A system error occurred An interrupt undefined in the Software (1)Reset the alarm, and then try again.
ERROR(MOTION) in MOTION section. main command from the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4207 1
system control section occurred YASKAWA representative about occurrence status (operating procedure).
occurred.
An interrupt undefined in the Software (1)Reset the alarm, and then try again.
2 sub command from the system operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
control section occurred. occurred YASKAWA representative about occurrence status (operating procedure).
The interrupt command that Software (1)Reset the alarm, and then try again.
Alarm List
was sent previously from the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
3
system control section is being occurred YASKAWA representative about occurrence status (operating procedure).
processed.
An error was detected in the Software (1)Reset the alarm, and then try again.
4 interrupt command data from operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
the system control section. occurred YASKAWA representative about occurrence status (operating procedure).
An undefined command was Software (1)Reset the alarm, and then try again.
5 detected in the sub segment operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-577
task of MOTION section. occurred YASKAWA representative about occurrence status (operating procedure).
detected in the servo-related operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
6
processing of MOTION occurred YASKAWA representative about occurrence status (operating procedure).
section.
detected in the offline operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
7
processing task of MOTION occurred YASKAWA representative about occurrence status (operating procedure).
section.
8 detected in the utility task of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
MOTION section. occurred YASKAWA representative about occurrence status (operating procedure).
Task Token is not generated. Software (1)Reset the alarm, and then try again.
Number Message Code
Mail-box Token is not Software (1)Reset the alarm, and then try again.
11 generated. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Semaphore Token is not Software (1)Reset the alarm, and then try again.
12 generated. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
RMS receiving data error Software (1)Reset the alarm, and then try again.
RMS sending data error Software (1)Reset the alarm, and then try again.
Alarm List

RMS receiving unit error Software (1)Reset the alarm, and then try again.
Task generation error Software (1)Reset the alarm, and then try again.
Mail-box generation error Software (1)Reset the alarm, and then try again.
Alarm List-578
Semaphore generation error Software (1)Reset the alarm, and then try again.
TCB area overflow Software (1)Reset the alarm, and then try again.
Stack area overflow Software (1)Reset the alarm, and then try again.
Mail-box area overflow Software (1)Reset the alarm, and then try again.
Number Message Code
Semaphore area overflow Software (1)Reset the alarm, and then try again.
Interrupt main command error Software (1)Reset the alarm, and then try again.
Incorrect control group Software (1)Reset the alarm, and then try again.
33 designation operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Offline bank semaphore Software (1)Reset the alarm, and then try again.
34 reception error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

m_gen_area semaphore Software (1)Reset the alarm, and then try again.
35 reception error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Offline HA processing timeout Software (1)Reset the alarm, and then try again.
DM_BANK flag error Software (1)Reset the alarm, and then try again.
Alarm List-579
37 (DM_BANK conversion operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
processing) occurred YASKAWA representative about occurrence status (operating procedure).
S -> M offline processing Software (1)Reset the alarm, and then try again.
38 command type error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Function specification error in Software (1)Reset the alarm, and then try again.
39 the data transmission to the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
sensor board occurred YASKAWA representative about occurrence status (operating procedure).
Error in designation of Software (1)Reset the alarm, and then try again.
application in the request of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
40
general-purpose data preset occurred YASKAWA representative about occurrence status (operating procedure).
for each application.
Mail-box of sequence task is Software (1)Reset the alarm, and then try again.
45 not ready. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Control-group usage Software (1)Reset the alarm, and then try again.
46 undefined operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Segment task polling Software (1)Reset the alarm, and then try again.
47 command error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Physical axis number error Software (1)Reset the alarm, and then try again.
The control group impossible Software (1)Reset the alarm, and then try again.
49 to release the brake operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Sub-segment request FULL Software (1)Reset the alarm, and then try again.
Sub-segment process timeout Software (1)Reset the alarm, and then try again.
Data latch request FULL Software (1)Reset the alarm, and then try again.
Alarm List-580
Data latch process timeout Software (1)Reset the alarm, and then try again.
AXIS command request FULL Software (1)Reset the alarm, and then try again.
AXIS command process Software (1)Reset the alarm, and then try again.
55 timeout operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Positioning monitor request Software (1)Reset the alarm, and then try again.
56 FULL operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Positioning monitor process Software (1)Reset the alarm, and then try again.
57 timeout operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Failed AXIS servo OFF Software (1)Reset the alarm, and then try again.
58 command request during operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
category1 emergency stop occurred YASKAWA representative about occurrence status (operating procedure).
AXIS servo OFF command Software (1)Reset the alarm, and then try again.
execution system not set operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
59
during category1 emergency occurred YASKAWA representative about occurrence status (operating procedure).
stop
Conversion primary Software (1)Reset the alarm, and then try again.
Alarm List
expression for Power Source operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
61
command <-> EW command occurred YASKAWA representative about occurrence status (operating procedure).
not prepared
Duplicated request error Software (1)Reset the alarm, and then try again.
62 during master control-group operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
tracking occurred YASKAWA representative about occurrence status (operating procedure).
GVM shared resource Software (1)Reset the alarm, and then try again.
63 semaphore error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-581
Job queue DEQUE error Software (1)Reset the alarm, and then try again.
Conversion primary Software (1)Reset the alarm, and then try again.
expression for painting device operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
65
command <-> EW command occurred YASKAWA representative about occurrence status (operating procedure).
not prepared
Execution system decision Software (1)Reset the alarm, and then try again.
66 table not set operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Unknown mode data (Without Software (1)Reset the alarm, and then try again.
67 TEACH/PLAY mode data) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Shift-value output timeout of Software (1)Reset the alarm, and then try again.
68 the general-purpose sensor operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Interrupt main status set Software (1)Reset the alarm, and then try again.
System number error at the Software (1)Reset the alarm, and then try again.
71 master side in twin operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
synchronous system occurred YASKAWA representative about occurrence status (operating procedure).
No data link added to the Software (1)Reset the alarm, and then try again.
72 command operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Setting status error of the user Software (1)Reset the alarm, and then try again.
73 coordinates file operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Previous path data reference Software (1)Reset the alarm, and then try again.
75 error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Target position preparation Software (1)Reset the alarm, and then try again.
Alarm List-582
76 error in arc-retry shift motion operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
mode occurred YASKAWA representative about occurrence status (operating procedure).
Inner track zone status error Software (1)Reset the alarm, and then try again.
Instruction queue and Software (1)Reset the alarm, and then try again.
80 instruction system data area operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
overflow occurred YASKAWA representative about occurrence status (operating procedure).
Offline answer bank flag error Software (1)Reset the alarm, and then try again.
Path and trace queue ENQUE Software (1)Reset the alarm, and then try again.
82 BANK error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Pending and block end request Software (1)Reset the alarm, and then try again.
83 FULL operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Base axis file type error Software (1)Reset the alarm, and then try again.
Output buffer SYSCON for Software (1)Reset the alarm, and then try again.
85 automatic test data in use operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Conversion completion status Software (1)Reset the alarm, and then try again.
86 for AXIS section feedback operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
latch data not established occurred YASKAWA representative about occurrence status (operating procedure).
File C1 through C3 for Software (1)Reset the alarm, and then try again.
88 calibration between operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
manipulators not set occurred YASKAWA representative about occurrence status (operating procedure).
File C1 through C3 for Software (1)Reset the alarm, and then try again.
89 conveyor calibration not set operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
HA function error Setting error Check the following settings.
Alarm List-583
(conv_pos_data()) ·Correct the job so that the target position data is within the motion range.
90
HA function error Setting error Check the following settings.
(conv_shift_data()) ·Correct the job so that the target position data is within the motion range.
91
HA function error Software (1)Reset the alarm, and then try again.
94 (conv_pulse_to_angle()) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
95 (pr_atinf_pos_make()) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
97 (get_gun_ctrl_ori_angle()) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
98 (make_conv_frm_data()) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
99 (calc_dist_pos()) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Control-group axis Software (1)Reset the alarm, and then try again.
100 configuration information operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
parameter error occurred YASKAWA representative about occurrence status (operating procedure).
Error in the parameter for the Software (1)Reset the alarm, and then try again.
101 table for physical axes operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Error in the parameter for the Software (1)Reset the alarm, and then try again.
102 table for physical TU operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Excessive number of control Software (1)Reset the alarm, and then try again.
Alarm List-584
103 group axes in use operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
JOG and PLAY maximum Software (1)Reset the alarm, and then try again.
104 speed setting parameter error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Reduction ratio setting Software (1)Reset the alarm, and then try again.
105 parameter error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
feedback PPR setting Software (1)Reset the alarm, and then try again.
Job argument stack overflow Software (1)Reset the alarm, and then try again.
Number Message Code
Job argument stack underflow Software (1)Reset the alarm, and then try again.
Designation error of the Software (1)Reset the alarm, and then try again.
123 fetched feedback pulse area at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
preparation of current value occurred YASKAWA representative about occurrence status (operating procedure).
Timeout for waiting permission Software (1)Reset the alarm, and then try again.
128 to modify the number of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
averaging times occurred YASKAWA representative about occurrence status (operating procedure).
Object undefined for CLEAR Software (1)Reset the alarm, and then try again.
129 instruction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

No space in RT_BANK setting Software (1)Reset the alarm, and then try again.
130 area for correction-amount operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
data occurred YASKAWA representative about occurrence status (operating procedure).
Queue operation error for Software (1)Reset the alarm, and then try again.
131 variable write-in history at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
prereading (at ENQUE) occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-585
132 variable write-in history at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
prereading (at DEQUE) occurred YASKAWA representative about occurrence status (operating procedure).
variable write-in history at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
133
prereading (undefined occurred YASKAWA representative about occurrence status (operating procedure).
operation)
variable write-in history at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
134
prereading (data length too occurred YASKAWA representative about occurrence status (operating procedure).
long)
135 score-board setting history (at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ENQUE) occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
136 score-board setting history (at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
DEQUE) occurred YASKAWA representative about occurrence status (operating procedure).
137 score-board setting history operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
(undefined operation) occurred YASKAWA representative about occurrence status (operating procedure).
138 score-board setting history operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
(data length too long) occurred YASKAWA representative about occurrence status (operating procedure).
139 instruction execution (at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

140 instruction execution (at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
141 instruction execution operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-586
142 instruction execution (data operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
length too long) occurred YASKAWA representative about occurrence status (operating procedure).
143 WORK ID conveyor (at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
144 WORK ID conveyor (at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
145 WORK ID conveyor (undefined operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
operation) occurred YASKAWA representative about occurrence status (operating procedure).
146 WORK ID conveyor (data operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
length too long) occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
147 WORK IN/OUT checking operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
conveyor (at ENQUE) occurred YASKAWA representative about occurrence status (operating procedure).
148 WORK IN/OUT checking operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
conveyor (at DEQUE) occurred YASKAWA representative about occurrence status (operating procedure).
WORK IN/OUT checking operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
149
conveyor (undefined occurred YASKAWA representative about occurrence status (operating procedure).
operation)
150
Alarm List
WORK IN/OUT checking operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
conveyor (data length too long) occurred YASKAWA representative about occurrence status (operating procedure).
151 waiting for semaphore for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
LOCK instruction (at ENQUE) occurred YASKAWA representative about occurrence status (operating procedure).
152 waiting for semaphore for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
LOCK instruction (at DEQUE) occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-587
waiting for semaphore for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
153
LOCK instruction (undefined occurred YASKAWA representative about occurrence status (operating procedure).
operation)
waiting for semaphore for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
154
LOCK instruction (data length occurred YASKAWA representative about occurrence status (operating procedure).
too long)
Functional safety command Software (1)Reset the alarm, and then try again.
161 request is full. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Functional safety command Software (1)Reset the alarm, and then try again.
162 request is latency over. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Transfer data overflow in Software (1)Reset the alarm, and then try again.
163 functional safety readback operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
data. occurred YASKAWA representative about occurrence status (operating procedure).
PFL command request is full. Software (1)Reset the alarm, and then try again.
PFL command request is Software (1)Reset the alarm, and then try again.
165 latency over. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Transfer data overflow in PFL Software (1)Reset the alarm, and then try again.
166 readback data. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Transfer data overflow in Software (1)Reset the alarm, and then try again.
221 offline data bank operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Impossible to execute system Software (1)Reset the alarm, and then try again.
222 exclusive for system job operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Event queue number range Software (1)Reset the alarm, and then try again.
Alarm List-588
223 exceeded operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
No motor-gun control group for Software (1)Reset the alarm, and then try again.
224 ESRCH instruction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The number of WORK ID data Software (1)Reset the alarm, and then try again.
and the MAX. WORK FIND operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
225
COUNT unmatched (MOTION occurred YASKAWA representative about occurrence status (operating procedure).
≠ CV)
The number of WORK IN/OUT Software (1)Reset the alarm, and then try again.
data and the MAX. WORK operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
226
FIND COUNT unmatched occurred YASKAWA representative about occurrence status (operating procedure).
(MOTION ≠ CV)
Number Message Code
Excessive number of Software (1)Reset the alarm, and then try again.
227 scheduling for execution of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
instructions occurred YASKAWA representative about occurrence status (operating procedure).
Instruction execution Software (1)Reset the alarm, and then try again.
228 scheduling impossible operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Illegal 1st-line move instruction Software (1)Reset the alarm, and then try again.
229 at execution of +SMOV operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
instruction occurred YASKAWA representative about occurrence status (operating procedure).
Impossible to execute the Software (1)Reset the alarm, and then try again.
slave circular interpolation and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
230
Alarm List
the master circular occurred YASKAWA representative about occurrence status (operating procedure).
interpolation at the same time
Impossible to execute the Software (1)Reset the alarm, and then try again.
slave spline interpolation and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
231
the master spline interpolation occurred YASKAWA representative about occurrence status (operating procedure).
at the same time
Illegal index value for a Software (1)Reset the alarm, and then try again.
232 +MOVx instruction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-589
No xth-line move instruction Software (1)Reset the alarm, and then try again.
233 exists where the master operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
control group belongs. occurred YASKAWA representative about occurrence status (operating procedure).
Marking error for WORK ID Software (1)Reset the alarm, and then try again.
234 conveyor queue (empty operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
queue) occurred YASKAWA representative about occurrence status (operating procedure).
Marking error for WORK IN/ Software (1)Reset the alarm, and then try again.
235 OUT conveyor queue (empty operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
queue) occurred YASKAWA representative about occurrence status (operating procedure).
Data error 1 at restarting after Software (1)Reset the alarm, and then try again.
an emergency stop (actual operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
236
status and the data status occurred YASKAWA representative about occurrence status (operating procedure).
unmatched)
Number Message Code
237
unmatched)
238
unmatched)
Timeout for receiving segment Software (1)Reset the alarm, and then try again.
239 data output request operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
The number which designates Software (1)Reset the alarm, and then try again.
the setting area of correction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
240
amount in RT_BANK occurred YASKAWA representative about occurrence status (operating procedure).
exceeded the limit value.
Task error of the function Software (1)Reset the alarm, and then try again.
241 calling source (cv_sync_intr ( operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
)) occurred YASKAWA representative about occurrence status (operating procedure).
No control group for motor gun Software (1)Reset the alarm, and then try again.
Alarm List-590
242 for clearance move instruction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Motor gun condition file Software (1)Reset the alarm, and then try again.
243 number error (including gun operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
pressure file) occurred YASKAWA representative about occurrence status (operating procedure).
GETTOOLW manipulator Software (1)Reset the alarm, and then try again.
244 designation error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Overflow of entry number for Software (1)Reset the alarm, and then try again.
245 instruction execution operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Data latch processing (function Software (1)Reset the alarm, and then try again.
246 number overflow) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Data latch processing (real- Software (1)Reset the alarm, and then try again.
247 time status number overflow) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Failed to set a timer unit. (No Software (1)Reset the alarm, and then try again.
248 allocation space for timer unit operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
setting) occurred YASKAWA representative about occurrence status (operating procedure).
Segment data missing Software (1)Reset the alarm, and then try again.
249 (seg_t_req was not received in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
time.) occurred YASKAWA representative about occurrence status (operating procedure).
GETS instruction internal error Software (1)Reset the alarm, and then try again.
Alarm List

SETFILE undefined file Software (1)Reset the alarm, and then try again.
GETFILE undefined file Software (1)Reset the alarm, and then try again.
The parameter was destroyed Software (1)Reset the alarm, and then try again.
Alarm List-591
253 when a GETPRM instruction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
was executed. occurred YASKAWA representative about occurrence status (operating procedure).
Null pointer assignment Software (1)Reset the alarm, and then try again.
254 detected operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Function or other processing Software (1)Reset the alarm, and then try again.
Arithmetic answer is not set at Software (1)Reset the alarm, and then try again.
260 prereading operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
(ADV_HA_ANS.flag == OFF) occurred YASKAWA representative about occurrence status (operating procedure).
Heap area obtainment failure Software (1)Reset the alarm, and then try again.
261 (A_BANK) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
262 (C_BANK) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
263 (Instruction queue) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
264 (Path/trace queue) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
265 (IF-Express descriptor) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Error in setting impedance Software (1)Reset the alarm, and then try again.
270 control mode. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Error in releasing impedance Software (1)Reset the alarm, and then try again.
271 control mode. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Specified MSS system Software (1)Reset the alarm, and then try again.
Alarm List-592
279 instance is not generated. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
API Software (1)Reset the alarm, and then try again.
280 error(HDAS_get_alias_name() operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
) occurred YASKAWA representative about occurrence status (operating procedure).
GA generation number is over Software (1)Reset the alarm, and then try again.
284 the limit. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
GA gene number is over the Software (1)Reset the alarm, and then try again.
285 limit. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
GA initial generation number Software (1)Reset the alarm, and then try again.
286 setting error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
GA control group error Software (1)Reset the alarm, and then try again.
Learning control analysis error Software (1)Reset the alarm, and then try again.
290 (get_svspot_ntch_data()) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Paint instruction internal error Software (1)Reset the alarm, and then try again.
Alarm List

Paint recover control error Software (1)Reset the alarm, and then try again.
292 (Paint Gun parameter error) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Paint recover control error Software (1)Reset the alarm, and then try again.
Job completion time over Software (1)Reset the alarm, and then try again.
Alarm List-593
Servo simulator averaging Software (1)Reset the alarm, and then try again.
295 time change error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Synchronized queue operation Software (1)Reset the alarm, and then try again.
310 error for WORK ID conveyor operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
(at ENQUE) occurred YASKAWA representative about occurrence status (operating procedure).
(at DEQUE) occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
(data length too long) occurred YASKAWA representative about occurrence status (operating procedure).
error for WORK IN/OUT operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
314
checking conveyor (at occurred YASKAWA representative about occurrence status (operating procedure).
ENQUE)
315
checking conveyor (at occurred YASKAWA representative about occurrence status (operating procedure).
DEQUE)
Alarm List
316
checking conveyor (undefined occurred YASKAWA representative about occurrence status (operating procedure).
operation)
317
checking conveyor (data occurred YASKAWA representative about occurrence status (operating procedure).
length too long)
Alarm List-594
error for WORK ID conveyor or operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
318
WORK IN/OUT conveyor (at occurred YASKAWA representative about occurrence status (operating procedure).
DEQUE)
Synchronized queue empty Software (1)Reset the alarm, and then try again.
(at execution of CVQUE) occurred YASKAWA representative about occurrence status (operating procedure).
Synchronized queue empty Software (1)Reset the alarm, and then try again.
320
conveyor (at execution of occurred YASKAWA representative about occurrence status (operating procedure).
CVQUE)
P-PLC suspend err Software (1)Reset the alarm, and then try again.
Number Message Code
P-PLC suspend err Software (1)Reset the alarm, and then try again.
P-PLC suspend seq err Software (1)Reset the alarm, and then try again.
P-PLC suspend seq no err Software (1)Reset the alarm, and then try again.
P-PLC suspend seq no err Software (1)Reset the alarm, and then try again.
Alarm List

PSTRIG suspend err Software (1)Reset the alarm, and then try again.
PSTRIG suspend err Software (1)Reset the alarm, and then try again.
PSTRIG suspend seq err Software (1)Reset the alarm, and then try again.
Alarm List-595
Timing Control queue Software (1)Reset the alarm, and then try again.
360 operation (at DEQUE) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
SL undefined interrupt Software (1)Reset the alarm, and then try again.
500 command (main command) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
SL undefined interrupt Software (1)Reset the alarm, and then try again.
501 command (sub command) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Previous SL interrupt Software (1)Reset the alarm, and then try again.
502 command processing operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
SL interrupt command data Software (1)Reset the alarm, and then try again.
Arithmetic section error Software (1)Reset the alarm, and then try again.
999 (segment data all zero timeout) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
System clock (RTC) setting Software (1)Reset the alarm, and then try again.
System task priority Software (1)Reset the alarm, and then try again.
1001 arrangement error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

VxWorks primitive error Software (1)Reset the alarm, and then try again.
1002 (msgQCreate) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
1003 (msgQSend) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-596
1005 (semBCreate) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
1007 (semTake) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
1008 (msgQSend) Message queue operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
is full. occurred YASKAWA representative about occurrence status (operating procedure).
Failed system job environment Software (1)Reset the alarm, and then try again.
1100 configuration operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Failed system job environment Software (1)Reset the alarm, and then try again.
2000 configuration operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
SYSTEM A system error occurred Prereading task is not Software (1)Reset the alarm, and then try again.
4208 ERROR(ARITH) in ARITH. 1 completed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The averaging buffer in the Software (1)Reset the alarm, and then try again.
5 arithmetic section is destroyed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
No previous bank exists. Software (1)Reset the alarm, and then try again.
The answer bank flag is ON. Software (1)Reset the alarm, and then try again.
Alarm List

An error occurred in Software (1)Reset the alarm, and then try again.
8 preparation of current position. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Mails could not correctly be Software (1)Reset the alarm, and then try again.
9 received in the current task. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Spline-curve path designation Software (1)Reset the alarm, and then try again.
Alarm List-597
The previous bank's Software (1)Reset the alarm, and then try again.
11 prereading conversion could operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
not correctly be completed. occurred YASKAWA representative about occurrence status (operating procedure).
A manipulator designation Software (1)Reset the alarm, and then try again.
error occurred at JOG operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
12
operation using the external occurred YASKAWA representative about occurrence status (operating procedure).
reference point.
Designation error of cubic Software (1)Reset the alarm, and then try again.
13 interference coordinates operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Path control position data error Software (1)Reset the alarm, and then try again.
14 of prereading bank operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Station/base axis motion Software (1)Reset the alarm, and then try again.
User coordinates number error Software (1)Reset the alarm, and then try again.
Processing error in re- Software (1)Reset the alarm, and then try again.
19 preparation of segment control operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Prereading task not completed Software (1)Reset the alarm, and then try again.
20 at master in twin synchronous operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
system occurred YASKAWA representative about occurrence status (operating procedure).

Dynamic model arithmetic Software (1)Reset the alarm, and then try again.
Speed limit control error Setting error Check the following settings.
(excessive moment of gravity) ·The allowable breaking torque was exceeded only by the gravity moment.
Set the gravity value of the tool within payload of the manipulator.
24 ·Teach the manipulator orientation that does not become the overload for
Alarm List-598
each-axes of the manipulator.
Square root of a negative Software (1)Reset the alarm, and then try again.
25 number operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The system number is not set Software (1)Reset the alarm, and then try again.
26 at master in twin synchronous operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
system. occurred YASKAWA representative about occurrence status (operating procedure).
FORMCUT internal control Software (1)Reset the alarm, and then try again.
Arm interference check error Software (1)Reset the alarm, and then try again.
30 (radius data referencing operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
mistake) occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
31 (miscalculation using direct operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
kinematics) occurred YASKAWA representative about occurrence status (operating procedure).
32 (L-axis expansion flag setting operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
error) occurred YASKAWA representative about occurrence status (operating procedure).
33 (check-point re-setting error) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Impossible to edit the Software (1)Reset the alarm, and then try again.
34 averaging buffer (zero division) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

No master-group is designated Software (1)Reset the alarm, and then try again.
35 at preparation of master-tool operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
user coordinates. occurred YASKAWA representative about occurrence status (operating procedure).
Pulse linked JOG function Software (1)Reset the alarm, and then try again.
Special JOG operation error Software (1)Reset the alarm, and then try again.
Alarm List-599
Segment overless: Segment Setting error The teaching position cannot hold down the speed by the segment overless
44
excessive error function. Reduce the teaching speed of the job.
Segment overless: Path Software (1)Reset the alarm, and then try again.
45 calculation repeat error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Play path control: initialization Software (1)Reset the alarm, and then try again.
Play path control: continue Software (1)Reset the alarm, and then try again.
48 process error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Play path control: Step Software (1)Reset the alarm, and then try again.
49 continuous initialization error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Play path control: step Software (1)Reset the alarm, and then try again.
50 continuous motion execution operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
process error occurred YASKAWA representative about occurrence status (operating procedure).
Approximation model internal Software (1)Reset the alarm, and then try again.
54 control error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Pair coordinate system Software (1)Reset the alarm, and then try again.
55 position calculation function operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
error occurred YASKAWA representative about occurrence status (operating procedure).

