DX200 Alarmlist

Robot controller
Alarm history
Maintenance manual
Alarm code 0000 level 0 (major alarm),
Alarm code 1000 level 1 to 3 (major alarm),
Alarm code 4000 level 4 to 8 (minor alarm)
Created on: 01/2014
Revision: 1
Document number: E1102000146GB01 Author: WOE
Changes made in revision:

Rev. 01: Revised version of the original RE-CHO-A113.0 in TIM-RS
© Copyright 2014
This documentation – also in part – may be reproduced or made available to third parties only with the
express approval of YASKAWA Europe "Robotics Division GmbH".
We have checked the content of this publication for compliance with the hardware described.
Nevertheless, discrepancies cannot be ruled out. Therefore, we cannot guarantee full compliance.
However, the information given in this publication is checked regularly and any necessary corrections
will be made in subsequent editions.
Subject to technical modifications.
Table of contents
Table of contents
1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Notes for safe operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4
1.2 Frequently used terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 4
1.3 Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 5
1.4 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 5
1.5 Improper use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 6
1.6 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 7
1.7 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 8
1.7.1 YASKAWA manual list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.8 Manufacturer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.9 Authorized representative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 Alarm list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.1 Outline of alarm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2 Alarm display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2.1 Show alert. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2.2 Releasing alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2.3 Special alarm display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3 Alarm message list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.1 Alarm list 0 to 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3.2 Alarm list 4 to 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
3
General
1 General
1.1 Notes for safe operation
DANGER!
Indicating immediate danger at high risk, hazard that can cause death or serious bodily
injuries if no precautions are taken.
WARNING!
Indicating possible medium risk hazard situation which can cause death or serious bodily
injuries if it is not avoided.
CAUTION!
Indicating potentially dangerous situation with low risk of minor or moderate bodily injuries
result if it is not avoided. This signal word can also be used for property damage warnings.
1.2 Frequently used terms

The YASKAWA robot is a product of YASKAWA Electric Corporation, and is provided by
default with the robot controller, the handheld programming device and robot cable.
The terms are designated as follows in this manual:
Definitions Used
Control Robot controller
Industrial robot Robot
Programming pendant / teach box Programming pendant
Supplying cable between robot and robot Cable
controller
Robot, robot controller and cable Robot system
YASKAWA Electric Corporation YEC
YASKAWA Robotics Division YEU-R
Move, calibrate and setup of the robot Teaching
Movement sequences of the robot Jobs
Technical customer service TCS
1 -4
General
1.3 Target group

This manual is directed at users with the following knowledge:
• Advanced knowledge of mechanical engineering
• Advanced knowledge of electrical engineering
• System knowledge of the robot controller
• Specially trained staff
NOTICE
According to the international DIN EN ISO 10218-1 standard, operators of a robot system
must receive training before they operate the robot.
For optimal use of our products, we recommend our customers to take part in a training
session at the YASKAWA Academy. For information on the training programme, please visit
www.yaskawa.eu.com or contact our branch offices directly.
1.4 Intended use

Typical applications:
• Flange-mounting tools
• Installation of spot welding guns
• Installation of arc welding equipment
• Installation of grippers
• Machining and transporting workpieces or products
1 -5
General
1.5 Improper use

Any use that deviates from the intended use shall be regarded as impermissible misuse.
This includes:
• Transport of people and animals
• Use as ascending aid.
• Use outside the permissible operating limits.
• Use in environments with risk of explosion (except for ATEX-approved robots).
• Overload
• Use without protective equipment.
NOTICE
Modifications to the robot, e.g. drilling holes or similar modifications, can damage parts.
This will be regarded as improper use (i.e. use that deviates from the intended use) and will
lead to loss of warranty and liability claims as well as loss of the declaration of incorporation.
CAUTION!
The robot system is an incomplete machine.
The robot system may be put into operation only after it has been determined that the
incomplete or complete machine in which the robot system is being installed:
 Corresponds to the provisions of the Machinery Directive.
 Complies with all relevant (harmonized) standards.
 Corresponds to the state of the art.
1 -6
General
1.6 About this manual

• Alert messages, their meaning, causes and remedial actions are described in this
manual. Be sure to read and understand this instruction manual thoroughly before
installing and operating the robot.
• To ensure correct and safe operation, read the robot control operating instructions
(basic information, installation and wiring and system setup).
• In order to illustrate details clearly, some drawings are shown with the protective covers
or shields removed. All protective covers and shields must be mounted before the robot
is operated.
• The drawings and figures in this manual are representative illustrations. They may differ
from the product delivered.
• YEU-R reserves the right to make technical changes. These changes may include
product improvements, modifications or changes in specifications
• If your copy of the operating and maintenance instructions is damaged or lost, please
contact the local YASKAWA branch office to order a new copy. The official branch
offices are listed on the last page. Please mention the manual number in your order.
• YASKAWA Europe GmbH is not responsible for damage caused due to unauthorized
modification of the painting robot track. If any impermissible modifications are made to
the system and to the robot, all warranty and liability claims as well as the declaration
of incorporation will expire.
1 -7
General
1.7 Safety
REMOTE TEACH
PLAY START HOLD
JOB EDIT DISPLAY UTILITY
1
JOB CONTENT
JOB NAME: TEST01 STEP NO: 0003
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 SET B000 0
0002 SET B001 1
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OGH#(13) B002
0006 DOUT OT#(41) ON
0007 MOVL C00002 V=880.0 CV#(1) CTP=0.662
0008 DOUT OT#(44) ON
0009 TIMER T=3.0
0010 MOVL V=880.0
0011 MOVL V=880.0
0012 MOVL V=880.0
0013 MOVL V=880.0
Main Menu ShortCut !Turn on servo power
LAYOUT GO BACK
DIRECT
OPEN
COORD
Multi PAGE AREA
MAIN SHORT
SERVO SELECT
ON !? CANCEL
MENU CUT
READY ASSIST
SERVO ON
X- X+
S- S+ X- X+
HIGH R- R+
SPEED
Y-. Y+
L- L+ Y- Y+
.
B- B+
FAST
Z- Z+ MANUAL SPEED
Z- Z+
U- U+ SLOW T- T+
INTER 7 8 9 TEST
SHIFT LOCK START SHIFT
ROBOT INFORM 4 5. 6 BWD FWD

LIST
EX.AXIS 1 2 3 DELETE INSERT
BACK MOTION 0 . -
SPACE MODIFY ENTER
TYPE
MOTOMAN
Fig. 1-1: Programming pendant
1 Emergency stop button
WARNING!
Death or injury because of danger of crushing
If the emergency stop button does not function properly, the robot cannot be stopped in the
event of an emergency.
 The robot should not be used if the emergency stop button does not function.
 Before operating the manipulator check the emergency stop button. The servo voltage
must be deactivated immediately when the emergency stop button is pressed (see Fig.
1-3: "Emergency stop button") on the programming pendant.
 When the servo power is turned OFF, the "SERVO ON" LED (see Fig. 1-2: "LED
SERVO ON") on the programming pendant.
SERVO ON
Fig. 1-2: LED SERVO ON
Fig. 1-3: Emergency stop button
1 -8
General
WARNING!
Before you release the emergency stop button (see Fig. 1-4: "Release of emergency stop
button by turning") note the following:
 Make sure that there is no one within the maximum working range of the robot.
 Clear the cell of all items which could collide with the robot.
 Now you can switch ON the servo voltage by pressing the hold-to-run button on the
programming pendant.
Fig. 1-4: Release of emergency stop button by turning
WARNING!
if anyone enters the working area of the robot during operation or any problems occur,
always press the emergency stop button immediately. This is located on the programming
pendant (see Fig. 1-1: "Programming pendant").
Observe the following precautions when performing teaching operations within the
manipulator’s operating range:
 View the Robot from the front whenever possible.
 Always follow the prescribed operating procedure (see the instructions on robot control
as well as the operating instructions on "Handling" or "Universal Application").
 An area must be left clear so that the operator can retreat to it in case of emergency.
The following inspection procedures must be performed prior to teaching the robot. If
problems are found, correct them immediately, and be sure that all other necessary
processing has been performed.
• Check for problems in robot movement.
• Check the connectors for tight fit and all cables for damage.
• Hang the programming pendant back on the robot controller after use.
• Make sure that the key for the operating mode selector switch (Teach/Automatic) of the
programming pendant is kept by a skilled person who has been specially trained by us.
• The key may be inserted in the key switch of the programming pendant only during
teach operation; after the teach operation it must be immediately removed and kept in
a safe place.
1 -9
General
1.7.1 YASKAWA manual list
It is important to have all the manuals on the YASKAWA control or robot available and to
know their contents. Please make sure you have all these manuals. If you are missing any
manual, please contact the local YASKAWA branch office.
You must have the YASKAWA manuals listed below available.
• Basic information / Beginner's instructions (E1102000144XX01* and higher* and
higher).
• Setup and connection (E1102000143XX01* and higher*).
• Basic programming (E1102000147XX01* and higher*).
• System Setup (E1102000145XX01* or higher*).
• Alarm history (E1102000146XX01 or higher*).
• Operating and maintenance instructions for the specific robot type.
* "XX" is the language of the document.
1 - 10
General
1.8 Manufacturer
Address:
YASKAWA ELECTRIC CORPORATION
2-1 SHIROISHI KUROSAKI
YAHATANISHILU KITAKYUSYU
JAPAN
1.9 Authorized representative

Address:
YASKAWA Europe GmbH
Robotics Division
Yaskawastr. 1
85391 Allershausen
Germany
1 - 11
Alarm list
2 Alarm list
2.1 Outline of alarm
When an alarm of level 0 to 3 (major alarm) occurs, the servo power supply is turned OFF.
Alarm code Alarm level Alarm Reset Method

0 Level 0 (major alarm) It is not possible to reset by "RESET" under the
(offline alarm: ALARM window or the system input signal
Initial diagnosis/ (Alarm reset).
Hardware diagnosis Turn OFF the main power supply and correct
alarm) the cause of the alarm. Then turn ON the main
1 to 3 Level 1 to 3 (Major power supply again.
alarm)
4 to 8 Level 4 to 8 (Minor After correcting the cause, it is possible to re-
alarm) set by "RESET" under the ALARM window or
the system input signal (Alarm reset).
9 Level 9 (Minor alarm) After correcting the cause for which the system
(I/O alarm) input signal for the system or user alarm re-
quest turns ON, it is possible to reset by "RE-
SET" under the ALARM window or the system
input signal (Alarm reset).
Tab. 2-1: Alarm code classification
NOTICE
For Minor alarms (4 to 9) refer to the Document - CD which is delivered with
your system (refer to folder system documentation).
2.2 Alarm display
2.2.1 Show alert
If an alarm occurs during operation, the robot stops immediately and the ALARM window
appears on the programming pendant indicating that the machine was stopped by an alarm.
JOB
Alarm
1 Alarm 4100 [1] 2

OVERRUN ( ROBOT)
3 Alarm 4321
OVERLOAD
[SLURBT]
(MOMENT)
Alarm 4315 [SLURBT]
COLLISION DETECT
OCCUR TIMES: 1
RESET
Fig. 2-1: Alarm display
1 Alarm number 3 Alarm messages

2 Sub code
2 - 12
Alarm list
If more than one alarm occurs simultaneously, all the alarms are displayed. Scroll the
viewing area with the cursor key to view the alarm that is not currently displayed on the
viewing area.
The following operations are available in the alarm status:
• window change
• mode change
• alarm reset
• Emergency shut-off
If the window is changed to another window during alarm occurrence, the ALARM window
can be shown again by selecting {SYSTEM INFO} under the main menu and then selecting
{ALARM}.
2.2.2 Releasing alarm
Alarms are classified by minor and major alarms.

Minor Alarms
Select "RESET" on the ALARM window or turn ON the "ALARM RESET" setting when
using an external input signal (special input).
If a severe alarm, such as hardware failure occurs, servo power is automatically shut off
and the robot stops. Turn OFF the main power suply, remove the cause of the alarm, and
then turn ON the power supply again.
2 - 13
Alarm list
2.2.3 Special alarm display
1) Sub data
Sub data such as data for the axis where the alarm occurred, may also be displayed for
some alarms.
Decimal data:
Without signs: 0 to 65535
With signs: -32768 to 32767
Binary data:
The alarm occurrence data becomes "1."
With 8 bits: 0000_0001
With 16 bits: 00000001_00000001
Axis data:
The axis where the alarm occurred is highlighted.
With robot axis: Robots 1 to 8 [S,L, U, R, B, T].
With base axis: robots 1 to 8 [1, 2, 3, ..., 8].
With station axis: Stations 1 to 24 [1, 2, 3, ..., 24].
XYZ coordinate data:
The coordinates where the alarm occurred are highlighted.
[X, Y, Z]
123 data:
The data for which the alarm occurred is highlighted.
[1, 2, 3]
Control group data:
The control group where the alarm occurred is highlighted.
[R1, R2, S1, S2}
2) Multiple SERVOPACK system
In a system using more than one SERVOPACK, the number of the SERVOPACK where
the alarm occurred is also displayed.
The S1 switch of the AXA01 circuit board shows the SERVOPACK number.
SV#1: SERVOPACK 1 (AXA01 circuit board S1 switch: 0)
3) Independent control function (optional)
In the independent control function (multi-task job), the tasks that were being done
when the alarm occurred are also displayed.
TASK#0: Master-task job
TASK#1: Sub-task1 job (SUB1)
2 - 14
Alarm list

2.3 Alarm message list
CAUTION!
 Before handling the system control circuit board "JANCD-YIF**-*" for any remedies,
consult YASKAWA representative. To handle the JANCD-YIF**-*, personnel must be
appropriately skilled in maintenance mode operation.
 JANCD-YIF**-* backs up very important file data for the user program with a battery.
Careless operation may delete registered data.
2 - 15
2.3.1 Alarm list 0 to 3
2 - 16
Alarm list
Alarm Alarm Name SUB- Meaning Cause Remedy

No. Code
0010 CPU BOARD IN- 30 YCP21 board was not YSF21 board failure (1) Turn the power OFF then back ON.
SERTION ERROR able to recognize (2) If the alarm occurs again, check the connection and insertion
YSF21 board when of the YSF21 board.
the control power
turned ON.
YSF21 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the following board. Save the
CMOS.BIN before replace the board to be safe.
·YSF21 board
YCP21 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YCP21 board. Save the
CMOS.BIN before replace the board to be safe. Replace the
YCP21 board, and then remove the CF from the failure YCP21
board to insert it into the new YCP21 board.
other If the alarm occurs again, save the CMOS.BIN in maintenance
mode, and then contact your YASKAWA representative about oc-
currence status (operating procedure).
0020 CPU COMMUNICA- 1 No response was sent Software operation er- (1) Turn the power OFF then back ON.
TION ERROR from the YCP21 board ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
when the control pow- mode, and then contact your YASKAWA representative about oc-
er turned ON. currence status (operating procedure).
Connection failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, check the connection and insertion
of the following connectors.
·The PCI connector of YCP21 board
·The PCI connector of the YIF01 board
No. Code
YIF01 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YIF01 board. Save the
YIF01 board, and then load the CMOS.BIN saved before alarm oc-
curred.
20 No response was sent Setting error (1) Check the following settings.
from the optional ·Optional board setting in maintenance mode
board #1 when the
control power turned
ON.
of the following connector.
·YCP02 board
2
- 17
Alarm list
No. Code
2 - 18
Alarm list
curred.
from the optional ·The optional board setting in maintenance mode
board #2 when the
ON.
?The PCI connector of the YCP02 board
·YCP02 board
curred.
No. Code
board #3 when the
ON.
·YCP02 board
curred.
2
- 19
Alarm list
No. Code
2 - 20
Alarm list

board #4 when the
ON.
·YCP02 board
curred.
board #5 when the
ON.
No. Code
·YCP02 board
curred.
board #6 when the
ON.
2
- 21
Alarm list
No. Code
2 - 22
Alarm list
·YCP02 board
curred.
board #7 when the
ON.
·YCP02 board
No. Code
curred.
board #8 when the
ON.
·YCP02 board
2
- 23
Alarm list
No. Code
2 - 24
Alarm list
curred.
30 No response was sent Connection failure (1) Turn the power OFF then back ON.
from the YSF21 board (2) If the alarm occurs again, check the connection and insertion
when the control pow- of the following connector.
er turned ON. ·The PCI connector of YCP02 board
·YSF21 board
curred.
No. Code
from the servo board ·Control group settings in maintenance mode
#1 when the control ·The EAXA21 board rotary switch setting (0) of the corresponding
power turned ON. node number (SV#1)
At this time, the
DX200 may judge it as
signal input such as
external hold wrong.
However, it is caused
by the communication
error with servo board
#1. Therefore, execute
the following mea-
sures first of all.
of the following cables and connectors.
·CN509 cable of EAXA21 board
·The cable of EAXA21 board connector CN515/516
·The cable of YIF01 board connector CN113
EAXA21 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the EAXA21 board. Save the
curred.
2
- 25
Alarm list
No. Code
2 - 26
Alarm list

·The cable of EAXA21 board CN509
YPS02 unit failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YPS02 board. Save the
CMOS.BIN before replace the unit to be safe.
curred.
No. Code
curred.
2
- 27
Alarm list
No. Code
2 - 28
Alarm list
curred.
No. Code
curred.
curred.
2
- 29
Alarm list
No. Code
2 - 30
Alarm list

#7. ·The EAXA21 board rotary switch setting (6) of the corresponding
node number (SV#7)
curred.
No. Code
curred.
2
- 31
Alarm list
No. Code
2 - 32
Alarm list
from the communica- ·Control group settings in maintenance mode

tion convert board #1 ·The EAXA21 board rotary switch setting (0) of the corresponding
when the controller node number (SV#1)
power is turned ON. At
that time, the DX200
may misjudge that the
signals such as exter-
nal hold signal have
been input.
Therefore, execute the
following countermea-
sures.
·CNBXconnector of EAXA21board and YSF25 board
·The PCI connector of YIF01board
·YSF25 board
No. Code
power is turned ON.
·YSF25 board
curred.
2
- 33
Alarm list
No. Code
2 - 34
Alarm list

power is turned ON.
·YSF25 board
curred.
power is turned ON.
No. Code
·YSF25 board
curred.
power is turned ON.
2
- 35
Alarm list
No. Code
2 - 36
Alarm list
·YSF25 board
curred.
power is turned ON.
No. Code
·YSF25 board
curred.
power is turned ON.
2
- 37
Alarm list
No. Code
2 - 38
Alarm list
·YSF25 board
curred.
power is turned ON.
No. Code
·YSF25 board
curred.
0021 COMMUNICATION 50 The communications Setting error (1) Check the following settings.
ERROR(SERVO) CPU for the servo ·Control group settings in maintenance mode
board #1 detected an ·The EAXA21 board rotary switch setting (0) of the corresponding
error when the control node number (SV#1)
power turned ON.
2
- 39
Alarm list
No. Code
2 - 40
Alarm list
curred.
51 The communications Setting error (1) Check the following settings.

CPU for the servo ·Control group settings in maintenance mode
power turned ON.
No. Code

power turned ON.
2
- 41
Alarm list
No. Code
2 - 42
Alarm list
curred.
power turned ON.
No. Code
curred.
power turned ON.
curred.
2
- 43
Alarm list
No. Code
2 - 44
Alarm list

power turned ON.
curred.
No. Code
power turned ON.
curred.
power turned ON.
2
- 45
Alarm list
No. Code
2 - 46
Alarm list
curred.
0030 ROM ERROR 1 The YCP21 system Software operation er- (1) Turn the power OFF then back ON.
program is damaged. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
10 The system program Software operation er- (1) Turn the power OFF then back ON.
of optional board #1 is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
damaged. mode, and then contact your YASKAWA representative about oc-
No. Code
·YCP02 board
·YCP02 board
·YCP02 board
2
- 47
Alarm list
No. Code
2 - 48
Alarm list
·YCP02 board
·YCP02 board
·YCP02 board
No. Code
·YCP02 board
·YCP02 board
2
- 49
Alarm list
No. Code
2 - 50
Alarm list
·YCP02 board
of YSF21 board is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
·YSF21 board
of servo board #1 is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code

2
- 51
Alarm list
No. Code
2 - 52
Alarm list
No. Code
of communication con- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
vert board #1 is dam- mode, and then contact your YASKAWA representative about oc-
aged. currence status (operating procedure).
·YSF25 board
2
- 53
Alarm list
No. Code
2 - 54
Alarm list
·YSF25 board
·YSF25 board
·YSF25 board
No. Code
·YSF25 board
·YSF25 board
2
- 55
Alarm list
No. Code
2 - 56
Alarm list
·YSF25 board
·YSF25 board
0060 COMMUNICATION 0 The IO module board Connection failure (1) Turn the power OFF then back ON.
ERROR(I/O MOD- connected with 0th se- (2) If the alarm occurs again, check the connection and insertion
ULE) rial bus exists. of the YSF21 board.
·YSF21 board
No. Code
1 An error was detected Setting error (1) Check the following settings.
in communications ·The rotary switch setting which specifies slot numbers of each I/O
with the I/O module module
board connected with ·I/O module settings in maintenance mode
1st serial bus when Please refer to the manual of each IO module for the details of the
the control power setting.
turned ON.
·The M ǁ communications cable which I/O module of the corre-
sponding node number
·(In case of Mǁ communications last station) Terminator
·24V power of the corresponding I/O module
I/O module failure (1) Turn the power OFF then back ON.
curred.
2nd serial bus when Please refer to the manual of each IO module for the details of the
2
turned ON.
- 57
Alarm list
No. Code
2 - 58
Alarm list
curred.
3rd serial bus when Please refer to the manual of each IO module for the details of the
turned ON.
·The M? communications cable which I/O module of the corre-
·(In case of M? communications last station) Terminator
No. Code
curred.
4th serial bus when Please refer to the manual of each IO module for the details of the
turned ON.
·The M ǁcommunications cable which I/O module of the corre-
·(In case of M ǁ communications last station) Terminator
2
- 59
Alarm list
No. Code
2 - 60
Alarm list
curred.

turned ON.
·(In case of M ǁcommunications last station) Terminator
No. Code
curred.
6th serial bus when
the control power
turned ON.
2
curred.
- 61
Alarm list
No. Code
2 - 62
Alarm list

turned ON.
·The Mǁ communications cable which I/O module of the corre-
curred.
No. Code
turned ON.
curred.
2
turned ON.
- 63
Alarm list
No. Code
2 - 64
Alarm list
curred.
turned ON.
No. Code
curred.
turned ON.
2
curred.
- 65
Alarm list
No. Code
2 - 66
Alarm list

turned ON.
curred.
No. Code
turned ON.
curred.
2
turned ON.
- 67
Alarm list
No. Code
2 - 68
Alarm list
curred.
turned ON.
No. Code
curred.
in communications ·PCI slot number in which each PCI board is mounted
with the I/O module ·I/O module settings in maintenance mode
board connected with Please refer to the manual of each IO module for the details of the
1st PCI connector setting.
when the control pow-
er turned ON.
·The PCI connector of the corresponding I/O module
·The corresponding I/O module (PCI board)
curred.
2
- 69
Alarm list
No. Code
2 - 70
EIP board failure In the case of PCU-ETHIO(EtherNet/IP) board, please exchange
Alarm list
with the board which firmware version is correct.

2nd PCI when the con- setting.
trol power turned ON.
curred.
No. Code
3rd PCI when the con- setting.
curred.
4th PCI when the con- setting.
2
- 71
Alarm list
No. Code
2 - 72
Alarm list
curred.
0100 COMMUNICATION 1 The error was detect- Setting error (1) Check the following settings.
ERROR(EAXA#1) ed during the check of ·Control group settings in maintenance mode
the serial communica- ·The EAXA21 board rotary switch setting (0) of the corresponding
tion watchdog data. node number (SV#1)
Counter value re-
ceived from EAXA21
board is invalid.
No. Code
curred.
2 The error was detect- Setting error (1) Check the following settings.
ed during the check of ·Control group settings in maintenance mode
the number of the seri- ·The EAXA21 board rotary switch setting (0) of the corresponding
al communications. node number (SV#1)
Counter value re-
ceived from EAXA21
board is off by one cy-
cle.
2
- 73
Alarm list
No. Code
2 - 74
Alarm list
curred.
Counter value re-
ceived from EAXA21
board is invalid.
No. Code
curred.
2
- 75
Alarm list
No. Code
2 - 76
Alarm list

Counter value re-
ceived from EAXA21
cle.
curred.
No. Code
Counter value re-
ceived from EAXA21
board is invalid.
curred.
2
- 77
Alarm list
No. Code
2 - 78
Alarm list

Counter value re-
ceived from EAXA21
cle.
curred.
No. Code
Counter value re-
ceived from EAXA21
board is invalid.
2
curred.
- 79
Alarm list
No. Code
2 - 80
Alarm list
Counter value re-
ceived from EAXA21
cle.
No. Code
curred.
Counter value re-
ceived from EAXA21
board is invalid.
2
- 81
Alarm list
No. Code
2 - 82
Alarm list
curred.
Counter value re-
ceived from EAXA21
cle.
No. Code
curred.
Counter value re-
ceived from EAXA21
board is invalid.
2
- 83
Alarm list
No. Code
2 - 84
Alarm list
curred.
Counter value re-
ceived from EAXA21
cle.
No. Code
curred.
Counter value re-
ceived from EAXA21
board is invalid.
2
- 85
Alarm list
No. Code
2 - 86
Alarm list
curred.
Counter value re-
ceived from EAXA21
cle.
No. Code
curred.
Counter value re-
2
ceived from EAXA21
board is invalid.
- 87
Alarm list
No. Code
2 - 88
Alarm list
curred.
No. Code
Counter value re-
ceived from EAXA21
cle.
curred.
2
- 89
Alarm list
No. Code
2 - 90
Alarm list

0200 MEMORY ER- 0 The RC parameter is Data error (1) Turn the power OFF then back ON.
ROR(PARAMETER damaged. (2) If the alarm occurs again, initialize the appropriate data in main-
FILE) tenance mode, and then load the data saved in the external mem-
ory device.
curred.
1 The RO parameter is Data error (1) Turn the power OFF then back ON.
damaged. (2) If the alarm occurs again, initialize the appropriate data in main-
tenance mode, and then load the data saved in the external mem-
ory device.
No. Code
curred.
2 The SV parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
3 The SVM parameter is Data error (1) Turn the power OFF then back ON.
ory device.
2
- 91
Alarm list
No. Code
2 - 92
Alarm list
curred.
4 The SC parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
No. Code
5 The SD parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
6 The CIO parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
2
- 93
Alarm list
No. Code
2 - 94
Alarm list

7 The FD parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
8 The AP parameter is Data error (1) Turn the power OFF then back ON.
ory device.
No. Code
curred.
9 The RS parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
10 The SE parameter is Data error (1) Turn the power OFF then back ON.
ory device.
2
- 95
Alarm list
No. Code
2 - 96
Alarm list
curred.
11 The SVC parameter is Data error (1) Turn the power OFF then back ON.
ory device.
No. Code
curred.
12 The AMC parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
13 The SVP parameter is Data error (1) Turn the power OFF then back ON.
ory device.
2
- 97
Alarm list
No. Code
2 - 98
Alarm list
curred.
14 The MF parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
No. Code
15 The SVS parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
125 RE parameter is dam- Data error (1) Turn the power OFF then back ON.
aged. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
2
- 99
Alarm list
No. Code
2 - 100
Alarm list

126 FMS parameter is Data error (1) Turn the power OFF then back ON.
ory device.
curred.
0210 MEMORY ER- The system configura- YCP21 board failure (1) Turn the power OFF then back ON.
ROR(SYSTEM tion information data (2) If the alarm occurs again, replace the YCP21 board. Save the
CONFIG-DATA) are damaged. CMOS.BIN before replace the board to be safe. Replace the
curred.
No. Code
0220 MEMORY ER- 0 The management data Data error (1) Turn the power OFF then back ON.
ROR(JOB MNG DA- of job files are dam- (2) If the alarm occurs again, initialize the job file in maintenance
TA) aged. mode, and then load the data (job, variable data, Robot calibration
data) saved in the external memory device.
curred.
1 The job files are dam- Data error (1) Turn the power OFF then back ON.
aged. (2) If the alarm occurs again, initialize the job file in maintenance
mode, and then load the data (job, variable data, Robot calibration
2
- 101
Alarm list
No. Code
2 - 102
Alarm list
curred.
2 The management data Data error (1) Turn the power OFF then back ON.
of position data files (2) If the alarm occurs again, initialize the job file in maintenance
are damaged. mode, and then load the data (job, variable data, Robot calibration
curred.
3 Memory and play back Data error (1) Turn the power OFF then back ON.
file is damaged. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
No. Code
curred.
0230 MEMORY ERROR The CIO ladder file is Data error (1) Turn the power OFF then back ON.
(LADDER PRG damaged. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
2
- 103
Alarm list
No. Code
2 - 104
0240 MEMORY ER- 0 The DeviceNet alloca- Setting error (1) Check the following settings.
Alarm list
ROR(DEVICENET tion file 1 is damaged. [XFB01 board]

ALLOC FL) ·The settings of the objective DeviceNet allocation file
·The I/O module settings of the objective DeviceNet board in main-
tenance mode
·The DeviceNet allocation of the I/O module in maintenance mode
curred.
1 The DeviceNet alloca- Setting error (1) Check the following settings.
tion file 2 is damaged. [XFB01 board]
·The settings of the objective DeviceNet allocation file
·The I/O module settings of the objective DeviceNet board in main-
tenance mode
No. Code
curred.
0270 MEMORY ER- The system software Software operation er- (1) Turn the power OFF then back ON.
ROR(CF BACKUP version is inconsistent ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
FILE) with the version when mode, and then contact your YASKAWA representative about oc-
the internal storage currence status (operating procedure).
data is set or the Com-
pactFlash on the
YCP21 board is dam-
aged.
curred.
0280 MEMORY ER- Software operation er- (1) Turn the power OFF then back ON.
ROR(EX IO ALLOC ror occurred (2) If the alarm occurs again, initialize the appropriate data in main-
FILE) tenance mode, and then set the IO module.
curred.
2
- 105
Alarm list
No. Code
2 - 106
0290 MEMORY ER- The network setting Data error (1) Turn the power OFF then back ON.
Alarm list
ROR(NETWORK file is damaged. (2) If the alarm occurs again, initialize the appropriate data in main-
SETUP) tenance mode, and then set the network again.
curred.
0300 VERIFY ER- 2 CIO parameter error. Setting error (1) Check the following settings.
ROR(SYSTEM ·I/O module settings in maintenance mode
CONFIG-DATA)
curred.
4 Axis-related parame- Setting error (1) Check the following settings.
ter error. ·Control group settings in maintenance mode
No. Code
curred.
5 Sensor-use parameter Setting error (1) Check the following settings.
error. ·The optional board setting in maintenance mode
curred.
7 The set optional func- Setting error (1) Check the following settings.
tions are different from ·The optional board setting in maintenance mode
2
those of the mounted
optional board.
- 107
Alarm list
No. Code
2 - 108
Alarm list
curred.
8 IO type error (combi- Setting error (1) Check the following settings.
nation impossible to ·I/O module settings in maintenance mode
coexist).
curred.
10 Functional Safety Setting error (1) Select the following menu.
board save data error ·"File"-"Initialize", "Safety Unit FLASH Reset"
(2) Turn the power OFF then back ON.
No. Code
curred.
·YSF25 board
·YSF25 board
11 Ex. AXIS INDIVIDUAL Setting error (1) Check the following settings.
CONTROL Parame- ·[Option function] - [Ex. AXIS INDIVIDUAL CONTROL(SDA) ] set-
ter Setting error tings in maintenance mode
(EX.TU# out of a
range ).
curred.
2
- 109
Alarm list
No. Code
2 - 110
12 Ex. AXIS INDIVIDUAL Setting error (1) Check the following settings.
Alarm list
CONTROL Parame- ·[Option function] - [Ex. AXIS INDIVIDUAL CONTROL(SDA) ] set-

ter Setting error (Dif- tings in maintenance mode
ference in an Ex. AXIS
INDIVIDUAL CON-
TROL Parameter and
Physics TU# parame-
ter).
curred.
14 POWER REGENERA- Setting error (1) Check the following settings.
TIVE FUNCTION ·[Option function] - [POWER REGENERATIVE FUNCTION] set-
Parameter Setting er- tings in maintenance mode
ror.
curred.
No. Code
0301 VERIFY ER- SUB Code: Control Setting error (1) Check the following settings.
ROR(OVERRUN IN- group ·Connection settings (OT) in maintenance mode
PUT SET)
Parameter specifica-
tion and OT signal in-
formation are wrong
0310 VERIFY ER- The CMOS memory YCP21 board failure (1) Turn the power OFF then back ON.
ROR(CMOS MEMO- capacity is different (2) If the alarm occurs again, replace the YCP21 board. Save the
RY SIZE) from its initial setting. CMOS.BIN before replace the board to be safe. Replace the
curred.
0320 VERIFY ERROR(I/O 1 The I/O module con- Setting error (1) Check the following settings.
MODULE) nected to the serial ·The rotary switch setting which specifies slot numbers of each I/O
bus #1 is different from module
the function of the set ·I/O module settings in maintenance mode
I/O module. Please refer to the manual of each IO module for the details of the
setting.
2
- 111
Alarm list
No. Code
2 - 112
Alarm list
curred.
2 The I/O module con- Setting error (1) Check the following settings.
nected to the serial ·The rotary switch setting which specifies slot numbers of each I/O
setting.
No. Code
curred.
setting.
2
curred.
- 113
Alarm list
No. Code
2 - 114
Alarm list

setting.
curred.
setting.
No. Code
curred.
setting.
2
- 115
Alarm list
No. Code
2 - 116
Alarm list
curred.
setting.
curred.
No. Code
setting.
curred.
2
setting.
- 117
Alarm list
No. Code
2 - 118
Alarm list
curred.
bus #10 is different module
from the function of ·I/O module settings in maintenance mode
the set I/O module. Please refer to the manual of each IO module for the details of the
setting.
No. Code
curred.
setting.
2
curred.
- 119
Alarm list
No. Code
2 - 120
Alarm list

setting.
curred.
setting.
No. Code
curred.
setting.
2
- 121
Alarm list
No. Code
2 - 122
Alarm list
curred.
setting.
curred.
No. Code
nected to the 1st PCI ·PCI slot number in which each PCI board is mounted
bus is different from ·I/O module settings in maintenance mode
the function of the set Please refer to the manual of each IO module for the details of the
I/O module. setting.
curred.
nected to the 2nd PCI ·PCI slot number in which each PCI board is mounted
2
- 123
Alarm list
No. Code
2 - 124
Alarm list
curred.
nected to the 3rd PCI ·PCI slot number in which each PCI board is mounted
No. Code
curred.
nected to the 4th PCI ·PCI slot number in which each PCI board is mounted
curred.
2
- 125
Alarm list
No. Code
2 - 126
0330 VERIFY ER- YCP21 board failure (1) Turn the power OFF then back ON.
Alarm list
ROR(APPLICA- (2) If the alarm occurs again, replace the YCP21 board. Save the
TION) CMOS.BIN before replace the board to be safe. Replace the
curred.
0340 VERIFY ER- YCP21 board failure (1) Turn the power OFF then back ON.
ROR(SENSOR (2) If the alarm occurs again, replace the YCP21 board. Save the
FUNCTION) CMOS.BIN before replace the board to be safe. Replace the
curred.
No. Code
0350 VERIFY ER- 0 The station No. speci- Setting error (1) Check the following settings.
ROR(DEVICENET fied by the DeviceNet [XFB01 board]
ALLOC FL) allocation file1 is incor- ·The settings of the objective DeviceNet allocation file
rect (the station No. is ·The I/O module settings of the objective DeviceNet board in main-
out of the allowable tenance mode
range, or the specified ·The DeviceNet allocation of the I/O module in maintenance mode
station board is not the
DeviceNet master).
curred.
1 The MAC_ID specified Setting error (1) Check the following settings.
by the DeviceNet allo- [XFB01 board]
cation file1 is not con- ·The settings of the objective DeviceNet allocation file
sistent with the ·The I/O module settings of the objective DeviceNet board in main-
MAC_ID of the speci- tenance mode
fied station board. ·The DeviceNet allocation of the I/O module in maintenance mode
2
- 127
Alarm list
No. Code
2 - 128
Alarm list
curred.
2 Inconsistency was de- Setting error (1) Check the following settings.
tected in the scan list [XFB01 board]
of the DeviceNet allo- ·The settings of the objective DeviceNet allocation file
cation file1. ·The I/O module settings of the objective DeviceNet board in main-
tenance mode
curred.
No. Code
10 The station No. speci- Setting error (1) Check the following settings.
fied by the DeviceNet [XFB01 board]
allocation file2 is incor- ·The settings of the objective DeviceNet allocation file
rect (the station No. is ·The I/O module settings of the objective DeviceNet board in main-
out of the allowable tenance mode
range, or the specified ·The DeviceNet allocation of the I/O module in maintenance mode
station board is not the
DeviceNet master).
curred.
11 The MAC_ID specified Setting error (1) Check the following settings.
by the DeviceNet allo- [XFB01 board]
cation file2 is not con- ·The settings of the objective DeviceNet allocation file
sistent with the ·The I/O module settings of the objective DeviceNet board in main-
MAC_ID of the speci- tenance mode
fied station board. ·The DeviceNet allocation of the I/O module in maintenance mode
2
- 129
Alarm list
No. Code
2 - 130
Alarm list
curred.
12 Inconsistency was de- Setting error (1) Check the following settings.
tected in the scan list [XFB01 board]
of the DeviceNet allo- ·The settings of the objective DeviceNet allocation file
cation file2. ·The I/O module settings of the objective DeviceNet board in main-
tenance mode
curred.
0370 VERIFY ER- The designation in the Setting error (1) Check the following settings.
ROR(SPOT WELD- parameter is different ·The welding timer designation
ER I/F) from the connected
welding timer.
No. Code
curred.
0390 VERIFY ER- Illegal instruction cycle Setting error (1) Check the following settings.
ROR(SEGMENT is set. ·Instruction execution cycle
CLOCK)
curred.
2
- 131
Alarm list
No. Code
2 - 132
0400 PARAMETER 30 An error occurred dur- Connection failure (1) Turn the power OFF then back ON.
Alarm list
TRANSMISSION ing the parameter/file (2) If the alarm occurs again, check the connection and insertion
ERROR transfer to the YSF21 of the following connector.
board. ·The PCI connector of YSF21 board
·The PCI connector of YIF01 board
·YSF21 board
curred.
50 An error occurred dur- Setting error (1) Check the following settings.
ing the parameter/file ·Control group settings in maintenance mode
transfer to the 1st ser- ·The EAXA21 board rotary switch setting (0) of the corresponding
vo board. node number (SV#1)
No. Code
curred.
transfer to the 2nd ser- ·The EAXA21 board rotary switch setting (1) of the corresponding
curred.
2
- 133
Alarm list
No. Code
2 - 134
Alarm list

transfer to the 3rd ser- ·The EAXA21 board rotary switch setting (2) of the corresponding
curred.
transfer to the 4th ser- ·The EAXA21 board rotary switch setting (3) of the corresponding
No. Code
CMOS.BINbefore replace the board to be safe. Replace the YIF01
board, and then load the CMOS.BIN saved before alarm occurred.
curred.
2
- 135
Alarm list
No. Code
2 - 136
Alarm list

curred.
No. Code
curred.

2
- 137
Alarm list
No. Code
2 - 138
Alarm list
curred.
transfer to the 1st ·The EAXA21 board rotary switch setting (0) of the corresponding
YSF25 board. node number (SV#1)
No. Code
·YSF25 board
curred.
transfer to the 2nd ·The EAXA21 board rotary switch setting (1) of the corresponding
·YSF25 board
2
curred.
- 139
Alarm list
No. Code
2 - 140
Alarm list

transfer to the 3rd ·The EAXA21 board rotary switch setting (2) of the corresponding
·YSF25 board
curred.
transfer to the 4th ·The EAXA21 board rotary switch setting (3) of the corresponding
No. Code
·YSF25 board
curred.
2
- 141
Alarm list
No. Code
2 - 142
Alarm list
·YSF25 board
curred.
·YSF25 board
curred.
No. Code
·YSF25 board
curred.
2
- 143
Alarm list
No. Code
2 - 144
Alarm list
·YSF25 board
curred.
0410 MODE CHANGE 30 An error occurred dur- Connection failure (1) Turn the power OFF then back ON.
ERROR ing startup sequence (2) If the alarm occurs again, check the connection and insertion
processing with the of the following connector.
YSF21 board, and the ·The PCI connector of YSF21 board
system did not startup ·The PCI connector of YIF01 board
normally.
·YSF21 board
No. Code
curred.
ing startup sequence ·Control group settings in maintenance mode
processing with the ·The EAXA21 board rotary switch setting (0) of the corresponding
servo CPU of 1st ser- node number (SV#1)
vo board, and the sys-
tem did not startup
normally.
curred.
2
- 145
Alarm list
No. Code
2 - 146
Alarm list
ing startup sequence ?Control group settings in maintenance mode

processing with the ?The EAXA21 board rotary switch setting (1) of the corresponding
servo CPU of 2nd ser- node number (SV#2)
tem did not startup
normally.
curred.
servo CPU of 3rd ser- node number (SV#3)
tem did not startup
normally.
No. Code
curred.
servo CPU of 4th ser- node number (SV#4)
tem did not startup
normally.
2
- 147
Alarm list
No. Code
2 - 148
Alarm list
curred.
tem did not startup
normally.
curred.
No. Code
tem did not startup
normally.
curred.
2
- 149
Alarm list
No. Code
2 - 150
Alarm list

tem did not startup
normally.
curred.
tem did not startup
normally.
No. Code
curred.
transfer to the 1st ·The EAXA21 board rotary switch setting (0) of the corresponding
2
- 151
Alarm list
No. Code
2 - 152
Alarm list
·YSF25 board
curred.
transfer to the 2nd ·The EAXA21 board rotary switch setting (1) of the corresponding
·YSF25 board
curred.
No. Code
transfer to the 3rd ·The EAXA21 board rotary switch setting (2) of the corresponding
·YSF25 board
curred.
2
- 153
Alarm list
No. Code
2 - 154
Alarm list
·YSF25 board
curred.
No. Code
·YSF25 board
curred.
·YSF25 board
2
curred.
- 155
Alarm list
No. Code
2 - 156
Alarm list

·YSF25 board
curred.
No. Code
·YSF25 board
cur.
2
- 157
Alarm list
No. Code
2 - 158
0420 DEVICENET ALLOC 1 The DeviceNet alloca- Setting error (1) Check the following settings.
Alarm list
FL TRANSMIT ERR tion file1 could not be [XFB01 board]

transmitted to the ·The settings of the objective DeviceNet allocation file
specified station. ·The I/O module settings of the objective DeviceNet board in main-
tenance mode
XFB01B board failure (1) Turn the power OFF then back ON.
·XFB01B board
2 The DeviceNet alloca- Setting error ·The DeviceNet allocation of the I/O module in maintenance mode
tion file2 could not be
transmitted to the
specified station.
No. Code
XFB01B board failure (1) Turn the power OFF then back ON.
·XFB01B board
curred.
0500 SEGMENT PROC Setting error (1) Check the following settings.
NOT READY ·Instruction execution cycle
2
curred.
- 159
Alarm list
No. Code
2 - 160
Alarm list

0510 SOFTWARE VER- 20 1st option board's in- YCP21 board failure (1) Turn the power OFF then back ON.
SION UNMATCH terface version is not (2) If the alarm occurs again, replace the YCP21 board. Save the
corresponding to CMOS.BIN before replace the board to be safe. Replace the
YCP21. YCP21 board, and then remove the CF from the failure YCP21
curred.
21 2nd option board's in- YCP21 board failure (1) Turn the power OFF then back ON.
terface version is not (2) If the alarm occurs again, replace the YCP21 board. Save the
curred.
No. Code
50 1st servo board's inter- YCP21 board failure (2) If the alarm occurs again, replace the YCP21 board. Save the
face version is not cor- CMOS.BIN before replace the board to be safe. Replace the
responding to YCP21. YCP21 board, and then remove the CF from the failure YCP21
curred.
51 2nd servo board's in- YCP21 board failure (1) Turn the power OFF then back ON.
curred.
52 3rd servo board's in- YCP21 board failure (1) Turn the power OFF then back ON.
2
- 161
Alarm list
No. Code
2 - 162
Alarm list
curred.
53 4th servo board's in- YCP21 board failure (1) Turn the power OFF then back ON.
curred.
curred.
No. Code
curred.
curred.
2
- 163
Alarm list
No. Code
2 - 164
Alarm list
curred.
60 The software version Software error (1) Turn the power OFF then back ON.
of the YSF25 board (2) If the alarm occurs again, check the YSF25 board version and
connected to the 1st then consult your YASKAWA representative.
servo board is un-
matched.
connected to the 2nd then consult your YASKAWA representative.
servo board is un-
matched.
No. Code
connected to the 3rd then consult your YASKAWA representative.
servo board is un-
matched.
connected to the 4th then consult your YASKAWA representative.
servo board is un-
matched.
0520 AXIS LIMIT OVER 0 Setting error (1) Check the following settings.
·Control group settings in maintenance mode
curred.
2
- 165
Alarm list
No. Code
2 - 166
0600 MEDAR STATUS MADER timer error Refer to the instruction manual for the MEDAR function.
Alarm list
ERROR
0601 MEDAR DIAGNO- MADER timer error Refer to the instruction manual for the MEDAR function.
SIS ERROR
0602 MEDAR VERSION MADER timer error Refer to the instruction manual for the MEDAR function.
ERROR
0603 MEDAR REVISION MADER timer error Refer to the instruction manual for the MEDAR function.
ERROR
0604 MEDAR MODE MADER timer error Refer to the instruction manual for the MEDAR function.
CHANGE ERROR
0605 MEDAR SCHEDULE MADER timer error Refer to the instruction manual for the MEDAR function.
TRANSMIT ERROR
0606 MEDAR ERROR 1 MADER timer error Refer to the instruction manual for the MEDAR function.
No. Code
0607 MEDAR ERROR 2 MADER timer error Refer to the instruction manual for the MEDAR function.
0608 MEDAR WELDER MADER timer error Refer to the instruction manual for the MEDAR function.
TYPE MISMATCH
0609 MEDAR PARAME- MADER timer error Refer to the instruction manual for the MEDAR function.
TER ERROR
0610 MEDAR STEPPER MADER timer error Refer to the instruction manual for the MEDAR function.
TRANSMIT ERROR
0700 VERIFY ERROR(EX (1) Turn the power OFF then back ON.
IO ALLOC FILE) (2) If the alarm occurs again, initialize the appropriate data in main-
tenance mode, and then set the IO module.
Data error (1) Turn the power OFF then back ON.
2
- 167
Alarm list
No. Code
2 - 168
Alarm list
curred.
YIF01 board failure If the alarm occurs again, save the CMOS.BIN in maintenance
0710 LADDER INITIALIZE Data error (1) Turn the power OFF then back ON.
ERROR (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
0720 LADDER PRO- 1 An error was found in Data error (1) Turn the power OFF then back ON.
GRAM ERROR the relay No. specifi- (2) If the alarm occurs again, initialize the appropriate data in main-
cation. tenance mode, and then load the data saved in the external mem-
ory device.
No. Code
curred.
2 An error was found in Data error (1) Turn the power OFF then back ON.
the register No. speci- (2) If the alarm occurs again, initialize the appropriate data in main-
fication. tenance mode, and then load the data saved in the external mem-
ory device.
curred.
2
- 169
Alarm list
No. Code
2 - 170
3 An incorrect instruc- Data error (1) Turn the power OFF then back ON.
Alarm list
tion was set. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
4 Output register is used Data error (1) Turn the power OFF then back ON.
redundantly. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
No. Code
5 Output relay is used Data error (1) Turn the power OFF then back ON.
redundantly. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
6 Unconnected relay ex- Data error (1) Turn the power OFF then back ON.
ists. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
2
- 171
Alarm list
No. Code
2 - 172
Alarm list
curred.
7 The STR instructions Data error (1) Turn the power OFF then back ON.
are overused. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
8 The AND-STR instruc- Data error (1) Turn the power OFF then back ON.
tions are overused. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
No. Code
curred.
9 A syntax error was Data error (1) Turn the power OFF then back ON.
found in the CNT in- (2) If the alarm occurs again, initialize the appropriate data in main-
struction. tenance mode, and then load the data saved in the external mem-
ory device.
curred.
2
- 173
Alarm list
No. Code
2 - 174
10 The head of the block Data error (1) Turn the power OFF then back ON.
Alarm list
starts with an instruc- (2) If the alarm occurs again, initialize the appropriate data in main-
tion other than the tenance mode, and then load the data saved in the external mem-
STR instruction. ory device.
curred.
11 Excessive machine Data error (1) Turn the power OFF then back ON.
codes (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
No. Code
12 The last instruction is Data error (1) Turn the power OFF then back ON.
not the END instruc- (2) If the alarm occurs again, initialize the appropriate data in main-
tion. tenance mode, and then load the data saved in the external mem-
ory device.
curred.
the PART instruction. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
2
- 175
Alarm list
No. Code
2 - 176
Alarm list
curred.
the GOUT instruction. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
15 The No. of operand is Data error (1) Turn the power OFF then back ON.
incorrect. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
No. Code
curred.
16 The constant value is Data error (1) Turn the power OFF then back ON.
incorrect. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
2
- 177
Alarm list
No. Code
2 - 178
17 The step capacity ex- Data error (1) Turn the power OFF then back ON.
Alarm list
ceeds the memory ca- (2) If the alarm occurs again, initialize the appropriate data in main-
pacity. tenance mode, and then load the data saved in the external mem-
ory device.
curred.
18 The number of opera- Data error (1) Turn the power OFF then back ON.
tion instructions ex- (2) If the alarm occurs again, initialize the appropriate data in main-
ceed the permissible tenance mode, and then load the data saved in the external mem-
value. ory device.
curred.
No. Code
found in the CNT in- (2) If the alarm occurs again, initialize the appropriate data in main-
struction or TMR in- tenance mode, and then load the data saved in the external mem-
struction. ory device.
curred.
found in the JMP-LA- (2) If the alarm occurs again, initialize the appropriate data in main-
BEL instructions. tenance mode, and then load the data saved in the external mem-
ory device.
2
- 179
Alarm list
No. Code
2 - 180
Alarm list
curred.
21 The label of JMP des- Data error (1) Turn the power OFF then back ON.
tination does not exist. (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
curred.
0730 COMMUNICATION 0 Welder power serial I/ YCP21 board failure (1) Turn the power OFF then back ON.
ERROR (SKS-SERI- F task cannot be creat- (2) If the alarm occurs again, replace the YCP21 board. Save the
AL) ed. CMOS.BIN before replace the board to be safe. Replace the
No. Code
1 Incorrect values are Setting error (1) Check the following setting.
set for the communi- ·The number of communication frames for Welder power serial
cation frame number communication (RS262)
with the welder power.
set for the number of ·The number of the sending bytes for Welder power serial commu-
the sending bytes per nication (RS262)
frame with the welder
power.
2
- 181
Alarm list
No. Code
2 - 182
Alarm list
set for the number of ·The number of the receiving bytes for Welder power serial com-
the receiving bytes per munication (RS262)
frame with the welder
power.
10 The binary semaphore YCP21 board failure (1) Turn the power OFF then back ON.
to start up event for (2) If the alarm occurs again, replace the YCP21 board. Save the
Welder power serial I/ CMOS.BIN before replace the board to be safe. Replace the
F task cannot be creat- YCP21 board, and then remove the CF from the failure YCP21
ed. board to insert it into the new YCP21 board.
11 The event resource for YCP21 board failure (1) Turn the power OFF then back ON.
Welder power serial I/ (2) If the alarm occurs again, replace the YCP21 board. Save the
F task cannot be creat- CMOS.BIN before replace the board to be safe. Replace the
ed YCP21 board, and then remove the CF from the failure YCP21
No. Code
12 The completion notifi- YCP21 board failure (1) Turn the power OFF then back ON.
cation mail of Welder (2) If the alarm occurs again, replace the YCP21 board. Save the
power serial I/F task CMOS.BIN before replace the board to be safe. Replace the
cannot be created. YCP21 board, and then remove the CF from the failure YCP21
13 Welder power serial I/ YCP21 board failure (1) Turn the power OFF then back ON.
F task cannot be creat- (2) If the alarm occurs again, replace the YCP21 board. Save the
ed. CMOS.BIN before replace the board to be safe. Replace the
0790 MEMORY BATTERY The YIF01 battery is Connection failure (1) Check if the battery is correctly connected to CN110/BAT on
WEAK exhausted. the YIF01 board.
Battery failure (1) Refer to Chapter 5.1.1.1 Replacing the Battery in DX200 Main-
tenance manual (RE-CHO-A108) and replace the battery.
0800 FILE BACKUP ER- The management YCP21 board failure (1) Turn the power OFF then back ON.
ROR (YCP21 CF) area (FAT) of Compact (2) If the alarm occurs again, replace the YCP21 board. Save the
Flash in YCP21 board CMOS.BIN before replace the board to be safe. Replace the
is damaged. YCP21 board, and then remove the CF from the failure YCP21
2
- 183
Alarm list
No. Code
2 - 184
Alarm list
curred.
0801 FILE LOAD ERROR YCP21 board failure (1) Turn the power OFF then back ON.
(YCP21 CF) (2) If the alarm occurs again, replace the YCP21 board. Save the
curred.
0802 FILE I/O ERROR YCP21 board failure (1) Turn the power OFF then back ON.
(YCP21 CF) (2) If the alarm occurs again, replace the YCP21 board. Save the
curred.
No. Code
0803 FILE ERROR An error occurred dur- YCP21 board failure (1) Turn the power OFF then back ON.
ing the parameter of (2) If the alarm occurs again, replace the YCP21 board. Save the
Manipulator Model CMOS.BIN before replace the board to be safe. Replace the
(mecha.rom) loading. YCP21 board, and then remove the CF from the failure YCP21
curred.
0810 TOYOPUC ALLOC 1 An error was found in Setting error (1) Check the following settings.
DEF ERROR the input/output direc- ·Allocation configuration for the TOYOPUC
tion data of allocation
configuration.
·The PCI connector of the TOYOPUC board
2
- 185
Alarm list
No. Code
2 - 186
3 In the output side set- Setting error (1) Check the following settings.
Alarm list
ting of allocation con- ·Allocation configuration for the TOYOPUC

figuration data, the
specified
R-register start No. for
the TOYOPUC ex-
ceeds the R-register
limit.
figuration data, the set
number to use the in-
put side R-register of
the TOYOPUC ex-
limit.
No. Code
number to use the M-
register of concurrent
I/O exceeds the M-
register limit.
8 An error was found in Setting error (1) Check the following settings.
the type set for output ·Allocation configuration for the TOYOPUC
direction of allocation
configuration data.
the type set for input ·Allocation configuration for the TOYOPUC
direction of allocation
configuration data.
2
- 187
Alarm list
No. Code
2 - 188
Alarm list
the type specified for ·Allocation configuration for the TOYOPUC
system data of alloca-
tion configuration da-
ta.
the specified number ·Allocation configuration for the TOYOPUC
of registers which are
used by the system
data "CURR.POS.
(PULSE)" of allocation
configuration.
No. Code
used by the system
data "CURR.POS.
(XYZ)" of allocation
configuration.
used by the system
data "WELDING IN-
FO." of allocation con-
figuration.
2
- 189
Alarm list
No. Code
2 - 190
Alarm list

used by the system
data "TASK INFO." of
allocation configura-
tion.
used by the system
data "EXECUTE PRO-
GRAM INFO." of allo-
cation configuration.
No. Code
used by the system
data "INST. MES-
SAGE" of allocation
configuration.
of registers for "Alarm/
Error/Message" in the
system data of Alloca-
tion setting informa-
tion.
2
- 191
Alarm list
No. Code
2 - 192
30 In the input side set- Setting error (1) Check the following settings.
Alarm list

figuration data, the
specified R-register
start No. for the
TOYOPUC exceeds
the R-register limit.
number to use the in-
put side R-register of
the TOYOPUC ex-
limit.
No. Code
number to use the M-
register of concurrent
I/O exceeds the M-
register limit.
used by the system
data "standard time
setting data" of alloca-
tion configuration.
2
- 193
Alarm list
No. Code
2 - 194
Alarm list

figuration data, some
of the TOYOPUC’s R-
registers are specified
redundantly.
of the M-registers of
concurrent I/O are
specified redundantly.
of the TOYOPUC’s R-
registers are specified
redundantly.
No. Code
of the M-registers of
concurrent I/O are
specified redundantly.
0900 WATCHDOG TIM- A Watchdog timeout YCP21 board failure (1) Turn the power OFF then back ON.
ER ERROR(YIF01 was detected in the (2) If the alarm occurs again, replace the YCP21 board. Save the
board) YIF01 board. CMOS.BIN before replace the board to be safe. Replace the
curred.
2
- 195
Alarm list
No. Code
2 - 196
Alarm list

0901 WATCHDOG TIM- A Watchdog timeout Setting error (1) Check the following settings.
ER ER- was detected in the ·Optional board in maintenance mode
ROR(YCP02#1) YCP02 #1 board.
·YCP02 board
·YCP02 board
No. Code
·YCP02 board
·YCP02 board
2
- 197
Alarm list
No. Code
2 - 198
Alarm list

·YCP02 board
·YCP02 board
No. Code
·YCP02 board
·YCP02 board
2
- 199
Alarm list
No. Code
2 - 200
Alarm list

0909 WATCHDOG TIM- 0 A Watchdog timeout YSF21 board failure (1) Turn the power OFF then back ON.
ER ERROR(SF21) was detected in the (2) If the alarm occurs again, replace the following board. Save the
YSF21 board. CMOS.BIN before replace the board to be safe.
·YSF21 board
curred.
1 YSF21 board failure (1) Turn the power OFF then back ON.
·YSF21 board
No. Code
curred.
0910 CPU ER- 1 An error was detected YCP21 board failure (1) Turn the power OFF then back ON.
ROR(YCP21) in the CPU. (2) If the alarm occurs again, replace the YCP21 board. Save the
curred.
0911 CPU ER- An error was detected Setting error (1) Check the following settings.
ROR(YCP02#1) in the CPU. ·Optional board in maintenance mode
·YCP02 board
2
- 201
Alarm list
No. Code
2 - 202
Alarm list

·YCP02 board
·YCP02 board
No. Code
·YCP02 board
·YCP02 board
2
- 203
Alarm list
No. Code
2 - 204
Alarm list
·YCP02 board
·YCP02 board
·YCP02 board
No. Code
0919 CPU ERROR(SF21) 0 YSF21 board failure (1) Turn the power OFF then back ON.
·YSF21 board
curred.
1 YSF21 board failure (1) Turn the power OFF then back ON.
·YSF21 board
2
- 205
Alarm list
No. Code
2 - 206
Alarm list
curred.
0931 CPU HANG UP ER- An error was detected Setting error (1) Check the following settings.
·YCP02 board
Software operation er- (1) Turn the power OFF then back ON.
ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance

No. Code
·YCP02 board

·YCP02 board
2
- 207
Alarm list
No. Code
2 - 208
Alarm list

·YCP02 board

·YCP02 board
No. Code

·YCP02 board

2
- 209
Alarm list
No. Code
2 - 210
Alarm list

·YCP02 board

·YCP02 board
No. Code

0940 WATCHDOG TIM- A Watchdog timeout EAXA21 board failure (1) Turn the power OFF then back ON.
ER ERROR(EA- was detected in the (2) If the alarm occurs again, replace the following board. Save the
XA#1) EAXA#1 board. CMOS.BIN before replace the board to be safe.
·EAXA21 board
curred.
·EAXA21 board
2
- 211
Alarm list
No. Code
2 - 212
Alarm list
curred.
·EAXA21 board
curred.
No. Code
·EAXA21 board
curred.
·EAXA21 board
curred.
2
- 213
Alarm list
No. Code
2 - 214
Alarm list

?EAXA21 board
curred.
·EAXA21 board
No. Code
curred.
·EAXA21 board
curred.
0950 CPU ERROR(EA- An error was detected Connection failure (1) Turn the power OFF then back ON.
XA#1) in the CPU of servo (2) If the alarm occurs again, check the connection and insertion
board #1. of the following cables and connectors.
2
- 215
Alarm list
No. Code
2 - 216
Alarm list
curred.
No. Code
curred.
curred.
2
- 217
Alarm list
No. Code
2 - 218
Alarm list
curred.
No. Code
curred.
2
curred.
- 219
Alarm list
No. Code
2 - 220
Alarm list

curred.
No. Code
curred.
0970 CPU ER- 0 An error was detected Connection failure (1) Turn the power OFF then back ON.
ROR(SF25#1) in the CPU of YSF25 (2) If the alarm occurs again, check the connection and insertion
board #1 (CPU1). of the following connector.
·YSF25 board
2
·EAXA21 board
- 221
Alarm list
No. Code
2 - 222
Alarm list
curred.
1 An error was detected Connection failure (1) Turn the power OFF then back ON.
in the CPU of YSF25 (2) If the alarm occurs again, check the connection and insertion
·CNBX connector of EAXA21board and YSF25 board
·YSF25 board
·EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
2
- 223
Alarm list
No. Code
2 - 224
Alarm list
curred.
·YSF25 board
·EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
2
- 225
Alarm list
No. Code
2 - 226
Alarm list
curred.
·YSF25 board
?EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
2
- 227
Alarm list
No. Code
2 - 228
Alarm list
curred.
·YSF25 board
·EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
2
- 229
Alarm list
No. Code
2 - 230
Alarm list
curred.
·YSF25 board
·EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
2
- 231
Alarm list
No. Code
2 - 232
Alarm list
curred.
·YSF25 board
·EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
2
- 233
Alarm list
No. Code
2 - 234
Alarm list
curred.
·YSF25 board
·EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
2
- 235
Alarm list
No. Code
2 - 236
Alarm list
curred.
·YSF25 board
·EAXA21 board
No. Code
curred.
0980 WATCHDOG TIM- A Watchdog timeout YSF25 board failure (1) Turn the power OFF then back ON.
ER ER- was detected in the (2) If the alarm occurs again, replace the following board. Save the
ROR(SF25#1) YSF25#1 board. CMOS.BIN before replace the board to be safe.
·YSF25 board
·EAXA21 board
curred.
2
- 237
Alarm list
No. Code
2 - 238
Alarm list

·YSF25 board
·EAXA21 board
curred.
·YSF25 board
·EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
curred.
2
- 239
Alarm list
No. Code
2 - 240
Alarm list

·YSF25 board
·EAXA21 board
curred.
·YSF25 board
·EAXA21 board
No. Code
curred.
·YSF25 board
·EAXA21 board
curred.
2
- 241
Alarm list
No. Code
2 - 242
Alarm list

·YSF25 board
·EAXA21 board
curred.
No. Code
0990 SYSTEM ER- 1 YCP21board detect Execute condition fail- Turn the power OFF after the online window appears on the pro-
ROR(YCP21) the Controller power ure gramming pendant.
off signal (Power lost
signal) of YIF01 board
er turned ON. This
alarm may occur,
er turned OFF before
an online screen is
displayed by a pro-
gramming pendant,
curred.
YPU unit failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YPU unit. Save the
2 YCP21board detect YIF01 board failure (1) Turn the power OFF then back ON.
the WATCHDOG TIM- (2) If the alarm occurs again, replace the YIF01 board. Save the
ER ERROR of YIF01 CMOS.BIN before replace the board to be safe. Replace the
2
board when the con- YIF01 board, and then load the CMOS.BIN saved before alarm oc-
trol power turned ON. curred.
- 243
Alarm list
No. Code
2 - 244
Alarm list
curred.
the Servo IF Initialize (2) If the alarm occurs again, replace the YIF01 board. Save the
error of YIF01 board CMOS.BIN before replace the board to be safe. Replace the
when the control pow- YIF01 board, and then load the CMOS.BIN saved before alarm oc-
er turned ON. curred.
curred.
No. Code
the IO IF Initialize error (2) If the alarm occurs again, replace the YIF01 board. Save the
of YIF01 board when CMOS.BIN before replace the board to be safe. Replace the
the control power YIF01 board, and then load the CMOS.BIN saved before alarm oc-
turned ON. curred.
curred.
5 Processing time error YIF01 board failure (1) Turn the power OFF then back ON.
of the IO processing (2) If the alarm occurs again, replace the YIF01 board. Save the
2
curred.
- 245
Alarm list
No. Code
2 - 246
Alarm list
curred.
6 Processing time error YIF01 board failure (1) Turn the power OFF then back ON.
of the SV communica- (2) If the alarm occurs again, replace the YIF01 board. Save the
tion, CMOS.BIN before replace the board to be safe. Replace the
curred.
curred.
No. Code
0991 SYSTEM ER- 1 An error was detected YCP02 board failure (1) Turn the power OFF then back ON.
ROR(YCP02#1) in the CPU of the op- (2) If the alarm occurs again, replace the following board. Save the
tional YCP02 #1. CMOS.BIN before replace the board to be safe.
?YCP02 board
curred.
·YCP02 board
2
- 247
Alarm list
No. Code
2 - 248
Alarm list
curred.
·YCP02 board
curred.
·YCP02 board
No. Code
curred.
·YCP02 board
curred.
2
- 249
Alarm list
No. Code
2 - 250
Alarm list
·YCP02 board
curred.
·YCP02 board
curred.
No. Code
?YCP02 board
curred.
0999 NMI ERROR Software operation er- If the alarm occurs again, save the CMOS.BIN in maintenance
ror occurred mode, and then contact your YASKAWA representative about oc-
1000 ROM ER- Software operation er- (1) Turn the power OFF then back ON.
ROR(YCP21) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1001 ROM ER- 11 A checksum error oc- EAXA21 board failure (1) Turn the power OFF then back ON.
ROR(EAXA21) curred in the board or (2) If the alarm occurs again, replace the EAXA21 board. Save the
the EEPROM.(*: axis CMOS.BIN before replace the board to be safe.
2
No.)
- 251
Alarm list
No. Code
2 - 252
Alarm list

12 A checksum error oc- EAXA21 board failure (1) Turn the power OFF then back ON.
curred in the board or (2) If the alarm occurs again, replace the EAXA21 board. Save the
No.)
No.)
No.)
No.)
No. Code
No.)
No.)
No.)
2
- 253
Alarm list
No. Code
2 - 254
20 The SRDY signal did EAXA21 board failure (1) Turn the power OFF then back ON.
Alarm list
not turn ON after the (2) If the alarm occurs again, replace the EAXA21 board. Save the
WRITE ENABLE com- CMOS.BIN before replace the board to be safe.
mand was written.
(EEPROM WRITE
ENABLE error)
WRITE PROTECT CMOS.BIN before replace the board to be safe.
command was written.
(EEPROM WRITE
PROTECT error)

ERASE command CMOS.BIN before replace the board to be safe.
was written. (EE-
PROM ERASE error)
No. Code
CLEAR command was CMOS.BIN before replace the board to be safe.
written. (EEPROM
CLEAR error)

not turn ON after data (2) If the alarm occurs again, replace the EAXA21 board. Save the
were written. (EE- CMOS.BIN before replace the board to be safe.
PROM writing error)

not turn ON after data (2) If the alarm occurs again, replace the EAXA21 board. Save the
were read. (EEPROM CMOS.BIN before replace the board to be safe.
reading error)
2
- 255
Alarm list
No. Code
2 - 256
26 The written data were EAXA21 board failure (1) Turn the power OFF then back ON.
Alarm list
rejected at verification. (2) If the alarm occurs again, replace the EAXA21 board. Save the
(EEPROM verify error) CMOS.BIN before replace the board to be safe.

