Alarmes NX100 HW0483057.0

YASKAWA
NX100 OPTIONS
INSTRUCTIONS
FOR TROUBLESHOOTING
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-UUU INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Do not submit this electronic data to the customer.
THIS MATERIAL IS FOR STUDY PURPOSE ONLY.

YOU MUST READ THE MANUAL WHICH ENCLOSED
WITH A ROBOT.
YASKAWA MANUAL NO.
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MANDATORY
• This manual explains the troubleshooting for the NX100 system. Read
this manual carefully and be sure to understand its contents before han-
dling the NX100.
• General items related to safety are listed in Section 1: Safety of the

NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your prod-
uct’s warranty.
ii
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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or ”PROHIBITED”.
Indicates a potentially hazardous situation which, if not avoided,

WARNING could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,

CAUTION could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this

MANDATORY heading.
PROHIBITED Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
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WARNING
• Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the program-
ming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
• Observe the following precautions when performing teaching operations

within the P-point maximum envelope of the manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of

the manipulator and that you are in a safe location before:
- Turning ON the NX100 power.
- Moving the manipulator with the programming pendant.
- Running the system in the check mode.
- Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator dur-
ing operation. Always press an emergency stop button immediately if there is a problems.
The emergency stop buttons are located on the right of the front door of the NX100 and
the programming pendant.
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CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.

-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabi-
net after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the NX100

Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows.
Equipment Manual Designation
NX100 Controller NX100
NX100 Programming pendant Programming pendant
Cable between the manipulator and NX100 Manipulator cable
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Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters printed on them are
Pendant denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
GO BACK
ex. page key PAGE
The cursor key is an exception, and a picture is not

shown.
Axis Keys “Axis Keys” and “Numeric Keys” are generic names
Numeric Keys for the keys for axis operation and number input.
Keys pressed When two keys are to be pressed simultaneously,

simultaneously the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming pendant is

denoted with { }.
ex. {JOB}
Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • " means that the
cursor is moved to the object item and the SELECT key is pressed, or that the item is directly
selected by touching the screen.
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Troubleshooting Procedures
T AL-0020 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
T AL-0021 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
T AL-0030 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
T AL-0060 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
T AL-0100 / 0101 / 0102 / 0103 . . . . . . . . . . . . . . . . . . . . . . . . . 5
T AL-0200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
T AL-0210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
T AL-0220 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
T AL-0230 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
T AL-0300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
T AL-0310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
T AL-0320 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
T AL-0330 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
T AL-0400 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
T AL-0410 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
T AL-0500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
T AL-0900 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
T AL-0910 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
T AL-0930 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
T AL-0950 / 0951 / 0952 / 0953 . . . . . . . . . . . . . . . . . . . . . . . . 20
T AL-1001 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
T AL-1030 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
T AL-1031 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
T AL-1050 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
T AL-1051 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
T AL-1100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
T AL-1101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
T AL-1102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
T AL-1103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
T AL-1104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
T AL-1105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
T AL-1200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
T AL-1204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
T AL-1207 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
T AL-1208 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
T AL-1209 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
T AL-1210 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
T AL-1211 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
T AL-1212 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
T AL-1213 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
T AL-1214 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
T AL-1215 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
T AL-1216 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
T AL-1217 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
T AL-1218 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
T AL-1219 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
T AL-1223 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
T AL-1224 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
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T AL-1225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
T AL-1300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
T AL-1301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
T AL-1302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
T AL-1303 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
T AL-1304 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
T AL-1306 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
T AL-1307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
T AL-1308 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
T AL-1309 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
T AL-1310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
T AL-1311 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
T AL-1312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
T AL-1325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
T AL-1325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
T AL-1326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
T AL-1327 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
T AL-1328 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
T AL-1329 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
T AL-1330 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
T AL-1335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
T AL-1335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
T AL-1335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
T AL-1335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61
T AL-1343 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .62
T AL-1345 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
T AL-1352 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
T AL-1355 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
T AL-1503 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
T AL-1504 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
T AL-1515 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
T AL-4100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
T AL-4101 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
T AL-4110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
T AL-4111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
T AL-4119 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
T AL-4200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
T AL-4201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
T AL-4202 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
T AL-4203 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
T AL-4204 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
T AL-4301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
T AL-4302 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77
T AL-4303 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .78
T AL-4304 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
T AL-4305 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
T AL-4306 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .81
T AL-4307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .82
T AL-4308 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
T AL-4309 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .84
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T AL-4310 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
T AL-4311 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
T AL-4312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
T AL-4313 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
T AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
T AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
T AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
T AL-4314 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
T AL-4318 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
T AL-4326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
T AL-4329 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
T AL-4332 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
T AL-4334 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
T AL-4334 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
T AL-4335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
T AL-4335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
T AL-4335 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
T AL-4336 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
T AL-4336 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
T AL-4337 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
T AL-4337 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
T AL-4337 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
T AL-4338 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
T AL-4339 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
T AL-4340 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
T AL-4353 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
T AL-4359 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
T AL-4800 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
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Appendixes
Appendix 1-1 Internal Layout Drawings . . . . . . . . . . . . . .113
T EA1400N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
T ES165N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114
Appendix 2-1 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . .115
T EA1400N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
T ES165N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
Appendix 3-1 CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116
T External View of a Typical CPU Unit . . . . . . . . . . . . . . . . . .116
T External View of JZNC-NRK02W-W. . . . . . . . . . . . . . . . . . .117
Appendix 4-1 Power Supply Contactor Unit . . . . . . . . . .118
T JZRCR-NTU01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
T JZRCR-NTU02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
Appendix 5-1 SERVO PACK . . . . . . . . . . . . . . . . . . . . . . . . .119
T HP6 and EA1400N . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
T ES165N and HP165 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
Appendix 6-1 SERVO PACK for External Axes . . . . . . .120
Appendix 7-1 Brake Release Unit . . . . . . . . . . . . . . . . . . . .121
T External View of JZRCR-NBU05-2 . . . . . . . . . . . . . . . . . . .121
T Internal Connections of JZRCR-NBU05-2 (1/2) . . . . . . . . . .122
T Internal Connections of JZRCR-NBU05-2 (2/2) . . . . . . . . . .123
T Measuring the Output Voltage of the Brake Release Unit . .124
Appendix 8-1 Internal Connections and Alarms of
the NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125
HW0483057 10/142
HW0483057
T AL-0020
CPU COMMUNICATION ERROR: [CPU Board]
The NX100 previously stores the connected CPU boards, and check if each board properly responds on
a startup. This alarm occurs if there is any CPU board which does not properly respond to the NX100.
Sub Code: CPU Board No.
01: NCP01 (Main CPU board)
10: Optional board #1
50: AXA01/AXA02 (1st AXA board)
51: AXA01/AXA02 (2nd AXA board)
52: AXA01/AXA02 (3rd AXA board)
53: AXA01/AXA02 (4th AXA board)
The alarm occurs.
Save the NX100 internal data.
Reset the NX100 by turning

OFF and ON the power.
Alarm?
Yes No
Sub code is any of the numbers

Sub code is [1]. from [50] to [53].
A major unconformity occured in Check the AXA board configuration

the internal data. setting of the corresponding sub code.
The setting is
Yes correct. No
Initialize the NX100 system
configuration.
Reconfigure the control axis in
Alarm? Maintenance Mode.
Yes No
Alarm?
Yes No
Replace the NIF unit, and initialize Check and reconfigure the AXA board rotary
the NX100 system configuration. switch setting of the corresponding sub code.
(Refer to Appendix 3-1.) (Refer to Appendix 3-1.)
Alarm? Alarm?
Yes No Yes No
Check the insertion of NIF unit and the cable

Replace the NCP01 board including connection of NIF unit connector CN01.
CompactFlash. (Refer to Appendix 3-1.) (Refer to Appendixes 2-1 and 3-1.)
Alarm? Alarm?
Yes No Yes No
Check the insertion of the AXA board of

Replace the CPU rack, and initialize the corresponding sub code and the cable
the NX100 system configuration. connection of AXA board connector CN02.
(Refer to Appendix 3-1.) (Refer to Appendix 2-1 and 3-1.)
Alarm? Alarm?
Yes No Yes No
Replace the AXA board of the corresponding

sub code. (Refer to Appendix 3-1.)
End of corrective Alarm?

measures Yes No
Replace the NIF unit, and initialize

the NX100 system configuration.
(Refer to Appendix 3-1.)
Alarm? End of corrective
Contact your Yaskawa representative.
Yes No measures
HW0483057 11/142
HW0483057
T AL-0021
COMMUNICATION ERROR (SERVO): [CPU Board]
The NX100 transfers special commands to operate SERVO units on its startup as well as its regular
operation process. This alarm occurs if there is any communication failure in transferring the special
commands.
The alarm occurs.

Alarm?
Yes No
Check the AXA board configuration

setting of the corresponding sub code.
The setting is
Yes correct. No
Reconfigure the control axis
in Maintenance Mode.
Alarm?
Yes No
Check and reconfigure the AXA board rotary

switch setting of the corresponding sub code.
Alarm?
Yes No

the corresponding sub code and the cable
connection of AXA board connector CN02.
(Refer to Appendix 2-1 and 3-1.)
Alarm?
Yes No

connection of NIF unit connector CN01.
Alarm?
Yes No

Alarm?
Yes No
Replace the NIF unit, and initialize the NX100

system configuration. (Refer to Appendix 3-1.)
Alarm?
Yes No
Contact your Yaskawa representative. End of corrective

measures
HW0483057 12/142
HW0483057
T AL-0030
ROM ERROR: [CPU Board]
The NX100 system program (ROM) runs after RAM expansion executed on a startup. This alarm
occurs if there is any failure in the RAM expansion.
01: NCP01 (Main CPU board)
The alarm occurs.

Alarm?
Yes No
Sub code is any of the numbers

Sub code is [1]. from [50] to [53].
A major unconformity occured in Check the AXA board configuration

the internal data. setting of the corresponding sub code.
The setting is
Yes correct. No
configuration.
Alarm? in Maintenance Mode.
Yes No
Alarm?
Yes No

Replace the NCP01 board including switch setting of the corresponding sub code.
CompactFlash. (Refer to Appendix 3-1.) (Refer to Appendix 3-1.)
Alarm? Alarm?
Yes No Yes No

Replace the CPU rack, and initialize connection of NIF unit connector CN01.
the NX100 system configuration. (Refer to Appendix 2-1 and 3-1.)
Alarm?
Alarm? Yes No
Yes No

(Refer to Appendixes 2-1 and 3-1.)
Alarm?
Yes No

End of corrective
measures Alarm?
Yes No

Alarm? End of corrective
Yes No measures
HW0483057 13/142
HW0483057
T AL-0060
COMMUNICATION ERROR (I/O MODULE): [I/O Module Slot No.]
The NX100 previously stores the connected I/O modules, and check the presence of each module on a
startup. This alarm occurs if there is any module of which presence cannot be identified.
Sub Code: Slot No. of I/O Module
0: NIO01/NIO02 (I/O board)
01 to 15: Serial-bus-connected I/O module
16 to 17: PCI-connected I/O module
The alarm occurs.

Alarm?
Yes No
Sub code is any of the numbers Sub code is any of the numbers
Sub code is [0].
from [1] to [15]. from [16] to [17].
A major unconformity occured in Check the connections of the cable Check if the I/O module of
the internal data. of NIF unit connector CN03 and corresponding slot number is
terminator. properly inserted in correct slot.
(Refer to Appendix 2-1 and 3-1.) (Refer to Appendix 3-1.)
Alarm? Alarm?
Yes No Yes No
Check the insert status of NIF unit, Check the rotary switch setting which
Reconfigure the I/O module.
and reconfigure the I/O module. specifies slot numbers of each I/O module.
Alarm? Alarm?
Yes No Yes No
Alarm?
Yes No
Replace the NIO board, and Check the insert status of NIF unit, Replace the I/O module of
reconfigure the I/O module. and reconfigure the I/O module. corresponding slot number.
(Refer to Appendix 3-1.) (Refer to Appendix 3-1.) (Refer to Appendix 3-1.)
Alarm? Alarm? Alarm?
Yes No Yes No Yes No
Replace the NCP01 board including Replace the I/O module of

CompactFlash. corresponding slot number.
Alarm? Alarm?
Yes No Yes No
Replace the CPU rack, and initialize Replace the NIF unit, and initialize
the NX100 system configuration. the NX100 system configuration.
Alarm? Alarm?
Yes No Yes No
Contact your Yaskawa representative. Contact your Yaskawa representative. Contact your Yaskawa representative.
End of corrective End of corrective End of corrective

measures measures measures
HW0483057 14/142
HW0483057
T AL-0100 / 0101 / 0102 / 0103

COMMUNICATION ERROR (AXA#1 / #2 / #3 / #4): [Cause No.]
The serial communications between NCP01 (the main CPU board) and AXA01/AXA02 (AXA board) in
the NX100 is softwarily monitored by each board.
This alarm occurs if NCP01 detects an error. The least significant digit of the alarm signifies the AXA
board No. of serial communications; therefore, the station numbers of alarms 0100, 0101, 0102, and
0103 are respectively the 1st AXA board, 2nd AXA board, 3rd AXA board, and 4th AXA board.
Sub Code: Error Cause Data No.
01: Counter value received from AXA01/AXA02 (AXA board) is invalid.
02: Counter value received from AXA01/AXA02 (AXIA board) is off by one cycle.
The alarm occurs.