OPT higher acceleration and Setting error Check the following settings.
deceleration control is not ·OPT higher acceleration and deceleration control is used.
56 allowed when Function ·Don't use the OPT higher acceleration and deceleration control.
acceleration and deceleration
control is enabled.
Alarm List-600
Arithmetic error occurred when Software (1)Reset the alarm, and then try again.
calculating the acceleration operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
57 and deceleration time occurred YASKAWA representative about occurrence status (operating procedure).
(Function acceleration and
deceleration control)
recalculating the acceleration operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
58 and deceleration time occurred YASKAWA representative about occurrence status (operating procedure).
(Function acceleration and
calculating PL control operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
59
(Function acceleration and occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
calculating Function operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
60
acceleration and deceleration occurred YASKAWA representative about occurrence status (operating procedure).
dry run.
calculating current path of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
61
continuous motion stop occurred YASKAWA representative about occurrence status (operating procedure).
operation
calculating next path of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
62
continuous motion stop occurred YASKAWA representative about occurrence status (operating procedure).
operation
Alarm List
calculating acceleration time operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
63
when continuous motion in the occurred YASKAWA representative about occurrence status (operating procedure).
prereading processing
calculating deceleration time operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
64
when continuous motion in the occurred YASKAWA representative about occurrence status (operating procedure).
prereading processing
Alarm List-601
calculating acceleration and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
65
deceleration time when occurred YASKAWA representative about occurrence status (operating procedure).
teaching.
66
deceleration time for plucking occurred YASKAWA representative about occurrence status (operating procedure).
in prereading processing 1
67
Number Message Code
68
69
70 deceleration for PL control occurred YASKAWA representative about occurrence status (operating procedure).
plucking in prereading
Alarm List
processing 1
71 deceleration for PL control occurred YASKAWA representative about occurrence status (operating procedure).
plucking in prereading
processing 2
72 calculating acceleration and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-602
deceleration for plucking occurred YASKAWA representative about occurrence status (operating procedure).
73
deceleration for PL control in occurred YASKAWA representative about occurrence status (operating procedure).
prereading processing 1
74
75
Number Message Code
76
77
Press full synchronous Software (1)Reset the alarm, and then try again.
96 function: Press synchronous operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
execution error occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
function: The press position operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
97
carried out cycle movement occurred YASKAWA representative about occurrence status (operating procedure).
over.
Press full synchronous Software Execute Position Adjustment Function to correct the position gap between
function: Press synchronous operation error press position and the manipulator.
position error occurred ·Confirm that both press and manipulator are maintained in stopped state.
98 ·Change the specific input: Position Correct Request (#40540) to ON.
·Execute the Press synchronization JOB again.
Alarm List-603
·Wait for the specific output "Correcting position(#50683)" to become OFF
and then start up the press.
99 function: Position search error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Posture control error Software (1)Reset the alarm, and then try again.
HA Servo Simulation error Software (1)Reset the alarm, and then try again.
Number Message Code
Timing control function control Software (1)Reset the alarm, and then try again.
105 group error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Feedback approximation Software (1)Reset the alarm, and then try again.
106 model table queue control operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
error occurred YASKAWA representative about occurrence status (operating procedure).
Feedback approximation Software (1)Reset the alarm, and then try again.
107 model data reference error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
For HA debug use Software (1)Reset the alarm, and then try again.
Alarm List

OFFLINE SYSTEM A system error occurred Data setting error in offline Software (1)Reset the alarm, and then try again.
4209 ERROR(ARITH) in arithmetic section 100 data bank operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
offline. occurred YASKAWA representative about occurrence status (operating procedure).
Data setting error in offline Software (1)Reset the alarm, and then try again.
101 answer bank operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-604
OFF_USER_POS occupation Software (1)Reset the alarm, and then try again.
OFF_USER_POS valid control Software (1)Reset the alarm, and then try again.
Mail-receiving error of offline Software (1)Reset the alarm, and then try again.
104 task operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Offline occupation control error Software (1)Reset the alarm, and then try again.
Number Message Code
OFF_USER_ROT_POS Software (1)Reset the alarm, and then try again.
107 occupation control error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
OFF_USER_ROT_POS valid Software (1)Reset the alarm, and then try again.
OFF_CV_CALIB_POS Software (1)Reset the alarm, and then try again.
109 occupation control error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
OFF_CV_CALIB_POS valid Software (1)Reset the alarm, and then try again.
Alarm List

Incorrect teaching for offline Software (1)Reset the alarm, and then try again.
111 conveyor tracking turntable operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
function occurred YASKAWA representative about occurrence status (operating procedure).
No manipulator is designated Software (1)Reset the alarm, and then try again.
112 for offline conveyor tracking operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
turntable function. occurred YASKAWA representative about occurrence status (operating procedure).
Detour posture control setup Software (1)Reset the alarm, and then try again.
Alarm List-605
117 process error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
SYSTEM A system error occurred Local variable is not used. Software (1)Reset the alarm, and then try again.
4210 ERROR(LOCAL in local variable -1 operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
VARIABLE) processing section. occurred YASKAWA representative about occurrence status (operating procedure).
Memory area for local variable Software (1)Reset the alarm, and then try again.
-2 could not be obtained. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
No unused handle value exists Software (1)Reset the alarm, and then try again.
-3 when local variable area is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
created. occurred YASKAWA representative about occurrence status (operating procedure).
An error occurred in exclusive Software (1)Reset the alarm, and then try again.
-4 control. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Handle value is invalid for Software (1)Reset the alarm, and then try again.
-5 specified local variable. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Handle value is incorrect for Software (1)Reset the alarm, and then try again.
-6 specified local variable. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
An error occurred when Software (1)Reset the alarm, and then try again.
-7 memory area for local variable operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
was released. occurred YASKAWA representative about occurrence status (operating procedure).
-8 memory area for local variable operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
was registered. occurred YASKAWA representative about occurrence status (operating procedure).
Local variable control process Software (1)Reset the alarm, and then try again.
-9 is not initialized. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Local variable area shared Software (1)Reset the alarm, and then try again.
-10 heap area. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-606
-11 control. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
-12 control when control of the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
local variable was processed. occurred YASKAWA representative about occurrence status (operating procedure).
SERVO POWER OFF The servo power is not Sub Code: Control group Setting error Turn OFF the servo power supply, and then turn ON the servo power
4220 FOR JOB supplied to the job control supply for the group axis to be operated.
group axis to be operated.
SERVO POWER OFF The servo power is not Sub Code: Control group The servo power ·Turn OFF the servo power supply, and then turn ON the servo power
4221 FOR JOB supplied to the job control is not supplied. supply for the group axis to be operated.
group axis to be operated.
Number Message Code
MEMOPLAY FILE An error occurred in An error occurred in control Software (1)Reset the alarm, and then try again.
4224 ERROR memory play file. -1 process for memory play file. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The arrangement address Software (1)Reset the alarm, and then try again.
-2 information is destroyed for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
memory play file system. occurred YASKAWA representative about occurrence status (operating procedure).
The fixed control information is Software (1)Reset the alarm, and then try again.
-3 destroyed for memory play file operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The fixed control information is Software (1)Reset the alarm, and then try again.
-4 destroyed for memory play file operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

An attempt was made to newly Software (1)Reset the alarm, and then try again.
-5 register the memory play file operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
under use. occurred YASKAWA representative about occurrence status (operating procedure).
An error occurred in checking Software (1)Reset the alarm, and then try again.
-6 written sampling data when the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
data was written to CMOS. occurred YASKAWA representative about occurrence status (operating procedure).
An attempt was made to Software (1)Reset the alarm, and then try again.
Alarm List-607
-7 access an unused memory operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
play file data. occurred YASKAWA representative about occurrence status (operating procedure).
The memory play file is Software (1)Reset the alarm, and then try again.
-8 destroyed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The memory area for sampling Software (1)Reset the alarm, and then try again.
-9 data is full. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The sampling data is Software (1)Reset the alarm, and then try again.
-10 destroyed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Data in control process for Software (1)Reset the alarm, and then try again.
-11 memory play file is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
The sampling data is scanned Software (1)Reset the alarm, and then try again.
-12 only at top or end position. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The memory play file system is Software (1)Reset the alarm, and then try again.
-13 not initialized. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The offset value is out of range Software (1)Reset the alarm, and then try again.
-14 at sampling data scanning. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
OVER The motor real speed Signifies the control axis Setting error Check the following settings.
SPEED(YCP21) (feedback) exceeded the number which detected an ·The gun tip hits the welded target distance of motor gun
Alarm List
speed limit. error ·manipulator motion (external force, gravity)

4225 The speed limit is safety
speed at teach mode and
maximum speed at play
mode.
·The motor power line
Alarm List-608
·The encoder line
Module failure (1)Reset the alarm.
(motor) (2)If the alarm occurs again, replace the following unit.
·The motor
YCP21 board (1)Turn the power OFF then back ON.
failure (2)If the alarm occurs again, replace the YCP21 board. Save the
CMOS.BIN before replace the board to be safe. Replace the YCP21 board,
and then insert the CF card which inserted original YCP21 board into the
new YCP21 board.
Number Message Code
COMMUNICATION An error occurred at The communication channel Setting error Check the following settings.
SERVICE ERROR OPEN/CLOSE instruction could not be opened/closed at ·Setting of the RS (transmission) parameter
execution. OPEN/CLOSE instruction
4226 1
The communication execution.
channel could not be
opened/closed.
The communication port is Setting error Check the following settings.
100
already opened. The serial port setting
Alarm List

The communication port is not Setting error Check the following settings.
101
opened. The serial port setting
No space was found in data Setting error Check the following settings.
102
sent buffer. The serial port setting
Alarm List-609
The setting value for the event Setting error (1)Reset the alarm.
103 queue designation parameter (2)Check the following settings.
is incorrect. ·RS157···Set to 1 to 4
The type of output data is Setting error (1)Reset the alarm.
105 incorrect. (2)Check the following settings.
The serial port setting
Number Message Code
WRONG DATA The YRC1000 divides the Software (1)Reset the alarm, and then execute following operation.
job; instruction data and operation error ·Select a sub menu [WRONG DATA LOG] under main menu [SETUP].
position data, into occurred ·Execute "RESTORE" by selecting "UTILITY" from the pull-down menu.
separate files to save. *Occurrence date changes to restoration date after it is restored.
This alarm occurs if it ·Turn the power OFF and then ON to check the factor of the inconsistency
detects the inconsistency 1 and 2, on the data inconsistency screen in maintenance mode .
between the Job The factor 1: Check the position of the corresponding file
instruction and position The factor 2: Register the position of the corresponding file again
file. *The factor 3:Just turn the power OFF and then ON again.
The followings are the (2)If it would not restore, select "RE CHECK" from the pull-down menu.
causes of the (3)If the alarm occurs again, save the CMOS.BIN, and then contact your
inconsistency. YASKAWA representative about occurrence status (operating procedure).
Alarm List
4228 Cause 1: Single position

data is chained by the
plural Job instruction
data. (Overlapped chain)
Cause 2: Job instruction
file chains the
unregistered position
data. (Unregistered
position data chain)
Alarm List-610
Cause 3: Registered
position data is not
chained.(Unchained
position data)
Data error (1) If different axes configuration data is loaded, the system data becomes
incorrect status, which causes this alarm. In this case, execute the following
operations.
·Select a sub menu [WRONG DATA LOG] under main menu [SETUP].
·Select "UTILITY" from the pull-down menu to execute "RESTORE".
·Load correct axes configuration data
(2)If it would not restore, select "RE CHECK" from the pull-down menu, and
then load correct axes configuration data.
Number Message Code
ETHERNET An error occurred when An error occurred in the Setting error Check the following settings.
PROCESS ERROR the Ethernet function was acquisition process of the IP ·The DHCP server operation (If the DHCP is used)
used. address during the IP address ·The network status (If the DHCP is used)
4229 1
monitoring process of the
interface 2)
new ACP01 board.
Alarm List

acquisition process of subnet ·The DHCP server operation (If the DHCP is used)
mask during the network ·The network status (If the DHCP is used)
2
service data creation process
of the Ethernet function.(LAN
interface 2)
Alarm List-611
new ACP01 board.
acquisition process of gateway ·The DHCP server operation (If the DHCP is used)
3 during the network service ·The network status (If the DHCP is used)
data creation process of the
Ethernet function.
Number Message Code
new ACP01 board.
conversion process of gateway ·The DHCP server operation (If the DHCP is used)
4 address during the network ·The network status (If the DHCP is used)
Alarm List

new ACP01 board.
Alarm List-612
conversion process of DNS ·The DHCP server operation (If the DHCP is used)
server address during the ·The network status (If the DHCP is used)
5
network service data creation
process of the Ethernet
function.
new ACP01 board.
Number Message Code
acquisition process of domain ·The DHCP server operation (If the DHCP is used)
6 during the network service ·The network status (If the DHCP is used)
data creation process of the
Ethernet function.
new ACP01 board.
Alarm List

acquisition process of SNTP ·The DHCP server operation (If the DHCP is used)
7 server during the network ·The network status (If the DHCP is used)
Alarm List-613
new ACP01 board.
acquisition process of host ·The DHCP server operation (If the DHCP is used)
8 name during the network ·The network status (If the DHCP is used)
new ACP01 board.
Number Message Code
newest DNS information ·The DHCP server operation (If the DHCP is used)
9 getting process from DHCP ·The network status (If the DHCP is used)
server in the DNS process of
new ACP01 board.
Alarm List
An error occurred in the setting Setting error Check the following settings.
process to update DNS ·The DHCP server operation (If the DHCP is used)
10 information in the DNS ·The network status (If the DHCP is used)
function.
Alarm List-614
new ACP01 board.
An error occurred in the setting Setting error Check the following settings.
clearing process to update ·The DHCP server operation (If the DHCP is used)
11 DNS information in the DNS ·The network status (If the DHCP is used)
function.
Number Message Code
new ACP01 board.
The subnet mask was not able Setting error Check the following settings.
to be acquired in the DHCP ·The DHCP server operation (If the DHCP is used)
20 information update process of ·The network status (If the DHCP is used)
the Ethernet function.(LAN
interface 2)
Alarm List

new ACP01 board.
Alarm List-615
Subnet mask update error Setting error Check the following settings.
occurred in the DHCP ·The DHCP server operation (If the DHCP is used)
21
information update process of ·The network status (If the DHCP is used)
new ACP01 board.
Gateway update error Setting error Check the following settings.
occurred in the DHCP ·The DHCP server operation (If the DHCP is used)
25
information update process of ·The network status (If the DHCP is used)
Number Message Code
new ACP01 board.
Gateway clear error occurred Setting error Check the following settings.
in the DHCP information ·The DHCP server operation (If the DHCP is used)
26
update process of the Ethernet ·The network status (If the DHCP is used)
function.
Alarm List

new ACP01 board.
Alarm List-616
35 detected.(LAN interface 2) ·IP address setting of LAN interface in maintenance mode
Number Message Code
IP address can not be gotten Setting error Check the following settings and status.
40 or can not be updated via ·The DHCP server operation (If the DHCP is used)
DHCP.(LAN interface 2) ·The network status (If the DHCP is used)
Alarm List

Gateway setting is faulted. Software Check the following settings.
50 operation error ·Default gateway setting of LAN interface in maintenance mode
occurred ·Leased IP address, when getting IP address from DHCP.
Alarm List-617
51 Static route setting is Software Check the following settings.
faulted.(LAN interface 2, route operation error ·Static route setting of LAN interface in maintenance mode
1) occurred ·Leased IP address, when getting IP address from DHCP.
52 NAT setting is faulted.(LAN Software (1)Turn the power OFF then back ON.
interface 2) operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
Number Message Code
53 The host address to be used in Software Check the following settings.
ethernet function is not operation error ·The host address setting of LAN interface in maintenance mode
configured correctly. occurred
Alarm List

1001 An error occurred in the Software Check the following settings.
Alarm List-618
acquisition process of the IP operation error ·The DHCP server operation (If the DHCP is used)
address during the IP address occurred ·The network status (If the DHCP is used)
monitoring process of the
interface 3)
1002 An error occurred in the Software Check the following settings.
acquisition process of subnet operation error ·The DHCP server operation (If the DHCP is used)
mask during the network occurred ·The network status (If the DHCP is used)
of the Ethernet function.(LAN
interface 3)
Number Message Code
1020 The subnet mask was not able Software Check the following settings.
to be acquired in the DHCP operation error ·The DHCP server operation (If the DHCP is used)
information update process of occurred ·The network status (If the DHCP is used)
the Ethernet function.(LAN
interface 3)
Alarm List

1035 IP address duplication was Software Check the following settings.
detected.(LAN interface 3) operation error ·IP address setting of LAN interface in maintenance mode
occurred ·IP addresses of other devices in the network.
Alarm List-619
1040 IP address can not be gotten Software Check the following settings and status.
or can not be updated via operation error ·The DHCP server operation (If the DHCP is used)
DHCP.(LAN interface 3) occurred ·The network status (If the DHCP is used)
Number Message Code
1052 NAT setting is faulted.(LAN Software (1)Turn the power OFF then back ON.
interface 3) operation error (2)If the alarm occurs again, replace the ACP01 board. Save the
Alarm List

COMMUNICATION An error was detected in The IO module board Software (1)Turn the power OFF then back ON.
TIMEOUT(IO communications timeout connected with 0th serial bus operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4234 MODULE) with the I/O module board 0 exists. occurred YASKAWA representative about occurrence status (operating procedure).
when the control power
Alarm List-620
turned ON.
·CNBX connector of SDCA01 board and ASF01 board
·PCIe connector of AIF01 board
Number Message Code
communications timeout with ·The rotary switch setting which specifies slot numbers of each I/O module
the I/O module board ·I/O module settings in maintenance mode
1
connected with 1st serial bus
when the control power turned
ON.
node number
Alarm List

Alarm List-621
2
connected with 2nd serial bus
ON.
node number
Number Message Code
Alarm List

3
connected with 3rd serial bus
ON.
node number
Alarm List-622
Number Message Code
4
connected with 4th serial bus
ON.
node number
Alarm List

Alarm List-623
An error was detected in Setting error4 Check the following settings.
5
ON.
node number
Number Message Code
Alarm List

6
ON.
node number
Alarm List-624
Number Message Code
7
ON.
node number
Alarm List

Alarm List-625
8
ON.
node number
Number Message Code
Alarm List

9
ON.
node number
Alarm List-626
Number Message Code
10
ON.
node number
Alarm List

Alarm List-627
11
ON.
node number
Number Message Code
Alarm List

12
ON.
node number
Alarm List-628
Number Message Code
13
ON.
node number
Alarm List

Alarm List-629
14
ON.
·MII communications cable (CN114) of the AIF01 board
·MII communications cable (CN300) of the YIU unit
·24V power of the YIU unit
Number Message Code
Alarm List

15
ON.
node number
Alarm List-630
Number Message Code
communications timeout with ·PCI slot number in which each PCI board is mounted
16
connected with 1st PCI
connector when the control
power turned ON.
Alarm List

Alarm List-631
2nd PCI when the control
power turned ON.
Number Message Code
18 the I/O module board ·I/O module settings in maintenance mode
connected with 3rd PCI when
the control power turned ON.
Alarm List

Alarm List-632
19 the I/O module board ·I/O module settings in maintenance mode
connected with 4th PCI when
the control power turned ON.
Number Message Code
An error occurred in the Sub Code: Welding power Error occurred in Confirm the following content.
Alarm List
Fronius welding power source number. the Fronius power Step1: Check what kind of the error code is expressed on the front panel of
4240 TPS:ERROR
source. source. Fronius power source.
Step2: Check according with the Fronius's manual.
System software on the Error from welder 1. Arc welding When finish system reset, Shut down the welding power source.
MOTOWELD
4241 welding power source is 1 power source
SYSTEM RESET
resetting now. error
Alarm List-633
Error from welder 2. Arc welding When finish system reset, Shut down the welding power source.
2 power source
error
3 power source
error
Number Message Code
4 power source
error
5 power source
error
Alarm List
6 power source
error
7 power source
error
Alarm List-634
8 power source
error
Sub code : Error No. from Arc welding When finish system reset, Shut down the welding power source.
302 welder. power source
error
Overcurrent flows in the Error from welder 1. Arc welding
MOTOWELD INPUT
4242 primary control circuit. 1 power source
OVER-CURRENT
error
Number Message Code
Error from welder 2. Arc welding
2 power source
error
3 power source
error
4 power source
error
5 power source
Alarm List
error
6 power source
error
7 power source
error
Alarm List-635
8 power source
error
Sub code: Error No. from Arc welding
error
Overcurrent flows in the Error from welder 1. Arc welding Confirm the following content.
secondary control circuit. power source (1) Check that the torch cable or power cable is not grounded?
error (2)Check that the contact tip does not contact the welding work piece?
MOTOWELD (3)Check that the encoder cable is not damaged?
4243 OUTPUT OVER- 1 (4)Check if the screws of the connector terminal block are securely
CURRENT fastened. If the encoder cable is disconnected or the screws are loosened,
the wire feeding speed becomes excessively fast and an error occurs in the
wire feeding amount. Replace the encoder cable or fasten the screws of the
connector terminal block.
Number Message Code
Error from welder 2. Arc welding Confirm the following content.
power source (1) Check that the torch cable or power cable is not grounded?
(3)Check that the encoder cable is not damaged?
2 (4)Check if the screws of the connector terminal block are securely
fastened. If the encoder cable is disconnected or the screws are loosened,
Alarm List
Alarm List-636
Number Message Code
Alarm List
Alarm List-637
Number Message Code
Sub code : Error No. from Arc welding Confirm the following content.
Alarm List
welder. power source (1) Check that the torch cable or power cable is not grounded?
Alarm List-638
Primary input voltage Error from welder 1. Arc welding Confirm the input voltage.
MOTOWELD INPUT exceeding 550V is power source
4244 1
OVER-VOLTAGE applied continuously for error
two seconds.
Error from welder 2. Arc welding Confirm the input voltage.
2 power source
error
Number Message Code
3 power source
error
4 power source
error
Alarm List
5 power source
error
6 power source
error
Alarm List-639
7 power source
error
8 power source
error
Number Message Code
The temperature in the Error from welder 1. Arc welding (1)Check the ambient temperature (40 degrees centigrade or less) and
MOTOWELD welding source. power source operational ratio (60%).
4245 EXCESSIVE 1 error (2) Check if there are dust, dirt, and clogging on the dust protective filter.
TEMPERATURE Clean or replace the dust protective filter if necessary.
(3)In case of RL350, Check the thermal guard (Item No.410).
Error from welder 2. Arc welding (1)Check the ambient temperature (40 degrees centigrade or less) and
power source operational ratio (60%).
2 error (2) Check if there are dust, dirt, and clogging on the dust protective filter.
Clean or replace the dust protective filter if necessary.
Alarm List
Alarm List-640
Number Message Code
Alarm List
Alarm List-641
The temperature in the primary Arc welding (1)Check the ambient temperature (40 degrees centigrade or less) and
control circuit exceeds the power source operational ratio (60%).
specified value of the welding error (2) Check if there are dust, dirt, and clogging on the dust protective filter.
102 source. Clean or replace the dust protective filter if necessary.
(3)In case of RL350, Check the thermal guard of primary side (Item
No.410).
In case of X350, Check the thermal guard of primary side (Item No.410).
Number Message Code
The temperature in the Arc welding (1)Check the ambient temperature (40 degrees centigrade or less) and
secondary control circuit power source operational ratio (60%).
exceeds the specified value of error (2) Check if there are dust, dirt, and clogging on the dust protective filter.
the welding source. Clean or replace the dust protective filter if necessary.
103
(3)In case of RL350, Check the thermal guard of secondary side (Item
No.318).
In case of X350, Check the thermal guard of secondary side (Item
No.410).
The temperature in the DC Arc welding (1)Check the ambient temperature (40 degrees centigrade or less) and
reactor exceeds the specified power source operational ratio (60%).
Alarm List
value of the welding source. error (2) Check if there are dust, dirt, and clogging on the dust protective filter.
105
(3)In case of RL350, Check the thermal guard of DCL2 (Item No.312).
In case of X350, Check the thermal guard of DCL2 (Item No.514).
The temperature in the Main Arc welding (1)Check the ambient temperature (40 degrees centigrade or less) and
board Pr(MB) exceeds the power source operational ratio (60%).
Alarm List-642
340 specified value of the welding error (2) Check if there are dust, dirt, and clogging on the dust protective filter.
source. Clean or replace the dust protective filter if necessary.
(3)Replace the Main board Pr(MB)-030(Item No. 504).
Primary input voltage is Error from welder 1. Arc welding Confirm the input voltage.
MOTOWELD INPUT lower than 390V power source
4246 1
UNDER-VOLTAGE continuously fir two error
seconds.
2 power source
error
Number Message Code
3 power source
error
4 power source
error
Alarm List

5 power source
error
Alarm List-643
power source
error
7 power source
error
8 power source
error
Number Message Code
Hydraulic pressure is Error from welder 1. Arc welding (1)Fill up the cooling water.
MOTOWELD WATER
4247 drop. 1 power source (2)Check the circuit of cooling water.
UNDER-FLOW
error
Error from welder 2. Arc welding (1)Fill up the cooling water.
2 power source (2)Check the circuit of cooling water.
error
Alarm List

error
error
Alarm List-644
error
error
error
Number Message Code
error
Sub code : Error No. from Arc welding (1)Fill up the cooling water.
703 welder. power source (2)Check the circuit of cooling water.
error
Alarm List

The communication Error from welder 1. Arc welding
between the welding power source
MOTOWELD DIGITAL
4248 power source and the 1 error
I/F WDG.ERROR
robot controller was
suspended.
Alarm List-645
2 power source
error
3 power source
error
4 power source
error
Number Message Code
5 power source
error
6 power source
error
Alarm List
7 power source
error
8 power source
error
Alarm List-646
Sub code : Error No. from Arc welding
error
In CAN-interface for Error from welder 1. Arc welding Check the Node of the each welder power sources and robot controller.
MOTOWELD DIGITAL welder power source, the power source
4249 1
I/F NODE ERROR Node setting is error
duplicated.
Error from welder 2. Arc welding Check the Node of the each welder power sources and robot controller.
2 power source
error
Number Message Code
3 power source
error
4 power source
error
Alarm List

5 power source
error
Alarm List-647
power source
error
7 power source
error
8 power source
error
Number Message Code
Sub code : Error No. from Arc welding Check the Node of the each welder power sources and robot controller.
error
Welder power source Error from welder 1. Arc welding Confirm the following content.
MOTOWELD DIGITAL
4250 receive the unknown 1 power source (1) LAN cable is not damaged.
I/F ERROR
message. error (2) Protocol type of the VEW01 is correct. (is MOTOWELD type?)
Alarm List
2 power source (1) LAN cable is not damaged.

error (2) Protocol type of the VEW01 is correct. (is MOTOWELD type?)
Alarm List-648
Number Message Code
Alarm List

403 welder. power source (1) LAN cable is not damaged.
The user file number is Error from welder 1. Arc welding Set the user file number 1...16.
MOTOWELD DIGITAL
1
Alarm List-649
4251 out of range. power source
I/F FILE# ERROR
error
Error from welder 2. Arc welding Set the user file number 1...16.
2 power source
error
3 power source
error
Number Message Code
4 power source
error
5 power source
error
Alarm List
6 power source
error
7 power source
error
Alarm List-650
8 power source
error
Sub code: Error No. from Arc welding Set the user file number 1...16.
error
Network interface chip is Error from welder 1. Arc welding Replace the main board {Pr(MB) -024}. Contact your YASKAWA
MOTOWELD DIGITAL
4252 broke down. 1 power source representative.
I/F CHIP ERROR
error
Number Message Code
Error from welder 2. Arc welding Replace the main board {Pr(MB) -024}. Contact your YASKAWA
2 power source representative.
error
error
error
Alarm List
error
error
error
Alarm List-651
error
Sub code : Error No. from Arc welding Replace the main board {Pr(MB) -024}. Contact your YASKAWA
405 welder. power source representative.
error
MOTOWELD Nonconformity in the Error from welder 1. Arc welding The setting of hardware or software may be not performed correctly.
4253 MACHINE model setting of hardware 1 power source Contact your YASKAWA representative.
TYP.ERROR1 and software. error
Error from welder 2. Arc welding The setting of hardware or software may be not performed correctly.
2 power source Contact your YASKAWA representative.
error
error
Number Message Code
error
error
error
Alarm List
error
error
Sub code : Error No. from Arc welding The setting of hardware or software may be not performed correctly.
304 welder. power source Contact your YASKAWA representative.
error
Alarm List-652
error
error
error
error
Number Message Code
error
error
error
Alarm List
error
error
Alarm List-653
error
error
error
error
error
Number Message Code
error
error
Alarm List
error
error
error
Alarm List-654
error
error
error
error
error
Number Message Code
The DIP switch of PR(CR) Error from welder 1. Arc welding (1) Check the DIP switch setting of EL350:PR(CR) -008/RP500:WK-7036
MOTOWELD PANEL -002R1 board is not power source board.
4257 1
SW SETTING ERROR correctly set. error (2) EL350:PR(CR) -008/RP500:WK-7036 board may be broken. Contact
your YASKAWA representative.
Error from welder 2. Arc welding (1) Check the DIP switch setting of EL350:PR(CR) -008/RP500:WK-7036
power source board.
2
error (2) EL350:PR(CR) -008/RP500:WK-7036 board may be broken. Contact
power source board.
3
Alarm List
power source board.
4
power source board.
5
Alarm List-655
power source board.
6
power source board.
7
power source board.
8
Number Message Code
Sub code : Error No. from Arc welding (1) Check the DIP switch setting of EL350:PR(CR) -008/RP500:WK-7036
welder. power source board.
303
The welding wire was not Error from welder 1. Arc welding Confirm the following content.
fed as instructed by the power source (1)The encoder cable be not damaged?
feeding amount command error (2)Isn't there loosening of the screw of the encoder cable connection
value. terminal block?
MOTOWELD There is a certain When there are a disconnection of the encoder cable or loosening of the
4258 1
FEEDER ERROR difference between the screw, the wire feeding speed quickens abnormally, and it becomes an
feeding amount command abnormal amount of feeding. Replace the encoder cable or fasten the
value and the feedback screw of the terminal block.
Alarm List
from the encoder. (3)Check if the wire load becomes heavy. Make sure that the torch cable
and conduit cable are not bent excessively.
power source (1)The encoder cable be not damaged?
error (2)Isn't there loosening of the screw of the encoder cable connection
terminal block?
Alarm List-656
When there are a disconnection of the encoder cable or loosening of the
2
screw, the wire feeding speed quickens abnormally, and it becomes an
abnormal amount of feeding. Replace the encoder cable or fasten the
screw of the terminal block.
(3)Check if the wire load becomes heavy. Make sure that the torch cable
Number Message Code
terminal block?
3
Alarm List

terminal block?
4
Alarm List-657
terminal block?
5
Number Message Code
terminal block?
6
Alarm List

terminal block?
7
Alarm List-658
terminal block?
8
Number Message Code
welder. power source (1)The encoder cable be not damaged?
terminal block?
501
Alarm List
The status of dip switch for Arc welding (1)Confirm the feeder motor type.
encoder circuit is different to power source (2)Check the C parameter for feeder motor is correct.
331
the encoder of the feeder error (3)Check the dip switch SW700 on the Main board Pr(MB).
motor.
Overcurrent above the Error from welder 1. Arc welding Check if the wire load becomes heavy. Make sure that the torch cable and
MOTOWELD MOTOR
4259 rated current flows in the 1 power source coduit cable are not bent excessively.
Alarm List-659
OVER-CURRENT
motor circuit. error
Error from welder 2. Arc welding Check if the wire load becomes heavy. Make sure that the torch cable and
2 power source coduit cable are not bent excessively.
error
error
Number Message Code
error
error
Alarm List

error
error
Alarm List-660
error
Sub code : Error No. from Arc welding Check if the wire load becomes heavy. Make sure that the torch cable and
502 welder. power source coduit cable are not bent excessively.
error
A communication error Error from welder 1. Arc welding The board may be broken. Contact your YASKAWA representative.
MOTOWELD CPU
4260 between CPU1 and CPU2 1 power source
ERROR1
occurs. error
Number Message Code
Error from welder 2. Arc welding The board may be broken. Contact your YASKAWA representative.
2 power source
error
3 power source
error
4 power source
error
5 power source
Alarm List
error
6 power source
error
7 power source
error
Alarm List-661
8 power source
error
Sub code : Error No. from Arc welding The board may be broken. Contact your YASKAWA representative.
error
A communication error Error from welder 1. Arc welding The board may be broken. Contact your YASKAWA representative.
MOTOWELD CPU
4261 between CPU1 and CPU2 1 power source
ERROR2
occurs. error
2 power source
error
3 power source
error
Number Message Code
4 power source
error
5 power source
error
6 power source
error
7 power source
Alarm List
error
8 power source
error
error
An error occurs in the Error from welder 1. Arc welding The data may not have been correctly saved when the welding conditions
Alarm List-662
data in the welding power power source are recorded because of a power failure, etc. Reset the system after saving
MOTOWELD source internal memory. error the changed parameters. (See the manual of MOTOWELD "4.2.10 System
4262 1
MEMORY ERROR1 Reset")
If the error occurs again, the board may be broken. Contact your
YASKAWA representative.
Error from welder 2. Arc welding The data may not have been correctly saved when the welding conditions
power source are recorded because of a power failure, etc. Reset the system after saving
error the changed parameters. (See the manual of MOTOWELD "4.2.10 System
2
Reset")
Number Message Code
3
Reset")
4
Reset")
Alarm List
5
Reset")
Alarm List-663
6
Reset")
7
Reset")
8
Reset")
Number Message Code
Sub code : Error No. from Arc welding The data may not have been correctly saved when the welding conditions
welder. power source are recorded because of a power failure, etc. Reset the system after saving
205
Reset")
4263 1
Alarm List
2
Reset")
Alarm List-664
3
Reset")
4
Reset")
5
Reset")
Number Message Code
6
Reset")
7
Reset")
Alarm List
8
Reset")
Alarm List-665
215
Reset")
4264 1
2
Reset")
Number Message Code
3
Reset")
4
Reset")
Alarm List
5
Reset")
Alarm List-666
6
Reset")
7
Reset")
8
Reset")
Number Message Code
206
Reset")
4265 1
Alarm List
2
Reset")
Alarm List-667
3
Reset")
4
Reset")
5
Reset")
Number Message Code
6
Reset")
7
Reset")
Alarm List
8
Reset")
Alarm List-668
207
Reset")
4266 1
2
Reset")
Number Message Code
3
Reset")
4
Reset")
Alarm List
5
Reset")
Alarm List-669
6
Reset")
7
Reset")
8
Reset")
Number Message Code
208
Reset")
4267 1
Alarm List
2
Reset")
Alarm List-670
3
Reset")
4
Reset")
5
Reset")
Number Message Code
6
Reset")
7
Reset")
Alarm List
8
Reset")
Alarm List-671
209
Reset")
4268 1
2
Reset")
Number Message Code
3
Reset")
4
Reset")
Alarm List
5
Reset")
Alarm List-672
6
Reset")
7
Reset")
8
Reset")
Number Message Code
210
Reset")
Arc starting signal is input Error from welder 1. Arc welding Check again the operation timing or signal cable connections. The same
MOTOWELD
before the welding power power source error may occur at momentary power failure.
4269 STARTING SIGNAL 1
source's main power error
ERROR
supply starts up.
Alarm List
Error from welder 2. Arc welding Check again the operation timing or signal cable connections. The same
2 power source error may occur at momentary power failure.
error
Alarm List-673
error
error
error
Number Message Code
error
error
Alarm List

error
Sub code : Error No. from Arc welding Check again the operation timing or signal cable connections. The same
601 welder. power source error may occur at momentary power failure.
error
Alarm List-674
Execution arc start Error from welder 1. Arc welding Select a correct welding process in the using the welding user file.
MOTOWELD NO
4270 without welding process. 1 power source
WELDING TYPE
error
Error from welder 2. Arc welding Select a correct welding process in the using the welding user file.
2 power source
error
3 power source
error
Number Message Code
4 power source
error
5 power source
error
Alarm List

