Maintenance Manual-Alarm Error List (XRC) MRS51020 PDF

MOTOMAN
MOTOMAN XRC
MAINTENANCE MANUAL
Alarm • Error List
Upon receipt of the product and prior to initial operation, read these instructions thoroughly,
and retain for future reference.
MOTOMAN ROBOTICS EUROPE

A subsidiary of YASKAWA Electric Corporation
MANUAL NO. MRS51020

Reference list
Operator’s Manual Basic Programming

Maintenance Manual Installation and Wiring
Revision
990319
First release of this manual.
Revision
990617
Master page updated with new company name
(MOTOMAN ROBOTICS EUROPE AB)
Revision
990827
New alarm is added.
Operator’s manual MOTOMAN XRC Page: III
Created: 99-03-02 Revised: 99-06-17 Doc. name: MRS51020TOC.FM
1. Alarm .................................................................... 5
Outline of Alarm 5
Alarm Message List 6
❏ Alarm number 0010-0999 6
2. Error ................................................................... 63
Error Message List 63
❏ System and General Operation 63
❏ Editing 67
❏ Job Defined Data 67
❏ External Memory Equipment 70
❏ Concurrent I/O 76
❏ Maintenance mode 77
Page: IV Operator’s manual MOTOMAN XRC
Created: 99-03-02 Revised: 99-06-17 Doc. name: MRS51020TOC.FM
Operator’s manual MOTOMAN XRC Page: 1
Created: 98-08-08 Revised: 00-03-31 Doc. name: GENERAL_WARNING.FM
Safety
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance or inspec-
tion of the MOTOMAN XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING” or
”INFORMATION”.
WARNING
Indicates a potentially hazardous situation
which, if not avoided, could result in minor,
moderate or serious injury to personnel and
damage to equipment. It may also be used
to alert against unsafe practices.
To ensure safe and efficient operation at all
times, be sure to follow all instructions, even
if not designated as “CAUTION” and
“WARNING”.
INFORMATION
Always be sure to follow explicitly the items
listed under this heading.
This manual explains the various components of the MOTOMAN XRC

system and general operations. Read this manual carefully and be
sure to understand its contents before handling the MOTOMAN XRC.
General items related to safety are listed in the MOTOMAN XRC Setup
Manual. To ensure correct and safe operation, carefully read the
Setup Manual before reading this manual.
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.
Page: 2 Operator’s manual MOTOMAN XRC
The equipment is manufactured in conformity with the EC Machinery

directive, the EMC-directive as well as the LVD-directive.
The equipment is intended to be incorporated into machinery or

assembled with other machinery to constitute machinery covered by
this directive, and must not be put into service until the machinery
into which it is to be incorporated has been declared in conformity
with the provisions of EC´s Machinery, EMC and LVD Directive.
Information how to connect to the MOTOMAN XRC is described in the

XRC Service Manual.
MOTOMAN is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your
product’s warranty.
MOTOMAN may modify this model without notice when necessary

due to product improvements, modifications or changes in specifica-
tions. If such modification is made, the manual will also be revised,
see revision information.
If your copy of the manual is damaged or lost, contact a MOTOMAN

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.
MOTOMAN is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your
product’s warranty.
Definition of terms used often in this manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the
programming pendant and supply cables.
In this manual, the equipment is designated as follows.
Equipment Manual designation
MOTOMAN XRC Controller XRC
MOTOMAN XRC Playback panel P-Panel
MOTOMAN XRC Programming pendant P-Pendant
Start panel for machinery operation in PLAY-mode Start panel
Key operation
Descriptions of the programming pendant and playback panel keys, buttons and
displays are shown as follows:
Equipment Manual designation
Programming Character keys The keys which have characters printed on them are
pendant denoted with [ ]
ex. [ENTER]
Symbol keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
ex. page key

The cursor key is an exception and a picture is not
shown.
Axis keys “Axis keys” and “Number keys” are generic names
Number keys 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 “italic” characters.
ex. JOB
Playback panel Buttons Playback panel buttons are enclosed in brackets.

ex. [TEACH] on the playback panel
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 key is pressed.
Teaching
Before operating the robot, check that the servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
Injury or damage to machinery may result if the emergency stop circuit cannot
stop the robot during emergency. The MOTOMAN XRC should not be used if the
emergency stop buttons do not function.
Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occure if other person reset safety and restart robot in PLAY-
mode.
Confirm that no persons are present in the robot work envelope and
that you are in a safe location before:
✔Turning on the MOTOMAN XRC power.
✔Moving the robot with the programming pendant.
✔Running check operations.
✔Performing automatic operations.
Injury may result if anyone enters the working envelope of the robot during opera-
tion. Always press an emergency stop button immediately if there are problems.
Service
Perform the following inspection procedures prior to conducting

robot teaching. If problems are found, repair them immediately and be
sure that all other necessary processing has been performed.
✔Check for problems in robot movement.
✔Check for damages to insulation and sheathing of external wires.
Always return the programming pendant to the hook after use.

The programming pendant can be damaged if it is left in the robots work area, on
the floor or near fixtures.
Spare parts
MOTOMAN warranty is only valid if original spare parts are used.
Outline of Alarm Created: 98-08-19 Revised: 99-08-27 Doc. name: MRS51020-CH1.FM
Alarm • Error
1. Alarm
1.1 Outline of Alarm
When the alarm of level 0-3(major alarm) occurs, the servo power supply is inter-
rupted.
Alarm Code classification.
Alarm Code Alarm Level Alarm Reset Method
ooo
0ooo Level 0 (Major alarm) It is not possible to reset by [RESET] under
(Off line alarm : Initial diagnosis/ the alarm display or the specific I/O sig-
Hardware diagnosis alarm) nal(Alarm reset). Turn off the main power sup-
ply and correct the cause of the alarm. Then
turn on the main power supply again.
ooo
1ooo Level 1-3 (Major alarm) It is not possible to reset by [RESET] under
- the alarm display or the specific I/O sig-
ooo
3ooo nal(Alarm reset). Turn off the main power sup-
ply and correct the cause of the alarm. Then
turn on a main power supply again.
ooo
4ooo Level 4-8 (Minor alarm) After correcting the cause, it is possible to
- reset by [RESET] under the alarm display or
ooo
8ooo the specific I/O signal(Alarm reset).
ooo
9ooo Level 9 (Minor alarm) After correcting the cause that the specific
(User Alarm) input signal for the system or user alarm
request is input, it is possible to reset by
[RESET] under the alarm display or the spe-
cific I/O signal(Alarm reset).
Created: 98-08-19 Revised: 99-08-27 Doc. name: MRS51020-CH1.FM Alarm Message List
1.2 Alarm Message List
Pay special attention when performing any repairs for system control
circuit board “JANCD-XCP01”. Personnel must be appropriately
skilled in maintenance mode operation to carry out repairs.
JANCD-XCP01 back up very important file data for the user program
with a battery. Careless operation may delete registered data. If
repairs for JANCD-XCP01 are necessary, consult MOTOMAN service,
before performing any repairs.
■ Alarm number 0010-0999
Alarm
Number Message Cause Remedy
0010 CPU BOARD Insertion of the circuit board was Check whether the circuit board
INSERTION not completed is correctly inserted.
ERROR Defective circuit board Replace the circuit board.
[Decimal Data]
Data stands for error circuit board
10:XCP02 circuit board (#1-0)
(Note)
XCP02 circuit board (#o- n)
o:Slot NO.
n :0 àXCP02 circuit board(main)
1 àSub-board1(connector CNSL
side)
2 àSub-board2(connector CNET
side)
Alarm Message List Created: 98-08-19 Revised: 99-08-27 Doc. name: MRS51020-CH1.FM
Alarm
0020 CPU Insertion of the circuit board was Check whether the circuit board
COMMUNICA- not completed is correctly inserted.
TION ERROR Defective circuit board Replace the circuit board.
[Decimal Data]
Data stands for an error circuit
board
(Note)
XCP02 circuit board (# o-n)
o :Slot NO.
n :0 àXCP02 circuit board(main)
1 àSub-board1(connector CNSL
side)
2 àSub-board2(connector CNET
side)
0021 COMMUNICA- The connection of communication Check the connection of commu-

TION cable for servopack was not com- nication cable for servopack.
ERROR(SERVO) pleted. (XCP01•CN05 -
[Decimal Data] The connection of communication WRCA(#*)•CN10 cable,
cable for servopack was not cut. WRCA•CN10(#*) - WRCA
The connection of terminal connec- CN10(#*) cable)
tor was not completed. Replace the communication con-
The terminal connector was unu- nector for servopack.
sual. Check the connection of the ter-
The circuit board was out of order. minal connec-
(The terminal connector was tor(WRCA•CN10(#*)).
equipped 1 for a system). Replace the terminal connector.
Replace the circuit board.
board
50:WRCA01 circuit board (#1)
(Note)
WRCA01 circuit board (# o )
The setting value of rotary switch
on the WRCA01 circuit board is ( o
-1).
Alarm
0030 ROM ERROR An error was found by sum check Replace the circuit board.
[Decimal Data] of system program. When the XCP01 circuit board is
replaced, consult MOTOMAN
Data stands for an error circuit service.
board
1:XCP01 circuit board
2:XSP01 circuit board
(Note)
XCP02 circuit board (#o -n )
o :Slot NO.
n :0 à XCP02 circuit board(main)
1 à Sub-board1(connector CNSL
side)
2 à Sub-board2(connector CNET
side)

(Note)
-1).
Alarm
0040 MEMORY Memory(RAM) error Replace the circuit board.

ERROR When the XCP01 circuit board is
(CPU BOARD Data stands for an error circuit replaced, consult MOTOMAN
RAM) board service.
[Decimal Data] 1:XCP01 circuit board
2:XSP01 circuit board
(Note)
XCP02 circuit board (#o - n)
o :Slot NO.
side)
side)

(Note)
-1)
Alarm
0050 MEMORY A error occured in PCI bus shared Replace the circuit board.
ERROR(PCI- RAM of
BUS COMMON the CPU rack or shared RAM
RAM) between circuit boards.
[Decimal Data]
board
(Note)
XCP02 circuit board (# o -n)
o :Slot NO.
side)
side)
Alarm
0060 COMMUNICA- An error occured in communication Check the connection of the com-
TION ERROR(I/O of I/O module. munication cable for I/O module.
MODULE) Defective I/O module (XCP01•CN01 - XIU01•CN03
[Decimal Data] cable, WRCA01(#*)•CN20 -
Data stands for the error I/O mod- XIU01•CN21 cable)
ule. Replace the communication con-
1-15: I/O module connected with nector for I/O module.
XCP01circuit board
17-31:Contactor circuit board,
speed detect circuit board con-
nected with WRCA01 circuit
board(#1)
board(#2)
board(#3)
board(#4)
board(#5)
board(#6)
(Note)
WRCA01 circuit board (#o )
on the WRCA circuit board is ( o -
1)
0200 MEMORY The parameter file was damaged. Initialize the parameter file dam-
ERROR Data stands for the damaged aged on maintenance mode.
(PARAMETER parameter file. Load the saved parameter file in
FILE) 0:RC*, 1:RO*, 2:SV, 3:SVM, 4:SC, the external memory unit.
[Decimal Data] 5:SD*, 6:CIO*, 7:FD*, 8:AP, 9:RS,
10:SE, 11:RMS*, 12:AMC*,
13:SVP*, 14:MF*,
15:PCD*
*:System parameter
0210 MEMORY The system configuration data Needs investigation.

ERROR (SYS- information Consult MOTOMAN service.
TEM CONFIG- on setting system initialization was
DATA) damaged.
Alarm
0220 MEMORY The job control data was damaged. Initialize the job on maintenance
ERROR (JOB mode The whole job data is
MNG DATA) deleted.
Load the job saved on the exter-
nal memory unit.
0230 MEMORY The concurrent I/O ladder program Initialize the ladder program on
ERROR (LAD- was damaged. maintenance mode.
DER PRG FILE) Load the ladder program saved
on the external memory unit.
0300 VERIFY ERROR The system parameter was modi- Needs investigation.
(SYSTEM CON- fied illegally. Consult MOTOMAN service.
FIG- DATA)
[Decimal Data]
0310 VERIFY ERROR CMOS memory capacity on system Check the connection status of
(CMOS MEM- setting was different than the cur- CMOS memory circuit board
ORY SIZE) rent one. (XMM01) for expansion.
Alarm
0320 VERIFY ERROR The status of the I/O module on ini- Check the I/O module is same as
(I/O MODULE) tializing system or modifying was when it was initialized or modi-
[Decimal Data] different than the current. fied.
Modify the I/O module on mainte-
Data stands for the I/O module. nance mode.
1-15: I/O module connected with
XCP01 circuit board
board(#1)
board(#2)
board(#3)
board(#4)
board(#5)
board(#6)
(Note)
-1)
0330 VERIFY ERROR The applicatoion on system setting Change the AP parameter to the
(APPLICATION) was different than AP parameter. correct value.
0340 VERIFY ERROR The sensor function on system ini- Set the function of the sensor cir-
(SENSOR FUNC- tializing was different than the func- cuit board on maintenance mode
TION) tion of the sensor circuit board again.
mounted now. Change SE parameter for the
The sensor setting on system set- correct value.
ting was different than SE parame-
ter.
Alarm
0400 PARAMETER The connection of communication Check the connection of commu-

TRANSMISSION cable for servopack was not com- nication cable for servopack.
ERROR pleted. (XCP01•CN05 - WRCA(#*)•CN10
[Decimal Data] The connection of communication cable, WRCA•CN10(#*) -
cable for servopack was not cut. WRCA•CN10(#*) cable)
The connection of terminal connec- Replace the communication con-
tor is not completed. nector for servopack.
The terminal connector is unusual. Check the connection of the ter-
The circuit board was out of order. minal connec-
(The terminal connector is tor(WRCA•CN10(#*)).
equipped 1 for a system). Replace the terminal connector.
board
(Note)
WRCA01 circuit board (#o )
on the WRCA01 circuit board is (o
-1)
Alarm
0410 MODE CHANGE An error occurred in process of <Data :10-21>