1020 MotoPlus applica- 1 Num of the Application Setting error Delete unnecessary application files "*.out" by MotoPro menu in
tion load error files on the YCP21 CF the maintenance mode in order not to exceed the file number lim-
is over the limit. itation.
2 Insufficient memory Setting error Under current system configuration and option function combina-
space. tion, there is not enough memory to run MotoPro application. If the
At the loading time, re- alarm occurs again, save the CMOS.BIN in maintenance mode,
maining CPU memory and then contact your YASKAWA representative about occurrence
is less than 2Mbyte status (operating procedure).
(Stipulated memory It may be necessary to replace the YCP21 with the one with larger
size for MotoPro) . memory.
3 MotoPlus application Setting error (1) Turn the power OFF then back ON.
folder "/Applica- (2) If the alarm occurs again, replace the YCP21 board. Save the
tion"cannot be found. CMOS.BIN before replace the board to be safe. Replace the
No. Code
4 Memory size (Code Setting error (1) Check the static memory definition of the application program.
area + static variable (2) Redesign the application program in order not to exceed the
area) required by Mo- memory size limitation.
toPlus Application is
over the limit(2Mbyte).
5 Undefined symbols Setting error Check that the application program doesn't include any undefined
are included in the ap- symbols such as function and constant that are not provided by the
plication. The Symbols system.
are not included in the
MotoPlusAPI library or
standard function li-
brary.
6 Load failure (The ap- Setting error (1) Check if the static variables are correctly defined in the MotoP-
plication cannot be ro application.
loaded since the mem- (2) Review the MotoPro application program so that the memory
ory (program area + used for it doesn't exceed the specified value.
static variable area) (3) Check if the object files are correctly created by MotoProIDE.
that the MotoPlus ap-
plication requires ex-
ceeds the specified
value (2Mbyte) .)
2
- 257
Alarm list
No. Code
2 - 258
7 API library initialization Setting error Under current system configuration and the combination of option-
Alarm list
failure because of al functions, the YCP21 board (Main CPU board) doesn't have
Insufficient system enough memory to run MotoPro application. If the alarm occurs
memory to load Moto- again, save the CMOS.BIN in maintenance mode, and then con-
PlusAPI library tact your YASKAWA representative about occurrence status (op-
erating procedure). It may be necessary to change the YCP21
board to the one with a large-capacity memory.
8 User root task "mpUsr- Setting error Check if mpUsrRoot() is described in the application program.
Root()" not included in
the application
9 User root task genera- Setting error Under current system configuration and the combination of option-
tion failure al functions, the YCP21 board (Main CPU board) doesn't have
enough memory to run MotoPro application. If the alarm occurs
again, save the CMOS.BIN in maintenance mode, and then con-
tact your YASKAWA representative about occurrence status (op-
10 RAM-Disk generation Setting error Under current system configuration and the combination of option-
failure al functions, the YCP21 board (Main CPU board) doesn't have
enough memory to run MotoPro application. If the alarm occurs
again, save the CMOS.BIN in maintenance mode, and then con-
tact your YASKAWA representative about occurrence status (op-
1030 MEMORY ER- 0 RCD, RCxG parame- Data error (1) Turn the power OFF then back ON.
ROR(PARAMETER ter error (2) If the alarm occurs again, initialize the appropriate parameter
FILE) file in maintenance mode, and then load the parameter file saved
in the external memory device.
No. Code
1 ROxG parameter error Data error (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, initialize the appropriate parameter
file in maintenance mode, and then load the parameter file saved
2 SVD, SVxG parameter Data error (1) Turn the power OFF then back ON.
error (2) If the alarm occurs again, initialize the appropriate parameter
2
- 259
Alarm list
No. Code
2 - 260
3 SVMxG parameter er- Data error (1) Turn the power OFF then back ON.
Alarm list
ror (2) If the alarm occurs again, initialize the appropriate parameter
4 S1CxG, S2C, S3C, Data error (1) Turn the power OFF then back ON.
S4C parameter error (2) If the alarm occurs again, initialize the appropriate parameter
5 S1D, S2D, S3D, S4D Data error (1) Turn the power OFF then back ON.
parameter error (2) If the alarm occurs again, initialize the appropriate parameter
No. Code
6 CIO parameter error Data error (1) Turn the power OFF then back ON.
7 FD parameter error Data error (1) Turn the power OFF then back ON.
2
- 261
Alarm list
No. Code
2 - 262
8 A1P, A2P, …, A8P pa- Data error (1) Turn the power OFF then back ON.
Alarm list
rameter error (2) If the alarm occurs again, initialize the appropriate parameter
9 RS parameter error Data error (1) Turn the power OFF then back ON.
10 S1E, S2E, …, S8E pa- Data error (1) Turn the power OFF then back ON.
rameter error (2) If the alarm occurs again, initialize the appropriate parameter
No. Code
11 SVCxB parameter er- Data error (1) Turn the power OFF then back ON.
12 AMCxG parameter er- Data error (1) Turn the power OFF then back ON.
2
- 263
Alarm list
No. Code
2 - 264
13 SVPxG parameter er- Data error (1) Turn the power OFF then back ON.
Alarm list
14 MFxG parameter error Data error (1) Turn the power OFF then back ON.
15 SVSxB parameter er- Data error (1) Turn the power OFF then back ON.
No. Code
16 RExG parameter error Data error (1) Turn the power OFF then back ON.
1031 MEMORY ER- 0 "GET FILE" instruc- Data error (1) Turn the power OFF then back ON.
ROR(MOTION1) tion, "SET FILE" in- (2) If the alarm occurs again, initialize the appropriate data in main-
struction execution tenance mode, and then load the data saved in the external mem-
target file ory device.
1 Home position calibra- Data error (1) Turn the power OFF then back ON.
tion file (2) If the alarm occurs again, initialize the appropriate data in main-
2
ory device.
- 265
Alarm list
No. Code
2 - 266
Alarm list

2 Tool file Data error (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
3 User coordinates file Data error (1) Turn the power OFF then back ON.
ory device.
4 Robot calibration file Data error (1) Turn the power OFF then back ON.
ory device.
5 Tool calibration file Data error (1) Turn the power OFF then back ON.
ory device.
No. Code
6 Weaving amplitude Data error (1) Turn the power OFF then back ON.
condition file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
7 Home position correc- Data error (1) Turn the power OFF then back ON.
tion data file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
8 Conveyor calibration Data error (1) Turn the power OFF then back ON.
file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
9 Arm and tool interfer- Data error (1) Turn the power OFF then back ON.
ence prevention file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
2
- 267
Alarm list
No. Code
2 - 268
20 Weaving file Data error (1) Turn the power OFF then back ON.
Alarm list
ory device.

21 Power Source condi- Data error (1) Turn the power OFF then back ON.
tion data file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
22 Welding condition Data error (1) Turn the power OFF then back ON.
auxiliary file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
No. Code
23 Arc start condition file Data error (1) Turn the power OFF then back ON.
ory device.
24 Arc end condition file Data error (1) Turn the power OFF then back ON.
ory device.
25 COMARC condition Data error (1) Turn the power OFF then back ON.
ory device.
26 COMARC data file Data error (1) Turn the power OFF then back ON.
ory device.
27 Path correction condi- Data error (1) Turn the power OFF then back ON.
2
ory device.
- 269
Alarm list
No. Code
2 - 270
Alarm list

28 Painting characteris- Data error (1) Turn the power OFF then back ON.
tics file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
29 Painting condition file Data error (1) Turn the power OFF then back ON.
ory device.
30 Multi-layer index file Data error (1) Turn the power OFF then back ON.
ory device.
31 Multi-layer condition Data error (1) Turn the power OFF then back ON.
ory device.
No. Code
32 Sensor monitoring Data error (1) Turn the power OFF then back ON.
ory device.
34 Conveyor condition Data error (1) Turn the power OFF then back ON.
ory device.
35 Press characteristics Data error (1) Turn the power OFF then back ON.
ory device.
36 Servo float condition Data error (1) Turn the power OFF then back ON.
ory device.
2
- 271
Alarm list
No. Code
2 - 272
37 Spot welding Power Data error (1) Turn the power OFF then back ON.
Alarm list
Source condition data (2) If the alarm occurs again, initialize the appropriate data in main-
file tenance mode, and then load the data saved in the external mem-
ory device.
38 Air-gun condition file Data error (1) Turn the power OFF then back ON.
ory device.
39 Motor-gun condition Data error (1) Turn the power OFF then back ON.
ory device.
40 Gun pressure file Data error (1) Turn the power OFF then back ON.
ory device.
41 Gun pressure file Data error (1) Turn the power OFF then back ON.
ory device.
No. Code
42 Anticipation OT# out- Data error (1) Turn the power OFF then back ON.
put file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
43 Anticipation OG# out- Data error (1) Turn the power OFF then back ON.
put file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
44 Handling condition file Data error (1) Turn the power OFF then back ON.
ory device.
45 Form cut file Data error (1) Turn the power OFF then back ON.
ory device.
2
- 273
Alarm list
No. Code
2 - 274
46 Spot (user) I/O alloca- Data error (1) Turn the power OFF then back ON.
Alarm list
ory device.
47 Linear servo float con- Data error (1) Turn the power OFF then back ON.
dition file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
48 Macro definition file Data error (1) Turn the power OFF then back ON.
ory device.
49 Seal amount correc- Data error (1) Turn the power OFF then back ON.
tion condition file (2) If the alarm occurs again, initialize the appropriate data in main-
(spray) tenance mode, and then load the data saved in the external mem-
ory device.
50 Seal amount correc- Data error (1) Turn the power OFF then back ON.
tion condition file (un- (2) If the alarm occurs again, initialize the appropriate data in main-
dercoat) tenance mode, and then load the data saved in the external mem-
ory device.
No. Code
51 Arc monitor file Data error (1) Turn the power OFF then back ON.
ory device.
53 Job registration table Data error (1) Turn the power OFF then back ON.
ory device.
54 Painting device condi- Data error (1) Turn the power OFF then back ON.
ory device.
55 Painting system file Data error (1) Turn the power OFF then back ON.
ory device.
2
- 275
Alarm list
No. Code
2 - 276
56 Painting condition file Data error (1) Turn the power OFF then back ON.
Alarm list
ory device.
57 Paint characteristics Data error (1) Turn the power OFF then back ON.
ory device.
58 EVB gun file Data error (1) Turn the power OFF then back ON.
ory device.
59 Paint filling file Data error (1) Turn the power OFF then back ON.
ory device.
60 Welding pulse condi- Data error (1) Turn the power OFF then back ON.
ory device.
No. Code
61 Clearance file Data error (1) Turn the power OFF then back ON.
ory device.
62 Linear scale condition Data error (1) Turn the power OFF then back ON.
ory device.
63 Gauging sensor condi- Data error (1) Turn the power OFF then back ON.
ory device.
64 Conveyor condition Data error (1) Turn the power OFF then back ON.
auxiliary file (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
2
- 277
Alarm list
No. Code
2 - 278
65 Laser welding start Data error (1) Turn the power OFF then back ON.
Alarm list
ory device.
66 Laser welding end Data error (1) Turn the power OFF then back ON.
ory device.
67 Palletizing condition Data error (1) Turn the power OFF then back ON.
ory device.
68 Air-gun pressure file Data error (1) Turn the power OFF then back ON.
ory device.
69 Mastering registration Data error (1) Turn the power OFF then back ON.
position (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
No. Code
1033 MEMORY ER- SUB;Model file num- Data error (1) Turn the power OFF then back ON.
ROR(MODEL DATA ber (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
1034 MEMORY ER- SUB;force condition Data error (1) Turn the power OFF then back ON.
ROR(F-CONDITION file number (2) If the alarm occurs again, initialize the appropriate data in main-
ory device.
1050 SET-UP PROCESS 1 Motion instruction set- YCP21 board failure (1) Turn the power OFF then back ON.
ERROR(SYSCON) up incomplete. (2) If the alarm occurs again, replace the YCP21 board. Save the
2 Online error YCP21 board failure (1) Turn the power OFF then back ON.
2
- 279
Alarm list
No. Code
2 - 280
3 SPOT management YCP21 board failure (1) Turn the power OFF then back ON.
Alarm list
file setup incomplete. (2) If the alarm occurs again, replace the YCP21 board. Save the
Welder I/F board fail- (1) Turn the power OFF then back ON.
ure (2) If the alarm occurs again, replace the Welder I/F board. Save
the CMOS.BIN before replace the board to be safe.
1051 SET-UP PROCESS 1 Unable to properly ac- EAXA21 board failure (1) Turn the power OFF then back ON.
ERROR(MOTION) tivate the servo control (2) If the alarm occurs again, replace the EAXA21 board. Save the
2 The position data of EAXA21 board failure (1) Turn the power OFF then back ON.
when the power sup- (2) If the alarm occurs again, replace the EAXA21 board. Save the
ply was turned OFF CMOS.BIN before replace the board to be safe.
cannot be transmitted
to the servo control
section
No. Code
3 The servo control sec- EAXA21 board failure (1) Turn the power OFF then back ON.
tion cannot receive the (2) If the alarm occurs again, replace the EAXA21 board. Save the
position data of when CMOS.BIN before replace the board to be safe.
the power supply was
turned OFF
5 Unable to send a re- EAXA21 board failure (1) Turn the power OFF then back ON.
quest to turn ON the (2) If the alarm occurs again, replace the EAXA21 board. Save the
PG power supply for CMOS.BIN before replace the board to be safe.
the mounted (PICK)
axis
6 Unable to turn ON the EAXA21 board failure (1) Turn the power OFF then back ON.
PG power supply for (2) If the alarm occurs again, replace the EAXA21 board. Save the
the mounted (PICK) CMOS.BIN before replace the board to be safe.
axis
7 Unable to send a re- EAXA21 board failure (1) Turn the power OFF then back ON.
quest to prepare a (2) If the alarm occurs again, replace the EAXA21 board. Save the
feedback pulse CMOS.BIN before replace the board to be safe.
2
- 281
Alarm list
No. Code
2 - 282
Alarm list
8 Unable to prepare a EAXA21 board failure (1) Turn the power OFF then back ON.
feedback pulse (2) If the alarm occurs again, replace the EAXA21 board. Save the
9 Unable to send a re- YCP21 board failure (1) Turn the power OFF then back ON.
quest to initialize the (2) If the alarm occurs again, replace the YCP21 board. Save the
arithmetic section CMOS.BIN before replace the board to be safe. Replace the
(ARITH) YCP21 board, and then remove the CF from the failure YCP21
10 Unable to initialize YCP21 board failure (1) Turn the power OFF then back ON.
ARITH (2) If the alarm occurs again, replace the YCP21 board. Save the
No. Code
11 Unable to send a re- YCP21 board failure (1) Turn the power OFF then back ON.
quest to prepare the (2) If the alarm occurs again, replace the YCP21 board. Save the
current position CMOS.BIN before replace the board to be safe. Replace the
12 Unable to prepare the YCP21 board failure (1) Turn the power OFF then back ON.
current position (2) If the alarm occurs again, replace the YCP21 board. Save the
1053 SYSTEM ER- SUB Code Software operation er- (1) Turn the power OFF then back ON.
ROR(EVENT) 1 to 8: Signifies the in- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ternal software error at mode, and then contact your YASKAWA representative about oc-
event process. currence status (operating procedure).
1100 SYSTEM ERROR SUB Code Software operation er- (1) Turn the power OFF then back ON.
C, B, F: SUB-Code of ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
unknown alarm mode, and then contact your YASKAWA representative about oc-
RAM software data er- (1) Turn the power OFF then back ON.
ror (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 283
Alarm list
No. Code
2 - 284
Alarm list
ROR(MAN-MA- 0 to 6: Internal control ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
CHINE MECHA) error in software mode, and then contact your YASKAWA representative about oc-
ROR(MAN-MA- 0 to 526: Internal con- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
CHINE APPLI) trol error in software mode, and then contact your YASKAWA representative about oc-
1103 SYSTEM ER- Software operation er- (1) Turn the power OFF then back ON.
ROR(EVENT) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1104 SYSTEM ER- SUB Code Connection failure (1) Turn the power OFF then back ON.
ROR(CIO) 1000_0000: I/O mod- (2) If the alarm occurs again, check the connection and inserting
ule setting error state of the following cables and connectors.
·CN304 power supply connector
·Cable of the YIO21 board and the expanded I/O board
Setting error (1) Turn the power OFF then back ON.
(2) If the error occurs again, set the I/O module again in mainte-
nance mode.
(3) If the error occurs again though the previous measures were
executed, save the CMOS.BIN in maintenance mode, and then
contact your YASKAWA representative about occurrence status
(operating procedure).
No. Code
1105 SYSTEM ER- 0 No processing corre- Software operation er- (1) Turn the power OFF then back ON.
ROR(SERVO) sponds to the com- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mand code sent from mode, and then contact your YASKAWA representative about oc-
MOTION section. currence status (operating procedure).
YIF01 board, and then load the CMOS.BIN.
15 An error occurred in Software operation er- (1) Turn the power OFF then back ON.
the encoder power ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
supply control pro- mode, and then contact your YASKAWA representative about oc-
cess. currence status (operating procedure).
21 A task request was Software operation er- (1) Turn the power OFF then back ON.
sent to an axis in the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
alarm status. mode, and then contact your YASKAWA representative about oc-
2
- 285
Alarm list
No. Code
2 - 286
Alarm list
23 A task request was Software operation er- (1) Turn the power OFF then back ON.
sent to the general ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
SERVOPACKs. mode, and then contact your YASKAWA representative about oc-
30 The linear servo float Software operation er- (1) Turn the power OFF then back ON.
function or gun arm ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
bend compensation mode, and then contact your YASKAWA representative about oc-
function does not sup- currence status (operating procedure).
port the manipulator
type.
31 The Motor gun press Software operation er- (1) Check the parameter setting value.
XYZ position monitor- ror occurred If S1CxG170 is set to the number other than 0 (gun axis), change
ing function cannot be the setting to 0.
applied for the manip-
ulator type specified in
the RC parameter.
No. Code
37 The manipulator (B- Setting error (1) Check the following settings.
axis) passed the sin- Correct the job so that the manipulator (B-axis) does not pass the
gular point while the singular point while the linear servo float or gun arm bend compen-
linear servo float or sation function is running.
gun arm bend com-
pensation function is
running.
38 The wrist axes correc- Setting error (1) Check the following settings.
tion angle surpassed Correct the teaching point where this alarm occurs.
its limit while the linear (2) If the alarm occurs again, save the CMOS.BIN in maintenance
servo float or gun arm mode, and then contact your YASKAWA representative about oc-
bend compensation currence status (operating procedure).
function is running.
47 The alarm number is Software operation er- (1) Turn the power OFF then back ON.
illegal. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
49 Parameter was Software operation er- (1) Turn the power OFF then back ON.
changed during exe- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cution of servo float mode, and then contact your YASKAWA representative about oc-
function. currence status (operating procedure).
52 An error occurred EAXA21 board failure (1) Turn the power OFF then back ON.
when gun control com- (2) If the alarm occurs again, replace the EAXA21 board. Save the
mand is executed. CMOS.BIN before replace the board to be safe.

2
- 287
Alarm list
No. Code
2 - 288
60 The axis endless func- Setting error (1) Check the following settings.
Alarm list
tion is set enabled for Disable the corresponding axis endless function.
motor guns.
70 The machine safety YSF21 board failure Replace the YSF21 board which supports for the external axis in-
unit(YSF21 board) dividual control by the secondary contactor.
doesn't support the ex-
ternal axis individual
control by the second-
ary contactor.
100 The sequence was un- Software operation er- (1) Turn the power OFF then back ON.
timely executed in the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
general-purpose 10ms mode, and then contact your YASKAWA representative about oc-
process although it currence status (operating procedure).
was not the execution
timing.
segment_G process mode, and then contact your YASKAWA representative about oc-
although it was not the currence status (operating procedure).
execution timing.
No. Code
general-purpose 2ms mode, and then contact your YASKAWA representative about oc-
timing.
dynamics calculation mode, and then contact your YASKAWA representative about oc-
timing.
dynamics compensa- mode, and then contact your YASKAWA representative about oc-
tion process although currence status (operating procedure).
it was not the execu-
tion timing.
2
- 289
Alarm list
No. Code
2 - 290
Alarm list
servo communications mode, and then contact your YASKAWA representative about oc-
CERF sending pro- currence status (operating procedure).
cess although it was
not the execution tim-
ing.
servo communications mode, and then contact your YASKAWA representative about oc-
CERF receiving pro- currence status (operating procedure).
cess although it was
ing.
segment_R process mode, and then contact your YASKAWA representative about oc-
although it was not the currence status (operating procedure).
execution timing.
No. Code
110 The universal three Software operation er- (1) Turn the power OFF then back ON.
clock process execut- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing sequence error mode, and then contact your YASKAWA representative about oc-
process was executed currence status (operating procedure).
according to unex-
pected timing.
segment_OPT1 pro- mode, and then contact your YASKAWA representative about oc-
cess although it was currence status (operating procedure).
ing.
segment_OPT2 pro- mode, and then contact your YASKAWA representative about oc-
cess although it was currence status (operating procedure).
ing.
2
- 291
Alarm list
No. Code
2 - 292
Alarm list
120 A general-purpose Software operation er- (1) Turn the power OFF then back ON.
10ms process did not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
complete within the mode, and then contact your YASKAWA representative about oc-
time set on the sched- currence status (operating procedure).
uling table.
121 The segment_G pro- Software operation er- (1) Turn the power OFF then back ON.
cess did not complete ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
within the time set on mode, and then contact your YASKAWA representative about oc-
the scheduling table. currence status (operating procedure).
123 The general-purpose Software operation er- (1) Turn the power OFF then back ON.
2ms process did not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
uling table.
No. Code
125 The dynamics calcula- Software operation er- (1) Turn the power OFF then back ON.
tion process did not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
uling table.
126 The dynamics com- Software operation er- (1) Turn the power OFF then back ON.
pensation process did ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
not complete within mode, and then contact your YASKAWA representative about oc-
the time set on the currence status (operating procedure).
scheduling table.
127 The CERF transmis- Software operation er- (1) Turn the power OFF then back ON.
sion process did not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
uling table.
128 The dynamics calcula- Software operation er- (1) Turn the power OFF then back ON.
tion process did not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
uling table.
- 293
Alarm list
No. Code
2 - 294
Alarm list
129 The CERF receiving Software operation er- (1) Turn the power OFF then back ON.
process did not com- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
plete within the time mode, and then contact your YASKAWA representative about oc-
set on the scheduling currence status (operating procedure).
table.
130 The segment_R pro- Software operation er- (1) Turn the power OFF then back ON.
131 The segment_E pro- Software operation er- (1) Turn the power OFF then back ON.
No. Code
132 The segment_OPT1 Software operation er- (1) Turn the power OFF then back ON.
table.
133 The segment_OPT3 Software operation er- (1) Turn the power OFF then back ON.
table.
151 The averaging time is Software operation er- (1) Turn the power OFF then back ON.
not an even number. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
(times) mode, and then contact your YASKAWA representative about oc-
200 The notch filter doesn't Software operation er- (1) Turn the power OFF then back ON.
become effective after ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
shifting to PLAY mode. mode, and then contact your YASKAWA representative about oc-
303 The difference be- Software operation er- (1) Turn the power OFF then back ON.
tween the base torque ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
and the target torque mode, and then contact your YASKAWA representative about oc-
exceeded the thresh- currence status (operating procedure).
old in the jig robot
2
bending correction.
- 295
Alarm list
No. Code
2 - 296
500 Inconsistency of FP EAXA21 board failure (1) Turn the power OFF then back ON.
Alarm list
register. (2) If the alarm occurs again, replace the EAXA21 board. Save the
700 Data inconsistent sta- Software operation er- (1) Turn the power OFF then back ON, and then try again.
tus occurred at the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
start of measurement mode, and then contact your YASKAWA representative about oc-
in the Pendant Oscillo- currence status (operating procedure).
scope Function.
701 Data inconsistent sta- Software operation er- (1) Turn the power OFF then back ON, and then try again.
tus occurred during ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the measurement in mode, and then contact your YASKAWA representative about oc-
the Pendant Oscillo- currence status (operating procedure).
scope Function.
1000 The check item num- Software operation er- (1) Turn the power OFF then back ON.
ber of SVD parameter ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
is unmatched. mode, and then contact your YASKAWA representative about oc-
ber of SV parameter is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
unmatched. mode, and then contact your YASKAWA representative about oc-
ber of SVM parameter ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
ber of SVP parameter ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ber of AMC parameter ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ber of MFG parameter ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ber of MFA parameter ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ber of SVC parameter ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2100 The motioning soft- Software operation er- (1) Turn the power OFF then back ON.
ware is not used with ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
circuit board as target. mode, and then contact your YASKAWA representative about oc-
2500 The JL077 in which Connection failure (1) Turn the power OFF then back ON.
the each fault signal is (2) If the alarm occurs again, check the connection and insertion
recognized but no no- of the following cables and connectors.
tification is sent from ·EAXA21-CN507,510
the converter. ·EAXB21-CN531,532,533
·Converter-CN551,553
·EX1SV(External axis servo pack)-CN591,592
2
(3) If the alarm repeatedly occurs, check if all the cables above are
correctly connected.
- 297
Alarm list
No. Code
2 - 298
Alarm list

3000 The parameter num- Software operation er- (1) Turn the power OFF then back ON.
ber of the universal ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
SERVOPACK is not mode, and then contact your YASKAWA representative about oc-
valid. currence status (operating procedure).
4001 Execution of motion Software operation er- (1) Turn the power OFF then back ON.
command did not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
complete within a cer- mode, and then contact your YASKAWA representative about oc-
tain time period. currence status (operating procedure).
No. Code
2
- 299
Alarm list
No. Code
2 - 300
Alarm list
No. Code
2
- 301
Alarm list
No. Code
2 - 302
Alarm list
No. Code
2
- 303
Alarm list
No. Code
2 - 304
Alarm list
No. Code
2
- 305
Alarm list
No. Code
2 - 306
Alarm list
No. Code
2
- 307
Alarm list
No. Code
2 - 308
Alarm list
No. Code
2
- 309
Alarm list
No. Code
2 - 310
Alarm list
No. Code
2
- 311
Alarm list
No. Code
2 - 312
Alarm list
No. Code
2
- 313
Alarm list
No. Code
2 - 314
Alarm list
No. Code
2
- 315
Alarm list
No. Code
2 - 316
Alarm list
No. Code
2
- 317
Alarm list
No. Code
2 - 318
Alarm list
6000 The value set for Setting error The value set for A1P36 exceeds the permissible value.
A1P36 exceeds the
permissible value.
7101 The override ratio is Software operation er- (1) Turn the power OFF then back ON.
invalid. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
7201 Interpolation cycle is Software operation er- (1) Turn the power OFF then back ON.
shorter than the set ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
value. mode, and then contact your YASKAWA representative about oc-
2
- 319
Alarm list
No. Code
2 - 320
Alarm list
7401 Buffer-related area for Software operation er- (1) Turn the power OFF then back ON.
category 1 has not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
completed initializa- mode, and then contact your YASKAWA representative about oc-
tion.?? currence status (operating procedure).
No. Code
7500 Direct-in number set- Setting error Three or more direct-in numbers are set for NSRCH instruction.
2
ting error (NSRCH) Check the direct-in number setting.
- 321
Alarm list
No. Code
2 - 322
Alarm list

7600 The setting value for Setting error The value set for Touch press (proportion to the 1st pressure) in
touch pressure is not the gun detail setting file is over 100%. Change the setting value
appropriate. to less than 100%.
1109 SYSTEM ER- Software operation er- (1) Turn the power OFF then back ON.
ROR(CONVEYOR) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1200 HIGH TEMPERA- The temperature rises If the LED (OHT) on the YPS21 unit lights up, wait until the inside
TURE(IN CNTL in the controller of the controller has got cool and then turn the power OFF then
BOX) back ON.
(2) If the alarm occurs again, check the connection of the following
cable.
·CN159 power supply cable of the cooling fan in the YPS21 unit
(2) If the alarm occurs again, replace the following unit.
·YPS21 unit
No. Code
1204 COMMUNICATION The communication Connection failure Check the insertion and connection of the followings.
ERROR(I/O MOD- error slot (Serial-bus- ?The M? communications cable which I/O module of the corre-
ULE) connected I/O module sponding SUB code
communication station ·(In case of M? communications last station) Terminator
No.) is displayed by ·24V power of the corresponding I/O module
the bit.
0: correct / 1: incorrect
IO module failure Replace the I/O module of the corresponding station number.
Power supply broken Replace the 24V power supply supplied to the I/O module of the
corresponding station number.
YIF01 board broken Save the CMOS.BIN file.
Replace the YIF01 board, and then load the saved CMOS.BIN file.
1220 LAN COMMUNICA- 1 Incorrect setting of the Setting error (1) Check the following settings.
TION PARAMETER IP address which is ·IP address setting of network in maintenance mode
ERROR used in the Ethernet
function.
2 Incorrect setting of the Setting error (1) Check the following settings.
SUBnet mask which is ·SUBnet mask of network in maintenance mode
used in the Ethernet
function.
2
- 323
Alarm list
No. Code
2 - 324
Alarm list
default gateway which ·Default gateway of network in maintenance mode

is used in the Ethernet
function.
host address which is ·Server (host) of network in maintenance mode
function.
parameter which is ·SNTP setting of network in maintenance mode
used for the SNTP of
the Ethernet function.
IP address of the ·SNTP setting of network in maintenance mode
SNTP server which is
function of the SNTP.
No. Code
IP address of the ·SNTP setting of network in maintenance mode
SNTP server which is
function of the SNTP.
DHCP parameter ·SNTP setting of network in maintenance mode
which is used in the
Ethernet function of
the SNTP.
host name which is ·Host name of network in maintenance mode
function.
IP address of the DNS ·DNS setting of network in maintenance mode
server which is used in
the Ethernet function
of the DNS.
2
- 325
Alarm list
No. Code
2 - 326
Alarm list
DHCP parameter ·DNS setting of network in maintenance mode

the DNS.
DHCP parameter ·DNS setting of network in maintenance mode
the DNS.
domain which is used ·Domain name of network in maintenance mode
in the Ethernet func-
tion.
1221 ETHERNET INITIAL 1 An error occurred in Software operation er- (1) Turn the power OFF then back ON.
PROCESS ERROR the device initialization ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
process of the Ether- mode, and then contact your YASKAWA representative about oc-
net function. currence status (operating procedure).
No. Code
2 An error occurred in Setting error (1) Check the following settings.
the IP address setting ·IP address setting of network in maintenance mode"
process of the Ether-
net function.
the SUBnet mask set- ·SUBnet mask of network in maintenance mode
ting process of the
Ethernet function.
the default gateway ·Default gateway of network in maintenance mode
setting process of the
Ehternet function.
2
- 327
Alarm list
No. Code
2 - 328
Alarm list
the host name setting ·Server (host) of network in maintenance mode
process of the Ehter-
net function.
the MAC address get- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ting process of the mode, and then contact your YASKAWA representative about oc-
Ethernet function. currence status (operating procedure).
No. Code
the Web server task ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
creating process of the mode, and then contact your YASKAWA representative about oc-
the FTP server task ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the FTP client task ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the semaphore gener- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ation process for ac- mode, and then contact your YASKAWA representative about oc-
cess exclusion of the currence status (operating procedure).
2
Ethernet function.
- 329
Alarm list
No. Code
2 - 330
Alarm list
management ID get- mode, and then contact your YASKAWA representative about oc-
ting process of the currence status (operating procedure).
Ethernet function.
management ID get- mode, and then contact your YASKAWA representative about oc-
ting process of the currence status (operating procedure).
Ethernet function.
the DHCP acquisition ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
item setting process of mode, and then contact your YASKAWA representative about oc-
the Ethernet function. currence status (operating procedure).
No. Code
the DHCP initialization ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
process of the Ether- mode, and then contact your YASKAWA representative about oc-
net function. currence status (operating procedure).
the DHCP interface of ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the Ethernet function. mode, and then contact your YASKAWA representative about oc-
62 The data acquisition Setting error (1) Check the following settings.
process from the serv- ·The DHCP server operation
er did not complete ·The network status
within regulated time.
2
- 331
Alarm list
No. Code
2 - 332
Alarm list

63 The data acquired Setting error (1) Check the following settings.
from the server were ·The DHCP server operation
found illegal in the ·The network status
DHCP of the Ethernet
function.
the SUBnet mask ac- ·The DHCP server operation
quisition process in ·The network status
the DHCP of the
Ethernet function.
No. Code
the DNS server ad- ·The DHCP server operation
dress acquisition pro- ·The network status
cess in the DHCP of
the Ethernet function ·The DHCP server operation
DNS domain getting ·The network status
process in the DHCP
of the Ethernet func-
tion.
the SNTP server ad- ·The DHCP server operation
dress acquisition pro- ·The network status
cess in the DHCP of
2
- 333
Alarm list
No. Code
2 - 334
Alarm list
the IP address acqui- ·The DHCP server operation
sition process in the ·The network status
DHCP of the Ethernet
function.
the DHCP interface ·The DHCP server operation
structure object map- ·The network status
ping process of the
Ethernet function.
No. Code
the DNS resolver ini- ·The domain name
tialization process of ·The DNS related settings
the Ethernet function. ·The DHCP server operation
·The network status
the DNS resolver set- ·The domain name
ting of the Ethernet ·The DNS related settings
function. ·The DHCP server operation
2
- 335
Alarm list
No. Code
2 - 336
72 The parameter setting Setting error (1) Check the following settings.
Alarm list
error occurred in the ·The domain name

DNS resolver setting ·The DNS related settings
of the Ethernet func- ·The DHCP server operation
tion. ·The network status
73 The mode error oc- Setting error (1) Check the following settings.
curred in the DNS re- ·The domain name
solver setting of the ·The DNS related settings
Ethernet function. ·The DHCP server operation
the basic library initial- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ization process of the mode, and then contact your YASKAWA representative about oc-
No. Code
the initialization pro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cess other than basic mode, and then contact your YASKAWA representative about oc-
library of the Ethernet currence status (operating procedure).
function.
the IP address acqui- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
sition process in the mode, and then contact your YASKAWA representative about oc-
DHCP of the Ethernet currence status (operating procedure).
function.
the start process of the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
Ethernet function Tel- mode, and then contact your YASKAWA representative about oc-
net (for onboard). currence status (operating procedure).
2
- 337
Alarm list
No. Code
2 - 338
Alarm list
the start process of the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
Ethernet function Tel- mode, and then contact your YASKAWA representative about oc-
net (for expand). currence status (operating procedure).
1222 IP ADDRESS SET IP address could not Setting error (1) Check the following settings.
FAIL(DHCP) be obtained at DHCP. ·The DHCP server operation
1300 SERVO CPU SYN- Connection failure (1) Turn the power OFF then back ON.
CHRONIZING ER- (2) If the alarm occurs again, check the connection and insertion
ROR of the following cables and connectors.
·EAXA21-CN515
·YIF01-CN113
No. Code

1301 COMMUNICATION 0 Communication status Connection failure (1) Turn the power OFF then back ON.
ERROR(SERVO) error (2) If the alarm occurs again, check the connection and insertion
·EAXA21-CN515
·YIF01-CN113
(2) If the alarm occurs again, check the LED of the YPS21 unit: If
any of the following red LED indications; +5V or +24V, FAN, OHT
has lighten up, replace the YPS21 unit.
2
- 339
Alarm list
No. Code
2 - 340
1 Watchdog timer error Connection failure (1) Turn the power OFF then back ON.
Alarm list
·EAXA21-CN515
·YIF01-CN113
2 JL0101 alarm Connection failure (1) Turn the power OFF then back ON.
·EAXA21-CN515
·YIF01-CN113
No. Code
3 Communication status Connection failure (1) Turn the power OFF then back ON.
error (2) If the alarm occurs again, check the connection and insertion
·EAXA21-CN515
·YIF01-CN113
2
- 341
Alarm list
No. Code
2 - 342
4 Data consistency error Connection failure (1) Turn the power OFF then back ON.
Alarm list
·EAXA21-CN515
·YIF01-CN113
No. Code
1303 ARITHMETIC ER- The data [X____] indi- Tool file setting error (1) Check the following settings.
ROR(SERVO) cates the generation Reexamine the tool file setting.
process. (Check the units of mass and center of gravity, positive/negative
10000: Observer con- signs.)
trol
20000: High-precision
path control
30000: Dynamics
40000: Disturbance
observer control
The data [_YYY_] indi-
cates the alarm con-
tents.
The data [____Z] indi-
cates the physical axis
number.
Motor load error (1) Check the followings.
Overload is applied to the manipulator. Correct the tools, the work
pieces, and the drive condition.
1304 EX-AXIS BOARD Setting error (1) Check the following settings.
NOT INSTALLED Check the parameter setting of external axis selection.
·EAXA21-CNAX-EAXB21
EAXB board failure (1) Turn the power OFF then back ON.
2
- 343
Alarm list
No. Code
2 - 344
Alarm list

1306 AMPLIFIER TYPE SUB Code: Signifies Setting error (1) Check the following settings.
MISMATCH the axis in which the ·Check the current capacity of the amplifier before/after replace-
alarm occurred ment by the model described in board.
·When the external axis is mounted, check if there is no difference
between the amplifier selected at configuration and the amplifier
that is actually mounted.
Reference parameter: after SVPxG232
·EAXA21-CN501to 506
·EAXB21-CN531,532,533
·Amplifier-CN581
·EX1SV(Extrnal axis servo pack)-CN591,595
·SGDM(Large Capacity)-CN1
Module failure (ampli- (1) Turn the power OFF then back ON.
fier) (2) If the alarm occurs again, replace the amplifier.

No. Code
1307 ENCODER TYPE SUB Code: Signifies Setting error (1) Check the following settings.
MISMATCH the axis in which the ·Check the motor type before and after the replacement.
alarm occurred ·When the external axis is mounted, check if there is no difference
between the motor selected at configuration and the motor that is
actually mounted.
·EAXA21-CN508
·EAXB21-CN534,535,536
Module failure (encod- (1) Turn the power OFF then back ON.
er) (2) If the alarm occurs again, replace the encoder.
1308 CONVERTER TYPE SUB Code: Signifies Setting error (1) Check the following settings.
MISMATCH the converter in which ·Check the current capacity of the amplifier before/after replace-
the alarm occurred ment by the model described in board.
·When the external axis is mounted, check if there is no difference
between the converter selected at configuration and the converter
that is actually mounted.
Reference parameter: after SVCxB040
2
- 345
Alarm list
No. Code
2 - 346
Alarm list
·EAXA21-CN507,510
·EAXB21-CN531,532,533
Module failure (con- (1) Turn the power OFF then back ON.
verter) (2) If the alarm occurs again, replace the converter.
1309 HARDWARE ER- Module failure (con- (1) Turn the power OFF then back ON.
ROR(CONVERTER) verter) (2) If the alarm occurs again, replace the converter.
1310 CHARGE ER- Module failure (con- (1) Turn the power OFF then back ON.
ROR(CONVERTER) verter) (2) If the alarm occurs again, replace the converter.
Primary power failure Check if the primary power supply voltage does not drop with a
tester, etc..
1311 A/D DETECTION Module failure (con- (1) Turn the power OFF then back ON.
ERROR(CONVERT- verter) (2) If the alarm occurs again, replace the converter.
ER)
No. Code
1312 ID ERROR(CON- SUB Code: Signifies Module failure (con- (1) Turn the power OFF then back ON.
VERTER) the converter in which verter) (2) If the alarm occurs again, replace the converter.
the alarm occurred
1313 COMMAND ER- Software operation er- (1) Turn the power OFF then back ON.
ROR(SERVO) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1314 VERIFY ER- Software operation er- (1) Turn the power OFF then back ON.
ROR(PARAME- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
TER)(SERVO) mode, and then contact your YASKAWA representative about oc-
1316 COMMUNICATION Connection failure (1) Turn the power OFF then back ON.
WDT ERROR(SER- (2) If the alarm occurs again, check the connection and insertion
VO) of the following cables and connectors.
·EAXA21-CN515
·YIF01-CN113
2
- 347
Alarm list
No. Code
2 - 348
Alarm list

1317 COMMAND TIME- SUB Code: Signifies Software operation er- (1) Turn the power OFF then back ON.
OUT(SERVO) the axis in which the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
alarm occurred mode, and then contact your YASKAWA representative about oc-
1318 CANNOT EXE- SUB Code: Signifies Software operation er- (1) Turn the power OFF then back ON.
CUTE COM- the axis in which the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
MAND(SERVO) alarm occurred mode, and then contact your YASKAWA representative about oc-
1319 SERIAL ENCODER Module failure (encod- (1) Turn the power OFF then back ON.
MODULE ERROR er) (2) If the alarm occurs again, replace the encoder.
1320 SERIAL ENCODER Module failure (encod- (1) Turn the power OFF then back ON.
SENSOR ERROR er) (2) If the alarm occurs again, replace the encoder.
1321 BRAKE BOARD ER- Connection failure (1) Turn the power OFF then back ON.
ROR (2) If the alarm occurs again, check the connection and insertion
·YFC22-CN219(AXDIN, AXIN)
·YSF22-CN219
(3) Check the connection of wiring around the brake circuit board.

No. Code
1325 COMMUNICATION SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
ERROR(ENCODER) the axis in which the (2) If the alarm occurs again, check the connection and insertion
alarm occurred of the following cables and connectors.
[Robot axis]
·Cable between encoders
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536

1326 DEFECTIVE EN- SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
CODER ABSO- the axis in which the (2) If the alarm occurs again, check the connection and insertion
LUTE DATA alarm occurred of the following cables and connectors.
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
2
- 349
Alarm list
No. Code
2 - 350
Alarm list
(2) If the alarm occurs again, replace the EAXA21 board and the
EAXB board. Save the CMOS.BIN before replace the board to be
safe.

1327 ENCODER OVER SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
SPEED the axis in which the (2) Before turning the servo power OFF, change the manipulator
alarm occurred posture so that any axes won't drop when the servo power is
turned ON.
(3) If the alarm occurs again in combination with encoder backup
error, replace the battery of the appropriate axis.
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
Encoder failure Replace the defective motor (encoder).
YBK21 board failure (1) Check the following settings.
Check whether to find error in the brake slip and the brake control
relay.
No. Code
CODER the axis in which the (2) If the alarm occurs again, check the connection and insertion
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536

1329 DEFECTIVE SERI- SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
AL ENCODER COM- the axis in which the (2) If the alarm occurs again, check the connection and insertion
MAND alarm occurred of the following cables and connectors.
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
2
- 351
Alarm list
No. Code
2 - 352
Alarm list

1330 MICRO PROGRAM SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
TRANSMIT ERROR the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the
alarm occurred CMOS.BIN before replace the board to be safe.

1331 CONVERTER Connection failure (1) Turn the power OFF then back ON.
CHARGE (2) If the alarm occurs again, check the connection and insertion
ERR(CONVERTER) of the following cables and connectors.
·EAXA21-CN507,510
·EAXB21-CN531,532,533
·Converter CN551,553
Primary power failure Check if the primary power supply voltage does not drop.
1332 POSITION ERROR EAXA21 board failure (1) Turn the power OFF then back ON.
·Check the position after the alarm.
No. Code
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
Noise interference Check the following settings.
·Check the grounding condition of Manipulator.
·Install a ferrite core to the motor power line.
1333 POSITION ER- EAXA21 board failure (1) Turn the power OFF then back ON.
ROR(SERIAL EN- (2) If the alarm occurs again, replace the EAXA21 board. Save the
CODER) CMOS.BIN before replace the board to be safe.
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
Noise interference Check the following settings.
·Check the grounding condition of Manipulator.
·Install a ferrite core to the motor power line.
2
- 353
Alarm list
No. Code
2 - 354
Alarm list

1335 ENCODER NOT RE- SUB Code: Signifies Battery failure Replace the battery.
SET the axis in which the
alarm occurred

1339 OVER SPEED LIMIT Setting error Check the JOB.
1341 SERVO OVERRUN Motion range error Check if the overrun limit switch is activated by the manipulator.
ERROR
Connection failure Check the overrun line.
No. Code
ERROR(CONVERT- error (The first digit (2) If the alarm occurs again, check the connection and insertion
ER) shows the converter of the following cables and connectors.
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

102 Command timeout Connection failure (1) Turn the power OFF then back ON.
(The first digit shows (2) If the alarm occurs again, check the connection and insertion
the converter No.) of the following cables and connectors.
·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 355
Alarm list
No. Code
2 - 356
103 Transmission buffer Connection failure (1) Turn the power OFF then back ON.
Alarm list
FULL (The first digit (2) If the alarm occurs again, check the connection and insertion
shows the converter of the following cables and connectors.
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

104 CRC-16 failure (The Connection failure (1) Turn the power OFF then back ON.
first digit shows the (2) If the alarm occurs again, check the connection and insertion
converter No.) of the following cables and connectors.
·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
105 Error code received Connection failure (1) Turn the power OFF then back ON.
·EAXA21-CN507,510
·EAXB21-CN531,532,533

106 Receive command er- Connection failure (1) Turn the power OFF then back ON.
ror (The first digit (2) If the alarm occurs again, check the connection and insertion
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 357
Alarm list
No. Code
2 - 358
Alarm list
error (The first digit (2) If the alarm occurs again, check the connection and insertion
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 359
Alarm list
No. Code
2 - 360
Alarm list
·EAXA21-CN507,510
·EAXB21-CN531,532,533

No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 361
Alarm list
No. Code
2 - 362
Alarm list
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
·EAXA21-CN507,510
·EAXB21-CN531,532,533

No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 363
Alarm list
No. Code
2 - 364
Alarm list
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 365
Alarm list
No. Code
2 - 366
Alarm list
·EAXA21-CN507,510
·EAXB21-CN531,532,533

No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 367
Alarm list
No. Code
2 - 368
Alarm list
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
·EAXA21-CN507,510
·EAXB21-CN531,532,533

No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 369
Alarm list
No. Code
2 - 370
Alarm list
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 371
Alarm list
No. Code
2 - 372
Alarm list
·EAXA21-CN507,510
·EAXB21-CN531,532,533

No.) ·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
1345 SAFE CIRCUIT SIG- SUB Code: XYY (Sig- Connection failure Check if the unmatched two double-checked signals are in agree-
NAL NOT SAME(SV) nifies the power-ON ment.
unit No. and un-
matched signal No.)
X: Power-ON unit
0: Power-ON unit1
(TU#1)
1: Power-ON unit2
(TU#2)
2: Power-ON unit3
(TU#3)
3: Power-ON unit4
(TU#4)
4: Power-ON unit5
(TU#5)
5: Power-ON unit6
(TU#6)
YY: Unmatched signal
01: KMMA signal un-
matched error
02: SVMAIN signal un-
matched error
03: SVMAIN1/2 signal
unmatched error
04: IORDY signal un-
matched error
05: ONEN signal un-
matched error
06: FUCUT signal un-
matched error
07: SHOCK1 signal
unmatched error
08: EXOT signal un-
2
matched error
09: OT signal un-
- 373
Alarm list
matched error
10: TUSONER signal
unmatched error
11: SVCMPER signal
unmatched error
No. Code
2 - 374
1345 SAFE CIRCUIT SIG- 12: TCER signal un- Connection failure Check if the unmatched two double-checked signals are in agree-
Alarm list
NAL NOT SAME(SV) matched error ment.

13: SON_OUT signal
unmatched error
14: BRRVER signal
unmatched error
60: Error due to un-
matched output signal
for servo board failure
matched signal for the
main contactor state
(closed contact)
matched signal for the
main contactor state
(open contact)
matched input signal
for the main contractor
control relay
for the OT recovery
for the external WDT
matched 1FB input
signal: the brake re-
lease control signal
E.g.)
SUB Code: 208
EXOT signal of the
Power-ON unit2
(TU#2) is unmatched.
No. Code
1349 POWER LOST DE- Instant power failure Check if the primary power supply voltage is dropping.
TECTION(EAXA21/
02)
1352 SERIAL ENCODER SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
CORRECTION ER- the axis in which the (2) If the alarm occurs again, check the connection and insertion
ROR alarm occurred of the following cables and connectors.
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
2
- 375
Alarm list
No. Code
2 - 376
Alarm list

1355 SERIAL ENC MUL- SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
TITURN LIMIT ERR the axis in which the (2) If the alarm occurs again, check the connection and insertion
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536

1356 SPECIFIED AXIS Setting error Check the job setting.
ERROR
1357 PRESS ERROR Setting error Check the job setting.
1360 PA NOT INSTALLED Connection failure Check the inserting and connection of pre-aligner.
No. Code
1400 ENCODER ER- 1 Conveyor encoder 1 is Connection failure, Replace the cable of the conveyor encoder 1 or encoder.
ROR(CONVEYOR) abnormal. Module failure (encod-
er)
2 Conveyor encoder 2 is Connection failure, Replace the cable of the conveyor encoder 2 or encoder.
abnormal. Module failure (encod-
er)
3 Conveyor encoder 3 is Connection failure, Replace the cable of the conveyor encoder 3 or encoder.
abnormal. Module failure (encod-
er)
1401 CANNOT CHANGE Input error Do not switch "Encoder / Virtual encoder" with the general signal
CONVEYOR MODE while performing the conveyor synchronized function.
1402 WORK IN/NOT Work status error Check the work in/not shift data and actual the work status within
DATA CNT. LMT. the shift area.
OVER
2
- 377
Alarm list
No. Code
2 - 378
Alarm list

1403 WORK IN/NOT Work status error Check the work in/not shift data and actual the work status within
SHIFT DATA POS the shift area.
LMT.
1404 WORK ID. DATA Work status error Check the work in/not shift data and actual the work status within
CNT. LMT. OVER the shift area.
1405 WORK ID. SHIFT Work status error Check the work in/not shift data and actual the work status within
DATA POS LMT. the shift area.
1406 START SHIFT DATA Work status error Check the start shift data and actual the work status within the shift
CNT. LMT. OVER area.
1407 START SHIFT DATA Work status error Check the start shift data and actual the work status within the shift
POS LMT. area.
No. Code
1420 SYSTEM ER- SUB Code: 1-221 Software operation er- (1) Turn the power OFF then back ON.
ROR(BENDING) It is the kind of sensor ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
process error of Bend- mode, and then contact your YASKAWA representative about oc-
ing function. currence status (operating procedure).
1421 ENCODER ER- SUB code: Linear Linear scale or the (1) Check the linear scale value and the connection.
ROR(LNR SCALE) scale port number connection failure
1422 CANNOT CHANGE Software operation er- (1) Turn the power OFF then back ON.
ENCODER INPUT ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1437 PORT OPEN ER- Software operation er- (1) Turn the power OFF then back ON.
ROR ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1500 SAFETY CIRCUIT Circuit board failure (1) Turn the power OFF then back ON.
FAULT(SERVO I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
1501 SVMX RELAY Circuit board failure (1) Turn the power OFF then back ON.
STICKING(SERVO I/ (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
O) CMOS.BIN before replace the board to be safe.
1502 CONTACTOR Circuit board failure (1) Turn the power OFF then back ON.
2
- 379
Alarm list
No. Code
2 - 380
Alarm list

IN FAULT(SV I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
1504 TUSON RELAY Circuit board failure (1) Turn the power OFF then back ON.
1506 BROKEN CONTAC- Circuit board failure (1) Turn the power OFF then back ON.
TOR FUSE(SERVO (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
I/O) CMOS.BIN before replace the board to be safe.
1507 BROKEN S_ON Circuit board failure (1) Turn the power OFF then back ON.
FUSE(SERVO I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
WDT ERROR(SV I/ (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
No. Code
1509 EXTERNAL WDT Circuit board failure (1) Turn the power OFF then back ON.
OVER(SERVO I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
1510 EXTERNAL WDT Circuit board failure (1) Turn the power OFF then back ON.
BROKEN(SERVO I/ (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
1511 COMMUNICATION Circuit board failure (1) Turn the power OFF then back ON.
ERR(PLDs)(SERVO (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
I/O) CMOS.BIN before replace the board to be safe.
1512 POWER SUPPLY Connection failure Check the power supply cable of the cooling fan in the CPS power
FAN ERROR(SER- unit.
VO)
Circuit board failure Check the cooling fan in the CPS power unit is working.
(YPU unit) Replace the CPS power unit.
Install failure Check that the air inlet or outlet is not blocked.
2
- 381
Alarm list
No. Code
2 - 382
1513 POWER SUPPLY The temperature rises Turn the power OFF then back ON after cooling the controller.
Alarm list
OVERHEAT(SER- in the controller

VO)
Connection failure Check the power supply cable of the cooling fan in the CPS power
unit.
Circuit board failure Replace the CPS power unit.
(YPU unit)
1514 OVERHEAT(AMPLI- The temperature rises Turn the power OFF then back ON after cooling the amplifier.
FIER) in the amplifier
·EAXA21-CN507,510
·EAXB21-CN531,532,533

1515 SON_OUT RELAY Circuit board failure (1) Turn the power OFF then back ON.
No. Code
1516 BRRCER RELAY Circuit board failure (1) Turn the power OFF then back ON.
1547 CURRENT FEED- The data [XXX__] indi- Ground fault Check if a ground fault has not occurred in the U-, V-, and W-phase
BACK ERROR cates the alarm con- of motor power line, or short circuit has not occurred between
tents. these phases.
200:The motor current
value is abnormal.
The data [_______Y]

indicates the physical
axis number.
·EAXA21-CN501?506
·EAXB21-CN531,532,533
·Amplifier-CN581
Module failure (motor) (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the motor.
2
- 383
Alarm list
No. Code
2 - 384
Alarm list
(2) If the alarm occurs again, replace the EAXA21 board and
EAXB board. Save the CMOS.BIN before replace the board to be
safe.
1592 MONITOR PLD ER- Circuit board failure (1) Turn the power OFF then back ON.
ROR 1(SERVO I/O) (YPU unit) (2) If the alarm occurs again, replace the YPU unit. Save the
1610 SAFETY UNIT CPU Connection failure (1) Turn the power OFF then back ON.
SYNCHRO ERROR (2) If the alarm occurs again, check the connection and insertion
·EAXA21-CN515
·YIF01-CN113
·YSF25-CN02
No. Code
ERROR(SAFETY) error (2) If the alarm occurs again, check the connection and insertion
·EAXA21-CN515
·YIF01-CN113
·YSF25-CN02
curred.
1 Watchdog timer error Connection failure (1) Turn the power OFF then back ON.
·EAXA21-CN515
·YIF01-CN113
·YSF25-CN02
2
- 385
Alarm list
No. Code
2 - 386
Alarm list
curred.
2 JL0101 alarm Connection failure (1) Turn the power OFF then back ON.
·EAXA21-CN515
·YIF01-CN113
·YSF25-CN02
curred.
error (2) If the alarm occurs again, check the connection and insertion
·EAXA21-CN515
·YIF01-CN113
·YSF25-CN02
No. Code
curred.
4 Data consistency error Connection failure (1) Turn the power OFF then back ON.
·EAXA21-CN515
·YIF01-CN113
·YSF25-CN02
curred.
2
- 387
Alarm list
No. Code
2 - 388
5 CRC error Connection failure (1) Turn the power OFF then back ON.
Alarm list
·EAXA21-CN515
·YIF01-CN113
·YSF25-CN02
curred.
1613 ENCODER COMM. SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
ERR 1(SAFETY) the axis in which the (2) If the alarm occurs again, check the connection and insertion
[Robot axis]
·EAXA21-CN508
·YSF25-CN03A,03B
[External axis]
·EAXB21-CN0534,535,536
·YSF25-CN04A,04B,05A,05B,06A,06B
No. Code
(2) If the alarm occurs again, replace the YSF25 board. Save the
1614 ENCODER COMM. SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
ERR 2(SAFETY) the axis in which the (2) If the alarm occurs again, check the connection and insertion
[Robot axis]
·EAXA21-CN508
·YSF25-CN03A,03B
[External axis]
·EAXB21-CN0534,535,536
·YSF25-CN04A,04B,05A,05B,06A,06B
1615 SYSTEM ER- YSF25 board failure (1) Turn the power OFF then back ON.
ROR(SAFETY) (2) If the alarm occurs again, replace the YSF25 board. Save the
2
- 389
Alarm list
No. Code
2 - 390
1616 SYSTEM ERROR YSF25 board failure (1) Turn the power OFF then back ON.
Alarm list
1(SAFETY) (2) If the alarm occurs again, replace the YSF25 board. Save the
1618 ARITHMETIC ER- SUB code? 0 to 7 YSF25 board failure (1) Turn the power OFF then back ON.
ROR(SAFETY) (2) If the alarm occurs again, replace the YSF25 board. Save the
1619 PARAMETER ER- 0 Motion range setting Setting error Check the motion range of the manipulator.
ROR(SAFETY) error
CODER(SAFETY) the axis in which the (2) If the alarm occurs again, check the connection and insertion
[Robot axis]
·EAXA21-CN508
·YSF25-CN03A,03B
[External axis]
·EAXB21-CN0534,535,536
·YSF25-CN04A,04B,05A,05B,06A,06B
No. Code
1623 ENCODER CORR. SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
NUM OVER(SAFE- the axis in which the (2) If the alarm occurs again, check the connection and insertion
TY) alarm occurred of the following cables and connectors.
[Robot axis]
·EAXA21-CN508
·YSF25-CN03A,03B
[External axis]
·EAXB21-CN0534,535,536
·YSF25-CN04A,04B,05A,05B,06A,06B
1625 OPERATION AREA Setting error (1) Select [ROBOT] to open [ROBOT RANGE] screen. Set the
MON. ERR(AXIS) item to "INVALID" and then cycle the power.
(2) Move the manipulator into the specified range.
(3) Select [ROBOT] to open [ROBOT RANGE] screen. Set the
item to "VALID" and then cycle the power.
2
- 391
Alarm list
No. Code
2 - 392
Alarm list

1626 F-SAFE BOARD Connection failure (1) Turn the power OFF then back ON.
NOT INSTALLED (2) If the alarm occurs again, check the connection and insertion
·EAXA21-YSF25
1627 F-SAFE BOARD Connection failure (1) Turn the power OFF then back ON.
COMM ER- (2) If the alarm occurs again, check the connection and insertion
ROR(SERVO) of the following cables and connectors.
·EAXA21-YSF25
No. Code
1628 STOPPING POS. Connection failure (1) Confirm that CNGS1.0 is connected on the YSF25 board.
MON. ERR(SAFE- (2) Turn the power OFF then back ON.
TY) (3) If the alarm occurs again, replace the YSF25 board. Save the
1629 OPERATION AREA Setting error (1) Select [ROBOT] to open [ROBOT RANGE] screen. Set the
MON. ERR(ROBOT) item to "INVALID" and then cycle the power.
(3) Select [ROBOT] to open [ROBOT RANGE] screen. Set the
item to "VALID" and then cycle the power.
1630 MUTUAL DIAGNO- 1st bit: Regular pro- YSF25 board failure (1) Turn the power OFF then back ON.
SIS ERR(WDT) cessing execution in- (2) If the alarm occurs again, replace the YSF25 board. Save the
consistent CMOS.BIN before replace the board to be safe.
2nd bit: Check pro-
cessing execution in-
consistent
1631 MUTUAL DIAGNO- Setting error ·Confirm that the rotary switch on the YSF25 board is set to [0].
SIS ERR(HW SET-
TING)
2
- 393
Alarm list
No. Code
2 - 394
Alarm list

1632 MUTUAL DIAGNO- YSF25 board failure (1) Turn the power OFF then back ON.
SIS ERR(MONITOR) (2) If the alarm occurs again, replace the YSF25 board. Save the
1635 LOW VOLT- 1 Low voltage 5V error Fuse failure (1) Turn the power OFF then back ON.
AGE(SAFETY) detected (2) If the alarm occurs again, replace the fuse of the YSF25 board
and then turn the power ON again.
2 Low voltage 3.3V error Fuse failure (1) Turn the power OFF then back ON.
detected (2) If the alarm occurs again, replace the fuse of the YSF25 board
detected (2) If the alarm occurs again, replace the fuse of the YSF25 board
No. Code
1636 OVER VOLT- 1 Over voltage 5V error Fuse failure (1) Turn the power OFF then back ON.
AGE(SAFETY) detected (2) If the alarm occurs again, replace the fuse of the YSF25 board
2 Over voltage 3.3V er- Fuse failure (1) Turn the power OFF then back ON.
ror detected (2) If the alarm occurs again, replace the fuse of the YSF25 board
3 Over voltage 1.5V er- Fuse failure (1) Turn the power OFF then back ON.
ror detected (2) If the alarm occurs again, replace the fuse of the YSF25 board
2
- 395
Alarm list
No. Code
2 - 396
Alarm list

1637 RAM DIAGNOSIS 1 RAM error detected YSF25 board failure (1) Turn the power OFF then back ON.
ERROR(SAFETY) (2) If the alarm occurs again, replace the YSF25 board. Save the
2 RAM error detected YSF25 board failure (1) Turn the power OFF then back ON.
1638 ROM DIAGNOSIS Not used YSF25 board failure (1) Turn the power OFF then back ON.
ERROR(SAFETY) (2) If the alarm occurs again, replace the YSF25 board. Save the
No. Code
1639 RAM AREA CON- 1 RAM error detected YSF25 board failure (1) Turn the power OFF then back ON.
VERSION (2) If the alarm occurs again, replace the YSF25 board. Save the
ERR(SAFETY) CMOS.BIN before replace the board to be safe.
2
- 397
Alarm list
No. Code
2 - 398
Alarm list

No. Code
2
- 399
Alarm list
No. Code
2 - 400
Alarm list

No. Code
1640 REAL TIME MONI- 1 Failed to initialize real- YSF25 board failure (1) Turn the power OFF then back ON.
TOR ERROR(SAFE- time monitor (2) If the alarm occurs again, replace the YSF25 board. Save the
TY) CMOS.BIN before replace the board to be safe.
2 Failed to initialize real- YSF25 board failure (1) Turn the power OFF then back ON.
time monitor (2) If the alarm occurs again, replace the YSF25 board. Save the
3 Failed to initialize real- YSF25 board failure (1) Turn the power OFF then back ON.
time monitor (2) If the alarm occurs again, replace the YSF25 board. Save the
5 Process in the real- YSF25 board failure (1) Turn the power OFF then back ON.
time monitor (RTP) er- (2) If the alarm occurs again, replace the YSF25 board. Save the
ror occurred CMOS.BIN before replace the board to be safe.
time monitor (NRTP) (2) If the alarm occurs again, replace the YSF25 board. Save the
error occurred CMOS.BIN before replace the board to be safe.
2
- 401
Alarm list
No. Code
2 - 402
Alarm list

time monitor (RTP) er- (2) If the alarm occurs again, replace the YSF25 board. Save the
time monitor (BGP) er- (2) If the alarm occurs again, replace the YSF25 board. Save the
13 Realtime monitor error YSF25 board failure (1) Turn the power OFF then back ON.
occurred (2) If the alarm occurs again, replace the YSF25 board. Save the
No. Code
1644 24V LOW VOLT- 1 Low voltage 5V error Fuse failure (1) Turn the power OFF then back ON.
AGE(SAFETY) detected (2) If the alarm occurs again, check the connection of the fuse and
then turn the power ON again.
detected (2) If the alarm occurs again, check the connection of the fuse and
detected (2) If the alarm occurs again, check the connection of the fuse and
2
- 403
Alarm list
No. Code
2 - 404
Alarm list

1645 CRC ERROR(SAFE- YSF25 board failure (1) Turn the power OFF then back ON.
(3) If the alarm occurs again, replace the YIF01board. Save the
1646 COMM.SETTING The switch number re- Setting error (1) Confirm that the rotary switch on the YSF25 is set to 0.
ERROR(SAFETY) corded in the YSF25 (2) If the alarm occurs again, save the CMOS.BIN in maintenance
board is shown. mode, and then contact your YASKAWA representative about oc-
1649 MODE SIGNAL ER- Detect mode signal er- Connection failure (1) Turn the power OFF then back ON.
ROR ror (2) If the alarm occurs again, check the connection and insertion
?Programming Pendant cable
?X81 cable (Cable in the robot controller)
Programming Pendant Replace the Programming Pendant.
failure
Fuse failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the fuse of the YSF22 board
(2) If the alarm occurs again, replace the YSF21 board.
Other If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
1650 FILE TRANSFER 1 An error occurred Software operation er- (1) Turn the power OFF then back ON.
DATA ERROR (SV) when the last data was ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
not received during mode, and then contact your YASKAWA representative about oc-
the first data commu- currence status (operating procedure).
nication at execution
of motion command.
(2) If the error occurs again, save the CMOS.BIN in maintenance
mode, replace the following board.
·EAXA21 board
If the error occurs again, save the CMOS.BIN in maintenance
mode, and then replace the YCP21 board. In this case, use the
original CF card of the YCP21 board.
(2) If the error occurs again, save the CMOS.BIN in maintenance
mode, replace the YIF01 board. and then load the CMOS.BIN pre-
viously saved in maintenance mode.
2 An error occurred EAXA21 board failure (1) Reset the alarm.(In case of major alarm, turn the power OFF
when the first data was then back ON.)
not received during on (2) If the alarm occurs again, replace the EAXA21 board. Save the
the way data commu- CMOS.BIN before replace the board to be safe.
nication at execution
of motion command.
2
- 405
Alarm list
No. Code
2 - 406
3 An error occurred EAXA21 board failure (1) Reset the alarm.(In case of major alarm, turn the power OFF
Alarm list
when the first data was then back ON.)

not received during (2) If the alarm occurs again, replace the EAXA21 board. Save the
the last data communi- CMOS.BIN before replace the board to be safe.
cation at execution of
motion command.
1651 FILE TRANSFER 1 The data size for the EAXA21 board failure (1) Turn the power OFF then back ON.
DATA SIZE ERR file transfer does not (2) If the alarm occurs again, replace the EAXA21 board. Save the
(SV) agree with the re- CMOS.BIN before replace the board to be safe.
ceived buffer size.
2 Buffer size over EAXA21 board failure (1) Turn the power OFF then back ON.