Alarm?
Yes No

setting of the corresponding alarm No.
The setting is
Yes correct. No

Alarm?
Yes No

switch setting of the corresponding alarm No.
Alarm?
Yes No

the corresponding alarm No. and the cable
Alarm?
Yes No

Alarm?
Yes No

alarm No. (Refer to Appendix 3-1.)
Alarm?
Yes No

Alarm?
Yes No
End of corrective
Contact your Yaskawa representative. measures
HW0483057 15/142
HW0483057
T AL-0200
MEMORY ERROR (PARAMETER FILE): [Internal File No.]
The NX100 requires various types of parameters to operate, and performs a check sum during the startup
process to ensure that the parameter files are properly retained. This alarm occurs if the NX100 detects
an error in the check sum.
Sub Code: File No. Managed in NX100
00: RC parameter 08: AP parameter
01: RO parameter 09: RS parameter
02: SV parameter 10: SE parameter
03: SVM parameter 11: SVC parameter
04: SC parameter 12: AMC parameter
05: SD parameter 13: SVP parameter
06: CIO parameter 14: MF parameter
07: FD parameter 15: SVS parameter
The alarm occurs.

Alarm?
Yes No
Initialize the parameters

Alarm?
Yes No
Set the parameters according to

the parameter table on the inner
surface of the NX100 door.
Alarm?
Yes No

configuration.
Alarm?
Yes No
Replace the NCP01 board including

CompactFlash.
Alarm?
Yes No

Alarm?
Yes No
End of corrective
measures
HW0483057 16/142
HW0483057
T AL-0210
MEMORY ERROR (SYSTEM CONFIG-DATA): [0]
The NX100 carries the information to start as a system in the SYSTEM CONFIG-DATA file, and performs
a check sum during the startup process to ensure that these files are properly retained. This alarm occurs
if the NX100 detects an error in the check sum.
Sub Code: 0
The alarm occurs.

Alarm?
Yes No

configuration.
Alarm?
Yes No

CompactFlash.
Alarm?
Yes No

Alarm?
Yes No
End of corrective
measures
HW0483057 17/142
HW0483057
T AL-0220
MEMORY ERROR (JOB MNG DATA): [Cause No.]
The NX100 carries the user program as data files called JOB, and performs a check sum during the
startup process to ensure that these files are properly retained. This alarm occurs if the NX100 detects
an error in the check sum.
00: Error occurred during the sum check of the JOB management area
01: Error occurred during the sum check of the JOB data.
02: Error occurred during the sum check of the position data (including position variables).
03: Error occurred during the sum check of the memory play file.
The alarm occurs.

Alarm?
Yes No
Sub code is any of the numbers Sub code is [3].

from [0] to [2].
Initialize the JOBs Initialize the memory play file

in Maintenance Mode. in Maintenance Mode.
Alarm? Alarm?
Yes No Yes No
Initialize the NX100 system Initialize the NX100 system

configuration. configuration.
Alarm? Alarm?
Yes No Yes No
Replace the NCP01 board including Replace the NCP01 board including
CompactFlash. CompactFlash.
Alarm? Alarm?
Yes No Yes No
Replace the NIF unit, and initialize Replace the NIF unit, and initialize
the NX100 system configuration. the NX100 system configuration.
Alarm? Alarm?
Yes No Yes No
Contact your Yaskawa representative. Contact your Yaskawa representative.
End of corrective End of corrective

measures measures
HW0483057 18/142
HW0483057
T AL-0230
MEMORY ERROR (LADDER PRG FILE): [0]
A program software PLC which runs in the NX100 is stored in the ladder program file. The NX100 per-
forms a check sum during the startup process to ensure that these files are properly retained. This alarm
occurs if the NX100 detects an error in the check sum.
Sub Code: 0
The alarm occurs.

Alarm?
Yes No
Initialize the ladder program

Alarm?
Yes No

configuration.
Alarm?
Yes No

CompactFlash.
Alarm?
Yes No

Alarm?
Yes No
End of corrective
measures
HW0483057 19/142
HW0483057
T AL-0300
VERIFY ERROR (SYSTEM CONFIG-DATA): [Cause No.]
The NX100 carries the information to start as a system in data files called "System Configuration Data",
and performs a validity check on the data files if they are properly configured. This alarm occurs if the
NX100 detects an error in the validity check.
02: CIO parameter error.
04: Axis-related parameter error.
05: Sensor-use parameter error.
08: IO type error (combination impossible to coexist).
The alarm occurs.

Alarm?
Yes No
Sub code is [2] or [8]. Sub code is [4]. Sub code is [5].
Reconfigure the I/O module Reconfigure the control axis

in Maintenance Mode. in Maintenance Mode.
Alarm? Alarm?
Yes No Yes No

measures measures

configuration.
Alarm?
Yes No

CompactFlash.
Alarm?
Yes No

Alarm?
Yes No

measures
10
HW0483057 20/142
HW0483057
T AL-0310
VERIFY ERROR (CMOS MEMORY SIZE): [0]
The NX100 verifies that the NIF board type (CMOS memory size) which is detected during the startup is
the same as the type set at the time of system configuration. This alarm occurs if the NX100 detects an
error in the verification process.
Sub Code: 0
The alarm occurs.

Alarm?
Yes No

configuration.
Alarm?
Yes No

CompactFlash.
Alarm?
Yes No

Alarm?
Yes No
End of corrective
11
HW0483057 21/142
HW0483057
T AL-0320
VERIFY ERROR (I/O MODULE): [I/O board Slot No.]
The NX100 verifies that the I/O module which is detected during the startup is the same as the module set
at the time of system configuration. This alarm occurs if the NX100 detects an error in the verification pro-
cess.
Sub Code: Slot No. of I/O Module
01 to 15: I/O module connected to serial bus.
16 to 17: I/O module connected to the PCI bus.
The alarm occurs.

Alarm?
Yes No
from [1] to [15]. from [16] to [17].
Check the connections of the cable Check if the I/O module of

of NIF unit connector CN03 and corresponding slot number is
terminator. properly inserted in correct slot.
(Refer to Appendix 2-1 and 3-1.) (Refer to Appendix 3-1.)
Alarm? Alarm?
Yes No Yes No
Check the rotary switch setting which

specifies slot numbers of each I/O module. Reconfigure the I/O module.
Alarm? Alarm?
Yes No Yes No
Check the insertion of NIF unit, Replace the I/O module of

and reconfigure the I/O module. corresponding slot number.
Alarm? Alarm?
Yes No Yes No
Replace the I/O module of

corresponding slot number.
Alarm?
Yes No

Alarm?
Yes No

measures measures
12
HW0483057 22/142
HW0483057
T AL-0330
VERIFY ERROR (SENSOR FUNCTION): [0]
The NX100 verifies that the application parameters are correctly set during a startup process. This alarm
occurs if the NX100 detects an error in the verification process.
Sub code: 0
The alarm occurs.

Alarm?
Yes No

configuration.
Alarm?
Yes No

CompactFlash.
Alarm?
Yes No

Alarm?
Yes No
End of corrective
13
HW0483057 23/142
HW0483057
T AL-0400
PARAMETER TRANSMISSION ERROR: [CPU Board]
The parameters required for the AXA board operation is transferred from the NCP01 board. This alarm
occurs if the parameters are not successfully transferred.
The alarm occurs.

Alarm?
Yes No

The setting is
Yes correct. No

Alarm?
Yes No

Alarm?
Yes No

Alarm?
Yes No

Alarm?
Yes No

Alarm?
Yes No

Alarm?
Yes No
End of corrective
14
HW0483057 24/142
HW0483057
T AL-0410
MODE CHANGE ERROR: [CPU Board]
The NX100 changes its operation modes during a startup process from the power-on operation until the
startup process completion. Since mode change is required for the peripheral CPU boards as well as the
main CPU board, the NX100 simultaneously performs a process as the mode change process. This
alarm occurs if the mode change is not successfully performed.
The alarm occurs.

Alarm?
Yes No

The setting is
Yes correct. No

Alarm?
Yes No

Alarm?
Yes No

Alarm?
Yes No

Alarm?
Yes No

Alarm?
Yes No

Alarm?
Yes No
End of corrective
measures
15
HW0483057 25/142
HW0483057
T AL-0500
SEGMENT PROC NOT READY
To properly operate the manipulator, it is required to complete the processing of operation instructions
within the specified time. This alarm occurs if the processing of operation instructions is not completed
within the specified time.
Sub Code: None
The alarm occurs.

Alarm?
Yes No
Check the value set for segment

processing time.
The setting is
Yes correct. No
Reconfigure the correct segment

processing time.
Alarm?
Yes No

CompactFlash.
Alarm?
Yes No
Replace the CPU rack, and initialize

Alarm?
Yes No

measures
16
HW0483057 26/142
HW0483057
T AL-0900
WATCHDOG TIMER ERROR (NIF BOARD)
The NX100 can safely stop the system with a watchdog function when an error occurred. This alarm
occurs if a watchdog timeout is detected in the NIF board.
Sub Code: None
The alarm occurs.

Alarm?
Yes No

Alarm?
Yes No
Replace the CPU rack, and initialize the NX100

Alarm?
Yes No

measures
17
HW0483057 27/142
HW0483057
T AL-0910
CPU ERROR (NCP01): [100]
The NX100 can safely stop the system even in case of an unexpected processing occurred in any board.
This alarm occurs if there is an unexpected processing in NCP01 (the main CPU board).
Sub Code: 100
The alarm occurs.

Alarm?
Yes No

CompactFlash.
Alarm?
Yes No

Alarm?
Yes No
End of corrective
18
HW0483057 28/142
HW0483057
T AL-0930
CPU HANG UP ERROR (NCP01)
The NX100 can safely stop the system even when the power supply voltage suddenly drops. This alarm
occurs if a voltage drop is detected in NCP01 (the main CPU board).
Sub Code: None
The alarm occurs.

Alarm?
Yes No

CompactFlash.
Alarm?
Yes No

Alarm?
Yes No
End of corrective
19
HW0483057 29/142
HW0483057
T AL-0950 / 0951 / 0952 / 0953

CPU ERROR (AXA#*): [100]
The NX100 can safely stop the system even when the power supply voltage suddenly drops. This alarm
occurs if a voltage drop is detected in NCP01 (the main CPU board).
The least significant digit of the alarm signifies the AXA board No. of serial communications
Alarm
0950: 1st AXA board
0951: 2nd AXA board
0952: 3rd AXA board
0953: 4th AXA board
Sub Code: 100
The alarm occurs.

Alarm?
Yes No

the corresponding alarm No. and the cable
Alarm?
Yes No

alarm No. (Refer to Appendix 3-1.)
Alarm?
Yes No

Alarm?
Yes No

measures
20
HW0483057 30/142
HW0483057
T AL-1001
ROM ERROR (AXA01)
This alarm is caused by faulty data in ROM.
A hardware error in the board is considered as a major cause of this alarm. In rare cases, however, the
cause is attributed to a loose connection or noise interference.
Sub Code
1*: EEPROM checksum error (*: axis No.)
20: EEPROM WRITE ENABLE error
21: EEPROM WRITE PROTECT error
22: EEPROM ERASE error
23: EEPROM CLEAR error
24: EEPROM writing error
25: EEPROM reading error
26: EEPROM verify error
The alarm occurs.

Alarm?
Yes No
Remove and reinsert the AXA01 board.

Alarm? Board connection
Yes No failure.
Failure in the AXA01 board is

suspected.
Replace the AXA01 board.

Alarm? The AXA01 board
Yes No failure.
End of corrective
21
HW0483057 31/142
HW0483057
T AL-1030
MEMORY ERROR (PARAMETER FILE)
This alarm occurs when an error is detected during total check of parameters.
For a general error recovery, start the NX100 in Maintenance Mode and initialize the parameter file which
caused the memory error, then reload the parameter file stored in an external storage device.
As another possibility, this alarm may have been caused by a failure in CompactFlash card or memory
error in the NCP01 board. In this case, replace the NCP01 board.
Sub Code
00: RCD, RCxG parameter error 08: A1P parameter error
01: ROxG parameter error 09: RS parameter error
02: SVD, SVxG parameter error 10: S1E parameter error
03: SVMxG parameter error 11: SVxB parameter error
04: S1CxG, S2C, S3C, S4C parameter error 12: AMCxG parameter error
05: S1D, S2D, S3D, S4D parameter error 13: SVPxG parameter error
06: CIO parameter error 14: MFxG parameter error
07: FD parameter error 15: SVxS parameter error
The alarm occurs.
Memory error in the parameter

file; reset the NX100 by turning
Alarm?
Yes No
Start the NX100 in Maintenance

Mode, and initialize the parameter
file caused the memory error.
Recover the parameter file by reloading

the parameter file stored in an external
storage device.
Alarm?
Yes No
Failure in the NCP01 board is

suspected.
Replace the NCP01 board.

Alarm?
Yes No
End of corrective
measures
22
HW0483057 32/142
HW0483057
T AL-1031
MEMORY ERROR (MOTION1): [File No. in CMOS]
This alarm occurs when an error is detected in the CMOS files used by MOTION.
For a general error recovery, start the NX100 in Maintenance Mode and initialize the file which caused the
memory error, then reload the file stored in an external storage device.
As another possibility, this alarm may have been caused by a failure in CompactFlash card or memory
Sub Code
01: Home position calibration file 40: Gun pressure file
02: Tool file 41: Dry-spotting gun pressure file
03: User coordinates file 42: Anticipation OT# output file
04: Robot calibration file 43: Anticipation OG# output file
05: Tool calibration file 44: Handling condition file
06: Weaving amplitude condition file 45: Form cut file
07: Home position correction data file 46: Spot (user) I/O allocation file
08: Conveyor calibration file 47: Linear servo float condition file
09: Arm and tool interference prevention file 48: Macro definition file
20: Weaving file 49: Seal amount correction condition file (spray)
21: Power Source condition data file 50: Seal amount correction condition file (undercoat)
22: Welding condition auxiliary file 51: Arc monitor file
23: Arc start condition file 52: Motor-gun condition auxiliary file
24: Arc end condition file 53: Job registration table
25: COMARC condition file 54: Painting device condition file
26: COMARC data file 55: Painting system file
27: Path correction condition file 56: Painting condition file
28: Painting characteristics file 57: Paint characteristics file
29: Painting condition file 58: EVB gun file
30: Multi-layer index file 59: Paint filling file
31: Multi-layer condition file 60: Welding pulse condition file
32: Sensor monitoring condition file 61: Clearance file
33: Name position file 62: Linear scale condition file
34: Conveyor condition file 63: Gauging sensor condition file
35: Press characteristics file 64: Conveyor condition auxiliary file
36: Servo float condition file
37: Spot welding Power Source condition data file
38: Air-gun condition file
39: Motor-gun condition file
The alarm occurs.
Memory error in the condition file;

Reset the NX100 by turning OFF and ON the power.
Alarm?
Yes No
Start the NX100 in Maintenance Mode, and

initialize the file which caused the memory error.
Recover the file by reloading the parameter file

stored in an external storage device.
Alarm?
Yes No
Failure in the NCP01 board is suspected.
Replace the NCP01 board. (Refer to Appendix 3-1.)
Alarm?
Yes No
End of corrective
23
HW0483057 33/142
HW0483057
T AL-1050
SET-UP PROCESS ERROR (SYSCON): [Cause No.]
The system software monitors if the setup of MOTION software is properly complete when the power is
ON.
This alarm occurs if the MOTION software fails to properly complete the setup.
Note that the alarm AL-1051 (SET-UP PROCESS ERROR) occurs in conjunction with this alarm. (For
details, refer to AL-1051.)
01: Incomplete setup of MOTION
02: Online error
The alarm occurs.