6 power source
error
Alarm List-675
power source
error
8 power source
error
Sub code : Error No. from Arc welding Select a correct welding process in the using the welding user file.
error
Number Message Code
The welding voltage is not Error from welder 1. Arc welding (1)Check if the voltage detection wire is connected. Check to confirm that
detected. power source the welding voltage sensing cable select switch is set to "Base Metal".
error The use of MOTOWELD-RP500:
Check to confirm that the voltage sensing cable is connected between the
base metal and the terminal block TB2 7.
The use of MOTOWELD-RL350/X350:
Check to confirm that the base metal-side welding voltage sensing cable
connects between the base metal and the welding power source via wire
MOTOWELD feeder cable.
4271 VOLT.DETECT WIRE 1 (2)Check to confirm that the contact chip and the welding work are not in
ERROR contact. Cancel the contact if any, and weld them.
(3)Temporary power failure may have occurred.
Alarm List
(4) When the welding voltage sensing cable is used, please connect the
welding voltage sensing cable to the base metal.
(5) When the AC unit used, a weldingpower source output cable, please
confirm whether the output cable of the wiring of the AC unit is not a
mistake.
(6) When the AC unit used, please make sure that the power of the AC unit
is turned on.
Alarm List-676
Number Message Code
Error from welder 2. Arc welding (1)Check if the voltage detection wire is connected. Check to confirm that
power source the welding voltage sensing cable select switch is set to "Base Metal".
feeder cable.
2 (2)Check to confirm that the contact chip and the welding work are not in
contact. Cancel the contact if any, and weld them.
Alarm List
mistake.
is turned on.
Alarm List-677
Number Message Code
feeder cable.
Alarm List
mistake.
is turned on.
Alarm List-678
Number Message Code
feeder cable.
Alarm List
mistake.
is turned on.
Alarm List-679
Number Message Code
feeder cable.
Alarm List
mistake.
is turned on.
Alarm List-680
Number Message Code
feeder cable.
Alarm List
mistake.
is turned on.
Alarm List-681
Number Message Code
feeder cable.
Alarm List
mistake.
is turned on.
Alarm List-682
Number Message Code
feeder cable.
Alarm List
mistake.
is turned on.
Alarm List-683
Number Message Code
Sub code : Error No. from Arc welding (1)Check if the voltage detection wire is connected. Check to confirm that
welder. power source the welding voltage sensing cable select switch is set to "Base Metal".
feeder cable.
Alarm List
mistake.
is turned on.
Alarm List-684
Safety circuit broken. Error from welder 1. Arc welding Contact your YASKAWA representative.
MOTOWELD SAFTY-
4272 1 power source
CIRCUIT ERROR
error
Error from welder 2. Arc welding Contact your YASKAWA representative.
2 power source
error
3 power source
error
4 power source
error
5 power source
error
Number Message Code
6 power source
error
7 power source
error
8 power source
error
Sub code : Error No. from Arc welding Contact your YASKAWA representative.
Alarm List
error
The IGBT device of power Error from welder 1. Arc welding Replace the IGBT device (Part code AJ0EL3870).
MOTOWELD IGBT
4273 circuit broken. 1 power source
SHORT CIRCUIT
error
Error from welder 2. Arc welding Replace the IGBT device (Part code AJ0EL3870).
2 power source
Alarm List-685
error
3 power source
error
4 power source
error
Number Message Code
5 power source
error
6 power source
error
Alarm List
7 power source
error
8 power source
error
Alarm List-686
Sub code : Error No. from Arc welding Replace the IGBT device (Part code AJ0EL3870).
error
MOTOWELD The welding voltage is not Error from welder 1. Arc welding Contact your YASKAWA representative.
4274 VOLTAGE able to be detected. 1 power source
DETECTOR ERROR error
2 power source
error
3 power source
error
Number Message Code
4 power source
error
5 power source
error
6 power source
error
7 power source
Alarm List
error
8 power source
error
error
MOTOWELD AUX. Overcurrent flows in the Error from welder 1. Arc welding The board may be broken. Contact your YASKAWA representative.
Alarm List-687
4275 CIRCUIT OV. auxiliary circuit. 1 power source
CURRENT error
2 power source
error
3 power source
error
4 power source
error
5 power source
error
Number Message Code
6 power source
error
7 power source
error
8 power source
error
Alarm List
error
The main board broken. Error from welder 1. Arc welding Contact your YASKAWA representative.
MOTOWELD DSP
4276 1 power source
ADC ERROR
error
2 power source
Alarm List-688
error
3 power source
error
4 power source
error
Number Message Code
5 power source
error
6 power source
error
Alarm List
7 power source
error
8 power source
error
Alarm List-689
error
The actual welding Error from welder 1. Arc welding (1)Check if the selection of motor is correct, or confirm the settings of C
current becomes far power source parameter C09.
MOTOWELD removed from the welding error (2)Check that the welding wire does not slip, or the wire is fed as instructed
4277 OUTSIDE OF current command value. 1 by the feeding command.
CURR.SETTING(H) (3)Check that the wire stick out is not excessively short or long.
(4)Check that the range set in C parameter C29 is not too narrow.
(5)Check if the wire, shielding, etc. are correctly set.
Number Message Code
Error from welder 2. Arc welding (1)Check if the selection of motor is correct, or confirm the settings of C
power source parameter C09.
error (2)Check that the welding wire does not slip, or the wire is fed as instructed
2 by the feeding command.
(3)Check that the wire stick out is not excessively short or long.
Alarm List

Alarm List-690
Number Message Code
Alarm List
Alarm List-691
Number Message Code
Sub code : Error No. from Arc welding (1)Check if the selection of motor is correct, or confirm the settings of C
welder. power source parameter C09.
The actual welding Error from welder 1. Arc welding (1)Check if the selection of motor is correct, or confirm the settings of C
current becomes far power source parameter C09.
MOTOWELD removed from the welding error (2)Check that the welding wire does not slip, or the wire is fed as instructed
Alarm List
4278 OUTSIDE OF current command value. 1 by the feeding command.

CURR.SETTING(L) (3)Check that the wire stick out is not excessively short or long.
Alarm List-692
Number Message Code
Alarm List
Alarm List-693
Number Message Code
Alarm List

Sub code : Error No. from Arc welding (1)Check if the selection of motor is correct, or confirm the settings of C
welder. power source parameter C09.
Alarm List-694
MOTOWELD Overcurrent flows in the Error from welder 1. Arc welding (1)Check that short-circuit or the earth grounded of the output cable.
4279 MOMENTARY OVER- secondary control circuit 1 power source (2)May be power circuit broken. Contact your YASKAWA representative.
CURR momentarily. error
Error from welder 2. Arc welding (1)Check that short-circuit or the earth grounded of the output cable.
2 power source (2)May be power circuit broken. Contact your YASKAWA representative.
error
Number Message Code
error
error
error
Alarm List
error
error
error
Sub code : Error No. from Arc welding (1)Check that short-circuit or the earth grounded of the output cable.
Alarm List-695
108 welder. power source (2)May be power circuit broken. Contact your YASKAWA representative.
error
Overcurrent flows in the Error from welder 1. Arc welding Contact your YASKAWA representative.
MOTOWELD OVER-
4280 output side circuit. 1 power source
VOLTAGE
error
2 power source
error
3 power source
error
4 power source
error
Number Message Code
5 power source
error
6 power source
error
7 power source
error
8 power source
Alarm List
error
error
The switching power Error from welder 1. Arc welding The use of MOTOWELD-RP500:
supply unit broken. power source Replace the switching power supply unit (Service parts
error code:35015612200) or the Main board (Service parts code:AJ0RP3024).
MOTOWELD +15V
Or, please change two of them.
4281 POWER SUPPLY 1
Alarm List-696
The use of MOTOWELD-RL350:
ERROR
Replace the Interface board (Service parts code: UNIT-Pr (IF)-008B) or the
Main board (Service parts code: UNIT-Pr (MB)-030). Or, please change two
of them.
Error from welder 2. Arc welding The use of MOTOWELD-RP500:
power source Replace the switching power supply unit (Service parts
2
of them.
Number Message Code
3
of them.
Alarm List

4
of them.
Alarm List-697
5
of them.
Number Message Code
6
of them.
Alarm List

7
of them.
Alarm List-698
8
of them.
Number Message Code
Sub code : Error No. from Arc welding The use of MOTOWELD-RP500:
welder. power source Replace the switching power supply unit (Service parts
704
of them.
The switching power Error from welder 1. Arc welding The use of MOTOWELD-RP500:
supply unit broken. power source Replace the switching power supply unit (Service parts
Alarm List

MOTOWELD POWER Or, please change two of them.
4282 1
SUPPLY ERROR The use of MOTOWELD-RL350:
of them.
Alarm List-699
2
of them.
Number Message Code
3
of them.
Alarm List

4
of them.
Alarm List-700
5
of them.
Number Message Code
6
of them.
Alarm List

7
of them.
Alarm List-701
8
of them.
Number Message Code
Sub code : Error No. from Arc welding The use of MOTOWELD-RP500:
welder. power source Replace the switching power supply unit (Service parts
705
of them.
A wrong welding process Error from welder 1. Arc welding Confirm the welding process setting in the welding user file.
MOTOWELD
4283 is set in the welding user 1 power source
Alarm List
ILLEGAL WELD TYPE

file. error
Error from welder 2. Arc welding Confirm the welding process setting in the welding user file.
2 power source
error
Alarm List-702
3 power source
error
4 power source
error
5 power source
error
Number Message Code
6 power source
error
7 power source
error
Alarm List

8 power source
error
A wrong welding process is set Arc welding Confirm the welding process setting in the welding user file.
406
Alarm List-703
in the welding user file. power source
error
A welding type is not set in a Arc welding Set a welding type to user file of MOTOWELD. The user file can setup in
407 user file of the MOTOWELD. power source the editor screen for ARC START CONDITION FILE or ARC END
error CONDITION FILE of the robot controller.
MOTOWELD The software of the The version of the data base is Arc welding Load the suitable database.
4284 SOFTWARE welding power source has 310 not suitable for the software of power source
MULFUNCTION an error. the welding power source. error
Number Message Code
The version information of the Arc welding Replace the main board (Service parts code: UNIT-Pr (MB)-030).
311 PLD on the main board Pr(MB) power source Contact your YASKAWA representative
is wrong. error
The version of the firmware of Arc welding Replace the main board (Service parts code: UNIT-Pr (MB)-030).
front panel is not suitable for power source Contact your YASKAWA representative
312
the software of the main board error
Pr(MB).
Alarm List
The check sum of the PLD on Arc welding Replace the main board (Service parts code: UNIT-Pr (MB)-030).
316 the main board Pr(MB) is power source Contact your YASKAWA representative
wrong. error
The program or data base was Arc welding Reboot the power source.
317 load by the Ethernet. power source
error
Alarm List-704
The check sum error of loading Arc welding (1)Do not turn off the power source and reload the data.
data. power source (2)In case of turn off and reboot was OK, reload the data.
318 error (3)In case of turn off and reboot was NG, load the data by special loading
tool.
(4)Other case of step 1,2,3, replace the main board Pr(MB)-030.
Watch dog error of the PLD. Arc welding (!)reboot the power source.
400 power source (2)Replace the main board {Pr(MB) -030}.
error Contact your YASKAWA representative
Number Message Code
The machine type is The machine type is wrong. Arc welding (1)Check the connection between front panel and main board.
MOTOWELD
wrong. power source (2)Check the status of dip switch (SW301) on the front panel.
4285 MACHINE SETTING 320
error (3)Replace the front panel.
ERROR
(4)Replace the main board.
MOTOWELD The current class 350A / The current class 350A / 500A Arc welding (1)Confirm the power source class which of 350A or 500A.
4286 CURRENT CLASS 500A setting is wrong. 330 setting is wrong. power source (2)Switch a status of dip switch SW600 which of 350A or 500A.
ERROR error (3)Change the software which for correct current class.
Alarm List
AC unit temperature anomaly AC-UNIT error (1) Check the ambient temperature(45? or below) and the usage rate(60%)
(2) Check for no dirt or clogging in the dust-proof filter. Check or replace as
4288 AC-UNIT ERROR AC-UNIT ERROR 126
needed.
(3) Make sure thermal guard of AC unit is not broken.
AC unit overvoltage AC-UNIT error (1) Check the usage rate (60%)
129 (2) Check the length of the power cable is round-trip less than 20m.
Alarm List-705
(3) Check a power cable does not wind up a coil.
AC welding method setting AC-UNIT error It can not AC welding for the AC unit is not connected.
623
error
Number Message Code
Servo Pack error (1) A.720: Overload (maximum continuous)
Check to that the wire is not strike the material.
Check to whether the feed resistance is not excessive.
There is a possibility of servo pack failure. Please replace the servo pack.
(2) A.C90: Encoder communication error
There is a connection possibility of failure of the Encoder cable.
There is a bad connection possibility of the Encoder cable.Check whether
each connector is connected.
There is a possibility of Encoder cable disconnection. Please replace the
encoder cable.
There is a possibility of servo motor main circuit cable failure. Please
replace the servo motor main circuit cable.
SERVO PACK SERVO PACK ALARM SERVO PACK ALARM
530
Alarm List
4289 There is a possibility of servo pack failure. Please replace the servo pack.
ALARM (EAGL) (EAGL) (EAGL)
(3) A.b33: Current detection abnormality
There is a bad connection possibility of the servo motor main circuit cable.
Check the connection of each connector.
There is a possibility of disconnection of the servo motor main circuit
cable.Please replace the servo motor main circuit cable.
(4) A.100: Overcurrent detection
There is a bad connection possibility of the servo motor main circuit cable.
Alarm List-706
Please replace the servo motor main circuit cable.
There is a possibility of life of the servo motor. Please replace the servo
motor.
An error occurred in the no Prg Arc welding
Fronius welding power Sub code[1**] shows the error power source
Select a pre-programmed program .
4290 TPS:ERROR source. 1 code of Fronius power source error
Confirm the Fronius's manual.
1 :main error code
** :sub error code
Number Message Code
ts1 Arc welding
Sub code[2**] shows the error power source
Allow the machine to cool .
2 code of Fronius power source error
2 :main error code
** :sub error code
ts2 Arc welding
3 :main error code
** :sub error code
Alarm List
ts3 Arc welding
4 :main error code
** :sub error code
Alarm List-707
tp1 Arc welding
5 :main error code
** :sub error code
tp2 Arc welding
6 :main error code
** :sub error code
Number Message Code
tp3 Arc welding
7 :main error code
** :sub error code
tp4 Arc welding
8 :main error code
** :sub error code
Alarm List
tp5 Arc welding
9 :main error code
** :sub error code
Alarm List-708
tp6 Arc welding
Sub code[10**] shows the power source
error code of Fronius power error Allow the machine to cool .
10
source Confirm the Fronius's manual.
10 :main error code
** :sub error code
Errtf1 Arc welding
error code of Fronius power error Change the thermosensor on the sec. side.
11
11 :main error code
** :sub error code
Number Message Code
Errtf2 Arc welding
error code of Fronius power error Change the thermosensor on the sec. side.
12
12 :main error code
** :sub error code
Errtf3 Arc welding
Alarm List

error code of Fronius power error Check cable tree of temperature sensors.
13
13 :main error code
** :sub error code
Errtf4 Arc welding
Alarm List-709
error code of Fronius power error Only for MagicWave power source.
14
14 :main error code
** :sub error code
Errtf5 Arc welding
error code of Fronius power error Check cable tree of temperature sensors.
15
15 :main error code
** :sub error code
Number Message Code
Errtf6 Arc welding
error code of Fronius power error Change BPS pc-board.
16
16 :main error code
** :sub error code
DSPE05 Arc welding
error code of Fronius power error Update firmware, otherwise change the UST board.
17
Alarm List
17 :main error code

** :sub error code
ErrbPS Arc welding
Update firmware, otherwise change the UST board or otherwise change
error code of Fronius power error
18 the BPS board.
source
Alarm List-710
18 :main error code
** :sub error code
Err IP Arc welding
Sub code[19**] shows the power source Change the BPS board.
error code of Fronius power error Change the secondary diode.
19
source Change the welding transformer.
19 :main error code Confirm the Fronius's manual.
** :sub error code
Number Message Code
DSPAxx Arc welding
20
20 :main error code
** :sub error code
DSPExx Arc welding
21
Alarm List
21 :main error code

** :sub error code
ErrEPF Arc welding
22
Alarm List-711
22 :main error code
** :sub error code
Err23.x Arc welding
23
23 :main error code
** :sub error code
Number Message Code
Err24.x Arc welding
24
24 :main error code
** :sub error code
Err25.x Arc welding
25
source Confirm the Fronius's manual
Alarm List
25 :main error code

** :sub error code
Err26.x Arc welding Check whether the CfgMem has good contact to the connecting cables and
Sub code[26**] shows the power source in the plug.
error code of Fronius power error Re-crimp if necessary.
26
source If this does not help, remove and send to Fronius Austria, together with
Alarm List-712
26 :main error code details of the series number of the machine.
** :sub error code Confirm the Fronius's manual
Err027 Arc welding
error code of Fronius power error Measure the +24VDC of NT 24.
27
27 :main error code
** :sub error code
Number Message Code
Err028 Arc welding
error code of Fronius power error Change the cooling-unit temperature sensor.
28
28 :main error code
** :sub error code
DSPC Arc welding
29
Alarm List
29 :main error code

** :sub error code
EFd Arc welding
error code of Fronius power error Check the wirefeed system.
30
Alarm List-713
30 :main error code
** :sub error code
Err31 Arc welding
31
31 :main error code
** :sub error code
Number Message Code
EcF Arc welding
error code of Fronius power error Install correct primary BPS power module.
32
32 :main error code
** :sub error code
tSt Arc welding
33
Alarm List
33 :main error code

** :sub error code
Errtf7 Arc welding
error code of Fronius power error Change the UST board.
34
Alarm List-714
34 :main error code
** :sub error code
DSP KL Arc welding
35
35 :main error code
** :sub error code
Number Message Code
DSPnSy Arc welding
error code of Fronius power error Update firmware, otherwise change the UST board
36
36 :main error code
** :sub error code
US POL Arc welding
Change over the polarity of the two cables otherwise change the UST
37 board
source
Alarm List
Confirm the Fronius's manual

37 :main error code
** :sub error code
-Stop- Arc welding
Deactivate the -Stop- by input -RobotReady- and activate briefly -
38 SourceErrorReset-.
source
Alarm List-715
38 :main error code
** :sub error code
NoH2O Arc welding
Sub code[39**] shows the power source Check the coolant level and (if appropriate) the coolant return-flow rate
error code of Fronius power error If necessary, clean the coolant filter.
39
source Rate-of-flow watchdog may be defective.
39 :main error code Confirm the Fronius's manual.
** :sub error code
Number Message Code
Err049 Arc welding
Check the mains power supply .
49 Check all 3 phases.
source
49 :main error code
** :sub error code
Err050 Arc welding
Disconnect NT60 or change/check NT24/UST/BPS/intermediate circuit
50 capacitors.
source
Alarm List

50 :main error code
** :sub error code
Err051 Arc welding
error code of Fronius power error Mains voltage too low or NT 24 defective.
51
Alarm List-716
51 :main error code
** :sub error code
Err052 Arc welding
error code of Fronius power error Mains voltage too high or NT 24 defective.
52
52 :main error code
** :sub error code
Number Message Code
ErrPE Arc welding
Low-resistance connection between secondary and machine housing find
53 out the cause.
source
53 :main error code
** :sub error code
Err054 Arc welding
Increase the bbc (burn-back control)
Switch off "Wire stick " in the set-up menu
54 After the end of welding, make sure that the wire does not collide with the
source
Alarm List
workpiece when the torch is retracted.

54 :main error code
** :sub error code
NoIGn Arc welding
Set a lower Ito value
55 Keep the torch stand-off distance smaller before ignition.
source
Alarm List-717
55 :main error code
** :sub error code
Err056 Arc welding
Check how much wire is left on the spool
56 If necessary, change the spool.
source
56 :main error code
** :sub error code
Number Message Code
NoGAS Arc welding
error code of Fronius power error Check what volume of gas is still available.
57
57 :main error code
** :sub error code
NoArc Arc welding
error code of Fronius power error Check the seam.
58
Alarm List
58 :main error code

** :sub error code
Err059 Arc welding
59
Alarm List-718
59 :main error code
** :sub error code
Err060 Arc welding
60
60 :main error code
** :sub error code
Number Message Code
ErrArc Arc welding
61
61 :main error code
** :sub error code
Err062 Arc welding
62
Alarm List
62 :main error code

** :sub error code
EIF Arc welding
error code of Fronius power error Check the interface configuration.
63
Alarm List-719
63 :main error code
** :sub error code
Errtf8 Arc welding
error code of Fronius power error Change the thermosensor of the cooling unit.
64
64 :main error code
** :sub error code
Number Message Code
hotH2O Arc welding
error code of Fronius power error Cool down the coolingliquid.
65
65 :main error code
** :sub error code
tJo Arc welding
error code of Fronius power error Allow the JobMaster torch to cool .
66
Alarm List
66 :main error code

** :sub error code
ErrtJo Arc welding
error code of Fronius power error Change JobMaster pc-board.
67
Alarm List-720
67 :main error code
** :sub error code
Err068 Arc welding
68
68 :main error code
** :sub error code
Number Message Code
Err069 Arc welding
error code of Fronius power error New welding start.
69
69 :main error code
** :sub error code
Err70 Arc welding
error code of Fronius power error Check gas.
70
Alarm List
70 :main error code

** :sub error code
Err71 Arc welding
error code of Fronius power error Check the welding seam.
71
Alarm List-721
71 :main error code
** :sub error code
ErrCfg Arc welding
error code of Fronius power error Check LHSB connection.
72
72 :main error code
** :sub error code
Number Message Code
noHost Arc welding
error code of Fronius power error Check the connection between UST and RCU and the firmware.
73
73 :main error code
** :sub error code
Touch Arc welding
error code of Fronius power error Touch sensing mode ativated - no error.
74
Alarm List
74 :main error code

** :sub error code
Err75 Arc welding
75
Alarm List-722
75 :main error code
** :sub error code
Err77 Arc welding
error code of Fronius power error Check the wire feeding alignment if it is smooth.
77
77 :main error code
** :sub error code
Number Message Code
E-Stop Arc welding
error code of Fronius power error Close the Safety circuit and activate the Error reset.
78
78 :main error code
** :sub error code
ErrU0 Arc welding
79
Alarm List
79 :main error code

** :sub error code
Err080 Arc welding
error code of Fronius power error Check the connection hose pack between power source and wire feeder.
80
Alarm List-723
80 :main error code
** :sub error code
tP7hot Arc welding
81
81 :main error code
** :sub error code
Number Message Code
ErrEHF Arc welding
error code of Fronius power error Allow the external HF to cool down.
82
82 :main error code
** :sub error code
PHASE Arc welding
error code of Fronius power error Check the mains supply cable of the power source.
83
Alarm List
83 :main error code

** :sub error code
UndOpc Arc welding
100
Alarm List-724
100 :main error code
** :sub error code
PrtFlt Arc welding
101
** :sub error code
Number Message Code
IllOpa Arc welding
102
** :sub error code
IllIna Arc welding
103
Alarm List

** :sub error code
IllBus Arc welding
104
Alarm List-725
** :sub error code
Err105 Arc welding
105
** :sub error code
Number Message Code
STKOVL Arc welding
106
** :sub error code
STKUVL Arc welding
107
Alarm List

** :sub error code
ErrDog Arc welding
108
Alarm List-726
** :sub error code
ASSErt Arc welding
109
** :sub error code
Number Message Code
EDg 1 Arc welding
110
** :sub error code
DUPLICATED PAINT The gun numbers Sub Code: The duplicated gun Setting error
4291 Check the settings for gun numbers.
GUN NUMBER duplicated. number
Alarm List

VERIFY The parameter input Setting error (1)Reset the alarm.
4300 ERROR(SERVO value is out of the (2)If the alarm occurs again, check whether the setting is within the
PARAMETER) allowable range. allowable range.
SDCA01 board (1)Reset the alarm
Alarm List-727
CONTACTOR The YRC1000 system Sub Code: Signifies the APU01 unit failure (1)Reset the alarm.
ERROR checks the status of the physical No. of contactor in (2)Check the connection and inserting state of the following cables and
power-ON (APU01 unit) which the alarm occurred connectors.
contactors. This alarm ·ASF01-CN205
occurs if there is an Before performing a ·APU01-CN604
inconsistency between connection check of the wiring, (3)If the alarm occurs again, replace the APU01 unit. Save the CMOS.BIN
the control output and turn OFF the controller power. before replacing the unit to be safe.
4301 contactor status. Make sure that all the LEDs of
Ex.) SERVOPACK and converter
• The signal from the are OFF, then verify that no
contactor turned OFF electricity is charged using
while the servo was ON. equipment such as a tester.
• The contactor turned ON This process may take a few
while the servo was OFF minutes after shutting off the
for emergency stop. power.
Number Message Code
ASF01 board (1)Reset the alarm.(In case of major alarm, turn the power OFF then back
failure ON.)
CONVERTER READY The YRC1000 system Sub Code: Signifies the Connection (1)Reset the alarm.
SIGNAL ERROR checks the converter physical No. of converter in failure (2)If the alarm occurs again, check the connection and inserting state of the
Alarm List
status. This alarm occurs which the alarm occurred following cables and connectors.
if the ready state signal of ·APU01-CN604
converter is not ON after ·SDCA01-CN507
a certain time period from ·Converter-CN551, CN561
4303
SERVO ON.
ready state signal of
converter is not OFF after
a certain time period from
Alarm List-728
SERVO OFF.
APU01 unit failure (1)Reset the alarm.
(2)Check if the contactors (1KM and 2KM) are open, and not damaged by
melting or sticking.
before replacing the board to be safe.
Number Message Code
CONVERTER INPUT The YRC1000 system Sub Code: Signifies the APU01 unit failure (1)Reset the alarm.
POWER ERROR checks the converter physical No. of converter in (2)If the alarm occurs again, replace the APU01 unit. Save the CMOS.BIN
status. which the alarm occurred before replacing the board to be safe.
No response of primary
power supply input was
sent from the converter
when the servo turned
ON.
4304
The READY 1 signal
remains ON when the
servo turned OFF at
emergency stop.
Alarm List
The READY 1 signal

turned ON while the servo
was OFF for emergency
stop.
·SDCA01-CN507, CPS01-CN154
·SDCA01-CN531, CN532, CN533
Alarm List-729
·Converter-CN551, CN557, CN561
·APU01-CN602
Module failure (1)Reset the alarm
Number Message Code
CONVERTER The YRC1000 system Sub Code: Signifies the Connection (1)Reset the alarm.
CIRCUIT CHARGE checks the converter physical No. of converter in failure (2)If the alarm occurs again, check the connection and inserting state of the
ERROR charge status. which the alarm occurred Converter-CN556 connectors.
No response (READY 2
signal) of charge
completion was sent from
the converter when the
servo turned ON.
The READY 2 signal
4305 turned OFF while the
servo was ON.
The READY 2 signal
Alarm List
remains ON when the

servo turned OFF at
emergency stop.
The READY 2 signal
turned ON while the servo
was OFF for emergency
stop.
Alarm List-730
Module failure ( Check if there is no ground fault in the regeneration resistors.
Regenerative
resistor)
Number Message Code
AMPLIFIER READY No response "Power ON" Sub Code: Signifies the axis in Connection (1)Reset the alarm.
SIGNAL ERROR was sent from the which the alarm occurred failure (2)If the alarm occurs again, check the connection and inserting state of the
amplifier when the servo following cables and connectors.
turned ON. ·SDCA01-CN501, CPS01-CN154
The amplifier READY ·SDCA01-CN531, CN532, CN533
signal turned OFF while ·Inverter board-CN571, SDCA01-CN509
the servo was ON. ·Converter-CN557
4306 The amplifier READY
signal remains ON when
the servo turned OFF at
emergency stop.
The amplifier READY
Alarm List
signal turned ON while

the servo was OFF for
emergency stop.
(converter) (2)If the alarm occurs again, check if the LED (green) for amplifier is lighted
up when servo power is ON.
(3) If it is lighted, replace the converter.
Alarm List-731
(amplifier) (2)If the alarm occurs again, replace the corresponding amplifier.
SERVO ON This alarm occurs if any Sub Code: Signifies the axis in Mechanical Check that the manipulator is not moving when the servo turned ON.
DEFECTIVE SPEED manipulator axis moves which the alarm occurred failure
4307 (or any motor operates)
when the servo power
turned ON.
SDCA01 board Check that the brake has not been released because the brake relay is
failure broken.
Number Message Code
Connection (1)Reset the alarm
[Robot axis]
·SDCA01-CN501
·Inverter board-CN571, CN573-CN579
·Power supply cable (Power cable)
[External axis]
·SDCA01-CN531, CN532, CN533
·SDB (External axis SERVO PACK) -CN591
Alarm List