ERROR change to normal operation mode. Insert the circuit board in the CPU
[Decimal Data] rack fast.
Data stands for an error circuit Replace the circuit board.
board
10:XCP02 circuit board (#1-0) <Data :50-55>
11:XCP02 circuit board (#1-1) Check the connection of commu-
12:XCP02 circuit board (#1-2) nication cable for servopack.
20:XCP02 circuit board (#2-0) (XCP01•CN05 - WRCA(#*)•CN10
21:XCP02 circuit board (#2-1) cable, WRCA•CN10(#*) -
22:XCP02 circuit board (#2-2) WRCA•CN10(#*) cable)
Replace the communication con-
(Note) nector for servopack.
XCP02 circuit board (# o - n ) Check the connection of the ter-
o :Slot NO. minal connec-
n :0 à XCP02 circuit board(main) tor(WRCA•CN10(#*)).
1 à Sub-board1(connector CNSL Replace the terminal connector.
side) Replace the circuit board.
side)
50:WRCA01 board (#1)

(Note)
on WRCA01 circuit board is ( o -1)
0500 SEGMENT An error occured in communication Turn the power off then back on.
PROC NOT between XCP01 circuit board and If the error occurs again, contact
READY WRCA01 circuit board. MOTOMAN service.
0900 WATCHDOG An insertion error of the XCP01 cir- Insert the circuit board in the CPU
TIMER ERROR cuit board or defective circuit rack fast.
(XCP01) board. Replace the circuit board.
[Decimal Data] If the error occurs again, contact
MOTOMAN service.
0901 WATCHDOG An insertion error of the XCP02#1 Insert the circuit board in the CPU
TIMER ERROR circuit board or the circuit borad rack or the connector on the cir-
(XCP02#1) failer. cuit board fast.
[Decimal Data] Replace the circuit board
If the error occurs again, contact
MOTOMAN service.
Alarm
0902 WATCHDOG An insertion error of the XCP02#2 Insert the circuit board in theCPU
TIMER ERROR circuit board or defective circuit rack or the connector on the cir-
(XCP02#2) board. cuit board fast.
[Decimal Data] Replace the circuit board.
MOTOMAN service.
0910 CPU An insertion error of the XCP01 cir- Insert the circuit board in theCPU
ERROR(XCP01) cuit board or defective circuit rack fast.
[Decimal Data] board. Replace the circuit board.
MOTOMAN service.
0911 CPU ERROR An insertion error of the XCP02#1 Insert the circuit board in the CPU
(XCP02#1) circuit board or defective circuit rack or the connector on the cir-
[Decimal Data] board. cuit board fast.
MOTOMAN service.
0912 CPU ERROR An insertion error of the XCP02#2 Insert the circuit board in the CPU
MOTOMAN service.
0920 BUS ERROR An insertion error of the XCP01 cir- Insert the circuit board in the CPU
(XCP01) cuit board or defective circuit rack fast.
MOTOMAN service.
0921 BUS ERROR An insertion error of the XCP02#1 Insert the circuit board in the CPU
(XCP02#1) circuit board or defective circuit rack fast.
MOTOMAN service.
0922 BUS ERROR An insertion error of the XCP02#2 Insert the circuit board in the CPU
Replace the circuit board
MOTOMAN service.
0930 CPU HANG UP An insertion error of the XCP01 cir- Insert the circuit board in the CPU
ERROR cuit board or defective circuit rack fast.
(XCP01) board. Replace the circuit board.
MOTOMAN service.
Alarm
0931 CPU HANG UP An insertion error of the XCP02#1 Insert the circuit board in the CPU
ERROR circuit board or defective circuit rack or the connector on the cir-
MOTOMAN service.
0932 CPU HANG UP An insertion error of the XCP02#2 Insert the circuit board in the CPU
ERROR circuit board or defective circuit rack or the connector on the cir-
MOTOMAN service.
0940 WATCHDOG An insertion error of Insert the circuit board in the CPU
TIMER ERROR theWRCA01#1 circuit board or rack or the connector on the cir-
(WRCA#1) defective circuit board. cuit board fast.
[Decimal Data] Replace the circuit board
MOTOMAN service.
0941 WATCHDOG An insertion error of the Insert the circuit board in the CPU
TIMER ERROR WRCA01#2 circuit board or defec- rack or the connector on the cir-
(WRCA#2) tive circuit board. cuit board fast.
MOTOMAN service.
0942 WATCHDOG An insert error of the WRCA01#3 Insert the circuit board in the CPU
TIMER ERROR circuit board or defective circuit rack or the connector on the cir-
(WRCA#3) board. cuit board fast.
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
Alarm
MOTOMAN service.
0950 CPU ERROR An insertion error of the Insert the circuit board in the CPU
(WRCA#1) WRCA01#1 circuit board or defec- rack or the connector on the cir-
[Decimal Data] tive circuit board. cuit board fast.
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
Alarm
0960 CPU HANG UP An insertion error of the Insert the circuit board in the CPU
ERROR WRCA01#1 circuit board or defec- rack or the connector on the cir-
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
MOTOMAN service.
0999 NMI ERROR NMI(interruption CPU signal of Insert the circuit board in theCPU
[Decimal Data] unknown origin) occured because rack or the connector on the cir-
of the motion error of hardware, circuit board fast.
cuit board and rack or control error Replace the circuit board.
of software. If the error occurs again, contact
MOTOMAN service.
Alarm
1000 ROM ERROR The error was found by sum check Replace the XCP01 circuit board
(XCP01) of system program for the XCP01 (ROM).
circuit board.
1001 ROM The error was found by sum check Replace the WRCA circuit board
ERROR(WRCA0 of system program for the XCP01 (ROM).
1) circuit board.
[Decimal Data]
1002 ROM The error was found by sum check Repace the XFC01 circuit board
ERROR(XFC01) of system program for the XFC01 (ROM).
circuit board.
1030 MEMORY The parameter file of CMOS mem- Initialize the parameter file dam-
ERROR ory was damaged. aged on maintenance mode.
(PARAMETER Data stands for the damaged Load the saved parameter from
FILE) parameter file. the floppy disk and restore.
[Decimal Data] 0:RC*, 1:RO*, 2:SV, 3:SVM, 4:SC,
5:SD*, 6:CIO*, 7:FD*, 8:AP, 9:RS,
10:SE, 11:RMS*, 12:AMC*,
13:SVP*, 14:MF*,
15:PCD*
*:System parameter
1031 MEMORY The saved each file on CMOS mem- Initialize the file damaged on
ERROR ory used by motion instruction was maintenance mode.
(MOTION1) damaged. Load the saved file from the
[Decimal Data] floppy disk and restore.
1032 MEMORY The saved each file on XCP01 cir- Turn the power off then back on.
ERROR cuit board memory used by motion Insert the XCP01 circuit board in
(MOTION2) instruction was damaged. CPU rack fast.
[Decimal Data] An insertion error of the XCP01 cir- Replace the XCP01 circuit board.
cuit board or the circuit borad failer. If the error occurs again, contact
MOTOMAN service.
1050 SET-UP PROC- The error occured in the setup proc- Turn the power off then back on.
ESS ERROR ess of system when the main power If the error occurs again, contact
(SYSCON) was turned on. MOTOMAN service.
[Decimal Data] 1: The set up of motion instruction
was not completed. The set up of
the WRCA01, XCP02 circuit board
was not completed.
1051 SETUP INITIAL- The error occured in the setup proc- Turn the power off then back on.
IZE ERROR ess of motion instruction when the If the error occurs again, contact
(MOTION) main power was turned on. MOTOMAN service.
[Decimal Data]
Alarm
1100 SYSTEM The alarm of unknown origin was Needs investigation. Consult
ERROR detected by noise and control error. MOTOMAN service.
C: ¨ B: ¨ C: ¨
[Decimal Data]
1101 SYSTEM The error occured in the control Turn the power off then back on.
ERROR check of system. If the error occurs again, contact
(SYSTEM1) MOTOMAN service.
[Decimal Data]
1102 SYSTEM The error occured in the control Turn the power off then back on.
ERROR check of system. If the error occurs again, contact
(SYSTEM2) MOTOMAN service.
[Decimal Data]
1103 SYSTEM The error occured in the event data If the error occurs again, contact
ERROR check of system. MOTOMAN service.
(EVENT)
[Decimal Data]
1104 SYSTEM The error occured in the I/O control Check the connector, cable for
ERROR check of system transmission path of I/O sig-
(CIO) nal(XCP01I/O contactor unit , I/O
[Bit Pattern] Data stands for the cause of alarm. module)
0001_0000:Communication error Reset the I/O module on mainte-
with I/O module or seting error of I/O nance mode.
module Replace the XCP01, I/O contac-
tor unit, I/O module.
1105 SYSTEM The error occured in control check Turn the power off then back on.
ERROR of the WACA01/WRCF01 circuit If the error occurs again, contact
(SERVO) board. MOTOMAN service.
[Decimal Data]
1106 SYSTEM The error occured in control check Turn the power off then back on.
ERROR (SPEED of the XFC01 circuit board. If the error occurs again, contact
MONITOR) MOTOMAN service.
[Decimal Data]
1200 HIGH TEMPERA- The temperature in the controller Check whether interior fan of con-
TURE (IN CNTL raised abnormally. troller is working or not.
BOX)
1201 OVERRUN LIMIT Overrun recovery switch was oper- Don't operate the overrun recov-
SWITCH ated on playback. ery switch on playb\ack.
RELEASED It is thought that the overrun
recovery switch is failed. Consult
MOTOMAN service.
1202 FAULT CPU motion impossibility caused by Turn the power off then back on.
[Decimal Data] 0 division etc. If the error occurs again, contact
Data stands for the factor of alarm. MOTOMAN service.
1:Calculation
2:Floating point
Alarm
1203 SAFETY CIR- The error occured during processing Turn the power off then back on.
CUIT ERROR of safety circuit for the XCI01 circuit Check the connection of cable for
(XCI01) board. IO power ON unit.
[Bit Pattern] 00000000_********:Defective CPU01 If the error occurs again, contact
********_00000000:Defective CPU02 MOTOMAN service.
*: 0 or 1
1300 SERVO CPU The communication between the Check the connection of commu-
SYNCHRONIZ- XCP01 circ board and the WRCA01 nication cable for servopack.
ING ERROR circuit board was abnormal. (XCP01•CN05 - WRCA(#*)•CN10
The cable between the XCP01 cir- cable, WRCA•CN10(#*) -
cuit board and WRCA01 circuit WRCA•CN10(#*) cable)
board was defective. Replace the communication
The connection of the terminal con- cable for servopack.
nector was imcomplete. Check the connection of the ter-
Defective XCP01 circuit board minal connector(WRCA•
Defective WRCA01 circuit board CN10(#*)).
Replace the terminal connector.
Replace the XCP01 circuit board,
WRCA01 circuit board.
1301 COMMUNICA- The communication between the Check the connection of commu-
TION ERROR XCP01 circ board and the WRCA01 nication cable for servopack.
(SERVO) circuit board was abnormal. (XCP01•CN05 - WRCA(#*)•CN10
[Decimal Data] The cable between the XCP01 cir- cable, WRCA•CN10(#*) -
cuit board and WRCA01 circuit WRCA•CN10(#*) cable)
board was defective. Replace the communication
The connection of the terminal con- cable for servopack.
nector was incomplete. Check the connection of the ter-
Defective XCP01 circuit board minal connector(WRCA•
Defective WRCA01 circuit board CN10(#*)).
Replace the terminal conector.
Replace the XCP01 circuit board,
MOTOMAN service.
1302 COMMUNICA- The communication between Check the connection for commu-
TION ERROR WRCA01 circuit board and the con- nication cable between the
(SERVO I/O) tactor unit(for I/O, robot, external WRCA01 circuit board and con-
[Decimal Data] axis)was abnormal. tactor unit. (WRCA01(#*)•CN20 -
XIU01•CN21 cable)
Replace the WRCA01 circuit
board.
Replace the contactor unit.
MOTOMAN service.
1303 ARITHMETIC The error occured on check of inte- Needs investigation. Consult
ERROR rior control for the WRCA circuit MOTOMAN service.
(SERVO) board.
[Decimal Data]
Alarm
1304 EX-AXIS BOARD The system included the external <The system with external axis>
NOT INSTALLED axis, but the external axis circuit Check the installation of the
board (WRCF01 board) was not external axis circuit
installed. board(WRCF01 board).
The system did not include the If the WRCF01 circuit board is
external axis, but the system with installed, replace it.
external axis was set. <The system without external
Defective WRCF01 circuit board axis>
Defective WRCA01 circuit board Check the system is not included
external axis.
Execute the system configura-
tion again on system without
external axis.
1305 POWER ON The contactor unit was set on sys- <The system with external axis>
UNIT NOT tem configuration, but the contactor Check the installation of the
INSTALLED unit was not installed. external axis circuit
[Bit Pattern] The system was not installed con- board(WRCF01 board).
tactor unit, but the system was set If the WRCF01 circuit board is
as though a contactor unit installed. installed, replace it.
Defective contactor unit <The system without external
Defective WRCA circuit borad axis>
Check the system is not included
external axis.
Execute the system configura-
tion again on system without
external axis.
1306 AMPLIFIER The type of amplifier displayed by Check the type of servopack dis-
TYPE MIS- axis data was different than the type played by axis data.
MATCH set by system configuration. <Error in robot axis>
Robot/Station The type of amplifier was not cor- Check the type of servopack is
[Axis Data] rect. same as described one on man-
The type of amplifier was different ual. If the type is not correct,
than the type set by system configu- replace it with correct servopack.
ration. <Error in external axis>
Defective amplifier Check the type of servopack set
Defective WRCA01 circuit board by system configuration is same
as actual installed one. If set data
by system configuration is cor-
rect, replace installed servopack
with correct one. If set data by
sytem configuration is not correct,
set the correct system configura-
tion.
If the error occurs again, replace
Alarm
1307 ENCORDER The type of encoder displayed by Check the type of motor dis-
TYPE MIS- axis data was different than the type played by axis data.
MATCH set by system configuration. <Error in robot axis>
Robot/Station The type of encoder was not cor- Check that the type of motor is
[Axis Data] rect. same as the one described in the
The system configuration setting of manual. If the type is not correct,
encoder was not correct. replace it with the correct motor.
Defective encoder <Error in external axis>
Defective WRCA circuit board Check that the type of motor set
by system configuration is same
(Note) as actual installed one. If the set
The encoder is accessories of data by system configuration is
motor, check the type of motor to correct, replace installed motor
check the type of encoder with correct one. If set data by
system configuration is not cor-
rect, set the correct system con-
figuration.
1308 OVER SPEED The motor speed displayed by axis Check the connection of motor.
Robot/Station data exceeded allowable max Check the robot motion on alarm
[Axis Data] speed. and check whether external
The wiring of UVW wire of motor power is operated or not.
was not correct. Check the connection of UVW
The type of motor was not correct. wire of motor again. If the error is
The motor was moved by external found, alter the connection.
power. Check the reoccurence by reduct-
Defective WRCA01, WRCF01 cir- ing the teaching speed on
cuit board alarm.There is a possibility that
Defective motor(encoder) R,B,T axis move at a fast speed
on liner interpolation according to
teaching position. In this case,
alter the teaching.
<Error in robot axis>
Check that the type of motor is
same as the one described in the
manual. If the type is not correct,
replace it with the correct motor.
<Error in external axis>
Check that the type of motor set
as actual installed one. If the set
data by system configuration is
correct, replace installed motor
with correct one. If set data by
system configuration is not cor-
rect, set the correct system con-
figuration.
WRC01 and/or WRCF01 circuit
board.
Alarm
1309 OVERLOAD The motor torque displayed by axis Check whether the robot inter-
(CONTINUE) data exceeded rated torque for a feres with the outside equip-
Robot/Station long time(a few seconds - a few ment. If the robot interferes,
[Axis Data] minutes). It may have burned the remove the cause.
motor. Check the connection of UVW
The wrong wiring, the breaking of wire of motor again. And check
the UVW wire for the motor the breaking of the wire.
The type of motor was not correct. There is a possibility the robot
The motor was moved by external moves by extra load. Check the
power. motion status of robot again and
It interfered with an outside equip- reduce the teaching speed. Then
ment. confirm the reoccurrence.
Defective WRCA01, WRCF01 cir- <Error in robot axis>
cuit board Check that the type of motor is
Defective amplifier the same as the one described in
Defective motor(encoder) the manual. If the type is not cor-
rect, replace it with the correct
motor.
by system configuration is the
same as the actual installed one.
If set data by system configura-
tion is correct, replace installed
motor with correct one. If set data
by system configuration is not
correct, set the correct system
configuration.
WRCA01 and/or WRCF01 circuit
board.
Replace the amplifier, motor for
axis where the error occurred.
Alarm
1310 OVERLOAD The motor torque displayed by axis Check whether the robot inter-
(MOMENT) data exceeded rated torque for a feres with the outside equip-
Robot/Station long time. It may have burned the ment. If the robot interferes,
[Axis Data] motor. remove the cause.
The wrong wiring, the breaking of Check the connection of UVW
the wire UVW wire for the motor wire of motor again. And check
The type of motor was not correct. the breaking of the wire.
The motor was moved by external There is a possibility the robot
power. moves by extra load. Check the
It interfered with an outside equip- motion status of robot again and
ment. reduce the teaching speed. Then
Defective WRCA01, WRCF01 cir- confirm the reoccurrence.
cuit board <Error in robot axis>
Defective amplifier Check that the type of motor is
Defective motor(encoder) the same as the one described in
the manual. If the type is not cor-
motor.
configuration.
board.
Alarm
1311 AMPLIFIER The servopack(amplifier) current Check whether the robot inter-
OVERLOAD displayed by axis data exceeded feres with the outside equip-
(CONTINUE) rated current for a long time(a few ment. If the robot interferes,
Robot/Station seconds - a few minutes). It may remove the cause.
[Axis Data] have burned the servopack. Check the connection of UVW
motor.
configuration.
board.
Alarm
1312 AMPLIFIER The servopack(amplifier) current Check whether the robot inter-
OVERLOAD displayed by axis data exceeded feres with the outside equip-
(MOMENT) rated current for a long time(a few ment. If the robot interferes,
Robot/Station seconds - a few minutes). It may remove the cause.
[Axis Data] have burned the servopack. Check the connection of UVW
motor.
configuration.
board.
1313 MOTOR ERROR The motor was driven recklessly. Check the connection of UVW
Robot/Station This error occured when the motor wire of motor again.
[Axis Data] moved in reverse for the forward <Error in robot axis>
instruction. Check that the type of motor is
Incorrect wiring of the UVW wire for same as the one described in the
the motor manual. If the type is not correct,
The type of motor was not correct. replace it with correct motor.
Defective WRCA01, WRCF01 cir- <Error in external axis>
cuit board Check that the type of motor set
as actual installed one. If set data
by system configuration is cor-
rect, replace installed motor with
correct one. If set data by system
configuration is not correct, set
the correct system configuration.
board.
Alarm
1314 SERVO TRACK- The servo deflection of the axis dis- Check whether the robot inter-
ING ERROR played by axis data became exces- feres with the outside equip-
Robot/Station sive, the robot was shifted from ment. If the robot interferes,
[Axis Data] instructed motion position or tracks remove the cause.
more than tolerance and operated Check the connection of UVW
the wire of UVW wire for the motor the breaking of the wire.
Defective WRCA01, WRCF01 cir <Error in robot axis>
motor.
configuration.
board.
1315 POSITION The number of pulses generated by Check whether there is a equip-
ERROR one rotation of the motor was not a ment generating loud noise.
Robot/Station regulated pulse numbers. There is a Check the ground of controller is
[Axis Data] possibility the position was shifted. correct.
(But, if this alarm occured simulta- When the errror occurred at
neously with the alarm related to the external axis, set the ferritecore
encoder, it was thought this alarm on the encoder cable for noise
accompanied the encoder alarm.) measure.
Noise of outside equipment If the error occurs again, replace
Defective WRCA01, WRCF01 cir- WRCA01 and/or WRCF01 circuit
cuit board board.
Down of the power supply voltage Replace the motor for axis
for the encoder occured the error.
Defective motor(encoder)
Alarm
1316 BROKEN PG The break of the signal wire from Check the conduction of cable
LINE encoder (But, this alarm may from the WRCA01, WRCF circuit
Robot/Station accompany the position error alarm, board to the motor(encoder).
[Axis Data] the alarm related to the encoder.) Check whether there is equip-
Noise of outside equipment ment generating loud noise.
Defective WRCA01, WRCF01 cir- Check the grounding of controller
cuit board is correct.
Decrease of the power supply volt- If the error occurs again, replace
age for the encoder WRCA01 and/or WRCF01 circuit
Defective motor(encoder) board.
Replace the motor for the axis
where the error occurred.
1317 SPEED The error occurred in the speed Turn the power off then back on.
WATCHER detective circuit board. If the error occurs again, replace
BOARD ERROR Defective speed detective circuit the speed detective circuit board
board and WRCA01 circuit board.
Defective WRCA circuit board
1318 OVERVOLTAGE The power supply voltage of direct Check the primary power supply
(CONVERTER) current supplied to the amplifier of (220V, +10%).
[Bit Pattern] servopack exceeded 420V. Lower the teaching speed of the
The primary power supply voltage fore and aft steps for alarm
was too high.(220V,+10%) occurence step about 30% and
It was too much load. check the reoccurrence. If the
Defective converter alarm doesn't reoccur, alter the
Defective WRCA01 circuit board load.
the WRCA01 circuit board and
the converter.
Alarm
1319 GROUND FAULT One of U,V,W wires of the motor This alarm does not occured by
Robot/Station displayed on axis data was turning off the controlled power
[Axis Data] grounded at least. supply. But never fail to turn on
Defective the motor the servo power supply after
Ground fault of the motor, lead wire checking the motor grounding.
Defective WRCA01, WRCF01 cir- There is a possibility the ser-
cuit board vopack is damaged when the
Defective amplifier servo turn-on and off is repeate-
during ground fault status.
Check the connection of the
U,V,W,E wires of motor again.
Remove the U,V,W,E wires of the
motor from the terminal of the
controller and check the conduc-
tion of U-E, V-E, W-E. If the wires
are conducted, it's abnormal.
In case an error is found by the
above check, remove the con-
nector of the motor side and
check again. If the wires are con-
ducted, it is thought to be a defec-
tive lead wire. Specify the error
point and replace the lead wire.
If the error is not caused by the
lead wire, it is thought to be a
defective motor.
the WRCA01 and/or WRCF01 cir-
cuit board.
the axis where the error occurred.
1320 OPEN PHASE Any of the three-phase current for Check the connection of the pri-
(CONVERTER) primary side power supply of ser- mary side wiring R,S,T wires of
[Bit Pattern] vopack was open-phase. servopack.
The wrong wiring of the primary side Check that the power supply volt-
power supply connection. age is more than 170V.