Alarm?
Yes No
Failure in the NCP01 board is

suspected.
Replace the NCP01 board.

Alarm?
Yes No
End of corrective
measures
24
HW0483057 34/142
HW0483057
T AL-1051
SET-UP PROCESS ERROR (MOTION): [Cause No.]
This alarm occurs if setup process of MOTION is not properly complete when the power is ON.
01: Unable to properly activate the servo control
02: The position data of when the power supply was turned OFF cannot be transmitted to the servo control section
03: The servo control section cannot receive the position data of when the power supply was turned OFF
05: Unable to send a request to turn ON the PG power supply for the mounted axis
06: Unable to turn ON the PG power supply for the mounted axis
07: Unable to send a request to prepare a feedback pulse
08: Unable to prepare a feedback pulse
09: Unable to send a request to initialize the arithmetic section (ARITH)
10: Unable to initialize ARITH
11: Unable to send a request to prepare the current position
12: Unable to prepare the current position
The alarm occurs.

Alarm?
Yes No
from [1] to [8]. from [9] to [12].
Failure in the AXA01 board is Failure in the NCP01 board is

suspected. suspected.
Replace the AXA01 board. Replace the NCP01 board.

Alarm? Alarm?
Yes No Yes No

measures measures
25
HW0483057 35/142
HW0483057
T AL-1100
SYSTEM ERROR
This alarm is likely to be caused by failure in the system software, and it occurs when an alarm
unregistered in the system software is detected.
As another possibility, noise interference causes RAM data failure in the NCP01 board, leading to this
alarm.
Sub Code
C: * B: * F: *: Unregistered sub code (*: numbers)
T AL-1101
SYSTEM ERROR (SYSTEM 1)
This alarm is likely to be caused by failure in the system software. The RAM data failure in the NCP01
board may also cause this alarm.
Sub Code
0 to 255: Internal control error in software
T AL-1102
SYSTEM ERROR (SYSTEM 2)
Sub Code
T AL-1103
SYSTEM ERROR (EVENT)
Sub Code
The alarm occurs.

Alarm?
Yes No
Check in what circumstance

the alarm occurred.
Occurred immediately after
the software
Yes update. No
Restore the version.
Alarm?
Yes No
End of corrective
26
HW0483057 36/142
HW0483057
T AL-1104
SYSTEM ERROR (CIO)
As a cause of this alarm, I/O module or CIO parameter setting error is suspected.
The alarm condition may be recovered by reconfiguring the I/O module in Maintenance Mode.
As another possibility, the alarm may have been caused by a failure in CompactFlash card or memory
Sub Code
1000_0000: I/O module setting error
The alarm occurs.

Alarm?
Yes No
Turn OFF the power to the controller.
Check the connections of:

-CN03 connector (for communications) and--CN11
connector (for power supply) of the NIF01 board; and
-Connectors/cables for communications/power supply
of the expanded I/O board.
Alarm?
Yes No
Start the NX100 in Maintenance Mode,

and set the I/O module.
Alarm?
Yes No
Failure in the NCP01 board is suspected.
Replace the NCP01 board. (Refer to Appendix 3-1.)
Alarm?
Yes No
End of corrective
measures
27
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HW0483057
T AL-1105
SYSTEM ERROR (SERVO)
This alarm is caused by noise and control error. Contact your Yaskawa representative if the error
persists even after restarting the NX100. (For each sub code, refer to "NX100 MAINTENANCE MAN-
UAL (RE-CHO-A104)".
The alarm occurs.

Alarm?
Yes No
Remove and reinsert the AXA01 board.

Alarm? Board connection
Yes No failure.

suspected.

Alarm? The AXA01 board
Yes No failure.

measures
28
HW0483057 38/142
HW0483057
T AL-1200
HIGH TEMPERATURE
This alarm occurs by high temperature inside the controller (CPS power supply unit), which is possibly
caused by cooling fan error. If the error is due to the fan for power supply, the alarm occurs 10 minutes
after turning on the power.
If the error is due to the other fans, the alarm AL-4119 may occur. AL-4119 FAN ERROR (IN CONTROL
BOX) puts out a signal #50017 to activate the alarm 10 hours after the fan malfunction.
Sub Code: None
The alarm occurs.
Check if fan for power supply in the

NX100 is OFF while the NX100 is ON.
The fan is OFF.
Yes No
Check if the other fans in the NX100

Turn OFF the NX100 power.
are OFF while the NX100 is ON.
The fans are OFF.
Yes No
Replace the fan for power supply Turn OFF the NX100 power.
in the NX100.
Alarm?
Yes No
Replace the fans in the NX100.
Alarm?
Yes No

measures measures
29
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HW0483057
T AL-1204
COMMUNICATION ERROR (IO MODULE)
As a cause of this alarm, I/O board communication error, loose connection of power connector, or I/O
module setting error is suspected.
The alarm condition may be recovered by reconfiguring the I/O module in Maintenance Mode.
As another possibility, the alarm may have been caused by a failure in CompactFlash card or memory
error in the NCP01 board. In this case, replace the controller unit.
Sub Code
0000_0000_0000_0001: NIF board communication error
0000_0000_0000_0010: Communication error in expanded I/O board station 1
…
The alarm occurs.
Check the connections of:

-CN03 connector (for communications) and--CN11
connector (for power supply) of the NIF01 board; and
-Connectors/cables for communications/power supply
of the expanded I/O board.
Alarm?
Yes No
External circuit error is suspected.
Check the external circuit, and

turn ON the NX100 power.
Alarm?
Yes No
End of corrective
measures
30
HW0483057 40/142
HW0483057
T AL-1207
BROKEN B_ON RELAY FUSE (NIF01)
This alarm occurs due to malfunction or blown fuse caused when electrical noise from the power supply
interferes in the BROKEN B_ON RELAY FUSE detection circuit in the NIF01 board. Since the fuse is
mounted to the NIF01 board, replace the controller unit if the alarm is caused by a blown fuse.
Sub Code
0000_0001: Error detected in PLD circuit 1
0000_0011: Error detected in PLD circuits 1 and 2
T AL-1208
BROKEN S_ON RELAY FUSE (NIF01)
This alarm occurs due to malfunction or blown fuse caused when electrical noise from the power supply
interferes in the BROKEN S_ON RELAY FUSE detection circuit in the NIF01 board. Since the fuse is
mounted to the NIF01 board, replace the controller unit if the alarm is caused by a blown fuse.
Sub Code
T AL-1209
EXTERNAL WDT BROKEN (NIF01)
This alarm occurs due to malfunction or failure caused when electrical noise from the power supply
interferes in the EXTERNAL WDT BROKEN detection circuit in the NIF01 board. Replace the NIF01
board in case of failure.
Sub Code
The alarm occurs.

Alarm?
Yes No
Failure in the NIF01 board is

suspected.
Replace the NIF01 board, and initialize

Alarm?
Yes No
End of corrective
31
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HW0483057
T AL-1210
SERIAL COMMUNICATION TOGGLE CHECK ERROR (NIF01)
interferes in the SERIAL COMMUNICATION TOGGLE CHECK ERROR detection circuit in the NIF01
board. Replace the NIF01 board in case of failure.
Sub Code
The alarm occurs.

Alarm?
Yes No

suspected.

Alarm?
Yes No
End of corrective
32
HW0483057 42/142
HW0483057
T AL-1211
INPUT COMPARISON ERROR (NIF01):
This alarm occurs if the user wiring of the signal corresponding to the sub code is false, or if there is a
malfunction/failure caused by noise from the power supply in the NIF01 board.
If the sub code is not on the following list, malfunction/failure by noise from the power supply in the NIF01
board is suspected.
If the alarm is due to failure in the NIF01 board, replace the controller unit.
0000_0000_0000_0001: PBESP signal
0000_0000_0000_0010: PPESP signal
0000_0000_0000_0100: EXESP signal
0000_0000_0000_1000: ERRCPU signal
0000_0000_0001_0000: SYSRDY signal
0000_0000_0010_0000: SAF_F signal
0000_0000_1000_0000: EXSVON signal
0000_0010_0000_0000: MAINTE signal
0000_0100_0000_0000: DSW signal
0000_1000_0000_0000: EXDSW signal
0100_0000_0000_0000: SSP signal
1000_0000_0000_0000: FST signal
The alarm occurs.

Alarm?
Yes No
Check the wiring related to the signal

that caused the alarm.
Alarm? Connection failure
Yes No
Back up the CMOS data, and

turn OFF the NX100 power.
Remove and reinsert the NIF board.

Yes No
Failure in the NIF board is suspected.
Replace the NIF board, and initialize

Alarm? NIF board failure
Yes No
End of corrective
measures
33
HW0483057 43/142
HW0483057
T AL-1212
PLD MUTUAL MONITOR ERROR (NIF01)
interferes in the PLD MUTUAL MONITOR ERROR detection circuit of the NIF01 board.
In case of failure, replace the controller unit.
Sub Code
The alarm occurs.

Alarm?
Yes No

suspected.

Alarm?
Yes No
End of corrective
34
HW0483057 44/142
HW0483057
T AL-1213
MUTUAL WDT ERROR (NIF01)
If this alarm occurs in conjunction with AL-1211 (INPUT COMPARISON ERROR), refer to the AL-1211 for
troubleshooting.
When this alarm occurs independently, malfunction or failure caused by noise from the power supply in
the NIF01 board is suspected.
Sub Code
The alarm occurs.
Check if AL-1211 occurred

in conjunction with this alarm.
AL-1211 occurred
simultaneously.
Yes No
Refer to the AL-1211 for troubleshooting. Reset the NX100 by turning

Alarm?
Yes No
Failure in the NIF01 board is suspected.

Alarm?
Yes No
End of corrective
35
HW0483057 45/142
HW0483057
T AL-1214
PBESP RELAY STICKING
This alarm occurs when the PBESP relay sticking detection circuit in the NIF01 board malfunctions due
to electrical noise from the power supply, or when sticking/melting of overheated relay circuit wire is
detected. Replace the NIF01 board if the alarm is caused by sticking/melting of the circuit wire.
Sub Code
T AL-1215
PPESP RELAY STICKING
This alarm occurs when the PPESP relay sticking detection circuit in the NIF01 board malfunctions due
Sub Code
T AL-1216
EXESP RELAY STICKING
This alarm occurs when the EXESP relay sticking detection circuit in the NIF01 board malfunctions due
Sub Code
The alarm occurs.

Alarm?
Yes No

suspected.

Alarm?
Yes No
End of corrective
36
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HW0483057
T AL-1217
S_ON RELAY STICKING
This alarm occurs when the S_ON relay sticking detection circuit in the NIF01 board malfunctions due
Sub Code
T AL-1218
B_ON RELAY STICKING
This alarm occurs when the B_ON relay sticking detection circuit in the NIF01 board malfunctions due
Sub Code
The alarm occurs.

Alarm?
Yes No

suspected.

Alarm?
Yes No
End of corrective
37
HW0483057 47/142
HW0483057
T AL-1219
ANOTHER PLD EXT WDT ERROR (NIF01)
If this alarm occurs in conjunction with AL-1211 (INPUT COMPARISON ERROR), refer to the AL-1211
troubleshooting.
Sub Code
The alarm occurs.

AL-1211 occurred
simultaneously.
Yes No

Alarm?
Yes No

Alarm?
Yes No
End of corrective
38
HW0483057 48/142
HW0483057
T AL-1223
PLD MONITOR1 ERROR (NIF01)
interferes in the PLD MUTUAL MONITOR ERROR detection circuit of the NIF01 board.
In case of failure, replace the NIF01 board.
Sub Code
The alarm occurs.

Alarm?
Yes No

suspected.

Alarm?
Yes No
End of corrective
39
HW0483057 49/142
HW0483057
T AL-1224
If this alarm occurs in conjunction with AL-1211 (INPUT COMPARISON ERROR), refer to the AL-1211
troubleshooting.
Sub Code
The alarm occurs.

AL-1211 occurred
simultaneously.
Yes No

Alarm?
Yes No

Alarm?
Yes No
End of corrective
40
HW0483057 50/142
HW0483057
T AL-1225
This alarm occurs due to malfunction or failure caused when electrical noise from the power supply is in
the external WDT broken detection circuit in the NIF01 board.
In case of failure, replace the NIF01 board.
Sub Code
The alarm occurs.

Alarm?
Yes No

suspected.

Alarm?
Yes No
End of corrective
41
HW0483057 51/142
HW0483057
T AL-1300
SERVO CPU SYNCHRONIZING ERROR
The NX100 system performs serial communications between the main CPU board and the servo control
board, checking the synchronization of the servo regular process and the communication process. This
alarm occurs if any synchronization error is detected.
As a major cause of this alarm, a hardware error in the board is suspected. In rare cases, however, the
cause is attributed to a loose connection, noise interference, or internal data inconsistency.
Sub Code: None
The alarm occurs.