1652 DB ON ERROR SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
(SERVO) the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the
No. Code
1653 BASE BLOCK SIG- SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
NAL ERROR(SER- the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the
VO) alarm occurred CMOS.BIN before replace the board to be safe.
1654 PG POWER ON Setting error Check if the PICK instruction was executed again for the axis
MULTIPLE REQ where executed the PICK instruction in the gun change system.
(SV)
1655 CONVERTER COM- Module failure (con- (1) Turn the power OFF then back ON.
MAND ERROR (SV) verter) (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1656 AXIS ENDLESS Setting error Check the JOB.
INFO NOT GENER- (1) Turn the power OFF then back ON.
ATED(SV) (2) If the error occurs again, contact your YASKAWA representa-
tive.
2
- 407
Alarm list
No. Code
2 - 408
1657 AXIS ENDLESS 1 The home position de- Setting error Disable either the axis endless function or the home position de-
Alarm list
SPECIFIC. ERR(SV) tecting function was tection function of corresponding axis.

used for the axis for
which the axis endless
function was enabled.
The home position de-
tecting function cannot
be used for the axis
2 The servo float func- Setting error Disable either the axis endless function or the servo float function
tion was used for the of corresponding axis.
axis for which the axis
endless function was
enabled.
The servo float func-
tion cannot be used for
the axis which the axis
endless function was
enabled.
No. Code
3 The encoders manu- Setting error Disable the corresponding axis endless function.
factured by Tamagawa
Seiki Co., Ltd. cannot

4 The general servo Setting error Disable the corresponding axis endless function.
function was used for
the axis for which the
axis endless function
was enabled.
The general servo
function cannot be
used for the axis which
the axis endless func-
tion was enabled.
2
- 409
Alarm list
No. Code
2 - 410
1658 REDUCTION STOP 1 The servo float func- Setting error Check the JOB.
Alarm list
SPECIFIC. ERR(SV) tion was used for the

axis for which the de-
celeration stop func-
tion was enabled.
The servo float func-
tion cannot be used for
the axis which the de-
celeration stop func-
tion was enabled.
2 The specified axis Setting error Check the JOB.
speed control function
was executed for the
axis which the decel-
eration stop function
was enabled.
Specified axis speed
control function cannot
which the deceleration
stop function was en-
abled.
1659 MOTOR GUN Setting error Check if the PICK instruction was executed again for the axis
CHANGE PG PWR where executed the PICK instruction in the gun change system.
ON ERR(SV)
No. Code
1660 MOTOR GUN Setting error Check if the PICK instruction was executed again for the axis
CHANGE SV ON where executed the PICK instruction in the gun change system.
ERR(SV)
1661 MOTOR GUN File setting error Check the gun condition file.
COND. FILE NO.
ERR(SV)
1662 MOTOR GUN Setting error Check the JOB.
PRESS FILE NO.
ERR(SV)
1663 WRONG MOTOR File setting error Check the gun condition file.
GUN PRESS AXIS
(SV)
1664 MICRO PRG EXE- SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
CUTE TIME the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the
OVER(SV) alarm occurred CMOS.BIN before replace the board to be safe.
2
- 411
Alarm list
No. Code
2 - 412
Alarm list

1665 MICRO PROGRAM SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
SYNC. ERROR (SV) the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the

1666 FILE RECEIVE IN- SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
COMPLETE (SER- the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the
VO) alarm occurred CMOS.BIN before replace the board to be safe.

1667 RESOLUTION CON- EAXA21 board failure (1) Turn the power OFF then back ON.
VERSE CONST (2) If the alarm occurs again, replace the EAXA21 board. Save the
ERR(SV) CMOS.BIN before replace the board to be safe.

1668 CANNOT GENER- EAXA21 board failure (1) Turn the power OFF then back ON.
ATE GENERAL (2) If the alarm occurs again, replace the EAXA21 board. Save the
CMD (SV) CMOS.BIN before replace the board to be safe.

No. Code
1669 GENERAL SERVO EAXA21 board failure (1) Turn the power OFF then back ON.
CMD CODE ERR (2) If the alarm occurs again, replace the EAXA21 board. Save the
(SV) CMOS.BIN before replace the board to be safe.

1670 GENERAL SERVO EAXA21 board failure (1) Turn the power OFF then back ON.
SETTING ERROR (2) If the alarm occurs again, replace the EAXA21 board. Save the
(SV) CMOS.BIN before replace the board to be safe.

1671 GENERAL SV EAXA21 board failure (1) Turn the power OFF then back ON.
ALARM CODE ER- (2) If the alarm occurs again, replace the EAXA21 board. Save the
ROR (SV) CMOS.BIN before replace the board to be safe.

1672 GRP CHANGE PG SUB Code: Signifies Setting error Check the JOB.
POWER ON ERR the axis in which the
(SV) alarm occurred
1673 GRP CHANGE SER- SUB Code: Signifies Setting error Check the JOB.
VO ON ERROR (SV) the axis in which the
alarm occurred
2
- 413
Alarm list
No. Code
2 - 414
Alarm list

1674 CTRL LAW SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
SWITCHING OR- the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the
DER ERR (SV) alarm occurred CMOS.BIN before replace the board to be safe.

1675 BASE BLOCK READ SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
SIGNAL ERR (SV) the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the

1676 BASE BLOCK SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
WRITE SIGNAL the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the
ERR (SV) alarm occurred CMOS.BIN before replace the board to be safe.

1677 U.PROG. BB READ SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
SIG INCON- the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the
SIST(SV) alarm occurred CMOS.BIN before replace the board to be safe.

No. Code
1678 MOTOR CMD POSI- SUB Code: Signifies EAXA21 board failure (1) Turn the power OFF then back ON.
TION ERROR (SV) the axis in which the (2) If the alarm occurs again, replace the EAXA21 board. Save the

1679 EXTERNAL BRAKE Fuse failure Replace the YBK21 fuse.
FUSE BROWN(SV)
YBK21 board failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YBK21 board.
1680 GENERAL I/O FUSE EAXA21 board failure (1) Turn the power OFF then back ON.
BROWN(SV) (2) If the alarm occurs again, replace the EAXA21 board. Save the

1681 BRAKE POWER ER- Connection failure (1) Turn the power OFF then back ON.
ROR(SV) (2) If the alarm occurs again, check the connection and insertion
·YBK21-CN403
·YPS21-CN153(+24V3)
YBK board failure Check the power source of YBK21, and then if no fault is found,
replace the brake unit.
2
- 415
Alarm list
No. Code
2 - 416
1682 EXTERNAL BRAKE Connection failure (1) Turn the power OFF then back ON.
Alarm list
POWER ER- (2) If the alarm occurs again, check the connection and insertion
ROR(SV) of the following cables and connectors.
·YBK21-CN404
·The external axis brake power supply for brake unit
YBK board failure Check the external axis brake of YBK21 in the power source, and
then if no fault is found, replace the brake unit.
1683 DC 24V POWER Short circuit or ground (1) Turn the power OFF then back ON.
SUPPLY FAIL- fault (2) If the alarm occurs again, check the brake connection if there
URE(SV) is a ground fault or short circuit.
·YPS21 unit
1684 INSTANT POWER The instant power fail- Voltage failure Check if the primary power supply voltage is dropping.
FAILURE(TRQ)(SV) ure occurred and then
the torque was satu-
rated.
1685 INSTANT POWER The instant power fail- Voltage failure Check if the primary power supply voltage is dropping.
FAILURE(TIME)(SV) ure occurred for longer
than the certain time
period.
No. Code
1686 POS.DEVITATION Setting error Check the settings for manipulator motion condition (influence by
SATURATING external force, load condition).
ERR(SV)
Connection failure Check if a ground fault has not occurred in the U-, V-, and W-phase
of motor power line, or short circuit has not occurred between
these phases.
·EAXA21-CN501?506
·EAXB21-CN531,532,533
·Amplifier-CN581

1687 COORDINATED Setting error (1) Turn the power OFF then back ON.
STOP FUNC. DIS- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ABLE mode, and then contact your YASKAWA representative about oc-
2
- 417
Alarm list
No. Code
2 - 418
1688 MEMORY DATA 1 Storage file number is Software operation er- (1) Turn the power OFF then back ON.
Alarm list
FILE STORAGE ER- inconsistent ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ROR mode, and then contact your YASKAWA representative about oc-
2 Start index is inconsis- Software operation er- (1) Turn the power OFF then back ON.
tent ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1690 PCI BOARD NOT AD board failure (1) Turn the power OFF then back ON.
DETECTED (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1691 FORCE SENSOR Force sensor board (1) Turn the power OFF then back ON.
BOARD UNMOUNT- failure (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ED mode, and then contact your YASKAWA representative about oc-
1692 PG POWER FUSE Fuse failure Replace the EAXA21 board fuse(F1).
BLOWN(SV)
No. Code
1693 UNDEFINED MO- SUB Code: Signifies Setting error The spot high speed function is enabled despite the invalid status
TOR GUN ARM the control group in of GUN ARM CONTROL function.
CONTROL which the alarm oc- Please complete the setting of GUN ARM CONTROL as the fol-
curred lowing operations.
1. start the system in maintenance mode.
2. change the security to management mode.
3. select [SYSTEM] ->[SETUP] ->[OPTION FUNCTION] ->[GUN
ARM CONTROL].
4. change the mode to PLAYBACK, then push [EXECUTE].
5. set the [INERTIA] and [FREQ].
6. select [ENABLE], after the setting the [INERTIA] and [FREQ].

1694 GROUND SUB Code: Signifies Short circuit or ground (1) Turn the power OFF then back ON.
FAULT(BRAKE the axis in which the fault (2) If the alarm occurs again, check the brake connection if there
LINE) alarm occurred is a ground fault or short circuit.
1695 DC 24V POWER YPS21 unit failure (1) Turn the power OFF then back ON.
SUPPLY FAIL- (2) If the alarm occurs again, replace the following unit.
URE(SV) ·YPS21 unit
1860 M-SAFETY COM- 0 There was no re- Connection failure Check the connection and insertion of the following boards.
MUNICATE ERROR sponse from Machine- ·YCP21 board
Safety(YSF21) board ·YIF01 board
within the time limit. ·YSF21 board
2
- 419
Alarm list
No. Code
2 - 420
Alarm list

(2) If the alarm occurs again, replace the YCP21 board.
After replacing the board, remove the CF card that has been in-
serted into the YCP21to be removed, insert it the new YCP21.
CMOS.BIN before replace the board. Replace the YIF01 board,
and then load the CMOS.BIN saved before alarm occurred.
1 The reset of Machine- Connection failure Check the connection and insertion of the following boards.
Safety alarm was not ·YCP21 board
properly completed. ·YIF01 board
·YSF21 board
No. Code
2 Calculation results do Connection failure Check the connection and insertion of the following boards.
not match the receive ·YCP21 board
data. ·YIF01 board
·YSF21 board
1861 M-SAF SYSTEM SUB code indicates YSF21 board failure (1) Turn the power OFF then back ON.
ERROR where the error oc- (2) If the alarm occurs again, replace the YSF21 board.
curred.
1862 M-SAF VERSION An error is detected in Hardware failure Please try the software update again.
UP ERROR the update process of
Machine-Safety soft-
ware.
2
- 421
Alarm list
No. Code
2 - 422
Alarm list

1863 M-SAF SETUP ER- 1 The parameter setting Setting error Please re-configure the setting of the control group in mainte-
ROR is incorrect. nance mode.
2 Parameter setting Setting error In maintenance mode, check that the control group setting is ap-
does not match the propriate for the system.
number of YSF22
boards.
YSF22 board failure Check the rotary switch setting of YSF22 board.
No. Code
3 The parameter setting Setting error In the control group setting window of maintenance mode, check
is incorrect. that the following items are appropriate for the system configura-
tion.
(1) In case of STO connection:
-Servo board which connects to each control group
-The number of axis which connects to connector of each servo
board
-Contactor unit which connects the brake
-Converter which connects the axis
-ON_ENABLE signal which connects to each control group
-The setting of overrun signal
(2) In case of Contactor connection:
-Servo board which connects to each control group.
-The number of axis which connects to connector of each servo
board
-Axis number to be connected to the connector of the servo board
-Converter which connects the axis
-Contactor unit which connects the brake
-The setting of overrun signal
1864 M-SAF CPU BOARD 1 There was no re- Connection failure Check the connection and insertion of the following boards.
COMM ERRO sponse from YCP21 ·YCP21 board
board within the time ·YIF01 board
limit. ·YSF21 board
2
- 423
Alarm list
No. Code
2 - 424
Alarm list

2 Calculation results do Connection failure Check the connection and insertion of the following boards.
not match the receive ·YCP21 board
data. ·YIF01 board
·YSF21 board
No. Code
1865 M-SAF I/O BOARD 101 CPU1 of YSF21 board Connection failure Check the connection of the MII cable between YSF21 board and
COMM ERROR did not detect a re- YSF22 board. And check if a terminator is connected.
sponse from YSF22
board within a time
limit.
YSF22 board failure Check the rotary switch setting of YSF22 board.
Fuse failure (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the fuse of the YSF22 board
YSF22 board failure Replace the YSF22 board.
102 CPU1 of YSF21 board Connection failure Check the connection of the MII cable between YSF21 board and
detected an error of YSF22 board.
communication ASIC.
was not able to detect YSF22 board.
connection with
YSF22 board in start
up process.
2
- 425
Alarm list
No. Code
2 - 426
Alarm list

detected connection YSF22 board.
with CH2 of YSF22
board in start up pro-
cess.
did not detect a re- YSF22 board. And check if a terminator is connected.
sponse from YSF22
board within a time
limit.
YSF22 board setting Check the rotary switch setting of YSF22 board.
error
detected an error of YSF22 board. And check if a terminator is connected.
communication ASIC.
No. Code
was not able to detect YSF22 board.
connection with
YSF22 board in start
up process.
detected connection YSF22 board.
with CH1 of YSF22
board in start up pro-
cess.
1866 M-SAF F-SAFETY 1 Function Safety did Connection failure Check the connection of the MII cable between YSF21 board and
COMM ERROR not come by an online YSF22 board. And check if a terminator is connected.
mode.
YSF25 board setting Check the rotary switch setting of YSF25 board.
error
2
- 427
Alarm list
No. Code
2 - 428
Alarm list

2 Machine Safety re- Connection failure Check the connection of the MII cable between YSF21 board and
ceived an offline com- YSF22 board. And check if a terminator is connected.
mand.
3 There was no re- Connection failure Check the connection of the MII cable between YSF21 board and
sponse from Function YSF22 board. And check if a terminator is connected.
Safety with in the time
limit.
4 Machine Safety was Connection failure Check the connection of the MII cable between YSF21 board and
not able to detect the YSF22 board. And check if a terminator is connected.
first of the sequential
number.
No. Code
5 Machine Safety de- Connection failure Check the connection of the MII cable between YSF21 board and
tected CRC error. YSF22 board. And check if a terminator is connected.
6 Machine Safety de- Connection failure Check the connection of the MII cable between YSF21 board and
tected sequential YSF22 board. And check if a terminator is connected.
number error.
7 Machine Safety was Connection failure Check the connection of the MII cable between YSF21 board and
not able to connect YSF22 board. And check if a terminator is connected.
with Function Safety in
start up process.
1867 M-SAF ROM DIAG. An error is detected in YSF21 board failure (1) Turn the power OFF then back ON.
ERROR the ROM diagnosis (2) If the alarm occurs again, replace the YSF21 board.
function of Machine
Safety.
2
- 429
Alarm list
No. Code
2 - 430
Alarm list

1868 M-SAF RAM DIAG. An error is detected in YSF21 board failure (1) Turn the power OFF then back ON.
ERROR the RAM diagnosis (2) If the alarm occurs again, replace the YSF21 board.
function of Machine
Safety.
1869 M-SAF STACK DI- An error is detected in YSF21 board failure (1) Turn the power OFF then back ON.
AG. ERROR the stack diagnosis (2) If the alarm occurs again, replace the YSF21 board.
function of Machine
Safety.
1870 M-SAF REGISTER An error is detected in YSF21 board failure (1) Turn the power OFF then back ON.
DIAG. ERROR the register diagnosis (2) If the alarm occurs again, replace the YSF21 board.
function of Machine
Safety.
1871 M-SAF SEQUENCE An error is detected in YSF21 board failure (1) Turn the power OFF then back ON.
WATCH ERROR the diagnosis function (2) If the alarm occurs again, replace the YSF21 board.
of Machine Safety.
No. Code
1872 M-SAF WATCH- 101 CPU1of YSF21 de- YSF21 board failure (1) Turn the power OFF then back ON.
DOG ERROR tected an error in start (2) If the alarm occurs again, replace the YSF21 board.
up process.
102 CPU1of YSF21 de- YSF21 board failure (1) Turn the power OFF then back ON.
tected an error of itself. (2) If the alarm occurs again, replace the YSF21 board.
tected an error of (2) If the alarm occurs again, replace the YSF21 board.
CPU2.
CPU2 in start up pro-
cess.
tected an error in start (2) If the alarm occurs again, replace the YSF21 board.
up process.
2
- 431
Alarm list
No. Code
2 - 432
Alarm list
CPU1.
tected an error of (2) If the alarm occurs again, replace the YSF21 board
CPU1.
tected an error of (2) If the alarm occurs again, replace the YSF21 board
CPU1 in start up pro-
cess.
1873 M-SAF OFFLINE Setting error Please re-configure the setting of the control group in mainte-
MODE SETUP ER- nance mode.
ROR
No. Code
1874 M-SAF VOLTAGE The CPU1 of YSF21 YSF21 board failure (1) Turn the power OFF then back ON.
WATCH ERROR board has detected an (2) If the alarm occurs again, replace the YSF21 board.
illegal voltage of the (3) If the alarm 1860 occurs, replace the YSF21 board.
CPU2.
The number indicates
as CPU which detect-
ed error, surveillance
voltage, and measure-
ment voltage.
2
- 433
Alarm list
No. Code
2 - 434
1875 M-SAF I/O BOARD SUB-Code: YSF22 board failure (1) Turn the power OFF then back ON.
Alarm list
VOLTAGE ERROR CPU1 1:CPU1 detect- (2) If the alarm occurs again, replace the YSF22 board.
ed a 5V low voltage
CPU1 2:CPU1 detect-
ed a 5V high voltage
CPU1 3:CPU1 detect-
ed a 24V low voltage
CPU1 4:CPU1 detect-
CPU1 5:CPU1 detect-
ed a voltage error in
24V power of the
board.
CPU2 1:CPU2 detect-
ed a 5V low voltage
CPU2 2:CPU2 detect-
CPU2 3:CPU2 detect-
ed a 24V low voltage
CPU2 4:CPU2 detect-
CPU2 5:CPU2 detect-
ed a voltage error in
24V power of the
board.
No. Code
1876 M-SAF I/O BOARD 101 An error of YSF22 YSF22 board failure (1) Turn the power OFF then back ON.
WATCHDOG ER- board was detected in (2) If the alarm occurs again, replace the YSF22 board.
ROR startup process by
CPU1 of YSF21
board.
102 An error in channel 1 YSF22 board failure (1) Turn the power OFF then back ON.
of YSF22 board was (2) If the alarm occurs again, replace the YSF22 board.
detected by CPU1 of
YSF21 board.
detected by CPU1 of
YSF21 board.
2
- 435
Alarm list
No. Code
2 - 436
201 An error of YSF22 YSF22 board failure (1) Turn the power OFF then back ON.
Alarm list
board was detected in (2) If the alarm occurs again, replace the YSF22 board.
startup process by
CPU2 of YSF21
board.
detected by CPU2 of
YSF21 board.
detected by CPU2 of
YSF21 board.
1877 F-SAF I/O BOARD YSF24 board failure (1) Turn the power OFF then back ON.
NOT INSTALLED (2) If the alarm occurs again, replace the YSF22 board.
No. Code
2
- 437
Alarm list
2.3.2 Alarm list 4 to 9
2 - 438
Alarm list

No. Code
4000 MEMORY ER- SUB Code: Tool num- Data error (1) Reset the alarm.
ROR(TOOL FILE) ber (2) If the alarm occurs again, initialize the tool file in maintenance
mode, and then load the tool file saved in the external memory de-
vice.
YCP21 board failure (1) Reset the alarm.
YCP21 board, and then insert the CF card which inserted original
YCP21 board into the new YCP21 board.
YIF01 board failure (1) Reset the alarm.
curred.
4001 MEMORY ER- SUB Code: User coor- Data error (1) Reset the alarm.
ROR(USER COORD dinate number (2) If the alarm occurs again, initialize the user coordinates file in
FILE) maintenance mode, and then load the user coordinates file saved
No. Code
curred.
4002 MEMORY ER- Data error (1) Reset the alarm.
ROR(SV MON SIG- (2) If the alarm occurs again, initialize the servo monitor signal file
NAL FILE) in maintenance mode, and then load the servo monitor signal file
saved in the external memory device.
curred.
4003 MEMORY ER- SUB Code: Page Data error (1) Reset the alarm.
ROR(WEAVING number (2) If the alarm occurs again, initialize the weaving condition file in
FILE) maintenance mode, and then load the weaving condition file
2
- 439
Alarm list
No. Code
2 - 440
Alarm list
curred.
ROR(HOME POS (2) If the alarm occurs again, initialize the home positioning file in
FILE) maintenance mode, and then load the home positioning file saved
curred.
No. Code
ROR(SECOND (2) If the alarm occurs again, initialize the second home positioning
HOME POS) file in maintenance mode, and then load the second home posi-
tioning file saved in the external memory device.
curred.
ROR(POWER number (2) If the alarm occurs again, initialize the arc welding Power
SOURCE COND) Source condition file in maintenance mode, and then load the arc
welding Power Source condition file saved in the external memory
device.
2
curred.
- 441
Alarm list
No. Code
2 - 442
Alarm list

4007 MEMORY ERR(ARC SUB Code: Page Data error (1) Reset the alarm.
START COND FILE) number (2) If the alarm occurs again, initialize the arc start condition file in
maintenance mode, and then load the arc start condition file saved
curred.
ROR(ARC END number (2) If the alarm occurs again, initialize the arc end condition file in
COND FILE) maintenance mode, and then load the arc end condition file saved
No. Code
curred.
ROR(ARC AUX number (2) If the alarm occurs again, initialize the arc auxiliary condition
COND FILE) file in maintenance mode, and then load the arc auxiliary condition
file saved in the external memory device.
curred.
ROR(COM-ARC number (2) If the alarm occurs again, initialize the COM-ARC condition file
COND FILE) in maintenance mode, and then load the COM-ARC condition file
2
- 443
Alarm list
No. Code
2 - 444
Alarm list
curred.
4012 MEMORY ER- SUB Code: Condition Data error (1) Reset the alarm.
ROR(LINK SERVO- file number (2) If the alarm occurs again, initialize the link servo float condition
FLOAT) file in maintenance mode, and then load the link servo float condi-
tion file saved in the external memory device.
curred.
No. Code
4013 MEMORY ER- SUB Code: Condition Data error (1) Reset the alarm.
ROR(LINEAR SER- file number (2) If the alarm occurs again, initialize the linear servo float condi-
VOFLOAT) tion file in maintenance mode, and then load the linear servo float
condition file saved in the external memory device.
curred.
ROR(ROBOT CALIB number (2) If the alarm occurs again, initialize the file for calibration be-
FILE) tween manipulators in maintenance mode, and then load the file
for calibration between manipulators saved in the external memo-
ry device.
2
curred.
- 445
Alarm list
No. Code
2 - 446
Alarm list

ROR(POWER SRC (2) If the alarm occurs again, initialize the Power Source user def-
USER-DEF) inition file in maintenance mode, and then load the Power Source
user definition file saved in the external memory device.
curred.
4018 MEMORY Data error (1) Reset the alarm.
ERR(LADDER PRG (2) If the alarm occurs again, initialize the ladder program file in
FILE) maintenance mode, and then load the ladder program file saved in
the external memory device.
No. Code
curred.
ROR(CUTTING number (2) If the alarm occurs again, initialize the cutting condition file in
COND FILE) maintenance mode, and then load the cutting condition file saved
curred.
ROR(OPERATION (2) If the alarm occurs again, initialize the work home position file
ORIGIN) in maintenance mode, and then load the work home position file
2
- 447
Alarm list
No. Code
2 - 448
Alarm list
curred.
ROR(CONVEYOR (2) If the alarm occurs again, initialize the conveyor condition file
COND FILE) in maintenance mode, and then load the conveyor condition file
curred.
No. Code
ROR(PAINT SPE- number (2) If the alarm occurs again, initialize the paint special file in main-
CIAL FILE) tenance mode, and then load the paint special file saved in the ex-
ternal memory device.
curred.
ROR(PAINT COND number (2) If the alarm occurs again, initialize the paint condition file in
FILE) maintenance mode, and then load the paint condition file saved in
curred.
2
- 449
Alarm list
No. Code
2 - 450
Alarm list

ERR(WRIST WEAV (2) If the alarm occurs again, initialize the wrist weaving amplitude
AMP FILE) file in maintenance mode, and then load the wrist weaving ampli-
tude file saved in the external memory device.
curred.
ROR(INTERRUPT (2) If the alarm occurs again, initialize the interrupt job file in main-
JOB FILE) tenance mode, and then load the interrupt job file saved in the ex-
No. Code
curred.
ERR(SENSOR MON (2) If the alarm occurs again, initialize the sensor monitoring con-
COND FILE) dition file in maintenance mode, and then load the sensor monitor-
ing condition file saved in the external memory device.
curred.
4030 MEMORY SUB Code: File num- Data error (1) Reset the alarm.
ERR(PRESS COND ber (2) If the alarm occurs again, initialize the press condition file in
DATA FILE) maintenance mode, and then load the press condition file saved in
2
- 451
Alarm list
No. Code
2 - 452
Alarm list
curred.
4031 MEMORY ER- SUB Code: File num- Data error (1) Reset the alarm.
ROR(SPOT GUN ber (2) If the alarm occurs again, initialize the gun condition file in
COND FILE) maintenance mode, and then load the gun condition file saved in
curred.
No. Code
ROR(SPOT WELD- ber (2) If the alarm occurs again, initialize the spot welding gun condi-
ER COND) tion file in maintenance mode, and then load the spot welding gun
curred.
ROR(GUN PRES- ber (2) If the alarm occurs again, initialize the gun pressure file in
SURE FILE) maintenance mode, and then load the gun pressure file saved in
curred.
2
- 453
Alarm list
No. Code
2 - 454
Alarm list

4034 MEMORY ERR(AN- Data error (1) Reset the alarm.
TICIPATION OT (2) If the alarm occurs again, initialize the anticipation output (OT)
FILE) file in maintenance mode, and then load the anticipation output
(OT) file saved in the external memory device.
curred.
4035 MEMORY ERR(AN- Data error (1) Reset the alarm.
TICIPATION OG (2) If the alarm occurs again, initialize the anticipation output (OG)
FILE) file in maintenance mode, and then load the anticipation output
(OG) file saved in the external memory device.
No. Code
curred.
ROR(WEARING ber (2) If the alarm occurs again, initialize the wear amount file in main-
FILE) tenance mode, and then load the wear amount file saved in the ex-
curred.
ROR(STROKE PO- ber (2) If the alarm occurs again, initialize the FULL/SHORT OPEN po-
SITION) sition setting file in maintenance mode, and then load the FULL/
SHORT OPEN position setting file saved in the external memory
device.
2
- 455
Alarm list
No. Code
2 - 456
Alarm list
curred.
ROR(PRESSURE ber (2) If the alarm occurs again, initialize the dry-spotting pressure file
FILE) in maintenance mode, and then load the dry-spotting pressure file
curred.
No. Code
ROR(FORM CUT ber (2) If the alarm occurs again, initialize the form cut file in mainte-
FILE) nance mode, and then load the form cut file saved in the external
memory device.
curred.
ROR(SHOCK LEV- ber (2) If the alarm occurs again, initialize the shock level file in main-
EL FILE) tenance mode, and then load the shock level file saved in the ex-
curred.
2
- 457
Alarm list
No. Code
2 - 458
Alarm list

ROR(SPOT IO AL- ber (2) If the alarm occurs again, initialize the spot I/O allocation file in
LOCTE FL) maintenance mode, and then load the spot I/O allocation file saved
curred.
ROR(VISION FILE) number (2) If the alarm occurs again, initialize the vision condition file in
maintenance mode, and then load the vision condition file saved
No. Code
curred.
ROR(VISION CALI- number (2) If the alarm occurs again, initialize the vision calibration file in
BRATION) maintenance mode, and then load the vision calibration file saved
curred.
ROR(WELD PULSE ber (2) If the alarm occurs again, initialize the welding pulse condition
COND) file in maintenance mode, and then load the welding pulse condi-
2
- 459
Alarm list
No. Code
2 - 460
Alarm list
curred.
ROR(WELD PULSE (2) If the alarm occurs again, initialize the welding pulse selection
SELECT) file in maintenance mode, and then load the welding pulse selec-
curred.
No. Code
ERR(CONVEYOR ber (2) If the alarm occurs again, initialize the conveyor calibration file
CALIB FILE) in maintenance mode, and then load the conveyor calibration file
curred.
ROR(MACRO DEFI- (2) If the alarm occurs again, initialize the macro definition file in
NITION FILE) maintenance mode, and then load the macro definition file saved
curred.
2
- 461
Alarm list
No. Code
2 - 462
Alarm list

ROR(SERVO S- (2) If the alarm occurs again, initialize the sealer gun characteris-
GUN FILE) tics file in maintenance mode, and then load the sealer gun char-
acteristics file saved in the external memory device.
curred.
ROR(PASTE (2) If the alarm occurs again, initialize the painting amount correc-
QUAN.COMP FL) tion file in maintenance mode, and then load the painting amount
correction file saved in the external memory device.
No. Code
curred.
4050 MEMORY ERR(AX- Data error (1) Reset the alarm.
IS I/O ALLOC FILE) (2) If the alarm occurs again, initialize the axis motion I/O alloca-
tion file in maintenance mode, and then load the axis motion I/O
allocation file saved in the external memory device.
curred.
ERR(GUN COND. ber (2) If the alarm occurs again, initialize the gun characteristics aux-
AUX. FILE) iliary file in maintenance mode, and then load the gun characteris-
tics auxiliary file saved in the external memory device.
2
- 463
Alarm list
No. Code
2 - 464
Alarm list
curred.
ROR(TOOL INTER- ber (2) If the alarm occurs again, initialize the tool interference file in
FERENCE) maintenance mode, and then load the tool interference file saved
curred.
No. Code
ROR(PAINT SYS ber (2) If the alarm occurs again, initialize the painting system setting
CONFIG.) file in maintenance mode, and then load the painting system set-
ting file saved in the external memory device.
curred.
ROR(PAINTING ber (2) If the alarm occurs again, initialize the painting device charac-
SPECIAL) teristics file in maintenance mode, and then load the painting de-
vice characteristics file saved in the external memory device.
curred.
2
- 465
Alarm list
No. Code
2 - 466
Alarm list

ROR(CCV-PAINT ber (2) If the alarm occurs again, initialize the painting CCV file in
TABLE) maintenance mode, and then load the painting CCV file saved in
curred.
ROR(PLUG VOL- ber (2) If the alarm occurs again, initialize the painting filling file in
UME FILE) maintenance mode, and then load the painting filling file saved in
No. Code
curred.
ROR(EVB GUN ber (2) If the alarm occurs again, initialize the EVB gun condition file in
COND) maintenance mode, and then load the EVB gun condition file
curred.
ROR(EVB TURBIN ber (2) If the alarm occurs again, initialize the EVB turbine condition
COND) file in maintenance mode, and then load the EVB turbine condition
file saved in the external memory device.
2
- 467
Alarm list
No. Code
2 - 468
Alarm list
curred.
ROR(EVB PAINT ber (2) If the alarm occurs again, initialize the EVB paint condition file
COND) in maintenance mode, and then load the EVB paint condition file
curred.
No. Code
ROR(CLEARANCE ber (2) If the alarm occurs again, initialize the clearance file in mainte-
FILE) nance mode, and then load the clearance file saved in the external
memory device.
curred.
ROR(GAUGE SEN- ber (2) If the alarm occurs again, initialize the gauging sensor condi-
SOR FILE) tion file in maintenance mode, and then load the gauging sensor
curred.
2
- 469
Alarm list
No. Code
2 - 470
Alarm list

ROR(LNR SCALE ber (2) If the alarm occurs again, initialize the linear scale condition file
FILE) in maintenance mode, and then load the linear scale condition file
curred.
ERR(CONVEYOR ber (2) If the alarm occurs again, initialize the conveyor condition aux-
COND SUPP.) iliary file in maintenance mode, and then load the conveyor condi-
tion auxiliary file saved in the external memory device.
No. Code
curred.
ERR(WEAV SYNC (2) If the alarm occurs again, initialize the weaving synchronizing
WELD FILE) welding condition file in maintenance mode, and then load the
weaving synchronizing welding condition file saved in the external
memory device.
curred.
4065 MEMORY ERROR(I/ Data error (1) Reset the alarm.
F PANEL FILE) (2) If the alarm occurs again, initialize the I/F panel file in mainte-
nance mode, and then load the I/F panel file saved in the external
memory device.
2
- 471
Alarm list
No. Code
2 - 472
Alarm list
curred.
4069 MEMORY ERR(PAL- Data error (1) Reset the alarm.
LETIZE COND FILE) (2) If the alarm occurs again, initialize the palletize condition file in
maintenance mode, and then load the palletize condition file saved
curred.
No. Code
ROR(LASER (2) If the alarm occurs again, initialize the laser tracking welding
TRACKING START start file in maintenance mode, and then load the laser tracking
FILE) welding start file saved in the external memory device.
curred.
TRACKING END end file in maintenance mode, and then load the laser tracking
FILE) welding end file saved in the external memory device.
curred.
2
- 473
Alarm list
No. Code
2 - 474
Alarm list

ROR(LASER (2) If the alarm occurs again, initialize the laser tracking track start
TRACKING TRACK file in maintenance mode, and then load the laser tracking track
START FILE) start file saved in the external memory device.
curred.
TRACKING SET set file in maintenance mode, and then load the laser tracking
FILE) welding set file saved in the external memory device.
No. Code
curred.
ROR(LASER (2) If the alarm occurs again, initialize the laser tracking track set
TRACKING TRACK file in maintenance mode, and then load the laser tracking track
SET FILE) set file saved in the external memory device.
curred.
ROR(CONDITION (2) If the alarm occurs again, initialize the condition file of corre-
FILE OF CORRE- sponding to laser tracking gap in maintenance mode, and then
SPONDING TO LA- load the condition file of corresponding to laser tracking gap saved
SER TRACKING in the external memory device.
GAP)
2
- 475
Alarm list
No. Code
2 - 476
Alarm list
curred.
4080 MEMORY ERR(MU- Data error (1) Reset the alarm.
TUAL WAIT SET (2) If the alarm occurs again, initialize the mutual wait set file in
FILE) maintenance mode, and then load the mutual wait set file saved in
curred.
No. Code
4081 MEMORY ERR(IN- Data error (1) Reset the alarm.
TERF. PREDICT (2) If the alarm occurs again, initialize the mutual wait set file in
FILE) maintenance mode, and then load the interference predict file
curred.
4082 INTERF. PREDICT Operation mistake or (1) Reset the alarm.
DETECT teaching mistake (2) Pull the manipulators away each other.
(3) If this alarm occurred during test run or playback operation,
change the teaching points.
2
- 477
Alarm list
No. Code
2 - 478
4083 INTERF. PREDICT 3 SUBCode Connection failure (1) Reset the alarm.
Alarm list
COMM ERROR 0000_0000_0000_00 (2) Check the connection between interference predict server and
10:DX200 received an DX200.
error response from
the interference pre-
dict server.
0001_0000_0000_00
01:No response for
the interference check
start request was re-
turned from the inter-
ference predict server.
0001_0000_0000_00
10:No response for
the current position
acquisition request
was returned from the
interference predict
server.
0001_0000_0000_00
11:DX200 received an
error response for the
interference check
start request from the
interference predict
server.
Setting error (1) Reset the alarm.
(2) Check each network setting for the robot controller and the in-
terference predict server.
No. Code
Connection failure
2
- 479
Alarm list
No. Code
2 - 480
4084 ROBOT SYNC. ER- 0000_0000_0010_00 Connection failure SUBCode
Alarm list
ROR 00:FN591 was doubly 0000_0000_0000_0001

executed. 0000_0000_0000_0010
0000_0000_0011_000 0000_0000_0000_0011
0:FN591 execution 0000_0000_0000_0100
notice from the mutual 0000_0000_0000_0101
wait target was re- 0000_0000_0011_0000
ceived doubly. 0000_0000_0100_0000
(1) Reset the alarm.
(2) Check the communication connection with the mutual wait tar-
get.
No. Code
4084 ROBOT SYNC. ER- 0000_0000_0100_00 Connection failure
ROR 00:FN591 execution
notice error from the
mutual wait target was
received.
HUB failure SUBCode

0000_0000_0000_0001
0000_0000_0000_0010
0000_0000_0000_0011
0000_0000_0000_0100
0000_0000_0000_0101
0000_0000_0011_0000
0000_0000_0100_0000
(2) Check the communication connection with the mutual wait tar-
Setting error SUBCode

0000_0000_0000_0001
(2) Check the contents of the mutual wait setting file.
(3) Check the network setting of the mutual wait target.
Operation mistake SUBCode
0000_0000_0000_0100
0000_0000_0000_0101
(2) Check if FN591execution is aborted when FN591 execution
has been mutually established. In this case, this alarm may occur
2
due to communication time lag.
- 481
Alarm list
No. Code
2 - 482
Setting error SUBCode
Alarm list
0000_0000_0001_0000
(2) Check the mutual wait manipulator No. of the FN591.
Software operation er- SUBCode
ror occurred 0000_0000_0010_0000
0000_0000_0011_0000
0000_0000_0100_0000
(2) If the alarm occurs again, save the CMOS.BIN in maintenance
4085 MEMORY ERR(IN- Data error (1) Reset the alarm.
TERF. HISTORY (2) If the alarm occurs again, initialize the mutual wait set file in
FILE) maintenance mode, and then load the interference history file
curred.
other (1) Reset the alarm.
curred.
No. Code
ROR(YSF SET FILE) (2) If the alarm occurs again, initialize the ysf set file in mainte-
nance mode, and then load the ysf set file saved in the external
memory device.
curred.
ROR(YSF TMR (2) If the alarm occurs again, initialize the ysf timer file in mainte-
FILE) nance mode, and then load the ysf timer file saved in the external
memory device.
curred.
2
- 483
Alarm list
No. Code
2 - 484
Alarm list

ROR(YSF LOGIC (2) If the alarm occurs again, initialize the ysf logic file in mainte-
FILE) nance mode, and then load the ysf logic file saved in the external
memory device.
curred.
4099 DC 24V POWER YPS21 unit failure (1) Reset the alarm.
SUPPLY FAIL- (2) If the alarm occurs again, turn the power OFF then back ON.
URE(YPS) (3) If the alarm occurs again, replace the following unit.
·YPS21 unit

4102 SYSTEM DATA HAS System data changed (1) Reset the alarm.
BEEN CHANGED (2) Turn the power OFF then back ON before turning ON the servo
power supply.
No. Code
4103 PARALLEL START 1 SUB task being exe- Setting error (1) Reset the alarm.
INSTRUCTION ER- cuted: (2) Check if other JOB has been already executed in the same
ROR Although a job is being task which is used in the PSTART. If same task need to be execut-
executed by instructed ed in series, add PWAIT to confirm if the previous task end.
SUB task, an attempt
was made to execute
another job by the
SUB task.
2 Group axis being Setting error (1) Reset the alarm.
used: (2) Check if the control group of the JOB which is used in the
The job operated by PSTART has been already executed in other task. If the same
another SUB task group need to be executed in series, add PWAIT to confirm if the
uses the same group other task end.
axis.
3 Multiple start of same Setting error (1) Reset the alarm.
job: (2) Check if the JOB which is used in the PSTART has been al-
The job that was tried ready executed in other task. If the same job need to be executed
to be started was exe- in series, add PWAIT to confirm if the other task end.
cuted by another SUB
task.
2
- 485
Alarm list
No. Code
2 - 486
4 Unregistered master Setting error (1) Reset the alarm.
Alarm list
job: (2) Check the following settings.

Although the master ·The master job of the SUBtask is registered
job was not registered,
an attempt was made
to execute PSTART
SUB (job name omit-
ted).
5 Synchronization in- Setting error (1) Reset the alarm.
struction error: (2) Check the following settings.
When restarted by ·The job to be started
PSTART, synchroniza- ·The execution timing for start command
tion instruction status
of the SUB task under
interruption was differ-
ent from the status to
restart.
6 Stopped by an alarm: Setting error (1) Check the following settings.
An attempt was made ·Alarm occurrence status
to start the SUB task
which is stopped by an
alarm.
No. Code
7 Synchronization task Setting error (1) Reset the alarm.
specification of SYNC (2) Check the following setting.
instruction omit error ·Synchronization task specification of SYNC instruction
8 The task is specified Setting error (1) Reset the alarm.
by synchronization (2) Check the following setting.
task of SYNC instruc- ·Synchronization task specification of SYNC instruction
tion. It is not possible to set the same task to the SYNC as the SUB task
of PSTART instruction.
9 I/O jog being executed Setting error (1) Reset the alarm.
(2) Check the following setting.
·I/O jog executing status
Complete the I/O jog execution, and then restart.

10 Separate group axis Setting error (1) Reset the alarm.
being used (2) Check the following setting.
·I/O jog executing status
Complete the I/O jog executing status, and then restart.
2
- 487
Alarm list
No. Code
2 - 488
11 The servo power sup- Setting error (1) Reset the alarm.
Alarm list
ply is OFF. (2) Check the following setting.

·Servo power
Turn ON servo power.
12 Twin synchronous Setting error (1) Reset the alarm.
task ID error (2) Check the following setting.
·Twin synchronous task specification of SYNC instruction
16 PSTART instruction is Setting error (1) Reset the alarm.
the old specification. (2) Check the following settings.
·The specifications of PSTART instruction
Register the PSTART instruction as new specification.
17 PWAIT instruction is Setting error (1) Reset the alarm.
the old specification. (2) Check the following settings.
·The specifications of PWAIT instruction
Register the PWAIT instruction as new specification.
4104 WRONG EXECU- SUB Code1 to 245: Setting error * Refer to the instruction manual for Data Transmission Function
TION OF LOAD Signifies the data for details.
INST transmission error.
No. Code
TION OF SAVE INST Signifies the data for details.
transmission error.
TION OF DELETE Signifies the data for details.
INST transmission error.
4107 OUT OF SUB Code: Signifies Setting error (1) Reset the alarm.
RANGE(ABSO DA- the axis in which the (2) Check the following settings.
TA) alarm occurred ·Move the manipulator or station to the zero position by the axis
operation and check the home position alignment marks (the ar-
row).
Blown fuse If AL1962 "EAXA21 board failure" occurred simultaneously with

this alarm,
Replace the fuse(F1) in the EAXA21 board.
2
- 489
Alarm list
No. Code
2 - 490
4109 DC 24V POWER 0000_0000_0000_00 Connection failure (1) Reset the alarm.
Alarm list
SUPPLY FAILURE(I/ 01: Detector circuit er- (2) If the alarm occurs again, check the connection and inserting
O) ror. state of the following cables and connectors.
0000_0000_0000_00 Check the insertion and connection of the followings.
10: Fuse blown ·CN303 of YIO21 board
(YIO21 unit) ·Fuse (blown) of YIO21 board
0000_0000_0000_00 ·The communications cable for the I/O module
11: External 24V pow-
er supply error.
Voltage error (1) Reset the alarm.
(2) If the alarm occurs again, Check the 24V external power sup-
ply. If abnormal, replace the 24V external power supply.
YIO21 board failure (1) Reset the alarm.
(2) If the alarm occurs again, replace the YIO21 board. Save the
CMOS.BIN before replacing the board to be safe.

4110 SHOCK SENSOR Shock sensor activat- Shock sensor is activated. Select "OVERRUN&SHOCK SEN-
ACTION ed SOR" under SUB menu "ROBOT" to reset the sensor. After that,
perform avoidance movement by jog operation.
Connection failure (1) Reset the alarm.
(2) If the alarm occurs again, check the connection and inserting
state of the following cables and connectors.
·YSF22 board-CN216, CN218
·EAXA21 board CN512
YSF22 board failure (1) Reset the alarm.
No. Code
EAXA21 board failure (1) Reset the alarm.

4112 DATA SENDING ER- 1 Retry over of NAK Communication error (1) Reset the alarm.
ROR (2) If the alarm occurs again, check the communication setting and
communication wiring is correct.
2 Retry over for timeout Communication error (1) Reset the alarm.
in timer A (2) If the alarm occurs again, check the communication setting and
3 Retry over for mutual Communication error (1) Reset the alarm.
response error (2) If the alarm occurs again, check the communication setting and
4113 DATA RECEIVING 1 Reception timeout Communication error (1) Reset the alarm.
ERROR (timer A) (2) If the alarm occurs again, check the communication setting and
2
- 491
Alarm list
No. Code
2 - 492
2 Reception timeout Communication error (1) Reset the alarm.
Alarm list
(timer B) (2) If the alarm occurs again, check the communication setting and
3 Heading length is too Setting error (1) Reset the alarm.
short. (2) If the alarm occurs again, send EOT code to release the data
link and then check that the sending side data is correctly set.
(3) Check that the communication setting is correct.
4 Heading length is too Setting error (1) Reset the alarm.
long. (2) If the alarm occurs again, send EOT code to release the data
5 The header No. error Setting error (1) Reset the alarm.
(2) If the alarm occurs again, send EOT code to release the data
6 The text length ex- Setting error (1) Reset the alarm.
ceeded 256 charac- (2) If the alarm occurs again, send EOT code to release the data
ters. link and then check that the sending side data is correctly set.
No. Code
7 Illegal data received Setting error (1) Reset the alarm.
(2) If the alarm occurs again, send EOT code to release the data
4114 TRANSMISSION 1 Overrun error Communication error (1) Reset the alarm.
HARDWARE ER- (2) If the alarm occurs again, check the communication setting and
ROR communication wiring is correct.
2 Parity error Communication error (1) Reset the alarm.
(2) If the alarm occurs again, check the communication setting and
3 Framing error Communication error (1) Reset the alarm.
4 Transmission timeout Communication error (1) Reset the alarm.
(timer A) (2) If the alarm occurs again, check the communication setting and
2
- 493
Alarm list
No. Code
2 - 494
Alarm list

5 Transmission timeout Communication error (1) Reset the alarm.
(timer B) (2) If the alarm occurs again, check the communication setting and
4115 TRANSMISSION 1 Received EOT while Communication error (1) Reset the alarm.
SYSTEM BLOCK waiting ACK. (2) If the alarm occurs again, check the setting of communication
or transmission side data is correctly set.
2 Received EOT while Communication error (1) Reset the alarm.
waiting ENQ. (2) If the alarm occurs again, check the setting of communication
3 Received EOT before Communication error (1) Reset the alarm.
last block reception. (2) If the alarm occurs again, check the setting of communication
4 Received codes other Communication error (1) Reset the alarm.
than EOT after last (2) If the alarm occurs again, check the setting of communication
block reception. or transmission side data is correctly set.
No. Code
4116 TRANSMISSION 1 Transmission data Communication error (1) Reset the alarm.
SYSTEM ERROR contents error (2) If the alarm occurs again, check the setting of communication
100 Trans error or protocol Communication error (1) Reset the alarm.
error (2) If the alarm occurs again, check the setting of communication
4117 BRAKE POWER ER- 1 The EAXA21 / Connection failure (1) Reset the alarm.
ROR EAXB21 board # (2) If the alarm occurs again, check the brake connection if there
1generates an alarm. is a ground fault or short circuit.
Fuse failure (1) Reset the alarm.
(2) If the alarm occurs again, check the brake connection and then
replace the fuse.
2 The EAXA21 / Connection failure (1) Reset the alarm.
EAXB21 board # 2 (2) If the alarm occurs again, check the brake connection if there
generates an alarm. is a ground fault or short circuit.
replace the fuse.
2
- 495
Alarm list
No. Code
2 - 496
Alarm list

replace the fuse.
replace the fuse.
replace the fuse.
No. Code
EAXB21 board # (2) If the alarm occurs again, check the brake connection if there
replace the fuse.
replace the fuse.
replace the fuse.
4118 FAN CIRCUIT PRO- 1 The EAXA21 / Connection failure (1) Reset the alarm.
TECTOR TRIPPED EAXB21 board # (2) If the alarm occurs again, check fan power line if there is a
1generates an alarm. ground fault or short circuit.
2
- 497
Alarm list
No. Code
2 - 498
Alarm list
(2) Check the following settings.

·(After cancellation of the short-circuit and ground fault) Turn ON
the circuit protector.
Cooling fan failure (1) Reset the alarm.
(2) Replace the in-panel cooling fan.
Check the connection between manipulator and servo board.
* Move the manipulator to safety place in teach mode.
EAXB21 board # 2 (2) If the alarm occurs again, check fan power line if there is a
generates an alarm. ground fault or short circuit.
No. Code
2
- 499
Alarm list
No. Code
2 - 500
Alarm list

No. Code
4119 FAN ERROR(IN SUB Code 1 to 4: Sig- Cooling fan failure Replace the YPS21 unit.
CONTROL BOX) nifies the YSF21
board No. in which the
alarm occurred
4121 COOLING FAN1 ER- SUB Code 1to 8: Sig- Cooling fan failure (1) Reset the alarm.
ROR nifies the EAXA/EAXB (2) Replace the cooling fan of manipulator.
board No. in which the Check the wiring from a manipulator to a servo board.
alarm occurred * Move the manipulator to the safe position in the teach mode.
2
- 501
Alarm list
No. Code
2 - 502
Alarm list

4123 COOLING FAN3 ER- SUB Code 1to 8: Sig- Cooling fan failure Replace the cooling fan of manipulator.
ROR nifies the EAXA/EAXB Check the wiring from a manipulator to a servo board.
board No. in which the * Move the manipulator to the safe position in the teach mode.
alarm occurred
4124 WRONG EXECU- 1 The specified file num- Setting error (1) Reset the alarm.
TION OF VISION ber is incorrect. (2) Check the following settings.
INST ·File No.
Specify the correct file number.
2 The specified file set Setting error (1) Check the following settings.
value is incorrect. ·File set value
Specify the set value.
3 Calibration could not Setting error (1) Reset the alarm.
be executed. (2) Check the following settings.
·The robot coordinate data or the pixel coordinate data used for the
calibration
·The user variable number in the calibration file
Set the robot coordinate data and the pixel coordinate data used
for the calibration to the user variable.
Correctly set the user variable number in the calibration file.
No. Code
4 The communication Setting error (1) Reset the alarm.
port for the vision sys- (2) Check the following settings.
tem could not be ini- ·The Parameter for vision communication port.
tialized. (3) Set the correct parameters for the communication port.
5 Time-out occurred Setting error (1) Reset the alarm.
during data transmis- (2) Check the following settings.
sion. ·The communication setting of vision system
cables.
·Cable between vision system and DX200 system
6 Time-out occurred Setting error (1) Reset the alarm.
during data reception. (2) Check the following settings.
·The communication setting of vision system
cables.
2
- 503
Alarm list
No. Code
2 - 504
7 The data received Setting error (1) Reset the alarm.
Alarm list
from the vision system (2) Check the following settings.

is incorrect. ·The communication setting of vision system
·The detection setting of vision system
cables.
8 The pixel coordinates Setting error (1) Reset the alarm.
value was not able to (2) Check the following settings.
be converted into the ·The communication setting of vision system
robot coordinates. ·Calibration file for use
9 Failed to read or write Setting error (1) Reset the alarm.
the position type vari- (2) Check the following settings.
able (P variable). ·Usage status of the specified position type variable
Don't use the specified positional type variable at the same time in
other jobs.
10 Use memory is lacking Software operation er- (1) Reset the alarm, and then try again.
and the area could not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
be obtained. mode, and then contact your YASKAWA representative about oc-
No. Code
11 The setting value of Setting error (1) Reset the alarm.
measurement item (2) Correct the setting value of a measurement item.
(FT) is incorrect.
12 The data for the vision Software operation er- (1) Reset the alarm, and then try again.
execution command is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
incorrect. mode, and then contact your YASKAWA representative about oc-
48 The number of waiting Software operation er- (1) Reset the alarm, and then try again.
commands sent by Vi- ror occurred (2) Check the command sent by Vision sensor
sion sensor exceeded (3) If the alarm occurs again, save the CMOS.BIN in maintenance
the limit. mode, and then contact your YASKAWA representative about oc-
4125 TRANS ER- 1 File access error Communication error (1) Reset the alarm.
ROR(WELD PULSE (2) If the alarm occurs again, check the communication setting and
COND) communication wiring is correct.
2 File data error Communication error (1) Reset the alarm.
(2) If the alarm occurs again, check the setting of communication
or file data is correctly set.
3 Calibration execution Communication error (1) Reset the alarm.
2
- 505
Alarm list
No. Code
2 - 506
Alarm list

4 YCP21 port initialize Communication error (1) Reset the alarm.
or YCP21 port is correctly set.
5 Time-out occurred Communication error (1) Reset the alarm.
during data transmis- (2) If the alarm occurs again, check the communication setting and
sion. communication wiring is correct.
6 Time-out occurred Communication error (1) Reset the alarm.
during data reception. (2) If the alarm occurs again, check the communication setting and
7 Receive data error Communication error (1) Reset the alarm.
8 Coordinate conversion Communication error (1) Reset the alarm.
No. Code
9 Position type variable Communication error (1) Reset the alarm.
access error (2) If the alarm occurs again, check the setting of communication
10 Failed to store the ar- Software operation er- (1) Reset the alarm, and then try again.
ea. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
11 Measurement item Communication error (1) Reset the alarm.
setting error (2) If the alarm occurs again, check the setting of communication
12 Tag setting error Communication error (1) Reset the alarm.
48 Wait status table FULL Communication error (1) Reset the alarm.
2
- 507
Alarm list
No. Code
2 - 508
4126 CANNOT EXE- 1 System error Software operation er- (1) Reset the alarm, and then try again.
Alarm list
CUTE AUTO PMT ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2 PBOX cannot be edit- Setting error (1) Reset the alarm.
ed. (2) Check the following setting.
·I/O status of the edit prohibit signal
The edit prohibit signal cannot input.
3 The source job cannot Setting error (1) Reset the alarm.
be edited. (2) Check the following setting.
·The prohibit status of source job
If the source job is protected from editing, it cannot be edited.
4 The converted job Setting error (1) Reset the alarm.
cannot be edited. (2) Check the following settings.
·The prohibit status of converted job
If the converted job is protected from editing, it cannot be edited.
No. Code
5 The memory area for Software operation er- (1) Reset the alarm.
job area is insufficient. ror occurred (2) If the error occurs again, delete unused jobs.
(3) If the error occurs again after the previous measures were ex-
ecuted, initialize the job file in the maintenance mode, and then
load the saved job file. In that case, delete the unused jobs.
(4)If the error occurs again though the previous measures were
6 The source job is not Setting error (1) Check the following settings.
exist. ·Presence of the specified source job
The job which does not exist cannot be set to the source job.
7 The memory area for Software operation er- (1) Reset the alarm.
position data of the job ror occurred (2) when the error occurs again, if there is an unnecessary teach-
is insufficient. ing position, delete it.
8 The job under execu- Setting error (1) Reset the alarm.
tion is specified as the (2) Check the following settings.
conversion job. ·Execution status of the source job
·Execution status of the converted job
The job under execution is specified for the source / converted job.
Execute conversion operation after ending the job execution.
2
- 509
Alarm list
No. Code
2 - 510
Alarm list

4127 U-AXIS TIMING SUB Code: XY Belt blown (1) Reset the alarm.
BELT BLOWN X: Servo board (2) Replace the timing belt of the manipulator.
(SV#X) Check the connection between manipulator and servo board.
Y: Power-ON unit * Move the manipulator to safety place in teach mode.
(TU#Y)
4128 ARC MONITOR ER- 1 Monitor ON was exe- Setting error (1) Reset the alarm.
ROR cuted in Monitor ON. (2) Check the following settings.
·Arc monitor ON status
Arc monitor ON cannot be executed during arc monitor ON.
10 Analog CH specifica- Setting error (1) Reset the alarm.
tion or register specifi- (2) Check the following settings.
cation is not exist. ·Analog CH specification
·Register specification
Analog CH specification or register specification is required.
11 The number of sam- Setting error (1) Reset the alarm.
plings exceeds the set (2) Check the following settings.
value. ·The number of samplings
The number of sampling is too much. Confirm the monitor ON/OFF
status.
No. Code
4129 TWIN DRIVE OUT SUB Code: Corre- Setting error (1) Reset the alarm.
OF RANGE(START) sponding master-axes (2) Check the following settings.
and slave-axes are ·Pulse error of the master-axes and the slave-axes
displayed by the bit. Switch to independent movement mode so that the pulse error of
the master-axes and the slave-axes is settled within allowable
range.
4130 NETWORK APPLI- 1 An error occurred Software operation er- (1) Turn the power OFF then back ON.
CATION PROCESS when the notification ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ERROR of the APP task re-ini- mode, and then contact your YASKAWA representative about oc-
tialization was pro- currence status (operating procedure).
cessed in the Ethernet
function.
2 An error occurred Software operation er- (1) Turn the power OFF then back ON.
when the re-initializa- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion response was re- mode, and then contact your YASKAWA representative about oc-
ceived in the Ethernet currence status (operating procedure).
function.
2
- 511
Alarm list
No. Code
2 - 512
3 The incomplete task of Software operation er- (1) Turn the power OFF then back ON.
Alarm list
re-initialization was ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
unsuccessfully com- mode, and then contact your YASKAWA representative about oc-
pleted in the Ethernet currence status (operating procedure).
function.
when the semaphore ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
for re-initialization was mode, and then contact your YASKAWA representative about oc-
received in the Ether- currence status (operating procedure).
net function.
when the re-initializa- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion mail was sent in mode, and then contact your YASKAWA representative about oc-
No. Code
the exclusive process ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
of the storage area mode, and then contact your YASKAWA representative about oc-
control table of the currence status (operating procedure).
Ethernet function.
7 Time-out occurred in Software operation er- (1) Turn the power OFF then back ON.
the re-initialization re- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
sponse receiving pro- mode, and then contact your YASKAWA representative about oc-
cess of the Ethernet currence status (operating procedure).
function.
the re-initialization re- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
sponse receiving pro- mode, and then contact your YASKAWA representative about oc-
cess of the Ethernet currence status (operating procedure).
function.
2
- 513
Alarm list
No. Code
2 - 514
9 Receiving data size Software operation er- (1) Turn the power OFF then back ON.
Alarm list
error occurred in the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
re-initialization re- mode, and then contact your YASKAWA representative about oc-
sponse receiving pro- currence status (operating procedure).
cess of the Ethernet
function.
mail receiving process mode, and then contact your YASKAWA representative about oc-
of the Ethernet func- currence status (operating procedure).
tion.
tion.
No. Code
the FTP client task ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion.
40 Illegal e-mail data Software operation er- (1) Turn the power OFF then back ON.
were received in the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
Web server task of the mode, and then contact your YASKAWA representative about oc-
FTP server task of the mode, and then contact your YASKAWA representative about oc-
FTP client task of the mode, and then contact your YASKAWA representative about oc-
2
- 515
Alarm list
No. Code
2 - 516
Alarm list
the data size written to ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
PCI of the Ethernet mode, and then contact your YASKAWA representative about oc-
when the request to ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
write PCI data was re- mode, and then contact your YASKAWA representative about oc-
ceived in the Ethernet currence status (operating procedure).
function.
52 The request of the un- Software operation er- (1) Turn the power OFF then back ON.
defined transmission ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
was received in the mode, and then contact your YASKAWA representative about oc-
No. Code
the transmission re- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
quest of the Ethernet mode, and then contact your YASKAWA representative about oc-
54 The transmission re- Software operation er- (1) Turn the power OFF then back ON.
quest without data ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
quest of illegal data ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
length was received in mode, and then contact your YASKAWA representative about oc-
60 Illegal mail data ware Software operation er- (1) Turn the power OFF then back ON.
received in the DNS ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
task of the Ethernet mode, and then contact your YASKAWA representative about oc-
2
- 517
Alarm list
No. Code
2 - 518
Alarm list
61 Illegal mail data was Software operation er- (1) Turn the power OFF then back ON.
transmitted in the DNS ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
task of the Ethernet mode, and then contact your YASKAWA representative about oc-
storing process of ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
memory which is used mode, and then contact your YASKAWA representative about oc-
in the Ethernet func- currence status (operating procedure).
tion.
the buffer for request ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
to write PCI getting mode, and then contact your YASKAWA representative about oc-
process of the Ether- currence status (operating procedure).
net function.
No. Code
200 The socket of the Software operation er- (1) Turn the power OFF then back ON.
Ethernet function was ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
full and was not able to mode, and then contact your YASKAWA representative about oc-
create a socket. currence status (operating procedure).
the semaphore of ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
socket control table of mode, and then contact your YASKAWA representative about oc-
4131 UDP PROCESS ER- 1 An error occurred in Software operation er- (1) Turn the power OFF then back ON.
ROR the creation of receiv- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing socket during the mode, and then contact your YASKAWA representative about oc-
UDP process of the currence status (operating procedure).
Ethernet function.
2
- 519
Alarm list
No. Code
2 - 520
Alarm list
the creation of trans- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mission socket during mode, and then contact your YASKAWA representative about oc-
the UDP process of currence status (operating procedure).
3 Illegal data were re- Software operation er- (1) Turn the power OFF then back ON.
ceived in the UDP pro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cess of the Ethernet mode, and then contact your YASKAWA representative about oc-
4 Transmission error oc- Software operation er- (1) Turn the power OFF then back ON.
curred in the UDP pro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cess of the Ethernet mode, and then contact your YASKAWA representative about oc-
5 The SELECT opera- Software operation er- (1) Turn the power OFF then back ON.
tion was not success- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
fully completed in the mode, and then contact your YASKAWA representative about oc-
Ethernet function.
No. Code
100 The re-initialization Software operation er- (1) Turn the power OFF then back ON.
notification of illegal ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
data length was re- mode, and then contact your YASKAWA representative about oc-
ceived in the UDP pro- currence status (operating procedure).
function.
101 The re-initialization Software operation er- (1) Turn the power OFF then back ON.
notification of illegal ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
data was received in mode, and then contact your YASKAWA representative about oc-
102 The PCI write process Software operation er- (1) Turn the power OFF then back ON.
was not successfully ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
completed in the UDP mode, and then contact your YASKAWA representative about oc-
net function.
2
- 521
Alarm list
No. Code
2 - 522
Alarm list
length was received in mode, and then contact your YASKAWA representative about oc-
Ethernet function.
4132 TCP PROCESS ER- 1 The socket table was Software operation er- (1) Turn the power OFF then back ON.
ROR not successfully creat- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ed in the TCP process mode, and then contact your YASKAWA representative about oc-
tion.
No. Code
the process of the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
TCP server initializa- mode, and then contact your YASKAWA representative about oc-
tion of the Ethernet currence status (operating procedure).
function.
connection detecting ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
process of TCP server mode, and then contact your YASKAWA representative about oc-
tion.
the connection detec- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion checking process mode, and then contact your YASKAWA representative about oc-
of TCP server of the currence status (operating procedure).
Ethernet function.
2
- 523
Alarm list
No. Code
2 - 524
Alarm list
4134 COOLING FAN SET 0 Setting error (1) Reset the alarm.
ABNORMAL (2) Check the following settings.
·Confirm parameter SVS and S2C for the cooling fan.
·Open the front panel to refer to the parameter list on the back.
4135 TOYOPUC RUN 0 Setting error (1) Reset the alarm.
STOP (2) Check the following settings.
·Use the PCwin, etc. to run the TOYOPUC.
4136 TOYOPUC MAJOR 0 The PCI bus state of Setting error (1) Reset the alarm.
ERROR the TOYOPUC turns (2) Check the following settings.
to "ER". ·OFF/ON status of the remote
·OFF/ON status of the power supply
Turn OFF and back ON the remote or power supply.
4137 WRONG EXECU- 1 Alarm code specifica- Setting error (1) Reset the alarm.
TION OF SETUALM tion error (2) Check the following settings.
INST ·Alarm code
Specify the alarm in the range 8000 to 8999.
No. Code
2 Task specification er- Setting error (1) Reset the alarm.
ror (2) Check the following settings.
·Task specification
Specify the task in the range 0 to 15.
3 Motion mode specifi- Setting error (1) Reset the alarm.
cation error (2) Check the following settings.
·Motion mode specification
Set the motion mode to 0 or 1.
4138 WRONG EXECU- Connection failure (1) Reset the alarm.
TION OF SVON (2) Check the following settings.
INST ·Short-circuit the external servo ON (EXSVON) of MXT terminal
block.
·The concurrent I/O signal #80031 (servo ON condition1) ON
·The concurrent I/O signal #80033 (servo ON condition2) ON
2
- 525
Alarm list
No. Code
2 - 526
4139 WRONG EXECU- Setting error (1) Reset the alarm.
Alarm list
TION OF PRINT (2) Check the following settings.