VOLTAGE This alarm occurs if there Sub Code: Signifies the Voltage failure Check if the primary power supply voltage is dropping.
DROP(CONVERTER) is any error in the charge physical No. of converter in
Alarm List-732
4308 status of converter when which the alarm occurred
the servo power turned
ON.
Connection (1)Reset the alarm
·SDCA01-CN531, CN532, CN533
·SDB (External axis SERVO PACK) - CN591,592
Module failure (1)Reset the alarm.(In case of major alarm, turn the power OFF then back
(converter) ON.)
(2)If the alarm occurs again, replace the converter.
Number Message Code
ENCODER The encoder monitors its Sub Code: Signifies the axis in Overheated Turn OFF the YRC1000 power for approx. 10 minutes, then turn it ON
OVERHEAT own temperature; if the which the alarm occurred encoder again.
temperature exceeds the
specified value, the alarm
occurs.
4310
Reset the alarm, and if
the encoder detects
Alarm List
overheat, the message of

"the motor is overheating"
is occurred.
High ambient Adjust the ambient temperature to 40°C or less.
temperature
Alarm List-733
ENCODER BACK-UP Encoder resetting Sub Code: Signifies the axis in Module failure [AL-4314 occurred]
ERROR (initialization) not which the alarm occurred (encoder battery) Replace the battery of the axis in which the error occurred.
completed. [AL-1327 occurred]
The position data in the Replace the battery of the axis in which the alarm occurred. If the home
encoder was lost due to position of the corresponding axis is displayed as "***", register the home
4311
the voltage drop of position again.
encoder backup battery. AL-1327 occurs due to the battery disconnection (weak battery), causing
undefined alarm data.
If the alarm doesn't occur after turning the power OFF and then ON, there is
no problem.
Number Message Code
[Robot axis]
·SDCA01-CN508
[External axis]
·SDCA01-CN534, CN535, CN536
Alarm List
ENCODER BATTERY Encoder backup battery Module failure Replace the battery.
ERROR voltage is too low. (encoder battery)
4312 The voltage of the
encoder backup battery is
Alarm List-734
below 2.8V.
Manipulator cables.
Number Message Code
COLLISION DETECT A collision was detected Sub Code: Signifies the axis in Setting error Check the following settings.
because of the which the alarm occurred ·The tool information
interference between the ·The selection tap of the transfer
manipulator and a ·The collision detection level
peripheral device. ·JOB
4315
The external force applied ·Work
to the robot exceeded the ·The speed of JOB
threshold. ·The acceleration/deceleration speed of ACC and DEC
·Length of the power cables
·Diameter of the power cables
Interference error Remove the following interferences.
·The interferences to the jigs of Robot.
Alarm List
·The interferences to the jigs of workpieces.

·If there is no interference between robot and workpieces, set the shock
detection level to more than maximum eternal value. Up to 500% can be
set.
Acceleration limit This alarm occurs when excessive load is applied to the motor upon the
over satisfactions of all the following conditions;
·The acceleration/deceleration is automatically calculated by the

Alarm List-735
manipulator's position at start/end point
·The JOB is stopped by category 1 stop or HOLD stop
·Compared to the start/end point, excessive load is applied to the motor
according to the position
<Remedy>
Adjust the acceleration/deceleration by ACC and DEC for the teaching
position.
Also, make sure to run the machine enough before operation when this
alarm occurs at low temperature environment (ambient temperature: 10°C)
Number Message Code
·SDCA01-CN501, CN531, CN532, CN533, CN540, CN541
·Inverter board-CN571, SDCA01-CN509
·CPS01-CN154
·Motor power wire
Connection (1) If the alarm occurs again, check the wiring of phase-U, -V, and -W isn't
failure disconnected.
(2) If disconnected, replace the motor power wire.
Connection (1) Check that the motor brake wire is not disconnected.
Alarm List
failure (2) If disconnected, replace the motor brake wire.

Alarm List-736
Maintenance Measure the density of grease iron powder in the speed reducer and do the
failure maintenance.
Defective speed Replace the speed reducer or the grease of it.
reducer
PRESSURE DATA The pressure set in the Sub Code: Signifies the axis in Setting error Check the following settings.
LIMIT gun pressure file or dry which the alarm occurred ·The gun pressure file
spotting pressure file ·The dry spotting pressure file
4316
exceeded the maximum *Reset the pressure value in the gun pressure file below the maximum
pressure set in the gun pressure value
condition file.
Number Message Code
ENCODER This alarm occurs if the Sub Code: Signifies the axis in Connection (1)Reset the alarm.
CORRECTION LIMIT value generated from the which the alarm occurred failure (2)If the alarm occurs again, check the connection and inserting state of the
position data of encoder following cables and connectors.
exceeds the limit value. [Robot axis]
4318 ·Cable between encoders
·SDCA01-CN508
[External axis]
·SDCA01-CN534, CN535, CN536
Alarm List
OVERLOAD(CONTIN This alarm occurs to Sub Code: Signifies the axis in Setting error Check the tools or the mass of the workpieces.
UE) protect the servo motor which the alarm occurred
from overloading when
4320
110% to 150% of the
Alarm List-737
rated torque is
continuously loaded.
Interference with Check if the manipulator interferes with any objects such as workpieces or
peripheral peripheral devices. If interferes, remove the object.
devices
Setting error Review the JOB to check if the load factor doesn't exceed 100%.
SDCA01 board (1)Check if the power has been applied to the brake voltage of the following
failure terminal.
Check that the brake has not been locked due to malfunction of the
contactor.
·SDCA01-CN540
·Motor brake terminal
(2) If any error is found, replace the SDCA01 board.
Number Message Code
failure (2)If the alarm occurs again, replace the wire harnesses in the robot.
Alarm List

OVERLOAD(MOMEN This alarm occurs Sub Code: Signifies the axis in Setting error Check the tools or the mass of the workpieces.
T) instantly to protect the which the alarm occurred
servo motor from
4321
overloading when 200%
of the rated torque is
loaded.
Alarm List-738
devices
failure terminal.
contactor.
·SDCA01-CN540
Number Message Code
AMPLIFIER This alarm occurs to Sub Code: Signifies the axis in Setting error Check the tools or the mass of the workpieces.
OVERLOAD(CONTIN protect the power which the alarm occurred
UE) transistor of the servo
Alarm List
4322 pack from overloading

when 110% to 150% of
the rated torque is
continuously loaded
devices
Alarm List-739
failure terminal.
contactor.
·SDCA01-CN540
Number Message Code
AMPLIFIER The torque a several Sub Code: Signifies the axis in Setting error Check the tools or the mass of the workpieces.
OVERLOAD(MOMEN times as much as the which the alarm occurred
4323 T) motor rated torque has
continuously been applied
for a certain period.
Alarm List

devices
failure terminal.
contactor.
Alarm List-740
·SDCA01-CN540
Number Message Code
CONVERTER The total load value of all Setting error ·Confirm that the tool and workpiece in use don't exceed the permissible
OVERLOAD the motors connected to load.
4324
the converter exceeded ·Adjust the JOB speed.
the converter rating.
Alarm List
OVER SPEED This alarm occurs if the Sub Code: Signifies the axis in Setting error If the alarm occurs at the same site, set the lower motion speed around the
motor speed indicated in which the alarm occurred site where the alarm occurs.
4326 the axis data exceeds the If the alarm occurs for the motor gun, check the following settings.
allowable maximum ·Setting of the touch speed
motor speed. ·Setting of the touch pressure
Connection (1)Reset the alarm.(In case of major alarm, turn the power OFF then back
failure ON.)
(2)If the alarm occurs again, check the wiring of phase-U, -V, and -W is
Alarm List-741
correct.
WRONG MOTOR While the motor is Sub Code: Signifies the axis in Connection (1)Reset the alarm.
ROTATION accelerating, the direction which the alarm occurred failure (2)If the alarm occurs again, check the connection and insertion of the
of the torque and the following cables and connectors.
speed was detected as Motor power cable
4327
being the opposite of ·Inverter board-CN573-CN578
what it was supposed to Encoder cable
be. ·SDCA01-CN508
·SDCA01-CN534, CN535, CN536
Number Message Code
SERVO TRACKING The axis deviated from Sub Code: Signifies the axis in Setting error Check the following settings.
ERROR the specified position and which the alarm occurred ·The tools or the mass of the workpieces
4328
motion path beyond the
allowable range.
Interference error Check if the manipulator interferes with any objects such as workpieces or
peripheral devices. If interferes, remove the object.
Alarm List
·The acceleration/deceleration is automatically calculated by the

·The JOB is stopped by category 1 stop or HOLD stop
·Compared to the start/end point, excessive load is applied to the motor
Alarm List-742
<Remedy>
position.
alarm occurs at low temperature environment (ambient temperature: 10°C)
·Inverter board-CN573-CN578
·Motor power wiring
·SDCA01-CN534, CN535, CN536
Number Message Code
SDCA01 board (1)Check if the power has been supplied to the brake voltage of the
failure following terminal.
contactor.
·SDCA01-CN400
Alarm List

Alarm List-743
SAFETY SPEED This alarm occurs if the The motion speed at the Setting error If the alarm occurs at the same site, set the lower motion speed around the
ERROR(SERVO) motion speed at the center of the flange exceeded site where the alarm occurs.
center of the control point the specified max. speed. (R1)
4329 11
and the center of the
flange exceeded the
specified max. speed.
Setting error Reset the alarm, and then try again.

failure (2)If the alarm occurs again, check that U-, V- and W-phase are
appropriately connected.
Number Message Code
The motion speed at the Setting error If the alarm occurs at the same site, set the lower motion speed around the
12 center of the flange exceeded site where the alarm occurs.
the specified max. speed. (R1)

Alarm List
Alarm List-744
center of the control point site where the alarm occurs.
21
exceeded the specified max.
speed. (R1)

Number Message Code
22
speed. (R1)

Alarm List

Alarm List-745

Number Message Code

Alarm List
221
speed. (R2)
Alarm List-746

Number Message Code
222
speed. (R2)

Alarm List

Alarm List-747

Number Message Code

Alarm List

321
speed. (R3)
Alarm List-748
322
speed. (R3)
Number Message Code
Alarm List

Alarm List-749

Number Message Code
421
speed. (R4)
Alarm List

Alarm List-750
422
speed. (R4)

Number Message Code

Alarm List
Alarm List-751

Number Message Code
521
speed. (R5)

Alarm List

Alarm List-752
522
speed. (R5)

Number Message Code

Alarm List
Alarm List-753

621
speed. (R6)
Number Message Code

Alarm List

622
speed. (R6)
Alarm List-754
Number Message Code
Alarm List

Alarm List-755
721
speed. (R7)

Number Message Code
722
speed. (R7)
Alarm List

Alarm List-756

Number Message Code

Alarm List
Alarm List-757
821
speed. (R8)

Number Message Code
822
speed. (R8)

Alarm List

Alarm List-758
SPEED MONITOR The speed monitor level SDCA01 board (1)Reset the alarm.
4331 LEVEL ERROR is incorrect. failure (2)If the alarm occurs again, replace the SDCA01 board. Save the
OPEN This alarm occurs if there Sub Code: Signifies the Connection (1)Reset the alarm.
PHASE(CONVERTER is an open phase in the physical No. of converter in failure (2)If the alarm occurs again, check the connection and inserting state of the
) converter input power. which the alarm occurred following cables and connectors.
4336 ·SDCA01-CN507, CPS01-CN154
·SDCA01-CN531, CN532, CN533
·SDB (External axis SERVO PACK)-CN591, CN592
15%).
Number Message Code
OVERCURRENT(AM This alarm occurs if a Sub Code: Signifies the axis in Connection (1)Reset the alarm.
Alarm List
P) current exceeding the which the alarm occurred failure (2)If the alarm occurs again, check the connection and inserting state of the
allowable maximum following cables and connectors.
current is applied for ·SDCA01-CN501, CPS01-CN154
amplifier. ·SDCA01-CN531, CN532, CN533
4337
As a cause of the alarm, a ·Inverter board-CN571, SDCA01-CN509
ground fault in the U, V, or ·Converter-CN557
W wire, or a short circuit ·SDB (External axis SERVO PACK)-CN591,592
between these wires is
suspected.
Alarm List-759
failure (2)If the alarm occurs again, replace the following cables.
·Manipulator cable
·Supply cable
Number Message Code
TEMPERATURE This alarm occurs if the Sub Code: Signifies the Install failure Check that the air inlet or outlet is not blocked.
ERROR(CONVERTE converter temperature physical No. of converter in
R) monitored by the which the alarm occurred
4340
YRC1000 system
exceeds the specified
value.
High ambient Adjust the ambient temperature to 40°C or less.
temperature
15%).
Alarm List
·SDCA01-CN531, CN532, CN533
Alarm List-760
SV DRESS SPEED The speed of the servo Sub Code: Signifies the axis in Metal pieces Check if metal pieces getting into dresser blades prevent the dresser from
4342 ERR dresser differs more than which the alarm occurred getting into rotating.
its limit from the setting. dresser blades
Setting error Check if the "SPEED FLUCTUATION LIMIT" setting in TIP DRESS
CONDITION file is too small.
Number Message Code
contactor.
·SDCA01-CN400
Alarm List

Alarm List-761
SV DRESS SPEED During pressuring Sub Code: Signifies the axis in Metal pieces Check if metal pieces getting into dresser blades prevent the dresser from
ERR(UNDER PRESS) (dressing) the speed of which the alarm occurred getting into rotating.
4343 the servo dresser differs dresser blades
more than its limit from
the setting.
Setting error Check the following settings.
·"PRESS CONDITION" setting in TIP DRESS CONDITION file is too small.
(Check if they are too high.)
·"SPEED FLUCTUATION LIMIT" setting in TIP DRESS CONDITION file.
(Check if it is too small).
Number Message Code
contactor.
·SDCA01-CN400
Alarm List

Alarm List-762
LINEAR The deviation of X, Y, and Setting error (1)Check the settings for jobs.
SERVOFLOAT Z-axis exceeded the (2)Reset the alarm.
4344 TRACKING ERROR allowable limit while the
linear servo float was in
execution.
Number Message Code
LNK SERVOFLOAT Request of the link servo Sub Code: Signifies the axis in Setting error (1)Check the settings for jobs.
EXECUTE ERROR float execution was sent which the alarm occurred (2)Reset the alarm.
4345
to an axis where the linear
servo float is executing.
LNK SERVOFLOAT The limit torque of the link Sub Code: Signifies the axis in Setting error (1)Check the limit torque of the link servo float condition file.
TRQ LIMIT ERROR servo float condition file is which the alarm occurred (2)Reset the alarm.
4346
outside the specified
range.
Alarm List

LNR SERVOFLOAT The limit torque of the Sub Code: Signifies the axis in Setting error (1)Check the limit torque of the link servo float condition file.
TRQ LIMIT ERROR linear servo float condition which the alarm occurred (2)Reset the alarm.
4347
file is outside the
specified range.
LNR SERVOFLOAT While the linear servo Sub Code: Signifies linear Setting error (1)Check the setting file of the job and the linear servo float.
Alarm List-763
COORD TYPE float was in execution, servo float condition file (2)Reset the alarm.
ERROR another request of linear number in which the alarm
4348
servo float execution was occurred
sent with a different
coordinates specified.
LNR SERVOFLOAT Another request of the Setting error (1)Check the setting file of the job and the linear servo float.
TOOL POSE ERROR linear servo float (2)Reset the alarm.
execution with a different
4349 tool orientation control
specified was sent to an
axis where the linear
servo float is executing.
Number Message Code
LNR SERVOFLOAT Request of the linear Sub Code: Signifies the axis in Setting error (1)Check the settings for jobs.
EXECUTE ERROR servo float execution was which the alarm occurred (2)Reset the alarm.
4350 sent to an axis where the
link servo float is
executing.
DRIVE BELT SNAP The driving belt may be Sub Code: Signifies the axis in Driving belt failure (1)Check that the driving belt is not broken.
DETECT disconnected because which the alarm occurred (2)If the driving belt is broken, replace the driving belt.
4351
the torque decreased
below the normal value.
Alarm List
TWIN DRIVE OVER The deviation of the Sub Code: Signifies the axis in Connection (1)Reset the alarm.
DEVIATION position error pulse from which the alarm occurred failure (2)If the alarm occurs again, check the connection and inserting state of the
the twin drive axis following cables and connectors.
exceeded the allowable ·SDCA01-CN501, CN531, CN532, CN533, CN540, CN541
4352
limit with twin drive ·Inverter board-CN571,CN573-579
function. ·CPS01-CN157
Alarm List-764
·Motor power line
Connection (1) If the alarm occurs again, check the wiring of phase-U, -V, and -W isn't
failure (motor disconnected.
power) (2) If disconnected, replace the motor power wire.
Connection (1) Check that the motor brake wire is not disconnected.
failure (motor (2) If disconnected, replace the motor brake wire.
brake)
Number Message Code
DEFECTIVE TAUGHT This alarm occurs if the Sub Code: Signifies the axis in Setting error Check the following settings.
POINT(ENDLESS) feedback pulse count of which the alarm occurred ·Setting of the command soft (JOB)
endless operation axis ·MRESET instruction to corresponding axis
4353
exceeds the allowable
maximum pulse count
(229 = 536, 870, 912).
Alarm List
FILE NO. The collision detection file Sub Code: File number Setting error Do not use the collision detection file for exclusive use for the SVSPOT with
ERROR(SHOCK for exclusive use for the the SHCKSET instruction.
4354
LEVEL) SVSPOT is used with the
SHCKSET instruction.
Alarm List-765
EXTERNAL PRES An external force above Sub Code: Signifies the axis in Setting error Check the settings for jobs.
DETECT(SERVOFLO the threshold was which the alarm occurred
4355
AT) detected on the servo-
float executing axis.
ARM CTRL The search of motor-gun Setting error Check the settings for jobs.
PARAMETER equalizing function cannot
ERR(OBSERVER) be executed because no
4356
observer (including
collision detection) is
specified.
Number Message Code
IMPOSSIBLE The manipulator Setting error Check the settings for jobs.
SRCH(EQUALIZE orientation at the
TEACH) execution of search of the
4357
motor-gun equalizing
function is the orientation
for the singular point.
DUPLICATED PRESS The pressuring instruction Setting error End the current pressuring operation, and then execute the pressuring
ERROR was executed again for instruction.
4358
the axis where pressuring
is executing.
Alarm List
CONVERTER An error occurred in the Sub Code: Signifies the Connection (1)Reset the alarm.
ERROR converter. physical No. of converter in failure (2)If the alarm occurs again, check the connection and inserting state of the
which the alarm occurred following cables and connectors.
4359 ·SDCA01-CN507, CPS01-CN154
·SDCA01-CN531, CN532, CN533
Alarm List-766
Number Message Code
GUN SOFTLIMIT The gun axis exceeded Sub Code: Signifies the axis in Setting error Check the following settings.
the software limit while which the alarm occurred ·Home position of gun axis
pressuring operation is
executed. [Released side]
Reset the software limit of released side gun.
4364 (Parameter S1CxG800 or 810)
[Closed side]
Reset the software limit at the gun closed side.
Add the moving amount of tip wear.
(Parameter S1CxG800 or 810)
Alarm List

TOUCH DETECT In comparison to the Setting error Check the following settings.
DATA OVER position, where the gun ·Home position of gun axis
tip hits the welded target, ·"ALLOAWABLE TOUCH RANGE" in the GUN DETAIL SETTING file
at the previous wear ·"PULSE - STROKE" setting in the GUN CONDITION file.
detection, the position
during pressuring
4365
exceeded the allowable
Alarm List-767
limit which had been set
in "ALLOAWABLE
TOUCH RANGE" in the
GUN DETAIL SETTING
file.
GUN BEND The function of gun Sub Code: Signifies the group Setting error Check if this model is supported.
COMPENSATION bending correction was in which the alarm occurred
SET ERROR performed to the model
which was not supported
4366
for the function.
No gun and robot axis
exists in the same SV
board.
Number Message Code
ROBOT POSE Because the manipulator Sub Code: Signifies the axis in Setting error (1)Check the teaching position.
ERROR position is the singular which the alarm occurred (2)In case the alarm occurs at SVSPOT or SVSPOTMOV instruction, if you
4367 point, the robot can not disable the gun arm bend compensation by specifying the BCOFF tag to
execute the gun arm bend the instruction, the alarm won't occur.
compensation.
SYSTEM Error at SDCA01 boards Robot did not reach the Setting error Check the parameter setting value.
4371 ERROR(SERVO) 33 command position within a
Alarm List
certain time period.

Automatic test data error Software (1)Reset the alarm, and then try again.
Control filter error. Software (1)Reset the alarm, and then try again.
Alarm List-768
The override ratio is invalid. Software (1)Reset the alarm, and then try again.
Number Message Code
Alarm List

Alarm List-769
Gun Auto-tuning error Software (1)Reset the alarm, and then try again.
The data error of ROBOT Software (1)Reset the alarm, and then try again.
DUTY DIAGNOSIS operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
FUNCTION was detected. occurred YASKAWA representative about occurrence status (operating procedure).
8111
(Sub Code: Signifies the data
type and the axis in which the
alarm occurred)
Number Message Code
8112
alarm occurred)
8113
alarm occurred)
Alarm List
8114
alarm occurred)
Alarm List-770
8115
alarm occurred)
8816
alarm occurred)
8817
alarm occurred)
Number Message Code
8818
alarm occurred)
8819
alarm occurred)
Alarm List
8121
alarm occurred)
Alarm List-771
8122
alarm occurred)
8123
alarm occurred)
8124
alarm occurred)
Number Message Code
8125
alarm occurred)
8126
alarm occurred)
Alarm List
8127
alarm occurred)
Alarm List-772
8128
alarm occurred)
8129
alarm occurred)
8131
alarm occurred)
Number Message Code
8132
alarm occurred)
8133
alarm occurred)
Alarm List
8134
alarm occurred)
Alarm List-773
8135
alarm occurred)
8136
alarm occurred)
8137
alarm occurred)
Number Message Code
8138
alarm occurred)
8139
alarm occurred)
Alarm List
8141
alarm occurred)
Alarm List-774
8142
alarm occurred)
8143
alarm occurred)
8144
alarm occurred)
Number Message Code
8145
alarm occurred)
8146
alarm occurred)
Alarm List
8147
alarm occurred)
Alarm List-775
8148
alarm occurred)
8149
alarm occurred)
8151
alarm occurred)
Number Message Code
8152
alarm occurred)
8153
alarm occurred)
Alarm List
8154
alarm occurred)
Alarm List-776
8155
alarm occurred)
8156
alarm occurred)
8157
alarm occurred)
Number Message Code
8158
alarm occurred)
8159
alarm occurred)
Alarm List
8161
alarm occurred)
Alarm List-777
8162
alarm occurred)
8163
alarm occurred)
8164
alarm occurred)
Number Message Code
8165
alarm occurred)
8166
alarm occurred)
Alarm List
8167
alarm occurred)
Alarm List-778
8168
alarm occurred)
8169
alarm occurred)
8171
alarm occurred)
Number Message Code
8172
alarm occurred)
8173
alarm occurred)
Alarm List
8174
alarm occurred)
Alarm List-779
8175
alarm occurred)
8176
alarm occurred)
8177
alarm occurred)
Number Message Code
8178
alarm occurred)
8179
alarm occurred)
Alarm List
8181
alarm occurred)
Alarm List-780
8182
alarm occurred)
8183
alarm occurred)
8184
alarm occurred)
Number Message Code
8185
alarm occurred)
8186
alarm occurred)
Alarm List
8187
alarm occurred)
Alarm List-781
8188
alarm occurred)
8189
alarm occurred)
8191
alarm occurred)
Number Message Code
8192
alarm occurred)
8193
alarm occurred)
Alarm List
8194
alarm occurred)
Alarm List-782
8195
alarm occurred)
8196
alarm occurred)
8197
alarm occurred)
Number Message Code
8198
alarm occurred)
8199
alarm occurred)
Alarm List
8200
alarm occurred)
CANNOT EXECUTE This alarm occurs if any Sub Code: Signifies the axis in Connection Check the brake connection.
4378 BRAKE LINE CHECK axis moves (i.e. falls by its which the alarm occurred failure
Alarm List-783
own weight)
other Other If the alarm occurs again, save the CMOS.BIN, and then contact your
SAFETY RELAY An feedback error of the Sub Code: Signifies the control Setting error Check the settings for CONNECTION(STO/CONTACTOR) in maintenance
ERROR(SERVO) output of STO signal is axis number which detected an mode
4379 detected by SDCA01 error
board in diagnosis
process.
ASF01-CN205 connectors.
ASF01 board (1)Reset the alarm.
Number Message Code
other Other If the alarm occurs again, save the CMOS.BIN, and then contact your
PULSE The speed control axis Sub Code: Control group and Setting error Check the following settings.
4398 LIMIT(SERVO) exceeded its pulse limit. axis ·Perform the teaching again to correct positions for manipulators so that the
step where the alarm occurred is within the motion range.
SERVO TRACKING The axis deviated from Sub Code: Signifies the axis in Setting error Check the following settings.
Alarm List
ERROR(LOW) the specified position and which the alarm occurred - The tools or the mass of the workpieces
4399
motion path beyond the
allowable range.
Interference error Check if the manipulator interferes with any objects such as workpieces or
peripheral devices. If interferes, remove the object.
- The acceleration/deceleration is automatically calculated by the
Alarm List-784
- The JOB is stopped by category 1 stop or HOLD stop
- Compared to the start/end point, excessive load is applied to the motor
<Remedy>
position.
alarm occurs at low temperature environment (ambient temperature: 10
degrees)
Number Message Code
- Inverter board-CN573-CN578
- Motor power wiring
- Power supply cable (Power cable)
- SDCA01-CN534, CN535, CN536
contactor.
- SDCA01-CN400
Alarm List
- Motor brake terminal

Alarm List-785
NOT READY (ARITH) The arithmetic process The arithmetic process for Software (1)Reset the alarm, and then try again.
section was not motion control did not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4400 completed within the 1 complete within regulated occurred YASKAWA representative about occurrence status (operating procedure).
specified time. time. No motion command was
prepared.
The arithmetic processing Software (1)Reset the alarm, and then try again.
2 section is not ready for JOG operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
operation. occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
3 section is not ready for the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
playback operation. occurred YASKAWA representative about occurrence status (operating procedure).
The prereading processing in Software (1)Reset the alarm, and then try again.
4 the arithmetic processing operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
section has not completed. occurred YASKAWA representative about occurrence status (operating procedure).
section is not ready for the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
5
timer follow-up of the conveyor occurred YASKAWA representative about occurrence status (operating procedure).
tracking function.
Alarm List
the arithmetic processing operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
6 section has not completed occurred YASKAWA representative about occurrence status (operating procedure).
when specifying the target
position.
7 the arithmetic processing operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
section has not completed. occurred YASKAWA representative about occurrence status (operating procedure).
SEQUENCE TASK An error occurred in job Unused A_BANK does not Software (1)Reset the alarm, and then try again.
Alarm List-786
CONTR ERROR execution process. exist in the prereading operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4401 1
processing of move occurred YASKAWA representative about occurrence status (operating procedure).
instruction.
Unused bank priority does not Software (1)Reset the alarm, and then try again.
exist in the prereading operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2
processing of move occurred YASKAWA representative about occurrence status (operating procedure).
instruction.
A_BANK pointer is not set. Software (1)Reset the alarm, and then try again.
A_BANK conversion could not Software (1)Reset the alarm, and then try again.
6 be performed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The specified A_BANK Software (1)Reset the alarm, and then try again.
7 number does not exist. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
20 system number (MSS) was operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
obtained. occurred YASKAWA representative about occurrence status (operating procedure).
An error occurred in RMS960 Software (1)Reset the alarm, and then try again.
21 system call. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Undefined interrupt command Software (1)Reset the alarm, and then try again.
22 was received. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Job start condition is not Software (1)Reset the alarm, and then try again.
23 defined. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