Alarm?
Yes No
Check the connections (removal and

reinsertion) of the following connectors:
xAXA01-CN02.
xNIF01-CN01.
Yes No
Remove and reinsert the AXA01

board. (Refer to Appendix 3-1.)
Yes No

suspected.

Alarm? AXA01 board
Yes No failure

measures
42
HW0483057 52/142
HW0483057
T AL-1301
COMMUNICATION ERROR (SERVO)
This alarm occurs if there is a communication error between the robot interface board (NIF01) and the
servo control board (AXA01).
As a major cause of this alarm, a loose connection is suspected. In rare cases, however, the cause is
attributed to a noise interference, defective board/cable, or internal data inconsistency.
Sub Code
0: Communication status error
1: Watchdog timer error
2: JL040 alarm
3: Communication status error
4: Data consistency error
The alarm occurs.

Alarm?
Yes No

xAXA01-CN02.
xNIF01-CN01.
Yes No

Yes No

suspected.

Alarm? AXA01 board
Yes No failure
Replace the NIF01 unit, and initialize

Alarm? NIF01 unit failure
Yes No
End of corrective
measures
43
HW0483057 53/142
HW0483057
T AL-1302
COMMUNICATION ERROR (SERVO I/O)
This alarm occurs if there is a communication error between the servo control board (AXA01) and the
power-on unit (NTU01).
attributed to a noise interference, defective board/cable, or internal data inconsistency.
Sub Code
1: Communication loop back **10: Communication loop back (**: AXA board number of the connected unit)
2: No interrupt **11: Address matching error
4: Watchdog timer error **12: Servo I/O communication buffer error (**: AXA board number of the
5: Command timeout connected unit)
The alarm occurs.

Alarm?
Yes No

xAXA01-CN03.
xNTU01-CN01/CN02.
Yes No

xNBB01(backboard)-CNTU.
xNTU01-CN03.
Yes No

Yes No

suspected.

Alarm? AXA01 board
Yes No failure
Replace the NIF01 (or NTU02) unit,

and initialize the NX100 system
configuration. (Refer to Appendix 3-1.)
Alarm? NIF01 unit failure
Yes No
End of corrective
measures
44
HW0483057 54/142
HW0483057
T AL-1303
ARITHMETIC ERROR (SERVO)
This alarm occurs if a control-related parameter calculated from the input parameter (tool file) is not
within the specified range.
Sub Code
The alarm occurs.
Check if the tool file has been modified.

The tool file has been
No modified. Yes
Reexamine the tool file setting.

(Check the units of mass and center
of gravity, positive/negative signs.)
Alarm? Tool file
Yes No setting error

measures
45
HW0483057 55/142
HW0483057
T AL-1304
EX-AXIS BOARD NOT INSTALLED
This alarm occurs during operation if the external axis board which has not been installed is assigned,
or if the board is defective. In rare cases, the cause is attributed to a loose connection or noise
interference.
Sub Code: None
The alarm occurs.

Alarm?
Yes No
Verify that the AXB01 board is installed.

The AXB01 board is
Yes installed. No
Install the AXB01 board.

Alarm?
Yes No
Check the cable connection between

the AXA01 board and AXB01 board.
Alarm?
Yes No Connection failure
Failure in the AXB01 board is

suspected.
Replace the AXB01 board.

Alarm? AXB01 board
Yes No failure

suspected.

Alarm? AXA01 board
Yes No failure
End of corrective
measures
46
HW0483057 56/142
HW0483057
T AL-1306
AMPLIFIER TYPE MISMATCH: [Physical Axis Bit]
When the controller power is ON, the NX100 system checks the current capacity of the SERVOPACK
amplifier in the servo control circuit board. This alarm occurs if there is a difference in the capacity
between the set value and the mounted amplifier.
If the alarm occurs during operation, a parameter setting error or board failure is suspected. In rare
cases, the cause is attributed to a loose connection or noise interference.
Sub Code: Signifies the axis in which the alarm occurred
The alarm occurs.

Alarm?
Yes No
Check if the amplifier has been

replaced.
The amplifier has been
No replaced. Yes
Check the parameters of the current

capacity of amplifier.
(Parameter #: SVPxG232 and greater.)
Alarm? Amplifier selection
Yes No error
Check the cable connections between

AXA01, AXB01, and amplifier:
xAXA01-CN04.
xAmplifier-CN04, -CN05, -CN06.
Yes No
Failure in the amplifier is suspected.
Replace the amplifier.

Alarm? Amplifier failure
Yes No
Failure in the circuit board AXA01

and/or AXB01 is suspected.
Replace the AXA01 and/or AXB01

Alarm? AXA01/AXB01
Yes No board failure
End of corrective
measures
47
HW0483057 57/142
HW0483057
T AL-1307
ENCODER TYPE MISMATCH: [Physical Axis Bit]
When the controller power is ON, the NX100 system checks the encoder type of the manipulator in the
servo control circuit board. This alarm occurs if there is a difference between the set value and the
mounted encoder.
Since the proper encoder has been configured before shipment, an encoder error is suspected as the
cause of this alarm occurrred during operation. In rare cases, the cause is attributed to a loose
connection, defective board, or noise interference.
The NX100 system identifies the 16-bit and 17-bit serial encoder types; the resolutions of absolute
encoders of which motor types are SGMUU-UUA1A and SGMUU-UUA2A are respectively 16 bits
and 17 bits.
The alarm occurs.

Alarm?
Yes No
Check if the motor has been

replaced.
The motor has been
No replaced. Yes
Check the encoder type. (The motor

type before and after the replacement.)
Alarm? Mismatched
Yes No encoder type

AXA01, AXB01, and encoder:
Yes No
Failure in the encoder is suspected.
Replace the motor of the subject axis.
Alarm? Encoder failure

Yes No


Alarm? AXA01/AXB01

measures
48
HW0483057 58/142
HW0483057
T AL-1308
CONVERTER TYPE MISMATCH: [Physical Converter Bit]
When the controller power is ON, the NX100 system checks the converter type. This alarm occurs if
there is a difference between the set value and the mounted converter type.
If the alarm occurs during operation, a board failure is suspected. In rare cases, the cause is attributed to
a loose connection or noise interference.
Sub Code: Signifies the converter in which the alarm occurred
The alarm occurs.

Alarm?
Yes No
Check if the converter has been

replaced.
(Refer to Appendixes 5-1 and 6-1.)
The converter has been
No replaced. Yes
Check the parameters of the current

capacity of converter.
(Parameter #: SVCxB060 and greater.)
Alarm? Converter
Yes No selection error

AXA01, AXB01, and converter:
Yes No
Failure in the converter is suspected.
Replace the converter.

Alarm? Converter failure
Yes No


Alarm? AXA01/AXB01

measures
49
HW0483057 59/142
HW0483057
T AL-1309
HARDWARE ERROR (CONVERTER): [Physical Converter Bit]
T AL-1310
CHARGE ERROR (CONVERTER): [Physical Converter Bit]
T AL-1311
A/D DETECTION ERROR (CONVERTER): [Physical Converter Bit]
T AL-1312
ID ERROR (CONVERTER): [Physical Converter Bit]
The NX100 system checks internal state of converter in the converter board.
This alarm occurs if any malfunction is found.
Sub Code: Signifies the converter in which the alarm occurred
The alarm occurs.

Alarm?
Yes No
Check if the converter alarm is

indicated by the illuminated red
LED when the servo power is ON.
Red LED is
No illuminated. Yes

Yes No

measures
50
HW0483057 60/142
HW0483057
T AL-1325
COMMUNICATION ERROR (ENCODER)
The NX100 system performs serial communications between controller and encoder. This alarm occurs if
the system fails to establish the communications.
If the alarm occurs during operation, a communications disconnection due to a connection error of
encoder cable is suspected. In rare cases, the cause is attributed to a noise interference, encoder mal-
function, or defective board.
The alarm occurs.
Examine which axis caused the alarm.
Which axis? Continued on

Robot axis External axis the next page.

Alarm?
Yes No
Check the cable connection between

AXA01-CN07 and encoder.
Yes No

Yes No
Encoder failure is suspected.
Replace the defective motor (encoder).

Yes No

suspected.
Encoder cable disconnection is Turn OFF the NX100 power.

suspected.

Replace the encoder cable. Alarm? AXA01 board

Yes No failure
Alarm?
Yes No
Cable failure End of corrective

51
HW0483057 61/142
HW0483057
T AL-1325
COMMUNICATION ERROR (ENCODER)
Continued from
the previous page.

Alarm?
Yes No

AXB01 board and encoder:
xAXB-CN08.
xEV1SV-CNP2, -CN01, -CN02.

Yes No
Remove and reinsert the AXB01

Yes No

Yes No
Failure in the AXB01 board is

suspected.

Alarm? AXB01 board
Yes No failure
End of corrective
measures
52
HW0483057 62/142
HW0483057
T AL-1326
DEFECTIVE ENCODER ABSOLUTE DATA
When the controller power is ON, the NX100 system checks the encoder data. This alarm occurs if the
encoder data exceeds the set value.
Under normal operating condition, the internal data does not exceed the set value; therefore, if the alarm
occurs during operation, encoder error is suspected as an alarm cause. In rare cases, the cause is attrib-
uted to a loose connection, encoder malfunction, or noise interference.
The alarm occurs.

Alarm?
Yes No

the AXA01 board, AXB01 board,
and encoder.
Yes No

and AXB01 boards.
Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
53
HW0483057 63/142
HW0483057
T AL-1327
ENCODER OVER SPEED
When the controller power is ON, the NX100 system checks the encoder data. This alarm occurs if any
axis moves (i.e. falls by its own weight), or an encoder rotation speed of 400 rpm or more is detected dur-
ing the power-ON process.
Encoder error is suspected if the alarm occurs when the manipulator is in halt condition.
For recovery, turn ON the control power when the manipulator is in a halt condition; if the alarm occurs,
replace the motor of the subject axis.
The alarm occurs.
Check if any axis moves when

the SERVO ON process.
Has any axis
No moved? Yes
Check if the axis is equipped

with a brake.
Brake equipped
Yes axis? No
Turn OFF the servo power at the position

where the axis does not move.
Alarm?
Yes No

and encoder.
Yes No

Yes No
End of corrective
54
HW0483057 64/142
HW0483057
T AL-1328
DEFECTIVE SERIAL ENCODER
there is an error in the internal data of the encoder.
If the alarm occurs during operation, defect in the encoder is suspected as a cause. In rare cases, the
alarm cause is attributed to a noise interference or defective board.
The alarm occurs.

Alarm?
Yes No

and encoder.
Yes No
Remove and reinsert the boards

AXA01 and AXB01.
Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
55
HW0483057 65/142
HW0483057
T AL-1329
DEFECTIVE SERIAL ENCODER COMMAND
the operation in response to the encoder command is a malfunction.
alarm cause is attributed to a noise interference or defective board.
The alarm occurs.

Alarm?
Yes No

and encoder.
Yes No
Remove and reinsert the boards

AXA01 and AXB01.
Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
56
HW0483057 66/142
HW0483057
T AL-1330
MICRO PROGRAM TRANSMIT ERROR
When the NX100 power is ON, the SERVO software transfers a microprogram which controls an electric
current to JL056 (the current-limiting LSI). This alarm occurs if any inconsistency is found in verification
performed after the transfer. The cause for the alarm is a defective board.
The alarm occurs.

Alarm?
Yes No
Failure in the AXA01 board and

AXB01 board is suspected.

Alarm? AXA01/AXB01
End of corrective
measures
57
HW0483057 67/142
HW0483057
T AL-1335
INCOMPLETE ENCODER RESET
This alarm occurs when reset operation to recover from the encoder backup error did not complete.
As a cause of the alarm, a defective battery line (poor connection, voltage reduction) is suspected.
Flow Chart A The alarm occurs.
Which axis? Go to B
Robot axis External axis
Examine how many axes were

involved in the alarm.
Single or maltiple
axes? Go to C
Single axis Multiple axes
Loose connection or disconnection

of the encoder battery line inside Poor connection in the battery system or
the manipulator is suspected. reduced battery power is suspected.

Check if the encoder battery line Check the battery connection of the voltage
connectors inside the manipulator converter board of manipulator.
are properly connected. Alarm?
Yes No
Failure in the battery is suspected. Failure in the encoder is suspected.
Turn OFF the NX100 power. Turn OFF the NX100 power.
Replace the battery inside

the manipulator. Replace the defective motor (encoder).
Alarm? Battery failure Alarm? Encoder failure

Yes No Yes No
Turn OFF the NX100 power. Failure in the AXA01 board is suspected.
Check for disconnection of the encoder

battery line inside the manipulator. Turn OFF the NX100 power.
Disconnected?
No Yes

Replace the encoder battery line.
Alarm? Cable failure Alarm? AXA01 board
Yes No Yes No failure

measures measures
58
HW0483057 68/142
HW0483057
T AL-1335
Flow Chart B
Continued from A
Poor connection of the encoder

battery line for external axis, or
reduced battery power is suspected.
Check the battery voltage of external axis.
Alarm? Battery failure

Yes No
Check if the connectors of the

external axis encoder battery
line are properly connected.
Yes No
Check for disconnection of the

external axis encoder battery line.
Disconnected?
No Yes
Alarm? Cable disconnection

Yes No

Yes No
Failure in the AXB01 board is suspected.

Alarm? AXB01 board
Yes No failure
End of corrective
measures
59
HW0483057 69/142
HW0483057
T AL-1335
Flow Chart C
Continued from A
Poor connection in the battery system or

Check the battery connection of the voltage

converter board of manipulator.
Yes No
Failure in the battery is suspected.

the manipulator.
Yes No

of the encoder battery line inside
the manipulator is suspected.
Check if the encoder battery line

connectors inside the manipulator
are properly connected.
Yes No

battery line inside the manipulator.
Disconnected?
No Yes

Yes No
End of corrective
Go to D
measures
60
HW0483057 70/142
HW0483057
T AL-1335
Flow Chart D
Continued from C

Yes No
Failure in the AXA01 board is suspected.