INST ·The setting of the PRINT output conversion spec (character string
specification)
If there is no problem in the setting, delete the corresponding
PRINT instruction and register again.
4140 WRONG EXECU- 1 DIALOG instruction Setting error (1) Reset the alarm.
TION OF DIALOG control error (2) Check the following settings.
INST ·The tag setting of DIALOG instruction
If no fault is found, delete corresponding DIALOG instruction, and
then register again.
2 Messages and buttons Setting error (1) Reset the alarm.
are not registered. (2) Check the following settings.
·The information of DIALOG instruction message and button
3 Buttons are not regis- Setting error (1) Reset the alarm.
tered. (2) Check the following settings.
·The information of DIALOG instruction button
No. Code
4141 SNTP ERROR 1 The error on setting of Software operation er- (1) Turn the power OFF then back ON.
time difference value ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
occurred in the SNTP mode, and then contact your YASKAWA representative about oc-
net function.
2 The error on setting of Software operation er- (1) Turn the power OFF then back ON.
time-out value oc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
curred in the SNTP mode, and then contact your YASKAWA representative about oc-
net function.
3 The error on setting of Software operation er- (1) Turn the power OFF then back ON.
reference interval val- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ue occurred in the mode, and then contact your YASKAWA representative about oc-
SNTP process of the currence status (operating procedure).
Ethernet function.
2
- 527
Alarm list
No. Code
2 - 528
4 The IP address error Setting error (1) Check the following settings.
Alarm list
occurred in the SNTP ·The IP address of the SNTP server

process of the Ether- ·The DHCP server operation (If the DHCP is used)
net function. ·The network status (If the DHCP is used)
5 Time-out occurred in Setting error (1) Check the following settings.
the SNTP process ·The SNTP server operation
of the Ethernet func- ·The network status
tion.
6 The server time is not Setting error (1) Check the following settings.
synchronized in the ·The SNTP server operation
SNTP process of the ·The network status
Ethernet function.
No. Code
7 The SNTP process of Setting error Use the server compliant with the SNTP version 3.
the Ethernet function
is not compliant with
the version that the
server sent.
8 Illegal parameters Setting error (1) Check the following settings.
were found in the ·SNTP setting
SNTP process of the
Ethernet function.
2
- 529
Alarm list
No. Code
2 - 530
Alarm list

9 The SNTP process of Setting error (1) Check the following settings.
the Ethernet function ·SNTP setting
was not successfully
completed.
10 The name resolution Setting error (1) Check the following settings.
error occurred in the ·The IP address of the SNTP server
SNTP process of the ·The DHCP server operation ?If the DHCP is used
Ethernet function. ·The network status ?If the DHCP is used
11 The error on getting of Setting error (1) Check the following settings.
server address oc- ·The DHCP server operation
curred in the SNTP ·The network status
net function.
No. Code
12 The server setting is Setting error (1) Check the following settings.
incorrect in the SNTP ·SNTP setting
net function (for future
use).
4144 FUNCTION EXECU- 0 FN591 was executed Teaching failure (1) Reset the alarm.
TION ERROR 11 or more times in a (2) Don't set FN593 11 or more times in a row. Review the teach-
row. ing.
4145 RELAY NO. ER- 0 There is invalid relay Setting error (1) Save the CMOS.BIN in maintenance mode, and then contact
ROR(LADDER PRO- number in the SYS- your YASKAWA representative about occurrence status (operat-
GRAM) TEM LADDER. ing procedure).
2
- 531
Alarm list
No. Code
2 - 532
1 There is invalid relay Setting error (1) Set the security to management mode and compile the ladder
Alarm list
number in the USER program. If any error occurs, modify the invalid relay number to
LADDER. complete the compiling.
Valid range
General Input:00010?05127
General Output:10010?15127
External Input:20010?25127
External Output:30010?35127
Specific Input:40010?41607
Specific Output:50010?53007
I/F Panel Input:60010?60647
Auxiliary Relay:70010?79997
Control Input:80010?81287
Pseudo Input:82010?82207
Network Input:27010?29567
Network output:37010?39567
4146 ENCDR PWR CIR- 1 SUB Code 1to 8: Sig- Incorrect setting (1) Check the following settings.
CUIT PROTECTOR nifies the EAXA/EAXB ·Turn ON the circuit protector.
TRIP board No. in which the
alarm occurred
Short circuit or ground (1) Turn the power OFF then back ON.
fault (2) If the alarm occurs again even after turning ON the circuit pro-
tector, check encoder power line if there is a ground fault or short
circuit.
Unit failure Replace the motor or encoder to which the power is supplied.
Parts failure Replace the circuit protector.
No. Code
2 SUB Code 1to 8: Sig- Incorrect setting (1) Check the following settings.
nifies the EAXA/EAXB ·Turn ON the circuit protector.
alarm occurred
circuit.
alarm occurred
circuit.
2
alarm occurred
- 533
Alarm list
No. Code
2 - 534
Alarm list
circuit.
alarm occurred
circuit.
alarm occurred
circuit.
No. Code
alarm occurred
circuit.
alarm occurred
circuit.
2
- 535
Alarm list
No. Code
2 - 536
4152 TIMING BELT 1 The EAXA21 / Manipulator timing belt Move the manipulator in teach mode to the position where there is
Alarm list
BLOWN EAXB21 board # 1 is blown. no torque on the driving belt.

generates an alarm. (1) Check the timing belt tension.
(2) Check the wiring between manipulator and the machine safety
unit (YSF22 board).
2 The EAXA21 / Manipulator timing belt Move the manipulator in teach mode to the position where there is
EAXB21 board # 2 is blown. no torque on the driving belt.
unit (YSF22 board).
unit (YSF22 board).
unit (YSF22 board).
No. Code
unit (YSF22 board).
unit (YSF22 board).
unit (YSF22 board).
unit (YSF22 board).
2
- 537
Alarm list
No. Code
2 - 538
4153 COOLING UNIT ER- 1 The EAXA21 / Unit failure Refer to the instruction manuals for the cooling unit in use.
Alarm list
ROR EAXB21 board # 1

generates an alarm.
2 The EAXA21 / Unit failure Refer to the instruction manuals for the cooling unit in use.
EAXB21 board # 2
generates an alarm.
EAXB21 board # 3
generates an alarm.
EAXB21 board # 4
generates an alarm.
EAXB21 board # 5
generates an alarm.
No. Code
EAXB21 board # 6
generates an alarm.
EAXB21 board # 7
generates an alarm.
EAXB21 board # 8
generates an alarm.
4154 COOLING FAN ER- 1 The EAXA21 / Connection failure (1) Reset the alarm.
ROR (DOOR) EAXB21 board # 1 (2) Check the connection and insertion of the cable and connector
generates an alarm. for the cooling fan.
Power voltage drop (1) Reset the alarm.
(2) Check if the primary power voltage is normal.
Dirt (1) Reset the alarm.
(2) Clean the cooling fan and the fan duct.
Unit failure (1) Reset the alarm.
(2) Replace the malfunctioning cooling fan with a new one.
2
- 539
Alarm list
No. Code
2 - 540
Alarm list
EAXB21 board # 2 (2) Check the connection and insertion of the cable and connector
No. Code
2
- 541
Alarm list
No. Code
2 - 542
Alarm list
4155 COOLING FAN ER- 1 The EAXA21 / Connection failure (1) Reset the alarm.
ROR (BACKSIDE) EAXB21 board # 1 (2) Check the connection and insertion of the cable and connector
(2) Check the connection and insertion of the cable and connector
for the cooling fan.
No. Code
EAXB21 board # 2
generates an alarm.
(2) Check the connection and insertion of the cable and connector
for the cooling fan.
2
- 543
Alarm list
No. Code
2 - 544
Alarm list

No. Code
2
- 545
Alarm list
No. Code
2 - 546
Alarm list

4160 FUSE SUB Code: Signifies Loose fuse (1) Reset the alarm.
BLOWN(EARTH DE- the YFL unit number in (2) (1) Check the fuse(F21) in the YFL unit is not disconnected.
TECTOR) which the alarm oc-
curred.
Blown fuse Replace the fuse(F21) in the YFL unit.
Parts failure Replace the fuse(F21) in the YFL unit.
Unit failure (YFL) (1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YFL unit.
No. Code
4161 SAFETY RELAY ER- SUB Code: Signifies Connection failure (1) Reset the alarm.
ROR the YFL unit number in (2) If the alarm occurs again, check the connection and inserting
which the alarm oc- state of the following cables and connectors.
curred. ?CN609 in the YPU unit.
?No.1,2 of CN806 in the YFL unit.
Stick relay Replace the safety relay.
Parts failure Replace the safety relay.
4162 CIRCUIT SUB Code: Signifies Incorrect setting Check if the circuit protector is turned on.
TRIPPED(QFVIN) the YFL unit number in
which the alarm oc-
curred.
fault (2) If the alarm occurs again, check a short circuit or ground fault
has not occurred in external 24V power line.
Rated capacity over Check the capacity of external 24V power supply
·No.3,4 of CN806 in the YFL unit.
Unit failure Replace the External 24V power supply unit.
2
- 547
Alarm list
No. Code
2 - 548
Alarm list
TRIPPED(QFVOUT) the YFL unit number in

which the alarm oc-
curred.
has not occurred in external 24V power line.
Rated capacity over Check the capacity of external 24V power supply
Unit failure Replace the External 24V power supply unit.
TRIPPED(QFDS1) the YFL unit number in
which the alarm oc-
curred.
has not occurred in D-NET line.
Rated capacity over Check the capacity of D-NET 24V power supply.
No. Code
Unit failure Replace the D-NET 24V power supply unit.
TRIPPED(QFDS2) the YFL unit number in
which the alarm oc-
curred.
has not occurred in D-NET line.
Rated capacity over Check the capacity of D-NET 24V power supply.
Unit failure Replace the D-NET 24V power supply unit.
TRIPPED(QFTD1) the YFL unit number in
2
which the alarm oc-
curred.
- 549
Alarm list
No. Code
2 - 550
Alarm list

TRIPPED(OP- the YFL unit number in
TION:1) which the alarm oc-
curred.
TRIPPED(OP- the YFL unit number in
TION:2) which the alarm oc-
curred.
Parts failure Check the status of circuit protector.
No. Code
4169 I/O-EXPANSION SUB Code: Signifies Short circuit or ground (1) Reset the alarm.
BOARD ERROR:1 the YFL unit number in fault (2) Check the following settings.
which the alarm oc- ·DC24V output from I/O expansion board is correct.
curred. ·FU1 or FU2 fuse in I/O expansion board is not blown.
·A short circuit or ground fault has not occurred in IN/OUT line of I/
O expansion board.
Fuse blown (XOI) (1) Reset the alarm.
(2) Check DC24V output from I/O expansion board is correct.
(3) Replace the fuse(FU1,FU2) in I./O expansion board.
Unit failure (XOI) Check the I/O expansion board.
4170 I/O-EXPANSION SUB Code: Signifies Short circuit or ground (1) Reset the alarm.
BOARD ERROR:2 the YFL unit number in fault (2) Check the following setting.
which the alarm oc- (1) DC24V output from I/O expansion board. is correct.
curred. (2) FU1 or FU2 fuse in I/O expansion board is not blown.
2
(3) A short circuit or ground fault has not occurred in IN/OUT line
of I/O expansion board.
- 551
Alarm list
No. Code
2 - 552
Fuse blown (XOI) (1) Reset the alarm.
Alarm list
(2) Replace the fuse(FU1,FU2) in I./O expansion board.

Unit failure (XOI) (1) Reset the alarm.
(2) Check the I/O expansion board.
4171 RESERVED SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
ERROR1 the YFL unit number in (2) If the alarm occurs again, check the connection and inserting
curred. ·No.10,11 of CN809 in the YFL unit.
4172 RESERVED SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
ERROR2 the YFL unit number in (2) If the alarm occurs again, check the connection and inserting
curred. ·No.14,15 of CN809 in the YFL unit.
4173 FUSE BLOWN(RO- SUB Code: Signifies Blown fuse Replace the fuse(F1) in the YFL unit.
BOT ENCODER) the YFL unit number in
which the alarm oc-
curred.
has not occurred in encoder line between controller and robot.
No. Code
4174 FUSE BLOWN(EX- SUB Code: Signifies Blown fuse Replace the fuse(F2) in the YFL unit.
AXIS1 ENCODER) the YFL unit number in
which the alarm oc-
curred.
has not occurred in encoder line of ex-axis.
which the alarm oc-
curred.
2
- 553
Alarm list
No. Code
2 - 554
Alarm list

which the alarm oc-
curred.
4177 FUSE BLOWN(DI- SUB Code: Signifies Blown fuse Replace the fuse(F5) in the YFL unit.
RECT-IN) the YFL unit number in
which the alarm oc-
curred.
has not occurred in direct-in line.
No. Code
4178 FUSE SUB Code: Signifies Blown fuse Replace the fuse(F6) in the YFL unit.
BLOWN(SHOCK the YFL unit number in
SENSOR) which the alarm oc-
curred.
has not occurred in shock sensor or servo on lamp line.
4179 FUSE BLOWN(RO- SUB Code: Signifies Blown fuse Replace the fuse(F7) in the YFL unit.
BOT OVERRUN) the YFL unit number in
which the alarm oc-
curred.
has not occurred in overrun line of robot.
AXIS OT2-1) the YFL unit number in
which the alarm oc-
2
curred.
- 555
Alarm list
No. Code
2 - 556
Alarm list
has not occurred in overrun line of ex-axis.
which the alarm oc-
curred.
which the alarm oc-
curred.
No. Code
BLOWN(BRAKE:1) the YFL unit number in
which the alarm oc-
curred.
has not occurred in brake line.
which the alarm oc-
curred.
2
- 557
Alarm list
No. Code
2 - 558
Alarm list

which the alarm oc-
curred.
which the alarm oc-
curred.
which the alarm oc-
curred.
No. Code
which the alarm oc-
curred.
which the alarm oc-
curred.
2
- 559
Alarm list
No. Code
2 - 560
Alarm list

which the alarm oc-
curred.
which the alarm oc-
curred.
No. Code
4200 SYSTEM ER- SUB code 01 to 50: Data error (1) Reset the alarm.
ROR(FILE DATA) Signifies the internal (2) If the alarm occurs again, turn the controller power OFF and
software error then ON to check the operation.
ory device.
4201 SYSTEM ER- -1 An error occurred dur- Software operation er- Reset the alarm, and then try again.
ROR(JOB) ing the access to a job ror occurred
in parameter specifi-
cations.
YIF01 board failure (1) Reset the alarm, and then try again.
curred.
YCP21 board failure (1) Reset the alarm, and then try again.
-2 Access time exceeded Software operation er- Reset the alarm, and then try again.
the limit during the ac- ror occurred
cess to a job.
2
- 561
Alarm list
No. Code
2 - 562
Alarm list
curred.
-3 The access to a job Software operation er- Reset the alarm, and then try again.
could not be per- ror occurred
formed with the speci-
fied job name.
curred.
No. Code
-4 A job was newly creat- Software operation er- Reset the alarm, and then try again.
ed with the same ror occurred
name of the job al-
ready specified in the
memory.
curred.
-5 A job was newly creat- Software operation er- Reset the alarm, and then try again.
ed with the same ror occurred
name of the job al-
ready specified in the
memory.
curred.
2
- 563
Alarm list
No. Code
2 - 564
Alarm list

-6 The allowable job reg- Setting error (1) Check the following settings.
istration area (memo- ·Delete unused jobs.
ry) was exceeded.
-7 A job that did not exist Software operation er- Reset the alarm, and then try again.
in the memory was ror occurred
specified.
curred.
-8 An attempt was made Setting error (1) Check the following settings.
to change the contents ·Release the prohibition.
for the job prohibited
from being edited.
No. Code
-9 An error occurred dur- Software operation er- Reset the alarm, and then try again.
ing the access to a job ror occurred
in handle value.
curred.
-10 An error occurred in Software operation er- Reset the alarm, and then try again.
job data control sys- ror occurred
tem.
curred.
2
- 565
Alarm list
No. Code
2 - 566
Alarm list
sequence number of ror occurred

the accessed job.
curred.
step number of the ac- ror occurred
cessed job.
curred.
No. Code
-13 A job specified at job Software operation er- Reset the alarm, and then try again.
search did not exist in ror occurred
the memory.
curred.
-14 There was an instruc- Software operation er- Reset the alarm, and then try again.
tion that did not exist in ror occurred
a job because of in-
consistency of the sys-
tem software.
curred.
2
- 567
Alarm list
No. Code
2 - 568
Alarm list

-16 Unused handles were Software operation er- Reset the alarm, and then try again.
lacking when an at- ror occurred
tempt was made to
open a job.
curred.
-18 The number of instruc- Setting error (1) Check the following settings.
tions added to a job ·Delete unnecessary instructions and add new instructions again.
exceeded 9999.
-19 The number of steps Setting error (1) Check the following settings.
added to a job exceed- Delete unnecessary steps and add new steps again.
ed 999.
No. Code
-22 Job information was Software operation er- Reset the alarm, and then try again.
not able to be expand- ror occurred
ed.
curred.
-23 Job information was Software operation er- Reset the alarm, and then try again.
not able to be ac- ror occurred
quired.
curred.
2
- 569
Alarm list
No. Code
2 - 570
Alarm list
cluster control. ror occurred

curred.
-25 Failed to read the clus- Software operation er- Reset the alarm, and then try again.
ter information. ror occurred
curred.
-26 Heap area could not Software operation er- Reset the alarm, and then try again.
be obtained. ror occurred
No. Code
curred.
-90 The configuration data Software operation er- Reset the alarm, and then try again.
is damaged. ror occurred
curred.
-91 The FAT area is dam- Software operation er- Reset the alarm, and then try again.
aged. ror occurred
2
- 571
Alarm list
No. Code
2 - 572
Alarm list
curred.
-92 A job data in the mem- Software operation er- Reset the alarm, and then try again.
ory was destroyed. ror occurred
curred.
No. Code
4202 SYSTEM ER- 1 An error occurred in Software operation er- (1) Reset the alarm.
ROR(JOB) parameter specifica- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
tions for the access to curred.
a job. (3) If the error occurs again after the previous measures were ex-
load the saved job file.
2 Access time exceeded Software operation er- (1) Reset the alarm.
the limit during the ac- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
cess to a job. curred.
3 Unapproved charac- Software operation er- (1) Reset the alarm.
ters are used for a job ror occurred (2) If the error occurs again, delete the job where the alarm oc-
name. curred.
2
- 573
Alarm list
No. Code
2 - 574
4 A job was newly creat- Software operation er- (1) Reset the alarm.
Alarm list
ed with the same ror occurred (2) If the error occurs again, delete the job where the alarm oc-
name of the job al- curred.
ready specified in the (3) If the error occurs again after the previous measures were ex-
memory. ecuted, initialize the job file in the maintenance mode, and then
name of the job al- curred.
ready specified in the (3) If the error occurs again after the previous measures were ex-
memory. ecuted, initialize the job file in the maintenance mode, and then
6 The allowable job reg- Software operation er- (1) Reset the alarm.
istration area (memo- ror occurred (2) If the error occurs again, delete unused jobs.
ry) was exceeded. (3) If the error occurs again after the previous measures were ex-
No. Code
7 A job that did not exist Software operation er- (1) Reset the alarm.
in the memory was ror occurred (2) If the error occurs again, delete the job where the alarm oc-
specified. curred.
8 An attempt was made Setting error (1) Check the following settings.
to change the contents ·Setting of EDIT LOCK in JOB header screen
for the job prohibited If the job is protected from editing, release the prohibition.
from being edited.
Software operation er- (1) Reset the alarm.
ror occurred (2) If you edit this job, release the prohibition.
(3) If the error occurs again, delete the job where the alarm oc-
curred.
(4)If the error occurs again after the previous measures were exe-
cuted, initialize the job file in the maintenance mode, and then load
the saved job file.
to change the contents ·Setting of EDIT LOCK in JOB header screen
for the job prohibited If the job is protected from editing, release the prohibition.
from being edited.
2
- 575
Alarm list
No. Code
2 - 576
Alarm list
ror occurred (2) If you edit this job, release the prohibition.
(3) If the error occurs again, delete the job where the alarm oc-
curred.
(4)If the error occurs again after the previous measures were exe-
cuted, initialize the job file in the maintenance mode, and then load
the saved job file.
10 An error occurred in Software operation er- (1) Reset the alarm.
job data control sys- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
tem. curred.
sequence number of ror occurred (2) If the error occurs again, delete the job where the alarm oc-
the accessed job. curred.
No. Code
step number of the ac- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
cessed job. curred.
13 A job specified at job Software operation er- (1) Reset the alarm.
search did not exist in ror occurred (2) If the error occurs again, delete the job where the alarm oc-
the memory. curred.
14 There was an instruc- Software operation er- (1) Reset the alarm.
tion that did not exist in ror occurred (2) If the error occurs again, delete the job where the alarm oc-
a job because of in- curred.
consistency of the sys- (3) If the error occurs again after the previous measures were ex-
tem software. ecuted, initialize the job file in the maintenance mode, and then
16 Unused handles were Setting error (1) Check the following settings.
lacking when an at- ·The number of call job stacks
2
tempt was made to Set the job configuration that decreases the number of call job
open a job. stacks.
- 577
Alarm list
No. Code
2 - 578
Alarm list
ror occurred (2) If the error occurs again, delete the job where the alarm oc-
curred.
18 The number of instruc- Setting error (1) Check the following settings.
tions added to a job ·The number of steps in job
exceeded 9999. Delete unnecessary instructions in job and add new instructions.
curred.
19 The number of steps Setting error (1) Check the following settings.
added to a job exceed- ·The number of steps in job
ed 9999. Delete unnecessary steps in job and add new steps.
No. Code
curred.
name of the undefined curred.
job already specified (3) If the error occurs again after the previous measures were ex-
in the memory. ecuted, initialize the job file in the maintenance mode, and then
22 Failed to expand job Software operation er- (1) Reset the alarm.
information during the ror occurred (2) If the error occurs again, delete the job where the alarm oc-
access to a job. curred.
2
- 579
Alarm list
No. Code
2 - 580
23 The accessed job was Software operation er- (1) Reset the alarm.
Alarm list
not opened. ror occurred (2) If the error occurs again, delete the job where the alarm oc-
curred.
the cluster control pro- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
cess of the accessed curred.
job. (3) If the error occurs again after the previous measures were ex-
25 An error occurred Software operation er- (1) Reset the alarm.
when reading the clus- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
ter information of the curred.
accessed job. (3) If the error occurs again after the previous measures were ex-
No. Code
26 Failed to acquire the Software operation er- (1) Reset the alarm.
necessary memory ror occurred (2) If the error occurs again, delete the job where the alarm oc-
area during the access curred.
to a job. (3) If the error occurs again after the previous measures were ex-
90 The configuration in- Software operation er- (1) Reset the alarm.
formation for job data ror occurred (2) If the error occurs again, delete the job where the alarm oc-
control is damaged. curred.
91 The FAT information Software operation er- (1) Reset the alarm.
for job data is dam- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
aged. curred.
2
- 581
Alarm list
No. Code
2 - 582
92 A job data was de- Software operation er- (1) Reset the alarm.
Alarm list
stroyed. ror occurred (2) If the error occurs again, delete the job where the alarm oc-
curred.
99 A job data in the mem- Software operation er- (1) Reset the alarm.
ory was destroyed. ror occurred (2) If the error occurs again, delete the job where the alarm oc-
curred.
4203 SYSTEM ER- -1 The memory area for Software operation er- Reset the alarm, and then try again.
ROR(POSITION DA- position data is lacking ror occurred
TA) at the initialization of
the position data con-
trol process.
curred.
No. Code
-2 The number of axes Software operation er- Reset the alarm, and then try again.
for all the control ror occurred
groups is zero at the
initialization of the po-
sition data control pro-
cess.
curred.
for position data is ze- ror occurred
ro.
2
- 583
Alarm list
No. Code
2 - 584
Alarm list
curred.
-4 The number of stored Software operation er- Reset the alarm, and then try again.
position data exceed- ror occurred
ed the maximum
stored data at the ini-
tialization of the posi-
tion data control
process.
curred.
No. Code
-5 The memory size of Software operation er- Reset the alarm, and then try again.
the position data ex- ror occurred
ceeded the maximum
memory size at the ini-
tialization of the posi-
tion data control
process.
curred.
-6 Unused position data Software operation er- Reset the alarm, and then try again.
file is destroyed. ror occurred
curred.
2
- 585
Alarm list
No. Code
2 - 586
Alarm list

-7 Unused position data Software operation er- Reset the alarm, and then try again.
file does not exist. ror occurred
curred.
-8 Position data file is de- Software operation er- Reset the alarm, and then try again.
stroyed. ror occurred
curred.
No. Code
-9 Position data control Software operation er- Reset the alarm, and then try again.
information is de- ror occurred
stroyed.
curred.
specified position data ror occurred
number.
curred.
2
- 587
Alarm list
No. Code
2 - 588
Alarm list

-11 Position data is not Software operation er- Reset the alarm, and then try again.
registered. ror occurred
curred.
-12 An attempt was made Software operation er- Reset the alarm, and then try again.
to access the unde- ror occurred
fined position data.
curred.
No. Code
-13 An attempt was made Software operation er- Reset the alarm, and then try again.
to access the position ror occurred
data for the undefined
control group.
curred.
-14 Position data control is Software operation er- Reset the alarm, and then try again.
not initialized. ror occurred
curred.
2
- 589
Alarm list
No. Code
2 - 590
Alarm list

for the control groups ror occurred
exceeded the limit.
curred.
exclusive control?dur- ror occurred
ing the position data
control process.
curred.
No. Code
exceptional control ror occurred
during the position
data control process.
curred.
-20 Inconsistency of data. Software operation er- Reset the alarm, and then try again.
ror occurred
2
curred.
- 591
Alarm list
No. Code
2 - 592
Alarm list
4204 SYSTEM ER- 1 The number of axes Software operation er- (1) Reset the alarm.
ROR(POSITION DA- for all the control ror occurred (2) If the error occurs again, delete the job where the alarm oc-
TA) groups is zero at the curred.
initialization of the po- (3) If the error occurs again after the previous measures were ex-
sition data control pro- ecuted, initialize the job file in the maintenance mode, and then
cess load the saved job file.
2 The number of axes Software operation er- (1) Reset the alarm.
for all the control ror occurred (2) If the error occurs again, delete the job where the alarm oc-
groups is zero at the curred.
initialization of the po- (3) If the error occurs again after the previous measures were ex-
sition data control pro- ecuted, initialize the job file in the maintenance mode, and then
cess load the saved job file.
No. Code
for position data is ze- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
ro. curred.
4 The number of stored Software operation er- (1) Reset the alarm.
position data exceed- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
ed the maximum curred.
stored data at the ini- (3) If the error occurs again after the previous measures were ex-
tialization of the posi- ecuted, initialize the job file in the maintenance mode, and then
tion data control load the saved job file.
process. (4)If the error occurs again though the previous measures were
5 The memory size of Software operation er- (1) Reset the alarm.
the position data ex- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
ceeded the maximum curred.
memory size at the ini- (3) If the error occurs again after the previous measures were ex-
tialization of the posi- ecuted, initialize the job file in the maintenance mode, and then
tion data control load the saved job file.
process. (4)If the error occurs again though the previous measures were
2
- 593
Alarm list
No. Code
2 - 594
6 Unused position data Software operation er- (1) Reset the alarm.
Alarm list
file is destroyed. ror occurred (2) If the error occurs again, delete the job where the alarm oc-
curred.
7 Unused position data Setting error (1) Check the following settings.
file does not exist. ·The number of steps in job (position data)
Delete unnecessary position data in job and add new position da-
ta.
curred.
8 Position data file is de- Software operation er- (1) Reset the alarm.
stroyed. ror occurred (2) If the error occurs again, delete the job where the alarm oc-
curred.
No. Code
9 Position data control Software operation er- (1) Reset the alarm.
information is de- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
stroyed. curred.
specified position data ror occurred (2) If the error occurs again, delete the job where the alarm oc-
number. curred.
11 Position data is not Setting error (1) Check the following settings.
registered. ·Teaching of alarm occurred point
Teaching the point where alarm occurred.
curred.
2
- 595
Alarm list
No. Code
2 - 596
12 An attempt was made Software operation er- (1) Reset the alarm.
Alarm list
to access the unde- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
fined position data. curred.
13 An attempt was made Software operation er- (1) Reset the alarm.
to access the position ror occurred (2) If the error occurs again, delete the job where the alarm oc-
data for the undefined curred.
control group. (3) If the error occurs again after the previous measures were ex-
14 Position data control is Software operation er- (1) Reset the alarm.
not initialized. ror occurred (2) If the error occurs again, delete the job where the alarm oc-
curred.
No. Code
for the control groups ror occurred (2) If the error occurs again, delete the job where the alarm oc-
exceeded the limit. curred.
exclusive control?dur- ror occurred (2) If the error occurs again, delete the job where the alarm oc-
ing the position data curred.
control process. (3) If the error occurs again after the previous measures were ex-
exceptional control ror occurred (2) If the error occurs again, delete the job where the alarm oc-
during the position curred.
data control process. (3) If the error occurs again after the previous measures were ex-
2
- 597
Alarm list
No. Code
2 - 598
20 Undefined position ex- Software operation er- (1) Reset the alarm.
Alarm list
ists. ror occurred (2) If the error occurs again, delete the job where the alarm oc-
curred.
4206 SYSTEM ER- SUB Code 1 to 4: Sig- Software operation er- (1) Turn the power OFF then back ON.
ROR(TRANSMIS- nifies the internal soft- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
SION) ware error during data mode, and then contact your YASKAWA representative about oc-
transmission. currence status (operating procedure).
4207 SYSTEM ER- 1 An interrupt undefined Software operation er- (1) Reset the alarm, and then try again.
ROR(MOTION) in the main command ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
from the system con- mode, and then contact your YASKAWA representative about oc-
trol section occurred. currence status (operating procedure).
2 An interrupt undefined Software operation er- (1) Reset the alarm, and then try again.
in the SUB command ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
from the system con- mode, and then contact your YASKAWA representative about oc-
trol section occurred. currence status (operating procedure).
3 The interrupt com- Software operation er- (1) Reset the alarm, and then try again.
mand that was sent ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
previously from the mode, and then contact your YASKAWA representative about oc-
system control section currence status (operating procedure).
is being processed.
4 An error was detected Software operation er- (1) Reset the alarm, and then try again.
in the interrupt com- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mand data from the mode, and then contact your YASKAWA representative about oc-
system control sec- currence status (operating procedure).
tion.
No. Code
5 An undefined com- Software operation er- (1) Reset the alarm, and then try again.
mand was detected in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the SUB segment task mode, and then contact your YASKAWA representative about oc-
of MOTION section. currence status (operating procedure).
the servo-related pro- mode, and then contact your YASKAWA representative about oc-
cessing of MOTION currence status (operating procedure).
section.
the offline processing mode, and then contact your YASKAWA representative about oc-
task of MOTION sec- currence status (operating procedure).
tion.
the utility task of MO- mode, and then contact your YASKAWA representative about oc-
TION section. currence status (operating procedure).
10 Task Token is not gen- Software operation er- (1) Reset the alarm, and then try again.
erated. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
11 Mail-box Token is not Software operation er- (1) Reset the alarm, and then try again.
generated. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
12 Semaphore Token is Software operation er- (1) Reset the alarm, and then try again.
not generated. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 599
Alarm list
No. Code
2 - 600
14 RMS receiving data Software operation er- (1) Reset the alarm, and then try again.
Alarm list
error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
15 RMS sending data er- Software operation er- (1) Reset the alarm, and then try again.
ror ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
16 RMS receiving unit er- Software operation er- (1) Reset the alarm, and then try again.
18 Task generation error Software operation er- (1) Reset the alarm, and then try again.
19 Mail-box generation Software operation er- (1) Reset the alarm, and then try again.
20 Semaphore genera- Software operation er- (1) Reset the alarm, and then try again.
tion error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
22 TCB area overflow Software operation er- (1) Reset the alarm, and then try again.
23 Stack area overflow Software operation er- (1) Reset the alarm, and then try again.
No. Code
24 Mail-box area overflow Software operation er- (1) Reset the alarm, and then try again.
25 Semaphore area over- Software operation er- (1) Reset the alarm, and then try again.
flow ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
30 Interrupt main com- Software operation er- (1) Reset the alarm, and then try again.
mand error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
33 Incorrect control group Software operation er- (1) Reset the alarm, and then try again.
designation ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
34 Offline bank sema- Software operation er- (1) Reset the alarm, and then try again.
phore reception error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
35 m_gen_area sema- Software operation er- (1) Reset the alarm, and then try again.
phore reception error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
36 Offline HA processing Software operation er- (1) Reset the alarm, and then try again.
timeout ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
37 DM_BANK flag error Software operation er- (1) Reset the alarm, and then try again.
(DM_BANK conver- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
sion processing) mode, and then contact your YASKAWA representative about oc-
- 601
Alarm list
No. Code
2 - 602
38 S -> M offline process- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
ing command type error occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ror mode, and then contact your YASKAWA representative about oc-
39 Function specification Software operation er- (1) Reset the alarm, and then try again.
error in the data trans- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mission to the sensor mode, and then contact your YASKAWA representative about oc-
board currence status (operating procedure).
40 Error in designation of Software operation er- (1) Reset the alarm, and then try again.
application in the re- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
quest of general-pur- mode, and then contact your YASKAWA representative about oc-
pose data preset for currence status (operating procedure).
each application.
45 Mail-box of sequence Software operation er- (1) Reset the alarm, and then try again.
task is not ready. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
46 Control-group usage Software operation er- (1) Reset the alarm, and then try again.
undefined ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
47 Segment task polling Software operation er- (1) Reset the alarm, and then try again.
command error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
48 Physical axis number Software operation er- (1) Reset the alarm, and then try again.
No. Code
49 The control group im- Software operation er- (1) Reset the alarm, and then try again.
possible to release the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
brake mode, and then contact your YASKAWA representative about oc-
50 SUB-segment re- Software operation er- (1) Reset the alarm, and then try again.
quest FULL ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
51 SUB-segment process Software operation er- (1) Reset the alarm, and then try again.
52 Data latch request Software operation er- (1) Reset the alarm, and then try again.
FULL ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
53 Data latch process Software operation er- (1) Reset the alarm, and then try again.
54 AXIS command re- Software operation er- (1) Reset the alarm, and then try again.
55 AXIS command pro- Software operation er- (1) Reset the alarm, and then try again.
cess timeout ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
56 Positioning monitor re- Software operation er- (1) Reset the alarm, and then try again.
2
- 603
Alarm list
No. Code
2 - 604
57 Positioning monitor Software operation er- (1) Reset the alarm, and then try again.
Alarm list
process timeout ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
58 Failed AXIS servo Software operation er- (1) Reset the alarm, and then try again.
OFF command re- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
quest during mode, and then contact your YASKAWA representative about oc-
category1 emergency currence status (operating procedure).
stop
59 AXIS servo OFF com- Software operation er- (1) Reset the alarm, and then try again.
mand execution sys- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tem not set during mode, and then contact your YASKAWA representative about oc-
category1 emergency currence status (operating procedure).
stop
61 Conversion primary Software operation er- (1) Reset the alarm, and then try again.
expression for Power ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
Source command <-> mode, and then contact your YASKAWA representative about oc-
EW command not pre- currence status (operating procedure).
pared
62 Duplicated request er- Software operation er- (1) Reset the alarm, and then try again.
ror during master con- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
trol-group tracking mode, and then contact your YASKAWA representative about oc-
63 GVM shared resource Software operation er- (1) Reset the alarm, and then try again.
semaphore error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
64 Job queue DEQUE er- Software operation er- (1) Reset the alarm, and then try again.
No. Code
65 Conversion primary Software operation er- (1) Reset the alarm, and then try again.
expression for painting ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
device command <-> mode, and then contact your YASKAWA representative about oc-
EW command not pre- currence status (operating procedure).
pared
66 Execution system de- Software operation er- (1) Reset the alarm, and then try again.
cision table not set ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
67 Unknown mode data Software operation er- (1) Reset the alarm, and then try again.
(Without TEACH/ ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
PLAY mode data) mode, and then contact your YASKAWA representative about oc-
68 Shift-value output Software operation er- (1) Reset the alarm, and then try again.
timeout of the general- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
purpose sensor mode, and then contact your YASKAWA representative about oc-
69 Interrupt main status Software operation er- (1) Reset the alarm, and then try again.
set ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
71 System number error Software operation er- (1) Reset the alarm, and then try again.
at the master side in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
twin synchronous sys- mode, and then contact your YASKAWA representative about oc-
tem currence status (operating procedure).
72 No data link added to Software operation er- (1) Reset the alarm, and then try again.
the command ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 605
Alarm list
No. Code
2 - 606
73 Setting status error of Software operation er- (1) Reset the alarm, and then try again.
Alarm list
the user coordinates ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
file mode, and then contact your YASKAWA representative about oc-
75 Previous path data ref- Software operation er- (1) Reset the alarm, and then try again.
erence error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
76 Target position prepa- Software operation er- (1) Reset the alarm, and then try again.
ration error in arc-retry ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
shift motion mode mode, and then contact your YASKAWA representative about oc-
79 Inner track zone status Software operation er- (1) Reset the alarm, and then try again.
80 Instruction queue and Software operation er- (1) Reset the alarm, and then try again.
instruction system ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
data area overflow mode, and then contact your YASKAWA representative about oc-
81 Offline answer bank Software operation er- (1) Reset the alarm, and then try again.
flag error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
82 Path and trace queue Software operation er- (1) Reset the alarm, and then try again.
ENQUE BANK error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
83 Pending and block Software operation er- (1) Reset the alarm, and then try again.
end request FULL ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
84 Base axis file type er- Software operation er- (1) Reset the alarm, and then try again.
85 Output buffer SYS- Software operation er- (1) Reset the alarm, and then try again.
CON for automatic ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
test data in use mode, and then contact your YASKAWA representative about oc-
86 Conversion comple- Software operation er- (1) Reset the alarm, and then try again.
tion status for AXIS ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
section feedback latch mode, and then contact your YASKAWA representative about oc-
data not established currence status (operating procedure).
88 File C1 through C3 for Software operation er- (1) Reset the alarm, and then try again.
calibration between ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
manipulators not set mode, and then contact your YASKAWA representative about oc-
89 File C1 through C3 for Software operation er- (1) Reset the alarm, and then try again.
conveyor calibration ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
not set mode, and then contact your YASKAWA representative about oc-
90 HA function error Setting error (1) Check the following settings.
(conv_pos_data()) ·Correct the job so that the target position data is within the motion
range.
91 HA function error Setting error (1) Check the following settings.
(conv_shift_data()) ·Correct the job so that the target position data is within the motion
range.
2
- 607
Alarm list
No. Code
2 - 608
94 HA function error Software operation er- (1) Reset the alarm, and then try again.
Alarm list
(conv_pulse_to_angle ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
()) mode, and then contact your YASKAWA representative about oc-
(pr_atinf_pos_make()) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
(get_gun_ctrl_ori_ang ror occurred (3) If the alarm occurs again, save the CMOS.BIN in maintenance
le()) mode, and then contact your YASKAWA representative about oc-
(make_conv_frm_data ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
()) mode, and then contact your YASKAWA representative about oc-
(calc_dist_pos()) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
100 Control-group axis Software operation er- (1) Reset the alarm, and then try again.
configuration informa- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion parameter error mode, and then contact your YASKAWA representative about oc-
101 Error in the parameter Software operation er- (1) Reset the alarm, and then try again.
for the table for physi- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cal axes mode, and then contact your YASKAWA representative about oc-
102 Error in the parameter Software operation er- (1) Reset the alarm, and then try again.
for the table for physi- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cal TU mode, and then contact your YASKAWA representative about oc-
No. Code
103 Excessive number of Software operation er- (1) Reset the alarm, and then try again.
control group axes in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
use mode, and then contact your YASKAWA representative about oc-
104 JOG and PLAY maxi- Software operation er- (1) Reset the alarm, and then try again.
mum speed setting ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
parameter error mode, and then contact your YASKAWA representative about oc-
121 Job argument stack Software operation er- (1) Reset the alarm, and then try again.
overflow ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
122 Job argument stack Software operation er- (1) Reset the alarm, and then try again.
underflow ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
123 Designation error of Software operation er- (1) Reset the alarm, and then try again.
the fetched feedback ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
pulse area at prepara- mode, and then contact your YASKAWA representative about oc-
tion of current value currence status (operating procedure).
128 Timeout for waiting Software operation er- (1) Reset the alarm, and then try again.
permission to modify ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the number of averag- mode, and then contact your YASKAWA representative about oc-
ing times currence status (operating procedure).
129 Object undefined for Software operation er- (1) Reset the alarm, and then try again.
CLEAR instruction ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
130 No space in RT_BANK Software operation er- (1) Reset the alarm, and then try again.
setting area for correc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
tion-amount data mode, and then contact your YASKAWA representative about oc-
- 609
Alarm list
No. Code
2 - 610
131 Queue operation error Software operation er- (1) Reset the alarm, and then try again.
Alarm list
for variable write-in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
history at pre-reading mode, and then contact your YASKAWA representative about oc-
(at ENQUE) currence status (operating procedure).
(at DEQUE) currence status (operating procedure).
(undefined operation) currence status (operating procedure).
(data length too long) currence status (operating procedure).
for score-board setting ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
history (at ENQUE) mode, and then contact your YASKAWA representative about oc-
history (at DEQUE) mode, and then contact your YASKAWA representative about oc-
history (undefined op- mode, and then contact your YASKAWA representative about oc-
eration) currence status (operating procedure).
history (data length mode, and then contact your YASKAWA representative about oc-
too long) currence status (operating procedure).
No. Code
for instruction execu- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion (at ENQUE) mode, and then contact your YASKAWA representative about oc-
tion (at DEQUE) mode, and then contact your YASKAWA representative about oc-
tion (undefined opera- mode, and then contact your YASKAWA representative about oc-
tion) currence status (operating procedure).
tion (data length too mode, and then contact your YASKAWA representative about oc-
long) currence status (operating procedure).
for WORK ID convey- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
or (at ENQUE) mode, and then contact your YASKAWA representative about oc-
or (at DEQUE) mode, and then contact your YASKAWA representative about oc-
or (undefined opera- mode, and then contact your YASKAWA representative about oc-
tion) currence status (operating procedure).
2
or (data length too mode, and then contact your YASKAWA representative about oc-
long) currence status (operating procedure).
- 611
Alarm list
No. Code
2 - 612
Alarm list
for WORK IN/OUT ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
checking conveyor (at mode, and then contact your YASKAWA representative about oc-
ENQUE) currence status (operating procedure).
checking conveyor (at mode, and then contact your YASKAWA representative about oc-
DEQUE) currence status (operating procedure).
checking conveyor mode, and then contact your YASKAWA representative about oc-
(undefined operation) currence status (operating procedure).
checking conveyor mode, and then contact your YASKAWA representative about oc-
(data length too long) currence status (operating procedure).
for waiting for sema- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
phore for LOCK in- mode, and then contact your YASKAWA representative about oc-
struction (at ENQUE) currence status (operating procedure).
struction (at DEQUE) currence status (operating procedure).
struction (undefined currence status (operating procedure).
operation)
No. Code
struction (data length currence status (operating procedure).
too long)
221 Transfer data overflow Software operation er- (1) Reset the alarm, and then try again.
in offline data bank ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
222 Impossible to execute Software operation er- (1) Reset the alarm, and then try again.
system exclusive for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
system job mode, and then contact your YASKAWA representative about oc-
223 Event queue number Software operation er- (1) Reset the alarm, and then try again.
range exceeded ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
224 No motor-gun control Software operation er- (1) Reset the alarm, and then try again.
group for ESRCH in- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
struction mode, and then contact your YASKAWA representative about oc-
225 The number of WORK Software operation er- (1) Reset the alarm, and then try again.
ID data and the MAX. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
WORK FIND COUNT mode, and then contact your YASKAWA representative about oc-
unmatched (MOTION currence status (operating procedure).
≠ CV)
226 The number of WORK Software operation er- (1) Reset the alarm, and then try again.
IN/OUT data and the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
MAX. WORK FIND mode, and then contact your YASKAWA representative about oc-
COUNT unmatched currence status (operating procedure).
(MOTION ≠ CV)
2
- 613
Alarm list
No. Code
2 - 614
227 Excessive number of Software operation er- (1) Reset the alarm, and then try again.
Alarm list
scheduling for execu- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion of instructions mode, and then contact your YASKAWA representative about oc-
228 Instruction execution Software operation er- (1) Reset the alarm, and then try again.
scheduling impossible ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
229 Illegal 1st-line move Software operation er- (1) Reset the alarm, and then try again.
instruction at execu- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion of +SMOV instruc- mode, and then contact your YASKAWA representative about oc-
tion currence status (operating procedure).
the slave circular inter- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
polation and the mas- mode, and then contact your YASKAWA representative about oc-
ter circular currence status (operating procedure).
interpolation at the
same time
the slave spline inter- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
polation and the mas- mode, and then contact your YASKAWA representative about oc-
ter spline interpolation currence status (operating procedure).
at the same time
232 Illegal index value for Software operation er- (1) Reset the alarm, and then try again.
a +MOVx instruction ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
233 No xth-line move in- Software operation er- (1) Reset the alarm, and then try again.
struction exists where ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the master control mode, and then contact your YASKAWA representative about oc-
group belongs. currence status (operating procedure).
No. Code
234 Marking error for Software operation er- (1) Reset the alarm, and then try again.
WORK ID conveyor ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
queue (empty queue) mode, and then contact your YASKAWA representative about oc-
235 Marking error for Software operation er- (1) Reset the alarm, and then try again.
WORK IN/OUT con- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
veyor queue (empty mode, and then contact your YASKAWA representative about oc-
queue) currence status (operating procedure).
236 Data error 1 at restart- Software operation er- (1) Reset the alarm, and then try again.
ing after an emergen- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cy stop (actual status mode, and then contact your YASKAWA representative about oc-
and the data status un- currence status (operating procedure).
matched)
matched)
matched)
239 Timeout for receiving Software operation er- (1) Reset the alarm, and then try again.
segment data output ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
request mode, and then contact your YASKAWA representative about oc-
240 The number which Software operation er- (1) Reset the alarm, and then try again.
designates the setting ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
area of correction mode, and then contact your YASKAWA representative about oc-
amount in RT_BANK currence status (operating procedure).
2
exceeded the limit val-
ue.
- 615
Alarm list
No. Code
2 - 616
241 Task error of the func- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
tion calling source ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
(cv_sync_intr ( )) mode, and then contact your YASKAWA representative about oc-
242 No control group for Software operation er- (1) Reset the alarm, and then try again.
motor gun for clear- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ance move instruction mode, and then contact your YASKAWA representative about oc-
243 Motor gun condition Software operation er- (1) Reset the alarm, and then try again.
file number error (in- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cluding gun pressure mode, and then contact your YASKAWA representative about oc-
file) currence status (operating procedure).
244 GETTOOLW manipu- Software operation er- (1) Reset the alarm, and then try again.
lator designation error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
245 Overflow of entry num- Software operation er- (1) Reset the alarm, and then try again.
ber for instruction exe- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cution mode, and then contact your YASKAWA representative about oc-
246 Data latch processing Software operation er- (1) Reset the alarm, and then try again.
(function number over- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
flow) mode, and then contact your YASKAWA representative about oc-
247 Data latch processing Software operation er- (1) Reset the alarm, and then try again.
(real-time status num- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ber overflow) mode, and then contact your YASKAWA representative about oc-
248 Failed to set a timer Software operation er- (1) Reset the alarm, and then try again.
unit. (No allocation ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
space for timer unit mode, and then contact your YASKAWA representative about oc-
setting) currence status (operating procedure).
No. Code
249 Segment data missing Software operation er- (1) Reset the alarm, and then try again.
(seg_t_req was not re- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ceived in time.) mode, and then contact your YASKAWA representative about oc-
250 GETS instruction in- Software operation er- (1) Reset the alarm, and then try again.
ternal error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
251 SETFILE undefined Software operation er- (1) Reset the alarm, and then try again.
file ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
252 GETFILE undefined Software operation er- (1) Reset the alarm, and then try again.
file ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
253 The parameter was Software operation er- (1) Reset the alarm, and then try again.
destroyed when a ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
GETPRM instruction mode, and then contact your YASKAWA representative about oc-
was executed. currence status (operating procedure).
254 Null pointer assign- Software operation er- (1) Reset the alarm, and then try again.
ment detected ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
255 Function or other pro- Software operation er- (1) Reset the alarm, and then try again.
cessing parameter error occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
260 Arithmetic answer is Software operation er- (1) Reset the alarm, and then try again.
not set at pre-reading ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
(ADV_HA_ANS.flag mode, and then contact your YASKAWA representative about oc-
== OFF) currence status (operating procedure).
- 617
Alarm list
No. Code
2 - 618
261 Heap area obtainment Software operation er- (1) Reset the alarm, and then try again.
Alarm list
failure (A_BANK) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
failure (C_BANK) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
failure (Instruction ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
queue) mode, and then contact your YASKAWA representative about oc-
failure (Path/trace ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
queue) mode, and then contact your YASKAWA representative about oc-
279 Specified MSS system Software operation er- (1) Reset the alarm, and then try again.
instance is not gener- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ated. mode, and then contact your YASKAWA representative about oc-
280 API error Software operation er- (1) Reset the alarm, and then try again.
(HDAS_get_alias_na ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
me()) mode, and then contact your YASKAWA representative about oc-
284 GA generation num- Software operation er- (1) Reset the alarm, and then try again.
ber is over the limit. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
285 GA gene number is Software operation er- (1) Reset the alarm, and then try again.
over the limit. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
286 GA initial generation Software operation er- (1) Reset the alarm, and then try again.
number setting error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
287 GA control group error Software operation er- (1) Reset the alarm, and then try again.
(get_svspot_ntch_dat ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
a()) mode, and then contact your YASKAWA representative about oc-
500 SL undefined interrupt Software operation er- (1) Reset the alarm, and then try again.
command (main com- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mand) mode, and then contact your YASKAWA representative about oc-
501 SL undefined interrupt Software operation er- (1) Reset the alarm, and then try again.
command (SUB com- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mand) mode, and then contact your YASKAWA representative about oc-
502 Previous SL interrupt Software operation er- (1) Reset the alarm, and then try again.
command processing ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
503 SL interrupt command Software operation er- (1) Reset the alarm, and then try again.
data error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
999 Arithmetic section er- Software operation er- (1) Reset the alarm, and then try again.
ror (segment data all ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
zero timeout) mode, and then contact your YASKAWA representative about oc-
- 619
Alarm list
No. Code
2 - 620
1000 System clock (RTC) Software operation er- (1) Reset the alarm, and then try again.
Alarm list
setting error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1001 System task priority Software operation er- (1) Reset the alarm, and then try again.
arrangement error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1002 VxWorks primitive er- Software operation er- (1) Reset the alarm, and then try again.
ror (msgQCreate) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ror (msgQSend) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ror (semBCreate) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ror (semTake) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1100 Failed system job en- Software operation er- (1) Reset the alarm, and then try again.
vironment configura- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion mode, and then contact your YASKAWA representative about oc-
2000 Failed system job en- Software operation er- (1) Reset the alarm, and then try again.
vironment configura- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
4208 SYSTEM ER- 1 Pre-reading task is not Software operation er- (1) Reset the alarm, and then try again.
ROR(ARITH) completed. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 The averaging buffer Software operation er- (1) Reset the alarm, and then try again.
in the arithmetic sec- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion is destroyed. mode, and then contact your YASKAWA representative about oc-
6 No previous bank ex- Software operation er- (1) Reset the alarm, and then try again.
ists. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
7 The answer bank flag Software operation er- (1) Reset the alarm, and then try again.
is ON. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
8 An error occurred in Software operation er- (1) Reset the alarm, and then try again.
preparation of current ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
position. mode, and then contact your YASKAWA representative about oc-
9 Mails could not cor- Software operation er- (1) Reset the alarm, and then try again.
rectly be received in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the current task. mode, and then contact your YASKAWA representative about oc-
10 Spline-curve path des- Software operation er- (1) Reset the alarm, and then try again.
ignation error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
11 The previous bank's Software operation er- (1) Reset the alarm, and then try again.
pre-reading conver- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
sion could not correct- mode, and then contact your YASKAWA representative about oc-
ly be completed. currence status (operating procedure).
- 621
Alarm list
No. Code
2 - 622
12 A manipulator desig- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
nation error occurred ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
at JOG operation us- mode, and then contact your YASKAWA representative about oc-
ing the external refer- currence status (operating procedure).
ence point.
cubic interference co- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ordinates mode, and then contact your YASKAWA representative about oc-
14 Path control position Software operation er- (1) Reset the alarm, and then try again.
data error of pre-read- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing bank mode, and then contact your YASKAWA representative about oc-
16 Station/base axis mo- Software operation er- (1) Reset the alarm, and then try again.
tion command error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
18 User coordinates Software operation er- (1) Reset the alarm, and then try again.
number error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
19 Processing error in re- Software operation er- (1) Reset the alarm, and then try again.
preparation of seg- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ment control data mode, and then contact your YASKAWA representative about oc-
20 Pre-reading task not Software operation er- (1) Reset the alarm, and then try again.
completed at master in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tem currence status (operating procedure).
No. Code
23 Dynamic model arith- Software operation er- (1) Reset the alarm, and then try again.
metic error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
24 Speed limit control er- Setting error (1) Check the following settings.
ror (excessive mo- ?The allowable breaking torque was exceeded only by the gravity
ment of gravity) moment. Set the gravity value of the tool within payload of the ma-
nipulator.
?Teach the manipulator orientation that does not become the over-
load for each-axes of the manipulator.
25 Square root of a nega- Software operation er- (1) Reset the alarm, and then try again.
tive number ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
26 The system number is Software operation er- (1) Reset the alarm, and then try again.
not set at master in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tem. currence status (operating procedure).
29 FORMCUT internal Software operation er- (1) Reset the alarm, and then try again.
control error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
30 Arm interference Software operation er- (1) Reset the alarm, and then try again.
check error (radius ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
data referencing mis- mode, and then contact your YASKAWA representative about oc-
take) currence status (operating procedure).
check error (miscalcu- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
lation using direct ki- mode, and then contact your YASKAWA representative about oc-
nematics) currence status (operating procedure).
- 623
Alarm list
No. Code
2 - 624
Alarm list
check error (L-axis ex- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
pansion flag setting er- mode, and then contact your YASKAWA representative about oc-
ror) currence status (operating procedure).
check error (check- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
point re-setting error) mode, and then contact your YASKAWA representative about oc-
34 Impossible to edit the Software operation er- (1) Reset the alarm, and then try again.
averaging buffer (zero ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
division) mode, and then contact your YASKAWA representative about oc-
35 No master-group is Software operation er- (1) Reset the alarm, and then try again.
designated at prepara- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion of master-tool mode, and then contact your YASKAWA representative about oc-
user coordinates. currence status (operating procedure).
37 Gauging function error Software operation er- (1) Reset the alarm, and then try again.
(command designa- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion error) mode, and then contact your YASKAWA representative about oc-
38 A coordinated motion Setting error (1) Check the following settings.
was attempted using ?Change the setting so that only the manipulator moves.
the Following function. ?The coordinated motion cannot be performed by the Following
function.
39 Zero or a negative val- Setting error (1) Check the following settings.
ue is set for the bend- ·Set a positive value for the bending speed.
ing speed of the
Following function.
No. Code
ue is set for the bend- ·Set a positive value for the bending stroke.
ing stroke of the
Following function.
41 Pulse linked JOG Software operation er- (1) Reset the alarm, and then try again.
function error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
42 Special JOG operation Software operation er- (1) Reset the alarm, and then try again.
44 Segment overless: Setting error (1) Check the following settings.
Segment excessive ·The teaching position cannot hold down the speed by the seg-
error ment overless function. Reduce the teaching speed of the job.
45 Segment overless: Software operation er- (1) Reset the alarm, and then try again.
Path calculation re- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
peat error mode, and then contact your YASKAWA representative about oc-
47 Play path control: ini- Software operation er- (1) Reset the alarm, and then try again.
tialization error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 625
Alarm list
No. Code
2 - 626
48 Play path control: con- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
tinue process error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
49 Play path control: Step Software operation er- (1) Reset the alarm, and then try again.
continuous initializa- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion error mode, and then contact your YASKAWA representative about oc-
50 Play path control: step Software operation er- (1) Reset the alarm, and then try again.
continuous motion ex- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ecution process error mode, and then contact your YASKAWA representative about oc-
54 Approximation model Software operation er- (1) Reset the alarm, and then try again.
internal control error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
55 Pair coordinate sys- Software operation er- (1) Reset the alarm, and then try again.
tem position calcula- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion function error mode, and then contact your YASKAWA representative about oc-
56 OPT higher accelera- Setting error (1) Check the following settings.
tion and deceleration ·OPT higher acceleration and deceleration control is used.
control is not allowed ·Don't use the ??? higher acceleration and deceleration control.
when Function accel-
eration and decelera-
tion control is enabled.
No. Code
57 Arithmetic error oc- Software operation er- (1) Reset the alarm, and then try again.
curred when calculat- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing the acceleration mode, and then contact your YASKAWA representative about oc-
and deceleration time currence status (operating procedure).
(Function accelera-
tion and deceleration
control)
curred when recalcu- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
lating the acceleration mode, and then contact your YASKAWA representative about oc-
and deceleration time currence status (operating procedure).
(Function accelera-
control)
ing PL control mode, and then contact your YASKAWA representative about oc-
(Function accelera- currence status (operating procedure).
control)
ing Function mode, and then contact your YASKAWA representative about oc-
acceleration and de- currence status (operating procedure).
celeration dry run.
ing current path of mode, and then contact your YASKAWA representative about oc-
continuous motion currence status (operating procedure).
stop operation
2
- 627
Alarm list
No. Code
2 - 628
Alarm list
ing next path of mode, and then contact your YASKAWA representative about oc-
continuous motion currence status (operating procedure).
stop operation
ing acceleration time mode, and then contact your YASKAWA representative about oc-
when continuous mo- currence status (operating procedure).
tion in the pre-reading
processing
ing deceleration time mode, and then contact your YASKAWA representative about oc-
when continuous mo- currence status (operating procedure).
tion in the pre-reading
processing
ing acceleration and mode, and then contact your YASKAWA representative about oc-
deceleration time currence status (operating procedure).
when teaching.
deceleration time for currence status (operating procedure).
plucking in pre-read-
ing processing 1
No. Code
ing processing 2
ing processing 3
ing processing 4
deceleration for PL currence status (operating procedure).
control plucking in pre-
reading processing 1
control plucking in pre-
reading processing 2
2
- 629
Alarm list
No. Code
2 - 630
Alarm list
deceleration for pluck- currence status (operating procedure).
ing
control in pre-reading
processing 1
processing 2
processing 3
No. Code
processing 4
processing 5
96 Press full synchronous Software operation er- (1) Reset the alarm, and then try again.
function:Press syn- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
chronous execution mode, and then contact your YASKAWA representative about oc-
error currence status (operating procedure).
function:The press po- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
sition carried out cycle mode, and then contact your YASKAWA representative about oc-
movement over. currence status (operating procedure).
98 Press full synchronous Software operation er- (1) Execute Position Adjustment Function to correct the position
function:Press syn- ror occurred gap between press position and the manipulator.
chronous position er- ·Confirm that both press and manipulator are maintained in
ror stopped state.
·Change the specific input: Position Correct Request (#40540) to
ON.
·Execute the Press synchronization JOB again.
·Wait for the specific output "Correcting position(#50683)" to be-
come OFF and then start up the press.
2
- 631
Alarm list
No. Code
2 - 632
Alarm list