An error occurred in instruction Software (1)Reset the alarm, and then try again.
24 prefetch queue operation. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Intermediate code is not Software (1)Reset the alarm, and then try again.
Instruction prereading Software (1)Reset the alarm, and then try again.
Alarm List-787
29 processing has not been operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
completed normally. occurred YASKAWA representative about occurrence status (operating procedure).
An error occurred in job data Software (1)Reset the alarm, and then try again.
30 change. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The specified sequence Software (1)Reset the alarm, and then try again.
31 number at job execution start operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
is incorrect. occurred YASKAWA representative about occurrence status (operating procedure).
The added area for interruption Software (1)Reset the alarm, and then try again.
32 command is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
System number (MSS) for Software (1)Reset the alarm, and then try again.
33 interruption command is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
An error occurred at start of Software (1)Reset the alarm, and then try again.
38 twin synchronous operation. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
An error occurred when SYNC Software (1)Reset the alarm, and then try again.
39 specification was reset. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
41 occupation control group operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
setting in MOTION section. occurred YASKAWA representative about occurrence status (operating procedure).
An error occurred in path/trace Software (1)Reset the alarm, and then try again.
45 control. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

waiting for a completion of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
47
main system task (job) in occurred YASKAWA representative about occurrence status (operating procedure).
SYNC specification.
execute an instruction that operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
48
could not be executed at line occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-788
sequence execution.
An error occurred while Software (1)Reset the alarm, and then try again.
49 obtaining the instruction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
information. occurred YASKAWA representative about occurrence status (operating procedure).
An exceptional error occurred Software (1)Reset the alarm, and then try again.
80 in job execution process. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Main processing command is Software (1)Reset the alarm, and then try again.
100 incorrect in prereading operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
processing. occurred YASKAWA representative about occurrence status (operating procedure).
Subprocessing command is Software (1)Reset the alarm, and then try again.
Number Message Code
Prereading processing has not Software (1)Reset the alarm, and then try again.
102 been completed at job operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
execution. occurred YASKAWA representative about occurrence status (operating procedure).
A_BANK conversion has not Software (1)Reset the alarm, and then try again.
103 been completed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
System number (MSS) is Software (1)Reset the alarm, and then try again.
An error occurred in instruction Software (1)Reset the alarm, and then try again.
105 prefetch queue operation in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
prereading processing. occurred YASKAWA representative about occurrence status (operating procedure).
An error occurred at IES Software (1)Reset the alarm, and then try again.
106 switching in prereading operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
UNDEFINED An undefined command Software (1)Reset the alarm, and then try again.
COMMAND(ARITH) or unused command was operation error (2)Check the following settings.
issued to the path control Setting error ·the base-axis position must be registered for the system with base-axis
4402
section. MOVL P00001 BP00001
Alarm List-789
UNDEFINED The Home Position is not Sub Code: Control group Setting error Register the home position for IOSPDCTRL axis.
4403 IOSPDCTRL HOME registered.
POS
ARITHMETIC ERROR An error occurred in the Interpolation such as linear Setting error Change the step (move instruction), where the alarm occurred, to MOVJ.
arithmetic process for and circular interpolation
4404 8
coordinates. cannot be performed with this
manipulator.
Number Message Code
The setting of the form data for Setting error Set "1" to "S2C658: Type data detail settings".
10 Flip/No Flip is not "B-axis
Angle. "
An attempt was made to pass Setting error Check the teaching position of the job so that the manipulator does not
11 the B-axis zero degree position pass the B-axis zero degree position (singular area).
(singular area).
An attempt was made to pass Setting error Check the teaching position of the job so that the manipulator does not
Alarm List
the B-axis zero degree position pass the B-axis zero degree position (singular area).
12
(singular area) during
interpolation.
Wrist axis tended to rotate to Setting error Check the teaching position of the job so that a wrist axis does not inverse
13 the inverse with the teaching rotation.
direction.
Alarm List-790
GROUP AXIS An internal control error Designation error for master Software (1)Reset the alarm, and then try again.
4406 CONTROL ERROR occurred in a coordinated 1 and slave operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
motion. occurred YASKAWA representative about occurrence status (operating procedure).
Slave designation error Software (1)Reset the alarm, and then try again.
Slave interpolation error Software (1)Reset the alarm, and then try again.
No designation of master axis Software (1)Reset the alarm, and then try again.
Number Message Code
Master-axis designation error Software (1)Reset the alarm, and then try again.
6 for JOG motion operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Slave-axis designation error Software (1)Reset the alarm, and then try again.
7 for JOG motion operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Occupation control error Software (1)Reset the alarm, and then try again.
Designation error of Software (1)Reset the alarm, and then try again.
9 occupation control for JOG operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
motion occurred YASKAWA representative about occurrence status (operating procedure).

10 occupation control for Bank operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
position occurred YASKAWA representative about occurrence status (operating procedure).
11 occupation control group for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
tracking motion occurred YASKAWA representative about occurrence status (operating procedure).
No master and slave Software (1)Reset the alarm, and then try again.
Alarm List-791
12 designated for tracking motion operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
TWO STEPS SAME Among three taught Setting error Check the settings for teaching position of circular interpolation steps so
POSITION(CIRC) points in a circular that each point is different.
4407 interpolation step, two or
three points are on the
same point.
TWO STEPS SAME Among three taught Setting error Check the settings for teaching position of spline interpolation step so that
POSITION(SPLINE) points in a spline each point is different.
4408 interpolation step, two or
same point.
Number Message Code
TWO STEPS SAME Among three taught Setting error Check the settings for three taught points to create an user coordinate
POSITION(3 STEPS) points to create an user system so that each point is different.
4409 coordinate system, two or
same point.
TWO STEPS SAME Among three taught Setting error Check the settings for taught points (start, end, and reference points) so
POSITION(WEAV) points (start, end, and that each point is different.
Alarm List
reference points) to
4410 create a weaving
coordinate system, two or
same point.
TEACH The distance between the Setting error Check the settings for the teaching position of spline interpolation section
Alarm List-792
ERROR(SPLINE) teaching points in the so that the distance between the teaching points is even.
4411
spline interpolation
section is not equidistant.
IMPOSSIBLE LINEAR In case the form (folded Setting error Check the following settings.
MOTION(L/U) direction) of L- and U- ·Perform the teaching again to make the form of L- and U-axes same at
axes at start point and start point and end point.
4412 end point are different ·Use a MOVJ instruction again.
except for MOVJ
instructions, the
manipulator cannot move.
Number Message Code
IMPOSSIBLE LINEAR In case the form (folded Setting error Check the following settings.
MOTION(S/L) direction) of S- and L- ·Perform the teaching position again to make the form of S- and L-axes
axes at start point and same at start point and end point.
4413 end point are different Use a MOVJ instruction again.
except for MOVJ
instructions, the
manipulator cannot move.
EXCESSIVE This alarm occurs if the Sub Code: Control group and Setting error (1)Reduce the speed in the step where the alarm occurred.
SEGMENT (LOW/ operation command axis (2)Change the move instruction to joint interpolation (MOVJ).
HIGH) which exceeds the * Be careful to the peripheral interference since its movement changes.
Alarm List
designated max. speed is

output.
It may occur when the
4414
robot operates near the
singular point or when the
robot is going to change
its orientation
widely with single control
Alarm List-793
point.
PULSE LIMIT(MIN./ The manipulator Sub Code: Control group and Setting error Perform the teaching again to correct positions for manipulators so that the
MAX.) exceeded its motion limit axis step where the alarm occurred is within the motion range.
4416 (pulse limit) in the
negative (-) and the
positive (+) direction.
CUBE LIMIT(MIN./ The manipulator TCP Sub Code: Control group and Setting error Perform the teaching again to correct positions for manipulators so that the
MAX.) exceeded its motion limit XYZ step where the alarm occurred is within the motion range.
4418
(cube limit) in the
negative (-) direction.
Number Message Code
SPECIAL The manipulator Sub Code: Control group and Setting error Perform the teaching again to correct positions for manipulators so that the
SOFTLIMIT(MIN./ exceeded its motion limit axis step where the alarm occurred is within the motion range.
4420 MAX.) (special software limit) in
the negative (-) and the
MECHANICAL Links interfered between Sub Code: Control group and Setting error Perform the teaching again to correct positions for manipulators so that the
4422 INTERFERENCE(MIN manipulators. axis step where the alarm occurred is within the motion range.
Alarm List
./MAX.)
SPECIAL Links interfered between Sub Code: Control group and Setting error Perform the teaching again to correct positions for manipulators so that the
4424 MECHANICAL manipulators. axis step where the alarm occurred is within the motion range.
INTRF(MIN./MAX.)
Alarm List-794
PULSE MECHANICAL The manipulator Sub Code: Control group and Setting error Perform the teaching again to correct positions for manipulators so that the
LIMIT(MIN./MAX.) exceeded its motion limit axis step where the alarm occurred is within the motion range.
4426 (mechanical limit) in the
negative (-) and the
SEGMENT CONTROL An error occurred in the RT-buffer control command Software (1)Reset the alarm, and then try again.
ERROR segment processing error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4428 1
section that controls the occurred YASKAWA representative about occurrence status (operating procedure).
arithmetic section.
Segment-receiving control Software (1)Reset the alarm, and then try again.
Number Message Code
No bank priority Software (1)Reset the alarm, and then try again.
Answer error at MOVE Software (1)Reset the alarm, and then try again.
4 simulating operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The value of Software (1)Reset the alarm, and then try again.
5 bank_refresh_flag(x) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
exceeded its limit. occurred YASKAWA representative about occurrence status (operating procedure).
RT-buffer tracking option error Software (1)Reset the alarm, and then try again.
Alarm List

The segment was received Software (1)Reset the alarm, and then try again.
9 although the previous segment operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
had not been sent. occurred YASKAWA representative about occurrence status (operating procedure).
WRONG SPECIFIED An error occurred in the Control group not designated Software (1)Reset the alarm, and then try again.
4429 CONTROL GROUP manipulator information at 1 operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
job execution. occurred YASKAWA representative about occurrence status (operating procedure).
Slave control-group error Software (1)Reset the alarm, and then try again.
Alarm List-795
Master control-group error Software (1)Reset the alarm, and then try again.
Master and Slave control- Software (1)Reset the alarm, and then try again.
4 group error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Control-group error for a job Software (1)Reset the alarm, and then try again.
5 file operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Control-group error for a user Software (1)Reset the alarm, and then try again.
6 coordinate file operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Control-group error for a Software (1)Reset the alarm, and then try again.
7 calibration file between operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
manipulators occurred YASKAWA representative about occurrence status (operating procedure).
Control-group error for a tool Software (1)Reset the alarm, and then try again.
8 calibration file operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Control-group error for Software (1)Reset the alarm, and re-select the job from [select job] window before
prereading-calculation start operation error starting the job again .
10
point (for adv_st_pos) occurred (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Control-group error for the Software (1)Reset the alarm, and then try again.
11
Alarm List
current-value preset position operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
12 conveyor prereading- operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
calculation start point occurred YASKAWA representative about occurrence status (operating procedure).
Occupation control-group error Software (1)Reset the alarm, and then try again.
Alarm List-796
Control-group error for servo Software (1)Reset the alarm, and then try again.
15 hand operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
18 prereading-calculation start operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
point (for dm_st_pos) occurred YASKAWA representative about occurrence status (operating procedure).
Control-group error for Software (1)Reset the alarm, and then try again.
19 prereading-calculation start operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
point (for dm_st_pos) occurred YASKAWA representative about occurrence status (operating procedure).
Control-group error for paint Software (1)Reset the alarm, and then try again.
20 gun operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
CPU An error occurred in Interrupt processing error Software (1)Reset the alarm, and then try again.
4430 COMMUNICATION interrupt process between 1 between MOTION section and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERROR CPUs. system control section occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
Interrupt processing error Software (1)Reset the alarm, and then try again.
2 between MOTION section and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
SL#1 occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List

Alarm List-797
CV#1 occurred YASKAWA representative about occurrence status (operating procedure).
CV#2 occurred YASKAWA representative about occurrence status (operating procedure).
PS#1 occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
PS#2 occurred YASKAWA representative about occurrence status (operating procedure).
JHM ERROR Data error occurred in job An error occurred in JMS Software (1)Reset the alarm, and then try again.
4431 control process. 1 system call when an attempt operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
was made to open a job. occurred YASKAWA representative about occurrence status (operating procedure).
No space was found in job Software (1)Reset the alarm, and then try again.
handle value storage area operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2
when an attempt was made to occurred YASKAWA representative about occurrence status (operating procedure).
open a job.
No job handle was found. Software (1)Reset the alarm, and then try again.
3
Alarm List
Job control proprietary is Software (1)Reset the alarm, and then try again.
4 incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Job control proprietary could Software (1)Reset the alarm, and then try again.
5 not be changed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-798
6 control. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
INSTRUCTION An error occurred in The intermediate code of the Software (1)Reset the alarm, and then try again.
4432 INTERPRETER instruction interpretation/ 1 instruction that is to be operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERROR execution process. executed is incorrect. occurred YASKAWA representative about occurrence status (operating procedure).
Destination (variable) tag Software (1)Reset the alarm, and then try again.
3 arrangement is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Tag data type is incorrect. Software (1)Reset the alarm, and then try again.
Box number is incorrect. Software (1)Reset the alarm, and then try again.
Number Message Code
An error occurred in block Software (1)Reset the alarm, and then try again.
6 separation processing of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
intermediate code. occurred YASKAWA representative about occurrence status (operating procedure).
Box number definition is Software (1)Reset the alarm, and then try again.
8 duplicated. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Undefined instruction was Software (1)Reset the alarm, and then try again.
9 found at block separation of operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
intermediate code. occurred YASKAWA representative about occurrence status (operating procedure).
IPRM is not set. Software (1)Reset the alarm, and then try again.
Alarm List

An error occurred in tag data Software (1)Reset the alarm, and then try again.
11 search process. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
An error occurred move Software (1)Reset the alarm, and then try again.
12 instruction search process. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Variable information does not Software (1)Reset the alarm, and then try again.
Alarm List-799
14 exist. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
An error occurred at position Software (1)Reset the alarm, and then try again.
16 file data reading. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Variable data type is not Software (1)Reset the alarm, and then try again.
An instruction is included with Software (1)Reset the alarm, and then try again.
18 incorrect intermediate code in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
expression instruction. occurred YASKAWA representative about occurrence status (operating procedure).
The syntax in expression Software (1)Reset the alarm, and then try again.
19 instruction is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
The tag data length is zero Software (1)Reset the alarm, and then try again.
20 when tag data is read. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The necessary tag data is not Software (1)Reset the alarm, and then try again.
21 set. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The object to be processed Software (1)Reset the alarm, and then try again.
was secret variable in position operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
22
file control process, so it could occurred YASKAWA representative about occurrence status (operating procedure).
not be processed.
The object to be processed Software (1)Reset the alarm, and then try again.
Alarm List
was position type variable in operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
23
position file control process, so occurred YASKAWA representative about occurrence status (operating procedure).
it could not be processed.
Job argument settings do not Software (1)Reset the alarm, and then try again.
24 match when a variable is given operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
and/or taken between jobs. occurred YASKAWA representative about occurrence status (operating procedure).
25 perform undefined operation at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-800
four-rule operation instruction. occurred YASKAWA representative about occurrence status (operating procedure).
Arithmetic stack used for Software (1)Reset the alarm, and then try again.
26 expression operation operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
exceeded. occurred YASKAWA representative about occurrence status (operating procedure).
Arithmetic stack used for Software (1)Reset the alarm, and then try again.
27 expression operation is empty. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Operation items are lacking in Software (1)Reset the alarm, and then try again.
expression operation and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
28
operation processing cannot occurred YASKAWA representative about occurrence status (operating procedure).
be performed.
The number of executing the Software (1)Reset the alarm, and then try again.
sub-instruction with EXEC operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
29
processing exceeded the occurred YASKAWA representative about occurrence status (operating procedure).
maximum number.
Number Message Code
An error occurred by the Software (1)Reset the alarm, and then try again.
setting of the character-string operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
30
type variable in the ARGF occurred YASKAWA representative about occurrence status (operating procedure).
instruction.
The intermediate code of Software (1)Reset the alarm, and then try again.
31 IFEXPRESS instruction is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The syntax of IFEXPRESS Software (1)Reset the alarm, and then try again.
32 instruction is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The number of components of Software (1)Reset the alarm, and then try again.
33
Alarm List
the IFEXPRESS instruction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
exceeded. occurred YASKAWA representative about occurrence status (operating procedure).
The stack used for executing Software (1)Reset the alarm, and then try again.
34 the IFEXPRESS instruction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
overflowed. occurred YASKAWA representative about occurrence status (operating procedure).
The stack used for executing Software (1)Reset the alarm, and then try again.
35 the IFEXPRESS instruction did operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
underflow. occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-801
The reinterpretation of the Software (1)Reset the alarm, and then try again.
36 instruction was ordered when operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
executing the instruction. occurred YASKAWA representative about occurrence status (operating procedure).
Tag data (box number) of the Software (1)Reset the alarm, and then try again.
37 instruction that is to be operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
executed is not supported. occurred YASKAWA representative about occurrence status (operating procedure).
VARGF is not set. Software (1)Reset the alarm, and then try again.
Access mechanism for old Software (1)Reset the alarm, and then try again.
254 parameters is used. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
An exceptional error occurred. Software (1)Reset the alarm, and then try again.
Number Message Code
UNDEFINED GLOBAL The global variable is not The set data for byte type Software (1)Reset the alarm, and then try again.
4433 VARIABLE defined. 0 variable area is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The set data for integer type Software (1)Reset the alarm, and then try again.
1 variable area is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The set data for double- Software (1)Reset the alarm, and then try again.
2 precision integer-type variable operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
area is incorrect. occurred YASKAWA representative about occurrence status (operating procedure).
The set data for real type Software (1)Reset the alarm, and then try again.
3 variable area is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

The set data for character- Software (1)Reset the alarm, and then try again.
4 string type variable area is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The set data for robot-axis Software (1)Reset the alarm, and then try again.
5 position-type variable area is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The set data for base-axis Software (1)Reset the alarm, and then try again.
Alarm List-802
6 position-type variable (S1D operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
parameter) area is incorrect. occurred YASKAWA representative about occurrence status (operating procedure).
The set data for station-axis Software (1)Reset the alarm, and then try again.
7 position-type variable (S1D operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
parameter) area is incorrect. occurred YASKAWA representative about occurrence status (operating procedure).
UNDEFINED LOCAL- The local variable is not The byte type variable is not Setting error Set the number of local variables to be used in the job header.
4435 0
VARIABLE defined. defined.
The integer type variable is not Setting error Set the number of local variables to be used in the job header.
1
defined.
The double-precision integer- Setting error Set the number of local variables to be used in the job header.
2
type variable is not defined.
Number Message Code
The real-number type variable Setting error Set the number of local variables to be used in the job header.
3
is not defined.
The character-string type Setting error Set the number of local variables to be used in the job header.
4
variable is not defined.
The robot-axis position-type Setting error Set the number of local variables to be used in the job header.
Alarm List
5
The base-axis position-type Setting error Set the number of local variables to be used in the job header.
6
Alarm List-803
The station-axis position-type Setting error Set the number of local variables to be used in the job header.
7
LESS THAN 3 An error occurred in Setting error Perform teaching so that circulation interpolation steps are continuous
STEPS(CIRCULAR) circular interpolation three points or more.
instruction execution.
4436
There is no continuous
three points or more for
circular interpolation step.
Number Message Code
LESS THAN 3 An error occurred in Setting error Perform teaching so that spline interpolation steps are continuous three
STEPS(SPLINE) spline interpolation points or more.
4437
There is no continuous
three points or more for
spline interpolation step.
UNDEFINED JOB The job to be executed is Setting error Check if the CALL/JUMP destination job is registered. If the job is not
4438
not registered. registered, delete the JUMP instruction where an alarm occurred.
Alarm List

UNDEFINED LABEL An error occurred in label Setting error Check if the JUMP destination label is registered. If the label is not
jump execution. registered, delete the JUMP instruction where alarm occurred.
4439 The label for jump
destination does not exist
in the job.
Alarm List-804
UNDEFINED Call source job does not Setting error Check the following settings.
RETURN JOB exist in the job call stack. ·If there is an illegal RET instruction in the start job, delete the RET
4440 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.
LACK OF LOCAL- An error occurred when Setting error Reduce the number of local variables to be used.
VARIABLE AREA memory area for local
variable was obtained.
4441 Memory area is lacking
because too many local
variables in the job are
used.
Number Message Code
UNSUCCESSFUL When PL = 0 or an Sub Code:
FINE POSITIONING external servo turned The lowest eight bits -> Bit
OFF, the number of the specification of axis where
servo error pulses did not error occurred.
4444
fall in the limit range that The highest eight bits -> Bit
had been set in a specification of control group
parameter, within the number(0-31) where error
specified time. occurred.
DATA PRESET Data error occurred at job The token for prereading Software (1)Reset the alarm, and then try again.
4445 ERROR prereading 1 processing could not be operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
reinterpretation. obtained. occurred YASKAWA representative about occurrence status (operating procedure).
The prereading processing Software (1)Reset the alarm, and then try again.
has not been completed within operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2 the time, and the waiting time occurred YASKAWA representative about occurrence status (operating procedure).
for completion exceeded the
limit.
The prereading operation Software (1)Reset the alarm, and then try again.
processing has not been operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-805
3 completed within the time, and occurred YASKAWA representative about occurrence status (operating procedure).
the waiting time for completion
exceeded the limit.
4 prereading operation process. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
A_BANK conversion has not Software (1)Reset the alarm, and then try again.
been completed. operation error (2)If the alarm occurs again, turn the main power of controller off and then
occurred turn it on. Re-select the job from [select job] window before starting the job
5 again .
(3)If the alarm occurs again even though you do above (2), save the
occurrence status (operating procedure).
Number Message Code
An exceptional error occurred Software (1)Reset the alarm, and then try again.
255 in job execution process. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
OVER VARIABLE The variable value The variable value exceeded Setting error Check the settings for variable, and then correct the job to fall within the
4446 0
LIMIT exceeded the limit. the limit. input range of the tag.
The value for the binary (0/1) Setting error Check the settings for variable, and then correct the job to fall within the
1 data type variable exceeded input range of the tag.
the limit.
Alarm List

The value for the signed 1-byte Setting error Check the settings for variable, and then correct the job to fall within the
2 data type variable is less than input range of the tag.
the minimum value.
The value for the unsigned 1- Setting error Check the settings for variable, and then correct the job to fall within the
Alarm List-806
byte data type variable is less input range of the tag.
than the minimum value.
the minimum value.
5 byte data type variable is less input range of the tag.
Number Message Code
the minimum value.
7 byte data type variable is less input range of the tag.
The value for the real-number Setting error Check the settings for variable, and then correct the job to fall within the
Alarm List
8 4-byte data type variable is input range of the tag.

less than the minimum value.
The value for the character- Setting error Check the settings for variable, and then correct the job to fall within the
14 string type variable is less than input range of the tag.
the minimum value.
Alarm List-807
the maximum value.
32771 byte data type variable input range of the tag.
exceeded the maximum value.
the maximum value.
Number Message Code
the maximum value.
Alarm List

The value for the real-number Setting error Check the settings for variable, and then correct the job to fall within the
32776
Alarm List-808
4-byte data type variable input range of the tag.
The value for the character- Setting error Check the settings for variable, and then correct the job to fall within the
32782 string type variable exceeded input range of the tag.
the maximum value.
DEFECTIVE TAUGHT Incorrect teaching of Starting point and destination Setting error Change the teaching points so that circular interpolation points do not to
POINT(CIRC) circular interpolation point are the same position. same.
steps.
4447 The three points taught 1
for the circular
interpolation step lie in a
straight line.
Number Message Code
Any points of the circular Setting error Change the teaching points so that circular interpolation points do not to
2 interpolation are the same same.
position.
Any points of the circular Setting error Change the teaching points so that circular interpolation points do not to
3 interpolation are the same same as the center point of circular path.
position as the center position.
Alarm List

The three points taught for the Setting error Change the teaching points so that circular interpolation points do not line
4 circular interpolation points line in a straight line.
in a straight line.
The starting point and Setting error Change the teaching points so that circular interpolation points do not line
Alarm List-809
destination point taught for the in a straight line.
5
circular interpolation points line
in a straight line.
Rotation angle of circular Setting error Change the rotation angle of circular interpolation.
6
interpolation is out of range.
Failed to calculate the circular Setting error (1)Reset the alarm, and then try again.
-1 path. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Circular interpolation different Setting error Specify the same circular interpolation method to all robots.
-2 ways in multiple robots are
specified.
Number Message Code
WEAVING D3251 An error occurred in Weaving control-group Software (1)Reset the alarm, and then try again.
4448 weaving control. 1 designation error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
When the speed is specified Setting error Reset the value 0.1 seconds or more.
by weaving time in the
4 weaving file, zero or the
negative value is set for the
weaving time.
Alarm List

When the speed is specified Setting error Reset the value 0.1 Hz or more.
by frequency in the weaving
5
file, zero or the negative value
is set for the frequency.
When the timer mode is Setting error Set a positive value for the timer value.
Alarm List-810
specified in the weaving file, a
6
negative value is set for the
timer value.
For triangle or L-type weaving, Setting error Set a positive value for the vertical and horizontal distance.
7 zero is set for the vertical or
horizontal distance.
The coordinate control axis Setting error Match the control group designation of the wall point and weaving
designation for the reference execution.
8
point is different from actual
control axis.
Number Message Code
The distance between the Setting error Set the correct dimensions in the tool data.
9 point P and the TCP could not
be calculated in wrist weaving.
The distance between the Setting error Set the correct dimensions in the tool data.
point P and the TCP could not
10
be calculated in circular wrist
weaving.
Alarm List
The Y-direction element of Setting error Check the settings for wall and horizontal direction.
circular coordinate system for
11
circular wrist weaving could
not be calculated.
Alarm List-811
The X-direction element of Setting error Check the settings for wall and horizontal direction.
circular coordinate system for
12
circular wrist weaving could
not be calculated.
Weaving basic-orientation Software (1)Reset the alarm, and then try again.
14 calculation error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Calculation error of horizontal- Software (1)Reset the alarm, and then try again.
15 and wall-direction vector for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
weaving occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
Weaving synchronization file Setting error Check the number of the weaving synchronizing file for use.
16
number selection range error
Weaving interpolation error Setting error The ELLIPSE weaving can move, when MOVL or MOVC is taught.
17
Check the job contents.
Weaving coordinated motion Setting error The independent motion and coordinated motion are taught in the weaving
Alarm List
error section. In one weaving section teach the independent motion or

18
coordinated motion only.
Check the job contents.
UNMATCHED POSN The position type variable Setting error Match the data type of position type variable.
4449
VAR DATA TYPE data type is different.
Alarm List-812
FILE NO. ERROR An error occurred in tool An error occurred in tool file Setting error Confirm that the specified tool file number is 0 to 63.
4450 1
file number check. number check.
An error occurred in user Setting error Confirm that the specified user coordinate file number is 1 to 63.
2
coordinate file number check.
An error occurred in calibration Setting error Confirm that the specified robot calibration file number is 1 to 32.
3 file number check between the
manipulators.
Number Message Code
An error occurred in tool Setting error Confirm that the specified tool file number is 0 to 63.
4
calibration file number check.
An error occurred in reference Setting error Confirm that the specified robot calibration file number is 1 to 8.
5
point number check.
An error occurred in check for Setting error Confirm that the specified welding condition start file number is 1 to 48.
7 welding start condition file
number.
Alarm List
An error occurred in check for Setting error Confirm that the specified welding condition end file number is 1 to 48.
8 welding end condition file
number.
Alarm List-813
An error occurred in conveyor Setting error Confirm that the specified conveyor condition file number is 1 to 6.
9 characteristic file number
check.
An error occurred in press Setting error Confirm that the specified press characteristic file number is 0 to 3.
10 characteristic file number
check.
An error occurred in conveyor Setting error Confirm that the specified conveyor calibration file number is 1 to 6.
12
calibration file number check.
Number Message Code
An error occurred in argument Setting error Confirm that the argument number is 1 to 16.
13
number check.
An error occurred in check for Setting error Confirm that the specified servo gun characteristic file number is 1 to 24.
14 motor gun characteristic file
number.
UNDEFINED An error occurred in the Sub Code: Reference point Setting error Set the reference point.
REFERENCE POINT reference point data. number in binary
Alarm List
4451 The reference point is not

registered or is
insufficient.
STACK MORE THAN The job call stack Setting error Change the job configuration so that the number of nests for CALL
10 (JOB CALL) exceeded the limit. instruction is twelve or less.
An attempt was made to
Alarm List-814
4452
add more than twelve
stacks in the job call
stack.
OVER VARIABLE NO. The variable number is The variable number is out of Setting error Correct the job using the variable number within the range.
out of range. range.
4453 Sub Code: The variable
number which an attempt was
made to use
UNDEFINED POWER The arc welding Setting error Complete the settings for the arc welding characteristic file.
4454 SOURCE COND. characteristic file is not
set.
Number Message Code
UNDEFINED ARC The welding start Setting error Complete the settings for the welding start condition file.
4455
START COND FILE condition file is not set.
UNDEFINED ARC The welding end condition Setting error Complete the settings for the welding end condition file.
4456
END COND FILE file is not set.
WRONG WELDER An error occurred in Setting error Check the settings for the reference unit of the welding voltage.
Alarm List
SELECTION welder type check.