The decrease of the primary side If the error occurs again, replace
power supply voltage(170V or less) the WRCA01,WRCF01 circuit
Defective WRCA01, WRCF01 cir- board.
cuit board Replace the converter for the axis
Defective converter where the error occurred.
Alarm
1321 OVERCURRENT One of the U,V,W wires of the motor This alarm does not occured by
(AMP) displayed on the axis data was turning off the controlled power
Robot/Station grounded at least. supply. But never fail to turn on
[Axis Data] Defective motor the servo power supply after
Ground fault of the motor, lead wire checking the motor grounding.
Defective WRCA01, WRCF01 cir- There is a possibility the ser-
cuit board vopack is damaged when the
Defective amplifier servo turn-on and off is repeate-
Overheating of amplifier during ground fault status.
Check the connection of the
U,V,W,E wires of motor again.
Remove the U,V,W,E wires of the
motor from the terminal of the
controller and check the conduc-
tion of U-E, V-E, W-E. If the wires
are conducted, it's abnormal.
In case an error is found by the
above check, remove the con-
nector of the motor side and
check again. If the wires are con-
ducted, it is thought to be a defec-
tive lead wire. Specify the error
point and replace the lead wire.
If the error is not caused by the
lead wire, it is thought to be a
defective motor.
the WRCA01 and/or WRCF01 cir-
cuit board.
the axis where the error occurred.
1322 REGENERA- Because the resurrection energy on Check the load again. Lower the
TIVE TROUBLE reducing the motor speed was too teaching speed of the fore and aft
(CONVERTER) high, the resurrection circuit board steps for alarm occurence step
[Bit Pattern] didn't work. about 30% and check the reoc-
The load installed on robot was too curence. If the alarm doesn't
heavy. reoccur, alter the load.
The primary side power supply volt- Check the primary power sup-
age was too high.(242V or more) ply(220V, +10%).
Defective converter If the error occurs again, replace
Defective WRCA01, WRCF01 cir- the WRCA01, WRCF01 circuit
cuit board board.
Replace the converter for the axis
where the error occurred.
1323 INPUT POWER The primary side power supply volt- Check the primary power sup-
OVER VOLTAGE age of servopack was too ply(220V, +10%).
(CONV) high.(242V or more) If the error occurs again, replace
[Bit Pattern] the WRCA01 circuit board.
Replace the converter for axis
occured the error.
Alarm
1324 TEMPERATURE The temperature of servopack(con- Check whether the ambient tem-
ERROR verter) was too high. perature is too high or not.
(CONVERTER) Check the primary power sup-
[Bit Pattern] ply(220V, +10%).
the WRCA01 circuit board.
Replace the converter for axis
occured the error.
1325 COMMUNICA- The communication error between Check the connection of the
TION ERROR the encoder and the WRCA01 cir- encoder displayed on axis data.
(ENCODER) cuit board. Check whether there is equip-
Robot/Station The wrong wiring of the encoder ment generating big noise around
[Axis Data] wire or not.
The type of motor was not correct. Check the ground of controller is
Defective WRCA01 circuit board correct.
Defective encoder <Error in robot axis>
Check the type of motor is same
as described one on manual. If
the type is not correct, replace it
with correct motor.
Check the type of motor set by
system configuration is same as
actual installed one. If set data by
system configuration is correct,
replace installed motor with cor-
rect one. If set data by sytem con-
figuration is not correct, set the
correct system configuration.
the WRCA01 circuit board.
1326 DEFECTIVE The error occured in the position Turn the power off then back on.
ENCODER detect circuit board of encoder. If the error occurs again, replace
ABSOLUTE the motor(encoder) for the axis
DATA where the error occurred.
Robot/Station
[Axis Data]
Alarm
1327 ENCODER The control power supply was Check the timing of turning on the
OVER SPEED turned on when the encoder was control power supply.
Robot/Station rotating(400rpm or more). Turning If the error occurs when the con-
[Axis Data] on the control power supply can not trol power supply is turned in a
be done when the motor is rotating. stopped state, replace the
The no brake axes, R,B,T axis for motor(encoder) displayed on axis
SK6, freely fell when the servo data.
power supply was turned off by
emergency stop. When the power
supply was turned back on this sta-
tus, this alarm occured.
In case this alarm occuredin a stop
state, it is thought that the encoder
caused the error.
1328 DEFECTIVE The internal parameter of the serial Turn the power off then back on.
SERIAL encoder became abnormal. It is If the phenomenon occurs again
ENCODER thought to be an error of the after repeating this operation sev-
Robot/Station encoder. eral times, replace the
[Axis Data] motor(encoder) for the axis where
the error occurred.
1329 DEFECTIVE When the encoder backup error Turn the power off then back on.
SERIAL occurred, normally the controller If the phenomenon occurs again
ENCODER COM- automatically resets the data of the after repeating this operation sev-
MAND encoder. But, this was the case eral times, replace the
Robot/Station there was no response of the reset motor(encoder) for the axis where
[Axis Data] completion from the encoder. It is the error occurred.
thought that the encoder was abnor-
mal.
1330 MICRO PRO- Defective WRCA01 circuit board Turn the power off then back on.
GRAM TRANS- If the phenomenon occurs again
MIT ERROR after repeating this operation sev-
Robot/Station eral times, replace the WRCA01
[Axis Data] circuit board for the axis where
the error occurred.
1331 CURRENT When the phase balance of the Turn the power off then back on.
FEEDBACK motor current was automatically If the phenomenon occurs again
ERROR adjusted, the read U phase current after repeating this operation sev-
(U PHASE) value was abnormal. eral times, replace the WRCA01
Robot/Station Defective WRCA01 circuit board circuit board, amplifier for the axis
[Axis Data] Defective amplifier where the error occurred.
1332 CURRENT When the phase balance of the Turn the power off then back on.
FEEDBACK motor current was automatically If the phenomenon occurs again
ERROR adjusted, the read V phase current after repeating this operation sev-
(V PHASE) value was abnormal. eral times, replace the WRCA01
Robot/Station Defective WRCA01 circuit board circuit board, amplifier for axis the
[Axis Data] Defective amplifier the error occurred.
Alarm
1335 ENCODER NOT Reset was not completed though Connect the battery with the
RESET encoder backup error reset was encoder. Contact MOTOMAN
Robot/Station requested. It may be possible that service because the breakedown
[Axis Data] the battery is not connected with the of the encoder is thought when
encoder. the alarm occurs again even if the
battery is connected.
1336 XFC01 NOT Speed monitor board (XFC01) was Install the speed monitor board
INSTALLED not installed even though the board (XFC01).
was specified as “valid”.
1337 SPEED MONI- The error occured on speed monitor Check the cable connection for
TOR LEVEL NOT level signal (double signal check). the power ON unit.
SAME Replace the WRCA01 circuit
board.
1338 SPEED MONI- The error occured on speed monitor Check the cable connection for
TOR LEVEL level signal (signal error). the power ON unit.
ERROR Replace the WRCA01 circuit
board.
1339 SPEED MONI- The error occured on speed monitor Check the cable connection
TOR LEVEL ERR level signal. between the power ON unit and
(XFC01) Cable disconnection between the the XFC01 circuit board.
power ON unit and the XFC01 cir- Check the cable connection
cuit board. between the power ON unit and
Cable disconnection between the the XCI01 circuit board.
power ON unit and the XCI01 circuit Replace power ON unit and/or
board. XFC01 circuit board.
Defective power ON unit. If the error occurs again, contact
Defective the XFC01 circuit board. MOTOMAN service.
1340 BROKEN SPEED Disconnection of speed monitor Check the cable connection for
MONITOR LINE cable. the power ON unit.
Replace the WRCA01 circuit
board.
1341 BROKEN SPEED The error occured on speed monitor Check the cable connection
MONITOR LINE level signal. between the power ON unit and
(XFC01) Cable disconnection between the the XFC01 circuit board.
power ON unit and the XFC01 cir- Check the cable connection
cuit board. between the power ON unit and
Cable disconnection between the the XCI01 circuit board.
power ON unit and the XCI01 circuit Replace power ON unit and/or
board. XFC01 circuit board.
Defective power ON unit. If the error occurs again, contact
MOTOMAN service.
Alarm
1342 OVER SPEED The motor speed displayed by axis Check the connection of motor.
(XFC01) data exceeded allowable max Check the robot motion on alarm
Robot/Station speed. and check whether external
[Axis Data] The wiring of UVW wire of motor power is operated or not.
was not correct. Check the connection of UVW
The type of motor was not correct. wire of motor again. If the error is
The motor was moved by external found, alter the connection.
power. Check the reoccurence by reduct-
Defective XFC01 circuit board. ing the teaching speed on alarm.
Defective motor (encoder). There is a posibility that R, B, T
axis move at a fast speed on liner
interpolation according to teach-
ing position. In this case, alter the
teaching.
<Error in robot axis>
Check that the type of motor is
same as the one described in the
manual. If the type is not correct,
replace it with the correct motor.
Check that the type of the motor
set by system configuration is
same as actual installed one. If
the set data by system configura-
configuration.
XFC01 circuit board.
1343 COMMUNICA- The communication error between Check the cable connection
TION ERROR the XFC01 circuit board and the between the power ON unit and
(XFC01) WRCA01 circuit board. the XFC01 circuit board.
Robot/Station The connection of the WRCA01 cir- Replace power ON unit and/or
[Axis Data] cuit board and the XFC01 circuit XFC01 circuit board.
board. If the error occurs again, contact
Defective WRCA01 circuit board. MOTOMAN service.
Defective XFC01 circuit board.
Alarm
1344 COMMUNICA- The communication error between Check the connection of the
TION ERROR the encoder and the XFC01 circuit encoder displayed on axis data.
(ENCODER) board. Check whether there is equip-
(XFC01) The wrong wiring of the encoder ment generating big noise around
Robot/Station wire. or not.
[Axis Data] The type of motor was not correct. Check the ground of controller is
Defective XFC01 circuit board. correct.
Defective encoder. <Error in robot axis>
Check the type of motor is same
as described one on manual. If
the type is not correct, replace it
with correct motor.
Check the type of motor set by
system configuration is same as
actual installed one. If set data by
system configuration is correct,
replace installed motor with cor-
rect one. If set data by system
configuration is not correct, set
the correct system configuration.
the XFC01 circuit board.
Alarm
4000 MEMORY The tool file of CMOS memory was Initialize the tool file in the main-
ERROR damaged. tenance mode. Load the saved
(TOOL FILE) The data stands for the file No. tool file in the external memory
[Decimal Data] unit and restore.
4001 MEMORY The user coordinates file of CMOS Initialize the user coordinates file
ERROR memory was damaged. in the maintenance mode. Load
(USER COORD The data stands for the file No. the saved user coordinates file in
FILE) the external memory unit and
restore.
4002 MEMORY The servo monitor signal file of Initialize the servo monitor signal
ERROR CMOS memory was damaged. file in the maintenance mode.
(SV MON SIG- Load the saved servo monitor
NAL FILE) signal file in the external memory
unit and restore.
4003 MEMORY The weaving condition file of Initialize the weaving condition
(WEAVING FILE) Load the saved weaving condi-
tion file in the external memory
unit and restore.
4004 MEMORY The home position calibration file of Reset the home position calibra-
ERROR(HOME CMOS memory was damaged. tion (absolute data) after reset the
POS FILE) alarm. Load the home position
calibration file (absolute data)in
the external memory unit and
restore.
4005 MEMORY The specified point file of CMOS Load the specified point file in the
ERROR memory was damaged. external memory unit and restore.
(SPEC POINT
DATA)
4006 MEMORY The welder condition data file of Initialize the welder condition
ERROR CMOS memory was damaged. data file in the maintenance
(WELDER COND The data stands for the file No. mode. Load the saved welder
FILE) condition data file in the external
[Decimal Data] memory unit and restore.
4007 MEMORY ERR The arc start condition file of Initialize the arc start condition file
(ARC START CMOS memory was damaged. The in the maintenance mode. Load
COND FILE) data stands for the file No. the saved arc start condition file
[Decimal Data] in the external memory unit and
restore.
4008 MEMORY The arc end condition file of CMOS Initialize the arc end condition file
(ARC END The data stands for the file No. the saved arc end condition file in
COND FILE) the external memory unit and
[Decimal Data] restore.
Alarm
4009 MEMORY The welding condition assistance Initialize the welding condition
ERROR file of CMOS memory was dam- assistance file in the mainte-
(ARC AUX aged. nance mode. Load the saved
COND FILE) The data stands for the file No. welding condition assistance file
[Decimal Data] in the external memory unit and
restore.
4014 MEMORY The robot calibration file of CMOS Initialize the robot calibration file
(ROBOT CALIB The data stands for the file No. the saved robot calibration file in
4018 MEMORY ERR The ladder program file of CMOS Initialize the ladder program file in
(LADDER PRG memory was damaged. the maintenance mode. Load the
FILE) saved ladder program file in the
[Decimal Data] external memory unit and restore.
4019 MEMORY The cutting condition file of CMOS Initialize the cutting condition file
(CUTTING DATA The data stands for the file No. the saved cutting condition file in
4020 MEMORY The operation origin file of CMOS Initialize the operation origin file
ERROR memory was damaged. in the maintenance mode.
(OPERATION The data stands for the file No.
ORIGIN FILE)
[Decimal Data]
4031 MEMORY The spot gun condition data file of Initialize the spot gun condition
ERROR CMOS memory was damaged. data file in the maintenance
(SPOT GUN The data stands for the file No. mode. Load the saved spot gun
COND FILE) condition data file in the external
4032 MEM ERROR The spot welder condition data file Initialize the spot welder condition
(SPOT WELDER of CMOS memory was damaged. data file in the maintenance
COND FILE) The data stands for the file No. mode. Load the saved spot
[Decimal Data] welder condition data file in the
external memory unit and restore.
4033 MEMORY The servo gun pressure file of Initialize the servo gun pressure
(GUN PRES- The data stands for the file No. Load the saved servo gun pres-
SURE FILE) sure file in the external memory
[Decimal Data] unit and restore.
4036 MEMORY The wearing file of CMOS memory Initialize the wearing file in the
ERROR was damaged. maintenance mode. Load the
(WEARING FILE) The data stands for the file No. saved wearing file in the external
Alarm
4037 MEMORY The stroke position file of CMOS Initialize the stroke position file in
ERROR memory was damaged. the maintenance mode. Load the
(STROKE POSI- The data stands for the file No. saved stroke position file in the
TION) external memory unit and restore.
[Decimal Data]
4038 MEMORY The pressure file of CMOS memory Initialize the pressure file in the
ERROR was damaged. maintenance mode. Load the
(PRESSURE The data stands for the file No. saved pressure file in the external
FILE) memory unit and restore.
[Decimal Data]
4039 MEMORY The form cut file of the CMOS Initialize the form cut file in the
ERROR memory is damaged. The data maintenance mode. Load the
(FORM CUT stands for the file No. saved formcut file in the external
FILE) memory unit and restore.
[Decimal Data]
4040 MEMORY The shock level file of the CMOS Initialize the shock level file in the
ERROR (SHOCK memory is damage. The data maintenance mode. Load the
LEVEL FILE) stands for the file No. saved shock level file in the exter-
[Decimal Data] nal memory unit and restore.
4041 MEMORY The spot IO allocate file of the Initialize the spot IO allocate file
ERROR (SPOT CMOS memory is damaged. in the maintenance mode. Load
IO ALLOCTE FL) the saved spot IO allocate file in
[Decimal Data] the external memory unit and
restore.
4100 OVERRUN IN One of the robot axis overrun limit Reset the overrun.
ROBOT AXIS switches was operated.
[Bit Pattern]
4101 OVERRUN IN One of the external axis overrun Reset the overrun.
EXTERNAL AXIS limit switches was operated.
[Bit Pattern]
4102 SYSTEM DATA An attempt was made to change Turn off the power once and back
CHANGING data which exerted the influence on on.
[Decimal Data] the system and turned on the servo
power supply.
The data stands for the alarm fac-
tor.
1:System parameter change
Alarm
4103 PARALLEL The error occured in the independ- 1:Complete the sub task by
START ent control start operation. PWAIT comand.
INSTRUCTION The data stands for alarm factor. 2:Check that the job started and
ERROR 1:The sub task is being executed. the timing of execution for start
[Decimal Data] The job was executed by instructed comand again.
sub task, but another job was being 3:Check that the job started and
started in the sub task. the timing of execution for start
2:The group axis is being used comand again.
The job operated by other sub task 4:Register the master job for sub
used same group axis. task.
3:Multiple start of same job 5:Check that the job started and
The job tried to start was executed the timing of execution for start
by other sub task. comand again.
4:Master job unregistration 6:Start after reset the alarm.
Though master job was not regis-
tered, The attempt was made to
execute PSTART SUB(job name
omitted)
5:Synchronization instruction error
When restarted by PSTART, syn-
chroniza tion instruction status of
sub task under interruption was dif-
ferent than the status to restart.
6:The alarm is stopping
The attempt was made to start sub
task under stop by alarm.
4104 WRONG EXE- When the installation was exe- Correct the error according to the
CUTION OF cuted, the error occured in DCI data of the alarm factor after
LOAD INST function. reset the alarm.
[Decimal Data] The data stands for the alarm fac-
tor.
Refer to the data transmission
functionmanual for details.
CUTION OF cuted, an error occured in DCI data of the alarm factor after
SAVE INST function. resetting the alarm.
tor.
function manual for details.
CUTION OF cuted, the error occured in DCI data of the alarm factor after
DELETE INST function. resetting the alarm.
tor.
function manual for details.
Alarm
4107 OUT OF RANGE The difference between the posi- Operate axis for robot /station to
(ABSO DATA) tion of the power supply off and the set the current value 0 position
Robot/Station power supply on exceeded toler- and check the original mark
[Axis Data] ance for the robot / station. (arrow).
If not matched, there is an error of
PG system for the axis where the
error occurred. Please check.
4109 DC 24V POWER The external 24V power supply Check whether fuse for I/O con-
SUPPLY FAIL- was not output. tactor unit is cut or not.
URE Check the external 24V power
supply.
Check the connection of commu-
nication cable for I/O module.
(XCP01•CN01Å|XIU01•CN03
cable)
MOTOMAN service.
4110 SHOCK SEN- The shock sensor was operated. Check the factor of shock sensor
SOR ACTION operation.
[Bit Pattern]
4111 BRAKE FUSE The brake fuse was melted. Replace the fuse.
BLOWN
[Bit Pattern]
4112 DATA SENDING When the data transmission func- Correct the error according to the
ERROR tion was used, the error occurred. data of the alarm factor after
[Decimal Data] The data stands for the alarm fac- resetting the alarm.
tor.
1:Retryover of NAK
2:Retryover of timeout in timer A
3:Retryover of mutual response
error
4113 DATA RECEIV- When the data transmission func- Correct the error according to the
ING ERROR tion was used, the error occurred. data of the alarm factor after
tor.
1:Reception timeout (timer A)
2:Reception timeout (timer B)
3:Heading length is short.
4:Heading length is long.
5:The heading No. error.
6:The text length exceeds 256
characters.
Alarm
4114 TRANSMISSION When the data transmission func- Correct the error according to the
SYSTEM BLOCK tion was used, the error occurred. data of the alarm factor after
tor.
1:Overrun error
2:Parity error
3:Flaming error
4:Transmission timeout (timer A)
5:Transmission timeout (timer B)
4116 TRANSMISSION When the data transmission func- Correct the error according to the
SYSTEM tion was used, the error occurred. data of the alarm factor after
ERROR (Though the transmission proce- resetting the alarm.
[Decimal Data] dure is correct, there is a reception
that irrationality is caused in sys-
tem. This error is mainly caused by
PC breached the rule or abnormal
communication.)
The data stands for the alarm fac-
tor.
1:Received EOT when waiting
ACK.
2:Received EOT when waiting
ENQ.
3:Received EOT before last block
reception
4:Received codes for except EOT
after last block reception.
4117 SERVO POWER It is thought that the CPU rack, cir- Check whether the setting is the
INPUT SIGNAL cuit board was abnormal. same as the system or not(robot
ERROR and external axis)
MOTOMAN service.
4118 FAN ERROR The rotating speed of the cooling Move the manipulator to a safe
(REGENERA- fan for the resurrection resistance position on teach mode after
TIVE RESISTOR) was decreased. resetting the alarm.
[Decimal Data] Need to replace the cooling fan
for resurrection resistance. Con-
sult MOTOMAN service.
4119 FAN ERROR The axis was instructed to turn Make the condition so as to be
(IN CONTROL servo on and off separately. able to turn servo on and off after
BOX) resetting the alarm.
4200 SYSTEM When acess to the file data was Reset the alarm and repeat the
ERROR executed, the error occured. (File operation.
(FILE DATA) edition, Operation of external mem- Turn the power off then back on.
[Decimal Data] ory unit) If the error occurs again, contact
MOTOMAN service.
Alarm
4201 SYSTEM When access to the job was exe- Reset the alarm and repeat the
ERROR(JOB) cuted, the error occured. operation.
[Decimal Data] (During robot is being playback and Turn the power off then back on.
operation) If the error occurs again, contact
MOTOMAN service.
4202 SYSTEM When acess to the job was exe- Reset the alarm and repeat the
ERROR(JOB) cuted, the error occured. operation.
[Decimal Data] (Job edition, Operation of external Turn the power off then back on.
memory If the error occurs again, contact
unit) MOTOMAN service.
4203 SYSTEM When acess to the position data Reset the alarm and repeat the
ERROR was executed, the error occured. operation.
(POSITION (During playback and operation) Turn the power off then back on.
DATA) If the error occurs again, contact
[Bit Pattern] MOTOMAN service.
4204 SYSTEM When access to the position data Reset the alarm and repeat the
ERROR was executed, the error occured. operation.
(POSITION (Job/position variable edition, Turn the power off then back on.
DATA) Operation of external memory unit) If the error occurs again, contact
[Decimal Data] MOTOMAN service.
4206 SYSTEM When the data transmission func- Needs investigation.