function:Position ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
search error mode, and then contact your YASKAWA representative about oc-
65535 For HA debug use Software operation er- (1) Reset the alarm, and then try again.
4209 OFFLINE SYSTEM 100 Data setting error in of- Software operation er- (1) Reset the alarm, and then try again.
ERROR(ARITH) fline data bank ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
101 Data setting error in of- Software operation er- (1) Reset the alarm, and then try again.
fline answer bank ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
102 OFF_USER_POS oc- Software operation er- (1) Reset the alarm, and then try again.
cupation control error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
103 OFF_USER_POS val- Software operation er- (1) Reset the alarm, and then try again.
id control error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
104 Mail-receiving error of Software operation er- (1) Reset the alarm, and then try again.
offline task ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
105 Offline occupation Software operation er- (1) Reset the alarm, and then try again.
control error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
107 OFF_USER_ROT_P Software operation er- (1) Reset the alarm, and then try again.
OS occupation control ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
error mode, and then contact your YASKAWA representative about oc-
108 OFF_USER_ROT_P Software operation er- (1) Reset the alarm, and then try again.
OS valid control error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
109 OFF_CV_CALIB_PO Software operation er- (1) Reset the alarm, and then try again.
S occupation control ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
110 OFF_CV_CALIB_PO Software operation er- (1) Reset the alarm, and then try again.
S valid control error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
111 Incorrect teaching for Software operation er- (1) Reset the alarm, and then try again.
offline conveyor track- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing turntable function mode, and then contact your YASKAWA representative about oc-
112 No manipulator is des- Software operation er- (1) Reset the alarm, and then try again.
ignated for offline con- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
veyor tracking mode, and then contact your YASKAWA representative about oc-
turntable function. currence status (operating procedure).
4210 SYSTEM ER- -1 Local variable is not Software operation er- (1) Reset the alarm, and then try again.
ROR(LOCAL VARI- used. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
ABLE) mode, and then contact your YASKAWA representative about oc-
- 633
Alarm list
No. Code
2 - 634
-2 Memory area for local Software operation er- (1) Reset the alarm, and then try again.
Alarm list
variable could not be ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
obtained. mode, and then contact your YASKAWA representative about oc-
-3 No unused handle val- Software operation er- (1) Reset the alarm, and then try again.
ue exists when local ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
variable area is creat- mode, and then contact your YASKAWA representative about oc-
ed. currence status (operating procedure).
-4 An error occurred in Software operation er- (1) Reset the alarm, and then try again.
exclusive control. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-5 Handle value is invalid Software operation er- (1) Reset the alarm, and then try again.
for specified local vari- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
able. mode, and then contact your YASKAWA representative about oc-
-6 Handle value is incor- Software operation er- (1) Reset the alarm, and then try again.
rect for specified local ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
variable. mode, and then contact your YASKAWA representative about oc-
-7 An error occurred Software operation er- (1) Reset the alarm, and then try again.
when memory area for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
local variable was re- mode, and then contact your YASKAWA representative about oc-
leased. currence status (operating procedure).
-8 An error occurred Software operation er- (1) Reset the alarm, and then try again.
when memory area for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
local variable was reg- mode, and then contact your YASKAWA representative about oc-
istered. currence status (operating procedure).
-9 Local variable control Software operation er- (1) Reset the alarm, and then try again.
process is not initial- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ized. mode, and then contact your YASKAWA representative about oc-
No. Code
-10 Local variable area Software operation er- (1) Reset the alarm, and then try again.
shared heap area. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
exclusive control when ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
control of the local mode, and then contact your YASKAWA representative about oc-
variable was pro- currence status (operating procedure).
cessed.
4220 SERVO POWER SUB Code: Control Setting error (1) Check the following settings.
OFF FOR JOB group ·Turn OFF the servo power supply, and then turn ON the servo
power supply for the group axis to be operated.
4221 SERVO POWER SUB Code: Control The servo power is not ·Turn OFF the servo power supply, and then turn ON the servo
OFF FOR JOB group supplied. power supply for the group axis to be operated.
4224 MEMOPLAY FILE -1 An error occurred in Software operation er- (1) Reset the alarm, and then try again.
ERROR control process for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
memory play file. mode, and then contact your YASKAWA representative about oc-
-2 The arrangement ad- Software operation er- (1) Reset the alarm, and then try again.
dress information is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
destroyed for memory mode, and then contact your YASKAWA representative about oc-
play file system. currence status (operating procedure).
- 635
Alarm list
No. Code
2 - 636
-3 The fixed control infor- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
mation is destroyed for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
memory play file sys- mode, and then contact your YASKAWA representative about oc-
-4 The fixed control infor- Software operation er- (1) Reset the alarm, and then try again.
mation is destroyed for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
memory play file sys- mode, and then contact your YASKAWA representative about oc-
-5 An attempt was made Software operation er- (1) Reset the alarm, and then try again.
to newly register the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
memory play file under mode, and then contact your YASKAWA representative about oc-
use. currence status (operating procedure).
checking written sam- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
pling data when the mode, and then contact your YASKAWA representative about oc-
data was written to currence status (operating procedure).
CMOS.
-7 An attempt was made Software operation er- (1) Reset the alarm, and then try again.
to access an unused ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
memory play file data. mode, and then contact your YASKAWA representative about oc-
-8 The memory play file Software operation er- (1) Reset the alarm, and then try again.
is destroyed. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-9 The memory area for Software operation er- (1) Reset the alarm, and then try again.
sampling data is full. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
-10 The sampling data is Software operation er- (1) Reset the alarm, and then try again.
destroyed. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-11 Data in control pro- Software operation er- (1) Reset the alarm, and then try again.
cess for memory play ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
file is incorrect. mode, and then contact your YASKAWA representative about oc-
-12 The sampling data is Software operation er- (1) Reset the alarm, and then try again.
scanned only at top or ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
end position. mode, and then contact your YASKAWA representative about oc-
-13 The memory play file Software operation er- (1) Reset the alarm, and then try again.
system is not initial- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ized. mode, and then contact your YASKAWA representative about oc-
-14 The offset value is out Software operation er- (1) Reset the alarm, and then try again.
of range at sampling ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
data scanning. mode, and then contact your YASKAWA representative about oc-
4225 OVER Signifies the control Setting error (1) Check the following settings.
SPEED(YCP21) axis number which de- ·The gun tip hits the welded target distance of motor gun
tected an error ·manipulator motion (external force, gravity)
·The motor power line
·The encoder line
Module failure (motor) (1) Reset the alarm.
2
·The motor
- 637
Alarm list
No. Code
2 - 638
Alarm list
4226 COMMUNICATION 1 The communication Setting error (1) Check the following settings.
SERVICE ERROR channel could not be ·Setting of the RS (transmission) parameter
opened/closed at
OPEN/CLOSE in-
struction execution.
100 The communication Setting error (1) Check the following settings.
port is already The serial port setting
opened.
101 The communication Setting error (1) Check the following settings.
port is not opened. The serial port setting
102 No space was found in Setting error (1) Check the following settings.
data sent buffer. The serial port setting
No. Code
103 The setting value for Setting error (1) Reset the alarm.
the event queue des- (2) Check the following settings.
ignation parameter is ·RS157…Set to 1 to 4
incorrect.
105 The type of output Setting error (1) Reset the alarm.
data is incorrect. (2) Check the following settings.
The serial port setting
4228 WRONG DATA Software operation er- (1) Reset the alarm, and then execute following operation.
ror occurred ·Select a SUB menu [WRONG DATA LOG] under main menu
[SETUP].
·Execute "RESTORE" by selecting "UTILITY" from the pull-down
menu.
*Occurrence date changes to restoration date after it is restored.
·Turn the power OFF and then ON to check the factor of the incon-
sistency 1 and 2, on the data inconsistency screen in maintenance
mode.
The factor 1: Check the position of the corresponding file
The factor 2: Register the position of the corresponding file again
*The factor 3:Just turn the power OFF and then ON again.
(2) If it would not restore, select "RE CHECK" from the pull-down
menu.
2
- 639
Alarm list
No. Code
2 - 640
Data error (1) If different axes configuration data is loaded, the system data
Alarm list
becomes incorrect status, which causes this alarm. In this case,

execute the following operations.
·Select a SUB menu [WRONG DATA LOG] under main menu
[SETUP].
·Select "UTILITY" from the pull-down menu to execute "RE-
STORE".
·Load correct axes configuration data
(2) If it would not restore, select "RE CHECK" from the pull-down
menu, and then load correct axes configuration data.
4229 ETHERNET PRO- 1 An error occurred in Setting error (1) Check the following settings.
CESS ERROR the acquisition pro- ·The DHCP server operation (If the DHCP is used)
cess of the IP address ·The network status (If the DHCP is used)
during the IP address
monitoring process of
No. Code
the acquisition pro- ·The DHCP server operation (If the DHCP is used)
cess of SUBnet mask ·The network status (If the DHCP is used)
during the network
service data creation
net function.
cess of gateway dur- ·The network status (If the DHCP is used)
ing the network
net function.
2
- 641
Alarm list
No. Code
2 - 642
Alarm list
the conversion pro- ·The DHCP server operation (If the DHCP is used)
cess of gateway ad- ·The network status (If the DHCP is used)
dress during the
network service data
creation process of the
Ethernet function.
the conversion pro- ·The DHCP server operation (If the DHCP is used)
cess of DNS server ·The network status (If the DHCP is used)
address during the
network service data
creation process of the
Ethernet function.
No. Code
cess of domain during ·The network status (If the DHCP is used)
the network service
data creation process
of the Ethernet func-
tion.
cess of SNTP server ·The network status (If the DHCP is used)
during the network
net function.
2
- 643
Alarm list
No. Code
2 - 644
Alarm list
cess of host name dur- ·The network status (If the DHCP is used)
ing the network
net function.
the newest DNS infor- ·The DHCP server operation (If the DHCP is used)
mation getting process ·The network status (If the DHCP is used)
from DHCP server in
the DNS process of
No. Code
the setting process to ·The DHCP server operation (If the DHCP is used)
update DNS informa- ·The network status (If the DHCP is used)
tion in the DNS pro-
function.
the setting clearing ·The DHCP server operation (If the DHCP is used)
process to update ·The network status (If the DHCP is used)
DNS information in the
DNS process of the
Ethernet function.
2
- 645
Alarm list
No. Code
2 - 646
20 The SUBnet mask Setting error (1) Check the following settings.
Alarm list
was not able to be ac- ·The DHCP server operation (If the DHCP is used)
quired in the DHCP in- ·The network status (If the DHCP is used)
formation update
net function.
21 SUBnet mask update Setting error (1) Check the following settings.
error occurred in the ·The DHCP server operation (If the DHCP is used)
DHCP information up- ·The network status (If the DHCP is used)
date process of the
Ethernet function.
25 Gateway update error Setting error (1) Check the following settings.
occurred in the DHCP ·The DHCP server operation (If the DHCP is used)
information update ·The network status (If the DHCP is used)
net function.
No. Code
26 Gateway clear error Setting error (1) Check the following settings.
occurred in the DHCP ·The DHCP server operation (If the DHCP is used)
information update ·The network status (If the DHCP is used)
net function.
4234 COMMUNICATION 0 The IO module board Software operation er- (1) Turn the power OFF then back ON.
TIMEOUT(IO MOD- connected with 0th se- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ULE) rial bus exists. mode, and then contact your YASKAWA representative about oc-
curred.
2
- 647
Alarm list
No. Code
2 - 648
Alarm list
timeout with the I/O module
module board con- ·I/O module settings in maintenance mode
nected with 1st serial
bus when the control
power turned ON.
curred.
nected with 2nd serial
power turned ON.
No. Code
curred.
nected with 3rd serial
power turned ON.
2
- 649
Alarm list
No. Code
2 - 650
Alarm list
curred.
nected with 4th serial
power turned ON.
curred.
No. Code
power turned ON.
curred.
2
- 651
Alarm list
No. Code
2 - 652
Alarm list
power turned ON.
·The M ll communications cable which I/O module of the corre-
·(In case of M ll communications last station) Terminator
curred.
in communications ·?The rotary switch setting which specifies slot numbers of each I/
timeout with the I/O O module
power turned ON.
No. Code
curred.
power turned ON.
2
- 653
Alarm list
No. Code
2 - 654
Alarm list
curred.
power turned ON.
curred.
No. Code
power turned ON.
curred.
2
- 655
Alarm list
No. Code
2 - 656
Alarm list
power turned ON.
curred.
power turned ON.
No. Code
curred.
power turned ON.
2
- 657
Alarm list
No. Code
2 - 658
Alarm list
curred.
power turned ON.
curred.
No. Code
power turned ON.
curred.
2
- 659
Alarm list
No. Code
2 - 660
Alarm list

timeout with the I/O ·I/O module settings in maintenance mode
module board con-
nected with 1st PCI
connector when the
ON.
curred.
board connected with
2nd PCI when the con-
No. Code
curred.
module board con-
nected with 3rd PCI
er turned ON.
2
- 661
Alarm list
No. Code
2 - 662
Alarm list
curred.
module board con-
nected with 4th PCI
er turned ON.
curred.
No. Code
4236 SPOT WELDER ER- -20 NADEX I/F board un- Setting error (1) Reset the alarm, and then try again.
ROR(NADEX) connected. (2) If the alarm occurs again, check the connection with the NA-
DEX I/F board(XFB01B-2 board).
-21 JL012 access time Communication error (1) Reset the alarm, and then try again.
out. (2) If the alarm occurs again, check the connection and inserting
state of the following cable.
·The communications cable for the I/O module
-22 JL012 data setting er- Communication error (1) Reset the alarm, and then try again.
ror. (2) If the alarm occurs again, check the connection and inserting
-23 DeviceNet response Communication error (1) Reset the alarm, and then try again.
error. (2) If the alarm occurs again, check the connection and inserting
·The communications cable for the DeviceNet
-24 NADEX data sheet Software operation er- The connected NADEX spot welder isn't corresponded to.Save
format error. ror occurred the CMOS.BIN in maintenance mode, and then contact your YAS-
KAWA representative about occurrence status (operating proce-
2
dure).
- 663
Alarm list
No. Code
2 - 664
-25 JL012 data overflow. Communication error (1) Reset the alarm, and then try again.
Alarm list
-100 Initialization error. Software operation er- (1) Reset the alarm, and then try again.
-102 Not found the spot Setting error Check the following settings.
welder number. ·The parameter "AxP003:The maximum number of connected
spot welders".
-111 ASW file size over. Software operation er- The connected NADEX spot welder isn't corresponded to.Save
ror occurred the CMOS.BIN in maintenance mode, and then contact your YAS-
dure).
-117 System call error. Software operation er- (1) Reset the alarm, and then try again.
4240 TPS:ERROR SUB Code: Welding Error occurred in the Confirm the following content.
power source number. Fronius power source. Step1: Check what kind of the error code is expressed on the front
panel of Fronius power source.
Step2: Check according with the Fronius's manual.
No. Code
4241 MOTOWELD SYS- 1 Error from welder 1. Arc welding power When finish system reset, Shut down the welding power source.
TEM RESET source error
2 Error from welder 2. Arc welding power When finish system reset, Shut down the welding power source.
source error
source error
source error
source error
source error
2
- 665
Alarm list
No. Code
2 - 666
Alarm list
source error
source error
302 SUB code: Error No. Arc welding power When finish system reset, Shut down the welding power source.
from welder. source error
4242 MOTOWELD INPUT 1 Error from welder 1. Arc welding power
OVER-CURRENT source error
2 Error from welder 2. Arc welding power

source error

source error

source error

source error

source error
No. Code
source error

source error
107 SUB code: Error No. Arc welding power

4243 MOTOWELD OUT- 1 Error from welder 1. Arc welding power Confirm the following content.
PUT OVER-CUR- source error (1) Check that the torch cable or power cable is not grounded?
RENT (2) Check that the contact tip does not contact the welding work
piece?
(3) Check that the encoder cable is not damaged?
(4)Check if the screws of the connector terminal block are securely
fastened. If the encoder cable is disconnected or the screws are
loosened, the wire feeding speed becomes excessively fast and
an error occurs in the wire feeding amount. Replace the encoder
cable or fasten the screws of the connector terminal block.
2 Error from welder 2. Arc welding power Confirm the following content.
source error (1) Check that the torch cable or power cable is not grounded?
(2) Check that the contact tip does not contact the welding work
piece?
2
- 667
Alarm list
No. Code
2 - 668
Alarm list

piece?
piece?
No. Code
piece?
piece?
2
- 669
Alarm list
No. Code
2 - 670
Alarm list
piece?
piece?
No. Code
701 SUB code: Error No. Arc welding power Confirm the following content.
from welder. source error (1) Check that the torch cable or power cable is not grounded?
piece?
4244 MOTOWELD INPUT 1 Error from welder 1. Arc welding power Confirm the input voltage.
OVER-VOLTAGE source error
2 Error from welder 2. Arc welding power Confirm the input voltage.
source error
source error
source error
2
- 671
Alarm list
No. Code
2 - 672
Alarm list

source error
source error
source error
source error
4245 MOTOWELD EX- 1 Error from welder 1. Arc welding power (1) Check the ambient temperature (40 degrees centigrade or
CESSIVE TEMPER- source error less) and operational ratio (60%).
ATURE (2) Check if there are dust, dirt, and clogging on the dust protective
filter. Clean or replace the dust protective filter if necessary.
(3) In case of RL350, Check the thermal guard (Item No.410).
No. Code
2 Error from welder 2. Arc welding power (1) Check the ambient temperature (40 degrees centigrade or
source error less) and operational ratio (60%).
(2) Check if there are dust, dirt, and clogging on the dust protective
2
- 673
Alarm list
No. Code
2 - 674
Alarm list

102 The temperature in the Arc welding power (1) Check the ambient temperature (40 degrees centigrade or
primary control circuit source error less) and operational ratio (60%).
exceeds the specified (2) Check if there are dust, dirt, and clogging on the dust protective
value of the welding filter. Clean or replace the dust protective filter if necessary.
source. (3) In case of RL350, Check the thermal guard (Item No.410).
No. Code
secondary control cir- source error less) and operational ratio (60%).
cuit exceeds the spec- (2) Check if there are dust, dirt, and clogging on the dust protective
ified value of the filter. Clean or replace the dust protective filter if necessary.
welding source. (3) In case of RL350, Check the thermal guard (Item No.318).
DC reactor exceeds source error less) and operational ratio (60%).
the specified value of (2) Check if there are dust, dirt, and clogging on the dust protective
the welding source. filter. Clean or replace the dust protective filter if necessary.
(3) In case of RL350, Check the thermal guard of DCL2 (Item
No.312).
Main board Pr (MB) source error less) and operational ratio (60%).
exceeds the specified (2) Check if there are dust, dirt, and clogging on the dust protective
value of the welding filter. Clean or replace the dust protective filter if necessary.
source. (3) Replace the Main board Pr (MB)-030(Item No. 504).
4246 MOTOWELD INPUT 1 Error from welder 1. Arc welding power Confirm the input voltage.
UNDER-VOLTAGE source error
2
source error
- 675
Alarm list
No. Code
2 - 676
Alarm list

source error
source error
source error
source error
source error
source error
No. Code
4247 MOTOWELD WA- 1 Error from welder 1. Arc welding power (1) Fill up the cooling water.
TER UNDER-FLOW source error (2) Check the circuit of cooling water.
2 Error from welder 2. Arc welding power (1) Fill up the cooling water.
source error (2) Check the circuit of cooling water.
2
- 677
Alarm list
No. Code
2 - 678
Alarm list

703 SUB code: Error No. Arc welding power (1) Fill up the cooling water.
from welder. source error (2) Check the circuit of cooling water.
4248 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power
TAL I/F WDG.ER- source error
ROR

No. Code
source error

source error

source error

source error
2
- 679
Alarm list
No. Code
2 - 680
Alarm list

source error

source error

source error

No. Code
401 SUB code: Error No. Arc welding power

4249 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Check the Node of the each welder power sources and robot con-
TAL I/F NODE ER- source error troller.
ROR
2 Error from welder 2. Arc welding power Check the Node of the each welder power sources and robot con-
source error troller.
2
- 681
Alarm list
No. Code
2 - 682
Alarm list

402 SUB code: Error No. Arc welding power Check the Node of the each welder power sources and robot con-
from welder. source error troller.
4250 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Confirm the following content.
TAL I/F ERROR source error (1) LAN cable is not damaged.
(2) Protocol type of the VEW01 is correct. (is MOTOWELD type?)
No. Code
source error (1) LAN cable is not damaged.
2
- 683
Alarm list
No. Code
2 - 684
Alarm list

from welder. source error (1) LAN cable is not damaged.
4251 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Set the user file number 1...16.
TAL I/F FILE# ER- source error
ROR
2 Error from welder 2. Arc welding power Set the user file number 1...16.
source error
source error
No. Code
source error
source error
source error
source error
source error
404 SUB code: Error No. Arc welding power Set the user file number 1...16.
2
- 685
Alarm list
No. Code
2 - 686
Alarm list

4252 MOTOWELD DIGI- 1 Error from welder 1. Arc welding power Replace the main board {Pr(MB) -024}. Contact your YASKAWA
TAL I/F CHIP ER- source error representative.
ROR
2 Error from welder 2. Arc welding power Replace the main board {Pr(MB) -024}. Contact your YASKAWA
source error representative.
405 SUB code: Error No. Arc welding power Replace the main board {Pr(MB) -024}. Contact your YASKAWA
from welder. source error representative.
4253 MOTOWELD MA- 1 Error from welder 1. Arc welding power The setting of hardware or software may be not performed correct-
CHINE source error ly. Contact your YASKAWA representative.
TYP.ERROR1
2 Error from welder 2. Arc welding power The setting of hardware or software may be not performed correct-
source error ly. Contact your YASKAWA representative.
No. Code
304 SUB code: Error No. Arc welding power The setting of hardware or software may be not performed correct-
from welder. source error ly. Contact your YASKAWA representative.
TYP.ERROR2
2
- 687
Alarm list
No. Code
2 - 688
Alarm list

TYP.ERROR3
TYP.ERROR4
No. Code
4257 MOTOWELD PANEL 1 Error from welder 1. Arc welding power (1) Check the DIP switch setting of PR(CR) -002R1 board.
SW SETTING ER- source error (2) PR(CR) -002R1 board may be broken. Contact your YASKA-
ROR WA representative.
2 Error from welder 2. Arc welding power (1) Check the DIP switch setting of PR(CR) -002R1 board.
source error (2) PR(CR) -002R1 board may be broken. Contact your YASKA-
WA representative.
WA representative.
WA representative.
WA representative.
WA representative.
2
WA representative.
- 689
Alarm list
No. Code
2 - 690
Alarm list
WA representative.
303 SUB code: Error No. Arc welding power (1) Check the DIP switch setting of PR(CR) -002R1 board.
from welder. source error (2) PR(CR) -002R1 board may be broken. Contact your YASKA-
WA representative.
4258 MOTOWELD FEED- 1 Error from welder 1. Arc welding power Confirm the following content.
ER ERROR source error (1) The encoder cable be not damaged?
(2) Isn't there loosening of the screw of the encoder cable connec-
tion terminal block?
When there are a disconnection of the encoder cable or loosening
of the screw, the wire feeding speed quickens abnormally, and it
becomes an abnormal amount of feeding. Replace the encoder
cable or fasten the screw of the terminal block.
(3) Check if the wire load becomes heavy. Make sure that the torch
cable and conduit cable are not bent excessively.
source error (1) The encoder cable be not damaged?
No. Code
2
- 691
Alarm list
No. Code
2 - 692
Alarm list

No. Code
2
- 693
Alarm list
No. Code
2 - 694
Alarm list
from welder. source error (1) The encoder cable be not damaged?
331 The status of dip Arc welding power (1) Confirm the feeder motor type.
switch for encoder cir- source error (2) Check the C parameter for feeder motor is correct.
cuit is different to the (3) Check the dip switch SW700 on the Main board Pr(MB).
encoder of the feeder
motor.
4259 MOTOWELD MO- 1 Error from welder 1. Arc welding power Check if the wire load becomes heavy. Make sure that the torch
TOR OVER-CUR- source error cable and coduit cable are not bent excessively.
RENT
2 Error from welder 2. Arc welding power Check if the wire load becomes heavy. Make sure that the torch
source error cable and conduit cable are not bent excessively.
No. Code
2
- 695
Alarm list
No. Code
2 - 696
502 SUB code: Error No. Arc welding power Check if the wire load becomes heavy. Make sure that the torch
Alarm list
from welder. source error cable and conduit cable are not bent excessively.
4260 MOTOWELD CPU 1 Error from welder 1. Arc welding power The board may be broken. Contact your YASKAWA representa-
ERROR1 source error tive.
2 Error from welder 2. Arc welding power The board may be broken. Contact your YASKAWA representa-
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
203 SUB code: Error No. Arc welding power The board may be broken. Contact your YASKAWA representa-
from welder. source error tive.
4261 MOTOWELD CPU 1 Error from welder 1. Arc welding power The board may be broken. Contact your YASKAWA representa-
ERROR2 source error tive.
source error tive.
source error tive.
No. Code
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
4262 MOTOWELD MEM- 1 Error from welder 1. Arc welding power The data may not have been correctly saved when the welding
ORY ERROR1 source error conditions are recorded because of a power failure, etc. Reset the
system after saving the changed parameters. (See the manual of
MOTOWELD "System Reset")
If the error occurs again, the board may be broken. Contact your
YASKAWA representative.
2 Error from welder 2. Arc welding power The data may not have been correctly saved when the welding
source error conditions are recorded because of a power failure, etc. Reset the
2
- 697
Alarm list
No. Code
2 - 698
Alarm list
No. Code
205 SUB code: Error No. Arc welding power The data may not have been correctly saved when the welding
from welder. source error conditions are recorded because of a power failure, etc. Reset the
2
- 699
Alarm list
No. Code
2 - 700
Alarm list
No. Code
2
- 701
Alarm list
No. Code
2 - 702
Alarm list
No. Code
2
- 703
Alarm list
No. Code
2 - 704
Alarm list
No. Code
2
- 705
Alarm list
No. Code
2 - 706
Alarm list
No. Code
2
- 707
Alarm list
No. Code
2 - 708
Alarm list
No. Code
4269 MOTOWELD 1 Error from welder 1. Arc welding power Check again the operation timing or signal cable connections. The
2
STARTING SIGNAL source error same error may occur at momentary power failure.
ERROR
- 709
Alarm list
No. Code
2 - 710
Alarm list

2 Error from welder 2. Arc welding power Check again the operation timing or signal cable connections. The
source error same error may occur at momentary power failure.
No. Code
601 SUB code: Error No. Arc welding power Check again the operation timing or signal cable connections. The
from welder. source error same error may occur at momentary power failure.
4270 MOTOWELD NO 1 Error from welder 1. Arc welding power Select a correct welding process in the using the welding user file.
WELDING TYPE source error
2 Error from welder 2. Arc welding power Select a correct welding process in the using the welding user file.
source error
source error
2
source error
- 711
Alarm list
No. Code
2 - 712
Alarm list

source error
source error
source error
source error
602 SUB code: Error No. Arc welding power Select a correct welding process in the using the welding user file.
No. Code
4271 MOTOWELD 1 Error from welder 1. Arc welding power (1) Check if the voltage detection wire is connected. Heck if the
VOLT.DETECT source error voltage detection line or the short-circuit cap is connected to the
WIRE ERROR CON7 of the MOTOWELD.
(2) Check that the contact tip does not contact the work piece to
be welded. Set the contact tip so as not to contact the work piece.
(3) Temporary power failure may have occurred.
2 Error from welder 2. Arc welding power (1) Check if the voltage detection wire is connected. Heck if the
source error voltage detection line or the short-circuit cap is connected to the
CON7 of the MOTOWELD.
2
- 713
Alarm list
No. Code
2 - 714
Alarm list

No. Code
702 SUB code: Error No. Arc welding power (1) Check if the voltage detection wire is connected. Heck if the
from welder. source error voltage detection line or the short-circuit cap is connected to the
4272 MOTOWELD 1 Error from welder 1. Arc welding power Contact your YASKAWA representative.
SAFTY-CIRCUIT source error
ERROR
2 Error from welder 2. Arc welding power Contact your YASKAWA representative.
source error
source error
source error
source error
2
source error
- 715
Alarm list
No. Code
2 - 716
Alarm list
source error
source error
101 SUB code: Error No. Arc welding power Contact your YASKAWA representative.
4273 MOTOWELD IGBT 1 Error from welder 1. Arc welding power Replace the IGBT device (Part code AJ0EL3870).
SHORT CIRCUIT source error
2 Error from welder 2. Arc welding power Replace the IGBT device (Part code AJ0EL3870).
source error
source error
source error
source error
No. Code
source error
source error
source error
104 SUB code: Error No. Arc welding power Replace the IGBT device (Part code AJ0EL3870).
4274 MOTOWELD VOLT- 1 Error from welder 1. Arc welding power Contact your YASKAWA representative.
AGE DETECTOR source error
ERROR
source error
source error
source error
2
source error
- 717
Alarm list
No. Code
2 - 718
Alarm list
source error
source error
source error
4275 MOTOWELD AUX. 1 Error from welder 1. Arc welding power The board may be broken. Contact your YASKAWA representa-
CIRCUIT OV. CUR- source error tive.
RENT
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
source error tive.
4276 MOTOWELD DSP 1 Error from welder 1. Arc welding power Contact your YASKAWA representative.
ADC ERROR source error
No. Code
source error
source error
source error
source error
source error
source error
source error
4277 MOTOWELD OUT- 1 Error from welder 1. Arc welding power (1) Check if the selection of motor is correct, or confirm the settings
SIDE OF source error of C parameter C09.
CURR.SETTING(H) (2) Check that the welding wire does not slip, or the wire is fed as
instructed by the feeding command.
(3) Check that the wire stick out is not excessively short or long.
(4)Check that the range set in C parameter C29 is not too narrow.
(5)Check if the wire, shielding, etc. are correctly set.
2
- 719
Alarm list
No. Code
2 - 720
2 Error from welder 2. Arc welding power (1) Check if the selection of motor is correct, or confirm the settings
Alarm list
source error of C parameter C09.

(2) Check that the welding wire does not slip, or the wire is fed as
No. Code
2
- 721
Alarm list
No. Code
2 - 722
Alarm list

790 SUB code: Error No. Arc welding power (1) Check if the selection of motor is correct, or confirm the settings
from welder. source error of C parameter C09.
4278 MOTOWELD OUT- 1 Error from welder 1. Arc welding power (1) Check if the selection of motor is correct, or confirm the settings
SIDE OF source error of C parameter C09.
CURR.SETTING(L) (2) Check that the welding wire does not slip, or the wire is fed as
No. Code
2
- 723
Alarm list
No. Code
2 - 724
Alarm list

No. Code
791 SUB code: Error No. Arc welding power (1) Check if the selection of motor is correct, or confirm the settings
from welder. source error of C parameter C09.
4279 MOTOWELD MO- 1 Error from welder 1. Arc welding power (1) Check that short-circuit or the earth grounded of the output ca-
MENTARY OVER- source error ble.
CURR (2) May be power circuit broken. Contact your YASKAWA repre-
sentative.
2 Error from welder 2. Arc welding power (1) Check that short-circuit or the earth grounded of the output ca-
source error ble.
(2) May be power circuit broken. Contact your YASKAWA repre-
sentative.
source error ble.
2
sentative.
- 725
Alarm list
No. Code
2 - 726
Alarm list
source error ble.

sentative.
source error ble.
sentative.
source error ble.
sentative.
source error ble.
sentative.
source error ble.
sentative.
108 SUB code: Error No. Arc welding power (1) Check that short-circuit or the earth grounded of the output ca-
from welder. source error ble.
sentative.
4280 MOTOWELD OVER- 1 Error from welder 1. Arc welding power Contact your YASKAWA representative.
VOLTAGE source error
source error
source error
source error
No. Code
source error
source error
source error
source error
4281 MOTOWELD +15V 1 Error from welder 1. Arc welding power Replace the switching power supply unit. (Service parts
POWER SUPPLY source error code:AJ0E35055)
ERROR
2 Error from welder 2. Arc welding power Replace the switching power supply unit. (Service parts
source error code:AJ0E35055)
2
- 727
Alarm list
No. Code
2 - 728
Alarm list

704 SUB code: Error No. Arc welding power Replace the switching power supply unit. (Service parts
from welder. source error code:AJ0E35055)
4282 MOTOWELD POW- 1 Error from welder 1. Arc welding power Replace the switching power supply unit. (Service parts
ER SUPPLY ERROR source error code:AJ0E35055)
No. Code
2
- 729
Alarm list
No. Code
2 - 730
Alarm list

705 SUB code: Error No. Arc welding power Replace the switching power supply unit. (Service parts
from welder. source error code:AJ0E35055)
4283 MOTOWELD ILLE- 1 Error from welder 1. Arc welding power Confirm the welding process setting in the welding user file.
GAL WELD TYPE source error
2 Error from welder 2. Arc welding power Confirm the welding process setting in the welding user file.
source error
source error
source error
No. Code
source error
source error
source error
source error
406 A wrong welding pro- Arc welding power Confirm the welding process setting in the welding user file.
cess is set in the weld- source error
ing user file.
407 A welding type is not Arc welding power Set a welding type to user file of MOTOWELD. The user file can
set in a user file of the source error setup in the editor screen for ARC START CONDITION FILE or
MOTOWELD. ARC END CONDITION FILE of the DX200.
2
- 731
Alarm list
No. Code
2 - 732
Alarm list

4284 MOTOWELD SOFT- 310 The version of the data Arc welding power Load the suitable database.
WARE MULFUNC- base is not suitable for source error
TION the software of the
welding power source.
311 The version informa- Arc welding power Replace the main board {Pr(MB) -030}.
tion of the PLD on the source error
main board Pr(MB) is
wrong.
312 The version of the Arc welding power Replace the front panel {Panel-CR30 unit}.
firmware of front panel source error
is not suitable for the
software of the main
board Pr(MB).
316 The check sum of the Arc welding power Replace the main board {Pr(MB) -030}.
PLD on the main source error
board Pr(MB) is
wrong.
No. Code
317 The program or data Arc welding power Reboot the power source.
base was load by the source error
ethernet.
318 The check sum error Arc welding power (1) Do not turn off the power source and reload the data.
of loading data. source error (2) In case of turn off and reboot was OK, reload the data.
(3) In case of turn off and reboot was NG, load the data by special
loading tool.
(4)Other case of step 1,2,3, replace the main board Pr(MB)-030.
400 Watch dog error of the Arc welding power (!)reboot the power source.
PLD. source error (2) Replace the main board {Pr(MB) -030}.
4285 MOTOWELD MA- 320 The machine type is Arc welding power (1) Check the connection between front panel and main board.
CHINE SETTING wrong. source error (2) Check the status of dip switch (SW301) on the front panel.
ERROR (3) Replace the front panel.
(4)Replace the main board.
4286 MOTOWELD CUR- 330 The current class Arc welding power (1) Confirm the power source class which of 350A or 500A.
RENT CLASS ER- 350A / 500A setting is source error (2) Switch a status of dip switch SW600 which of 350A or 500A.
ROR wrong. (3) Change the software which for correct current class.
2
- 733
Alarm list
No. Code
2 - 734
4290 TPS:ERROR 1 no Prg Arc welding power Select a pre-programmed program.
Alarm list
SUB code[1**] shows source error Confirm the Fronius's manual.

the error code of
Fronius power source
1:main error code
**:SUB error code
2 ts1 Arc welding power Allow the machine to cool.
the error code of
2:main error code
**:SUB error code
the error code of
3:main error code
**:SUB error code
the error code of
4:main error code
**:SUB error code
5 tp1 Arc welding power Allow the machine to cool.
the error code of
5:main error code
**:SUB error code
No. Code
the error code of
6:main error code
**:SUB error code
the error code of
7:main error code
**:SUB error code
the error code of
8:main error code
**:SUB error code
the error code of
9:main error code
**:SUB error code
the error code of
10:main error code
**:SUB error code
2
- 735
Alarm list
No. Code
2 - 736
11 Errtf1 Arc welding power Change the thermo-sensor on the sec. side.
Alarm list

the error code of
11:main error code
**:SUB error code
12 Errtf2 Arc welding power Change the thermo-sensor on the sec. side.
the error code of
12:main error code
**:SUB error code
13 Errtf3 Arc welding power Check cable tree of temperature sensors.
the error code of
13:main error code
**:SUB error code
14 Errtf4 Arc welding power Only for MagicWave power source.
the error code of
14:main error code
**:SUB error code
15 Errtf5 Arc welding power Check cable tree of temperature sensors.
the error code of
15:main error code
**:SUB error code
No. Code
16 Errtf6 Arc welding power Change BPS pc-board.
the error code of
16:main error code
**:SUB error code
17 DSPE05 Arc welding power Update firmware, otherwise change the UST board.
the error code of
17:main error code
**:SUB error code
18 ErrbPS Arc welding power Update firmware, otherwise change the UST board or otherwise
SUB code[18**] shows source error change the BPS board.
the error code of Confirm the Fronius's manual.
18:main error code
**:SUB error code
19 Err IP Arc welding power Change the BPS board.
SUB code[19**] shows source error Change the secondary diode.
the error code of Change the welding transformer.
Fronius power source Confirm the Fronius's manual.
19:main error code
**:SUB error code
20 DSPAxx Arc welding power Update firmware, otherwise change the UST board.
the error code of
20:main error code
**:SUB error code
2
- 737
Alarm list
No. Code
2 - 738
21 DSPExx Arc welding power Update firmware, otherwise change the UST board.
Alarm list

the error code of
21:main error code
**:SUB error code
22 ErrEPF Arc welding power Update firmware, otherwise change the UST board.
the error code of
22:main error code
**:SUB error code
23 Err23.x Arc welding power Update firmware, otherwise change the UST board.
the error code of
23:main error code
**:SUB error code
the error code of
24:main error code
**:SUB error code
SUB code[25**] shows source error Confirm the Fronius's manual
the error code of
25:main error code
**:SUB error code
No. Code
26 Err26.x Arc welding power Check whether the CfgMem has good contact to the connecting
SUB code[26**] shows source error cables and in the plug.
the error code of Re-crimp if necessary.
Fronius power source If this does not help, remove and send to Fronius Austria, together
26:main error code with details of the series number of the machine.
**:SUB error code Confirm the Fronius's manual
27 Err027 Arc welding power Measure the +24VDC of NT 24.
the error code of
27:main error code
**:SUB error code
28 Err028 Arc welding power Change the cooling-unit temperature sensor.
the error code of
28:main error code
**:SUB error code
29 DSPC Arc welding power Update firmware, otherwise change the UST board.
the error code of
29:main error code
**:SUB error code
30 EFd Arc welding power Check the wire-feed system.
the error code of
30:main error code
**:SUB error code
2
- 739
Alarm list
No. Code
2 - 740
31 Err31 Arc welding power Update firmware, otherwise change the UST board.
Alarm list

the error code of
31:main error code
**:SUB error code
32 EcF Arc welding power Install correct primary BPS power module.
the error code of
32:main error code
**:SUB error code
33 tSt Arc welding power Allow the machine to cool.
the error code of
33:main error code
**:SUB error code
34 Errtf7 Arc welding power Change the UST board.
the error code of
34:main error code
**:SUB error code
35 DSP KL Arc welding power Update firmware, otherwise change the UST board.
the error code of
35:main error code
**:SUB error code
No. Code
36 DSPnSy Arc welding power Update firmware, otherwise change the UST board
the error code of
36:main error code
**:SUB error code
37 US POL Arc welding power Change over the polarity of the two cables otherwise change the
SUB code[37**] shows source error UST board
the error code of Confirm the Fronius's manual
37:main error code
**:SUB error code
38 -Stop- Arc welding power Deactivate the -Stop- by input -RobotReady- and activate briefly -
SUB code[38**] shows source error SourceErrorReset-.
38:main error code
**:SUB error code
39 NoH2O Arc welding power Check the coolant level and (if appropriate) the coolant return-flow
SUB code[39**] shows source error rate
the error code of If necessary, clean the coolant filter.
Fronius power source Rate-of-flow watchdog may be defective.
39:main error code Confirm the Fronius's manual.
**:SUB error code
49 Err049 Arc welding power Check the mains power supply.
SUB code[49**] shows source error Check all 3 phases.
49:main error code
**:SUB error code
2
- 741
Alarm list
No. Code
2 - 742
50 Err050 Arc welding power Disconnect NT60 or change/check NT24/UST/BPS/intermediate
Alarm list
SUB code[50**] shows source error circuit capacitors.

50:main error code
**:SUB error code
51 Err051 Arc welding power Mains voltage too low or NT 24 defective.
the error code of
51:main error code
**:SUB error code
52 Err052 Arc welding power Mains voltage too high or NT 24 defective.
the error code of
52:main error code
**:SUB error code
53 ErrPE Arc welding power Low-resistance connection between secondary and machine
SUB code[53**] shows source error housing find out the cause.
53:main error code
**:SUB error code
54 Err054 Arc welding power Increase the bbc (burn-back control)
SUB code[54**] shows source error Switch off "Wire stick" in the set-up menu
the error code of After the end of welding, make sure that the wire does not collide
Fronius power source with the workpiece when the torch is retracted.
54:main error code Confirm the Fronius's manual.
**:SUB error code
No. Code
55 NoIGn Arc welding power Set a lower Ito value
SUB code[55**] shows source error Keep the torch stand-off distance smaller before ignition.
55:main error code
**:SUB error code
56 Err056 Arc welding power Check how much wire is left on the spool
SUB code[56**] shows source error If necessary, change the spool.
56:main error code
**:SUB error code
57 NoGAS Arc welding power Check what volume of gas is still available.
the error code of
57:main error code
**:SUB error code
58 NoArc Arc welding power Check the seam.
the error code of
58:main error code
**:SUB error code
59 Err059 Arc welding power
the error code of
59:main error code
**:SUB error code
2
- 743
Alarm list
No. Code
2 - 744
Alarm list

the error code of
60:main error code
**:SUB error code
61 ErrArc Arc welding power
the error code of
61:main error code
**:SUB error code
62 Err062 Arc welding power Allow the machine to cool.
the error code of
62:main error code
**:SUB error code
63 EIF Arc welding power Check the interface configuration.
the error code of
63:main error code
**:SUB error code
64 Errtf8 Arc welding power Change the thermo-sensor of the cooling unit.
the error code of
64:main error code
**:SUB error code
No. Code
65 hotH2O Arc welding power Cool down the cooling liquid.
the error code of
65:main error code
**:SUB error code
66 tJo Arc welding power Allow the JobMaster torch to cool.
the error code of
66:main error code
**:SUB error code
67 ErrtJo Arc welding power Change JobMaster pc-board.
the error code of
67:main error code
**:SUB error code
the error code of
68:main error code
**:SUB error code
69 Err069 Arc welding power New welding start.
the error code of
69:main error code
**:SUB error code
2
- 745
Alarm list
No. Code
2 - 746
70 Err70 Arc welding power Check gas.
Alarm list

the error code of
70:main error code
**:SUB error code
71 Err71 Arc welding power Check the welding seam.
the error code of
71:main error code
**:SUB error code
72 ErrCfg Arc welding power Check LHSB connection.
the error code of
72:main error code
**:SUB error code
73 noHost Arc welding power Check the connection between UST and RCU and the firmware.
the error code of
73:main error code
**:SUB error code
74 Touch Arc welding power Touch sensing mode activated - no error.
the error code of
74:main error code
**:SUB error code
No. Code
the error code of
75:main error code
**:SUB error code
77 Err77 Arc welding power Check the wire feeding alignment if it is smooth.
the error code of
77:main error code
**:SUB error code
78 E-Stop Arc welding power Close the Safety circuit and activate the Error reset.
the error code of
78:main error code
**:SUB error code
79 ErrU0 Arc welding power
the error code of
79:main error code
**:SUB error code
80 Err080 Arc welding power Check the connection hose pack between power source and wire
SUB code[80**] shows source error feeder.
80:main error code
**:SUB error code
2
- 747
Alarm list
No. Code
2 - 748
81 tP7hot Arc welding power Allow the machine to cool.
Alarm list

the error code of
81:main error code
**:SUB error code
82 ErrEHF Arc welding power Allow the external HF to cool down.
the error code of
82:main error code
**:SUB error code
83 PHASE Arc welding power Check the mains supply cable of the power source.
the error code of
83:main error code
**:SUB error code
100 UndOpc Arc welding power Update firmware, otherwise change the UST board.
SUB code[100**] source error Confirm the Fronius's manual.
shows the error code
of Fronius power
source
100:main error code
**:SUB error code
101 PrtFlt Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
101:main error code
**:SUB error code
No. Code
102 IllOpa Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
102:main error code
**:SUB error code
103 IllIna Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
103:main error code
**:SUB error code
104 IllBus Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
104:main error code
**:SUB error code
105 Err105 Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
105:main error code
**:SUB error code
2
- 749
Alarm list
No. Code
2 - 750
106 STKOVL Arc welding power Update firmware, otherwise change the UST board.
Alarm list

of Fronius power
source
106:main error code
**:SUB error code
107 STKUVL Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
107:main error code
**:SUB error code
108 ErrDog Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
108:main error code
**:SUB error code
109 ASSErt Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
109:main error code
**:SUB error code
No. Code
110 EDg 1 Arc welding power Update firmware, otherwise change the UST board.
of Fronius power
source
110:main error code
**:SUB error code
4300 VERIFY ER- Setting error (1) Reset the alarm.
ROR(SERVO PA- (2) If the alarm occurs again, check whether the setting is within
RAMETER) the allowable range.
EAXA21 board failure (1) Reset the alarm
2
- 751
Alarm list
No. Code
2 - 752
4301 CONTACTOR ER- SUB Code: Signifies YPU unit failure (1) Reset the alarm.
Alarm list
ROR the physical No. of (2) Check the insertion and connection of the followings.
contactor in which the ·YSF22-CN217
alarm occurred ·YPU-CN607,CN-611
(3) Check if the contactors (1KM and 2KM) are open, and not dam-
Before performing a aged by melting or sticking.
connection check of (4)If the alarm occurs again, replace the YPU unit. Save the
the wiring, turn OFF CMOS.BIN before replacing the unit to be safe.
the controller power.
Make sure that all the
LEDs of SERVOPACK
and converter are
OFF, then verify that
no electricity is
charged using equip-
ment such as a tester.
This process may take
a few minutes after
shutting off the power.
YSF22 board failure (1) Reset the alarm.(In case of major alarm, turn the power OFF
then back ON.)

No. Code
4302 BRAKE CIRCUIT Software operation er- (1) Reset the alarm.
ERROR ror occurred (2) If the alarm occurs again, replace the EAXA21 board. Save the

4303 CONVERTER SUB Code: Signifies Connection failure (1) Reset the alarm.
READY SIGNAL ER- the physical No. of (2) If the alarm occurs again, check the connection and inserting
ROR converter in which the state of the following cables and connectors.
alarm occurred ·YPU unit-CN604
·EAXA21 board CN507
·Converter-CN553,554,555
YPU unit failure (1) Reset the alarm.

(2) Check if the contactors (1KM and 2KM) are open, and not dam-
aged by melting or sticking.
Module failure (con- (1) Reset the alarm.

2
- 753
Alarm list
No. Code
2 - 754
4304 CONVERTER IN- SUB Code: Signifies YPU unit failure (1) Reset the alarm.
Alarm list
PUT POWER ER- the physical No. of (2) Check if the contactors (1KM and 2KM) are open, and not dam-
ROR converter in which the aged by melting or sticking.
alarm occurred (3) If the alarm occurs again, replace the YPU unit. Save the
·EAXA21-CN507,510
·EAXB21-CN08
·YPU-CN602
Module failure (con- (1) Reset the alarm
4305 CONVERTER CIR- SUB Code: Signifies Module failure (con- (1) Reset the alarm.
CUIT CHARGE ER- the physical No. of verter) (2) If the alarm occurs again, replace the converter.
ROR converter in which the
alarm occurred
Module failure (Re- Check if there is no ground fault in the regeneration resistors.
generative resistor)
No. Code
4306 AMPLIFIER READY SUB Code: Signifies Connection failure (1) Reset the alarm.
SIGNAL ERROR the axis in which the (2) If the alarm occurs again, check the connection and inserting
alarm occurred state of the following cables and connectors.
·EAXA21-CN501?506,CN510
·EAXB21-CN531,532,533
·Amplifier-CN581,582
·Converter-CN551,552A,552B
verter) (2) If the alarm occurs again, check if the LED (green) for amplifier
is lighted up when servo power is ON.
(3) If it is lighted, replace the converter.
Module failure (ampli- (1) Reset the alarm.
fier) (2) If the alarm occurs again, replace the corresponding amplifier.
(2) If the alarm occurs again, replace the EAXA/EAXB board. Save
the CMOS.BIN before replacing the board to be safe.

4307 SERVO ON DEFEC- SUB Code: Signifies Mechanical failure Check that the manipulator is not moving when the servo turned
TIVE SPEED the axis in which the ON.
2
alarm occurred
- 755
Alarm list
No. Code
2 - 756
YBK21 board failure Check that the brake has not been released because the brake re-
Alarm list
lay is broken.
Connection failure (1) Reset the alarm
[Robot axis]
·EAXA21-CN501 to 506
·Amplifier-CN581, CN584 ·Power supply cable (Power cable)
·External axis ·EAXB21-CN531,532,533
·EX1SV (External axis SERVO PACK) -CN591
·Power supply cable (Power cable)


4308 VOLTAGE SUB Code: Signifies Voltage failure Check if the primary power supply voltage is dropping.
DROP(CONVERT- the physical No. of
ER) converter in which the
alarm occurred
Connection failure (1) Reset the alarm
·EAXA21-CN507,510 ·EAXB21-CN531,532,533
·EX1SV (External axis SERVO PACK) - CN591,592
No. Code
Module failure (con- (1) Reset the alarm.(In case of major alarm, turn the power OFF
verter) then back ON.)
(2) If the alarm occurs again, replace the converter.

4309 DEFECTIVE EN- SUB Code: Signifies Connection failure ·Cables between encoders
CODER INTERNAL the axis in which the ·EAXA21-CN508
DATA alarm occurred {External axis}
·Cables between encoders
·EAXB21-CN534,535,536
Module failure (encod- (1) Reset the alarm.

4310 ENCODER OVER- SUB Code: Signifies Overheated encoder Turn OFF the DX200 power for approx. 10 minutes, then turn it ON
HEAT the axis in which the again.
alarm occurred
High ambient temper- Adjust the ambient temperature to 40? or less.
ature
2
- 757
Alarm list
No. Code
2 - 758
Alarm list
(2) If the alarm occurs again, replace the EAXA, EAXB board.
Save the CMOS.BIN before replacing the board to be safe.

4311 ENCODER BACK- SUB Code: Signifies Module failure {AL-4314 occurred}
UP ERROR the axis in which the (encoder battery) Replace the battery of the axis in which the error occurred.
alarm occurred {AL-1327 occurred}
Replace the battery of the axis in which the alarm occurred. If the
home position of the corresponding axis is displayed as "***", reg-
ister the home position again.
AL-1327 occurs due to the battery disconnection (weak battery),
causing undefined alarm data.
If the alarm doesn't occur after turning the power OFF and then

[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
No. Code

4312 ENCODER BAT- Module failure Replace the battery.
TERY ERROR (encoder battery)


2
- 759
Alarm list
No. Code
2 - 760
4315 COLLISION DE- SUB Code: Signifies Setting error Check the following settings.
Alarm list
TECT the axis in which the ·The tool information

alarm occurred ·The selection tap of the transfer
·The collision detection level
·JOB
·Work
·The speed of JOB
·The acceleration/deceleration speed of ACC and DEC
·Length of the power cables ·Diameter of the power cables
Interference error Remove the following interferences.

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

manipulator's position at start/end point
·The JOB is stopped by category 1 stop or HOLD stop
·Compared to the start/end point, excessive load is applied to the
motor according to the position

·EAXA21- CN501 to 506,CN510
·EAXB21- CN531,532,533
·Amplifier - CN581,582
·Converter - CN551,552A,552B
·EX1SV (External axis SERVO PACK) - CN591,592,595
Connection failure (1) If the alarm occurs again, check the wiring of phase-U, -V, and
-W isn't disconnected.
(2) If disconnected, replace the motor power wire.
Connection failure (1) Check that the motor brake wire is not disconnected.
(2) If disconnected, replace the motor brake wire.
YBK21 board failure (1) Reset the alarm.

Maintenance failure Measure the density of grease iron powder in the speed reducer
2
and do the maintenance.
- 761
Alarm list
No. Code
2 - 762
Defective speed re- Replace the speed reducer or the grease of it.
Alarm list
ducer
4316 PRESSURE DATA SUB Code: Signifies Setting error Check the following settings.
LIMIT the axis in which the ·The gun pressure file
alarm occurred ·The dry spotting pressure file
*Reset the pressure value in the gun pressure file below the max-
imum pressure value
4317 PRELOAD ERROR SUB Code: Signifies Effect of external force Adjust the gun opening.
the axis in which the
alarm occurred
4318 SERIAL ENCODER SUB Code: Signifies Connection failure (1) Reset the alarm.
CORRECTION LIM- the axis in which the (2) If the alarm occurs again, check the connection and inserting
IT alarm occurred state of the following cables and connectors.
[Robot axis]
·EAXA21-CN508
[External axis]
·EAXB21-CN0534,535,536
No. Code

4319 PRELOAD ERROR SUB Code: Signifies Effect of external force Move the gun axis to another position by manual operation and
2 the axis in which the then turn the servo power on again.
alarm occurred
4320 OVERLOAD(CON- SUB Code: Signifies Setting error Check the following settings.
TINUE) the axis in which the ·The tools or the mass of the workpieces
alarm occurred
Interference with pe- Check if the manipulator interferes with any objects such as work-
ripheral devices pieces or peripheral devices. If interferes, remove the object.
Setting error Review the JOB to check if the load factor doesn't exceed 100%.
YBK21 board failure (1) Check if the power has been applied to the brake voltage of the
following terminal.
Check that the brake has not been locked due to malfunction of the
contactor.
·YBK21-CN400
·Motor brake terminal
(2) If any error is found, replace the YBK21 board.
(2) If the alarm occurs again, replace the following cables.
2
·The wire harness in the robot.
- 763
Alarm list
No. Code
2 - 764
Alarm list

4321 OVERLOAD(MO- SUB Code: Signifies Setting error Check the following settings.
MENT) the axis in which the ·The tools or the mass of the workpieces
alarm occurred
Interference error Check if the manipulator interferes with any objects such as work-
pieces or peripheral devices. If interferes, remove the object.
YBK21 board failure (1) Check if the power has been supplied to the brake voltage of
the following terminal.
contactor.
·YBK21-CN400
No. Code

4322 AMPLIFIER OVER- SUB Code: Signifies Setting error Check the following settings.
LOAD(CONTINUE) the axis in which the ·The tools or the mass of the workpieces
alarm occurred
contactor.
·YBK21-CN400

2
- 765
Alarm list
No. Code
2 - 766
Alarm list

4323 AMPLIFIER OVER- SUB Code: Signifies Setting error Check the following settings.
LOAD(MOMENT) the axis in which the ·The tools or the mass of the workpieces
alarm occurred
contactor.
·YBK21-CN400

No. Code

4324 CONVERTER Setting error ·Confirm that the tool and workpiece in use don't exceed the per-
OVERLOAD missible load.
·Adjust the JOB speed.
(2) If the alarm occurs again, replace the EAXA21/EAXB21 board.

4326 OVER SPEED SUB Code: Signifies Setting error If the alarm occurs at the same site, check the following setting.
the axis in which the ·Set the lower motion speed around the site where the alarm oc-
alarm occurred curs.
If the alarm occurs for the motor gun, check the following settings.
·Setting of the touch speed
·Setting of the touch pressure
Connection failure (1) Reset the alarm.(In case of major alarm, turn the power OFF
then back ON.)
2
(2) If the alarm occurs again, check the wiring of phase-U, -V, and
-W is correct.
- 767
Alarm list
No. Code
2 - 768
Alarm list


4327 WRONG MOTOR SUB Code: Signifies Connection failure (1Reset the alarm.
ROTATION the axis in which the (2) If the alarm occurs again, check the connection and insertion
Motor power cable
·Amplifier-CN584
·EX1SV(External axis servo pack)-CN595
Encoder cable
·EAXA21-CN508
·EAXB21-CN534,535,536

4328 SERVO TRACKING SUB Code: Signifies Setting error Check the following settings.
ERROR the axis in which the ·The tools or the mass of the workpieces
alarm occurred
No. Code
Acceleration limit over This alarm occurs when excessive load is applied to the motor
upon the satisfactions of all the following conditions;
·The acceleration/deceleration is automatically calculated by the
manipulator's position at start/end point
·The JOB is stopped by category 1 stop or HOLD stop
·Compared to the start/end point, excessive load is applied to the
motor according to the position
<Remedy>
Adjust the acceleration/deceleration by ACC and DEC for the
teaching position.
Also, make sure to run the machine enough before operation when
this alarm occurs at low temperature environment (ambient tem-
perature: 10?)
Connection failure (1Reset the alarm.

·Amplifier-CN584
·Motor power wiring
contactor.
·YBK21-CN400

2
- 769
Alarm list
No. Code
2 - 770
Alarm list

4329 SAFETY SPEED 11 The motion speed at Setting error Check the following settings.
ERROR(SERVO) the center of the ·Reduction in the motion speed
flange exceeded the
specified max. speed.
Setting error Reset the alarm, and then try again.
(2) If the alarm occurs again, check that U-, V- and W-phase are
appropriately connected.
12 The motion speed at Setting error Check the following settings.
the center of the ·Reduction in the motion speed
flange exceeded the
No. Code
the center of the con- ·Reduction in the motion speed
trol point exceeded the
the center of the con- ·Reduction in the motion speed
2
trol point exceeded the
- 771
Alarm list
No. Code
2 - 772
Alarm list

4330 BROKEN SPEED Connection failure (1) Reset the alarm.
MONITOR LINE (2) If the alarm occurs again, check the connection and inserting
·Speed monitor unit
4331 SPEED MONITOR EAXA21 board failure (1) Reset the alarm.
LEVEL ERROR (2) If the alarm occurs again, replace the EAXA21 board. Save the

No. Code
4334 OVERVOLT- SUB Code: Signifies Connection failure (1) Reset the alarm.
AGE(CONVERTER) the physical No. of (2) If the alarm occurs again, check the connection and inserting
converter in which the state of the following cables and connectors.
alarm occurred ·EAXA21-CN507,510
·EAXB21-CN531,532,533
·EX1SV (External axis SERVO PACK)-CN591,592
Setting error Check the following settings.

?The load mounted on the manipulator
Voltage failure Modify the primary breaker voltage to the specified voltage
200V(+10??15?).
(Regenerative resis- (1) Disconnect the converter CN557 to check if there is no cable
tor) disconnection.
(2) If disconnected, replace the regenerative resistor.

2
- 773
Alarm list
No. Code
2 - 774
4335 GROUND FAULT SUB Code: Signifies Connection failure (1) Turn the power OFF then back ON.
Alarm list
the axis in which the (2) If the alarm occurs again, check the connection and inserting
alarm occurred. state of the following cables and connectors.
(If the alarm occurred ·EAXA21-CN507,510
at an axis which is ·Converter CN551,553,555
driven by a common ·EX1SV (External axis SERVO PACK)-CN592
converter, all the SUB-
ject axes are indicat-
ed.)
Check the axis in which earth fault occurs in the alarm history
screen.
If both robot axes and external axes use the same type converter,
the earth fault may occur on the external axis not the robot axis.
(There is also a possibility that it is stained by water)
(1) External axis cables (Power wire)

(2) Traveling axis cable (Power wire)
(3) Power supply cable (Robot axis, external axis) (Power wire)
(4) Internal cables (Robot axis, external axis) (Power wire)
Module failure (Re- Check if there is no ground fault in the regeneration resistors.
GND wiring failure (1) Turn the power OFF then back ON.
(2) If the alarm repeats, check the voltage of the primary power
and GND. If the voltage amount on each RST varies more than
100V, review the GND setting.
No. Code
tactor) (2) If the alarm occurs again, replace the contactor.

CMOS.BIN before replacing the YPU unit to be safe.
4336 OPEN PHASE(CON- SUB Code: Signifies Connection failure (1) Reset the alarm.
VERTER) the physical No. of (2) If the alarm occurs again, check the connection and inserting
·EAXB21-CN531,532,533
·EX1SV (External axis SERVO PACK)-CN591, CN592
200V(+10??15?).
CMOS.BIN before replacing the YPU unit to be safe.
2
- 775
Alarm list
No. Code
2 - 776
Alarm list

4337 OVERCUR- SUB Code: Signifies Connection failure (1) Reset the alarm.
RENT(AMP) the axis in which the (2) If the alarm occurs again, check the connection and inserting
·EAXA21-CN501?506,CN510
·EAXB21-CN531,532,533
·EX1SV (External axis SERVO PACK)-CN591,592,595
·Manipulator cable
·Supply cable

No. Code
4338 REGENERATIVE SUB Code: Signifies Connection failure (1) Reset the alarm.
TROUBLE(CON- the axis in which the (2) If the alarm occurs again, check the connection and inserting
VERTER) alarm occurred state of the following cables and connectors.
·EAXA21-CN507,510
·EAXB21-CN531,532,533
·Converter-CN557
·Cable between the regenerative resistors
Module failure (Re- Replace the regenerative resistor.
Overloading Check that the load does not exceed the allowable limit.
4339 INPUT POWER SUB Code: Signifies Voltage failure Modify the primary breaker voltage to the specified voltage
OVER VOLT- the physical No. of 200V(+10% to15%).
AGE(CONV) converter in which the
alarm occurred
·EAXA21-CN507,510
·EAXB21-CN531,532,533
2
- 777
Alarm list
No. Code
2 - 778
Alarm list

4340 TEMPERATURE SUB Code: Signifies Install failure Check that the air inlet or outlet is not blocked.
ERROR(CONVERT- the physical No. of
ER) converter in which the
alarm occurred
High ambient temper- Adjust the ambient temperature to 40?C or less.
ature
200V(+10% to 5%).
·EAXA21-CN507,510
·EAXB21-CN531,532,533

No. Code
4342 SV DRESS SPEED SUB Code: Signifies Metal pieces getting Check if metal pieces getting into dresser blades prevent the
ERR the axis in which the into dresser blades dresser from rotating.
alarm occurred
Setting error Check if the "SPEED FLUCTUATION LIMIT" setting in TIP
DRESS CONDITION file is too small.
·Amplifier-CN584
contactor.
·YBK21-CN400
2
- 779
Alarm list
No. Code
2 - 780
Alarm list

4343 SV DRESS SPEED SUB Code: Signifies Metal pieces getting Check if metal pieces getting into dresser blades prevent the
ERR(UNDER the axis in which the into dresser blades dresser from rotating.
PRESS) alarm occurred
Setting error Check the following settings.
·"PRESS CONDITION" setting in TIP DRESS CONDITION file is
too small. (Check if they are too high.)
·"SPEED FLUCTUATION LIMIT" setting in TIP DRESS CONDI-
TION file. (Check if it is too small).
·Amplifier-CN584
contactor.
·YBK21-CN400

No. Code

4344 LINEAR SERVO- Setting error (1) Check the settings for jobs.
FLOAT TRACKING (2) Reset the alarm.
ERROR
4345 LNK SERVOFLOAT SUB Code: Signifies Setting error (1) Check the settings for jobs.
EXECUTE ERROR the axis in which the (2) Reset the alarm.
alarm occurred
4346 LNK SERVOFLOAT SUB Code: Signifies Setting error (1) Check the limit torque of the link servo float condition file.
TRQ LIMIT ERROR the axis in which the (2) Reset the alarm.
alarm occurred
4347 LNR SERVOFLOAT SUB Code: Signifies Setting error (1) Check the limit torque of the link servo float condition file.
TRQ LIMIT ERROR the axis in which the (2) Reset the alarm.
alarm occurred
2
- 781
Alarm list
No. Code
2 - 782
4348 LNR SERVOFLOAT SUB Code: Signifies Setting error (1) Check the setting file of the job and the linear servo float.
Alarm list
COORD TYPE ER- linear servo float con- (2) Reset the alarm.
ROR dition file number in
which the alarm oc-
curred
4349 LNR SERVOFLOAT Setting error (1) Check the setting file of the job and the linear servo float.
TOOL POSE ER- (2) Reset the alarm.
ROR
4350 LNR SERVOFLOAT SUB Code: Signifies Setting error (1) Check the settings for jobs.
EXECUTE ERROR the axis in which the (2) Reset the alarm.
alarm occurred
4351 DRIVE BELT SNAP SUB Code: Signifies Driving belt failure (1) Check that the driving belt is not broken.
DETECT the axis in which the (2) If the driving belt is broken, replace the driving belt.
alarm occurred
No. Code
4352 TWIN DRIVE OVER SUB Code: Signifies Connection failure (1) Reset the alarm.
DEVIATION the axis in which the (2) If the alarm occurs again, check the connection and inserting
·EAXA21-CN501?506,CN510
·EAXB21-CN531,532,533
·Converter CN551,552A,552B
·EX1SV (External axis SERVO PACK)-CN591,592,595
Connection failure (1) If the alarm occurs again, check the wiring of phase-U, -V, and
(motor power) -W isn't disconnected.
(2) If disconnected, replace the motor power wire.
Connection failure (1) Check that the motor brake wire is not disconnected.
(motor brake) (2) If disconnected, replace the motor brake wire.
YBK21 board failure (1) Turn the power OFF then back ON.
4353 DEFECTIVE SUB Code: Signifies Setting error Check the following settings.
TAUGHT the axis in which the ·Setting of the command soft (JOB)
POINT(ENDLESS) alarm occurred ·MRESET instruction to corresponding axis
2
- 783
Alarm list
No. Code
2 - 784
4354 FILE NO. ER- SUB Code: File num- Setting error Do not use the collision detection file for exclusive use for the
Alarm list
ROR(SHOCK LEV- ber SVSPOT with the SHCKSET instruction.