The reference unit for the
4457
welding voltage and the
welder type (independent/
unified) do not match.
Alarm List-815
EXCESSIVE An error occurred in Setting error Separate the operation expression, shorten the expression, and then check
INSTRUCTION expression operation. the settings for the job.
4459 EQUATION The operation is
impossible because the
expression is too long.
ZERO DIVIDED An error occurred in Setting error Do not divide by zero.
4460 OCCURRENCE operation instruction.
Zero division occurred.
Number Message Code
UNDEFINED AUTO- An error occurred in Setting error Check the settings for the number of times of welding release condition.
WELD RELEASE automatic welding release
COND conditions.
4461
The number of welding
release condition is zero
for arc auxiliary file.
UNDEFINED An error occurred at arc Setting error Check the settings for the move instruction following ARCON instruction.
POSITION FOR ARC retry execution.
RETRY The arc retry has been
4462
set, but no move
Alarm List
instruction exists following

ARCON instruction.
PARITY ERROR The parity check for user Setting error Check the settings for the parity data of the user I/O group.
4463 I/O group detected the
data error.
Alarm List-816
Number Message Code
OVER BCD RANGE The BCD value exceeded Setting error Correct the BCD data so that it is within the limit.
the limit.
output a value above the
maximum value that can
be expressed in Binary
Coded Decimal: 99
(decimal) when no parity
check is specified, and 79
4464
(decimal) when parity
check is specified.
Alarm List
read a data that cannot be

expressed in Binary
Coded Decimal (a data
whose lower or upper 4
bits exceeded 9 in
decimal) in the variable.
Alarm List-817
OVER BINARY The binary data exceeded Setting error Correct the binary data so that it is within the limit.
RANGE(PARITY the limit.
CHECK) An attempt was made to
output a value that
4465
exceeded 127 (decimal)
to the user I/O when
parity check was
specified.
OFFLINE An undefined command An undefined command was Software (1)Reset the alarm, and then try again.
UNDEFINED was issued to the offline issued to the offline position- operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4466 0
COMMAND(ARITH) position-data preparation data preparation section. occurred YASKAWA representative about occurrence status (operating procedure).
section.
Number Message Code
USER COORD STEP An error occurred at user Setting error Correct the JOB that the number of steps will be three or more.
NOT ENOUGH coordinate creation by a
job.
4467
The number of steps was
lacking for a job for user
coordinate creation.
ROBOT An error occurred in The calibration between Setting error Do not use a coordinated motion with this manipulator.
4468 CALIBRATION DATA calibration between 1 manipulators cannot be
ERROR manipulators. executed for this model.
Alarm List
The master group and the Software (1)Reset the alarm, and then try again.
2 slave group are set to the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
same group. occurred YASKAWA representative about occurrence status (operating procedure).
Incorrect designation of the Software (1)Reset the alarm, and then try again.
3 control group for master group operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-818
4 control group for slave group operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
calibration data occurred YASKAWA representative about occurrence status (operating procedure).
6 enabling control group for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Among three points in the Setting error Teach the data for calibration so that each point is different.
master-group's calibration
7
data, two or three points are on
the same point.
Number Message Code
Among three points in the Setting error Teach the data for calibration so that each point is different.
slave-group's calibration data,
8
two or three points are on the
same point.
The number of the teaching Software (1)Reset the alarm, and then try again.
9 points for calibration data is operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
insufficient. occurred YASKAWA representative about occurrence status (operating procedure).
ROBOT An error occurred in The calibration between Setting error The calibration function between manipulators cannot be used for this
CALIBRATION calibration coordinate manipulators cannot be model.
4469 1
Alarm List
FRAME ERROR conversion between executed for this model.

manipulators.
The master group and the Setting error Set the different groups for the master group and the slave group.
2 slave group are set to the
same group.
Alarm List-819
3 control group for master group operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4 control group for slave group operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Calibration data setting error Software (1)Reset the alarm, and then try again.
Number Message Code
ROBOT CARIB STEP An error occurred at Setting error Check the settings for number of the job steps
NOT ENOUGH calibration data creation
between manipulators.
4470 The number of steps was
lacking for a job for
calibration data creation
between manipulators.
ROBOT The tool calibration data Incorrect number of teaching Software (1)Reset the alarm, and then try again.
4471 CALIBRATION DATA could not correctly be 1 points for tool calibration operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERROR prepared. occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
3 enabling control group for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-820
4 control group for calibration operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ARITHMETIC An error occurred by the The reference point is not set. Setting error Set the reference point.
ERR(COMPACT RMT arithmetic section when
4472 1
WELD) compact remote welding
was executed.
The start point and end point Setting error Change the teaching positions so that the start point and end point are
2
are on the same point. different.
Number Message Code
The straight line which Setting error Correct the teaching positions so that the angle that the Z direction of the
connects the start point and an tool and the straight line which connects the start point with the end point
3 end point, and the angle which make becomes 10 degrees or more.
the Z direction of a tool makes
are less than 10°.
ARITHMETIC ALARM The alarm occurred in the Software (1)Reset the alarm, and then try again.
4473 RESET ERROR calculation section could operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
not be reset. occurred YASKAWA representative about occurrence status (operating procedure).
WRONG CONTROL The CALL/JUMP/ Sub Code: The related control- Setting error Check the following settings.
Alarm List
GROUP AXIS PSTART destination job group ·Make the setting in advance so that the control group of the CALL/JUMP
could not be executed. designation job is included in that of the CALL/JUMP source job.
An attempt was made to ·Don't start the job which including control group under already operation by
call or jump to a job "PSTART" instruction.
4474 whose control group
cannot be controlled.
start the control group job
that could not be
Alarm List-821
operated.
CANNOT EXECUTE The robot axis is not Setting error Check the following settings.
JOB(NO ROBOT) designated for the control- ·Add the robot axis to the control-group of the job.
group of the job at ·When MotoPlus function (option) is used, a robot which executed
4475 execution of a work SKILLSND is not defined as using MotoPlus sensor related API. Check the
instruction that uses a combination of the robot and MotoPlus application. If the alarm occurs
manipulator. again, save the CMOS.BIN, and then contact your YASKAWA
representative about occurrence status (operating procedure).
CANNOT EDIT (EDIT An attempt was made to An attempt was made to Setting error Release the prohibition.
LOCK JOB) change the data for the change the tag data.
4476 0
job prohibited from being
edited.
Number Message Code
1
change the speed tag data.
2 change the board thickness
tag data.
Alarm List

3
change the MARKER job.
SELECT Incorrect selection of Sub Code: Application number Setting error Check the following settings.
ERROR(APPLICATIO application. ·Set the application to a specified robot by the application selection of
N) When executing a work maintenance mode.
Alarm List-822
instruction, the application ·A robot which executed SKILLSND is not defined as using MotoPlus
selection parameter sensor related API. Check the combination of the robot and MotoPlus
4477
(parameter exclusive for application. If the alarm occurs again, save the CMOS.BIN, and then
manufacturer) is contact your YASKAWA representative about occurrence status (operating
inconsistent with the procedure).
application parameter (AP
parameter).
MotoPlus application Software (1)Turn the power OFF then back ON.
doesn't response more operation error (2)If the alarm occurs again, replace the ACP01 board. save the
MotoPlus MM TASK than stipulated time occurred CMOS.BIN before replacing the board to be safe. After replacement, insert
4478
NO RESPONSE because MM task has not the SD card that has been used for the old ACP01 board to the new one.
recovered from (3)If the alarm occurs again, save the CMOS.BIN, and then contact your
unexpected condition. YASKAWA representative about occurrence status (operating procedure).
Number Message Code
MM Task can not run Software Check if there is high priority task of MotoPlus application running long
more than stipulated time operation error time. Especially, check if there may be the process which waits for a special
because of MotoPlus occurred condition without executing mpTaskDelay in loop process. If such process
application running. exists, suitable remedy should be done like putting mpTaskDelay in the
Executing high priority loop process.
MotoPlus MM TASK task of MotoPlus
4479
WATCH DOG ERROR application may dominate
CPU for a long time,
which may be preventing
the man machine
interface task from
running.
Alarm List
SELECT Incorrect selection of Sub Code: Sensor number Setting error Select the option function for the specified robot in the option function
ERROR(SENSOR 1) sensor function. selection of maintenance mode.
When executing a work
instruction, the sensor
application selection
4480 parameter (parameter
Alarm List-823
exclusive for
manufacturer) is
inconsistent with the
sensor parameter (SE
parameter).
MotoFit COMMAND An error occurred in Setting error (1)Reset the alarm, and make the robot speed of the instruction down.
4482 FAULT1 changing from force (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
control to position control YASKAWA representative about occurrence status (operating procedure).
Number Message Code
Software (1)Reset the alarm and execute again.
256 operation error (2))If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Alarm List-824
Number Message Code
WRONG PORT Incorrect analog output Sub Code: Application number Setting error Check the following settings.
NO.(ANALOG port selection parameter ·Set following value to the AxP010 parameter.
OUTPUT) The value of the For arc: 1
parameter AxP010 Arc + arc: 3
4484 indicating the leading Three arc: 5
number of analog output Four arc: 7
port used for arc welding
or sealing application was
incorrect.
WRONG SELECTION When executing a sensor Software (1)Reset the alarm, and then try again.
Alarm List
(SENSOR) instruction, the robot operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
specified to use the occurred YASKAWA representative about occurrence status (operating procedure).
sensor (system
4485 parameter) and the robot
specified to use the
application (system
parameter) are
unmatched.
Alarm List-825
PATH OVER When executing COM- Setting error Set the path over radius within the allowable range.
ARC function, the path
4486
was beyond the specified
path-over monitor zone.
WRONG MECH An error occurred in Software (1)Reset the alarm, and then try again.
4487 PARAMETER FILE mechanical parameter for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
the path control section. occurred YASKAWA representative about occurrence status (operating procedure).
DEFECTIVE TAUGHT An error occurred at CUT The C- and W-axis position at Setting error Check the settings for the cutting start position (zero pulse).
4489 POINT(CUTTING) instruction execution. 1 the cutting start position is not
zero pulse.
Number Message Code
Zero is set for the cutting Setting error Check the settings for radius (a value bigger than zero).
2
radius.
The cutting machine axis is not Setting error The CUT instruction can be used for the manipulator with small-circle
3
mounted. cutting axis only.
This manipulator cannot Setting error Select an other cutting form.
4 perform a hexagonal cutting
motion.
Alarm List
DEFECTIVE TAUGHT The Endless motion could After the Endless rotation Setting error To perform an interpolation motion such as MOVL and MOVC after an
POINT(ENDLESS) not be performed. completed, an attempt was Endless rotation, execute an MRESET instruction beforehand.
made to execute an
4490 1 interpolation instruction such
as MOVL and MOVC before
executing an MRESET
Alarm List-826
instruction.
The base axis is set as an Setting error Check the parameter setting that designates the Endless rotation axis.
Endless rotation axis. The
2
Endless function cannot be
used with the base axis.
An attempt was made to Setting error Check the parameter setting that designates the Endless rotation axis.
execute the Endless function
3
although the endless axis was
not designated.
Number Message Code
The Endless axis exceeded Setting error Set the rotation amount so that the Endless axis does not exceed the
4 the maximum pulse value maximum pulse value.
(±536870911).
CORRECTIONAL An internal control error Control-group designation Software (1)Reset the alarm, and then try again.
4491 DIRECTION ERROR occurred when calculate 1 error for correcting-direction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
the correcting direction. preparation occurred YASKAWA representative about occurrence status (operating procedure).
Designation error for the Software (1)Reset the alarm, and then try again.
2 correcting-direction operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
coordinates occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
When "any direction" is set for Setting error Check the settings for the correcting direction with the reference point
the correcting direction, the (REFP).
3
correction coordinates is not
prepared.
When "any direction" is set for Setting error Check the settings for the reference points (REFP) so that each point is
the correcting direction, the different.
Alarm List-827
4
reference points (REFP) are
taught on the same point.
Designation error for the Setting error Match the control group designation of the wall point and weaving
5 coordinated motion control execution.
axis at the reference point
Number Message Code
POSITION An error occurred in the Data unmatched between the Software (1)Reset the alarm, and then try again.
CORRECTION calculation section for the correction amount data and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERROR correcting direction at the job data: occurred YASKAWA representative about occurrence status (operating procedure).
path correcting motion. The information about the
control groups designated for
4492 1
the series of jobs, which is
added to the correction
amount data, does not include
the valid control-group for the
job.
Data unmatched between the Software (1)Reset the alarm, and then try again.
correction amount data and operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
the job data: occurred YASKAWA representative about occurrence status (operating procedure).
The valid control-group
2
information that is added to the
correction amount data
disagrees with the valid
control-group for the job.
Tool change err for orientation Setting error It is not possible to change the tool when correct the orientation by the tool
4 correction of the tool coordinate.
Alarm List-828
coordinate
OVER TOOL FILE The tool file number Software (1)Reset the alarm, and then try again.
NO. exceeded the limit value. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4493 The tool number for occurred YASKAWA representative about occurrence status (operating procedure).
internal control is 65 or
more.
DEFECTIVE TAUGHT The teaching position The weaving start point and Setting error Check the settings for the positions so that the weaving start point and end
POINT(WEAV) setting was incorrect and end point are on the same point are different.
4494 1
weaving could not be point.
executed.
Among the weaving start point, Setting error Check the settings for the positions so that the weaving start point, end
end point, and reference point, point, and reference point are different.
2
two or three points are on the
same point.
Number Message Code
UNDEFINED ROBOT Calibration between Sub Code: Control group Setting error Before using the coordinated motion, execute the calibration between
4495 CALIBRATION manipulators has not which calibration is not manipulators.
executed. completed
PARAMETER ERROR An error occurred when The setting of the manipulator Setting error (1)Reset the alarm, and then try again.
4496 the parameter setting was 1 number is incorrect. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
performed. YASKAWA representative about occurrence status (operating procedure).
Zero is set for the resolution. Setting error (1)Reset the alarm, and then try again.
Alarm List
Zero is set in the feedback Setting error (1)Reset the alarm, and then try again.
3 pulse parameter. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The setting of L-axis ball-screw Setting error (1)Reset the alarm, and then try again.
4 data is incorrect. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-829
The setting of U-axis ball- Setting error (1)Reset the alarm, and then try again.
5 screw data is incorrect. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Zero or a negative value is set Setting error (1)Reset the alarm, and then try again.
6 for MAXPPS. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
7 for the maximum acceleration (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
speed. YASKAWA representative about occurrence status (operating procedure).
8 for the maximum deceleration (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
speed. YASKAWA representative about occurrence status (operating procedure).
9 for the play-mode servo (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
averaging time. YASKAWA representative about occurrence status (operating procedure).
Number Message Code
The setting of the manipulator Setting error (1)Reset the alarm, and then try again.
10 number is incorrect. An (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
undefined type is designated. YASKAWA representative about occurrence status (operating procedure).
The incorrect coordinate Setting error (1)Reset the alarm, and then try again.
system is designated for the (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
11 cubic interference. An YASKAWA representative about occurrence status (operating procedure).
undefined coordinate system
is set.
The designation of the user Setting error (1)Reset the alarm, and then try again.
coordinates number is (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
12
incorrect. A number out of the YASKAWA representative about occurrence status (operating procedure).
setting range is set.
Alarm List
The reduction ratio <= 0 is Setting error (1)Reset the alarm, and then try again.
13 output. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
14 for the spring constant. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-830
15 for the motor inertia. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
16 for the speed calculation (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
constant. YASKAWA representative about occurrence status (operating procedure).
Dividing number setting error Setting error (1)Reset the alarm, and then try again.
The setting of allowable torque Setting error (1)Reset the alarm, and then try again.
18 for the speed reducer is (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
incorrect. YASKAWA representative about occurrence status (operating procedure).
The setting of allowable torque Setting error (1)Reset the alarm, and then try again.
19 for the motor is incorrect. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
The manipulator type is not Setting error (1)Reset the alarm, and then try again.
20 applicable for torque (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
acceleration/deceleration. YASKAWA representative about occurrence status (operating procedure).
21 for the balancer. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The angle of hexagon set for Setting error (1)Reset the alarm, and then try again.
the CUT instruction is out of (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
22
the range "0 degree < angle < YASKAWA representative about occurrence status (operating procedure).
60 degrees."
Encoder type designation error Setting error (1)Reset the alarm, and then try again.
23
Alarm List
Observer sampling time error Setting error (1)Reset the alarm, and then try again.
Two-degree-of-freedom Setting error (1)Reset the alarm, and then try again.
25 system Kp value error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-831
The setting of torque Setting error (1)Reset the alarm, and then try again.
acceleration/deceleration (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
26
designation parameter is YASKAWA representative about occurrence status (operating procedure).
incorrect.
Observer polarity setting error Setting error (1)Reset the alarm, and then try again.
The inertia value error for the Setting error (1)Reset the alarm, and then try again.
28 shift value calculation (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Observer attenuation constant Setting error (1)Reset the alarm, and then try again.
29 error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Torque estimation parameter Setting error (1)Reset the alarm, and then try again.
The segment clock error Setting error (1)Reset the alarm, and then try again.
31 occurred when the PV loop is 1 (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ms. YASKAWA representative about occurrence status (operating procedure).
Non-robot axis observer Setting error (1)Reset the alarm, and then try again.
32 selection error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Zero is set for the response Setting error (1)Reset the alarm, and then try again.
33 time constant. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Efficiency data error Setting error (1)Reset the alarm, and then try again.
Zero is set for the averaging Setting error (1)Reset the alarm, and then try again.
35 time constant. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Torque limit ratio data error Setting error (1)Reset the alarm, and then try again.
Alarm List-832
Coulomb friction data error Setting error (1)Reset the alarm, and then try again.
Kinematic friction coefficient Setting error (1)Reset the alarm, and then try again.
38 data error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The setting in the optimized Setting error (1)Reset the alarm, and then try again.
acceleration/deceleration (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
39
designation parameter is YASKAWA representative about occurrence status (operating procedure).
incorrect.
An uninstalled function is Setting error (1)Reset the alarm, and then try again.
40 designated. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
The dynamics-model Setting error (1)Reset the alarm, and then try again.
calculation at the optimized (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
41
acceleration/deceleration is YASKAWA representative about occurrence status (operating procedure).
invalid.
Zero is set for the inertia of Setting error (1)Reset the alarm, and then try again.
42 dynamics fixed model. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Designation error for Setting error (1)Reset the alarm, and then try again.
43 dynamics-model calculation (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
type YASKAWA representative about occurrence status (operating procedure).
The optimized acceleration/ Setting error (1)Reset the alarm, and then try again.
44
Alarm List
deceleration control of speed (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
limit function is disabled. YASKAWA representative about occurrence status (operating procedure).
The axis designation Setting error (1)Reset the alarm, and then try again.
45 parameter for the speed limit (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
function is not set. YASKAWA representative about occurrence status (operating procedure).
The setting in the mode Setting error (1)Reset the alarm, and then try again.
designation parameter for the (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
46
speed limit function is YASKAWA representative about occurrence status (operating procedure).
Alarm List-833
incorrect.
Zero or negative value is set in Setting error (1)Reset the alarm, and then try again.
the allowable braking torque (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
47
parameter for the speed limit YASKAWA representative about occurrence status (operating procedure).
function.
in the speed adjustment ratio (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
48
parameter for the speed limit YASKAWA representative about occurrence status (operating procedure).
function.
in the torque limit adjustment (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
49 ratio parameter for the YASKAWA representative about occurrence status (operating procedure).
acceleration/deceleration
tuning.
Number Message Code
in the parameter that sets the (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
shortest acceleration/ YASKAWA representative about occurrence status (operating procedure).
50 deceleration time for when the
excessive torque is applied at
the optimized acceleration/
deceleration.
Zero is set for the dimension Setting error (1)Reset the alarm, and then try again.
51 information "a3" for the SKR (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
manipulator. YASKAWA representative about occurrence status (operating procedure).
The setting of sealer-gun Setting error (1)Reset the alarm, and then try again.
control-group parameter for (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
52
the servo sealer control is YASKAWA representative about occurrence status (operating procedure).
incorrect.
The parameter setting for the Setting error (1)Reset the alarm, and then try again.
53 Cartesian manipulator X-axis (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
data is incorrect. YASKAWA representative about occurrence status (operating procedure).
The parameter setting for the Setting error (1)Reset the alarm, and then try again.
54 Cartesian manipulator Y-axis (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
data is incorrect. YASKAWA representative about occurrence status (operating procedure).
Alarm List-834
The setting for the Dual-arm Setting error (1)Reset the alarm, and then try again.
55 manipulator is incorrect. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
in the FORMCUT maximum (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
56
acceleration/deceleration time YASKAWA representative about occurrence status (operating procedure).
parameter.
The setting of expanded Setting error (1)Reset the alarm, and then try again.
check-point designating bits (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
57
for the arm interference check YASKAWA representative about occurrence status (operating procedure).
is incorrect.
60 for the sphere at the arm (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
interference check point. YASKAWA representative about occurrence status (operating procedure).
Number Message Code
61 for the cylinder at the arm (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
interference check point. YASKAWA representative about occurrence status (operating procedure).
The number of designated Setting error (1)Reset the alarm, and then try again.
check points for the arm (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
62
interference check is YASKAWA representative about occurrence status (operating procedure).
insufficient.
All of X, Y, and Z value of the Setting error (1)Reset the alarm, and then try again.
expanded check-point 1 for the (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
70
arm interference check are set YASKAWA representative about occurrence status (operating procedure).
to zero.
Alarm List
All of X, Y, and Z value of the Setting error (1)Reset the alarm, and then try again.
expanded check-point 2 for the (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
71
arm interference check are set YASKAWA representative about occurrence status (operating procedure).
to zero.
The setting of wrist axis angle Setting error (1)Reset the alarm, and then try again.
for tube-incorporated wrist (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
85 type manipulators or three-roll YASKAWA representative about occurrence status (operating procedure).
wrist type manipulators is
incorrect.
Alarm List-835
The special link JOG operation Setting error (1)Reset the alarm, and then try again.
86 cannot be used with this (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
manipulator. YASKAWA representative about occurrence status (operating procedure).
The setting in the parameter Setting error (1)Reset the alarm, and then try again.
87 for special angle limit check (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
designation is incorrect. YASKAWA representative about occurrence status (operating procedure).
The setting of the deceleration Setting error (1)Reset the alarm, and then try again.
91 speed for the path-priority (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
control is less than zero. YASKAWA representative about occurrence status (operating procedure).
A negative value is set in the Setting error (1)Reset the alarm, and then try again.
92 roundness parameter for the (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
path-priority control. YASKAWA representative about occurrence status (operating procedure).
The link parameter for the Setting error (1)Reset the alarm, and then try again.
93 cutting device is not set. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
The real-time bending Setting error (1)Reset the alarm, and then try again.
correction function is enabled (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
95
for a control-group other than YASKAWA representative about occurrence status (operating procedure).
robot axis.
Zero is set for the dimension Setting error (1)Reset the alarm, and then try again.
information "a2" for the Arc (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
96
Cell Torch Arm type YASKAWA representative about occurrence status (operating procedure).
manipulators.
Zero is set for the deceleration Setting error (1)Reset the alarm, and then try again.
ratio for double T-axis unit of (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
97
the V-shaped double T-axis YASKAWA representative about occurrence status (operating procedure).
manipulator.
Alarm List
"α" is replaced with "0" in Setting error (1)Reset the alarm, and then try again.
103 SKR1-5 type robot. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Wrong value in set for Setting error (1)Reset the alarm, and then try again.
118 backlash correction function. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Incorrect parameter setting to Setting error (1)Reset the alarm, and then try again.
Alarm List-836
121 inertia speed control function. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Incorrect acceleration/ Setting error (1)Reset the alarm, and then try again.
deceleration time setting at (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
122 tool mass acceleration/ YASKAWA representative about occurrence status (operating procedure).
deceleration speed correction
function.
Incorrect coefficient/item Setting error (1)Reset the alarm, and then try again.
settings at tool mass (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
123
acceleration/deceleration YASKAWA representative about occurrence status (operating procedure).
speed correction function.
No tool mas as the minimum Setting error (1)Reset the alarm, and then try again.
acceleration/deceleration time (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
124 at tool mass acceleration/ YASKAWA representative about occurrence status (operating procedure).
deceleration speed correction
function.
Number Message Code
Incorrect speed setting at tool Setting error (1)Reset the alarm, and then try again.
mass acceleration/ (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
125
deceleration speed correction YASKAWA representative about occurrence status (operating procedure).
function.
Incorrect coefficient/item Setting error (1)Reset the alarm, and then try again.
settings at tool mass (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
126
acceleration/deceleration YASKAWA representative about occurrence status (operating procedure).
speed control function.
No tool mass as the maximum Setting error (1)Reset the alarm, and then try again.
acceleration/deceleration time (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
127 at tool mass acceleration/ YASKAWA representative about occurrence status (operating procedure).
deceleration speed control
Alarm List
function.
An error in the standard Setting error (1)Reset the alarm, and then try again.
arithmetical axis number (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
129
setting for approximation YASKAWA representative about occurrence status (operating procedure).
model.
An error in the standard Setting error (1)Reset the alarm, and then try again.
expanding point number (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
130
setting for approximation YASKAWA representative about occurrence status (operating procedure).
Alarm List-837
model.
An error in the radius setting Setting error (1)Reset the alarm, and then try again.
131 for approximation model. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
setting error of arithmetical Setting error (1)Reset the alarm, and then try again.
132 axis number in D-H method. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
setting error of choosing no / Setting error (1)Reset the alarm, and then try again.
wrong connection base (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
133
arithmetical axis number in D- YASKAWA representative about occurrence status (operating procedure).
H method.
The higher-order acceleration/ Setting error (1)Reset the alarm, and then try again.
deceleration is prohibited (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
134
when using operation YASKAWA representative about occurrence status (operating procedure).
acceleration / deceleration
Number Message Code
Base axis control point → Setting error (1)Reset the alarm, and then try again.
135 Robot coordinate system (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
offset setting prohibited YASKAWA representative about occurrence status (operating procedure).
Pulse linked JOG function Setting error (1)Reset the alarm, and then try again.
136 specification error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Dual drive control specification Setting error (1)Reset the alarm, and then try again.
Notch filter supported Setting error (1)Reset the alarm, and then try again.
acceleration and deceleration (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
138
Alarm List
tuning: Notch filter function YASKAWA representative about occurrence status (operating procedure).
setting error
Notch filter supported Setting error (1)Reset the alarm, and then try again.
acceleration and deceleration (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
139
tuning: Notch filter (z2) setting YASKAWA representative about occurrence status (operating procedure).
error
Alarm List-838
NON ACTIVATION of Servo Setting error Enable Servo Simulation Function.
147
Simulation function error
The setting error of vibration Setting error Confirm that the threshold value for the vibration suppression filter should
149 suppression filter for be larger than the one in previous table.
SVSPOTMOV
the setting error of time Setting error Confirm that the time constant for vibration suppression filter for
constant for the vibration SVSPOTMOV must be the different value of Kp.
150
suppression filter for
SVSPOTMOV
Number Message Code
the setting error of the number Setting error Confirm that the number of the tables activated for vibration filter is less
152 for vibration suppression filter than 5.
for SVSPOTMOV
The setting in the parameter Setting error Correct the setting value of the parameter for special mechanical
154 for special mechanical interference.
interference is incorrect.
Incorrect parameter setting at Setting error (1)Reset the alarm, and then try again.
Alarm List
tool mass acceleration/ (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
158
deceleration speed control YASKAWA representative about occurrence status (operating procedure).
function.
tool mass acceleration/ (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
160
deceleration speed limit YASKAWA representative about occurrence status (operating procedure).
function.
Alarm List-839
161 gun speed limit function. (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Timing delay control function Setting error Enable timing delay control function.
162
was invalid
TCP speed acceleration/ (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
165
deceleration speed limit YASKAWA representative about occurrence status (operating procedure).
function.
168 short pitch interval SPF (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
frequency change function. YASKAWA representative about occurrence status (operating procedure).
Number Message Code
DEFECTIVE TAUGHT An error occurred in Some of the teaching points Setting error Perform the teaching again so that the teaching points are different from
4497 POINT(CALIB) calibration teaching 1 for master-group are on the one another.
between manipulators. same point.
Some of the teaching points Setting error Perform the teaching again so that the teaching points are different from
2 for slave-group are on the one another.
same point.
The 2nd-axis positions of C3, Setting error Perform the teaching again so that the 2ndaxis positions of C3, C4, and C5
Alarm List
3 C4, and C5 of station axes are of the station axes are the same.
not the same.
The 1st-axis positions of C1, Setting error Perform the teaching again so that the 1staxis positions of C1, C2, and C3
4 C2, and C3 of station axes are of station axes are the same.
not the same.
Alarm List-840
The 2nd-axis positions of C1, Setting error Perform the teaching again so that the teaching positions are different from
5 C2, and C3 of station axes are one another.
the same.
The 1st-axis rotation direction Setting error Perform the teaching again so that the 1staxis rotation direction of C3, C4,
6 of C3, C4, and C5 of station and C5 of station axes are the same.
axes are not the same.
The 1st-axis (elevation axis) Setting error Perform the teaching again so that the 1staxis (elevation axis) positions of
7 positions of C1, C2, and C3 of C1, C2, and C3 of station axes are the same.
station axes are not the same.
Number Message Code
The 1st-axis (elevation axis) Setting error Perform the teaching again so that the 1staxis (elevation axis) positions of
8 positions of C3, C4, and C5 of C3, C4, and C5 of station axes are the same.
station axes are not the same.
CANNOT EXECUTE #REF! An attempt was made to Setting error Check the settings for the job instruction with control group.
JOB(NO GRP AXIS) execute an instruction that
4498
could not be executed in a job
without control group.
Alarm List
UNDEFINED An attempt was made to Sub Code: The variable Setting error Check the settings for the position type variable.
4499 POSITION VARIABLE use the position type number
variable that was not set.
Alarm List-841
UNDEFINED USER An attempt was made to Sub Code: User coordinate Setting error Check the settings for the user coordinate.
4500 FRAME use the user coordinate number
that was not set.
OUT OF An error occurred in the Sub Code: Task number Software (1)Reset the alarm, and then try again.
RANGE(PARALLEL multi-task control process operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
PROCESS) for the independent occurred YASKAWA representative about occurrence status (operating procedure).
4501
control function.
The number of tasks
exceeded the limit.
SL BOARD ON-LINE An error occurred in The option board was detected Software (1)Reset the alarm, and then try again.
4502 ERROR option board at power not to operate normally at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ON. power ON. occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
UNDEFINED Arc retry could not be Setting error Register a step before the ARCON instruction.
POSITION FOR ARC executed because there
4505
ON was no step before the
ARCON instruction.
UNDEFINED POS Arc-restart-return could Setting error Check the settings for the job.
FOR RESTART not be executed because
Alarm List
RETURN there was no restart-

return step in the job.
4506
(Example: A retry request
was made while
executing a step of the
called job.)
Alarm List-842
REFP POS Incorrect teaching point Setting error Check the following settings.
ERROR(SEARCH for search detection ·Perform the teaching again so that the search start point and the motion
MOTION) The search start point and target point are not the same.
4507 the motion target point ·Increase the distance between the search start point and the motion target
are the same, or the point.
distance between the two
points is too short.
SPECIFIED An invalid coordinate The specified coordinate Setting error Check the settings for the coordinate system which can be used.
4508 ERROR(COORDINAT system was specified. 0 system does not exist.
E)
Number Message Code
Designation error of the master Setting error Check the settings for the coordinate system which can be used.
tool coordinate system. This
1
coordinate system cannot be
used.
Designation error of the tool Setting error Check the settings for the coordinate system which can be used.
coordinate system. This
2
used.
Alarm List