Alarm? AXA01 board
Yes No failure
End of corrective
measures
61
HW0483057 71/142
HW0483057
T AL-1343
COMMUNICATION ERROR (CONVERTER)
The NX100 system performs serial communications between the servo control board and the converter.
This alarm occurs if there is an error in the serial communications.
attributed to a noise interference, defective circuit board, or internal data inconsistency.
Sub Code
*01: Communication status error (*: converter No.) *04: CRC-16 error (*: converter No.)
*02: Command timeout (*: converter No.) *05: Error code received (*: converter No.)
*03: Sent buffer FULL (*: converter No.) *06: Received command error (*: converter No.)
The alarm occurs.

Alarm?
Yes No
Turn ON the converter power.
Alarm?
Yes No

xAXA01-CN01.
xAXB01-CN08.
xConverter-CN10.
xEX1SV-CNP2, -CN1.
(Refer to Appendix 2-1, 5-1, and 6-1.)
Yes No

Yes No

Alarm? AXA01 board
Yes No failure
End of corrective
measures
62
HW0483057 72/142
HW0483057
T AL-1345
SAFETY CIRCUIT SIGNAL UNMATCH (SERVO): [XYY]
This alarm occurs if unmatched signal is detected in the double-check of the receive data to the power-
ON unit.
Sub Code: XYY (Signifies the power-ON unit No. and unmatched signal No.)
X: Power-ON unit
0: Power-ON unit1 (TU#1)
YY: Unmatched signal
01: KMMA signal unmatched error 12: TCER signal unmatched error
02: SVMAIN signal unmatched error 13: SON_OUT signal unmatched error
03: SVMAIN1/2 signal unmatched error 14: BRRVER signal unmatched error
04: IORDY signal unmatched error
05: ONEN signal unmatched error 60: Error due to unmatched output signal for servo board failure
06: FUCUT signal unmatched error 61: Error due to unmatched signal for the main contactor state (closed contact)
07: SHOCK1 signal unmatched error 62: Error due to unmatched signal for the main contactor state (open contact)
08: EXOT signal unmatched error 63: Error due to unmatched input signal for the main contractor control relay
09: OT signal unmatched error 64: Error due to unmatched input signal for the OT recovery
10: TUSONER signal unmatched error 65: Error due to unmatched input signal for the external WDT
11: SVCMPER signal unmatched error 66: Error due to unmatched 1FB input signal: the brake release control signal
The alarm occurs.

Alarm?
Yes No
Check the wiring related to the signal

in which the error occurred.
Yes No
Failure in the power-ON unit

(board) is suspected.
Replace the power-ON unit (board).

Alarm? Power-ON unit

Yes No failure

measures
63
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HW0483057
T AL-1352
SERIAL CORRECTION FAILED
The NX100 system controls the manipulator based on the position data from encoder. If a communication
error occurs in a control cycle, the system controls the manipulator in accordance with the previous posi-
tion data checking the compensation data. This alarm occurs if the compensation data is not within the
specified value.
alarm cause is attributed to a loose connection, defective board, or noise interference.
The alarm occurs.

Alarm?
Yes No
Check the cable connections

(insert/reinsert) between the AXA01
board, AXB01 board, and encoder.
Yes No
Encoder cable disconnection

is suspected.
Replace the encoder cable.
Alarm? Cable failure

Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
64
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HW0483057
T AL-1355
SERIAL ENC MULTITURN LIMIT ERR
When the controller power is ON, the NX100 system checks the encoder multi-turn quantity. This alarm
occurs if the malti-turn quantity data is not within the normal range.
alarm cause is attributed to a loose connection, defective board, or noise interference.
The alarm occurs.

Alarm?
Yes No

(insert/reinsert) between the AXA01
board, AXB01 board, and encoder.
Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
65
HW0483057 75/142
HW0483057
T AL-1503
INPUT COMPARISON ERROR (SERVO I/O)
This alarm occurs if input comparison error is sent from the TU circuit board.
Sub Code: --
The alarm occurs.

Yes No
TU circuit board failure is suspected.
Replace the TU circuit board.

Alarm? TU circuit
End of corrective
measures
66
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HW0483057
T AL-1504
TUSON RELAY STICKING (SERVO I/O)
This alarm occurs if TUSON relay breakdown is sent from the TU circuit board.
Sub Code: --
The alarm occurs.

Yes No

Alarm? TU circuit
End of corrective
measures
67
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HW0483057
T AL-1515
SON_OUT RELAY STICKING (SERVO)
This alarm occurs if SON_OUT relay sticking is sent from the TU circuit board.
Sub Code: --
The alarm occurs.

Yes No

Alarm? TU circuit
End of corrective
measures
68
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HW0483057
T AL-4100
OVERRUN (ROBOT AXIS)
This alarm occurs if the manipulator overrun signal is detected.
Since this overrun signal is short-circuited to disable the alarm before shipment, a cable disconnection or
defective board is suspected as the alarm cause.
Sub Code: Signifies the physical No. of contactor in which the alarm occurred
01: Power-ON unit
The alarm occurs.

Alarm?
Yes No
Check the connection of:

xNTU-CN07.
Yes No
Remove and reinsert the power-ON

unit (NTU01).
Yes No

Yes No
Failure in the NTU01 or AXA01

board is suspected.
Replace NTU01.
Alarm? Board failure
Yes No

Alarm?
Yes No Board failure
End of corrective
measures
69
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HW0483057
T AL-4101
OVERRUN (EXTERNAL AXIS)
This alarm occurs if the overrun signal of external axis is detected.
Since this overrun signal is short-circuited to mask the alarm before shipment, a defective cable or board
is suspected as the alarm cause.
01: Power-ON unit
The alarm occurs.

Alarm?
Yes No

xNTU-CN06.
Yes No

unit (NTU01).
Yes No

Yes No
Failure in NTU01 or AXA01

board is suspected.
Replace NTU01.
Yes No

Alarm?
End of corrective
measures
70
HW0483057 80/142
HW0483057
T AL-4110
SHOCK SENSOR ACTIVATION
This alarm occurs if the shock sensor signal is detected.
Since this overrun signal is short-circuited to mask the alarm before shipment, a defective cable or board
is suspected as the alarm cause.
Sub Code: --
The alarm occurs.

Alarm?
Yes No

xNTU-CN07.
Yes No

unit (NTU01).
Yes No

Yes No

board is suspected.
Replace NTU01.
Yes No

Alarm?
End of corrective
measures
71
HW0483057 81/142
HW0483057
T AL-4111
BRAKE FUSE BREAKDOWN
The NX100 system checks the brake output relay fuse of NTU01. This alarm occurs if the brake fuse
blows out.
As a cause of the alarm, loose connection or noise interference is suspected as well as failure in the
NTU01 board.
Sub Code: None
The alarm occurs.

Alarm?
Yes No
Check the connection of AXA-CN03

on the AXA01 board.
Yes No
Check the connection of NTU-CN01

on the NTU01 board.
Yes No
Remove and reinsert the NTU01

board (Refer to Appendix 4-1.)
Yes No

board (Refer to Appendix 3-1.)
Yes No

board is suspected.
Replace NTU01.
Yes No

Yes No
End of corrective
measures
72
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HW0483057
T AL-4119
FAN ERROR (IN CONTROL BOX): [XY]
As a cause of this alarm, failure in cooling fan is suspected; AL-1200 occurs if the fan for power supply
malfunctions, and if the other fan malfunctions, AL-4119 may occur.
AL-4119 FAN ERROR (IN CONTROL BOX) puts out a signal #50017 to activate the alarm 10 hours after
the fan malfunction.
Related Alarm: AL-1200
AL-1514
AL-4340
Sub Code: XY (Signifies the servo board No. and power-ON unit No.)
X: Servo board Y: Power-ON unit
1: Servo board 1 (SV#1) 1: Power-ON unit1 (TU#1)
The alarm occurs.
Replace the fan for power supply

in the NX100.
Alarm?
Yes No
End of corrective
73
HW0483057 83/142
HW0483057
T AL-4200
SYSTEM ERROR (FILE DATA)
This alarm occurs if abnormal internal data is detected during the access to file data.
As a major cause of the alarm, system software malfunction is suspected; as another possibility, an inter-
nal RAM data error also may cause the alarm.
Sub Code
01 to 23: Signifies the internal software error
T AL-4201
SYSTEM ERROR (JOB)
This alarm occurs if abnormal internal data is detected during the access to the job data of MOTION.
Sub Code
-1 to -63: Signifies the internal software error
T AL-4202
SYSTEM ERROR (JOB)
This alarm occurs if abnormal internal data is detected during the access to the job data of operating/edit-
ing software.
Sub Code
The alarm occurs.

Alarm?
Yes No

the alarm occurred.
the software
No update. Yes
Restore the previous software version.
Alarm?
Yes No
measures
74
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HW0483057
T AL-4203
SYSTEM ERROR (POSITION DATA)
This alarm occurs if abnormal internal data is detected during the access to the position data of MOTION.
Sub Code
-1 to -11: Signifies the internal software error
T AL-4204
SYSTEM ERROR (POSITION DATA)
This alarm occurs if abnormal internal data is detected during the access to position data.
Sub Code
The alarm occurs.

Alarm?
Yes No

the alarm occurred.
the software
No update. Yes
Restore the previous software version.
Alarm?
Yes No
measures
75
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HW0483057
T AL-4301
CONTACTOR ERROR
The NX100 system checks the status of the NTU01 contactors. This alarm occurs if there is an inconsis-
tency between the control output and contactor status.
As a cause of the alarm, the NTU01 board failure or loose connection is suspected; in rare cases, the
alarm may be caused by a noise interference.
Before performing a connection check of the wiring, turn OFF the controller power. Make sure that
NOTE all the LEDs of SERVOPACK and converter are OFF, then verify that no electricity is charged using
equipment such as a tester.
This process may take a few minutes after shutting off the power.
The alarm occurs.

Alarm?
Yes No
Check if the contactors (1KM and

2KM) are open, and not damaged
by melting or sticking.
Alarm? Contactor damage
Yes No
Failure in the NTU01 board

is suspected.
Replace the NTU01 board.

Alarm? NTU01 board
Yes No failure


Alarm? AXA01/AXB01
End of corrective
measures
76
HW0483057 86/142
HW0483057
T AL-4302
BRAKE CIRCUIT ERROR
The NX100 system checks the brake status of NTU01. This alarm occurs if there is an inconsistency
between the control output and brake status.
As a cause of the alarm, the NTU01 board failure is suspected.
Before performing a connection check of the wiring, turn OFF the controller power. Make sure that
NOTE all the LEDs of SERVOPACK and converter are OFF, then verify that no electricity is charged using
equipment such as a tester.
This process may take a few minutes after shutting off the power.
The alarm occurs.

Alarm?
Yes No
Check for damage in the relay circuit

(K8, K14, K23) of the NTU01 board.
Alarm? Relay circuit
Yes No failure

is suspected.

Alarm? NTU01 board
Yes No failure


Alarm? AXA01/AXB01
End of corrective
measures
77
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HW0483057
T AL-4303
CONVERTER READY SIGNAL ERROR
The NX100 system checks the converter status. This alarm occurs if the ready state signal of converter is
not ON after a certain time period from SERVO ON.
As a cause of the alarm, a failure in the circuit board NTU01, AXA01 or AXB01, or converter is suspected;
as another possibility, a loose connection also may cause the alarm. In rare cases, the alarm may be
caused by a noise interference.
Sub Code: Signifies the physical No. of converter in which the alarm occurred
The alarm occurs.

Alarm?
Yes No

the AXA01, AXB01, and converter.
(Refer to Appendix 2-1, 5-1, 6-1.)

Yes No
Check if the contactors

1KM and 2KM are ON.
The contactors
Yes are ON. No
Check if the contactors 1KM and

Check if the CHARGE lamp illuminates
2KM are not damaged by melting
when the servo power is ON. or sticking. (Refer to Appendix 4-1.)
The lamp Alarm?
No illuminates. Yes Yes No Contactor damage

Converter failure is suspected.
is suspected.
Replace the converter. Replace the NTU01 board.

(Refer to Appendix 5-1, 6-1.) (Refer to Appendix 4-1.)
Alarm? Alarm? NTU01 board


Converter failure
End of corrective Replace the AXA01 and/or AXB01

measures board. (Refer to Appendix 3-1.)
Alarm? AXA01/AXB01
End of corrective
measures
78
HW0483057 88/142
HW0483057
T AL-4304
CONVERTER INPUT POWER ERROR
The NX100 system checks the converter status. This alarm occurs if the ready state signal of converter is
not ON after a certain time period from SERVO ON.
As a cause of the alarm, a failure in the circuit board NTU01, AXA01 or AXB01, or converter is suspected;
as another possibility, a loose connection also may cause the alarm. In rare cases, the alarm may be
caused by a noise interference.
The alarm occurs.

Alarm?
Yes No
Check if the contactors

1KM and 2KM are ON.
The contactors
Yes are ON. No
Check if the contactors 1KM and

2KM are not damaged by melting
or sticking.
Alarm? Contactor damage
Yes No

is suspected.

Alarm? NTU01 board
Yes No failure
Check the connections between

NTU01 and converter:
xNTU01-1X.
xEX1SV-CNP1.
(Refer to Appendix 4-1, 6-1.)
Yes No

when the servo power is ON.
The lamp
No illuminates. Yes

(Refer to Appendixes 5-1, 6-1.)
Yes No

measures
79
HW0483057 89/142
HW0483057
T AL-4305
CONVERTER CIRCUIT CHARGE ERROR
The NX100 system checks the charge status of converter. This alarm occurs if the ready state of con-
verter is not achieved within a certain time period.
As a cause of the alarm, a failure in the Converter1 board is suspected.
The alarm occurs.