ERROR tion was used, the error occured. Consult MOTOMAN service.
(TRANSMIS- The error of internal procedure for
SION) transmission system.
[Decimal Data]
4207 SYSTEM The system error occured in Reset the alarm and repeat the
ERROR(MOTIO MOTION. operation.
N) Turn the power off then back on.
MOTOMAN service.
4208 SYSTEM The system error occured in Reset the alarm and repeat the
ERROR ARITH. operation.
(ARITH) Turn the power off then back on.
MOTOMAN service.
4209 OFFLINE SYS- The system error occured in ARITH Reset the alarm and repeat the
TEM ERROR offline. operation.
(ARITH) Turn the power off then back on.
MOTOMAN service.
4220 SERVO POWER The servo power supply was not Intercept the servo power supply
OFF FOR JOB turned on for the job group axis once and turn on the servo power
[Control Group] which was to be operated. supply to the group axis to be
operated.
Alarm
4221 SERVO POWER The servo power supply was not Intercept the servo power supply
OFF FOR JOB turned on for the job group axis once and trun on the servo power
[Control Group] which was to be operated. supply to the group axis to be
operated.
4222 SAFE CIRCUIT The error occured on safety circuit Check the connection of safety
SIG NOT SAME signal (power ON unit). circuit signal cable for the poer
(XCI01) (WRCA01 board double signal ON unit.
[Bit Pattern] check) Replace power ON unit.
4223 SAFE CIRCUIT The error occured on safety circuit Check the connection of safety
SIGNAL NOT signal (power ON unit). circuit signal cable for the poer
SAME (SV) (WRCA01 board double signal ON unit.
[Decimal Data] check) Replace power ON unit.
4300 VERIFY ERROR A mistake was found in the param- Needs investigation.
(SERVO eter related to servo control. Consult MOTOMAN service.
PARAMETER)
[Decimal Data]]
4301 CONTACTOR The contactor of the contactor unit Turn servo ON again after reset-
ERROR was not turned ON at servo ON. ting the alarm.
[Bit Pattern] While turning servo ON, the signal If the error occurs again, replace
from the contactor was intercepted the contactor unit, WRCA01 cir-
. cuit board.
The contactor signal was not inter-
cepted at servo OFF(at emergency
stop).
While turning servo OFF(at emer-
gency stop), the contactor signal
was turned ON. Reasons are as
follows:
Defective contactor unit
Defective WRCA01 circuit board
4302 BRAKE CIR- The brake relay signal unit was not Reset the alarm and turn servo
CUIT ERROR turned ON at servo ON. ON again.
[Bit Pattern] While turning servo ON, the brake If the error occurs again, replace
relay signal was intercepted . the contactor unit, WRCA01 cir-
The brake relay signal was not cuit board.
intercepted at servo OFF(at emer-
gency stop).
gency stop), the brake relay signal
was turned ON.
Reasons are as follows:
Defective contactor unit
Defective WRCA01 circuit board
Alarm
4303 CONVERTER There was no response(servo Reset the alarm and turn servo
READY SIGNAL ready signal) of charge completion ON again.
ERROR from convertor at servo ON. Check the primary power supply
[Bit Pattern] While turning servo ON, the servo voltage (220V+10%).
ready signal was intercepted . If the error occurs again, replace
The servo ready signal was not the WRCA01 circuit board, the
intercepted at servo OFF(at emer- converter.
gency stop).
gency stop), the servo ready signal
was turned ON.
Primary side power supply voltage
was too low.
Because the power supply cable of
primary side was too fine or its
cable was too long, the voltage
drop occurred at servo ON.
Defective WRCA01,WRCF01 cir-
cuit board
Defective converter
4304 CONVERTER There was no response(ready 1 Check the connection for primary
INPUT POWER signal) of primary power supply side wiring R,S,T, wire.
ERROR input from convertor at servo ON. Check that the power supply volt-
[Bit Pattern] While turning servo ON, the ready age is more than 170V.
1 signal was intercepted . If the error occurs again, replace
The ready 1 signal was not inter- the WRCA01 circuit board,
cepted at servo OFF(at emergency WRCF01 circuit board, the con-
stop). verter.
gency stop), the ready 1 signal was
turned ON .
Mistaken wiring of connection for
primary side power supply.
The drop of primary side power
supply (less than170V).
drop occurred at servo ON.
cuit board
Defective converter
Alarm
4305 CONVERTER There was no response(ready 2 Check that primary power supply
CIRCUIT signal) of charge completed from is more than 170V.
CHARGE convertor at servo ON. Replace the amplifier.
ERROR While turning servo ON, the ready If the error occurs again, replace
[Bit Pattern] 2 signal was intercepted . the WRCA01 circuit board,
The ready 2 signal was not inter- WRCF01 circuit board, the con-
cepted at servo OFF(at emergency verter.
stop).
gency stop), the ready 2 signal was
turned ON .
Mistaken wiring of connection for
primary side power supply.
The drop of primary side power
supply (less than170V).
drop occured at servo ON.
cuit board
Defective converter
Defective amplifier(There is a pos-
sibility that power circuit was short-
circuited internally.)
4306 AMPLIFIER There was no response(amp ready Reset the alarm and turn servo
READY SIGNAL signal) of energizing completed ON again.
ERROR from amplifier at servo ON. If the error occurs again, replace
[Bit Pattern] While turning servo ON, the amp the WRCA01 circuit board,
ready signal was intercepted. WRCF01 circuit board, the con-
The amp ready signal was not verter.
intercepted at servo OFF(at emer-
gency stop).
gency stop), the amp ready signal
was turned ON.
cuit board
Defective converter
Defective amplifier(There is a pos-
sibility that power circuit was short-
circuited internally.)
Alarm
4307 SERVO ON While encoder was rotating, the Check the timing of turning on
DEFECTIVE servo power supply was turned on. servo power supply again.
SPEED Impossible to turn on control power
Robot/Station supply in the rotation
[Axis Data] The no brake axes, R,B,T axis for
SK6, freely fell when the servo
power supply was turned off by
emergency stop. When the servo
control power supply was turned
back on this status, this alarm
occured.
4308 VOLTAGE DROP Direct current power supply voltage Check the connection for primary
(CONVERTER) supplyed to amplifier for servopack side wiring R,S,T, wire.
[Bit Pattern] has become less than143V. Check that power supply voltage
Reason is follows: is more than 170V.
Primary power supply voltage was If the error occurs again, replace
too low. the WRCA01, WRCF01 circuit
There was open phase. board, the converter.
Defective converter
Defective WRCA01circuit board
4309 DEFECTIVE The internal parameter error for Turn the power off then back on.
ENCODER serial encoder. It is thought the If a phenomenon occurs again
INTERNAL DATA encoder was abnormal. after repeating this operation sev-
Robot/Station eral times, replace the
[Axis Data] motor(encoder) for axis occured
the error.
If the error occurs again, consult
with MOTOMAN service.
4310 ENCODER The encoder has overheated to Check that the ambient tempera-
OVERHEAT 100 degrees. ture is not too high.
Robot/Station Check the load again.
[Axis Data] Chech the primary power supply
voltage (220V+10%).
the WRCA01 circuit board, the
encoder.
4311 ENCODER Because backup power supply Reset the alarm. Adjust the home
BACK-UP voltage for encoder decreased(less position again.
ERROR than 2.6V), position data of the Check the battery voltage for
Robot/Station encoder disappered. encoder. (more than 2.8V)
[Axis Data] Whenever a new motor was used, Replace the battery.
this error occurred. If the error occurs again, replace
the encoder.
Because it is charged the backup
condenser, don't turn off power
supply for a few minutes.
Alarm
4312 ENCODER BAT- Voltage of backup battery for Check the battery voltage for
TERY ERROR encoder has decreased.(less than encoder. (more than 2.8V)
Robot/Station 2.8V) Replace the battery.
[Axis Data] (In case leaving this voltage as it is,
the backup error occurs and posi-
tion data disappears.)
4313 SERIAL The encoder has overheated to Check that the ambient tempera-
ENCODER 100 degrees. ture is not too high.
OVER HEAT Check the load again.
Robot/Station Check the primary power supply
[Axis Data] voltage (220V+10%).
the WRCA01 circuit board, the
encoder.
4314 SERIAL Voltage of backup battery for Check the battery voltage for
ENCODER BAT- encoder has decreased.(less than encoder. (more than 2.8V)
TERY ERROR 2.8V)(In case leaving this voltage Replace the battery.
Robot/Station as it is, the backup error occurs
[Axis Data] and position data disappears.)
4315 COLLISION A collision was detected in the Restore the robot from the state
DETECT teach mode. of the collision.
(TEACH MODE)
Robot/Station
[Axis Data]
4316 PRESSURE The value of pressure in the “GUN Change the value of pressure in
DATA LIMIT PRESSURE” file or the “PRES- the “GUN PRESSURE” file or the
SURE” file exceeds the maximum “PRESSURE” file below the maxi-
pressure in the “GUN CONDITION” mum pressure.
file.
4400 NOT READY The operation process of motion Reset the alarm and repeat the
(ARITH) control does not end in regulated operation.
[Decimal Data] time. If the error occurs again, contact
Data (1-5) stands for the alarm fac- MOTOMAN service.
tor.
4401 SEQUENCE The error has occured in job exec Reset the alarm and repeat the
TASK CONTR statement part. operation.
ERROR Data (1-255) stands for the alarm If the error occurs again, contact
[Decimal Data] factor. MOTOMAN service.
4402 UNDEFINED The instruction not defined was Reset the alarm and repeat the
COM- demanded of the path operation operation.
MAND(ARITH) process. If the error occurs again, contact
MOTOMAN service.
4404 ARITHMETIC The control error occured in the Reset the alarm and repeat the
ERROR path operation process. operation.
[Decimal Data] Data (1-8) stands for alarm factor. If the error occurs again, contact
MOTOMAN service.
Alarm
4405 SELECT ERROR The control error occured in the Reset the alarm and repeat the
(PARAMETER) path operation process. operation.
MOTOMAN service.
4406 GROUP AXIS When operating cooperative con- Reset the alarm and repeat the
CONTROL trol, the control error occured in the operation.
ERROR path operation process. If the error occurs again, contact
[Decimal Data] Data (1-12) stands for the alarm MOTOMAN service.
factor.
4407 TWO STEPS Among three taught points, there Reset the alarm. Teach the differ-
SAME POSITION was the same point of two points or ent 3 points again.
(CIRC) more.
(SPLINE) more.
(3 POINTS) more. (User coordinates, robots
calibration, etc.)
4410 TWO STEPS The weaving base point was the Reset the alarm. Teach the differ-
SAME POSITION same as the wall point. ent 3 points again.
(WEAV)
4411 TEACH ERROR It was not an equidistant distance Teach again to be an even dis-
(SPLINE) between teaching points. tance between teaching point
4412 IMPOSSIBLE In case the form of L,U axis for Make the form of L,U axis same
LINEAR MOTION start point and end point were dif- and teach again.
(L/U) ferent in interpolation motion
except MOJV, it was not possible
to operate.
4413 IMPOSSIBLE In case the form of S, L axis for Make the form of S, L axis the
LINEAR MOTION start point and end point were dif- same and teach again.
(S/L) ferent in interpolation motion
except MOJV, it was not possible
to operate.
4414 EXCESSIVE It exceeded rated speed of the Reset the alarm. Reduce the
SEGMENT motor at a specified speed. speed of the step (Move instruc-
(LOW SPEED) tion) occurred the alarm or
Robot/Station change the robot pose.
[Axis Data]
4415 EXCESSIVE It exceeded rated speed of the Reset the alarm. Reduce the
SEGMENT motor at a specified speed. speed of step (Move instruction)
(HIGH SPEED) occurred the alarm or change the
Robot/Station robot pose.
[Axis Data]
Alarm
4416 PULSE LIMIT It exceeded pulse software limit. Release the alarm and teach
(MIN.) again according to the release
Robot/Station method when software limit range
[Axis Data] is exceeded.
4417 PULSE LIMIT It exceeded pulse software limit. Release the alarm and teach
(MAX.) again according to the release
[Axis Data] is exceeded.
4418 CUBE LIMIT The tool control point exceeded Release the alarm and teach
(MIN.) cube software limit. again according to the release
[XYZ] is exceeded.
4419 CUBE LIMIT The tool control point exceeded Release the alarm and teach
(MAX.) cube software limit. again according to the release
[XYZ] is exceeded.
4420 SPECIAL It exceeded pulse software limit. Release the alarm and teach
SOFTLIMIT again according to the release
(MIN.) method when software limit range
Robot/Station is exceeded.
[Axis Data]
4421 SPECIAL It exceeded pulse software limit. Release the alarm and teach
SOFTLIMIT again according to the release
(MAX.) method when software limit range
[Axis Data]
4422 MECHANICAL An abnormal (reverse) axis inter- Reset the alarm. Release the
INTERFER- fered mutually. interference and teach again.
ENCE (MIN.)
Robot/Station
[Axis Data]
4423 MECHANICAL An abnormal (reverse) axis inter- Reset the alarm. Release the
INTERFER- fered mutually. interference and teach again.
ENCE (MAX.)
Robot/Station
[Axis Data]
4424 SPECIAL An abnormal (reverse) axis inter- Reset the alarm. Release the
MECHANICAL fered mutually. interference and teach again
INTRF (MIN.)
Robot/Station
[Axis Data]
Alarm
4425 SPECIAL An abnormal (reverse) axis inter- Reset the alarm. Release the
MECHANICAL fered mutually. interference and teach again.
INTRF (MAX.)
Robot/Station
[Axis Data]
4426 PULSE It exceeded pulse software limit. Release the alarm and teach
MECHANICAL again according to the release
LIMIT (MIN.) method when software limit range
[Axis Data]
4427 PULSE It exceeded pulse software limit. Release the alarm and teach
MECHANICAL again according to the release
LIMIT (MAX.) method when software limit range
[Axis Data]
4428 SEGMENT CON- The error occurred in data and the Reset the alarm and repeat the
TROL ERROR timing of the processing part where operation.
[Decimal Data] the operation part was controlled. If the error occurs again, contact
Data (1-7) stands for the alarm fac- MOTOMAN service.
tor.
4429 WRONG SPECI- The error occurs in information on Reset the alarm and repeat the
FIED CONTROL the robot which uses for the job operation
GROUP interpretation and the motion con- If the error occurs again, contact
[Decimal Data] trol. MOTOMAN service.
Data (1-9) stands for the alarm fac-
tor.
4430 CPU COMMUNI- When interrupting various circuit Reset the alarm and repeat the
CATION ERROR board from the XCP01 circuit operation.
[Decimal Data] board, interrupted boards were not If the error occurs again, contact
prepared or didn't respond. MOTOMAN service.
4431 JHM ERROR The data was abnormal in the job Reset the alarm and repeat the
[Decimal Data] control process. operation.
MOTOMAN service.
4432 INSTRUCTION The error occurred in the job inter- Reset the alarm. Select job and
INTERPRETER pretation exec statement part. repeat the operation.
ERROR Data (1-128) stands for the alarm If the error occurs again, operate
[Decimal Data] factor. by the following procedure:
• Delete the command that
caused the alarm and register
again and start execution.
‚ Delete the job that cause the
alarm and register again and start
execution.
MOTOMAN service.
Alarm
4433 UNDEFINED The global variable range was Needs investigation at