EL)
4355 EXTERNAL PRES SUB Code: Signifies Setting error Check the settings for jobs.
DETECT(SERVO- the axis in which the
FLOAT) alarm occurred
4356 ARM CTRL PARAM- Setting error Check the settings for jobs.
ETER ERR(OB-
SERVER)
4357 IMPOSSIBLE Setting error Check the settings for jobs.
SRCH(EQUALIZE
TEACH)
4358 DUPLICATED Setting error End the current pressuring operation, and then execute the pres-
PRESS ERROR suring instruction.
No. Code
4359 CONVERTER ER- SUB Code: Signifies Connection failure (1) Reset the alarm.
ROR the physical No. of (2) If the alarm occurs again, check the connection and inserting
·EAXB21-CN531,532,533

4360 WAFER ALIGN- Connection failure Check the connection of pre-aligner.
MENT ER-
ROR(SERVO)
4362 POWER SUPPLY Connection failure (1) Reset the alarm.
READY ER- (2) If the alarm occurs again, check the connection and inserting
ROR(SERVO) state of the following cables and connectors.
·EAXA21-CN501?506,CN510
·EAXB21-CN531,532,533
2
- 785
Alarm list
No. Code
2 - 786
EAXA21 board failure (1) Reset the alarm.(In case of major alarm, turn the power OFF
Alarm list
then back ON.)


4363 BASE BLOCK SIG- Connection failure (1) Reset the alarm.
NAL ERROR(SER- (2) If the alarm occurs again, check the connection and inserting
VO) state of the following cables and connectors.
·EAXA21-CN501?506,CN510
·EAXB21-CN531,532,533

No. Code
4364 GUN SOFTLIMIT SUB Code: Signifies Setting error Check the following settings.
the axis in which the ·Home position of gun axis
alarm occurred
[Released side]
Reset the software limit of released side gun.
(Parameter S1CxG400 or 408)
[Closed side]
Reset the software limit at the gun closed side.
Add the moving amount of tip wear.
(Parameter S1CxG400 or 408)
4365 TOUCH DETECT Setting error Check the following settings.
DATA OVER ·Home position of gun axis
·"ALLOAWABLE TOUCH RANGE" in the GUN DETAIL SETTING
file
·"PULSE - STROKE" setting in the GUN CONDITION file.
4366 GUN BEND COM- SUB Code: Signifies Setting error Check if this model is supported.
PENSATION SET the group in which the
ERROR alarm occurred
4367 ROBOT POSE ER- SUB Code: Signifies Setting error Check the settings for jobs.
ROR the axis in which the
alarm occurred
2
- 787
Alarm list
No. Code
2 - 788
Alarm list

4371 SYSTEM ER- 161 Automatic test data er- Software operation er- (1) Reset the alarm, and then try again.
ROR(SERVO) ror ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
250 Control filter error. Software operation er- (1) Reset the alarm, and then try again.
7101 The override ratio is Software operation er- (1) Reset the alarm, and then try again.
No. Code
7610 Gun Auto-tuning error Software operation er- (1) Reset the alarm, and then try again.
2
- 789
Alarm list
No. Code
2 - 790
4372 SERVO ON SIGNAL Connection failure Check the connections between YPU unit and EAXA21 board.
Alarm list
ERROR Replace the YPU unit.

4378 CANNOT EXE- SUB Code: Signifies Connection failure (1) Reset the alarm.
CUTE BRAKE LINE the axis in which the (2) If the alarm occurs again, check the brake connection.
CHECK alarm occurred
other other If the alarm occurs again, save the CMOS.BIN in maintenance
4379 SAFETY RELAY ER- Setting error Setting error (1) Check the following settings.
ROR(SERVO) ·Check the settings for CONNECTION(STO/CONTACTOR) in
maintenance mode
·When CONNECTION setup is CONTACTOR, check that the safe-
ty function's jumper connector is inserted in EAXA21 board
CN521, or EAXB21 board CN522/523/524.
Connection failure Connection failure (1) Reset the alarm.
·EAXA21 board?CN521(Safety function's jumper connector)
·EAXB21 board?CN522/523/524(Safety function's jumper con-
nector)
·YSF22 board CN217
YSF22 board failure YSF22 board failure (1) Reset the alarm.
EAXA21 board failure EAXA21 board failure (1) Reset the alarm.
No. Code
EAXB21 board failure EAXB21 board failure (1) Reset the alarm.
(2) If the alarm occurs again, replace the EAXB21 board. Save the
other other If the alarm occurs again, save the CMOS.BIN in maintenance
4400 NOT READY 1 The arithmetic pro- Software operation er- (1) Reset the alarm, and then try again.
(ARITH) cess for motion control ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
did not complete with- mode, and then contact your YASKAWA representative about oc-
in regulated time. No currence status (operating procedure).
motion command was
prepared.
2 The arithmetic pro- Software operation er- (1) Reset the alarm, and then try again.
cessing section is not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ready for JOG opera- mode, and then contact your YASKAWA representative about oc-
tion. currence status (operating procedure).
ready for the playback mode, and then contact your YASKAWA representative about oc-
operation. currence status (operating procedure).
4 The pre-reading pro- Software operation er- (1) Reset the alarm, and then try again.
cessing in the arithme- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tic processing section mode, and then contact your YASKAWA representative about oc-
has not completed. currence status (operating procedure).
ready for the timer fol- mode, and then contact your YASKAWA representative about oc-
low-up of the conveyor currence status (operating procedure).
tracking function.
2
- 791
Alarm list
No. Code
2 - 792
Alarm list
cessing in the arithme- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tic processing section mode, and then contact your YASKAWA representative about oc-
has not completed currence status (operating procedure).
when specifying the
target position.
4401 SEQUENCE TASK 1 Unused A_BANK Software operation er- (1) Reset the alarm, and then try again.
CONTR ERROR does not exist in the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
pre-reading process- mode, and then contact your YASKAWA representative about oc-
ing of move instruc- currence status (operating procedure).
tion.
2 Unused bank priority Software operation er- (1) Reset the alarm, and then try again.
does not exist in the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing of move instruc- currence status (operating procedure).
tion.
5 A_BANK pointer is not Software operation er- (1) Reset the alarm, and then try again.
set. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
6 A_BANK conversion Software operation er- (1) Reset the alarm, and then try again.
could not be per- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
formed. mode, and then contact your YASKAWA representative about oc-
7 The specified Software operation er- (1) Reset the alarm, and then try again.
A_BANK number does ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
not exist. mode, and then contact your YASKAWA representative about oc-
20 An error occurred Software operation er- (1) Reset the alarm, and then try again.
when system number ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
(MSS) was obtained. mode, and then contact your YASKAWA representative about oc-
No. Code
RMS960 system call. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
22 Undefined interrupt Software operation er- (1) Reset the alarm, and then try again.
command was re- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ceived. mode, and then contact your YASKAWA representative about oc-
23 Job start condition is Software operation er- (1) Reset the alarm, and then try again.
not defined. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
instruction pre-fetch ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
queue operation. mode, and then contact your YASKAWA representative about oc-
26 Intermediate code is Software operation er- (1) Reset the alarm, and then try again.
29 Instruction pre-reading Software operation er- (1) Reset the alarm, and then try again.
processing has not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
been completed nor- mode, and then contact your YASKAWA representative about oc-
mally. currence status (operating procedure).
job data change. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
31 The specified se- Software operation er- (1) Reset the alarm, and then try again.
quence number at job ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
execution start is in- mode, and then contact your YASKAWA representative about oc-
correct. currence status (operating procedure).
- 793
Alarm list
No. Code
2 - 794
32 The added area for in- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
terruption command is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
33 System number Software operation er- (1) Reset the alarm, and then try again.
(MSS) for interruption ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
command is incorrect. mode, and then contact your YASKAWA representative about oc-
38 An error occurred at Software operation er- (1) Reset the alarm, and then try again.
start of twin synchro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
nous operation. mode, and then contact your YASKAWA representative about oc-
when SYNC specifica- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion was reset. mode, and then contact your YASKAWA representative about oc-
occupation control ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
group setting in MO- mode, and then contact your YASKAWA representative about oc-
TION section. currence status (operating procedure).
path/trace control. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
when waiting for a ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
completion of main mode, and then contact your YASKAWA representative about oc-
system task (job) in currence status (operating procedure).
SYNC specification.
No. Code
48 An attempt was made Software operation er- (1) Reset the alarm, and then try again.
to execute an instruc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion that could not be mode, and then contact your YASKAWA representative about oc-
executed at line se- currence status (operating procedure).
quence execution.
while obtaining the in- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
struction information. mode, and then contact your YASKAWA representative about oc-
80 An exceptional error Software operation er- (1) Reset the alarm, and then try again.
occurred in job execu- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion process. mode, and then contact your YASKAWA representative about oc-
100 Main processing com- Software operation er- (1) Reset the alarm, and then try again.
mand is incorrect in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
prereading process- mode, and then contact your YASKAWA representative about oc-
ing. currence status (operating procedure).
101 SUBprocessing com- Software operation er- (1) Reset the alarm, and then try again.
mand is incorrect in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
102 Pre-reading process- Software operation er- (1) Reset the alarm, and then try again.
ing has not been com- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
pleted at job mode, and then contact your YASKAWA representative about oc-
execution. currence status (operating procedure).
has not been complet- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ed. mode, and then contact your YASKAWA representative about oc-
2
- 795
Alarm list
No. Code
2 - 796
104 System number Software operation er- (1) Reset the alarm, and then try again.
Alarm list
(MSS) is incorrect in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
instruction pre-fetch ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
queue operation in mode, and then contact your YASKAWA representative about oc-
pre-reading process- currence status (operating procedure).
ing.
IES switching in pre- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
reading processing. mode, and then contact your YASKAWA representative about oc-
4402 UNDEFINED COM- Software operation er- (1) Reset the alarm, and then try again.
MAND(ARITH) ror (2) Check the following settings.
Setting error ·the base-axis position must be registered for the system with
base-axis
MOVL P00001 BP00001
4404 ARITHMETIC ER- 8 Interpolation such as Setting error (1) Check the following settings.
ROR linear and circular in- ·Change the step (move instruction), where the alarm occurred, to
terpolation cannot be MOVJ.
performed with this
manipulator.
10 The setting of the form Setting error (1) Check the following settings.
data for Flip/No Flip is ·Set "1" to "S2C658: Type data detail settings".
not "B-axis Angle. "
No. Code
to pass the B-axis zero ·Check the teaching position of the job so that the manipulator
degree position (sin- does not pass the B-axis zero degree position (singular area).
gular area).
4406 GROUP AXIS CON- 1 Designation error for Software operation er- (1) Reset the alarm, and then try again.
TROL ERROR master and slave ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2 Slave designation er- Software operation er- (1) Reset the alarm, and then try again.
3 Slave interpolation er- Software operation er- (1) Reset the alarm, and then try again.
4 No designation of Software operation er- (1) Reset the alarm, and then try again.
master axis ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
6 Master-axis designa- Software operation er- (1) Reset the alarm, and then try again.
tion error for JOG mo- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 797
Alarm list
No. Code
2 - 798
7 Slave-axis designation Software operation er- (1) Reset the alarm, and then try again.
Alarm list
error for JOG motion ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
8 Occupation control er- Software operation er- (1) Reset the alarm, and then try again.
occupation control for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
JOG motion mode, and then contact your YASKAWA representative about oc-
occupation control for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
Bank position mode, and then contact your YASKAWA representative about oc-
occupation control ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
group for tracking mo- mode, and then contact your YASKAWA representative about oc-
tion currence status (operating procedure).
12 No master and slave Software operation er- (1) Reset the alarm, and then try again.
designated for track- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing motion mode, and then contact your YASKAWA representative about oc-
4407 TWO STEPS SAME Setting error (1) Check the following settings.
POSITION(CIRC) ·Check the settings for teaching position of circular interpolation
steps so that each point is different.
No. Code
POSITION(SPLINE) ·Check the settings for teaching position of spline interpolation
step so that each point is different.
POSITION(3 ·Check the settings for three taught points to create an user coor-
STEPS) dinate system so that each point is different.
POSITION(WEAV) ·Check the settings for taught points (start, end, and reference
points) so that each point is different.
4411 TEACH ER- Setting error (1) Check the following settings.
ROR(SPLINE) ·Check the settings for the teaching position of spline interpolation
section so that the distance between the teaching points is even.
4412 IMPOSSIBLE LIN- Setting error (1) Check the following settings.
EAR MOTION(L/U) ·Perform the teaching again to make the form of L- and U-axes
same at start point and end point.
·Use a MOVJ instruction again.
2
- 799
Alarm list
No. Code
2 - 800
4413 IMPOSSIBLE LIN- Setting error (1) Check the following settings.
Alarm list
EAR MOTION(S/L) ·Perform the teaching position again to make the form of S- and L-
axes same at start point and end point.
Use a MOVJ instruction again.
4414 EXCESSIVE SEG- SUB Code: Control Setting error (1) Reduce the speed in the step where the alarm occurred.
MENT (LOW/HIGH) group and axis (2) Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement
changes.
4416 PULSE LIMIT(MIN./ SUB Code: Control Setting error (1) Check the following settings.
MAX.) group and axis ·Perform the teaching again to correct positions for manipulators
so that the step where the alarm occurred is within the motion
range.
4418 CUBE LIMIT(MIN./ SUB Code: Control Setting error (1) Check the following settings.
MAX.) group and XYZ ·Perform the teaching again to correct positions for manipulators
range.
4420 SPECIAL SOFTLIM- SUB Code: Control Setting error (1) Check the following settings.
IT(MIN./MAX.) group and axis ·Perform the teaching again to correct positions for manipulators
range.
No. Code
4422 MECHANICAL IN- SUB Code: Control Setting error (1) Check the following settings.
TERFER- group and axis ·Perform the teaching again to correct positions for manipulators
ENCE(MIN./MAX.) so that the step where the alarm occurred is within the motion
range.
4424 SPECIAL MECHAN- SUB Code: Control Setting error (1) Check the following settings.
ICAL INTRF(MIN./ group and axis ·Perform the teaching again to correct positions for manipulators
MAX.) so that the step where the alarm occurred is within the motion
range.
4426 PULSE MECHANI- SUB Code: Control Setting error (1) Check the following settings.
CAL LIMIT(MIN./ group and axis ·Perform the teaching again to correct positions for manipulators
MAX.) so that the step where the alarm occurred is within the motion
range.
4428 SEGMENT CON- 1 RT-buffer control com- Software operation er- (1) Reset the alarm, and then try again.
TROL ERROR mand error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2 Segment-receiving Software operation er- (1) Reset the alarm, and then try again.
control command error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 801
Alarm list
No. Code
2 - 802
3 No bank priority Software operation er- (1) Reset the alarm, and then try again.
Alarm list
4 Answer error at MOVE Software operation er- (1) Reset the alarm, and then try again.
simulating ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 The value of Software operation er- (1) Reset the alarm, and then try again.
bank_refresh_flag(x) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
exceeded its limit. mode, and then contact your YASKAWA representative about oc-
8 RT-buffer tracking op- Software operation er- (1) Reset the alarm, and then try again.
tion error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
9 The segment was re- Software operation er- (1) Reset the alarm, and then try again.
ceived although the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
previous segment had mode, and then contact your YASKAWA representative about oc-
not been sent. currence status (operating procedure).
4429 WRONG SPECI- 1 Control group not des- Software operation er- (1) Reset the alarm, and then try again.
FIED CONTROL ignated ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
GROUP mode, and then contact your YASKAWA representative about oc-
2 Slave control-group Software operation er- (1) Reset the alarm, and then try again.
3 Master control-group Software operation er- (1) Reset the alarm, and then try again.
No. Code
4 Master and Slave con- Software operation er- (1) Reset the alarm, and then try again.
trol-group error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 Control-group error for Software operation er- (1) Reset the alarm, and then try again.
a job file ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
a user coordinate file ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
a calibration file be- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tween manipulators mode, and then contact your YASKAWA representative about oc-
a tool calibration file ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
10 Control-group error for Software operation er- (1) Reset the alarm, and re-select the job from [select job] window
prereading-calcula- ror occurred before starting the job again .
tion start point (for (2) If the alarm occurs again, save the CMOS.BIN in maintenance
adv_st_pos) mode, and then contact your YASKAWA representative about oc-
the current-value pre- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
set position mode, and then contact your YASKAWA representative about oc-
2
- 803
Alarm list
No. Code
2 - 804
Alarm list
the conveyor pre- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
reading calculation mode, and then contact your YASKAWA representative about oc-
start point currence status (operating procedure).
13 Occupation control- Software operation er- (1) Reset the alarm, and then try again.
group error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
servo hand ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the pre-reading calcu- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
lation start point (for mode, and then contact your YASKAWA representative about oc-
dm_st_pos) currence status (operating procedure).
pre-reading calcula- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion start point (for mode, and then contact your YASKAWA representative about oc-
dm_st_pos) currence status (operating procedure).
4430 CPU COMMUNICA- 1 Interrupt processing Software operation er- (1) Reset the alarm, and then try again.
TION ERROR error between MO- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
TION section and sys- mode, and then contact your YASKAWA representative about oc-
tem control section currence status (operating procedure).
2 Interrupt processing Software operation er- (1) Reset the alarm, and then try again.
error between MO- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
TION section and mode, and then contact your YASKAWA representative about oc-
SL#1 currence status (operating procedure).
No. Code
CV#1 currence status (operating procedure).
CV#2 currence status (operating procedure).
PS#1 currence status (operating procedure).
PS#2 currence status (operating procedure).
4431 JHM ERROR 1 An error occurred in Software operation er- (1) Reset the alarm, and then try again.
JMS system call when ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
an attempt was made mode, and then contact your YASKAWA representative about oc-
to open a job. currence status (operating procedure).
2
- 805
Alarm list
No. Code
2 - 806
2 No space was found in Software operation er- (1) Reset the alarm, and then try again.
Alarm list
job handle value stor- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
age area when an at- mode, and then contact your YASKAWA representative about oc-
tempt was made to currence status (operating procedure).
open a job.
3 No job handle was Software operation er- (1) Reset the alarm, and then try again.
found. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4 Job control proprietary Software operation er- (1) Reset the alarm, and then try again.
is incorrect. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 Job control proprietary Software operation er- (1) Reset the alarm, and then try again.
could not be changed. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4432 INSTRUCTION IN- 1 The intermediate code Software operation er- (1) Reset the alarm, and then try again.
TERPRETER ER- of the instruction that ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ROR is to be executed is in- mode, and then contact your YASKAWA representative about oc-
3 Destination (variable) Software operation er- (1) Reset the alarm, and then try again.
tag arrangement is in- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
correct. mode, and then contact your YASKAWA representative about oc-
No. Code
4 Tag data type is incor- Software operation er- (1) Reset the alarm, and then try again.
rect. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 Box number is incor- Software operation er- (1) Reset the alarm, and then try again.
rect. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
block separation pro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cessing of intermedi- mode, and then contact your YASKAWA representative about oc-
ate code. currence status (operating procedure).
8 Box number definition Software operation er- (1) Reset the alarm, and then try again.
is duplicated. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
9 Undefined instruction Software operation er- (1) Reset the alarm, and then try again.
was found at block ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
separation of interme- mode, and then contact your YASKAWA representative about oc-
diate code. currence status (operating procedure).
10 IPRM is not set. Software operation er- (1) Reset the alarm, and then try again.
tag data search pro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cess. mode, and then contact your YASKAWA representative about oc-
move instruction ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
search process. mode, and then contact your YASKAWA representative about oc-
- 807
Alarm list
No. Code
2 - 808
14 Variable information Software operation er- (1) Reset the alarm, and then try again.
Alarm list
does not exist. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
position file data read- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing. mode, and then contact your YASKAWA representative about oc-
17 Variable data type is Software operation er- (1) Reset the alarm, and then try again.
18 An instruction is in- Software operation er- (1) Reset the alarm, and then try again.
cluded with incorrect ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
intermediate code in mode, and then contact your YASKAWA representative about oc-
expression instruction. currence status (operating procedure).
19 The syntax in expres- Software operation er- (1) Reset the alarm, and then try again.
sion instruction is in- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
20 The tag data length is Software operation er- (1) Reset the alarm, and then try again.
zero when tag data is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
read. mode, and then contact your YASKAWA representative about oc-
21 The necessary tag Software operation er- (1) Reset the alarm, and then try again.
data is not set. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
22 The object to be pro- Software operation er- (1) Reset the alarm, and then try again.
cessed was secret ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
variable in position file mode, and then contact your YASKAWA representative about oc-
control process, so it currence status (operating procedure).
could not be pro-
cessed.
23 The object to be pro- Software operation er- (1) Reset the alarm, and then try again.
cessed was position ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
type variable in posi- mode, and then contact your YASKAWA representative about oc-
tion file control pro- currence status (operating procedure).
cess, so it could not be
processed.
24 Job argument settings Software operation er- (1) Reset the alarm, and then try again.
do not match when a ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
variable is given and/ mode, and then contact your YASKAWA representative about oc-
or taken between jobs. currence status (operating procedure).
to perform undefined ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
operation at four-rule mode, and then contact your YASKAWA representative about oc-
operation instruction. currence status (operating procedure).
26 Arithmetic stack used Software operation er- (1) Reset the alarm, and then try again.
for expression opera- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion exceeded. mode, and then contact your YASKAWA representative about oc-
27 Arithmetic stack used Software operation er- (1) Reset the alarm, and then try again.
for expression opera- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion is empty. mode, and then contact your YASKAWA representative about oc-
28 Operation items are Software operation er- (1) Reset the alarm, and then try again.
lacking in expression ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
operation and opera- mode, and then contact your YASKAWA representative about oc-
2
tion processing cannot currence status (operating procedure).
be performed.
- 809
Alarm list
No. Code
2 - 810
254 Access mechanism for Software operation er- (1) Reset the alarm, and then try again.
Alarm list
old parameters is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
used. mode, and then contact your YASKAWA representative about oc-
occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4433 UNDEFINED GLOB- 0 The set data for byte Software operation er- (1) Reset the alarm, and then try again.
AL VARIABLE type variable area is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1 The set data for inte- Software operation er- (1) Reset the alarm, and then try again.
ger type variable area ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
is incorrect. mode, and then contact your YASKAWA representative about oc-
2 The set data for dou- Software operation er- (1) Reset the alarm, and then try again.
ble-precision integer- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
type variable area is mode, and then contact your YASKAWA representative about oc-
incorrect. currence status (operating procedure).
3 The set data for real Software operation er- (1) Reset the alarm, and then try again.
type variable area is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4 The set data for char- Software operation er- (1) Reset the alarm, and then try again.
acter-string type vari- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
able area is incorrect. mode, and then contact your YASKAWA representative about oc-
5 The set data for robot- Software operation er- (1) Reset the alarm, and then try again.
axis position-type vari- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
able area is incorrect. mode, and then contact your YASKAWA representative about oc-
No. Code
6 The set data for base- Software operation er- (1) Reset the alarm, and then try again.
axis position-type vari- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
able (S1D parameter) mode, and then contact your YASKAWA representative about oc-
area is incorrect. currence status (operating procedure).
7 The set data for sta- Software operation er- (1) Reset the alarm, and then try again.
tion-axis position-type ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
variable (S1D parame- mode, and then contact your YASKAWA representative about oc-
ter) area is incorrect. currence status (operating procedure).
4435 UNDEFINED LO- 0 The byte type variable Setting error (1) Check the following settings.
CAL-VARIABLE is not defined. ·Set the number of local variables to be used in the job header.
1 The integer type vari- Setting error (1) Check the following settings.
able is not defined. ·Set the number of local variables to be used in the job header.
2 The double-precision Setting error (1) Check the following settings.
integer-type variable is ·Set the number of local variables to be used in the job header.
not defined.
3 The real-number type Setting error (1) Check the following settings.
variable is not defined. ·Set the number of local variables to be used in the job header.
2
- 811
Alarm list
No. Code
2 - 812
4 The character-string Setting error (1) Check the following settings.
Alarm list
type variable is not de- ·Set the number of local variables to be used in the job header.
fined.
5 The robot-axis posi- Setting error (1) Check the following settings.
tion-type variable is ·Set the number of local variables to be used in the job header.
not defined.
6 The base-axis posi- Setting error (1) Check the following settings.
not defined.
7 The station-axis posi- Setting error (1) Check the following settings.
not defined.
4436 LESS THAN 3 Setting error (1) Check the following settings.
STEPS(CIRCULAR) ·Perform teaching so that circulation interpolation steps are contin-
uous three points or more.
No. Code
4437 LESS THAN 3 Setting error (1) Check the following settings.
STEPS(SPLINE) ·Perform teaching so that spline interpolation steps are continuous
three points or more.
4438 UNDEFINED JOB Setting error (1) Check the following settings.
·Check if the CALL/JUMP destination job is registered. If the job is
not registered, delete the JUMP instruction where an alarm oc-
curred.
4439 UNDEFINED LABEL Setting error (1) Check the following settings.
·Check if the JUMP destination label is registered. If the label is not
registered, delete the JUMP instruction where alarm occurred.
4440 UNDEFINED RE- Setting error (1) Check the following settings.
TURN JOB ·If there is an illegal RET instruction in the start job, delete the RET
instruction.
·Check if RET instruction is not executed under the condition that
there is no job in the job call stack. In that case, execute it from
master (start) job.
4441 LACK OF LOCAL- Setting error (1) Check the following settings.
VARIABLE AREA ·Reduce the number of local variables to be used.
2
- 813
Alarm list
No. Code
2 - 814
Alarm list

4444 UNSUCCESSFUL SUB Code: Bit specifi- Effect of external force (1) Check the following settings.
FINE POSITIONING cation of axis where ·Move the manipulator by the axis operation, etc. to remove the ex-
error occurred ternal force of axis where alarm occurred.
4445 DATA PRESET ER- 1 The token for pre- Software operation er- (1) Reset the alarm, and then try again.
ROR reading processing ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
could not be obtained. mode, and then contact your YASKAWA representative about oc-
cessing has not been ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
completed within the mode, and then contact your YASKAWA representative about oc-
time, and the waiting currence status (operating procedure).
time for completion ex-
ceeded the limit.
3 The pre-reading oper- Software operation er- (1) Reset the alarm, and then try again.
ation processing has ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
not been completed mode, and then contact your YASKAWA representative about oc-
within the time, and currence status (operating procedure).
the waiting time for
completion exceeded
the limit.
pre-reading operation ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
process. mode, and then contact your YASKAWA representative about oc-
No. Code
has not been complet- ror occurred (2) If the alarm occurs again, turn the main power of controller off
ed. and then turn it on. Re-select the job from [selct job] window before
starting the job again.
(3) If the alarm occurs again even though you do above (2) , save
the CMOS.BIN in maintenance mode, and then contact your YAS-
dure).
occurred in job execu- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion process. mode, and then contact your YASKAWA representative about oc-
4446 OVER VARIABLE 0 The variable value ex- Setting error (1) Check the following settings.
LIMIT ceeded the limit. ·Check the settings for variable, and then correct the job to fall
within the input range of the tag.
1 The value for the bina- Setting error (1) Check the following settings.
ry (0/1) data type vari- ·Check the settings for variable, and then correct the job to fall
able exceeded the within the input range of the tag.
limit.
2 The value for the Setting error (1) Check the following settings.
signed 1-byte data ·Check the settings for variable, and then correct the job to fall
type variable is less within the input range of the tag.
than the minimum val-
ue.
2
- 815
Alarm list
No. Code
2 - 816
Alarm list

3 The value for the un- Setting error (1) Check the following settings.
ue.
ue.
ue.
ue.
No. Code
ue.
8 The value for the real- Setting error (1) Check the following settings.
number 4-byte data ·Check the settings for variable, and then correct the job to fall
ue.
14 The value for the char- Setting error (1) Check the following settings.
acter-string type vari- ·Check the settings for variable, and then correct the job to fall
able is less than the within the input range of the tag.
minimum value.
type variable exceed- within the input range of the tag.
ed the maximum val-
2
ue.
- 817
Alarm list
No. Code
2 - 818
Alarm list

ed the maximum val-
ue.
ed the maximum val-
ue.
ed the maximum val-
ue.
ed the maximum val-
ue.
No. Code
ed the maximum val-
ue.
32776 The value for the real- Setting error (1) Check the following settings.
number 4-byte data ·Check the settings for variable, and then correct the job to fall
ed the maximum val-
ue.
32782 The value for the char- Setting error (1) Check the following settings.
acter-string type vari- ·Check the settings for variable, and then correct the job to fall
able exceeded the within the input range of the tag.
maximum value.
4447 DEFECTIVE Setting error (1) Check the following settings.
TAUGHT ·Check the settings for three teaching points so that circular inter-
POINT(CIRC) polation steps do not lie in a straight line.
2
- 819
Alarm list
No. Code
2 - 820
4448 WEAVING CON- 1 Weaving control- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
TROL ERROR group designation error occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4 When the speed is Setting error (1) Check the following settings.
specified by weaving ·Reset the value 0.1 seconds or more.
time in the weaving
file, zero or the nega-
tive value is set for the
weaving time.
5 When the speed is Setting error (1) Check the following settings.
specified by frequency ·Reset the value 0.1 Hz or more.
in the weaving file,
zero or the negative
value is set for the fre-
quency.
6 When the timer mode Setting error (1) Check the following settings.
is specified in the ·Set a positive value for the timer value.
weaving file, a nega-
tive value is set for the
timer value.
No. Code
7 For triangle or L-type Setting error (1) Check the following settings.
weaving, zero is set ·Set a positive value for the vertical and horizontal distance.
for the vertical or hori-
zontal distance.
8 The coordinate control Setting error (1) Check the following settings.
axis designation for ·Match the control group designation of the wall point and weaving
the reference point is execution.
different from actual
control axis.
9 The distance between Setting error (1) Check the following settings.
the point P and the ·Set the correct dimensions in the tool data.
TCP could not be cal-
culated in wrist weav-
ing.
10 The distance between Setting error (1) Check the following settings.
the point P and the ·Set the correct dimensions in the tool data.
TCP could not be cal-
culated in circular wrist
weaving.
2
- 821
Alarm list
No. Code
2 - 822
11 The Y-direction ele- Setting error (1) Check the following settings.
Alarm list
ment of circular coor- ·Check the settings for wall and horizontal direction.
dinate system for
circular wrist weaving
could not be calculat-
ed.
12 The X-direction ele- Setting error (1) Check the following settings.
ment of circular coor- ·Check the settings for wall and horizontal direction.
dinate system for
circular wrist weaving
ed.
14 Weaving basic-orien- Software operation er- (1) Reset the alarm, and then try again.
tation calculation error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
15 Calculation error of Software operation er- (1) Reset the alarm, and then try again.
horizontal- and wall-di- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
rection vector for mode, and then contact your YASKAWA representative about oc-
weaving currence status (operating procedure).
16 Weaving synchroniza- Setting error (1) Check the following settings.
tion file number selec- ·Check the number of the weaving synchronizing file for use.
tion range error
No. Code
4449 UNMATCHED Setting error (1) Check the following settings.
POSN VAR DATA ·Match the data type of position type variable.
TYPE
4450 FILE NO. ERROR 1 An error occurred in Setting error (1) Check the following settings.
tool file number check. ·Confirm that the specified tool file number is 0 to 63.
user coordinate file ·Confirm that the specified user coordinate file number is 1 to 63.
number check.
calibration file number ·Confirm that the specified robot calibration file number is 1 to 32.
check between the
manipulators.
tool calibration file ·Confirm that the specified tool file number is 0 to 63.
number check.
2
- 823
Alarm list
No. Code
2 - 824
Alarm list
reference point num- ·Confirm that the specified robot calibration file number is 1 to 8.
ber check.
check for welding start ·Confirm that the specified welding condition start file number is 1
condition file number. to 48.
check for welding end ·Confirm that the specified welding condition end file number is 1
condition file number. to 48.
conveyor characteris- ·Confirm that the specified conveyor condition file number is 1 to 6.
tic file number check.
press characteristic ·Confirm that the specified press characteristic file number is 0 to
file number check. 3.
No. Code
conveyor calibration ·Confirm that the specified conveyor calibration file number is 1 to
file number check. 6.
argument number ·Confirm that the argument number is 1 to 16.
check.
check for motor gun ·Confirm that the specified servo gun characteristic file number is
characteristic file num- 1 to 24.
ber.
4451 UNDEFINED REF- SUB Code: Reference Setting error (1) Check the following settings.
ERENCE POINT point number in binary ·Set the reference point.
4452 STACK MORE Setting error (1) Check the following settings.
THAN 10 (JOB ·Change the job configuration so that the number of nests for
CALL) CALL instruction is twelve or less.
2
- 825
Alarm list
No. Code
2 - 826
4453 OVER VARIABLE The variable number Setting error (1) Check the following settings.
Alarm list
NO. is out of range. ·Correct the job using the variable number within the range.
SUB Code: The vari-
able number which an
attempt was made to
use
4454 UNDEFINED POW- Setting error (1) Check the following settings.
ER SOURCE COND. ·Complete the settings for the arc welding characteristic file.
4455 UNDEFINED ARC Setting error (1) Check the following settings.
START COND FILE ·Complete the settings for the welding start condition file.
4456 UNDEFINED ARC Setting error (1) Check the following settings.
END COND FILE ·Complete the settings for the welding end condition file.
4457 WRONG WELDER Setting error (1) Check the following settings.
SELECTION ·Check the settings for the reference unit of the welding voltage.
No. Code
4459 EXCESSIVE IN- Setting error (1) Check the following settings.
STRUCTION EQUA- ·Separate the operation expression, shorten the expression, and
TION then check the settings for the job.
4460 ZERO DIVIDED OC- Setting error (1) Check the following settings.
CURRENCE ·Do not divide by zero.
4461 UNDEFINED AUTO- Setting error (1) Check the following settings.
WELD RELEASE ·Check the settings for the number of times of welding release con-
COND dition.
4462 UNDEFINED POSI- Setting error (1) Check the following settings.
TION FOR ARC RE- ·Check the settings for the move instruction following ARCON in-
TRY struction.
4463 PARITY ERROR Setting error (1) Check the following settings.
·Check the settings for the parity data of the user I/O group.
4464 OVER BCD RANGE Setting error (1) Check the following settings.
2
·Correct the BCD data so that it is within the limit.
- 827
Alarm list
No. Code
2 - 828
Alarm list

4465 OVER BINARY Setting error (1) Check the following settings.
RANGE(PARITY ·Correct the binary data so that it is within the limit.
CHECK)
4466 OFFLINE UNDE- 0 An undefined com- Software operation er- (1) Reset the alarm, and then try again.
FINED COM- mand was issued to ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
MAND(ARITH) the offline position- mode, and then contact your YASKAWA representative about oc-
data preparation sec- currence status (operating procedure).
tion.
4467 USER COORD Setting error (1) Check the following settings.
STEP NOT ·Correct the JOB that the number of steps will be three or more.
ENOUGH
4468 ROBOT CALIBRA- 1 The calibration be- Setting error (1) Check the following settings.
TION DATA ERROR tween manipulators ·Do not use a coordinated motion with this manipulator.
cannot be executed
for this model.
2 The master group and Software operation er- (1) Reset the alarm, and then try again.
the slave group are set ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
to the same group. mode, and then contact your YASKAWA representative about oc-
No. Code
3 Incorrect designation Software operation er- (1) Reset the alarm, and then try again.
of the control group for ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
master group mode, and then contact your YASKAWA representative about oc-
slave group mode, and then contact your YASKAWA representative about oc-
of the occupation con- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
trol group for calibra- mode, and then contact your YASKAWA representative about oc-
tion data currence status (operating procedure).
of the enabling control ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
group for calibration mode, and then contact your YASKAWA representative about oc-
data currence status (operating procedure).
7 Among three points in Setting error (1) Check the following settings.
the master-group's ·Teach the data for calibration so that each point is different.
calibration data, two or
three points are on the
same point.
8 Among three points in Setting error (1) Check the following settings.
the slave-group's cali- ·Teach the data for calibration so that each point is different.
bration data, two or
three points are on the
same point.
2
- 829
Alarm list
No. Code
2 - 830
9 The number of the Software operation er- (1) Reset the alarm, and then try again.
Alarm list
teaching points for cal- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ibration data is insuffi- mode, and then contact your YASKAWA representative about oc-
cient. currence status (operating procedure).
4469 ROBOT CALIBRA- 1 The calibration be- Setting error (1) Check the following settings.
TION FRAME ER- tween manipulators ·The calibration function between manipulators cannot be used for
ROR cannot be executed this model.
for this model.
2 The master group and Setting error (1) Check the following settings.
the slave group are set ·Set the different groups for the master group and the slave group.
to the same group.
master group mode, and then contact your YASKAWA representative about oc-
slave group mode, and then contact your YASKAWA representative about oc-
5 Calibration data set- Software operation er- (1) Reset the alarm, and then try again.
ting error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4470 ROBOT CARIB Setting error (1) Check the following settings.
STEP NOT ·Check the settings for number of the job steps
ENOUGH
No. Code
4471 ROBOT CALIBRA- 1 Incorrect number of Software operation er- (1) Reset the alarm, and then try again.
TION DATA ERROR teaching points for tool ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
calibration mode, and then contact your YASKAWA representative about oc-
of the occupation con- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
trol group for calibra- mode, and then contact your YASKAWA representative about oc-
tion data currence status (operating procedure).
of the enabling control ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
group for calibration mode, and then contact your YASKAWA representative about oc-
data currence status (operating procedure).
calibration data mode, and then contact your YASKAWA representative about oc-
4472 ARITHMETIC 1 The reference point is Setting error (1) Check the following settings.
ERR(COMPACT not set. ·Set the reference point.
RMT WELD)
2 The start point and Setting error (1) Check the following settings.
end point are on the ·Change the teaching positions so that the start point and end
same point. point are different.
2
- 831
Alarm list
No. Code
2 - 832
3 The straight line which Setting error (1) Check the following settings.
Alarm list
connects the start ·Correct the teaching positions so that the angle that the Z direc-
point and an end point, tion of the tool and the straight line which connects the start point
and the angle which with the end point make becomes 10 degrees or more.
the Z direction of a tool
makes are less than
10?.
4473 ARITHMETIC Software operation er- (1) Reset the alarm, and then try again.
ALARM RESET ER- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ROR mode, and then contact your YASKAWA representative about oc-
4474 WRONG CONTROL SUB Code: The relat- Setting error (1) Check the following settings.
GROUP AXIS ed control-group ·Make the setting in advance so that the control group of the CALL/
JUMP designation job is included in that of the CALL/JUMP source
job.
·Don't start the job which including control group under already op-
eration by "PSTART" instruction.
No. Code
4475 CANNOT EXE- Setting error (1) Check the following settings.
CUTE JOB(NO RO- ·Add the robot axis to the control-group of the job.
BOT) ·When MotoPlus function (option) is used, a robot which executed
SKILLSND is not defined as using MotoPlus sensor related API.
Check the combination of the robot and MotoPlus application. If
the alarm occurs again, save the CMOS.BIN in maintenance
4476 CANNOT EDIT (ED- 0 An attempt was made Setting error (1) Check the following settings.
IT LOCK JOB) to change the tag data. ·Release the prohibition.
to change the speed ·Release the prohibition.
tag data.
to change the board ·Release the prohibition.
thickness tag data.
2
- 833
Alarm list
No. Code
2 - 834
4477 SELECT ER- SUB Code: Applica- Setting error (1) Check the following settings.
Alarm list
ROR(APPLICA- tion number ·Set the application to a specified robot by the application selection
TION) of maintenance mode.
·A robot which executed SKILLSND is not defined as using Moto-
Plus sensor related API. Check the combination of the robot and
MotoPlus application. If the alarm occurs again, save the
CMOS.BIN in maintenance mode, and then contact your YASKA-
WA representative about occurrence status (operating procedure).
4478 MotoPlus MM task Software operation er- (1) Turn the power OFF then back ON.
no response ror occurred (2) If the alarm occurs again, replace the YCP21 board. Save the
CMOS.BIN before replacing the board to be safe. After replace-
ment, insert the CF card that has been used for the old YCP21
board to the new one.
4479 MotoPlus MM Task Software operation er- Check if there is high priority task of MotoPlus application running
watch dog error ror occurred long time. Especially, check if there may be the process which
waits for a special condition without executing mpTaskDelay in
loop process. If such process exists, suitable remedy should be
done like putting mpTaskDelay in the loop process.
No. Code
4480 SELECT ER- SUB Code: Sensor Setting error (1) Check the following settings.
ROR(SENSOR 1) number ·Select the option function for the specified robot in the option func-
tion selection of maintenance mode.
4482 MotoFit COMMAND Setting error (1) Reset the alarm, and make the robot speed of the instruction
FAULT1 down.
4484 WRONG PORT SUB Code: Applica- Setting error (1) Check the following settings.
NO.(ANALOG OUT- tion number ·Set following value to the AxP010 parameter.
PUT) For arc: 1
Arc + arc: 3
Three arc: 5
Four arc: 7
4485 WRONG SELEC- Software operation er- (1) Reset the alarm, and then try again.
TION (SENSOR) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4486 PATH OVER Setting error (1) Check the following settings.
·Set the path over radius within the allowable range.
2
- 835
Alarm list
No. Code
2 - 836
4487 WRONG MECH PA- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
RAMETER FILE ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4489 DEFECTIVE 1 The C- and W-axis po- Setting error (1) Check the following settings.
TAUGHT sition at the cutting ·Check the settings for the cutting start position (zero pulse).
POINT(CUTTING) start position is not
zero pulse.
2 Zero is set for the cut- Setting error (1) Check the following settings.
ting radius. ·Check the settings for radius (a value bigger than zero).
3 The cutting machine Setting error (1) Check the following settings.
axis is not mounted. ·The CUT instruction can be used for the manipulator with small-
circle cutting axis only.
4 This manipulator can- Setting error (1) Check the following settings.
not perform a hexago- ·Select an other cutting form.
nal cutting motion.
No. Code
4490 DEFECTIVE 1 After the Endless rota- Setting error (1) Check the following settings.
TAUGHT tion completed, an at- ·To perform an interpolation motion such as MOVL and MOVC af-
POINT(ENDLESS) tempt was made to ter an Endless rotation, execute an MRESET instruction before-
execute an interpola- hand.
tion instruction such
as MOVL and MOVC
before executing an
MRESET instruction.
2 The base axis is set as Setting error (1) Check the following settings.
an Endless rotation ·Check the parameter setting that designates the Endless rotation
axis. The Endless axis.
function cannot be
used with the base ax-
is.
to execute the Endless ·Check the parameter setting that designates the Endless rotation
function although the axis.
endless axis was not
designated.
4 The Endless axis ex- Setting error (1) Check the following settings.
ceeded the maximum ·Set the rotation amount so that the Endless axis does not exceed
pulse value the maximum pulse value.
2
(?536870911).
- 837
Alarm list
No. Code
2 - 838
Alarm list

4491 CORRECTIONAL 1 Control-group desig- Software operation er- (1) Reset the alarm, and then try again.
DIRECTION ERROR nation error for cor- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
recting-direction mode, and then contact your YASKAWA representative about oc-
preparation currence status (operating procedure).
2 Designation error for Software operation er- (1) Reset the alarm, and then try again.
the correcting-direc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion coordinates mode, and then contact your YASKAWA representative about oc-
3 When "any direction" Setting error (1) Check the following settings.
is set for the correcting ·Check the settings for the correcting direction with the reference
direction, the correc- point (REFP).
tion coordinates is not
prepared.
4 When "any direction" Setting error (1) Check the following settings.
is set for the correcting ·Check the settings for the reference points (REFP) so that each
direction, the refer- point is different.
ence points (REFP)
are taught on the
same point.
5 Designation error for Setting error (1) Check the following settings.
the coordinated mo- ·Match the control group designation of the wall point and weaving
tion control axis at the execution.
reference point
No. Code
4492 POSITION COR- 1 Data unmatched be- Software operation er- (1) Reset the alarm, and then try again.
RECTION ERROR tween the correction ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
amount data and the mode, and then contact your YASKAWA representative about oc-
job data: currence status (operating procedure).
The information about
the control groups
designated for the se-
ries of jobs, which is
added to the correc-
tion amount data,
does not include the
valid control-group for
the job.
2 Data unmatched be- Software operation er- (1) Reset the alarm, and then try again.
tween the correction ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
amount data and the mode, and then contact your YASKAWA representative about oc-
job data: currence status (operating procedure).
The valid control-
group information that
is added to the correc-
tion amount data dis-
agrees with the valid
control-group for the
job.
4493 OVER TOOL FILE Software operation er- (1) Reset the alarm, and then try again.
NO. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 839
Alarm list
No. Code
2 - 840
4494 DEFECTIVE 1 The weaving start Setting error (1) Check the following settings.
Alarm list
TAUGHT point and end point ·Check the settings for the positions so that the weaving start point
POINT(WEAV) are on the same point. and end point are different.
2 Among the weaving Setting error (1) Check the following settings.
start point, end point, ·Check the settings for the positions so that the weaving start
and reference point, point, end point, and reference point are different.
two or three points are
on the same point.
4495 UNDEFINED RO- SUB Code: Control Setting error (1) Check the following settings.
BOT CALIBRATION group which calibra- ·Before using the coordinated motion, execute the calibration be-
tion is not completed tween manipulators.
4496 PARAMETER ER- 1 The setting of the ma- Setting error (1) Reset the alarm, and then try again.
ROR nipulator number is in- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2 Zero is set for the res- Setting error (1) Reset the alarm, and then try again.
olution. (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3 Zero is set in the feed- Setting error (1) Reset the alarm, and then try again.
back pulse parameter. (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
4 The setting of L-axis Setting error (1) Reset the alarm, and then try again.
ball-screw data is in- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 The setting of U-axis Setting error (1) Reset the alarm, and then try again.
ball-screw data is in- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
6 Zero or a negative val- Setting error (1) Reset the alarm, and then try again.
ue is set for MAXPPS. (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ue is set for the maxi- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mum acceleration mode, and then contact your YASKAWA representative about oc-
speed. currence status (operating procedure).
ue is set for the maxi- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mum deceleration mode, and then contact your YASKAWA representative about oc-
speed. currence status (operating procedure).
ue is set for the play- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mode servo averaging mode, and then contact your YASKAWA representative about oc-
time. currence status (operating procedure).
10 The setting of the ma- Setting error (1) Reset the alarm, and then try again.
nipulator number is in- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
correct. An undefined mode, and then contact your YASKAWA representative about oc-
type is designated. currence status (operating procedure).
2
- 841
Alarm list
No. Code
2 - 842
11 The incorrect coordi- Setting error (1) Reset the alarm, and then try again.
Alarm list
nate system is desig- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
nated for the cubic mode, and then contact your YASKAWA representative about oc-
interference. An unde- currence status (operating procedure).
fined coordinate sys-
tem is set.
12 The designation of the Setting error (1) Reset the alarm, and then try again.
user coordinates num- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ber is incorrect. A mode, and then contact your YASKAWA representative about oc-
number out of the set- currence status (operating procedure).
ting range is set.
13 The reduction ratio <= Setting error (1) Reset the alarm, and then try again.
0 is output. (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ue is set for the spring (2) If the alarm occurs again, save the CMOS.BIN in maintenance
constant. mode, and then contact your YASKAWA representative about oc-
ue is set for the motor (2) If the alarm occurs again, save the CMOS.BIN in maintenance
inertia. mode, and then contact your YASKAWA representative about oc-
ue is set for the speed (2) If the alarm occurs again, save the CMOS.BIN in maintenance
calculation constant. mode, and then contact your YASKAWA representative about oc-
17 Dividing number set- Setting error (1) Reset the alarm, and then try again.
ting error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
18 The setting of allow- Setting error (1) Reset the alarm, and then try again.
able torque for the (2) If the alarm occurs again, save the CMOS.BIN in maintenance
speed reducer is in- mode, and then contact your YASKAWA representative about oc-
19 The setting of allow- Setting error (1) Reset the alarm, and then try again.
able torque for the mo- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tor is incorrect. mode, and then contact your YASKAWA representative about oc-
20 The manipulator type Setting error (1) Reset the alarm, and then try again.
is not applicable for (2) If the alarm occurs again, save the CMOS.BIN in maintenance
torque acceleration/ mode, and then contact your YASKAWA representative about oc-
deceleration. currence status (operating procedure).
ue is set for the bal- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ancer. mode, and then contact your YASKAWA representative about oc-
22 The angle of hexagon Setting error (1) Reset the alarm, and then try again.
set for the CUT in- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
struction is out of the mode, and then contact your YASKAWA representative about oc-
range "0 degree < an- currence status (operating procedure).
gle < 60 degrees."
23 Encoder type designa- Setting error (1) Reset the alarm, and then try again.
tion error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
24 Observer sampling Setting error (1) Reset the alarm, and then try again.
time error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 843
Alarm list
No. Code
2 - 844
25 Two-degree-of-free- Setting error (1) Reset the alarm, and then try again.
Alarm list
dom system Kp value (2) If the alarm occurs again, save the CMOS.BIN in maintenance
26 The setting of torque Setting error (1) Reset the alarm, and then try again.
acceleration/decelera- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion designation pa- mode, and then contact your YASKAWA representative about oc-
rameter is incorrect. currence status (operating procedure).
27 Observer polarity set- Setting error (1) Reset the alarm, and then try again.
ting error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
28 The inertia value error Setting error (1) Reset the alarm, and then try again.
for the shift value cal- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
culation mode, and then contact your YASKAWA representative about oc-
29 Observer attenuation Setting error (1) Reset the alarm, and then try again.
constant error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
30 Torque estimation pa- Setting error (1) Reset the alarm, and then try again.
rameter error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
31 The segment clock er- Setting error (1) Reset the alarm, and then try again.
ror occurred when the (2) If the alarm occurs again, save the CMOS.BIN in maintenance
PV loop is 1 ms. mode, and then contact your YASKAWA representative about oc-
32 Non-robot axis ob- Setting error (1) Reset the alarm, and then try again.
server selection error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
33 Zero is set for the re- Setting error (1) Reset the alarm, and then try again.
sponse time constant. (2) If the alarm occurs again, save the CMOS.BIN in maintenance
34 Efficiency data error Setting error (1) Reset the alarm, and then try again.
35 Zero is set for the av- Setting error (1) Reset the alarm, and then try again.
eraging time constant. (2) If the alarm occurs again, save the CMOS.BIN in maintenance
36 Torque limit ratio data Setting error (1) Reset the alarm, and then try again.
error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
37 Coulomb friction data Setting error (1) Reset the alarm, and then try again.
error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
38 Kinematic friction co- Setting error (1) Reset the alarm, and then try again.
efficient data error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
39 The setting in the opti- Setting error (1) Reset the alarm, and then try again.
mized acceleration/ (2) If the alarm occurs again, save the CMOS.BIN in maintenance
deceleration designa- mode, and then contact your YASKAWA representative about oc-
tion parameter is in- currence status (operating procedure).
correct.
2
- 845
Alarm list
No. Code
2 - 846
40 An uninstalled function Setting error (1) Reset the alarm, and then try again.
Alarm list
is designated. (2) If the alarm occurs again, save the CMOS.BIN in maintenance
41 The dynamics-model Setting error (1) Reset the alarm, and then try again.
calculation at the opti- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mized acceleration/ mode, and then contact your YASKAWA representative about oc-
deceleration is invalid. currence status (operating procedure).
42 Zero is set for the iner- Setting error (1) Reset the alarm, and then try again.
tia of dynamics fixed (2) If the alarm occurs again, save the CMOS.BIN in maintenance
model. mode, and then contact your YASKAWA representative about oc-
43 Designation error for Setting error (1) Reset the alarm, and then try again.
dynamics-model cal- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
culation type mode, and then contact your YASKAWA representative about oc-
44 The optimized accel- Setting error (1) Reset the alarm, and then try again.
eration/deceleration (2) If the alarm occurs again, save the CMOS.BIN in maintenance
control of speed limit mode, and then contact your YASKAWA representative about oc-
function is disabled. currence status (operating procedure).
45 The axis designation Setting error (1) Reset the alarm, and then try again.
parameter for the (2) If the alarm occurs again, save the CMOS.BIN in maintenance
speed limit function is mode, and then contact your YASKAWA representative about oc-
not set. currence status (operating procedure).
46 The setting in the Setting error (1) Reset the alarm, and then try again.
mode designation pa- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
rameter for the speed mode, and then contact your YASKAWA representative about oc-
limit function is incor- currence status (operating procedure).
rect.
No. Code
47 Zero or negative value Setting error (1) Reset the alarm, and then try again.
is set in the allowable (2) If the alarm occurs again, save the CMOS.BIN in maintenance
braking torque param- mode, and then contact your YASKAWA representative about oc-
eter for the speed limit currence status (operating procedure).
function.
ue is set in the speed (2) If the alarm occurs again, save the CMOS.BIN in maintenance
adjustment ratio pa- mode, and then contact your YASKAWA representative about oc-
rameter for the speed currence status (operating procedure).
limit function.
ue is set in the torque (2) If the alarm occurs again, save the CMOS.BIN in maintenance
limit adjustment ratio mode, and then contact your YASKAWA representative about oc-
parameter for the ac- currence status (operating procedure).
celeration/decelera-
tion tuning.
ue is set in the param- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
eter that sets the mode, and then contact your YASKAWA representative about oc-
shortest acceleration/ currence status (operating procedure).
deceleration time for
when the excessive
torque is applied at the
optimized accelera-
tion/deceleration.
51 Zero is set for the di- Setting error (1) Reset the alarm, and then try again.
mension information (2) If the alarm occurs again, save the CMOS.BIN in maintenance
"a3" for the SKR ma- mode, and then contact your YASKAWA representative about oc-
nipulator. currence status (operating procedure).
2
- 847
Alarm list
No. Code
2 - 848
52 The setting of sealer- Setting error (1) Reset the alarm, and then try again.
Alarm list
gun control-group pa- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
rameter for the servo mode, and then contact your YASKAWA representative about oc-
sealer control is incor- currence status (operating procedure).
rect.
53 The parameter setting Setting error (1) Reset the alarm, and then try again.
for the Cartesian ma- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
nipulator X-axis data is mode, and then contact your YASKAWA representative about oc-
54 The parameter setting Setting error (1) Reset the alarm, and then try again.
for the Cartesian ma- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
nipulator Y-axis data is mode, and then contact your YASKAWA representative about oc-
55 The setting for the Setting error (1) Reset the alarm, and then try again.
Dual-arm manipulator (2) If the alarm occurs again, save the CMOS.BIN in maintenance
is incorrect. mode, and then contact your YASKAWA representative about oc-
ue is set in the FORM- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
CUT maximum mode, and then contact your YASKAWA representative about oc-
acceleration/decelera- currence status (operating procedure).
tion time parameter.
57 The setting of expand- Setting error (1) Reset the alarm, and then try again.
ed check-point desig- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
nating bits for the arm mode, and then contact your YASKAWA representative about oc-
interference check is currence status (operating procedure).
incorrect.
ue is set for the sphere (2) If the alarm occurs again, save the CMOS.BIN in maintenance
at the arm interference mode, and then contact your YASKAWA representative about oc-
check point. currence status (operating procedure).
No. Code
ue is set for the cylin- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
der at the arm mode, and then contact your YASKAWA representative about oc-
interference check currence status (operating procedure).
point.
62 The number of desig- Setting error (1) Reset the alarm, and then try again.
nated check points for (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the arm interference mode, and then contact your YASKAWA representative about oc-
check is insufficient. currence status (operating procedure).
70 All of X, Y, and Z value Setting error (1) Reset the alarm, and then try again.
of the expanded (2) If the alarm occurs again, save the CMOS.BIN in maintenance
check-point 1 for the mode, and then contact your YASKAWA representative about oc-
arm interference currence status (operating procedure).
check are set to zero.
71 All of X, Y, and Z value Setting error (1) Reset the alarm, and then try again.
of the expanded (2) If the alarm occurs again, save the CMOS.BIN in maintenance
check-point 2 for the mode, and then contact your YASKAWA representative about oc-
arm interference currence status (operating procedure).
check are set to zero.
85 The setting of wrist Setting error (1) Reset the alarm, and then try again.
axis angle for tube-in- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
corporated wrist type mode, and then contact your YASKAWA representative about oc-
manipulators or three- currence status (operating procedure).
roll wrist type manipu-
lators is incorrect.
86 The special link JOG Setting error (1) Reset the alarm, and then try again.
operation cannot be (2) If the alarm occurs again, save the CMOS.BIN in maintenance
used with this manipu- mode, and then contact your YASKAWA representative about oc-
lator. currence status (operating procedure).
2
- 849
Alarm list
No. Code
2 - 850
87 The setting in the pa- Setting error (1) Reset the alarm, and then try again.
Alarm list
rameter for special an- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
gle limit check mode, and then contact your YASKAWA representative about oc-
designation is incor- currence status (operating procedure).
rect.
91 The setting of the de- Setting error (1) Reset the alarm, and then try again.
celeration speed for (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the path-priority con- mode, and then contact your YASKAWA representative about oc-
trol is less than zero. currence status (operating procedure).
92 A negative value is set Setting error (1) Reset the alarm, and then try again.
in the roundness pa- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
rameter for the path- mode, and then contact your YASKAWA representative about oc-
priority control. currence status (operating procedure).
93 The link parameter for Setting error (1) Reset the alarm, and then try again.
the cutting device is (2) If the alarm occurs again, save the CMOS.BIN in maintenance
not set. mode, and then contact your YASKAWA representative about oc-
95 The real-time bending Setting error (1) Reset the alarm, and then try again.
correction function is (2) If the alarm occurs again, save the CMOS.BIN in maintenance
enabled for a control- mode, and then contact your YASKAWA representative about oc-
group other than robot currence status (operating procedure).
axis.
96 Zero is set for the di- Setting error (1) Reset the alarm, and then try again.
mension information (2) If the alarm occurs again, save the CMOS.BIN in maintenance
"a2" for the Arc Cell mode, and then contact your YASKAWA representative about oc-
Torch Arm type manip- currence status (operating procedure).
ulators.
97 Zero is set for the de- Setting error (1) Reset the alarm, and then try again.
celeration ratio for (2) If the alarm occurs again, save the CMOS.BIN in maintenance
double T-axis unit of mode, and then contact your YASKAWA representative about oc-
the V-shaped double currence status (operating procedure).
T-axis manipulator.
No. Code
103 "α" is replaced with "0" Setting error (1) Reset the alarm, and then try again.
in SKR1-5 type robot. (2) If the alarm occurs again, save the CMOS.BIN in maintenance
118 Wrong value in set for Setting error (1) Reset the alarm, and then try again.
backlash correction (2) If the alarm occurs again, save the CMOS.BIN in maintenance
function. mode, and then contact your YASKAWA representative about oc-
121 Incorrect parameter Setting error (1) Reset the alarm, and then try again.
setting to inertia speed (2) If the alarm occurs again, save the CMOS.BIN in maintenance
control function. mode, and then contact your YASKAWA representative about oc-
122 Incorrect acceleration/ Setting error (1) Reset the alarm, and then try again.
deceleration time set- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ting at tool mass ac- mode, and then contact your YASKAWA representative about oc-
celeration/ currence status (operating procedure).
deceleration speed
correction function.
123 Incorrect coefficient/ Setting error (1) Reset the alarm, and then try again.
item settings at tool (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mass acceleration/de- mode, and then contact your YASKAWA representative about oc-
celeration speed cor- currence status (operating procedure).
rection function.
124 No tool mas as the Setting error (1) Reset the alarm, and then try again.
minimum acceleration/ (2) If the alarm occurs again, save the CMOS.BIN in maintenance
deceleration time at mode, and then contact your YASKAWA representative about oc-
tool mass accelera- currence status (operating procedure).
tion/deceleration
speed correction func-
tion.
2
- 851
Alarm list
No. Code
2 - 852
125 Incorrect speed set- Setting error (1) Reset the alarm, and then try again.
Alarm list
ting at tool mass ac- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
celeration/ mode, and then contact your YASKAWA representative about oc-
deceleration speed currence status (operating procedure).
correction function.
126 Incorrect coefficient/ Setting error (1) Reset the alarm, and then try again.
item settings at tool (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mass acceleration/de- mode, and then contact your YASKAWA representative about oc-
celeration speed con- currence status (operating procedure).
trol function.
127 No tool mass as the Setting error (1) Reset the alarm, and then try again.
maximum accelera- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion/deceleration time mode, and then contact your YASKAWA representative about oc-
at tool mass accelera- currence status (operating procedure).
tion/deceleration
speed control function.
129 An error in the stan- Setting error (1) Reset the alarm, and then try again.
dard arithmetical axis (2) If the alarm occurs again, save the CMOS.BIN in maintenance
number setting for ap- mode, and then contact your YASKAWA representative about oc-
proximation model. currence status (operating procedure).
130 An error in the stan- Setting error (1) Reset the alarm, and then try again.
dard expanding point (2) If the alarm occurs again, save the CMOS.BIN in maintenance
number setting for ap- mode, and then contact your YASKAWA representative about oc-
proximation model. currence status (operating procedure).
131 An error in the radius Setting error (1) Reset the alarm, and then try again.
setting for approxima- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion model. mode, and then contact your YASKAWA representative about oc-
132 setting error of arith- Setting error (1) Reset the alarm, and then try again.
metical axis number in (2) If the alarm occurs again, save the CMOS.BIN in maintenance
D-H method. mode, and then contact your YASKAWA representative about oc-
No. Code
133 setting error of choos- Setting error (1) Reset the alarm, and then try again.
ing no / wrong?con- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
nection base mode, and then contact your YASKAWA representative about oc-
arithmetical axis num- currence status (operating procedure).
ber in D-H method.
134 The higher-order ac- Setting error (1) Reset the alarm, and then try again.
celeration/decelera- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion is prohibited when mode, and then contact your YASKAWA representative about oc-
using operation accel- currence status (operating procedure).
eration / deceleration
135 Base axis control point Setting error (1) Reset the alarm, and then try again.
→ Robot coordinate (2) If the alarm occurs again, save the CMOS.BIN in maintenance
system of?set ?setting mode, and then contact your YASKAWA representative about oc-
prohibited currence status (operating procedure).
136 Pulse linked JOG Setting error (1) Reset the alarm, and then try again.
function specification (2) If the alarm occurs again, save the CMOS.BIN in maintenance
137 Dual drive control Setting error (1) Reset the alarm, and then try again.
specification error (2) If the alarm occurs again, save the CMOS.BIN in maintenance
138 Notch filter supported Setting error (1) Reset the alarm, and then try again.
acceleration and de- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
celeration tuning: mode, and then contact your YASKAWA representative about oc-
Notch filter function currence status (operating procedure).
setting error
139 Notch filter supported Setting error (1) Reset the alarm, and then try again.
acceleration and de- (2) If the alarm occurs again, save the CMOS.BIN in maintenance
celeration tuning: mode, and then contact your YASKAWA representative about oc-
Notch filter (z2) setting currence status (operating procedure).
2
error
- 853
Alarm list
No. Code
2 - 854
147 NON ACTIVATION of Setting error (1) Check the following settings.
Alarm list
Servo Simulation func- ·Enable Servo Simulation Function.