Alarm?
Yes No

The lamp
No illuminates. Yes

(Refer to Appendixes 5-1, 6-1.)
Yes No
End of corrective
measures
80
HW0483057 90/142
HW0483057
T AL-4306
AMPLIFIER READY SIGNAL ERROR
This alarm occurs is the amplifier READY signal is OFF while the servo power is turned ON.
As a cause of the alarm, a failure in the servo control circuit board, converter, and/or amplifier is sus-
pected.
The alarm occurs.

Alarm?
Yes No
Check the cables for control power

of converter and amplifier.
Yes No
Check if the amplifier READY LED

(green) illuminates when the servo is ON.
Illuminates?
No Yes
Failure in the primary power

supply is suspected.
Replace the primary power supply.
Alarm? Primary power

Yes No supply failure
Replace the amplifier

Yes No

between AXA01, AXB01, and amplifier:
xAXA-CN04.
xAmplifier-CNP4, -CNP6.
xConverter-CN101, -CN102.
Yes No


Alarm? AXA01/AXB01

measures
81
HW0483057 91/142
HW0483057
T AL-4307
SERVO ON SPEED ERROR
This alarm occurs if any manipulator axis moves (or any motor operates) when the servo power is ON.
The alarm occurs.

Alarm?
Yes No
Turn ON the servo power after 5 or more

seconds from the alarm occurrence.
Alarm?
Yes No
Check the connection of the SERVO

PACK motor power line connector.
Alarm? Loose connector
Yes No
Check the power cable connection

of the manipulator cable.
Alarm? Loose connector
Yes No
Check the cable connection

between AXA01 and encoder.
Yes No
Failure in the AXA01 board

is suspected.

Alarm? Circuit board failure
Yes No

measures
82
HW0483057 92/142
HW0483057
T AL-4308
VOLTAGE DROP (CONVERTER)
This alarm occurs if there is any error in the charge status of converter when the servo power is ON.
As a cause of the alarm, a failure in the converter, primary power output, or amplifier is suspected. In rare
cases, the alarm may be caused by a noise interference.
The alarm occurs.

Alarm?
Yes No

the AXA01, AXB01, and converter.

Yes No

Yes No


Alarm? Circuit board failure

Yes No
End of corrective
83
HW0483057 93/142
HW0483057
T AL-4309
DEFECTIVE ENCODER INTERNAL DATA
This alarm occurs if there is an internal parameter error in serial encoder.
To recover from the alarm status, reset the alarm, recalibrate the home position, then restart the NX100.
If unable to restore the normal condition, replace the motor causing the alarm.
The alarm occurs.

Alarm?
Yes No

the AXA01, AXB01, and encoder.

Yes No
Replace the defective motor

(encoder).
Yes No
End of corrective
84
HW0483057 94/142
HW0483057
T AL-4310
ENCODER OVERHEAT
This alarm occurs if there is a failure in a motor (for motor gun) which is not equipped with a serial
encoder.
The encoder monitors its own temperature with a thermometer; if the temperature exceeds the specified
value, the alarm occurs.
As a cause of the alarm, overloaded encoder status or effect of the ambient environmental temperature is
suspected. In rare cases, the alarm may be caused by a defective motor gun axis.
The alarm occurs.

Alarm?
Yes No
Turn OFF the NX100 power for approx.

10 minutes, then turn it ON again.
Alarm? Overheated
Yes No encoder
Check if the ambient temperature

is 45°C or less.
The temperature is
Yes 45°C or less. No
Lower the ambient temperature

to 40°C or less.
Alarm? High ambient
Yes No temperature

(encoder).
Yes No
Failure in the AXB01

board is suspected.

Alarm? AXB01 board
Yes No failure
End of corrective
85
HW0483057 95/142
HW0483057
T AL-4311
ENCODER BACK-UP ERROR
If this alarm occurs, the cumulative rotation amount data in the motor subsequently disappears.
When operating the manipulator after performing the troubleshooting procedure, calibrate the home posi-
tion with due consideration to the P-point maximum envelope of manipulator.
The alarm occurs.
Clear the alarm with

Alarm?
Yes No
Check if AL-4314 (battery error)

occurred in conjunction with this alarm.
AL-4314 occurred
No simultaneously. Yes
Replace the battery of the axis

in which the error occurred.
Data disappearance
Alarm? due to decreased
Yes No battery voltage
Check the cable connection

between the AXA01 and encoder.
Yes No


Alarm? AXA01/AXB01

(encoder).
Yes No
End of corrective
measures
86
HW0483057 96/142
HW0483057
T AL-4312
ENCODER BATTERY ERROR
The cumulative rotation amount data in the motor disappears if its encoder backup battery voltage
decreases and is left unrestored without turning on the power to the NX100; therefore, make sure to
replace the battery without delay.
If the cumulative rotation amount data is lost as a result of ENCODER BACK-UP ERROR (AL-4311), cali-
brate the home position with due consideration to the P-point maximum envelope of manipulator when
starting to operate the manipulator again.
Sub Code: --
The alarm occurs.
Decreased battery voltage is suspected.
Replace the battery.
Alarm? Decreased battery

Yes No voltage
Check the conduction of

the battery line cable.
Yes No

measures
87
HW0483057 97/142
HW0483057
T AL-4313
SERIAL ENCODER OVER HEAT
The NX100 system monitors the encoder temperature with a thermometer in the encoder. This alarm
occurs if the temperature exceeds the specified value.
As a cause of the alarm, overloaded encoder status or effect of the ambient environmental temperature is
suspected. In rare cases, the alarm may be caused by a manipulator malfunction.
The alarm occurs.

Alarm?
Yes No
Turn OFF the NX100 power for approx.

10 minutes, then turn it ON again.
Alarm? Overheated
Yes No encoder
Check if the ambient temperature

is 45°C or less.
The temperature is
Yes 45°C or less. No
Lower the ambient temperature

to 40°C or less.
Alarm? High ambient
Yes No temperature

(encoder).
Yes No


Alarm? AXA01/AXB01
End of corrective
88
HW0483057 98/142
HW0483057
T AL-4314
SERIAL ENCODER BATTERY ERROR
This alarm occurs when the voltage of encoder backup battery decreases to 2.8 V or less.
Since a condenser is not equipped in the motor with a serial encoder, the cumulative rotation amount data
in the motor disappears when the NX100 power is turned OFF if the decreased voltage of encoder battery
is left unrestored. Therefore, make sure to replace the battery using a backup battery.
If the cumulative rotation amount data is lost as a result of ENCODER BACK-UP ERROR (AL-4311), cali-
brate the home position with due consideration to the P-point maximum envelope of manipulator when
starting to operate the manipulator again.
Which axis? Go to B
Robot axis External axis
Examine how many axes were

involved in the alarm.
Single or maltiple
axes? Go to C
Single axis Multiple axes

of the encoder battery line inside Poor connection in the battery system or
the manipulator is suspected. reduced battery power is suspected.

Check if the encoder battery line Check the battery connection of the voltage
connectors inside the manipulator converter board of manipulator.
are properly connected. Alarm?
Yes No
Failure in the battery is suspected. Failure in the encoder is suspected.

the manipulator. Replace the defective motor (encoder).
Alarm? Battery failure Alarm? Encoder failure

Yes No Yes No
Turn OFF the NX100 power. Failure in the AXA01 board is suspected.

battery line inside the manipulator. Turn OFF the NX100 power.
Disconnected?
No Yes

Alarm? Cable failure Alarm? AXA01 board

measures measures
89
HW0483057 99/142
HW0483057
T AL-4314
Flow Chart B
Continued from A
Poor connection of the encoder

battery line for external axis, or
Check the battery voltage of external axis.

Yes No
Check if the connectors of the

external axis encoder battery
line are properly connected.
Yes No
Check for disconnection of the

external axis encoder battery line.
Disconnected?
No Yes

Yes No

Yes No
Failure in the AXB01 board is suspected.

Alarm? AXB01 board
Yes No failure
End of corrective
measures
90
HW0483057 100/142
HW0483057
T AL-4314
Flow Chart C
Continued from A
Poor connection in the battery system or

Check the battery connection of the

voltage converter board of manipulator.
Yes No
Check the battery voltage

inside the manipulator.
Alarm?
Yes No

the manipulator.
Yes No

of the encoder battery line inside
the manipulator is suspected.
Check if the encoder battery line

connectors inside the manipulator
are properly connected.

Yes No

battery line inside the manipulator.
Disconnected?
No Yes

Yes No
End of corrective
Go to D
measures
91
HW0483057 101/142
HW0483057
T AL-4314
Flow Chart D
Continued from C

Yes No

Alarm? AXA01 board
Yes No failure
End of corrective
measures
92
HW0483057 102/142
HW0483057
T AL-4318
SERIAL ENCODER CORRECT LIMITATION OVER
This alarm occurs if the value generated from the position data of serial encoder exceeds the limit value.
The alarm occurs.

Alarm?
Yes No

reinsertion) between AXA01, AXB01,
and encoder.
Yes No

(encoder).
Yes No


Alarm? AXA01/AXB01

measures
93
HW0483057 103/142
HW0483057
T AL-4326
SPEED ERROR
This alarm occurs if the motor speed indicated in the axis data exceeds the allowable maximum motor
speed.
As a cause of the alarm, effect of external force on the manipulator, motor power cable disconnection,
defective motor, or defective board is suspected.
Sub Code: --
The alarm occurs.
Check if the alarm occurred

during operation.
Alarm occurred during
Yes operation. No
Check if the alarm occurred in

the gun axis (when it is open).
Alarm occurred in gun axis
when it is open.
Yes No
Short-open the strike of the motor Check the position where

gun in which the alarm occurred. the alarm occurred.
Alarm? The alarm occurred in
Yes No a specific positon
Yes No
Effect of external force (gravity)

is suspected.
End of corrective
Slow down the operation speed.
measures
Alarm? Effect of external
Yes No force
Failure in the motor is suspected.
Replace the motor.
Alarm? Motor failure

Yes No
Replace the AXA01 board

Alarm? AXA01 board
Yes No failure

measures
94
HW0483057 104/142
HW0483057
T AL-4329
POSITION ERROR
This alarm occurs if the feedback pulse miscount is detected in the motor gun axis.
A failure in the AXB01 or XEI01 circuit board, or connection cable between those boards may cause the
alarm.
Sub Code: --
The alarm occurs.
Reset the NX100 by turning Failure in the AXB01 board is suspected.

Alarm?
Yes No
Check if there is any device that generates
high electrical noise around the robot system.
High-noise generator
is present. Replace the AXB01 board
Yes No (Refer to Appendix 3-1.)
Alarm? AXB01 board
Elilminate the noise or take a Yes No failure
countermeasure against the noise.
Alarm? Noise error
Yes No Turn OFF the NX100 power.
Replace the cable between the AXB01

Turn OFF the NX100 power. board and the XEI01 board.
Check the connections (removal and Yes No
reinsertion) between the AXB01 and
encoder. (Refer to Appendix 3-1.)
Yes No

Failure in the XEI01 board is suspected.
Replace the XEI01 board

Alarm? XEI01 board
Yes No failure
Failure in the COV03 board is suspected.
Replace the COV03 board

Alarm? COV03 board
Yes No failure

measures measures
95
HW0483057 105/142
HW0483057
T AL-4332
POSITION ERROR (SERIAL ENCODER)
This alarm occurs if the feedback pulse miscount is detected in a serial encoder.
A failure in the AXA01 or AXB01 circuit board, or connection cable between those boards may cause the
alarm.
Sub Code: --
The alarm occurs.

Alarm?
Yes No
Check if there is any device that generates

high electrical noise around the NX100.
High-noise generator
is present.
Yes No
Elilminate the noise or take a

countermeasure against the noise.
Alarm? Noise error
Yes No
Check the connections (removal

and reinsertion) between AXA01,
AXB01, and encoder.
Yes No


Alarm? AXA01/AXB01
End of corrective
measures
96
HW0483057 106/142
HW0483057
T AL-4334
OVER VOLTAGE (CONVERTER)
This alarm occurs if the regenerative energy during the motor deceleration is too much that it cannot be
processed in the regenerative circuit of SERVO PACK.

Alarm?
Yes No
Check if the alarm occurs

when the servo power is OFF
Alarm occurs when servo
Go to B is OFF.
No Yes

(removal and reinsertion) between
AXA01, AXB01, and encoder.
Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
97
HW0483057 107/142
HW0483057
T AL-4334
OVER VOLTAGE (CONVERTER)
Flow Chart B Continued from A
Reduce 30% of the taught speed of

the four steps before and after from
the step where the alarm occurred.
Alarm?
Yes No
The load mounted on the manipulator

is too large; reconsider the load.
Alarm?
Yes No
Examine the primary voltage of

the breaker.
The voltage is 200 V
(+10 to 15%)
Yes No
Modify the primary breaker voltage

to the specified voltage.
Alarm? Primary voltage
Yes No error
Check for disconnection of regenerative

resistor. (Remove the converter connector
CNP3, and measure the resistance.)
Alarm?
No Yes
Failure in the regenerative

resister is suspected.
Replace the regenerative resistor.

Alarm? Regenerative
Yes No resistor failure

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
98
HW0483057 108/142
HW0483057
T AL-4335
EARTH FAULT
This alarm occurs if there is a ground fault in any motor power line connected to converter.
Flow Chart A
The alarm occurs.

Alarm?
Yes No
Check for ground fault.

A ground fault has
Go to B occurred.
Yes No

Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
99
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T AL-4335
EARTH FAULT
Flow Chart B
Continued from A
Turn ON the servo power with connectors

on the connector base removed.
Alarm?
Yes No
Turn ON the servo power with Failure in the manipulator

cables in the NX100 disconnected. cable is suspected.
Alarm?
Yes No
Replace the manipulator cable.