GLOBAL VARIA- undefined. MOTOMAN service.
BLE
[Decimal Data]
4434 VAR-SCORE- The error occurred in variable Reset the alarm. Select job and
BOARD CON- scoreboard control. repeat the operation.
TROL ERROR If the error occurs again, operate
[Decimal Data] by the following procedure:
‚ Delete the job that cause the
execution.
MOTOMAN service.
4435 UNDEFINED The local variable was undefined. Set the local variable used for
LOCAL-VARIA- sub header of job.
BLE
[Bit Pattern]
4436 LESS THAN 3 A circle step didn't contain a mini- Reset the alarm. Teach at least 3
STEPS(CIRCU- mum of 3 consecutive points. consecutive points for the circle
LAR) step.
[Decimal Data]
4437 LESS THAN 3 A spline interpolation designation Reset the alarm. Teach at least 3
STEPS(SPLINE) step didn't contain a minimum of 3 onsecutive points for the spline
consecutive points. interpolation designation step.
4438 UNDEFINED Job was not registered. Reset the alarm and register job.
JOB Or Delete CALL, JUMP instruc-
[Decimal Data] tion caused the alarm.
4439 UNDEFINED No labels existed in the currently Reset the alarm and register job .
LABEL executing job. Or Delete CALL, JUMP instruc-
[Decimal Data] tion occured the alarm.
4440 UNDEFINED The job call stack contained no Reset the alarm and start execu-
RETURN JOB return. tion from the master job. Or
[Decimal Data] delete RET instruction.
4441 LACK OF Too many local variables used in Reset the alarm and reduce the
LOCAL-VARIA- the job. use number of the local variables
BLE AREA
[Decimal Data]
Alarm
4442 LOCAL-VARIA- When job was executed, the error Reset the alarm. Select job and
BLE CONTROL occurred in control process of local repeat the operation.
ERROR variable. If the error occurs again, operate
[Decimal Data] Data (1-4) stands for the alarm fac- by following procedure:
tor. • Delete the command that
‚ Delete the job that caused the
execution.
4443 JOB CALL At the job CALL, RET, END Reset the alarm. Select the job
STACK ERROR instruction, when operating the job again and repeat the operation.
[Decimal Data] call stack, internal control data of If the error occurs again, contact
inside was abnomal. MOTOMAN service.
Data (1-2) stands for the alarm fac-
tor.
4444 UNSUCCESS- When executing PL=0 or interrupt- Reset the alarm. In case an
FUL FINE POSI- ing external servo, the servo external force is affecting the
TIONING deflection was not put within time. robot, move the robot to remove
[Decimal Data] Excessive external force the external force and repeat
The servopack, the motor were the operation.
abnormal. In case the phenomenon occurs
again without any external force,
try to insert the XCP01 circuit
board again.
MOTOMAN service.
4445 DATA PRESET When the interpretation process Reset the alarm. Select the job
ERROR section of job annuled the content and repeat the operation.
[Decimal Data] of interpretation and started to If the error occurs again, contact
interpret again, various kinds of MOTOMAN service.
data were attempted to be initial-
ized. At the time,a disagreement of
data occured.
Data (1-255) stands for the alarm
factor.
4446 OVER VARIA- The range of the numerical value of Increase the variable range at the
BLE LIMIT the variable for storage destination storage destination or rewrite the
[Decimal Data] was exceeded. job to bring the number of varia-
bles in range.
4447 DEFECTIVE A straight line linked the three Reset the alarm and teach again.
TAUGHT POINT points.
(CIRC)
Alarm
4448 WEAVING CON- When executing the weaving 4:Set 0.1 seconds or more in the
TROL ERROR motion control, the control error moving time of weaving file.
[Decimal Data] occurred in the path operation 5:Set 0.1 hertz or more in the fre-
process. quency of weaving file.
Data stands for the alarm factor. 6:Set a positive value in the stop-
4:Weaving speed instruction was ping time of weaving file.
moving time instruction, moving 7:Set 1mm or more in the vertical
time was less than 0. direc tion, horizontal direction dis-
5:Weaving speed instruction was tance of weaving file.
frequency instruction, frequency If the error occurs again, contact
was less than 0. MOTOMAN service.
6.Weaving stopping time was neg-
ative
7:Vertical direction distance at or
horizontal direction distance was 0
in triangular wave, L type weaving.
9:Distance between P point and
control point was less than 0 in the
wrist weaving Except above:Con-
trol error
4449 UNMATCHED The data types(pulse, Cartesian) of Match the data types(pulse, Car-
POSN VAR the stored data and the storage tesian) of the stored data and the
DATA TYPE destination are different. storage destination.
[Bit Pattern]
4450 FILE NO. The error occured during file No. Reset the alarm. Select the job
ERROR check. and repeat the operation.
[Decimal Data] Data stands for the alarm factor. If the error occurs again, contact
MOTOMAN service.
4451 UNDEFINED No reference point was registered Correctly register reference