Designation error of the Setting error Check the settings for the coordinate system which can be used.
direction of travel coordinate
3 system (for a shared function).
This coordinate system cannot
be used.
Alarm List-843
Designation error of the any Setting error Check the settings for the coordinate system which can be used.
direction coordinate system
4 (for a shared function). This
used.
approximation tool coordinate
5 system (for a shared function).
be used.
Number Message Code
conveyor coordinate system.
6
be used.
COMARC coordinate system.
8
be used.
Alarm List

Designation error of the power Setting error Check the settings for the coordinate system which can be used.
sensor coordinate system.
9
be used.
Alarm List-844
cylindrical coordinate system.
10
be used.
coordinate system for the
11 external reference point. This
used.
Number Message Code
coordinate system for 3D
12
shifting. This coordinate
system cannot be used.
KOMATSU tool Z-direction
13 operation coordinate system.
be used.
Alarm List
KOMATSU tool JOG operation
14 coordinate system. This
used.
Alarm List-845
coordinate system at IMOV for
15
3D shifting. This coordinate
system cannot be used.
Designation error of the H- Setting error Check the settings for the coordinate system which can be used.
LINK type cylindrical
used.
Number Message Code
FSER_FRAME type cylindrical
used.
reference USER_FRAME type
18 cylindrical coordinate system.
be used.
Alarm List
MFRAME ERROR An error occurred at The master-tool user Setting error Execute the MFRAME instruction in coordinated job when you make the
4509 MFRAME execution. 1 coordinates could not be master tool user coordinate.
prepared.
Alarm List-846
reference user frame cannot Setting error Check the following settings.
2
be used. ·reference user frame
position type variable (P Setting error Check the following settings.
3
variable) cannot be used. ·position type variable (P variable).
CANNOT EXECUTE The SQRT instruction Setting error Check the job settings so that the second argument of SQRT instruction
INSTRUCTION(SQRT could not be executed. does not become negative.
) An attempt was made to
4510 calculate the square root
of negative value. (The
second argument was
negative.)
Number Message Code
OUT OF The pulse difference of Sub Code: Control group Setting error Confirm the load setting to the robot.
RANGE(DROP- the robot position exceeding the allowable value
VALUE) exceeded the allowable
4511 value between when the
servo was OFF previously
and when the servo was
ON this time.
Alarm List
TWO STEPS SAME In the user coordinates for Setting error Check the settings so that the teaching points are not aligned in a straight
LINE(3 STEPS) calibration between line.
4512 manipulators, three or
more teaching points are
aligned in a straight line.
EXCESSIVE This alarm occurs if the Sub Code: Control group and Setting error Check the following settings.
Alarm List-847
SEGMENT(SAFETY operation command axis ·Reduce the speed of the step where the alarm occurred.
1): LOW/HIGH which exceeds the ·Change the move instruction to joint interpolation (MOVJ).
designated max. speed is * Be careful to the peripheral interference since its movement changes.
output.
4513 It may occur when the
its orientation widely with
single control point.
Number Message Code
EXCESSIVE This alarm occurs if the Sub Code: Control group and Setting error Check the following settings.
SEGMENT(SAFETY operation command axis ·Reduce the speed of the step where the alarm occurred.
2): LOW/HIGH which exceeds the ·Change the move instruction to joint interpolation (MOVJ).
designated max. speed is * Be careful to the peripheral interference since its movement changes.
output.
4515 It may occur when the
its orientation widely with
single control point.
Alarm List

SEARCH MONITOR An error occurred in Sub Code: The related control- Software (1)Reset the alarm, and then try again.
SET ERROR(SERVO) search/monitoring mode group operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
settings in servo section. occurred YASKAWA representative about occurrence status (operating procedure).
4517 An error occurred in
interface with servo
section at search/
monitoring mode.
Alarm List-848
SEARCH MON An error occurred in Sub Code: The related control- Software (1)Reset the alarm, and then try again.
RELEASE search/monitoring mode group operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERR(SERVO) releasing in servo section. occurred YASKAWA representative about occurrence status (operating procedure).
4518 An error occurred in
interface with servo
section at search/
monitoring mode.
AXIS BLOCKING A motion was Sub Code: Control group Setting error Check the settings for the general-purpose input signal set in the
commanded for the group parameter.
4520
axis during axis block at
play mode.
Number Message Code
WRONG JOB TYPE Job type is inconsistent. Sub Code Setting error Check the settings for the job to be started.
0000_0001: A robot job was
started from the concurrent job
at CALL/JUMP instruction
execution.
0000_1001: A concurrent job
4521 was started from the robot job
at CALL/JUMP instruction
execution.
1000_0001: A system job was
started from the robot job at
CALL/JUMP instruction
Alarm List
execution.
TAG DATA CHANGE An error occurred at tag An attempt was made to Setting error The variable tag cannot be changed. Correct the job so as not to use the
4522 PROCESS ERROR data change. 0 change the contents of variable tag.
variable tag data.
Alarm List-849
1 change the tag data for the job
prohibited from being edited.
An error occurred at instruction Software (1)Reset the alarm, and then try again.
2 read-in. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The tag is not registered. Software (1)Reset the alarm, and then try again.
The tag data was variable Setting error The variable tag cannot be changed. Correct the job so as not to use the
4
specification. variable tag.
Number Message Code
The value which it was made Setting error Check the contents of changing data.
5 to change exceeded the limit
of tag data.
An error occurred at tag data Software (1)Reset the alarm, and then try again.
7 change. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The teaching points are Software (1)Reset the alarm, and then try again.
SHARED AXES An error occurred at
4523 1 incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
CONTROL ERROR shared base axes control.
Alarm List
Robot information for Software (1)Reset the alarm, and then try again.
implementing the shared base operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2
axes control can not be occurred YASKAWA representative about occurrence status (operating procedure).
acquired.
Robot axes, base axis Software (1)Reset the alarm, and then try again.
3 specification error. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Control number of the main Software (1)Reset the alarm, and then try again.
Alarm List-850
4 side base axis is abnormal. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Independent control base axis Software (1)Reset the alarm, and then try again.
5 group error. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Shared base axes current Software (1)Reset the alarm, and then try again.
6 value creation error. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Independent control slave side Software (1)Reset the alarm, and then try again.
7 speed calculation error. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Independent control slave side Software (1)Reset the alarm, and then try again.
8 speed check error. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Independent control Prohibit Setting error In shared base axes control, the robot of slave side MOVS, EIMOVL,
9
command execution error. EIMOVC can not be used. Please correct the job.
Independent control slave side Setting error The independent control slave side, can not be coordinated motion. Please
10 coordinated motion correct the job.
specification error.
CANNOT EXECUTE An error occurred at Setting error Delete an instruction that cannot be executed such as move instruction in
INST(CONCUR JOB) concurrent job execution. the concurrent job.
Alarm List
There was an instruction

4524
that cannot be executed
such as move instruction
in the concurrent job.
The specified JOB An interrupt job (user setting) Setting error Check the job so that the interrupt job will not start-up during the back
CANNOT EXECUTE
4525 couldn't be executed. 1 is started up during the back operation.
Alarm List-851
SPECIFIED JOB
operation.
An suspend macro job is Setting error Check the job so that the suspend macro job will not start-up during the
2 started up during the back back operation.
operation.
An interrupt job (inside the Setting error Check the job so that the interrupt job will not start-up during the back
3 system) is started up during operation.
the back operation.
Number Message Code
A FOLGE job is started up Setting error Check the job so that the FOLGE job will start-up from the registered
4 from a job except the master job.
registered master job.
UNDEFINED PORT Incorrect analog output Setting error Check the settings for the specified analog output port number.
NO.(AOUT) port number
4527 The specified analog
output port number was
not allowed.
Alarm List

SYNTAX ERROR An error occurred in the A syntax error was found in the Software (1)Reset the alarm, and then try again.
4528 instruction syntax. 1 IF sentence. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
TWIN An error occurred at twin A job without control group Setting error Check the control group setting of the job to be started by SYNC.
4529 COORDINATED synchronization 1 was started by SYNC
ERROR execution. instruction.
Alarm List-852
A job only with robot axes was Setting error Check the control group setting of the job to be started by SYNC.
2
started by SYNC instruction.
A job only with master control Setting error Check the control group setting of the job to be started by SYNC.
3 group axes was started by
SYNC instruction.
At full synchronization, the Software (1)Reset the alarm, and then try again.
completion timings of move operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4
instructions for the master and occurred YASKAWA representative about occurrence status (operating procedure).
the slave disagreed.
Number Message Code
At full synchronization, no Software (1)Reset the alarm, and then try again.
5 operation request from the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
master was sent. occurred YASKAWA representative about occurrence status (operating procedure).
At full synchronization, the Software (1)Reset the alarm, and then try again.
execution timings of move operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
6
instructions for the master and occurred YASKAWA representative about occurrence status (operating procedure).
the slave disagreed.
The twin synchronous ID Software (1)Reset the alarm, and then try again.
7 number is incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
An attempt was made to Setting error Match the system number specification of the master between the job to be
Alarm List
execute triple synchronization started by SYNC.

8
when specified Sub-master for
the master was different.
CONVEYOR An error occurred in The base axis specification is Setting error Set the base axis specification of conveyor characteristic file to either 0, 1,
4530 TRACKING ERROR conveyor synchronization 1 other than 1 or 2 for conveyor or 2.
execution. characteristic file.
Alarm List-853
No robot axis in the job for Setting error Correct the job setting so that the robot axis tracking is executed in the job
2
robot axis tracking where robot axis exists.
No base axis in the job for Setting error Correct the job settings so that the base axis tracking is executed in the job
3
base axis tracking where base axis exists.
The conveyor board number Setting error Check the specification of conveyor condition file number for use.
4 and conveyor characteristic file
number used are incorrect.
Number Message Code
There was no conveyor start Software (1)Reset the alarm, and then try again.
5 position data at prereading operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
No base axis in the job for arc Setting error Correct the job setting so that the arc tracking is executed in the job where
10
tracking robot axis exists.
The set value for the Setting error Set a larger value for the TRACKING CORRECTION in the Conveyor
TRACKING CORRECTION in condition file to be used.
11
a Conveyor condition file is
abnormal.
Alarm List
UNDEFINED Conveyor characteristic Sub Code: Conveyor Setting error Set "Use state" of conveyor characteristic file to "1: Use."
CONVEYOR COND file is not set. characteristic file number
FILE "Use state" of the
4531
conveyor characteristic
file set for the job is not
set to "1: Use".
Alarm List-854
CONVEYOR SPEED The conveyor speed Sub Code: Conveyor number Setting error Correct the "Conveyor Lowest Speed" set in the conveyor characteristic
DOWN decreased below the file.
4532 "Conveyor Lowest Speed"
set in the conveyor
characteristic file.
ARITHMETIC An error occurred when Designation error of the Software (1)Reset the alarm, and then try again.
4533 ERROR(CV conveyor tracking was 1 conveyor tracking control- operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
TRACKING) being used. group occurred YASKAWA representative about occurrence status (operating procedure).
Designation error of the user Software (1)Reset the alarm, and then try again.
2 coordinates for the conveyor operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
tracking occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
An attempt was made to use Setting error The conveyor tracking cannot be executed to the slave manipulator of the
the conveyor tracking function coordinate system. Correct the job so that the conveyor tracking perform by
3
with the slave manipulator at the robot unit or without coordinated motion.
coordinate motion.
Zero is set for the resolution for Setting error Check the settings for the resolution.
4
the turn-table synchronization.
TORQUE The load torque of an axis Setting error Check the following settings.
Alarm List
INTERFERENCE motor exceeded the ·Correctly set the weight information in the tool file. ( Are the weight: W and
4534 allowable value when the the number set to the load value of either Xg, Yg or Zg?)
manipulator is operating ·Reduce the speed in the step where the alarm occurred.
at the specified speed.
TARGET VARIABLE An error occurred when An attempt was made to obtain Setting error Obtain as the byte type variable.
4535 TYPE UNMATCHED the system variable was 0 the byte type system variable
Alarm List-855
obtained . by the other type variable.
An attempt was made to obtain Setting error Obtain as the integer type variable.
the integer type system
1
variable by the other type
variable.
An attempt was made to obtain Setting error Obtain as the double-precision integer-type variable.
the double-precision integer-
2
type system variable by the
other type variable.
Number Message Code
An attempt was made to obtain Setting error Obtain as the real-number type variable.
the real-number type system
3
variable by the other type
variable.
An attempt was made to obtain Setting error Obtain as the character-string type variable.
the character-string type
4
system variable by the other
type variable.
Alarm List

An error occurred while "SYMOVJ" instruction is Setting error Do not use "SYMOVJ" instruction in robot axis tracking.
ROBOT AXIS
4538 performing robot axis 0 executed at robot-axis
TRACKING INVALID
tracking. tracking.
CORNER R An error occurred at The Corner-R motion cannot Setting error Do not use the Corner-R motion for coordinated motion.
4539 CONTROL ERROR corner-R execution. 1 be used for coordinated
Alarm List-856
motion.
An attempt was made to Setting error Check the settings for the teaching so that the start step and end step are
2 execute the Corner-R motion not on the same point.
for the same point.
The Corner-R zone is taught Setting error Check the settings for teaching so that the Corner-R zone is not on a strait
3
on a straight line. line.
Number Message Code
The start position or end Setting error Check the following settings.
position for the Corner-R ·Make the setting for the Corner-R radius small.
4 motion could not be calculated ·Make the moving amount of the Corner-R start step long.
inside the start zone or the end ·Make the moving amount of the Corner-R start end long.
zone.
The Corner-R motion cannot Setting error Do not use the Corner-R motion for master manipulators at coordinated
5 be used for coordinated motion motion.
(with master manipulators).
Alarm List

The Corner-R motion cannot Setting error Use a MOVL instruction when using the Corner-R motion.
6 be used for MOVC, MOVS,
and EIMOVC instructions.
The Corner-R motion is Setting error Do not perform weaving when using the Corner-R motion.
7
disabled during weaving.
Alarm List-857
Different tool numbers are set Setting error Use the same tool number in a Corner-R zone.
in a Corner-R zone (for the
8
Corner-R middle step and end
step).
The Corner-R motion is Setting error Disable the higher-order acceleration/deceleration when using the Corner-
disabled when the higher- R motion.
9
order acceleration/
deceleration is specified.
Number Message Code
The Corner-R motion is Setting error Do not perform the conveyor tracking when using the Corner-R motion.
17 disabled during conveyor
tracking.
Arithmetic error occurred when Setting error Do not perform the conveyor tracking when using the Corner-R motion.
calculating the acceleration
18
and deceleration time for the
Corner-R operation
Alarm List
Arithmetic error occurred when Setting error Do not perform the conveyor tracking when using the Corner-R motion.
calculating acceleration and
19 deceleration during test run in
consideration of servo delay
for the Corner-R motion.
JOB QUE EMPTY No job queue data. Setting error Use "CALL QUE" under the condition that the job data is set to the job
Alarm List-858
ERROR "QUE" is used in CALL or queue .
4540 JUMP instruction under
the condition that no job
queue is used.
INVALID INPUT An error occurred at VAL There was no character string Setting error Check the settings for the data of the character string to be extracted.
STRING(VAL) instruction execution. representing a constant in
4541 A character string could 1 character string to be extracted
not be converted to a at VAL instruction execution.
numerical value.
Number Message Code
MRESET ERROR An error occurred at An MRESET instruction was Setting error Set the endless axis.
4542 MRESET instruction 1 executed while no endless axis
execution. was designated.
STACK LESS THAN An error occurred at job At job return, an attempt was Software (1)Reset the alarm, and then try again.
0(JOB CALL) return. made to fetch a data from an operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4543 An error occurred in empty job call stack or to stack occurred YASKAWA representative about occurrence status (operating procedure).
control of job call stack. a data in the job call stack that
is full.
MID$ INST ERROR An error occurred at MID$ The first character of character Setting error Check the settings for the data of the character string to be extracted.
Alarm List
instruction execution. string to be extracted is null at

4544 1
The character string could MID$ instruction execution.
not be extracted.
The extraction start position Setting error Check the settings for the data of the character string to be extracted.
exceeds the character string
2
length at MID$ instruction
Alarm List-859
execution.
CANNOT EXECUTE The system job could not Sub Code: System number Software (1)Reset the alarm, and then try again.
SYSTEM JOB be executed. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4546 An error in the system occurred YASKAWA representative about occurrence status (operating procedure).
start number of system
job.
PRIMITIVE ERROR An error occurred in OS. Sub Code: Error code Software (1)Reset the alarm, and then try again.
CANNOT OPERATE The specified event could Sub Code: System number Software (1)Reset the alarm, and then try again.
SPECIFIED EVENT not be operated at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4548
INIEVNT instruction occurred YASKAWA representative about occurrence status (operating procedure).
execution.
Number Message Code
NOT EXECUTION OF INIEVNT instruction was Sub Code: System number Setting error Execute an INIEVNT instruction before executing an event related
INIEVNT not executed before instruction.
4549
having executed the
event related process.
CANNOT EXECUTE The specified instruction Sub Code: System number Setting error This instruction cannot be executed in the system job. Correct the job so
4550 INST(USER JOB) in the user job could not that the instruction is executed in the user job.
be executed.
Alarm List
CANNOT MEASURE When executing Sub Code: Gun number Setting error Execute the "SVGUNCL TWC-AE", and then execute the "SVGUNCL
TIP INSTALL COEF "SVGUNCL TWC=BE", TWC=BE".
the tips installation
correction value of fixed
4551 side was not measured,
so the tips installation
correction value of
movable side could not be
measured,
Alarm List-860
SOFTWARE The used function and the The multi-layer welding Software (1)Reset the alarm, and then try again.
4565 UNMATCH system are inconsistent. 1 function is not used. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The observer function is not Software (1)Reset the alarm, and then try again.
2 used. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The TURBO function is not Software (1)Reset the alarm, and then try again.
The COMARC function is not Software (1)Reset the alarm, and then try again.
Number Message Code
The conveyor/press Software (1)Reset the alarm, and then try again.
5 synchronization function is not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
used. occurred YASKAWA representative about occurrence status (operating procedure).
The shared motion function is Software (1)Reset the alarm, and then try again.
6 not used. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The layer motion function is Software (1)Reset the alarm, and then try again.
The general sensor function is Software (1)Reset the alarm, and then try again.
Alarm List

The servo float function is not Software (1)Reset the alarm, and then try again.
The laser cutting function (with Software (1)Reset the alarm, and then try again.
10 small circle cutter) is not used. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The motor gun function (for Software (1)Reset the alarm, and then try again.
Alarm List-861
11 spot welding application) is not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The speed control function Software (1)Reset the alarm, and then try again.
12 (VCON/VCOF) is not used. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The servo hand function (for Software (1)Reset the alarm, and then try again.
13 handling application) is not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The laser cutting function (for Software (1)Reset the alarm, and then try again.
14 form cutting operation) is not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The series communication Software (1)Reset the alarm, and then try again.
15 function between the systems operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
(PSEND/PRECV) is not used. occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
The motion extension function Software (1)Reset the alarm, and then try again.
16 is not used. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The ME-NET function is not Software (1)Reset the alarm, and then try again.
The MEMO-PLAY function is Software (1)Reset the alarm, and then try again.
The 3D-SHIFT function is not Software (1)Reset the alarm, and then try again.
Alarm List

The Equalization function is Software (1)Reset the alarm, and then try again.
255 execute an undefined operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
USER FRAME An internal control error The teaching points are Software (1)Reset the alarm, and then try again.
Alarm List-862
4566 MAKING ERROR occurred at preparation of 1 incorrect. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
a user coordinates. occurred YASKAWA representative about occurrence status (operating procedure).
The teaching points for user- Setting error Among three taught points in the teaching position. Teach the three points
2 coordinate turning are again so that they do not lie in the straight line.
incorrect.
The robot axis is not specified Software (1)Reset the alarm, and then try again.
for the control group of the job operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
3
to prepare the user occurred YASKAWA representative about occurrence status (operating procedure).
coordinates.
Position data error Software (1)Reset the alarm, and then try again.
Number Message Code
Setting error of the slave group Software (1)Reset the alarm, and then try again.
6 for user coordinate conversion operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
CANNOT MONITOR The distance could not be Setting error Check the following settings.
DISTANCE monitored when ·Change the interpolation instruction to MOVL/MOVC.
executing a move ·Change the setting so that the arc retry or restart operation does not
instruction. perform.
4567
execute MOVJ/MOVS
instruction in arc retry or
restart operation.
Alarm List

UNDEFINED PRESS No press characteristic Sub Code: Press characteristic Setting error Set the status of press characteristic file to be used in the job to "Used
COND DATA FILE file is set. file number State."
4568 An attempt was made to
use the unused press
characteristic file in a job.
Alarm List-863
UNDEFINED PRESS No press resolution data Sub Code: Press characteristic Setting error Set the press resolution data to be used in the job.
RESOLUTION DATA is set. file number
The status of press
4569
resolution data to be used
in the job was set to
"Incomplete".
SERVO FLOAT The servo float mode Software (1)Reset the alarm, and then try again.
MODE RELEASE could not be reset when operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4571
ERR executing a FLOATOF occurred YASKAWA representative about occurrence status (operating procedure).
instruction.
NO SERVO GUN The control group for the Setting error Set the "motor gun axis" in the control group setting of maintenance mode.
4572
CONTROL GROUP motor gun is not set.
Number Message Code
SPOT WELDER NO. The spot welder number Sub Code: Welder number Setting error Correct the welder number set in the gun characteristic file.
4573
ERROR is incorrect.
SPOT WELD The spot welding did not Sub Code: Welder number Setting error Check the following settings.
COMPLETE TIME complete within the ·Turn ON the timer contactor power.
LIMIT specified time. ·If the response from the timer takes too long time due to the system layout,
Neither the welding increase the timeout time.
4574 completion signal nor the
Alarm List
welding error signal was

received from the timer
conductor within the set
time.
ERROR IN WELD Incorrect setting of spot Setting error Check the following settings.
START TIMING SET welding start timing ·Check the settings for the "WST" tag.
Alarm List-864
For motor gun, the ·Check the settings for the pressure file.
4575 welding timing was set to
"After First Pressure"
while no 2nd pressure
was set.
ERR IN MOTOR GUN The gun control mode Software (1)Reset the alarm, and then try again.
CONT MODE could not be set at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4576
SVSPOT/SVGUNCL occurred YASKAWA representative about occurrence status (operating procedure).
ERR IN MOTOR GUN The gun control mode Software (1)Reset the alarm, and then try again.
MODE RELEASE could not be released at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4577
SVSPOT/SVGUNCL occurred YASKAWA representative about occurrence status (operating procedure).
Number Message Code
SPOT WELD ERROR An error occurred when Sub Code: Welder number Setting error Check the settings for the timer conductor where the welding error
executing welding using occurred.
4578
the specified system timer
conductor.
ANTICIPATION An error occurred in the No availability in anticipation Setting error Maximum simultaneous execution number of anticipation control is twenty.
4579 CONTROL ERROR anticipation control 1 control Correct the settings for the job so that it is within twenty.
processing.
Alarm List
The anticipation data Software (1)Reset the alarm, and then try again.
2 exceeded the maximum operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
length. occurred YASKAWA representative about occurrence status (operating procedure).
anticipation control did not Software (1)Reset the alarm, and then try again.
3 complete within the setting operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
time. occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-865
ANTICIPATION Anticipation could not be Setting error Operate the manipulator to the start position of the step where the alarm
DISTANCE NOT executed at re-painting. occurred, and then re-execute.
4580 ENOUGH No return step in re-
painting function after
emergency stop.
DEFECTIVE An error occurred in the Incorrect setting of OT output Setting error Check the setting value of OT output number.
4581 ANTICIPATION OT anticipation output file. 1 number for anticipation output
FILE file
Incorrect setting of OG output Setting error Check the setting value of OG output number.
2 number for anticipation output
file
Number Message Code
CANNOT EXECUTE An invalid gun type is set. Setting error Check the settings for the motion mode set to the gun.
4583 GUN TYPE The mode impossible to
control is set for the gun.
STRWAIT TIME LIMIT An error occurred when Setting error Check the cause such as defective limit switch.
executing a STRWAIT
instruction.
No confirmation signal
4584
Alarm List
specified in the stroke

change confirmation
instruction was input
within the set time.
SERVO PG ON The encoder (PG) power Connection (1)Reset the alarm, and then try again.
ERROR supply could not be failure (2)If the alarm occurs again, check the connection and inserting state of the
4585
Alarm List-866
turned ON. following cables and connectors.
·Each axes encoder cable
MOTOR GUN An error occurred when A GUNCHG instruction was Setting error Validate the gun change parameter.
CHANGE ERROR gun change execution. executed in the system
4587 1
configuration that did not allow
the gun change function.
A GUNCHG/PICK instruction Setting error Execute GUNCHG/PICK instruction when the motor gun motor is servo
2 was executed while the motor OFF.
gun motor was servo ON.
Number Message Code
A GUNCHG/PICK instruction Setting error Execute GUNCHG/PICK instruction when the ATC is in chuck status.
3 was executed while the ATC
was in unchuck status.
A GUNCHG/PLACE Setting error Execute GUNCHG/PLACE instruction when the ATC is in chuck status.
instruction was executed while
4
the ATC was in unchuck
status.
Alarm List
The encoder power supply Connection (1)Reset the alarm, and then try again.
could not be turned ON when failure (2)If the alarm occurs again, check the connection and inserting state of the
5
executing a GUNCHG/PICK following cables and connectors.
instruction. ·The encoder cable of motor gun
The encoder power supply Connection (1)Reset the alarm, and then try again.
could not be turned OFF when failure (2)If the alarm occurs again, check the connection and inserting state of the
Alarm List-867
6
executing a GUNCHG/PLACE following cables and connectors.
instruction. ·The encoder cable of motor gun
The gun number specified by Setting error Check the following settings.
the GUNCHG instruction did ·Change the gun characteristic file number specified by GUNCHG
7 not agree with the gun instruction to object gun number.
identification signal. ·Change the gun identification signal so that it become the objective gun
number.
The 1st gun axis selection Setting error Check the 1st gun axis selection signal setting.
signal is not set when
8
executing the twin-wrist gun
change.
Number Message Code
The right and left gun axis Setting error Check the setting for the gun axis selection signal.
selection signals were
9
duplicated when executing the
twin-wrist gun change.
The control group for gun axis Setting error Check the settings for the control-group of the job.
10 is not set in the gun change
job.
Alarm List
Multiple manipulators are not Setting error Check the settings for the control-group of the job.
11
set in the gun change job.
ABRASION BASIS When executing the wear Setting error Resister the reference position of wear correction.
Alarm List-868
POS UNSETTING correction operation, the
reference position of wear
correction was not
registered under the
4589
condition that "Specific
input: overwriting
reference position of wear
detection" was turned
OFF.
NO SERVO HAND The control group was not Setting error Set the "servo hand axis" in the control group setting of maintenance mode.
4590 CONTROL GROUP set for the servo hand
control.
Number Message Code
SPEED CTRL MODE The speed control mode Software (1)Reset the alarm, and then try again.
4591 SET ERR(SERVO) could not be set at VCON operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
instruction execution. occurred YASKAWA representative about occurrence status (operating procedure).
SPEED CTRL MODE The speed control mode Software (1)Reset the alarm, and then try again.
CANCEL ERR(SV) could not be released at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4592
VCON instruction occurred YASKAWA representative about occurrence status (operating procedure).
execution.
SVHAND CTRL The servo hand control Software (1)Reset the alarm, and then try again.
MODE SET mode could not be set at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4593
ERR(SERVO) SHPICK instruction occurred YASKAWA representative about occurrence status (operating procedure).
execution.
Alarm List
SVHND CTRL MODE The servo hand control Software (1)Reset the alarm, and then try again.
CANCEL ERR(SV) mode could not be set at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
4594
SHPLACE instruction occurred YASKAWA representative about occurrence status (operating procedure).
execution.
CAN'T DO FIXED An error occurred at form The setting for radius is Setting error Check the following settings.
FORM CUT MOTION cutting operation. incorrect. ·Setting of the radius data
(1) For a circle, it is incorrectly
set as: radius <= 0, radius <
minimum radius value, or
Alarm List-869
radius > maximum radius
4595 1
value.
(2) For an ellipse, it is
incorrectly set as: radius <= 0,
radius < minimum radius
value/2, or radius > (maximum
radius/2 - width/2).
Number Message Code
The setting for width is Setting error Check the following settings.
incorrect. ·Setting of the width data
(1) For a rectangle, it is
incorrectly set as: width < 1.0,
width > sqrt (maximum
2
diameter2 - height2), or width
> maximum diameter.
(2) It is incorrectly set as: width
< 0, width > maximum
diameter -2 * radius.
Alarm List
The setting for height is Setting error Check the following settings.
incorrect. ·Setting of the height data
incorrectly set as: height >
3
maximum diameter, height <
minimum diameter/2, or height
> sqrt (maximum diameter2 -
width2).
Alarm List-870
The setting for the corner Setting error Check the following settings.
radius is incorrect. ·Setting of the corner radius
4
incorrectly set as: corner
radius > width/2 or corner
radius > height/2.
Number Message Code
The setting for overlap is Setting error Check the following settings.
incorrect. ·Setting of the overlap data
incorrectly set as overlap >
width/2.
5 (2) For a circle, it is incorrectly
set as overlap > ABS (2π *
radius).
(3) For an ellipse, it is
incorrectly set as overlap > π *
radius +ABS (width/2).
Alarm List

The setting for the cutting Setting error Check the following settings.
speed is incorrect. It is set as ·Setting of the cutting speed
6
the cutting speed > maximum
linear speed.
Coordinated motion cannot be Setting error Do not use the coordinated motion.
Alarm List-871
7 used with the Form Cutting
motion.
Zero or a negative value is set Setting error Check the following settings.
in the minimum diameter ·The setting of the minimum diameter parameter (S1CxG063) for the Form
8
parameter (S1CxG063) for the Cutting motion.
Form Cutting motion.
Zero or a negative value is set Setting error Check the following settings.
in the maximum diameter ·The setting of the maximum diameter parameter (S1CxG063) for the Form
9
parameter (S1CxG064) for the Cutting motion.
Form Cutting motion.
Number Message Code
Although "PLACEMENT" or Setting error Execute the FORMAPR instruction.
"AUTO" is set for the start
point designation on the
10
FORM CUT SETTING
window, the FORMAPR
instruction was not executed.
The Cut file setting of the Setting error The Cut file settings of FORMAPR and FORMCUT instructions must be
Alarm List
FORMAPR instruction is same.