Go to C Manipulator
Alarm?
Yes No cable failure
Failure in the power cable is suspected. Failure in the motor is suspected.
Replace the power cable. Replace the motor.
Alarm? Alarm? Motor failure

Yes No Yes No
Power cable
failure

measures measures
100
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T AL-4335
EARTH FAULT
Flow Chart C Continued from B
*Fall prevention measures

Remove CN08 of the NTU01 unit.
Turn ON the servo power with the amplifier

power cable in the NX100 disconnected.
Alarm?
Yes No
Check for connections between the

connector on the side of the NX100
(connecting the manipulator cable),
amplifier, and converter.
Yes No

(Refer to Appendix5-1, 6-1.)
Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
101
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T AL-4336
OPEN PHASE (Converter)
This alarm occurs if there is an open phase in the converter input power.

Alarm?
Yes No

when the servo power is OFF.
Go to B is OFF.
No Yes

between AXA01, AXB01, and
converter. (Refer to Appendix 2-1.)
Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
102
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T AL-4336
OPEN PHASE (Converter)

the breaker.
Yes (+10 to 15%) No

Yes No error
Check for the contactor damage

(melting/sticking).
Alarm?
Yes No
Replace the contactor.

Alarm? Contactor failure
Yes No

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
103
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T AL-4337
OVER CURRENT (AMPLIFIER)
This alarm occurs if a current exceeding the allowable maximum current is applied for amplifier.
As a cause of the alarm, a ground fault in the U, V, or W wire, or a short circuit between these wires is
suspected.

Alarm?
Yes No

No is OFF. Yes

Go to B is ON.
Yes No

between AXA01, AXB01, and
converter.
Yes No


Yes No


Alarm? AXA01/AXB01
End of corrective
104
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T AL-4337
Check if a ground fault or

short circuit has occurred.
There is a ground fault or
short circuit
Yes No

Yes No


Alarm? AXA01/AXB01
Turn ON the servo power with connectors

on the connector base removed.
Go to C Alarm?
Yes No
Failure in the manipulator

cable is suspected.
Replace the manipulator cable.
Alarm? Manipulator
Yes No cable failure
Failure in the motor is suspected.
Replace the motor.
Alarm? Motor failure

Yes No
End of corrective
measures
105
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T AL-4337
Flow Chart C
Continued from B
Turn ON the servo power with

cables in the NX100 disconnected.
Alarm?
No Yes
Failure in the power cable is suspected. Turn OFF the NX100 power.
Turn OFF the NX100 power. Remove CN08 of the NTU01 unit.
Turn ON the servo power with the amplifier

Replace the power cable. power cable in the NX100 disconnected.
Alarm? Alarm? Power cable

Yes No Cable failure Yes No failure
Check for connections between the connector on

the side of the NX100 (connecting the manipulator
cable) and amplifier. (Refer to Appendix 5-1, 6-1.)
End of corrective Alarm? Connection failure

Yes No
measures

Yes No


Alarm? AXA01/AXB01

measures
106
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T AL-4338
REGENERATION ERROR (CONVERTER)
This alarm occurs if the converter regenerative resistor cable is disconnected or short-circuited.
The alarm occurs.

Alarm?
Yes No

between AXA01, AXB01, converter,
and regenerative resistor.

Yes No
Failure in the regenerative

resistor is suspected.
Replace the regenerative resistor.

Alarm? Regenerative
Yes No resistor failure

Yes No


Alarm? AXA01/AXB01
End of corrective
measures
107
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T AL-4339
INPUT POWER OVER VOLTAGE (CONV)
This alarm occurs if the input voltage monitored by the NX100 exceeds 420 V.
As a cause of the alarm, a primary power supply voltage error or defective circuit board is suspected.
The alarm occurs.

Alarm?
Yes No

No is OFF. Yes

the breaker.
Yes (+10 to 15%) No

Yes No error

AXA01, AXB01, and converter.
Yes No

Yes No


Alarm? AXA01/AXB01

measures
108
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T AL-4340
TEMPERATURE ERROR (CONVERTER)
This alarm occurs if the converter temperature monitored by the NX100 system exceeds the specified
value.
As a cause of the alarm, an effect of ambient environment or temperature is suspected. In rare cases, the
alarm cause is attributed to an error in the primary control power supply or noise interference.
The alarm occurs.
Leave the NX100 for 10 minutes

with its power turned ON.
Turn ON the servo power.
Alarm?
Yes No

Yes No

Yes No


Alarm? AXA01/AXB01

measures
109
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T AL-4353
DEFECTIVE TAUGHT POINT (ENDLESS)
This alarm occurs if the feedback pulse count of endless operation axis exceeds the allowable maximum
pulse count (229 = 536, 870, 912).
The alarm occurs.
Reset the alarm with

Alarm?
Yes No

Alarm?
Yes No
Failure in the operation command

software (JOB) is suspected.
Reexamine the software.
Alarm? JOB creation

Yes No error
Perform the MRESET instruction to

the axis in which the alarm occurred.
Alarm? JOB creation
Yes No error

Yes No


Alarm? AXA01/AXB01

measures
110
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T AL-4359
CONVERTER ERROR
Converter, AXA01, and AXB01 perform communications in the NX100 system.
This alarm occurs if the AXA01 and AXB01 have failed to identify the alarm type.
The alarm occurs.

Alarm?
Yes No
Check if the software versions of

converter, AXA01, and AXB01 are proper.
Proper versions?
Yes No
Set each software to the proper version.
Alarm?
Yes No

Yes No

Yes No


Alarm? AXA01/AXB01

measures
111
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T AL-4800
WDT ERROR (CONVERTER)
The NX100 system is equipped with a watchdog timer in the converter.
This alarm occurs if the watchdog timeout is detected.
As a cause of the alarm, a failure in the converter is suspected. In rare cases, the alarm may be caused
by a noise interference.
The alarm occurs.

Alarm?
Yes No

Yes No

Yes No


Alarm? AXA01/AXB01

measures
112
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Appendix 1-1 Internal Layout Drawings
Appendixes

T EA1400N
A Manipulator interface
unit: JZNC-NIF01
Emergency
stop button:
Breaker: Basic axis control AR22V2R-04R
NF30SW 3P 10A board: SGDR-AXA01A
Control power:
CPS-420F
CPU unit:
JZNC-NRK01
Welding circuit board:

JANCD-XEW02
Power supply (EV1) (EV2)

contactor unit: SERVO PACK:
JZRCR-NTU01-1 SGDR-EA1400N
Interior circulation fan:

4715MS-22T-B50-B00
Input terminal A’ (Air flows up)
block for
manipulator
(MXT)
Front View
Duct fan on the backside:

4715MS-22T-B50-B00
(For air inlet)
Regenerative resistor
(EV3) (EV4) (220 W, 12.5 )
Back View
Section A-A’
(Without Cover)
113
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T ES165N
A Manipulator interface Emergency stop button:

unit: JZNC-NIF01 AR22V2R-04R
Basic axis control
Breaker: board: SGDR-AXA01A
NF30SW 3P 30A Control power:
CPS-420F
CPU unit:
JZNC-NRK01
Converter:
SGDR-COA250A01B
Power supply SERVO PACK:

contactor unit: SGDR-ES165N
JZRCR-NTU02-1
Input terminal
block for
manipulator
(MXT)
Interior circulation fan:
A’ 4715MS-22T-B50-B00
(Air flows up)
Front View
Duct fan on the backside:

5915PC-22T-B30-B00
(For air inlet)
(1500 W, 6 )
Back View Section A-A’

(Without Cover)
114
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HW0483057
Appendix 2-1 Block Diagrams
Appendix 2-1 Block Diagrams

T EA1400N
Fan
Power Supply Unit
Breaker JXRCR-NTU01
CBL-NXC002-3
CPU Unit
JZNC-NRK01
Regenerative
Resistor
Emergency
Stop Button CBL-NXC010-1
SERVO PACK
Welding Board
(JANCD-XEW02)
MXT
CBL-NXC009-1
Relay CBL-NXC001-3
Terminal CBL-NXC001-7
Block
CBL-NXC001-6 Manipulator
CBL-NXC004-3
CBL-NXC005-5
CBL-NXC005-6
Programming CBL-NXC005-7
HB0270586-1
Pendant
HB0270587-1
CBL-NXC010-1
HB0270586-1
CBL-NXC010-1
T ES165N
Fan
Power Supply Unit
Breaker JXRCR-NTU02
CBL-NXC002-3
CPU Unit
JZNC-NRK01
Regenerative
Resistor
Emergency
Stop Button
SERVO PACK
CBL-NXC010-2
MXT
CBL-NXC009-2
CBL-NXC001-7
Relay
Terminal
Block Manipulator
CBL-NXC001-6
CBL-NXC004-3
CBL-NXC005-8
CBL-NXC005-9
HB0270609-1
CBL-NXC005-10
HB0270586-2
Programming
Pendant HB0270588-1
HB0270586-2
CBL-NXC010-2
CBL-NXC010-2
115
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Appendix 3-1 CPU Unit

T External View of a Typical CPU Unit
The JZNC-NRK01 CPU unit contains only circuit board racks and control circuit boards. It
NOTE does not contain the control power supply, robot interface unit, and major axis control cir-
cuit board.
Monitor alarm display LED
Major axis control

Robot interface unit Control circuit board circuit board Control power supply unit
JZNC-NIF01 JANCD-NCP01 SGDR-AXA01A CPS-420F
Monitor alarm display LED Monitor alarm display LED

(F1, F2) CPU
TYPE JANCD-NCP01
24V fuse for I/O

POWERSUPPLY
DATE CPS-NX1
No.
REV
(CN05)
DATE
FujiElectricCo.,Ltd.
JAPAN
01020304050607080910
LED SOURCE 11121314151617181920
21222324252627282930
24 VDC output
0 1
(CNSP1)
+5VSB A B C D E F GH J K
L MN P Q R S T U V
PON
Emergency stop
CNSP1
+5V
+24V
VIDEO
CNTU
(CN04)
OTHER
FAN
(CNTU)
OHT
24 VDC output
CNRI
TU hot line I/O CN05

(+24V1)
CNM
(CNM) (CN03)
CNRO
CN04
Robot system input

(+24V2)
24 VDC output
IDE
CNFAN
CN03
(TU)
(CN02)
Remote control
ATX
USB1(L)
USB1(R) CN02 CN01
Battery
CNBAT
(REMOTE) (AC IN)
INPUT
PS2 200-240V AC
50/60Hz
3A
(CN01)
AC200V Input
(CN12)
External power
supply connection (CN07)
Compact Flash Encoder signal
(CN11)
24VDC output (CN06) Covers
PWM signal
(CN07,CN08,CN09,CN10) (CN05)
User I/O PWM signal
(CN04)
PWM signal
Front View (Without Covers) Front View

(With Covers)
(LAN1)
(CN06) Programming pendant
Programming pendant hot line
(CN03)
(CN04) I/O communication
Interface between controllers
(CN03)
I/O; Interface (CN02)
RIF communication
(CN02)
Drive interface 2
(CN01)
Converter signal
(CN01)
Drive interface 1
Bottom View
116
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HW0483057
T External View of JZNC-NRK02W-W
Major axis control

circuit board
SGDR-AXA01A
Control power supply unit
CPS-420F

(CN05)
(CNRI, CNRO) 24 VDC output
Communications (CN04)
between backboards 24 VDC output
(CNTU) (CN03)
TU hot line I/O 24 VDC output
(CNM) (CN02)
Manipulator input Remote control
(CN01)
200 VAC input
(CN07)
Encoder signal (CN05) Cover
PWM signal
(CN06)
PWM signal (CN04)
PWM signal
Front View
Front View
(With Cover)
(Without Cover)
(CN03)
I/O communications
(CN02)
Robot interface communications
(CN01)
Converter signal
Bottom View
117
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HW0483057
Appendix 4-1 Power Supply Contactor Unit
Appendix 4-1 Power Supply Contactor Unit

T JZRCR-NTU01
Power supply contactor sequence circuit board
JANCD-NTU01-
(4X) (CN08)
Main power supply input Brake output connector
4X
(3FU)
Fuse for brake SMP50 (5A; 125V)
CN08
(CN07)
(1FU)(2FU) Robot connection
Fuse for AC control
5A 125V
F F
3FU
US
US
E E
power supply 1FU 2FU

(CN06)
326010 (10A; 250V) 10A 250V 10A 250V
External signal connection
CN07
CN06
NJ2096-
(1KM) Contactor YASKAWA ELECTRIC CORPORATION
(CN05)
(1Z) Line filter (CN04)
DATE
TU hot line I/O

(2KM) Contactor
JAPAN
CN05
CN04
SER NO.
TYPE
(3X)
CPS power supply output
(CN03)
CN03
3X
24 VDC input
CN02
(2X) 2X
AC fan power supply (CN02)

SW1
1X 24 VDC input
CN01
(1X)
Converter output (S1)
Switch for MECHATROLINK station setting
(CN01)
Servo interface
T JZRCR-NTU02
Power supply contactor sequence circuit board
(4X) JANCD-NTU01-
Main power supply input
(CN08)
Brake output connector
4X
(3FU)
Fuse for brake SMP50 (5A; 125V)
CN08
(CN07)
Robot connection
(1FU)(2FU)
5A 125V
F F
Fuse for AC control

3FU
US
US
E E
power supply 1FU 2FU (CN06)

326010 (10A; 250V) 10A 250V 10A 250V
External signal connector
CN07
CN06
NJ2096-
(1KM) Contactor
YASKAWA ELECTRIC CORPORATION
(CN05)
(1Z) Line filter (CN04)
DATE
TU hot line I/O

(2KM) Contactor
JAPAN
CN05
CN04
SER NO.
TYPE
(3X) CPS power supply output

CN03
3X
(CN03)
24 VDC input
CN02
2X
(2X) AC fan power supply (CN02)

SW1
1X 24 VDC input
CN01
(1X) Converter output (S1)

Switch for MECHATROLINK station setting
(CN01)
Servo interface
118
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Appendix 5-1 SERVO PACK
Appendix 5-1 SERVO PACK