REFERENCE or insufficient reference points points.
POINT were registered.
[Bit Pattern]
4452 STACK MORE The job call stack overflowed. Reset the alarm and modify the
THAN 8 (JOB job to reduce the jobs in the job
CALL) call stack.
[Decimal Data]
4453 OVER VARIA- A variable number was out-of- Modify the job by using the per-
BLE NO. range. mitted variable number.
[Bit Pattern]
4454 UNDEFINED The welder condition data file was Set the welder condition data file.
WELDER CON- not set.
DITION FILE
[Decimal Data]
4455 UNDEFINED The arc start condition file was not Set the arc start condition file.
ARC START set.
COND FILE
[Decimal Data]
Alarm
4456 UNDEFINED The arc end condition file was not Set the arc end condition file.
ARC END COND set.
FILE
[Decimal Data]
4457 WRONG The arc voltage command units Match the arc voltage command
WELDER didn't match the welder power sup- units.
SELECTION ply (individual,unified) .
[Decimal Data]
4458 EQUATION When executing equation of SET Reset the alarm and repeat the
EXCEPTION instruction, the item of the equation operation.
ERROR which couldn't be executed was If the error occurs again, operate
[Decimal Data] attempted. the following procdure:
again.
‚ Delete the job that caused the
alarm and register again.
4459 EXCESSIVE An equation was too long. Divide up the equation to reduce
INSTRUCTION its length.
EQUATION
[Decimal Data]
4460 ZERO DIVIDED A division by zero was attempted. Set not to divide by zero.
OCCURRENCE
[Decimal Data]
4461 UNDEFINED Number of automatic sticking Set the number of automatic

AUTO-WELD release attempts was set to zero in sticking release attempts and
RELEASE COND the arc auxiliary file. repeat the operation.
[Decimal Data]
4462 UNDEFINED Arc retry was set but no move Set a move instruction after
POSITION FOR instruction exists after ARCON. ARCON.
ARC RETRY
[Decimal Data]
4463 PARITY ERROR General I/O group parity error. Stop parity error from occuring.
4464 OVER BCD An attempt was made to output a Reset the data in the permitted
RANGE value which exceeded the maxi- range.
mum BCD value limit of 99 (deci- Check the designated data (BCD/
mal) without parity or 79 (decimal) binary) and parity check.
with parity.
An attempt was made to read data
which couldn't be represented as
BCD (most-or least-significant 4
bits are 9 or above) to a variable.
Alarm
4465 OVER BINARY An attempt was made to output a Reset the data in the permitted
RANGE value exceeding 127(decimal) range.
(PARITY while the parity check was desig- Review the parity check.
CHECK) nated.
4466 OFFLINE UNDE- Undefined instruction was required Reset the alarm and repeat the
FINED COM- for software for off-line path arith- operation.
MAND(ARITH) metic of the XCP01 circuit board. If the error occurs again, contact
[Decimal Data] MCP02 circuit board or the contact MOTOMAN service.
was defective.The control of soft-
ware was abnormal.
4468 ROBOT CALI- The error occured in the process of Reset the alarm and repeat the
BRATION DATA making robot calibration data. operation.
ERROR If the error occurs again, contact
4469 ROBOT CALI- The error occured in frame conver- Reset the alarm and repeat the
BRATION sion process of robot calibration operation.
FRAME ERROR data If the error occurs again, contact
4471 CALIBRATION The error occured in the process of Reset the alarm and repeat the
DATA ERROR making calibration data. operation.
MOTOMAN service.
4472 TOOL CALIBRA- The error occured in the process of Reset the alarm and repeat the
TION DATA making calibration data. operation.
ERROR If the error occurs again, contact
4473 ARITHMETIC System data didn't corrspond with Reset the alarm and repeat the
ALARM RESET reset process after the alarm operation.
ERROR occurred in arithmetic section. If the error occurs again, contact
4474 WRONG CON- An instruction such as a job call Include the call source job control
TROL GROUP (CALL) or job jump (JUMP) was group in the control group used
AXIS used for a call or jump to a job in a by the current call destination job.
[Bit Pattern] group outside the currently used
job control group.
4475 CANNOT EXE- When executing ARCON, WVON Add a robot to the job control
CUTE JOB(NO instruction, the robot was not in the group.
ROBOT) prescribed job control group.
[Decimal Data]
4476 CANNOT EDIT An attempt was made to overwrite Cancel the edit lock.
(EDIT LOCK an edit-locked job.
JOB)
[Decimal Data]
Alarm
4477 SELECT ERROR When executing operation instruc- Needs investigation.

(APPLICATION ) tion, the selection parame- Consult MOTOMAN service.
[Decimal Data] ter(parameter specified for maker)
for first application and application
parameter(AP) was not adjusted.
4480 SELECT When executing sensor instruction, Needs investigation.

ERROR(SEN- the selection parameter(parameter Consult MOTOMAN service.
SOR ) specified for maker) for first sensor
[Decimal Data] application and sensor parame-
ter(SE) is not adjusted.
4484 WRONG PORT Parameter(AxP010) showed the Change the parameter to a nor-
NO. head of analog port used for arc, mal value.
(ANALOG OUT- sealing was incorrect.
PUT)
[Decimal Data]
4485 WRONG SELEC- When executing sensor instruction, Needs investigation.

TION (SENSOR) robot designation(system parame- Consult MOTOMAN service.
[Decimal Data] ter) uses sensor application and
robot designation(system parame-
ter) uses application was not corre-
sponded.
4486 PASS OVER The path went outside the desig- Correct the cause of the pass-
[Decimal Data] nated pass-over monitoring area. over.
Set the pass-over radius inside
the permitted range.
4487 WRONG MECH Path arithmetic process section Reset the alarm and repeat the
PARAMETER control error. operation.
FILE If the error occurs again, contact
4488 INCOMPLETE Path arithmetic process section Reset the alarm and repeat the
PT FRAME control error. operation.
MOTOMAN service.
4489 DEFECTIVE Impossible to execute cutting 1:Set C,W axis position of cutting
TAUGHT motion. start position zero(0).
POINT(CUT- Data stands for the alarm factor. 2:Set the radius zero(0) or more.
TING) 1:CW axis CUT pulse error
[Decimal Data] C,W axis position on cutting start is
not zero(0) pulse.
2:Cutting(edge) radius 0
Cutting(edge) radius is zero(0).
Alarm
4490 DEFECTIVE Impossible to execute endless 1:In case this alarm occurs when
TAUGHT motion. operating programing pendant,
POINT(END- Data stands for the alarm factor reset the alarm and execute the
LESS) 1:Interpolation motion impropriety MRESET operation.
[Decimal Data] of endless function. In case this alarm occurs when
Linear motion inpropriety. This operating playback, set the MRE-
error occurred as follows. When SET instruction before executing
operating playback panel and pro- the MOVL, MOVC instruction.
gramming pendant, though contin- 4:Check the teaching position
uous rotaion was completed, again. Set C,W axis position of
MRESET instruction was not exe- cutting start position zero(0).
cuted but linear interpolation was
executed.
4:Instruction position of step has
permitted
pulse over cursor for endless axis
exceeded 2,147,483,647 pulse.
4491 CORREC- When correcting a motion, the error Teach reference points again.
TIONAL DIREC- occured in the process of making a If the error occurs again, contact
TION ERROR correction in the direction for path MOTOMAN service.
[Decimal Data] arithmetic.
4:Referrence points were the
same.
4492 POSITION COR- When correcting a motion, the error Reset the alarm and repeat the
RECTION occured in making process of mak- operation.
ERROR ing a correction in the volume for If the error occurs again, contact
[Decimal Data] path arithmetic. MOTOMAN service.
4493 OVER TOOL The error occurred in the tool file Reset the alarm and repeat the
FILE NO. control process. operation.
MOTOMAN service.
4494 DEFECTIVE 1:Weaving start point and end point Check the position of the start
TAUGHT were the same. point, end point and referrence
POINT(WEAV) In case there was no instruction of point. Teach again.
[Decimal Data] stop weaving, the position of weav-
ing start point and end point was
the same point or the position of
weaving start point and referrence
point is the same point.
In case there is instruction to stop
weaving, the position of the weav-
ing start point and referrence point
is the same point.
4495 UNDEFINED Robot calibration was incomplete Conduct robot calibration.