11
different from that of the
FORMCUT instruction.
A FORMAPR instruction was Setting error Check the following settings.
used for the conventional ·The FORMAPR instruction cannot be used for the conventional
12
FORMCUT instruction. FORMCUT instruction.
Alarm List-872
·Validate the new FORMCUT instruction.
A form other than a circle, Setting error Check the following settings.
rectangle, and ellipse was ·A form other than a circle, rectangle, and ellipse cannot be designated for
13 designated for the the conventional FORMCUT instruction.
conventional FORMCUT ·Validate the new FORMCUT instruction.
instruction.
The radius data setting for Setting error Check the following settings.
special circular interpolation is ·Setting of the radius data
90
incorrect. It is incorrectly set
as the radius <= 0.
Number Message Code
The arc center coordinates Setting error Check the following settings.
could not be calculated at ·Setting of the teaching
91 special circular interpolation.
Incorrect teaching may be the
cause.
The averaging time at special Setting error Check the following settings.
93 circular interpolation motion is ·Moving distance
Alarm List
too short. ·Motion speed

Because the designated plane Setting error Check the following settings.
included reference points at ·Setting of the reference point 2
special circular interpolation
motion, the arc center
94
coordinates could not be
Alarm List-873
calculated. Incorrect teaching
of the reference point 2 may be
the cause.
The arc center position is not Setting error Check the settings for the reference point 1 as the arc center position.
100 set for the special circular
interpolation motion.
FORMCUT ERROR An error occurred at An attempt was made to re- Execute condition Re-execute the move instruction executed before the FORMCUT
4596 FORMCUT instruction 1 execute the FORMCUT failure instruction, and then execute the FORMCUT instruction again.
execution. instruction after interrupting it.
Number Message Code
OFFLINE POSITION An internal control error Incorrect information of Software (1)Reset the alarm, and then try again.
4597 DATA CONVERT occurred at offline 1 reference position data for operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
ERR position data conversion. offline position data conversion occurred YASKAWA representative about occurrence status (operating procedure).
Incorrect user-coordinate Software (1)Reset the alarm, and then try again.
number designation in the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2
standard position data for occurred YASKAWA representative about occurrence status (operating procedure).
offline position data conversion
Incorrect reference-point data Software (1)Reset the alarm, and then try again.
3 for offline position data operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
conversion occurred YASKAWA representative about occurrence status (operating procedure).
The standard position data for Setting error The variable position may be out of the robot motion range. Check if the
Alarm List
offline position data conversion variable position is within the robot motion range.
4
could not correctly be
calculated.
Incorrect pulse incremental Software (1)Reset the alarm, and then try again.
5 value for offline position data operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-874
The position data could not Software (1)Reset the alarm, and then try again.
correctly be added by the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
6 pulse incremental value at the occurred YASKAWA representative about occurrence status (operating procedure).
offline position data
conversion.
Incorrect Cartesian Software (1)Reset the alarm, and then try again.
7 incremental value for offline operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
position data conversion occurred YASKAWA representative about occurrence status (operating procedure).
The position data could not Setting error The variable position may be out of the robot motion range. Check if the
correctly be added by the variable position is within the robot motion range.
8 Cartesian incremental value at
the offline position data
conversion.
Number Message Code
The position conversion could Software (1)Reset the alarm, and then try again.
not be done in the designated operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
9 coordinate system at the occurred YASKAWA representative about occurrence status (operating procedure).
conversion.
Incorrect incremental value of Software (1)Reset the alarm, and then try again.
10 angle for offline position data operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The position data could not Software (1)Reset the alarm, and then try again.
correctly be added by the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
11 incremental value of angle at occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List
conversion.
The reverse shift value for 3D Software (1)Reset the alarm, and then try again.
shifting could not correctly be operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
12
calculated at the offline occurred YASKAWA representative about occurrence status (operating procedure).
position data conversion.
The reverse shift value for 3D Software (1)Reset the alarm, and then try again.
shifting could not correctly be operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
13
added at the offline position occurred YASKAWA representative about occurrence status (operating procedure).
Alarm List-875
data conversion.
The reverse shift value could Software (1)Reset the alarm, and then try again.
not correctly be calculated at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
14
the offline position data occurred YASKAWA representative about occurrence status (operating procedure).
conversion.
The reverse shift value could Software (1)Reset the alarm, and then try again.
not correctly be calculated at operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
15
the offline position data occurred YASKAWA representative about occurrence status (operating procedure).
conversion.
The 3D shifting value could not Software (1)Reset the alarm, and then try again.
correctly be added at the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
16
offline position data occurred YASKAWA representative about occurrence status (operating procedure).
conversion.
Number Message Code
The shift value could not Software (1)Reset the alarm, and then try again.
correctly be added at the operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
17
offline position data occurred YASKAWA representative about occurrence status (operating procedure).
conversion.
No reference point is specified Software (1)Reset the alarm, and then try again.
18 for the offline position data operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
conversion. occurred YASKAWA representative about occurrence status (operating procedure).
The positions for the mirror Software (1)Reset the alarm, and then try again.
shift function could not operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
19 correctly be calculated at the occurred YASKAWA representative about occurrence status (operating procedure).
conversion.
Alarm List
The positions could not Setting error The variable position may be out of the robot motion range. Check if the
correctly be converted for the variable position is within the robot motion range.
20 mirror shift function at the
conversion.
Alarm List-876
The expansion positions for Setting error The variable position may be out of the robot motion range. Check if the
the mirror shift function could variable position is within the robot motion range.
21 not correctly be converted at
conversion.
Incorrect designation of Software (1)Reset the alarm, and then try again.
coordinates for a new mirror- operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
22
shift conversion function at the occurred YASKAWA representative about occurrence status (operating procedure).
offline position data conversion
Incorrect designation of the Software (1)Reset the alarm, select [UTILITY]-[ARC SHIFT CANCEL], and then try
occupation control group for operation error again.
23
welding path shift function. occurred (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
The inverse shift data for Software (1)Reset the alarm, select [UTILITY]-[ARC SHIFT CANCEL], and then try
welding path shift function operation error again.
24
could not correctly be occurred (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
calculated. YASKAWA representative about occurrence status (operating procedure).
The inverse shift data for Software (1)Reset the alarm, select [UTILITY]-[ARC SHIFT CANCEL], and then try
welding path shift function operation error again.
25
could not correctly be added. occurred (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
PAINTOUT ERROR An error occurred at The parameter setting for the Setting error Check the settings for the AxP011.
4598 PAINTOUT instruction 1 universal input group number
execution. is incorrect.
Alarm List
SERVO COMMAND The command could not An attempt was made to issue Software (1)Reset the alarm, and then try again.
ERROR be sent to the servo the command while the servo operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
section. control processing has not occurred YASKAWA representative about occurrence status (operating procedure).
4599
completed.
Sub Code: Servo CPU bit
number
Alarm List-877
UNDEFINED GUN Gun condition file is not Sub Code: Gun condition file Setting error Complete the gun condition file setting.
4601
COND FILE set. number
WIRE STICKING Wire stick occurred at Sub Code: Welder number Setting error Remove the cause of wire stick.
spot welding.
4603
Wire stick was detected at
the welder.
SPECIFIED No home position Setting error Check the following settings.
4604 ERR(ABSO correction data of ·Registration for the home position correction data.
RECOVER AXIS) specified axis.
Number Message Code
SETTOOL ERROR An error occurred when The difference between the Setting error Check the following settings.
executing a SETTOOL current tool constant and a ·Correct the job so that the setting value of tag is allowable value.
instruction. new set value exceeded the ·Set the allowance amount of the tool data automatic setting function
The difference between allowable range (parameter maximum deviation (S3C1192) to large value.
4605 the current tool constant 1 set value).
and a new set value
exceeded the allowable
range (parameter set
value).
LACK OF GLOBAL The memory area of Software (1)Reset the alarm, and then try again.
Alarm List
VARIABLE AREA global variable exceeded operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
the limit value. occurred YASKAWA representative about occurrence status (operating procedure).
4606 An error occurred in the
value of parameter that
defines the number of
global (user) variables.
WRONG EXECUTION An error occurred at The execution macro job is not Setting error Check the settings for execution macro job.
1
4607 OF MACRO INST macro instruction set.
Alarm List-878
execution.
The suspend macro job is not Setting error Check the settings for suspend macro job.
2
set.
An attempt was made to start Setting error Check the settings for macro job.
the job that could not be
3
started by the macro
instruction.
Number Message Code
An error occurred in the Software (1)Reset the alarm, and then try again.
operation process of job call operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
5 stack when the execution of occurred YASKAWA representative about occurrence status (operating procedure).
macro instruction was
canceled.
Incorrect macro number Software (1)Reset the alarm, and then try again.
WRONG EXECUTION An error occurred at The job argument is not set. Setting error Check the settings for jobs.
4608 OF GETARG INST GETARG instruction 1
execution.
Alarm List
No number of the specified job Setting error Check the settings for jobs.
2
argument
The data types of job Setting error Check the settings for jobs.
3
argument disagreed.
Alarm List-879
MEMOPLAY ERROR An error occurred at The memory play file was Setting error Check the setting of the used memory play file number.
4609 2
memory play execution. being used in another system.
The control group in the Setting error Check the control group setting of the used memory play file.
memory play file did not agree
5
with the control group of
execution job.
Number Message Code
An attempt was made to clear Setting error Execute the MEMOF instruction, and then execute the CLEAR instruction.
the memory play file by a
6 CLEAR instruction before
having executed a MEMOF
instruction.
MEMOPLAY An error occurred at Failed to read the memory play Software (1)Reset the alarm, and then try again.
4610 SAMPLING ERROR memory play execution. 1 sampling data. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Failed to write the memory Software (1)Reset the alarm, and then try again.
2
Alarm List
play sampling data. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Failed to seek the memory Software (1)Reset the alarm, and then try again.
3 play sampling data. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Failed to read the memory play Software (1)Reset the alarm, and then try again.
4 file. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List-880
Incorrect mode setting at Setting error Check the settings for the memory play mode.
5
memory play sampling
6 control group at memory play operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
sampling occurred YASKAWA representative about occurrence status (operating procedure).
Designation of the control Setting error Check the number of the memory play file for use.
group in the memory play file
did not agree with the
7 designation of the control
group at MEMON instruction
execution (when the start point
was specified).
Number Message Code
Designation of the control Setting error Check the number of the memory play file for use.
8
designation of the control
execution (at initialization).
designation of the control Setting error Check the number of the memory play file for use.
Alarm List

9
designation of the control
execution (at continue).
It started reproducing though it Setting error Record and then play.
10
Alarm List-881
did not record.
Correction amount to record is Setting error Correct the position of object workpieces so that the correction amount fall
11
out of the allowable range. within allowable range.
The number of recorded Setting error Correct the job so that the movement section of memory play object is
12 correction-amount exceeded shorter.
the limit.
Memoplay file Create error Software (1)Reset the alarm, and then try again.
13 (REC) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Number Message Code
Memoplay debug error Software (1)Reset the alarm, and then try again.
14 C_BANK.func_ctrl (initial) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
15 C_BANK.func_ctrl (continue) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
16 C_BANK RT_BANK.func_ctrl operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
(continue) occurred YASKAWA representative about occurrence status (operating procedure).
Memoplay debug error MOVL, Software (1)Reset the alarm, and then try again.
17 MOVC (continue) operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List

Memoplay debug error Same Software (1)Reset the alarm, and then try again.
18 point, moving amount is zero operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
(continue) occurred YASKAWA representative about occurrence status (operating procedure).
19 Dividing number error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
OVER OPTON INST An error occurred when Setting error Check the settings for the OPTON instruction. OPTON instruction can use
Alarm List-882
EXECUTION LIMIT executing a OPTON only the function to five simultaneously.
instruction.
4611 The number of times that
the OPTON instruction
was executed exceeded
the limit value.
TSYNC ERROR An error occurred at the Sub code: the number of Setting error Check the settings for the number of synchronizations of the TSYNC
execution of the TSYNC synchronizations of the first instruction.
instruction. executed TSYNC
4612 The number of
synchronizations (SNUM)
specified by the TSYNC
instruction disagreed.
Number Message Code
SERVO SEALER A control error occurred The function designation Setting error Check the settings for the function designation parameter.
4613 GUN CONTROL when servo sealer gun 1 parameter is not set.
ERROR was being used.
No sealer gun axis exists at Setting error Check the settings for the control-group of the job.
the job for which the sealer
2
gun control was attempted to
be executed.
Alarm List
No robot axis exists at the job Setting error Check the settings for the control-group of the job.
3 at which an attempt was made
to execute sealer gun control.
Alarm List-883
Incorrect designation of the Setting error Set either "1" or "2" for PRM1 control method designation of the OPTON
4 control method for sealer gun instruction.
control
Incorrect designation of the Setting error If "1" is set for PRM1 of the OPTON instruction, set the PRM2 needle
5 control method for sealer gun position designation to a value between 0 and 100.
control
Incorrect designation of the Setting error If "2" is set for PRM1 of the OPTON instruction, set PRM2 sealing width
6 sealing width for sealer gun designation to a value between 0 and 30.
control
Number Message Code
UNDEFINED The servo sealer gun Setting error Check the settings for servo sealer gun condition file.
4614 SEALERGUN COND condition file is not set.
FILE
I/O AXIS OPERATING I/O axis motion could not An attempt was made to Setting error Check the following settings.
be performed. command a job whose control ·Does not the I/O axis motion executed for the control group that executing
group was in I/O axis motion. the job?
·Does not the job executed for the control group that operating by the I/O
4615
axis motion?
The control group where the I/O axis is operating cannot execute the job.
Moreover, the I/O axis motion cannot perform for the control group where
Alarm List
the job is executing.

AXIS SHIFT ERROR An internal control error The file could not be switched Software (1)Reset the alarm, and then try again.
4616 occurred when shifting 1 because of incorrect start point operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
the axis. designation. occurred YASKAWA representative about occurrence status (operating procedure).
The control group with which Software (1)Reset the alarm, and then try again.
Alarm List-884
the axis shifting is performed operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
2 disagrees with the control occurred YASKAWA representative about occurrence status (operating procedure).
group set for the axis shifting
function in the calibration file.
The calibration file number for Setting error Correct the settings for the OPTON instruction tag so that value of the file
3 axis shifting function is out of number specification is 1 to 32.
the applicable range.
S/U IMPOSSIBLE For the CSL15D For the CSL15D manipulator, Setting error Check the following settings.
MOVE (L/R POS) manipulator, SU-axes the motion speed of S- and U- ·Reduce the teaching speed of S- and U-axes.
4617 cannot be operated in the 1 axes exceeded the upper limit. ·Teach the positions of L- and R-axes again so that S- and U-axes can
position of the present L- move.
and R-axes.
Number Message Code
For the CSL15D manipulator, Setting error Teach the positions of L- and R-axes again so that S- and U-axes can
S- and U-axes were going to move.
move regardless of the limit
2
speed "0" when the positions
of L- and R-axes exceeded the
upper limit.
SHIFT INST An internal control error For the tool shift with Euler Setting error Check if the shift value is setting for Y-axis only.
EXECUTE ERROR occurred at execution of angle ±90 degrees, the shift
4618 1
the SHIFT instruction. value for axes other than Y-
axis is set.
Alarm List
UNDEFINED JOB An error occurred in job Sub Code: Designated Setting error Check the settings for the job registration table.
ENTRY TABLE registration table. registration number
4619
The job registration table
is not set.
Alarm List-885
ARM (TOOL) Parts and tool of Sub Code: Group (Interfering) Setting error Check the following settings.
INTERFERENCE manipulators were about & Axis (Interfering) & Group ·Change the teaching so that the manipulators specified by sub code will
to interfere with each (Interfered) & Axis (Interfered) not interfere with each other.
4620
other. ·Check if the tool model (Tool interference file) of the manipulator specified
by sub code is correctly set.
·Check if calibration between the manipulators are correctly set.
WELD COMPLETE An error occurred in Sub Code: Welder number Setting error Check the settings for welding completion signal.
SIGNAL ERROR welding completion
signal.
4621 The welding completion
signal was ON when
starting the spot welding
Number Message Code
SELF- Each part and tool of the Sub code: Group & Axis Setting error Check the following settings.
INTERFERENCE manipulator was about to (Interfering) & Axis (Interfered) ·Change the teaching so that each part of the manipulator specified by sub
4622 interfere with each other. code will not interfere.
·Check if the tool model (Tool interference file) displayed by sub code is
correctly set.
WRONG EXECUTION An error occurred when An attempt was made to obtain Setting error Check the settings for the GETPOS instruction.
OF GETPOS INST executing a GETPOS the step that used a local
Alarm List
instruction. position type variable. (The

4623 1 step with local position type
variable cannot be fetched.
Example: MOVJ LP000
VJ=25.00)
An attempt was made to obtain Setting error Check the settings for the GETPOS instruction.
Alarm List-886
the step that used a local
position type variable. (The
2 step with local position type
variable cannot be fetched.
Example: MOVJ LP000
VJ=25.00)
The specified step did not Setting error Check the settings for the GETPOS instruction.
3
exist.
PLUG VOLUME Incorrect setting of Setting error Check the setting for the amount of fillings.
4624
SETTING ERROR amount of fillings.
Number Message Code
WRONG EXECUTION An error occurred when No file Software (1)Reset the alarm, and then try again.
4625 OF LOADDB INST executing a LOADDB 1 operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
No directory Software (1)Reset the alarm, and then try again.
There was no directory entry Software (1)Reset the alarm, and then try again.
4 after this point. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Alarm List
No file name Software (1)Reset the alarm, and then try again.
-1 operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
File presence error Software (1)Reset the alarm, and then try again.
Incorrect file name Software (1)Reset the alarm, and then try again.
Alarm List-887
The disk is full. Software (1)Reset the alarm, and then try again.
The directory is full. Software (1)Reset the alarm, and then try again.
I/O error Software (1)Reset the alarm, and then try again.
Invalid handle Software (1)Reset the alarm, and then try again.
Number Message Code
Handle overflow Software (1)Reset the alarm, and then try again.
File has already been opened. Software (1)Reset the alarm, and then try again.
File attribute error Software (1)Reset the alarm, and then try again.
Open mode error Software (1)Reset the alarm, and then try again.
Alarm List

The hardware disk with large Software (1)Reset the alarm, and then try again.
-12 capacity is used. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
The door is open. Software (1)Reset the alarm, and then try again.
The disk is write-protected. Software (1)Reset the alarm, and then try again.
Alarm List-888
Card controller access error Software (1)Reset the alarm, and then try again.
No card Software (1)Reset the alarm, and then try again.
Card drive information readout Software (1)Reset the alarm, and then try again.
-32 error operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Partition table error Software (1)Reset the alarm, and then try again.
Number Message Code
No drive number Software (1)Reset the alarm, and then try again.
No specified partition number Software (1)Reset the alarm, and then try again.
Cluster size error Software (1)Reset the alarm, and then try again.
Incorrect number of sectors Software (1)Reset the alarm, and then try again.
Alarm List

Sector/byte error Software (1)Reset the alarm, and then try again.
Card not applicable for I/O Software (1)Reset the alarm, and then try again.
Unsupported version Software (1)Reset the alarm, and then try again.
Alarm List-889
The setting register did not Software (1)Reset the alarm, and then try again.
-42 exist. operation error (2)If the alarm occurs again, save the CMOS.BIN, and then contact your
Card not applicable for ATA Software (1)Reset the alarm, and then try again.
Double chain error Software (1)Reset the alarm, and then try again.
Media error (not fixed disk) Software (1)Reset the alarm, and then try again.
Number Message Code
ATA command incomplete Software (1)Reset the alarm, and then try again.
Sector read command error Software (1)Reset the alarm, and then try again.
Sector write command error Software (1)Reset the alarm, and then try again.
IMPOSSIBLE S-AXIS An error occurred at S- Setting error Check the settings for the limit distance for S-axis rotation center motion
MOV(IN SPHERE) axis high-speed rotation. (S1CG067).
4626
Alarm List
The S-axis rotation radius

was below the lower limit.
GUN RECOGNITION The gun identification Sub Code: Gun number Setting error Check the settings for the gun identification signal.
4627
SIGNAL OFF signal was not received.
Alarm List-890
WRITE VARIABLE An error in the variable Sub Code: Duplicated variable Setting error Check the settings for the written destination variable numbers.
NO. MULTI SETTING number setting. number
4628 Duplicated usage of the
written destination
variable numbers.
GROUP CHANGE An error occurred at The group change parameter Setting error Validate the group change parameter.
4629 1
ERROR group change execution. was invalid.
The GRPCHG instruction was Setting error Execute the GRPCHG instruction when the external axis motor was servo
2 executed while the external OFF.
axis motor was servo ON.
Number Message Code
The GRPCHG instruction was Setting error Execute the GRPCHG instruction in chuck status.
3
executed in unchuck status.
The group identification signal Setting error Check the settings for group identification signal.
4
was not received.
The specified control group Setting error Check the settings for the specified control group number.
Alarm List
number and the group

5
identification number were
unmatched.
The encoder PG power supply Setting error Turn ON the encoder PG power supply when GRPCHG is ON.
6 was OFF when the GRPCHG
Alarm List-891
was ON.
The encoder PG power supply Setting error Turn OFF the encoder PG power supply when GRPCHG is OFF.
7 was ON when the GRPCHG
was OFF.
The control group that Setting error Check the settings for group identification signal.
corresponded to the received
8
group identification signal did
not exist.
Number Message Code
DUPLICATED GUN The gun numbers were Sub Code: The overlapped Setting error Check the settings for gun numbers.
NUMBER overlapped when gun number
4630
executing a SVSPOT
instruction.
DEFECTIVE The manipulator motion Sub Code: Control group and Setting error Check if the speed is hold down by the speed override and special
4631 OPERATION speed failed to reach the axis operations etc.
VELOCITY specified work speed.
Alarm List
CANNOT EXECUTE The called job could not Sub Code: The related control- Setting error Check the settings for control group specified by the CALL instruction.
COMMON JOB be executed because the group
4635 specified control group
was shared with the
called job.

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YRC1000

MANUAL NO. RE-CER-A600 2

Indicates an imminently hazardous

Indicates a potentially hazardous

Indicates a hazardous situation,

NOTICE is the preferred signal word

Even items described as “CAUTION” may result in a serious accident in

To ensure safe and efficient operation at all times, be sure

• Before releasing the emergency stop, make sure to remove the

• Observe the following precautions when performing a teaching

Definition of Terms Used Often in This Manual

Equipment Manual Designation

Description of the Operation Procedure

Alarm List ............................................................................................................................ Alarm List-1

Alarm Number (0000 to 0999) .................................................................................. Alarm List-1

Alarm Number (1000 to 1999) .............................................................................. Alarm List-249

Alarm Number (0000 to 0999)

ACP01 board detect the (There is possibility of

Connection (1)Turn the power OFF then back ON.

·The cable of CPS unit connector CN155

CMOS.BIN before replace the board to be safe. Replace the ACP01

ASF01 board (1)Turn the power OFF then back ON.

YASKAWA representative about occurrence status (operating procedure).

·CN207 cable of ASF01 board

·CNBXconnector of SDCA01 board and ASF01 board

YASKAWA representative about occurrence status (operating procedure).

·CNBXconnector of SDCA01 board and ASF01 board

ASF01 board (1)Turn the power OFF then back ON.

ASF01 board (1)Turn the power OFF then back ON.

ASF01 board (1)Turn the power OFF then back ON.

ASF01 board (1)Turn the power OFF then back ON.

ASF01 board (1)Turn the power OFF then back ON.

ASF01 board (1)Turn the power OFF then back ON.

ASF01 board (1)Turn the power OFF then back ON.

·The cable of SDCA01 board connector CN515/516

·The cable of SDCA01 board connector CN515/516

CMOS.BIN before replace the board to be safe. Replace the ACP01

·The cable of SDCA01 board connector CN515/516

·The cable of SDCA01 board connector CN515/516

CMOS.BIN before replace the board to be safe. Replace the ACP01

This alarm occurs if there

AIF01 board (1)Turn the power OFF then back ON.

load the CMOS.BIN saved before alarm occurred.

·The cable of AIF01 board connector CN111

CMOS.BIN before replace the board to be safe. Replace the ACP01

load the CMOS.BIN saved before alarm occurred.

Connection (1)Turn the power OFF then back ON.

·The cable of CPS unit connector CN155

·The cable of AIF01 board connector CN111

CMOS.BIN before replace the board to be safe. Replace the ACP01

load the CMOS.BIN saved before alarm occurred.

before replace the unit to be safe.

YASKAWA representative about occurrence status (operating procedure).

before replace the unit to be safe.

Connection (1)Turn the power OFF then back ON.

YASKAWA representative about occurrence status (operating procedure).

CMOS.BIN before replace the board to be safe.

ACP02 board (1)Turn the power OFF then back ON.

occurred YASKAWA representative about occurrence status (operating procedure).

ASF01 board (1)Turn the power OFF then back ON.

occurred YASKAWA representative about occurrence status (operating procedure).

SDCA01 board (1)Turn the power OFF then back ON.

damaged. occurred YASKAWA representative about occurrence status (operating procedure).