T HP6 and EA1400N
Converter Charge lamp Top grip
(AMP4 to AMP6-CNP6)
Motor power output
(CN102)
PWM amplifier
control power supply
(AMP4 to AMP6-CN1)
PWM signal
(CN101)
DC control power supply
(CN1) PWM amplifier X6

Converter control signal
(CNP11)
AC control power supply
(AMP1 to AMP3-CN1)
PWM signal
(CNP1)
Three-phase AC power supply
Ground terminal
(AMP1 to AMP3-CNP6)
(CNP3) Regenerative resistor Bottom grip Motor power output
T ES165N and HP165
Charge lamp SERVOPACK

Top grip
Converter (AMP4 to AMP6-CNP6)
Top grip
(CN102) Motor power output
PWM amplifier
control power supply
(AMP4 to AMP6-CN1)
(CN101) PWM signal
DC control power supply
(CN1)
Converter control signal PWM amplifier X6
(CNP4)
PN power supply
(CNP11)
AC control power supply
(AMP1 to AMP3-CN1)
Ground terminal
PWM signal
(CNP1)
Three-phase
(AMP1 to AMP3-CNP6)
AC power supply
Bottom grip Motor power output
Ground terminal
(CNP3)
119
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Appendix 6-1 SERVO PACK for External Axes
Appendix 6-1 SERVO PACK for External Axes
(CNP16)
(CNP5) Motor connection terminal
External condenser connection
(CNP2)
Control power input
(CN2)
Encoder connection
(CN1)
I/O signal connection
Ground terminal
(CNP3)
External regenerative (CNP1)
resistor connection Main circuit power input
120
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Appendix 7-1 Brake Release Unit

T External View of JZRCR-NBU05-2
The following figure shows the external view of a typical brake release unit. The number
NOTE of switches and fuses and their layouts may vary depending on the use of axes to be
released.
(FU11)
Manipulator axis brake release fuse
Break Release
(R-CN5)
Manipulator axis brake output
(FU12, 13)
External axis brake
power fuse Break Release
(R0CN5)
External axis brake output
(FU14)
External axis brake
release fuse
(CN11)
Interlock signal
(Manipulator axes)
(CN12)
Manual release power
(Manipulator axes)
(CN14)
Interlock signal
(External axes)
(CN13)
Brake release power (CN15)
in SERVO ON Manual release power
(Manipulator axes) (External axes)
(CN16)
Brake release power
in SERVO ON
(External axes)
JZRCR-NBU05-2 (External View)
121
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T Internal Connections of JZRCR-NBU05-2 (1/2)
Blue
Blue
Blue/White
Blue/White
187
Fasten
122
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T Internal Connections of JZRCR-NBU05-2 (2/2)
187 Fasten 187 Fasten
187 Fasten
123
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T Measuring the Output Voltage of the Brake Release Unit

1. Remove the connector R-CN5 or EX-CN5 connected to the brake release unit.
2. While the servo power is ON, measure the voltage output from the R-CN5 or EX-CN5
connector on the brake release unit with a tester.
If the brake release unit operates properly, the measured output voltage of each axis is
as follows:
Output Voltage of R-CN5

Pin No. Pin No.
Axis Name Output Voltage
(Positive Side) (0 V Side)
S-axis B1
L-axis C1
U-axis D1
A1 and A2 24 VDC
R-axis B2
B-axis C2
T-axis D2
Output Voltage of EX-CN5

Pin No. Pin No.
Axis Name Output Voltage*1
(Positive Side) (0 V Side)
External axis 1 B1
External axis 2 C1
External axis 3 D1
A1 and A2 24 VDC or 90 VDC
External axis 4 B2
External axis 5 C2
External axis 6 D2
*1 The output voltage varies depending on the specifications of external axis motors.
Since the 90 VDC is generated from the half-wave rectified 200 VAC, the output volt-
age may become as much as 280 VDC depending on the tester used for measure-
ment.
Pin Assignment of R-CN5 and EX-CN5
D C B A
3
2
1
124
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Appendix 8-1 Internal Connections and Alarms of the NX100
Appendix 8-1 Internal Connections and Alarms of

the NX100
Several types of connectors are used in the NX100 controller.

When removing/reinserting the connectors to replace units, ensure that each connector is
properly connected to avoid the alarm caused by a loose connection.
A list on the following pages shows the alarms caused by connection failures.
• Some connectors have individual alarm signals assigned, and disconnection of such
NOTE connectors may cause the same alarm as the one occurred in the connected external
device. (e.g. SHOCK SENSOR ACTIVATION)
• For location of each connector, refer to Appendix 3-1 to 6-1.
• A connector code can be identified as the following example.
e.g. NIF-CN01: CN01 of JZNC-NIF01.
Identify the rest of the connector codes in the same manner as follows:
AXA-CNUU: a connector on SGDR-AXA01A.
AXB-CNUU: a connector on SGDR-AXB01 (child circuit board of AXA).
NBB-CNUU: a connector on the back board.
125
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Alarm No.
Connector Code (4xxx signifies Message Sub Code Remarks
Major Failure)
COMMUNICATION
1343 [102]
AXA-CN01 ERROR (CONVERTER)
4359 CONVERTER ERROR [0000······0001]
COMMUNICATION
0021 [50]
ERROR (SERVO)
COMMUNICATION
AXA-CN02 0100 [1]
ERROR (AXA#1)
CPU COMMUNICA-
0020 [50]
TION ERROR
COMMUNICATION
AXA-CN03 1302 [112]
ERROR (SERVO I/O)
AMPLIFIER READY
4306 -
SIGNAL ERROR
OVERHEAT (AMPLI-
AXA-CN04 1514 -
FIER)
AMPLIFIER TYPE MIS-
1306 -
MATCH
AMPLIFIER READY
4306 -
SIGNAL ERROR
OVERHEAT (AMPLI-
AXA-CN05 1514 -
FIER)
AMPLIFIER TYPE MIS-
1306 -
MATCH
AMPLIFIER READY
4306 -
SIGNAL ERROR
OVERHEAT (AMPLI-
AXA-CN06 1514 -
FIER)
AMPLIFIER TYPE MIS-
1306 -
MATCH
COMMUNICATION
AXA-CN07 1325 -
ERROR (ENCODER)
COMMUNICATION
NTU-CN01 1302 [112]
ERROR (SERVO I/O)
COMMUNICATION
NTU-CN02 1302 [112]
ERROR (SERVO I/O)
SAFETY CIRCUIT
NTU-CN04 1345 SIGNAL UNMATCH [102]
(SERVO)
OVERRUN (EXTER-
4101 [0000······0001]
NAL AXIS)
SAFETY CIRCUIT
NTU-CN06 1345 SIGNAL UNMATCH [105]
(SERVO)
INPUT COMPARISON
1503 [0000······0001]
ERROR (SERVO I/O)
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Alarm No.
Major Failure)
SHOCK SENSOR
4110 [0000······0001]
ACTIVATION
NTU-CN07
OVERRUN (ROBOT
4100 [0000······0001]
AXIS)
SERVO TRACKING Occurs when SERVO
NTU-CN08 4328 - power is ON.
ERROR
CONVERTER INPUT Occurs when SERVO
NTU-1X 4304 [0000······0001] power is ON.
POWER ERROR
Power is turned
NTU-2X (Upper Side) - - - OFF when uncon-
nected.
NTU-2X (Lower Side) - - -
Cooling fan EV1
NTU-3X - - -
and EV2 stop.
Power is turned
NTU-4X - - - OFF when uncon-
nected.
COMMUNICATION
0021 [50]
ERROR (SERVO)
NIF-CN01
COMMUNICATION
0100 [1]
ERROR (AXA#1)
COMMUNICATION
NIF-CN03 1204 [0000······0010]
ERROR (IO MODULE)
Power is turned
NIF-CN06 - - - OFF when uncon-
nected.
COMMUNICATION
NIF-CN11 1204 [0000······0010]
ERROR (IO MODULE)
DC24V POWER
NIF-CN12 4109 [0000······0011]
SUPPLY FAILURE (I/O)
DC24V POWER
NIF-F1 4109 [0000······0011]
DC24V POWER
NIF-F2 4109 [0000······0011]
COMMUNICATION
CV1-CN1 1343 [102]
ERROR (CONVERTER)
CV1-CNP11 - - -
AMPLIFIER READY
4306 -
SIGNAL ERROR
CV1-CN101
COMMUNICATION
1343 [102]
ERROR (CONVERTER)
AMPLIFIER READY
CV1-CN102 4306 -
SIGNAL ERROR
A msg "Program-
ming pendant is dis-
NCP-LAN1 - - -
connected" appears
on blank screen.
127
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Alarm No.
Major Failure)
A msg "Robot is
stopped by P.PANEL
NBB-CNSP1 - - -
emergency stop"
appears.
SAFETY CIRCUIT
NBB-CNPU 1345 SIGNAL UNMATCH [105]
(SERVO)
NBB-CNM - - -
AMPLIFIER READY
SV1-AMP*-CNP4 4306 -
SIGNAL ERROR
AMPLIFIER READY *Signifies AMP1
4306 -
SIGNAL ERROR to 6. (Each alarm
OVERHEAT (AMPLI- is common for all
1514 - amplifiers.)
FIER)
AMPLIFIER TYPE MIS-
1306 -
SV1-AMP*-CNP6 MATCH
Occurs when SERVO
power is ON.
SERVO TRACKING *Signifies AMP1
4328 -
ERROR to 6. (Each alarm
is common for all
amplifiers.)
Occurs when SERVO
power is ON.
SERVO TRACKING *Signifies AMP1
SV1-AMP*-PN 4328 -
ERROR to 6. (Each alarm
is common for all
amplifiers.)
COMMUNICATION
1325 -
ERROR (ENCODER)
COMMUNICATION
AXB-CN08 1343 [202]
ERROR (CONVERTER)
COMMUNICATION
1343 [302]
ERROR (CONVERTER)
COMMUNICATION
1325 -
ERROR (ENCODER)
EX1SV-CNP2
COMMUNICATION
1343 [202]
ERROR (CONVERTER)
COMMUNICATION
1325 -
ERROR (ENCODER)
EX1SV-CN1
COMMUNICATION
1343 [202]
ERROR (CONVERTER)
COMMUNICATION
EX1SV-CN2 1325 -
ERROR (ENCODER)
CONVERTER INPUT Occurs when SERVO
EX1SV-CNP1 4304 [0000······0001] power is ON.
POWER ERROR
REGENERATION Occurs when SERVO
EX1SV-CNP3 4338 [0000······0010] power is ON.
ERROR (CONVERTER)
128
HW0483057 138/142
HW0483057
This section explains the typical connectors used and instructions on how to connect them.
• Tyco (AMP) Connector

Insert the connector securely until it clicks.
• WAGO Connector
Insert the connector pushing all the way
in. Make sure that the connector fully
contacts the socket without leaving any
gap.
• SERVO Board Connector

Insert the connector and fix it with two
screws
129
HW0483057 139/142
HW0483057
• SERVO PACK Connector

• Mechatro Link Connector

• Ethernet Connector for Program-

ming Pendant
130
HW0483057 140/142
HW0483057
• I/O Connector
screws.
• Flat Cable Connector

Insert the connector pushing all the way
in, and lift up the lock to fix it.
• Connector for Communications

(DeviceNet, etc.)
screws.
131
HW0483057 141/142
NX100 OPTIONS
INSTRUCTIONS
FOR TROUBLESHOOTING
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone 81-93-645-7745 Fax 81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada
Phone 1-905-569-6686 Fax 1-905-813-5911
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 1039854, Kalmar, Sweden
Phone 46-480-417800 Fax 46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, DE-85391 Allershausen, Germany
Phone 49-8166-90100 Fax 49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone 82-53-745-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia
Phone 60-3-6092-1377 Fax 60-3-6092-6377
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice

for ongoing product modifications and improvements. C Printed in Japan August 2006 06-08
MANUAL NO.
HW0483057 142/142

Alarmes NX100 HW0483057.0

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YASKAWA

Do not submit this electronic data to the customer.

THIS MATERIAL IS FOR STUDY PURPOSE ONLY.

YASKAWA MANUAL NO.

• General items related to safety are listed in Section 1: Safety of the

• The drawings and photos in this manual are representative examples

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

• YASKAWA is not responsible for incidents arising from unauthorized

Notes for Safe Operation

Indicates a potentially hazardous situation which, if not avoided,

Indicates a potentially hazardous situation which, if not avoided,

Always be sure to follow explicitly the items listed under this

PROHIBITED Must never be performed.

Emergency Stop Button

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the P-point maximum envelope of

-Check for problems in manipulator movement.

• Read and understand the Explanation of Warning Labels in the NX100

Definition of Terms Used Often in This Manual

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming pendant Programming pendant

Cable between the manipulator and NX100 Manipulator cable

Equipment Manual Designation

ex. page key PAGE

The cursor key is an exception, and a picture is not

Keys pressed When two keys are to be pressed simultaneously,

Displays The menu displayed in the programming pendant is

Description of the Operation Procedure

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning

Sub code is any of the numbers

A major unconformity occured in Check the AXA board configuration

Check the insertion of NIF unit and the cable

Check the insertion of the AXA board of

Replace the AXA board of the corresponding

End of corrective Alarm?

Replace the NIF unit, and initialize

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning

Check the AXA board configuration

Check and reconfigure the AXA board rotary

Check the insertion of the AXA board of

Check the insertion of NIF unit and the cable

Replace the AXA board of the corresponding

Replace the NIF unit, and initialize the NX100

Contact your Yaskawa representative. End of corrective

The alarm occurs.

Save the NX100 internal data.

Reset the NX100 by turning

Sub code is any of the numbers

A major unconformity occured in Check the AXA board configuration

Check and reconfigure the AXA board rotary

Check the insertion of NIF unit and the cable

Check the insertion of the AXA board of

Replace the AXA board of the corresponding

Replace the NIF unit, and initialize the NX100

The alarm occurs.