tion error
149 The setting error of vi- Setting error (1) Check the following settings.
bration suppression fil- ·Confirm that the threshold value for the vibration suppression filter
ter for SVSPOTMOV should be larger than the one in previous table.
150 the setting error of Setting error (1) Check the following settings.
time constant for the Confirm that the time constant for vibration suppression filter for
vibration suppression SVSPOTMOV must be the different value of Kp.
filter for SVSPOTMOV
152 the setting error of the Setting error (1) Check the following settings.
number for vibration Confirm that the number of the tables activated for vibration filter
suppression filter for is less than 5.
SVSPOTMOV
154 The setting in the pa- Setting error (1) Check the following settings.
rameter for special Correct the setting value of the parameter for special mechanical
mechanical interfer- interference.
ence is incorrect.
No. Code
4497 DEFECTIVE 1 Some of the teaching Setting error (1) Check the following settings.
TAUGHT points for master- ·Perform the teaching again so that the teaching points are differ-
POINT(CALIB) group are on the same ent from one another.
point.
2 Some of the teaching Setting error (1) Check the following settings.
points for slave-group ·Perform the teaching again so that the teaching points are differ-
are on the same point. ent from one another.
3 The 2nd-axis positions Setting error (1) Check the following settings.
of C3, C4, and C5 of ·Perform the teaching again so that the 2ndaxis positions of C3,
station axes are not C4, and C5 of the station axes are the same.
the same.
4 The 1st-axis positions Setting error (1) Check the following settings.
of C1, C2, and C3 of ·Perform the teaching again so that the 1staxis positions of C1, C2,
station axes are not and C3 of station axes are the same.
the same.
2
- 855
Alarm list
No. Code
2 - 856
5 The 2nd-axis positions Setting error (1) Check the following settings.
Alarm list
of C1, C2, and C3 of ·Perform the teaching again so that the teaching positions are dif-
station axes are the ferent from one another.
same.
6 The 1st-axis rotation Setting error (1) Check the following settings.
direction of C3, C4, ·Perform the teaching again so that the 1staxis rotation direction of
and C5 of station axes C3, C4, and C5 of station axes are the same.
are not the same.
7 The 1st-axis (elevation Setting error (1) Check the following settings.
axis) positions of C1, ·Perform the teaching again so that the 1staxis (elevation axis) po-
C2, and C3 of station sitions of C1, C2, and C3 of station axes are the same.
axes are not the same.
8 The 1st-axis (elevation Setting error (1) Check the following settings.
axis) positions of C3, ·Perform the teaching again so that the 1staxis (elevation axis) po-
C4, and C5 of station sitions of C3, C4, and C5 of station axes are the same.
axes are not the same.
No. Code
4498 CANNOT EXE- An attempt was made Setting error (1) Check the following settings.
CUTE JOB(NO GRP to execute an instruc- ·Check the settings for the job instruction with control group.
AXIS) tion that could not be
executed in a job with-
out control group.
4499 UNDEFINED POSI- SUB Code: The vari- Setting error (1) Check the following settings.
TION VARIABLE able number ·Check the settings for the position type variable.
4500 UNDEFINED USER SUB Code: User coor- Setting error (1) Check the following settings.
FRAME dinate number ·Check the settings for the user coordinate.
4501 OUT OF SUB Code: Task num- Software operation er- (1) Reset the alarm, and then try again.
RANGE(PARALLEL ber ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
PROCESS) mode, and then contact your YASKAWA representative about oc-
4502 SL BOARD ON-LINE The option board was Software operation er- (1) Reset the alarm, and then try again.
ERROR detected not to oper- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ate normally at power mode, and then contact your YASKAWA representative about oc-
ON. currence status (operating procedure).
2
4505 UNDEFINED POSI- Setting error (1) Check the following settings.
TION FOR ARC ON ·Register a step before the ARCON instruction.
- 857
Alarm list
No. Code
2 - 858
Alarm list

4506 UNDEFINED POS Setting error (1) Check the following settings.
FOR RESTART RE- ·Check the settings for the job.
TURN
4507 REFP POS ER- Setting error (1) Check the following settings.
ROR(SEARCH MO- ·Perform the teaching again so that the search start point and the
TION) motion target point are not the same.
·Increase the distance between the search start point and the mo-
tion target point.
4508 SPECIFIED ER- 0 The specified coordi- Setting error (1) Check the following settings.
ROR(COORDI- nate system does not ·Check the settings for the coordinate system which can be used.
NATE) exist.
1 Designation error of Setting error (1) Check the following settings.
the master tool coordi- ·Check the settings for the coordinate system which can be used.
nate system. This co-
ordinate system
cannot be used.
No. Code
the tool coordinate ·Check the settings for the coordinate system which can be used.
system. This coordi-
nate system cannot be
used.
the direction of travel ·Check the settings for the coordinate system which can be used.
coordinate system (for
a shared function).
This coordinate sys-
tem cannot be used.
the any direction coor- ·Check the settings for the coordinate system which can be used.
dinate system (for a
shared function). This
coordinate system
cannot be used.
the approximation tool ·Check the settings for the coordinate system which can be used.
coordinate system (for
a shared function).
This coordinate sys-
2
tem cannot be used.
- 859
Alarm list
No. Code
2 - 860
Alarm list

the conveyor coordi- ·Check the settings for the coordinate system which can be used.
ordinate system
cannot be used.
the COMARC coordi- ·Check the settings for the coordinate system which can be used.
ordinate system
cannot be used.
the power sensor co- ·Check the settings for the coordinate system which can be used.
ordinate system. This
coordinate system
cannot be used.
the cylindrical coordi- ·Check the settings for the coordinate system which can be used.
ordinate system
cannot be used.
No. Code
the coordinate system ·Check the settings for the coordinate system which can be used.
for the external refer-
ence point. This coor-
dinate system cannot
be used.
for 3D shifting. This
coordinate system
cannot be used.
the KOMATSU tool Z- ·Check the settings for the coordinate system which can be used.
direction operation co-
ordinate system. This
coordinate system
cannot be used.
2
- 861
Alarm list
No. Code
2 - 862
Alarm list
the KOMATSU tool ·Check the settings for the coordinate system which can be used.
JOG operation coordi-
ordinate system
cannot be used.
at IMOV for 3D shift-
ing. This coordinate
system cannot be
used.
the H-LINK type cylin- ·Check the settings for the coordinate system which can be used.
drical coordinate sys-
tem. This coordinate
system cannot be
used.
the FSER_FRAME ·Check the settings for the coordinate system which can be used.
type cylindrical coordi-
ordinate system
cannot be used.
No. Code
4509 MFRAME ERROR 1 The master-tool user Setting error (1) Check the following settings.
coordinates could not ·Execute the MFRAME instruction in coordinated job when you
be prepared. make the master tool user coordinate.
CUTE INSTRUC- ·Check the job settings so that the second argument of SQRT in-
TION(SQRT) struction does not become negative.
4511 OUT OF SUB Code: Control Setting error (1) Check the following settings.
RANGE(DROP-VAL- group exceeding the ·Confirm the load setting to the robot.
UE) allowable value
LINE(3 STEPS) ·Check the settings so that the teaching points are not aligned in a
straight line.
4513 EXCESSIVE SEG- SUB Code: Control Setting error (1) Check the following settings.
MENT(SAFETY 1): group and axis ·Reduce the speed of the step where the alarm occurred.
LOW/HIGH ·Change the move instruction to joint interpolation (MOVJ).
2
changes.
- 863
Alarm list
No. Code
2 - 864
Alarm list

4515 EXCESSIVE SEG- SUB Code: Control Setting error (1) Check the following settings.
MENT(SAFETY 2): group and axis ·Reduce the speed of the step where the alarm occurred.
LOW/HIGH ·Change the move instruction to joint interpolation (MOVJ).
changes.
4517 SEARCH MONITOR SUB Code: The relat- Software operation er- (1) Reset the alarm, and then try again.
SET ERROR(SER- ed control-group ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
VO) mode, and then contact your YASKAWA representative about oc-
4518 SEARCH MON RE- SUB Code: The relat- Software operation er- (1) Reset the alarm, and then try again.
LEASE ERR(SER- ed control-group ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
VO) mode, and then contact your YASKAWA representative about oc-
4520 AXIS BLOCKING SUB Code: Control Setting error (1) Check the following settings.
group ·Check the settings for the general-purpose input signal set in the
parameter.
No. Code
4521 WRONG JOB TYPE SUB Code Setting error (1) Check the following settings.
0000_0001: A robot ·Check the settings for the job to be started.
job was started from
the concurrent job at
CALL/JUMP instruc-
tion execution.
0000_1001: A concur-
rent job was started
from the robot job at
CALL/JUMP instruc-
tion execution.
1000_0001: A system
job was started from
the robot job at CALL/
JUMP instruction exe-
cution.
4522 TAG DATA CHANGE 0 An attempt was made Setting error (1) Check the following settings.
PROCESS ERROR to change the contents ·The variable tag cannot be changed. Correct the job so as not to
of variable tag data. use the variable tag.

to change the tag data ·Release the prohibition.
for the job prohibited
from being edited.
2
- 865
Alarm list
No. Code
2 - 866
Alarm list
instruction read-in. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3 The tag is not regis- Software operation er- (1) Reset the alarm, and then try again.
tered. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4 The tag data was vari- Setting error (1) Check the following settings.
able specification. ·The variable tag cannot be changed. Correct the job so as not to
use the variable tag.

5 The value which it was Setting error (1) Check the following settings.
made to change ex- ·Check the contents of changing data.
ceeded the limit of tag
data.
tag data change. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4523 SHARED AXES 1 The teaching points Software operation er- (1) Reset the alarm, and then try again.
CONTROL ERROR are incorrect. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
CUTE INST(CON- ·Delete an instruction that cannot be executed such as move in-
CUR JOB) struction in the concurrent job.
4525 CANNOT EXE- 1 An interrupt job (user Setting error (1) Check the following settings.
CUTE SPECIFIED setting) is started up ·Check the job so that the interrupt job will not start-up during the
JOB during the back opera- back operation.
tion.
2 An suspend macro job Setting error (1) Check the following settings.
is started up during the ·Check the job so that the suspend macro job will not start-up dur-
back operation. ing the back operation.
3 An interrupt job (inside Setting error (1) Check the following settings.
the system) is started ·Check the job so that the interrupt job will not start-up during the
up during the back op- back operation.
eration.
4527 UNDEFINED PORT Setting error (1) Check the following settings.
NO.(AOUT) ·Check the settings for the specified analog output port number.
2
- 867
Alarm list
No. Code
2 - 868
4528 SYNTAX ERROR 1 A syntax error was Software operation er- (1) Reset the alarm, and then try again.
Alarm list
found in the IF sen- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tence. mode, and then contact your YASKAWA representative about oc-
4529 TWIN COORDINAT- 1 A job without control Setting error (1) Check the following settings.
ED ERROR group was started by ·Check the control group setting of the job to be started by SYNC.
SYNC instruction.
2 A job only with robot Setting error (1) Check the following settings.
axes was started by ·Check the control group setting of the job to be started by SYNC.
SYNC instruction.
3 A job only with master Setting error (1) Check the following settings.
control group axes ·Check the control group setting of the job to be started by SYNC.
was started by SYNC
instruction.
4 At full synchronization, Software operation er- (1) Reset the alarm, and then try again.
the completion timings ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
of move instructions mode, and then contact your YASKAWA representative about oc-
for the master and the currence status (operating procedure).
slave disagreed.
no operation request ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
from the master was mode, and then contact your YASKAWA representative about oc-
sent. currence status (operating procedure).
No. Code
the execution timings ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
of move instructions mode, and then contact your YASKAWA representative about oc-
for the master and the currence status (operating procedure).
slave disagreed.
7 The twin synchronous Software operation er- (1) Reset the alarm, and then try again.
ID number is incorrect. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
to execute triple syn- ·Match the system number specification of the master between the
chronization when job to be started by SYNC.
specified SUB-master
for the master was dif-
ferent.
4530 CONVEYOR 1 The base axis specifi- Setting error (1) Check the following settings.
TRACKING ERROR cation is other than 1 ·Set the base axis specification of conveyor characteristic file to ei-
or 2 for conveyor char- ther 0, 1, or 2.
acteristic file.
2 No robot axis in the job Setting error (1) Check the following settings.
for robot axis tracking ·Correct the job setting so that the robot axis tracking is executed
in the job where robot axis exists.
2
- 869
Alarm list
No. Code
2 - 870
3 No base axis in the job Setting error (1) Check the following settings.
Alarm list
for base axis tracking ·Correct the job settings so that the base axis tracking is executed
in the job where base axis exists.
4 The conveyor board Setting error (1) Check the following settings.
number and conveyor ·Check the specification of conveyor condition file number for use.
characteristic file num-
ber used are incorrect.
5 There was no convey- Software operation er- (1) Reset the alarm, and then try again.
or start position data at ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
10 No base axis in the job Setting error (1) Check the following settings.
for arc tracking ·Correct the job setting so that the arc tracking is executed in the
job where robot axis exists.
4531 UNDEFINED CON- SUB Code: Conveyor Setting error (1) Check the following settings.
VEYOR COND FILE characteristic file num- ·Set "Use state" of conveyor characteristic file to "1: Use."
ber
4532 CONVEYOR SPEED SUB Code: Conveyor Setting error (1) Check the following settings.
DOWN number ·Correct the “Conveyer Lowest Speed” set in the conveyer charac-
teristic file.
No. Code
4533 ARITHMETIC ER- 1 Designation error of Software operation er- (1) Reset the alarm, and then try again.
ROR(CV TRACK- the conveyor tracking ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ING) control-group mode, and then contact your YASKAWA representative about oc-
the user coordinates ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
for the conveyor track- mode, and then contact your YASKAWA representative about oc-
ing currence status (operating procedure).
to use the conveyor ·The conveyor tracking cannot be executed to the slave manipula-
tracking function with tor of the coordinate system. Correct the job so that the conveyor
the slave manipulator tracking perform by the robot unit or without coordinated motion.
at coordinate motion.
4 Zero is set for the res- Setting error (1) Check the following settings.
olution for the turn-ta- ·Check the settings for the resolution.
ble synchronization.
4534 TORQUE INTER- Setting error (1) Check the following settings.
FERENCE ·Correctly set the weight information in the tool file. (Are the
weight: W and the number set to the load value of either Xg, Yg or
Zg?)
·Reduce the speed in the step where the alarm occurred.
2
- 871
Alarm list
No. Code
2 - 872
Alarm list

4535 TARGET VARIABLE 0 An attempt was made Setting error (1) Check the following settings.
TYPE UNMATCHED to obtain the byte type ·Obtain as the byte type variable.
system variable by the
other type variable.
to obtain the integer ·Obtain as the integer type variable.
type system variable
by the other type vari-
able.
to obtain the double- ·Obtain as the double-precision integer-type variable.
precision integer-type
system variable by the
other type variable.
to obtain the real-num- ·Obtain as the real-number type variable.
ber type system vari-
able by the other type
variable.
No. Code
to obtain the charac- ·Obtain as the character-string type variable.
ter-string type system
variable by the other
type variable.
4538 ROBOT AXIS 0 "SYMOVJ" instruction Setting error (1) Check the following settings.
TRACKING INVALID is executed at robot- ·Do not use "SYMOVJ" instruction in robot axis tracking.
axis tracking.
4539 CORNER R CON- 1 The Corner-R motion Setting error (1) Check the following settings.
TROL ERROR cannot be used for co- ·Do not use the Corner-R motion for coordinated motion.
ordinated motion.
to execute the Corner- ·Check the settings for the teaching so that the start step and end
R motion for the same step are not on the same point.
point.
2
- 873
Alarm list
No. Code
2 - 874
3 The Corner-R zone is Setting error (1) Check the following settings.
Alarm list
taught on a straight ·Check the settings for teaching so that the Corner-R zone is not
line. on a strait line.
4 The start position or Setting error (1) Check the following settings.
end position for the ·Make the setting for the Corner-R radius small.
Corner-R motion could ·Make the moving amount of the Corner-R start step long.
not be calculated in- ·Make the moving amount of the Corner-R start end long.
side the start zone or
the end zone.
5 The Corner-R motion Setting error (1) Check the following settings.
cannot be used for co- ·Do not use the Corner-R motion for master manipulators at coor-
ordinated motion (with dinated motion.
master manipulators).
cannot be used for ·Use a MOVL instruction when using the Corner-R motion.
MOVC, MOVS, and
EIMOVC instructions.
is disabled during ·Do not perform weaving when using the Corner-R motion.
weaving.
No. Code
8 Different tool numbers Setting error (1) Check the following settings.
are set in a Corner-R ·Use the same tool number in a Corner-R zone.
zone (for the Corner-R
middle step and end
step).
is disabled when the ·Disable the higher-order acceleration/deceleration when using
higher-order accelera- the Corner-R motion.
tion/deceleration is
specified.
is disabled during con- ·Do not perform the conveyor tracking when using the Corner-R
veyor tracking. motion.
18 Arithmetic error oc- Setting error (1) Check the following settings.
curred when calculat- ·Do not perform the conveyor tracking when using the Corner-R
ing the acceleration motion.
and deceleration time
for the Corner-R oper-
2
ation
- 875
Alarm list
No. Code
2 - 876
Alarm list

19 Arithmetic error oc- Setting error (1) Check the following settings.
curred when calculat- ·Do not perform the conveyor tracking when using the Corner-R
ing acceleration and motion.
deceleration during
test run in consider-
ation of servo delay for
the Corner-R motion.
4540 JOB QUE EMPTY Setting error (1) Check the following settings.
ERROR ·Use “CALL QUE” under the condition that the job data is set to the
job queue.
4541 INVALID INPUT 1 There was no charac- Setting error (1) Check the following settings.
STRING(VAL) ter string representing ·Check the settings for the data of the character string to be ex-
a constant in character tracted.
string to be extracted
at VAL instruction exe-
cution.
4542 MRESET ERROR 1 An MRESET instruc- Setting error (1) Check the following settings.
tion was executed ·Set the endless axis.
while no endless axis
was designated.
No. Code
4543 STACK LESS THAN At job return, an at- Software operation er- (1) Reset the alarm, and then try again.
0(JOB CALL) tempt was made to ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
fetch a data from an mode, and then contact your YASKAWA representative about oc-
empty job call stack or currence status (operating procedure).
to stack a data in the
job call stack that is
full.
4544 MID$ INST ERROR 1 The first character of Setting error (1) Check the following settings.
character string to be ·Check the settings for the data of the character string to be ex-
extracted is null at tracted.
MID$ instruction exe-
cution.
2 The extraction start Setting error (1) Check the following settings.
position exceeds the ·Check the settings for the data of the character string to be ex-
character string length tracted.
at MID$ instruction ex-
ecution.
4545 FOLLOWING 1 The trajectory calcula- Setting error (1) Check the following settings.
ARITHMETIC ER- tion couldn't be per- ·Review tag setting of the FOLLOW2 instruction.
ROR formed since the V/T
is set to less than 4.
2
- 877
Alarm list
No. Code
2 - 878
Alarm list

2 The trajectory calcula- Setting error (1) Check the following settings.
tion couldn't be per- ·Review the DD= tag of the FOLLOW2 instruction.
formed since total
stroke volume is less
than caught volume.
4546 CANNOT EXE- SUB Code: System Software operation er- (1) Reset the alarm, and then try again.
CUTE SYSTEM JOB number ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4547 PRIMITIVE ERROR SUB Code: Error code Software operation er- (1) Reset the alarm, and then try again.
4548 CANNOT OPER- SUB Code: System Software operation er- (1) Reset the alarm, and then try again.
ATE SPECIFIED number ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
EVENT mode, and then contact your YASKAWA representative about oc-
4549 NOT EXECUTION SUB Code: System Setting error (1) Check the following settings.
OF INIEVNT number ·Execute an INIEVNT instruction before executing an event relat-
ed instruction.
4550 CANNOT EXE- SUB Code: System Setting error (1) Check the following settings.
CUTE INST(USER number ·This instruction cannot be executed in the system job. Correct the
JOB) job so that the instruction is executed in the user job.
No. Code
4551 CANNOT MEA- SUB Code: Gun num- Setting error (1) Check the following settings.
SURE TIP INSTALL ber ·Execute the "SVGUNCL TWC-AE", and then execute the "SV-
COEF GUNCL TWC=BE".
4565 SOFTWARE UN- 1 The multi-layer weld- Software operation er- (1) Reset the alarm, and then try again.
MATCH ing function is not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2 The observer function Software operation er- (1) Reset the alarm, and then try again.
is not used. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3 The TURBO function Software operation er- (1) Reset the alarm, and then try again.
4 The COMARC func- Software operation er- (1) Reset the alarm, and then try again.
tion is not used. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 The conveyor/press Software operation er- (1) Reset the alarm, and then try again.
synchronization func- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion is not used. mode, and then contact your YASKAWA representative about oc-
2
- 879
Alarm list
No. Code
2 - 880
6 The shared motion Software operation er- (1) Reset the alarm, and then try again.
Alarm list
function is not used. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
7 The layer motion func- Software operation er- (1) Reset the alarm, and then try again.
8 The general sensor Software operation er- (1) Reset the alarm, and then try again.
9 The servo float func- Software operation er- (1) Reset the alarm, and then try again.
10 The laser cutting func- Software operation er- (1) Reset the alarm, and then try again.
tion (with small circle ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cutter) is not used. mode, and then contact your YASKAWA representative about oc-
11 The motor gun func- Software operation er- (1) Reset the alarm, and then try again.
tion (for spot welding ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
application) is not mode, and then contact your YASKAWA representative about oc-
used. currence status (operating procedure).
12 The speed control Software operation er- (1) Reset the alarm, and then try again.
function (VCON/ ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
VCOF) is not used. mode, and then contact your YASKAWA representative about oc-
13 The servo hand func- Software operation er- (1) Reset the alarm, and then try again.
tion (for handling ap- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
plication) is not used. mode, and then contact your YASKAWA representative about oc-
No. Code
14 The laser cutting func- Software operation er- (1) Reset the alarm, and then try again.
tion (for form cutting ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
operation) is not used. mode, and then contact your YASKAWA representative about oc-
15 The series communi- Software operation er- (1) Reset the alarm, and then try again.
cation function be- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tween the systems mode, and then contact your YASKAWA representative about oc-
(PSEND/PRECV) is currence status (operating procedure).
not used.
16 The motion extension Software operation er- (1) Reset the alarm, and then try again.
17 The bending function Software operation er- (1) Reset the alarm, and then try again.
18 The ME-NET function Software operation er- (1) Reset the alarm, and then try again.
19 The MEMO-PLAY Software operation er- (1) Reset the alarm, and then try again.
20 The 3D-SHIFT func- Software operation er- (1) Reset the alarm, and then try again.
2
- 881
Alarm list
No. Code
2 - 882
21 The Equalization func- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
to execute an unde- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
fined instruction. mode, and then contact your YASKAWA representative about oc-
4566 USER FRAME MAK- 1 The teaching points Software operation er- (1) Reset the alarm, and then try again.
ING ERROR are incorrect. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2 The teaching points Setting error (1) Check the following settings.
for user-coordinate ·Among three taught points in the teaching position. Teach the
turning are incorrect. three points again so that they do not lie in the straight line.
3 The robot axis is not Software operation er- (1) Reset the alarm, and then try again.
specified for the con- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
trol group of the job to mode, and then contact your YASKAWA representative about oc-
prepare the user coor- currence status (operating procedure).
dinates.
5 Position data error Software operation er- (1) Reset the alarm, and then try again.
6 Setting error of the Software operation er- (1) Reset the alarm, and then try again.
slave group for user ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
coordinate conversion mode, and then contact your YASKAWA representative about oc-
No. Code
4567 CANNOT MONI- Setting error (1) Check the following settings.
TOR DISTANCE ·Change the interpolation instruction to MOVL/MOVC.
·Change the setting so that the arc retry or restart operation does
not perform.
4568 UNDEFINED SUB Code: Press Setting error (1) Check the following settings.
PRESS COND DATA characteristic file num- ·Set the status of press characteristic file to be used in the job to
FILE ber "Used State."
4569 UNDEFINED SUB Code: Press Setting error (1) Check the following settings.
PRESS RESOLU- characteristic file num- ·Set the press resolution data to be used in the job.
TION DATA ber
4571 SERVO FLOAT Software operation er- (1) Reset the alarm, and then try again.
MODE RELEASE ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ERR mode, and then contact your YASKAWA representative about oc-
4572 NO SERVO GUN Setting error (1) Check the following settings.
CONTROL GROUP ·Set the "motor gun axis" in the control group setting of mainte-
nance mode.
4573 SPOT WELDER NO. SUB Code: Welder Setting error (1) Check the following settings.
2
ERROR number ·Correct the welder number set in the gun characteristic file.
- 883
Alarm list
No. Code
2 - 884
Alarm list

4574 SPOT WELD COM- SUB Code: Welder Setting error (1) Check the following settings.
PLETE TIME LIMIT number ·Turn ON the timer contactor power.
·If the response from the timer takes too long time due to the sys-
tem layout, increase the timeout time.
4575 ERROR IN WELD Setting error (1) Check the following settings.
START TIMING SET ·Check the settings for the "WST" tag.
·Check the settings for the pressure file.
4576 ERR IN MOTOR Software operation er- (1) Reset the alarm, and then try again.
GUN CONT MODE ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4577 ERR IN MOTOR Software operation er- (1) Reset the alarm, and then try again.
GUN MODE RE- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
LEASE mode, and then contact your YASKAWA representative about oc-
4578 SPOT WELD ER- SUB Code: Welder Setting error (1) Check the following settings.
ROR number ·Check the settings for the timer conductor where the welding error
occurred.
No. Code
4579 ANTICIPATION 1 No availability in antic- Setting error (1) Check the following settings.
CONTROL ERROR ipation control ·Maximum simultaneous execution number of anticipation control
is five. Correct the settings for the job so that it is within five.
2 The anticipation data Software operation er- (1) Reset the alarm, and then try again.
exceeded the maxi- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mum length. mode, and then contact your YASKAWA representative about oc-
4580 ANTICIPATION DIS- Setting error (1) Check the following settings.
TANCE NOT ·Operate the manipulator to the start position of the step where the
ENOUGH alarm occurred, and then re-execute.
4581 DEFECTIVE ANTIC- 1 Incorrect setting of OT Setting error (1) Check the following settings.
IPATION OT FILE output number for an- ·Check the setting value of OT output number.
ticipation output file
2 Incorrect setting of OG Setting error (1) Check the following settings.
output number for an- ·Check the setting value of OG output number.
ticipation output file
CUTE GUN TYPE ·Check the settings for the motion mode set to the gun.
2
- 885
Alarm list
No. Code
2 - 886
Alarm list

4584 STRWAIT TIME LIM- Setting error (1) Check the following settings.
IT ·Check the cause such as defective limit switch.
4585 SERVO PG ON ER- Connection failure (1) Reset the alarm, and then try again.
ROR (2) If the alarm occurs again, check the connection and inserting
·Each axes encoder cable
4587 MOTOR GUN 1 A GUNCHG instruc- Setting error (1) Check the following settings.
CHANGE ERROR tion was executed in ·Validate the gun change parameter.
the system configura-
tion that did not allow
the gun change func-
tion.
2 A GUNCHG/PICK in- Setting error (1) Check the following settings.
struction was execut- ·Execute GUNCHG/PICK instruction when the motor gun motor is
ed while the motor gun servo OFF.
motor was servo ON.
No. Code
3 A GUNCHG/PICK in- Setting error (1) Check the following settings.
struction was execut- ·Execute GUNCHG/PICK instruction when the ATC is in chuck sta-
ed while the ATC was tus.
in unchuck status.
4 A GUNCHG/PLACE Setting error (1) Check the following settings.
instruction was exe- ·Execute GUNCHG/PLACE instruction when the ATC is in chuck
cuted while the ATC status.
was in unchuck status.
5 The encoder power Connection failure (1) Reset the alarm, and then try again.
supply could not be (2) If the alarm occurs again, check the connection and inserting
turned ON when exe- state of the following cables and connectors.
cuting a GUNCHG/ ·The encoder cable of motor gun
PICK instruction.
6 The encoder power Connection failure (1) Reset the alarm, and then try again.
supply could not be (2) If the alarm occurs again, check the connection and inserting
turned OFF when exe- state of the following cables and connectors.
cuting a GUNCHG/ ·The encoder cable of motor gun
PLACE instruction.
2
- 887
Alarm list
No. Code
2 - 888
7 The gun number spec- Setting error (1) Check the following settings.
Alarm list
ified by the GUNCHG ·Change the gun characteristic file number specified by GUNCHG
instruction did not instruction to object gun number.
agree with the gun ·Change the gun identification signal so that it become the objec-
identification signal. tive gun number.
8 The 1st gun axis se- Setting error (1) Check the following settings.
lection signal is not set ·Check the 1st gun axis selection signal setting.
when executing the
twin-wrist gun change.
9 The right and left gun Setting error (1) Check the following settings.
axis selection signals ·Check the setting for the gun axis selection signal.
were duplicated when
executing the twin-
wrist gun change.
10 The control group for Setting error (1) Check the following settings.
gun axis is not set in ·Check the settings for the control-group of the job.
the gun change job.
11 Multiple manipulators Setting error (1) Check the following settings.
are not set in the gun ·Check the settings for the control-group of the job.
change job.
No. Code
4589 ABRASION BASIS Setting error (1) Check the following settings.
POS UNSETTING ·Resister the reference position of wear correction.
4590 NO SERVO HAND Setting error (1) Check the following settings.
CONTROL GROUP ·Set the "servo hand axis" in the control group setting of mainte-
nance mode.
4591 SPEED CTRL Software operation er- (1) Reset the alarm, and then try again.
MODE SET ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ERR(SERVO) mode, and then contact your YASKAWA representative about oc-
4592 SPEED CTRL Software operation er- (1) Reset the alarm, and then try again.
MODE CANCEL ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ERR(SV) mode, and then contact your YASKAWA representative about oc-
4593 SVHAND CTRL Software operation er- (1) Reset the alarm, and then try again.
ERR(SERVO) mode, and then contact your YASKAWA representative about oc-
4594 SVHND CTRL Software operation er- (1) Reset the alarm, and then try again.
2
- 889
Alarm list
No. Code
2 - 890
4595 CAN'T DO FIXED 1 The setting for radius Setting error (1) Check the following settings.
Alarm list
FORM CUT MO- is incorrect. ·Setting of the radius data

TION (1) For a circle, it is in-
correctly set as: radius
<= 0, radius < mini-
mum radius value, or
radius > maximum ra-
dius value.
(2) For an ellipse, it is
incorrectly set as: radi-
us <= 0, radius < mini-
mum radius value/2,
or radius > (maximum
radius/2 - width/2).
2 The setting for width is Setting error (1) Check the following settings.
incorrect. ·Setting of the width data
(1) For a rectangle, it is
incorrectly set as:
width < 1.0, width >
sqrt (maximum
diameter2 - height2),
or width > maximum
diameter.
(2) It is incorrectly set
as: width < 0, width >
maximum diameter -2
* radius.
No. Code
3 The setting for height Setting error (1) Check the following settings.
is incorrect. ·Setting of the height data
incorrectly set as:
height > maximum di-
ameter, height < mini-
mum diameter/2, or
height > sqrt (maxi-
mum diameter2 -
width2).
4 The setting for the cor- Setting error (1) Check the following settings.
ner radius is incorrect. ·Setting of the corner radius
incorrectly set as: cor-
ner radius > width/2 or
corner radius > height/
2.
2
- 891
Alarm list
No. Code
2 - 892
5 The setting for overlap Setting error (1) Check the following settings.
Alarm list
is incorrect. ·Setting of the overlap data

incorrectly set as over-
lap > width/2.
(2) For a circle, it is in-
correctly set as over-
lap > ABS (2π *
radius).
(3) For an ellipse, it is
incorrectly set as over-
lap > π * radius +ABS
(width/2).
6 The setting for the cut- Setting error (1) Check the following settings.
ting speed is incorrect. ·Setting of the cutting speed
It is set as the cutting
speed > maximum lin-
ear speed.
7 Coordinated motion Setting error (1) Check the following settings.
cannot be used with ·Do not use the coordinated motion.
the Form Cutting mo-
tion.
No. Code
ue is set in the mini- ·The setting of the minimum diameter parameter (S1CxG063) for
mum diameter the Form Cutting motion.
parameter
(S1CxG063) for the
Form Cutting motion.
ue is set in the maxi- ·The setting of the maximum diameter parameter (S1CxG063) for
mum diameter the Form Cutting motion.
parameter
(S1CxG064) for the
Form Cutting motion.
10 Although "PLACE- Setting error (1) Check the following settings.
MENT" or "AUTO" is ·Execute the FORMAPR instruction.
set for the start point
designation on the
FORM CUT SETTING
window, the FOR-
MAPR instruction was
not executed.
2
- 893
Alarm list
No. Code
2 - 894
11 The Cut file setting of Setting error (1) Check the following settings.
Alarm list
the FORMAPR in- ·The Cut file settings of FORMAPR and FORMCUT instructions
struction is different must be same.
from that of the
FORMCUT instruc-
tion.
12 A FORMAPR instruc- Setting error (1) Check the following settings.
tion was used for the ·The FORMAPR instruction cannot be used for the conventional
conventional FORM- FORMCUT instruction.
CUT instruction. ·Validate the new FORMCUT instruction.
13 A form other than a cir- Setting error (1) Check the following settings.
cle, rectangle, and el- ·A form other than a circle, rectangle, and ellipse cannot be desig-
lipse was designated nated for the conventional FORMCUT instruction.
for the conventional ·Validate the new FORMCUT instruction.
FORMCUT instruc-
tion.
90 The radius data set- Setting error (1) Check the following settings.
ting for special circular ·Setting of the radius data
interpolation is incor-
rect. It is incorrectly
set as the radius <= 0.
No. Code
91 The arc center coordi- Setting error (1) Check the following settings.
nates could not be cal- ·Setting of the teaching
culated at special
circular interpolation.
Incorrect teaching
may be the cause.
93 The averaging time at Setting error (1) Check the following settings.
special circular inter- ·Moving distance
polation motion is too ·Motion speed
short.
94 Because the designat- Setting error (1) Check the following settings.
ed plane included ref- ·Setting of the reference point 2
erence points at
special circular inter-
polation motion, the
arc center coordinates
ed. Incorrect teaching
of the reference point
2 may be the cause.
2
- 895
Alarm list
No. Code
2 - 896
100 The arc center posi- Setting error (1) Check the following settings.
Alarm list
tion is not set for the ·Check the settings for the reference point 1 as the arc center po-
special circular inter- sition.
polation motion.
4596 FORMCUT ERROR 1 An attempt was made Execute condition fail- (1) Check the following settings.
to re-execute the ure ·Re-execute the move instruction executed before the FORMCUT
FORMCUT instruc- instruction, and then execute the FORMCUT instruction again.
tion after interrupting
it.
4597 OFFLINE POSITION 1 Incorrect information Software operation er- (1) Reset the alarm, and then try again.
DATA CONVERT of reference position ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ERR data for offline position mode, and then contact your YASKAWA representative about oc-
data conversion currence status (operating procedure).
2 Incorrect user-coordi- Software operation er- (1) Reset the alarm, and then try again.
nate number designa- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion in the standard mode, and then contact your YASKAWA representative about oc-
position data for offline currence status (operating procedure).
position data conver-
sion
3 Incorrect reference- Software operation er- (1) Reset the alarm, and then try again.
point data for offline ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
position data conver- mode, and then contact your YASKAWA representative about oc-
sion currence status (operating procedure).
No. Code
4 The standard position Setting error (1) Check the following settings.
data for offline position ·The variable position may be out of the robot motion range. Check
data conversion could if the variable position is within the robot motion range.
not correctly be calcu-
lated.
5 Incorrect pulse incre- Software operation er- (1) Reset the alarm, and then try again.
mental value for offline ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
sion currence status (operating procedure).
6 The position data Software operation er- (1) Reset the alarm, and then try again.
could not correctly be ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
added by the pulse in- mode, and then contact your YASKAWA representative about oc-
cremental value at the currence status (operating procedure).
offline position data
conversion.
7 Incorrect Cartesian in- Software operation er- (1) Reset the alarm, and then try again.
cremental value for of- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
fline position data mode, and then contact your YASKAWA representative about oc-
conversion currence status (operating procedure).
8 The position data Setting error (1) Check the following settings.
could not correctly be ·The variable position may be out of the robot motion range. Check
added by the Carte- if the variable position is within the robot motion range.
sian incremental value
at the offline position
data conversion.
2
- 897
Alarm list
No. Code
2 - 898
9 The position conver- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
sion could not be done ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
in the designated co- mode, and then contact your YASKAWA representative about oc-
ordinate system at the currence status (operating procedure).
conversion.
10 Incorrect incremental Software operation er- (1) Reset the alarm, and then try again.
value of angle for of- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
fline position data con- mode, and then contact your YASKAWA representative about oc-
version currence status (operating procedure).
11 The position data Software operation er- (1) Reset the alarm, and then try again.
added by the incre- mode, and then contact your YASKAWA representative about oc-
mental value of angle currence status (operating procedure).
at the offline position
data conversion.
12 The reverse shift value Software operation er- (1) Reset the alarm, and then try again.
for 3D shifting could ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
not correctly be calcu- mode, and then contact your YASKAWA representative about oc-
lated at the offline po- currence status (operating procedure).
sition data conversion.
for 3D shifting could ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
not correctly be added mode, and then contact your YASKAWA representative about oc-
at the offline position currence status (operating procedure).
data conversion.
calculated at the of- mode, and then contact your YASKAWA representative about oc-
fline position data con- currence status (operating procedure).
version.
No. Code
calculated at the of- mode, and then contact your YASKAWA representative about oc-
fline position data con- currence status (operating procedure).
version.
16 The 3D shifting value Software operation er- (1) Reset the alarm, and then try again.
added at the offline po- mode, and then contact your YASKAWA representative about oc-
sition data conversion. currence status (operating procedure).
17 The shift value could Software operation er- (1) Reset the alarm, and then try again.
not correctly be added ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
at the offline position mode, and then contact your YASKAWA representative about oc-
data conversion. currence status (operating procedure).
18 No reference point is Software operation er- (1) Reset the alarm, and then try again.
specified for the offline ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
sion. currence status (operating procedure).
19 The positions for the Software operation er- (1) Reset the alarm, and then try again.
mirror shift function ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
could not correctly be mode, and then contact your YASKAWA representative about oc-
calculated at the of- currence status (operating procedure).
fline position data con-
version.
20 The positions could Setting error (1) Check the following settings.
not correctly be con- ·The variable position may be out of the robot motion range. Check
verted for the mirror if the variable position is within the robot motion range.
shift function at the of-
fline position data con-
version.
2
- 899
Alarm list
No. Code
2 - 900
21 The expansion posi- Setting error (1) Check the following settings.
Alarm list
tions for the mirror shift ·The variable position may be out of the robot motion range. Check
function could not cor- if the variable position is within the robot motion range.
rectly be converted at
the offline position
data conversion.
of coordinates for a ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
new mirror-shift con- mode, and then contact your YASKAWA representative about oc-
version function at the currence status (operating procedure).
conversion
4598 PAINTOUT ERROR 1 The parameter setting Setting error (1) Check the following settings.
for the universal input ·Check the settings for the AxP011.
group number is incor-
rect.
4599 SERVO COMMAND An attempt was made Software operation er- (1) Reset the alarm, and then try again.
ERROR to issue the command ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
while the servo control mode, and then contact your YASKAWA representative about oc-
processing has not currence status (operating procedure).
completed.
SUB Code: Servo
CPU bit number
4601 UNDEFINED GUN SUB Code: Gun con- Setting error (1) Check the following settings.
COND FILE dition file number ·Complete the gun condition file setting.
No. Code
4603 WIRE STICKING SUB Code: Welder Setting error (1) Check the following settings.
number ·Remove the cause of wire stick.
4604 SPECIFIED Setting error (1) Check the following settings.
ERR(ABSO RECOV- ·Registration for the home position correction data.
ER AXIS)
4605 SETTOOL ERROR 1 The difference be- Setting error (1) Check the following settings.
tween the current tool ·Correct the job so that the setting value of tag is allowable value.
constant and a new ·Set the allowance amount of the tool data automatic setting func-
set value exceeded tion maximum deviation (S3C1192) to large value.
the allowable range
(parameter set value).
4606 LACK OF GLOBAL Software operation er- (1) Reset the alarm, and then try again.
VARIABLE AREA ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4607 WRONG EXECU- 1 The execution macro Setting error (1) Check the following settings.
TION OF MACRO job is not set. ·Check the settings for execution macro job.
INST
2
- 901
Alarm list
No. Code
2 - 902
Alarm list

2 The suspend macro Setting error (1) Check the following settings.
job is not set. ·Check the settings for suspend macro job.
to start the job that ·Check the settings for macro job.
could not be started by
the macro instruction.
the operation process ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
of job call stack when mode, and then contact your YASKAWA representative about oc-
the execution of macro currence status (operating procedure).
instruction was can-
celled.
6 Incorrect macro num- Software operation er- (1) Reset the alarm, and then try again.
ber ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4608 WRONG EXECU- 1 The job argument is Setting error (1) Check the following settings.
TION OF GETARG not set. ·Check the settings for jobs.
INST
No. Code
2 No number of the Setting error (1) Check the following settings.
specified job argument ·Check the settings for jobs.
3 The data types of job Setting error (1) Check the following settings.
argument disagreed. ·Check the settings for jobs.
4609 MEMOPLAY ER- 2 The memory play file Setting error (1) Check the following settings.
ROR was being used in an- ·Check the setting of the used memory play file number.
other system.
5 The control group in Setting error (1) Check the following settings.
the memory play file ·Check the control group setting of the used memory play file.
did not agree with the
control group of exe-
cution job.
to clear the memory ·Execute the MEMOF instruction, and then execute the CLEAR in-
play file by a CLEAR struction.
instruction before hav-
ing executed a
MEMOF instruction.
2
- 903
Alarm list
No. Code
2 - 904
Alarm list

4610 MEMOPLAY SAM- 1 Failed to read the Software operation er- (1) Reset the alarm, and then try again.
PLING ERROR memory play sampling ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
data. mode, and then contact your YASKAWA representative about oc-
2 Failed to write the Software operation er- (1) Reset the alarm, and then try again.
memory play sampling ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3 Failed to seek the Software operation er- (1) Reset the alarm, and then try again.
memory play sampling ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4 Failed to read the Software operation er- (1) Reset the alarm, and then try again.
memory play file. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 Incorrect mode setting Setting error (1) Check the following settings.
at memory play sam- ·Check the settings for the memory play mode.
pling
of the control group at ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
memory play sampling mode, and then contact your YASKAWA representative about oc-
No. Code
7 Designation of the Setting error (1) Check the following settings.
control group in the ·Check the number of the memory play file for use.
memory play file did
not agree with the des-
ignation of the control
group at MEMON in-
struction execution
(when the start point
was specified).
8 Designation of the Setting error (1) Check the following settings.
control group in the ·Check the number of the memory play file for use.
memory play file did
not agree with the des-
ignation of the control
group at MEMON in-
struction execution (at
initialization).
9 designation of the con- Setting error (1) Check the following settings.
trol group in the mem- ·Check the number of the memory play file for use.
ory play file did not
agree with the desig-
nation of the control
group at MEMON in-
struction execution (at
continue).
2
- 905
Alarm list
No. Code
2 - 906
Alarm list

10 It started reproducing Setting error (1) Check the following settings.
though it did not re- ·Record and then play.
cord.
11 Correction amount to Setting error (1) Check the following settings.
record is out of the al- ·Correct the position of object workpieces so that the correction
lowable range. amount fall within allowable range.
12 The number of record- Setting error (1) Check the following settings.
ed correction-amount ·Correct the job so that the movement section of memory play ob-
exceeded the limit. ject is shorter.
13 Memoplay file Create Software operation er- (1) Reset the alarm, and then try again.
error (REC) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
14 Memoplay debug error Software operation er- (1) Reset the alarm, and then try again.
C_BANK.func_ctrl (ini- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tial) mode, and then contact your YASKAWA representative about oc-
No. Code
C_BANK.func_ctrl ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
(continue) mode, and then contact your YASKAWA representative about oc-
C_BANK ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
RT_BANK.func_ctrl mode, and then contact your YASKAWA representative about oc-
(continue) currence status (operating procedure).
MOVL, MOVC (contin- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ue) mode, and then contact your YASKAWA representative about oc-
Same point, moving ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
amount is zero (con- mode, and then contact your YASKAWA representative about oc-
tinue) currence status (operating procedure).
Dividing number error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4611 OVER OPTON INST Setting error (1) Check the following settings.
EXECUTION LIMIT ·Check the settings for the OPTON instruction. OPTON instruction
can use only the function to five simultaneously.
4612 TSYNC ERROR SUB code: the number Setting error (1) Check the following settings.
of synchronizations of ·Check the settings for the number of synchronizations of the
the first executed TSYNC instruction.
TSYNC
2
- 907
Alarm list
No. Code
2 - 908
Alarm list

4613 SERVO SEALER 1 The function designa- Setting error (1) Check the following settings.
GUN CONTROL ER- tion parameter is not ·Check the settings for the function designation parameter.
ROR set.
2 No sealer gun axis ex- Setting error (1) Check the following settings.
ists at the job for which ·Check the settings for the control-group of the job.
the sealer gun control
was attempted to be
executed.
3 No robot axis exists at Setting error (1) Check the following settings.
the job at which an at- ·Check the settings for the control-group of the job.
tempt was made to ex-
ecute sealer gun
control.
4 Incorrect designation Setting error (1) Check the following settings.
of the control method ·Set either "1" or "2" for PRM1 control method designation of the
for sealer gun control OPTON instruction.
No. Code
of the control method ·If "1" is set for PRM1 of the OPTON instruction, set the PRM2
for sealer gun control needle position designation to a value between 0 and 100.
of the sealing width for ·If "2" is set for PRM1 of the OPTON instruction, set PRM2 sealing
sealer gun control width designation to a value between 0 and 30.
4614 UNDEFINED SEA- Setting error (1) Check the following settings.
LERGUN COND ·Check the settings for servo sealer gun condition file.
FILE
4615 I/O AXIS OPERAT- An attempt was made Setting error (1) Check the following settings.
ING to command a job ·Does not the I/O axis motion executed for the control group that
whose control group executing the job?
was in I/O axis motion. ·Does not the job executed for the control group that operating by
the I/O axis motion?
The control group where the I/O axis is operating cannot execute
the job. Moreover, the I/O axis motion cannot perform for the con-
trol group where the job is executing.
2
- 909
Alarm list
No. Code
2 - 910
4616 AXIS SHIFT ERROR 1 The file could not be Software operation er- (1) Reset the alarm, and then try again.
Alarm list
switched because of ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
incorrect start point mode, and then contact your YASKAWA representative about oc-
designation. currence status (operating procedure).
2 The control group with Software operation er- (1) Reset the alarm, and then try again.
which the axis shifting ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
is performed dis- mode, and then contact your YASKAWA representative about oc-
agrees with the control currence status (operating procedure).
group set for the axis
shifting function in the
calibration file.
3 The calibration file Setting error (1) Check the following settings.
number for axis shift- ·Correct the settings for the OPTON instruction tag so that value of
ing function is out of the file number specification is 1 to 32.
the applicable range.
4617 S/U IMPOSSIBLE 1 For the CSL15D ma- Setting error (1) Check the following settings.
MOVE (L/R POS) nipulator, the motion ·Reduce the teaching speed of S- and U-axes.
speed of S- and U- ·Teach the positions of L- and R-axes again so that S- and U-axes
axes exceeded the up- can move.
per limit.
No. Code
2 For the CSL15D ma- Setting error (1) Check the following settings.
nipulator, S- and U- ·Teach the positions of L- and R-axes again so that S- and U-axes
axes were going to can move.
move regardless of
the limit speed "0"
when the positions of
L- and R-axes exceed-
ed the upper limit.
4618 SHIFT INST EXE- 1 For the tool shift with Setting error (1) Check the following settings.
CUTE ERROR Euler angle ± 90 de- ·Check if the shift value is setting for Y-axis only.
grees, the shift value
for axes other than Y-
axis is set.
4619 UNDEFINED JOB SUB Code: Designat- Setting error (1) Check the following settings.
ENTRY TABLE ed registration number ·Check the settings for the job registration table.
4620 ARM (TOOL) IN- SUB Code: Group(In- Setting error (1) Check the following settings.
TERFERENCE terferening)&Axis(In- ·Change the teaching so that the manipulators specified by SUB
terfering)&Group(Inter code will not interfere with each other.
fered)&Axis(Inter- ·Check if the tool model (Tool interference file) of the manipulator
fered) specified by SUB code is correctly set.
·Check if calibration between the manipulators are correctly set.
2
- 911
Alarm list
No. Code
2 - 912
Alarm list

4621 WELD COMPLETE SUB Code: Welder Setting error (1) Check the following settings.
SIGNAL ERROR number ·Check the settings for welding completion signal.
4622 SELF-INTERFER- SUB code: Group&Ax- Setting error (1) Check the following settings.
ENCE is(Interfering)&Ax- ·Change the teaching so that each part of the manipulator speci-
is(Interfered) fied by SUB code will not interfere.
·Check if the tool model (Tool interference file) displayed by SUB
code is correctly set.
4623 WRONG EXECU- 1 An attempt was made Setting error (1) Check the following settings.
TION OF GETPOS to obtain the step that ·Check the settings for the GETPOS instruction.
INST used a local position
type variable. (The
step with local position
type variable cannot
be fetched. Example:
MOVJ LP000
VJ=25.00)
No. Code
to obtain the step that ·Check the settings for the GETPOS instruction.
used a local position
type variable. (The
step with local position
type variable cannot
be fetched. Example:
MOVJ LP000
VJ=25.00)
3 The specified step did Setting error (1) Check the following settings.
not exist. ·Check the settings for the GETPOS instruction.
4624 PLUG VOLUME Setting error (1) Check the following settings.
SETTING ERROR ·Check the setting for the amount of fillings.
4625 WRONG EXECU- 1 No file Software operation er- (1) Reset the alarm, and then try again.
TION OF LOADDB ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
INST mode, and then contact your YASKAWA representative about oc-
2 No directory Software operation er- (1) Reset the alarm, and then try again.
2
- 913
Alarm list
No. Code
2 - 914
4 There was no directo- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
ry entry after this point. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-1 No file name Software operation er- (1) Reset the alarm, and then try again.
-2 File presence error Software operation er- (1) Reset the alarm, and then try again.
-3 Incorrect file name Software operation er- (1) Reset the alarm, and then try again.
-4 The disk is full. Software operation er- (1) Reset the alarm, and then try again.
-5 The directory is full. Software operation er- (1) Reset the alarm, and then try again.
-6 I/O error Software operation er- (1) Reset the alarm, and then try again.
-7 Invalid handle Software operation er- (1) Reset the alarm, and then try again.
No. Code
-8 Handle overflow Software operation er- (1) Reset the alarm, and then try again.
-9 File has already been Software operation er- (1) Reset the alarm, and then try again.
opened. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-10 File attribute error Software operation er- (1) Reset the alarm, and then try again.
-11 Open mode error Software operation er- (1) Reset the alarm, and then try again.
-12 The hardware disk Software operation er- (1) Reset the alarm, and then try again.
with large capacity is ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-14 The door is open. Software operation er- (1) Reset the alarm, and then try again.
-15 The disk is write-pro- Software operation er- (1) Reset the alarm, and then try again.
tected. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-30 Card controller access Software operation er- (1) Reset the alarm, and then try again.
2
- 915
Alarm list
No. Code
2 - 916
-31 No card Software operation er- (1) Reset the alarm, and then try again.
Alarm list
-32 Card drive information Software operation er- (1) Reset the alarm, and then try again.
readout error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-33 Partition table error Software operation er- (1) Reset the alarm, and then try again.
-34 No drive number Software operation er- (1) Reset the alarm, and then try again.
-35 No specified partition Software operation er- (1) Reset the alarm, and then try again.
number ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-36 Cluster size error Software operation er- (1) Reset the alarm, and then try again.
-37 Incorrect number of Software operation er- (1) Reset the alarm, and then try again.
sectors ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-38 Sector/byte error Software operation er- (1) Reset the alarm, and then try again.
No. Code
-40 Card not applicable for Software operation er- (1) Reset the alarm, and then try again.
I/O ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-41 Unsupported version Software operation er- (1) Reset the alarm, and then try again.
-42 The setting register Software operation er- (1) Reset the alarm, and then try again.
did not exist. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-43 Card not applicable for Software operation er- (1) Reset the alarm, and then try again.
ATA ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-44 Double chain error Software operation er- (1) Reset the alarm, and then try again.
-45 Media error (not fixed Software operation er- (1) Reset the alarm, and then try again.
disk) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-50 ATA command incom- Software operation er- (1) Reset the alarm, and then try again.
plete ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
-51 Sector read command Software operation er- (1) Reset the alarm, and then try again.
2
- 917
Alarm list
No. Code
2 - 918
-52 Sector write command Software operation er- (1) Reset the alarm, and then try again.
Alarm list
4626 IMPOSSIBLE S- Setting error (1) Check the following settings.
AXIS MOV(IN ·Check the settings for the limit distance for S-axis rotation center
SPHERE) motion (S1CG067).
4627 GUN RECOGNI- SUB Code: Gun num- Setting error (1) Check the following settings.
TION SIGNAL OFF ber ·Check the settings for the gun identification signal.
4628 WRITE VARIABLE SUB Code: Duplicated Setting error (1) Check the following settings.
NO. MULTI SET- variable number ·Check the settings for the written destination variable numbers.
TING
4629 GROUP CHANGE 1 The group change pa- Setting error (1) Check the following settings.
ERROR rameter was invalid. ·Validate the group change parameter.
2 The GRPCHG instruc- Setting error (1) Check the following settings.
tion was executed ·Execute the GRPCHG instruction when the external axis motor
while the external axis was servo OFF.
motor was servo ON.
No. Code
3 The GRPCHG instruc- Setting error (1) Check the following settings.
tion was executed in ·Execute the GRPCHG instruction in chuck status.
unchuck status.
4 The group identifica- Setting error (1) Check the following settings.
tion signal was not re- ·Check the settings for group identification signal.
ceived.
5 The specified control Setting error (1) Check the following settings.
group number and the ·Check the settings for the specified control group number.
group identification
number were un-
matched.
6 The encoder PG pow- Setting error (1) Check the following settings.
er supply was OFF ·Turn ON the encoder PG power supply when GRPCHG is ON.
when the GRPCHG
was ON.
2
- 919
Alarm list
No. Code
2 - 920
7 The encoder PG pow- Setting error (1) Check the following settings.
Alarm list
er supply was ON ·Turn OFF the encoder PG power supply when GRPCHG is OFF.
when the GRPCHG
was OFF.
8 The control group that Setting error (1) Check the following settings.
corresponded to the ·Check the settings for group identification signal.
received group identi-
fication signal did not
exist.
4630 DUPLICATED GUN SUB Code: The over- Setting error (1) Check the following settings.
NUMBER lapped gun number ·Check the settings for gun numbers.
4631 DEFECTIVE OPER- SUB Code: Control Setting error (1) Check the following settings.
ATION VELOCITY group and axis ·Check if the speed is hold down by the speed override and special
operations etc.
4632 UNDEFINED LNR SUB Code: Linear Setting error (1) Check the following settings.
SCALE FILE scale characteristic file ·Complete the settings for the linear scale condition file.
number
No. Code
4633 FOLLOWING ER- 1 An error occurred Setting error (1) Check the following settings.
ROR when executing a ·Re-execute the move instruction executed before the FOLLOW
FOLLOW instruction. instruction, and then execute the FOLLOW instruction again.
An attempt was made
to re-execute the FOL-
LOW instruction after
interrupting it.
4634 FOLLOWING Setting error (1) Check the following settings.
SPEED OVER ·Reduce the bending speed.
·Reduce the manipulator moving distance.
4635 CANNOT EXE- SUB Code: The relat- Setting error (1) Check the following settings.
CUTE COMMON ed control-group ·Check the settings for control group specified by the CALL in-
JOB struction.
4636 THICKNESS ER- SUB code: Gun num- Setting error (1) Check the following settings.
ROR ber ·Weld the spot by thickness within allowable range.
4637 TRACK CHG WORK SUB Code: Conveyor Setting error (1) Check the following settings.
IN/NOT NOT characteristic file num- ·Check the workpiece presence/absence and data settings for the
FOUND ber synchronization section.
2
- 921
Alarm list
No. Code
2 - 922
Alarm list

4638 TRACKING CHG SUB Code: Conveyor Setting error (1) Check the following settings.
WORK ID NOT characteristic file num- ·Check the workpiece presence/absence and data settings for the
FOUND ber synchronization section.
4639 SYMOVJ INST EXE- 2 The conveyor moving Setting error (1) Check the following settings.
CUTE ERROR amount is not speci- ·Set the conveyor moving amount for the SYMOVJ motion.
fied for the SYMOVJ
motion.
the preparation pro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cess of the manipula- mode, and then contact your YASKAWA representative about oc-
tor motion start currence status (operating procedure).
position for the SY-
MOVJ motion.
the preparation pro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cess of the manipula- mode, and then contact your YASKAWA representative about oc-
tor motion end position currence status (operating procedure).
for the SYMOVJ mo-
tion.
4640 WRONG EXECU- 1 No axis data of control Setting error (1) Check the following settings.
TION OF PSTART group to be discon- ·Check the settings for PSTART instruction.
INST nected
No. Code
to disconnect a control ·Check the settings for PSTART instruction.
group other than the
occupation control
group during pre-read-
ing processing.
to disconnect a control ·Check the settings for PSTART instruction.
group other than the
occupation control
group when executing
a PSTART instruction.
4641 CANNOT EXE- SUB Code: The dis- Setting error (1) Check the following settings.
CUTE JOB(SEPA- connected control ·Correct the teaching so that the control group disconnected by it-
RATE GRP) group used by a move self is not to operate for move instruction of own system.
instruction
2
- 923
Alarm list
No. Code
2 - 924
4644 SPOT WELDER I/F 8 The controller could Connection failure (1) Reset the alarm.
Alarm list
ERROR(ASW) not send an instruction (2) If the alarm occurs again, check the connection and inserting
to the welder because state of the following cables and connectors.
the welder was busy in ·DENGENSHA welding I/F board
processing. ·NADEX DeviceNet cable
9 Welding current error Software operation er- (1) Reset the alarm, and then try again.
at welding is complet- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ed successfully. mode, and then contact your YASKAWA representative about oc-
10 Abnormal code error Software operation er- (1) Reset the alarm, and then try again.
at welding is complet- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ed successfully. mode, and then contact your YASKAWA representative about oc-
11 Welding command Software operation er- (1) Reset the alarm, and then try again.
process exceptional ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
102 The specified welder Setting error (1) Check the following setting.
number (system) ·Confirm the specified welder number (system) and the setting.
could not be found.
4645 NOT PERMIT Setting error (1) Check the following setting.
FIXED-WEAV ON ·Check the settings for jobs.
SWVON
No. Code
4648 FILE TRANSFER 1 Motion range file Setting error (1) Check the following setting.
ERROR(ARITH) transfer error ·Check if the motion range file is correctly set.
2 Part motion range file Setting error (1) Check the following setting.
transfer error ·Check if the part motion range is correctly set.
4649 PARTIAL MOTION SUB Code: Interfer- Setting error (1) Check the following setting.
RANGE INTRF. ence control group ·Check the setting of the teaching position of the manipulator.
number & interference
axis & interference
area number.
4650 TRQ CLEAR ER- Software operation er- (1) Reset the alarm, and then try again.
ROR ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4651 PALLETIZING EXE- 1 The setting of the pal- Setting error (1) Check the following settings.
CUTE ERROR letizing condition con- ·Set the palletizing condition setting file to "Completed."
figuration file is
incomplete.
2
- 925
Alarm list
No. Code
2 - 926
4 Palletize completion Setting error (1) Check the following settings.
Alarm list
universal output num- ·Change the palletize completion universal output signal number
ber range exceeds the of the palletizing condition setting file in the user output signal point
limit. of contact number.
5 During the palletize Setting error (1) Check the following settings.
start instruction execu- ·Delete the palletize start instruction in the palletize section.
tion, the palletize start
instruction is executed
again (double execu-
tion).
6 The value of the pallet- Setting error (1) Check the following settings.
izing number present ·Check if the palletizing number of current position output register
value output register (or I variable) and total number of output register (or I variable) is
(or I variable) is more not changed by another function.
than the total number
output register (or I
variable).
7 Palletize completion Setting error (1) Check the following settings.
universal output signal ·Reset the palletize completion universal output signal.
is turned ON at pallet-
ize start instruction ex-
ecution.
No. Code
8 Palletize end instruc- Setting error (1) Check the following settings.
tion is not registered. ·Register the palletizing end instruction.
4652 TRQ MEASURE Software operation er- (1) Reset the alarm, and then try again.
4653 TRQ MEASURE Software operation er- (1) Reset the alarm, and then try again.
TION OF SETREG to change the value of ·The SETREGM instruction cannot change the register values
INST the register currently used in TMR/CNT. Correct the setting of tag that specifies register
used by TMR/CNT. number of SETREG instruction.
4655 WRONG EXECU- 1 An attempt was made Software operation er- (1) Reset the alarm, and then try again.
TION OF GETREG to acquire the value of ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
INST the register not exist- mode, and then contact your YASKAWA representative about oc-
TION OF SETPRM to change a parameter ·The SETPRM instruction cannot change the parameter values
INST other than the cube- other than the parameter related to the cube. Correct the setting of
2
related parameter. tag that specifies parameter number of SETPRM instruction.
- 927
Alarm list
No. Code
2 - 928
Alarm list

2 The SETPRM instruc- Setting error (1) Check the following settings.
tion was executed ·The SETPRM instruction cannot execute while another system is
while another system operating. Correct the job.
was in execution.
4657 WVADJ ERROR 1 The correction ampli- Setting error (1) Check the following settings.
tude value did not fall ·Correct the settings for "groove width correction limit value" spec-
in the limit range. ified for S2C1259 and 1260.
4658 OVER SPEED LIMIT 1 The taught speed was Setting error (1) Check the following settings.
going to exceed the ·Reduce the teaching speed of the step where the alarm occurred
limit during the multi to the speed limit or less.
arm simultaneous op-
eration.
4659 TIP DRESS WATCH Software operation er- (1) Reset the alarm, and then try again.
SET ERROR ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4660 TIP DRESS WATCH Software operation er- (1) Reset the alarm, and then try again.
CANCEL ERROR ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
ROR(PRESS COND ber (2) If the alarm occurs again, initialize the press characteristic file
FILE) in maintenance mode, and then load the press characteristic file
curred.
4662 PRESS SYNCHRO- 5 Unable to set the cor- Setting error The alarm occurs if the MOVE instruction except MOVJ with ENC
NOUS ERROR rection data for the tag is operated during Press synchronous control.
press synchronous Reset the press synchronous control by the following operations
control. to operate the MOVE instruction expect MOVJ with ENC tag.
·Confirm that press machine and robot must be stopped
·Make Specific Input PRESS SYNC OFF(#41010) ON
·Confirm that the Specific Output PRESS SYNC (#50683) is OFF.
2
- 929
Alarm list
No. Code
2 - 930
Alarm list

4666 UNDEFINED WELD Setting error (1) Check the following settings.
LENGTH CHECK ·Complete the settings for the weld length check condition file.
FILE
4667 DEFECTIVE GUN SUB Code: Gun pres- Setting error (1) Check the following settings.
PRESSURE FILE sure file number ·Match the number of "END WAIT" in the gun pressure file, and the
number of "Welding Conditions(WTM)" in the instruction.
ROR(PREVENTION (2) If the alarm occurs again, initialize the maintenance prevention
FILE) file in maintenance mode, and then load the maintenance preven-
curred.
No. Code
4669 DETECT BRAKE SUB Code: Signifies Module failure (motor) (1) Reset the alarm.
SLIP the axis in which the (2) If the alarm occurs again, replace the motor.
alarm occurred (3) If the alarm of "external brake" is occurred, replace the external
brake.
?Check torque value
4670 INSUFFICIENT SUB Code: Signifies Setting error (1) Reset the alarm.
NUM OF SAMPLE the axis in which the (2) Lengthen the measurement section.
DATA alarm occurred
4671 SAMPLE BUFFER SUB Code: Signifies Setting error (1) Reset the alarm.
OVER FLOW the axis in which the (2) Shorten the measurement section.
alarm occurred
4672 BASIC SPEED UN- SUB Code: Signifies Setting error (1) Reset the alarm.
REACHED the axis in which the (2) Increase the speed specification value of a measurement job
alarm occurred or set a small value for BASICV.
Or set a small value for BASICT, or lengthen the measurement
section.
2
- 931
Alarm list
No. Code
2 - 932
4673 MAX TRQ UNDE- SUB Code: Signifies Setting error (1) Reset the alarm.
Alarm list
TECTED the axis in which the (2) Set a large value for the BASICT, and then check again.
alarm occurred
4674 SETE ERROR 1 An attempt was made Setting error (1) Check the following settings.
to set tool for base/sta- ·Check the settings for jobs.
tion-axis position-type
variable.
4676 BROKEN FAN FUSE 1 SUB Code 1to 8: Sig- Connection failure (1) Reset the alarm.
nifies the EAXA/EAXB (2) If the alarm occurs again, check if there is a ground fault or
board No. in which the short circuit in the fan power line.
alarm occurred
Fuse failure (After cancellation of the short-circuit and ground fault) Replace
the fuse.
2 SUB Code 1to 8: Sig- Connection failure (1) Reset the alarm.
alarm occurred
the fuse.
No. Code
alarm occurred
the fuse.
alarm occurred
the fuse.
alarm occurred
the fuse.
2
alarm occurred
- 933
Alarm list
No. Code
2 - 934
Alarm list
the fuse.
alarm occurred
the fuse.
alarm occurred
the fuse.
No. Code
4677 IMPOSSIBLE LIN- SUB Code: Control Setting error (1) Check the following settings.
EAR MOTION group and axis ·If the SUB code display is L- and U-axes, perform the teaching
again to make the form (arm folded direction) of L- and U-axes
·If the SUB code display is S- and L-axes, perform the teaching
again to make the form (arm folded direction) of S- and L-axes
·Change the teaching move instruction to MOVJ instruction.
changes.
4678 SPOT MONITOR SUB Code: Internal Software operation er- (1) Reset the alarm.
DATA ERROR control error in soft- ror occurred (2) If the alarm occurs again, initialize the database of spot weld
ware history.
4679 SPECIFIED MO- Control group Setting error (1) Check the following setting.
TION RANGE ER- ·Set the operation area of the specified robot correctly.
ROR
4681 OVER SUB Code: Control Setting error (1) Check the following settings.
SPEED(MainCPU) group and axis ·Reduce the speed of the step where the alarm occurred.
·Change the move instruction to joint interpolation (MOVJ).
changes.
2
- 935
Alarm list
No. Code
2 - 936
4682 MOTION RANGE Group no., axis and Setting error (1) Check the following settings.
Alarm list
LIMIT INTERFER- line segment No. ·Modify the teaching position or widen the operation area so that
ENCE the robot would not interfere with the operation area.
·Confirm the setting of the robot operation area which is indicated
by the SUB code.
·Confirm the setting of the robot tool mode (tool interference file) a
which is indicated by the SUB code.
4683 AXIS MOTION SUB code: Control Setting error (1) Check the following settings.
RANGE LIMIT group and axis ·Modify the teaching position or widen the operation area so that
OVER(MIN./MAX.) the robot would not interfere with the operation area.
·Confirm the setting of the operation area which the control group
is indicated by the SUB code.
4684 INTERPOLATION SUB Code: Control Setting error (1) Check the following settings.
INVALID group ·At the Cartesian jog operation, switch to each-axes jog opera-
tions, and then change the orientation of manipulator.
·Change the teaching position and orientation.
4685 WRITE ER- YSF25 board failure (1) Reset the alarm, and then try again.
ROR(SAFETY) (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
4686 DATA SETTING ER- YSF25 board failure (1) Reset the alarm, and then try again.
ROR(SAFETY) (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4687 OPERATION AREA Setting error (1) Select [ROBOT] to open [AXIS RANGE] screen. Set the item
MON. ERR 2(AXIS) to "INVALID" and then cycle the power.
(3) Select [ROBOT] to open [AXIS RANGE] screen. Set the item
to "VALID" and then cycle the power.
4688 OPERATION MODE YSF25 board failure (1) Reset the alarm, and then try again.
ERROR(AXIS) (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4689 OPERATION AREA Setting error (1) Select [ROBOT] to open [AXIS RANGE] screen. Set the item
MON. ERR 2(RO- to "INVALID" and then cycle the power.
BOT) (2) Move the manipulator into the specified range.
(3) Select [ROBOT] to open [AXIS RANGE] screen. Set the item
to "VALID" and then cycle the power.
4690 OPERATION MODE YSF25 board failure (1) Reset the alarm, and then try again.
ERROR(ROBOT) (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 937
Alarm list
No. Code
2 - 938
4691 OPERATION AREA Setting error (1) Reset the alarm.
Alarm list
SET ERR(SAFETY) (2) Check the operation area.