ROBOT CALI- when a coordinated move instruc-
BRATION tion was executed.
[Bit pattern]
Alarm
4496 PARAMETER Parameter settings caused divi- Needs investigation.

ERROR sion by zero. Consult MOTOMAN service.
[Decimal Data]
4497 DEFECTIVE There was a problem with the Teach the points again.
TAUGHT taught points.
POINT(CALIB)
[Decimal Data]
4498 CANNOT EXE- An illegal instruction was executed Register the instruction in a job
CUTE JOB(NO in a job with no control group. with control axis.
GRP AXIS)
[Decimal Data]
4499 UNDEFINED Undefined position data was used. Define the position data.
POSITION VARI-
ABLE
[Bit Pattern]
4500 UNDEFINED Undefined user coordinates were Define the user coordinates.
USER FRAME used.
[Decimal Data]
4501 OUT OF The error occured in task control Reset the alarm and repeat the
RANGE(PARAL- process of independent control operation.
LEL PROCESS) function. If the error occurs again, contact
4502 SL BOARD ON- When turning on power supply, Insert the XCP02 circuit board
LINE ERROR detected in the XCP01 circuit board again.
that the XCP02 didn't normally If the error occurs again, contact
work. MOTOMAN service.
4504 MEASURE INST When executing the measure Reset the alarm and repeat the
EXECUTE instruction, the error occured. operation.
ERROR Data stands for the alarm factor. If the error occurs again, contact
[Decimal Data] 2:MEASON instruction MOTOMAN service.
3:MEASOF instruction
4505 UNDEFINED Retry was possible with ARC Register a step in front of the
POSITION FOR RETRY execution only if a step ARCON instruction.
ARC ON existed before the ARCON instruc-
[Decimal Data] tion.
4506 UNDEFINED No restart-return step existed in the Reset the alarm and correct the
POS FOR job when a restart was job.
RESTART attemted.(Eg.,a retry request was
RETURN received during 1-step execution of
[Decimal Data] CALL destination job.)
4507 REFP POS The distance between the search Reset the alarm and increase the
ERROR start point and aimed point was too distance between the search start
(SEARCH short to determine the search point and aimed point.
MOTION) direction.
Alarm
4508 PECIFIED Position confirmation was not pos- Reset the alarm and change the
ERROR sible because the position variable coordinates.
(COORDINATE) (P) designates coordinates as tool
[Decimal Data] coordinates, master tool coordi-
nates.
Data stands for the alarm factor.
0:No coordinates
1:Designation error for master tool
coordinates system
2:Designation error for tool coordi-
nates system
4509 MFRAME Impossible to create user coordi- Register the position file(varia-
ERROR nates ble).
[Decimal Data] 8:No position file registered.
4510 CANNOT EXE- The attempt was made to calucu- Correct the job.
CUTE INSTRUC- late the root of a negative number
TION (Second argument is a negative.)
(SQRT)
[Decimal Data]
4511 OUT OF RANGE When turning on servo, the differ- Reset the alarm and repeat the
(DROP-VALUE) ence in robot position pulse at operation.
[Control Group] servo ON and the previous servo
OFF exceeded the permitted
range.
(Permitted pulse is normally
100pulse.)
4512 TWO STEPS The three points for creating the Teach again such that the three
SAME LINE(3 user coodinates or three or more points do not lie on the straight
STEPS) taught points for robot calibration line.
lie on the same line.
4517 SEARCH MONI- The error occurred in the interface Check the system version of the
TOR SET with servo on feedback ratch XCP01, WRCA circuit board.
ERROR mode.
(SERVO)
[Decimal Data]
4518 SEARCH MON The error occured in the interface Check the system version of the
RELEASE with servo on feedback ratch XCP01, WRCA circuit board.
ERROR mode.
(SERVO)
[Decimal Data]
4519 SPHERE INTRF Robot calibration was not exe- Execute robot calibration.
ERR(ROBOT) cuted.
[Decimal Data]
Alarm
4520 AXIS BLOCKING Operation was instructed to group Reset the alarm and repeat the
[Control Group] axis out of axis blocking on play operation.
mode. In case operating robot after reset
the alarm, turn on the general
input signal set in the parameter.
4521 WRONG JOB 0000_0001:Robot job was started Check the starting job.
TYPE from concurrent job by CALL or
[Bit Pattern] JUMP instruction.
0000_0001:Concurrent job was
started from robot job by CALL or
JUMP instruction.
4522 TAG DATA The error occured when welding Correct the job.
CHANGE PROC- conditions were changed in a job or
ESS ERROR file.
[Decimal Data]
4523 ONLY CONCUR- An attempt was made to operate Check the starting job.
RENT JOB POS- robot job by all task.
SIBLE
4524 CANNOT EXE- A concurrent job contained an Correct the job.

CUTE INST instruction (MOV,etc.) which
(CONCUR JOB) couldn't be executed in a concur-
rent job.
4526 SYNTAX ERROR Internal data of equation inst was Needs investigation.
IN EQUATION abnormal. Consult MOTOMAN service.
INST
[Decimal Data]
4527 UNDEFINED Designation of port No.for job was Needs investigation.

PORT NO. abnormal. Consult MOTOMAN service.
(AOUT)
[Decimal Data]
4528 SYNTAX ERROR Internal data was abnormal in Needs investigation.

[Decimal Data] instruction. Consult MOTOMAN service.
(System function unmatch)
4534 TORQUE INTER- During operation at the designated Reset the alarm. Reduce the step
FERENCE speed, there is axis that the robot (for moving instruction) speed
axis or motor load torque exceeded that caused the alarm or change
the permitted torque. pose of robot.
4540 JOB QUE [QUE] was called by CALL instruc- Set data in the job queue and call
EMPTY ERROR tion and JUMP instruction when all [QUE].
job queue was not used.
4543 STACK LESS The error occurred in internal data Reset the alarm and repeat the
THAN 0 when returning job. operation.
(JOB CALL) If the error occurs again, contact
Alarm
4564 INTERNAL STA- When execution of start point Reset the alarm and repeat the
TUS ERR detecting function(SRCH), search operation.
(SEARCH HALT) function for general sen- If the error occurs again, contact
[Decimal Data] sor(ASRCH), force detecting func- MOTOMAN service.
tion(TSRCH) was completed, the
process error occured.
4565 SOFTWARE Operating function didn't corre- Need the investigation.

UNMATCH spond to system. Consult MOTOMAN service.
[Decimal Data]
4567 CANNOT MONI- The attempt was made to execute Set not to operate ARC retry,
TOR DISTANCE MOVJ, MOVS when operating restart or, change the instruc-
ARC retry, restart. tion(interpolation) to MOVL,
MOVC.
4572 UNDEFINED There was no group setting control- Configulate again on customer
SERVO GUN led as servogun. maintenance mode, set the ser-
CONTROL GRP vogun axis correctly.
4574 SPOT WELD Welding completed signal from Correct the factor, no turning on
COMPLETE timer conductor or welding error power supply of timer conductor
TIME LIMIT signal doesn't enter even if waiting etc., and repeat the operation.
set time. In case that it takes time to
response from the timer, lengthen
set time.
4575 ERROR IN When there was no set of second Set the second pressure or,
WELD START pressure at servogun, welding tim- change the start timing.
TIMING SET ing was set [After first pressure].
4576 ERR IN SERVO The error occurred in control proc- Needs investigation.
GUN CONT ess of servogun. Consult MOTOMAN service.
MODE
4577 ERR IN SERVO The error occurred in control proc- Needs investigation.
GUN MODE ess of servogun. Consult MOTOMAN service.
RLSE
4578 SPOT WELD The error occurred in timer conduc- Reset the timer conductor that
ERROR tor of system designated by data. caused the welding error and
[Decimal Data] repeat the operation.
4583 CANNOT EXE- Set gun was set by operation mode Change to the mode applied to
CUTE GUN of control impossible. the gun.
TYPE
4584 STRWAIT TIME Confirmation signal designated by Correct the factor, defective LS
LIMIT stroke switch confirmation instruc- etc., and repeat the operation.
tion doesn't enter even if waiting If the error occurs again, contact
set time. MOTOMAN service.
Alarm
4588 COMPENSA- When correction direction of fix Set the correction direction of fix
TION DIREC- side chip for gun condition data file side chip to apply the gun.
TION was except 1, 2, [Contact Teach-
UNSETTING ing],[Abrasion Correction] etc. was
intended to used.
4589 ABRASION When using abrasion correction Register a required standard

BASIS POS function at servogun, various position.
UNSETTING standard position was not regis-
[Decimal Data] tered.
1:Standard position A
2:Standard position B
3:Standard position C
4601 UNDEFINED Gun condition data file was not set. Set the gun condition data file
GUN COND FILE completely.
[Decimal Data]
4603 WIRE STICKING The skicking was detected by the Determine the sticking factor of
[Decimal Data] welder. the welder.
1: Welder 1
2: Welder 2
3: Welder 3
4: Welder 4
Error Message List Created: 98-08-19 Revised: 99-08-27 Doc. name: MRS51020-CH2.FM
2. Error
2.1 Error Message List
Error warns the operator not to advance to the next operation caused by a wrong
operation and the access method when programing pendant operation or an
external equipment(computor, PLC, etc.)accesses.
When an error occurs, release it after the confirmation of the content of the error.
To release the error perform following the operation.

✔ Press [CANCEL] on programming pendant.
✔ Input alarm/error reset signal (specific input).
Note!
An error is different than an alarm because it does not stop the robot even if it
occurred while the robot was operated (during playback).
■ System and General Operation
Error NO. Data Message Contents
10 - Turn off servo power and perform cor- It cannot be operated on servo
rective action power supply.
20 - Depress TEACH Out of specified mode operation
30 - Illegal setting for number of variables Parameter setting error
31 - Illegal setting for number of variables Limit of variables name is 64

name
40 - Undefined robot position variables Position type variable cannot be

used
50 - Depress MODIFY
60 - Undefined points (ORG, XX, XY) Not registered user coordinates

basic 3 points(ORG, XX, XY)
70 - Program and current tool different The tool number registered with
teaching position data didn't
match the the tool
number.selected at the program-
ing pendant.
80 - Same position in the 3 points
90 - Set robot exactly to taught position
100 - On overrun recovery status

Created: 98-08-19 Revised: 99-08-27 Doc. name: MRS51020-CH2.FM Error Message List
110 - Turn ON servo power
120 - Set to PLAY mode
130 - No start using external signal
140 - No start using P.BOX
150 - TEACH-LOCK mode
170 - Servo off signal ON
180 - TEACH mode select signal ON
190 - Defined group axis
200 - Undefined coordinated robots
210 - Cannot register between stations
220 - Taught by other robot
230 - While releasing soft limit
240 - Undefined robot
250 - Defined condition No.
260 - Undefined file
270 - Condition file not selected
280 - Lack of number of I/O points
290 - Cannot set same No.
300 - Undefined user frame
310 - Cannot register Master JOB
320 - Cannot operate CHECK-RUN
330 - Cannot operate MACHINE LOCK
340 - Cannot operate Master JOB
350 - Cannot initialize
360 - Teach point not specified
370 - No SYNCHRO operatrion
380 - Position not checked Second home position was not

checked
390 - Can specify servo off by safety relay
400 - Wrong specification of measure interval Wrong specification of measure

interval for TRT function.
410 - Time could not be measured Time could not be measured
420 - Incorrect number of taught points Taught points for tool calibration
were incorrect.
430 - Register start reserved JOB
440 - Clear data to teach at the tool because

other tool is set
450 - Wrong JOB for measuring
460 - Excess time for measuring
470 - Calibration at another file
480 - Calibration at another robot combination
490 - Cannot calibrate at this combination
500 - Undefined robot calibration data
510 - Undefined axis
520 - Cannot select two coorditated combina-

tion
530 - Start reservation mode
540 - Not start reservation mode
550 - Start reserved JOB change prohibit is

set
560 - Cannot teach position while soft limit

released
570 - Turn on all contactor's servo power
580 - Connect group axis to one contactor
590 - Register group axis combination [SYNCHRO] key for coordinated

job which was not registered as
group was pressed.
600 - Out of setting data range
610 - Cannot use the user coordinate
620 - Select JOB (robot)
630 - Not completed to load original tool file
640 - Not specified tool file
650 - Incorrect measured data
660 - Wrong data type of position variable

670 - Enter path number
680 - Defined data
XXX File No.
690 - Illegal path number
700 - Wrong CMOS memory board type
710 - Enter path number
720 - Defined file name
730 - Undefined Name Position file
740 - This name cannot be defined
750 - Undefined Name Position
760 - Error in start condition set
770 - During robot operation
780 - Quit operation by mini operation pendant
790 - FWD/BWD don’t work in the handle

operation
800 - The gun of designation is not connected
810 - Servo power supply is limited
820 - Modification range over
830 - Can’t move while modifying speed
840 - Unregistered key
850 - Cannot register instruction
860 - Please release key registration mode
870 - This key cannot be allocated
880 - Same relay cannot be set
890 - This key has already been registered.