4692 ENCODER BACKUP Encoder battery failure (1) Reset the alarm.
ERROR(SAFETY) (2) If AL4311 occurred simultaneously with this alarm, execute the
trouble shooting for the AL4311.
YSF25 board failure (1) Reset the alarm, and then try again.
4693 READBACK PROC. 0 Duplicated Parameter Software operation er- (1) Reset the alarm, and then try again.
ERROR(SAFETY) readback process ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1 Duplicated File read- Software operation er- (1) Reset the alarm, and then try again.
back process ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2 Incorrect file type Software operation er- (1) Reset the alarm, and then try again.
3 Incorrect file number Software operation er- (1) Reset the alarm, and then try again.
4 Incorrect write data Software operation er- (1) Reset the alarm, and then try again.
No. Code
5 Process order error Software operation er- (1) Reset the alarm, and then try again.
4694 SPEED MONITOR Setting error (1) Reset the alarm, and then try again.
ERROR 1(SAFETY) (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4695 SPEED MONITOR Setting error (1) Reset the alarm, and then try again.
ERROR 2(SAFETY) (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4696 TURN TABLE CALI- 1 There was the same Setting error (1) Check the following settings.
BRATION ERROR point in three points ·Correct the calibration position so that each point is different.
where the calibration
had been executed.
2 The three points Setting error (1) Check the following settings.
where the calibration ·Check the calibration position so that the three taught points are
had been executed lie not aligned in a straight line.
in a straight line.
3 The three points Setting error (1) Check the following settings.
where the calibration ·Check the calibration position so that the three taught points are
had been executed lie not aligned in a straight line.
in a straight line.
2
- 939
Alarm list
No. Code
2 - 940
Alarm list

4697 OFFLINE ARM 1 Incorrect information Software operation er- (1) Reset the alarm, and then try again.
BEND POS CON- of standard position ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
VERT ERR data for offline arm mode, and then contact your YASKAWA representative about oc-
bend position data currence status (operating procedure).
conversion
2 Incorrect user-coordi- Software operation er- (1) Reset the alarm, and then try again.
nate number in the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
standard position data mode, and then contact your YASKAWA representative about oc-
for offline arm bend currence status (operating procedure).
sion
3 Incorrect reference- Software operation er- (1) Reset the alarm, and then try again.
point data offline arm ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
bend position data mode, and then contact your YASKAWA representative about oc-
conversion currence status (operating procedure).
could not be converted ·The variable position may be out of the robot motion range. Check
correctly/conversely if the variable position is within the robot motion range.
for the standard posi-
tion data at the offline
arm bend position
data conversion.
5 Incorrect pulse incre- Setting error (1) Check the following settings.
mental value for offline ·The variable position may be out of the robot motion range. Check
arm bend position if the variable position is within the robot motion range.
data conversion
No. Code
correctly for the pulse if the variable position is within the robot motion range.
incremental value at
the offline arm bend
sion.
7 Incorrect Cartesian in- Setting error (1) Check the following settings.
cremental value for of- ·The variable position may be out of the robot motion range. Check
fline arm bend position if the variable position is within the robot motion range.
data conversion
correctly for the Carte- if the variable position is within the robot motion range.
sian incremental value
at the offline arm bend
sion.
2
- 941
Alarm list
No. Code
2 - 942
9 The position conver- Setting error (1) Check the following settings.
Alarm list
sion could not be done ·The variable position may be out of the robot motion range. Check
in the conversion data if the variable position is within the robot motion range.
for offline arm bend
sion.
10 Incorrect incremental Setting error (1) Check the following settings.
value of angle for of- ·The variable position may be out of the robot motion range. Check
fline arm bend position if the variable position is within the robot motion range.
data conversion
correctly for the incre- if the variable position is within the robot motion range.
mental value of angle
sion.
12 The gravity moment Setting error (1) Check the following settings.
for offline arm bend ·The variable position may be out of the robot motion range. Check
position data conver- if the variable position is within the robot motion range.
sion could not be cal-
culated.
No. Code
correctly for the re- if the variable position is within the robot motion range.
vised conversion data
sion.
4698 SHIFT VALUE MAK- 1 Reference position Software operation er- (1) Reset the alarm, and then try again.
ING ERROR and target position oc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cupation control-group mode, and then contact your YASKAWA representative about oc-
2 Reference position Software operation er- (1) Reset the alarm, and then try again.
and target position en- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
abling control-group mode, and then contact your YASKAWA representative about oc-
3 The position data type Software operation er- (1) Reset the alarm, and then try again.
is not applicable. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4 Coordinated control- Software operation er- (1) Reset the alarm, and then try again.
group error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 943
Alarm list
No. Code
2 - 944
5 User coordinates Software operation er- (1) Reset the alarm, and then try again.
Alarm list
number on the speci- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
fied tag side error mode, and then contact your YASKAWA representative about oc-
1(RSC1) Internal control error in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
software mode, and then contact your YASKAWA representative about oc-
2(RSC1) Internal control error in ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
software mode, and then contact your YASKAWA representative about oc-
4701 MEMORY ALLOCA- Software operation er- (1) Turn the power OFF then back ON.
TION ERROR ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4703 OPERATION MODE Data error (1) Turn the power OFF then back ON.
ERROR (2) If the alarm occurs again, set to home position.

4704 STOPPING POS. Connection failure (1) Check the connection of CNGS1.0 of the YSF25 board.
MON. ERR(SAFE- (2) Turn the power OFF then back ON.
No. Code
4707 TIMING CONTROL 1 Control data error oc- Software operation er- (1) Reset the alarm, and then try again.
ERROR curred at pre-reading. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
(Function the timing mode, and then contact your YASKAWA representative about oc-
control) currence status (operating procedure).
2 Control data error oc- Software operation er- (1) Reset the alarm, and then try again.
curred. (Function the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
timing control) mode, and then contact your YASKAWA representative about oc-
3 Index number of the Software operation er- (1) Reset the alarm, and then try again.
target does not exist. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4 Bank number of the Software operation er- (1) Reset the alarm, and then try again.
target does not exist. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5 Control data size over. Software operation er- (1) Reset the alarm, and then try again.
(Function the timing ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
control) mode, and then contact your YASKAWA representative about oc-
6 Control index over- Software operation er- (1) Reset the alarm, and then try again.
flow. (Function the tim- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing control) mode, and then contact your YASKAWA representative about oc-
2
- 945
Alarm list
No. Code
2 - 946
7 The control-group of Software operation er- (1) Reset the alarm, and then try again.
Alarm list
surveillance does not ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
exist. (Function the mode, and then contact your YASKAWA representative about oc-
timing control) currence status (operating procedure).
8 Instruction index over- Software operation er- (1) Reset the alarm, and then try again.
flow. (Function the tim- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ing control) mode, and then contact your YASKAWA representative about oc-
when calculate a feed- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
back position. (Func- mode, and then contact your YASKAWA representative about oc-
tion the timing control) currence status (operating procedure).
10 The control-group of Software operation er- (1) Reset the alarm, and then try again.
the target which su- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
pervises a position mode, and then contact your YASKAWA representative about oc-
does not exist. (Func- currence status (operating procedure).
tion the timing control)
11 Waiting time exceeded Software operation er- (1) Reset the alarm, and then try again.
the limit. (Function the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
timing control) mode, and then contact your YASKAWA representative about oc-
4708 MOTOR GUN AUTO SUB Code: Gun num- Setting error Please?complete the setting of MOTOR GUN AUTO TUNING
TUNING INCOM- ber FILE as the following operations.
PLETE 1. choose [SPOT WELDING] ->[MOTOR GUN AUTO TUNING].
2. change the mode to PLAYBACK, then push [EXECUTE].
3. select [REGIST], after the setting of MOTOR GUN AUTO TUN-
ING FILE completes.
No. Code
4709 WELD COMPLETE SUB Code: Welder Setting error (1) Reset the alarm, and then try again.
SIGNAL OFF number NOTE) When trying the job again, the manipulator returns to the
previous welding point where the spot welding wasn't completed
normally and welds again there.
(2) If the alarm occurs again, check the following setting of the tim-
er.
4710 WELDER ERROR Welding power failure It will be automatically reset after 10 seconds. Then, start again.
Welding power failure Turn the primary power of welding power OFF then back ON

4711 24V FUSE Parts failure Replace the fuse on the YEW board.
BLOWN(EW-
BOARD)
Board failure Replace the YEW board of the corresponding station.
4712 24V DETECT CIR Board failure Replace the YEW board of the corresponding station.
2
ERR(EW-BOARD)"
- 947
Alarm list
No. Code
2 - 948
Alarm list

4713 EXT 24V POWER Connection failure Check if the 24V line that is input for YEW board is correctly wired.
ERR(EW-BOARD)
Unit failure Replace the unit that supplies with the external 24V power.
4714 18V LINE BRO- YEW01 board failure Replace the YEW board of the corresponding station.
KEN(EW-BOARD)
4715 CIP MESSAGE 1 Failed in the genera- Software operation er- (1) Reset the alarm, and then try again.
SERVER FUNC ER- tion of the CIP server ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ROR task. mode, and then contact your YASKAWA representative about oc-
2 Failed in the ID take of Software operation er- (1) Reset the alarm, and then try again.
the CIP server task. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3 Failed in the genera- Software operation er- (1) Reset the alarm, and then try again.
tion of the class entry ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
table. mode, and then contact your YASKAWA representative about oc-
4 Library initialize error. Software operation er- (1) Reset the alarm, and then try again.
No. Code
tion of the access pro- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
cess. mode, and then contact your YASKAWA representative about oc-
10 Detect undefined er- Software operation er- (1) Reset the alarm, and then try again.
ror. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
20 Detect sever function Software operation er- (1) Reset the alarm, and then try again.
started processing. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
30 Detect request error. Software operation er- (1) Reset the alarm, and then try again.
31 Detect memory error. Software operation er- (1) Reset the alarm, and then try again.
32 Detect mail send error. Software operation er- (1) Reset the alarm, and then try again.
33 Detect CIP answer er- Software operation er- (1) Reset the alarm, and then try again.
40 Detect CIP server task Software operation er- (1) Reset the alarm, and then try again.
mail receive error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 949
Alarm list
No. Code
2 - 950
Alarm list
request data error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
send error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4716 BINARY ETHERNET 1 Detect message li- Software operation er- (1) Reset the alarm, and then try again.
SERVER FUNC brary initialize error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ERR mode, and then contact your YASKAWA representative about oc-
tion of the RC connect ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
management task. mode, and then contact your YASKAWA representative about oc-
tion of the RC server ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
task. mode, and then contact your YASKAWA representative about oc-
tion of the file server ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1040 Failed in the request Software operation er- (1) Reset the alarm, and then try again.
take of the RC connect ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
management task. mode, and then contact your YASKAWA representative about oc-
1041 Failed in the endian Software operation er- (1) Reset the alarm, and then try again.
conversion. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
1042 Received data area Software operation er- (1) Reset the alarm, and then try again.
overflow. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1059 In a RC connect man- Software operation er- (1) Reset the alarm, and then try again.
agement task, unde- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
fined error detected. mode, and then contact your YASKAWA representative about oc-
1060 Failed in the ID take of Software operation er- (1) Reset the alarm, and then try again.
the RC server task. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1061 Failed in the mail take Software operation er- (1) Reset the alarm, and then try again.
of the RC server task. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1062 In a RC server task, Software operation er- (1) Reset the alarm, and then try again.
request mail data error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
detected. mode, and then contact your YASKAWA representative about oc-
1063 Answer data area Software operation er- (1) Reset the alarm, and then try again.
overflow. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 951
Alarm list
No. Code
2 - 952
Alarm list
receive data area ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
overflow. mode, and then contact your YASKAWA representative about oc-
undefined error de- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tected. mode, and then contact your YASKAWA representative about oc-
1080 In a file server task, Software operation er- (1) Reset the alarm, and then try again.
mail receive error de- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
1081 In a file server task, re- Software operation er- (1) Reset the alarm, and then try again.
quest mail data error ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
detected. mode, and then contact your YASKAWA representative about oc-
quest error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ceive data area over- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
flow. mode, and then contact your YASKAWA representative about oc-
2045 In a RC connect man- Software operation er- (1) Reset the alarm, and then try again.
agement task, send ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
error detected. mode, and then contact your YASKAWA representative about oc-
No. Code
2065 Detect RC server task Software operation er- (1) Reset the alarm, and then try again.
2085 Detect file server task Software operation er- (1) Reset the alarm, and then try again.
answer data error de- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
answer data area ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
overflow. mode, and then contact your YASKAWA representative about oc-
- 953
Alarm list
No. Code
2 - 954
2098 Failed in the status er- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
ror occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
undefined error de- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3090 In a file sever task, file Software operation er- (1) Reset the alarm, and then try again.
close error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4718 BINARY ETHERNET 1 Detect message li- Software operation er- (1) Reset the alarm, and then try again.
CLIENT FUNC ERR brary initialize error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion of the file function ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
tion of the RC function ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4 Detect I/F data error. Software operation er- (1) Reset the alarm, and then try again.
10 Detect undefined er- Software operation er- (1) Reset the alarm, and then try again.
No. Code
110 In a file task, unde- Software operation er- (1) Reset the alarm, and then try again.
fined error detected. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
510 In a RC task, unde- Software operation er- (1) Reset the alarm, and then try again.
fined error detected. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
511 In a RC task, request Software operation er- (1) Reset the alarm, and then try again.
command error de- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
512 In RC task, there is not Software operation er- (1) Reset the alarm, and then try again.
the class entry of the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
request command. mode, and then contact your YASKAWA representative about oc-
513 In RC task, there is not Software operation er- (1) Reset the alarm, and then try again.
the service entry of the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
request command. mode, and then contact your YASKAWA representative about oc-
1130 In a high speed Ether- Software operation er- (1) Reset the alarm, and then try again.
net task, request mail ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
error detected. mode, and then contact your YASKAWA representative about oc-
1131 In a high speed Ether- Software operation er- (1) Reset the alarm, and then try again.
net task, request com- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
mand error detected. mode, and then contact your YASKAWA representative about oc-
1132 In a file task, mail re- Software operation er- (1) Reset the alarm, and then try again.
ceive error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 955
Alarm list
No. Code
2 - 956
2140 In a file task, file read- Software operation er- (1) Reset the alarm, and then try again.
Alarm list
ing error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2141 In a file task, file writ- Software operation er- (1) Reset the alarm, and then try again.
ing error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3150 In a file task, request Software operation er- (1) Reset the alarm, and then try again.
send error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3160 In a file task, reply Software operation er- (1) Reset the alarm, and then try again.
packet clear error oc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
curred. mode, and then contact your YASKAWA representative about oc-
3161 Failed in the take of Software operation er- (1) Reset the alarm, and then try again.
the reply packet data ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
error. mode, and then contact your YASKAWA representative about oc-
3163 In a file task, time out Software operation er- (1) Reset the alarm, and then try again.
No. Code
3164 In a file task, receive Software operation er- (1) Reset the alarm, and then try again.
data area overflow oc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3165 In a file task, received Software operation er- (1) Reset the alarm, and then try again.
data unmatched. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3166 In a file task, receive Software operation er- (1) Reset the alarm, and then try again.
data size overflow oc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3167 In a file task, received Software operation er- (1) Reset the alarm, and then try again.
data size set to zero ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
occurred. mode, and then contact your YASKAWA representative about oc-
3168 In a file task, reply Software operation er- (1) Reset the alarm, and then try again.
head error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
3169 In a file task, reply sta- Software operation er- (1) Reset the alarm, and then try again.
tus error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
5530 In a RC task, interface Software operation er- (1) Reset the alarm, and then try again.
request error oc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
answer error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 957
Alarm list
No. Code
2 - 958
Alarm list
data area overflow oc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
data writing error oc- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
6540 In a RC task, time out Software operation er- (1) Reset the alarm, and then try again.
6541 Detect data error. Software operation er- (1) Reset the alarm, and then try again.
6542 Detect exclusive pro- Software operation er- (1) Reset the alarm, and then try again.
cess error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
6543 Detect time out. Software operation er- (1) Reset the alarm, and then try again.
6544 Setting error Setting error (1) Reset the alarm, and confirm whether the following parameter
is set to zero.
·S2C541
·S2C542
Detect data error. Software operation er- (1) Reset the alarm, and then try again.
No. Code
6545 Detect exclusive pro- Software operation er- (1) Reset the alarm, and then try again.
cess error. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
7550 In a RC task, request Software operation er- (1) Reset the alarm, and then try again.
send error occurred. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
7560 In a RC task, reply Software operation er- (1) Reset the alarm, and then try again.
packet error detected. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
take error detected. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
7563 Detect time out. Software operation er- (1) Reset the alarm, and then try again.
7564 In a RC task, receive Software operation er- (1) Reset the alarm, and then try again.
data area overflow de- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 959
Alarm list
No. Code
2 - 960
7565 In a RC task, received Software operation er- (1) Reset the alarm, and then try again.
Alarm list
data unmatched. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
7566 In a RC task, received Software operation er- (1) Reset the alarm, and then try again.
data size over. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
7567 In a RC task, receive Software operation er- (1) Reset the alarm, and then try again.
data size zero detect- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ed. mode, and then contact your YASKAWA representative about oc-
head error detected. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
7569 In a RC task, reply sta- Software operation er- (1) Reset the alarm, and then try again.
tus error detected. ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4719 VIB SUPPRESSION Software operation er- (1) Reset the alarm, and then try again.
FLT TIME OUT ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4720 TOOL MONITOR Setting error (1) Reset the alarm.
ERROR(SAFETY) (2) Set the tool number of robot as the same one specified by the
safety signal.
No. Code
4721 IMPROPER TOOL SUB Code: Control Setting error (1) Reset the alarm.
FILE SETTING group number & tool (2) Check the following settings.
data & tool number. ·Select a SUB menu [TOOL] under main menu [ROBOT].
·Select the coordinate window of the number specified by SUB
code (tool number).
·Set "0" to the coordinate data?specified by SUB code (tool data).
4730 CANNOT EXE- 1 Brake slip detection Software operation er- (1) Reset the alarm, and then try again.
CUTE BRAKE SLIP was commanded to be ror occurred (2) If another optional function was commanded to be executed,
DETECT executed while anoth- cannot execute brake slip detection.Correct the job.
er optional function
was in execution.
2 Brake slip detection Software operation er- (1) Reset the alarm, and then try again.
could not be execut- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ed?in ?he speci- mode, and then contact your YASKAWA representative about oc-
fied?axis. currence status (operating procedure).
3 Holding torque data Software operation er- (1) Reset the alarm, and then try again.
which is calculated by ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the brake slip detec- mode, and then contact your YASKAWA representative about oc-
tion is incorrect. currence status (operating procedure).
4 Detection torque data Software operation er- (1) Reset the alarm, and then try again.
which is calculated by ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
the brake slip detec- mode, and then contact your YASKAWA representative about oc-
2
5 The torque value for Software operation er- (1) Reset the alarm. (2) Check the following settings.
the brake slip detec- ror occurred ·Check torque value
tion device is not set.
- 961
Alarm list
No. Code
2 - 962
Alarm list

6 Holding torque data Software operation er- (1) Reset the alarm. (2) Check the following settings.
which is calculated by ror occurred ·Check torque value
the brake slip detec-
7 The parameter of the Software operation er- (1) Reset the alarm. (2) Check the following settings.
pulse operation ex- ror occurred ·Pulse operation (S1CxG512 to 519)
ceeds the limit.
8 The parameter of the Software operation er- (1) Reset the alarm. (2) Check the following settings.
error detection value ror occurred ·Error detection value(S1CxG520 to 527)
parameter is incorrect.
4733 WRIST MOTION An attempt was made Setting error ·Check the teaching position of the job so that the manipulator
ERROR (SINGULAR to pass the B-axis zero does not pass the B-axis zero degree position (singular area).
POINT) degree position (sin-
gular area).
4734 FIGURE CONVER- The setting of the form Setting error (1) Check the following settings.
SION IMPOSSIBLE data for Flip/No Flip is ·Set "1" to "S2C658: Type data detail settings".
not "B-axis Angle.
No. Code
4740 M-SAF OVERRUN Overrun limit switch Overrun limit switch (1) Reset the alarm.
DETECT control group that is released (2) If the alarm occurs again,overrun limit switch is released. Se-
displayed in the SUB lect "OVERRUN&SHOCK SENSOR" under SUB menu "ROBOT"
code has tripped. to reset the limit switch.
(2) If the alarm occurs again, ple-aseinsert, and conduction state
of the cable and connector of the control group to which the over-
run limit switch has tripped.
(2) (2) If the alarm occurs again, Replace the YSF21 board.
(2) If the alarm occurs again, replace the YSF22 board. In a sys-
tem where a plurality of YSF22 boards are connected, replace the
board, which is connected to the control group on which the alarm
occurred.
Overrun limit switch (1) Reset the alarm.
failure (2) If the alarm occurs again, replace the limit switch or an equiv-
alent switch.
YFC22 board failure (1) Reset the alarm.

(2) If the alarm occurs again, replace the YFC22 board.
In a system where a plurality of YFC22 boards are connected, re-
place the board, which is connected to the XIN signal on which the
alarm occurred.
2
- 963
Alarm list
No. Code
2 - 964
4741 M-SAF PPESP SIG. Emergency stop sig- Connection failure (1) Reset the alarm.
Alarm list
ERROR nal of programming (2) If the alarm occurs again, check the connection and inserting
pendant was un- state of the following cables and connectors.
matched longer than a ·YSF22-CN218
certain time. ·Replace the cable of the programming pendant.
·Check connectors of the connected outside devices of EMER-
GENCY STOP signal of programming pendant line.
Programming pendant (1) Reset the alarm.
failure (2) If the alarm occurs again, replace the programming pendant.
In a system where a plurality of YSF22 boards are connected, re-
place the YSF22 board which is connected to the first EAXA21
board.
4742 M-SAF PBESP SIG. Emergency stop sig- Connection failure (1) Reset the alarm.
ERROR nal of the panel box (2) If the alarm occurs again, check the connection and inserting
was unmatched for a state of the following cables and connectors.
certain time. ·YSF22-CN218
·Check connectors of the connected outside devices of EMER-
GENCY STOP signal line.
Hardware failure (1) Reset the alarm.
(2) If the alarm occurs again, replace the emergency stop switch
of the panel box.
No. Code
(2) If the alarm occurs again, replace the YSF22 board. In a sys-
tem where a plurality of YSF22 boards are connected, replace the
YSF22 board which is connected to the first EAXA21 board.

alarm occurred.
4743 M-SAF EXESP SIG. External emergency Connection failure (1) Reset the alarm.
ERROR stop signal was un- (2) If the alarm occurs again, check the connection and inserting
matched for a certain state of the following cables and connectors.
time. ·YFC22
·YSF22-YFC22 cable
·Check connectors of the connected outside devices of EXTER-
NAL EMERGENCY STOP signal line.

(2) If the alarm occurs again, replace the external emergency stop
switch.
2
- 965
Alarm list
No. Code
2 - 966
Alarm list

alarm occurred.
4744 M-SAF PP ENABLE The enable switch sig- Programing pendant There are two contact points for an enable switch, and only one
SW SIG. ERROR nal of PP was un- illegal operation point may be turned on by how to squeeze it or when putting it on
matched for a certain the place where it is not a plane such as on the knee etc.
time. Check how to squeeze or put the programming pendant on flat.
Programming pendant (1) Reset the alarm.
failure (2) If the alarm occurs again, replace the programming pendant.
·Replace the cable of the programming pendant.
·YSF22-CN218
board.
No. Code
4745 M-SAF EX ENABLE External Enable signal Connection failure (1) Reset the alarm.
SW SIG. ERROR was unmatched for a (2) If the alarm occurs again, check the connection and inserting
certain time. state of the following cables and connectors.
·YFC22
·YSF22-YFC22 cable
·Check connectors of the connected outside devices of EXTER-
NAL ENABLE SWITCH signal line.
(2) If the alarm occurs again, replace the external enable switch.

alarm occurred.
4746 M-SAF SAFETY Safety fence signal is Connection failure (1) Reset the alarm.
FENCE SIG. ERROR unmatched for a cer- (2) If the alarm occurs again, check the connection and inserting
tain time. state of the following cables and connectors.
·YFC22
·YSF22-YFC22 cable
·Check connectors of the connected outside devices of SAFETY
FENCE signal line.
2
- 967
Alarm list
No. Code
2 - 968
Alarm list


alarm occurred.
4747 M-SAF OVERRUN The meaning of each Overrun limit switch (1) Reset the alarm.
SIG. ERROR SUB code is as fol- released (2) If the alarm occurs again, overrun limit switch is released. Se-
lows: lect "OVERRUN&SHOCK SENSOR" under SUB menu "ROBOT"
1:OT1 to reset the limit switch.
2:OT2
3:OT3
4:OT4
(2) If the alarm occurs again, please insert and conduction state of
the cable and connector of the control group to which the overrun
limit switch has tripped.
Overrun limit switch (1) Reset the alarm.
failure (2) If the alarm occurs again, replace the limit switch or an equiv-
alent switch.
No. Code
place the board, which is connected to the control group on which

alarm occurred.
4748 M-SAF ON_ENABLE The meaning of each Connection failure (1) Reset the alarm.
SIG. ERROR SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
lows: state of the following cables and connectors.
1:ON_ENABLE1 ·YFC22
2:ON_ENABLE2 ·YSF22-YFC22 cable
3:ON_ENABLE3 ·Check ON_ENABLE signal line.
4:ON_ENABLE4
place the board, which is connected to the ON_ENABLE signal on

alarm occurred.
2
- 969
Alarm list
No. Code
2 - 970
Alarm list

4749 M-SAF FULL Full speed test signal Connection failure (1) Reset the alarm.
SPEED SIG. ERROR was unmatched for a (2) If the alarm occurs again, check the connection and inserting
certain time. state of the following cables and connectors.
·YFC22
·YSF22-YFC22 cable
·Check connectors of the connected outside devices of FST signal
line.
board.
place the YFC22 board which is connected to the first YSF22
board.
4750 M-SAF GENERAL The meaning of each Connection failure (1) Reset the alarm.
INPUT SIG. ERROR SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
1?GSIN1 ·YFC22
2?GSIN2 ·YSF22-YFC22 cable
·Check connectors of the connected outside devices of GSIN sig-
nal line.
No. Code
place the board on which the alarm occurred.
place the board, which is connected to the GSIN signal on which
the alarm occurred.
4751 YSF24 GENERAL The meaning of each Connection failure (1) Reset the alarm.
INPUT SIG. ERROR SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
1:XIN1 ·YFC24
2:XIN2 ·YSF22-YFC24 cable
3:XIN3 ·Check connectors of the connected outside devices of XIN signal
4:XIN4 line.
5:XIN5
6:XIN6
7:XIN7
2
- 971
Alarm list
No. Code
2 - 972
Alarm list

alarm occurred.
alarm occurred.
4752 M-SAF PPESP DI- SUB code indicates YSF21 board failure (1) Reset the alarm.
AG. ERROR the process that the (2) If the alarm occurs again, replace the YSF21 board.
software of CPU1 or
CPU2 detected an er-
ror.
board.
No. Code
4753 M-SAF PBESP DI- SUB code indicates YSF21 board failure (1) Reset the alarm.
software of CPU1 or
ror.
board.
4754 M-SAF EXESP DI- SUB code indicates YSF21 board failure (1) Reset the alarm.
software of CPU1 or
ror.
board.
4755 M-SAF PP ENABLE SUB code indicates YSF21 board failure (1) Reset the alarm.
SW DIAG. ERROR the process that the (2) If the alarm occurs again, replace the YSF21 board.
software of CPU1 or
ror.
2
- 973
Alarm list
No. Code
2 - 974
Alarm list

board.
4756 M-SAF EX ENABLE SUB code indicates YSF21 board failure (1) Reset the alarm.
SW DIAG. ERROR the process that the (2) If the alarm occurs again, replace the YSF21 board.
software of CPU1 or
ror.
board.
4757 M-SAF SAFETY SUB code indicates YSF21 board failure (1) Reset the alarm.
GUARD DIAG. ER- the process that the (2) If the alarm occurs again, replace the YSF21 board.
ROR software of CPU1 or
ror.
board.
No. Code
4758 M-SAF OVERRUN An error is detected by YSF21 board failure (1) Reset the alarm.
DIAG. ERROR YSF21 board. (2) If the alarm occurs again, replace the YSF21 board.
The error is occurred
in the signal that is in-
verted representation.
CPU1 1:OT1
CPU1 2:OT2
CPU1 3:OT3
CPU1 4:OT4
CPU2 1:OT1
CPU2 2:OT2
CPU2 3:OT3
CPU2 4:OT4
place the board, which is connected to the overrun signal on which
the alarm occurred.
2
- 975
Alarm list
No. Code
2 - 976
4759 M-SAF ON_ENABLE An error is detected by YSF21 board failure (1) Reset the alarm.
Alarm list
DIAG. ERROR YSF21 board. (2) If the alarm occurs again, replace the YSF21 board.
The meaning of each
SUB code is as fol-
lows:
CPU1
1:ON_ENABLE1
CPU1
2:ON_ENABLE2
CPU1
3:ON_ENABLE3
CPU1
4:ON_ENABLE4
CPU2
1:ON_ENABLE1
CPU2
2:ON_ENABLE2
CPU2
3:ON_ENABLE3
CPU2
4:ON_ENABLE4
place the board, which is connected to the ON_ENABLE signal on
which the alarm occurred.
No. Code
4760 M-SAF FULL SUB code indicates YSF21 board failure (1) Reset the alarm.
SPEED DIAG. ER- the process that the (2) If the alarm occurs again, replace the YSF21 board.
ROR software of CPU1 or
ror.

board.
INPUT DIAG. ER- SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
ROR lows: state of the following cables and connectors.
CPU1 1:GSIN1 ·YFC24
CPU1 2:GSIN2 ·YSF22-YFC24 cable
·Check connectors of the connected outside devices of GSIN sig-
CPU2 1:GSIN1 nal line.
CPU2 2:GSIN2
2
- 977
Alarm list
No. Code
2 - 978
Alarm list
INPUT DIAG. ER- SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:XIN1 ·YFC24
CPU1 2:XIN2 ·YSF22-YFC24 cable
CPU1 3:XIN3 ·Check connectors of the connected outside devices of XIN signal
CPU1 4:XIN4 line.
CPU1 5:XIN5
CPU1 6:XIN6
CPU1 7:XIN7
CPU1 8:XIN8
CPU2 1:XIN1
CPU2 2:XIN2
CPU2 3:XIN3
CPU2 4:XIN4
CPU2 5:XIN5
CPU2 6:XIN6
CPU2 7:XIN7
CPU2 8:XIN8
alarm occurred.
No. Code
4763 M-SAF CONTACT The meaning of each Connection failure (1) Reset the alarm.
FB DIAG. SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
ERR(CPU1) lows: state of the following cables and connectors.
1:KMMB1 ·YSF22-CN217
2:KMMB2 ·YPU52-CN607
3:KMMB3 ·Cable continuity between YSF22 board and YPU52 unit.
4:KMMB4
YPU52 unit failure (1) Reset the alarm.
(2) If the alarm occurs again, replace the YPU52 unit.
4764 M-SAF STO FB DI- The meaning of each Connection failure (1) Reset the alarm.
AG. ERROR SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:EDM1 ·EAXA21-CN8/CN/CN10/CN11
CPU1 2:EDM2 ·YSF22-CN217
CPU1 3:EDM3 ·Cable continuity between YSF22 board and EAXA21 board.
CPU1 4:EDM4
CPU2 1:EDM1
CPU2 2:EDM2
CPU2 3:EDM3
CPU2 4:EDM4
2
- 979
Alarm list
No. Code
2 - 980
Alarm list

(2) If the alarm occurs again, replace the EAXA21 board.
4765 M-SAF BRAKE FB Connection failure (1) Reset the alarm.

DIAG. ERROR (2) If the alarm occurs again, check the connection and inserting
·YSF22-CN214
·Cable continuity between YSF22 board and YBK21 board.

YBK21 board failure (1) Reset the alarm.
In a system where a plurality of YBK21 boards are connected, re-
place the board, which is connected to the board on which the
alarm occurred.
No. Code
4766 M-SAF CONTACT Connection failure (1) Reset the alarm.
OFF FB DIAG. ER- (2) If the alarm occurs again, check the connection and inserting
ROR state of the following cables and connectors.
·YSF22-CN217
·YPU52-CN607
·Cable continuity between YSF22 board and YPU52 board.
In a system where a plurality of YPU51 units are connected, re-
place the board, which is connected to the unit on which the alarm
occurred.
OUT FB DIAG. ER- SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:GSEDM1 ·YSF22 CN219
CPU1 2:GSEDM2 ·YSF22-YFC22
·Check connectors of the connected outside devices of GSEDM
CPU2 1:GSEDM1 signal line.
CPU2 2:GSEDM2
2
- 981
Alarm list
No. Code
2 - 982
Alarm list

the alarm occurred.
OUT FB DIAG. ER- SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:XEDM1 ·YFC24
CPU1 2:XEDM2 ·YSF22-YFC24 cable
CPU1 3:XEDM3 ·Check connectors of the connected outside devices of XEDM sig-
CPU1 4:XEDM4 nal line.
CPU1 5:XEDM5
CPU1 6:XEDM6
CPU1 7:XEDM7
CPU1 8:XEDM8
CPU2 1:XEDM1
CPU2 2:XEDM2
CPU2 3:XEDM3
CPU2 4:XEDM4
CPU2 5:XEDM5
CPU2 6:XEDM6
CPU2 7:XEDM7
CPU2 8:XEDM8
No. Code
4769 M-SAF CONTAC- The meaning of each Connection failure (1) Reset the alarm.
TOR DIAG. ERROR SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:SFRON1 ·YSF22-CN217
CPU1 2:SFRON2 ·YPU52-CN607
CPU1 3:SFRON3 ·Cable continuity between YSF22 board and YPU52 board.
CPU1 4:SFRON4
CPU2 1:SFRON1
CPU2 2:SFRON2
CPU2 3:SFRON3
CPU2 4:SFRON4
In a system where a plurality of YPU52 units are connected, re-
place the unit, which is connected to the unit on which the alarm
2
occurred.
- 983
Alarm list
No. Code
2 - 984
Alarm list

4770 M-SAF STO DIAG. The meaning of each Connection failure (1) Reset the alarm.
ERROR SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:STO1 ·YSF22-CN217
CPU1 2:STO2 ·Cable continuity between YSF22 board and EAXA21 board.
CPU1 3:STO3
CPU1 4:STO4
CPU2 1:STO1
CPU2 2:STO2
CPU2 3:STO3
CPU2 4:STO4
(2) If the alarm occurs again, replace the EAXA21 board.
No. Code
OUTPUT DIAG. ER- SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:GSOUT1 ·YFC22
CPU1 2:GSOUT2 ·Cable continuity between YSF22 board and YFC22 board.
CPU2 1:GSOUT1
CPU2 2:GSOUT2
the alarm occurred.
2
- 985
Alarm list
No. Code
2 - 986
Alarm list
OUTPUT DIAG. ER- SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
CPU1 1:XOUT1 ·YFC24
CPU1 2:XOUT2 ·Cable continuity between YSF22 board and YFC24 board.
CPU1 3:XOUT3
CPU1 4:XOUT4
CPU1 5:XOUT5
CPU1 6:XOUT6
CPU1 7:XOUT7
CPU1 8:XOUT8
CPU2 1:XOUT1
CPU2 2:XOUT2
CPU2 3:XOUT3
CPU2 4:XOUT4
CPU2 5:XOUT5
CPU2 6:XOUT6
CPU2 7:XOUT7
CPU2 8:XOUT8
No. Code
4773 M-SAF CONTACT The meaning of each Connection failure (1) Reset the alarm.
FB DIAG. SUB code is as fol- (2) If the alarm occurs again, check the connection and inserting
ERR(CPU2) lows: state of the following cables and connectors.
1:KMMB1 ·YSF22-CN217
2:KMMB2 ·YPU52-CN607
3:KMMB3 ·Cable continuity between YSF22 board and YPU52 unit.
4:KMMB4
4800 WDT ERROR(CON- SUB Code: Signifies Connection failure (1) Reset the alarm.
VERTER) the physical No. of (2) If the alarm occurs again, check the connection and inserting
·EAXB21-CN531,532,533
2
- 987
Alarm list
No. Code
2 - 988
Alarm list

4822 HARD WIRE BASE SUB Code: Signifies Connection failure (1) Reset the alarm.
BLOCK ERROR the control axis num- (2) If the alarm occurs again, check the connection and inserting
ber which detected an state of the following cables and connectors.
error ·EAXA21 board?CN521(Safety function's jumper connector)
nector)
·YSF22 board CN217
EAXB21 board failure (1) Reset the alarm.
4823 HARD WIRE BASE SUB Code: Signifies Connection failure (1) Reset the alarm.
ENABLE ERROR the control axis num- (2) If the alarm occurs again, check the connection and inserting
nector)
·YSF22 board CN217
No. Code
4824 BASE BLOCK ER- SUB Code: Signifies Connection failure (1) Reset the alarm.
ROR the control axis num- (2) If the alarm occurs again, check the connection and inserting
nector)
·YSF22 board CN217
2
- 989
Alarm list
No. Code
2 - 990
4825 BASE ENABLE ER- SUB Code: Signifies Connection failure (1) Reset the alarm.
Alarm list
ROR the control axis num- (2) If the alarm occurs again, check the connection and inserting
nector)
·YSF22 board CN217
4826 CONTACTOR ER- SUB Code: Signifies YPU unit failure (1) Reset the alarm.
ROR(STO) the control axis num- (2) Check if the contactors (1KM and 2KM) are open, and not dam-
ber which detected an aged by melting or sticking.
error (4)If the alarm occurs again, replace the YPU unit. Save the
CMOS.BIN before replacing the unit to be safe.
·YSF22 board CN216
·YPU unit CN607
No. Code
4827 DRESSER SERVO SUB Code: Signifies The servo power is not Turn ON the servo power for the servo dresser axis to be operated.
POWER OFF the control axis num- supplied.
ber which detected an
error
4883 SENSOR OVER SUB Code; channel Setting error (1) Reset the alarm and decrease the motion speed in JOB.
RANGE (2) If the alarm occurs again, save the CMOS.BIN in the mainte-
nance mode and contact your YASKAWA representative about oc-
4885 SENSOR OUTPUT SUB Code; channel Sensor error (1) Reset the alarm.
ERROR (2) If the alarm occurs again, save the CMOS.BIN in the mainte-
4886 FORCE CONTROL 1 The specified force Setting error Reset the alarm and check the force control file. The robot of in-
FILE ERROR control file is for other struction does not match the robot of force control file. Change the
manipulator. file number or the settings of force control file.
2
4897 FORCE CONTROL 32 Force control parame- Setting error Reset the alarm and check the tags of the instruction.
INTERNAL ERROR ter error
- 991
Alarm list
No. Code
2 - 992
Alarm list

64 Excessive force de- Setting error (1) Reset the alarm and check the force sensor. Too large force
tected has detected in force sensor.
(2) If the alarm occurs again, save the CMOS.BIN in the mainte-
128 Overspeed Setting error Reset the alarm and decrease the motion speed in JOB.
256 Singular point error Setting error Reset the alarm and check the posture of the robot. Change the
JOB to avoid the singular point.
512 Board / cable error Sensor / Cable error (1) Check the force sensor, the sensor board, and the cable of
force sensor.
(2) If the alarm occurs again, check the connection of sensor board
to the controller.
(3) If the alarm occurs again, save the CMOS.BIN in the mainte-
4901 CUBE/AXIS INTER- SUB Code; Group, ax- Setting error (1) Check the following settings.
FERENCE is, and interference ·Perform the teaching again to correct positions for manipulators
area number so that the step where the alarm occurred is out of interference ar-
ea.
·Change the settings for interference area.
No. Code
4902 CUBE INTERFER- SUB Code; Group and Setting error (1) Check the following settings.
ENCE(TCP) interference area ·Change the step position where the alarm occurred to the area
number outside the interference area.
·Modify the interference area setting.
4903 CUBE INTERFER- SUB Code; Group, ax- Setting error (1) Check the following settings.
ENCE(ENTIRE) is, and interference ·Perform the teaching again to correct positions for manipulators
area number so that the step where the alarm occurred is out of interference ar-
ea.
·Change the settings for interference area.
4904 CUBE INTERFER- 0 Maximum number of Setting error (1) Reset the alarm.
ENCE AREA SET the cube interference (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ERR area exceeds the al- mode, and then contact your YASKAWA representative about oc-
lowable range. currence status (operating procedure).
1 The number of cube Setting error Reduce the number of cube interference area whose monitoring
interference area part is "whole" .
whose monitoring part
is "whole" exceeds the
limit.
2
- 993
Alarm list
No. Code
2 - 994
2 Detect the cube Setting error (1) Among the cube interference areas already values are en-
Alarm list
whose interference tered, modify as follows.

area are extremely big 1.Change the extremely big values to smaller ones.
or small. 2.Change the extremely small values to bigger ones.
3 Detect the cube inter- Setting error (1) Reset the alarm.
ference area whose (2) If the alarm occurs just after loading the cube interference area
monitoring part is set setting function, execute the following measures.
to "whole" despite the 1.Among the cube interference areas to be loaded, change the
invalid status of cube monitoring part setting from "whole" to "control point".
arm interference 2.Load the modified cube interference area.
check function. 3.Confirm the settings if the alarm occurs again after the loading
operation.
4905 INSTRUCTION ER- 1 SUB code: Software operation er- (1) Reset the alarm and decrease the motion speed in JOB.
ROR 1 SKCHK mode release ror occurred (2) If the alarm occurs again, save the CMOS.BIN in the mainte-
error nance mode and contact your YASKAWA representative about oc-
2 SUB code: Setting error (1) Reset the alarm and change the robot number.
Robot number error (2) If the alarm occurs again, save the CMOS.BIN in the mainte-
4906 MODEL DATA UN- SUB Code: model file Setting error (1) Reset the alarm and register the model file or change the mod-
REGISTERED number el file number.
4907 MULTIPLE INST EX- Setting error (1) Reset the alarm and modify the JOB program.
ECUTION ERROR
No. Code
4940 MOTION COM- Software operation er- (1) Reset the alarm.
MAND CODE ER- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ROR (SV) mode, and then contact your YASKAWA representative about oc-
4941 CANNOT EXE- Software operation er- (1) Reset the alarm.
CUTE MOTION ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
CMD (SV) mode, and then contact your YASKAWA representative about oc-
4942 AVERAGING TIME Software operation er- (1) Reset the alarm.
CHANGE ERR (SV) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4943 AVERAGING TIME Software operation er- (1) Reset the alarm.
ERROR (SERVO) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4944 POSITION LOOP Software operation er- (1) Reset the alarm.
GAIN ERROR (SV) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4945 MOTION COM- Software operation er- (1) Reset the alarm.
MAND DATA ER- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
ROR (SV) mode, and then contact your YASKAWA representative about oc-
4946 PG POWER ON IN- Software operation er- (1) Reset the alarm.
COMPLETE (SV) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4947 SERVO ON MULTI- Software operation er- (1) Reset the alarm.
PLE REQUEST (SV) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
2
- 995
Alarm list
No. Code
2 - 996
4948 ENCODER ALARM Software operation er- (1) Reset the alarm.
Alarm list
(SERVO) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4949 GUN BEND MULTI SUB Code: Signifies Setting error Check the settings for jobs.
CORRECT ERR the axis in which the
(SV) alarm occurred
4950 MOTOR GUN POS. SUB Code: Signifies Setting error (1) Check the settings for jobs.
DIFF. OVER (SV) the axis in which the (2) If this alarm occurs after the servo power cycling during work
alarm occurred handling process
under the condition where the Handling motion continue function
is activated (S2C691=1),
review the threshold value (S1CxG624 -) as necessary.
4951 WRONG MOTOR SUB Code: Signifies Setting error Check the settings for jobs.
GUN CHANGE AXIS the axis in which the
(SV) alarm occurred
4952 WRONG MOTOR SUB Code: Signifies Setting error Check the settings for jobs.
GUN FILE NO. the axis in which the
(SERVO) alarm occurred
No. Code
4953 ENCODER COUN- Connection failure (1) Reset the alarm
TER DIFF. ERR(SV) (2) If the alarm occurs again, check the connection and inserting
·Robot axis? ·Cables between encoders
·EAXA21-CN508 ·External axis?
·Cables between encoders
·EAXB21-CN534,535,536


4954 REALTIME STATUS Software operation er- (1) Reset the alarm.
S/R ERROR (SV) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4955 AVERAGING DATA Software operation er- (1) Reset the alarm.
4956 AVERAGING SUM Software operation er- (1) Reset the alarm.
2
- 997
Alarm list
No. Code
2 - 998
4957 AVERAGING STA- Software operation er- (1) Reset the alarm.
Alarm list
TUS ERR (SERVO) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4958 HIGH RESOLUTION Software operation er- (1) Reset the alarm.
PRM UNDE- ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
FINED(SV) mode, and then contact your YASKAWA representative about oc-
4959 WRONG GRP Software operation er- (1) Reset the alarm.
CHANGE AXIS ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
(SERVO) mode, and then contact your YASKAWA representative about oc-
4960 BELT SNAP DE- Setting error (1) Reset the alarm.
TECT PRM ERROR (2) If the alarm occurs again, save the CMOS.BIN in maintenance
(SV) mode, and then contact your YASKAWA representative about oc-
4961 SERIAL ENC OS- Software operation er- (1) Reset the alarm.
CILL DETECTED ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4962 BRAKE LOCK ER- Software operation er- (1) Reset the alarm.
ROR (SERVO) ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4963 BRAKE RELEASE Software operation er- (1) Reset the alarm.
4964 CONST.SPD MEA- Software operation er- (1) Reset the alarm.
SURE MULTI REQ ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
No. Code
4965 DIN SIGNAL SPE- SUB Code: Signifies Setting error Check the settings for jobs.
CIFIC. ERROR (SV) the axis in which the
alarm occurred
4966 DB RESIST NOT IN- Connection failure (1) Reset the alarm.
STALLED(SV) (2) If the alarm occurs again, check the connection and inserting
·DB resist of CN585 amplifier
·Short-circuit connector CN585 amplifier
DB resist board failure (1) Reset the alarm.
(2) The DB resist may be fired. Replace the DB resist.
4967 RATED CURRENT Setting error (1) Reset the alarm.
AND MAXIMUM (2) If the alarm occurs again, contact your YASKAWA representa-
CURRENT HIGH tive about occurrence status (operating procedure).
RESOLUTION PRM
UNDEFINED(SER-
VO)
4969 CONVTR POWER SUB Code: Signifies Primary power supply Confirm that appropriate primary voltage is applied to the breaker.
ERR(FREQUEN- the axis in which the failure Prescribed voltage: 200V (+10% to 15%)
CY)(SV) alarm occurred
2
- 999
Alarm list
No. Code
2 - 1000
Alarm list
·EAXA21-CN507,510
·EAXB21-CN531,532,533
then back ON.)
(2) If the alarm occurs again, replace the EAXA21 and EAXB21
boards. Save the CMOS.BIN before replacing the board to be
safe.

4970 CONVTR POWER SUB Code: Signifies Primary power supply Confirm that appropriate primary voltage is applied to the breaker.
ERR(PHASE the axis in which the failure Prescribed voltage: 200V (+10% to 15%)
SEQ.)(SV) alarm occurred
·EAXA21-CN507,510
·EAXB21-CN531,532,533
No. Code
then back ON.)
safe.

4971 CONVTR POWER Primary power supply Confirm that appropriate primary voltage is applied to the breaker.
ERR(PEAK)(SV) failure Prescribed voltage: 200V (+10% to 15%)
·EAXA21-CN507,510
·EAXB21-CN531,532,533
then back ON.)
safe.

4972 CONVTR REGEN- Primary power supply Check the primary voltage for the converter.
2
ERATE OVER- failure
LOAD(SV)
- 1001
Alarm list
No. Code
2 - 1002
Setting error Check the following settings;
Alarm list
·Tool data
·JOB
·Workpiece
·JOB speed
·Acceleration and deceleration (ACC, DEC)
·EAXA21-CN507,510
·EAXB21-CN531,532,533
Module failure (Re- (1) Disconnect the converter CN557 to check if there is no cable
generative resistor) disconnection.
(2) If disconnected, replace the regenerative resistor.
then back ON.)
safe.
4973 POSITION ER- SUB Code: Signifies Setting error Confirm the following settings;
ROR(COLLISION the axis in which the ·Tool information
DETECT) alarm occurred ·Workpiece

No. Code
4974 POSITION ER- SUB Code: Signifies Software operation er- (1) Reset the alarm.
ROR(START LIFT) the axis in which the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4975 WRONG START SUB Code: Signifies Software operation er- (1) Reset the alarm.
LIFT AXIS(SERVO) the axis in which the ror occurred (2) If the alarm occurs again, save the CMOS.BIN in maintenance
4976 GUN SEARCH DE- SUB Code: Signifies Setting error Check the following settings.
TECT RANGE the axis in which the ·Home position of gun axis.
OVER alarm occurred ·"The pulse-stroke converter" in the gun condition file.
·The value of the wear correction.
Effect of external force (1) Check that no objects exist between workpiece and gun.
(2) Check the lost tip.
4977 GUN SEARCH POS SUB Code: Signifies Setting error Check the following settings.
ERROR the axis in which the ·Home position of gun axis.
alarm occurred ·"The pulse-stroke converter" in the gun condition file.
·The value of the wear correction for movable gun tip.
Effect of external force (1) Check the amount of the gap between workpiece position and
the teaching position.
(2) Check the lost tip for movable gun.
4978 UNIV.IN/OUT SIG- 1 Universal input/output Connection failure (1) Reset the alarm.
NAL BROKEN(SER- 1 between EAXA21 (2) If the alarm occurs again, check the connection and inserting
2
VO) boards is broken. state of the following cables and connectors.
·EAXA21-CN514
(3) If the alarm occurs again, check if the cable is disconnected.
- 1003
Alarm list
No. Code
2 - 1004
Alarm list

2 Universal output 1for Setting error (1) Reset the alarm.
SV#1 (SV#2) is incon- (2) If the alarm occurs again, check the connection and inserting
sistent with Universal state of the following cables and connectors.
input 1 for ·EAXA21-CN514
SV#2(SV#1). (3) If the alarm occurs again, save the CMOS.BIN in maintenance
3 Universal output 1for Setting error (1) Reset the alarm.
4 Universal input/output Connection failure (1) Reset the alarm.
2 between EAXA21 (2) If the alarm occurs again, check the connection and inserting
boards is broken or its state of the following cables and connectors.
connector (CN514) is ·EAXA21-CN514
disconnected. (3) If the alarm occurs again, check if the cable is disconnected.
5 Universal output 2 for Setting error (1) Reset the alarm.
No. Code
6 Universal output 2 for Setting error (1) Reset the alarm.
4980 DESTINATION Setting error (1) Check the following settings.
PULSE LIMIT ·Check the position setting for the step (move instruction) where
the alarm occurred.
4981 DEST PULSE ME- Setting error (1) Check the following settings.
CHANICAL LIMIT ·Check the position setting for the step (move instruction) where
the alarm occurred.
4982 DEST MECHANI- Setting error (1) Check the following settings.
CAL INTRF ·Check the position setting for the step (move instruction) where
the alarm occurred.
4983 DEST MECHANI- Setting error (1) Check the following settings.
CAL INTRF ·Check the position setting for the step (move instruction) where
the alarm occurred.
2
- 1005
Alarm list
No. Code
2 - 1006
4984 DESTINATION Setting error (1) Check the following settings.
Alarm list
SELF-INTERFER- ·Check the position setting for the step (move instruction) where
ENCE the alarm occurred.
4985 TEACH LINE CORD Setting error Correct the attitude of the tool and the ground are out of vertical,
JOG MOVE DIS- and execute teach line cord jog move.
ABLE
4986 TEACH LINE CORD Setting error Execute FWD/BWD/TEST RUN operation, and execute teach line
JOG MOVC DIS- cord jog move.
ABLE
4987 WELD LINE CORD 1 IMPOSSIBLE MO- Setting error (1) Check the following settings.
SHIFT MOV DIS- TION(Y direction) ·Correct the teaching positions so that the attitude of the tool and
ABLE the ground are out of vertical.
No. Code
4988 WELD LINE COORD 1 PREFLOW not exe- Setting error (1) When executing weld line coordinate shift operation, start the
SHIFT DISABLE cuted JOB with one step before ARCON instruction.
(2) When teaching the JOB for welding coordinate shift operation,
set the ARCON instruction in the JOB in which the weld line coor-
dinate shift operation is to be performed. (Don't set ARCON in-
struction in the JOB which is target for CALL instruction without
setting any weld start teaching point.)
To use ARCON instruction without weld start point in the CALL
destination JOB, disable the weld line coordinated shift function in
the weld start condition file.
2
- 1007
Alarm list
YASKAWA Kontakte | YASKAWA contacts
YASKAWA YASKAWA Europe GmbH YASKAWA Academy und YASKAWA Europe GmbH
Zentrale Robotics Division Vertriebsniederlassung Robotics Division
Yaskawastraße 1 Frankfurt Hauptstraße 185
D-85391 Allershausen D-65760 Eschborn
Tel. +49 (0) 8166/90-0 Tel. +49 (0) 6196/77725-0
Fax +49 (0) 8166/90-103 Fax +49 (0) 6196/77725-39
YASKAWA Gruppe Distributors

A YASKAWA Austria BG Kammarton Bulgaria Ltd.
Schwechat/Wien +43(0)1-707-9324-15 Sofia +359-02-926-6060
CZ YASKAWA Czech s.r.o. CH Messer Eutectic Castolin Switzerland S.A.
Rudná u Prahy +420-257-941-718 Dällikon +41-44-847-17-17
E YASKAWA Ibérica, S.L. DK Robotcenter Danmark
Gavà/Barcelona +34-93-6303478 Løsning +45 7022 2477
F YASKAWA France SARL EE RKR Seadmed OÜ
Saint-Aignan-de-Grand-Lieu Tallinn/Estonia +372-68-35-235
+33-2-40131919 GR Gizelis Robotics
FIN YASKAWA Finland Oy Nea Kifissia +30-2106251455
Turku +358-(0)-403000600 H Flexman Robotics Kft
GB YASKAWA UK Ltd. Budapest +36-30-9510065
Banbury +44-1295-272755 LT Profibus UAB
I YASKAWA Italia s.r.l. Panevezys +370-45-518575
Torino +39-011-9005833 N Optimove as
IL YASKAWA Europe Technology Ltd. Lierstranda +47-32240600
Rosh Ha’ayin +972-3-9004114 PL Integrator RHC Sp. z o.o.
NL YASKAWA Benelux B.V. Torun +48-56-6519710
EB Son +31-40-2895500 RO Sam Robotics srl
RUS YASKAWA Nordic AB Timisoara +40-720-279-866
Moskva +46-480-417-800
RO MPL Automation srl
SE YASKAWA Nordic AB Satu Mare +40-261-750-741
Torsås +46-480-417-800
SI YASKAWA Slovenia
Ribnica +386-1-8372-410
TR YASKAWA Turkey Elektrik Ticaret Ltd. Stl.
İstanbul +90-216-5273450
ZA YASKAWA Southern Africa (PTY) Ltd
Johannesburg +27-11-6083182
www.yaskawa.eu.com
robotics@yaskawa.eu.com
Änderung, welche dem technischen Fortschritt dienen, vorbehalten.

Alterations in the course of technical progress, are reserved, without separate information.

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DX200 Alarmlist

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Robot controller

Changes made in revision:

1.2 Frequently used terms

1.3 Target group

1.4 Intended use

1.5 Improper use

1.6 About this manual

JOB EDIT DISPLAY UTILITY

Main Menu ShortCut !Turn on servo power

ROBOT INFORM 4 5. 6 BWD FWD

EX.AXIS 1 2 3 DELETE INSERT

Fig. 1-1: Programming pendant

1 Emergency stop button

Fig. 1-3: Emergency stop button

Fig. 1-4: Release of emergency stop button by turning

1.7.1 YASKAWA manual list

1.9 Authorized representative

Alarm code Alarm level Alarm Reset Method

2.2 Alarm display

2.2.1 Show alert

1 Alarm 4100 [1] 2

Fig. 2-1: Alarm display

1 Alarm number 3 Alarm messages

2.2.2 Releasing alarm

Alarms are classified by minor and major alarms.

2.2.3 Special alarm display

TASK#9: Sub-task9 job (SUB9)

2.3 Alarm message list

Alarm Alarm Name SUB- Meaning Cause Remedy

from the optional ·Optional board setting in maintenance mode

from the servo board ·Control group settings in maintenance mode

mode, and then contact your YASKAWA representative about oc-

from the communica- ·Control group settings in maintenance mode

from the communica- ·Control group settings in maintenance mode

51 The communications Setting error (1) Check the following settings.

other If the alarm occurs again, save the CMOS.BIN in maintenance

mode, and then contact your YASKAWA representative about oc-

other If the alarm occurs again, save the CMOS.BIN in maintenance

other If the alarm occurs again, save the CMOS.BIN in maintenance

mode, and then contact your YASKAWA representative about oc-

mode, and then contact your YASKAWA representative about oc-

with the board which firmware version is correct.

ed during the check of ·Control group settings in maintenance mode

mode, and then contact your YASKAWA representative about oc-

mode, and then contact your YASKAWA representative about oc-

mode, and then contact your YASKAWA representative about oc-

mode, and then contact your YASKAWA representative about oc-

ROR(DEVICENET tion file 1 is damaged. [XFB01 board]

CONTROL Parame- ·[Option function] - [Ex. AXIS INDIVIDUAL CONTROL(SDA) ] set-

mode, and then contact your YASKAWA representative about oc-

mode, and then contact your YASKAWA representative about oc-

ing the parameter/file ·Control group settings in maintenance mode

ing the parameter/file ·Control group settings in maintenance mode

other If the alarm occurs again, save the CMOS.BIN in maintenance

mode, and then contact your YASKAWA representative about oc-

ing startup sequence ?Control group settings in maintenance mode

ing startup sequence ·Control group settings in maintenance mode

mode, and then contact your YASKAWA representative about oc-

FL TRANSMIT ERR tion file1 could not be [XFB01 board]

mode, and then contact your YASKAWA representative about oc-

ting of allocation con- ·Allocation configuration for the TOYOPUC

the specified number ·Allocation configuration for the TOYOPUC

ting of allocation con- ·Allocation configuration for the TOYOPUC

ting of allocation con- ·Allocation configuration for the TOYOPUC