Cannot register them once
900 - Relay No. not set
910 - Cannot be registered because job con-

trol group not same
■ Editing
Error No. Data Message Contents
1010 - EDIT LOCK mode
1020 - Enter correct value
1030 - Unauthorized ID No.
1040 - -
1050 - Enter correct date
1060 - Enter correct clock
1070 - Enter a number in 8 figures
■ Job Defined Data
Error No. Data Error Message Error Contents
2010 - Incorrect character
2020 - Name not entered
2030 - Undefined JOB name
2040 - Defined JOB name
2050 - Address not found
2060 - Select master
2070 - Set robot exactly to taught position
2080 - Press INSERT or MODIFY
Only modifying move instruction possi-

2090 -
ble
2100 - JOB cannot be edited.
2110 - Over soft limit
2120 - Cannot insert/alter/delete with servo off
Only modifying move instruction possi-

2130 -
ble
2150 - Inserting is not possible from this point
2160 - Cannot modify or delete this position
Press INSERT to record same step as

2170 -
previous step
2180 - Cannot insert data
2190 - Cannot delete data
2200 - Cannot modify data
2210 - Illegal data setting
2220 - Display edit instruction
2230 - Illegal instruction equation
2240 - Excessive instruction equation
Unmatched number of parentheses in

2250 -
equation
2260 - Wrong group axis selection
Cannot insert any more instruction in

2270 -
JOB
* JOB memory is full
1 Lack of position file memories
2 Lack of JOB registering memories

2280
3 Lack of instruction file memories
4 Lack of memory pool
Lack of pass condition file for multi-

5
layer
2290 - Undefined master JOB
* Undefined SUB master JOB
1 SUB master 1
2 SUB master 2
2291
3 SUB master 3
4 SUB master 4
5 SUB master 5
2292 - Undefined MASTER START JOB

* Undefined SUB START JOB
1 SUB master 1
2 SUB master 2
2293
3 SUB master 3
4 SUB master 4
5 SUB master 5
Cannot teach JOB without group-axis

2300 -
specification
* Same label exists

2310
XXX
2320 - Cannot creat coordinated JOB Line No.
2330 - Cannot edit coordinated instruction Calibration not complete
2340 - Pasted data not found
2350 - Editing data not found
2360 - Cannot create editing area
Cannot cut/copy NOP and END

2370 -
instructions
2380 - Wiring JOB selection
2390 - Wrong group axis selection
2400 - Cannot move in cut & paste editing
When variable is used for speed set-

2410 -
ting, perform a line-edit
When variable is used for teach set-

2420 -
ting, perform a line-edit
2430 - Reverse data not found
2440 - Move C-and W-axis to basic position Lazer cutting
2450 - Relative JOB not permitted
2460 - Specified JOB is already converted
2470 - Wrong JOB type
2480 - Wrong JOB coordinates setting
2490 - Execute NEXT/BACK operation once
2500 - Cannot convert the JOB

2510 - Cannot correct position in the JOB
2520 - Enter JOB name
2530 - Illegal step number
2540 - Enter step number
2550 - Duplicated step number
Cannot correct steps of position vari-

2560 -
ables and REFP
2570 - The step does not contain speed
2580 - The step dose not contain PL/CONT
2590 - Soft limit range over
Cannot teach position in concurrent

2600 -
JOB
2610 - Wrong JOB kind
2620 - Cannot correct play speed in the JOB
2630 - Conveyor position not reset
2640 - Incorrect JOB name
2650 - Defined JOB name
2660 - Register MOVL inst. after circular block
2670 - Undefined target JOB
2680 - Wrong designation of welding section
2690 - Defined same kind JOB
2700 - Press position not reset
Relative job can’t be shifted with pulse

2710 -
type
2720 - Cannot correct position variables
■ External Memory Equipment
3010 - Floppy disk cable not connected
Floppy disk not inserted into floppy

3020 -
disk drive
3030 - Floppy disk protection is ON
3040 - File not saved on floppy disk
3050 - File saved on floppy disk
3060 - Out of memory on floppy disk
3070 - Number of files on floppy disk
3080 - I/O error on floppy disk
Transmission error with floppy disk

*
drive
1 Framing error
2 Overrun error
3 Parity error
4 Data code error

3090
5 Data read error
6 Dat write error
7 Data time out
8 Serial I/O error
9 Error other than described above
3100 - Total checksum error
3110 - Syntax error
* HEX code error
1 Specification error of data record
3120 2 Specification error of FEO record
3 Record type error
4 Total check error of record
3130 - Verify error
3140 - Wrong pseudo instruction

* Concurrent I/O record error
1 Format error
2 Ladder program is too long
3 Exceed the range of the data

3150
4 Specification error of channel No.
5 Specification error of relay No.
6 Timer value error
7 Specification error of timer No.
3160 - Cannot load illegal system data
* Condition file data error
1 Format error
3170 2 Specified file No. is omitted
3 Specified tool No. is omitted
4 User file is not registered
3180 - Concurrent I/O data transmission error

* Error in JOB data record
The number of position data

1
(NPOS) record wrong for the format
Record on the user coordinate No.

2
is wrong for the format
3 Tool record is wrong for the format
Record on the position data section

4
is wrong for the format
Robot type of XYZ data (RCONF)

5
record is wrong for the format
6 Date record is wrong for the format
Comment record is wrong for the

7
3190 format
JOB attribute data (ATTR) record is

8
wrong for the format
Control group (GROUP)record is

9
Local variable (LVARS)record is

10
JOB argument (JARGS) record is

11
Teaching coordinates for relative

12 JOB (FRAME) record is wrong for
the format
Position data corrdinates do not

13
match relative job coordinates
3200 - NOP or END instruction not found
3210 - Position No. storage area not found
* Syntax error in instruction data
2 Interior control error
3 Undefined instruction/tag
3220 4 Instruction/tag shortage
5 Disuse instruction/tag
6 Sub instruction
7 Non instruction
8 Invalid instruction
9 Invalid tag
10 Invalid character
11 Undefined intermediate code
12 Intermediate code shortage
13 Syntax stack overflow
14 Syntax stack underflow
Array type tag incompleted

15
Tag [ARRAY]
Element type tag incompleted

16
Tag [ELEMENT]
17 Macro JOB unregistered
18 Input format error
19 Date size over
20 MIN value over
21 MAX value over

3220
22 Operation expression error
23 JOB call argument setting error
Macro JOB call argument setting

24
error
25 Position vector setting error
26 System error
27 Soft key designate error
28 Numerical input buffer overflow
29 Real type data precision error
30 Element format error
35 [BOOL TYPE] data error
36 [CHAR] data error
[BYTETYPE] [BINARY] / HEXA-

37
DECIMAL BYTE TYPE] data error
[INTEGER TYPE] [DECIMAL

38
EORD TYPE] data error
[BINARY/HEXADECIMAL WORD
39
TYPE] data error
[DOUBLE PRECISION TYPE]

40 [DECIMAL DWORD TYPE] data
error
[BINARY/HEXADECIMAL WORD
41
TYPE] data error
42 [REAL TYPE] data error
[LADDER SPECIAL TYPE] data

43
3220 error
44 JCL text
45 Invalid text
46 [LABEL NAME] data error
47 [JOB NAME] data error
48 [STRING] data error
49 [COMMENT] data error
58 Invalid instruction/tag detection
3230 - Syntax not matched
3240 - Undefined application
3250 - Cannot load this file
3260 - Excess input data
3270 - Cannot verify this file
Wrong welding condition (STANDARD/

3280 -
ENHANCED)
3290 - Serial port not defined
3300 - Serial port being used
3310 - Protocol being used
3320 - Wrong GUN type
3330 - Undefined multilayer data
3340 - Illegal number of multilayer data
3350 - Not enough memory
3360 - Invalid directory
3370 - Incorrect directory name

3380 - Drive not ready
3390 - File not found
3400 - File already exists on the media
3410 - Out of memory on the media
3420 - Max number of files has been reached
3430 - I/O error on the drive
3440 - Wrong media type
■ Concurrent I/O
* Illegal relay No.

4010
XXX Line No.
* Illegal block No.

4020
XXX Line No.
* Illegal instruction
4030
XXX Line No.
Relay]No. duplicated in OUT or GOUT Plural output are instructed to

*
instruction the relay
4040
XXX Line No.
* The relay is not used

4050
XXX Line No.
* Excess STR-[-NOT] instructions

4060
XXX Line No.
* Excess AND [OR] STR instructions

4070
XXX Line No.
* Syntax error in CNT instructions

4080
XXX Line No.
* Enter STR [-NOT] at head of block Need STR [-NOT]

4090
XXX Line No.
Relay No. duplicated in TMR and CNT Timer and counter are used
*
4100 twice
XXX Line No.
4110 - Excessive ladder scan-time Ladder scan time is too long
4120 - Concurrent I/O memory is full Exceeds memory capacity
4130 - END instruction not found END instruction not found
Wrong ladder program Position and number of PART

4140 -
instruction are wrong
Wrong use of GSTR, GOUT commands GSTR and GOUT is not used
*
4150 together
XXX Line No.
4160 - Cannot edit system section
4170 - Cannot modify/delete
Press INSERT/MODIFY/DELETE soft

4180 -
keys
4190 - Ladder program not found
4200 - Cannot specify system variables ($)
4210 - Cannot edit line
■ Maintenance mode
8010 - PC CARD not ready
8020 - Designated file does not exist

Notes
Headquarters:
Sweden MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden
Tel: +46-486-48800, +46-486-41410
Group companies:
France MOTOMAN Robotics SARL
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-de-Grand-Lieu, France
Tel: +33-2-40131919, Fax: +33-40754147
Germany MOTOMAN Robotec GmbH
Kammerfeldstraße 1, DE-85391 Allershausen, Germany
Tel: +49-8166-90-0, Fax: +49-8166-90-103
Germany MOTOMAN Robotec GmbH
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany
Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
Great Britain MOTOMAN Robotics UK (Ltd)
1 Swan Industrial Estate, Banbury, OXON OX16 8DJ, England
Tel: +44-1295-272755, Fax: +44-1295-267127
Italy MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy
Tel: +39-059-280496, Fax: +39-059-280602
Netherlands MOTOMAN benelux B.V
Zinkstraat 70, NL-4823 AC Breda, Netherlands
Tel: +31-76-5424278, Fax: +31-76-5429246
Slovenia RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia
Tel: +386-61-861113, Fax: +386-61-861227
Spain MOTOMAN Robotics España S.A.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain
Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden MOTOMAN Mecatron Robotic Systems AB
Box 4004, SE-390 04 Kalmar, Sweden
Tel: +46-480-444600, Fax: +46-444699
Distributors:
Czech Republic MGM Spol s.r.o.
Trebízského 1870, CZ-39002 Tábor, Czech Republic
Tel: +420-361-254571, Fax: +420-361-256038
Denmark Robia A/S
Hjulmagervej 4, DK-7100 Vejle, Denmark
Tel: +45-79428000, Fax: +45-79428001
Finland Robia Suomi OY
Messinkikatu 2, FI-20380 Turku, Finland
Tel: +358-22145600, Fax: +358-22145660
Greece Kouvalias Industrial Robots
25, El. Venizelou Ave., GR-17671 Kallithea, Greece
Tel: +30-1-9589243-6, Fax: +30-1-9567289
Hungary REHM Hegesztéstechnika Kft.
Tápiószele, Jászberényi út 4., H-2766, Hungary
Tel: +36-30-9510065, Fax: +36-1-2562012
Israel KNT Engineering Ltd.
9 Hapalmach Street, IL-Kfar Azar 55905, Israel
Tel: +972-35351945, Fax: +972-03535943
Norway ROBIA ASA
Industriveien 1, NO-3300 Hokksund, Norway
Tel: +47-32252820, Fax: +47-32252840
Portugal Electro-Arco S.A.
Rua Vice-Almirante Azevedo Coutinho 4, Venda Nova, PT-2700 Amadora, Portugal
Tel: +351-21-4968160, Fax: +351-21-4990319
South Africa Robotic Systems S.A. PTY Ltd
P.O Box 90741, ZA-Bertsham 2013, South Africa
Tel: +27-11-4943604, Fax: +27-11-4942320
Switzerland Messer SAG
Langweisenstrasse 12, CH-8108 Dällikon, Switzerland
Tel: +41-18471717, Fax: +41-18442432
MOTOMAN ROBOTICS EUROPE AB

a subsidiary of YASKAWA Electric Corporation

Maintenance Manual-Alarm Error List (XRC) MRS51020 PDF

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Maintenance Manual-Alarm Error List (XRC) MRS51020 PDF

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MOTOMAN

MOTOMAN ROBOTICS EUROPE

MANUAL NO. MRS51020

Operator’s Manual Basic Programming

Created: 99-03-02 Revised: 99-06-17 Doc. name: MRS51020TOC.FM

Created: 98-08-08 Revised: 00-03-31 Doc. name: GENERAL_WARNING.FM

This manual explains the various components of the MOTOMAN XRC

The drawings and photos in this manual are representative examples

The equipment is manufactured in conformity with the EC Machinery

The equipment is intended to be incorporated into machinery or

Information how to connect to the MOTOMAN XRC is described in the

MOTOMAN is not responsible for incidents arising from unauthorized

MOTOMAN may modify this model without notice when necessary

If your copy of the manual is damaged or lost, contact a MOTOMAN

MOTOMAN is not responsible for incidents arising from unauthorized

Created: 98-08-08 Revised: 00-03-31 Doc. name: GENERAL_WARNING.FM

Definition of terms used often in this manual

Equipment Manual designation

MOTOMAN XRC Controller XRC

MOTOMAN XRC Playback panel P-Panel

MOTOMAN XRC Programming pendant P-Pendant

Start panel for machinery operation in PLAY-mode Start panel

Equipment Manual designation

ex. page key

Keys pressed When two keys are to be pressed simultaneously,

Displays The menu displayed in the programming pendant is

Playback panel Buttons Playback panel buttons are enclosed in brackets.

Description of the operation procedure

Perform the following inspection procedures prior to conducting

Always return the programming pendant to the hook after use.

Outline of Alarm Created: 98-08-19 Revised: 99-08-27 Doc. name: MRS51020-CH1.FM

Alarm Code classification.

Alarm Code Alarm Level Alarm Reset Method

1.2 Alarm Message List

■ Alarm number 0010-0999

0021 COMMUNICA- The connection of communication Check the connection of commu-

50:WRCA01 circuit board (#1)

0040 MEMORY Memory(RAM) error Replace the circuit board.

50:WRCA01 circuit board (#1)

0210 MEMORY The system configuration data Needs investigation.

0400 PARAMETER The connection of communication Check the connection of commu-

0410 MODE CHANGE An error occurred in process of <Data :10-21>

50:WRCA01 board (#1)

■ Alarm number 1000-1333

■ Alarm number 4000-4601

4206 SYSTEM When the data transmission func- Needs investigation.

4433 UNDEFINED The global variable range was Needs investigation at

4451 UNDEFINED No reference point was registered Correctly register reference

4461 UNDEFINED Number of automatic sticking Set the number of automatic

4477 SELECT ERROR When executing operation instruc- Needs investigation.

4480 SELECT When executing sensor instruction, Needs investigation.

4485 WRONG SELEC- When executing sensor instruction, Needs investigation.

4495 UNDEFINED Robot calibration was incomplete Conduct robot calibration.

4496 PARAMETER Parameter settings caused divi- Needs investigation.

4524 CANNOT EXE- A concurrent job contained an Correct the job.

4527 UNDEFINED Designation of port No.for job was Needs investigation.

4528 SYNTAX ERROR Internal data was abnormal in Needs investigation.

4565 SOFTWARE Operating function didn't corre- Need the investigation.

4589 ABRASION When using abrasion correction Register a required standard

To release the error perform following the operation.

■ System and General Operation

Error NO. Data Message Contents

20 - Depress TEACH Out of specified mode operation